CN113541561A - Motor control method and motor control device - Google Patents

Motor control method and motor control device Download PDF

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Publication number
CN113541561A
CN113541561A CN202110393357.0A CN202110393357A CN113541561A CN 113541561 A CN113541561 A CN 113541561A CN 202110393357 A CN202110393357 A CN 202110393357A CN 113541561 A CN113541561 A CN 113541561A
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China
Prior art keywords
motor
control
cogging
disturbance
inverse correction
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Chinese (zh)
Inventor
小木曽公尚
小田切纯一
久松稜平
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University of Electro Communications NUC
Proterial Ltd
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Hitachi Metals Ltd
University of Electro Communications NUC
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Priority claimed from JP2021009819A external-priority patent/JP2021175365A/en
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Publication of CN113541561A publication Critical patent/CN113541561A/en
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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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)

Abstract

The invention provides a motor control method and a motor control device, which can fully compensate generated cogging, thereby greatly reducing the influence of the cogging and realizing expected operating characteristics. An inverse correction control that applies an inverse correction for the cogging state is combined with a disturbance observer control for the disturbance using an inverse correction control system and a disturbance observer control system. The influence of the cogging is roughly removed by applying inverse correction for the cogging state, and the influence that cannot be reduced by this inverse correction control is reduced by disturbance observer control for disturbance.

Description

Motor control method and motor control device
Technical Field
The present invention relates to a motor control method and a motor control device for controlling a motor to reduce cogging generated in the motor.
Background
The motor includes a stator and a mover, and magnetically generates thrust between the stator and the mover to move the mover relative to the stator. As representative examples of the motor, there are the following linear motors: the stator is configured such that a mover in which a plurality of permanent magnets are arranged so that their magnetic properties are alternately changed and a stator in which coils are wound around a plurality of magnetic pole teeth are arranged so as to correspond to each other with a predetermined distance therebetween, and the mover is linearly moved relative to the stator by generating a thrust by an attractive/repulsive force between the stator and the permanent magnets by flowing an alternating current through the coils of the stator.
In motors including such linear motors, it is known that cogging is generally generated. The cogging is a periodic variation of thrust generated with a periodic variation of magnetic attraction force generated depending on the position of the mover with respect to the stator. The occurrence of cogging adversely affects the operation of the motor, and desired operation characteristics may not be obtained, and for example, in a linear motor, stable constant speed control may not be performed. Since such cogging is an unavoidable event for the motor, various methods for correcting the generated cogging to obtain desired operational characteristics have been proposed (japanese patent application laid-open nos. 2004-120861 and 2019-221032).
Disclosure of Invention
However, in these prior arts, sufficient compensation for generated cogging has not been achieved yet.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a motor control method and a motor control device capable of sufficiently compensating for generated cogging, and capable of significantly reducing the influence of the cogging to realize desired operation characteristics.
The present invention provides a motor control method for controlling a motor to reduce a cogging generated in the motor, the motor control method including a combination of an inverse correction control for applying an inverse correction to a state of the cogging and a disturbance observer control for correcting a disturbance at the time of operation of the motor.
In the motor control method according to the present invention, the speed and the position of the motor are controlled by a combination of the inverse correction control and the disturbance observer control.
The motor control method according to the present invention is characterized in that a steady kalman filter is used for the disturbance observer control.
The motor control method according to the present invention is a linear motor including a mover in which a plurality of permanent magnets are arranged and a stator in which coils are wound around a plurality of magnetic pole teeth.
A control device for a motor according to the present invention is a control device for controlling a motor to reduce a cogging generated in the motor, the control device including: an inverse correction control system that applies inverse correction for a state of the cogging; and a disturbance observer control system that corrects disturbance when the motor operates.
The motor control device according to the present invention further includes: a speed control system that controls a speed of the motor; and a position control system that controls a position of the motor.
The control device for a motor according to the present invention is characterized in that the disturbance observer control system has a steady-state kalman filter.
The motor control device according to the present invention is a linear motor including a mover in which a plurality of permanent magnets are arranged and a stator in which coils are wound around a plurality of magnetic pole teeth.
In the present invention, inverse correction control that applies inverse correction for the cogging state is combined with disturbance observer control for disturbance. That is, the influence of the cogging is roughly removed by applying the inverse correction to the cogging state, and the influence that cannot be reduced by the inverse correction is reduced by the disturbance observer control. Therefore, the generated unavoidable cogging can be sufficiently compensated, and the influence of the cogging can be greatly reduced.
In the present invention, the speed and position of the motor are controlled by a combination of the above-described inverse correction control and disturbance observer control. Therefore, the influence of the cogging can be suppressed, and the speed and the position in the motor can be controlled with high accuracy.
In the present invention, a steady state kalman filter is utilized in the disturbance observer control. Therefore, the disturbance during the operation of the motor can be compensated efficiently.
In the present invention, a linear motor including a mover in which a plurality of permanent magnets are arranged and a stator in which a coil is wound around a plurality of magnetic pole teeth is controlled. Thus, a reduction of the inevitable cogging in the linear motor is achieved.
According to the present invention, since the control of applying the inverse correction to the cogging state and the observer control to the disturbance are combined, the influence of the generated unavoidable cogging can be greatly reduced, and the desired operation characteristics can be reliably obtained in the motor.
Drawings
Fig. 1 is a perspective view showing a structure of a linear motor to which the present invention is applied.
Fig. 2 is a side view showing the structure of the linear motor.
Fig. 3 is a block diagram showing a configuration of an embodiment of a motor control device according to the present invention.
Fig. 4 is a block diagram showing the internal structure of the disturbance observer.
Fig. 5 is a diagram showing an operation waveform of an output (actual operation model) from a control target and an operation waveform of an estimation model as a comparison.
Fig. 6 is a diagram showing an inverse correction waveform of the cogging and an estimated waveform obtained by the disturbance observer control.
Fig. 7 is a diagram showing a waveform of an input command and a waveform of a current command.
Fig. 8 is a diagram showing an operation waveform when the linear motor is operated.
Fig. 9 is a diagram showing a comparison between the operation waveform in the present example and the operation waveform in an ideal operation model.
Fig. 10 is a block diagram showing the internal structure of a disturbance observer using a steady-state kalman filter.
Fig. 11 is a block diagram showing the configuration of another embodiment of the motor control device according to the present invention.
Fig. 12 is a graph showing the result of the speed control.
Fig. 13 is a graph showing the result of the speed control.
Fig. 14 is a diagram showing the result of the position control.
Detailed Description
The present invention is described in detail based on the drawings showing embodiments of the invention. In addition, a case where the present invention is applied to a linear motor as an example of a motor will be described below. First, the structure of the linear motor will be briefly described.
Fig. 1 and 2 are a perspective view and a side view showing the structure of the linear motor 1. The linear motor 1 includes a mover 2 and a stator 3 facing each other with a predetermined distance therebetween.
The mover 2 is configured by, for example, arranging 14 rectangular permanent magnets 21 in the moving direction (the left-right direction in fig. 2) so as to be supported and fixed to a thin plate-shaped back yoke 22 at equal intervals. Each permanent magnet 21 is magnetized in the thickness direction (the vertical direction in fig. 2), and the magnetization directions of the adjacent permanent magnets 21, 21 are opposite to each other. That is, the permanent magnets 21 magnetized in the direction from the mover 2 side toward the stator 3 side (the direction from the upper side to the lower side in fig. 2) and the permanent magnets 21 magnetized in the direction from the stator 3 side toward the mover 2 side (the direction from the lower side to the upper side in fig. 2) are alternately arranged.
On the other hand, the stator 3 is configured by integrally providing 30 rectangular magnetic pole teeth 32, for example, on a thin plate-shaped core 31 at equal intervals in the moving direction, and winding a coil 33 around each magnetic pole tooth 32. U, V, W in fig. 2 show the U-phase, V-phase, and W-phase of the 3-phase ac power supply, and 3-phase parallel conduction is performed with 1 set of 2 pairs of front and rear slots 3. In the linear motor 1, a 7-pole 6-slot structure having 7 permanent magnets 21, 6 magnetic pole teeth 32, and 6 coils 33 is used as a basic unit.
When a 3-phase alternating current is applied to the coils 33 of the stator 3 to generate a magnetic field at the magnetic pole teeth 32, the permanent magnets 21 of the mover 2 are sequentially magnetically attracted and repelled in the magnetic field, thereby generating a thrust force on the mover 2 and linearly moving the mover 2 with respect to the stator 3.
Next, a method and an apparatus for reducing the influence of cogging inevitably generated in the linear motor 1 forming such a structure are described in detail.
In the present invention, control of applying inverse correction for the cogging state is combined with disturbance observer control for disturbance. That is, the influence of the cogging is roughly removed by applying the inverse correction to the cogging state, and the influence due to the disturbance, which is not reduced by the inverse correction, is reduced by the disturbance observer control. Therefore, the generated unavoidable cogging can be sufficiently compensated, and the influence of the cogging can be greatly reduced.
The disturbance observer control is control for relatively easily removing disturbance from an operating mechanism such as a feedback system to stabilize the operation. In the case of the linear motor 1 as an example, there are an influence of tension of the cable (a phenomenon in which a thrust force is different between the forward direction and the backward direction of the linear motor 1 due to the tension), an influence of the linear guide (a phenomenon in which the linear motor 1 is displaced due to the linear guide being assembled), and the like as disturbances. In the present invention, the influence of disturbance in such a linear motor 1 is compensated by disturbance observer control.
Fig. 3 is a block diagram showing a configuration of an embodiment of a motor control device according to the present invention. The control device is provided with: the linear motor 1, the cogging element unit 41, the adder 42, the nonlinear compensator 51, the disturbance observer 61, the differentiator 62, and the subtractor 71. The linear motor 1, the cogging element unit 41, and the adder 42 constitute one controlled object + cogging 40, the inverse correction control system 50 includes the nonlinear compensator 51, and the disturbance observer control system 60 includes the disturbance observer 61 and the differentiator 62.
The input terminal of the linear motor 1 and the input terminal of the cogging element unit 41 to be controlled are connected to the output terminal of the subtractor 71. The output terminal of the linear motor 1 is connected to one input terminal of the adder 42, and the output terminal of the cogging element unit 41 is connected to the other input terminal of the adder 42. The output terminal of the adder 42 is connected to the input terminal of the nonlinear compensator 51 and the input terminal of the differentiator 62. The output terminal of the nonlinear compensator 51 is connected to one subtraction input terminal of the subtractor 71. The output of the differentiator 62 is connected to the input of the disturbance observer 61. The output terminal of the disturbance observer 61 is connected to the other subtraction input terminal of the subtractor 71.
An input command u' is externally input to an addition input terminal of a subtractor 71 and a disturbance observer 61, and a correction output ^ i is input from a nonlinear compensator 51 to one subtraction input terminal of the subtractor 71cog(estimated value of periodic correction of cogging), a control output ^ d (estimated value of disturbance) is input from the disturbance observer 61 to the other subtraction input terminal of the subtractor 71. Further, "^" symbols represent estimated values.
The current command u is output from the output terminal of the subtractor 71 to the linear motor 1 and the cogging element unit 41. The adder 42 adds the output (the cogging element C) from the cogging element unit 41 to the output from the linear motor 1, and the adder 42 outputs the resultant to the nonlinear compensator 51, the differentiator 62, and the external output position x.
The correction is performed using the nonlinear compensator 51 for a portion of the cogging element, which is generated particularly periodically. The nonlinear compensator 51 applies inverse correction (C) to the state of cogging (cogging element C)-1) Correcting the coggingEstimate of ^ icogAnd outputs to the subtractor 71. The estimated value ^ icogDerived from a model of the cogging element.
On the other hand, the disturbance observer 61 performs disturbance observer control for disturbance, and outputs the estimated value of disturbance ^ d to the subtractor 71. The details of the disturbance observer control for the disturbance will be described later.
