CN102545765A - Motor control apparatus and method - Google Patents
Motor control apparatus and method Download PDFInfo
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- CN102545765A CN102545765A CN2011104106552A CN201110410655A CN102545765A CN 102545765 A CN102545765 A CN 102545765A CN 2011104106552 A CN2011104106552 A CN 2011104106552A CN 201110410655 A CN201110410655 A CN 201110410655A CN 102545765 A CN102545765 A CN 102545765A
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Abstract
The invention provides a motor control apparatus and method, capable of reducing the deviation amount of the rail and the track by compensating the elastic deformation of the driving belt in a movement mechanism of low rigidity of a force conveying unit. The position instructions are made to pass a pre-filter (3). Then, the deviation between the position instruction and the position feedback is obtained and the deviation is made to calculate a speed instruction via a position control portion (2). The deviation of the speed instruction and the speed is obtained via a speed control portion (7) to calculate a torque instruction. According to the torque instruction, the torque instruction is made to drive the motor via a power converter inside the torque control portion (8). According to the torque instruction and the motor speed, a load torque observer (9) is utilized for estimating the load torque. The load torque times the compensation gain of the elastic deformation compensation corresponding to the track of the application point of the movement mechanism can get the compensating amount. The compensating amount is added to the position deviation via a vibration suppression filter.
Description
Technical field
The present invention relates to comprise as the motion of the driving-belt (belt) of power transfer unit control device and control method as the motor of load.
Background technology
The motion that comprises as the driving-belt of power transfer unit is employed in the machineries such as robot.Be in the motor of load with such motion, the precision of the Position Control of the application point of requirement raising motion.For example, Fig. 4 has been to use the formation example of the articulated robot of 2 motor.Come actuating arm 101 through motor M1 via driving-belt B1, the leading section (application point) of service portion 103 of the front end of the arm 102 that is arranged at robot is moved along the track that is predetermined.In such robot, motor M1 and M2 are being driven under the situation of transfer arm 101 and 102, motor M1 and M2 both sides are applied in external force, cause the track of front end of the service portion 103 of robot to depart from track originally sometimes.This be because set up a side's of driving-belt axle receive from the opposing party spool the influence of power, produced and the corresponding site error of the strain of driving-belt B2.In transfer robot etc., if the track of the service portion 103 of robot departs from track originally significantly, then might be when moving into object and on every side other object collision.Therefore, need reduce the bias of track and track as much as possible.Therefore, in the prior art, come drive motor with the speed that can not receive the external force effect.
As the example of the influence of the strain of the such mechanical system of revisal, the technology of the distortion of revisal reductor has been shown in patent documentation 1 (JP speciallys permit communique No. 3654475).In this example, detect motor current, the motor current that goes out based on instrumentation in advance and the relation of distortion are calculated distortion revisal amount, and position command is applied revisal.
In addition, the example as the strain of revisal position control device exists in the technology shown in the patent documentation 2 (JP speciallys permit communique No. 3982308).In this example; According to the estimation perturbed force that in Interference Estimation portion, estimates; Estimating that controlling object arrives on the time point of target location remains in the elastic deformation amount in the detent mechanism; The position that will on the target location, add the elastic deformation amount positions control as new target location, after controlling object arrives new target location, returns the Position Control of elastic deformation amount's part.
Patent documentation 1:JP speciallys permit communique No. 3654475
Patent documentation 2:JP speciallys permit communique No. 3982308
But, in the technology of patent documentation 1, only revisal the corresponding twist angle of torque that is produced with motor.Patent documentation 1 is not the technology that enlightenment compensates the strain of the driving-belt that is caused by interference.In addition, the technology of patent documentation 2 is the targets that are improved as with the positioning accuracy of controlling object, therefore is that the revisal during with the location is the compensation at center.Therefore, the compensation of the location track of the controlling object in the process till in patent documentation 2, not proceeding to the location.In addition, in the technology that patent documentation 1 and 2 is put down in writing, owing to do not consider the vibration of mechanical system, therefore can not be suppressed at the mechanical oscillation under the situation of the compensation that has applied strain.
