CN1228695C

CN1228695C - Mechanical control device

Info

Publication number: CN1228695C
Application number: CN 02109261
Authority: CN
Inventors: 王志宏
Original assignee: Individual
Current assignee: Individual
Priority date: 2002-03-07
Filing date: 2002-03-07
Publication date: 2005-11-23
Anticipated expiration: 2022-03-07
Also published as: CN1367413A

Abstract

The present invention relates to a mechanical control device. The present invention is characterized in that the device comprises: when an instruction REF is generated, one or both of a second feedback state quantity XFB2 and a qualifier signal FBALM carry out the required function and logic treatment and provide a superior control part 4 of a program control instruction SON; when the present invention has a position control mode, a speed control mode and a torque control mode simultaneously, the present invention provides a servocontrol part 3 of an electric power UVW, a first qualifier signal FBALM1, a feedback state quantity XFB, etc. by a torque instruction TREF, a first program control instruction SON1 and a first feedback state quantity XFB1 under the condition of setting the torque control operation mode in advance; the present invention provides a mechanical control part 5 of the torque instruction TREF, the qualifier signal FBALM, the first program control instruction SON1 and the first feedback state quantity XFB2, etc. by the instruction REF, the feedback state quantity XFB, the first qualifier signal FBALM1 and the first program control instruction SON1.

Description

Machine control unit

1. technical field

The present invention relates to a kind of controlling and driving motor machine control unit of (comprising direct current generator, asynchronous machine, synchronous motor, linear electric machine etc.), as be used for the control of the drive motor of the platform of lathe, semiconductor-fabricating device or robot arm etc.

2. background technology

When adopting motor (comprising direct current generator, synchronous motor and linear electric machine etc.) that the platform of lathe, semiconductor-fabricating device or robot arm even load are controlled, be to generate instruction at upper control parts such as CNC earlier, servo controller is then controlled servomotor by this instruction.

Figure 29 is the block diagram of existing machine control unit.Wherein 1 is motor driver, the 2nd, and sensor, the 3rd, servocontrol portion, 4 is upper control part.

Motor driver 1 is by motor 11, drive unit 12 and load and 13 form.Motor 11 is driven by electric power UVW, and it can comprise direct current generator, synchronous motor and linear electric machine etc.Drive unit 12 can have the band transmission, gear drive, modes such as ball-screw transmission.Load 13 then for the platform that specifically moves or axle, such as the platform of lathe, semiconductor manufacturing facility, perhaps robot arm etc.

Sensor 2 is such as scrambler, grating chi etc., is used to detect the quantity of state of motor or load, and the 1st feedback states amount XFB1 is provided.

Upper control part 4 is equipment such as CNC.It can on generating in the bit instruction, can monitor servocontrol portion.And when can provide information needed, also terminal user's requirement can be passed to servocontrol portion to the terminal user.For example, reflection terminal user requirement earlier provides instruction REF.Secondly, the 1st feedback states amount XFB1 and the instruction REF of the running status of reflection motor driver 1 compared, and instruct the logic controls such as renewal of REF.Its three, can carry out logic determines according to whether containing fault-signal among the restricting signal FBALM, and generator program steering order SON.Program control instruction SON is meant the method for operation of servocontrol portion 3 is controlled and essential logical signal that it comprises servo switch signal, restricted speed signal, system reset signal, gain change signal etc.

Servocontrol portion 3 should be the servo controller that comprises position control mode, speed control method, torque control mode at least.And in technical field of the present invention, servocontrol portion 3 is set to position control mode or speed control method.That is to say, the position control performance of motor driver 1, the speed control performance should be decided by servocontrol portion 3.And put down in writing as the instruction manual book of these servo controllers, can provide such as comprising from the interface of servo controller: the signal of expression servo operation states such as feedback states amount XFB, caution signal, location end signal, speed arriving signal, servo preparation end signal, overload signal.Below these signals are referred to as restricting signal FBALM.

From present situation, such as lathe, the compute mode of the machinery of the servocontrol portion of being equipped in semiconductor-fabricating device or the robot 3 control is fixing immutable above-mentioned.Therefore, if unexistent compute mode comes motor driver 1 is controlled in the employing servocontrol portion 3,, servocontrol portion 3 integral body must be changed at least to improve position control performance, speed control performance.This is undoubtedly very big burden on cost concerning the user.

3. summary of the invention

Purpose of the present invention just is, utilize the device and the communication interface thereof that have been equipped on the mechanical control equipment, under the condition of the hardware and software that does not change motor driver 1, sensor 2, servocontrol portion 3, by appending original servocontrol portion 3 not available machinery control compute modes at low cost, to improve the position control performance and the speed control performance of motor driver 1.

Machine control unit of the present invention is that a kind of part or all with motor driver 1 and the quantity of state by detecting motor driver 1 provides the sensor 2 of the 1st feedback states amount XFB1, by suitable electric power UVW is provided to motor driver 1, make motor driver 1 reach the machine control unit of required action, it is characterized in that this device comprises:

When generating instruction REF, utilize the 2nd feedback states amount XFB2 and restricting signal FBALM one one or all, carry out desired function and logical process, and the upper control part 4 of program control instruction SON is provided;

When having position control mode, speed control method, torque control mode, be set in advance under the condition of the torque control method of operation, utilize torque instruction TREF, the 1st program control instruction SON1 and above-mentioned the 1st feedback states amount XFB1, the servocontrol portion 3 of electric power UVW, the 1st restricting signal FBALM1 and feedback states amount XFB etc. is provided;

Utilize above-mentioned instruction REF, above-mentioned feedback states amount XFB, above-mentioned the 1st restricting signal FBALM1 and above-mentioned the 1st program control instruction SON1, the mechanical control part 5 of torque instruction TREF, restricting signal FBALM, the 1st program control instruction SON1 and the 2nd feedback states amount XFB2 etc. is provided.

Adopt machine control unit of the present invention, under the condition that the hardware and software of original motor driver 1, sensor 2, servocontrol portion 3 and upper control part 4 is not done to change, by its interface, can append original servocontrol portion 3 not available machinery control compute modes, to improve the position control performance and the speed control performance of motor driver 1.And,, just can improve the response characteristic of machine control unit effectively so the inside of upper control part 4 be need not to do any change because original interface is changed.Machinery control part 5 has its special-purpose processor, can adopt the processing cycle at a high speed, obtains response characteristic at a high speed.

Mechanical control part 5 of the present invention is characterized in that this device comprises:

Utilize said procedure steering order SON, the 1st restricting signal FBALM1, instruction REF, feedback states amount XFB, the misoperation handling part 52 of mechanical constraint signal MALM and restricting signal FBALM is provided;

Utilize above-mentioned instruction REF, feedback states amount XFB, mechanical constraint signal MALM, the control operational part 51 of torque instruction TREF is provided;

The means that said procedure steering order SON is provided as the 1st program control instruction SON1;

The means that above-mentioned feedback states amount XFB is provided as the 2nd feedback states amount XFB2.

In the mechanical control part 5 of the present invention,,, can carry out control computing at a high speed with same arithmetical unit so the processing of control operational part 51 becomes more simple owing to utilized mechanical constraint signal MALM.

Control operational part 51 of the present invention is characterized in that this device comprises:

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the instruction pre-treatment 51-1 of portion of position emulator command XREF is provided;

Utilize above-mentioned position emulator command XREF, feedback states amount XFB, mechanical constraint signal MALM, the 51-2 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

Utilize above-mentioned the 0th torque emulator command TREF0 and mechanical constraint signal MALM, the 51-3 of Filtering Processing portion of torque instruction TREF is provided.

In the above-mentioned control operational part 51 of the present invention, owing to adopted mechanical constraint signal MALM, and change each ride gain into variable, so can obtain indomitable more control performance.In addition owing to instruction REF has been carried out smoothing processing, so can prevent owing to the vibration of instructing the noncontinuity of REF to produce, so that the driving of motor driver 1 is become more level and smooth at the instruction pre-treatment 51-1 of portion.

Control operational part 51 its features of the present invention can also be that this device comprises:

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the instruction pre-treatment 51-4 of portion of position emulator command XREF and velocity simulation instruction VREF is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, feedback states amount XFB, mechanical constraint signal MALM, the 51-5 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

In above-mentioned control operational part 51 of the present invention, owing in the 51-5 of feedback processing portion, utilized velocity simulation instruction VREF, thereby strengthened the speed consistence of composition at instruction REF of motor driver 1, so can reach high speed, can carry out high-speed driving to motor driver 1 at high speed to the response of instruction REF.

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the instruction pre-treatment 51-6 of portion of position emulator command XREF, velocity simulation instruction VREF and the 1st torque emulator command TREF1 is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, the 1st torque emulator command TREF1, feedback states amount XFB, mechanical constraint signal MALM, the 51-7 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

In the above-mentioned control operational part 51 of the present invention, owing to adopted velocity simulation instruction VREF and the 1st torque emulator command TREF1 at the 51-7 of feedback processing portion, even so be set under the low situation in the ride gain of the 51-7 of feedback processing portion, also can realize the speed of instruction REF and the further high speed of response characteristic of acceleration, the driving to motor driver 1 is become more at a high speed with level and smooth.

Utilize above-mentioned the 0th torque emulator command TREF0 and mechanical constraint signal MALM, the 51-8 of Filtering Processing portion of torque emulator command TREFF is provided.

Utilize above-mentioned torque emulator command TREFF and the 1st torque emulator command TREF1, the synthetic 51-9 of portion of torque of torque instruction TREF is provided.

In the above-mentioned control operational part 51 of the present invention, because the 1st torque emulator command TREF1 is directly inputted to the synthetic 51-9 of portion of torque, compare with previous embodiments, can be with the 1st torque emulator command TREF1 direct drive servovalve control part 3, can realize further high speed, the driving to motor driver 1 is become more at a high speed with level and smooth the acceleration responsive characteristic of instruction REF.

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the instruction pre-treatment 51-10 of portion of position emulator command XREF and the 1st torque emulator command TREF1 is provided;

Utilize above-mentioned position emulator command XREF, the 1st torque emulator command TREF1, feedback states amount XFB, mechanical constraint signal MALM, the 51-11 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

The present invention above-mentioned control operational part 51 in, owing in the 51-11 of feedback processing portion, do not utilize velocity simulation instruction VREF, reduced the control operand, can realize control computing more at a high speed, so can realize further high speed, the driving to motor driver 1 is become more at a high speed with level and smooth to the response characteristic of instruction REF.

