CN104702158A - Motor controller - Google Patents
Motor controller Download PDFInfo
- Publication number
- CN104702158A CN104702158A CN201410745918.9A CN201410745918A CN104702158A CN 104702158 A CN104702158 A CN 104702158A CN 201410745918 A CN201410745918 A CN 201410745918A CN 104702158 A CN104702158 A CN 104702158A
- Authority
- CN
- China
- Prior art keywords
- torque instruction
- torque
- speed
- instruction
- control assembly
- 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.)
- Granted
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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
Abstract
The invention provides motor controller capable of improving instruction traceability; the motor controller (100) comprises the following elements: a differentiator differentialing externally inputted speed instruction; a torque feedforward portion (112) used for generating a first torque indication for the feedforward system according to the differential speed instruction; a speed control portion (114) used for generating a second torque indication according to deviation between the externally inputted speed indication and the speed feedback; a torque indication filter (116) used for preventing machinery resonance and encoder quantization wave of the second torque indication; an addition operation point used for carrying out addition operation for the first torque indication and the second torque indication outputted from the torque indication filter (116), thus generating a third torque indication; a torque control portion (118) using the third torque indication to control the motor motions.
Description
Technical field
The present invention relates to motor control assembly instruction to high traceability.
Background technology
For improving the production efficiency of processing, for the machinery (such as Work machine and robot) possessing the motor controlled by motor control assembly, need to realize the high speed of processing and the raising of processing quality.And in order to realize the raising of high speed and the processing quality processed, need to improve motor control assembly to the traceability of instruction.
Flat No. 3-15911 of Japanese Laid-Open Patent Publication describes the control mode improved the traceability of instruction.In described control mode, the forward feedback correction of position and the forward feedback correction of speed are carried out to position control system and speed control system.These correct the traceability that improve instruction.
Actual machinery is with the part (such as connector and ball-screw) of low rigidity.Therefore, the control of actual machinery will consider the existence of the mechanical resonance of these parts and the quanta fluctuation of encoder., the control mode recorded in flat No. 3-15911 of Japanese Laid-Open Patent Publication, does not have the function suppressing above-mentioned phenomenon.Therefore, even if this control mode to be applied to the machinery of the quantization fluctuation that there is mechanical resonance and encoder, be also difficult to improve the traceability to instruction.
No. 2003-84839, Japanese Laid-Open Patent Publication discloses a kind of motor control assembly, in order to improve the traceability to instruction that there is the motor control assembly applied in the system of mechanical resonance.Described motor control assembly, to position control system and speed control system, carries out velocity feed forward and corrects and torque forward feedback correction.These correct the traceability that improve instruction.In addition, torque filter is passed through in the output after correction.Utilize described torque filter, suppress the quantization fluctuation of mechanical resonance and encoder on the impact of the output after correction.
, the motor control assembly described in No. 2003-84839, Japanese Laid-Open Patent Publication, when the rigidity of mechanical system is low, is difficult to the cut-off frequency improving torque filter.Therefore, correct and torque forward feedback correction even if carry out velocity feed forward, also can not get enough traceability.
Summary of the invention
The present invention is for solving above-mentioned conventional art problem.The object of this invention is to provide a kind of motor control assembly, even if there is the quantization fluctuation of mechanical resonance and encoder, also can improve the traceability to instruction.
For achieving the above object, the motor control assembly of the 1st aspect of the present invention comprises: differentiator, carries out differential to the speed command inputted from outside; Torque feedforward section, generates the first torque instruction as the torque instruction of feedforward system according to the described speed command of differential; Speed controlling portion, according to the deviation of the described speed command inputted from outside and velocity feedback, generates the second torque instruction; Torque instruction filter, suppresses the quantization of the mechanical resonance in described second torque instruction and encoder to fluctuate; Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And torque control division, the action of motor is controlled with described 3rd torque instruction.
Described motor control assembly also can be connected with the described motor driving described machinery and the described encoder exporting the position feedback corresponding with the position of rotation of described motor.And described motor control assembly can also have the speed calculating part calculating described velocity feedback according to described position feedback.
The motor control assembly of the 2nd aspect of the present invention comprises: the first differentiator, carries out differential to the position command inputted from outside; Velocity feed forward portion, generates the First Speed instruction as the speed command of feedforward system according to the described position command of differential; Second differentiator, carries out differential to described First Speed instruction; Torque feedforward section, generates the first torque instruction as the torque instruction of feedforward system according to the First Speed instruction of differential; Position control section, according to the deviation of the described position command inputted from outside and position feedback, generates second speed instruction; Speed controlling portion, according to described First Speed instruction and the add operation result of described second speed instruction and the deviation of velocity feedback, generates the second torque instruction; Torque instruction filter, suppresses the quantization of the mechanical resonance in described second torque instruction and encoder to fluctuate; Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And torque control division, the action of motor is controlled with described 3rd torque instruction.
Described motor control assembly also can be connected with the described motor driving described machinery and the described encoder exporting the described position feedback corresponding with the position of rotation of described motor.And described motor control assembly can also have the speed calculating part calculating described velocity feedback according to described position feedback.
The motor control assembly of the 3rd aspect of the present invention comprises: mode controller, generates the speed command of feedforward system and the first torque instruction of feedforward system according to the speed command inputted from outside; Speed controlling portion, according to the deviation of the velocity feedback of the described speed command exported from described mode controller and reponse system, generates the second torque instruction; Torque instruction filter, suppresses the quantization of the mechanical resonance in described second torque instruction and encoder to fluctuate; Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And torque control division, the action of motor is controlled with described 3rd torque instruction.