Summary of the invention
The objective of the invention is to solve such problem; Provide a kind of and carry out revisal, can reduce the control device of electric motor and the control method of the bias of track and track comprising as the strain of the driving-belt in the motion of the lower driving-belt of the rigidity of power transfer unit.
Another object of the present invention is to provide the vibration of a kind of not exciting motion mechanism, though the high-speed driving motor, control device of electric motor that path accuracy also can not reduce significantly and control method.
Control device of electric motor of the present invention possesses: position detection part, speed calculation portion, position control section, speed controlling portion, torque control part and compensation rate operational part.Position detection part is in order to control as the motor of load comprising as the motion of the driving-belt of power transfer unit, and detects the position (position of rotation of rotor) of motor.The speed (rotary speed of rotor) of motor is calculated by speed calculation portion.Position control section is according to making the position feedback mode consistent with position command from the position of the expression motor of position detection part feedback come output speed to instruct, thereby carries out Position Control.Speed controlling portion is according to making the speed mode consistent with speed command from speed calculating part feedback export torque instruction, thereby carries out speed control.The torque control part carries out torque control according to torque instruction.The compensation rate operational part comes computing to be used to be added in the compensation rate on the position deviation that is input to position control section according to the mode of the bias between the track of the track of the application point of the motion that reduces to be predetermined and application point.The compensation rate operational part possesses: load torque estimating section, compensating gain storage part and multiplying portion.What speed that the load torque estimating section is calculated according to speed calculation portion and torque instruction were estimated in motion, to produce comprises the distortion torque in interior load torque.That compensating gain storage part and interval each of continuous a plurality of position command are stored accordingly is that test through in advance determines, in order to reduce the compensating gain that bias needs.Then, multiplying portion will be with the position command input and multiply each other the computing compensation rate from compensating gain and load torque that the compensating gain storage part is obtained.
In the present invention, estimate load torque according to torque instruction and electromotor velocity.Then, this load torque multiply by the compensating gain that is used to carry out with the corresponding strain compensation of the track that is predetermined of the application point of motion, ask for compensation rate.Owing in load torque, comprise the distortion torque that the strain because of the driving-belt in the motion produces, therefore this load torque multiply by compensating gain and the compensation rate that obtains is suitable for carrying out the compensation of strain most.Therefore, in the present invention, through this compensation rate is added on the position deviation, the track of the application point of the motion that reduces to produce and the bias of track because of strain.Particularly in the present invention, because therefore the test through in advance and determined compensating gain accordingly with interval each of a plurality of position command, can obtain the suitable compensation amount, can suitably reduce bias.
In addition, the preferred setting removed the 1st filter (vibration suppression filter) that makes the oscillating component that motion faintly vibrates that is included in the compensation rate.In addition, preferred also the setting removed the 2nd filter (prefilter) that makes the oscillating component that motion faintly vibrates that is included in the position command.If use such filter, weak vibration that then can inhibitory action point.In addition, the 1st and the 2nd filter (vibration suppression filter) for example can be made up of notch filter etc.
In method of motor control of the present invention, each is corresponding with continuous a plurality of position command are interval, and the test through in advance decides in order to reduce the compensating gain that bias needs.The speed and the torque instruction of being calculated according to speed calculation portion in addition, estimate to comprise the distortion torque in interior load torque.Then; What will determine according to position command multiplies each other with interval corresponding compensating gain and the load torque of position command; Come computing to be used to reduce the compensation rate of bias, and compensation rate is added on the position deviation between the value of feedback of position of position command and expression motor.
Description of drawings
Fig. 1 is the figure of formation of the system in being formed in an of example of the expression execution mode that comprises control device of electric motor of the present invention.
Fig. 2 is illustrated under the situation that drives motion shown in Figure 4, compensation rate is not added in a routine figure of the relation of the speed of the motor under the situation on the position deviation and the positional precision of application point (front position precision).
