US Patent No. 9,164,495

MOTOR CONTROLLER CONTROLLING TWO MOTORS FOR DRIVING SINGLE DRIVEN OBJECT


Patent No. 9,164,495
Issue Date October 20, 2015
Title Motor Controller Controlling Two Motors For Driving Single Driven Object
Inventorship Kazuomi Maeda, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,164,495

1. A motor controller controlling a first motor and a second motor in order to drive a single driven object, the motor controller
comprising:
a first position control unit generating a first speed command value on the basis of a position command value for the first
motor, position information relating to the first motor and a first position control gain in order to control a position of
the first motor;

a second position control unit generating a second speed command value on the basis of a position command value for the second
motor, position information relating to the second motor and a second position control gain in order to control a position
of the second motor;

a first speed control unit including a first integrator calculating an integrated value of a first speed error, the first
speed error being a speed error between the first speed command value and a speed of the first motor, the first speed control
unit generating a first torque command value on the basis of the first speed error, a predetermined value, a first proportional
gain and a first integration gain in order to control the speed of the first motor;

a second speed control unit including a second integrator calculating an integrated value of a second speed error, the second
speed error being a speed error between the second speed command value and a speed of the second motor, the second speed control
unit generating a second torque command value on the basis of the second speed error, the predetermined value, a second proportional
gain and a second integration gain in order to control the speed of the second motor;

an integrated value selecting unit selecting any one of the integrated value of the first speed error and the integrated value
of the second speed error as the predetermined value, depending on drive status of the first motor and drive status of the
second motor;

a first motor driving unit driving the first motor on the basis of the first torque command value; and
a second motor driving unit driving the second motor on the basis of the second torque command value.