Described motor control assembly also can be connected with the described motor driving described machinery and the described encoder exporting the position feedback corresponding with the position of rotation of described motor.And described motor control assembly can also have the speed calculating part calculating described velocity feedback according to described position feedback.
The motor control assembly of the 4th aspect of the present invention comprises: mode controller, according to the position command inputted from outside, generates the first torque instruction of the position command of feedforward system, the First Speed instruction of feedforward system and feedforward system; Position control section, according to the deviation of the position feedback of the position command exported from described mode controller and reponse system, generates second speed instruction; Speed controlling portion, according to the deviation of described First Speed instruction and the add operation result of described second speed instruction and the velocity feedback of described reponse system, generates the second torque instruction; Torque instruction filter, suppresses the quantization of the mechanical resonance in described second torque instruction and encoder to fluctuate; Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And torque control division, the action of motor is controlled with described 3rd torque instruction.
Described motor control assembly also can be connected with the described motor driving described machinery and the described encoder exporting the described position feedback corresponding with the position of rotation of described motor.And described motor control assembly can also have the speed calculating part calculating described velocity feedback according to described position feedback.
According to the motor control assembly of each mode of the present invention, in the future self-torque feedforward section the first torque instruction with carry out add operation by the second torque instruction of torque instruction filter.Therefore, even if there is the quanta fluctuation of mechanical resonance and encoder, the traceability to position command and speed command also can be improved.
Accompanying drawing explanation
Fig. 1 is the block diagram of the motor control assembly of execution mode 1.
Fig. 2 is the performance diagram of the motor control assembly of execution mode 1.
Fig. 3 is the block diagram of the motor control assembly of execution mode 2.
Fig. 4 is the performance diagram of the motor control assembly of execution mode 2.
Fig. 5 is the block diagram of the motor control assembly of execution mode 3.
Fig. 6 is the block diagram of the motor control assembly of execution mode 4.
Description of reference numerals
100,200,300,400 motor control assemblies
110,210,222 differentiators
112,212 torque feedforward section
114,214,314,414 speed controlling portions
116,216,316,416 torque instruction filters
117,217,317,417 add operation points
118,218,318,418 torque control divisions
120,220,320,420 speed calculating parts
140,240,340,440 motors
150,250,350,450 machineries
160,260,360,460 encoders
224 velocity feed forward portions
226,426 position control section
370,470 mode controllers
Embodiment
The execution mode of motor control assembly of the present invention is illustrated referring to accompanying drawing.
[execution mode 1]
The structure > of < motor control assembly
Fig. 1 is the block diagram of the motor control assembly of execution mode 1.The motor control assembly 100 of present embodiment has differentiator 110, torque feedforward section 112, speed controlling portion 114, torque instruction filter 116, torque control division 118 and speed calculating part 120.
The feedforward system of motor control assembly 100 comprises differentiator 110 and torque feedforward section 112.The speed command of differentiator 110 to input motor control assembly 100 carries out differential.Torque feedforward section 112, according to the speed command of differential, calculates the torque instruction (the first torque instruction) of (generation) feedforward system.
Like this, the first torque instruction of feedforward system directly calculates from speed command.Therefore, the first torque instruction does not fluctuate containing the quantization of mechanical resonance and encoder.
Speed controlling portion 114 calculates (generation) second torque instruction according to the difference (deviation) of speed command and velocity feedback.
Torque instruction filter 116 comprises such as low pass filter or notch filter.Torque instruction filter 116 inserts the loop of the reponse system forming Position Control or speeds control.Torque instruction filter 116 suppresses the quantization of the mechanical resonance in the second torque instruction and encoder to fluctuate.As shown in Figure 1, torque instruction filter 116 inserts the loop comprising the reponse system of the speeds control of speed controlling portion 114, torque instruction filter 116, torque control division 118 and speed calculating part 120 to present embodiment.
The second torque instruction calculated by speed controlling portion 114, by torque instruction filter 116.The impact of the quantization fluctuation of mechanical resonance and encoder removed by torque instruction filter 116 from the second torque instruction.Subsequently, in add operation point 117, carry out add operation to described second torque instruction with from the first torque instruction of the feedforward system of torque feedforward section 112 output.The 3rd torque instruction is generated by described add operation.
Torque control division 118 uses the 3rd torque instruction obtained by the add operation in add operation point 117, controls the action of motor 140.Motor 140 driving device 150.
Encoder 160 is arranged on motor 140.The position of rotation of motor 140 exports as position feedback (location feedback value) by encoder 160.Speed calculating part 120 is according to that export from encoder 160, corresponding with the position of rotation of motor 140 position feedback, and computational speed is fed back.
The action > of < motor control assembly
Then, the action of the motor control assembly 100 of present embodiment is described.Here, the action of the motor control assembly 100 of the present embodiment that speed control unit adopts is described.
As shown in Figure 1, the difference of speed command and velocity feedback is obtained.Speed controlling portion 114, according to described difference, calculates (generation) second torque instruction.Second torque instruction is by torque instruction filter 116.On the other hand, differentiator 110 pairs of speed commands carry out differential.Torque feedforward section 112, according to the speed command of differential, generates the first torque instruction.Then, in add operation point 117, add operation is carried out to the first torque instruction and the second torque instruction.The 3rd torque instruction is generated by described add operation.
Torque control division 118 according to the 3rd torque instruction as the add operation result in add operation point 117, drive motors 140.
In the present embodiment, the first torque instruction exported from torque feedforward section 112 and the second torque instruction generated by speed controlling portion 114 are carried out to the add operation point 117 of add operation, be configured in the outlet side of torque instruction filter 116.Like this, avoid torque instruction filter 116 and enter feedforward system.
