CN103633916B - Control device of electric motor - Google Patents
Control device of electric motor Download PDFInfo
- Publication number
- CN103633916B CN103633916B CN201310351583.8A CN201310351583A CN103633916B CN 103633916 B CN103633916 B CN 103633916B CN 201310351583 A CN201310351583 A CN 201310351583A CN 103633916 B CN103633916 B CN 103633916B
- Authority
- CN
- China
- Prior art keywords
- speed
- time constant
- motor
- instruction
- phase
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention provides a kind of while improving AF panel performance and positioning the control device of electric motor of tuning performance.Phase advancer（125）In order to compensate for from motor（110）Velocity feedback high-frequency region phase it is sluggish and keep the phase of velocity feedback advanced.Time constant adapter（130）The difference of speed command and the velocity feedback for having kept phase advanced to motor is multiplied by the time constant of the influence for inhibiting interference.Integrator（140）It is integrated to being multiplied by the instruction after time constant by time constant adapter.Speed proportional gain device（150）Instruction after being integrated by the difference of speed command and velocity feedback and by integrator adds up, and speed proportional gain, and the torque instruction of output motor are multiplied by the instruction after cumulative.Torque control division（160）It is entered torque instruction and controls to motor（110）Coil supply electric power.
Description
Technical field
The present invention relates to can improve AF panel performance simultaneously and position the control device of electric motor of tuning performance.
Background technology
In general, in order to workpieces processing with high precision, lathe uses high performance control device of electric motor.To work
The processing of part requires the raising of processing quality and productivity always, therefore the speed control system of control device of electric motor is also wanted
Ask the raising of control performance, the especially raising of AF panel performance and positioning tuning performance.
There is the interference of friction etc. in mechanical system.Interference interferes the motor driven to lathe according to instruction action.
For example, in the location control of lathe, under the influence of the friction of mechanical system, for each position, positioning adjustment time hair
Raw deviation.
In particular, in the processing for the control performance for requiring height, such as circular arc cutting, when quadrant switches, mechanical system
Friction have an impact, sometimes generate workpiece and be referred to as the protrusion of quadrant protrusion.When workpiece generates quadrant protrusion, processing quality
It significantly reduces.
In general, in order to inhibit the influence of interference, the side that AF panel control is carried out using interference observer is used
The method of method and as far as possible short setting speed integration time constant.
Using interference observer, if the inertia of observation unit and the inertia of mechanical system are inconsistent, no
It can correctly estimate to interfere.In addition, being handled to carry out differential to speed, by the shadow of the quantization error of encoder etc.
It rings, the interference of estimation is easy to happen oscillation.In order to inhibit to vibrate, insertion wave filter, but if insertion wave filter, interference is estimated
The response performance of meter reduces, and cannot obtain the interference suppressioning characteristic in original necessary frequency field.
As far as possible short in the method for setting speed integration time constant, resonate caused by the mechanical rigid by lathe
Under the influence of, it cannot ensure the stability of speed control system, oscillation occur or overshoots（overshoot）.
In order to solve these problems, in following inventions described in Patent Document 1, in the tiny time of quadrant switching,
The value of rate integrating time constant is set to very little.Due to making rate integrating time constant restore after passing through in tiny time
To initial value, therefore the generation of oscillation can be inhibited.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 7-5926 bulletins
But in recent years, the case where being not limited to circular arc cutting, working the work piece into complicated shape is increased.Moreover, this add
Work is required high machining accuracy.
It,, can only when quadrant switches as patent document 1 is open if processing is confirmed as circular arc cutting
Rate integrating time constant is altered to the short time.But when working the work piece into complicated shape, it is not easy to detection as
The switching of limit.Thus, it is difficult to only change speed integration time constant if necessary.
In addition, in the case where applying 1 invention disclosed of patent document, additionally it is possible to it is assumed that in the switching part of quadrant
Motor is set to stop in advance.In this case, since rate integrating time constant will be kept for the short time, speed cannot ensure
The stability of control system causes to vibrate, and machining accuracy reduces, and harmful effect is also generated to the service life of lathe.
In addition, lathe must make the process tool of workpiece be moved to defined position between the processing and processing of workpiece.
In order to shorten process time to improve productivity, it is desirable that the high speed of positioning.
Rate integrating time constant is shorter, is more difficult to the influence being interfered, therefore, in the mechanical system that there is friction
In, as described above, by shortening rate integrating time constant, positioning adjustment time can be shortened.But if shorten velocity product
Divide time constant, as noted previously, as the influence of the resonance of mechanical system, cannot ensure stability.Moreover, in common integral
In the composition of control, the sluggishness according to speed relative to speed command adds up in velocity integrator intermediate value, is adjusted in positioning
When, the elapsed time until the value becomes 0.Presence can not shorten positioning adjustment time this problem as a result,.
Invention content
The present invention researches and develops to solve the above problem of the prior art, the purpose is to provide can improve simultaneously it is dry
It disturbs rejection and positions the control device of electric motor of tuning performance.
The means used to solve the problem
To solve the above-mentioned problems, control device of electric motor of the present invention is controlled by the dynamic of the lathe of motor drive
Make, and there is phase advancer, time constant adapter, velocity integrator and speed proportional gain device.
Phase advancer keeps the phase of velocity feedback advanced in order to compensate for the response sluggishness of control system.Time constant is attached
Add device to the difference of the speed command of motor and the velocity feedback for having kept phase advanced be multiplied by for inhibit interference influence when
Between constant.Velocity integrator integrates the instruction after being multiplied by time constant by time constant adapter.Speed ratio
Instruction after example multiplier (-icator) is integrated by the difference of speed command and velocity feedback and by velocity integrator adds up, to adding up
Speed proportional gain, and the torque instruction of output motor are multiplied by instruction later.
Invention effect
According to the control device of electric motor of the present invention constituted in the above described manner, the phase that will be executed by phase advancer
Position lead compensation is only applied to the feedback for the integral term being made of time constant adapter and velocity integrator.Thereby, it is possible to contract
The AF panel performance of the time of the short time constant set in time constant adapter, speed control system improve, and are adding
In the case of the workpiece of work complicated shape, high machining accuracy can be also realized.In addition, the friction by mechanical system can be inhibited
The deviation of the positioning adjustment time of generation, can shorten positioning adjustment time.In addition, the accumulation since velocity integrator can be made
Amount substantially 0, so positioning adjustment time shortens.
Description of the drawings
Fig. 1 is the composition figure of the speed control system of the control device of electric motor of embodiment 1.
Fig. 2 is the figure of the action specification of the speed control system for Fig. 1.
Fig. 3 is for illustrating that the characteristic that the insertion position in the speed control system of Fig. 1 by phase advancer generates becomes
The figure of change.
Fig. 4 is for illustrating the different characteristic variations generated in the speed control system of Fig. 1 by integration time constant
Figure.
Fig. 5 is the composition figure for the control device of electric motor that embodiment 2 is related to.
Fig. 6 is the characteristic generated for illustrating the insertion position in the control device of electric motor of Fig. 5 by phase advancer
The figure of variation.
Fig. 7 is the characteristic generated for illustrating the insertion position in the control device of electric motor of Fig. 5 by phase advancer
The figure of variation.
Fig. 8 is the composition figure of the speed control system for the control device of electric motor that embodiment 3 is related to.
Specific implementation mode
Control device of electric motor of the present invention, can by the way that phase lead compensation to be only applied to the feedback of integral term
Rate integrating time constant is set to the shorter time.In addition, when the positioning generated by the friction of mechanical system being inhibited to adjust
Between deviation, thus position tuning performance improve.
Control device of electric motor of the present invention can inhibit the influence of the interference of friction of mechanical system etc., even if
When working the work piece into complicated shape, high machining accuracy can be also realized.In addition, when being positioned using lathe, also can
Enough reduce the influence of the friction of mechanical system, therefore, for each position, deviation will not occur for positioning adjustment time.
Hereinafter, the embodiment of control device of electric motor of the present invention is divided into ［ embodiment 1 ］ to ［ embodiment
3 ］ it illustrates.
［ embodiment 1 ］
(composition of control device of electric motor)
Fig. 1 is the composition figure of the speed control system for the control device of electric motor that embodiment 1 is related to.As shown, real
Applying the control device of electric motor 100 that mode 1 is related to has phase advancer 125, rate integrating time constant adapter 130, product
Divide device 140, speed proportional gain device 150 and torque control division 160.
Phase advancer 125 makes the advanced set amount of the phase for the velocity feedback that velocity calculator 120 calculated.Example
Such as, make the phase of velocity feedback in advance with the sluggishness comparable time of speed control system.The transmission function of phase advancer 125
Preferably（1+ST2）/（1+ST1）.But the magnitude relationship of T1 and T2 in this case is T1<T2.
In addition, rotation position calculating speed of the velocity calculator 120 based on the motor 110 detected by encoder 115
Feedback.
