US Patent No. 9,166,512

MOTOR CONTROL DEVICE PROVIDED WITH FEEDFORWARD CONTROL


Patent No. 9,166,512
Issue Date October 20, 2015
Title Motor Control Device Provided With Feedforward Control
Inventorship Naoto Sonoda, Yamanashi (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 9,166,512

1. A motor control device for controlling a motor which drives a control target, the motor control device comprising:
a speed feedback control unit which generates a pre-correction torque command for controlling such that an actual speed of
the control target follows a speed command which is input;

an inverse model calculation unit which calculates a coefficient of an inverse model with a transfer function inversed from
a transfer function of the control target by using the speed command and the pre-correction torque command;

a torque correction value generating unit which generates a torque correction value by using the speed command and the coefficient
of the inverse model; and

a torque command generating unit which generates a torque command for the motor which drives the control target by using the
pre-correction torque command and torque correction value.