CN102739132A - Control device of motor for driving main shaft - Google Patents
Control device of motor for driving main shaft Download PDFInfo
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- CN102739132A CN102739132A CN2012100912982A CN201210091298A CN102739132A CN 102739132 A CN102739132 A CN 102739132A CN 2012100912982 A CN2012100912982 A CN 2012100912982A CN 201210091298 A CN201210091298 A CN 201210091298A CN 102739132 A CN102739132 A CN 102739132A
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Abstract
The invention provides a control device, which mainly solves the problem of unstable control on the speed of a motor when a main shaft position is applied in the feed control of the motor speed for detection results after a slide happens between the motor and the main shaft due to the large load exerted on the main shaft. The device comprises a speed control part for outputting a current instruction value according to a position instruction value; a current detection part for detecting a current flowing through the motor; a first speed presuming part for presuming the first speed of the motor according to the motor; a second speed presuming part according to the main shaft speed calculated based on the main shaft position detected by a sensor equipped adjacent to the main shaft and a gear ratio; and a load calculating part for calculating the value of the motor load. When the motor load value is above a preset value, then the speed control part calculates the current instruction value through the first speed. While the motor load value is below the preset value, then the second speed is applied for calculating the current instruction value.
Description
Technical field
The present invention relates to the control device of main shaft drives, particularly the control device of the speed of the motor of the speed adjusting mechanism controlling and driving main shaft through having predetermined gear ratio with motor.The application is willing to require priority 2011-079162 number for the spy of Japan's patent application of applying on March 31st, 2011, through reference its all group is gone in this specification.
Background technology
In machine tool field, just do not using and on the motor of the main shaft that drives lathe, motor such as induction motor velocity transducer, so-called Speedless sensor are being set.In the control of this motor,, infer the speed of motor thus according to the speed of the electric current that flows through motor (actual current) use computed in software motor.The control device that is used to control motor carries out the control (for example with reference to Japan's patent application, the spy opens the 2002-51594 communique) of the speed of motor according to the speed of inferring out.Generally, such motor only needing to be used for the purposes of speed control.
Fig. 7 representes as above-mentioned the structure according to the existing control device of the speed control motor of inferring from the actual current that flows through motor.Existing control device 100 has first adder 2, speed controlling portion 3, current control division 4, power amplifier 5, current detecting part 6 and speed estimating portion 70, control lathe 20.
First adder 2 is exported after from speed value, deducting the speed of inferring by 70 outputs of speed estimating portion.Speed controlling portion 3 is exported output current command value as a result according to this.Current control division 4 is according to current instruction value control power amplifiers 5.Power amplifier 5 is used to drive distribution 22 output currents of electric current of the motor 21 of lathe 20 to supply.Electric current through 5 outputs of current detecting part 6 detection power amplifiers feeds back to current control division 4, and to 70 outputs of speed estimating portion.Speed estimating portion 70 is according to the speed of inferring of current detecting part 6 detected electric current calculating motors, to first adder 2 outputs.
As the main shaft of the lathe in the lathe, need to use in the purposes of Position Control under the situation of induction motor of Speedless sensor of above-mentioned that kind; Sometimes be utilized in the transducer of installing on the main shaft that is used to detect position of rotation, in the speed feedback of motor, substitute its feedback pulse.Fig. 8 representes to have the structure of the existing control device of such mode.Existing control device 100 except existing control device shown in Figure 7, also has second adder 11 and position control section 1.Position control section 1 is used to control the speed value of the speed of motor 21 to speed controlling portion 3 output according to the position command value.
In addition, as above-mentioned, be used to comfortable main axis rotation body near under the situation of positional information of transducer of setting, the ring gain (speed ring gain) in the time of can setting speed (electromotor velocity) control of carrying out motor than the highland.And then, the ring gain (position ring gain) in the time of also can controlling than the position (main spindle's) of highland setting carrying out main shaft.Here, so-called " ring gain " is the sensitivity in the FEEDBACK CONTROL, improves the ring gain and can suppress error, and the ring gain can make action level and smooth when reducing.
