CN104702158B - Motor control assembly - Google Patents
Motor control assembly Download PDFInfo
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- CN104702158B CN104702158B CN201410745918.9A CN201410745918A CN104702158B CN 104702158 B CN104702158 B CN 104702158B CN 201410745918 A CN201410745918 A CN 201410745918A CN 104702158 B CN104702158 B CN 104702158B
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- torque instruction
- torque
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- instruction
- motor
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- 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 present invention provides a kind of motor control assembly that can be improved to the traceability of instruction.The motor control assembly (100) includes: differentiator (110), carries out differential to from externally input speed command；Torque feedforward section (112) generates the first torque instruction of the torque instruction as feedforward system according to the speed command of differential；Speed controlling portion (114) generates the second torque instruction according to the deviation from externally input speed command and velocity feedback；Torque instruction filter (116) inhibits the quantization fluctuation of the mechanical resonance and encoder in the second torque instruction；Add operation point carries out add operation to the first torque instruction and the second torque instruction exported from torque instruction filter (116), generates third torque instruction；And torque control division (118), with the movement of third torque instruction control motor.
Description
Technical field
The present invention relates to the motor control assemblies to instruction with high traceability.
Background technique
For the production efficiency for improving processing, for having by machinery (such as the operation of the motor of motor control assembly control
Mechanical and robot), need to realize the raising of the high speed and processing quality of processing.And in order to realize the high speed of processing and add
The raising of work quality needs to improve motor control assembly to the traceability of instruction.
Japanese Patent Laid-Open Publication flat No. 3-15911 describes the control mode improved to the traceability of instruction.?
In the control mode, the forward feedback correction of position and the feedforward school of speed are carried out to position control system and speed control system
Just.These corrections improve the traceability to instruction.
It is actual mechanical with low rigid part (such as connector and ball-screw).Therefore, the control of actual machinery
System will consider the presence of the mechanical resonance of these parts and the quanta fluctuation of encoder.But Japanese Patent Laid-Open Publication
The control mode recorded in flat No. 3-15911, and do not have the function of inhibiting above-mentioned phenomenon.Therefore, even if by this controlling party
Formula is applied to there are the machinery that the quantization of mechanical resonance and encoder fluctuates, it is also difficult to improve the traceability to instruction.
Japanese Patent Laid-Open Publication 2003-84839 discloses a kind of motor control assembly, and to improve, there are machines
The traceability to instruction for the motor control assembly applied in the system of tool resonance.The motor control assembly is to position control system
System and speed control system carry out velocity feed forward correction and torque forward feedback correction.These corrections improve the traceability to instruction.
In addition, the output after correction passes through torque filter.Using the torque filter, inhibit the quantum of mechanical resonance and encoder
Change influence of the fluctuation to the output after correction.
But motor control assembly described in Japanese Patent Laid-Open Publication 2003-84839 is in the rigid of mechanical system
In the case that property is low, it is difficult to improve the cutoff frequency of torque filter.Therefore, even if carrying out velocity feed forward correction and torque feedforward
Correction, also cannot get enough traceability.
Summary of the invention
The present invention is for solving the problems, such as above-mentioned conventional art.The object of the present invention is to provide a kind of motor control assemblies, i.e.,
Make also improve the traceability to instruction there are the fluctuation of the quantization of mechanical resonance and encoder.
In order to achieve the above objectives, the motor control assembly of the 1st aspect of the present invention includes: differentiator, to from external input
Speed command carry out differential；Torque feedforward section generates conduct according to the speed command of differential and without using velocity feedback
First torque instruction of the torque instruction of feedforward system；Speed controlling portion, according to from the externally input speed command and speed
The deviation of feedback is spent, the second torque instruction is generated；Torque instruction filter makes the speed controlling portion the second torque generated
Instruction passes through, and inhibits the fluctuation of the quantization of mechanical resonance and encoder；Add operation point, to first torque instruction with come from
The output of the torque instruction filter carries out add operation, generates third torque instruction；And torque control division, with described
The movement of three torque instructions control motor.
The motor control assembly can also be with the rotation of the motor and output and the motor that drive the machinery
The encoder connection of corresponding position feedback is set in indexing.Moreover, the motor control assembly can also have according to
Position feedback calculates the speed calculation part of the velocity feedback.
The motor control assembly of the 2nd aspect of the present invention includes: the first differentiator, to from externally input position command
Carry out differential；Velocity feed forward portion generates conduct according to the position command of differential and without using velocity feedback and position feedback
The First Speed of the speed command of feedforward system instructs；Second differentiator instructs the First Speed and carries out differential；Before torque
Feedback portion generates the first torque instruction of the torque instruction as feedforward system according to the instruction of the First Speed of differential；Position control
Portion generates second speed instruction according to the deviation from the externally input position command and position feedback；Speed controlling portion,
According to the deviation of the add operation result and velocity feedback of First Speed instruction and second speed instruction, second is generated
Torque instruction；Torque instruction filter passes through the speed controlling portion the second torque instruction generated, inhibits mechanical resonance
It is fluctuated with the quantization of encoder；Add operation point, to first torque instruction and from the torque instruction filter
Output carries out add operation, generates third torque instruction；And torque control division, with third torque instruction control motor
Movement.
