公开(公告)号：US10425028B2

公开(公告)日：2019-09-24

申请号：US15940968

申请日：2018-03-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasufumi Yoshiura ,  Yasuhiko Kaku ,  Shouta Kawahara

IPC: H02P7/00 ,  H02P21/14 ,  H02P29/40 ,  H02P21/22 ,  H02P25/06 ,  H02P27/02 ,  H02P23/20 ,  H02P6/34

Abstract: A motor control device includes output command calculation circuitry and inertial load value calculation circuitry. The output command calculation circuitry is configured to calculate a motor output command, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor. The inertial load value calculation circuitry is configured to calculate an estimated inertial load value with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor, and configured to calculate the inertial load value, based on the estimated inertial load value.