Here, be utilized in the main axis rotation body near under the situation of testing result control motor of transducer of setting, in the speed adjusting mechanism that is provided with for the power that transmits motor to main shaft, slide sometimes.Under the little situation of the load that applies on the main shaft, slide hardly.Therefore, can be to the spindle speed testing result control electromotor velocity of control device feedback from transducer 29.But, under the big situation of the load that applies on the main shaft, between motor and main shaft, slide sometimes.Taking place under the situation of sliding, when utilizing the spindle speed testing result that goes out by near the sensor that the main axis rotation body, is provided with in the FEEDBACK CONTROL at electromotor velocity, the problem that the control of generation electromotor velocity becomes unstable such.
Summary of the invention
Control device of the present invention is the control device via the speed of the motor of the speed adjusting mechanism controlling and driving main shaft with predetermined gear ratio; It is characterized in that; Have: speed controlling portion, it is used to control the current instruction value of electromotor velocity according to the output of position command value; Current detecting part, its motor detect the electric current that flows through motor under driven situation according to current instruction value; The first speed estimating portion, it infers first speed of motor according to detected electric current; Second speed is inferred portion, and it infers the second speed of motor according to spindle speed and gear ratio, and wherein, the main spindle's that goes out according to the sensor through near setting main shaft calculates said spindle speed; And load operational part; The value of its calculating motor load; Speed controlling portion is under the situation more than the value that the value of the induction-motor load that calculates is being scheduled to; Use the first speed calculation current instruction value, under the situation of the predetermined value of the value deficiency of the induction-motor load that calculates, use second speed to calculate current instruction value.
In the control device of another embodiment of the present invention, also has storage part; It stores gain of first speed ring and the second speed ring gain higher than the gain of first speed ring; Be used as the ring gain that speed controlling portion uses for calculating current instruction value; Speed controlling portion is under the situation more than the value of being scheduled in the value of induction-motor load; Use the first speed ring gain calculating current instruction value, under the situation of the predetermined value of the value deficiency of induction-motor load, use than the high second speed ring gain calculating current instruction value of first speed ring gain.
Position control section also is set in the control device of another embodiment of the present invention; It is used to control the speed value of main spindle's to speed controlling portion output according to the position command value; Gain of storage portion stores primary importance ring and the second place ring gain higher than the gain of primary importance ring; Being used as position control section is the ring gain that the computational speed command value is used, and position control section is used primary importance ring gain calculating speed value under the situation more than the value that the value of induction-motor load is being scheduled to; Under the situation of the predetermined value of the value deficiency of induction-motor load, use than the high second place ring gain calculating speed value of primary importance ring gain.
In control device of the present invention, the value of operational part of preferably loading based on current instruction value decision induction-motor load.
According to control device of the present invention; Because size according to the load that on main shaft, applies; Speed estimating value that switching is calculated according to the galvanometer of motor and the speed estimating value of calculating according to the speedometer of main shaft; Carry out the control of electromotor velocity, so no matter the size of the load that on main shaft, applies can be carried out the control of electromotor velocity accurately.
And then; According to the control device of another embodiment of the present invention,, change the size of the speed ring gain that is used for speed control because according to the size of the load that on main shaft, applies; So no matter the size of the load that on main shaft, applies can be carried out the control of electromotor velocity accurately.
In addition; According to the control device of another embodiment of the present invention,, change the size of the position ring gain that is used for Position Control because according to the size of the load that on main shaft, applies; So no matter the size of the load that on main shaft, applies can be carried out the control of main spindle's accurately.
Description of drawings
Fig. 1 is the structure chart of the control device of embodiments of the invention 1.
Fig. 2 is the flow chart of expression through the process of the control method of the control device control electromotor velocity of embodiments of the invention 1.
Fig. 3 is the structure chart of the control device of embodiments of the invention 2.
Fig. 4 is the flow chart of expression through the process of the control method of the control device control electromotor velocity of embodiments of the invention 2.
Fig. 5 is the structure chart of the control device of embodiments of the invention 3.
Fig. 6 is the flow chart of expression through the process of the control method of the control device control electromotor velocity of embodiments of the invention 3.
Fig. 7 is the structure chart of the control device of prior electric motor speeds.
