A motor control apparatus includes an error calculation unit which calculates an error between a position of a movable unit and a position of a driven unit, a memory unit which memorizes the error in association with a torque command value as an initial error, and a compensation amountcompensation amount calculation unit which calculates a compensation amountcompensation amount for compensating an elastic deformation amount of an elastic factor between the movable unit and the driven unit. The compensation amountcompensation amount calculation unit calculates the compensation amountcompensation amount based on the initial error held by the memory unit, the torque command value held in association with the initial error, and a torque command value calculated by a torque command calculation unit when a motor rotates reversely.

A rigid-flexible coupling motion platform driven by a ball screw includes a base, a linear guide rail fixed to the base, a rigid-flexible coupling platform, a servo motor, a ball screw, a guide rail sliding block, a displacement sensor and a driving controller. The rigid-flexible coupling platform includes a frame and a workbench. The frame and the workbench are connected through a flexible hinge; the servo motor is configured to drive the ball screw; the workbench is connected with the ball screw; the frame is connected with the linear guide rail by the guide rail sliding block; the displacement sensor is configured to feed back the position of the workbench; and the driving controller controls the ball screw to drive the workbench to move according to different control modes. The advantages of the ball screw drive and the rigid-flexible coupling motion platform are fully combined, and the positioning precision of the platform is greatly improved.

A method of load characteristic identification and acceleration adjustment for a machine tool is provided. A first acceleration of a transmission system is set according to the weight of a workpiece, and the working platform and the workpiece are driven at the first acceleration. A first elastic deformation of the transmission system and an amount of first position error of the transmission system are calculated when transmission system is moved at the first acceleration. A dynamic error is calculated according to the first elastic deformation and the first position error. When the dynamic error is less than or greater than a target error, a second acceleration is set to the transmission system, and a second elastic deformation and a second position error are calculated when the transmission system moves at the second acceleration unit the dynamic error is converged to the target error.

A method of load characteristic identification and acceleration adjustment for a machine tool is provided. A first acceleration of a transmission system is set according to the weight of a workpiece, and the working platform and the workpiece are driven at the first acceleration. A first elastic deformation of the transmission system and an amount of first position error of the transmission system are calculated when transmission system is moved at the first acceleration. A dynamic error is calculated according to the first elastic deformation and the first position error. When the dynamic error is less than or greater than a target error, a second acceleration is set to the transmission system, and a second elastic deformation and a second position error are calculated when the transmission system moves at the second acceleration unit the dynamic error is converged to the target error.

A rigid-flexible coupling motion platform driven by a ball screw includes a base, a linear guide rail fixed to the base, a rigid-flexible coupling platform, a servo motor, a ball screw, a guide rail sliding block, a displacement sensor and a driving controller. The rigid-flexible coupling platform includes a frame and a workbench. The frame and the workbench are connected through a flexible hinge; the servo motor is configured to drive the ball screw; the workbench is connected with the ball screw; the frame is connected with the linear guide rail by the guide rail sliding block; the displacement sensor is configured to feed back the position of the workbench; and the driving controller controls the ball screw to drive the workbench to move according to different control modes. The advantages of the ball screw drive and the rigid-flexible coupling motion platform are fully combined, and the positioning precision of the platform is greatly improved.

A servomotor control device includes: a servomotor; a driven body that is driven by way of the servomotor; a connection mechanism that connects the servomotor and the driven body to transmit power of the servomotor to the driven body; and a motor control unit that controls the servomotor, in which the motor control unit includes: a force acquisition section that acquires a drive force acting on the driven body at a connection part between the connection mechanism and the driven body; and a rigidity estimation section that estimates a magnitude of rigidity of the connection mechanism, based on position information of the servomotor and a drive force acquired by the force acquisition section when causing the servomotor to rotate in a state mechanically fixing the driven body.

A servomotor control device includes: a servomotor; a driven body that is driven by way of the servomotor; a connection mechanism that connects the servomotor and the driven body to transmit power of the servomotor to the driven body; and a motor control unit that controls the servomotor, in which the motor control unit includes: a force acquisition section that acquires a drive force acting on the driven body at a connection part between the connection mechanism and the driven body; and a rigidity estimation section that estimates a magnitude of rigidity of the connection mechanism, based on position information of the servomotor and a drive force acquired by the force acquisition section when causing the servomotor to rotate in a state mechanically fixing the driven body.

The invention relates to a method (200) for controlling an angular position of an output shaft in a drive unit (100), comprising the steps of: detecting a change in direction of a drive apparatus (5), detecting the torque transmitted by a flexible ring (6.3) of a strain wave gear immediately upon detection of the change in direction by means of a second sensor (12), determining a drive period of the drive apparatus (5) until the expected attainment of a transmission torsion (14.1, 14.2) of the flexible ring (6.3) on the basis of the first torque, driving a drive shaft (4) by means of the drive apparatus (5) over the drive period, detecting a change in angular position of the output shaft immediately after the end of the drive period by means of a first sensor (11.1), and controlling the drive apparatus using the first sensor (11.1) following the drive period when a change in angular position is detected.