CN106533270A - Motor control device - Google Patents
Motor control device Download PDFInfo
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- CN106533270A CN106533270A CN201610772710.5A CN201610772710A CN106533270A CN 106533270 A CN106533270 A CN 106533270A CN 201610772710 A CN201610772710 A CN 201610772710A CN 106533270 A CN106533270 A CN 106533270A
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
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Abstract
According to the present invention, there is provided a motor control device capable of synchronously controlling three or more motors, and the motor can be synchronized with high precision even when the torque command is saturated. When the torque command for any motor is saturated, the motor control device limits the rate of change of the other motor to the acceleration of the motor with the smallest acceleration.
Description
Technical field
The present invention relates to motor control assembly.
Background technology
In large-scale chip mounter and heavy duty machine tools, by by two Motor drives, one movable part, movable part can be suppressed
Deviation is produced, and improves positional precision.In large-scale Jet forming machine, by by two Motor drives, one movable part,
Device miniaturization can be made.
According to the technology of clear No. 61-237615 record of Japanese Laid-Open Patent Publication, the both sides for projecting screw rod are provided with rolling
Ballscrew.Screw rod is projected by two Motor drives.Two motors are in synchronized control.The motor control assembly root of motor
The restriction of the electric current that can be exported according to motor control assembly maximum, the torque-limiting instruction using torque limiter.But, in Liang Tai
When having differences between the torque constant of motor, the torque instruction of the axle with the less torque constant saturation first by restriction.
During torque instruction saturation, it is impossible to the bigger torque of output.Therefore, compared to the torque of the axle, with larger torque constant
The torque of axle becomes big.As a result, the connecting portion of two ball-screws is no longer rectangular relative to ball-screw.Accordingly, there exist because
The possibility that ball-screw bears excessive power and causes ball-screw damaged.
Following Japanese Laid-Open Patent Publication 2015-120302 disclose same between motor when improving torque-limiting
The technology of step property.According to the technology of the document, in order to protect by drive member, when defeated less than by the maximum energy of motor control assembly
During the value that the restriction of the electric current for going out is determined, in order to keep the synchronism between motor well, torque limit value is implemented to correct.Tool
For body, the alternate position spike or speed difference (synchronous error) for two between centers, using the correction value obtained by proportional integral computing, is come
Amendment torque limit value.Thus, the torque limit value of each axle is modified into reduces synchronous error.As a result, can be well
Keep the synchronism of two between centers.
Consider the method for No. 2015-120302 record of above-mentioned Japanese Laid-Open Patent Publication is applied to more than three axles
Structure.In the publication, only correct the torque limit value of driven shaft.In other words, do not consider to driving shaft and driven shaft both sides
Implement amendment.Thus, for example when torque limit value reaches the maximum output value of motor control assembly, driven shaft produces friction,
Then as the torque limit value of driven shaft further can not be increased, so producing the position skew of two between centers.Additionally, according to this article
The technology offered, according to alternate position spike or speed difference amendment torque limit value.Accordingly, it is difficult to instantaneously detect the torque differences of two between centers
Affect.Therefore, the adjustment of proportional integral operational parameter becomes difficult.As a result, exist being difficult to fully reduce synchronous error
Possibility.
The content of the invention
The present invention is completed in view of the above problems.It is an object of the present invention to provide following motor control dress
Put.The motor control assembly can synchronize control to more than three motors.And, even if the motor control assembly
In torque instruction saturation, can also make each motor accurately synchronous.
For arbitrary motor torque instruction saturation when, the present invention a mode motor control assembly by other electricity
The percentage speed variation of machine is limited to the acceleration of the minimum motor of acceleration.
According to the motor control assembly, even if the friction of the torque constant and device systems of each motor has differences, when
During torque instruction saturation, it is also possible to make the acceleration of each motor accurately synchronous.Additionally, carrying out together to the motor of more than three
During step control, it would however also be possible to employ the motor control assembly.
For example, motor control assembly includes motor controling part, and the motor controling part is so that multiple motors are synchronized with each other
Mode controls each motor, and the motor controling part possesses torque instruction saturation detector, the torque instruction saturation detection
Device detection is directed to the torque instruction of the motor because reaching the limits value of imparting and saturation, any in for each motor
During the torque instruction saturation of motor, the percentage speed variation of other motors is limited to multiple described by the motor controling part
Minimum acceleration in the acceleration of motor.
Description of the drawings
Fig. 1 is the control block diagram of the structure of the motor control assembly for representing embodiment 1.
Fig. 2 is the control block diagram of the structure of the motor control assembly for representing embodiment 2.
Fig. 3 is the control block diagram of the structure of the motor control assembly for representing embodiment 3.
Fig. 4 is the control block diagram of the structure of the motor control assembly for representing embodiment 4.
Fig. 5 is the control block diagram of the structure of the motor control assembly for representing embodiment 5.
Fig. 6 is the control block diagram of the structure of the motor control assembly for representing embodiment 6.
Description of reference numerals
110 positioners
120 First Speed rate of change limiters
130 speed controls
140 torque limiters
150 first torque instruction saturation detectors
160 torque controllers
170 mean place calculators
210 position compensation devices
220 second speed rate of change limiters
230 speed controls
240 torque limiters
250 second torque instruction saturation detectors
260 torque controllers
270 positioners
1000 motor control assemblies
Specific embodiment
In the following detailed description, for purposes of illustration, in order to provide to disclosed embodiment thoroughly
Understand, it is proposed that many concrete details.It may be evident, however, that one or more can be implemented on the premise of not having these details
Many embodiments.In other cases, in order to simplify drawing, it is schematically shown that known construction and device.