Fig. 8 is the structure chart of the control device of prior electric motor speeds.
Embodiment
Control device of the present invention is described with reference to the accompanying drawings.But technical scope of the present invention is not limited to these execution modes, hopes to be careful to relate to invention and this point of equivalent thereof of in claims, putting down in writing.
[embodiment 1]
The control device of embodiments of the invention 1 at first is described.Fig. 1 representes the structure chart of the control device of embodiments of the invention 1.Control device 101 has position control section 1, first adder 2, speed controlling portion 3, current control division 4, power amplifier 5, current detecting part 6, the first speed estimating portion 7, second speed is inferred portion 8, spindle speed operational part 9, second adder 11, load operational part 12, switch control portion 13 and first switch SW
1The structure of lathe 20 is because the existing structure of representing with Fig. 8 is identical, so omit detailed explanation.
Position control section 1 is used to control the speed value of main spindle's to speed controlling portion 3 outputs according to the position command value of importing from the outside of control device 101.Speed controlling portion 3 calculates the current instruction value that is used to control electromotor velocity according to the speed value of being calculated, exporting according to the position command value by position control section 1, and it is exported to current control division 4.
The electric current that the first speed estimating portion 7 detects according to current detecting part 6 is inferred first speed of motor 21.The gear ratio that second speed is inferred the speed adjusting mechanism 24 that portion 8 is provided with according to spindle speed with between motor 21 and main shaft 25 is inferred the second speed of motor 21; Wherein, this spindle speed by spindle speed operational part 9 according to main shaft 25 with the main axis rotation body 28 of identical speed rotation near the transducer 29 detected main spindle's of setting calculate.
The value of load operational part 12 calculating motors load.The value of induction-motor load preferably decides according to the current instruction value of speed controlling portion 3 outputs.
First switch SW
1Portion 8 is inferred with second speed by the first speed estimating portion 7 of switching according to the selection signal from switch control portion 13, switches the speed of inferring to first adder 2 outputs.Switch control portion 13 is switched first switch SW according to the value output of the induction-motor load that load operational part 12 calculates
1The selection signal.Promptly under the situation more than the value that the value of the induction-motor load that load operational part 12 calculates is being scheduled to, make speed controlling portion 3 use the output of the first speed calculation current instruction value ground to select signal, so that in first switch SW
1The middle first speed estimating portion 7 of selecting.On the other hand, under the situation of value less than predetermined value of induction-motor load, make speed controlling portion 3 use second speed to calculate the output of current instruction value ground and select signal, so that in first switch SW
1The middle second speed of selecting is inferred portion 8.
Then use the flowchart text of representing among Fig. 2 to use the control method of the control device of embodiments of the invention 1.At first in step S101, process the order of beginning for control device 101.For example the outside from control device 101 gives the position command value for position control section 1.Then, judge whether processing finishes at step S102.Whether whether processing finish for example to arrive through position command value appointed positions through main shaft 25 to judge.Under the situation of process finishing, advance to step S106, finishing control.
Under the unclosed situation of processing, in step S103, whether the value of judging induction-motor load is more than the value of being scheduled to.The size of induction-motor load can be determined by load operational part 12 according to the current instruction value of speed controlling portion 3 for current control division 4 outputs.
Under the situation more than the value that the value of induction-motor load is being scheduled to, in step S104, the speed estimating value that speed controlling portion 3 is selected to calculate according to the galvanometer of motor 21 is that first speed is calculated current instruction value.This is used for first switch SW through switch control portion 13 outputs
1The selection signal that switches to the first speed estimating portion, 7 sides is carried out.
On the other hand, under the situation of value less than predetermined value of induction-motor load, in step S105, the speed estimating value that speed controlling portion 3 is selected to calculate according to the speedometer of main shaft 25 is that second speed is calculated current instruction value.This is used for first switch SW through switch control portion 13 outputs
1Switching to second speed infers the selection signal of portion's 8 sides and carries out.Return step S102 then, repeat above step S102～S105.
