CN107645267A

CN107645267A - Electric motor system

Info

Publication number: CN107645267A
Application number: CN201710589757.2A
Authority: CN
Inventors: 花冈正志
Original assignee: Nidec Sankyo Corp
Current assignee: Nidec Sankyo Corp
Priority date: 2016-07-20
Filing date: 2017-07-19
Publication date: 2018-01-30
Anticipated expiration: 2037-07-19
Also published as: JP2018014806A; CN107645267B; TWI740954B; TW201804270A; KR102453684B1; KR20180010145A; JP6751615B2

Abstract

The present invention provides suppresses the electric motor system of vibration in the case where not increasing CPU calculation process load using automatic tuning.Gain K when motor (3) is not connected with action object thing (2) is calculated by using the 1st gain transformations unit (15)₀The rotary inertia of gain K when being connected with motor (3) and action object thing (2) is than Gr (=K₀/ K), and arbitrary parameter constant Ri is obtained with rotary inertia than the ratio between Gr (=Ri/Gr), so as to which simple computation goes out the velocity loop gain m of electric motor system (1)₁.In control device of electric motor (4), it is stored with m₁With m₀、q₀、q₁Relation with m₀、q₀、q₁With m₁Corresponding the 3rd form of the mode that also declines of decline.2nd gain transformations unit (16) carries out the velocity loop gain m calculated from the 1st gain transformations unit (15) with reference to the 3rd form₁To m₀、q₀、q₁Conversion.

Description

Electric motor system

The present invention relates to including making the motor of action object thing action and carrying out feedback control to rotating for motor The electric motor system of control device of electric motor.

Background technology

In the past, the control device as the motor for making the actions such as automatic equipment, it is known to controlled using P-PI (ratio- Proportional plus integral control) control the control device of electric motor of motor., will in the control device of electric motor for carrying out P-PI controls The rotation position of motor and rotating speed are fed back, and carry out ratio control (P controls) to the deviation of rotation position, to rotating speed Deviation carries out proportional plus integral control (PI controls).

In the past, the electric motor system as this P-PI controls of progress, such as make use of electronic disclosed in patent document 1 The electric motor system of machine control device.The control device of electric motor include extraction the oscillating component caused by mechanical resonant and by its Vibration extraction wave filter as extraction vibration signal output.Trap control unit is based on extraction vibration signal and the 2nd notch filter Device output signal, each trap centre frequency of the 1st notch filter and the 2nd notch filter is changed, to reduce the 2nd notch filter The amplitude of device output signal.In addition, notch depth control unit is based on extraction vibration signal, the trap of the 1st notch filter is changed Depth.Judge that control unit is tuned automatically to the parameter of each notch filter, suppress mechanical oscillation.That is, in the 2nd notch filter In the case that the amplitude of device output signal is more than setting, make the action of trap control unit, the 1st notch filter of change and the 2nd are fallen into Each trap centre frequency of wave filter, to reduce the oscillating component caused by the vibration of mechanical resonant.In addition, fallen into the 2nd In the case that the amplitude of wave filter output signal is less than setting, notch depth control unit is acted, change the 1st notch filter The notch depth of device, to reduce the oscillating component caused by the vibration of mechanical resonant.

In the past, the electric motor system as this P-PI controls of progress, such as make use of electronic disclosed in patent document 2 The electric motor system of machine control device.The control device of electric motor is in input load rotary inertia value JL and target response frequencies omega During f, using according to obtained with the ratio between motor rotation inertia value JM rotary inertia value modified gain JCOM=((JL+JM)/ JM)^0.5, setting speed loop gain kv, rate integrating time constant ti, position loop gain kp, torque filter constant tf, Current loop gain ki, current integrating time constant ta and filter time constant tv.That is, above-mentioned multiple control parameters are according to work Target response frequencies omega f and rotary inertia value modified gain JCOM for one of parameter are tuned automatically.

In addition, in the past, as the electric motor system of progress robust pole assignment control, such as have in patent document 3 and disclose Electric motor system.It is input that control device of electric motor in the electric motor system, which has with the rotation position instruction of motor, Closed-loop system using the rotation position of motor as output.Closed-loop system is in forward path, including the 1st summing point, ratio increase Beneficial key element, the 2nd summing point, integration filter key element, motor gain key element and motor key element.In addition, the 1st summing point with The mode of negative-feedback is connected with the 1st feedback path, is connected in the 2nd summing point via differential filter key element in a manner of negative-feedback There is the 2nd feedback path.In the electric motor system, when the rotary inertia of action object thing, motor becomes big, even if action pair As thing, motor produce vibration, the control parameter q on disturbance response characteristic₀And q₁Also can be based in rotary inertia detection unit Testing result tune automatically.By the adjustment, the vibration of action object thing, motor can be suppressed, and by the spy of closed-loop system Property keep certain.

Prior art literature

Patent document

Patent document 1：No. 5873975 publications of Japanese Patent No.

Patent document 2：No. 3561911 publications of Japanese Patent No.

Patent document 3：Japanese Patent Laid-Open 2016-35676 publications

The content of the invention

The technical problems to be solved by the invention

However, in above-mentioned existing patent document 1 and the patent text that detection is vibrated and is tuned automatically to control parameter Offer in the electric motor system described in 3, it is necessary to parse the processing of the frequency of vibration and the amplitude of vibration.If therefore, not with 2 times of taller many frequencies than vibration frequency from motor sample rate detection signal and parse, then vibration extraction can not Reach sufficient resolution ratio.Therefore, in the electric motor system described in above-mentioned existing patent document 1 and patent document 3, use Faster operation speed is needed in the arithmetic unit of control device of electric motor, computational load becomes big.

In addition, in the electric motor system described in above-mentioned existing patent document 2, in the computing for control parameter Square root ((JL+JM)/JM) is used in rotary inertia value modified gain JCOM calculating^0.5.Therefore, in above-mentioned existing patent In electric motor system described in document 2, due to the subduplicate calculating, the fortune for the arithmetic unit of control device of electric motor Calculate load and become big.

Solves the technical scheme of technical problem

In order to solve the above problems, electric motor system of the invention includes the motor for acting action object thing and to electricity The rotation of motivation carries out the control device of electric motor of feedback control, it is characterised in that including：

Closed-loop system, the closed-loop system inputs the rotary speed instruction of motor, and carries out feedback control to the rotation position of motor, Output speed, forms transmission function velocity loop gain being included in the factor；

Rotary inertia detection unit, the rotary inertia detection unit are examined to the rotary inertia of action object thing and motor Survey；

Adapt to order member, the adaptation transmits the input of key element based on motor position with order member and motor position transmission will The output of element, gain K is carried out with fixed, gain K is by the fixed gain comprising the amplifier to motor and electronic The value after fixed value divided by the rotary inertia of action object thing and motor including the torque constant of machine；And

Computing unit, the computing unit calculate gain K₀Relative to gain K rotary inertia than Gr, it is used to using the rotation calculated Amount obtains arbitrary parameter constant Ri relative to using ratio of the rotary inertia than Gr as the defined functional value of the factor than Gr, and root According to this than coming calculating speed loop gain, K₀For turning the fixed gain comprising the amplifier to motor and motor Fixed value including square constant divided by the value after the rotary inertia of motor, increased according to the speed loop calculated by computing unit Benefit, transmission function is modified.

Adapt to transmit the input of key element based on motor position with order member and motor position transmits the output of key element, it is right It is same fixed that the rotary inertia of action object thing and motor is carried out, so as to may make up rotary inertia detection unit.

According to this structure, gain K when motor is not connected with load is calculated by computing unit₀With motor and load The rotary inertia of gain K when being connected is than Gr (=K₀/ K), and obtain arbitrary parameter than Gr using the rotary inertia calculated Constant Ri with using rotary inertia than Gr as the ratio between the defined functional value f (Gr) of the factor (=Ri/f (Gr)), so as to simple computation Go out the velocity loop gain of the factor as transmission function.Velocity loop gain constant Ri and functions value f in certain proportion (Gr) it is inversely proportional, has the trend to diminish when rotary inertia becomes big than Gr.If rotary inertia becomes big than Gr, the increasing of control object Gain peak of the beneficial frequency characteristic under mechanical resonant frequency and the gain under the frequency higher than mechanical resonant frequency become big, Easily produce vibration.However, in this configuration, velocity loop gain is reduced along the direction offset, therefore, it can be ensured that represent The gain margin of the stability of closed-loop system.Therefore, the fortune for the arithmetic processing apparatus (CPU) for forming computing unit can not increased Suppress to vibrate using automatic tuning in the case of calculating processing load.As a result, CPU calculation process load tails off, can also make With slow CPU is handled, therefore, the cost of control device of electric motor can be cut down.

In addition, for 2 inertia systems or the drive system of more inertia systems, if utilizing the drive system with 1 inertia system The load rotating inertia deduced in the same manner updates control gain, then can occur servo oscillation.However, according to this structure, it is right Resonance in the drive system of 2 inertia systems or more inertia systems, it can be handled using simple calculations to suppress to vibrate.

In addition, it is a feature of the present invention that

Closed-loop system forms the transmission function being included in velocity loop gain and position loop gain in the factor, inputs motor Rotation position instruct with instead of rotary speed instruction, and feedback control is carried out to the rotation position of motor, exports rotation position,

Computing unit calculates has the value that the value of certain relation is used as position loop gain with velocity loop gain,

According to the velocity loop gain and position loop gain calculated by computing unit, transmission function is modified.

According to this structure, it is used as using the value that computing unit simple computation goes out with velocity loop gain has certain relation The value of position loop gain, and be tuned as the balance of control system for velocity loop gain automatically and be preferably worth.Cause This, can be handled by simple calculations, and being taken place without in the case where not applying load to CPU makes control become unstable and examine The feedback control of the stabilization behind the rotating speed of motor and the rotation position of motor is considered.

In addition, it is a feature of the present invention that

Closed-loop system has forward path and the 1st feedback path, and there is the forward path the 1st proportional gain to transmit key element, input The 1st summing point, the integration filter of the rotary speed instruction of motor transmit key element, motor gain transmits key element and motor position Key element is transmitted, the rotation position of motor is transmitted key element negative-feedback via differential filter and is added to the 1st by the 1st feedback path Point,

Velocity loop gain is being set as m₁, Laplace's operation symbol is when be s, the speed with control action object and motor Desired characteristic closed-loop system expectation transmission function by formula m₁/(s+m₁) defined,

Setting the defeated of key element is transmitted using adaptation with input of the order member based on motor position transmission key element and motor position Go out and be set to p with fixed gain, the control parameter on disturbance response characteristic is q₀And q₁, the characteristic of closed-loop system is passed with it is expected The consistent parameter of delivery function is a₁=q₁+m₁-p、b₁=q₀·m₁、b₂=(q₁-p)·(m₁-p)+q₀When, wherein, the gain p Be by the value after the sticky item divided by the rotary inertia of action object thing and motor on action object thing and motor,

1st proportional gain transmits key element by m₁Represent,

Integration filter transmits key element by (s²+q₁·s+q₀)/(s²+a₁S) represent,

Motor gain transmits key element and represented by 1/K,

Motor position transmits key element by K/ (s²+ ps) represent,

Differential filter transmits key element by (b₂·s²+b₁·s)/(s²+q₁·s+q₀) represent,

Stored in control device of electric motor by m₁With q₀、q₁The corresponding form of relation,

Computing unit is carried out from the velocity loop gain m calculated with reference to form₁To q₀、q₁Conversion.

According to this structure, by m₁With q₀、q₁The corresponding form of relation be stored in control device of electric motor, therefore, from m₁To q₀、q₁The calculation process of conversion can be carried out by simple retrieval form.Therefore, computer processing time is shortened, goes forward side by side one Step reduces CPU calculation process load.

In addition, it is a feature of the present invention that

Velocity loop gain is being set as m₁, Laplace's operation symbol is when being s, the phase of the speed of control action object and motor Hope transmission function by formula m₁/(s+m₁) defined,

Setting the defeated of key element is transmitted using adaptation with input of the order member based on motor position transmission key element and motor position Go out and be set to p with fixed gain, the control parameter on disturbance response characteristic is ω_q, the characteristic of closed-loop system is transmitted with it is expected The consistent parameter of function is b₁=ω_q·m₁、b₂=m₁-p+ω_qWhen, wherein, the gain p is by action object thing and electricity Value after the sticky item divided by the rotary inertia of action object thing and motor of motivation,

1st proportional gain transmits key element by m₁Represent,

Integration filter transmits key element by (s+ ω_q)/s expressions,

Motor gain transmits key element and represented by 1/K,

Motor position transmits key element by K/ (s²+ ps) represent,

Differential filter transmits key element by (b₂·s²+b₁·s)/(s+ω_q) represent,

Stored in control device of electric motor by m₁With ω_qThe corresponding form of relation,

Computing unit is carried out from the velocity loop gain m calculated with reference to form₁To ω_qConversion.

According to this structure, by m₁With ω_qThe corresponding form of relation be stored in control device of electric motor, therefore, from m₁ To ω_qThe calculation process of conversion can be carried out by simple retrieval form.Therefore, computer processing time is shortened, and further Reduce CPU calculation process load.

In addition, it is a feature of the present invention that

Closed-loop system has forward path, the 1st feedback path and the 2nd feedback path, and the forward path has input motor Rotation position is instructed to replace the 2nd summing point of rotary speed instruction, the 2nd proportional gain to transmit key element, the 1st summing point, integral filtering Device transmits key element, motor gain transmits key element and motor position and transmits key element, and the 1st feedback path is by the rotation of motor Position is straight by the rotation position of motor to the 1st summing point, the 2nd feedback path via differential filter transmission key element negative-feedback Negative-feedback is connect to the 2nd summing point,

Velocity loop gain is being set as m₁, position loop gain m₀/m₁, Laplace's operation symbol is when being s, control action object The expectation transmission function of the position of thing and motor is by formula m₀/(s²+m₁·s+m₀) defined,

2nd proportional gain transmits key element by m₀Represent,

Motor gain transmits key element and represented by 1/K,

Motor position transmits key element by K/ (s²+ ps) represent,

Stored in control device of electric motor by m₁With m₀、q₀、q₁The corresponding form of relation, computing unit enters with reference to form Go from the velocity loop gain m calculated₁To m₀、q₀、q₁Conversion.

According to this structure, by m₁With m₀、q₀、q₁The corresponding form of relation be stored in control device of electric motor, because This, from m₁To m₀、q₀、q₁The calculation process of conversion can be carried out by simple retrieval form.Therefore, when shortening calculation process Between, and reduce further CPU calculation process load.

In addition, it is a feature of the present invention that increased using rotary inertia than the defined calculating speed loops of the Gr as the factor The function of benefit is only using linear function of the rotary inertia than Gr as the factor.

According to this structure, velocity loop gain m₁, Kvp value relative to increase of the rotary inertia than Gr with simple inverse ratio The relation of example is reduced.Therefore, calculating speed loop gain m₁, Kvp the CPU calculation process of value become simple, can further press down CPU processed calculation process load.

In addition, it is a feature of the present invention that increased using rotary inertia than the defined calculating speed loops of the Gr as the factor The function of benefit is using linear function of the rotary inertia than Gr and constant as the factor.

According to this structure, velocity loop gain m can adjust₁, the inversely prroportional relationship of Kvp and rotary inertia than Gr, adjustment amount For constant value.Therefore, velocity loop gain m can be expanded₁, Kvp setting range, and suppress CPU calculation process load.

In addition, it is a feature of the present invention that increased using rotary inertia than the defined calculating speed loops of the Gr as the factor The function of benefit is using quadratic function of the rotary inertia than Gr and constant as the factor.

According to this structure, velocity loop gain m₁, Kvp value may be set to, phase different from simple inversely prroportional relationship The desired relation of monotone decreasing for increase of the rotary inertia than Gr.Therefore, it can try hard to take into account the instruction of closed-loop system Response characteristic and vibration suppression characteristic.

In addition, it is a feature of the present invention that passed parameter constant Ri as the power between motor and action object thing Multiple values corresponding to the species of mechanism are passed to be stored in control device of electric motor.

According to this structure, user's simple selection pair from the multiple parameters constant Ri for be stored in advance in control device of electric motor Should be in the parameter constant Ri of the species of Poewr transmission mechanism value, so as to carry out parameter setting.Therefore, it is possible to provide improve use The electric motor system of family convenience.

In addition, it is a feature of the present invention that limitation is provided with to higher limit of the rotary inertia than Gr.

With increase of the rotary inertia than Gr, velocity loop gain m₁, Kvp value it is too small, can not set and rotate and be used Amount is than velocity loop gain m corresponding to Gr value₁, Kvp value in the case of, such as with rotary inertia it is more corresponding than Gr value speed Spend loop gain m₁, Kvp value than the velocity loop gain m of the minimum level set in form₁, Kvp value want small situation Under, velocity loop gain m can not be reduced₁, Kvp value.In this case, by according to the velocity loop gain m that can be set₁、 Kvp minimum value m_1min、Kvp_minAnd it is based on relational expression (m₁=Ri/f (Gr), Kvp=Ri/f (Gr)) the rotary inertia ratio obtained Gr (=Ri/m_1min,=Ri/Kvp_min) setting is as higher limit of the rotary inertia than Gr, by used to rotating as this structure Measure the higher limit than Gr and apply limitation, so as to couple velocity loop gain m more corresponding than Gr value with rotary inertia₁, Kvp value Lower limit applies limitation.Therefore, relational expression (m₁=Ri/f (Gr), Kvp=Ri/f (Gr)) set up all the time, will not occur setting again Determine velocity loop gain m₁, Kvp value situation.

Invention effect

, can as described above, in the case where not increasing CPU calculation process load according to the electric motor system of the present invention Suppress to vibrate using automatic tuning.

Brief description of the drawings

Fig. 1 is the block diagram for the brief configuration for representing the electric motor system involved by the embodiments of the present invention.

Fig. 2 is the wire figure for the closed-loop system for representing the electric motor system involved by embodiments of the present invention 1.

Fig. 3 (a) is by the velocity loop gain m in the electric motor system of embodiment 1₁With relation of the rotary inertia than Gr with list Curve map shown in pure inversely prroportional relationship, Fig. 3 (b) be the variation for representing embodiment 3 electric motor system in rotate The curve map of time change of the rotary inertia than Gr when ratio of inertias Gr is set with higher limit grcamax.

Fig. 4 is the wire figure for the closed-loop system for representing the electric motor system involved by embodiments of the present invention 2.

Fig. 5 is the wire figure for the closed-loop system for representing the electric motor system involved by embodiments of the present invention 3.

Fig. 6 is the wire figure for the closed-loop system for representing the electric motor system involved by embodiments of the present invention 4.

Fig. 7 is the wire figure for the closed-loop system for representing the electric motor system involved by embodiments of the present invention 5.

Fig. 8 is the wire figure for the closed-loop system for representing the electric motor system involved by the variation of embodiments of the present invention 3.

Embodiment

Hereinafter, the mode of the electric motor system for implementing the present invention is illustrated.

Fig. 1 is the block diagram for the brief configuration for representing the electric motor system 1 involved by the embodiments of the present invention.

Electric motor system 1 includes the Motor Control dress of the motor 3 for acting action object thing 2 and control motor 3 Put 4.Motor 3 is AC servomotors or DC servomotors, such as makes the industrial automatic equipment as action object thing 2 The action such as arm.Action object thing 2 is connected to motor 3 via the Poewr transmission mechanisms such as conveyer belt 6.Motor 3 includes using Testing agency's (encoder) 5 in the rotation position of detection motor 3.The output signal of testing agency 5 is input to motor 3 Rotation carry out feedback control control device of electric motor 4.The electromotor control circuit of control device of electric motor 4 is by analog circuit (circuit of continuous time type) is formed, but can be also made up of digital circuit (circuit of discrete time type), can also be used soft Part is formed.

Fig. 2 is the wire figure for the closed-loop system 8A for representing the electric motor system 1 involved by embodiments of the present invention 1.

Closed-loop system 8A has forward path and the 1st feedback path, and there is the forward path the 1st proportional gain to transmit key element 9th, the 1st summing point 10 of the rotary speed instruction of motor 3 is inputted, integration filter transmits key element 11, motor gain transmits key element 12 and motor position transmit the feedback path of key element the 13, the 1st by the rotation position of motor 3 from motor position transmit key element 13 transmit the negative-feedback of key element 14 via differential filter refers to the 1st summing point 10, the rotating speed of closed-loop system 8A input motor 3 Order, and feedback control, output speed are carried out to the rotation position of motor 3.Closed-loop system 8A is formed velocity loop gain m₁Transmission function included in the factor, when setting Laplace's operation symbol as s, utilize formula m₁/(s+m₁) carry out fixing speed It is expected transmission function.It is expected that transmission function has the desired characteristic that motor 3 is rightly controlled according to action object thing 2.Action Object 2 by using closed-loop system 8A carry out rotate control the set action object velocity of motor 3.

Adapt to transmit the input of key element 13 based on motor position with order member 21 and motor position transmits key element 13 Output, to gain K (=(fixed gain of amplifier) × (fixed values of motor 3)/(action object thing 2 and motor 3 Rotary inertia)) determine together, gain K is by the fixed gain comprising the amplifier powered to motor 3 and motor 3 The value after fixed value divided by the rotary inertia of action object thing 2 and motor 3 including torque constant.This utilizes a most young waiter in a wineshop or an inn with fixed Multiplication is equally determined method and gradually carried out with specific time interval.In addition, amplifier described herein is except electricity in closed-loop system 8A Transmit the structure division outside key element 13 in motivation position.In addition, in present embodiment, adapt to same order member 21 and form rotary inertia inspection Unit is surveyed, the input of key element 13 is transmitted based on motor position and motor position transmits the output of key element 13, utilizes a most young waiter in a wineshop or an inn Multiplication equally determines method and the rotary inertia of action object thing 2 and motor 3 is carried out to determine together, and is gradually carried out with specific time interval Detection.In addition, adapt to transmit input and the motor position transmission key element 13 of key element 13 based on motor position with order member 21 Output, gain p is carried out with fixed, gain p is by action object thing 2 and the sticky item of motor 3 divided by action Value after the rotary inertia of object 2 and motor 3.This also equally determines method with specific time interval with fixed using least square method Gradually carry out.

The control parameter on disturbance response characteristic is being set as q₀And q₁, closed-loop system 8A characteristic is transmitted letter with it is expected The consistent parameter a of number₁、b₁And b₂During respectively by following formula (1), (2), (3) representing,

a₁=q₁+m₁-p…(1)

b₁=q₀m₁…(2)

b₂=(q₁-p)(m₁-p)+q₀…(3)

1st proportional gain transmits key element 9 by m₁Represent, integration filter transmits key element 11 by (s²+q₁·s+q₀)/(s²+a₁·s) Represent, motor gain transmits key element 12 and represented by 1/K, and motor position transmits key element 13 by K/ (s²+ ps) represent, differential Filter passes key element 14 is by (b₂·s²+b₁·s)/(s²+q₁·s+q₀) represent.

Input has the arbitrary parameter constant Ri being set by the user in 1st gain transformations unit 15.1st gain transformations unit 15, based on by adapting to same order member 12 with fixed gain K and the parameter constant Ri of input, calculate gain K₀Relative to turning for gain K Dynamic ratio of inertias Gr (=K₀/K).Herein, gain K₀For by the fixed gain comprising the amplifier powered to motor 3 and motor 3 Torque constant including fixed value divided by motor 3 rotary inertia after value (=(fixed gain of amplifier) × (electronic The fixed value of machine 3)/(rotary inertia of motor 3)).

Then, the 1st gain transformations unit 15 obtains parameter constant Ri relative to rotation using the rotary inertia calculated than Gr Ratio of inertias Gr is the ratio (=Ri/f (Gr)) of the defined functional value (f (Gr)) of the factor, and according to this than carrying out calculating speed loop Gain m₁.In present embodiment, it is specified that function f (Gr) be set as Gr (f (Gr)=Gr), velocity loop gain m₁By following formula (4) To represent.

m₁=Ri/Gr ... (4)

In control device of electric motor 4, it is stored with m₁With q₀、q₁Relation with q₀、q₁With m₁The side that also declines of decline The 1st corresponding form of formula.2nd gain transformations unit 16 with reference to the 1st form calculated from the 1st gain transformations unit 15 The velocity loop gain m gone out₁To q₀、q₁Conversion.Now, carry out from the speed ring calculated with the 1st gain transformations unit 15 Road gain m₁The immediate table value of value m₁To q₀、q₁Conversion.3rd gain transformations unit 17 is according to by the 1st gain transformations The m that unit 15 calculates₁With by adapting to same order member 21 with the gain p made, based on formula (1), (2), (3), a is calculated respectively₁、 b₁And b₂。

1st gain transformations unit 15 and the 2nd gain transformations unit 16 form computing unit, and it calculates rotary inertia than Gr, And pass through formula (4) calculating speed loop gain m than Gr using the rotary inertia calculated₁.1st gain transformations unit the 15, the 2nd The gain transformations unit 17 of gain transformations unit 16 and the 3rd is in the present embodiment by the possessed microcomputer of control device of electric motor 4 CPU form.The velocity loop gain m that control device of electric motor 4 will be calculated by the 1st gain transformations unit 15₁It is supplied to the 1st Key element 9 is transmitted in proportional gain, and gradually transmitting key element 9 to the 1st proportional gain with specific time interval is updated.In addition, will be by The q that 2nd gain transformations unit 16 is obtained₀、q₁And a calculated by the 3rd gain transformations unit 17₁、b₁、b₂It is supplied to integration to filter Ripple device transmits key element 11 and differential filter transmits key element 14, respectively gradually will to integration filter transmission with specific time interval Element 11 and differential filter transmit key element 14 and are updated.Adapt to that motor will be supplied to the gain K made with order member 21 Key element 12 is transmitted in gain, and gradually transmitting key element 12 to motor gain with specific time interval is updated.

Using these renewals, gradually closed-loop system 8A transmission function is modified with specific time interval, even if dynamic Make object 2, the rotary inertia of motor 3 becomes big, vibration has the trend for becoming strong, can also make closed-loop system 8A transmission function with It is expected that transmission function is automatically coherent.Therefore, even if action object thing 2, the rotary inertia of motor 3 become big, closed loop system can also be made System 8A characteristic is stabilized to suppress to vibrate.

According to the electric motor system 1 of such embodiment 1, motor 3 is calculated by using the 1st gain transformations unit 15 Gain K when not being connected with action object thing 2₀The rotary inertia ratio of gain K when being connected with motor 3 and action object thing 2 Gr (=K₀/ K), and arbitrary parameter constant Ri and the rotary inertia that calculates are obtained than the ratio between Gr (=Ri/Gr), so as to simple Calculate velocity loop gain m₁。

Fig. 3 (a) curve map is by velocity loop gain m₁With relation of the rotary inertia than Gr with simple shown in formula (4) Inversely prroportional relationship come the curve map that shows.The transverse axis of the curve map be rotary inertia than Gr, the longitudinal axis is velocity loop gain m₁。 Each characteristic line a, b, c represent characteristic when proportionality constant Ri value is Ri1, Ri2, Ri3 (Ri1 ＜ Ri2 ＜ Ri3) respectively.Such as this Shown in curve map, velocity loop gain m₁Constant Ri is inversely proportional with rotary inertia than Gr in certain proportion, in rotary inertia ratio Gr has the trend to diminish when becoming big.In addition, proportionality constant Ri value is smaller, as rotary inertia than Gr increase reduces speed Loop gain m₁Value effect it is stronger.

Proportionality constant Ri is the control parameter being set by the user, and is set according to the rigidity of Poewr transmission mechanism 6.For example, In the case where Poewr transmission mechanism 6 is the less mechanism of rigidity as transmission belt driving, rigidity is smaller, and proportionality constant Ri is set It is set to smaller value.In addition, the viscous drag of action object thing 2 is smaller, proportionality constant Ri is set as smaller value.It is normal in ratio In the case of number Ri is less, velocity loop gain m₁The reduced rate that is reduced than Gr increase with rotary inertia of value become big, Response is instructed to become steady, but vibration suppression performance improves.If table value is set to q₀、q₁Value also with m₁Value decline And decline, then vibration suppressioning effect further becomes strong.

In addition, in the case where Poewr transmission mechanism 6 is the larger mechanism of rigidity as ball-screw driving, rigidly get over Greatly, proportionality constant Ri is set as bigger value so that velocity loop gain m₁Will not excessive descent.It is larger in proportionality constant Ri In the case of, velocity loop gain m₁The reduced rate that is reduced with rotary inertia than Gr increase of value diminish, instruct response Improve, but vibration suppression hydraulic performance decline.

If rotary inertia becomes big than Gr, the gain peak of the gain-frequency characterisitic of control object under mechanical resonant frequency And the gain under the frequency higher than mechanical resonant frequency becomes big, easily produces vibration.However, in the electronic of present embodiment In machine system 1, if rotary inertia becomes big than Gr, as described above, velocity loop gain m is reduced along the direction offset₁, Therefore, it can be ensured that represent the gain margin of the stability of closed-loop system.Velocity loop gain m₁Can simple computation as described above Go out.Therefore, can suppress to vibrate using automatic tuning in the case where not increasing CPU calculation process load.As a result, CPU Calculation process load tail off, it is possible to use processing speed slower CPU, therefore, can cut down and form control device of electric motor 4 The cost of microcomputer.User utilizes the automatic tuning, will not can be vibrated in the initial use of electric motor system without adjustment In the case of act motor 3.

In addition, for 2 inertia systems or the drive system of more inertia systems, if utilizing the drive system with 1 inertia system The load rotating inertia deduced in the same manner updates control gain, then can occur servo oscillation.However, according to this embodiment party Formula, for the resonance in the drive system of 2 inertia systems or more inertia systems, it can be handled using simple calculations to suppress to shake Swing.

According to the electric motor system 1 of embodiment 1, by m₁With q₀、q₁Corresponding the 1st form of relation be stored in it is electronic In machine control device 4.Therefore, from m₁To q₀、q₁The calculation process of conversion can be by by the simple retrieval of the 2nd gain transformations unit 16 1st form is carried out.As a result, shortening computer processing time, and it reduce further CPU calculation process load.

In addition, in the electric motor system 1 of embodiment 1, using prescribed function such as formula (4) of the rotary inertia than Gr as the factor Denominator shown in like that, it is specified that for only using linear function of the rotary inertia than Gr as the factor.Therefore, velocity loop gain m₁Value Reduced relative to increase of the rotary inertia than Gr with the relation of simple inverse proportion.Therefore, calculating speed loop gain m₁Value CPU calculation process become simple, can further suppress CPU calculation process load.

Then, the closed-loop system 8B in the electric motor system 1 of embodiment of the present invention 2 is illustrated.Fig. 4 is to represent the closed loop system System 8B wire figure.In addition, for label identical with the part mark that Fig. 2 is same or equivalent in the figure, and the description thereof will be omitted.

The expectation transmission function of closed-loop system 8B speed also by with the identical formula m of embodiment 1₁/(s+m₁) advise It is fixed.However, the control parameter on disturbance response characteristic is being set as ω_q, make closed-loop system 8B characteristic with it is expected transmission function Consistent parameter b₁And b₂During respectively by following formula (5), (6) representing,

b₁=ω_q·m₁…(5)

b₂=m₁-p+ω_q…(6)

Integration filter transmits key element 11 by (s+ ω_q)/s represents that microcomputer filter passes key element 14 is by (b₂·s²+b₁·s)/ (s+ω_q) represent.

In control device of electric motor 4, it is stored with m₁With ω_qRelation with ω_qWith m₁The mode phase that also declines of decline Corresponding 2nd form.2nd gain transformations unit 16 is carried out from the 1st gain transformations unit 15 as described above with reference to the 2nd form The velocity loop gain m calculated₁To ω_qConversion.3rd gain transformations unit 17 calculates according to by the 1st gain transformations unit 15 The m gone out₁With by adapting to same order member 21 with the gain p made, based on formula (5), (6), b is calculated respectively₁And b₂。

The ω that control device of electric motor 4 will be obtained by the 2nd gain transformations unit 16_qAnd counted by the 3rd gain transformations unit 17 The b calculated₁、b₂It is supplied to integration filter to transmit key element 11 and differential filter transmission key element 14, respectively with specific time interval Key element 11 is gradually transmitted to integration filter and differential filter transmits key element 14 and is updated.Using these renewals, with regulation Time interval is gradually modified to closed-loop system 8B transmission function, even if action object thing 2, the rotary inertia of motor 3 Become big and cause vibration to have the trend for becoming strong, can also make closed-loop system 8B transmission function with it is expected that transmission function is automatically coherent. Therefore, even if action object thing 2, the rotary inertia of motor 3 become big, closed-loop system 8B characteristic can also stabilized to suppress Vibration.

According to the electric motor system 1 of such embodiment 2, calculate and rotate also by the 1st gain transformations unit 15 Ratio of inertias Gr (=K0/K), and arbitrary parameter constant Ri and the rotary inertia that calculates are obtained than the ratio between Gr (=Ri/Gr), from And simple computation goes out velocity loop gain m₁.Therefore, according to the electric motor system 1 of embodiment 2, can also it not increase CPU's Suppress to vibrate using automatic tuning in the case of calculation process load, play the action effect same with embodiment 1.

According to the electric motor system 1 of embodiment 2, by m₁With ω_qCorresponding the 2nd form of relation be stored in motor In control device 4.Therefore, from m₁To ω_qThe calculation process of conversion can be by by the table of 16 simple retrieval of the 2nd gain transformations unit the 2nd Lattice are carried out.Therefore, computer processing time is shortened, and reduce further CPU calculation process load.

Then, the closed-loop system 8C in the electric motor system 1 of embodiment of the present invention 3 is illustrated.Fig. 5 is to represent the closed loop system System 8C wire figure.In addition, for label identical with the part mark that Fig. 2 is same or equivalent in the figure, and the description thereof will be omitted.

Closed-loop system 8C is formed velocity loop gain m₁And position loop gain m₀/m₁Transmission letter included in the factor Number, the rotation position of input motor 3 are instructed to carry out feedback control instead of rotary speed instruction, and to the rotation position of motor 3, Export rotation position.The expectation transmission function of closed-loop system 8C position is by formula m₀/(s²+m₁·s+m₀) regulation.Closed-loop system 8C has the 2nd summing point 18 and the 2nd compared with the closed-loop system 8A shown in Fig. 2, in the prime of the 1st summing point 10 of forward path Proportional gain transmits key element 19 to replace the 1st proportional gain to transmit key element 9.There is the rotation of motor 3 in the input of the 2nd summing point 18 Position command is with instead of rotary speed instruction, also, from motor position to transmit key element 13 anti-via the 2nd for the rotation position of motor 3 Feeder taps into row negative-feedback straight.Transmitting key element 19 in the 2nd proportional gain and input has from the rotation position of the 2nd summing point 18 output Instruction and the deviation of rotation position.Action object thing 2 by using closed-loop system 8C carry out rotate control the set action of motor 3 Object's position.

In closed-loop system 8C, the 2nd proportional gain transmits key element 19 by m₀Represent, integration filter transmits key element 11, electricity Key element 12 is transmitted in motivation gain and differential filter transmits key element 14 and represented in the same manner as the closed-loop system 8A shown in Fig. 2.

In control device of electric motor 4, it is stored with m₁With m₀、q₀、q₁Relation with m₀、q₀、q₁With m₁Decline also decline Corresponding the 3rd form of mode.2nd gain transformations unit 16 is carried out from the institute of the 1st gain transformations unit 15 with reference to the 3rd form The velocity loop gain m calculated₁To m₀、q₀、q₁Conversion.Now, the table value of the 3rd form is set to calculating and speed ring Road gain m₁Value with certain relation is as position loop gain m₀/m₁Value.If this is because, only m₁Independent decreasing value, then With m₀Balance be deteriorated, control become unstable sometimes.Therefore, m is reduced₁Value after reduce m₀Value, according to m₁Value adjust Whole m₀Value.Relative to m₁Value m₀Value reduce how much depend under 1 inertia system becoming stable m₁With m₀Ratio.

Now, the table value of the 3rd form is set to calculating and velocity loop gain m₁Value with certain relation is as q₀、 q₁Value.This is also due to, if only m₁Independent decreasing value, then control becomes unstable sometimes.Therefore, m is reduced₁Value after drop Low q₀、q₁Value, according to m₁Value adjust q₀、q₁Value.

3rd gain transformations unit 17 is according to the m being computed as described above out by the 1st gain transformations unit 15₁With by adapting to With order member 21 with the gain p made, based on formula (1), (2), (3), calculate makes closed-loop system 8C characteristic be passed with it is expected respectively The consistent parameter a of delivery function₁、b₁And b₂.The m that control device of electric motor 4 will be obtained by the 2nd gain transformations unit 16₀、q₀、q₁And The a calculated by the 3rd gain transformations unit 17₁、b₁、b₂It is supplied to integration filter transmission key element 11, differential filter transmission will Key element 19 is transmitted in plain 14 and the 2nd proportional gain, gradually transmits key element 11, differential to integration filter respectively with specific time interval The proportional gain of filter passes key element 14 and the 2nd is transmitted key element 19 and is updated.Using these renewal, with specific time interval by The secondary transmission function to closed-loop system 8C is modified, and causes to shake greatly even if the rotary inertia of action object thing 2, motor 3 becomes It is dynamic to have the trend for becoming strong, it can also make closed-loop system 8C transmission function with it is expected that transmission function is automatically coherent.Therefore, even if action Object 2, the rotary inertia of motor 3 become big, and closed-loop system 8C characteristic can also stabilized to suppress to vibrate.

According to the electric motor system 1 of such embodiment 3, calculate and rotate also by the 1st gain transformations unit 15 Ratio of inertias Gr (=K0/K), and arbitrary parameter constant Ri and the rotary inertia that calculates are obtained than the ratio between Gr (=Ri/Gr), from And simple computation goes out velocity loop gain m₁.Therefore, according to the electric motor system 1 of embodiment 3, can also it not increase CPU's Suppress to vibrate using automatic tuning in the case of calculation process load, play the action effect same with embodiment 1.

In the electric motor system 1 of embodiment 3, by m1 and m₀、q₀、q₁Corresponding the 3rd form of relation be stored in electricity In motivation control device 4, therefore, from m1 to m₀、q₀、q₁The calculation process of conversion can be by simple by the 2nd gain transformations unit 16 The 3rd form is retrieved to carry out.Therefore, computer processing time is shortened, and reduce further CPU calculation process load.

According to the electric motor system 1 of embodiment 3, increased using the simple computation of the 2nd gain transformations unit 16 and speed loop Beneficial m₁Value with certain relation is used as position loop gain m₀/m₁Value, and be tuned as automatically relative to velocity loop gain m₁For the balance of control system be preferably worth.Therefore, it can be handled by simple calculations, not apply the feelings of load to CPU The stabilization for making control become unstable and considering behind the rotating speed of motor 3 and the rotation position of motor 3 is taken place without under condition Feedback control.

In above-mentioned closed-loop system 8C by formula m₀/(s²+m₁·s+m₀) as defined in it is expected transmission function can be as described below Deformation.

m₀/(s²+m₁·s+m₀)=ω₁·ω₂/(s+ω₁)·(s+ω₂)

Herein, ω₁、ω₂It is expected the cut-off frequency of transmission function, following relation is set up.

m₀=ω₁·ω₂、m₁=ω₁+ω₂

Therefore, in embodiment 3, it also can control ω₁、ω₂To replace controlling m₀、m₁。

Integration filter transmits the characteristic multinomial (s in key element 11 and differential filter transmission key element 14²+q₁·s+q₀) It can deform as described below.

s²+q₁·s+q₀=(s+ ω_q1)·(s+ω_q2)

Herein, for ω_q1、ω_q2, following relation sets up.

q₀=ω_q1·ω_q2、q₁=ω_q1+ω_q2

In order to simplify adjustment, ω can be also made as following formula_q1And ω_q2It is equal.

ω_q=ω_q1=ω_q2

Herein, for ω_q, following relation sets up.

q₀=ω_q ²、q₁=2 ω_q

Therefore, in embodiment 1 and embodiment 3, it also can control ω_q1、ω_q2To replace controlling q₀、q₁。

In addition, in the electric motor system 1 of above-mentioned each embodiment 1,2 and 3, illustrate to carry out robust pole assignment control Situation.However, the electric motor system for carrying out P-PI controls, also can the equally applicable present invention.

Fig. 6 is the closed loop system for representing to carry out the electric motor system 1 involved by the embodiments of the present invention 4 of PI speed controls System 8D wire figure.In addition, for label identical with the part mark that Fig. 2 is same or equivalent in the figure, and the description thereof will be omitted.

Closed-loop system 8D forms the transmission function being included in velocity loop gain Kvp in the factor, and input motor 3 turns Speed instruction, and feedback control, output speed are carried out to the rotation position of motor 3.The 1st summing point 10 in closed-loop system 8D Directly input the rotary speed instruction of motor 3, integration filter transmit key element 11 in, include velocity loop gain Kvp with Key element is transmitted as proportional gain.Integration filter in closed-loop system 8D transmits key element 11 and is setting rate integrating gain as Kvi When by Kvp (1+Kvi/s) represent, differential filter transmit key element 14 when setting cut-off frequency as ω c by ω cs/ (s+ ω C) represent.Action object thing 2 by using closed-loop system 8D carry out rotate control the set action object velocity of motor 3.

In closed-loop system 8D, also based on by adapting to same order member 21 with the gain K made and the parameter constant of input Ri, calculate gain K₀Relative to gain K rotary inertia than Gr (=K₀/K).Then, using the rotary inertia calculated than Gr, Parameter constant Ri is obtained relative to using ratio of the rotary inertia than Gr as the defined functional value of the factor, and calculating speed is compared according to this Loop gain Kvp.In present embodiment, according to the formula (Kvp=Ri/Gr) equivalent to formula (4), calculating speed loop gain Kvp.Be based further on the velocity loop gain Kvp calculated, with reference to form to each control parameter in closed-loop system 8D gradually It is updated.Therefore, according to the electric motor system 1 of embodiment 4, also simple computation goes out velocity loop gain Kvp, can not increase Suppress to vibrate using automatic tuning in the case of big CPU calculation process load, play and imitated with the same effect of embodiment 1 Fruit.

Fig. 7 is the closed loop system for representing to carry out the electric motor system 1 involved by the embodiments of the present invention 5 of PI position controls System 8E wire figure.In addition, for label identical with the part mark that Fig. 6 is same or equivalent in the figure, and the description thereof will be omitted.

Closed-loop system 8E forms the transmission letter being included in velocity loop gain Kvp and position loop gain Kpp in the factor Number, the rotation position of input motor 3 are instructed to carry out feedback control instead of rotary speed instruction, and to the rotation position of motor 3, Export rotation position.Closed-loop system 8E is compared with the closed-loop system 8D shown in Fig. 6, before the 1st summing point 10 of forward path There is level the 2nd summing point 18 and the 2nd proportional gain to transmit key element 19.There is the rotation position of motor 3 in the input of the 2nd summing point 18 Instruction is with instead of rotary speed instruction, also, key element 13 is transmitted via the 2nd feedback road in the rotation position of motor 3 from motor position Row negative-feedback is tapped into straight.Transmitting key element 19 in the 2nd proportional gain and input has from the rotation position that the 2nd summing point 18 exports instruction And the deviation of rotation position.Action object thing 2 by using closed-loop system 8E carry out rotate control the set action object of motor 3 Position.

In closed-loop system 8E, also based on by adapting to same order member 21 with the gain K made and the parameter constant of input Ri, calculate gain K₀Relative to gain K rotary inertia than Gr (=K₀/K).Then, using the rotary inertia calculated than Gr, Parameter constant Ri is obtained relative to using ratio of the rotary inertia than Gr as the defined functional value of the factor, and calculating speed is compared according to this Loop gain Kvp.In present embodiment, also according to the formula (Kvp=Ri/Gr) equivalent to formula (4), calculating speed loop gain Kvp.Be based further on the velocity loop gain Kvp calculated, with reference to form to each control parameter in closed-loop system 8E gradually It is updated.

Now, the value as position loop gain Kpp and rate integrating gain Kvi, calculate and velocity loop gain Kvp Value with certain relation.This is because, if the independent decreasing value of only Kvp, is deteriorated, control is sometimes with Kpp and Kvi balance Become unstable.Therefore, reducing reduces Kpp and Kvi value after Kvp value, and Kpp and Kvi value are adjusted according to Kvp value. Kpp and Kvi value is reduced the Kvp's for how much depending under 1 inertia system becoming stable and Kpp and Kvi relative to Kvp value The mode of ratio determines.

According to the electric motor system 1 of such embodiment 5, also simple computation goes out velocity loop gain Kvp and position ring Road gain Kpp, it can suppress to vibrate using automatic tuning in the case where not increasing CPU calculation process load, play and real Apply the same action effect of mode 1.

In the electric motor system 1 of above-mentioned embodiment 1~5, following situation is illustrated：That is, Gr is compared with rotary inertia It is set as only using linear function (f (Gr)=Gr) of the rotary inertia than Gr as the factor, speed ring for the prescribed function f (Gr) of the factor Road gain m₁, Kvp and rotary inertia there is simple inversely prroportional relationship shown in formula (4) than Gr.However, it can also be used to rotate Ratio of inertias Gr and constant Rid0 is that the linear function (f (Gr)=Gr+Rid0) of the factor represents prescribed function f (Gr), under utilization Formula (7.1), (7.2) carry out fixing speed loop gain m₁、Kvp。

m₁=Ri/ (Gr+Rid0) ... (7.1)

Kvp=Ri/ (Gr+Rid0) ... (7.2)

According to formula (7.1), (7.2), velocity loop gain m can adjust₁, the inversely prroportional relationship of Kvp and rotary inertia than Gr, The amount of adjustment is constant value Rid0.Therefore, velocity loop gain m can be expanded₁, Kvp setting range, and suppress CPU computing Handle load.

In addition, it can also be used using quadratic function (f (Gr)=Gr of the rotary inertia than Gr and constant Rid0 as the factor²+ Rid1Gr+Rid0 prescribed function f (Gr)) is represented, using following formula (8.1), (8.2) come fixing speed loop gain m₁、 Kvp。

m₁=Ri/ (Gr²+Rid1·Gr+Rid0)…(8.1)

Kvp=Ri/ (Gr²+Rid1·Gr+Rid0)…(8.2)

According to formula (8.1), (8.2) that denominator is set to secondary fractional function, velocity loop gain m₁, Kvp value can It is set as the desired passes of monotone decreasing relative to increase of the rotary inertia than Gr different from simple inversely prroportional relationship System.Compared with denominator is the inversely prroportional relationship of linear function, denominator is set into secondary fractional function can further take into account instruction Response characteristic and vibration suppression characteristic.

By to velocity loop gain m₁, Kvp carry out as defined in various (4), (7.1), (7.2), (8.1), shown in (8.2) Concrete property is determined as by using experiment to velocity loop gain m in the present embodiment₁, Kvp and rotary inertia be than Gr's Relation is measured the characteristic of obtained point.The number of the function of denominator is higher, can more improve and fit functional value to measuring point Precision, but CPU calculation process load becomes big.

In addition, in the electric motor system 1 of the respective embodiments described above 1~5, illustrate that user completely freely will be arbitrary Parameter constant Ri is input to the situation of control device of electric motor 4.However, can also use using parameter constant Ri as motor 3 and Multiple values corresponding to the species of Poewr transmission mechanism 6 between action object thing 2 are simultaneously stored in advance in control device of electric motor 4 In structure.According to the structure, user's simple selection from the multiple parameters constant Ri for be stored in advance in control device of electric motor 4 Corresponding to the parameter constant Ri of the species of Poewr transmission mechanism 6 value, so as to carry out parameter setting.Therefore, it is possible to provide improve The electric motor system 1 of the convenience of user.

In addition, in the electric motor system 1 of the respective embodiments described above 1~5, illustrate to carry out from speed loop using form Gain m₁, conversion of situation from the Kvp to each control parameter.However, can not also utilize form, and by using the computing of formula, Carry out from velocity loop gain m₁, conversion of the Kvp to each control parameter.

In addition, in the electric motor system 1 of the respective embodiments described above 1~5, also may be configured as upper than Gr to rotary inertia Limit value setting limitation.

With increase of the rotary inertia than Gr, velocity loop gain m₁, Kvp value it is too small, can not set and rotate and be used Amount is than velocity loop gain m corresponding to Gr value₁, Kvp value in the case of, such as with rotary inertia it is more corresponding than Gr value speed Spend loop gain m₁, Kvp value than the velocity loop gain m of the minimum level set in form₁, Kvp value want small situation Under, velocity loop gain m can not be reduced₁, Kvp value.

In this case, by according to the velocity loop gain m that can be set in form₁Minimum value m_1min, Kvp minimum Value Kvp_minAnd it is based on relational expression (m₁=Ri/f (Gr), Kvp=Ri/f (Gr)) rotary inertia obtained than Gr as rotary inertia Higher limit than Gr is pre-set in control device of electric motor 4.By so applying limitation to higher limit of the rotary inertia than Gr, So as to couple velocity loop gain m more corresponding than Gr value with rotary inertia₁, Kvp value lower limit apply limitation.Therefore, relation Formula (m₁=Ri/f (Gr), Kvp=Ri/f (Gr)) set up all the time, will not occur again can not setting speed loop gain m₁, Kvp The situation of value.

For example, calculate velocity loop gain m using formula (4)₁Value, as shown in Fig. 3 (a) curve map, speed loop Gain m₁With relation of the rotary inertia than Gr by simple inversely prroportional relationship (m₁=Ri/Gr) represent in the case of, if setting in form The velocity loop gain m that can be set₁Minimum value be m_1min, then higher limit grcamax of the rotary inertia than Gr can based on formula (4) Represented by following formula (9).

Grcamax=Ri/m_1min…(9)

Fig. 3 (b) is when anaplasia of the rotary inertia than Gr when representing to be set with rotary inertia than Gr higher limit grcamax The curve map of change.The transverse axis of the curve map is the time, and the longitudinal axis is that rotary inertia compares Gr.As shown in this graph, if in t pairs of time Rotary inertia sets higher limit grcamax than Gr, then after time t, cumulative rotary inertia ratio like that as indicated by chain dotted lines Gr presumed value is limited in grcamax [%].Therefore, by the way that setting of the rotary inertia than Gr is limited in into what is determined by formula (9) Higher limit grcamax, so as to couple velocity loop gain m more corresponding than Gr value with rotary inertia₁Value lower limit apply limitation, Relational expression (m₁=Ri/f (Gr)) set up all the time, will not occur again can not setting speed loop gain m₁Value situation.

In addition, in the velocity loop gain m shown in Fig. 3 (a)₁With in relation of the rotary inertia than Gr, such as the curve map institute Show, if to velocity loop gain m₁Value setting higher limit m_1max, make velocity loop gain m₁Value in the desired higher limit of user m_1maxSaturation, then instruction response can be improved as far as possible., can be at the computing for not increasing CPU according to such electric motor system 1 Utilize automatic tuning to suppress vibration in the case of managing load, make instruction response close to the desired characteristic of user.

Fig. 8 is that the structure that limitation is set to higher limit of the rotary inertia than Gr is added in the electric motor system 1 of embodiment 3 The closed-loop system 8C ' of variation afterwards wire figure.In addition, for identical with the part mark that Fig. 5 is same or equivalent in the figure Label, and the description thereof will be omitted.

Closed-loop system 8C ' added on the basis of closed-loop system 8C by the CPU Gr higher limits computing units 22 formed and Limiter 23.In closed-loop system 8C ', by 1/K (=Gr/K in Fig. 5₀) represent motor gain transmit key element 12 be divided into By 1/K₀The transmission key element 12a of expression, by Gr represent transmission key element 12b the two transmit key elements and present.To Gr higher limits Computing unit 22 provides the velocity loop gain m that can be set in the 3rd form₁Minimum value m_1minAnd parameter constant Ri.The Gr upper limits It is worth computing unit 22 according to minimum value m_1minAnd parameter constant Ri, calculate higher limit of the rotary inertia than Gr using formula (9) Grcamax is simultaneously stored.If the velocity loop gain m calculated using formula (4)₁Value reach lower limit in the 3rd form and satisfy With then the Gr value transmitted in key element 12b is limited to the higher limit calculated by Gr higher limits computing unit 22 by limiter 23 grcamax.Thus limitation is carried out so that 1/K setting values will not excessively rise, in other words so that K setting values will not excessive descent. Therefore, relational expression (m₁=Ri/Gr) set up all the time, will not occur again can not setting speed loop gain m₁Value situation.

In addition, in the electric motor system 1 of the respective embodiments described above 1~5 and above-mentioned variation, closed-loop system is illustrated 8A, 8B, 8C, 8C ', 8D, 8E transmission function the characteristic of more inertia systems is carried out as defined in situation.However, in closed-loop system Transmission function the characteristic of 1 inertia system is carried out as defined in the case of, also can the equally applicable present invention.According to this structure, Although the instruction response characteristic of closed-loop system declines, can user be unaware that be control object device rigidity it is higher by 1 Prevent from controlling caused vibration in the case of inertia system or the rigid relatively low more inertia systems of control.

In addition, in the electric motor system 1 of the respective embodiments described above 1~5 and above-mentioned variation, illustrate to adapt to same order Member 21 forms the situation of the rotary inertia detection unit of the rotary inertia of detection operation object 2 and motor 3.It is however, electronic Machine control device 4 also may be configured as on the basis of adapting to order member 21, be provided additionally with detection operation object 2 and motor The rotary inertia detection unit of 3 rotary inertia.

Label declaration

1 electric motor system

2 action object things

3 motor

4 control device of electric motor

6 Poewr transmission mechanisms

8A, 8B, 8C, 8C ', 8D, 8E closed-loop systems

Key element is transmitted in 9 the 1st proportional gains

10 the 1st summing points

11 integration filters transmit key element

12 motor gains transmit key element

13 motor positions transmit key element

14 differential filters transmit key element

15 the 1st gain transformations units

16 the 2nd gain transformations units

17 the 3rd gain transformations units

18 the 2nd summing points

Key element is transmitted in 19 the 2nd proportional gains

21 adapt to order member

Claims

1. a kind of electric motor system, the electric motor system includes the motor for acting action object thing and to the motor Rotation carries out the control device of electric motor of feedback control, it is characterised in that including：

Closed-loop system, the closed-loop system inputs the rotary speed instruction of the motor, and the rotation position of the motor is carried out Feedback control, output speed, and form transmission function velocity loop gain being included in the factor；

Rotary inertia detection unit, the rotary inertia detection unit is to the action object thing and the rotary inertia of the motor Detected；

Adapt to order member, the adaptation transmits the input of key element based on motor position with order member and motor position transmission will The output of element, gain K is carried out with fixed, gain K be by the fixed gain comprising the amplifier to the motor and After fixed value divided by the rotary inertia of the action object thing and the motor including the torque constant of the motor Value；And

Computing unit, the computing unit calculate gain K₀Relative to the rotary inertia of the gain K than Gr, the institute calculated is utilized Rotary inertia is stated than Gr, obtains arbitrary parameter constant Ri relative to using defined function of the rotary inertia than Gr as the factor The ratio of value, and according to this than calculating the velocity loop gain, the K₀For the amplification to the motor will be included Fixed value including the torque constant of the fixed gain of device and the motor divided by the value after the rotary inertia of the motor,

According to the velocity loop gain calculated by the computing unit, the transmission function is modified.

2. electric motor system as claimed in claim 1, it is characterised in that

The closed-loop system forms the transmission function being included in the velocity loop gain and position loop gain in the factor, defeated The rotation position for entering the motor is instructed to replace the rotary speed instruction, and the rotation position of the motor is fed back Control, rotation position is exported,

The computing unit calculates has the value of certain relation as the position loop gain with the velocity loop gain Value,

According to the velocity loop gain and the position loop gain calculated by the computing unit, to the transmission letter Number is modified.

3. electric motor system as claimed in claim 1, it is characterised in that

The closed-loop system has forward path and the 1st feedback path, the forward path have the 1st proportional gain transmit key element, Input the 1st summing point of the rotary speed instruction of the motor, integration filter transmits key element, motor gain transmits key element and electricity Key element is transmitted in motivation position, and the rotation position of the motor is transmitted key element via differential filter and born by the 1st feedback path The 1st summing point is fed back to,

The velocity loop gain is being set as m₁, Laplace's operation symbol is when be s, there is the control action object thing and described The expectation transmission function of the desired characteristic of the speed of motor is by formula m₁/(s+m₁) defined,

Adapt to transmit the input of key element and the motor position based on the motor position with order member using described setting The output for transmitting key element is set to p with the gain arrived surely, and the control parameter on disturbance response characteristic is q₀And q₁, make the closed loop The characteristic of the system parameter consistent with the expectation transmission function is a₁=q₁+m₁-p、b₁=q₀·m₁、b₂=(q₁-p)·(m₁- p)+q₀When, wherein, the gain p is by the sticky item of the action object thing and the motor divided by described dynamic Make the value after the rotary inertia of object and the motor,

1st proportional gain transmits key element by m₁Represent,

The integration filter transmits key element by (s²+q₁·s+q₀)/(s²+a₁S) represent,

The motor gain transmits key element and represented by 1/K,

The motor position transmits key element by K/ (s²+ ps) represent,

The differential filter transmits key element by (b₂·s²+b₁·s)/(s²+q₁·s+q₀) represent, filled in the Motor Control Middle storage is put by m₁With q₀、q₁The corresponding form of relation,

The computing unit is carried out from the velocity loop gain m calculated with reference to the form₁To q₀、q₁Conversion.

4. electric motor system as claimed in claim 1, it is characterised in that

Adapt to transmit the input of key element and the motor position based on the motor position with order member using described setting The output for transmitting key element is set to p with the gain arrived surely, and the control parameter on disturbance response characteristic is ω_q, make the closed loop system The characteristic of the system parameter consistent with the expectation transmission function is b₁=ω_q·m₁、b₂=m₁-p+ω_qWhen, wherein, the gain p It is by the sticky item of the action object thing and the motor divided by the action object thing and the motor Value after rotary inertia,

1st proportional gain transmits key element by m₁Represent,

The integration filter transmits key element by (s+ ω_q)/s expressions,

The motor gain transmits key element and represented by 1/K,

The motor position transmits key element by K/ (s²+ ps) represent,

The differential filter transmits key element by (b₂·s²+b₁·s)/(s+ω_q) represent,

Stored in the control device of electric motor by m₁With ω_qThe corresponding form of relation,

The computing unit is carried out from the velocity loop gain m calculated with reference to the form₁To ω_qConversion.

5. electric motor system as claimed in claim 2, it is characterised in that

The closed-loop system has forward path, the 1st feedback path and the 2nd feedback path, and the forward path has described in input The rotation position of motor is instructed to replace the 2nd summing point of the rotary speed instruction, the 2nd proportional gain to transmit key element, the 1st addition Point, integration filter transmit key element, motor gain transmits key element and motor position transmits key element, and the 1st feedback path will Key element negative-feedback is transmitted to the 1st summing point, the 2nd feedback path via differential filter in the rotation position of the motor By the direct negative-feedback in the rotation position of the motor to the 2nd summing point,

The velocity loop gain is being set as m₁, the position loop gain be m₀/m₁, Laplace's operation symbol is when being s, have The expectation transmission function of the desired characteristic of the position of the action object thing and the motor is controlled by formula m₀/(s²+m₁·s +m₀) defined,

2nd proportional gain transmits key element by m₀Represent,

The motor gain transmits key element and represented by 1/K,

The motor position transmits key element by K/ (s²+ ps) represent,

The differential filter transmits key element by (b₂·s²+b₁·s)/(s²+q₁·s+q₀) represent,

Stored in the control device of electric motor by m₁With m₀、q₀、q₁The corresponding form of relation,

The computing unit is carried out from the velocity loop gain m calculated with reference to the form₁To m₀、q₀、q₁Conversion.

6. the electric motor system as any one of claim 1 to 5, it is characterised in that

Using the rotary inertia than Gr be the factor it is described as defined in calculate the function of the velocity loop gain be only with described Linear function of the rotary inertia than Gr for the factor.

7. the electric motor system as any one of claim 1 to 5, it is characterised in that

Using the rotary inertia than Gr be the factor it is described as defined in calculate the function of the velocity loop gain be with described turn Dynamic ratio of inertias Gr and the linear function that constant is the factor.

8. the electric motor system as any one of claim 1 to 5, it is characterised in that

Using the rotary inertia than Gr be the factor it is described as defined in calculate the function of the velocity loop gain be with described turn Dynamic ratio of inertias Gr and the quadratic function that constant is the factor.

9. the electric motor system as any one of claim 1 to 5, it is characterised in that

The parameter constant Ri is right as the species institute of the Poewr transmission mechanism between the motor and the action object thing The multiple values answered are stored in the control device of electric motor.

10. the electric motor system as any one of claim 1 to 5, it is characterised in that

Limitation is provided with to higher limit of the rotary inertia than Gr.

11. the electric motor system as any one of claim 1 to 5, it is characterised in that

It is described to adapt to form the rotary inertia detection unit with order member, the input of key element is transmitted based on the motor position The output of key element is transmitted with the motor position, the rotary inertia of the action object thing and the motor is carried out same It is fixed.