Feedforward system only provides the feedforward amount of the torque from speed command calculations.Therefore, feedforward system does not form feedback loop.So the resonance composition of the mechanical system detected by encoder 160 is not exaggerated.Its result, even if on the outlet side of torque instruction filter 116, output (the first torque instruction) to torque feedforward section 112 carries out add operation with the second torque instruction through torque instruction filter 116, and the resonance of mechanical system also can not worsen.
Fig. 2 is the performance diagram of the motor control assembly 100 of present embodiment.Curve (a) in figure illustrates the frequency response characteristic (response to the velocity feedback of speed command) of the speed control system of motor control assembly 100.Curve (b) illustrates the frequency response characteristic of the speed control system of motor control assembly in the past.In addition, in the speed control system of motor control assembly in the past, on the input side of torque instruction filter, add operation is carried out to output (the first torque instruction) and second torque instruction of torque feedforward section.
Relatively these frequency response characteristics can obviously be found out, in motor control assembly in the past, because for suppressing the impact of the notch filter of mechanical resonance, near specific multiple frequency values, gain declines to a great extent (curve (b)).And in the motor control assembly 100 of present embodiment, even if in higher frequency, gain does not also reduce (curve (a)).Therefore, than motor control assembly in the past, the motor control assembly 100 of present embodiment can bring effect position command and speed command to high frequency response and traceability.
[execution mode 2]
The structure > of < motor control assembly
Fig. 3 is the block diagram of the motor control assembly of execution mode 2.The motor control assembly 200 of present embodiment, beyond the structural element that the motor control assembly 100 with execution mode 1 is same, also possesses differentiator 222 (the first differentiator), velocity feed forward portion 224 and position control section 226.
The differentiator 210 (the second differentiator) of the motor control assembly 200 of present embodiment, torque feedforward section 212, speed controlling portion 214, torque instruction filter 216, torque control division 218 and speed calculating part 220, have function identical in fact with the differentiator 110 of the motor control assembly 100 of execution mode 1, torque feedforward section 112, speed controlling portion 114, torque instruction filter 116, torque control division 118 with speed calculating part 120 respectively.In addition, the torque feedforward of present embodiment calculates from velocity feed forward.
The feedforward system of motor control assembly 200 comprises differentiator 222, velocity feed forward portion 224, differentiator 210 and torque feedforward section 212.The position command of differentiator 222 to input motor control assembly 200 carries out differential.Velocity feed forward portion 224, according to the position command of differential, calculates the speed command (First Speed instruction) of (generation) feedforward system.
Like this, the First Speed instruction of feedforward system directly calculates from position command.Therefore, First Speed instruction does not comprise the quantization fluctuation of mechanical resonance and encoder.In addition, the torque instruction (the first torque instruction) of feedforward system also directly calculates from the speed command of feedforward system (First Speed instruction).Therefore, the first torque instruction does not also fluctuate containing the quantization of mechanical resonance and encoder.
Position control section 226 according to the difference (deviation) of position command and position feedback, computational speed instruction (second speed instruction).
Differentiator 210 carries out differential to the First Speed instruction exported from speed feedforward section 224.
On the input side of speed controlling portion 214, calculate the First Speed instruction exported from speed feedforward section 224 and the add operation result of second speed instruction, the difference (deviation) with the velocity feedback calculated by speed calculating part 220 that export from position control section 226.Speed controlling portion 214, according to described difference (deviation), calculates (generation) torque instruction (the second torque instruction).
The second torque instruction generated by speed controlling portion 214, by torque instruction filter 216.The impact of the quantization fluctuation of mechanical resonance and encoder removed by torque instruction filter 216 from the second torque instruction.Subsequently, in add operation point 217, add operation is carried out to described second torque instruction and the first torque instruction of the feedforward system exported from torque feedforward section 212.
In addition, the action of the torque feedforward section 212 in the motor control assembly 200 of present embodiment, torque instruction filter 216, torque control division 218 and speed calculating part 220, identical in fact with speed calculating part 120 with the torque feedforward section 112 of execution mode 1, torque instruction filter 116, torque control division 118 respectively.
The position of rotation of motor 240 exports as position feedback by encoder 260.Described position feedback is deducted from position command.The difference (deviation) of position command and position feedback, input position control part 226.
The action > of < motor control assembly
Then, the action of the motor control assembly 200 of present embodiment is described.Here, the action of the motor control assembly 200 of the present embodiment that position control adopts is described.
As shown in Figure 3, the difference of position command and position feedback is obtained.Position control section 226 is according to the instruction of described Difference Calculation second speed.On the other hand, differentiator 222 pairs of position command carry out differential.Subsequently, velocity feed forward portion 224, according to the position command of differential, generates First Speed instruction.Add operation is carried out to First Speed instruction and the second speed instruction exported from position control section 226.
And then, obtain the add operation result of First Speed instruction and second speed instruction, difference (deviation) with the velocity feedback to be calculated by speed calculating part 220.Speed controlling portion 214, according to described difference, calculates (generation) second torque instruction.Second torque instruction is by torque instruction filter 216.On the other hand, differentiator 210 carries out differential to the First Speed instruction exported from speed feedforward section 224.Torque feedforward section 212, according to the First Speed instruction of differential, generates the first torque instruction.Then, in add operation point 217, add operation is carried out to the first torque instruction and the second torque instruction.The 3rd torque instruction is generated by described add operation.
Torque control division 218 is used as the 3rd torque instruction of the add operation result on add operation point 217, drive motors 240.
In the present embodiment, the first torque instruction exported from torque feedforward section 212 and the second torque instruction of being generated by speed controlling portion 214 are carried out to the add operation point 217 of add operation, be configured in the outlet side of torque instruction filter 216.Like this, avoid torque instruction filter 216 and enter feedforward system.
