JP2001051722A - Controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device which stably operates even at the time of acceleration and deceleration wherein two motors mutually generate torques by switching a speed feedback path from antibacklash control to speed control according to the output of a 1st angular velocity subtracter on an angular velocity feedback path having an angular velocity detector. SOLUTION: The speed feedback path is switched from the antibacklash control to the speed control according to the output of the 1st angular velocity subtracter to perform control so that the angular velocities of the two motors are equal to each other even in an output torque area wherein the two motors mutually generate the torques. Namely, when the sum of the output torques of the motors 3 and 4 is not within a pretorque range, a 1st decision unit 33a decides how large the output of the 1st speed subtracter 33a is and generates its output so that 2nd and 3rd switches 38a and 39 are turned on. At this time, a 1st inverter 45a generates its output so that a 1st switch 34a is turned off. Consequently, a turret 2 is brought under the speed control of the speed feedback path composed of angle detectors 12a and 13a.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a control device for controlling the movement of a movable body driven by a motor. Here, for convenience of explanation, a drive control of a mobile crane is described as an example of the movable body.

[0002]

2. Description of the Related Art FIG. 9 shows a known crane truck. A turret 2 of the crane truck 1 has a motor 3 and a motor 4 for turning the turret 2 in the directions of arrows a and b, ie, a motor 3, and an arm 8 for arrows c and d. The motors 9 and 10 are driven in the direction, that is, up and down, and these motors 3, 4, 9 and 10 are controlled by a control device 11. A gear 5a and a gear 6a are attached to the motor 3 and the motor 4, respectively, and a so-called anti-backlash drive system is adopted, in which the torque of the motor 3 and the motor 4 is transmitted to the gear 7a. The gears 5b and 6b are attached to the motors 9 and 10 similarly to the motors 3 and 4 described above, and transmit the torque from the motors 9 and 10 to the gear 7b. FIG. 10 is a diagram showing a mechanical connection between the gear 5, the gear 6, and the gear 7.

FIG. 1 shows the control of the turret of a crane truck.
1 will be described in detail. In FIG. 9, 2 to 11 are the same as those shown in FIG. 12a is the first motor 3
A first angular velocity detector for detecting the rotational angular velocity of the second motor 4; a second angular velocity detector for detecting the rotational angular velocity of the second motor 4; 14a a first angle for detecting the rotational angle of the first motor 3 The detector 15a is a second angle detector for detecting the rotation angle of the second motor 4, and the first angular velocity detector 12a and the first angle detector 14a are attached to the first motor 3. Further, the second angular velocity detector 13a and the second angle detector 15a are attached to the second motor 4. 12b is a third angular velocity detector for detecting the rotational angular velocity of the third motor 9, 13b is a fourth angular velocity detector for detecting the rotational angular velocity of the fourth motor 10, 14b is the rotational angle of the third motor 9 15b is a fourth angle detector for detecting the rotation angle of the fourth motor 10, and the third angular velocity detector 12b and the third angle detector 14b are for the third angle detector. Of the motor 9. Further, the fourth angular velocity detector 1
3b and the fourth angle detector 15b are attached to the fourth motor 10. 16a is a first current detector that detects a current flowing through the armature winding of the first motor 3, 17a is a second current detector that detects a current flowing through the armature winding of the second motor 4, Reference numeral 18a denotes a first angle pattern generating unit for generating a command value for rotating the control target, and 19a denotes an output of the first angle detector 14a and a second signal from the angle command output from the first angle pattern generating unit 18a. Is a first angle subtractor for calculating a deviation from the output of the angle detector 15a, and 20a is a first angle subtractor.
A first angle deviation amplifier 21a amplifies the output of the angle subtractor 19a, and outputs the output of the first angular velocity detector 12a and the output of the second angular velocity detector 13a from the output of the first angle deviation amplifier 20a. A first angular velocity subtractor for calculating the deviation,
22a is a first angular velocity deviation amplifier for amplifying the output of the first angular velocity subtractor 21a, 23a is a first pre-torque command for applying a pre-torque to the first motor 3, and 24a is a first pre-torque command for applying a pre-torque to the second motor 4. 2, pre-torque command,
25a adds the output of the first angular velocity deviation amplifier 22a and the first pre-torque command 23a to generate a first current detector 16a
A first current subtractor for calculating a deviation from the current detected by
26a adds the output of the first angular velocity deviation amplifier 22a and the second pre-torque command 24a to obtain a second current detector 17a.
A second current subtractor for calculating a deviation from the current detected by
27a is a first current deviation amplifier for amplifying the output of the first current subtractor, 28a is a second current deviation amplifier for amplifying the output of the second current subtractor, and 29a is the first current deviation amplifier 27a. A first power amplifier 30a for amplifying the output and supplying power to the first motor 3; and a second power 30a for amplifying the output of the second current deviation amplifier 28a and supplying power to the second motor 4 It is an amplifier. 5b to 7b and 16b to 30b perform operations similar to those of 5a to 7a and 16a to 30a on the motor 9 and the motor 10.

Next, the operation of the control device 11 will be described. When turning the turret 2 of FIG. 9 from O to A,
The first angle pattern generation unit 18a issues a step-like angle command to rotate the angle α in the second direction.
An angle feedback path using the angle subtractor 19a, an angular velocity feedback path using the first angular velocity subtractor 21a, and a current feedback path using the first current subtractor 25a and the second current subtractor 26a. Each subtractor 19a and 21a and 25a and 2
The operation of each of the outputs 6a is made zero. FIG.
Are the subtractors 19a when the step-like angle command as described above is issued from the first angle pattern generator 18a.
21a, 21a, 25a, and 26a show changes in output. For arm 8, control device 11 performs the same operation as that for turret 2.

Next, the operation of the anti-backlash drive control by the motors 3 and 4 will be described. FIG.
When the turret 2 is stationary, that is, when the angle command output from the first angle pattern generation unit 18a is zero, the motor 3 and the motor 4 are controlled by the first pre-torque command 23a and the second pre-torque command 24a. Pretorque is provided. At this time, when the polarity of the first pre-torque command 23a and the polarity of the second pre-torque command 24a are reversed, the rotation directions of the gear 5 attached to the motor 3 and the gear 6 attached to the motor 4 are opposite as shown in FIG. As a result, the gear 7 is sandwiched between the gear 5 and the gear 6. As a result, rattling and backlash between the gears 5 and 7 and between the gears 6 and 7 are eliminated, that is, anti-backlash is achieved, so that highly accurate control is possible. FIG. 13 shows an angular velocity deviation amplifier 22.
FIG. 4 is a diagram showing a relationship between the output of the motor 3 and the output of the motor 3 and the sum of the output torque of the motor 4, that is, the output torque applied to the gear 7. As is clear from FIG. 13, anti-backlash occurs in a small output torque range, and in a large torque range beyond this, two motors share a torque so that the motor torque can be effectively used.

However, in the conventional method, the operation is performed only to make the output of the first angular velocity subtractor 21a zero in a large torque range, that is, an acceleration / deceleration region where two motors generate torque. If there is a detection error between the first angular velocity detector 12a and the second angular velocity detector 13a, the angular velocities of the two motors 3 and 4 may not match. In this case, one motor becomes a load of the other motor, so that the two motors interfere with each other, resulting in more rattling than when anti-backlash drive is not performed. As a result, there has been a problem that the operation of the turret 2 becomes unstable such as vibration or hunting. There is a similar problem with respect to the drive control of the arm 8. Since the crane truck lifts heavy objects from the tip of the arm 8 and turns and carries the heavy objects up and down, the turret 2 and the arm 8 need to operate stably. There is a problem that not only the operability of the crane truck but also the transport time is increased.

[0007]

The problems described above are as follows.
In the output torque region in which the motors 3 and 4 are in a form in which the two motors share torque, this occurs because the angular velocities of the two motors 3 and 4 do not match. Therefore,
It was necessary to provide a control device whose stability did not depend on the output torque of the motors 3 and 4.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and has a control function such that the angular velocities of the two motors coincide in an output torque region in which the two motors generate torque. Accordingly, it is an object to obtain a control device that operates stably even during acceleration / deceleration in which two motors generate torque.

[0009]

A control device according to a first aspect of the present invention switches two speed motors from anti-backlash control to speed control in accordance with the output of a first angular velocity subtractor. By controlling the two motors so that the angular velocities match each other in the output torque region where torque is generated, and by controlling the motors 9 and 10 in the same manner, the turret 2 and the arm 8 can be stably controlled. It is characterized by providing a simple control device.

[0010] The control device according to the second aspect of the present invention includes the first device.
By making the ratio of the anti-backlash control and the speed control of the speed feedback path variable according to the output of the angular velocity subtractor of
By controlling the two motors so that the angular velocities of the two motors coincide with each other in the output torque region in which the two motors generate torque, and controlling the motors 9 and 10 in the same manner, the turret 2 and the arm 8 can be stabilized. A control device capable of controlling an angle is provided.

The control device according to a third aspect of the present invention uses the differential value of the output of the angle detector instead of the angular velocity detector of the control device according to the first aspect of the present invention, so that a stable angle of the turret 2 and the arm 8 is obtained. It is characterized by providing a low-cost control device that can be controlled.

The control device according to a fourth aspect of the present invention is the control device according to the second aspect.
By using the differential value of the output of the angle detector instead of the angular velocity detector of the control device according to the present invention, the turret 2
And a low-cost control device capable of controlling the angle of the arm 8 stably.

The control device according to a fifth aspect of the present invention switches the speed feedback path from the anti-backlash control to the speed control in accordance with the output of the first angular velocity subtractor, so that the two motors share torque. A control device capable of controlling the turret 2 and the arm 8 stably by controlling the two motors so that the angular velocities of the two motors coincide with each other in the output torque region, and controlling the motor 9 and the motor 10 in the same manner. It is characterized by the following.

