JP2001197765A - Torque ripple reducing device - Google Patents

Torque ripple reducing device

Info

Publication number
JP2001197765A
JP2001197765A JP2000001185A JP2000001185A JP2001197765A JP 2001197765 A JP2001197765 A JP 2001197765A JP 2000001185 A JP2000001185 A JP 2000001185A JP 2000001185 A JP2000001185 A JP 2000001185A JP 2001197765 A JP2001197765 A JP 2001197765A
Authority
JP
Japan
Prior art keywords
torque
motor
ripple
rotation
command
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2000001185A
Other languages
Japanese (ja)
Other versions
JP4144018B2 (en
Inventor
Kenichi Murata
健一 村田
Original Assignee
Yaskawa Electric Corp
株式会社安川電機
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, 株式会社安川電機 filed Critical Yaskawa Electric Corp
Priority to JP2000001185A priority Critical patent/JP4144018B2/en
Publication of JP2001197765A publication Critical patent/JP2001197765A/en
Application granted granted Critical
Publication of JP4144018B2 publication Critical patent/JP4144018B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To solve the problems where a ripple that is generated by the influence of those other than cogging cannot be judged only by a rotation position (magnetic pole position) while conventional technique has been used to reduce the problems of torque ripples being generated by the cogging of a motor. SOLUTION: In a servo motor driving device for feeding back torque corresponding to torque pulsation according to the angle of rotation of a motor to a torque command, an FFT analysis means 9 that performs the FFT(fast Fourier transform) of the torque command and calculates the amount of torque ripple and a vibration frequency, a means 10 for calculating frequency per rotation of a motor 1 from the calculated vibration frequency and a speed command and for determining parameters for generating a torque being equivalent to torque pulsation from the amount of torque ripple and the frequency per rotation of the motor 1, and a ripple generator 8 for generating torque being equivalent to the torque pulsation by the determined parameters, are provided.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【0001】[0001]
【発明の属する技術分野】本発明は、工作機械用モータ
制御においてトルクリップルを低減する為の調整装置に
関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an adjusting device for reducing torque ripple in motor control for a machine tool.
【0002】[0002]
【従来の技術】ACサーボモータのトルクに脈動があれ
ば、サーボ性能が低下し、駆動される機械に悪影響を及
ぼす。例えば、工作機械にこのようなサーボを使った場
合、トルクの脈動が切削時の面に筋目として現れる。駆
動装置側でトルクの脈動を低減する為の方法として、特
開平10−229690では、サーボモータの回転速度
から回転位置を算出する位置検出回路と、回転子が1回
転する間のトルクが一定となる電流に対応する信号を回
転子の前記回転位置毎に格納したROMとD/A変換器と乗算
器とからなるトルク脈動補償回路を設け、サーボモータ
の回転位置に対応して電流制御部の入力信号を補正する
事を特徴とするものであった。
2. Description of the Related Art If there is a pulsation in the torque of an AC servomotor, the servo performance is reduced, which adversely affects the driven machine. For example, when such a servo is used for a machine tool, torque pulsation appears as streaks on the surface at the time of cutting. As a method for reducing torque pulsation on the driving device side, Japanese Patent Application Laid-Open No. H10-229690 discloses a position detection circuit that calculates a rotation position from the rotation speed of a servomotor, and a method in which the torque during one rotation of the rotor is constant. A torque pulsation compensation circuit including a ROM, a D / A converter, and a multiplier that stores a signal corresponding to the current of the rotor for each rotation position of the rotor is provided. It is characterized by correcting the input signal.
【0003】[0003]
【発明が解決しようとする課題】従来技術にあるよう
に、回転子が1回転する間のトルクが一定となる電流に
対応する信号を回転子の回転位置毎にROMに格納してお
いても、回路基板を組んだ場合、伝送遅れなどにより、
トルクが一定とならない事がある。また、工作機械に用
いられるモータでポール数6個の場合では、切削面に影
響を与えるリップルがコギングのみでなく、1回転に1
山(エンコーダ取り付け誤差)、4山(電流オフセット
調整が十分でない)、8山、24山(コギングの影響)
などの成分が含まれている。従来技術では、モータのコ
ギングにより発生するトルクリップルの問題を低減する
ことのみに使われていた。また、コギング以外の影響で
発生するリップルは、回転位置(磁極位置)だけで判断
できるものではない。本発明は、トルクに発生する各ト
ルクリップル成分を除去するための調整装置を提供する
事にある。
As in the prior art, a signal corresponding to a current at which the torque is constant during one rotation of the rotor is stored in the ROM for each rotation position of the rotor. , When a circuit board is assembled, due to transmission delay, etc.
The torque may not be constant. Also, in the case of a motor used in a machine tool having six poles, ripples affecting the cutting surface are not only caused by cogging but also by one per rotation.
Peaks (encoder mounting error), 4 peaks (current offset adjustment is not enough), 8 peaks, 24 peaks (effect of cogging)
Ingredients such as are included. In the prior art, it was only used to reduce the problem of torque ripple caused by motor cogging. Further, ripples generated due to effects other than cogging cannot be determined only by the rotational position (magnetic pole position). An object of the present invention is to provide an adjusting device for removing torque ripple components generated in torque.
【0004】[0004]
【課題を解決するための手段】本発明は、モータ回転角
度に応じてトルク脈動に相当するトルクをトルク指令に
フィードバックするサーボモータ駆動装置において、前
記トルク指令をFFT(高速フーリエ変換)解析し、トル
クリップル量と振動周波数を演算するFFT解析手段
と、演算された振動周波数と速度指令とからモータ1回
転あたりの振動数を演算し、前記トルクリップル量と前
記モータ1回転あたりの振動数とからトルク脈動に相当
するトルクを生成するパラメータを決定する手段と、こ
の決定されたパラメータにより前記トルク脈動に相当す
るトルクを発生するリップル生成器とを備えたことを特
徴とするトルクリップル低減装置である。