Feedforward system only provides the feedforward amount of speed and the torque calculated from position command.Therefore, feedforward system does not form feedback loop.Therefore, the resonance composition of the mechanical system detected by encoder 260 is not exaggerated.Its result, even if on the outlet side of torque instruction filter 216, output (the first torque instruction) to torque feedforward section 212 carries out add operation with the second torque instruction through torque instruction filter 216, and the resonance of mechanical system also can not worsen.
Fig. 4 is the performance diagram of the motor control assembly 200 of present embodiment.Curve (a) in figure illustrates the frequency response characteristic of the position control system of motor control assembly 200.Curve (b) illustrates the frequency response characteristic of the position control system of motor control assembly in the past.In addition, in the position control system of motor control assembly in the past, on the input side of torque instruction filter, add operation is carried out to output (the first torque instruction) and second torque instruction of torque feedforward section.
Relatively these frequency response characteristics can obviously be found out, in motor control assembly in the past, because for suppressing the impact of the notch filter of mechanical resonance, near specific multiple frequency values, gain declines to a great extent (curve (b)).And in the motor control assembly 200 of present embodiment, even if in higher frequency, gain does not also reduce (curve (a)).Therefore, than motor control assembly in the past, the motor control assembly 200 of present embodiment can bring effect position command and speed command to high frequency response and traceability.
In addition, feedforward system only can provide the feedforward amount of the torque calculated by velocity feed forward portion 224, also can not form feedback loop.In this case, the resonance composition of the mechanical system detected by encoder 260 is not exaggerated.
[execution mode 3]
The structure > of < motor control assembly
Fig. 5 is the block diagram of the motor control assembly of execution mode 3.Except feedforward system forms except this point by mode controller 370, the motor control assembly 300 of present embodiment has structure identical in fact with the motor control assembly 100 of execution mode 1.The speed controlling portion 314 of the motor control assembly 300 of present embodiment, torque instruction filter 316, torque control division 318 and speed calculating part 320, have and the speed controlling portion 114 of the motor control assembly 100 of execution mode 1, torque instruction filter 116, function that torque control division 118 is identical in fact with speed calculating part 120 respectively.
Here, the motor control assembly 300 of the present embodiment that the speed control unit of using forestland controller adopts is described.Mode controller 370 forms the speed control system motor control assembly 100 of execution mode 1, motor 140, machinery 150 and encoder 160 modeling obtained.Therefore, under the motor control assembly 300 of present embodiment is in the pattern Tracing Control of the action of described mode controller 370.
Speed command input pattern controller 370.Mode controller 370, by speed command Implementation Modes control treatment, generates and output speed instruction (First Speed instruction) and torque instruction (the first torque instruction).The speed command exported from mode controller 370 and the first torque instruction, directly calculate from the original speed instruction of input pattern controller 370.Therefore, these speed commands and the first torque instruction, do not comprise the quantization fluctuation because of machinery 350 and the mechanical resonance that causes of encoder 360 and encoder.
Speed controlling portion 314 is the speed command of self mode controller 370 and the difference of velocity feedback always, calculating torque instruction (the second torque instruction).
Torque instruction filter 316 comprises such as low pass filter or notch filter.Torque instruction filter 316 inserts the loop of the reponse system forming Position Control or speeds control.Torque instruction filter 316 suppresses the quantization of the mechanical resonance in the second torque instruction and encoder to fluctuate.As shown in Figure 5, torque instruction filter 316 inserts the loop comprising the reponse system of the speeds control of speed controlling portion 314, torque instruction filter 316, torque control division 318 and speed calculating part 320 to present embodiment.
The second torque instruction calculated by speed controlling portion 314, by torque instruction filter 316.The impact of the quantization fluctuation of mechanical resonance and encoder removed by torque instruction filter 316 from the second torque instruction.Subsequently, in add operation point 317, add operation is carried out to described second torque instruction and the first torque instruction exported from mode controller 370.The 3rd torque instruction is generated by described add operation.
Torque control division 318 uses the 3rd torque instruction obtained by the add operation in add operation point 317, controls the action of motor 340.Motor 340 driving device 350.
Encoder 360 is arranged on motor 340.The position of rotation of motor 340 exports as position feedback by encoder 360.Speed calculating part 320 is according to that export from encoder 360, corresponding with the position of rotation of motor 340 position feedback, and computational speed is fed back.
The action > of < motor control assembly
Then, the action of the motor control assembly 300 of present embodiment is described.
As shown in Figure 5, mode controller 370, from the speed command of input motor control assembly 300, calculates speed command and torque instruction (the first torque instruction) that (generation) is supplied to actual control system.
Then, the speed command from mode controller 370 and the difference from the velocity feedback of speed calculating part 320 is obtained.Speed controlling portion 314, according to described difference, calculates (generation) second torque instruction.Second torque instruction is by torque instruction filter 316.Subsequently, in add operation point 317, add operation is carried out to the second torque instruction and the first torque instruction from mode controller 370.The 3rd torque instruction is generated by described add operation.
Torque control division 318 according to the 3rd torque instruction as the add operation result on add operation point 317, drive motors 340.
In the present embodiment, the first torque instruction exported from mode controller 370 and the second torque instruction generated by speed controlling portion 314 are carried out to the add operation point 317 of add operation, be configured in the outlet side of torque instruction filter 316.
Mode controller 370 only provides the feedforward amount of speed from speed command calculations and torque.Therefore, mode controller 370 does not form the feedback loop to machinery 350 and encoder 360.Therefore, the resonance composition of the mechanical system detected by encoder 360 is not exaggerated.Its result, even if on the outlet side of torque instruction filter 316, carry out add operation to the first torque instruction from mode controller 370 and the second torque instruction through torque instruction filter 316, the resonance of mechanical system also can not worsen.