(embodiment 1)
Fig. 1 is the control of the structure of the motor control assembly 1000 for representing first embodiment of the invention (embodiment 1)
Block diagram.First motor 410 and the second motor 430 of driving equipment 500 are driven control by the motor control assembly 1000 of embodiment 1
Make synchronized with each other.In FIG, for the ease of observation, respectively by dotted line frame surround control the first motor 410 control system and
Control the control system of the second motor 430.Motor controling part is constituted by these control systems.Motor control assembly is illustrated below
The action of the 1000 each components for possessing (controller etc.).
First rotational position sensor 420 detects the rotation position (first position) of the first motor 410.Second rotation position
Sensor 440 detects the rotation position (second place) of the second motor 430.The example of these sensors can enumerate encoder.
But, these sensors are not limited to encoder.
(first is fast by the speed of by first position time diffusion, obtaining the first motor 410 for motor control assembly 1000
Degree) V1, by first position to be used time diffusion twice, obtains acceleration (the first acceleration) A1 of the first motor 410.These
Differentiate.The differentiator for obtaining First Speed V1 is for example can be only fitted in Fig. 1
The first rotational position sensor 420 and speed control 130 between.Obtaining the differentiator of the first acceleration A 1 for example can be by
Two differentiators in 420 downstream of the first rotational position sensor in Fig. 1 are implemented.Other for below illustrating are differentiated
Similarly can be implemented by appropriate differentiator.
Motor control assembly 1000 for example receives the position command for the first motor 410 from external device (ED).Position control
Device (first position controller) 110 is calculated according to the difference between the position (first position) of position command and the first motor 410
Instruct for the First Speed of the first motor 410.First Speed instructs to compensate the difference between position command and first position
Mode constitute (calculate).Difference between position command and first position is obtained using subtracter.The subtracter for example may be used
To configure between the first rotational position sensor 420 in FIG and positioner 110.At other subtractions for below illustrating
Reason and addition process similarly can be implemented by appropriate subtracter or adder.
By limiting First Speed instruction, the speed for limiting the first motor 410 becomes First Speed rate of change limiter 120
Rate.That is, in torque instruction (the second torque instruction) saturation for other motors (here refers to the second motor 430), the
One percentage speed variation limiter 120 suppresses the rate of change of First Speed instruction.Thus, First Speed rate of change limiter 120 makes
First motor 410 is synchronous with the second motor 430.It is concrete aftermentioned.
Speed control 130 is instructed according to the First Speed for being inhibited rate of change by First Speed rate of change limiter 120
And the difference between First Speed V1, calculate the first torque instruction for the first motor 410.First torque instruction is compensating
The mode of the difference between one speed command and First Speed V1 is constituted (calculate).First Speed is instructed and First Speed V1 between
Difference for example can be by the subtraction configured between First Speed rate of change limiter 120 in FIG and speed control 130
Device is calculated.
When the first torque instruction from speed control 130 reaches more than torque capacity limits value, torque limiter
140 limit first in the way of making the first torque instruction from torque limiter 140 be less than the torque capacity limits value
Torque instruction.That is, torque limiter 140 implements the torque limit for the first torque instruction.Torque capacity limits value for example may be used
To be predetermined according to the maximum output current of motor control assembly 1000.The torque limit value of other motors for below illustrating
It is similarly such.
When the first torque instruction from speed control 130 is less than torque capacity limits value, torque limiter 140 can
So that the first torque instruction original state from speed control 130 is exported.Torque controller 160 can be according to first torque
The torque of instruction the first motor 410 of control, thus drives the first motor 410.
When the first torque instruction reaches more than torque capacity limits value, the first torque instruction saturation detector 150 judges
First torque instruction saturation.First torque instruction saturation detector 150 the situation of the first torque instruction saturation notify to
The percentage speed variation limiter (here is second speed rate of change limiter described later 220) of other motors.First torque instruction
The reasons why saturation is first torque instruction to be constrained to its value using torque limiter 140 and is not higher than torque capacity limits value.
The saturation of the torque instruction of other motors is similarly such.
Torque controller 160 according to torque limit after the first torque instruction control the torque of the first motor 410, thus drive
Dynamic first motor 410.
(second is fast by the speed of by second place time diffusion, obtaining the second motor 430 for motor control assembly 1000
Degree) V2, by the second place to be used time diffusion twice, obtains acceleration (the second acceleration) A2 of the second motor 430.Obtain
The differentiator of second speed V2 for example can be only fitted to the second rotational position sensor 440 and speed control 230 in Fig. 1 it
Between.The differentiator for obtaining the second acceleration A 2 for example can be by 440 downstream of the second rotational position sensor in Fig. 1
Two differentiators are implemented.
Position compensation device 210 is according to the difference between first position and the second place, offset value calculation (compensating instruction).Institute
State offset structure in the way of compensating difference of the position command (first position) for the second motor 430 and second place between
Into (calculating).That is, position compensation device 210 according to the difference between the position of the first motor 410 and the position of the second motor 430,
Calculate the compensating instruction of the position of the second motor 430 of compensation.Difference between first position and the second place for example can be by matching somebody with somebody
The subtracter put between the second rotational position sensor 440 in FIG and position compensation device 210 is calculated.