In the present invention, the inverse correction control by the inverse correction control system 50 that applies inverse correction to the state of the cogging is combined with the observer control by the disturbance observer control system 60 for disturbance. That is, the influence of the cogging is roughly removed by applying the inverse correction to the cogging state using the inverse correction control system 50 (nonlinear compensator 51), and the influence due to the disturbance, which cannot be reduced by the inverse correction, is reduced using the disturbance observer control system 60 (disturbance observer 61). As a result, the generated unavoidable cogging can be sufficiently compensated, and the influence of the cogging can be greatly reduced.
Next, the details of the disturbance observer control will be described. Fig. 4 is a block diagram showing the internal structure of the disturbance observer 61. In fig. 4, the same reference numerals and signs are given to the same portions as those in fig. 3.
The disturbance observer 61 includes an estimation model generation unit 81, a comparison unit 82, a disturbance estimation value determination unit 83, and a subtraction unit 84. The addition input terminal of the subtractor 84 is connected to the output terminal of the differentiator 62, and the subtraction input terminal of the subtractor 84 is connected to the output terminal of the estimation model generator 81. The output terminal of the subtractor 84 is connected to the input terminal of the comparator 82. The output terminal of the comparison unit 82 is connected to the input terminal of the interference estimation value determination unit 83. The output terminal of the disturbance estimation value determination unit 83 is connected to the other subtraction input terminal of the above-described subtractor 71.
In disturbance observer control, a target action (estimation model) is created from modeling and input of a controlled object, and the estimation model is compared with an actual response. Then, the difference generated when the comparison is made is set as a disturbance to apply an error to the input.
The estimation model generation unit 81 generates a target estimation model from the model of the control target and the input command u' input from the outside, and outputs the estimated value ^ vel of the speed calculated from the estimation model to the subtraction unit 84. The estimation model is a control model in a case where the estimation model is not affected by interference. On the other hand, a velocity value vel obtained by temporally differentiating the output (position x) from the control target in the differentiator 62 is input from the differentiator 62 to the subtractor 84. The subtraction unit 84 obtains the difference between the output from the differentiator 62 (velocity value vel) and the output from the estimation model generation unit 81 (velocity estimation value vel). The obtained difference is output to the comparison section 82.
The comparison unit 82 determines a correction value based on a difference between the output from the control target and the estimation model. Specifically, the correction value is determined based on the magnitude of the difference between the two (the width of the area). Fig. 5 is a diagram showing an operation waveform of an output (actual operation model) from a control target and an operation waveform of an estimation model as a comparison. In the case of fig. 5, (a) shows the operation waveform of the actual operation model, and (b) shows the operation waveform of the estimated model.
When the magnitude (area) of the difference between the actual operation model and the estimation model is large as shown in a of fig. 5, a large correction value is determined because of a large influence of the disturbance, and when the magnitude (area) of the difference between the actual operation model and the estimation model is small as shown in B of fig. 5, a small correction value is determined because of a small influence of the disturbance. The determined correction value is output to the disturbance estimation value determination section 83.
The interference estimation value determination unit 83 generates an interference estimation value ^ d from the inputted correction value. The estimated value of the generated disturbance ^ d is output to the subtractor 71, and is thereby applied to the input instruction u'.
Fig. 6 shows an inverse correction waveform of the cogging and an estimated waveform obtained by the disturbance observer control as an operation confirmation after the disturbance observer control is added. In fig. 6, the horizontal axis represents time [ s ] and the vertical axis represents current [ a ], and (a) and (b) in fig. 6 show an inverse correction waveform of cogging and an estimated waveform obtained by disturbance observer control, respectively.
Both waveforms are calculated based on a model of a control target and are waveforms according to a generation cycle of the cogging. In contrast to the correction value that is constant by correcting only the cogging with respect to the inverse correction waveform (a) of the cogging, the correction value becomes large at a position where the disturbance other than the cogging is large (the difference from the estimation model is larger) as shown in fig. 6 with respect to the estimated waveform (b) obtained by the disturbance observer control because the influence other than the influence of the cogging is also corrected as the disturbance, and therefore the correction differs depending on the position.