The motor control assembly can also be with the rotation of the motor and output and the motor that drive the machinery
The encoder connection of the corresponding position feedback is set in indexing.Moreover, the motor control assembly can also have basis
The position feedback calculates the speed calculation part of the velocity feedback.
The motor control assembly of the 3rd aspect of the present invention includes: mode controller, is referred to according to from externally input speed
It enables and generates the speed command of feedforward system and the first torque instruction of feedforward system without using velocity feedback；Speed controlling portion,
According to the deviation of the velocity feedback of the speed command and feedback system that export from the mode controller, the second torque is generated
Instruction；Torque instruction filter passes through the speed controlling portion the second torque instruction generated, inhibits mechanical resonance and volume
The quantization fluctuation of code device；Add operation point, to first torque instruction and the output from the torque instruction filter
Add operation is carried out, third torque instruction is generated；And torque control division, with moving for third torque instruction control motor
Make.
The motor control assembly can also be with the rotation of the motor and output and the motor that drive the machinery
The encoder connection of corresponding position feedback is set in indexing.Moreover, the motor control assembly can also have according to
Position feedback calculates the speed calculation part of the velocity feedback.
The motor control assembly of the 4th aspect of the present invention includes: mode controller, is referred to according to from externally input position
It enables and generates the position command of feedforward system without using velocity feedback and position feedback, the First Speed of feedforward system instructs and preceding
First torque instruction of feedback system；Position control section, according to the position command and feedback system exported from the mode controller
Position feedback deviation, generate second speed instruction；Speed controlling portion, according to First Speed instruction and second speed
The deviation of the add operation result of instruction and the velocity feedback of the feedback system is spent, the second torque instruction is generated；Torque instruction
Filter passes through the speed controlling portion the second torque instruction generated, inhibits the quantization of mechanical resonance and encoder
Fluctuation；Add operation point carries out add operation to first torque instruction and the output from the torque instruction filter,
Generate third torque instruction；And torque control division, with the movement of third torque instruction control motor.
The motor control assembly can also be with the rotation of the motor and output and the motor that drive the machinery
The encoder connection of the corresponding position feedback is set in indexing.Moreover, the motor control assembly can also have basis
The position feedback calculates the speed calculation part of the velocity feedback.
The motor control assembly of each mode according to the invention, future self-torque feedforward section the first torque instruction with pass through
Second torque instruction of torque instruction filter carries out add operation.Therefore, even if there are the quantum of mechanical resonance and encoder
Fluctuation, can also be improved the traceability to position command and speed command.
Detailed description of the invention
Fig. 1 is the block diagram of the motor control assembly of embodiment 1.
Fig. 2 is the performance diagram of the motor control assembly of embodiment 1.
Fig. 3 is the block diagram of the motor control assembly of embodiment 2.
Fig. 4 is the performance diagram of the motor control assembly of embodiment 2.
Fig. 5 is the block diagram of the motor control assembly of embodiment 3.
Fig. 6 is the block diagram of the motor control assembly of embodiment 4.
Description of symbols
100,200,300,400 motor control assembly
110,210,222 differentiator
112,212 torque feedforward section
114,214,314,414 speed controlling portion
116,216,316,416 torque instruction filter
117,217,317,417 add operation point
118,218,318,418 torque control division
120,220,320,420 speed calculation part
140,240,340,440 motor
150,250,350,450 is mechanical
160,260,360,460 encoder
224 velocity feed forward portions
226,426 position control section
370,470 mode controller
Specific embodiment
The embodiment of motor control assembly of the invention is illustrated referring to the drawings.
[embodiment 1]
<structure of motor control assembly>
Fig. 1 is the block diagram of the motor control assembly of embodiment 1.The motor control assembly 100 of present embodiment has micro-
Device 110, torque feedforward section 112, speed controlling portion 114, torque instruction filter 116, torque control division 118 and speed is divided to calculate
Portion 120.
The feedforward system of motor control assembly 100 includes differentiator 110 and torque feedforward section 112.110 pairs of differentiator inputs
The speed command of motor control assembly 100 carries out differential.Torque feedforward section 112 calculates (generation) according to the speed command of differential
The torque instruction (the first torque instruction) of feedforward system.
In this way, the first torque instruction of feedforward system is directly calculated from speed command.Therefore, the first torque instruction is free of machine
Tool resonance and the quantization of encoder fluctuate.
Speed controlling portion 114 calculates (generation) second torque according to the difference (deviation) of speed command and velocity feedback and refers to
It enables.
Torque instruction filter 116 is including, for example, low-pass filter or notch filter.Torque instruction filter 116 is inserted into
Constitute the circuit of the feedback system of position control or speed control.Torque instruction filter 116 inhibits in the second torque instruction
The fluctuation of the quantization of mechanical resonance and encoder.Present embodiment is as shown in Figure 1, the insertion of torque instruction filter 116 includes speed
Spend the feedback system of the speed control of control unit 114, torque instruction filter 116, torque control division 118 and speed calculation part 120
The circuit of system.
The second torque instruction calculated by speed controlling portion 114, passes through torque instruction filter 116.Torque instruction filtering
Device 116 removes the influence of the quantization fluctuation of mechanical resonance and encoder from the second torque instruction.Then, in add operation point
In 117, addition is carried out to the first torque instruction of second torque instruction and the feedforward system exported from torque feedforward section 112
Operation.Third torque instruction is generated by the add operation.
Torque control division 118 uses the third torque instruction obtained by the add operation in add operation point 117, control electricity
The movement of machine 140.Motor 140 drives machinery 150.
Encoder 160 is mounted on motor 140.Encoder 160 is using the rotation position of motor 140 as position feedback (position
Set value of feedback) output.Speed calculation part 120 is according to position export from encoder 160, corresponding with the rotation position of motor 140
Set feedback, calculating speed feedback.
<movement of motor control assembly>
Then, illustrate the movement of the motor control assembly 100 of present embodiment.Here, illustrate to adopt on speed control unit
The movement of the motor control assembly 100 of present embodiment.
As shown in Figure 1, obtaining the difference of speed command and velocity feedback.Speed controlling portion 114 is calculated according to the difference
(generation) second torque instruction.Second torque instruction passes through torque instruction filter 116.On the other hand, differentiator 110 is to speed
Instruction carries out differential.Torque feedforward section 112 generates the first torque instruction according to the speed command of differential.Then, in add operation
In point 117, add operation is carried out to the first torque instruction and the second torque instruction.Third torque is generated by the add operation to refer to
It enables.
Torque control division 118 is according to the third torque instruction as the add operation result in add operation point 117, driving
Motor 140.
In the present embodiment, the first torque instruction exported from torque feedforward section 112 is given birth to by speed controlling portion 114
At the second torque instruction carry out add operation add operation point 117, configure torque instruction filter 116 outlet side.
In this way, avoiding torque instruction filter 116 into feedforward system.
Feedforward system is provided solely for the feedforward amount of the torque calculated from speed command.Therefore, feedforward system does not constitute feedback
Circuit.So the resonance ingredient of the mechanical system detected by encoder 160 is not amplified.As a result, even if in torque instruction
Output (the first torque instruction) and process torque instruction filter on the outlet side of filter 116, to torque feedforward section 112
116 the second torque instruction carries out add operation, and the resonance of mechanical system will not deteriorate.
Fig. 2 is the performance diagram of the motor control assembly 100 of present embodiment.Curve (a) in figure illustrates motor
The frequency response characteristic (response to the velocity feedback of speed command) of the speed control system of control device 100.Curve (b) table
The frequency response characteristic of the speed control system of previous motor control assembly is shown.In addition, in previous motor control assembly
Speed control system in, the output (the first torque instruction) on the input side of torque instruction filter, to torque feedforward section
Add operation is carried out with the second torque instruction.
Compare these frequency response characteristics, it is apparent that in previous motor control assembly, because for inhibiting
The influence 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 gain does not also reduce (curve (a)) in higher frequency.Therefore, phase
Than previous motor control assembly, the motor control assembly 100 of present embodiment can be brought to position command and speed command
Have the effect of high frequency response and traceability.
[embodiment 2]
<structure of motor control assembly>
Fig. 3 is the block diagram of the motor control assembly of embodiment 2.The motor control assembly 200 of present embodiment and it is real
Other than the same structural element of motor control assembly 100 for applying mode 1, before being also equipped with differentiator 222 (the first differentiator), speed
Feedback 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
Control unit 214, torque instruction filter 216, torque control division 218 and speed calculation part 220, respectively with the electricity of embodiment 1
The differentiator 110 of machine control device 100, torque feedforward section 112, speed controlling portion 114, torque instruction filter 116, torque control
Portion 118 processed and speed calculation part 120 have the function of substantially the same.In addition, the torque of present embodiment feedovers before speed
Feedback calculates.
The feedforward system of motor control assembly 200 includes differentiator 222, velocity feed forward portion 224, differentiator 210 and torque
Feedforward section 212.The position command of 222 pairs of differentiator input motor control assemblies 200 carries out differential.224 basis of velocity feed forward portion
The position command of differential calculates the speed command (First Speed instruction) of (generation) feedforward system.
In this way, the First Speed instruction of feedforward system is directly calculated from position command.Therefore, First Speed instruction does not include
The fluctuation of the quantization of mechanical resonance and encoder.In addition, the torque instruction (the first torque instruction) of feedforward system is also from feedforward
The speed command (First Speed instruction) of system directly calculates.Therefore, the first torque instruction is also free of mechanical resonance and encoder
Quantization fluctuation.
Difference (deviation) of the position control section 226 according to position command and position feedback, calculating 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, calculates the First Speed that export from speed feedforward section 224 and instruct and from position
Set the add operation result of the second speed instruction of the output of control unit 226 and by the calculated velocity feedback of speed calculation part 220
Difference (deviation).Speed controlling portion 214 is according to the difference (deviation), and calculating (generation) torque instruction, (the second torque refers to
It enables).
The second torque instruction generated by speed controlling portion 214, passes through torque instruction filter 216.Torque instruction filtering
Device 216 removes the influence of the quantization fluctuation of mechanical resonance and encoder from the second torque instruction.Then, in add operation point
In 217, addition is carried out to second torque instruction and the first torque instruction of the feedforward system exported from torque feedforward section 212
Operation.
In addition, torque feedforward section 212, torque instruction filter 216 in the motor control assembly 200 of present embodiment,
The movement of torque control division 218 and speed calculation part 220 is filtered with the torque feedforward section 112 of embodiment 1, torque instruction respectively
Wave device 116, torque control division 118 and speed calculation part 120 are substantially the same.
Encoder 260 is exported the rotation position of motor 240 as position feedback.It is anti-that the position is deducted from position command
Feedback.The difference (deviation) of position command and position feedback, input position control unit 226.
<movement of motor control assembly>
Then, illustrate the movement of the motor control assembly 200 of present embodiment.Here, illustrate to adopt on position control
The movement of the motor control assembly 200 of present embodiment.
As shown in figure 3, obtaining the difference of position command and position feedback.Position control section 226 is according to the Difference Calculation
Second speed instruction.On the other hand, differentiator 222 carries out differential to position command.Then, velocity feed forward portion 224 is according to differential
Position command, generate First Speed instruction.First Speed is instructed and is instructed with the second speed exported from position control section 226
Carry out add operation.
In turn, it obtains the add operation result of First Speed instruction and second speed instruction, counted with by speed calculation part 220
The difference (deviation) of the velocity feedback of calculation.Speed controlling portion 214 calculates (generation) second torque instruction according to the difference.The
Two torque instructions pass through torque instruction filter 216.On the other hand, differentiator 210 is to first exported from speed feedforward section 224
Speed command carries out differential.Torque feedforward section 212 is instructed according to the First Speed of differential, generates the first torque instruction.Then, exist
In add operation point 217, add operation is carried out to the first torque instruction and the second torque instruction.It is generated by the add operation
Third torque instruction.
Third torque instruction of the torque control division 218 used as the add operation result on add operation point 217, driving
Motor 240.
In the present embodiment, it is given birth to the first torque instruction exported from torque feedforward section 212 and by speed controlling portion 214
At the second torque instruction carry out add operation add operation point 217, configure torque instruction filter 216 outlet side.
In this way, avoiding torque instruction filter 216 into feedforward system.
Feedforward system is provided solely for the feedforward amount of the speed and torque that calculate from position command.Therefore, feedforward system not structure
At feedback loop.Therefore, the resonance ingredient of the mechanical system detected by encoder 260 is not amplified.As a result, even if turning
Square instructs on the outlet side of filter 216, filters to the output (the first torque instruction) of torque feedforward section 212 with by torque instruction
Second torque instruction of wave device 216 carries out add operation, and the resonance of mechanical system will not deteriorate.
Fig. 4 is the performance diagram of the motor control assembly 200 of present embodiment.Curve (a) in figure illustrates motor
The frequency response characteristic of the position control system of control device 200.Curve (b) illustrates the position of previous motor control assembly
The frequency response characteristic of control system.In addition, being filtered in the position control system of previous motor control assembly in torque instruction
On the input side of wave device, output (the first torque instruction) and the second torque instruction to torque feedforward section carry out add operation.
Compare these frequency response characteristics, it is apparent that in previous motor control assembly, because for inhibiting
The influence 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 gain does not also reduce (curve (a)) in higher frequency.Therefore, phase
Than previous motor control assembly, the motor control assembly 200 of present embodiment can be brought to position command and speed command
Have the effect of high frequency response and traceability.
In addition, feedforward system can be provided solely for the feedforward amount of the torque calculated by velocity feed forward portion 224, it can not also structure
At feedback loop.In this case, the resonance ingredient of the mechanical system detected by encoder 260 is not amplified.
[embodiment 3]
<structure of motor control assembly>
Fig. 5 is the block diagram of the motor control assembly of embodiment 3.In addition to feedforward system constitutes this by mode controller 370
Other than a bit, the motor control assembly 300 of present embodiment has substantial phase with the motor control assembly 100 of embodiment 1
Same structure.The speed controlling portion 314 of the motor control assembly 300 of present embodiment, torque instruction filter 316, torque control
Portion 318 processed and speed calculation part 320, be respectively provided with the speed controlling portion 114 of the motor control assembly 100 of embodiment 1, turn
Square instructs filter 116, torque control division 118 and substantially the same function of speed calculation part 120.
Here, illustrate the motor control assembly of the present embodiment used on the speed control unit of use pattern controller
300.Mode controller 370 is constituted the motor control assembly 100 of embodiment 1, motor 140, machinery 150 and encoder 160
Model obtained speed control system.Therefore, the motor control assembly 300 of present embodiment is in the mode controller 370
Movement mode Tracing Control under.
Speed command input pattern controller 370.Mode controller 370 is by implementing at scheme control speed command
Reason, generates and output speed instructs (First Speed instruction) and torque instruction (the first torque instruction).Slave pattern controller 370 is defeated
Speed command and the first torque instruction out are directly calculated from the instruction of the original speed of input pattern controller 370.Therefore,
These speed commands and the first torque instruction, not comprising because of mechanical resonance and encoder caused by machinery 350 and encoder 360
Quantization fluctuation.