As stated; Control device according to embodiments of the invention 1; Because according to the size of the load that on main shaft, applies, switch the speed estimating value (first speed) calculated according to the galvanometer of motor and, carry out the control of electromotor velocity according to the speed estimating value (second speed) that the speedometer of main shaft is calculated; So can carry out the control of electromotor velocity accurately regardless of the size of the load that on main shaft, applies.
[embodiment 2]
The control device of embodiments of the invention 2 is described below.Fig. 3 representes the structure chart of the control device of embodiments of the invention 2.The control device 102 of embodiment 2 is also to be provided with first speed ring gain storage part 31, second speed ring gain storage part 32 and second switch SW with the difference of the control device 101 of embodiment 1
2This point.The structure of the structure of other of control device 102 and lathe 20, since identical with control device 101 and the lathe 20 of embodiment 1, so omit detailed explanation.
First speed ring gain storage part 31 as the speed ring gain that speed controlling portion 3 uses for calculating current instruction value, is stored the value of first speed ring gain.On the other hand, second speed ring gain storage part 32, as the speed ring gain that speed controlling portion 3 uses for calculating current instruction value, the gain of storage second speed ring.The characteristic here is that the size of second speed ring gain is higher than the gain of first speed ring.
Second switch SW
2According to selection signal from switch control portion 13, switch first speed ring gain storage part 31 and second speed ring gain storage part 32, switch the speed ring gain that gives speed controlling portion 3.Switch control portion 13 is according to the value of the induction-motor load that calculates of load operational part 12, and second switch SW is switched in output
2The selection signal.
That is, under the situation more than the value that the value of the induction-motor load that load operational part 12 calculates is being scheduled to, switch control portion 13 outputs select signals to make at second switch SW
2Middle first speed ring gain storage part 31 of selecting.Like this, under the situation more than the value that the value of induction-motor load is being scheduled to, speed controlling portion 3 uses the first speed ring gain calculating current instruction value.
On the other hand, under the situation of value less than predetermined value of induction-motor load, switch control portion 13 outputs select signal to make at second switch SW
2The middle second speed ring gain storage part 32 of selecting.Like this, under the situation of value less than predetermined value of induction-motor load, speed controlling portion 3 uses second speed ring gain calculating current instruction value.
Then use the flowchart text of representing among Fig. 4 to use the control method of the control device of embodiments of the invention 2.The control method of the control device of use embodiment 2 and the different point of control method of the control device that uses embodiment 1 are this points of size that changes the speed ring gain that gives speed controlling portion according to the size of induction-motor load.With corresponding step S201～S204, S206, the S208 of step S101～S106 in the control method of the control device of the embodiment that representes at Fig. 21, since identical with the control method of the control device of embodiment 1, so omit detailed explanation.
In step S203, under the situation more than the value that the value of induction-motor load is being scheduled to, in step S204, select first speed similarly to Example 1.Then, in step S205, switch control portion 13 outputs are used for second switch SW
2Switch to the selection signal of first speed ring gain storage part, 31 sides.Like this, under the situation more than the value that the value of induction-motor load is being scheduled to, speed controlling portion 3 uses first speed gain to calculate current instruction value.
On the other hand, under the situation of value less than predetermined value of induction-motor load, in step S206, select second speed equally with embodiment 1.Then in step S207, switch control portion 13 outputs are used for second switch SW
2Switch to the selection signal of second speed ring gain storage part 32 sides.Like this, speed controlling portion 3 uses second speed gain calculating current instruction value.
Return step S202 then, repeating step S202～S207.
As stated; According to the control device of embodiments of the invention 2,, change the size of the speed ring gain that is used for speed control because according to the size of the load that on main shaft, applies; So can carry out the control of electromotor velocity accurately regardless of the size of the load that on main shaft, applies.
[embodiment 3]
The control device of embodiments of the invention 3 is described then.Fig. 5 representes the structure chart of the control device of embodiments of the invention 3.The control device 103 of embodiment 3 is also to be provided with primary importance ring gain storage part 41, second place ring gain storage part 42 and the 3rd switch SW with the difference of the control device 102 of embodiment 2
3This point.The structure of the structure of other of control device 103 and lathe 20, since identical with control device 102 and the lathe 20 of embodiment 2, so omit detailed explanation.