The frequency response characteristic of the motor control assembly 300 of present embodiment is same with the motor control assembly of execution mode 1 and 2, until high-frequency gain does not also decline.Therefore, the motor control assembly 300 of present embodiment can bring effect position command and speed command to high frequency response and traceability.
[execution mode 4]
The structure > of < motor control assembly
Fig. 6 is the block diagram of the motor control assembly of execution mode 4.Except feedforward system forms except this point by mode controller 470, the motor control assembly 400 of present embodiment has structure identical in fact with the motor control assembly 200 of execution mode 2.The speed controlling portion 414 of the motor control assembly 400 of present embodiment, torque instruction filter 416, torque control division 418, speed calculating part 420 and position control section 426, have and the speed controlling portion 214 of the motor control assembly 200 of execution mode 2, torque instruction filter 216, torque control division 218, function that speed calculating part 220 is identical in fact with position control section 226 respectively.
Here, the motor control assembly 400 of the present embodiment that the position control of using forestland controller adopts is described.Mode controller 470 forms the position control system motor control assembly 200 of execution mode 2, motor 240, machinery 250 and encoder 260 modeling obtained.Therefore, under the motor control assembly 400 of present embodiment is in the pattern Tracing Control of the action of described mode controller 470.
Position command input pattern controller 470.Mode controller 470, by position command Implementation Modes control treatment, generates and outgoing position instruction, speed command (First Speed instruction) and torque instruction (the first torque instruction).The position command exported from mode controller 470, First Speed instruction and the first torque instruction, directly calculate from the initial position command of input pattern controller 470.Therefore, these position command, First Speed instruction and the first torque instruction, do not comprise the quantization fluctuation because of machinery 450 and the mechanical resonance that causes of encoder 460 and encoder.
Position control section 426 is the position command of self mode controller 470 and the difference (deviation) of position feedback always, computational speed instruction (second speed instruction).
On the input side of speed controlling portion 414, calculate from the First Speed instruction of mode controller 470 and the add operation result of second speed instruction, the difference (deviation) with the velocity feedback to be calculated by speed calculating part 420 that export from position control section 426.Speed controlling portion 414, according to described difference (deviation), calculates (generation) torque instruction (the second torque instruction).
The second torque instruction generated by speed controlling portion 414, by torque instruction filter 416.The impact of the quantization fluctuation of mechanical resonance and encoder removed by torque instruction filter 416 from the second torque instruction.Subsequently, in add operation point 417, add operation is carried out to described second torque instruction and the first torque instruction from mode controller 470.The 3rd torque instruction is generated by described add operation.
Torque control division 418 uses the 3rd torque instruction obtained by the add operation on add operation point 417, controls the action of motor 440.Motor 440 driving device 450.
Encoder 460 is arranged on motor 440.Encoder 460 exports the position feedback corresponding with the position of rotation of motor 440.Speed calculating part 420 uses the position feedback exported from encoder 460, and computational speed is fed back.
Always the position command of self mode controller 470 deducts the position feedback exported from encoder 460.From the position command of mode controller 470 and the difference (deviation) of position feedback, input position control part 426.
The action > of < motor control assembly
Then, the action of the motor control assembly 400 of present embodiment is described.
As shown in Figure 6, the difference of position command from mode controller 470 and position feedback is obtained.Position control section 426, according to described difference, calculates second speed instruction.Subsequently, with the second speed instruction exported from position control section 426, add operation is carried out to the First Speed instruction from mode controller 470.
Then, the add operation result of First Speed instruction and second speed instruction, difference with the velocity feedback to be calculated by speed calculating part 420 is obtained.Speed controlling portion 414, according to described difference, calculates the second torque instruction.Second torque instruction is by torque instruction filter 416.Subsequently, add operation point 417 carries out add operation to the second torque instruction and the first torque instruction from mode controller 470.The 3rd torque instruction is generated by described add operation.
Torque control division 418 according to the 3rd torque instruction as the add operation result on add operation point 417, drive motors 440.
In the present embodiment, the first torque instruction exported from mode controller 470 and the second torque instruction of being generated by speed controlling portion 414 are carried out to the add operation point 417 of add operation, be configured in the outlet side of torque instruction filter 416.
Mode controller 470 only provide calculate from position command position, speed and torque feedforward amount.Therefore, mode controller 470 does not form the feedback loop to machinery 450 and encoder 460.Therefore, the resonance composition of the mechanical system detected by encoder 460 is not exaggerated.Its result, even if on the outlet side of torque instruction filter 416, carry out add operation to the first torque instruction from mode controller 470 and the second torque instruction through torque instruction filter 416, the resonance of mechanical system also can not worsen.
The frequency response characteristic of the motor control assembly 400 of present embodiment is same with the motor control assembly of execution mode 1 and 2, until high-frequency gain does not also decline.Therefore, the motor control assembly 400 of present embodiment can bring effect position command and speed command to high frequency response and traceability.
As mentioned above, according to the motor control assembly of execution mode 1 ~ 4, add operation is carried out to the output of torque feedforward output and torque instruction filter.Like this, even if there is the resonance of mechanical system and the quantization fluctuation of encoder, the traceability to position command or speed command can also be improved.
In addition, as torque instruction filter in above-mentioned execution mode 1 ~ 4, exemplified with low pass filter and notch filter., torque instruction filter is not limited thereto, and also can be to comprise the arbitrary filter that can suppress the resonance of mechanical system and quantization fluctuation.In addition, the motor control assembly of embodiments of the present invention also can be the first ~ five following motor control assembly.
