JP2000293234A - Motor control gain switching method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To actualize small-sized constitution, good operability, and adaptation to multiple load modes by detecting an operation mode from the absolute value of the variation quantity of an external position command in a fixed sampling time and an external position command quantity and switching gains by previously set operation modes through software. SOLUTION: Three kinds of operation modes of the stop, acceleration or deceleration, and constant speed of the motor are detected from the absolute value of the variation quantity of the external position command 4 in the fixed sampling time and the external position command quantity. Then the software performs switching to the values of position loop gains 6, the values of the speed loop gain 11, and the values of speed loop integral time constants 13 set by the operation modes previously set delay time set by the operation modes. Thus, the operation mode is detected from the external command quantity and the state change in the fixed time and the software performs the switching to the gain characteristics of the detected operation mode, so that requested performance by the operation modes can be satisfied.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to software for switching a control gain of a controller for driving a predetermined load such as a spinner to improve motor control characteristics.

[0002]

2. Description of the Related Art In recent years, servo motors having good controllability have been used as drive sources for various industrial devices, and miniaturization and high performance have been demanded.

[0003] In a controller for driving a predetermined load such as a spinner, controllability in a predetermined operation mode such as acceleration, constant speed, deceleration, and motor stop is an important point.

Hereinafter, a conventional motor control system will be described.

In FIG. 2, at the motor position 3 which is the output of the position detector 2 for detecting the position of the motor 1, the difference between the motor position 3 and the external position command 4 is a position deviation 5, and the position deviation 5 and the position deviation The product with the loop gain 6 is the speed command 7.
The motor rotation speed 9 is calculated from the motor position 3 by the speed detector 8, and the difference between the motor rotation speed 9 and the speed command 7 becomes the speed deviation 10.

A speed loop gain 11 is added to the speed deviation 10.
Is the torque command proportional component 12, the torque command proportional component 12 is delayed by the speed loop integration time constant 13, the previous value is the torque command integral component 14, and both torque command components are the speed loop integration time constant 13 The torque command 15 is generated by adding to the above. The motor 1 is controlled by inputting a torque command 15 to a current controller 16 for controlling a current flowing through the motor 1.

[0007]

However, when a predetermined load such as a spinner is driven by the above-described conventional motor control system, various controls are performed in accordance with the motor load conditions so as to improve the responsiveness and stability to motor commands. The gain (including the speed loop integration time constant) is determined. For example, if the response at the time of acceleration / deceleration is improved, the vibration at the time of stop will increase. (Vibration) was not satisfactory.

For this reason, a method of switching various control gains with a switch is conceivable, but a peripheral circuit component for adjusting the various gains and a plurality of switches are required, and there has been a problem in downsizing the control circuit.

Further, it is necessary to switch the switch depending on the motor load condition, and the switching operation is complicated for the user.

An object of the present invention is to solve the above-mentioned conventional problems, and an object of the present invention is to provide a motor control gain switching method which is small, has good operability, and can correspond to a plurality of load modes.

[0011]

In order to solve the above-mentioned problems, the present invention detects an operation mode from an absolute value of an amount of change of an external position command during a fixed sampling time and an external position command and sets a predetermined operation mode. The gain of each operation mode is switched on software after the elapse of the delay time.

[0012]

In order to solve the above-mentioned problems, the present invention relates to a control method of a controller for driving a predetermined load such as a spinner, comprising the steps of: A first step of detecting three types of operation modes of motor stop, acceleration / deceleration, and constant speed from the position command amount, and an operation mode detected in the first step is set in advance for each operation mode. Motor control gain switching including a second step of switching to a value of a position loop gain, a value of a speed loop gain, and a value of a speed loop integration time constant set for each operation mode after a delay time by software. Is the way.

As described above, the operation mode is detected from the external command amount and the state change within a certain period of time, and the gain is switched to the gain specific to the detected operation mode by software, so that the desired performance for each operation mode is satisfied. Can be.

[0014]

An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, 1 to 16 are the same as those in the prior art, and the description is omitted.

First, each operation mode will be described. If the value of the external position command 4 is 0 and the stop delay time has elapsed, the motor is in a stopped state, and the absolute value of the external position command change amount in a certain time exceeds a certain value. And if the acceleration / deceleration delay time has elapsed, the motor is in the acceleration / deceleration state. If it is determined that the motor is in the stop mode, the value of the stop position loop gain 17 is substituted into the position loop proportional gain 6, and the stop speed loop gain 18
Is substituted for the speed loop gain 11, and the value of the stop-time speed loop integration time constant 19 is substituted for the speed loop integration time constant 13.

If the motor is in the acceleration / deceleration mode, the value of the position loop gain 20 during acceleration / deceleration is substituted into the position loop gain 6, and the value of the speed loop gain 21 during acceleration / deceleration is substituted into the speed loop gain 11, and acceleration / deceleration is performed. Time speed loop integration time constant 2
The value of 2 is substituted into the speed loop integration time constant 13.

Further, if the motor is in the constant speed mode, the value of the position loop gain 23 at the constant speed is substituted for the position loop gain 6, and the value of the speed loop gain 24 at the constant speed is substituted for the speed loop gain 11, and The value of the time speed loop integration time constant 25 is substituted for the speed loop integration time constant 13.

Note that the above substitution is achieved by switching on software, and the three types of motor patterns can arbitrarily set the control gain (including the integration time constant) for each operation mode.

As a result, vibration of the motor shaft at the time of stop is suppressed,
It is possible to obtain a performance that satisfies all required specifications, such as improved responsiveness during acceleration / deceleration, reduced overshoot, and stability at constant speed.

[0021]

As is apparent from the above embodiment, according to the present invention, there is no need to externally switch the gain and the size is small.
It can satisfy all the required specifications, such as suppression of vibration of the motor shaft at the time of stop, improvement of responsiveness during acceleration / deceleration and reduction of overshoot, and stability at constant speed.

[Brief description of the drawings]

FIG. 1 is a control block diagram of an embodiment of the present invention.

FIG. 2 is a conventional control block diagram.

[Explanation of symbols]

 4 External position command 6 Position loop gain 11 Speed loop gain 13 Speed loop integration time constant

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5H303 AA01 AA04 AA10 BB01 BB06 CC03 CC04 DD01 EE03 EE07 FF03 JJ02 KK02 KK03 KK18 KK24

Claims (1)

[Claims] A first step of detecting three types of operation modes of a motor stop, acceleration / deceleration, and constant speed from an absolute value of a change amount of an external position command and an external position command amount during a fixed sampling time; After the delay time set in advance for each operation mode with respect to the operation mode detected in the first step, the position loop gain value, the speed loop gain value, and the speed loop integration time constant set for each operation mode are set. And a second step of switching the value on a software basis.