[0014] The control device according to the sixth aspect of the present invention is the control device according to the first aspect.
By making the ratio of the anti-backlash control and the speed control of the speed feedback path variable according to the output of the angular velocity subtractor of
By controlling the two motors so that the angular velocities of the two motors coincide with each other in the output torque region in which the two motors generate torque, and controlling the motors 9 and 10 in the same manner, the turret 2 and the arm 8 can be stabilized. A control device capable of controlling angular velocity is provided.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a configuration diagram showing Embodiment 1 of a control device 11 according to the present invention. In the figure, 2-4, and 5a-7a, and 12a-
20a, and 23a to 24a, and 27a to 30a, and 5b to 7b, and 8 to 10, and 12b to 20b, and 23b to 24b, and 27b to 30b are the same as the conventional control devices. 1 angular velocity detector 12
a first angular velocity amplifier that reduces the output of
Is a second angular velocity amplifier for reducing the output of the second angular velocity detector 13a to half, and 33a is a first angular deviation amplifier 20.
a first angular velocity subtractor that calculates a deviation between the output of the first angular velocity amplifier 31a and the output of the second angular velocity amplifier 32a from the output of the first angular velocity amplifier 31a, and the first angular velocity subtractor 34a switches the output of the first angular velocity subtractor 33a. Switch 35a is a first angular velocity deviation amplifier that amplifies the output of the first switch 34a, 36
a is a second angular velocity subtractor that calculates the deviation between the output of the angular deviation amplifier 20a and the angular velocity detected by the first angular velocity detector 12a, and 37a is the output of the angular deviation amplifier 20a and the second angular velocity subtractor.
A third angular velocity subtractor 38a for calculating the deviation from the angular velocity detected by the angular velocity detector 13a, a second switch 38a for switching the output of the second angular velocity subtractor 36a, and a third angular velocity subtractor 37a 39a. , A third angular velocity deviation amplifier for amplifying the output of the second switch 38a, 41a a third angular velocity deviation amplifier for amplifying the output of the third switch 39a, 42
a is the first for calculating the deviation between the current detected by the first current detector 16a by adding the output of the second angular velocity deviation amplifier 40a, the first pre-torque command 23a, and the output of the first angular velocity deviation amplifier 35a. 43a is a current subtractor, which outputs the output of the third angular velocity deviation amplifier 41a and the second pre-torque command 24.
a and the output of the first angular velocity deviation amplifier 35a,
A second current subtractor 44a for calculating a deviation from the current detected by the current detector 17a of the first angular velocity subtractor 33a
A first determiner 45a for determining the magnitude of the output of the second switch 38a and controlling the contact point between the second switch 38a and the third switch 39a
Is a first inverter for inverting the determination result of the first determiner 44a and controlling the contact point of the first switch 34a. Also, 31b is a third angular velocity amplifier that reduces the output of the third angular velocity detector 12b to one half, 32b is a fourth angular velocity amplifier that reduces the output of the fourth angular velocity detector 13b to one half, Reference numeral 33b denotes an output from the second angular deviation amplifier 20b to an output from the third angular velocity amplifier 31b and the fourth angular velocity amplifier 3
A fourth angular velocity subtractor for calculating a deviation from the output of 2b, 3
4b is a fourth switch for switching the output of the fourth angular velocity subtractor 33b, 35b is a fourth angular velocity deviation amplifier for amplifying the output of the fourth switch 34b, 36b is the output of the angular deviation amplifier 20b and the third angular velocity A fifth angular velocity subtractor 37 for calculating a deviation from the angular velocity detected by the detector 12b, 37
b is a sixth angular velocity subtractor that calculates the deviation between the output of the angular deviation amplifier 20b and the angular velocity detected by the fourth angular velocity detector 13b, and 38b is the fifth that switches the output of the fifth angular velocity subtractor 36b. A switch 39b is a sixth switch 40 for switching the output of the sixth angular velocity subtractor 37b.
b is a fifth angular velocity deviation amplifier that amplifies the output of the fifth switch 38b, 41b is the sixth angular velocity deviation amplifier that amplifies the output of the sixth switch 39b, and 42b is the output of the fifth angular velocity deviation amplifier 40b. Third pre-torque command 23
b and the output of the fourth angular velocity deviation amplifier 35b are added to obtain a third
A third current subtractor 43b for calculating a deviation from the current detected by the current detector 16b, and a sixth angular velocity deviation amplifier 43b.
1b, the fourth pre-torque command 24b, and the output of the fourth angular velocity deviation amplifier 35b.
A fourth current subtractor 44b for calculating a deviation from the current detected by the switch 7b determines the magnitude of the output of the fourth angular velocity subtractor 33b, and determines the magnitude of the output from the fourth angular velocity subtractor 33b.
And a second inverter 45b for controlling the contact of the fourth switch 34b by inverting the determination result of the second determiner 44b. The same symbols in the drawing are the same as those in FIG.

Next, the operation will be described. The operation of the angle feedback path and the current feedback path shown in FIG. 1 is the same as that of the conventional control device. The operation of the first determiner 44a will be described. FIG. 7 is a diagram showing the relationship between the output torque characteristic shown in FIG. 13 and the determination result of the first determiner 44a. In the figure, when the sum of the output torques of the motor 3 and the motor 4 is in the range of the pre-torque: −Tp to + Tp, that is, in the region of the anti-backlash drive, the first determiner 44a sets the first speed subtractor 33a. Judge the magnitude of the output of
Is output to turn off the switch 38a and the third switch 39a. At this time, the output of the first inverter 45a has a logic: 1 to turn on the first switch 34a.
Is output. As described above, the output of the first switch 34a becomes the output of the first speed subtractor 33a, and the outputs of the second switch 38a and the third switch 39a become zero. Rush controlled.

When the sum of the output torques of the motors 3 and 4 is in the range of the pre-torque: -Tp or less, or + Tp or more, the first judging device 44a sets the first speed subtractor 33a.
, And outputs a logic "1" so as to turn on the second switch 38a and the third switch 39a. At this time, the output of the first inverter 45a outputs logic "0" so as to turn off the first switch 34a. As described above, the output of the first switch 34a becomes zero, and the outputs of the second switch 38a and the third switch 39a become the outputs of the second speed subtractor 36a and the third speed subtracter 37a, respectively. The speed of the turret 2 is controlled by a velocity feedback path by the angular velocity detector 12a and a velocity feedback path by the angular velocity detector 13a. Motor 9 and motor 1
0, the second determiner 44b and the second inverter 46
b, the fourth switch 34b, the fifth switch 3
8b and the operation of the sixth switch 39b, the operation of the first determiner 44a, the operation of the first inverter 46a and the operation of the first
Since the operations of the switch 34a, the second switch 38a, and the third switch 39a are the same, the arm 8 is similarly controlled.

Embodiment 2 FIG. FIG. 2 is a configuration diagram showing Embodiment 2 of the control device 11 according to the present invention. In the figure, 31a-33a, 35a-38a, 40a-43a
And 31b-33b, 35b-38b, 40b-43b
Is the same as that of the first embodiment, 46a is a first absolute value calculator for calculating the absolute value of the output value of the first angular velocity subtractor 33a, and 47a is the output of the first angular velocity subtractor 33a. A first multiplier for multiplication, 48a is a second multiplier for multiplying the output of the second angular velocity subtractor 36a, 49a is a third multiplier for multiplying the output of the third angular velocity subtracter 37a, 5
0a is the first which generates the multiplier of the second multiplier 48a and the third multiplier 49a from the output of the first absolute value calculator 46a.
Of the absolute value calculator 46a from the output of the absolute value calculator 46a
Is a second determiner that generates a multiplier of the multiplier 47a. 46b is a second absolute value calculator for calculating the absolute value of the output value of the fourth angular velocity subtractor 33b, 47b is a fourth multiplier for multiplying the output of the fourth angular velocity subtractor 33b, 48b Is a fifth multiplier for multiplying the output of the fifth angular velocity subtractor 36b, 49b is a sixth multiplier for multiplying the output of the sixth angular velocity subtractor 37b, and 50b is a second multiplier for the second absolute value calculator 46b. The third determiner 51b generates a multiplier of the fifth multiplier 48b and the sixth multiplier 49b from the output, and the fourth determiner 51b outputs the fourth multiplier 47b from the output of the second absolute value calculator 46b.
Is a fourth determiner that generates a multiplier of.

Next, the operation will be described. The operation of the angle feedback path and the current feedback path shown in FIG. 2 is the same as that of the conventional control device. The first determiner 50a and the second determiner 5
The operation of 1a will be described. FIG. 8 shows the output torque characteristics shown in FIG. 13, the first determination unit 50a and the second determination unit 5a.
It is a figure which shows the relationship of the determination result of 1a. In the figure, the sum of the output torques of the motor 3 and the motor 4 is a pre-torque:
In the range of −Tp to + Tp, that is, in the region of the anti-backlash drive, the first determiner 50a calculates the absolute value of the magnitude of the first speed subtractor 33a by the first absolute value calculator. The magnitude of the output of 46a is determined, and the multiplier is output to the second multiplier 48a and the third multiplier 49a.
The multiplication number is multiplication number = A · (first absolute value calculator 46
a), the function gradually increases in accordance with the output of the first absolute value calculator 46a. At this time, the output of the second determiner 51a outputs the multiplied number to the first multiplier 47a. The multiplication number is represented by the first absolute value operation unit 46 such as multiplication number 1−A · (the output of the first absolute value operation unit 46a).
This is a function that gradually decreases in accordance with the output of a. As described above, the output of the first multiplier 47a is output to the first absolute value operator 4
6a increases as the output of the second multiplier 4a increases.
Since the outputs of 8a and the third multiplier 49a gradually decrease, the turret 2 is subjected to the anti-backlash control as in the prior art.

When the sum of the output torques of the motor 3 and the motor 4 is in the range of the pre-torque: −Tp or less or + Tp or more, the first judging device 50 a
a first absolute value calculator 46 that has calculated the absolute value of the magnitude of a
The magnitude of the output of “a” is determined, and the multiplier = 1 is output to the second multiplier 48a and the third multiplier 49a. At this time, the output of the second decision unit 51a outputs the multiplication number = 0 to the first multiplier 47a. As described above, the output of the first multiplier 47a matches the input, and the outputs of the second multiplier 48a and the third multiplier 49a become zero. Therefore, the turret 2 is connected to the speed feedback path by the angular velocity detector 12a. Each speed is controlled by a speed feedback path by the angular velocity detector 13a. In the motor 9 and the motor 10, the operation of the third determiner 50b and the fourth determiner 51b and the operation of the fourth multiplier 47b and the fifth
The operations of the first and second determiners 50a and 51a and the first and second multipliers 48b and 49b, and the first and second multipliers 48a and 49b, respectively.
Since the operation of the multiplier 49a is the same, the arm 8 is similarly controlled.

Embodiment 3 FIG. 3 is a configuration diagram showing Embodiment 3 of the control device 11 according to the present invention. In the figure, reference numerals 31a to 45a and 31b to 45b represent the first embodiment.
52a is a first differentiator that differentiates the rotation angle detected by the first angle detector 14a to generate an angular velocity, and 53a differentiates the rotation angle detected by the second angle detector 15a. It is a second differentiator that generates an angular velocity.

Next, the operation will be described. The operation of the angle feedback path and the current feedback path shown in FIG. 3 is the same as that of the conventional control device. Also, a first determiner 44a, a first inverter 45a, a first switch 34a, a second switch 3
8a, the third switch 39a, the second determiner 44b, the second inverter 45b, the fourth switch 34b, the fifth switch 38b, and the operation of the sixth switch 39b are the same as those in the second embodiment. is there.

Embodiment 4 FIG. 4 is a configuration diagram showing Embodiment 4 of the control device 11 according to the present invention. In the figure, 31a-33a, 35a-37a, 40a-41
a, 46a-51a and 31b-33b, 35b-37
b, 40b to 41b, 46b to 51b are the same as those in the second embodiment, and 52a to 53a and 52b to 53b are the same as those in the third embodiment.

Next, the operation will be described. The operation of the angle feedback path and the current feedback path shown in FIG. 4 is the same as that of the conventional control device. Also, a first absolute value calculator 46a, a first multiplier 47a, a second multiplier 48a, a third multiplier 49a, a first determiner 50a, a second determiner 51a, and a second The operations of the absolute value calculator 46b, the fourth multiplier 47b, the fifth multiplier 48b, the sixth multiplier 49b, the third determiner 50b, and the fourth determiner 51b are the same as those in the second embodiment. And a first differentiator 52a, a second differentiator 53a, a third differentiator 52b, and a fourth differentiator 53b.
Is the same as that of the third embodiment.

Embodiment 5 FIG. FIG. 5 is a configuration diagram showing Embodiment 5 of the control device 11 according to the present invention. In the figure, 31a-41a, 44a-45a and 31b-41
b, 44b to 45b are the same as those in the second embodiment,
54a generates an angular velocity command and outputs the first angular velocity subtractor 33
a is a first angular velocity pattern generation unit that outputs
b is a second angular velocity pattern generator that generates an angular velocity command and outputs it to the fourth angular velocity subtractor 33b.

Next, the operation will be described. The operation of the current feedback path shown in FIG. 5 is the same as that of the conventional control device. Also, a first determiner 44a, a first inverter 45a,
A first switch 34a, a second switch 38a, a third switch 39a, a second determiner 44b, a second inverter 4
5b, a fourth switch 34b, a fifth switch 38b,
The operation of the sixth switch 39b is the same as in the second embodiment.

Embodiment 6 FIG. FIG. 6 is a configuration diagram showing Embodiment 6 of the control device 11 according to the present invention. In the figure, 31a-33a, 35a-37a, 40a-41
a, 46a-51a and 31b-33b, 35b-37
b, 40b to 41b and 46b to 51b are the same as those of the second embodiment, and 54a and 54b are the same as those of the fifth embodiment.

Next, the operation will be described. The operation of the current feedback path shown in FIG. 6 is the same as that of the conventional control device.

A first absolute value calculator 46a, a first multiplier 47a, a second multiplier 48a, and a third multiplier 49
a, a first determiner 50a, a second determiner 51a,
The second absolute value calculator 46b, the fourth multiplier 47b, the fifth
Multiplier 48b, sixth multiplier 49b, third determiner 5
0b and the operation of the fourth determiner 51b are the same as those of the second embodiment, and the first angular velocity pattern generator 54a,
The operation of the second angular velocity pattern generator 54b is the same as in the fifth embodiment.

[0030]

The control device according to the first invention detects the influence of the instability of the speed feedback path due to the inconsistency of the angular velocities in the output torque region where the two motors in anti-backlash drive generate torque. Switching the speed feedback path from the anti-backlash control to the speed control in accordance with the output of the first angular velocity subtractor on the angular velocity feedback path having the device has the effect of improving the stability of the angle control device.

Further, the control device according to the second invention detects the influence of the instability of the speed feedback path due to the inconsistency of the angular speed in the output torque region where the two motors in the anti-backlash drive generate torque. The ratio of the anti-backlash control and the speed control of the speed feedback path is made variable in accordance with the output of the first angular velocity subtractor on the angular velocity feedback path having the device, thereby improving the stability of the angle control device. .

A control device according to a third aspect of the present invention is a control device for detecting the influence of instability of a speed feedback path caused by an angular velocity mismatch in an output torque region where two motors in anti-backlash drive generate torque. Switching the speed feedback path from the anti-backlash control to the speed control in accordance with the output of the first angular velocity subtractor on the angular velocity feedback path having the differentiator has the effect of improving the stability of the angle control device.

Further, the control device according to the fourth invention detects the influence of the instability of the speed feedback path due to the inconsistency of the angular velocities in the output torque region where the two motors in the anti-backlash drive generate torque. The stability of the angle control device is improved by making the ratio of the anti-backlash control and the speed control of the speed feedback path variable in accordance with the output of the first angular velocity subtractor on the angular velocity feedback path having the differentiator of the generator. effective.

The control device according to a fifth aspect of the present invention is to control the influence of the instability of the speed feedback path due to the inconsistency of the angular velocities in the output torque region where the two motors generate torque in the anti-backlash drive. Switching the speed feedback path from the anti-backlash control to the speed control in accordance with the output of the first angular velocity subtractor on the angular velocity feedback path having the differentiator has the effect of improving the stability of the angular velocity control device.

Further, the control device according to the sixth invention detects the influence of the instability of the speed feedback path due to the inconsistency of the angular velocities in the output torque region where the two motors generate torque in the anti-backlash drive. The stability of the angular velocity control device is improved by making the ratio of the anti-backlash control and the speed control of the velocity feedback path variable in accordance with the output of the first angular velocity subtractor on the angular velocity feedback path having the differentiator of the generator. effective.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating Embodiment 1 of a control device according to the present invention.

FIG. 2 is a configuration diagram illustrating Embodiment 2 of a control device according to the present invention.

FIG. 3 is a configuration diagram showing Embodiment 3 of a control device according to the present invention.

FIG. 4 is a configuration diagram showing Embodiment 4 of a control device according to the present invention.

FIG. 5 is a configuration diagram showing Embodiment 5 of the control device according to the present invention.

FIG. 6 is a configuration diagram illustrating Embodiment 6 of a control device according to the present invention.

FIG. 7 is a configuration diagram illustrating a relationship between output torque characteristics of two motors and a first determiner according to the present invention.

FIG. 8 is a configuration diagram showing a relationship between output torque characteristics of two motors and a first determiner and a second determiner according to the present invention.

FIG. 9 is a diagram showing an example of application to a crane truck.

FIG. 10 is a diagram showing an example of mechanical coupling of gears driven by anti-backlash.

FIG. 11 is a configuration diagram showing a configuration of a conventional control device.

FIG. 12 is a diagram illustrating a time change of a turret angle error, an angular velocity error, and a motor current error when a step-like angle command is applied from an angle pattern generator.

FIG. 13 is a diagram illustrating output torque characteristics of two motors that perform anti-backlash drive.

[Explanation of symbols]

1 crane truck, 2 turret, 3rd motor,
4 second motor, 5 first gear, 6 second gear, 7
3rd gear, 8 arms, 9 first motor, 10
2nd motor, 11 control device, 12 1st angular velocity detector, 13 2nd angular velocity detector, 14 1st angle detector, 15 2nd angle detector, 16 1st current detector, 17 Second current detector, 18 angular pattern generator, 20 angular deviation amplifier, 21 angular velocity subtractor, 22
Angular velocity deviation amplifier, 25 first current subtractor, 26 second current subtractor, 27 first current deviation amplifier, 28
Second current deviation amplifier, 29 first power amplifier, 30
Second power amplifier, 31 first angular velocity amplifier, 32
Second angular velocity amplifier, 33 first angular velocity subtractor, 3
4 first switch, 35 first angular velocity deviation amplifier,
36 second angular velocity subtractor, 37 third angular velocity subtractor, 38 second switch, 39 third switch, 4
0 second angular velocity deviation amplifier, 41 third angular velocity deviation amplifier, 42 first current subtractor, 43 second current subtractor, 44 determiner, 45 inverter, 46 absolute value calculator, 47 first Multiplier, 48 second multiplier, 49
Third multiplier, 50 first determiner, 51 second determiner, 52 first differentiator, 53 second differentiator, 54
Angular velocity pattern generator.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F205 AA05 BA06 EA01 HA03 HB02 HC10 5H303 AA09 AA30 BB01 BB07 BB14 BB18 CC09 DD01 DD19 DD27 EE03 EE07 FF04 JJ01 JJ02 JJ09 KK01 KK14 KK17 KK35 GG01 GG03 GG01 GG01 GG03 GG01 GG03 JJ03 LL03 LL32

Claims (6)

[Claims] A first motor for rotating a controlled object;
A first gear mechanically attached to the first motor; a second gear coupled to the first gear and attached to a control object that transmits an output torque of the first motor; A first angle detector for detecting a rotation angle of the first motor, a first angular velocity detector for detecting a rotation angular velocity of the first motor, and a current flowing through an armature winding of the first motor. A first current detector for detecting, a second motor for rotating a control object, and a mechanically attached to the second motor coupled to the second gear for transmitting an output torque of the second motor; A third gear, a second angle detector for detecting a rotation angle of the second motor, a second angular speed detector for detecting a rotation angular speed of the second motor, A second current detector for detecting a current flowing through the armature winding; A first angle pattern generation unit for generating a command value for rotating the object, an output of the first angle detector and a detection of the second angle from an angle command output from the first angle pattern generation unit A first angle subtracter for calculating a deviation from the output of the first angle subtractor, a first angle deviation amplifier for amplifying the output of the first angle subtractor, and an output of the first angular velocity detector for two minutes. A first angular velocity amplifier that sets the first angular velocity amplifier to 1; a second angular velocity amplifier that sets the output of the second angular velocity detector to half; and an output of the first angular velocity amplifier based on the output of the first angular deviation amplifier. A first angular velocity subtractor for calculating a deviation between the output and the output of the second angular velocity amplifier, a first switch for switching the output of the first angular velocity subtractor, and amplifying the output of the first switch First
An angular velocity deviation amplifier, a second angular velocity subtractor for calculating a deviation between an output of the first angular deviation amplifier and an angular velocity detected by the first angular velocity detector, and an output of the second angular velocity subtractor And a second switch for switching
A second angular velocity deviation amplifier for amplifying the output of the switch, a third angular velocity subtractor for calculating a deviation between the output of the first angular deviation amplifier and the angular velocity detected by the second angular velocity detector, A third switch for switching the output of the third angular velocity subtractor, a third angular velocity deviation amplifier for amplifying the output of the third switch, and determining the magnitude of the output of the first angular velocity subtractor A first determiner for controlling a contact point of the second switch and the third switch; and a first inversion for controlling a contact point of the first switch by inverting a determination result of the first determiner. A first pre-torque command for applying a pre-torque to the first motor, a second pre-torque command for applying a pre-torque to the second motor, an output of the second angular velocity deviation amplifier, and a first pre-torque. Directive and above A first current subtractor for adding the output of the first angular velocity deviation amplifier to calculate the deviation from the current detected by the first current detector; the output of the third angular velocity deviation amplifier and the second pre-torque A second current subtractor for adding a command and an output of the first angular velocity deviation amplifier to calculate a deviation from a current detected by the second current detector; and amplifying an output of the first current subtractor. A first current deviation amplifier, a first power amplifier for power-amplifying the output of the first current deviation amplifier and supplying power to the first motor, and amplifying the output of the second current subtractor. And a second power amplifier that amplifies the output of the second current deviation amplifier and supplies power to the second motor. 2. A first motor for rotating an object to be controlled,
A first gear mechanically attached to the first motor; a second gear coupled to the first gear and attached to a control object that transmits an output torque of the first motor; A first angle detector for detecting a rotation angle of the first motor, a first angular velocity detector for detecting a rotation angular velocity of the first motor, and a current flowing through an armature winding of the first motor. A first current detector for detecting, a second motor for rotating a control object, and a mechanically attached to the second motor coupled to the second gear for transmitting an output torque of the second motor; A third gear, a second angle detector for detecting a rotation angle of the second motor, a second angular speed detector for detecting a rotation angular speed of the second motor, A second current detector for detecting a current flowing through the armature winding; A first angle pattern generation unit for generating a command value for rotating the object, an output of the first angle detector and a detection of the second angle from an angle command output from the first angle pattern generation unit A first angle subtracter for calculating a deviation from the output of the first angle subtractor, a first angle deviation amplifier for amplifying the output of the first angle subtractor, and an output of the first angular velocity detector for two minutes. A first angular velocity amplifier that sets the first angular velocity amplifier to 1; a second angular velocity amplifier that sets the output of the second angular velocity detector to half; and an output of the first angular velocity amplifier based on the output of the first angular deviation amplifier. A first angular velocity subtractor for calculating a deviation between the output and the output of the second angular velocity amplifier; a first multiplier for multiplying the output of the first angular velocity subtractor; A first angular velocity deviation amplifier for amplifying an output, and the angle deviation amplifier Output and the first
A second angular velocity subtractor for calculating a deviation from an angular velocity detected by the angular velocity detector, a second multiplier for multiplying an output of the second angular velocity subtractor, and an output of the second multiplier. A second angular velocity deviation amplifier for amplifying; a third angular velocity subtractor for calculating a deviation between an output of the first angular deviation amplifier and an angular velocity detected by the second angular velocity detector;
A third multiplier for multiplying the output of the angular velocity subtractor, a third angular velocity deviation amplifier for amplifying the output of the third multiplier, and an absolute value of the magnitude of the output of the first angular velocity subtractor A first absolute value arithmetic unit for calculating the first absolute value arithmetic unit, a first determiner for generating a multiplier of the second multiplier and the third multiplier from an output of the first absolute value arithmetic unit, A second multiplier for generating a multiplier of the first multiplier from an output of the first absolute value calculator;
A first pre-torque command for applying a pre-torque to the first motor; a second pre-torque command for applying a pre-torque to the second motor; an output of the second angular velocity deviation amplifier; Pre-torque command and the first
A first current subtractor for adding the output of the angular velocity deviation amplifier to calculate the deviation from the current detected by the first current detector; the output of the third angular velocity deviation amplifier and the second pre-torque command And a second current subtractor for adding the output of the first angular velocity deviation amplifier to calculate a deviation from the current detected by the second current detector, and amplifying the output of the first current subtractor. A first current deviation amplifier, a first power amplifier that power-amplifies the output of the first current deviation amplifier and supplies power to the first motor, and amplifies the output of the second current subtractor. A control device comprising: a second current deviation amplifier; and a second power amplifier that power-amplifies an output of the second current deviation amplifier and supplies power to the second motor. 3. A first motor for rotating an object to be controlled,