First motor control assembly is the motor control assembly be connected with the encoder that the motor of driving device and described motor are installed, comprise: the first torque instruction generating unit, according to the control command inputted from outside, generate the first torque instruction of the torque instruction as feedforward system; Speed calculating part, according to that export from described encoder, corresponding with the position of rotation of described motor position feedback, computational speed is fed back; Second torque instruction generating unit, generates the second torque instruction according to described control command and described velocity feedback; Torque instruction filter, suppresses the resonance of the described machinery in described second torque instruction and the quantization fluctuation of described encoder; Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And torque control division, use described 3rd torque instruction to control the action of described motor.
Second motor control assembly is on the first motor control assembly basis, described control command is speed command, also there is the differentiator described speed command being carried out to differential, described first torque instruction generating unit is the torque feedforward section generating described first torque instruction according to the described speed command of differential, and described second torque instruction generating unit is the speed controlling portion according to generating described second torque instruction from the described speed command of outside input and the deviation of described velocity feedback.
3rd motor control assembly is on the first motor control assembly basis, described control command is speed command, described first torque instruction generating unit generates described first torque instruction according to described speed command and generates the mode controller of the speed command of feedforward system, and described second torque instruction generating unit is the speed controlling portion generating described second torque instruction according to the deviation of the described speed command exported from described mode controller and described velocity feedback.
4th motor control assembly is on the first motor control assembly basis, and described control command is position command, also has: the first differentiator, carries out differential to described position command; First Speed command generation unit, according to the described position command of differential, generates the First Speed instruction of the speed command as feedforward system; Second differentiator, carries out differential to described First Speed instruction; And position control section, according to the deviation of the described position command inputted from outside and described position feedback, generate second speed instruction, described first torque instruction generating unit is the torque feedforward section generating described first torque instruction according to the described First Speed instruction of differential, and described second torque instruction generating unit is the speed controlling portion generating described second torque instruction according to described First Speed instruction and the add operation result of described second speed instruction and the deviation of described velocity feedback.
5th motor control assembly is on the first motor control assembly basis, described control command is position command, described first torque instruction generating unit generates described first torque instruction according to described position command, the position command of feedforward system, as the mode controller of the First Speed instruction of the speed command of feedforward system, described motor control assembly also has position control section, described position control section generates second speed instruction according to from the described position command of described mode controller and the deviation of described position feedback, described second torque instruction generating unit is according to described First Speed instruction and the add operation result of described second speed instruction and the deviation of described velocity feedback, generate the speed controlling portion of described second torque instruction.
In addition, speed command and position command are examples of control command.Torque feedforward section 112 and 212 is examples for the first torque instruction generating unit.Speed controlling portion 114,214,314 and 414 is examples for the second torque instruction generating unit.Differentiator 222 is examples for the first differentiator.Differentiator 210 is examples for the second differentiator.Velocity feed forward portion 224 is examples for First Speed command generation unit.Position control section 226 and 426 is examples for second speed command generation unit.
Above, preferred forms of the present invention is described.These are all for illustration of illustration of the present invention, are not intended to limit scope of the present invention.The present invention, in the scope not departing from its invention thought, can implement various modes different from the embodiment described above.
The motor control assembly of an embodiment of the invention, also can have torque feedforward section, speed controlling portion, torque instruction filter and torque control division.Torque feedforward section in described structure can export the torque instruction of feedforward system from speed command.Torque instruction filter can from the deviation of the speed command of feedforward system and velocity feedback, exports mechanical resonance and quantization and to fluctuate the torque instruction be suppressed.The torque instruction that described torque feedforward section can export by torque control division and the torque instruction that described torque instruction filter exports carry out add operation on add operation point, and the torque instruction using add operation to draw controls the action of motor.
And motor control assembly of the present invention can also be following six ~ nine motor control assembly.
6th motor control assembly comprises: differentiator speed command being carried out to differential; The torque feedforward section of the torque instruction of feedforward system is exported from the speed command of differential; From the speed controlling portion of the deviation Driving Torque instruction of described speed command and velocity feedback; The torque instruction filter of the torque instruction of the quantization fluctuation suppressing mechanical resonance and encoder is exported from described torque instruction; And the torque instruction that exports of the torque instruction described torque feedforward section to be exported and described torque instruction filter carries out add operation on add operation point and torque instruction after using add operation controls the torque control division of the action of motor.
7th motor control assembly comprises: differentiator position command being carried out to differential; The velocity feed forward portion of the speed command of feedforward system is exported from the position command of differential; Described speed command is carried out to the differentiator of differential; The torque feedforward section of the torque instruction of feedforward system is exported from the speed command of differential; From the position control section of the deviation output speed instruction of described position command and position feedback; The speed command exported from the speed command exported described velocity feed forward portion and described position control section carries out the speed command after add operation, speed controlling portion with the deviation Driving Torque instruction of described velocity feedback; The torque instruction filter of the torque instruction of the quantization fluctuation suppressing mechanical resonance and encoder is exported from described torque instruction; And the torque instruction that exports of the torque instruction described torque feedforward section to be exported and described torque instruction filter carries out add operation on add operation point and torque instruction after using add operation controls the torque control division of the action of motor.
8th motor control assembly comprises: export the speed command of feedforward system and the mode controller of torque instruction from speed command; The speed controlling portion of the deviation Driving Torque instruction of the speed command exported from described mode controller and the velocity feedback of reponse system; The torque instruction filter of the torque instruction of the quantization fluctuation suppressing mechanical resonance and encoder is exported from described torque instruction; And the torque instruction that exports of the torque instruction to be exported by described mode controller and described torque instruction filter carries out add operation on add operation point and torque instruction after using add operation controls the torque control division of the action of motor.
9th motor control assembly comprises: the mode controller exporting the position command of feedforward system, speed command and torque instruction from position command; The position control section of the deviation output speed instruction of the position command exported from described mode controller and the position feedback of reponse system; The speed command exported from the speed command exported described mode controller and described position control section carries out the speed command after add operation, speed controlling portion with the deviation Driving Torque instruction of the velocity feedback of described reponse system; The torque instruction filter of the torque instruction of the torque instruction output suppression mechanical resonance exported from described speed controlling portion and the quantization fluctuation of encoder; And the torque instruction that exports of the torque instruction to be exported by described mode controller and described torque instruction filter carries out add operation on add operation point and torque instruction after using add operation controls the torque control division of the action of motor.
Claims (8)
1. a motor control assembly, is characterized in that comprising:
Differentiator, carries out differential to the speed command inputted from outside;
Torque feedforward section, generates the first torque instruction as the torque instruction of feedforward system according to the described speed command of differential;
Speed controlling portion, according to the deviation of the described speed command inputted from outside and velocity feedback, generates the second torque instruction;
Torque instruction filter, suppresses the quantization of the mechanical resonance in described second torque instruction and encoder to fluctuate;
Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And
Torque control division, controls the action of motor with described 3rd torque instruction.
2. motor control assembly according to claim 1, is characterized in that,
Described motor control assembly and the described motor driving described machinery and the described encoder exporting the position feedback corresponding with the position of rotation of described motor are connected,
Described motor control assembly also has the speed calculating part calculating described velocity feedback according to described position feedback.
3. a motor control assembly, is characterized in that comprising:
First differentiator, carries out differential to the position command inputted from outside;
Velocity feed forward portion, generates the First Speed instruction as the speed command of feedforward system according to the described position command of differential;
Second differentiator, carries out differential to described First Speed instruction;
Torque feedforward section, generates the first torque instruction as the torque instruction of feedforward system according to the First Speed instruction of differential;
Position control section, according to the deviation of the described position command inputted from outside and position feedback, generates second speed instruction;
Speed controlling portion, according to described First Speed instruction and the add operation result of described second speed instruction and the deviation of velocity feedback, generates the second torque instruction;
Torque instruction filter, suppresses the quantization of the mechanical resonance in described second torque instruction and encoder to fluctuate;
Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And
Torque control division, controls the action of motor with described 3rd torque instruction.
4. motor control assembly according to claim 3, is characterized in that,
Described motor control assembly and the described motor driving described machinery and the described encoder exporting the described position feedback corresponding with the position of rotation of described motor are connected,
Described motor control assembly also has the speed calculating part calculating described velocity feedback according to described position feedback.
5. a motor control assembly, is characterized in that comprising:
Mode controller, generates the speed command of feedforward system and the first torque instruction of feedforward system according to the speed command inputted from outside;
Speed controlling portion, according to the deviation of the velocity feedback of the described speed command exported from described mode controller and reponse system, generates the second torque instruction;
Torque instruction filter, suppresses the quantization of the mechanical resonance in described second torque instruction and encoder to fluctuate;
Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And
Torque control division, controls the action of motor with described 3rd torque instruction.
6. motor control assembly according to claim 5, is characterized in that,
Described motor control assembly and the described motor driving described machinery and the described encoder exporting the position feedback corresponding with the position of rotation of described motor are connected,
Described motor control assembly also has the speed calculating part calculating described velocity feedback according to described position feedback.
7. a motor control assembly, is characterized in that comprising:
Mode controller, according to the position command inputted from outside, generates the first torque instruction of the position command of feedforward system, the First Speed instruction of feedforward system and feedforward system;
Position control section, according to the deviation of the position feedback of the position command exported from described mode controller and reponse system, generates second speed instruction;
Speed controlling portion, according to the deviation of described First Speed instruction and the add operation result of described second speed instruction and the velocity feedback of described reponse system, generates the second torque instruction;
Torque instruction filter, suppresses the quantization of the mechanical resonance in described second torque instruction and encoder to fluctuate;
Add operation point, carries out add operation to described first torque instruction and described second torque instruction exported from described torque instruction filter, generates the 3rd torque instruction; And
Torque control division, controls the action of motor with described 3rd torque instruction.