Utilize above-mentioned feedback states amount XFB, torque instruction TREF, mechanical constraint signal MALM, the sensing emulation 51-13 of portion of position reckoning value XFBH is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, position reckoning value XFBH, mechanical constraint signal MALM, the 51-12 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

Utilize above-mentioned the 0th torque emulator command TREF0 and mechanical constraint signal MALM, the 51-8 of Filtering Processing portion of torque emulator command TREFF is provided;

In the above-mentioned control operational part 51 of the present invention, owing to utilized position reckoning value XFBH to carry out FEEDBACK CONTROL, reduced the harmful effect that causes by contained interference and quantization error among the feedback states amount XFB, so the ride gain of feedback processing portion can be set in higher level.Therefore, when can realize the further high speed of response characteristic to instruction REF, can also reduce interference, driving to motor driver 1 be become more at a high speed and level and smooth the influence that motor driver 1 produces.

Utilize above-mentioned feedback states amount XFB, torque instruction TREF, mechanical constraint signal MALM, the sensing emulation 51-15 of portion of position reckoning value XFBH and speed calculation value VFBH is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, position reckoning value XFBH, speed calculation value VFBH, mechanical constraint signal MALM, the 51-14 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

In the above-mentioned control operational part 51 of the present invention,, cancelled the calculus of differences among the 51-14 of feedback processing portion owing to utilized position reckoning value XFBH to carry out FEEDBACK CONTROL.Reduced by interference and quantization error and the harmful effect that causes, so the ride gain of feedback processing portion can be set in higher level.Therefore, when can realize the further high speed of response characteristic to instruction REF, can also reduce interference, driving to motor driver 1 be become more at a high speed and level and smooth the influence that motor driver 1 produces.

Utilize above-mentioned feedback states amount XFB, torque instruction TREF, mechanical constraint signal MALM, the sensing emulation 51-17 of portion of position reckoning value XFBH, speed calculation value VFBH and interference reckoning value DFBH is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, position reckoning value XFBH, speed calculation value VFBH, disturb reckoning value DFBH, mechanical constraint signal MALM, the 51-16 of feedback processing portion of the 0th torque emulator command TREF0 is provided:

In the above-mentioned control operational part 51 of the present invention, owing in the sensing emulation 51-17 of portion, adopted the interference monitoring structural, DR position reckoning value XFBH, speed calculation value VFBH and disturb reckoning value DFBH exactly are so can be set in higher level with the ride gain of the 51-16 of feedback processing portion.And, owing to will disturb reckoning value DFBH to import to the 51-16 of feedback processing portion, thus can reduce interference at high speed to the influence that motor driver 1 produces, the driving to motor driver 1 is become more at a high speed with level and smooth.

Utilize above-mentioned position emulator command XREF, position reckoning value XFBH, mechanical constraint signal MALM, the 51-18 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

In the above-mentioned control operational part 51 of the present invention,, can improve the arithmetic speed of mechanical control part 5, and obtain higher control arithmetic speed owing to reduced the operand of the instruction pre-treatment 51-10 of portion.So the ride gain of feedback processing portion can be set in higher level, the driving to motor driver 1 is become more at a high speed with level and smooth.

Utilize above-mentioned position emulator command XREF, position reckoning value XFBH, speed calculation value VFBH, mechanical constraint signal MALM, the 51-19 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

In the above-mentioned control operational part 51 of the present invention, owing to cancelled, wait the effect that influences so have to suppress to disturb to the differentiating of XFBH.Therefore the ride gain of the 51-19 of feedback processing portion can be set in higher level, the driving to motor driver 1 is become more at a high speed with level and smooth.

Utilize above-mentioned position emulator command XREF, position reckoning value XFBH, speed calculation value VFBH, disturb reckoning value DFBH, mechanical constraint signal MALM, the 51-20 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

In the above-mentioned control operational part 51 of the present invention, because to disturbing reckoning value DFBH to compensate, improved the anti-interference of the 51-20 of feedback processing portion, had the effect of improvement, so the driving to motor driver 1 is become more at a high speed with level and smooth disturbance response.

Its feature of the Filtering Processing 51-3 of portion of the present invention can also be that this device comprises:

At least can carry out 1 low-pass filtering treatment means, bandpass filtering treatment means more than 2 times or 2 times to above-mentioned the 0th torque emulator command TREF0.

In the above-mentioned 51-3 of Filtering Processing portion of the present invention, because when adopting low-pass filtering treatment with the vibration characteristics that suppresses high periodic regime, simultaneous a plurality of resonance points in the motor driver 1 are carried out the logical worry of other a band ripple handle, so can suppress the vibration of motor driver 1 efficiently.And, improved response characteristic simultaneously, so the purpose that can reach high speed, smoothly motor driver 1 be driven to disturbing and instructing owing to improved the anti-interference of feedback processing portion.

Its feature of the Filtering Processing 51-8 of portion of the present invention can also be that this device comprises:

In the above-mentioned 51-8 of Filtering Processing portion of the present invention, because when adopting low-pass filtering treatment with the vibration characteristics that suppresses high periodic regime, simultaneous a plurality of resonance points in the motor driver 1 are carried out the logical worry of other a band ripple handle, so can suppress the vibration of motor driver 1 efficiently.And, improved response characteristic simultaneously, so the purpose that can reach high speed, smoothly motor driver 1 be driven to disturbing and instructing owing to improved the anti-interference of feedback processing portion.

Its feature of the instruction pre-treatment 51-1 of portion of the present invention can also be that this device comprises:

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the level and smooth instruction process 51-11 of portion of level and smooth instruction REFM is provided;

Utilize above-mentioned level and smooth instruction REFM and mechanical constraint signal MALM, the pre-treatment filtering 51-12 of portion of position emulator command XREF is provided.

In the above-mentioned instruction pre-treatment 51-1 of portion of the present invention, because instruction REF has been carried out smoothing processing, so can prevent by instructing the noncontinuity of REF and the vibration that produces.So can improve response characteristic, the purpose that reach at a high speed, smoothly motor driver 1 is driven to instruction REF.

Utilize above-mentioned level and smooth instruction REFM, mechanical constraint signal MALM, state simulation amount XFF, the feedforward controller 51-14 of the 1st torque emulator command TREF1 is provided;

Utilize above-mentioned the 1st torque emulator command TREF1 and mechanical constraint signal MALM, the realistic model 51-13 of state simulation amount XFF, position emulator command XREF is provided.

In the above-mentioned instruction pre-treatment 51-1 of portion of the present invention, because realistic model 51-13 is the model that torque instruction TREF is carried out emulation to the transmission characteristic and the response characteristic of load 13, position emulator command XREF is when load 13 does not produce vibration, the rail track feature of motor driver 1 is carried out the instruction of emulation, even therefore do not improve feedback characteristics, also can improve the response characteristic of 1 pair of instruction of motor driver REF, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

Its feature of the instruction pre-treatment 51-4 of portion of the present invention can also be that this device comprises:

Utilize above-mentioned the 1st torque emulator command TREF1, mechanical constraint signal MALM, the realistic model 51-15 of state simulation amount XFF, position emulator command XREF, velocity simulation instruction VREF is provided.

In the above-mentioned instruction pre-treatment 51-4 of portion of the present invention, owing to provide velocity simulation instruction VREF to feedback processing portion, the speed responsive of motor 11 can be controlled more consistently with velocity simulation instruction VREF, even so do not improve the characteristic of feedback, also can improve speed responsive characteristic, the purpose that reach at a high speed, smoothly motor driver 1 is driven to instruction REF.

Its feature of the instruction pre-treatment 51-6 of portion of the present invention can also be that this device comprises:

According to above-mentioned level and smooth instruction REFM, mechanical constraint signal MALM, state simulation amount XFF, provide the feedforward controller 51-14 of the 1st torque emulator command TREF1;

In the above-mentioned instruction pre-treatment 51-6 of portion of the present invention, realistic model 51-15 is the model that torque instruction TREF is carried out emulation to load 13 transmission characteristic and response characteristic, thus the 1st torque emulator command TREF1 have make load 13 with smoothly instruct REFM corresponding to counter be characteristic.Owing to provide the 1st torque emulator command TREF1, even do not improve the characteristic of feedback, also can improve response characteristic, the purpose that reach at a high speed, smoothly motor driver 1 is driven to instruction REF to feedback processing portion.

Its feature of the instruction pre-treatment 51-10 of portion of the present invention can also be that this device comprises:

In the above-mentioned instruction pre-treatment 51-10 of portion of the present invention, owing to adopted the mode that position emulator command XREF and the 1st torque emulator command TREF1 only are provided to feedback processing portion, thereby reduced the operand of feedback processing portion, so can reach the high speed of feedback processing portion computing.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

Its feature of realistic model 51-13 of the present invention can also be that this device comprises:

Utilize above-mentioned the 1st torque emulator command TREF1 and mechanical constraint signal MALM, the integrator 51-13-1 of dragging speed emulation amount VM is provided;

Utilize above-mentioned dragging speed emulation amount VM and mechanical constraint signal MALM, the integrator 51-13-2 that drags position emulation amount XM is provided;

Drag the means that position emulation amount XM is converted to position emulator command XREF with above-mentioned;

Drag the means that position emulation amount XM and dragging speed emulation amount VM are converted to state simulation amount XFF with above-mentioned.

In the above-mentioned realistic model 51-13 of the present invention, when can be when transport function 13 and response characteristic be considered as rigid system from torque instruction TREF to load, realistic model 51-13 can adopt circuit structure shown in Figure 25, so can realize processing at a high speed.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

Utilize above-mentioned the 1st torque emulator command TREF1 and the 1st emulation elastic torque TREF1B, the subtracter 51-13-3 of the 1st synthetic torque TREF1A is provided;

Utilize the above-mentioned the 1st synthetic torque TREF1A and mechanical constraint signal MALM, the integrator 51-13-4 of dragging speed emulation amount VM is provided;

Utilize above-mentioned dragging speed emulation amount VM and mechanical constraint signal MALM, the integrator 51-13-5 that drags position emulation amount XM is provided;

Utilize above-mentioned position emulation amount XM and the load position emulation amount XL of dragging, the subtracter 51-13-6 that reverses position emulation amount SX is provided;

Utilize the above-mentioned position emulation amount SX that reverses, the coefficient device 51-13-7 of the 1st emulation elastic torque TREF1B be provided:

Utilize above-mentioned the 1st emulation elastic torque TREF1B and mechanical constraint signal MALM, the integrator 51-13-8 of load speed emulation amount VL is provided;

Utilize above-mentioned load speed emulation amount VL and mechanical constraint signal MALM, the integrator 51-13-9 of load position emulation amount XL is provided;

Utilize above-mentioned dragging speed emulation amount VM and load position emulation amount XL, the subtracter 51-13-10 of reverse speed emulation amount SV is provided;

With above-mentioned load position emulation amount XL, load speed emulation amount VL, reverse the means that position emulation amount SX, reverse speed emulation amount SV are converted to state simulation amount XFF;

Drag the means that position emulation amount XM is converted to position emulator command XREF with above-mentioned.