Rate integrating time constant adapter 130 is logical to being subtracted from the speed command of motor 110 on cumulative point 114
It crosses obtained from the velocity feedback that phase advancer 125 has kept phase advanced and instructs, be multiplied by " the rate integrating time set by 1/
The value of constant ".
Integrator 140 by rate integrating time constant adapter 130 to being multiplied by " the rate integrating time set by 1/
Instruction obtained from constant " is integrated.
Speed proportional gain device 150 is multiplied by set speed proportional gain, and output motor 110 to instruction below
Torque instruction, which is：To on cumulative point 112 from subtracted in speed command instruction obtained from velocity feedback and by
Integrator 140 instructs obtained from integrating, obtained from cumulative point 116 add up.
Torque control division 160 is entered torque instruction to control the electric power supplied to the coil of motor 110.
(action of control device of electric motor)
Phase advancer 125 is output to by 120 calculated velocity feedback of velocity calculator.Phase advancer 125 makes
The advanced certain angle of phase of the velocity feedback inputted.The phase sluggishness of velocity feedback is compensated as a result,.
On the other hand, velocity feedback is output to cumulative point 112.On cumulative point 112, speed is subtracted from speed command
Feedback.Therefore, from cumulative point 112, the rotary speed as target of output motor 110 and motor 110 it is current
The difference of rotary speed.
Speed command is output to cumulative point 114.On cumulative point 114, subtracted from speed command advanced by phase
The velocity feedback that device 120 has kept phase advanced.Therefore, from cumulative point 114, the rotation as target of output motor 110
The current rotary speed for the motor 110 that speed is sluggish with the phase in order to compensate for high-frequency region and has kept phase advanced it
Difference.
The instruction exported from cumulative point 114 is multiplied by " set by 1/ by rate integrating time constant adapter 130
The value of rate integrating time constant ", the instruction obtained as its result are integrated in integrator 140 again.
Instruction after integral is output to cumulative point 116.On cumulative point 116, instruction after integral and from cumulative point 112
The instruction of output is added up.It cumulative obtained instruction will be multiplied by cumulative point 116 by speed proportional gain device 150
The value of set speed proportional gain, result are exported from speed proportional gain device 150 as torque instruction.
Motor 110 is controlled based on the torque instruction exported from speed proportional gain device 150 by torque control division 160
The torque of motor 110 makes motor 110 rotate.Therefore, motor 110 according to the rotary speed of speed command to rotate.
Fig. 2 is the figure of the action specification of the speed control system for Fig. 1.Specifically, Fig. 2 was shown by the time of integration
The rotary speed of different sizes and generating, from the speed command of motor 110 to motor 110 of constant, speed control
The curve graph of the difference of the frequency characteristic of system.
It is such as bent if the time of the rate integrating time constant set in rate integrating time constant adapter 130 is long
Shown in line chart, the gain of speed responsive not will produce hump.However, if being set in rate integrating time constant adapter 130
The time of fixed rate integrating time constant is short, as illustrated on the graph, hump is generated near 100-300Hz（Shorten integral
The comparison of the situation of the case where time constant and integration time constant length）.
Fig. 3 is the characteristic generated for illustrating the insertion position in the speed control system of Fig. 1 by phase advancer 125
The figure of variation.Specifically, Fig. 3 is the slave motor 110 for showing the difference by the insertion position of phase advancer and generating
Speed command to motor 110 rotary speed, the curve graph of the difference of the frequency characteristic of speed control system.
In the case where phase to be inserted into instruction and the feedback both sides of integral term in advance, in cutting than phase advancer 125
Only under the high frequency of frequency, as shown in the curve graph of Fig. 3, the gain of speed responsive increases.If deposited in the increased frequency band of gain
In mechanical resonance element, then it can evoke mechanical resonance.In addition, it may be difficult to be adequately suppressed hump.However, such as embodiment 1
Control device of electric motor 100 is such, in the case where phase to be only inserted into the feedback of integral term in advance, than phase advancer
Under the high frequency of 125 cutoff frequency, the gain of speed responsive does not also increase.Therefore, will not cause to resonate, additionally it is possible to inhibit camel
Peak.
Fig. 4 is for illustrating the different characteristic variations generated in the speed control system of Fig. 1 by integration time constant
Figure.Specifically, Fig. 4 be show by the of different sizes of integration time constant and generate, from the rotation for interfering with motor 110
The curve graph of the difference of rotary speed, speed control system frequency characteristic.
If the time of the rate integrating time constant set in rate integrating time constant adapter 130 is long,
In the case of interfering, as illustrated on the graph, in 100Hz frequency fields below, the gain for interference is very high.Cause
This, is easy the influence being interfered.On the other hand, as the control device of electric motor 100 of embodiment 1, if in speed
The time of the rate integrating time constant set in integration time constant adapter 130 is short, as illustrated on the graph, 100Hz with
Under frequency field in, for the gain reduction of interference.Accordingly, it is difficult to the influence being interfered, formation can substantially inhibit dry
The characteristic for the influence disturbed（The situation and shorten integration time constant and apply the ratio of the situation of the present invention that integration time constant is grown
Compared with）.
In the embodiment 1, phase is applied to velocity feedback in advance, phase lead compensation is only applied to integral term
Feedback.As a result, as shown in figure 3, the control device of electric motor 100 that is related to of embodiment 1 is in the cutoff frequency than phase advancer 125
Under the high frequency of rate, the gain of speed responsive does not also increase, and will not cause to resonate, can inhibit hump.In addition, as shown in figure 4,
Since the control device of electric motor 100 that embodiment 1 is related to can shorten integration time constant, so the shadow of interference can be inhibited
It rings.
Therefore, the control device of electric motor 100 being related to according to embodiment 1 can shorten additional in integration time constant
The AF panel performance of the time of the time constant set in device 130, speed control system improve, even if in manufacturing complex shapes
Workpiece in the case of, can also realize high manufacturing accuracy.In addition, the positioning tune generated by the friction of mechanical system can be inhibited
The deviation of whole time can shorten positioning adjustment time.
In addition it is also possible to using the composition that speed proportional gain device is separately positioned on to integrating system and ratio system.
［ embodiment 2 ］
(composition of control device of electric motor)
Fig. 5 is the composition figure for the control device of electric motor that embodiment 2 is related to.As shown, the electricity that embodiment 2 is related to
Motivation control device 200 has position proportional multiplier (-icator) 220, velocity calculator 230, speed controlling portion 240 and direct torque
Portion 250.
Position proportional multiplier (-icator) 220 from position command on cumulative point 212 to subtracting the position exported by encoder 215
Position deviation obtained from feedback is multiplied by proportional gain KP, and output speed instructs.
Velocity calculator 230 is entered the position feedback exported by encoder 215, and calculates velocity feedback.
Speed controlling portion 240 has the speed control system with control device of electric motor 100 shown in FIG. 1（Phase is advanced
Device 125, rate integrating time constant adapter 130, integrator 140, speed proportional gain device 150）Identical composition.In addition,
In the case of embodiment 2, phase advancer 125 is set to hold advanced with the sluggishness comparable time of speed control system.Speed
Degree control unit 240 is entered on cumulative point 214 and is instructed obtained from velocity feedback from being subtracted in speed command, and output torque
Instruction.
Torque control division 250 is entered torque instruction to control the electric power supplied to the coil of motor 210.Motor
210 make motor 210 rotate based on the voltage exported from torque control division 250.The voltage exported from torque control division 250 is base
In the voltage that position deviation generates, thus motor 210 with position command（Target location）Consistent position stops.
(action of control device of electric motor)
Fig. 6 and Fig. 7 is for illustrating the insertion position production in the control device of electric motor 200 of Fig. 5 by phase advancer
The figure of raw characteristic variations.Specifically, Fig. 6 is shown in velocity integrator（The rate integrating time constant adapter 130 of Fig. 1,
Integrator 140）Instruction and feedback both sides in positioning adjustment characteristic when inserting phase advancer 125 analog result.Separately
Outside, Fig. 7 is shown only in velocity integrator（Rate integrating time constant adapter 130, the integrator 140 of Fig. 1）Feedback in insert
Positioning when having entered phase advancer 125 adjusts the analog result of characteristic.
First, about in velocity integrator（Rate integrating time constant adapter 130, the integrator 140 of Fig. 1）Instruction
It is illustrated with the case where inserting phase advancer 125 in feedback both sides.
As shown in fig. 6, position command（Difference value）For increase with the time, become later certain size, later with
The trapezoidal instruction that time is reduced.In cumulative point 212, position feedback and output position deviation are subtracted from position command.Position is inclined
Difference is target location（Position command）With current location（Position feedback）Difference, therefore, if current location and target location are not
Unanimously, then it is not 0, position deviation is as shown in Figure 6.
Position proportional multiplier (-icator) 220 exports speed command shown in fig. 6.Speed command becomes ladder in the same manner as position command
Shape.In addition, the velocity feedback exported from velocity calculator 230 also becomes trapezoidal in the same manner as speed command.