8. motor control assembly according to claim 7, is characterized in that,
Described motor control assembly and the described motor driving described machinery and the described encoder exporting the described position feedback corresponding with the position of rotation of described motor are connected,
Described motor control assembly also has the speed calculating part calculating described velocity feedback according to described position feedback.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013254430A JP6106582B2 (en) | 2013-12-09 | 2013-12-09 | Motor control device |
| JP2013-254430 | 2013-12-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104702158A true CN104702158A (en) | 2015-06-10 |
| CN104702158B CN104702158B (en) | 2019-08-13 |
Family
ID=53348994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410745918.9A Active CN104702158B (en) | 2013-12-09 | 2014-12-08 | Motor control assembly |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6106582B2 (en) |
| KR (1) | KR101967926B1 (en) |
| CN (1) | CN104702158B (en) |
| TW (1) | TWI671614B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113224983A (en) * | 2021-04-09 | 2021-08-06 | 深圳市迈凯诺电气股份有限公司 | Speed measuring system capable of improving speed control precision of incremental photoelectric encoder |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI618346B (en) * | 2015-11-27 | 2018-03-11 | 廣明光電股份有限公司 | Method for dynamically compensating the torque ripple of a motor |
| CN106788039B (en) * | 2017-01-13 | 2019-02-26 | 青岛大学 | Induction Motor-Driven system control method based on extreme learning machine |
| JP6846213B2 (en) * | 2017-01-20 | 2021-03-24 | 山洋電気株式会社 | Motor control device |
| CN106788086B (en) * | 2017-02-20 | 2019-02-05 | 青岛大学 | Consider the asynchronous machine command filtering finite time fuzzy control method of input saturation |
| JP6390735B1 (en) * | 2017-03-14 | 2018-09-19 | オムロン株式会社 | Control system |
| JP6818954B1 (en) * | 2020-03-17 | 2021-01-27 | 三菱電機株式会社 | Control system, motor control device and machine learning device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0534690A2 (en) * | 1991-09-25 | 1993-03-31 | Kabushiki Kaisha Toshiba | Servo motor control device |
| JP2003084839A (en) * | 2001-09-10 | 2003-03-19 | Yaskawa Electric Corp | Motor controller with function of overshoot suppression |
| CN1523465A (en) * | 2003-02-20 | 2004-08-25 | ������������ʽ���� | Servocontrol device |
| CN1633629A (en) * | 2000-09-20 | 2005-06-29 | 株式会社安川电机 | Servo control method |
| JP2007140950A (en) * | 2005-11-18 | 2007-06-07 | Yaskawa Electric Corp | Digital servo control device |
| CN101366166A (en) * | 2006-02-08 | 2009-02-11 | 三菱电机株式会社 | Motor control device and motor control method |
| CN102684600A (en) * | 2011-03-08 | 2012-09-19 | 株式会社安川电机 | Motor control apparatus and method for controlling motor |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2762364B2 (en) | 1989-03-20 | 1998-06-04 | ファナック株式会社 | Feedforward control method for servo motor |
| JP4654493B2 (en) * | 2000-08-08 | 2011-03-23 | 株式会社安川電機 | Electric motor control device |
| US7289858B2 (en) * | 2004-05-25 | 2007-10-30 | Asml Netherlands B.V. | Lithographic motion control system and method |
| TWI295529B (en) * | 2004-12-03 | 2008-04-01 | Mitsubishi Electric Corp | Motor controller |
| JP5278333B2 (en) * | 2008-01-11 | 2013-09-04 | 株式会社安川電機 | Motor control device |
| JP2012104047A (en) * | 2010-11-12 | 2012-05-31 | Mitsubishi Electric Corp | Servo controller |
-
2013
- 2013-12-09 JP JP2013254430A patent/JP6106582B2/en active Active
-
2014
- 2014-12-08 CN CN201410745918.9A patent/CN104702158B/en active Active
- 2014-12-08 TW TW103142581A patent/TWI671614B/en active
- 2014-12-09 KR KR1020140175558A patent/KR101967926B1/en active IP Right Grant
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0534690A2 (en) * | 1991-09-25 | 1993-03-31 | Kabushiki Kaisha Toshiba | Servo motor control device |
| CN1633629A (en) * | 2000-09-20 | 2005-06-29 | 株式会社安川电机 | Servo control method |
| JP2003084839A (en) * | 2001-09-10 | 2003-03-19 | Yaskawa Electric Corp | Motor controller with function of overshoot suppression |
| CN1523465A (en) * | 2003-02-20 | 2004-08-25 | ������������ʽ���� | Servocontrol device |
| JP2007140950A (en) * | 2005-11-18 | 2007-06-07 | Yaskawa Electric Corp | Digital servo control device |
| CN101366166A (en) * | 2006-02-08 | 2009-02-11 | 三菱电机株式会社 | Motor control device and motor control method |
| CN102684600A (en) * | 2011-03-08 | 2012-09-19 | 株式会社安川电机 | Motor control apparatus and method for controlling motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113224983A (en) * | 2021-04-09 | 2021-08-06 | 深圳市迈凯诺电气股份有限公司 | Speed measuring system capable of improving speed control precision of incremental photoelectric encoder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104702158B (en) | 2019-08-13 |
| TWI671614B (en) | 2019-09-11 |
| JP6106582B2 (en) | 2017-04-05 |
| KR101967926B1 (en) | 2019-04-10 |
| TW201530278A (en) | 2015-08-01 |
| KR20150067076A (en) | 2015-06-17 |
| JP2015115990A (en) | 2015-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104702158A (en) | Motor controller | |
| JP4174543B2 (en) | Servo motor control device | |
| KR101033766B1 (en) | Servo control device | |
| US9678500B2 (en) | Machining program creating device numerical control device, machining system, machining program creating method, numerical control method, and machining program | |
| JP5762625B2 (en) | Trajectory control device | |
| JP5620535B2 (en) | Motor control system that detects voltage saturation | |
| CN105811817B (en) | Control device of electric motor | |
| CN105932930B (en) | Control device of electric motor | |
| CN103167737B (en) | Control device of electric motor | |
| CN106549608A (en) | Controller for motor | |
| CN104283475A (en) | Motor control device | |
| CN105319963A (en) | Motor system | |
| EP2096507A1 (en) | Servo control apparatus and control method thereof | |
| CN102478810B (en) | Drive control apparatus for servo motor | |
| JP5052987B2 (en) | Position or speed control device | |
| CN113157012B (en) | Method and system for controlling mechanical vibration | |
| JP5499865B2 (en) | Generation method of speed command profile for articulated robot | |
| CN108508929B (en) | Vibration control method and system for flexible mechanical structure | |
| CN102983805B (en) | Control device of AC motor | |
| CN104821772B (en) | Control device of electric motor | |
| CN109104131B (en) | Control device of electric motor | |
| CN103684188A (en) | Method and system for identifying rotational inertia of motion control system | |
| CN112865614A (en) | Alternating current servo system | |
| JP2014119903A (en) | Control device, control program, and control method | |
| CN106533270A (en) | Motor control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |