CN102195545B - Electric motor controller - Google Patents
Electric motor controller Download PDFInfo
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- CN102195545B CN102195545B CN201110057114.6A CN201110057114A CN102195545B CN 102195545 B CN102195545 B CN 102195545B CN 201110057114 A CN201110057114 A CN 201110057114A CN 102195545 B CN102195545 B CN 102195545B
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Abstract
The invention relates to an electric motor controller capable of suppressing the vibrating of a control object and controlling the control object with high speed and high precision without a special sensor. The electric motor controller (1) comprises a speed detector (2), an encoder (3) forming a position detector, a speed controller (4), a position controller (5), a torque controller (6), and a peak value filter (7). The peak value filter (7) determines a transferring function via the following mode, namely, amplifying an anti-resonance frequency component in a machine base vibration generated between the machine base equipped with the electric motor and the control object, and forming the control object to be a rigid body system not containing the anti-resonance characteristic in the frequency of the anti-resonance frequency component.
Description
Technical field
The present invention relates to a kind of control device of motor, particularly relate to the control device of the motor for carrying out TRAJECTORY CONTROL accurately to position of a kind of working equipment etc.
Background technology
As shown in Figure 5, in the processing equipment such as working equipment, the support by supportings such as adjustment bolt (levelingbolt) is fixed with motor.Motor makes ball-screw rotate, thus drives workbench.Support forms the main shaft of drive end milling cutter (end-mill) etc.Therefore, the relative positional accuracy between support and workbench shows as machining accuracy.The control device of motor has the structure of such as Fig. 6.Position from the control device of known motor to the mover of positioner 5 input position instruction and motor between deviation.The instruction of positioner 5 output speed.In addition, to speed control 4 input speed instruction and carry out differential to the output of encoder 3 of position of the mover detecting motor M and deviation between the speed obtained in differentiator 2.The instruction of speed control 4 Driving Torque.Afterwards, make instruction carry out drive motor through torque controller 6, control the torque of motor.When the rigidity of ball-screw is high, the position of the mover detected by encoder becomes the relative position between workbench and support.Therefore, the control device of motor controls motor according to the mode that this relative position is consistent with position command.
In the past, in the intermetallic composite coating employing metal-working plant, when carrying out the processing needing path accuracy, in order to the change of correspondence position instruction, make slowing of motor, thus process with the unchallenged speed of the vibration of equipment.But, in recent years in order to the reduction of energy ezpenditure and the reduction of manufacturing cost, required processing more at a high speed.But, if utilize the control device of motor in the past to carry out High-speed machining, then there is following problem: causing support to rock because adjusting the rigidity of bolt, between workbench and support, creating vibration, can machining accuracy be reduced.As the method suppressing such vibration, there is the method inserting with notch filter the IIR type prefilter (prefilter) being representative at the input part of position command, or the method for the Tracing Control that uses a model as Patent Document 1.But, in these methods, due to cannot linear phase characteristic be formed, so there is the problem that can not obtain path accuracy.The method vibrated is suppressed to have patent documentation 2 as using this linear phase characteristic.Disclose a kind of Servocontrol device at patent documentation 2, comprising: FIR filter portion, its correction position command signal; Device characteristics compensation section, it, from the position command signal after being corrected by FIR filter portion, makes the assigned frequency components attenuate corresponding with the characteristic of driven object equipment, thus each feed-forward signal of work location, speed and torque; Feedback compensation portion, it, according to each feed-forward signal of the position calculated by device characteristics compensation section, speed and torque, drives driven object equipment.And device characteristics compensation section comprises: position command arithmetic unit, it makes the anti-resonance frequency components attenuate of driven object equipment from position command signal, thus the feed-forward signal of work location; Differentiator, it carries out differential to position command signal; Speed command arithmetic unit, it makes the anti-resonance frequency components attenuate of driven object equipment from the operation values of differentiator, thus the feed-forward signal of arithmetic speed; Arithmetic unit, total inertia of its driven object equipment that is multiplied while differential is carried out to the operation values of differentiator; Torque instruction operational part, it makes the harmonic frequency components of driven object equipment decay from the operation values of arithmetic unit, thus the feed-forward signal of computing torque.But, in the method described in patent documentation 2, employ the FIR filter with linear phase characteristic as prefilter.Therefore, because of the delay of filter, the control characteristic of position can postpone, and when high-speed driving, there is the problem of deteriorated accuracy.
As the additive method of the vibration suppressed between workbench and support, the transducer detecting support vibration is set in addition.But, owing to there is sensor fault etc., therefore can reduce reliability, also there is the problem that cost raises.
On the other hand, as the method suppressing periodic disturbance, there is the method for the peak filter used as shown in non-patent literature 1.In the method that non-patent literature 1 is recorded, by the peak filter be shown below, suppress the periodic disturbance that motor produces.
K
pk＝kω
kp/(s
2+ω
pk 2)
[patent documentation 1] TOHKEMY 2000-92882 publication
[patent documentation 2] TOHKEMY 2004-272883 publication
[non-patent literature 1] the 51st controls associating lecture 629 (the 51st go back to order is driven Lian He Talk from Move system and drilled meeting 629) " the cyclical velocity variation inhibitory control (speed in ピ mono-Network Off イ Le タ To I Ru I P M モ mono-タ cycle becomes Move and suppresses system to be driven) based on the IPM motor of peak filter " automatically
The peak filter represented by above-mentioned formula that non-patent literature 1 is recorded can adjust its size by changing gain k.But if adjustment gain k, then the gain under all frequencies of filter can change, and only can not change the size of peak fractions.In addition, the width of the high part of gain can not be adjusted.Fig. 7 represents the frequency characteristic of this peak filter.In addition, in the technology described in non-patent literature 1, in speed control, additional use peak filter, forms speed control by proportional controller.On the other hand, in order to suppress friction and disturbance etc., the speed control for the location purposes of working equipment etc. is made up of pi controller.Therefore, when storage gain is high, can reduce the effect of peak filter, existing cannot the problem of abundant disturbance suppression.Therefore, though in the suppression of working equipment the direct peak filter of application described in non-patent literature 1, can not the vibration of abundant suppression equipment.
Summary of the invention
The object of the present invention is to provide a kind of can when not using special transducer the vibration of inhibitory control object control object is carried out at a high speed, the control method of the motor of high-precision control and device.
Object more specifically of the present invention is to provide a kind of vibration that can suppress when not using special transducer between workbench and support, carries out at a high speed, the control method of the motor of high-precision control and device to the regulation of the position of working equipment etc.
Control method to liking following motor of the present invention, that is: by make the speed of the motor of drived control object and by speed command order command speed between the torque instruction that obtains through speed control of deviation be supplied to torque controller, thus control motor.Control object is such as comprised and being arranged on support and the workbench etc. driven by motor.In addition, motor, except comprising rotary-type motor, also comprises linear motor.In the present invention, make torque instruction carry out filtering process through peak filter to torque instruction, afterwards torque instruction is supplied to torque controller, wherein, peak filter is configured to the antiresonance characteristic not possessing control object.
The drive unit of motor of the present invention comprises: positioner, its will to be arranged on support and deviation between the position of the mover of the motor of drived control object and position command as input, output speed instruction; Speed control, its using the speed of motor and by speed command order command speed between deviation as input, Driving Torque instruction; Torque controller, torque instruction as input, is controlled the torque of motor by it.Further, in the control device and method of motor of the present invention, between speed control and torque controller, peak filter torque instruction being carried out to filtering process is configured.
As peak filter, as long as adopt the transfer function determined in the following manner, that is: be amplified in the anti-resonance frequency component in the support vibration being provided with and producing between the support of motor and control object, and under the frequency of anti-resonance frequency component, make control object become the Rigid-body System not possessing antiresonance characteristic.
If use such peak filter, then in a certain mechanical system that support is vibrated as control object, such as, when controlling the relative position between support and workbench, the support oscillating component between support and workbench can be suppressed.Its result, owing to can suppress the vibration between support and workbench, therefore, it is possible to realize processing more at a high speed.Its result, even if do not possess the transducer of vibration detecting support, also can at a high speed, control the track of the position of working equipment etc. accurately.
In addition, as transfer function, preferably use the function meeting following formula.
G
pk＝(s
2+g
d·2ζ
pkω
npk·s+ω
npk 2)/(s
2+2ζ
pkω
npk·s+ω
npk 2)，
In above formula, ω
npknatural frequency, ζ
pkattenuation coefficient, g
dit is the ratio of the attenuation coefficient of point parent molecule.In this transfer function, natural frequency ω can be utilized
npkthe centre frequency of adjustment trap, can utilize attenuation coefficient ζ
pkthe width of adjustment trap, and the ratio g of the attenuation coefficient of point parent molecule can be utilized
dthe degree of depth of adjustment trap.And, g
d> 1.If use such transfer function, then can adjust anti-trap characteristic (resonance peak characteristic).
Accompanying drawing explanation
Fig. 1 is the block diagram of the structure of the control device of the motor representing the control method implementing motor of the present invention.
Fig. 2 is the figure of the frequency characteristic representing peak filter.
Fig. 3 (A) is the figure of the frequency response characteristic of the position control system represented when not inserting peak filter, and (B) is the figure of the frequency response characteristic of the position control system represented when inserting peak filter.
Fig. 4 (A) is the figure of the positioning stablity characteristic represented when not inserting peak filter, and (B) is the figure of the positioning stablity characteristic represented when inserting peak filter.
Fig. 5 represents the figure being fixed with the state of motor on the support by supportings such as adjustment bolts.
Fig. 6 is the block diagram of an example of the structure of the control device of the motor represented in the past.
Fig. 7 is the figure of the frequency characteristic representing the peak filter adopted in non-patent literature 1.
In figure: the control device of 1-motor; 2-speed detector; 3-encoder; 4-speed control; 5-positioner; 6-torque controller; 7-peak filter.
Embodiment
Below, the execution mode that present invention will be described in detail with reference to the accompanying.Fig. 1 is the block diagram of the structure of the control device 1 of the motor of the present invention representing the control method implementing motor of the present invention.The control device 1 of the motor of present embodiment comprises speed detector 2, forms encoder 3, speed control 4, positioner 5, torque controller 6, the peak filter 7 of position detector.In the present embodiment, will the mechanical system of workbench be driven as control object by ball-screw shown in Fig. 5.Therefore, motor M is arranged on support.Speed detector 2, based on the output from encoder 3, detects the rotary speed of the rotor of motor M and exports rotary speed.The encoder 3 forming position detector detects the position of rotation of the rotor of motor M.In the present embodiment, encoder 3 is used as the test section (sensor part) of speed detector 2.Position deviation operational part SB1 obtains the position deviation between the position of rotation that exported by the position of position command order and encoder 3.Position command is that never illustrated host controller exports.Positioner 5 using position deviation as input, output speed instruction.Velocity deviation operational part SB2 obtains the velocity deviation between the rotary speed that exported by the command speed of speed command order and speed detector 2.The output of velocity deviation operational part SB2 as input, is produced torque instruction by speed control 4.Torque control division 6 using by the torque instruction after peak filter 7 filtering process as input, control the torque of motor.
Peak filter 7 has transfer function, this transfer function is determined in the following manner, that is: be amplified in the support produced between the support being provided with motor M and control object vibrate in anti-resonance frequency component, and under this frequency, make control object just as not having the rigid system of antiresonance characteristic, carry out action.That is, peak filter 7 has the transfer function of the antiresonance characteristic can eliminating (cancel) control object.
The design of the transfer function of peak filter 7 is described.Peak filter 7 has the transfer function of the notch filter type structure be shown below.
G
pk＝(s
2+g
d·2ζ
pkω
npk·s+ω
npk 2)/(s
2+2ζ
pkω
npk·s+ω
npk 2)
In formula, ω
npknatural frequency, ζ
pkattenuation coefficient, g
dit is the ratio of the attenuation coefficient of point parent molecule.In this transfer function, natural frequency ω can be utilized
npkthe centre frequency of adjustment trap, can utilize attenuation coefficient ζ
pkthe width of adjustment trap, and the ratio g of the attenuation coefficient of point parent molecule can be utilized
dthe degree of depth of adjustment trap.
Be preferably as follows each parameter determining peak filter 7 shown in formula like that.That is, natural frequency ω
npkconsistent with the anti-resonance frequency of control object.Attenuation coefficient ζ
pkconsistent with the attenuation characteristic of the anti-resonance frequency of control object.Compare g
dbeing the gain that equals the anti-resonance frequency of control object according to the degree of depth of trap determines with the mode of the difference of the gain of anti-resonance frequency when control object being only assumed to be rigid body mode.In addition, g
d> 1.
When control have support vibration mechanical system as control object, in the frequency characteristic of the position control system when not having peak filter 7, as shown in Fig. 3 (A), in support vibration frequency, the antiresonance point of the gain reduction corresponding with position command and the resonance point of the position higher than this dot frequency are there is.Therefore, support can not be suppressed to vibrate the vibration of the anti-resonance frequency produced.In addition, the vibration of resonance point is also created., as shown in Fig. 4 (A), in position deviation, there is vibration when carrying out Position Control in its result.In contrast, in the present embodiment, make the frequency of peak filter 7 consistent with support vibration frequency, according to the width of trap of mode determination peak filter 7 of reduction of gain and the degree of depth of trap of improving control object.Its result, amplifies support vibration frequency components by peak filter 7, eliminates resonance point while improving the antiresonance in support vibration frequency.Its result, in support vibration frequency, Position Control also can respond position command.Thus, suppress the vibration of the support vibration frequency components in position deviation, and suppress the vibration between workbench and support.
Fig. 2 represents the frequency characteristic of this peak filter 7.In this frequency characteristic, have advanced in the frequency place phase place lower than centre frequency, in the characteristic of the frequency place delayed phase higher than centre frequency.Thus, suitably suppress the gain reduced because of support vibration, improve phase place, and suppress support to vibrate, thus location at a high speed can be realized.
Fig. 3 (B) represents the frequency response characteristic of position control system when inserting peak filter 7.Can judge from Fig. 3 (B), eliminate resonance point while reducing the reduction of the gain in anti-resonance frequency, further improve the delay of the phase place in support vibration frequency.Fig. 4 (B) represents positioning stablity characteristic when inserting peak filter, the known vibration that inhibit position deviation.
As previously discussed, according to the present embodiment, position control system is being formed in the control device suppressing the motor of the relative position between support and workbench for a certain mechanical system with support vibration, by inserting peak filter 7 in the output of speed control, suitably amplify support and vibrate the anti-resonance frequency component caused, thus inhibit the support oscillating component between support and workbench.Owing to inhibit the vibration between support and workbench, therefore, it is possible to realize processing more at a high speed.Thus, the control device of motor according to the present embodiment, even if do not possess the transducer of vibration detecting support, also can at a high speed, control the location track of working equipment etc. accurately.
In the above-described embodiment, mechanical system is the workbench driven by the ball-screw that is arranged on support, but when using other driving arrangement as control object, can certainly the present invention be applied.In addition, also peak filter can be inserted before speed control.And, be applied in position-based instruction and position deviation directly provides the control system of torque instruction by positioner or provides in the control system of torque instruction based on acceleration instruction and accelerator feedback by acceleration controller, also can obtain same effect.In addition, the present invention also can be applied in testing platform position even load side position but not in the totally-enclosed control system of the position of motor.
(utilizability in industry)
According to the present invention, after peak filter, torque controller is fed into by making torque instruction, thus when not using transducer, can reduce to become the size that vibration produces the peak fractions in the torque instruction of gain, carry out the vibration of inhibitory control object, wherein, described peak filter is determined by transfer function, this transfer function is amplified in the anti-resonance frequency component in the support vibration being provided with and producing between the support of motor and control object, and under the frequency of described anti-resonance frequency component, make control object become Rigid-body System without antiresonance characteristic.
Claims (5)
1. the control method of a motor, this control method by make the speed of the motor of drived control object and by speed command order command speed between the torque instruction that obtains through speed control of deviation be supplied to torque controller, thus control the torque of described motor, the feature of the control method of described motor is
Described torque instruction is supplied to described torque controller after peak filter, this peak filter according to only by be provided with the support produced between the support of described motor and described control object vibrate in anti-resonance frequency component amplify, and under the frequency of described anti-resonance frequency component, make described control object become the mode of the Rigid-body System not possessing antiresonance characteristic, determine transfer function.
2. the control method of motor according to claim 1, is characterized in that,
Described transfer function shows as
G
pk＝(s
2+g
d·2ζ
pkω
npk·s+ω
npk 2)/(s
2+2ζ
pkω
npk·s+ω
npk 2)，
Wherein, ω
npknatural frequency, ζ
pkattenuation coefficient, g
dthe ratio of the attenuation coefficient of point parent molecule, g
d> 1.
3. a control device for motor, it comprises: positioner, its will to be arranged on support and deviation between the position of the mover of the motor of drived control object and position command as input, output speed instruction; Speed control, its using the speed of described motor and by speed command order command speed between deviation as input, Driving Torque instruction; Torque controller, it is using described torque instruction as input, and control the torque of motor, the feature of the control device of described motor is,
The peak filter described torque instruction being carried out to filtering process is configured between described speed control and described torque controller,
Described peak filter is determined in such a way, that is: only by be provided with the support produced between the support of described motor and described control object vibrate in anti-resonance frequency component amplify, and under the frequency of described anti-resonance frequency component, make described control object become the Rigid-body System not possessing antiresonance characteristic.
4. the control device of motor according to claim 3, is characterized in that,
Described peak filter determines transfer function in the following manner, that is: be amplified in the support produced between support and described control object being provided with described motor vibrate in anti-resonance frequency component, thus control described support vibration.
5. the control device of motor according to claim 4, is characterized in that,
Described transfer function shows as
G
pk＝(s
2+g
d·2ζ
pkω
npk·s+ω
npk 2)/(s
2+2ζ
pkω
npk·s+ω
npk 2)，
Wherein, ω
npknatural frequency, ζ
pkattenuation coefficient, g
dthe ratio of the attenuation coefficient of point parent molecule, g
d> 1.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010048670A JP5574762B2 (en) | 2010-03-05 | 2010-03-05 | Motor control device |
| JP2010-048670 | 2010-03-05 |
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|---|---|
| CN102195545A CN102195545A (en) | 2011-09-21 |
| CN102195545B true CN102195545B (en) | 2015-02-25 |
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| CN201110057114.6A Active CN102195545B (en) | 2010-03-05 | 2011-03-03 | Electric motor controller |
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|---|---|
| JP (1) | JP5574762B2 (en) |
| CN (1) | CN102195545B (en) |
| TW (1) | TWI508425B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102570956B (en) * | 2012-02-17 | 2014-08-20 | 南京国电环保设备有限公司 | Direct-current motor control method based on resonance suppression |
| JP5657633B2 (en) | 2012-12-14 | 2015-01-21 | ファナック株式会社 | Servo control device for correcting position error when moving body is reversed |
| JP6041762B2 (en) * | 2013-07-09 | 2016-12-14 | 山洋電気株式会社 | Motor control device |
| JP6342747B2 (en) * | 2014-08-22 | 2018-06-13 | 株式会社デンソー | Control device for rotating electrical machine |
| JP6154435B2 (en) * | 2015-07-09 | 2017-06-28 | ファナック株式会社 | Servo control device with function to display online automatic adjustment status of control system |
| CN108153242A (en) * | 2017-12-23 | 2018-06-12 | 西安交通大学 | A kind of feed system servo controller and its control method and parameter setting method |
| CN110798084A (en) * | 2019-11-01 | 2020-02-14 | 四川英杰电气股份有限公司 | Control detection system and method for direct-current power supply unit |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101088703A (en) * | 2006-06-15 | 2007-12-19 | 发那科株式会社 | Motor control device |
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| JP2000092882A (en) * | 1998-09-18 | 2000-03-31 | Yaskawa Electric Corp | Position controller of two-inertial system |
| JP4664576B2 (en) * | 2001-03-30 | 2011-04-06 | 三菱電機株式会社 | Servo control device |
| JP4391218B2 (en) * | 2003-02-20 | 2009-12-24 | 三菱電機株式会社 | Servo control device |
| JP2005108162A (en) * | 2003-09-12 | 2005-04-21 | Ricoh Co Ltd | Servo control device |
| JP2009303432A (en) * | 2008-06-17 | 2009-12-24 | Hitachi Industrial Equipment Systems Co Ltd | Position controller using motor |
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- 2010-03-05 JP JP2010048670A patent/JP5574762B2/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101088703A (en) * | 2006-06-15 | 2007-12-19 | 发那科株式会社 | Motor control device |
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| Publication number | Publication date |
|---|---|
| JP2011188571A (en) | 2011-09-22 |
| TW201212519A (en) | 2012-03-16 |
| JP5574762B2 (en) | 2014-08-20 |
| CN102195545A (en) | 2011-09-21 |
| TWI508425B (en) | 2015-11-11 |
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