Speed controlling portion 314 refers to from the difference of speed command and velocity feedback from mode controller 370, calculating torque
Enable (the second torque instruction).
Torque instruction filter 316 is including, for example, low-pass filter or notch filter.Torque instruction filter 316 is inserted into
Constitute the circuit of the feedback system of position control or speed control.Torque instruction filter 316 inhibits in the second torque instruction
The fluctuation of the quantization of mechanical resonance and encoder.Present embodiment is as shown in figure 5, the insertion of torque instruction filter 316 includes speed
Spend the feedback system of the speed control of control unit 314, torque instruction filter 316, torque control division 318 and speed calculation part 320
The circuit of system.
The second torque instruction calculated by speed controlling portion 314, passes through torque instruction filter 316.Torque instruction filtering
Device 316 removes the influence of the quantization fluctuation of mechanical resonance and encoder from the second torque instruction.Then, in add operation point
In 317, the first torque instruction exported to second torque instruction and slave pattern controller 370 carries out add operation.By institute
It states add operation and generates third torque instruction.
Torque control division 318 uses the third torque instruction obtained by the add operation in add operation point 317, control electricity
The movement of machine 340.Motor 340 drives machinery 350.
Encoder 360 is mounted on motor 340.Encoder 360 is defeated as position feedback using the rotation position of motor 340
Out.Speed calculation part 320 is calculated according to position feedback export from encoder 360, corresponding with the rotation position of motor 340
Velocity feedback.
<movement of motor control assembly>
Then, illustrate the movement of the motor control assembly 300 of present embodiment.
As shown in figure 5, speed command of the mode controller 370 from input motor control assembly 300, calculates (generation) and provides
Speed command and torque instruction (the first torque instruction) to actual control system.
Then, the difference of the speed command from mode controller 370 and the velocity feedback from speed calculation part 320 is obtained
Point.Speed controlling portion 314 calculates (generation) second torque instruction according to the difference.Second torque instruction passes through torque instruction
Filter 316.Then, in add operation point 317, to the second torque instruction and from the first torque of mode controller 370
Instruction carries out add operation.Third torque instruction is generated by the add operation.
Torque control division 318 is according to the third torque instruction as the add operation result on add operation point 317, driving
Motor 340.
In the present embodiment, the first torque instruction exported to slave pattern controller 370 is given birth to by speed controlling portion 314
At the second torque instruction carry out add operation add operation point 317, configure torque instruction filter 316 outlet side.
Mode controller 370 is provided solely for the feedforward amount of the speed and torque that calculate from speed command.Therefore, scheme control
Device 370 does not constitute the feedback loop to machinery 350 and encoder 360.Therefore, the mechanical system detected by encoder 360 is total to
Vibration ingredient is not amplified.As a result, even if on the outlet side of torque instruction filter 316, to coming from mode controller 370
The first torque instruction and carry out add operation by the second torque instruction of torque instruction filter 316, mechanical system is total to
Vibration will not deteriorate.
The frequency response characteristic of the motor control assembly 300 of present embodiment and the motor control assembly of embodiment 1 and 2
Equally, until high-frequency gain does not also decline.Therefore, the motor control assembly 300 of present embodiment, which can be brought, refers to position
It enables and speed command has the effect of high frequency response and traceability.
[embodiment 4]
<structure of motor control assembly>
Fig. 6 is the block diagram of the motor control assembly of embodiment 4.In addition to feedforward system constitutes this by mode controller 470
Other than a bit, the motor control assembly 400 of present embodiment has substantial phase with the motor control assembly 200 of embodiment 2
Same structure.The speed controlling portion 414 of the motor control assembly 400 of present embodiment, torque instruction filter 416, torque control
Portion 418, speed calculation part 420 and position control section 426 processed, are respectively provided with the speed with the motor control assembly 200 of embodiment 2
Spend control unit 214, torque instruction filter 216,226 essence of torque control division 218, speed calculation part 220 and position control section
Upper identical function.
Here, illustrate the motor control assembly of the present embodiment used on the position control of use pattern controller
400.Mode controller 470 is constituted the motor control assembly 200 of embodiment 2, motor 240, machinery 250 and encoder 260
Model obtained position control system.Therefore, the motor control assembly 400 of present embodiment is in the mode controller 470
Movement mode Tracing Control under.
Position command input pattern controller 470.Mode controller 470 is by implementing at scheme control position command
Reason generates simultaneously output position instruction, speed command (First Speed instruction) and torque instruction (the first torque instruction).Slave pattern control
Position command, First Speed instruction and the first torque instruction that device 470 processed exports, from the initial of input pattern controller 470
Position command directly calculates.Therefore, these position commands, First Speed instruction and the first torque instruction, do not include because of machinery 450
It is fluctuated with the quantization of mechanical resonance caused by encoder 460 and encoder.
Position control section 426 is calculated from the difference (deviation) of position command and position feedback from mode controller 470
Speed command (second speed instruction).
On the input side of speed controlling portion 414, First Speed instruction from mode controller 470 is calculated and from position
Add operation result, the difference with the velocity feedback calculated by speed calculation part 420 for the second speed instruction that control unit 426 exports
Divide (deviation).Speed controlling portion 414 calculates (generation) torque instruction (the second torque instruction) according to the difference (deviation).