SUMMARY OF THE INVENTION The present invention is directed to a servo motor driving device for feeding back torque corresponding to torque pulsation to a torque command according to a motor rotation angle, by analyzing the torque command by FFT (Fast Fourier Transform). FFT analysis means for calculating a torque ripple amount and a vibration frequency, and a frequency per motor rotation is calculated from the calculated vibration frequency and the speed command, and the frequency is calculated from the torque ripple amount and the frequency per motor rotation. A torque ripple reduction device comprising: means for determining a parameter for generating a torque corresponding to a torque pulsation; and a ripple generator for generating a torque corresponding to the torque pulsation based on the determined parameter. .
【0005】[0005]
【発明の実施の形態】以下、図面を参照して、本発明の
実施の形態について説明する。まず、図1に従って、全
体の構成について述べる。モータ1は、U相、V相、W
相の3相ACサーボモータであり、角度センサとしてロー
タリーエンコーダを持つ。電流制御器2は、モータ1の
3相の電流を検出し、電流指令とモータからフィードバ
ックされた電流とを比較して補正を行い電流指令に応じ
た電流をモータに供給する機能を持つ。トルクフィルタ
3は、高周波のリップル成分を除去するものである。速
度制御器4はモータ1のエンコーダ信号を差分演算器5
に通した後のモータ速度フィードバック信号と速度指令
6との差が小さくなるように補正を行うものである。ト
ルク指令値7に出てくるリップル成分を除去する為にモ
ータ角度に同期して、Sin波を生成する。生成された信
号をトルク指令にフィードバックして打ち消すものであ
る。Sin波形をモータの角度に同期させて発生させ、ト
ルクにフィードバックさせる装置はこれまでの従来技術
にもある。本発明では、トルクリップルの周波数とモー
タ角度を検出してトルクにフィードバックするまでの時
間遅れを考慮して位相を変更する機能とリップルの振幅
を小さくする為の振幅の大きさを調整する機能を持って
いる。トルクリップルを小さくする為のリップル発生器
8の内部パラメータを決定する機構10について説明す
る。得られた振動周波数と速度指令を使って、図2のス
テップ1であるパラメータBの決定方法からリップル発
生器のパラメータBを決定する。次にリップル発生器の
パラメータαの決定方法を説明する。初期値として、α
を0としておく。トルク指令値をFFT解析してその時の
リップルの大きさを記憶しておく。その後、αを+1度
ずつ変えて、前回のリップルの大きさと比較する。大き
ければ、αをさらに+1度足し、小さければ現在のリッ
プルの大きさと位相をメモリに保存する。そのように続
けていき、αが360度になるまで実行する。終了した
時にメモリに保存されている位相をパラメータαの位相
とする。最後に図2のステップ3であるパラメータAの
決定方法を説明する。初期値として、パラメータAに定
格トルクの1%の値を設定する。トルクをモニタしてお
き、パラメータAを±0.1%で変化させる。値を変え
た時のFFTから得られる振幅が初期値よりも大きくなっ
たら、前回の値と符号を確認してパラメータAの値を変
更する。この繰り返しを行い、切削面に筋目が現れない
程度までパラメータAを変える。
Embodiments of the present invention will be described below with reference to the drawings. First, the overall configuration will be described with reference to FIG. Motor 1 has U phase, V phase, W
It is a three-phase AC servomotor with three phases, and has a rotary encoder as an angle sensor. The current controller 2 has a function of detecting the three-phase current of the motor 1, comparing the current command with the current fed back from the motor, performing correction, and supplying a current corresponding to the current command to the motor. The torque filter 3 removes high frequency ripple components. The speed controller 4 converts the encoder signal of the motor 1 into a difference calculator 5
The correction is performed so that the difference between the motor speed feedback signal after passing through the motor and the speed command 6 is reduced. In order to remove a ripple component appearing in the torque command value 7, a sine wave is generated in synchronization with the motor angle. The generated signal is fed back to the torque command to cancel out. There is a device in the related art that generates a Sin waveform in synchronization with the angle of a motor and feeds it back to torque. In the present invention, the function of changing the phase in consideration of the time delay until the torque ripple frequency and the motor angle are detected and fed back to the torque and the function of adjusting the amplitude of the ripple to reduce the amplitude of the ripple are provided. have. The mechanism 10 for determining the internal parameters of the ripple generator 8 for reducing the torque ripple will be described. Using the obtained vibration frequency and speed command, the parameter B of the ripple generator is determined from the method of determining the parameter B which is Step 1 in FIG. Next, a method of determining the parameter α of the ripple generator will be described. As an initial value, α
Is set to 0. The torque command value is subjected to FFT analysis and the magnitude of the ripple at that time is stored. Then, α is changed by +1 degree, and the value is compared with that of the previous ripple. If it is larger, α is added by +1 degree, and if smaller, the current ripple magnitude and phase are stored in the memory. The process is continued until α reaches 360 degrees. The phase stored in the memory when the process is completed is set as the phase of the parameter α. Finally, a method of determining the parameter A, which is step 3 in FIG. 2, will be described. As an initial value, a value of 1% of the rated torque is set in the parameter A. Monitor the torque and change parameter A by ± 0.1%. When the amplitude obtained from the FFT when the value is changed becomes larger than the initial value, check the previous value and the sign and change the value of parameter A. By repeating this, the parameter A is changed to such an extent that no streaks appear on the cut surface.
【0006】[0006]
【発明の効果】トルクリップルを除去できる為、工作機
械用サーボに適用した場合、切削面に筋目が現れる事は
ない。
As described above, since torque ripple can be removed, no streaks appear on the cut surface when applied to a machine tool servo.
【図面の簡単な説明】[Brief description of the drawings]
【図1】本発明に関する制御ブロック図FIG. 1 is a control block diagram according to the present invention.
【図2】パラメータ決定フローチャートFIG. 2 is a flowchart for determining parameters.
【符号の説明】[Explanation of symbols]
1 モータ 2 電流制御器 3 トルクフィルタ 4 速度制御器 5 差分演算器 6 速度指令 7 トルク指令 8 リップル生成器 9 FFT解析手段 10 内部パラメータ決定機構 REFERENCE SIGNS LIST 1 motor 2 current controller 3 torque filter 4 speed controller 5 difference calculator 6 speed command 7 torque command 8 ripple generator 9 FFT analysis means 10 internal parameter determination mechanism

Claims (1)

    【特許請求の範囲】[Claims]
  1. 【請求項1】 モータ回転角度に応じてトルク脈動に相
    当するトルクをトルク指令にフィードバックするサーボ
    モータ駆動装置において、前記トルク指令をFFT(高速
    フーリエ変換)解析し、トルクリップル量と振動周波数
    を演算するFFT解析手段と、演算された振動周波数と
    速度指令とからモータ1回転あたりの振動数を演算し、
    前記トルクリップル量と前記モータ1回転あたりの振動
    数とからトルク脈動に相当するトルクを生成するパラメ
    ータを決定する手段と、この決定されたパラメータによ
    り前記トルク脈動に相当するトルクを発生するリップル
    生成器とを備えたことを特徴とするトルクリップル低減
    装置。
    1. A servo motor driving device for feeding back torque corresponding to torque pulsation to a torque command according to a motor rotation angle, analyzing the torque command by FFT (Fast Fourier Transform) and calculating a torque ripple amount and a vibration frequency. Calculating the vibration frequency per one rotation of the motor from the calculated vibration frequency and the speed command,
    Means for determining a parameter for generating a torque corresponding to a torque pulsation from the torque ripple amount and a frequency per rotation of the motor; and a ripple generator for generating a torque corresponding to the torque pulsation based on the determined parameter. And a torque ripple reduction device.
JP2000001185A 2000-01-07 2000-01-07 Torque ripple reduction device Expired - Fee Related JP4144018B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2000001185A JP4144018B2 (en) 2000-01-07 2000-01-07 Torque ripple reduction device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2000001185A JP4144018B2 (en) 2000-01-07 2000-01-07 Torque ripple reduction device

Publications (2)

Publication Number Publication Date
JP2001197765A true JP2001197765A (en) 2001-07-19
JP4144018B2 JP4144018B2 (en) 2008-09-03

Family

ID=18530435

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2000001185A Expired - Fee Related JP4144018B2 (en) 2000-01-07 2000-01-07 Torque ripple reduction device

Country Status (1)

Country Link
JP (1) JP4144018B2 (en)

Cited By (8)

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Publication number Priority date Publication date Assignee Title
JP2006238663A (en) * 2005-02-28 2006-09-07 Toshiba Corp Control device of a dynamo-electric motor
EP1837710A1 (en) * 2006-03-20 2007-09-26 Ricoh Company, Ltd. Image forming apparatus capable of effectively controlling rotation driving source
JP2007282338A (en) * 2006-04-04 2007-10-25 Rohm Co Ltd Circuit and method for driving motor and disk unit using the same
WO2009122954A1 (en) * 2008-04-02 2009-10-08 日産自動車株式会社 Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus
US8093847B2 (en) 2006-03-29 2012-01-10 Rohm Co., Ltd. Motor drive circuit, method, and disc device using the same
WO2014045760A1 (en) 2012-09-18 2014-03-27 日産自動車株式会社 Motor control device and motor control method
US8766578B2 (en) 2012-02-27 2014-07-01 Canadian Space Agency Method and apparatus for high velocity ripple suppression of brushless DC motors having limited drive/amplifier bandwidth
WO2017146089A1 (en) * 2016-02-24 2017-08-31 株式会社デンソー Control device for alternating-current electric motor

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011145451A1 (en) 2010-05-20 2011-11-24 三菱電機株式会社 Motor control device

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006238663A (en) * 2005-02-28 2006-09-07 Toshiba Corp Control device of a dynamo-electric motor
EP1837710A1 (en) * 2006-03-20 2007-09-26 Ricoh Company, Ltd. Image forming apparatus capable of effectively controlling rotation driving source
US7561830B2 (en) 2006-03-20 2009-07-14 Ricoh Company, Ltd. Rotation device, method for controlling rotation of a driving source, computer readible medium and image forming apparatus including the rotation device
US8093847B2 (en) 2006-03-29 2012-01-10 Rohm Co., Ltd. Motor drive circuit, method, and disc device using the same
JP2007282338A (en) * 2006-04-04 2007-10-25 Rohm Co Ltd Circuit and method for driving motor and disk unit using the same
WO2009122954A1 (en) * 2008-04-02 2009-10-08 日産自動車株式会社 Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus
EP2262102A1 (en) * 2008-04-02 2010-12-15 Nissan Motor Company Limited Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus
CN101990740B (en) * 2008-04-02 2014-01-08 日产自动车株式会社 Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus
EP2262102A4 (en) * 2008-04-02 2012-03-07 Nissan Motor Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus
JP5375822B2 (en) * 2008-04-02 2013-12-25 日産自動車株式会社 Electric actuator drive control device, drive control method, and vehicle equipped with electric actuator drive control device
US8447468B2 (en) 2008-04-02 2013-05-21 Nissan Motor Co., Ltd. Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus
US8766578B2 (en) 2012-02-27 2014-07-01 Canadian Space Agency Method and apparatus for high velocity ripple suppression of brushless DC motors having limited drive/amplifier bandwidth
WO2014045760A1 (en) 2012-09-18 2014-03-27 日産自動車株式会社 Motor control device and motor control method
US9252689B2 (en) 2012-09-18 2016-02-02 Nissan Motor Co., Ltd. Motor control device and motor control method
JP5949929B2 (en) * 2012-09-18 2016-07-13 日産自動車株式会社 Motor control device and motor control method
WO2017146089A1 (en) * 2016-02-24 2017-08-31 株式会社デンソー Control device for alternating-current electric motor

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