A first gear mechanically attached to the first motor; a second gear coupled to the first gear and attached to a control object that transmits an output torque of the first motor; A first angle detector for detecting a rotation angle of the first motor, a first differentiator for differentiating the rotation angle detected by the first angle detector to generate an angular velocity, and an electric motor of the first motor A first current detector for detecting a current flowing through the slave winding, a second motor for rotating a controlled object, and a second motor mechanically attached to the second motor and coupled to the second gear. A third gear for transmitting the output torque of the motor, a second angle detector for detecting the rotation angle of the second motor, and differentiating the rotation angle detected by the second angle detector to generate an angular velocity Flows through the second differentiator and the armature winding of the second motor. A second current detector for detecting a flow, a first angle pattern generator for generating a command value for rotating a control target, and a first angle pattern output from the first angle pattern generator. A first angle subtractor that calculates a deviation between the output of the angle detector and the output of the second angle detector; a first angle deviation amplifier that amplifies the output of the first angle subtractor; A first angular velocity amplifier for reducing the output of the first differentiator to a half, a second angular velocity amplifier for reducing the output of the second differentiator to a half, and the first angular deviation A first angular velocity subtractor for calculating a deviation between the output of the first angular velocity amplifier and the output of the second angular velocity amplifier from the output of the amplifier; and a first switch for switching the output of the first angular velocity subtractor. And a first angular velocity bias for amplifying the output of the first switch. An amplifier; a second angular velocity subtractor for calculating a deviation between an output of the first angular deviation amplifier and an angular velocity generated by the first differentiator; and a second switch for switching an output of the second angular velocity subtractor. 2
, A second angular velocity deviation amplifier for amplifying the output of the second switch, and a third for calculating the deviation between the output of the first angular deviation amplifier and the angular velocity generated by the second differentiator. , A third switch for switching the output of the third angular velocity subtractor, a third angular velocity deviation amplifier for amplifying the output of the third switch, and a first angular velocity subtractor. The magnitude of the output is determined and the second
And a first switch for controlling the contacts of the third switch and the third switch.
A first inverter for inverting the determination result of the first determiner and controlling the contact point of the first switch; a first pretorque command for applying a pretorque to the first motor; Adding a second pre-torque command for giving a pre-torque to the second motor, an output of the second angular velocity deviation amplifier, the first pre-torque command and an output of the first angular velocity deviation amplifier, and adding the first current A first current subtractor for calculating a deviation from a current detected by the detector; an output of the third angular velocity deviation amplifier, a second pretorque command, and an output of the first angular velocity deviation amplifier; A second current subtractor for calculating a deviation from a current detected by a second current detector; a first current deviation amplifier for amplifying an output of the first current subtractor; and a first current deviation Amplify the output of the amplifier The supplies power to the first motor 1
Power amplifier, a second current deviation amplifier for amplifying the output of the second current subtractor, and a second current amplifier for power-amplifying the output of the second current deviation amplifier and supplying power to the second motor. A control device comprising a power amplifier. 4. A first motor for rotating an object to be controlled,
A first gear mechanically attached to the first motor; a second gear coupled to the first gear and attached to a control object that transmits an output torque of the first motor; A first angle detector for detecting a rotation angle of the first motor, a first differentiator for generating an angular velocity by differentiating the rotation angle of the first angle detector, and an armature of the first motor A first current detector for detecting a current flowing through the winding, a second motor for rotating a controlled object, and a second motor mechanically attached to the second motor and coupled to the second gear; A third gear for transmitting the output torque of the second motor, a second angle detector for detecting a rotation angle of the second motor, and a third gear for generating an angular velocity by differentiating the rotation angle of the second angle detector. And a current flowing through the armature winding of the second motor. A second current detector, a first angle pattern generator for generating a command value for rotating a controlled object, and the first angle detector based on an angle command output from the first angle pattern generator A first angle subtractor for calculating a deviation between the output of the second angle detector and the output of the second angle detector; a first angle deviation amplifier for amplifying the output of the first angle subtractor; A first angular velocity amplifier for halving the output of the differentiator;
A second angular velocity amplifier for reducing the power to one-half, and a first angular velocity subtraction for calculating a deviation between the output of the first angular velocity amplifier and the output of the second angular velocity amplifier from the output of the first angular deviation amplifier. Multiplier, a first multiplier for multiplying the output of the first angular velocity subtractor, a first angular velocity deviation amplifier for amplifying the output of the first multiplier, and an output of the first angular deviation amplifier A second angular velocity subtractor for calculating a deviation between the angular velocity generated by the first differentiator, a second multiplier for multiplying the output of the second angular velocity subtractor, and the second multiplier A second angular velocity deviation amplifier for amplifying the output of the first angular deviation amplifier, a third angular velocity subtractor for calculating a deviation between the output of the first angular deviation amplifier and the angular velocity generated by the second differentiator, and the third angular velocity subtractor. A third multiplier for multiplying the output of the angular velocity subtractor of A third angular velocity deviation amplifier for amplifying the output of the first angular velocity subtractor, a first absolute value arithmetic unit for calculating the absolute value of the magnitude of the output of the first angular velocity subtractor, and an output of the first absolute value arithmetic unit A first determiner for generating a multiplier of the second multiplier and the third multiplier from the first multiplier, and a multiplier of the first multiplier from the output of the first absolute value calculator. A second determination unit, a first pre-torque command for applying a pre-torque to the first motor, a second pre-torque command for applying a pre-torque to the second motor, an output of the second angular velocity deviation amplifier, A first current subtractor for adding a first pre-torque command and an output of the first angular velocity deviation amplifier to calculate a deviation from a current detected by the first current detector; and a third angular velocity deviation amplifier Output, the second pre-torque command, and the first angle A second current subtractor for adding the output of the degree deviation amplifier to calculate a deviation from the current detected by the second current detector; and a first current deviation for amplifying the output of the first current subtractor. An amplifier, a first power amplifier for power-amplifying the output of the first current deviation amplifier and supplying power to the first motor, and a second current deviation for amplifying the output of the second current subtractor A control device comprising: an amplifier; and a second power amplifier that power-amplifies an output of the second current deviation amplifier and supplies power to the second motor. 5. A first motor for rotating an object to be controlled,
A first gear mechanically attached to the first motor; a second gear coupled to the first gear and attached to a control object that transmits an output torque of the first motor; A first angular velocity detector for detecting a rotational angular velocity of the first motor, a first current detector for detecting a current flowing through an armature winding of the first motor, and a second motor for rotating a control target A third gear that is mechanically attached to the second motor, is coupled to the second gear, and transmits an output torque of the second motor, and a second gear that detects a rotational angular velocity of the second motor. An angular velocity detector, a second current detector that detects a current flowing through the armature winding of the second motor, and a first angular velocity pattern generator that generates a command value for rotating a control target. , Halving the output of the first angular velocity detector A first angular velocity amplifier, a second angular velocity amplifier for reducing the output of the second angular velocity detector to one half, and a first angular velocity based on an angular velocity command output from the first angular velocity pattern generator. A first angular velocity subtractor for calculating a deviation between the output of the amplifier and the output of the second angular velocity amplifier, a first switch for switching the output of the first angular velocity subtractor, and an output of the first switch A first angular velocity deviation amplifier for amplifying the first angular velocity, a second angular velocity subtractor for calculating a deviation between the output of the first angular velocity pattern generator and the angular velocity detected by the first angular velocity detector, and the second angular velocity subtractor. A second switch for switching the output of the angular velocity subtractor, a second angular velocity deviation amplifier for amplifying the output of the second switch, an output of the first angular velocity pattern generator, and a detection of the second angular velocity. Detector A third angular velocity subtractor for calculating a deviation between the angular velocity, and a third switch for switching the output of said third angular velocity subtractor, the third
A third angular velocity deviation amplifier that amplifies the output of the first switch, and a first determination that determines the magnitude of the output of the first angular velocity subtractor and controls the contact point between the second switch and the third switch. A first inverter for inverting the determination result of the first determiner and controlling the contact point of the first switch; a first pretorque command for applying a pretorque to the first motor; A second pre-torque command for applying a pre-torque to the second motor, an output of the second angular velocity deviation amplifier, the first pre-torque command, and an output of the first angular velocity deviation amplifier, and adding the first current detector A first current subtractor for calculating a deviation from the current detected by the first angular velocity deviation amplifier, an output of the third angular velocity deviation amplifier, a second pretorque command, and an output of the first angular velocity deviation amplifier. Of the current detector A second current subtracter for calculating a deviation from the output current; a first current deviation amplifier for amplifying an output of the first current subtractor; and a power amplifying an output of the first current deviation amplifier. A first power amplifier for supplying power to the first motor; a second current deviation amplifier for amplifying an output of the second current subtractor; and a power amplification for an output of the second current deviation amplifier. And a second power amplifier for supplying power to the second motor. 6. A first motor for rotating an object to be controlled,
A first gear mechanically attached to the first motor; a second gear coupled to the first gear and attached to a control object that transmits an output torque of the first motor; A first angular velocity detector for detecting a rotational angular velocity of the first motor, a first current detector for detecting a current flowing through an armature winding of the first motor, and a second motor for rotating a control target A third gear that is mechanically attached to the second motor, is coupled to the second gear, and transmits an output torque of the second motor, and a second gear that detects a rotational angular velocity of the second motor. An angular velocity detector, a second current detector that detects a current flowing through the armature winding of the second motor, and a first angular velocity pattern generator that generates a command value for rotating a control target. , Halving the output of the first angular velocity detector A first angular velocity amplifier, a second angular velocity amplifier for reducing the output of the second angular velocity detector to one half, and a first angular velocity based on an angular velocity command output from the first angular velocity pattern generator. A first angular velocity subtractor for calculating a deviation between the output of the amplifier and the output of the second angular velocity amplifier, a first multiplier for multiplying the output of the first angular velocity subtractor, and the first multiplication A first angular velocity deviation amplifier for amplifying the output of the detector, a second angular velocity subtractor for calculating a deviation between the output of the first angular velocity pattern generator and the angular velocity detected by the first angular velocity detector, A second multiplier for multiplying an output of the second angular velocity subtractor, a second angular velocity deviation amplifier for amplifying an output of the second multiplier, an output of the first angular velocity pattern generator, Second
A third angular velocity subtractor for calculating a deviation from the angular velocity detected by the angular velocity detector, a third multiplier for multiplying the output of the third angular velocity subtractor, and an output of the third multiplier. A third angular velocity deviation amplifier for amplifying, a first absolute value calculator for calculating the absolute value of the magnitude of the output of the first angular velocity subtractor, and a third absolute value calculator for calculating the absolute value of the output from the first absolute value calculator. A first determiner that generates a multiplier of the multiplier of 2 and the third multiplier; and a second determiner that generates a multiplier of the first multiplier from an output of the first absolute value calculator. A determiner, a first pre-torque command for applying a pre-torque to the first motor,
Adding a second pre-torque command for giving a pre-torque to the second motor, an output of the second angular velocity deviation amplifier, the first pre-torque command and an output of the first angular velocity deviation amplifier, and adding the first current A first current subtractor for calculating a deviation from a current detected by the detector, an output of the third angular velocity deviation amplifier, the second pre-torque command, and the first
A second current subtractor for adding the output of the angular velocity deviation amplifier to calculate a deviation from the current detected by the second current detector, and a first current for amplifying the output of the first current subtractor A deviation amplifier, a first power amplifier for power-amplifying the output of the first current deviation amplifier and supplying power to the first motor, and a second current for amplifying the output of the second current subtractor A control device comprising: a deviation amplifier; and a second power amplifier that power-amplifies an output of the second current deviation amplifier and supplies power to the second motor.