CN1761920A

CN1761920A - Motor control device

Info

Publication number: CN1761920A
Application number: CNA2004800072019A
Authority: CN
Inventors: 井出勇治
Original assignee: Sanyo Electric Co Ltd
Current assignee: Sanyo Electric Co Ltd
Priority date: 2003-03-17
Filing date: 2004-03-17
Publication date: 2006-04-19
Anticipated expiration: 2024-03-17
Also published as: JP3892823B2; JP2004280563A; CN100456193C

Abstract

There is provided a motor control device having a simple structure, causing little overshoot even at a high speed, and capable of efficiently suppressing external disturbance. A speed control section (13) includes: a speed integration compensation low-pass filter (133) having a transmission function corresponding to a delay of a speed control system; an integration control system (136) having a speed integrator (132) for integrating a speed deviation between the delay speed instruction and the speed obtained by inputting the speed instruction to the speed integration compensation low-pass filter (133); a proportion control system (137) for outputting an instruction proportional to the deviation between the speed instruction and the speed; and multiplication means (134) for multiplying the sum of the output of the integration control system (136) and the output of the proportion control system (137) by a speed proportion gain and outputting the product as a torque instruction. A torque control section (4) controls the motor speed so that it coincides with the speed instruction according to the torque instruction output from the speed control section (13). There is arranged a speed feedback low-pass filter (135) having a transmission function to prevent appearance of ripple caused by the position detection of the encoder E in the torque instruction.

Description

Motor control assembly

Technical field

The present invention relates to the motor control assembly that in work mechanism etc., uses, particularly be applicable to motor speed control unit, control motor primary current current control device and at a high speed the location with the electric machines control technology of the position control of motor.

Background technology

As the speed control unit of prior motor, has the sort of control device shown in Figure 23 (with reference to special Fig. 1 that opens flat 10-254550 communique).This device calculates with subtracter SB included in the speed controlling portion 3, and the position feedback of being exported from scrambler E by 2 pairs in speed calculation portion are carried out conversion and the velocity feedback that obtains and the deviation between the speed command.This deviation is processed in speed controlling portion 3, and speed controlling portion 3 is to torque control part 4 output torque instructions.Torque control part 4, control flow through motor electric current so that the torque as torque instruction export from motor M.

Usually, the speed controlling portion 3 in this device is made of proportional plus integral control (PI control) portion.This PI control part calculates the deviation of speed command and velocity feedback by subtracter SB, by 1 the ratio control system of gaining with among this deviation input summer AD.Integral control system, multiply by storage gain by 31 pairs of deviations of multiplier after, carry out integration and input to totalizer AD with 32 pairs of these deviations of velocity integrator.Totalizer AD carries out addition with the output of ratio control system and the output of integral control system, to multiplier 33 outputs.Multiplier 33 with proportional gain and totalizer AD output multiplication, is exported as torque instruction.Thus, by constituting speed controlling portion 3, not only can suppress the transient deviation of speed, and can suppress steady-state deviation by the PI control part.In addition, according to the integral of this velocity deviation, can improve the antijamming capability of motor.

In general, the response of control system is limited, even output speed is instructed, velocity feedback is responded also needs the time.Though output speed instruction, motor begin rotation, from speed command be output begin till velocity feedback is responded during (till the velocity feedback appearance corresponding during) with speed command, velocity integrator 32 carries out integral operation.And, motor M with constant speed be rotated during, this integral operation value reduces.Yet, still carry out integral operation during the deceleration of motor M, just stop from exporting all remaining integrated values rear motor M that all disappears.Therefore, in existing control device, even after speed command is 0, the response of speed is the time span of the burden of delay speed integrator also.Its result exists owing to produce overshoot, the problem of the storage gain of can not pushing the speed in the velocity feedback.

In addition, the current control device as existing motor has control device shown in Figure 24.In this device, with the SBa of subtraction mechanism, SBb calculate the dq axle separately current-order and with the current deviation between the detected current feedback of current detector D, each current deviation obtains by current controller 4a, 4b that the d shaft voltage instructs, the q shaft voltage instructs.And, after each voltage instruction being carried out the dq conversion, carry out two-phase three phase inversion by coordinate converter 15a, according to the instruction that is transformed by PWM inverter 17 drive motor M.Also have, current feedback, in coordinate converter 15b to carrying out the dq conversion with detected 3 phase currents of current detector D.Coordinate converter 15b by producing the signal generation mechanism 18 of the signal corresponding with the position of rotation of scrambler E, carries out three-phase two phase inversion and dq conversion.

Usually, current controller 4a, the 4b in this device is made of the PI controller.Current controller 4a for example, as shown in figure 25, by integral control system (I system), with current deviation multiplication by constants ratio control system (P system) formation doubly to calculating by the SBa of subtraction mechanism, this integral control system calculates current deviation between current-order and the current feedback with the SBa of subtraction mechanism, by multiplier 191 storage gain and this current deviation are multiplied each other, carry out integral and calculating with 193 pairs of these values that multiply each other of current integrator.Current controller 4a also carries out addition by adding mechanism ADa with the output of integral control system and ratio control system, proportional gain and addition value is multiplied each other the output voltage instruction with multiplication mechanism 195.Thus, by constituting current controller, can not only suppress the transient deviation of electric current, and can suppress steady-state deviation by PI control.

In general, the response of control system is limited, even output current instructs, current of electric is responded also needs the time.Though output current instruction begins to flow through electric current in the motor, from current controller 4a output voltage instruct begin till current of electric is responded during, current integrator 193 carries out integral operation.Therefore, in existing control device, the time span of the burden of the operating lag current integrator 193 of electric current can produce overshoot.

On the other hand, drive the control device as shown in the flat 8-66075 communique as the spy, the delay of calculating current feedback according to variable quantity, motor inductance and the motor ohmer of current-order is by compensating with this delay addition in current deviation portion.But the differential component of the variable quantity of current-order etc. is easy to make the commanded response vibration, and is not preferred for realizing level and smooth control.In addition, need the constant of motor inductance and motor resistance etc., also have the motor inductance to change inductance value according to the size that flows through the electric current of motor, motor resistance changes resistance value according to temperature.Thereby, also need to consider the size of current of electric and the compensation of motor temperature.

As the position control of existing motor, has control device (with reference to special Fig. 1 that opens flat 10-254550 communique) as shown in figure 26.In this device, calculate the deviation of position command and position feedback, handle this deviation, export as speed command by position control section with subtracter included in the positioner.And, calculate by the subtracter that in speed controlling portion 3, is comprised, carry out velocity feedback that conversion obtains and the deviation between the speed command by 2 pairs in speed calculation portion from the position feedback of scrambler E output.This deviation is carried out processing in speed controlling portion 3, speed controlling portion 3 is exported to torque control part 4 with torque instruction.Torque control part 4 is controlled the electric current that flows through motor M, so that the torque as torque instruction is exported from motor M.

Usually, the position control section 1 in this device constitutes proportional control (P control), and speed controlling portion 3 is made of proportional plus integral control (PI control) portion.Constitute the PI control part of existing speed controlling portion 3, have formation as shown in figure 27.This PI control part is calculated deviation between speed command and the velocity feedback with subtracter SB, by 1 the ratio control system of gaining with among this deviation input summer AD.In the integral control system, after with multiplier 31 storage gain and deviation being multiplied each other, carry out integration, input to totalizer AD with 32 pairs of these deviations of velocity integrator.Totalizer AD with the output of ratio control system and the output addition of integral control system, exports to multiplier 33, and multiplier 33 is exported the output multiplication of proportional gain and totalizer AD as torque instruction.Thus, by constituting speed controlling portion 3, not only can suppress the transient deviation of speed, and can suppress steady-state deviation by the PI control part.

In addition, open the spy and to disclose a kind ofly in the flat 3-15911 communique, position command is carried out differential, try to achieve the feedforward amount of position, to control controlled quentity controlled variable and the addition of above-mentioned feedforward control amount that obtains by position loop, as speed command, will carry out the feedforward control amount of the speed that differential obtains to the feedforward control amount of position, with the value addition that obtains by speed loop control, as current-order, by like this, improve response, obtain the control method of the servomotor of stable servo-drive system.

Existing control device improves tracing property by increasing feedforward gain, if but feedforward gain is increased to 100%, the problem that then exists overshoot to increase.Because overshoot makes the processing quality deterioration, therefore need suppress as much as possible.Figure 15 is in existing control device, is the figure that emulation is carried out in 0% o'clock position control action to feedforward gain.As shown in the drawing, if feedforward gain is little, then overshoot is little, but as shown in Figure 17, if feedforward gain is 100%, then overshoot becomes big.Therefore, prior art as shown in figure 16, is about 50% in feedforward gain, improves tracing property in the constant big scope of overshoot.

From control theory, feedforward control when the known control Properties of Objects, can be carried out inverse operation so that controlled quentity controlled variable is consistent with desired value to operational ton.In existing control system, if the controlling object when finding to carry out position control in speed control system, then operational ton is a speed command, and controlled quentity controlled variable is the position.If represent speed control system with the simplest model approximation, then available first-order lag system representation is if the inverse function of controlled object then becomes the first-order lead system.In the prior art, want to carry out this action, therefore can not compensate, can produce overshoot the high-order retardation with certain guarantee.

In addition, the problem from the speed command of positioner output is another main cause.In general, the response of control system is limited, even the output speed feedforward is instructed, velocity feedback is responded also needs the time.Though output speed feedforward instruction, motor begin to drive, according to instruct from velocity feed forward be output begin till velocity feedback is responded during the position deviation that produced, instruct from the positioner output speed.And, though motor be rotated with constant speed during, this position deviation reduces, motor is still exported the speed command that produces position deviation when slowing down.

As mentioned above, because the speed command and velocity feed forward instruction addition that produce according to position deviation, therefore provide the speed command more than the original essential speed command, can produce overshoot.

Also having the problem of speed control in addition is another important reasons.Speed control is made of PI control usually, becomes formation shown in Figure 27.Figure 15 to Figure 17 is the simulation result of the situation of the existing speed control of employing.Because the response of control system is limited, even therefore provide speed command, till velocity feedback responds, also need the time, this period velocity integrator carry out integral operation.By discharging and recharging of this integrator reduced the time response of speed control, also can produce overshoot thus.As mentioned above, in the existing control device, according to the coefficient that constitutes feedforward system by ratio system, do not consider the operating lag of speed system in addition and form position control system, do not consider the operating lag of speed control system and form speed control system, produce overshoot, can not make feedforward gain rise to 100%.Therefore, the problem that when improving tracing property, has limit.

Summary of the invention

The present invention is used to solve the invention of above-mentioned problem just, and the motor control assembly that provides a kind of overshoot little is provided its purpose.

Another object of the present invention is to, provide a kind of overshoot little, at a high speed and disturb the speed control unit of the good motor of constrain ability.

The objective of the invention is to, provide a kind of and can not append the parameter of electric machine and make the current-responsive high speed of current control system, and the little current control device of overshoot.

The objective of the invention is to, provide a kind of overshoot little, can make feedforward gain rise to 100%, and improve the motor position control device of tracing property.

Motor control assembly of the present invention possesses: position detection part, and it detects the position as the motor of controlling object; Speed calculation portion, it is according to the speed that is gone out motor by the position calculation of the detected motor of position detection part; Speed controlling portion, it is according to proportional plus integral control, and the output torque instruction carries out speed control, so that consistent with speed command from the speed of speed calculating part feedback; With the torque control part, it carries out torque control based on torque instruction.

In control device of the present invention, speed controlling portion is made of following part: rate integrating compensation low-pass filter, and it has the transport function of the delay that is equivalent to speed control system; Integral control system, it contains velocity integrator, and this velocity integrator carries out integration to the velocity deviation between instruction of delay speed that speed command input speed integral compensation low-pass filter is obtained and the speed; Ratio control system, the proportional instruction of the difference between the speed of its output and speed command and motor; Adding mechanism, it is with the output of integral control system and the output addition of ratio control system; With multiplication mechanism, it obtains torque instruction with the output multiplication of speed proportional gain with adding mechanism.Also have, in ratio control system, also the speed proportional gain can be multiplied each other with velocity deviation, and in integral control system, speed proportional gain and operation values in the control are multiplied each other and export.

Adopt rate integrating compensation low-pass filter like this if resemble the present invention, then can make the deviation between the speed of the velocity feedback that delay speed instruction with the delay that is equivalent to speed control system and reality postponed approach 0.Therefore, can make the burden of velocity integrator be roughly 0, and can reduce the overshoot of velocity feedback.

Under the situation of the low precision of position detection part (for example scrambler), the pulsation that causes owing to quantized error or site error is included in the velocity feedback.In order to handle this situation, the velocity feedback low-pass filter is set preferably at this, it has the pulsation that stops quantized error and/or site error owing to position detection part to produce and appears at transport function in the torque instruction.In this case, contain subtraction mechanism composition control system, wherein speed after the Filtering Processing that speed input speed feedback low-pass filter is obtained and the deviation between the speed command are tried to achieve by subtraction mechanism.Also have,, then, therefore do not need to adopt this structure because site error also diminishes if position detection part adopts precision and the high device of resolution.

In addition, the present invention is object with the motor control assembly, and this device possesses: current detecting part, and it detects the current of electric as the motor of controlling object; Current controller, it is based on according to the current feedback of the detected current of electric of current detector and the current deviation between the current-order, the output voltage instruction; And driving mechanism, it supplies with current of electric based on voltage instruction to motor.In the present invention, current controller is made of following part: Current Control side delay compensation low-pass filter, and it has the transport function of the delay that is equivalent to current control system; Integral control system, it comprises current integrator, delayed current instruction that this current integrator obtains the current-order input current is controlled side delay compensation low-pass filter and the current deviation between the current feedback carry out integration; Ratio control system, the proportional instruction of the current deviation between its output and current-order and the current feedback; Adding mechanism, it is with the output of integral control system and the output addition of ratio control system; With multiplication mechanism, it obtains voltage instruction with the output multiplication of current ratio gain with adding mechanism.

Also have, in ratio control system, also the current ratio gain can be multiplied each other with current deviation, in integral control system, the operation values in current ratio gain and the control is multiplied each other.

Adopt Current Control side delay compensation low-pass filter like this if resemble the present invention, then can make the speed command of delay and the current deviation between the actual current feedback that is postponed approach 0 with the delay that is equivalent to current control system.Therefore, can make the burden of current integrator be roughly 0.Its result can reduce overshoot.

Also have motor control assembly of the present invention to possess: position detection part, it detects the position as the motor of controlling object; Speed calculation portion, it calculates the speed of motor; The line position control of going forward side by side of position control section, the instruction of its output speed is so that consistent with position command from the position of the motor of position detection part feedback; Speed controlling portion, it is according to proportional plus integral control, and the line speed control of going forward side by side of output torque instruction is so that consistent with speed command from the speed of speed calculating part feedback; With the torque control part, it carries out torque control based on torque instruction.Position control section possesses: subtraction mechanism, and it obtains position command and by the position deviation between the detected position of position detection part; Position loop multiplication mechanism, it multiplies each other the position proportional gain with position deviation; Differentiator, it carries out differential to position command; Feedforward gain multiplication mechanism, it is with the output multiplication of feedforward gain and differentiator; Proportion differential mechanism, proportion differential control is carried out in its output to feedforward gain multiplication mechanism, and the delay of compensation speed control system; The feedforward low-pass filter, it has the transport function of removing by the caused pulsation of quantized error of position command, and the additive value of the output of the output of Comparative Examples differential mechanism and feedforward gain multiplication mechanism carries out Filtering Processing; And adding mechanism, the output addition of the output of its low-pass filter that will feedover and position loop multiplication mechanism, output speed instruction.

As described herein,, then can access once leading characteristic if feedback multiplication output carrying out proportion differential is controlled by position control section, and the delay of compensation speed control system, tracing property improved to position command.In addition, if adopt speed control side delay compensation low-pass filter, then can make the deviation between the speed of the speed command of delay and the actual velocity feedback that is postponed approach 0, make the burden of velocity integrator be roughly zero with the delay that is equivalent to speed control system.In addition, even, also can constitute the little control system of overshoot, can realize the position control that tracing property is higher in that feedforward gain is risen under 100% the situation.In addition, if adopt the feedforward low-pass filter, then can stop pulsation to be contained in speed command self based on the quantized error that produces owing to position command portion.

In addition, the position control side delay compensation low-pass filter of the transport function with the delay that is equivalent to speed control system also is set, also the position deviation between the position of position command by this position control side delay compensation low-pass filter and position feedback can be input in the position loop multiplication mechanism.In addition, by integrator the deviation of the differential value of the output of the differentiator that position command carried out differential and position is being carried out integration, try to achieve under the situation of position deviation, also can between differentiator and integrator, dispose the position control side delay compensation low-pass filter of transport function with the delay that is equivalent to speed control system, also can be with the deviation input integral device between the differential value of the output of the differentiator by position control side delay compensation low-pass filter and position.

Have this position control side delay compensation low-pass filter by setting, when quickening, the position command that is input to position control section and position feedback are in roughly contemporaneity rising.Its result becomes quite little value from the speed command of position control section.By adopting this formation, can make the velocity feed forward gain be 1 or approach 1 value, can improve tracing property to position command.

In addition, in the present invention, speed controlling portion is made of following part: speed control side delay compensation low-pass filter, and it has the transport function of the delay that is equivalent to speed control system; Integral control system, it contains velocity integrator, and delay speed instruction that obtains the speed command input speed is controlled side delay compensation low-pass filter and the velocity deviation between the speed are carried out integration; Ratio control system, the proportional instruction of the difference between its output and speed command and the speed; Adding mechanism, it is with the output of integral control system and the output addition of ratio control system; With multiplication mechanism, it is exported the output multiplication of speed proportional gain with this adding mechanism as torque instruction.Also have, in ratio control system, also velocity deviation and speed proportional gain can be multiplied each other, in integral control system, also the operation values in speed proportional gain and the control can be multiplied each other.If adopt speed control side delay compensation low-pass filter as the present invention, then can make the deviation between the speed of the speed command of delay and the actual velocity feedback that is postponed approach 0 with the delay that is equivalent to speed control system.Make the burden of velocity integrator be roughly zero, can improve tracing property position command.

The optimum position control part is by trying to achieve position command and being made of the subtraction mechanism of the position deviation between the detected position of position detection part and the position loop multiplication mechanism that position proportional gain and this position deviation are multiplied each other.In this case, the optimum position control part also possesses: differentiator, and it carries out differential to above-mentioned position command; Multiplication mechanism, it is with the output multiplication of feedforward gain and differentiator; With the feedforward low-pass filter, it has the transport function of removing by the caused pulsation of quantized error of above-mentioned position command.In addition, position control section, also can have the structure of following output being carried out Filtering Processing by the feedforward low-pass filter, this is output as the output of differential mechanism that position command is carried out the differentiator of differential and the output of the output multiplication of feedforward gain and this differentiator carried out the delay of proportion differential control and compensation speed control system, with the output of the output addition of the multiplication mechanism of above-mentioned feedforward gain.

Description of drawings

Fig. 1 is the block diagram of an example of the concrete formation of employed speed control unit among expression the present invention.

Fig. 2 is the block diagram of an example of the concrete formation of employed another speed control unit among expression the present invention.

The figure of the simulation result when Fig. 3 is expression insertion speed integral compensation low-pass filter.

Fig. 4 is the figure of the simulation result of expression when not having insertion speed integral compensation low-pass filter.

Fig. 5 is the block diagram of an example of the concrete formation of the current controller that is illustrated in another embodiment of the present invention to be adopted.

The block diagram of one example of the concrete formation of another current controller that Fig. 6 is among the present invention to be adopted.

The analogous diagram of the action waveforms of the motor when Fig. 7 (A) to (C) is expression insertion Current Control side delay compensation low-pass filter.

Fig. 8 (A) to (C) is the analogous diagram of the action waveforms of the motor when representing not insert Current Control side delay compensation low-pass filter.

Fig. 9 is the block diagram of formation of embodiment of the position control of expression motor of the present invention.

Figure 10 is the block diagram of an example of the concrete formation of expression speed controlling portion of the present invention.

Figure 11 is the block diagram of an example of the concrete formation of expression another speed controlling portion of the present invention.

Figure 12 is the block diagram of formation of another embodiment of the position control of expression motor of the present invention.

Figure 13 is the block diagram of the formation of an embodiment again of the position control of expression motor of the present invention.

Figure 14 is the block diagram of the formation of an embodiment again of the position control of expression motor of the present invention.

Figure 15 is expression to the feedforward gain in the existing position control is the figure that the result of emulation is carried out in 0% o'clock position control action.

Figure 16 is expression to the feedforward gain in the existing position control is the figure that the result of emulation is carried out in 50% o'clock position control action.

Figure 17 is expression to the feedforward gain in the existing position control is the figure that the result of emulation is carried out in 100% o'clock position control action.

Figure 18 is illustrated in the embodiment of Fig. 9 and Figure 10, and insertion speed is controlled side delay compensation low-pass filter and the position control action that feedforward gain was made as carried out the result's of emulation figure at 0 o'clock.

Figure 19 be expression to condition based on Figure 18, the differential gain is made as 0, the position control that feedforward gain was made as 100% o'clock is moved the result's carry out emulation figure.

Figure 20 be expression based on the condition of Figure 19, the simulation result that the position control when inserting the differential gain is moved figure.

Figure 21 represents that to the condition based on Figure 19 the result's of emulation figure is carried out in the position control action when side delay compensation low-pass filter is controlled in the insertion position shown in the formation of Figure 13.

Figure 22 represents that to the condition based on Figure 21 the result's of emulation figure is carried out in the position control action during to the insertion differential gain.

Figure 23 is the block diagram of the formation of the existing speed control unit of expression.

Figure 24 is the figure of formation of the current control device of the existing motor of expression.

Figure 25 is the figure of the formation of the existing current controller of expression.

Figure 26 is the figure of formation of the position control of the existing motor of expression.

Figure 27 is the block diagram of the formation of the existing speed controlling portion of expression.

Embodiment

Fig. 1 is the block diagram of an example of the concrete formation of expression speed control unit of the present invention.The system of Fig. 1 constitutes, and except different with the formation of speed controlling portion 13 and possess the velocity feedback low-pass filter 135, does not have the change of essence with the existing formation of Figure 23.

This system possesses scrambler E, and its conduct detects the position detection part as the position of the motor M of controlling object.The output of scrambler E is the position feedback of position of the output shaft of expression motor.Speed calculation portion 2 constitutes the speed that calculates motor based on the output of scrambler E, and speed calculation portion 2 is output as velocity feedback.Velocity feedback is represented the speed of the output shaft of motor M.

Speed controlling portion 13, according to proportional plus integral control, the go forward side by side line speed control of output torque instruction is so that consistent with speed command from the speed of speed calculating part 2 feedbacks.As shown in Figure 1, the speed controlling portion 13 of present embodiment possesses rate integrating compensation low-pass filter 133, and it has the transport function (1/ (1+STc)) of the delay that is equivalent to speed control system.In addition, speed controlling portion 13, comprise: integral control system 136 and ratio control system 137, wherein, integral control system 136 has: the multiplication mechanism 131 of trying to achieve delay speed instruction that speed command input speed integral compensation low-pass filter 133 is obtained and the velocity deviation between the speed, storage gain (1/Tvi) and this velocity deviation are multiplied each other by the SB2 of subtraction mechanism; With the velocity integrator 132 that the output of multiplication mechanism 131 is carried out integration.It tries to achieve deviation between speed command and the velocity feedback, output and the proportional instruction of this deviation by the SB1 of subtraction mechanism ratio control system 137.And speed controlling portion 13 also possesses multiplication mechanism 134, its with speed proportional gain KVP with by adding mechanism AD1 the result of the output addition of the output of integral control system 136 and ratio control system 137 is multiplied each other, export as torque instruction.Though the above basic comprising that constitutes, but in this example, also possess velocity feedback low-pass filter 135, it has the pulsation that stops quantized error and/or site error owing to scrambler (position detection part) to produce and appears at transport function (1/ (1+ST in the torque instruction _FB)).In addition in this case, ratio control system 137 comprises the SB1 of subtraction mechanism, and it tries to achieve speed after the Filtering Processing that speed input speed feedback low-pass filter 135 is obtained and the deviation between the speed command.

In this example, with the SB2 of subtraction mechanism try to achieve with speed command after by rate integrating compensation low-pass filter 133 value and the difference between the velocity feedback, and multiply each other the back by velocity integrator 132 with speed gain (1/Tvi).In addition, with the SB1 of subtraction mechanism try to achieve speed command, and with velocity feedback by the difference between the value after the velocity feedback low-pass filter 135, and the output addition by adding mechanism AD1 and velocity integrator 132.And last, multiply each other with speed proportional gain (KVP) and to torque control part 4 output torque instructions.Torque control part 4, Control current is so that the torque of output as torque instruction.

Above-mentioned velocity feedback low-pass filter 135 is to suppress by the quantized error of scrambler E and the wave filter of the caused pulsation of site error.This wave filter, the feedback of ratio control system 137 is only inserted in performance, and makes percent ripple not appear at effect in the torque instruction.Integral control system 136 because velocity integrator 132 is carried out level and smooth conduct, does not therefore need this wave filter.

Rate integrating compensation low-pass filter 133 is set time of the delay that is equivalent to speed control system, so that delay compensation output and velocity feedback have roughly the same ascendant trend, and the burden of the velocity integrator 132 when reducing the speed command variation.Thus by constituting speed controlling portion 13, can realize the control of pulsation included in the velocity feedback simultaneously and the burden of the velocity integrator 132 when reducing speed command and changing.

In addition, under the little situation of the quantized error of scrambler E, do not need velocity feedback low-pass filter 135.Also have, if rate integrating compensation low-pass filter 133 is the transport function of the delay of analog rate control system, then any transport function all can, be not limited to the transport function of present embodiment.

Fig. 2 is the block diagram that comprises 13 ' time of speed controlling portion that speed controlling portion 13 is out of shape in the speed control unit of Fig. 1.If with the speed controlling portion 13 of Fig. 1 and speed controlling portion 13 ' compare, then the multiplication mechanism 134 of speed controlling portion 13 ' medium velocity proportional gain KVP of Fig. 2 ' be positioned at ratio control system inside (be inserted into adding mechanism AD1 before this point), with for integral control system 136 ' in, gain KVP and operation values of speed proportional multiplied each other, and change multiplication mechanism 131 ' transport function so that multiplication mechanism 131 ' carry out the multiplication of KVP/Tvi, different with the former speed controlling portion 13 structures.Even like this, also can obtain the action effect identical with the speed controlling portion 13 of Fig. 1.

Fig. 3 and Fig. 4 are the examples that the result of emulation is carried out in response to the speed command step in the control system shown in Fig. 1.In each figure, the longitudinal axis is represented speed command and velocity feedback in last figure (A), expression velocity integrator output in figure below (B).All be the identical ratio of speed, expression turns to 10 value with same velocity amplitude as base standard.The transverse axis All Time was a unit with 0.01 second.Fig. 3 is the simulation result when not having insertion speed integral compensation low-pass filter 133.Simulation result when Fig. 4 is insertion speed integral compensation low-pass filter 133.Stair-stepping waveform side represents speed command in any of Fig. 3 (A) and Fig. 4 (A), represents velocity feedback than the rising waveform of this instruction delay.In any figure, the stair-stepping rising of relative velocity instruction, about 1/3～1/2 of the rising delay of velocity feedback 0.01 second.Represent the delay of the time response of speed control system this time delay.When not having insertion speed integral compensation low-pass filter 133, shown in Fig. 3 (B), the output of velocity integrator 132 is illustrated in the regional little peak value of the rising of velocity feedback.In this zone, there is the deviation of speed command and velocity feedback, the state that the integration of expression velocity deviation accumulates.The small leak of the velocity integrator output in the rise time of this velocity feedback promptly, is represented the state of the burden that velocity deviation is accumulated in this time.By such burden velocity feedback shown in Fig. 3 (A), according to about this burden velocity feedback overshoot to 12.The output of velocity integrator converges in 0 the time zone, and shown in Fig. 3 (A), the overshoot of velocity feedback also converges to speed value 10.By as can be known, along with the burden of motor acceleration and deceleration velocity integrator 132 changes in the burden increase of the rising point velocity integrator 132 of this velocity feedback.

Result when next, Fig. 4 has represented to insert rate integrating compensation low-pass filter 133.In this case, stair-stepping speed command shown in Fig. 4 (A) is by rate integrating low-pass filter 133, as delay speed instruction output, regulate so that the rising edge of this delay speed instruction has the delay with the rising edge same degree of the velocity feedback shown in Fig. 4 (A).Like this, obtain deviation between delay speed instruction and the velocity feedback, multiply by 1/Tvi doubly, be integrated by velocity integrator 132 by multiplication mechanism 131 by the SB2 of subtraction mechanism.In this case, these deviations that obtain by the SB2 of subtraction mechanism are very little with the rising edge zone of velocity feedback in the delay speed instruction, shown in Fig. 4 (B), the burden of the velocity deviation in the velocity integrator 132 is represented small leak, keeps roughly being approximately 0 constant after this.In this case, the height of the small leak of the burden of velocity integrator 132 is compared with the situation of Fig. 3 (B), from large to small, arrives almost insignificant degree.In addition, velocity feedback does not have the overshoot of speed value more than 10 shown in Fig. 4 (A), converge to the value identical with speed command 10 apace.

As mentioned above, in this control device,,, therefore can increase the storage gain of this value, can improve the constrain ability of disturbing because the burden of the velocity integrator 132 in the motor rotation can be little of the value that is approximately 0 by insertion speed integral compensation low-pass filter 133.Velocity feedback low-pass filter 135, except by low-pass filter constitutes damply about the time index function ground shown in the embodiments of the present invention, also can constitute by the transport function of the such general functional form of the measured value of the response characteristic of analog rate or theoretical value.

Fig. 5 is that expression uses current controller 213 to replace the block diagram of an example of the concrete formation of the current controller 4a of the conventional device shown in Figure 24 and current controller 4b.

As shown in Figure 5, the current controller 213 of present embodiment possesses Current Control side delay compensation low-pass filter 233, and it has the transport function suitable with the delay of current control system (1/ (1+STc)).In addition, current controller 213 comprises: the ratio control system of the proportional instruction of current deviation between integral control system and output and current-order and the current feedback.Wherein, integral control system comprises: try to achieve the current deviation between delayed current instruction that current-order input current control side delay compensation low-pass filter 233 is obtained and the current of electric (current feedback) by the SB2 of subtraction mechanism, the multiplication mechanism 231 that storage gain (1/Tvi) and this current deviation are multiplied each other; With the current integrator 232 that the output of multiplication mechanism 231 is carried out integration.And current controller 213 also possesses multiplication mechanism 234, its with current ratio gain KIP with by adding mechanism AD1 the result of the output addition of the output of integral control system and ratio control system is multiplied each other, export as voltage instruction.This current controller 213 comprises the ratio control system of integral control system and output and the proportional instruction of current-order, this integral controller comprises the delayed current instruction that current-order is input to Current Control side delay compensation low-pass filter 233 and obtains, and this current deviation be multiply by the multiplication mechanism 231 of current integration gain (1/Tvi); Integration current integrator 232 is carried out in output to multiplication mechanism 231.And current controller 213 also has multiplication mechanism 234, and it, and multiply by current ratio gain KIP and export as voltage instruction the output of integral control system and the output addition of ratio control system by adding mechanism AD1.In this embodiment, obtain current deviation between delayed current instruction and the current feedback by the SB2 of subtraction mechanism, by adding mechanism AD1 with the output of current integrator 232 and the output addition of ratio control system.And by multiplication mechanism 234 with current ratio gain KIP and adding mechanism AD1 output multiplication and obtain voltage instruction.

Current Control side delay compensation low-pass filter 233, setting is equivalent to the transport function of the delay of current control system, so that delayed current instruction has roughly the same ascendant trend with current feedback, and the burden of the current integrator 232 when reducing current-order and changing.Thus by constituting current controller 213, can realize the control of pulsation included in the velocity feedback simultaneously and the burden of the velocity integrator 232 when reducing current-order and changing.

Also have, if rate integrating compensation low-pass filter 233 is the transport function of the delay of analog current control system, then any transport function all can, be not limited to the transport function of present embodiment.In addition, when the delay of control system is big, 1 sampling also capable of being combined or several sampling delay and low-pass filter.

Fig. 6 is the block diagram of the variation of expression current controller.If with current controller 213 ' compare with the current controller 213 of Fig. 5, then the current controller 213 of Fig. 6 ' in, the inside of the multiplication mechanism 234 of current ratio gain KIP ' be positioned at ratio control system (be inserted into adding mechanism ADI before this point), with in integral control system, gain KIP and operation values of current ratio multiplied each other, and change multiplication mechanism 231 ' transport function, different with the former structure of current control division 213.Even like this, also can obtain the action effect identical with the current control division 213 of Fig. 2.

Fig. 7 (A) to (C) and Fig. 8 (A) to (C) are the results who the current-responsive in this control system is carried out emulation, are each current-order, current feedback and integrator output.All be the ratio of same current, expression turns to 1 value with same current value as base standard.The transverse axis All Time of each figure is a unit with 0.001m second.Fig. 7 is that situation, Fig. 8 of insertion Current Control side delay compensation low-pass filter 233 is the simulation result that does not insert the situation of Current Control side delay compensation low-pass filter 233.In any of Fig. 7 and Fig. 8, the rising of current-order relatively, about 1/5 of rising delay 0.001m second of current feedback.As shown in Figure 7, under the situation of inserting Current Control side delay compensation low-pass filter 233, the rise edge delay of the output current by current integrator 233 and the rising edge same degree of current feedback, eliminate the poor of them by adding mechanism AD1, integrator output is represented small leak in the rise time of current feedback, in addition keeps roughly being approximately 0 constant.In this case, the height of the small leak of integrator output arrives almost insignificant degree from large to small.Yet, under the situation of not inserting Current Control side delay compensation low-pass filter 233, as shown in Figure 8, can not offset fully between the current feedback among the adding mechanism AD1 in the time of the rising of current feedback and the output of current integrator 232, the peak value shown in the current integrator output is compared with the situation of inserting Current Control side delay compensation low-pass filter 233 and is become big in the rising of current feedback.

Its result as can be known, though under the situation of not inserting Current Control side delay compensation low-pass filter 233, the overshoot of electric current is big, but under the situation of inserting Current Control side delay compensation low-pass filter 233, become by the burden that makes the current integrator 232 in the motor rotation and to be approximately 0 value and can to reduce overshoot.

Also have, the present invention also is applicable in the control of DC certainly.In this case, do not need dq shaft current control system and the coordinate converter shown in the conventional example of Figure 24.

Fig. 9 is the block diagram that expression is applicable to the present invention the formation of the embodiment in the position control of motor.This system possesses scrambler E, and its conduct detects the position detection part as the position of the motor M of controlling object.The output of scrambler E is the position feedback of position of the output shaft of expression motor.Speed calculation portion 302 constitutes the speed that calculates motor based on the output of scrambler E, and speed calculation portion 302 is output as velocity feedback.Velocity feedback is represented the rotating speed of the output shaft of motor M.Position control section 311A constitutes output speed instruction and goes forward side by side line position control so that consistent with position command from the position as the motor M of the scrambler E feedback of position detection part.In the present embodiment, position control section 311A possesses: the differentiator 412 that position command is carried out differential; Feedforward gain VFF be multiply by the feedforward gain multiplication mechanism 413 of the output of differentiator 412; Also this output from multiplication mechanism 413 is carried out the differentiator 417 of differential; With the differential gain (Ks) and multiplier 418 from the output multiplication of differentiator 417; Adding mechanism AD3 with the output addition of the output of multiplier 418 and feedforward gain multiplication mechanism 413; And have the transport function (1+ (1+ST that removes by the caused pulsation of quantized error of position command _FF)) feedforward low-pass filter 414.In this example, by differentiator 417 and multiplier 418, constitute the proportion differential mechanism of the delay of compensation speed control system.Also have usually, feedforward gain VFF is set at about 40～60% (0.4～0.6).And the deviation of position command and position feedback is tried to achieve by the SB3 of subtraction mechanism, multiply by position proportional gain KP doubly by 411 pairs of these deviations of position loop multiplication mechanism.

From position control section 311A, will export as speed command by the instruction after the adding mechanism AD2 addition from the instruction of position loop multiplication mechanism 411 outputs with from the velocity feed forward instruction (speed FF instruction) of feedforward low-pass filter 414 outputs.By to such feedforward multiplication output carrying out proportion differential control, compensate obtaining once the delay of the speed control system of characteristic in advance, can improve tracing property to position command.Also have,, can stop the caused pulsation of the quantized error based on included in position command that is contained in the speed command self according to feedforward low-pass filter 414.

Speed command is the torque instruction by speed controlling portion 313.Torque control part 304, Control current is so that the torque of output as torque instruction.In the present embodiment, by appending feedforward, the location setting time is shortened than prior art.

Figure 10 is the block diagram of an example of concrete formation of representing the speed controlling portion 313 of Fig. 9 of adopting in the present invention.Speed controlling portion 313, according to proportional plus integral control, the output torque instruction is gone forward side by side line speed control so that the speed that is fed from the speed calculation portion 302 of Fig. 9 is consistent with speed command.As shown in figure 10, the speed controlling portion 313 that present embodiment adopted possesses speed control side delay compensation low-pass filter 433, and it has the transport function (1/ (1+STc)) of the delay that is equivalent to speed control system.In addition, speed controlling portion 313 comprises: integral control system; Ratio control system with output and the proportional instruction of speed command.Wherein, integral control system comprises: the multiplication mechanism 431 of trying to achieve delay speed instruction that speed command input speed control side delay compensation low-pass filter 433 is obtained and the velocity deviation between the speed, storage gain (1/Tvi) and this velocity deviation are multiplied each other by the SB2 of subtraction mechanism; With the velocity integrator 432 that the output of multiplication mechanism 431 is carried out integration.And speed controlling portion 313 also possesses multiplication mechanism 434, its with speed proportional gain KVP with by adding mechanism AD1 the result of the output addition of the output of integral control system and ratio control system is multiplied each other, export as torque instruction.Though the above basic comprising that constitutes, but in this example, also possess velocity feedback low-pass filter 435, it has the pulsation that stops quantized error and/or site error owing to scrambler (position detection part) to produce and appears at transport function (1/ (1+ST in the torque instruction _FB)).In addition in this case, ratio control system comprises the SB1 of subtraction mechanism, and it tries to achieve speed after the Filtering Processing that speed input speed feedback low-pass filter 435 is obtained and the deviation between the speed command.

In this example, obtain the difference of speed command, and pass through velocity integrator 432 with rate integrating gain (1/Tvi) back by its 433 result of speed control side delay compensation filtering and velocity feedback by the SB2 of subtraction mechanism.In addition, with the SB1 of subtraction mechanism obtain speed command, and with velocity feedback poor by between the result behind the velocity feedback low-pass filter 435, by the output addition of adding mechanism AD1 and velocity integrator 432.And last, multiply by speed proportional gain (KVP) and export torque instruction.

Above-mentioned velocity feedback low-pass filter 435 is to suppress by the quantized error of scrambler E and the wave filter of the caused pulsation of site error.This wave filter, the feedback of ratio control system is only inserted in performance, and makes percent ripple not appear at effect in the torque instruction.Integral control system because velocity integrator 432 is carried out level and smooth conduct, does not therefore need this wave filter.

The speed control side postpones low-pass filter 433, sets the time of the delay that is equivalent to speed control system, so that delay compensation output and velocity feedback have roughly the same ascendant trend, and the burden of the velocity integrator 432 when reducing the speed command variation.Thus by constituting speed controlling portion 313, can realize the control of pulsation included in the velocity feedback simultaneously and the burden of the velocity integrator 432 when reducing speed command and changing.

In addition, under the little situation of the quantized error of scrambler E, do not need velocity feedback low-pass filter 435.Also have, if speed control side delay compensation low-pass filter 433 is the transport function of the delay of analog rate control system, then any transport function all can, be not limited to the transport function of present embodiment.

Figure 11 be expression speed controlling portion 313 ' the block diagram of variation.If with the speed controlling portion 313 of Figure 10 and speed controlling portion 313 ' compare, inner this point of the multiplication mechanism 434 of speed controlling portion 313 ' medium velocity proportional gain KVP of Figure 11 ' be positioned at ratio control system (be inserted into adding mechanism AD1 before this point) then, with in integral control system, gain KVP and operation values of speed proportional multiplied each other, and change multiplication mechanism 431 ' this point of transport function, different with the former structure of speed controlling portion 313.Even like this, also can obtain the action effect identical with the speed controlling portion 313 of Figure 10.

Figure 12 is the block diagram of variation of the embodiment of presentation graphs 9.The embodiment of Figure 12, the formation of position control section 311B is different with the embodiment of Fig. 9, and in Figure 12, the key element identical with the inscape of the embodiment of Fig. 9 paid the symbol identical with the symbol of Fig. 9, and omits explanation.If with the embodiment contrast of the embodiment of Fig. 9 and Figure 12, different these points in the position of differentiator 412 then are with newly to have appended integrator 416 different with differentiator 305 these points.This positioner 311B promptly,, before will carrying out the differentiator 412 insertion subtraction SB3 of mechanism of differential to position command, before will inserting the subtraction SB3 of mechanism by the differentiator 305 that differential be carried out in the detected position of position detector, the integrator 416 that the deviation (position differential deviation) between the output (position being carried out the result of differential) of the output (position command being carried out the result of differential) of differentiator 412 and differentiator 305 is carried out integration inserts the leading portion that multiply by the position loop multiplication mechanism 411 that position proportional gains.Also can obtain the effect identical according to this embodiment with the embodiment of Fig. 9.

Figure 13 is the block diagram of formation of another embodiment of the position control of expression motor of the present invention.The inscape identical with the inscape of embodiment shown in Figure 9 paid the symbol identical with the symbol of Fig. 9, and omits explanation.In the present embodiment, except the constitutive requirements of the embodiment of Fig. 9, position control section 311C also possesses the position control side delay compensation low-pass filter 415 of the transport function (1/ (1+STd)) with the delay that is equivalent to speed control system.In the present embodiment, try to achieve by the position command of position control side delay compensation low-pass filter 415 and the position deviation between the position feedback, position deviation is inputed to position loop multiplication mechanism 411 by the SB3 of subtraction mechanism.In this example, feedforward gain VFF is set at 1 or near 1 value.

Position control side delay compensation low-pass filter 415 is set at transport function with the delay of speed control system.The transport function of assigned position control side delay compensation low-pass filter 415 is so that the output of position control side compensation low-pass filter 415 and position feedback same degree ground rise.If append position control side delay compensation low-pass filter 415, then the output of the position loop multiplication mechanism 411 of position control section 311C becomes quite little value.In this device, by appending position control side delay compensation low-pass filter 415, then can make feedforward gain VFF rise to 100% or approach 100% value (1 or approach 1 value), identical with the situation of the embodiment of Fig. 9 or than its deficient location setting time that shortens perhaps.

Figure 14 is illustrated in the formation of appending the situation of position control side delay compensation low-pass filter 415 in the embodiment of Figure 12.Other points are identical with the embodiment of Figure 12, therefore omit explanation.

Figure 18 is illustrated in the embodiment of Fig. 9 and Figure 10, insertion speed control side is postponed the result who makes up the difference low-pass filter 433 and emulation is carried out in the position control action that feedforward gain is set at 0 o'clock.If compare with the conventional example of Figure 15, then the burden of velocity integrator approaches 0 as can be known.In addition, Figure 19 represents that the condition to based on Figure 18 is made as 0 with the differential gain, the result that emulation is carried out in the position control action that feedforward gain was made as 100% o'clock.By like this, overshoot quantitative change in position is big as can be known.And Figure 20 represents, to the result who carries out emulation based on the condition of Figure 19, position control action when inserting the differential gain.If compare,, also can reduce overshoot even then as can be seen from Figure 20 feedforward gain is set under 100% the situation with Figure 19.Figure 21 represents, the result that emulation is carried out in the position control action to based on the condition of Figure 19, insertion position control side delay compensation low-pass filter 415 as the formation of Figure 13 the time.If under the situation of Figure 21, compare, also can reduce overshoot as can be known with Figure 19.Further in Figure 22, expression serves as the result that emulation is carried out in the position control action of basis when inserting the differential gain to the condition with Figure 21.As shown in Figure 22, the speed command of the positioner during from acceleration and deceleration is roughly 0, is 100% even establish feedforward gain, also can reduce overshoot, can improve tracing property significantly.Finally as can be known, the position deviation during constant speed can be reduced to the feedforward gain of establishing conventional example shown in Figure 16 and be 50% o'clock about about 1/2, and relatively can improve the about twice of tracing property in the past.

Industrial utilizability

According to the present invention, adopt thus rate integrating compensation low pass filter, therefore can make to have phase When in the speed command of the delay of the delay of speed control system and the actual speed feedback that postpones Deviation between the speed can make the burden of velocity integrator be roughly 0 close to 0. Thus, By being suitable for this control device, owing to can reduce the burden of velocity integrator, therefore can realize Reduce overshoot and improve the storage gain of this amount with simple formation, excellent with the constrain interference performance of high speed Good speed control unit

According to the present invention, owing to adopt Current Control side delay compensation low pass filter, therefore can make Have the delayed current instruction of delay of the delay that is equivalent to current control system and the electricity of actual delay Current deviation between the stream feedback can make the burden of current integrator be roughly 0 near 0, makes The current-responsive high speed. Therefore, by being suitable for current control device of the present invention, can be with simply Formation makes the current-responsive high speed, can reduce overshoot.

According to the present invention, carry out proportion differential control, tool by by position control section the feedforward multiplication being exported Have to obtain once leading characteristic, the delay of compensation speed control system improves the tracking to position command The advantage of property. In addition, if employing speed control side delay compensation low pass filter then can make to have Speed command and the actual speed feedback that postpones of delay that is equivalent to the delay of speed control system Deviation between the speed makes the burden of velocity integrator be roughly zero close to 0. In addition, though Feedforward gain is risen in 100% the situation, also exist to consist of the little control system of overshoot, energy Enough realize the higher Position Control of tracing property, can realize the more advantage of the tracing property of high speed.

Claims

1, a kind of motor control assembly is to possess: position detection part, and it detects the position as the motor of controlling object; Speed calculation portion, it is according to the speed that is gone out described motor by the position calculation of the detected motor of described position detection part; Speed controlling portion, it is according to proportional plus integral control, and the output torque instruction carries out speed control, so that consistent with speed command from the described speed of described speed calculation portion feedback; With the torque control part, it carries out the such motor control assembly of torque control based on described torque instruction, it is characterized in that,

Described speed controlling portion is made of following part:

Rate integrating compensation low-pass filter, it has the transport function of the delay that is equivalent to speed control system;

Integral control system, it contains velocity integrator, and delay speed instruction that this velocity integrator obtains described speed command being imported described rate integrating compensation low-pass filter and the velocity deviation between the described speed are carried out integration;

Ratio control system, the proportional instruction of difference between the speed of its output and described speed command and described motor;

Adding mechanism, it is with the output of described integral control system and the output addition of described ratio control system; With

Multiplication mechanism, it obtains described torque instruction with the output multiplication of speed proportional gain with described adding mechanism.

2, a kind of motor control assembly is to possess: position detection part, and it detects the position as the motor of controlling object; Speed calculation portion, it is according to the speed that is gone out described motor by the position calculation of the detected motor of described position detection part; Speed controlling portion, it is according to proportional plus integral control, and the output torque instruction carries out speed control, so that consistent with speed command from the described speed of described speed calculation portion feedback; With the torque control part, it carries out the such motor control assembly of torque control based on described torque instruction, it is characterized in that,

Described speed controlling portion is made of following part:

Integral control system, it multiplies each other speed proportional gain and operation values in the control system that contains velocity integrator and export, wherein the delay speed that obtains described speed command being imported described rate integrating compensation low-pass filter of velocity integrator instruct and described speed between velocity deviation carry out integration;

Ratio control system, it exports the instruction that the difference between described speed command and the described speed multiply by after speed proportional gains; With

Adding mechanism, it is with the output of described integral control system and the output addition of described ratio control system.

3, according to the motor control assembly described in claim 1 or 2, it is characterized in that,

Also possess the velocity feedback low-pass filter, this velocity feedback low-pass filter has and stops because the quantized error of described position detection part and/or site error former thereby transport function that pulsation that produce occurs in described torque instruction,

Described ratio control system comprises subtraction mechanism, and speed after the Filtering Processing of described speed being imported described velocity feedback low-pass filter and obtaining and the deviation between the described speed command are tried to achieve by this subtraction mechanism.

4, a kind of motor control assembly is to possess: current detecting part, and it detects the current of electric as the motor of controlling object; Current controller, it is based on according to the current feedback of the detected described current of electric of described current detector and the current deviation between the current-order, the output voltage instruction; And driving mechanism, it supplies with the such motor control assembly of described current of electric based on described voltage instruction to described motor, it is characterized in that,

Described current controller is made of following part:

Current Control side delay compensation low-pass filter, it has the transport function of the delay that is equivalent to current control system;

Integral control system, it comprises current integrator, delayed current instruction that this current integrator obtains described current-order being imported described Current Control side delay compensation low-pass filter and the current deviation between the described current feedback carry out integration;

Ratio control system, the proportional instruction of current deviation between its output and described current-order and the described current feedback;

Multiplication mechanism, it obtains described voltage instruction with the output multiplication of current ratio gain with described adding mechanism.

5, a kind of motor control assembly is to possess: current detecting part, and it detects the current of electric as the motor of controlling object; Current controller, it is based on according to the current feedback of the detected described current of electric of described current detector and the current deviation between the current-order, the output voltage instruction; And driving mechanism, it supplies with the such motor control assembly of described current of electric based on described voltage instruction to described motor, it is characterized in that,

Described current controller is made of following part:

Integral control system, it multiplies each other current ratio gain and operation values in the control system that comprises current integrator, and wherein the delayed current instruction that obtains described current-order being imported described Current Control side delay compensation low-pass filter of current integrator and the current deviation between the described electric current carry out integration;

Ratio control system, it exports the instruction that the current deviation between described current-order and the described current feedback multiply by after current ratio gains; With

6, a kind of motor control assembly is to possess: position detection part, and it detects the position as the motor of controlling object; Speed calculation portion, it calculates the speed of described motor; The line position control of going forward side by side of position control section, the instruction of its output speed is so that consistent with position command from the position of the described motor of described position detection part feedback; Speed controlling portion, it is according to proportional plus integral control, and the line speed control of going forward side by side of output torque instruction is so that consistent with described speed command from the described speed of described speed calculation portion feedback; With the torque control part, it carries out the such motor control assembly of torque control based on described torque instruction, it is characterized in that,

Described position control section possesses:

Subtraction mechanism, it obtains described position command and by the position deviation between the detected described position of described position detection part;

Position loop multiplication mechanism, it multiplies each other the position proportional gain with described position deviation;

Differentiator, it carries out differential to described position command;

Feedforward gain multiplication mechanism, it is with the output multiplication of feedforward gain and described differentiator;

Proportion differential mechanism, proportion differential control is carried out in its output to described feedforward gain multiplication mechanism, and the delay of compensation speed control system;

The feedforward low-pass filter, it has the transport function of removing by the caused pulsation of quantized error of described position command, and the additive value of the output of the output of described proportion differential mechanism and described feedforward gain multiplication mechanism is carried out Filtering Processing; With

Adding mechanism, it exports described speed command with the output addition of the output of described feedforward low-pass filter and described position loop multiplication mechanism.

7, motor control assembly according to claim 6 is characterized in that,

Also possess position control delay compensation low-pass filter, it has the transport function of the delay that is equivalent to speed control system,

Described position command is by described position control side delay compensation low-pass filter, is input in the described subtraction mechanism.

8, according to the motor control assembly described in claim 6 or 7, it is characterized in that,

Described speed controlling portion possesses: speed control side delay compensation low-pass filter, and it has the transport function of the delay that is equivalent to speed control system;

Integral control system, it contains velocity integrator, and delay speed instruction that this velocity integrator obtains described speed command being imported described speed control side delay compensation low-pass filter and the velocity deviation between the described speed are carried out integration;

Ratio control system, the proportional instruction of difference between its output and described speed command and the described speed;

9, according to claim 6 or 7 described motor control assemblies, it is characterized in that,

Described speed controlling portion is made of following part:

Speed control side delay compensation low-pass filter, it has the transport function of the delay that is equivalent to speed control system;

Integral control system, it multiplies each other speed proportional gain and operation values in the control system that contains velocity integrator and export, wherein the delay speed that obtains described speed command being imported described speed control side delay compensation low-pass filter of velocity integrator instruct and described speed between velocity deviation carry out integration;

Ratio control system, it exports the instruction that the difference between described speed command and the described speed multiply by after speed proportional gains;

10, motor control assembly according to claim 9 is to possess: position detection part, and it detects the position as the motor of controlling object; Speed calculation portion, it calculates the speed of described motor; The line position control of going forward side by side of position control section, the instruction of its output speed is so that consistent with position command from the position of the described motor of described position detection part feedback; Speed controlling portion, it is according to proportional plus integral control, and the line speed control of going forward side by side of output torque instruction is so that consistent with described speed command from the described speed of described speed calculation portion feedback; With the torque control part, it carries out the such motor control assembly of torque control based on described torque instruction, it is characterized in that,

Described position control section possesses:

Differentiator, it carries out differential to described position command;

Proportion differential mechanism, proportion differential control is carried out in its output to described feedforward gain multiplication mechanism, with the delay of compensation speed control system;

The feedforward low-pass filter, it has the transport function of removing by the caused pulsation of quantized error of described position command, and the additive value of the output of the output of described proportion differential mechanism and described feedforward gain multiplication mechanism is carried out Filtering Processing;

Integrator, it carries out integration to the output of described differentiator and by the deviation between the differential value of the detected described position of described position detection part, and described position deviation is outputed in the described position loop multiplication mechanism;

Position loop multiplication mechanism, it is with the output multiplication of position proportional gain with described integrator; With

Adding mechanism, it will be from the instruction of described position loop multiplication mechanism output and velocity feed forward instruction addition from described feedforward low-pass filter output, as described speed command output.

11, motor control assembly according to claim 10 is characterized in that,

The position control side delay compensation low pass filter arrangement of transport function that will have the delay that is equivalent to speed control system between described differentiator and described integrator,

Deviation between the output of described differentiator that will be by described position control side delay compensation low-pass filter and the differential value of described position inputs to described integrator.