Primary importance ring gain storage part 41, as the position ring gain that position control section 1 is used for the computational speed command value, the value of storage primary importance ring gain.On the other hand, second place ring gain storage part 42, as the position ring gain that position control section 1 is used for the computational speed command value, the value of storage second place ring gain.The characteristic here is that the size of second place ring gain is higher than the gain of primary importance ring.
The 3rd switch SW
3According to selection signal from switch control portion 13, switch primary importance ring gain storage part 41 and second place ring gain storage part 42, switch the position ring gain that gives position control section 1.Switch control portion 13 is according to the value of the induction-motor load that calculates of load operational part 12, and the 3rd switch SW is switched in output
3The selection signal.
That is, under the situation more than the value that the value of the induction-motor load that load operational part 12 calculates is being scheduled to, switch control portion 13 outputs select signals to make in the 3rd switch SW
3The middle primary importance ring gain storage part 41 of selecting.Like this, under the situation more than the value that the value of induction-motor load is being scheduled to, position control section 1 is used primary importance ring gain calculating speed value.
On the other hand, under the situation of value less than predetermined value of induction-motor load, switch control portion 13 outputs select signal to make in the 3rd switch SW
3The middle second place ring gain storage part 42 of selecting.Like this, under the situation of value less than predetermined value of induction-motor load, position control section 1 is used second place ring gain calculating speed value.
Then use the flowchart text of representing among Fig. 6 to use the control method of the control device of embodiments of the invention 3.The control method of the control device of use embodiment 3 and the different point of control method of the control device that uses embodiment 2 are this points of size that changes the position ring gain that gives position control section according to the size of induction-motor load.With corresponding step S301～S305, S307, S308, the S310 of step S201～S208 in the control method of the control device of the embodiment that representes at Fig. 42, since identical with the control method of the control device of embodiment 2, so omit detailed explanation.
In step S303, under the situation more than the value that the value of induction-motor load is being scheduled to, in step S304, select first speed similarly to Example 1.Then in step S305, select the gain of first speed ring similarly to Example 2.
Then in step S306, switch control portion 13 outputs are used for the 3rd switch SW
3Switch to the selection signal of primary importance ring gain storage part 41 sides.Like this, under the situation more than the value that the value of induction-motor load is being scheduled to, position control section 1 is used primary importance ring gain calculating speed value.
On the other hand, under the situation of value less than predetermined value of induction-motor load, in step S307, with the embodiment 1 same second speed of selecting.Then in step S308, gain with the embodiment 2 same second speed rings of selecting.
Then in step S309, switch control portion 13 outputs are used for the 3rd switch SW
3Switch to the selection signal of second place ring gain storage part 42 sides.Like this, under the situation of value less than predetermined value of induction-motor load, position control section 1 is used second place ring gain calculating current instruction value.
Then, return step S302, repeating step S302～S309.
As stated; According to the control device of embodiments of the invention 3,, change the size of the position ring gain that is used for Position Control because according to the size of the load that on main shaft, applies; So can carry out the control of main spindle's accurately regardless of the size of the load that on main shaft, applies.
Claims (4)
1. control device, the speed that it comes the motor of controlling and driving main shaft through the speed adjusting mechanism with predetermined gear ratio, this control device is characterised in that,
Have:
Speed controlling portion, it is used to control the current instruction value of electromotor velocity according to the output of position command value;
Current detecting part, its motor according to the driven situation of above-mentioned current instruction value under, detect the electric current flow through motor;
The first speed estimating portion, it infers first speed of motor according to above-mentioned electric current;
Second speed is inferred portion, and it recently infers the second speed of motor according to spindle speed and above-mentioned speed change, and wherein, the main spindle's that goes out according to the sensor through near setting main shaft calculates said spindle speed; And
The load operational part, the value of its calculating motor load,
Above-mentioned speed controlling portion is under the situation more than the value of being scheduled in the value of above-mentioned induction-motor load; Use the above-mentioned current instruction value of above-mentioned first speed calculation; Under the situation of the not enough above-mentioned predetermined value of the value of above-mentioned induction-motor load, use above-mentioned second speed to calculate above-mentioned current instruction value.