Fig. 3 is the figure that expression is added in compensation rate the relation of the speed of the motor under the situation on the position deviation and the positional precision of application point (front position precision).
Fig. 4 is the figure of an example of the motion of the expression articulated robot that uses 2 motor.
Symbol description
1 speed calculation portion
2 position control section
3 prefilters (the 2nd filter)
4 subtraction unit
5 add operation unit
6 subtraction unit
7 speed controlling portions
8 torque control parts
9 load torque observers (load torque estimating section)
10 compensation rate operational parts
11 multiplying portions
12 compensating gain storage parts
13 vibration suppression filters (the 1st filter)
102 arms
103 service portions
M1, M2 motor
The MS mechanical system
The B2 driving-belt
The E encoder
S1～S3 position command is interval
G1～G3 compensating gain
Embodiment
Below, specify the example of execution mode of control device of electric motor of the present invention of the method for embodiment of the present invention with reference to accompanying drawing.Fig. 1 is the figure of system in being formed in an of example of the expression execution mode that comprises control device of electric motor of the present invention.This system uses in the control of motor M2 shown in Figure 4.Therefore, the mechanical system MS that drives through motor M2 is the motion of the driving-belt B2 that comprises Fig. 4, arm 102, service portion 103.In this system, be the position detection part of the position of motor M2 as detecting controlling object, possess encoder E.The output of encoder E is the position feedback of representing the position of the output shaft of motor M2.Speed calculation portion 1 constitutes the speed of calculating motor M2 according to the output of encoder E, and the output of speed calculation portion 1 becomes speed feedback.Speed feedback is represented the speed of the output shaft of motor M2.Position control section 2 constitutes: carry out Position Control according to making from instructing as the position feedback mode output speed consistent with position command of the position of the expression motor M2 of the encoder E of position detection part feedback.In this execution mode, will offer subtraction unit 4 through prefilter (the 2nd filter) 3 from the position command that last level controller provides.Prefilter 3 is made up of notch filter vibration suppression filters such as (notch filter), and this notch filter is removed the oscillating component that motion is faintly vibrated that is included in the position command.Subtraction unit 4 is obtained from the position feedback of the position of the expression motor M2 of encoder E output with through the deviation between the position command of Filtering Processing, and this deviation is exported as position deviation.
Position deviation is imported into add operation unit 5.Add operation unit 5 with position deviation with after the compensation rate stated mutually adduction export to position control section 2.Position control section 2 according to position deviation with after the add operation value that obtains of the compensation rate addition stated to instruct to subtraction unit 6 output speeds.
Deviation between the rotary speed of output shaft of the motor M2 that speed command and speed calculation portion 1 calculated is obtained as velocity deviation in subtraction unit 6, and exports to speed controlling portion 7.Speed controlling portion 7 passing ratio integral control according to making the speed mode consistent with speed command from speed calculating part 1 feedback export torque instruction, thereby are carried out speed control.Torque instruction is imported into torque control part 8, and torque control part 8 carries out the torque control of motor M2 according to torque instruction.
In this execution mode, as the load torque estimating section of estimating the load torque that motor M2 is suffered, working load torque observer (observer) 9.Load torque observer 9 constitutes according to torque instruction and speed estimates to comprise friction torque, distortion torque in interior load torque.This observer 9 in detail to roll up No. 11 interference torque estimator essence shown in the 1126th page～the 1132nd page identical with " electricity opinion " D110 that puts down into distribution in 2 years.
The estimated load torque that goes out of load torque observer 9 is imported into compensation rate operational part 10.Compensation rate operational part 10 comes computing to be used to be added in the compensation rate on the position deviation that is input to position control section 2 according to the mode of the bias between the track of the track of the front end (application point) of the service portion 103 (Fig. 4) of the motion that reduces to be predetermined (MS) and application point.The compensation rate operational part of this execution mode possesses multiplying portion 11 and compensating gain storage part 12.Multiplying portion 11 will be that the estimated load torque that goes out of input and the compensating gain obtained from compensating gain storage part 12 and load torque observer 9 multiplies each other with the position command, come the computing compensation rate.In this execution mode, make compensation rate through vibration suppression filter (the 1st filter) 13, remove be included in the compensation rate make the oscillating component that motion faintly vibrates after, compensation rate is offered add operation unit 5.