On the other hand, about velocity integrator（Rate integrating time constant adapter 130, the integrator 140 of Fig. 1）It is defeated
Go out, when speed command increases and when reducing, exports the signal of size shown in fig. 6.This is because being produced in velocity integrator
Raw cumulant.The convergence of position deviation expends the time as a result, until reaching in place（inposition）Until time it is elongated.
More than, in velocity integrator（Rate integrating time constant adapter 130, the integrator 140 of Fig. 1）Instruction and
In the case of inserting phase advancer 125 in feedback both sides, there are cumulants in velocity integrator, until discharging the accumulation
The time is expended until amount, the response of speed controlling portion 240 generates sluggishness.Therefore, because this response is sluggish, when the setting of positioning
Between it is elongated.
Hereinafter, about only in velocity integrator（Rate integrating time constant adapter 130, the integrator 140 of Fig. 1）It is anti-
The case where insertion phase advancer 125, illustrates in feedback.The situation is the speed control system that speed controlling portion 240 includes Fig. 1
The case where system.
In the figure 7, position command（Difference value）It is identical as the position command in Fig. 6.In cumulative point 212, from position command
In subtract position feedback and output position deviation.Position deviation is target location（Position command）With current location（Position feedback）
Difference, therefore, if current location is inconsistent with target location, not be 0, position deviation is as shown in Figure 7.
Position proportional multiplier (-icator) 220 exports speed command shown in Fig. 7.Speed command becomes ladder in the same manner as position command
Shape.In addition, the velocity feedback exported from velocity calculator 230 also becomes trapezoidal in the same manner as speed command.Speed command and
Velocity feedback in Fig. 6 speed command and velocity feedback it is identical.
On the other hand, about velocity integrator（Rate integrating time constant adapter 130, the integrator 140 of Fig. 1）It is defeated
Go out, when speed command increases and when reducing, exports almost 0 signal as shown in Figure 7.This is because by phase advancer
125 only in the feedback of insertion speed integrator.By by the phase advancer 125 only feedback of insertion speed integrator, speed
It feeds back the sluggishness comparable time with speed control system in advance and is entered, therefore not will produce accumulation in velocity integrator
Amount.The convergence of position deviation is fast as a result, and the time for reaching in place also shortens.
More than, only in velocity integrator（Rate integrating time constant adapter 130, the integrator 140 of Fig. 1）Feedback
In insert phase advancer 125 in the case of, the cumulant substantially 0 of velocity integrator, therefore rate of release integrator
The time of cumulant is almost 0 so that positioning tuning performance improves.
In embodiment 2, constitutes the speed control system being directly related to using embodiment 1 and carry out position control
Control device of electric motor 200.Therefore, the control device of electric motor being related to according to embodiment 2, than phase advancer 125
Under the high frequency of cutoff frequency, the gain of speed responsive does not also increase, and will not cause to resonate, can inhibit hump.Embodiment 2
The control device of electric motor 200 being related to can shorten integration time constant, and can inhibit the influence of interference.Embodiment 2 relates to
And control device of electric motor 200 inhibit by mechanical system friction generate positioning adjustment time deviation, positioning scalability
It can improve.In addition, since the cumulant of velocity integrator can be made to be almost 0, so positioning adjustment time shortens.
［ embodiment 3 ］
(composition of control device of electric motor)
Fig. 8 is the composition figure of the speed control system for the control device of electric motor that embodiment 3 is related to.As shown, real
Applying the control device of electric motor 300 that mode 3 is related to has phase advancer 325, rate integrating compensation low-pass filter 330, speed
Spend integration time constant adapter 340, integrator 350, speed proportional gain device 360 and torque control division 370.
The control device of electric motor 100 that the control device of electric motor 300 that embodiment 3 is related to is related to embodiment 1
It the difference is that only that there is rate integrating to compensate low-pass filter 330, others constitute identical.It can also be by embodiment 3
The speed control system for the control device of electric motor 330 being related to is applied to the control device of electric motor 200 that embodiment 2 is related to
Speed controlling portion 240.
In addition, phase advancer 325, rate integrating time constant adapter 340, integrator 350, speed proportional gain device
360, the phase advancer 125 of the respective function Yu embodiment 1 of torque control division 370, rate integrating time constant are additional
Device 130, integrator 140, speed proportional gain device 150, the respective function of torque control division 160 are identical.