2. control device according to claim 1 is characterized in that,
Also have storage part, it stores gain of first speed ring and the second speed ring gain higher than above-mentioned first speed ring gain, is used as the ring gain that above-mentioned speed controlling portion uses for calculating above-mentioned current instruction value,
Above-mentioned speed controlling portion is under the situation more than the above-mentioned predetermined value in the value of above-mentioned induction-motor load; Use the above-mentioned current instruction value of the above-mentioned first speed ring gain calculating; Under the situation of the not enough above-mentioned predetermined value of the value of above-mentioned induction-motor load, use the above-mentioned current instruction value of above-mentioned second speed ring gain calculating.
3. control device according to claim 2 is characterized in that,
Also have position control section, it exports the speed value that is used to control above-mentioned main spindle's according to above-mentioned position command value to above-mentioned speed controlling portion,
Above-mentioned storage portion stores primary importance ring gain and the second place ring gain higher than above-mentioned primary importance ring gain are used as the ring gain that above-mentioned position control section is used for calculating above-mentioned speed value,
Above-mentioned position control section is under the situation more than the above-mentioned predetermined value in the value of above-mentioned induction-motor load; Use the above-mentioned speed value of above-mentioned primary importance ring gain calculating; Under the situation of the not enough above-mentioned predetermined value of the value of above-mentioned induction-motor load, use the above-mentioned speed value of said second position ring gain calculating.
4. according to each described control device in the claim 1～3, it is characterized in that,
Above-mentioned load operational part determines the value of above-mentioned induction-motor load according to above-mentioned current instruction value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011079162A JP5129362B2 (en) | 2011-03-31 | 2011-03-31 | Spindle drive motor controller |
| JP2011-079162 | 2011-03-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102739132A true CN102739132A (en) | 2012-10-17 |
| CN102739132B CN102739132B (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210091298.2A Active CN102739132B (en) | 2011-03-31 | 2012-03-30 | The control device of main shaft drives motor |
Country Status (2)
| Country | Link |
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| JP (1) | JP5129362B2 (en) |
| CN (1) | CN102739132B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107942770A (en) * | 2016-10-13 | 2018-04-20 | 发那科株式会社 | Control device of electric motor |
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| CN101330270A (en) * | 2007-06-22 | 2008-12-24 | 三洋电机株式会社 | Motor control device and compressor |
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| JPS6323586A (en) * | 1986-07-14 | 1988-01-30 | Mitsubishi Electric Corp | Sepeed controller for induction motor |
| JP3053121B2 (en) * | 1991-04-08 | 2000-06-19 | 株式会社安川電機 | Control method of induction motor |
| JP2000253700A (en) * | 1999-02-26 | 2000-09-14 | Toyo Electric Mfg Co Ltd | Vector control inverter apparatus |
| JP2005304175A (en) * | 2004-04-12 | 2005-10-27 | Yaskawa Electric Corp | Speed controller of motor |
| JP4870824B2 (en) * | 2010-03-26 | 2012-02-08 | ファナック株式会社 | Spindle control device with encoder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH081566A (en) * | 1994-06-22 | 1996-01-09 | Toshiba Corp | Robot control device |
| JP2002051594A (en) * | 2000-07-31 | 2002-02-15 | Okuma Corp | Spindle controller |
| JP2004343925A (en) * | 2003-05-16 | 2004-12-02 | Ricoh Co Ltd | Load identifying device, load identifying method, and control system design assisting method |
| JP2007108869A (en) * | 2005-10-11 | 2007-04-26 | Nakamura Tome Precision Ind Co Ltd | Tension control method for main shaft driving belt and composite lathe |
| CN101034865A (en) * | 2006-03-07 | 2007-09-12 | 株式会社日立产机系统 | Motor controller and motor control method |
| CN101330270A (en) * | 2007-06-22 | 2008-12-24 | 三洋电机株式会社 | Motor control device and compressor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107942770A (en) * | 2016-10-13 | 2018-04-20 | 发那科株式会社 | Control device of electric motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5129362B2 (en) | 2013-01-30 |
| CN102739132B (en) | 2016-08-03 |
| JP2012217231A (en) | 2012-11-08 |
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