In the above-mentioned realistic model 51-13 of the present invention, in order to improve processing speed, when can be when transport function 13 and response characteristic be considered as two inertia system from torque instruction TREF to load, realistic model 51-13 can adopt circuit structure shown in Figure 26, so can realize processing at a high speed.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

Its feature of realistic model 51-15 of the present invention can also be that this device comprises:

Above-mentioned dragging speed emulation amount VM is converted to the means of velocity simulation instruction VREF;

Drag the means that position emulation amount XM, dragging speed emulation amount VM are converted to state simulation amount XFF with above-mentioned.

In the above-mentioned realistic model 51-15 of the present invention, when can be when transport function 13 and response characteristic be considered as rigid system from torque instruction TREF to load, employing provides the mode of velocity simulation instruction VREF at a high speed to feedback processing portion, so make feedback processing portion can more effectively utilize velocity simulation instruction VREF.The response characteristic of 1 pair of instruction of motor driver REF is become smoothly, reach at a high speed, smoothly motor driver 1 driven.

Utilize the above-mentioned position emulation amount SX that reverses, the coefficient device 51-13-7 of the 1st emulation elastic torque TREF1B is provided;

Utilize above-mentioned dragging speed emulation amount VM and load speed emulation amount VL, the subtracter 51-13-10 of reverse speed emulation amount SV is provided;

Above-mentioned dragging speed emulation amount VM is converted to the means of velocity simulation instruction VREF.

In the above-mentioned realistic model 51-15 of the present invention, when can be when transport function 13 and response characteristic be considered as 2 dimension inertia systems from torque instruction TREF to load, employing provides the mode of velocity simulation instruction VREF at a high speed to feedback processing portion, so make feedback processing portion can more effectively utilize velocity simulation instruction VREF.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

Effect of the present invention

Institute's note machine control unit in Fig. 1, owing to appended mechanical control part 5, utilize the interface of existing equipment, under the condition that the hardware and software of motor driver 1, sensor 2, servocontrol portion 3 and the upper control part 4 of original mechanical control equipment is not done to change, can be by appending the compute modes of original servocontrol portion 3 not available machinery controls at low cost, with position control performance and the speed control performance that improves original motor driver 1.Because the interface to existing equipment changes, so also unnecessary inner setting to upper control part 4 is done to improve the response characteristic of machine control unit effectively under the situation of change.And the control computing of mechanical control part 5 is to be finished by its special-purpose alone arithmetical unit, thus can realize the processing of high control cycle, thus obtain response characteristic at a high speed.

In the mechanical control part 5 of Fig. 2 of the present invention, in effect,,, can carry out control computing at a high speed with same arithmetical unit so the processing of control operational part 51 becomes more simple owing to utilized mechanical constraint signal MALM with earlier figures 1.

In the control operational part 51 of Fig. 3 of the present invention, in effect with earlier figures 2, owing to adopted mechanical constraint signal MALM, and change each ride gain into variable, so can obtain indomitable more control performance.In addition owing to instruction REF has been carried out smoothing processing, so can prevent by instructing the noncontinuity of REF and the vibration that produces, so that the driving of motor driver 1 is become more level and smooth at the instruction pre-treatment 51-1 of portion.

In the control operational part 51 of Fig. 4 of the present invention, in effect with earlier figures 3, owing in the 51-5 of feedback processing portion, utilized velocity simulation instruction VREF, thereby strengthened the speed consistence of composition of motor driver 1 at instruction REF, so can reach high speed, can carry out high-speed driving to motor driver 1 at high speed to the response of instruction REF.

In the control operational part 51 of Fig. 5 of the present invention, in effect with earlier figures 4, owing to adopted velocity simulation instruction VREF and the 1st torque emulator command TREF1 at the 51-7 of feedback processing portion, even so be set under the low situation in the ride gain of the 51-7 of feedback processing portion, also can realize further high speed, driving to motor driver 1 be become more at a high speed and level and smooth the response characteristic of the instruction speed of REF and acceleration.

In the control operational part 51 of Fig. 6 of the present invention, in effect with earlier figures 5, because the 1st torque emulator command TREF1 is directly inputted to the synthetic 51-9 of portion of torque, compare with previous embodiments, can be with the 1st torque emulator command TREF1 direct drive servovalve control part 3, can realize further high speed, the driving to motor driver 1 is become more at a high speed with level and smooth the acceleration responsive characteristic of instruction REF.

In the control operational part 51 of Fig. 7 of the present invention, in effect with earlier figures 6, owing in the 51-11 of feedback processing portion, do not utilize velocity simulation instruction VREF, reduced the control operand, can realize control computing more at a high speed, so can realize further high speed, the driving to motor driver 1 is become more at a high speed with level and smooth to the response characteristic of instruction REF.

In the control operational part 51 of Fig. 8 of the present invention, in effect with earlier figures 7, because the 1st torque emulator command TREF1 is directly inputted to the synthetic 51-9 of portion of torque, compare with previous embodiments, can be with the 1st torque emulation TREF1 instruction direct drive servovalve control part 3, can realize further high speed, the driving to motor driver 1 is become more at a high speed with level and smooth the acceleration responsive characteristic of instruction REF.

In the control operational part 51 of Fig. 9 of the present invention, in effect with earlier figures 8, owing to utilized position reckoning value XFBH to carry out FEEDBACK CONTROL, reduced the harmful effect that causes by contained interference and quantization error among the feedback states amount XFB, so the ride gain of feedback processing portion can be set in higher level.Therefore, when can realize the further high speed of response characteristic to instruction REF, can also reduce interference, driving to motor driver 1 be become more at a high speed and level and smooth the influence that motor driver 1 produces.

In the control operational part 51 of Figure 10 of the present invention, in effect,, cancelled the calculus of differences among the 51-14 of feedback processing portion owing to utilized position reckoning value XFBH to carry out FEEDBACK CONTROL with earlier figures 9.Reduced by interference and quantization error and the harmful effect that causes, so the ride gain of the 51-14 of feedback processing portion can be set in higher level.Therefore, when can realize the further high speed of response characteristic to instruction REF, can also reduce interference, driving to motor driver 1 be become more at a high speed and level and smooth the influence that motor driver 1 produces.

In the control operational part 51 of Figure 11 of the present invention, when having the effect of aforementioned Figure 10, owing in the sensing emulation 51-17 of portion, adopted the interference monitoring structural, DR position reckoning value XFBH, speed calculation value VFBH and disturb reckoning value DFBH exactly are so can be set in higher level with the ride gain of the 51-16 of feedback processing portion.And, owing to will disturb reckoning value DFBH to import to the 51-16 of feedback processing portion, thus can reduce interference at high speed to the influence that motor driver 1 produces, the driving to motor driver 1 is become more at a high speed with level and smooth.

In the control operational part 51 of Figure 12 of the present invention, when having the effect of aforementioned Figure 11,, can improve the arithmetic speed of mechanical control part 5, and obtain higher control arithmetic speed owing to reduced the operand of the instruction pre-treatment 51-10 of portion.So the ride gain of the 51-18 of feedback processing portion can be set in higher level, the driving to motor driver 1 is become more at a high speed with level and smooth.

In the control operational part 51 of Figure 13 of the present invention, when having the effect of aforementioned Figure 12, owing to cancelled, wait the effect that influences so have to suppress to disturb to the differentiating of position reckoning value XFBH.Therefore the ride gain of the 51-19 of feedback processing portion can be set in higher level, the driving to motor driver 1 is become more at a high speed with level and smooth.

In the control operational part 51 of Figure 14 of the present invention, when having the effect of aforementioned Figure 13, because to disturbing reckoning value DFBH to compensate, improved the anti-interference of the 51-20 of feedback processing portion, have the effect of improvement, so the driving to motor driver 1 is become more at a high speed with level and smooth to disturbance response.

In the 51-3 of Filtering Processing portion of Figure 15 of the present invention-16, when having the effect of aforementioned Figure 14, when adopting low-pass filtering treatment with the vibration characteristics that suppresses high periodic regime, simultaneous a plurality of resonance points in the motor driver 1 are carried out the logical worry of other a band ripple handle, so can suppress the vibration of motor driver 1 efficiently.And, improved response characteristic simultaneously, so the purpose that can reach high speed, smoothly motor driver 1 be driven to disturbing and instructing owing to improved the anti-interference of feedback processing portion.

In the 51-8 of Filtering Processing portion of Figure 17 of the present invention-18, when having the effect of aforementioned Figure 15, when adopting low-pass filtering treatment with the vibration characteristics that suppresses high periodic regime, simultaneous a plurality of resonance points in the motor driver 1 are carried out the logical worry of other a band ripple handle, so can suppress the vibration of motor driver 1 efficiently.And, improved response characteristic simultaneously, so the purpose that can reach high speed, smoothly motor driver 1 be driven to disturbing and instructing owing to improved the anti-interference of feedback processing portion.

In the instruction pre-treatment 51-1 of portion of Figure 19 of the present invention, in effect, because instruction REF has been carried out smoothing processing, so can prevent by instructing the noncontinuity of REF and the vibration that produces with earlier figures 15-16.So can improve response characteristic, the purpose that reach at a high speed, smoothly motor driver 1 is driven to instruction REF.

In the instruction pre-treatment 51-1 of portion of Figure 20 of the present invention-21, when having the effect of aforementioned Figure 19, because realistic model 51-13 is the model that torque instruction TREF is carried out emulation to the transmission characteristic and the response characteristic of load 13, position emulator command XREF is when load 13 does not produce vibration, the rail track feature of motor driver 1 is carried out the instruction of emulation, even therefore do not improve feedback characteristics, also can improve the response characteristic of 1 pair of instruction of motor driver REF, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

In the instruction pre-treatment 51-4 of portion of Figure 22 of the present invention, when having the effect of aforementioned Figure 21, owing to provide velocity simulation instruction VREF to feedback processing portion, the speed responsive of motor 11 can be controlled more consistently with velocity simulation instruction VREF, even so do not improve the characteristic of feedback, also can improve speed responsive characteristic, the purpose that reach at a high speed, smoothly motor driver 1 is driven to instruction REF.