In compensating gain storage part 12; Store the compensating gain that the test through in advance determines accordingly with interval each of continuous a plurality of position command, this compensating gain is bias and the compensating gain of needs between the track of track and application point of application point of the motion that is used to reduce to be predetermined.In Fig. 2; Show under the situation that drives motion shown in Figure 4; Compensation rate is not added in an example of the relation of the speed of the motor M2 under the situation on the position deviation and the positional precision of application point (front position precision); Shown in Fig. 3 under the condition identical with Fig. 2, compensation rate is added in the relation of the speed of the motor M2 under the situation on the position deviation and the positional precision of application point (front position precision).At this, the track of the application point of the positional precision of application point (front position precision) expression motion and the bias between the track, if do not depart from, then the line of positional precision becomes straight line.In addition, the positional precision of the application point of Fig. 2 and Fig. 3 (front position precision) the known position measuring device that utilizes laser to measure the position of mobile object through the use track of measuring application point obtains.In Fig. 2, more cataclysmal reason takes place the positional precision of application point (front position precision) is in motion, to contain driving-belt B2 (Fig. 4), and this driving-belt B2 is flexible.If do not have the flexible of driving-belt B2, the then positional precision of application point (front position precision) change hardly.
In this execution mode; As shown in Figure 3; Corresponding with each of the interval S1～S3 of continuous a plurality of position command, the test through in advance has been predetermined the gain compensation G1～G3 that needs for the bias between the track of the track of the application point that reduces motion and application point.Gain compensation G1～G3 is like the acquisition of getting off: when the test of carrying out in advance; Measure the positional precision (Fig. 2) of the application point under the situation that does not add compensation rate; Confirm the interval S1～S3 of the position command that should compensate according to measuring the result, and decision is fit to the compensating gain of the interval S1～S3 of definite position command.As shown in Figure 3, under the long situation of S1～S3 between the instruction area, position, no matter how doing compensation precision all can variation.How to confirm the interval S1～S3 of position command, in addition what kind of value compensating gain be set at as long as decide according to the purposes of motion.In addition, so long as can obtain the compensating gain of the positional precision of application point shown in Figure 3, then can be used in fully in the control of the motor that in the driving of the motion of transfer robot, uses.
In this execution mode, make position command pass through prefilter 3, obtain the deviation of position command and position feedback afterwards, thereby and make this deviation calculate speed command through position control section 2.Obtain speed command and velocity deviation then, thereby and make this deviation calculate torque instruction through speed controlling portion 7.According to this torque instruction, make this torque instruction come drive motor through the power converter in the torque control part 8.In addition,, estimate load torque, this load torque multiply by the compensating gain that is used to carry out with the corresponding strain compensation of track of the application point of motion through load torque observer 9 according to torque instruction and electromotor velocity, thus the compensation rate of asking for.Be added on the position deviation after making this compensation rate through vibration suppression filter 13.In addition, in this execution mode, the track of the application point of motion has been carried out 3 grades compensation, but also can come further to improve track through the compensation of carrying out more multistage number, there is no question about for this.
According to the present invention; Estimate load torque through the load torque estimating section; Carry out and the corresponding strain compensation of the track of the application point of this load torque and motion; Do not excite the influence of the suffered external force of the caused application point that suppresses motion quiveringly of strain compensation, can improve the path accuracy of the application point of motion thus.
