CN112041775A - Motor drive device and conveying system - Google Patents
Motor drive device and conveying system Download PDFInfo
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- CN112041775A CN112041775A CN201980028221.0A CN201980028221A CN112041775A CN 112041775 A CN112041775 A CN 112041775A CN 201980028221 A CN201980028221 A CN 201980028221A CN 112041775 A CN112041775 A CN 112041775A
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- 238000004364 calculation method Methods 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 abstract description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
Abstract
When switching from the semi-closed control to the fully-closed control or from the fully-closed control to the semi-closed control, it is necessary to switch not only the positional information of the conveying system and the motor drive device, but also the switching control method. In order to solve the problem, a scale position calculation unit (103) outputs a motor position (D4) acquired by a motor position acquisition unit (102) as a pseudo scale position (D7) converted into an external scale position (D3) acquired by a scale position acquisition unit (104), and outputs an external scale position (D3) acquired by the scale position acquisition unit (104) as an actual scale position (D6). A control position switching unit (105) outputs a control position signal (D2) on the basis of the output of the scale position calculation unit (103). A motor control unit (101) controls the motor (202) so that the control position signal (D2) follows the position command signal (D1).
Description
Technical Field
The present disclosure relates to a motor drive device used in a conveyance system or the like that controls the position of a motor for conveying a conveyance target by totally enclosed control, and a conveyance system.
Background
The conventional conveying system includes: a motor for operating a transport object; an encoder that detects a position of the motor; an external scale that detects a position of the conveyance target and outputs the position to the motor drive device; and a motor drive device that drives the motor based on the position information of the external scale so that the position of the conveyance target follows the position command from the host controller.
The motor drive device generally controls the motor based on an output from the encoder so as to move the conveyance target (referred to as semi-closed control). When it is determined that the conveyance target has reached the predetermined target position, the motor drive device switches to moving the conveyance target by controlling the motor based on the output from the external scale (full-closed control).
In order to perform switching in this manner, a conventional conveyance system is provided with a sensor element in the vicinity of a target position for switching control. The sensor element outputs the fact that the conveyance object has reached the target position to the motor drive device. The motor drive device controls the motor by semi-closed control until the signal from the sensor element is detected, and switches to full-closed control to control the motor after the signal from the sensor element is detected. (see, for example, patent document 1).
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2016-155144
Disclosure of Invention
However, in the conventional motor driving device, the motor is generally controlled based on an output from the encoder (semi-closed control). On the other hand, in the case of the full-closed control, the motor is controlled based on the position information detected by the external scale. However, there are the following problems: when switching from the semi-closed control to the full-closed control or from the full-closed control to the semi-closed control, it is necessary to switch the control method in addition to the position information of the conveying system and the motor drive device. For example, in the case where the value of the external scale is interrupted during the full close control, it is necessary to switch the control method to the half close control based on the position of the encoder of the motor.
The present disclosure has been made to solve the above-described problems, and an object of the present disclosure is to provide a motor drive device and a conveyance system that can control a conveyance system while maintaining a fully closed control without switching a control method even when the position of a conveyance target is controlled by semi-closed control.
In order to solve the above-described conventional problems, a motor drive device according to one aspect of the present disclosure includes a motor position acquiring unit, a scale position calculating unit, a control position switching unit, and a motor control unit. A motor position acquisition unit acquires a motor position. A scale position acquiring unit acquires an external scale position. The scale position calculation unit outputs a value obtained by converting the motor position into the scale position as a pseudo scale position, and outputs an external scale position as an actual scale position. The control position switching unit outputs a control position signal based on an output of the scale position calculating unit. Then, the motor control unit controls the motor so that the control position signal follows the position command signal by inputting the position command signal and the control position signal to the motor control unit.
A conveyance system according to one aspect of the present disclosure includes: the motor drive device; and a motor that is driven by a drive current output from the motor drive device and conveys a conveyance target.
Drawings
Fig. 1 is a conceptual diagram of a conveyance system in embodiments 1 and 2 of the present disclosure.