In the instruction pre-treatment 51-6 of portion of Figure 23 of the present invention, when having the effect of aforementioned Figure 22, realistic model 51-15 is the model that torque instruction TREF is carried out emulation to load 13 transmission characteristic and response characteristic, thus the 1st torque emulator command TREF1 have make load 13 with smoothly instruct REFM corresponding to counter be characteristic.Owing to provide the 1st torque emulator command TREF1, even do not improve the characteristic of feedback, also can improve response characteristic, the purpose that reach at a high speed, smoothly motor driver 1 is driven to instruction REF to feedback processing portion.

In the instruction pre-treatment 51-10 of portion of Figure 24 of the present invention, when having the effect of aforementioned Figure 23, owing to adopted the mode that position emulator command XREF and the 1st torque emulator command TREF1 only are provided to feedback processing portion, thereby reduced the operand of feedback processing portion, so can reach the high speed of feedback processing portion computing.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

In the realistic model 51-13 of Figure 25 of the present invention, when having the effect of aforementioned Figure 24, when can be when transport function 13 and response characteristic be considered as rigid system from torque instruction TREF to load, realistic model 51-13 can adopt circuit structure shown in Figure 25, so can realize processing at a high speed.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

In the realistic model 51-13 of Figure 26 of the present invention, when having the effect of aforementioned Figure 25, when can be when transport function 13 and response characteristic be considered as two inertia system from torque instruction TREF to load, realistic model 51-13 can adopt circuit structure shown in Figure 26, so can realize processing at a high speed.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

In the realistic model 51-15 of Figure 27 of the present invention, when having the effect of aforementioned Figure 26, when can be when transport function 13 and response characteristic be considered as rigid system from torque instruction TREF to load, employing provides the mode of velocity simulation instruction VREF at a high speed to feedback processing portion, so make feedback processing portion can more effectively utilize velocity simulation instruction VREF.The response characteristic of 1 pair of instruction of motor driver REF is become smoothly, reach at a high speed, smoothly motor driver 1 driven.

In the realistic model 51-15 of Figure 28 of the present invention, when having the effect of aforementioned Figure 27, when can be when transport function 13 and response characteristic be considered as 2 dimension inertia systems from torque instruction TREF to load, employing provides the mode of velocity simulation instruction VREF at a high speed to feedback processing portion, so make feedback processing portion can more effectively utilize velocity simulation instruction VREF.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

4. description of drawings

Fig. 1 is the block diagram of the machine control unit of the 1st embodiment.

Fig. 2 is the block diagram of mechanical control part of the machine control unit of the 2nd embodiment.

Fig. 3 is the block diagram of control operational part of the machine control unit of the 3rd embodiment.

Fig. 4 is the block diagram of control operational part of the machine control unit of the 4th embodiment.

Fig. 5 is the block diagram of control operational part of the machine control unit of the 5th embodiment.

Fig. 6 is the block diagram of control operational part of the machine control unit of the 6th embodiment.

Fig. 7 is the block diagram of control operational part of the machine control unit of the 7th embodiment.

Fig. 8 is the block diagram of control operational part of the machine control unit of the 8th embodiment.

Fig. 9 is the block diagram of control operational part of the machine control unit of the 9th embodiment.

Figure 10 is the block diagram of control operational part of the machine control unit of the 10th embodiment.

Figure 11 is the block diagram of control operational part of the machine control unit of the 11st embodiment.

Figure 12 is the block diagram of control operational part of the machine control unit of the 12nd embodiment.

Figure 13 is the block diagram of control operational part of the machine control unit of the 13rd embodiment.

Figure 14 is the block diagram of control operational part of the machine control unit of the 14th embodiment.

Figure 15 is the block diagram of Filtering Processing portion (one) of the machine control unit of the 15th embodiment.

Figure 16 is the block diagram of the Filtering Processing portion (its two) of the machine control unit of the 16th embodiment.

Figure 17 is the block diagram of the Filtering Processing portion (its three) of the machine control unit of the 17th embodiment.

Figure 18 is the block diagram of the Filtering Processing portion (its four) of the machine control unit of the 18th embodiment.

Figure 19 is the block diagram of instruction pre-treatment portion of the machine control unit of the 3rd embodiment.

Figure 20 is the block diagram of instruction pre-treatment portion of the machine control unit of the 16th embodiment.

Figure 21 is the block diagram of instruction pre-treatment portion of the machine control unit of the 17th embodiment.

Figure 22 is the block diagram of instruction pre-treatment portion of the machine control unit of the 18th embodiment.

Figure 23 is the block diagram of instruction pre-treatment portion of the machine control unit of the 19th embodiment.

Figure 24 is the block diagram of instruction pre-treatment portion of the machine control unit of the 20th embodiment.

Figure 25 is the block diagram of realistic model of the machine control unit of the 21st embodiment.

Figure 26 is the block diagram of realistic model of the machine control unit of the 22nd embodiment.

Figure 27 is the block diagram of realistic model of the machine control unit of the 23rd embodiment.

Figure 28 is the block diagram of realistic model of the machine control unit of the 24th embodiment.

Figure 29 is the block diagram of existing machine control unit.

Among the figure

1 is motor driver

11 is motor

12 is drive unit

13 are load

2 is sensor

3 is servocontrol portion

4 is upper control part

5 is mechanical control part

51 are the control operational part

51-1 is instruction pre-treatment portion

51-11 is a level and smooth instruction process portion

51-12 is a pre-treatment filtering portion

51-13 is a realistic model

51-13-1 is an integrator

51-13-2 is an integrator

51-13-3 is a subtracter

51-13-4 is an integrator

51-13-5 is an integrator

51-13-6 is a subtracter

51-13-7 is the coefficient device

51-13-8 is a subtracter

51-13-9 is a subtracter

51-13-10 is a subtracter

51-14 is a feedforward controller

51-15 is a realistic model

51-2 is a feedback processing portion

51-3 is a Filtering Processing portion

51-31 is the 1st low-pass filtering treatment portion

51-32 is the 1st bandpass filtering treatment portion

51-33 is the 2nd bandpass filtering treatment portion

51-34 is the 3rd bandpass filtering treatment portion

51-4 is instruction pre-treatment portion

51-5 is a feedback processing portion

51-6 is instruction pre-treatment portion

51-7 is a feedback processing portion

51-8 is a Filtering Processing portion

51-81 is the 1st low-pass filtering treatment portion

51-82 is the 1st bandpass filtering treatment portion

51-83 is the 2nd bandpass filtering treatment portion

51-84 is the 3rd bandpass filtering treatment portion

51-9 is the synthetic portion of torque

51-10 is instruction pre-treatment portion

51-11 is a feedback processing portion

51-12 is a feedback processing portion

51-13 is a sensing emulation portion

51-14 is a feedback processing portion

51-15 is a sensing emulation portion

51-16 is a feedback processing portion

51-17 is a sensing emulation portion

51-18 is a feedback processing portion

51-19 is a feedback processing portion

51-20 is a feedback processing portion

52 are the misoperation handling part

5. specific embodiments

The 1st embodiment of the present invention as shown in Figure 1.A kind of part or all with motor driver 1 and the quantity of state by detecting motor driver 1 provides the sensor 2 of the 1st feedback states amount XFB1, by suitable electric power UVW is provided to motor driver 1, make motor driver 1 reach the machine control unit of required action, it is characterized in that this device comprises:

Motor driver 1, sensor 2, upper control part 4, servocontrol portion 3 are identical with existing mode.But servocontrol portion 3 is set at the torque state of a control.That is to say, among the 1st restricting signal FBALM1 that is provided by servocontrol portion 3, do not comprise location end signal and speed arriving signal at least.

Machinery control part 5 utilizes above-mentioned instruction REF, feedback states amount XFB, the 1st restricting signal FBALM1 and logical order SON, and torque instruction TREF, restricting signal FBALM, the 1st logical order SON1 and the 2nd feedback states amount XFB2 are provided.Interface between machinery control part 5 and the upper control part 4 is to define at the interface mode that is set under position control mode or the speed control method by servocontrol portion 3.Interface between machinery control part 5 and the servocontrol portion 3 is to define by the interface mode that servocontrol portion 3 is set under the torque control mode.And the control compute mode of mechanical control part 5 is different with position control compute mode, the speed compute mode of servocontrol portion 3, be to generate torque instruction TREF, and provide instruction to it according to the interface mode of the torque instruction of servocontrol portion 3 according to instruction REF and feedback states amount XFB.That is to say, part or all of the response characteristic from instruction REF to the response characteristic of torque instruction TREF, from feedback states amount XFB to torque instruction TREF of machinery in the control part 5 is different with the response characteristic of servocontrol portion when being defined as position control compute mode or speed control compute mode.The control computing of machinery control part 5 is to be realized by its arithmetical unit alone, and does not use the arithmetical unit of upper control part 4 or the arithmetical unit of servocontrol portion 3.

In addition, among above-mentioned the 1st restricting signal FBALM1 that is obtained from servocontrol portion 3, added at least after location end signal and the speed arriving signal, synthetic restricting signal FBALM, and offer upper control part 4.

According to the present embodiment, owing to appended mechanical control part 5, utilize the interface of existing equipment, under the condition that the hardware and software of motor driver 1, sensor 2, servocontrol portion 3 and the upper control part 4 of original mechanical control equipment is not done to change, can be by appending the compute modes of original servocontrol portion 3 not available machinery controls at low cost, with position control performance and the speed control performance that improves original motor driver 1.Because the interface to existing equipment changes, so also unnecessary inner setting to upper control part 4 is done effectively to improve the response characteristic of machine control unit under the situation of change.And the control computing of machinery control 5 is to be finished by its special-purpose alone arithmetical unit, thus can realize the processing of high control cycle, thus obtain response characteristic at a high speed.

The 2nd embodiment of the present invention as shown in Figure 2.The feature of machinery control part 5 is that this device comprises:

At misoperation handling part 52, at first utilize instruction REF and feedback states amount XFB to generate the location end signal.Secondly, in the 1st restricting signal FBALM1, add the location and end, so that restricting signal FBALM to be provided.Then program control instruction SON, servosignal and reset signal are synthesized mechanical constraint signal MALM.Again according to the state of the reset signal among the program control instruction SON, the state of misoperation handling part 52 is resetted.