Claims (6)
1. control device of electric motor, it possesses:
Position detection part, its detection will comprise driving-belt as the power transfer unit in the position of interior motion as the motor of load;
Speed calculation portion, it calculates the speed of said motor;
Position control section, it carries out Position Control according to the position feedback mode output speed consistent with position command from the position of the said motor of expression of said position detection part feedback instructed;
Speed controlling portion, it carries out speed control according to making the said speed mode consistent with said speed command from said speed calculation portion feedback export torque instruction;
The torque control part, it carries out torque control according to said torque instruction; With
The compensation rate operational part; It is according to the mode of the bias between the track of the track of the application point of the said motion that reduces to be predetermined and said application point; Come computing to be used to be added in and be imported into the said position command of said position control section and the compensation rate on the position deviation between the said position feedback
Said compensation rate operational part possesses:
What load torque estimating section, speed that it is calculated according to said speed calculation portion and said torque instruction were estimated to produce in the said motion comprises the distortion torque in interior load torque;
That compensating gain storage part, itself and interval each of continuous a plurality of position command are stored accordingly is that test through in advance determines, in order to reduce the required compensating gain of said bias; With
Multiplying portion, its will with said position command serve as the input and multiply each other from said compensating gain and said load torque that said compensating gain storage part is obtained, come the said compensation rate of computing.
2. control device of electric motor according to claim 1 is characterized in that,
Said control device of electric motor also possesses the 1st filter, and the 1st filter is removed the oscillating component that said motion is faintly vibrated that is included in the said compensation rate.
3. control device of electric motor according to claim 1 and 2 is characterized in that,
Said control device of electric motor also possesses the 2nd filter, and the 2nd filter is removed the oscillating component that said motion is faintly vibrated that is included in the said position command.
4. method of motor control uses the bias between the track of track and said application point of application point of the motion that control device of electric motor reduces to be predetermined,
Wherein said control device of electric motor possesses:
Position detection part, its detection will comprise driving-belt as the power transfer unit in the position of interior said motion as the motor of load;
Speed calculation portion, it calculates the speed of said motor;
Position control section, it carries out Position Control according to the position feedback mode output speed consistent with position command from the position of the said motor of expression of said position detection part feedback instructed;
Speed controlling portion, it carries out speed control according to making the said speed mode consistent with said speed command from said speed calculation portion feedback export torque instruction; With
The torque control part, it carries out torque control according to said torque instruction,
Said method of motor control is characterised in that,
Each is corresponding with continuous a plurality of position command are interval, and the test decision through in advance is in order to reduce the required compensating gain of said bias,
What speed of being calculated according to said speed calculation portion and said torque instruction were estimated to produce in the said motion comprises the distortion torque in interior load torque,
What will determine according to said position command multiplies each other with interval corresponding said compensating gain and the said load torque of said position command; Come computing to be used to reduce the compensation rate of said bias, said compensation rate is added on the position deviation between said position command and the said position feedback.
5. method of motor control according to claim 4 is characterized in that,
Remove the oscillating component that said motion is faintly vibrated that is included in the said compensation rate.
6. according to claim 4 or 5 described method of motor control, it is characterized in that,
Remove the oscillating component that said motion is faintly vibrated that is included in the said position command.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-281642 | 2010-12-17 | ||
| JP2010281642A JP2012130214A (en) | 2010-12-17 | 2010-12-17 | Motor control device and motor control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102545765A true CN102545765A (en) | 2012-07-04 |
Family
ID=46351866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011104106552A Pending CN102545765A (en) | 2010-12-17 | 2011-12-12 | Motor control apparatus and method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2012130214A (en) |
| CN (1) | CN102545765A (en) |
| TW (1) | TW201238233A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103853099A (en) * | 2012-11-30 | 2014-06-11 | 发那科株式会社 | SERVO CONTROL device WITH POSITION COMPENSATION FUNCTION FOR DRIVEN MEMBER |
| CN105144573A (en) * | 2013-03-19 | 2015-12-09 | 株式会社安川电机 | Motor drive system, motor controller, and motor |
| CN105191116A (en) * | 2013-04-09 | 2015-12-23 | 松下知识产权经营株式会社 | Motor drive device |
| CN105359406A (en) * | 2013-07-09 | 2016-02-24 | 松下知识产权经营株式会社 | Control device for motor |
| CN110303346A (en) * | 2018-03-27 | 2019-10-08 | 发那科株式会社 | Control device of electric motor |
| CN110307931A (en) * | 2019-07-05 | 2019-10-08 | 中国科学院重庆绿色智能技术研究院 | A kind of clutch moment of torque dynamic self-calibration platform and method |
| CN111034010A (en) * | 2017-12-18 | 2020-04-17 | 欧姆龙株式会社 | Synchronous control device |
| CN111587530A (en) * | 2018-01-09 | 2020-08-25 | 松下知识产权经营株式会社 | Control device for motor |
| CN112022621A (en) * | 2020-09-14 | 2020-12-04 | 中国医科大学附属盛京医院 | Rehabilitation training device for achilles tendon contracture and ankle joint dyskinesia |
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| KR101501390B1 (en) * | 2013-11-28 | 2015-03-10 | 엘에스엠트론 주식회사 | Apparatus and method for controlling position of motor |
| JP2020108255A (en) * | 2018-12-27 | 2020-07-09 | 富士電機株式会社 | Servo amplifier and servo system |
| JP6885436B2 (en) | 2019-09-11 | 2021-06-16 | 富士電機株式会社 | Servo amplifier and servo system |
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| CN103853099B (en) * | 2012-11-30 | 2018-01-16 | 发那科株式会社 | The Servocontrol device of position correction function with driven member |
| US10247301B2 (en) | 2012-11-30 | 2019-04-02 | Fanuc Corporation | Servo control system with position compensation function for driven member |
| CN103853099A (en) * | 2012-11-30 | 2014-06-11 | 发那科株式会社 | SERVO CONTROL device WITH POSITION COMPENSATION FUNCTION FOR DRIVEN MEMBER |
| CN105144573A (en) * | 2013-03-19 | 2015-12-09 | 株式会社安川电机 | Motor drive system, motor controller, and motor |
| CN105191116A (en) * | 2013-04-09 | 2015-12-23 | 松下知识产权经营株式会社 | Motor drive device |
| CN105191116B (en) * | 2013-04-09 | 2018-10-16 | 松下知识产权经营株式会社 | Motor drive |
| CN105359406A (en) * | 2013-07-09 | 2016-02-24 | 松下知识产权经营株式会社 | Control device for motor |
| CN105359406B (en) * | 2013-07-09 | 2017-03-29 | 松下知识产权经营株式会社 | The control device of motor |
| CN111034010B (en) * | 2017-12-18 | 2023-07-25 | 欧姆龙株式会社 | Synchronous control device |
| CN111034010A (en) * | 2017-12-18 | 2020-04-17 | 欧姆龙株式会社 | Synchronous control device |
| CN111587530B (en) * | 2018-01-09 | 2023-12-22 | 松下知识产权经营株式会社 | Control device for motor |
| CN111587530A (en) * | 2018-01-09 | 2020-08-25 | 松下知识产权经营株式会社 | Control device for motor |
| CN110303346A (en) * | 2018-03-27 | 2019-10-08 | 发那科株式会社 | Control device of electric motor |
| CN110303346B (en) * | 2018-03-27 | 2020-12-01 | 发那科株式会社 | Motor control device |
| CN110307931A (en) * | 2019-07-05 | 2019-10-08 | 中国科学院重庆绿色智能技术研究院 | A kind of clutch moment of torque dynamic self-calibration platform and method |
| CN112022621A (en) * | 2020-09-14 | 2020-12-04 | 中国医科大学附属盛京医院 | Rehabilitation training device for achilles tendon contracture and ankle joint dyskinesia |
| CN114142781A (en) * | 2021-12-14 | 2022-03-04 | 北京工业大学 | Method for setting PI (proportional integral) parameter of current loop of permanent magnet synchronous motor of pre-filter |
| CN114142781B (en) * | 2021-12-14 | 2023-07-14 | 北京工业大学 | Method for adjusting PI parameters of current loop of pre-filter permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201238233A (en) | 2012-09-16 |
| JP2012130214A (en) | 2012-07-05 |
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Application publication date: 20120704 |