A servo control apparatus according to the present invention includes a speed command generator; a torque command generator; a speed detector for detecting the speed of a servomotor; a speed control loop including the speed command generator, the torque command generator, and the speed detector; a sinusoidal sweep input unit for performing a sinusoidal sweep on the speed control loop; and a frequency characteristics calculator for estimating the gain and phase of speed control loop input and output signals from the output of the speed control loop when a sinusoidal disturbance is inputted thereto. The frequency characteristics calculator expresses the output of the speed control loop as the Fourier series having an arbitrary number of terms using a disturbance input frequency as a fundamental frequency, and calculates the amplitude and phase of a fundamental component of the Fourier series in order to calculate frequency characteristics on line.

The present invention implements a model-tracking motor control apparatus for stabilizing behavior of a controlled object. The control apparatus (1) includes: a motor control part (20), generating a driving torque instruction value used to enable the servo motor (2) to perform driving based on a detection value of an encoder (4) that performs detection on a rotational state of a servo motor (2); and a model control part (10), generating a model torque instruction value, and outputting the model torque instruction value to the motor control part (20), where the model control part (10) has a model torque limiter (104) that limits the model torque instruction value within a first limit range.

An industrial machinery includes: a drive mechanism driving a control target that moves work or a tool; a motor; a first sensor detecting a position of the control target; a second sensor detecting a position of the motor; a current controller controlling a supply current to the motor; a servo controller outputting a torque instruction to the current controller; and a numerical controller calculating a processing force of the control target to the work based on position information on the control target acquired from the first sensor, position information on the motor acquired from the second sensor, and the torque instruction, the numerical controller determining that the tool is in failure if an absolute value of a first component of the processing force becomes equal to or larger than a first threshold value while processing the work, the first component having a frequency lower than a predetermined frequency.

A motor control device includes a torque controller to operate based on a steering torque and to give an input to a control target that is a motor, and a model following controller to generate a first correction torque based on an output from the control target. A model following controller includes a high-pass filter to remove a low frequency component from a first correction torque, a friction compensation calculator that is coupled in parallel to the high-pass filter to apply friction compensation to the first correction torque to calculate an estimated value of a mechanical friction torque, and an adder to add the estimated value of the friction torque to the first correction torque from which the low frequency component is removed by the high-pass filter to generate a second correction torque and feed back the second correction torque to an input to the control target.

Provided is a motor control apparatus for vehicles. The motor control apparatus may generate a current reference value based on a level of a field current (or a field current value) flowing in a field coil and may control a vehicle motor by using the current reference value, thereby improving torque response characteristic and maximum efficiency.

A motor driving apparatus comprises a motor including a rotor that is rotatable and has a magnet whose outer peripheral surface divided in a circumferential direction is magnetized in multiple poles with alternating different polarities, and a position detecting unit having a first detecting element, a second detecting element, a third detecting element and a fourth detecting element, each of which detects a magnet pole, a driving unit that drives the motor on the basis of signals output from the first to fourth detecting elements, and a controlling unit that obtains a rotational quantity of the motor on the basis of signals output from the first and second detecting elements and that outputs a control signal of the motor to the driving unit on the basis of the rotational quantity of the motor.

Provided is a motor control apparatus for vehicles. The motor control apparatus may generate a current reference value based on a level of a field current (or a field current value) flowing in a field coil and may control a vehicle motor by using the current reference value, thereby improving torque response characteristic and maximum efficiency.

A numerical controller includes a main control unit configured to analyze a program and a motor control unit configured to control a motor. In the case where motor control data is transferred from the main control unit to the motor control unit via a serial bus, instead of transferring all pieces of the motor control data to each shaft one by one, when the motor control data repeats a specific pattern, the repetition pattern and the number of repetitions are transferred, and the repetition pattern is duplicated in the motor control unit.

A gimbal control method includes obtaining a measured working parameter of a gimbal, where the gimbal includes an axial arm and a motor configured to drive the axial arm to rotate. The method further includes in response to the measured working parameter satisfying a preset condition: determining that an external force is applied to the gimbal, the external force being not applied by a controller; and stopping the gimbal to operate based on a first working parameter, the first working parameter being obtained when the gimbal is controlled by the controller without applying the external force.