Motor control assembly 1000 is by the offset exported from position compensation device 210 and First Speed command value phase
Plus, calculate the second speed instruction for the second motor 430.For example can be by the position compensation device 210 for configuring in FIG and
Adder (summer) enforcement offset (compensating instruction) and First Speed instruction between two percentage speed variation limiters 220
It is added.That is, described adder is calculated for the second motor 430 by First Speed instruction and compensating instruction add up to
Second speed instruction.
Second speed rate of change limiter 220 is instructed by limiting second speed, so as to limit the speed of the second motor 430
Rate of change.That is, in torque instruction (the first torque instruction) saturation for other motors (here is the first motor 410), the
Two percentage speed variation limiter 220 suppresses the rate of change of second speed instruction.Thus, second speed rate of change limiter 220 makes
Second motor 430 is synchronous with the first motor 410.It is concrete aftermentioned.
Speed control 230 is according to the speed command for being inhibited rate of change by second speed rate of change limiter 220 and
Difference between two speed V2, calculates the second torque instruction for the second motor 430.Second torque instruction is fast to compensate second
The mode of the difference between degree instruction and second speed V2 is constituted (calculate).Second speed is instructed and the difference between second speed V2
Divide and for example can be calculated by the subtracter configured between second speed rate of change limiter 220 in FIG and speed control 230
Go out.
When the second torque instruction from speed control 230 reaches more than torque capacity limits value, torque limiter
240 limit second turn in the way of making the second torque instruction from torque limiter 240 be less than its torque capacity limits value
Square is instructed.That is, torque limiter 240 implements the torque limit for the second torque instruction.
When the second torque instruction reaches more than torque capacity limits value, the second torque instruction saturation detector 250 judges
Second torque instruction saturation.Second torque instruction saturation detector 250 by the situation of the second torque instruction saturation notify to
The percentage speed variation limiter (here is First Speed rate of change limiter 120) of other motors.Torque controller 260 according to turn
The second torque instruction after square restriction controls the torque of the second motor 430, thus drives the second motor 430.
When the second torque instruction from speed control 230 is less than torque capacity limits value, torque limiter 240 can
So that the second torque instruction original state from speed control 230 is exported.Torque controller 260 can be according to second torque
The torque of instruction the second motor 430 of control, thus drives the second motor 430.
When the second torque instruction saturation is detected, First Speed is instructed by First Speed rate of change limiter 120
Rate of change is set as the second acceleration A 2.Thus, First Speed rate of change limiter 120 with avoid First Speed instruct change
Rate reaches the mode of the second acceleration A more than 2, suppresses the rate of change of (restriction) First Speed instruction.When the second torque instruction not
During saturation, First Speed rate of change limiter 120 do not implement suppress (restriction) First Speed instruction rate of change process, from
The First Speed instruction original state output of the output of positioner 110.That is, First Speed rate of change limiter 120 is by limiting the
One speed command (for example limits the rate of change of First Speed instruction), so as to limit the percentage speed variation of the first motor 410.
When the first torque instruction saturation is detected, second speed is instructed by second speed rate of change limiter 220
Rate of change is set as the first acceleration A 1.Thus, second speed rate of change limiter 220 with avoid second speed instruct change
Rate reaches the mode of the first acceleration A more than 1, suppresses the rate of change of (restriction) second speed instruction.When the first torque instruction not
During saturation, second speed rate of change limiter 220 does not implement the process of the rate of change for suppressing the instruction of (restriction) second speed, the
Two speed command original states are exported.That is, second speed rate of change limiter 220 (for example limits the by limiting second speed instruction
The rate of change of two speed commands), so as to limit the percentage speed variation of the second motor 430.
Using the above-mentioned action of First Speed rate of change limiter 120 and second speed rate of change limiter 220, when being directed to
During the torque instruction saturation of arbitrary motor, the rate of change of the speed command of other motors is restricted to torque instruction saturation
The acceleration of motor.Therefore, when torque instruction saturation, even if the torque constant of the friction of each motor shaft and/or each motor is deposited
In deviation, it is also possible to make the acceleration of each motor synchronized with each other.Time diffusion is used twice by the rotation position to motor, so as to
Obtain the acceleration of motor.Therefore, present embodiment can suppress the position between each motor inclined from from the point of view of acceleration
Move.
In addition, in the torque instruction saturation for the second motor 430, First Speed rate of change limiter 120 can be
The percentage speed variation of the first motor 410 is limited to the minimum acceleration in the acceleration of each motor.And, for the first motor
During 410 torque instruction saturation, second speed rate of change limiter 220 can limit the percentage speed variation of the second motor 430
For the minimum acceleration in the acceleration of each motor.
As described above, motor control assembly 1000 possesses motor controling part, the motor controling part so that multiple motors that
This synchronous mode controls each motor.Motor controling part possesses torque instruction saturation detector, the torque instruction saturation detection
Device detection is directed to the torque instruction of motor because reaching the limits value of imparting and saturation.And, any electricity in for each motor
During the torque instruction saturation of machine, motor controling part can be limited to the percentage speed variation of other motors the acceleration of multiple motors
In minimum acceleration.
(embodiment 2)
Fig. 2 is the control of the structure of the motor control assembly 1000 for representing second embodiment of the invention (embodiment 2)
Block diagram.The motor control assembly 1000 of embodiment 2 is by the first motor 410 of driving equipment 500, the second motor 430 and the 3rd
450 drive control of motor is into synchronized with each other.3rd rotational position sensor 460 detects the rotation position the (the 3rd of the 3rd motor 450
Position).In addition to controlling the difference of three motors, the motor control assembly 1000 of embodiment 2 substantially possesses and embodiment party
The same structure of formula 1.Hereinafter, the difference of main explanation embodiment 1 and embodiment 2.
When the torque instruction for other motors (here is the second motor 430 or the 3rd motor 450), (i.e. the second torque refers to
Order or the 3rd torque instruction) saturation when, First Speed rate of change limiter 120 suppress First Speed instruction rate of change.Thus,
First Speed rate of change limiter 120 makes the first motor 410 and other motor in synchrony.When the first torque instruction reaches torque capacity
When more than limits value, by the first torque instruction, the situation of saturation notifies to give other electricity the first torque instruction saturation detector 150
The percentage speed variation limiter (second speed rate of change limiter 220 and third speed rate of change limiter described later 320) of machine.
The other structures for controlling the control system of the first motor 410 are identical with embodiment 1.
When the torque instruction for other motors (here is the first motor 410 or the 3rd motor 450), (i.e. the first torque refers to
Order or the 3rd torque instruction) saturation when, second speed rate of change limiter 220 suppress second speed instruction rate of change.Thus,
Second speed rate of change limiter 220 makes the second motor 430 and other motor in synchrony.When the second torque instruction reaches torque capacity
When more than limits value, by the second torque instruction, the situation of saturation notifies to give other electricity the second torque instruction saturation detector 250
The percentage speed variation limiter (First Speed rate of change limiter 120 and third speed rate of change limiter described later 320) of machine.
The other structures for controlling the control system of the second motor 430 are identical with embodiment 1.
Position compensation device 310 is according to the difference between first position and the 3rd position come offset value calculation.The offset
Constituted in the way of compensating the difference between the position command (first position) and the 3rd position that are directed to the 3rd motor 450 and (calculated
Go out).Difference between first position and the 3rd position for example can be by the 3rd rotational position sensor 460 for configuring in FIG
And the subtracter between position compensation device 310 is calculated.
Motor control assembly 1000 is by the offset that will export from position compensation device 310 and First Speed command value phase
Plus, calculate the third speed instruction for the 3rd motor 450.For example can be by the position compensation device 310 for configuring in FIG and
Adder (summer) enforcement offset (compensating instruction) and First Speed instruction between three percentage speed variation limiters 320
It is added.That is, described adder is added up to compensating instruction by First Speed is instructed, so as to calculate for the 3rd motor
450 third speed instruction.
Third speed rate of change limiter 320 is instructed by limiting third speed, so as to limit the speed of the 3rd motor 450
Rate of change.That is, in torque instruction (i.e. the first torque for other motors (here is the first motor 410 or the second motor 430)
Instruction or the second torque instruction) saturation when, third speed rate of change limiter 320 suppress third speed instruction rate of change.By
This, third speed rate of change limiter 320 makes the 3rd motor 450 and other motor in synchrony.
Speed control 330 is according to the speed command for being inhibited rate of change by third speed rate of change limiter 320 and
Difference between three speed V3, calculates the 3rd torque instruction for the 3rd motor 450.3rd torque instruction is fast to compensate the 3rd
The mode of the difference between degree instruction and third speed V3 is constituted (calculate).Third speed is instructed and the difference between third speed V3
Divide and for example can be calculated by the subtracter configured between third speed rate of change limiter 320 in FIG and speed control 330
Go out.
When the 3rd torque instruction from speed control 330 reaches more than torque capacity limits value, torque limiter
340 limit the 3rd in the way of making the 3rd torque instruction from torque limiter 340 be less than the torque capacity limits value
Torque instruction.That is, torque limiter 340 implements the torque limit for the 3rd torque instruction.
When the 3rd torque instruction reaches more than torque capacity limits value, the 3rd torque instruction saturation detector 350 judges
3rd torque instruction saturation.3rd torque instruction saturation detector 350 by the situation of the 3rd torque instruction saturation notify to
The percentage speed variation limiter (First Speed rate of change limiter 120 and second speed rate of change limiter 220) of other motors.
Torque controller 360 according to torque limit after the 3rd torque instruction control the torque of the 3rd motor 450, thus drive the 3rd electric
Machine 450.
When the 3rd torque instruction from speed control 330 is less than torque capacity limits value, torque limiter 340 can
So that the 3rd torque instruction original state from speed control 330 to be exported.Torque controller 360 can be according to the 3rd torque
The torque of instruction the 3rd motor 450 of control, thus drives the 3rd motor 450.
Other components (differentiator etc.) of the control system of the 3rd motor 450 control system respectively with the second motor 430
Counterpart member similarly function.
In the torque instruction saturation for other arbitrary motors, the percentage speed variation limiter (the of each control system
One percentage speed variation limiter 120, second speed rate of change limiter 220 and third speed rate of change limiter are 320) by itself
The rate of change of the speed command of affiliated control system is limited to the minimum acceleration in the acceleration of other motors.When for which
When the torque instruction of his motor is unsaturated, do not implement the process of the rate of change of restriction speed command.
For example, when the second torque instruction or the 3rd torque instruction saturation, First Speed rate of change limiter 120 is by first
The rate of change of speed command is limited to the arbitrary less side in the second acceleration A 2 and the 3rd acceleration A 3.Thus, first
The rate of change of speed command is controlled so as to less than minimum motor acceleration.
Using the above-mentioned action of each percentage speed variation limiter, when the torque instruction saturation of a certain control system, the control
The rate of change of the speed command of system processed is restricted to the minimum acceleration of other control system.Therefore, when for arbitrary electricity
During the torque instruction saturation of machine, the acceleration of each motor is controlled so as to synchronized with each other.Thus, when the torque for arbitrary motor
During instruction saturation, even if there is deviation in the torque constant of the friction of each motor shaft and/or each motor, it is also possible to make adding for each motor
Speed is synchronized with each other.As a result, the position between each motor can be suppressed to offset.
(embodiment 3)
Fig. 3 is the control of the structure of the motor control assembly 1000 for representing third embodiment of the invention (embodiment 3)
Block diagram.The motor control assembly 1000 of embodiment 3 possesses mean place meter on the basis of the structure that embodiment 1 is illustrated
Device 170 is calculated, and does not possess position compensation device 210.Other structures are substantially identical with embodiment 1.Therefore, main explanation is real below
Apply the difference of mode 1 and embodiment 3.
Mean place calculator 170 calculates average (mean place) of first position and the second place.Positioner 110
According to the difference between the mean place and position command, First Speed instruction is calculated.Between mean place and position command
Difference for example can be calculated by the subtracter between the positioner 110 in Fig. 3 and average position calculator 170.
First Speed instruction is constituted in the way of compensating the difference between position command and mean place (calculate).That is, First Speed refers to
Order is controlled so as to instruct mean place approximated position.The other structures of the control system of the first motor 410 and 1 phase of embodiment
Together.
Different from embodiment 1, second speed rate of change limiter 220 is by First Speed instruction as the second motor
430 speed command (i.e. second speed instruction).That is, the positioner 110 of embodiment 3 is according to for the first motor 410
Position command and mean place between difference, calculate for the First Speed instruction of the first motor 410 and for second electric
The second speed instruction of machine 430.Second speed rate of change limiter 220 is instructed by limiting second speed, so as to limit second
The percentage speed variation of motor 430.The rotation of the second motor 430 is implemented by the difference compensated between mean place and position command
The control that indexing is put.The other structures of the control system of the second motor 430 are identical with embodiment 1.
Present embodiment 3 is also identical with embodiment 1, in the torque instruction saturation of arbitrary motor, by other motors
The rate of change of speed command be limited to the acceleration of the torque instruction motor of saturation.Thus, it is possible to make the acceleration of each motor
Degree is synchronized with each other.
(embodiment 4)
Fig. 4 is the control of the structure of the motor control assembly 1000 for representing four embodiment of the invention (embodiment 4)
Block diagram.In the motor control assembly 1000 of embodiment 4, replace the position compensation device 210 of the explanation of embodiment 1, but possess
Positioner (second place controller) 270.Other structures are substantially identical with embodiment 1.Therefore, main explanation is real below
Apply the difference of mode 1 and embodiment 4.
In embodiment 4, the position command for the second motor 430 is also served as the position command of the first motor 410.
That is, according to the position command (common location instruction) shared between each motor, control each motor.Specifically, positioner 110
According to the difference between the common location instruction and the position of first motor shared between each motor, calculate for the first motor
410 First Speed instruction.Positioner 270 is instructed according to common location and the difference between the second place, calculates second
Speed command.Second speed instruction is constituted (calculate) in the way of compensating the difference between common location instruction and the second place.
Common location is instructed and the difference between the second place for example can be by 270 upstream side of positioner (for configuring in the diagram
Between two rotational position sensors 440 and positioner 270) subtracter calculate.Second speed rate of change limiter 220 will
The second speed instruction original state that positioner 270 is calculated is received.Other structures are identical with embodiment 1.
Present embodiment 4 is also identical with embodiment 1, when the torque instruction saturation of arbitrary motor, by other motors
The rate of change of speed command be limited to the acceleration of the torque instruction motor of saturation.Thus, it is possible to make the acceleration of each motor
Degree is synchronized with each other.
(embodiment 5)
Fig. 5 is the control of the structure of the motor control assembly 1000 for representing fifth embodiment of the invention (embodiment 5)
Block diagram.The motor control assembly 1000 of embodiment 5 does not possess 110 He of positioner in the structure that embodiment 1 is illustrated
Position compensation device 210.Additionally, speed of the motor control assembly 1000 for example from external device (ED) reception for the first motor 410 refers to
Order, replaces the position command for the first motor 410.Other structures are substantially identical with embodiment 1.Therefore, mainly say below
The difference of bright embodiment 1 and embodiment 5.
First Speed rate of change limiter 120 is using the speed command received by motor control assembly 1000 (for first
The First Speed instruction of motor) replacing the First Speed in embodiment 1 to instruct.Second speed rate of change limiter 220 will
First Speed V1 is used as to instruct for the second speed of the second motor, replaces the second speed instruction in embodiment 1.By
This, the speed of each motor is controlled so as to synchronized with each other.Other structures are identical with embodiment 1.
Present embodiment 5 is also identical with embodiment 1, when the torque instruction saturation of arbitrary motor, by other motors
The rate of change of speed command be limited to the acceleration of the torque instruction motor of saturation.Thus, it is possible to make the acceleration of each motor
Degree is synchronized with each other.
(embodiment 6)
Fig. 6 is the control of the structure of the motor control assembly 1000 for representing sixth embodiment of the invention (embodiment 6)
Block diagram.The motor control assembly 1000 of embodiment 6 is identical with embodiment 5, in the structure of the explanation of embodiment 1, does not have
Standby positioner 110 and position compensation device 210.But, the second speed rate of change of embodiment 6 different from embodiment 5
Speed command for the first motor 410 is instructed by limiter 220 as second speed, replaces First Speed V1.That is, according to
The speed command shared between each motor, controls each motor.Other structures are identical with embodiment 5.Embodiment 6 can also play with
The same effect of embodiment 5.
(embodiment 7)
Embodiment 1～6 according to more than, in the torque instruction saturation for arbitrary motor, the speed of other motors
The percentage speed variation of corresponding motor can be limited to the minimum acceleration in the acceleration of each motor by degree rate of change limiter.
In order to more effectively play the effect of methods described, the percentage speed variation of each motor can be limited by each percentage speed variation limiter
For the minimum acceleration in the torque instruction acceleration of whole motors of saturation.That is, any motor in for each motor
Torque instruction saturation when, the percentage speed variation of other motors can be limited to each of torque instruction saturation by motor controling part
Minimum acceleration in the acceleration of motor.
For example, in the structure of the explanation of embodiment 2, the second torque instruction and the 3rd torque instruction saturation.Now,
One percentage speed variation limiter 120 is limited to the rate of change that First Speed is instructed in the second acceleration A 2 and the 3rd acceleration A 3
An arbitrary less side.Thus, the rate of change of First Speed instruction is controlled so as to the motor less than torque instruction saturation
Acceleration in minimum acceleration.When the torque instruction motor only one of which of saturation, as long as by the speed of other motors
Rate of change controls into the acceleration less than the motor.Motor is similarly such when there was only two.
(variation of the present invention)
The invention is not restricted to above-mentioned embodiment, also comprising various modifications example.For example, above-mentioned embodiment is in order to just
Illustrated in the understanding present invention.But, above-mentioned embodiment be not limited to possess it is stated that whole structures
Part (structure).Furthermore, it is possible to by a part of component replacement of a certain embodiment for other embodiment component.Additionally, also
The component of other embodiment is added in one embodiment can.Additionally, for a part of component of each embodiment,
Can add, delete or replace other components.
Above-mentioned each component (controller, limiter, compensator, detector, adder, subtracter and differentiator etc.) can be adopted
With hardware such as the circuit arrangements for realizing its function, it is also possible to by arithmetic units such as CPU (Central Processing Unit)
Execution is mounted with the software of its function to realize.
The positioner illustrated in embodiment 1～7 more than and position compensation device for example can be by ratio controls
Device is constituted.Additionally, speed control and position compensation device for example can be made up of pi controller.As long as suitably can mend
Repay difference, it would however also be possible to employ other appropriate controllers are used as controller noted above and/or compensator.
Embodiment 3～6 can also utilize the method same with embodiment 2, the motor that Synchronization Control is more than three, and
And when arbitrary torque instruction saturation, make the acceleration synchronization of each motor.Specifically, for example, (a) each torque instruction saturation
Detector notifies the situation of torque instruction saturation to the percentage speed variation limiter of other control system, (b) when other electricity
During the torque instruction saturation of machine, the motor that the rate of change of speed command is limited to minimum is accelerated by each percentage speed variation limiter
Degree.
In embodiment 1～7 more than, it is possible to use the torque capacity limits value based on the restriction of device systems, really
Determine the torque capacity limits value of torque limiter, replace the maximum output current of motor control assembly 1000.For example, torque limit
The torque capacity limits value of device processed can be set to below the torque capacity limits value of the restriction based on device systems.Or, for example
Motor control assembly 1000 can be given torque capacity limits value from outside by appropriate interface.Other can also be utilized
Appropriate means, calculate torque capacity limits value.It is now identical with embodiment 1～7, it is also possible to make the acceleration of each motor
It is synchronous.
After speed control 130 can be according to being inhibited First Speed to instruct by First Speed rate of change limiter 120
Difference between speed command and First Speed V1, calculates the first torque instruction for the first motor 410.Speed control
230 can be according to the speed command after being inhibited second speed to instruct by second speed rate of change limiter 220 and second speed
Difference between V2, calculates the second torque instruction for the second motor 430.
When the first torque instruction reaches more than torque capacity limits value, the first torque can be referred to by torque limiter 140
Order is limited not to exceed the torque capacity limits value.When the second torque instruction reaches more than torque capacity limits value, torque
Second torque instruction can be limited not to exceed the torque capacity limits value by limiter 240.
Embodiments of the present invention can be the first～the 7th following motor control assembly.
First motor control assembly includes motor controling part, and the motor controling part is so that multiple motors side synchronized with each other
Formula controls each motor, and the motor controling part includes torque instruction saturation detector, the torque instruction saturation detector
Detection is directed to any electricity of the torque instruction of the motor because reaching the limits value of imparting and saturation, in for each motor
During the torque instruction saturation of machine, the motor controling part is each described by the percentage speed variation of other motors is limited to
Minimum acceleration in the acceleration of motor, so that the acceleration synchronization of each motor.
On the basis of the first motor control assembly, the motor controling part is controlled as described second motor control assembly
First motor and the second motor of multiple motors, the motor controling part include：Positioner, according to electric for described first
Difference between the position of the position command of machine and first motor, calculates the First Speed for first motor and refers to
Order；Position compensation device, according to the difference between the position of first motor and the position of second motor, calculates compensation institute
State the compensating instruction of the position of the second motor；First Speed rate of change limiter, by limiting the First Speed instruction, limits
Make the percentage speed variation of first motor；Summer, by First Speed instruction and the compensating instruction are closed
Meter, calculates the second speed instruction for second motor；And second speed rate of change limiter, it is described by limiting
Second speed is instructed, and limits the percentage speed variation of second motor, in the torque instruction saturation for second motor
When, the percentage speed variation of first motor is limited to the First Speed rate of change limiter acceleration of each motor
In minimum acceleration, in the torque instruction saturation for first motor, the second speed rate of change limiter will
The percentage speed variation of second motor is limited to the minimum acceleration in the acceleration of each motor.
On the basis of the first motor control assembly, the motor controling part is controlled as described 3rd motor control assembly
First motor and the second motor of multiple motors, the motor controling part include：Mean place calculator, calculates described first
The average mean place in the position of the position of motor and second motor；Positioner, according to for first motor
Position command and the mean place between difference, calculate for the First Speed instruction of first motor and for institute
State the second speed instruction of the second motor；First Speed rate of change limiter, by limiting the First Speed instruction, limits
The percentage speed variation of first motor；And second speed rate of change limiter, by limiting the second speed instruction, come
The percentage speed variation of second motor is limited, in the torque instruction saturation for second motor, the First Speed
The percentage speed variation of first motor is limited to the minimum acceleration in the acceleration of each motor by rate of change limiter,
In the torque instruction saturation for first motor, the second speed rate of change limiter is by the speed of second motor
Degree rate of change is limited to the minimum acceleration in the acceleration of each motor.
On the basis of the first motor control assembly, the motor controling part is controlled as described 4th motor control assembly
First motor and the second motor of multiple motors, the motor controling part include：First position controller, it is electric according to described first
Difference between the common location instruction shared between machine and second motor and the position of first motor, calculates and is directed to
The First Speed instruction of first motor；Second place controller, according to common location instruction and second motor
Position between difference, calculate for second motor second speed instruct；First Speed rate of change limiter, passes through
The First Speed instruction is limited, the percentage speed variation of first motor is limited；And second speed rate of change limiter,
By limiting the second speed instruction, the percentage speed variation of second motor is limited, for second motor
During torque instruction saturation, the percentage speed variation of first motor is limited to each described by the First Speed rate of change limiter
Minimum acceleration in the acceleration of motor, in the torque instruction saturation for first motor, the second speed becomes
The percentage speed variation of second motor is limited to the minimum acceleration in the acceleration of each motor by rate limiter.
On the basis of the first motor control assembly, the motor controling part is controlled as described 5th motor control assembly
First motor and the second motor of multiple motors, the motor controling part include：First Speed rate of change limiter, by limiting
Instruct for the First Speed of first motor, limit the percentage speed variation of first motor；And second speed becomes
Rate limiter, is instructed by the second speed limited for second motor, and the speed for limiting second motor becomes
Rate, in the torque instruction saturation for second motor, the First Speed rate of change limiter is electric by described first
The percentage speed variation of machine is limited to the minimum acceleration in the acceleration of each motor, in the torque for first motor
During instruction saturation, the percentage speed variation of second motor is limited to each motor by the second speed rate of change limiter
Acceleration in minimum acceleration.
On the basis of the 5th motor control assembly, the First Speed is instructed and described second 6th motor control assembly
Speed command is the shared speed command for first motor and second motor.
Any electricity of 7th motor control assembly on the basis of the first motor control assembly, in for each motor
During the torque instruction saturation of machine, the motor controling part is referred to by the percentage speed variation of other motors is limited to torque
Order minimum acceleration in the acceleration of each described motor of saturation, so that the acceleration synchronization of each motor.
The detailed description is had been presented for for purposes of illustration and description.According to teaching above, many deformations
All it is possible with changing.Described detailed description is not without omitting or be intended to be limited to theme described herein.Although
The theme is illustrated with distinctive architectural feature and/or procedure by word, but it is to be understood that,
Theme defined in claims is not necessarily limited to described specific features or detailed process.More precisely, will
Described specific features and detailed process are illustrated as the example for implementing claims.
Claims (7)
1. a kind of motor control assembly, it is characterised in that
Including motor controling part, the motor controling part to make to control each motor in the way of multiple motors are synchronized with each other,
The motor controling part includes torque instruction saturation detector, and the torque instruction saturation detector is directed to the electricity
The torque instruction of machine because reaching the limits value of imparting and saturation,
In the torque instruction saturation for any motor in each motor, the motor controling part is by other electricity
The percentage speed variation of machine is limited to the minimum acceleration in the acceleration of multiple motors.
2. motor control assembly according to claim 1, it is characterised in that
First motor and second motor of the motor controling part control as the plurality of motor,
The motor controling part includes：
Positioner, according to the difference between the position command for first motor and the position of first motor,
Calculate the First Speed instruction for first motor；
Position compensation device, according to the difference between the position of first motor and the position of second motor, calculates compensation
The compensating instruction of the position of second motor；
First Speed rate of change limiter, by limiting the First Speed instruction, the speed for limiting first motor becomes
Rate；
Summer, by First Speed instruction and the compensating instruction are added up to, calculates electric for described second
The second speed instruction of machine；And
Second speed rate of change limiter, by limiting the second speed instruction, the speed for limiting second motor becomes
Rate,
In the torque instruction saturation for second motor, the First Speed rate of change limiter is by first motor
Percentage speed variation be limited to the minimum acceleration in the acceleration of each motor,
In the torque instruction saturation for first motor, the second speed rate of change limiter is by second motor
Percentage speed variation be limited to the minimum acceleration in the acceleration of each motor.
3. motor control assembly according to claim 1, it is characterised in that
First motor and second motor of the motor controling part control as the plurality of motor,
The motor controling part includes：
Mean place calculator, calculates the mean place of the position of first motor and the position of second motor；
Positioner, according to the difference between the position command and the mean place for first motor, calculates pin
First Speed instruction and the second speed instruction for second motor to first motor；
First Speed rate of change limiter, by limiting the First Speed instruction, the speed for limiting first motor becomes
Rate；And
Second speed rate of change limiter, by limiting the second speed instruction, the speed for limiting second motor becomes
Rate,
In the torque instruction saturation for second motor, the First Speed rate of change limiter is by first motor
Percentage speed variation be limited to the minimum acceleration in the acceleration of each motor,
In the torque instruction saturation for first motor, the second speed rate of change limiter is by second motor
Percentage speed variation be limited to the minimum acceleration in the acceleration of each motor.
4. motor control assembly according to claim 1, it is characterised in that
First motor and second motor of the motor controling part control as the plurality of motor,
The motor controling part includes：
First position controller, according between first motor and second motor share common location instruction with it is described
Difference between the position of the first motor, calculates the First Speed instruction for first motor；
Second place controller, instructs according to the common location and the difference between the position of second motor, calculates pin
The second speed of second motor is instructed；
First Speed rate of change limiter, by limiting the First Speed instruction, the speed for limiting first motor becomes
Rate；And
Second speed rate of change limiter, by limiting the second speed instruction, the speed for limiting second motor becomes
Rate,
In the torque instruction saturation for second motor, the First Speed rate of change limiter is by first motor
Percentage speed variation be limited to the minimum acceleration in the acceleration of each motor,
In the torque instruction saturation for first motor, the second speed rate of change limiter is by second motor
Percentage speed variation be limited to the minimum acceleration in the acceleration of each motor.
5. motor control assembly according to claim 1, it is characterised in that
First motor and second motor of the motor controling part control as the plurality of motor,
The motor controling part includes：
First Speed rate of change limiter, is instructed by the First Speed limited for first motor, limits described the
The percentage speed variation of one motor；And
Second speed rate of change limiter, is instructed by the second speed limited for second motor, limits described the
The percentage speed variation of two motors,
In the torque instruction saturation for second motor, the First Speed rate of change limiter is by first motor
Percentage speed variation be limited to the minimum acceleration in the acceleration of each motor,
In the torque instruction saturation for first motor, the second speed rate of change limiter is by second motor
Percentage speed variation be limited to the minimum acceleration in the acceleration of each motor.
6. motor control assembly according to claim 5, it is characterised in that the First Speed instruction and described second fast
Degree instruction is the speed command shared for first motor and second motor.
7. motor control assembly according to claim 1, it is characterised in that any motor in for each motor
Torque instruction saturation when, the percentage speed variation of other motors is limited to torque instruction and is satisfied by the motor controling part
Minimum acceleration in the acceleration of each described motor of sum.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015177726 | 2015-09-09 | ||
| JP2015-177726 | 2015-09-09 | ||
| JP2016137524A JP6745661B2 (en) | 2015-09-09 | 2016-07-12 | Motor control device |
| JP2016-137524 | 2016-07-12 |
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| Publication Number | Publication Date |
|---|---|
| CN106533270A true CN106533270A (en) | 2017-03-22 |
| CN106533270B CN106533270B (en) | 2021-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610772710.5A Active CN106533270B (en) | 2015-09-09 | 2016-08-30 | Motor control device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6745661B2 (en) |
| CN (1) | CN106533270B (en) |
| PH (1) | PH12016000310B1 (en) |
| TW (1) | TWI725053B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108712115A (en) * | 2018-05-21 | 2018-10-26 | 南京航空航天大学 | A kind of bi-motor position synchronization control strategy study design |
| CN111572218A (en) * | 2020-05-27 | 2020-08-25 | 天津丽彩数字技术有限公司 | Printer ink vehicle control method, device and system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7438097B2 (en) * | 2020-12-25 | 2024-02-26 | 三菱電機株式会社 | Drive command generation device, synchronous control system and learning device |
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| JP5120435B2 (en) * | 2010-09-30 | 2013-01-16 | ブラザー工業株式会社 | Motor control device |
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2016
- 2016-07-12 JP JP2016137524A patent/JP6745661B2/en active Active
- 2016-08-30 CN CN201610772710.5A patent/CN106533270B/en active Active
- 2016-09-06 PH PH12016000310A patent/PH12016000310B1/en unknown
- 2016-09-08 TW TW105129136A patent/TWI725053B/en active
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| EP1426222A1 (en) * | 2002-11-26 | 2004-06-09 | Nissan Motor Company, Limited | Hybrid transmission control system |
| CN1529215A (en) * | 2003-09-27 | 2004-09-15 | 哈尔滨工业大学 | Motor controlling device |
| CN101330275A (en) * | 2007-06-19 | 2008-12-24 | 株式会社日立产机系统 | Induction motor drive unit, motor drive system, and elevating system |
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| CN108712115A (en) * | 2018-05-21 | 2018-10-26 | 南京航空航天大学 | A kind of bi-motor position synchronization control strategy study design |
| CN111572218A (en) * | 2020-05-27 | 2020-08-25 | 天津丽彩数字技术有限公司 | Printer ink vehicle control method, device and system |
Also Published As
| Publication number | Publication date |
|---|---|
| PH12016000310A1 (en) | 2018-03-12 |
| TW201711824A (en) | 2017-04-01 |
| JP6745661B2 (en) | 2020-08-26 |
| PH12016000310B1 (en) | 2018-03-12 |
| CN106533270B (en) | 2021-06-11 |
| JP2017055636A (en) | 2017-03-16 |
| TWI725053B (en) | 2021-04-21 |
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