Rate integrating, which compensates low-pass filter 330, to be inserted into improve to the tracing ability of speed command.Specifically
For, cannot by sluggishness comparable time with speed control system it is advanced be set as phase it is advanced in the case of, in order to
It is in shortage to set its, and rate integrating compensation low-pass filter 330 is set.Pass through insertion speed integral compensation low-pass filter
330, the instruction of the rate integrating of rate integrating time constant adapter 340 and phase it is advanced after velocity feedback substantially simultaneously on
It rises, the cumulant of the integrator 350 when speed command being made to change reduces.
(action of control device of electric motor)
Current rotation position based on the motor 310 that encoder 315 is detected, velocity calculator 320 are calculated
Velocity feedback is output to phase advancer 325.Include the detection error of encoder 315 in velocity feedback in this case.Phase
Position advancer 325 makes the advanced certain angle of the phase of inputted velocity feedback.
On the other hand, velocity feedback is output to cumulative point 312, and it is anti-that speed is subtracted from speed command in cumulative point 312
Feedback.From cumulative point 312, the difference of the current speed of the speed and motor 310 as target of output motor 310.
Speed command is output to rate integrating compensation low-pass filter 330, and low-pass filter 330 is compensated in rate integrating
In, speed command be delayed by it is in sluggishness comparable time with speed control system, make phase not over phase advancer
Advanced amount.Since phase advancer makes the gain of high-frequency domain increase, so in the case where the response of speed control system is low,
It is possible that it is advanced to set sufficient phase.Time be delayed by after speed command be output to cumulative point 314.In cumulative point
314, the velocity feedback for having kept phase advanced by phase advancer 325 is subtracted in the speed command after being delayed by from the time.From
Cumulative point 314, output time be delayed by after motor 310 as the speed of target and in order to compensate for phase is sluggish and
The difference of the speed for the motor 310 for having kept phase advanced.
" the speed set by 1/ is multiplied by the instruction exported from cumulative point 314 by rate integrating time constant adapter 340
The value of degree integration time constant ", the instruction obtained as its result are integrated in integrator 350 again.
Instruction after integral is output to cumulative point 316.In cumulative point 316, by after integral instruction and from cumulative point 312
The instruction of output is cumulative.By speed proportional gain device 360 to being multiplied by set speed in the 316 cumulative obtained instruction of cumulative point
Spend the value of proportional gain.Its result is exported from speed proportional gain device 360 as torque instruction.
Motor 310 makes motor based on the torque instruction exported from speed proportional gain device 360 by torque control division
310 rotations.The rotary speed of motor 310 is consistent with the rotary speed of speed command.Therefore, motor 310 is with according to speed
The rotary speed of instruction rotates.
In the control device of electric motor 300 that embodiment 3 is related to, rate integrating compensation low-pass filter 330 is only inserted
Enter speed command system, and phase advancer insertion speed fed back, using rate integrating compensation low-pass filter make not by
The advanced phase of phase advancer is sluggish.The cumulant of the integrator 350 when speed command variation can be reduced, and can be improved
To the tracing ability of speed command.The AF panel performance of speed control system and positioning tuning performance improve as a result,.
In embodiment 3, also in the same manner as embodiment 1, phase is applied to velocity feedback in advance, phase is advanced
Compensation is only applied to the feedback of integral term.As a result, as shown in figure 3, the control device of electric motor 300 that is related to of embodiment 3 than
Under the high frequency of the cutoff frequency of phase advancer 325, the gain of speed responsive does not also increase, and will not cause to resonate, can press down
Hump processed.In addition, as shown in figure 4, the control device of electric motor 300 that embodiment 3 is related to can shorten integration time constant, and
It can inhibit the influence of interference.Moreover, because rate integrating compensation low-pass filter 330 is provided with, therefore, merely with phase
When advancer 325 can not set the sluggish comparable time with speed control system, low-pass filter is compensated by rate integrating
330 setting also can compensate in shortage.
Therefore, the control device of electric motor 300 being related to according to embodiment 3 can shorten in the same manner as embodiment 1
The AF panel performance of the time of the time constant set in integration time constant adapter 340, speed control system improve,
In the case of the workpiece of manufacturing complex shapes, high machining accuracy can be also realized.In addition, can inhibit by mechanical system
The deviation for the positioning adjustment time generated that rubs, can shorten positioning adjustment time.In addition, since velocity integrator can be made
Cumulant substantially 0, so positioning adjustment time shortens.
More than, the control device of electric motor being related to according to embodiment 1 to 3, by not only in the switching of quadrant but also
Regularly shorten rate integrating time constant, it is multiple in processing thereby, it is possible to inhibit the influence of the interference of friction of mechanical system etc.