The second torque instruction generated by speed controlling portion 414, passes through torque instruction filter 416.Torque instruction filtering
Device 416 removes the influence of the quantization fluctuation of mechanical resonance and encoder from the second torque instruction.Then, in add operation point
In 417, add operation is carried out to second torque instruction and the first torque instruction from mode controller 470.By described
Add operation generates third torque instruction.
Torque control division 418 uses the third torque instruction obtained by the add operation on add operation point 417, control electricity
The movement of machine 440.Motor 440 drives machinery 450.
Encoder 460 is mounted on motor 440.It is anti-that encoder 460 exports position corresponding with the rotation position of motor 440
Feedback.Speed calculation part 420 uses the position feedback exported from encoder 460, calculating speed feedback.
The position feedback exported from encoder 460 is deducted from the position command from mode controller 470.From mode control
The position command of device 470 processed and the difference (deviation) of position feedback, input position control unit 426.
<movement of motor control assembly>
Then, illustrate the movement of the motor control assembly 400 of present embodiment.
As shown in fig. 6, obtaining the difference of position command and position feedback from mode controller 470.Position control section
426, according to the difference, calculate second speed instruction.Then, to from mode controller 470 First Speed instruction with from position
The second speed instruction for setting the output of control unit 426 carries out add operation.
Then, it obtains the add operation result of First Speed instruction and second speed instruction, counted with by speed calculation part 420
The difference of the velocity feedback of calculation.Speed controlling portion 414 calculates the second torque instruction according to the difference.Second torque instruction is logical
Over torque instructs filter 416.Then, to the second torque instruction and from mode controller 470 on add operation point 417
First torque instruction carries out add operation.Third torque instruction is generated by the add operation.
Torque control division 418 is according to the third torque instruction as the add operation result on add operation point 417, driving
Motor 440.
In the present embodiment, it the first torque instruction for slave pattern controller 470 being exported and is given birth to by speed controlling portion 414
At the second torque instruction carry out add operation add operation point 417, configure torque instruction filter 416 outlet side.
Mode controller 470 is provided solely for the feedforward amount from the position that position command calculates, speed and torque.Therefore, mould
Formula controller 470 does not constitute the feedback loop to machinery 450 and encoder 460.Therefore, the mechanical system detected by encoder 460
The resonance ingredient of system is not amplified.As a result, even if on the outlet side of torque instruction filter 416, to coming from mode control
First torque instruction of device 470 processed and the second torque instruction for passing through torque instruction filter 416 carry out add operation, machinery system
The resonance of system will not deteriorate.
The frequency response characteristic of the motor control assembly 400 of present embodiment and the motor control assembly of embodiment 1 and 2
Equally, until high-frequency gain does not also decline.Therefore, the motor control assembly 400 of present embodiment, which can be brought, refers to position
It enables and speed command has the effect of high frequency response and traceability.
As described above, being filtered to torque feedforward output with torque instruction according to the motor control assembly of Embodiments 1 to 4
The output of device carries out add operation.In this way, can also be mentioned even if there are the resonance of mechanical system and the quantization of encoder to fluctuate
Traceability of the height to position command or speed command.
In addition, being used as torque instruction filter in above-mentioned Embodiments 1 to 4, low-pass filter and trap filter are instantiated
Wave device.But torque instruction filter is without being limited thereto, it is also possible to the resonance comprising mechanical system can be inhibited and quantization fluctuation
Arbitrary filter.In addition, the motor control assembly of embodiments of the present invention is also possible to the below first~the 5th electricity
Machine control device.
First motor control device is the motor that the encoder installed on the motor and the motor mechanical with driving is connect
Control device, comprising: the first torque instruction generating unit is generated according to from externally input control instruction as feedforward system
First torque instruction of torque instruction；Speed calculation part, according to rotation position from the encoder output, with the motor
Corresponding position feedback, calculating speed feedback；Second torque instruction generating unit, according to the control instruction and the velocity feedback
Generate the second torque instruction；Torque instruction filter inhibits the resonance of the machinery in second torque instruction and described
The quantization of encoder fluctuates；Add operation point is exported to first torque instruction and from the torque instruction filter
Second torque instruction carries out add operation, generates third torque instruction；And torque control division, use the third torque
Instruction controls the movement of the motor.
For second motor control assembly on the basis of first motor control device, the control instruction is speed command, is also had
There is the differentiator that differential is carried out to the speed command, the first torque instruction generating unit is referred to according to the speed of differential
Enable the torque feedforward section for generating first torque instruction, the second torque instruction generating unit is according to from externally input institute
The deviation for stating speed command and the velocity feedback generates the speed controlling portion of second torque instruction.
For third motor control assembly on the basis of first motor control device, the control instruction is speed command, described
First torque instruction generating unit is the speed for generating first torque instruction according to the speed command and generating feedforward system
The mode controller of instruction is spent, the second torque instruction generating unit is according to the speed exported from the mode controller
The deviation of instruction and the velocity feedback generates the speed controlling portion of second torque instruction.
For 4th motor control assembly on the basis of first motor control device, the control instruction is position command, is also had
Have: the first differentiator carries out differential to the position command；First Speed command generation unit refers to according to the position of differential
It enables, generates the First Speed instruction of the speed command as feedforward system；Second differentiator instructs the First Speed and carries out
Differential；And position control section generates second according to the deviation from the externally input position command and the position feedback
Speed command, the first torque instruction generating unit are to generate first torque according to the instruction of the First Speed of differential to refer to
The torque feedforward section of order, the second torque instruction generating unit are according to First Speed instruction and second speed instruction
Add operation result and the deviation of the velocity feedback generate the speed controlling portion of second torque instruction.
For 5th motor control assembly on the basis of first motor control device, the control instruction is position command, described
First torque instruction generating unit be generated according to the position command first torque instruction, feedforward system position command,
The mode controller of the First Speed instruction of speed command as feedforward system, the motor control assembly also have position control
Portion processed, the position control section are raw according to the deviation of the position command and the position feedback from the mode controller
It is instructed at second speed, the second torque instruction generating unit is according to First Speed instruction and second speed instruction
Add operation result and the velocity feedback deviation, generate the speed controlling portion of second torque instruction.
In addition, speed command and position command are an examples of control instruction.Torque feedforward section 112 and 212 is the first torque
An example of command generation unit.Speed controlling portion 114,214,314 and 414 is an example of the second torque instruction generating unit.Differentiator
222 be an example of the first differentiator.Differentiator 210 is an example of the second differentiator.Velocity feed forward portion 224 is First Speed instruction
An example of generating unit.Position control section 226 and 426 is an example of second speed command generation unit.
It this concludes the description of preferred forms of the invention.These contribute to illustrate illustration of the invention, are not intended to
It limits the scope of the invention.The present invention is not in the range of departing from its invention thought, it is possible to implement different from the embodiment described above
Various modes.
The motor control assembly of an embodiment of the invention, it is possible to have torque feedforward section, turns speed controlling portion
Square instructs filter and torque control division.Torque feedforward section in the structure can export turning for feedforward system from speed command
Square instruction.Torque instruction filter can from the speed command of feedforward system and the deviation of velocity feedback, export mechanical resonance and
Quantization fluctuates the torque instruction being suppressed.The torque instruction and institute that torque control division can export the torque feedforward section
The torque instruction for stating the output of torque instruction filter carries out add operation on add operation point, and obtained using add operation
The movement of torque instruction control motor.
Moreover, motor control assembly of the invention can also be following 6th~the 9th motor control assembly.
6th motor control assembly includes: the differentiator that differential is carried out to speed command；It is exported from the speed command of differential
The torque feedforward section of the torque instruction of feedforward system；The speed instructed from the deviation output torque of the speed command and velocity feedback
Spend control unit；The torque that the torque instruction for inhibiting the quantization of mechanical resonance and encoder to fluctuate is exported from the torque instruction refers to
Enable filter；And the torque instruction for exporting the torque instruction of torque feedforward section output and the torque instruction filter
The direct torque of add operation and the movement using torque instruction after addition control motor is carried out on add operation point
Portion.
7th motor control assembly includes: the differentiator that differential is carried out to position command；It is exported from the position command of differential
The velocity feed forward portion of the speed command of feedforward system；The differentiator of differential is carried out to the speed command；Refer to from the speed of differential
Enable the torque feedforward section of the torque instruction of output feedforward system；Refer to from the deviation output speed of the position command and position feedback
The position control section of order；The speed command exported from the speed command exported to the velocity feed forward portion and the position control section
Carry out the speed controlling portion of the deviation output torque instruction of speed command after addition and the velocity feedback；From described
Torque instruction output inhibits the torque instruction filter of the torque instruction of the quantization of mechanical resonance and encoder fluctuation；And it will
The torque instruction of the torque feedforward section output and the torque instruction of torque instruction filter output are on add operation point
Carry out the torque control division of add operation and the movement using torque instruction after addition control motor.
8th motor control assembly includes: the mode of the speed command and torque instruction from speed command output feedforward system
Controller；What the deviation output torque of the velocity feedback of the speed command and feedback system that export from the mode controller instructed
Speed controlling portion；The torque for the torque instruction for inhibiting the quantization of mechanical resonance and encoder to fluctuate is exported from the torque instruction
Instruct filter；And the torque of torque instruction and torque instruction filter output that the mode controller exports is referred to
Enable the torque control that add operation and the movement using torque instruction after addition control motor are carried out on add operation point
Portion processed.
9th motor control assembly includes: position command, speed command and the torque from position command output feedforward system
The mode controller of instruction；The deviation of the position feedback of the position command and feedback system that export from the mode controller exports
The position control section of speed command；The speed exported from the speed command exported to the mode controller and the position control section
Degree instruction carries out the speed of the deviation output torque instruction of the velocity feedback of speed command after addition and the feedback system
Spend control unit；The torque instruction output exported from the speed controlling portion inhibits the quantization of mechanical resonance and encoder to fluctuate
The torque instruction filter of torque instruction；And the torque instruction for exporting the mode controller and the torque instruction filter
The torque instruction of device output carries out add operation on add operation point and controls motor using torque instruction after addition
Movement torque control division.
Claims (8)
1. a kind of motor control assembly, characterized by comprising:
Differentiator carries out differential to from externally input speed command；
Torque feedforward section refers to according to the speed command of differential and without using velocity feedback generation as the torque of feedforward system
The first torque instruction enabled；
Speed controlling portion generates the second torque instruction according to the deviation from the externally input speed command and velocity feedback；
Torque instruction filter passes through the speed controlling portion the second torque instruction generated, inhibits mechanical resonance and volume
The quantization fluctuation of code device；
Add operation point carries out add operation to first torque instruction and the output from the torque instruction filter,
Generate third torque instruction；And
Torque control division, with the movement of third torque instruction control motor.
2. motor control assembly according to claim 1, which is characterized in that
The motor control assembly and the motor and output that drive the machinery are corresponding with the rotation position of the motor
Position feedback the encoder connection,
The motor control assembly also has the speed calculation part that the velocity feedback is calculated according to the position feedback.
3. a kind of motor control assembly, characterized by comprising:
First differentiator carries out differential to from externally input position command；
Velocity feed forward portion is generated according to the position command of differential and without using velocity feedback and position feedback as feedforward system
The First Speed of the speed command of system instructs；
Second differentiator instructs the First Speed and carries out differential；
Torque feedforward section generates according to the instruction of the First Speed of differential and refers to as the first torque of the torque instruction of feedforward system
It enables；
Position control section generates second speed instruction according to the deviation from the externally input position command and position feedback；
Speed controlling portion, according to the add operation result and velocity feedback of First Speed instruction and second speed instruction
Deviation, generate the second torque instruction；
Torque instruction filter passes through the speed controlling portion the second torque instruction generated, inhibits mechanical resonance and volume
The quantization fluctuation of code device；
Add operation point carries out add operation to first torque instruction and the output from the torque instruction filter,
Generate third torque instruction；And
Torque control division, with the movement of third torque instruction control motor.
4. motor control assembly according to claim 3, which is characterized in that
The motor control assembly and the motor and output that drive the machinery are corresponding with the rotation position of the motor
The position feedback the encoder connection,
The motor control assembly also has the speed calculation part that the velocity feedback is calculated according to the position feedback.
5. a kind of motor control assembly, characterized by comprising:
Mode controller, according to the speed command for generating feedforward system from externally input speed command and without using velocity feedback
With the first torque instruction of feedforward system；
Speed controlling portion, according to the inclined of the velocity feedback of the speed command and feedback system that are exported from the mode controller
Difference generates the second torque instruction；
Torque instruction filter passes through the speed controlling portion the second torque instruction generated, inhibits mechanical resonance and volume
The quantization fluctuation of code device；
Add operation point carries out add operation to first torque instruction and the output from the torque instruction filter,
Generate third torque instruction；And
Torque control division, with the movement of third torque instruction control motor.
6. motor control assembly according to claim 5, which is characterized in that
The motor control assembly and the motor and output that drive the machinery are corresponding with the rotation position of the motor
Position feedback the encoder connection,
The motor control assembly also has the speed calculation part that the velocity feedback is calculated according to the position feedback.
7. a kind of motor control assembly, characterized by comprising:
Mode controller generates feedforward system according to from externally input position command and without using velocity feedback and position feedback
Position command, feedforward system First Speed instruction and feedforward system the first torque instruction；
Position control section, according to the deviation of the position feedback of the position command and feedback system that are exported from the mode controller,
Generate second speed instruction；
Speed controlling portion, according to the add operation result and the feedback of First Speed instruction and second speed instruction
The deviation of the velocity feedback of system generates the second torque instruction；
Torque instruction filter passes through the speed controlling portion the second torque instruction generated, inhibits mechanical resonance and volume
The quantization fluctuation of code device；
Add operation point carries out add operation to first torque instruction and the output from the torque instruction filter,
Generate third torque instruction；And
Torque control division, with the movement of third torque instruction control motor.
8. motor control assembly according to claim 7, which is characterized in that
The motor control assembly and the motor and output that drive the machinery are corresponding with the rotation position of the motor
The position feedback the encoder connection,
The motor control assembly also has the speed calculation part that the velocity feedback is calculated according to the position feedback.
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| JP2013254430A JP6106582B2 (en) | 2013-12-09 | 2013-12-09 | Motor control device |
| JP2013-254430 | 2013-12-09 |
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| JP (1) | JP6106582B2 (en) |
| KR (1) | KR101967926B1 (en) |
| CN (1) | CN104702158B (en) |
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| 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 |
| JP6841801B2 (en) * | 2018-08-30 | 2021-03-10 | ファナック株式会社 | Machine learning equipment, control systems and machine learning methods |
| 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 |
| 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 |
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Also Published As
| Publication number | Publication date |
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| JP2015115990A (en) | 2015-06-22 |
| CN104702158A (en) | 2015-06-10 |
| TWI671614B (en) | 2019-09-11 |
| KR20150067076A (en) | 2015-06-17 |
| JP6106582B2 (en) | 2017-04-05 |
| TW201530278A (en) | 2015-08-01 |
| KR101967926B1 (en) | 2019-04-10 |
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