Fig. 7 shows the waveform of the current command u obtained by applying the above-described 2 corrections to the input command u ', together with the waveform of the input command u'. In fig. 7, the horizontal axis represents time [ s ] and the vertical axis represents current [ a ], and (a) and (b) in fig. 7 show the waveform of input command u' and the waveform of current command u, respectively. An input command u' showing a waveform as shown in fig. 7 is input to the control device shown in fig. 3.
Next, the results obtained when the control of the present invention is performed will be described. Fig. 8 shows an operation waveform when the actual linear motor 1 is operated based on the current command u shown in fig. 7 (an embodiment of the present invention). Fig. 8 also shows an operation waveform in the case where the linear motor 1 is operated without performing any correction (first comparative example) and an operation waveform in the case where only the inverse correction control of the cogging is performed to operate the linear motor 1 (second comparative example). In fig. 8, the horizontal axis represents time [ s ] and the vertical axis represents speed [ m/s ], and (a), (b), and (c) in fig. 8 show operation waveforms of the present invention example, the first comparative example, and the second comparative example, respectively.
When the operation waveform (b) in the first comparative example is compared with the operation waveform (c) in the second comparative example, the second comparative example can reduce the influence of the cogging to some extent as compared with the first comparative example, and the responsiveness at the time of acceleration and deceleration is improved to some extent, but it cannot be said that the second comparative example is sufficient. In contrast, when an attempt is made to compare the operation waveform (a) in the present invention example with the operation waveforms (b) and (c) in the first and second comparative examples, it is found that the influence of the cogging can be further reduced, the fluctuation at the time of the constant velocity operation is greatly reduced, and the responsiveness at the time of acceleration and deceleration is considerably improved.
Fig. 9 shows a comparison between the operation waveform in the above-described embodiment of the present invention and the operation waveform in an ideal operation model. In fig. 9, the horizontal axis represents time [ s ] and the vertical axis represents speed [ m/s ], and (a) and (b) in fig. 9 show an operation waveform of an example of the present invention and an operation waveform of an ideal operation model, respectively.
Referring to fig. 9, it can be understood that the present embodiment follows an ideal motion model at any time among the constant velocity time, the acceleration time, and the deceleration time. Accordingly, it is confirmed that the control of the present invention, which combines the inverse correction control for the cogging state and the disturbance observer control for the disturbance, is extremely effective.
Next, another embodiment of the present invention will be described. In this embodiment, the disturbance observer uses a steady state kalman filter. The steady state kalman filter is one type of infinite impulse response filter for estimating or controlling the state of a certain dynamic system using measured values containing errors. Steady state kalman filters are widely used to estimate time-varying quantities (e.g., the position and velocity of an object) from measurements in the presence of discrete errors.
Fig. 10 is a block diagram showing the internal structure of a disturbance observer using a steady-state kalman filter. In fig. 10, the same components as those in fig. 3 and 4 are denoted by the same reference numerals and signs.
The disturbance observer 61 includes a first parameter unit 86, a second parameter unit 87, a third parameter unit 88, a fourth parameter unit 89, a fifth parameter unit 90, a first adder 91, a second adder 92, a subtractor 93, a first integrator 94, and a second integrator 95. Among these components, the first parameter unit 86, the second parameter unit 87, the third parameter unit 88, the fourth parameter unit 89, the first adder 91, the second adder 92, the subtractor 93, and the first integrator 94 constitute a steady-state kalman filter 100.
The output terminal of the second parameter unit 87 is connected to one addition input terminal of the first adder 91. The output terminal of the first adder 91 is connected to the input terminal of the first integrator 94, and the output terminal of the first integrator 94 is connected to the input terminal of the first parameter unit 86 and the input terminal of the third parameter unit 88. The output end of the third parameter unit 88 is connected to the subtraction input terminal of the subtractor 93. The addition input terminal of the subtractor 93 is connected to the output terminal of the differentiator 62. An output terminal of the subtractor 93 is connected to an input terminal of the fourth parameter section 89 and an input terminal of the fifth parameter section 90. An output terminal of the first parameter unit 86 is connected to one addition input terminal of the second adder 92, and an output terminal of the fourth parameter unit 89 is connected to the other addition input terminal of the second adder 92. The output terminal of the second adder 92 is connected to the other addition input terminal of the first adder 91. The output end of the fifth parameter unit 90 is connected to the input end of the second integrator 95, and the output end of the second integrator 95 is connected to the subtraction input terminal of the above-described subtractor 71.
The first parameter unit 86, the second parameter unit 87, and the third parameter unit 88 store state variable parameters A, B, C of the model (input: current, output: speed). Derivation of these parameters A, B, C was performed in accordance with the program of MATLAB (registered trademark).
The fourth parameter unit 89 stores the state estimation parameter L of the modelxThe fifth parameter unit 90 stores the disturbance estimation parameter L of the linear motor 1d. Parameter LxIs a model gain for defining sensitivity to an error occurring between a waveform of a model to be compared and an actual waveform, and if it is desired to correct even a small error, the parameter L is set to be the valuexThe setting is large. In addition, the parameter LdAlso with the parameter LxSimilarly, the model gain is used to specify the sensitivity in the correction.
In actual mounting, it is preferable to use discretized parameters as the respective parameters.
An estimated value of the velocity waveform when the input command u' is input to the model (velocity waveform in the case where there is no influence of cogging) is calculated. The calculated velocity waveform of the model is compared with the actual velocity waveform of the linear motor 1 obtained by differentiating the position information x by the differentiator 62, and the difference between the velocity waveform and the actual velocity waveform is obtained by the subtractor 93. In this way, the estimated value from the model is used to estimate the motion of the dynamic system (control object) because the parameter L is usedxThe model gain is set to a value determined by the model gain, and thus the model is obtained as a steady-state kalman filter.
The estimated value of interference ^ d is determined using the difference (error) obtained by the subtractor 93, and the determined estimated value of interference ^ d is subtracted from the input instruction u' by the subtractor 71 to achieve the reduction of the cogging.
Next, an embodiment in which the speed and position of the linear motor 1 are controlled by a combination of the above-described inverse correction control and observer control will be described.
Fig. 11 is a block diagram showing the configuration of another embodiment of the motor control device according to the present invention. In fig. 11, the same components as those in fig. 3 and 4 are denoted by the same reference numerals and signs.
This embodiment includes a speed control unit 111, a subtraction unit 112, a position control unit 121, and a subtraction unit 122, in addition to the controlled object + cogging 40, the inverse correction control system 50, and the disturbance observer control system 60, which are similar to those of fig. 3. The speed control unit 111 and the subtractor 112 constitute a speed control system 110, and the position control unit 121 and the subtractor 122 constitute a position control system 120.
An output terminal of the speed control unit 111 is connected to the addition input terminal of the subtraction unit 71 and the input terminal of the disturbance observer 61. The input terminal of speed control unit 111 is connected to the output terminal of subtractor 112. The subtraction input terminal of the subtractor 112 is connected to the output terminal of the differentiator 62, and the addition input terminal of the subtractor 112 is connected to the output terminal of the position controller 121. The input terminal of the position control unit 121 is connected to the output terminal of the subtractor 122. The subtraction input terminal of the subtractor 122 is connected to the output terminal of the controlled object + cogging 40 (the output terminal of the adder 42).
The reference value r is inputted to the subtractor 122 from the outsidepAnd the position output x from the adder 42 is input to the subtractor 122pThe subtraction unit 122 will be the difference between the two (═ r)p-xp) Position instruction epAnd outputs the result to the position control unit 121. The subtraction unit 112 receives a reference value r of the speed as an output of the position control unit 121vAnd the velocity output x from the differentiator 62 is input to the subtractor 112vThe subtraction unit 112 will be the difference (═ r) between the twov-xv) Speed instruction evAnd outputs the result to the speed control unit 111.
In the configuration shown in fig. 11, the speed control unit 111 and the position control unit 121 of the linear motor 1 can be simply designed as a PI controller and a P controller, respectively, by utilizing a combination of the inverse correction control and the observer control. The functional expression in the PI controller is expressed as a function of time s in the following (1), and the functional expression in the P controller is expressed as a function of time s in the following (2).
u'(S)＝Kp v(1+T/TIs) (1)
rv(s)=Kp pep(s) (2)
Wherein, KP v: the gain constant of the PI control is set,
TI: the integral coefficient of the PI control is,
KP p: p controls the gain constant.
Next, a specific example of control performed using the configuration shown in fig. 11 will be described.
For speed control, the gain constant K of the speed control unit 111 is setP vAnd integral coefficient TIAre respectively manually adjusted to K P v100 and TI0.0083. FIG. 12 shows the target velocity of 0.05m/s and the maximum acceleration of 14m/s2The mode (2) is a speed control result obtained by setting a reference. Fig. 12 also shows the result of speed control performed in the same manner without using a combination of the inverse correction control and the observer control as in the present invention. In fig. 12, the horizontal axis represents time s]The vertical axis represents the velocity [ m/s ]]Fig. 12 (a) and (b) show an example (present invention example) in which a combination of inverse correction control and observer control is used, and an example (comparative example) in which a combination of inverse correction control and observer control is not used.
Fig. 13 shows the velocity change in the transient state between the time 6.5 seconds and the time 6.7 seconds in the present invention example (a) and the comparative example (b). In fig. 13, the horizontal axis and the vertical axis are the same as those in fig. 12.
As can be understood from the results shown in fig. 12 and 13, the overshoot of the speed response is suppressed in the inventive example (a) in which the cogging compensation is performed by combining the inverse correction control and the observer control, as compared with the comparative example (b) in which the cogging compensation is not performed.
For position control, the gain constant K of the position control unit 121 is setP pManually adjusted to KP p19. Fig. 14 shows the results of the position control of the present example obtained by setting the reference so that the target positions are 0.045m and 0.135m and the velocities are 1.25m/s and 0.1 m/s. Fig. 14 shows an example of position control as a reference by a broken line. In fig. 14, the horizontal axis represents time s]The vertical axis represents the position [ m ]]。
As can be understood from the results shown in fig. 14, in the example of the present invention using a combination of the inverse correction control and the observer control, the position control substantially matching the reference can be performed without being affected by the cogging.
From the above, it can be understood that the combination of the above-described inverse correction control and observer control can suppress the influence of the cogging, control the speed and position of the linear motor 1 with high accuracy, and prove the effectiveness of the control method and control device of the present invention.
In the above-described embodiment, the control target is a linear motor, but it goes without saying that the control of the present invention can be applied to a rotary motor as well as a linear motor.
The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined not by the above description but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

Claims (8)

1. A control method of a motor for controlling the motor to reduce cogging generated in the motor, the control method being characterized in that,
an inverse correction control for applying an inverse correction to a state of the cogging is combined with a disturbance observer control for correcting a disturbance when the motor operates.
2. The control method of a motor according to claim 1,
controlling the speed and position of the motor using a combination of the inverse correction control and the disturbance observer control.
3. The control method of a motor according to claim 1 or 2,
in the disturbance observer control, a steady state kalman filter is used.
4. The control method of a motor according to claim 1 or 2,
the motor is a linear motor including a mover in which a plurality of permanent magnets are arranged and a stator in which coils are wound around a plurality of magnetic pole teeth.
5. A control device for a motor, for controlling the motor to reduce cogging generated in the motor, the control device comprising:
an inverse correction control system that applies inverse correction for a state of the cogging; and
and a disturbance observer control system that corrects disturbance when the motor operates.
6. The motor control device according to claim 5, further comprising:
a speed control system that controls a speed of the motor; and
a position control system that controls a position of the motor.
7. The control device of a motor according to claim 5 or 6,
the disturbance observer control system has a steady state kalman filter.
8. The control device of a motor according to claim 5 or 6,
the motor is a linear motor including a mover in which a plurality of permanent magnets are arranged and a stator in which coils are wound around a plurality of magnetic pole teeth.
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