In the case of the processing of miscellaneous shape, high machining accuracy can be also realized.In addition, the positioning in lathe is not influenced by rubbing,
The deviation of positioning adjustment time, positioning tuning performance can be inhibited to improve.In addition, the cumulant since velocity integrator can be made
Substantially 0, so positioning adjustment time shortens.
The explanation of reference numeral
100、200、300：Control device of electric motor
110、210、310：Motor
115、215、315：Encoder
120、230、320：Velocity calculator
125、325：Phase advancer
130、340：Rate integrating time constant adapter
140、350：Integrator
150、360：Speed proportional gain device
220：Position proportional multiplier (-icator)
240：Speed controlling portion
160、250、370：Torque control division
330：Rate integrating compensates low-pass filter
Claims (5)
1. a kind of control device of electric motor, which is characterized in that have：
Phase advancer, the phase advancer keep the phase of the velocity feedback from the motor advanced；
Time constant adapter, the time constant adapter is to the speed command of the motor and the institute for having kept phase advanced
The difference for stating velocity feedback is multiplied by time constant；
Velocity integrator, the velocity integrator is to the instruction after being multiplied by time constant by the time constant adapter
It is integrated；And
Speed proportional gain device, the speed proportional gain device is by the difference of the speed command and the velocity feedback and passes through
Instruction after the velocity integrator is integrated is cumulative, and is multiplied by speed proportional gain to the instruction after adding up and exports
The torque instruction of the motor.
2. a kind of control device of electric motor, which is characterized in that have：
Phase advancer, the phase advancer keep the phase of the velocity feedback from the motor advanced；
Rate integrating compensates low-pass filter, and the rate integrating compensates low-pass filter to improve the speed to the motor
It spends the tracing ability of instruction and keeps the speed command sluggish；
Time constant adapter, the time constant adapter is to after having passed through rate integrating compensation low-pass filter
The difference of the speed command and the velocity feedback for having kept phase advanced is multiplied by time constant；
Velocity integrator, the velocity integrator is to the instruction after being multiplied by time constant by the time constant adapter
It is integrated；And
Speed proportional gain device, the speed proportional gain device is by the difference of the speed command and the velocity feedback and passes through
Instruction after the velocity integrator is integrated is cumulative, and is multiplied by speed proportional gain to the instruction after adding up and exports
The torque instruction of the motor.
3. control device of electric motor as claimed in claim 2, which is characterized in that can not be set by the phase advancer
With sluggishness comparable time of the speed control system of the control device of electric motor it is advanced in the case of, the rate integrating
Low-pass filter is compensated by keeping the speed command sluggishness in shortage to compensate its.
4. control device of electric motor as claimed any one in claims 1 to 3, which is characterized in that also have：
Position proportional multiplier (-icator), the position proportional multiplier (-icator) to the position command of the motor with come it is electronic described in self-test
The difference of the position feedback of the encoder of the rotation position of machine is multiplied by proportional gain and exports the speed command；And
Torque control division, the torque control division are controlled according to the torque instruction that the speed proportional gain device is exported to described
The electric power of the coil supply of motor.
5. control device of electric motor as claimed any one in claims 1 to 3, which is characterized in that the phase advancer is logical
Cross the sluggishness for the speed control system for making the velocity feedback compensate the control device of electric motor in advance.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012182609A JP5411331B1 (en) | 2012-08-21 | 2012-08-21 | Motor control device |
| JP2012-182609 | 2012-08-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103633916A CN103633916A (en) | 2014-03-12 |
| CN103633916B true CN103633916B (en) | 2018-10-02 |
Family
ID=50202690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310351583.8A Active CN103633916B (en) | 2012-08-21 | 2013-08-13 | Control device of electric motor |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5411331B1 (en) |
| KR (1) | KR101807787B1 (en) |