Fig. 2 is a conceptual diagram of a conveying system in embodiment 3 of the present disclosure.
Detailed Description
Embodiments of the present disclosure are described below with reference to the drawings. The present disclosure is not limited to the embodiment.
(embodiment mode 1)
Fig. 1 is a conceptual diagram of a conveying system 1. Next, a motor drive device that calculates a control position in the closed control based on a motor position will be described with reference to fig. 1. The conveyance system 1 includes a host controller (not shown), the motor drive device 100, the conveyance unit 200, and the scale position detection unit 204. The conveying unit 200 includes a motor position detecting unit 201, a motor 202, and a rotor 203. The conveyance target 205 conveyed by the conveyance system 1 is moved by driving the motor 202. The conveyance target 205 is, for example, a wire or paper. An arrow a1 in fig. 1 indicates the movement direction (moving direction) of the conveyance object 205.
The conveying system 1 moves the conveying object 205 at a predetermined speed, or moves the conveying object 205 by a predetermined distance, or for a predetermined time by the conveying unit 200. The conveyance target 205 conveys the conveyance target 205 by the motor 202 and the rotor 203. The motor position detection unit 201 detects a rotation angle of the motor 202 as a motor position. As the motor position detecting unit 201, for example, an incremental encoder or the like is used. Further, the motor position detecting unit 201 is attached to the motor 202.
The scale position detection unit 204 uses, for example, an absolute type or an incremental type encoder. The scale position detecting unit 204 includes a scale, a detector for reading the position of the scale, and the like.
The motor drive device 100 includes a motor control unit 101, a motor position acquiring unit 102, a scale position calculating unit 103, a scale position acquiring unit 104, and a control position switching unit 105.
Then, the motor position detecting unit 201 outputs the detected motor position to the motor position acquiring unit 102. On the other hand, the scale position detecting unit 204 outputs the detected scale position of the transport object 205 to the scale position acquiring unit 104. A position command signal D1 output from the host controller and a control position signal D2 output from the control position switching unit 105 are input to the motor control unit 101. Then, the motor control unit 101 controls the motor drive current I1 supplied to the motor 202 so that the control position signal D2 follows the position command signal D1.
The external scale position D3 output from the scale position acquiring unit 104 and the motor position D4 output from the motor position acquiring unit 102 are output to the control position switching unit 105 via the scale position calculating unit 103.
The control position signal D2 is input from the motor drive device 100 to a host controller. The upper controller outputs a position command signal D1 and a first control position reference switching command D5 to the motor drive device 100.
Next, the operation of the conveyance system 1 will be described.
(A) The scale position acquisition unit 104 acquires the value of the scale position detected by the scale position detection unit 204 at a constant cycle (motor control cycle), and outputs the value to the scale position calculation unit 103 as an external scale position D3. The scale position calculator 103 to which the external scale position D3 is input outputs the external scale position D3 to the control position switch 105 as the actual scale position D6. The control position switching unit 105 to which the actual scale position D6 is input outputs the normally input actual scale position D6 to the motor control unit 101 as a control position signal D2. Then, the motor control unit 101 updates the position information for the motor control process with the control position signal D2 to perform feedback control of the motor 202. That is, the motor drive device 100 controls the movement (rotation) amount and the movement (rotation) speed of the motor 202 (controls in the totally enclosed control mode) based on the value obtained by measuring the movement amount of the conveyance object 205 by the scale position detection unit 204. The transmission of the scale position from the scale position detecting unit 204 to the scale position acquiring unit 104 is realized by the communication circuit 107, for example.
(B) Next, the operation of the transport system 1 when the transport object 205 is newly input to the transport system 1 will be described. In this case, the conveyance target 205 does not reach the position of the scale position detection unit 204. During this time, the conveyance target 205 is manually conveyed to the conveyance unit 200, and then conveyed to the position of the scale position detection unit 204 by driving the motor 202. Further, until the conveyance object 205 reaches the scale position detection unit 204, the scale position detection unit 204 cannot detect the movement amount of the conveyance object 205 even if the motor 202 is driven. Therefore, even if the motor control unit 101 attempts to cause the control position signal D2 to follow the position command signal D1, the state cannot be followed.
(C) Therefore, when determining that the control position signal D2 does not follow the position command signal D1, the host controller outputs a control position reference switching command D5 for switching to the pseudo scale position D7 to the control position switching unit 105. The control position switching unit 105 that has received the control position reference switching command D5 outputs the pseudo scale position D7 as a control position signal D2 instead of the actual scale position D6. That is, the control position reference switching command D5 for switching to the pseudo scale position D7 is a command for switching the target output from the control position switching unit 105 as the control position signal D2 from the actual scale position D6 to the pseudo scale position D7.
(D) In response to the command of the control position reference switching command D5, the control position switching unit 105 outputs a value converted into the pseudo scale position D7 based on the motor position D4 acquired by the motor position acquiring unit 102 to the motor control unit 101 as a control position signal D2. That is, by converting the motor position D4 to the value of the external scale reference, the motor 202 can operate as if it is continuously controlled in a state where the external scale reference is held.
(E) The motor control unit 101 controls the motor 202 so that the pseudo scale position D7 follows the position command signal D1 (performs control in the virtual closed control mode). That is, the control position switching unit 105 changes the control from the fully closed control mode to the virtual fully closed control mode for the motor 202 in accordance with the control position reference switching command D5.
With the above configuration, even in a state where the conveyance target 205 does not reach the scale position detection unit 204, the control position signal D2 can follow the position command signal D1.
In this case, moreover, it is not necessary to switch between the semi-closed control and the full-closed control, which is required in the conventional configuration.
Next, the operation of the scale position calculating unit 103 will be described in detail. The scale position calculator 103 calculates the pseudo scale position D7 from the motor position D4 by the following calculation formula "formula 1", and calculates the actual scale position D6 from the external scale position D3 by the calculation formula "formula 2". In equation 1, the previous control position is set to "P0", the motor position D4 in the current motor control cycle is set to "P1", the motor position D4 in the previous motor control cycle is set to "P2", the resolution of the scale position detector 204 is set to "R1", the resolution of the motor position detector 201 is set to "R2", and the pseudo scale position D7 is set to "P10". The "previous control position" referred to herein corresponds to the control position signal D2 in the previous motor control cycle.
P10 ═ P0+ (P1-P2) × (R1/R2) · (formula 1)
In equation 2, the outer scale position D3 in the current motor control cycle is set to "EP 1", and the actual scale position D6 is set to "P11".
P11 EP1 (formula 2)
Therefore, both the timing at which the motor position acquisition unit 102 acquires the motor position D4 and the timing at which the scale position acquisition unit 104 acquires the external scale position D3 are synchronized with the motor control cycle. The scale position calculating unit 103 can calculate the amount of change between the previous and current motor position information (motor position D4).
(F) Next, an operation in a case where the conveyance object 205 reaches the scale position detection unit 204 during the control in the virtual full close control mode will be described. When determining that the conveyance target 205 has reached the scale position detection unit 204, the host controller outputs a control position reference switching command D5 for switching to the actual scale position D6 to the control position switching unit 105. The control position switching unit 105 that has received the control position reference switching command D5 outputs the actual scale position D6 as the control position signal D2 instead of the pseudo scale position D7. That is, the control position reference switching command D5 for switching to the actual scale position D6 is a command for switching the target output from the control position switching unit 105 as the control position signal D2 from the pseudo scale position D7 to the actual scale position D6. The control position signal D2 and the outer scale position D3 may be used for the switching determination by the host controller.
With the above configuration, in a state where the conveyance object 205 has reached the scale position detector 204, the control position signal D2 can be controlled to follow the position command signal D1 based on the value obtained by measuring the movement amount of the conveyance object 205 by the scale position detector 204.
(embodiment mode 2)
Next, a conveying system according to embodiment 2 will be described with reference to fig. 1. The present embodiment is different from embodiment 1 in that the calculation formula of the pseudo scale position D7 in the scale position calculation unit 103 does not use difference calculation.
Next, the operation of the scale position calculating unit 103 will be described with respect to the differences from embodiment 1.
(A) The scale position calculator 103 calculates the pseudo scale position D7 from the motor position D4 by the following calculation formula "formula 3", and calculates the actual scale position D6 from the external scale position D3 by the calculation formula "formula 2" described in embodiment 1. In equation 3, the motor position D4 in the current motor control cycle is assumed to be "P1", the resolution of the scale position detector 204 is assumed to be "R1", the resolution of the motor position detector 201 is assumed to be "R2", and the pseudo scale position D7 is assumed to be "P10".
P1O ═ P1 × (R1/R2) · (formula 3)
Therefore, both the timing at which the motor position acquisition unit 102 acquires the motor position D4 and the timing at which the scale position acquisition unit 104 acquires the external scale position D3 are synchronized with the motor control cycle.
(embodiment mode 3)
Next, a conveying system according to embodiment 3 will be described with reference to fig. 2. The present embodiment is different from embodiments 1 and 2 in that a control position switching determination unit 108 is provided in the motor drive device 100.
Next, the operations of the control position switching determination unit 108 and the control position switching unit 105 will be described with respect to differences from embodiments 1 and 2.
(A) The scale position acquisition unit 104 acquires the value of the scale position detected by the scale position detection unit 204 at a constant cycle (motor control cycle), and outputs the value to the control position switching determination unit 108 as the external scale position D3.
(B) When the amount of change in the external scale position D3 detected at a fixed period is equal to or less than a predetermined value (for example, equal to or less than a scale movement amount corresponding to one rotation of the motor 202 connected to the motor drive device 100), the control position switching determination unit 108 outputs a second control position reference switching command D8 for switching to the pseudo scale position D7 to the control position switching unit 105.
(C) In response to the command of the control position reference switching command D8, the control position switching unit 105 outputs the pseudo scale position D7 to the motor control unit 101 as a control position signal D2 instead of the actual scale position D6. That is, the control position reference switching command D8 for switching to the pseudo scale position D7 is a command for switching the target output from the control position switching unit 105 as the control position signal D2 from the actual scale position D6 to the pseudo scale position D7.
With the above configuration, even in a state where the conveyance target 205 does not reach the scale position detection unit 204, the control position signal D2 can follow the position command signal D1.
(D) Next, when the amount of change in the external scale position D3 detected at a fixed period is equal to or greater than a predetermined value (for example, equal to or greater than a scale movement amount corresponding to one rotation of the motor 202 connected to the motor drive device 100), the control position switching determination unit 108 outputs a control position reference switching command D8 for switching to the actual scale position D6 to the control position switching unit 105. The control position switching unit 105 that has received the control position reference switching command D8 outputs the actual scale position D6 as the control position signal D2 instead of the pseudo scale position D7. That is, the control position reference switching command D8 for switching to the actual scale position D6 is a command for switching the target output from the control position switching unit 105 as the control position signal D2 from the pseudo scale position D7 to the actual scale position D6.
With the above configuration, in a state where the conveyance object 205 has reached the scale position detector 204, the control position signal D2 can be controlled to follow the position command signal D1 based on the value obtained by measuring the movement amount of the conveyance object 205 by the scale position detector 204.
The above-described embodiment is only one of various embodiments of the present disclosure. The above-described embodiment can be variously modified according to design and the like as long as the object of the present disclosure can be achieved. Further, a part or all of the same functions as those of the motor drive device 100 may be embodied by a motor management method, a computer program, a non-transitory recording medium on which a program is recorded, or the like.
As described above, the motor drive device (100) according to the first aspect includes the motor position acquisition unit (102), the scale position acquisition unit (104), the scale position calculation unit (103), the control position switching unit (105), and the motor control unit (101). A motor position acquisition unit (102) acquires a motor position (D4). A scale position acquisition unit (104) acquires an external scale position (D3). A scale position calculation unit (103) outputs a value obtained by converting the motor position (D4) into an external scale position (D3) as a pseudo scale position (D7), and outputs an external scale position (D3) as an actual scale position (D6). A control position switching unit (105) outputs a control position signal (D2) on the basis of the output of the scale position calculation unit (103). The motor control unit (101) receives the position command signal (D1) and the control position signal (D2) and controls the motor (202) such that the control position signal (D2) follows the position command signal (D1).
In a motor drive device (100) according to a second aspect, in the first aspect, a control position switching unit (105) outputs a control position signal (D2) based on either one of a pseudo scale position (D7) and an actual scale position (D6).
In the motor drive device (100) according to the third aspect, in the first or second aspect, the scale position calculation unit (103) calculates the pseudo scale position P10 by using the previous control position P0, the motor position information P1 in the current motor control cycle, the motor position information P2 in the previous motor control cycle, the resolution R1 of the scale position detection unit, and the resolution R2 of the motor position detection unit (201) and by calculating the formula P10 to P0+ (P1-P2) × (R1/R2).
In the motor drive device (100) according to the fourth aspect, in the first or second aspect, the scale position calculation unit (103) calculates the pseudo scale position P10 by using the motor position information P1, the resolution R1 of the scale position detection unit, and the resolution R2 of the motor position detection unit (201) in the current motor control cycle, and by using the calculation formula P10 — P1 × (R1/R2).
In a motor drive device (100) according to a fifth aspect, in any one of the first to fourth aspects, a scale position calculation unit (103) calculates an actual scale position (D6) P11 by using external scale position information EP1 in a current motor control cycle by using the calculation expression P11 equal to EP 1.
A motor drive device (100) according to a sixth aspect further comprises, in any one of the first to fifth aspects, a control position switching determination unit (108), wherein the control position switching determination unit (108) determines which of the pseudo scale position (D7) and the actual scale position (D6) is switched to, based on the amount of change in the external scale position (D3). A control position switching unit (105) selects either one of the pseudo scale position (D7) and the actual scale position (D6) on the basis of a control position reference switching command (D8) from a control position switching determination unit (108), and outputs a control position signal (D2) on the basis of the selected pseudo scale position (D7) or actual scale position (D6).
A conveying system (1) according to a seventh aspect includes: a motor drive device (100) according to any one of the first to sixth aspects; and a motor (202) that is driven by a drive current (I1) output from the motor drive device (100) and that conveys the conveyance object (205).
In a seventh aspect of the conveying system (1) according to the eighth aspect, the conveying system (1) further includes a motor position detection unit (201), and the motor position detection unit (201) detects the position of the motor (202) and outputs the position of the motor (202) to the motor position acquisition unit (102).
A conveying system (1) according to a ninth aspect is the seventh or eighth aspect, wherein the conveying system (1) further includes a scale position detecting unit that detects a position of the conveying target and outputs the position of the conveying target to a scale position acquiring unit (104).
A transport system (1) according to a tenth aspect is the transport system (1) according to any one of the seventh to ninth aspects, wherein the transport system (1) outputs a position command signal (D1) to the motor drive device (100), receives a control position signal (D2) output from the motor drive device (100), and outputs a switching command generated based on the position command signal (D1) and the control position signal (D2) to a control position switching unit (105) of the motor drive device (100).
According to this embodiment, since the pseudo scale position (D7) is calculated by converting the motor position (D4) into the external scale position (D3), the position of the conveyance target (205) can be determined from the pseudo scale position (D7). That is, the motor drive device (100) and the conveyance system (1) can control the position of the motor (202) by using the pseudo scale position (D7) to perform virtual closed control.
The configurations according to the second to sixth aspects are not essential to the motor drive device (100), and can be omitted as appropriate.
The configurations according to the eighth to tenth aspects are not essential to the conveyance system (1) and can be omitted as appropriate.
Industrial applicability
The motor drive device of the present disclosure is also useful for industrial equipment and the like that require continuous motor drive even when the value of the external scale is interrupted during the full-closed control.
Description of the reference numerals
1: a delivery system; 100: a motor drive device; 101: a motor control unit; 102: a motor position acquisition unit; 103: a scale position calculating section; 104: a scale position acquiring unit; 105: a control position switching unit; 106: a communication circuit; 107: a communication circuit; 108: a control position switching determination unit; i1: a motor drive current; d4: a motor position; d7: a pseudo scale position; d3: an external scale position; d2: a control position signal; d1: a position command signal; d5: a first control position reference switching instruction; d6: actual scale position; d8: a second control position reference switching instruction; 200: a conveying section; 201: a motor position detection unit; 202: an electric motor; 203: a rotor; 204: a scale position detection unit; 205: and conveying the object.
Claims (10)
1. A motor drive device includes:
a motor position acquisition unit that acquires a motor position;
a scale position acquiring unit that acquires an external scale position;
a scale position calculation unit that outputs a value obtained by converting the motor position into the external scale position as a pseudo scale position, and outputs the external scale position as an actual scale position;
a control position switching unit that outputs a control position signal based on an output of the scale position calculating unit; and
and a motor control unit that receives a position command signal and the control position signal and controls the motor so that the control position signal follows the position command signal.
2. The motor drive device according to claim 1,
the control position switching unit outputs the control position signal based on one of the pseudo scale position and the actual scale position.
3. The motor drive device according to claim 1 or 2,
the scale position calculator calculates the pseudo scale position P10 by using the previous control position P0, the motor position information P1 in the current motor control cycle, the motor position information P2 in the previous motor control cycle, the resolution R1 of the scale position detector, and the resolution R2 of the motor position detector, and by using the calculation formula P10 ═ P0+ (P1-P2) × (R1/R2).
4. The motor drive device according to claim 1 or 2,
the scale position calculator calculates the pseudo scale position P10 by using a calculation formula P10 — P1 × (R1/R2) using the motor position information P1, the resolution R1 of the scale position detector, and the resolution R2 of the motor position detector in the current motor control cycle.
5. The motor drive device according to any one of claims 1 to 4,
the scale position calculator calculates the actual scale position P11 using the external scale position information EP1 in the current motor control cycle by using the calculation formula P11 — EP 1.
6. The motor drive device according to any one of claims 1 to 5,
further comprising a control position switching determination unit that determines which of the pseudo scale position and the actual scale position is to be switched based on a change amount of the external scale position,
the control position switching unit selects one of the pseudo scale position and the actual scale position based on a control position reference switching command of the control position switching determination unit, and outputs the control position signal based on the selected pseudo scale position or the actual scale position.
7. A delivery system having:
the motor drive device according to any one of claims 1 to 6; and
and a motor that is driven by a drive current output from the motor drive device and conveys a conveyance target.
8. The delivery system of claim 7,
the conveying system further includes a motor position detecting section that detects a position of the motor and outputs the position of the motor to the motor position acquiring section.
9. The delivery system of claim 7 or 8,
the conveying system further includes a scale position detecting unit that detects a position of the conveying object and outputs the position of the conveying object to the scale position acquiring unit.
10. The conveying system according to any one of claims 7 to 9,
the transport system outputs the position command signal to the motor drive device, receives the control position signal output from the motor drive device, and outputs a switching command generated based on the position command signal and the control position signal to the control position switching unit of the motor drive device.
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| JP2018-086091 | 2018-04-27 | ||
| PCT/JP2019/017881 WO2019208758A1 (en) | 2018-04-27 | 2019-04-26 | Motor drive device and conveying system |
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| CN112041775A true CN112041775A (en) | 2020-12-04 |
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| JP (1) | JP7213471B2 (en) |
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| WO (1) | WO2019208758A1 (en) |
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2019
- 2019-04-26 JP JP2020515595A patent/JP7213471B2/en active Active
- 2019-04-26 CN CN201980028221.0A patent/CN112041775A/en active Pending
- 2019-04-26 WO PCT/JP2019/017881 patent/WO2019208758A1/en active Application Filing
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| JP7213471B2 (en) | 2023-01-27 |
| WO2019208758A1 (en) | 2019-10-31 |
| JPWO2019208758A1 (en) | 2021-05-20 |
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