Carry out following processing at control operational part 51:

When following (1) formula is set up,, adopt with servocontrol portion 3 not available control compute modes and control computing, so that torque instruction TREF to be provided according to instruction REF and feedback states amount XFB.

MALM＝0 (1)

When following (2) formula is set up, carry out the initialized while in the control compute mode amount that will control operational part 51, according to instruction REF and feedback states amount XFB, adopt with servocontrol portion 3 not available control compute modes and control computing, so that torque instruction TREF to be provided.

MALM＝1 (2)

When following (3) formula was set up, control operational part 51 was not controlled computing, carries out the initialized while in the control compute mode amount that will control operational part, and torque instruction TREF is set at zero forcibly.

MALM＝2 (3)

When following (4) formula is set up, the controlled variable of control operational part 51 is set at new value after, according to instruction REF and feedback states amount XFB, control the control computing of operational part 51, so that torque instruction TREF to be provided.

MALM＝3 (4)

Therefore, adopt the present embodiment, when having the effect of previous embodiments,,, can carry out control computing at a high speed with same arithmetical unit so the processing of control operational part 51 becomes more simple owing to utilized mechanical constraint signal MALM.

The 3rd embodiment of the present invention is shown in Fig. 3,19.The feature of control operational part 51 is that this device comprises:

Instruct the pre-treatment 51-1 of portion as shown in figure 19, and carry out following processing:

When following formula (1) or (4) establishment, carry out the processing of following (5), (6) formula.Wherein, (K) be the variate-value of time K*T, T is the instruction output cycle of upper control part 4, (k) is the variate-value of time k*t, and t is the control cycle of mechanical control part 5.

XREF(K+k)＝(REF(K)-REF(K-1))*k/K (5)

k＝0～T/t (6)

When following formula (2) is set up, carry out the processing of following (7), (8) formula.

REF(K-1)＝0 (7)

XREF(K+k)＝(REF(K)-REF(K-1))*k/K (8)

When following formula (3) is set up, carry out the processing of following (9), (10) formula.

REF(K-1)＝0 (9)

REF(K)＝0 (10)

51-2 carries out following processing in feedback processing portion:

When following formula (1) is set up, carry out the processing of following (11) formula.Wherein, s is the symbol of differentiating, and Kp is a gain control position, and Ki is the integration control gain, and Kv is the differential ride gain, (j) is the variate-value of time j*t.

TREF0＝(Kp+Kv*s+Ki/s)*(XREF-XFB) (11)

When following formula (2) is set up, the differentiator of (11) formula and integrator carried out initialization after, carry out the computing of (11) formula.

When following formula (3) is set up, the differentiator of (11) formula and integrator carried out initialization after, do following the setting.

TREF0(j)＝0 (12)

When following formula (4) is set up, after the computing of finishing following (13), (14), (15) formula, carry out the computing of (11) formula.

Kp＝Kp0 (13)

Kv＝Kv0 (14)

Ki＝Ki0 (15)

Wherein, Kp0, Kv0, Ki0 are the variable ride gain of setting in advance.

51-3 carries out following processing in Filtering Processing portion:

When following formula (1) is set up, carry out the processing of (16) formula.

TREF＝TREF0/(tf*s+1) (16)

Wherein, tf is a filter time constant.

When following formula (2) is set up, the filter state of (16) formula carried out initialization after, carry out the computing of (16) formula.

When following formula (3) is set up, the filter state of (16) formula carried out initialization after, carry out the computing of (17) formula.

TREF＝0 (17)

When following formula (4) is set up, carry out the processing of (18) formula after, carry out the computing of (16).

tf＝tf0 (18)

Wherein, tf0 is predefined variable ride gain.

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing to adopted mechanical constraint signal MALM, and change each ride gain into variable, so can obtain indomitable more control performance.In addition owing to instruction REF has been carried out smoothing processing, so can prevent by instructing the noncontinuity of REF and the vibration that produces, so that the driving of motor driver 1 is become more level and smooth at the instruction pre-treatment 51-1 of portion.

The 4th embodiment of the present invention as shown in Figure 4.The feature of control operational part 51 is that this device comprises:

The instruction pre-treatment 51-4 of portion carries out following processing:

When following formula (1) or (4) establishment, carry out the processing of (19), (20) formula.

XREF(K+k)＝(REF(K)-REF(K-1))*k/K (19)

VREF(j)＝(XREF(j)-XREF(j-1))/t (20)

When following formula (2) is set up, when carrying out the processing of (7), (8) formula, carry out the processing of (21) formula.Carry out the processing of (20) formula then.

XREF(j-1)＝0 (21)

When following formula (3) is set up, carry out the processing of (7), (8) formula and following (22), (23), (24) formula.

XREF(j)＝0 (22)

XREF(j-1)＝0 (23)

VREF(j)＝0 (24)

The 51-5 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (25) formula.

TREF0＝(Kp+Ki/s)*(XREF-XFB)+Kv*(VREF-s*XFB)

(25)

When following formula (2) is set up, behind the differentiator and integrator initialization with (25) formula, carry out the computing of (25) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (25) formula, carry out the processing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (25) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing in the 51-5 of feedback processing portion, utilized velocity simulation instruction VREF, thereby strengthened the speed consistence of composition at instruction REF of motor driver 1, so can reach high speed, can carry out high-speed driving to motor driver 1 at high speed to the response of instruction REF.

The 5th embodiment of the present invention as shown in Figure 5.The feature of control operational part 51 is that this device comprises:

The instruction pre-treatment 51-6 of portion carries out following processing:

When following formula (1) or (4) establishment, carry out (19), when (20) formula is handled, carry out the processing of (26) formula.

TREF1(j)＝(VREF(j)-VREF(j-1))*Jm/t (26)

When following formula (2) is set up, when carrying out the processing of (7), (8), (21) formula, carry out the processing of following (27) formula.Carry out the processing of (26) formula then.

VREF(j-1)＝0 (27)

When following formula (3) is set up, carry out the processing of the processing of (9), (10), (22)～(24) formula and following (28), (29) formula.

TREF1(j)＝0 (28)

TREF1(j-1)＝0 (29)

The 51-7 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (30) formula.

TREF0＝(Kp+Ki/s)*(XREF-XFB)

+Kv*(VREF-s*XFB)+TREF1 (30)

When following formula (2) is set up, behind the differentiator and integrator initialization with (30) formula, carry out the computing of (30) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (30) formula, carry out the computing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (30) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing to adopted velocity simulation instruction VREF and the 1st torque emulator command TREF1 at the 51-7 of feedback processing portion, even so be set under the low situation in the ride gain of the 51-7 of feedback processing portion, also can realize further high speed, driving to motor driver 1 be become more at a high speed and level and smooth the response characteristic of the instruction speed of REF and acceleration.

The 6th embodiment of the present invention as shown in Figure 6.The feature of control operational part 51 is that this device comprises:

The 51-8 of Filtering Processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (31) formula.

TREFF＝TREF0/(tf*s+1) (31)

When following formula (2) is set up, after the state initialization with (31) formula median filter, carry out the computing of (31) formula.

When following formula (3) is set up,, and carry out the processing of (32) formula with the state initialization of (31) formula median filter.

TREFF＝0 (32)

When following formula (4) is set up, carry out the processing of (18) formula after, carry out the computing of (32) formula.

The synthetic 51-9 of portion of torque carries out the processing of following (33) formula

TREF＝TREF1+TREFF (33)

This shows, adopt the present embodiment, when having the effect of previous embodiments, because the 1st torque emulator command TREF1 is directly inputted to the synthetic 51-9 of portion of torque, compare with previous embodiments, can can realize further high speed with the 1st torque emulator command TREF1 direct drive servovalve control part 3, the driving to motor driver 1 is become more at a high speed with level and smooth the acceleration responsive characteristic of instruction REF.

The 7th embodiment of the present invention as shown in Figure 7.The feature of control operational part 51 is that this device comprises:

The instruction pre-treatment 51-10 of portion carries out following processing:

When following formula (2) is set up, carry out (7), (8), (21) formula when handling, carry out the processing of (27) formula after, carry out the processing of (26) formula.

When following formula (3) is set up, carry out the processing of (9), (10), (22)～(24) and (28), (29) formula.

The 51-11 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (34) formula.

TREF0＝(Kp+Ki/s+Kv*s)*(XREF-XFB)

+TREF1 (34)

When following formula (2) is set up, behind the differentiator and integrator initialization with (34) formula, carry out the computing of (34) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (34) formula, carry out the processing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (34) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing in the 51-11 of feedback processing portion, do not utilize velocity simulation instruction VREF, reduced the control operand, can realize control computing more at a high speed,, the driving to motor driver 1 be become more at a high speed with level and smooth so can realize further high speed to the response characteristic of instruction REF.

The 8th embodiment of the present invention as shown in Figure 8.The feature of control operational part 51 is that this device comprises:

The 9th embodiment of the present invention as shown in Figure 9.The feature of control operational part 51 is that this device comprises:

The 51-13 of sensor Simulation portion carries out following processing:

When following formula (1) is set up, carry out the computing of (35), (36), (37) formula.

XFBH(j+1)＝XFBH(j)+VFBH(j)*t

+(XFB(j)-XFBH(j))*L1 (35)

VFBH(j+1)＝VFBH(j)+TREF*t/Jm+DFBH(j)*t/Jm

+(XFB(j)-XFBH(j))*L2 (36)

DFBH(j+1)＝DFBH(j)

+(XFB(j)-XFBH(j))*L3 (37)

Wherein, L1, L2, L3 are the ride gain of the 51-13 of portion of sensing emulation portion.

When following formula (2) is set up, carry out the processing of (38), (39), (40) formula after, carry out (35)～computing of (37) formula.

XFBH(j)＝0 (38)

VFBH(j)＝0 (39)

DFBH(j)＝0 (40)

When following formula (3) is set up, carry out (38)～computing of (40) formula after, carry out (41)～processing of (43) formula.

XFBH(j+1)＝0 (41)

VFBH(j+1)＝0 (42)

DFBH(j+1)＝0 (43)

When following formula (4) is set up, carry out (44)～processing of (46) formula after, carry out (35)～computing of (37) formula.

L1＝L10 (44)

L2＝L20 (45)

L3＝L30 (46)

Wherein, L10, L20, L30 are the variable ride gain of the 51-13 of portion of predefined sensing emulation portion.

The 51-12 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the computing of (47) formula.

TREF0＝(Kp+Ki/s)*(XREF-XFBH)

+Kv*(VREF-s*XFBH) (47)

When following formula (2) is set up, behind the differentiator and integrator initialization with (47) formula, carry out the computing of (47) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (47) formula, carry out the processing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (47) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing to utilized position reckoning value XFBH to carry out FEEDBACK CONTROL, reduced the harmful effect that causes by contained interference and quantization error among the feedback states amount XFB, so the ride gain of the 51-12 of feedback processing portion can be set in higher level.Therefore, when can realize the further high speed of response characteristic to instruction REF, can also reduce interference, driving to motor driver 1 be become more at a high speed and level and smooth the influence that motor driver 1 produces.

The 10th embodiment of the present invention as shown in figure 10.The feature of control operational part 51 is that this device comprises:

The sensing emulation 51-15 of portion can adopt with previous embodiments in 9 remember the identical structure of the sensing emulation 51-13 of portion.

The 51-14 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (48) formula.

TREF0＝(Kp+Ki/s)*(XREF-XFBH)

+Kv*(VREF-VFBH) (48)

When following formula (2) is set up, behind the differentiator and integrator initialization with (48) formula, carry out the computing of (48) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (48) formula, carry out the processing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (48) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments,, cancelled the calculus of differences among the 51-14 of feedback processing portion owing to utilized position reckoning value XFBH to carry out FEEDBACK CONTROL.Reduced by interference and quantization error and the harmful effect that causes, so the ride gain of the 51-14 of feedback processing portion can be set in higher level.Therefore, when can realize the further high speed of response characteristic to instruction REF, can also reduce interference, driving to motor driver 1 be become more at a high speed and level and smooth the influence that motor driver 1 produces.

The 11st embodiment of the present invention as shown in figure 11.The feature of control operational part 51 is that this device comprises:

Utilize above-mentioned feedback states amount XFB, torque instruction TREF, mechanical constraint signal MALM, the sensing emulation 51-17 of portion of position reckoning value XFBH, speed calculation value VFBH and interference reckoning value DFBH be provided:

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, position reckoning value XFBH, speed calculation value VFBH, disturb reckoning value DFBH, mechanical constraint signal MALM, the 51-16 of feedback processing portion of the 0th torque emulator command TREF0 is provided;

The sensing emulation 51-17 of portion can adopt with previous embodiments 9 in remember the identical structure of the sensing emulation 51-13 of portion.

The 51-16 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (49) formula.

TREF0＝(Kp+Ki/s)*(XREF-XFBH)

+Kv*(VREF-VFBH)+DFBH (49)

When following formula (2) is set up, behind the differentiator and integrator initialization with (49) formula, carry out the computing of (49) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (49) formula, carry out the processing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (49) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing in the sensing emulation 51-17 of portion, adopted the interference monitoring structural, DR position reckoning value XFBH, speed calculation value VFBH and disturb reckoning value DFBH exactly are so can be set in higher level with the ride gain of the 51-16 of feedback processing portion.And, owing to will disturb reckoning value DFBH to import to the 51-16 of feedback processing portion, thus can reduce interference at high speed to the influence that motor driver 1 produces, the driving to motor driver 1 is become more at a high speed with level and smooth.

The 12nd embodiment of the present invention as shown in figure 12.The feature of control operational part 51 is that this device comprises:

The 51-18 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (50) formula.

TREF0＝(Kp+Ki/s+Kv*s)*(XREF-XFBH) (50)

When following formula (2) is set up, behind the differentiator and integrator initialization with (50) formula, carry out the computing of (50) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (50) formula, carry out the processing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (50) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments,, can improve the arithmetic speed of mechanical control part 5, and obtain higher control arithmetic speed owing to reduced the operand of the instruction pre-treatment 51-10 of portion.So the ride gain of the 51-18 of feedback processing portion can be set in higher level, the driving to motor driver 1 is become more at a high speed with level and smooth.

The 13rd embodiment of the present invention as shown in figure 13.The feature of control operational part 51 is that this device comprises:

The 51-19 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (51) formula.

TREF0＝(Kp+Ki/s+s)*(XREF-XFBH)

+Kv*(XREF*s-VFBH) (51)

When following formula (2) is set up, behind the differentiator and integrator initialization with (51) formula, carry out the computing of (51) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (51) formula, carry out the processing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (51) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing to cancelled, wait the effect that influences so have to suppress to disturb to the differentiating of XFBH.Therefore the ride gain of the 51-19 of feedback processing portion can be set in higher level, the driving to motor driver 1 is become more at a high speed with level and smooth.

The 14th embodiment of the present invention as shown in figure 14.The feature of control operational part 51 is that this device comprises:

The 51-20 of feedback processing portion carries out following processing:

When following formula (1) is set up, carry out the processing of (52) formula.

TREF0＝(Kp+Ki/s+s)*(XREF-XFBH)

+Kv*(XREF*s-VFBH)+DFBH (52)

When following formula (2) is set up, behind the differentiator and integrator initialization with (52) formula, carry out the computing of (52) formula earlier.

When following formula (3) is set up, behind the differentiator and integrator initialization with (52) formula, carry out the processing of (12) formula earlier.

When following formula (4) is set up, carry out (13)～processing of (15) formula after, carry out the computing of (52) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, because DFBH is compensated, improved the anti-interference of the 51-20 of feedback processing portion, have the effect of improvement, so the driving to motor driver 1 is become more at a high speed with level and smooth to disturbance response.

The 15th embodiment of the present invention is shown in Figure 15～18.The feature of the Filtering Processing 51-3 of portion shown in Figure 15 is that this device comprises:

Utilize above-mentioned the 0th torque emulator command TREF0 and mechanical constraint signal MALM, the 1st 51-31 of low-pass filtering treatment portion of the 2nd torque emulator command TREF2 is provided;

Utilize above-mentioned the 2nd torque emulator command TREF2 and mechanical constraint signal MALM, the 1st 51-32 of bandpass filtering treatment portion of the 3rd torque emulator command TREF3 is provided;

Utilize above-mentioned the 3rd torque emulator command TREF3 and mechanical constraint signal MALM, the 2nd 51-33 of bandpass filtering treatment portion of torque instruction TREF is provided.

The feature of the Filtering Processing 51-3 of portion shown in Figure 16 is that this device comprises:

Utilize above-mentioned the 3rd torque emulator command TREF3 and mechanical constraint signal MALM, the 2nd 51-34 of bandpass filtering treatment portion of the 4th torque emulator command TREF4 is provided.

Utilize above-mentioned the 4th torque emulator command TREF4 and mechanical constraint signal MALM, the 3rd 51-35 of bandpass filtering treatment portion of torque instruction TREF is provided.

The feature of the Filtering Processing 51-8 of portion shown in Figure 17 is that this device comprises:

Utilize above-mentioned the 0th torque emulator command TREF0 and mechanical constraint signal MALM, the 1st 51-81 of low-pass filtering treatment portion of the 2nd torque emulator command TREF2 is provided;

Utilize above-mentioned the 2nd torque emulator command TREF2 and mechanical constraint signal MALM, the 1st 51-82 of bandpass filtering treatment portion of the 3rd torque emulator command TREF3 is provided;

Utilize above-mentioned the 3rd torque emulator command TREF3 and mechanical constraint signal MALM, the 2nd 51-83 of bandpass filtering treatment portion of torque emulator command TREFF is provided.

The feature of the Filtering Processing 51-8 of portion shown in Figure 180 is that this device comprises:

Utilize above-mentioned the 3rd torque emulator command TREF3 and mechanical constraint signal MALM, the 2nd 51-84 of bandpass filtering treatment portion of the 4th torque emulator command TREF4 is provided.

Utilize above-mentioned the 4th torque emulator command TREF4 and mechanical constraint signal MALM, the 3rd 51-85 of bandpass filtering treatment portion of torque emulator command TREFF is provided.

Low pass ripple Filtering Processing portion carries out following processing:

When following formula (1) is set up, handle by the transport function of (53) formula.

Gf(s)＝1/(tf1*s+1) (53)

Wherein, tf1 is the time constant of low pass ripple filtering.

When following formula (2) is set up, after the quantity of state initialization with (53) formula, carry out the computing of (53) formula earlier.

When following formula (3) is set up, earlier after the quantity of state initialization with (53) formula, be made as the output of low-pass filtering treatment portion zero forcibly.

When following formula (4) is set up, establish

tf1＝tf10 (54)

And carry out the computing of (53) formula.Wherein tf10 is predefined new time constant.

The logical ripple Filtering Processing portion of each band carries out following processing:

Gn(s)＝(s*s+wm*wm)/(s*s+wm*s/Qm+wm*wm) (55)

Wherein, wm is the cutoff frequency of the logical ripple filtering of band of the logical ripple Filtering Processing portion of m band, and Qm is the attenuation coefficient of the logical ripple filtering of band of the logical ripple Filtering Processing portion of m band.

When following formula (2) is set up, after the quantity of state initialization with (55) formula, carry out the computing of (55) formula earlier.

When following formula (3) is set up, earlier after the quantity of state initialization with (55) formula, be made as the output of low-pass filtering treatment portion zero forcibly.

When following formula (4) is set up, establish

wm＝wm0 (56)

Qm＝Qm0 (57)

And carry out the computing of (55) formula.Wherein wm0, Qm0 are predefined cutoff frequency and attenuation coefficient.

This shows, adopt the present embodiment, when having the effect of previous embodiments, when adopting low-pass filtering treatment with the vibration characteristics that suppresses high periodic regime, simultaneous a plurality of resonance points in the motor driver 1 are carried out the logical worry of other a band ripple handle, so can suppress the vibration of motor driver 1 efficiently.And, improved response characteristic simultaneously, so the purpose that can reach high speed, smoothly motor driver 1 be driven to disturbing and instructing owing to improved the anti-interference of feedback processing portion.

The 16th embodiment of the present invention as shown in figure 20.The feature of the instruction pre-treatment 51-1 of portion is that this device comprises:

The level and smooth 51-11 of instruction process portion carries out following processing:

When following formula (1) or (4) establishment, carry out the processing of following (58), (59) formula.

REFM(K+k)＝(REF(K)-REF(K-1))*k/K (58)

k＝0～T/t (59)

When following formula (2) is set up, carry out the processing of following (60), (61) formula.

REFM(K-1)＝0 (60)

REFM(K+k)＝(REF(K)-REF(K-1))*k/K (61)

When following formula (3) is set up, carry out the processing of following (62), (63) formula.

REFM(K-1)＝0 (62)

REFM(K)＝0 (63)

The pre-treatment filtering 51-12 of portion carries out following processing:

When following formula (1) is set up, carry out the processing of following (64) formula.Wherein tpf is the time constant of pre-treatment filtering portion.

XREF＝REFM/(tpf*s+1) (64)

When following formula (2) is set up, after the quantity of state initialization with (64) formula, carry out the processing of (64) formula.

When following formula (3) is set up, after the quantity of state initialization with (64) formula, carry out the processing of (65) formula.

XREF＝0 (65)

When following formula (4) is set up, carry out the processing of (66) formula after, carry out the processing of (64) formula.Wherein tpf0 is the new time constant that is predetermined of pre-treatment filtering portion.

tpf＝tpf0 (66)

This shows, adopt the present embodiment, when having the effect of previous embodiments, because instruction REF has been carried out smoothing processing, so can prevent by instructing the noncontinuity of REF and the vibration that produces.So can improve response characteristic, the purpose that reach at a high speed, smoothly motor driver 1 is driven to instruction REF.

The 17th embodiment of the present invention as shown in figure 21.The feature of the instruction pre-treatment 51-1 of portion is that this device comprises:

Realistic model 51-13 is with containing the specific functional operation of integration operation more than at least 2 times, the realistic model that torque instruction TREF is carried out emulation to load 13 transmission characteristic and response characteristic.Realistic model 51-13 carries out following processing:

When following formula (1) is set up, carry out following (67)～74) processing of formula.Wherein Kc is an elasticity coefficient, and JL is the moment of inertia of load side, and JM is the moment of inertia of drive end, and { } is set.

XL**s＝VL (67)

VL*s＝Kc*XS/JL (68)

XM*s＝VM (69)

VM*s＝(TREF1-Kc*XS)/JM (70)

XS＝XM-XL (71)

VS＝VM-VL (72)

XFF＝{XL、VL、XS、VS} (73)

XREF＝XM (74)

When following formula (2) is set up, XL, VL, XS, VS, XM, VM carried out initialization after, carry out (67)～74) processing of formula.

When following formula (3) is set up, XL, VL, XS, VS, XM, VM carried out initialization after, carry out the processing of following (75) formula.

XREF＝0 (75)

When following formula (4) is set up, carry out the processing of following (76)～(78) formula after, carry out (67)～74) processing of formula.

Wherein JL0, JM0, Kc0 are the new coefficient that is predetermined of realistic model.

JL＝JL0 (76)

JM＝JM0 (77)

Kc＝Kc0 (78)

Consistent with level and smooth instruction REFM for the load that makes realistic model 51-13, feedforward controller 51-14 adopts the structure that generates the 1st torque emulator command TREF1.Feedforward controller 51-14 carries out following processing:

When following formula (1) is set up, carry out the processing of (79) formula.Wherein K1～K4, Ki are ride gain.

TREF1＝(REFM-XL)*(K1+Ki/s)-K2*VL-K3*XS-K4*VS (79)

This shows, adopt the present embodiment, when having the effect of previous embodiments, because realistic model 51-13 is the model that torque instruction TREF is carried out emulation to the transmission characteristic and the response characteristic of load 13, position emulator command XREF is when load 13 does not produce vibration, the rail track feature of motor driver 1 is carried out the instruction of emulation, even therefore do not improve feedback characteristics, also can improve the response characteristic of 1 pair of instruction of motor driver REF, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

The 18th embodiment of the present invention as shown in figure 22.The feature of the instruction pre-treatment 51-4 of portion is that this device comprises:

Realistic model 51-15 is with containing the specific function of integration operation more than at least 2 times, the realistic model that torque instruction TREF is carried out emulation to load 13 transmission characteristic and response characteristic.Realistic model 51-15 carries out following processing:

When following formula (1) is set up, carry out (67)～74) processing of formula and following (80) formula.

VREF＝VM (80)

When following formula (2) is set up, XL, VL, XS, VS, XM, VM carried out initialization after, carry out (67)～74) processing of formula and (80) formula.

When following formula (3) is set up, XL, VL, XS, VS, XM, VM carried out initialization after, carry out the processing of following (75) formula and following (81) formula.

XREF＝0 (81)

When following formula (4) is set up, carry out the processing of following (76)～(78) formula after, carry out (67)～74) processing of formula and (80) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing to provide velocity simulation instruction VREF to feedback processing portion, the speed responsive of motor 11 can be controlled more consistently with velocity simulation instruction VREF, even, also can improve speed responsive characteristic to instruction REF so do not improve the characteristic of feedback, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

The 19th embodiment of the present invention as shown in figure 23.The feature of the instruction pre-treatment 51-6 of portion is that this device comprises:

This shows, adopt the present embodiment, when having the effect of previous embodiments, realistic model 51-15 is the model that torque instruction TREF is carried out emulation to load 13 transmission characteristic and response characteristic, thus the 1st torque emulator command TREF1 have make load 13 with smoothly instruct REFM corresponding to counter be characteristic.Owing to provide the 1st torque emulator command TREF1, even do not improve the characteristic of feedback, also can improve response characteristic, the purpose that reach at a high speed, smoothly motor driver 1 is driven to instruction REF to feedback processing portion.

The 20th embodiment of the present invention as shown in figure 24.The feature of the instruction pre-treatment 51-10 of portion is that this device comprises:

This shows, adopt the present embodiment, when having the effect of previous embodiments, owing to adopted the mode that position emulator command XREF and the 1st torque emulator command TREF1 only are provided to feedback processing portion, thereby reduced the operand of feedback processing portion, so can reach the high speed of feedback processing portion computing.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

The 21st embodiment of the present invention as shown in figure 25.The feature of realistic model 51-13 is that this device comprises:

Integrator computing unit 51-13-1 carries out following processing:

When following formula (1) is set up, carry out the processing of (82) formula.

VM＝TREF1/(JM*s) (82)

When following formula (2) is set up, after the integrator initialization with (82) formula, carry out the processing of (82) formula.

When following formula (3) is set up, after the integrator initialization with (82) formula, carry out the processing of following (83) formula.

VM＝0 (83)

When following formula (4) is set up, carry out the processing of (77) formula after, carry out the processing of following (83) formula.

Integrator computing unit 51-13-2 carries out following processing:

When following formula (1) or (4) establishment, carry out the processing of (84) formula.

XM＝VM/s (84)

When following formula (2) is set up, after the integrator initialization with (84) formula, carry out the processing of (84) formula.

When following formula (3) is set up, after the integrator initialization with (84) formula, carry out the processing of following (85) formula.

XM＝0 (85)

In addition, the present embodiment is to carry out under the condition of following (86), (87) formula.

XREF＝XM (86)

XFF＝{XM、VM} (87)

This shows, adopt the present embodiment, when having the effect of previous embodiments, when can be when transport function 13 and response characteristic be considered as rigid system from torque instruction TREF to load, realistic model 51-13 can adopt circuit structure shown in Figure 25, so can realize processing at a high speed.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

The 22nd embodiment of the present invention as shown in figure 26.The feature of realistic model 51-13 is that this device comprises:

Utilize the above-mentioned the 1st synthetic torque TREF1A and mechanical constraint signal MALM, the integrator 51-13-4 of dragging speed emulation amount VM be provided:

Subtracter 51-13 carries out the processing of (88) formula.

TREF1A＝TREF1-TREF1B (88)

Integrator computing unit 51-13-4 carries out following processing:

When following formula (1) is set up, carry out the processing of (89) formula.

VM＝TREF1A/(JM*s) (89)

When following formula (2) is set up, after the integrator initialization with (89) formula, carry out the processing of (89) formula.

When following formula (3) is set up, after the integrator initialization with (89) formula, carry out the processing of (89) formula.

When following formula (4) is set up, carry out the processing of (77) formula after, carry out the processing of (89) formula.

Integrator computing unit 51-13-5 carries out following processing:

When following formula (3) is set up, after the integrator initialization with (84) formula, carry out the processing of (85) formula.

Integrator computing unit 51-13-6 carries out the processing of following (90) formula.

SX＝XM-XL (90)

Coefficient device 51-13-7 carries out following processing:

When following formula (1)～(3) wherein it-when setting up, carry out the processing of (91) formula.

TREF1B＝Kc*SX (91)

When following formula (4) is set up, carry out the processing of (78) formula after, carry out the processing of (91) formula.

Integrator computing unit 51-13-8 carries out following processing:

When following formula (1) is set up, carry out the processing of (92) formula.

VL＝TREF1B/(JL*s) (89)

When following formula (2) is set up, after the integrator initialization with (92) formula, carry out the processing of (92) formula.

When following formula (3) is set up, after the integrator initialization with (92) formula, carry out the processing of (93) formula.

VL＝0 (93)

When following formula (4) is set up, carry out carrying out the processing of (93) formula after the processing of (76) formula.

Integrator computing unit 51-13-9 carries out following processing:

When following formula (1) or (4) establishment, carry out the processing of (94) formula.

XL＝VL/s (94)

When following formula (2) is set up, after the integrator initialization with (94) formula, carry out the processing of (94) formula.

When following formula (3) is set up, after the integrator initialization with (94) formula, carry out the processing of (95) formula.

XL＝0 (95)

Subtracter 51-13 carries out the processing of (96) formula.

SV＝VM-VL (96)

In addition, the present embodiment is to carry out under the condition of following (97), (98) formula.

XREF＝XM (97)

XFF＝{XL、VL、SX、SV} (98)

This shows, adopt the present embodiment, when having the effect of previous embodiments, when can be when transport function 13 and response characteristic be considered as two inertia system from torque instruction TREF to load, realistic model can adopt circuit structure shown in Figure 26, so can realize processing at a high speed.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

The 23rd embodiment of the present invention as shown in figure 27.The feature of realistic model 51-15 is that this device comprises:

The present embodiment is to carry out under the condition of following (99), (100) formula.

XREF＝XM (99)

VREF＝VM (100)

This shows, adopt the present embodiment, when having the effect of previous embodiments, when can be when transport function 13 and response characteristic be considered as rigid system from torque instruction TREF to load, employing provides the mode of velocity simulation instruction VREF at a high speed to feedback processing portion, so make feedback processing portion can more effectively utilize velocity simulation instruction VREF.The response characteristic of 1 pair of instruction of motor driver REF is become smoothly, reach at a high speed, smoothly motor driver 1 driven.

The 24th embodiment of the present invention as shown in figure 28.The feature of realistic model 51-15 is that this device comprises:

The present embodiment is to carry out under the condition of (99), (100) formula.

This shows, adopt the present embodiment, when having the effect of previous embodiments, when can be when transport function 13 and response characteristic be considered as 2 dimension inertia systems from torque instruction TREF to load, employing provides the mode of velocity simulation instruction VREF at a high speed to feedback processing portion, so make feedback processing portion can more effectively utilize velocity simulation instruction VREF.Therefore, can improve the feedback characteristics of feedback processing portion, improve the response characteristic of 1 pair of interference of motor driver, the purpose that reach at a high speed, smoothly motor driver 1 is driven.

Claims

1, a kind of machine control unit, with motor driver (1) and the quantity of state by detecting motor driver (1) part or all provides the sensor (2) of the first feedback states amount XFB1, by providing suitable electric power UVW to motor driver (1), make motor driver (1) reach required action, it is characterized in that this device comprises:

When generating instruction REF, utilize the 2nd feedback states amount XFB2 and restricting signal FBALM one one or all, carry out desired function and logical process, and the upper control part (4) of program control instruction SON is provided;

When having position control mode, speed control method, torque control mode, be set in advance under the condition of the torque control method of operation, utilize torque instruction TREF, the first program control instruction SON1 and the above-mentioned first feedback states amount XFB1, the servocontrol portion (3) of electric power UVW, the first restricting signal FBALM1 and feedback states amount XFB etc. is provided;

Utilize above-mentioned instruction REF, above-mentioned feedback states amount XFB, the above-mentioned first restricting signal FBALM1 and the above-mentioned first program control instruction SON1, the mechanical control part (5) of torque instruction TREF, restricting signal FBALM, the first program control instruction SON1 and the second feedback states amount XFB2 etc. is provided.

Wherein said mechanical control part (5) comprising:

Utilize said procedure steering order SON, the 1st restricting signal FBALM1, instruction REF, feedback states amount XFB, the misoperation handling part (52) of mechanical constraint signal MALM and restricting signal FBALM is provided;

Utilize above-mentioned instruction REF, feedback states amount XFB, mechanical constraint signal MALM, the control operational part (51) of torque instruction TREF is provided;

2, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the instruction pre-treatment portion (51-1) of position emulator command XREF is provided;

Utilize above-mentioned position emulator command XREF, feedback states amount XFB, mechanical constraint signal MALM, the feedback processing portion (51-2) of the 0th torque emulator command TREF0 is provided;

Utilize above-mentioned the 0th torque emulator command TREF0 and mechanical constraint signal MALM, the Filtering Processing portion (51-3) of torque instruction TREF is provided.

3, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the instruction pre-treatment portion (51-4) of position emulator command XREF and velocity simulation instruction VREF is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, feedback states amount XFB, mechanical constraint signal MALM, the feedback processing portion (51-5) of the 0th torque emulator command TREF0 is provided;

4, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the instruction pre-treatment portion (51-6) of position emulator command XREF, velocity simulation instruction VREF and the 1st torque emulator command TREF1 is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, the 1st torque emulator command TREF1, feedback states amount XFB, mechanical constraint signal MALM, the feedback processing portion (51-7) of the 0th torque emulator command TREF0 is provided;

5, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned the 0th torque emulator command TREF0 and mechanical constraint signal MALM, the Filtering Processing portion (51-8) of torque emulator command TREFF is provided;

Utilize above-mentioned torque emulator command TREFF and the 1st torque emulator command TREF1, the synthetic portion (51-9) of torque of torque instruction TREF is provided.

6, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the instruction pre-treatment portion (51-10) of position emulator command XREF and the 1st torque emulator command TREF1 is provided;

Utilize above-mentioned position emulator command XREF, the 1st torque emulator command TREF1, feedback states amount XFB, mechanical constraint signal MALM, the feedback processing portion (51-11) of the 0th torque emulator command TREF0 is provided;

7, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

8, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned feedback states amount XFB, torque instruction TREF, mechanical constraint signal MALM, the sensing emulation portion (51-13) of position reckoning value XFBH is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, position reckoning value XFBH, mechanical constraint signal MALM, the feedback processing portion (51-12) of the 0th torque emulator command TREF0 is provided;

Utilize above-mentioned torque emulator command TREFF and the 1st torque emulator command TREF1, the synthetic 951-9 of portion of torque of torque instruction TREF is provided).

9, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned feedback states amount XFB, torque instruction TREF, mechanical constraint signal MALM, the sensing emulation portion (51-15) of position reckoning value XFBH and speed calculation value VFBH is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, position reckoning value XFBH, speed calculation value VFBH, mechanical constraint signal MALM, the feedback processing portion (51-14) of the 0th torque emulator command TREF0 is provided;

10, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned feedback states amount XFB, torque instruction TREF, mechanical constraint signal MALM, the sensing emulation portion (51-17) of position reckoning value XFBH, speed calculation value VFBH and interference reckoning value DFBH is provided;

Utilize above-mentioned position emulator command XREF, velocity simulation instruction VREF, position reckoning value XFBH, speed calculation value VFBH, disturb reckoning value DFBH, mechanical constraint signal MALM, the feedback processing portion (51-16) of the 0th torque emulator command TREF0 is provided;

11, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned position emulator command XREF, position reckoning value XFBH, mechanical constraint signal MALM, the feedback processing portion (51-18) of the 0th torque emulator command TREF0 is provided;

12, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned position emulator command XREF, position reckoning value XFBH, speed calculation value VFBH, mechanical constraint signal MALM, the feedback processing portion (51-19) of the 0th torque emulator command TREF0 is provided;

13, as machine control unit in the above-mentioned claim 1, wherein said control operational part (51) comprising:

Utilize above-mentioned position emulator command XREF, position reckoning value XFBH, speed calculation value VFBH, disturb reckoning value DFBH, mechanical constraint signal MALM, the feedback processing portion (51-20) of the 0th torque emulator command TREF0 is provided;

14, the machine control unit described in above-mentioned claim 2, wherein said Filtering Processing portion (51-3) comprising:

15, the machine control unit described in above-mentioned claim 5, wherein said Filtering Processing portion (51-8) comprising:

16, the machine control unit described in above-mentioned claim 2, wherein said instruction pre-treatment portion (51-1) comprising:

Utilize above-mentioned instruction REF and mechanical constraint signal MALM, the level and smooth instruction process portion (51-11) of level and smooth instruction REFM is provided;

Utilize above-mentioned level and smooth instruction REFM and mechanical constraint signal MALM, the pre-treatment filtering portion (51-12) of position emulator command XREF is provided.

17, the machine control unit described in above-mentioned claim 2, wherein said instruction pre-treatment portion (51-1) comprising:

Utilize above-mentioned level and smooth instruction REFM, mechanical constraint signal MALM, state simulation amount XFF, the feedforward controller (51-14) of the 1st torque emulator command TREF1 is provided;

Utilize above-mentioned the 1st torque emulator command TREF1 and mechanical constraint signal MALM, the realistic model (51-13) of state simulation amount XFF, position emulator command XREF is provided.

18, the machine control unit described in above-mentioned claim 3, wherein said instruction pre-treatment portion (51-4) comprising:

Utilize above-mentioned the 1st torque emulator command TREF1, mechanical constraint signal MALM, the realistic model (51-15) of state simulation amount XFF, position emulator command XREF, velocity simulation instruction VREF is provided.

19, the machine control unit described in above-mentioned claim 4, wherein said instruction pre-treatment portion (51-6) comprising:

According to above-mentioned level and smooth instruction REFM, mechanical constraint signal MALM, state simulation amount XFF, provide the feedforward controller (51-14) of the 1st torque emulator command TREF1;

20, the machine control unit described in above-mentioned claim 6, wherein said instruction pre-treatment portion (51-10) comprising:

21, the machine control unit described in above-mentioned claim 17, wherein said realistic model (51-13) comprising:

Utilize above-mentioned the 1st torque emulator command TREF1 and mechanical constraint signal MALM, the integrator (51-13-1) of dragging speed emulation amount VM is provided;

Utilize above-mentioned dragging speed emulation amount VM and mechanical constraint signal MALM, the integrator (51-13-2) that drags position emulation amount XM is provided;

22, the machine control unit described in above-mentioned claim 17, wherein said realistic model (51-13) comprising:

Utilize above-mentioned the 1st torque emulator command TREF1 and the 1st emulation elastic torque TREF1B, the subtracter (51-13-3) of the 1st synthetic torque TREF1A is provided;

Utilize the above-mentioned the 1st synthetic torque TREF1A and mechanical constraint signal MALM, the integrator (51-13-4) of dragging speed emulation amount VM is provided;

Utilize above-mentioned dragging speed emulation amount VM and mechanical constraint signal MALM, the integrator (51-13-5) that drags position emulation amount XM is provided;

Utilize above-mentioned position emulation amount XM and the load position emulation amount XL of dragging, the subtracter (51-13-6) that reverses position emulation amount SX is provided;

Utilize the above-mentioned position emulation amount SX that reverses, the coefficient device (51-13-7) of the 1st emulation elastic torque TREF1B is provided;

Utilize above-mentioned the 1st emulation elastic torque TREF1B and mechanical constraint signal MALM, the integrator (51-13-8) of load speed emulation amount VL is provided;

Utilize above-mentioned load speed emulation amount VL and mechanical constraint signal MALM, the integrator (51-13-9) of load position emulation amount XL is provided;

Utilize above-mentioned dragging speed emulation amount VM and load position emulation amount X L, the subtracter (51-13-10) of reverse speed emulation amount SV is provided;

23, the machine control unit described in above-mentioned claim 18, wherein said realistic model (51-15) comprising:

Drag the means that position emulation amount XM, dragging speed emulation amount VM are converted to the state simulation amount with above-mentioned.

24, the machine control unit described in above-mentioned claim 18, wherein said realistic model (51-15) comprising:

Utilize above-mentioned dragging speed emulation amount VM and load speed emulation amount VL, the subtracter (51-13-10) of reverse speed emulation amount SV is provided;