| CN (1) | CN103633916B (en) |
| TW (1) | TWI575863B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104410387A (en) * | 2014-09-27 | 2015-03-11 | 奇瑞汽车股份有限公司 | Computing method for signal variation |
| JP6500767B2 (en) * | 2015-12-18 | 2019-04-17 | オムロン株式会社 | Adjusting device, control parameter adjusting method, information processing program, and recording medium |
| JP6846213B2 (en) * | 2017-01-20 | 2021-03-24 | 山洋電気株式会社 | Motor control device |
| KR102509725B1 (en) * | 2018-02-28 | 2023-03-13 | 엘지전자 주식회사 | Motor drive apparatus |
| CN109901385B (en) * | 2019-03-19 | 2023-03-17 | 广东电网有限责任公司 | Advanced observation method and device |
| CN113815431B (en) * | 2021-10-14 | 2022-04-15 | 河南嘉晨智能控制股份有限公司 | Method for improving driving feeling of industrial vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1761920A (en) * | 2003-03-17 | 2006-04-19 | 山洋电气株式会社 | Motor control device |
| CN101364785A (en) * | 2007-08-10 | 2009-02-11 | 三洋电机株式会社 | Motor control device and compressor |
| CN101454969A (en) * | 2006-05-26 | 2009-06-10 | 株式会社安川电机 | Servo controller |
| CN102957367A (en) * | 2012-06-08 | 2013-03-06 | 江苏新日电动车股份有限公司 | DC (Direct Current) brushless constant-speed controller for electric vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3246559B2 (en) * | 1991-09-03 | 2002-01-15 | 株式会社安川電機 | Servo control method |
| JP3381880B2 (en) * | 1994-07-06 | 2003-03-04 | 株式会社安川電機 | Servo control device |
| JP3966142B2 (en) * | 2002-10-03 | 2007-08-29 | 松下電器産業株式会社 | Method for shortening positioning time of motor drive device |
| FR2896639B1 (en) * | 2006-01-20 | 2008-02-22 | Valeo Equip Electr Moteur | DEVICE FOR CONTROLLING A POLYPHASE ROTARY MACHINE |
| JP5430775B2 (en) * | 2010-11-05 | 2014-03-05 | 三菱電機株式会社 | Motor control device |
| CN101989080A (en) * | 2010-12-03 | 2011-03-23 | 沈阳工业大学 | Method for realizing contour machining by using variable gain zero phase error tracking and disturbance observation |
-
2012
- 2012-08-21 JP JP2012182609A patent/JP5411331B1/en active Active
-
2013
- 2013-07-16 TW TW102125319A patent/TWI575863B/en active
- 2013-08-13 CN CN201310351583.8A patent/CN103633916B/en active Active
- 2013-08-16 KR KR1020130097129A patent/KR101807787B1/en active IP Right Grant
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1761920A (en) * | 2003-03-17 | 2006-04-19 | 山洋电气株式会社 | Motor control device |
| CN101454969A (en) * | 2006-05-26 | 2009-06-10 | 株式会社安川电机 | Servo controller |
| CN101364785A (en) * | 2007-08-10 | 2009-02-11 | 三洋电机株式会社 | Motor control device and compressor |
| CN102957367A (en) * | 2012-06-08 | 2013-03-06 | 江苏新日电动车股份有限公司 | DC (Direct Current) brushless constant-speed controller for electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201409924A (en) | 2014-03-01 |
| KR101807787B1 (en) | 2017-12-11 |
| KR20140024809A (en) | 2014-03-03 |
| JP5411331B1 (en) | 2014-02-12 |
| TWI575863B (en) | 2017-03-21 |
| JP2014042380A (en) | 2014-03-06 |
| CN103633916A (en) | 2014-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103633916B (en) | Control device of electric motor | |
| JP5726183B2 (en) | Method and system for controlling radio frequency power | |
| US8803466B2 (en) | Motor control apparatus | |
| US20100295497A1 (en) | Motor control device and motor control system | |
| US6936990B2 (en) | Method for controlling electric motor and apparatus for controlling the same | |
| JP4467625B2 (en) | Numerical control apparatus and numerical control method | |
| JP4577107B2 (en) | Machine position controller | |
| US10985684B2 (en) | Motor control device | |
| CN110463017A (en) | Control device of electric motor, compressor and method of motor control | |
| JP5620535B2 (en) | Motor control system that detects voltage saturation | |
| US8970145B2 (en) | Synchronous motor controller, synchronous motor control method | |
| GB2451606A (en) | Servo controller | |
| US10274939B2 (en) | Feed shaft control method and numerical control work device | |
| US9483036B2 (en) | Motor control apparatus having part for phase compensation | |
| US20150198934A1 (en) | Motor control apparatus | |
| US9798295B2 (en) | Motor controller having a function of suppressing vibrations | |
| PT2111569E (en) | Closed-loop control method and closed-loop control device with multi-channel feedback | |
| JP2010528385A5 (en) | ||
| JP4294344B2 (en) | Electric motor control method and control apparatus | |
| CN109412495B (en) | Parameter self-adjusting method, equipment and computer readable storage medium | |
| US20180262153A1 (en) | Motor control system | |
| CN110661469A (en) | Motor control device | |
| JP2013055820A (en) | Controller of ac motor | |
| JP2008011623A (en) | Apparatus and method for controlling alternating-current motors | |
| JP3902745B2 (en) | Industrial device control method and industrial device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |