JP2001249720A - Position controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely adjust the fine model error of an object to be controlled while optimally holding a response to disturbance, and to realize quickly decidable control without exciting machine resonance by simple adjustment in a position controller for allowing a position command to follow up the actual position of the object to be controlled by using a model signal arithmetic unit. SOLUTION: This device is provided with a torque feedforward amplifier 10, a speed feedforward amplifier 11, and a position feedforward amplifier 12, and each torque feedforward gain αt, speed feedforward gain αv, and position feedforward gain αx can be independently set so as to be made independent of a speed proportional gain Kv, a position proportional gain Kx, and a position integral gain Ki. Thus, it is possible to reduce overshoot while optimally maintaining characteristics against disturbance, and to realize quickly decidable control by simple fine adjustment.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling the position of a mechanical system in a machine tool or the like using a torque generator such as an electric motor.

[0002]

2. Description of the Related Art In a position control device that performs position control of a machine tool or the like using a torque generator such as a motor, control that does not excite machine resonance is desired in order to realize high-speed and high-accuracy positioning control. Also, if overshoot occurs during settling, the settling time becomes longer due to the influence of Coulomb friction, so that control that does not cause overshoot is desired. In such a position control device, the speed of following the position command is increased by using feedforward.

FIG. 12 shows, for example, “Measurement and Control” vol.
It is a block diagram which shows the structure of the position control apparatus of the 1st prior art described in p.1010-p.1011. In FIG. 12, reference numeral 1 denotes a control object that drives a mechanical system by generating a torque according to a torque command τr. Reference numeral 2 denotes a position detector that detects the actual position xm that is the position of the control target 1. Reference numeral 3 denotes a speed detector which detects an actual speed vm which is a differential signal of the actual position xm. 4 inputs a position command xr and outputs a model position xa
And a model signal calculating unit for outputting the model speed va and the model torque τa. Reference numeral 505 denotes a torque command calculation unit. 506 is a position compensator. 507 is a speed PI compensator. Next, the operation of the first prior art shown in FIG. 12 will be described. First, the characteristics of the control target 1 will be described. The torque generated in the control target 1 is equal to the torque command τr.
If the transfer characteristic of the controlled object 1 is described as G (s), the relationship between the torque command τr and the disturbance torque τd and the actual position xm is expressed by the following equation 1.
Here, s represents a Laplace operator in the following equation and thereafter. xm = G (s) · τr + G (s) · τd (1)

[0004] Further, assuming that the controlled object 1 is a completely rigid machine, the transfer characteristic G (s) of the controlled object 1 is given by the following equation (2).
It is represented by G (s) = 1 / (J · s ² ) (Equation 2)

However, a model error such as mechanical resonance or friction exists in an actual controlled object. For example, when there is viscous friction having a friction coefficient f, the transfer characteristic G (s) of the controlled object is present.
Becomes the following Expression 3. G (s) = 1 / (J · s ² + f · s) (3)

Next, the operation of the model signal calculation section 4 will be described. The model signal calculation unit 4 receives a position command xr externally applied to the position control device, and is a model signal xa based on a transfer function calculation of a model transfer characteristic Ga (s), which is a low-pass characteristic, and a differential signal of the model position xa. The model torque τa, which is a signal obtained by multiplying the model acceleration aa by the model speed va, the model acceleration aa that is a differential signal of the model speed va, and the model inertia Ja that is the inertia value of the control target estimated in advance, is calculated. Model position xa
And the model speed va and the model torque τa.

Here, when there is no disturbance torque τd and the characteristics of the controlled object 1 are ideal rigid machines and their inertia J matches the model inertia Ja (hereinafter, this is described as an ideal model), If the controlled object 1 is driven using the model torque τa of
m, model position xa, actual speed vm, and model speed va
And the transfer characteristic from the position command xr to the actual position xm matches the model transfer characteristic Ga (s). That is, the following equation 4 holds. xm / xr = xa / xr = Ga (s) (4)

Next, the operation of the torque command calculation section 505 will be described. Since a disturbance or a model error exists in the actual control target 1, an error occurs between the actual position xm and the model position xa and between the actual speed vm and the model speed va. The position compensator 506 outputs a signal obtained by multiplying the difference between the model position xa and the actual position xm by the position gain ωx, and outputs the speed PI compensator 50.
Reference numeral 7 inputs a signal obtained by adding the output of the position compensator 506 to a difference signal between the model speed va and the actual speed vm, performs a PI (proportional integration) calculation of the speed proportional gain Kv and the integral gain ωPI, and performs error compensation torque τc. Is output. The torque command calculation unit 505 outputs a sum signal of the model torque τa and the error compensation torque τc as a torque command τr. That is, the torque command calculation unit 505 calculates the torque command τr by the calculation of Expression 5 below. τr = τa + Kv · (1 + ωPI / s) {va−vm + ωx (xa−xm)} (Equation 5)

The torque command calculation unit 505 outputs a sum signal of the above model torque τa and the error compensation torque τc as a torque command τr. If there is a model error in the control target 1, the control target 1 is driven by adding the error compensation torque τc to control the actual position xm to follow the model position xa.

Further, since the model transfer characteristic Ga (s) is a low-pass characteristic, when a high-frequency model error such as mechanical resonance exists in the controlled object 1, the response of the model transfer characteristic Ga (s) is slowed down. That is, by lowering the cutoff frequency of the low-pass characteristic, mechanical resonance is suppressed, and as a result, high-speed settling can be realized.

As described above, the first prior art suppresses mechanical resonance in a relatively high frequency range (about several tens of Hz) by making the model transfer characteristic Ga (s) a low-pass characteristic.
However, if it is attempted to suppress the overshoot in expectation of the low-pass characteristic of the model transfer characteristic Ga (s), the overshoot is reduced to a lower frequency range (several H).
z or less), the model transfer characteristic Ga
If (s) has characteristics corresponding to this, the control response becomes extremely slow, and it has been difficult to realize control to settle at high speed.

Next, FIG. 13 shows, for example, Japanese Unexamined Patent Publication No. 05-21.
FIG. 6 is a control system configuration diagram of a second related art described in Japanese Patent Application Publication No. 6540. In FIG. 13, a control system of a discrete time system is converted to a continuous time system and equivalently described. In FIG.
The same reference numeral as 2 indicates the same part. 605 is a torque command calculation unit. 606 is a position compensator, and 607 is a speed PI compensator. 612 is a torque feed forward amplifier, and 611 is a speed feed forward amplifier. 6
08 is a first differentiator, 609 is a second differentiator, and 610 is an inertia amplifier.

Next, the operation of the second prior art will be described. The description of the operation of the same parts as those of the first prior art is omitted. The first differentiator 608 differentiates the position command xr and outputs a speed command vr, the second differentiator 609 differentiates the speed command vr and outputs an acceleration command ar, and the inertia amplifier 610 outputs the acceleration command ar. Control object 1 set in advance
Is multiplied by the estimated inertia Ja of the model torque .tau.a.

Next, the operation of the torque command calculator 605 will be described. The torque command calculator 605 receives the position command xr, the speed command vr, the model torque τa, the actual speed vm, and the actual position xm. Inside the torque command calculation unit 605, the torque feed forward amplifier 612 outputs a feed forward torque τf obtained by multiplying the model torque τa by the torque feed forward gain ατ, and the speed feed forward amplifier 611 applies the speed feed forward gain αv to the speed command vr. The multiplied feedforward speed vf is output.

Next, the position compensator 606 outputs a signal obtained by multiplying the difference signal between the position command xr and the actual position xm by the position gain ωx. A signal obtained by adding the output of the position compensator 606 to the signal is input, and a PI (proportional integration) operation of the speed proportional gain Kv and the integral gain ωPI is performed to output an error compensation torque τc. The torque command calculation unit 605 outputs a sum signal of the model torque τa and the error compensation torque τc as a torque command τr. That is, the torque command calculation unit 605 calculates the torque command τr by the calculation of Expression 6 below. τr = ατ · τa + Kv · (1 + ωPI / s) {αv · vr−vm + ωx (xr−xm)} (Equation 6)

In the second prior art, the torque feed forward gain ατ and the speed feed forward gain αv are set to 1 by the above-described configuration. If the control target 1 is an ideal model, the position command xr and the actual position It is possible to perform control such that xm matches xm. Control target 1
Are compensated for by the error compensation torque τc. Here, still further, the torque feed forward gain ατ and the speed feed forward gain αv are changed from 1 to perform fine adjustment to correct a minute response error of the actual position xm with respect to the position command xr due to a model error of the controlled object 1. .

However, in the second prior art, unless the torque feedforward gain ατ is set to 0, a signal component obtained by second-order differentiation of the position command xr is directly applied to the torque command τr. If the characteristics of the control target 1 include high-frequency mechanical resonance, there is a problem that it is difficult to excite the mechanical resonance to realize high-speed settling.

Also, considering the transfer characteristic, the integral of the speed is the position, so in the second prior art, the signal of torque, speed, position, and the integral of the position is obtained by using the relationship of the following equations (7) and (8). When Expression 6 is converted so as to be summarized in a dimension, the torque command calculation unit 605 performs the following Expression 9 calculation. xr = (1 / s) vr (7) xm = (1 / s) vm (8) τr = ατ · τa + Kv (αv · vr−vm) + Kv (ωPI + ωx) (αx Xr-xm) + Kv.omega.x.omega.PI (1 / s) (xr-xm) (Equation 9) where .alpha.x is expressed by the following Equation 10. αx = (αv · ωPI + ωx) / (ωPI + ωx) (10)

If αx in Equation 10 is called a position feedforward gain, in the second conventional technique having the structure shown in FIG. 13, the position feedforward gain αx is defined as a position gain ωx, an integral gain ωPI, and a speed feedforward gain αv. It cannot be adjusted independently. Here, the position gain ωx and the integral gain ωPI are the disturbance torque τd
, That is, a feedback gain that determines the response to Therefore, it is difficult to optimally set the torque feed forward gain ατ, the speed feed forward gain αv, and the position feed forward gain αx while maintaining the characteristics with respect to the disturbance torque τd, that is, the feedback characteristics, optimally. There is a problem that it is difficult to make an optimal adjustment corresponding to the model error. There is also a problem that it is difficult to easily perform adjustment for suppressing overshoot.

[0020]

As described above, in the first prior art, it is necessary to considerably slow the response of the model position xm to the position command xr in order to suppress the overshoot during settling. There is a problem that the response of the actual position xm becomes slow, and it is difficult to obtain a high-speed settling.

In the second prior art, a high-frequency component is applied to the torque command τr in order to obtain a high-speed response. Therefore, when the controlled object 1 has a mechanical resonance, the resonance is excited, and There is a problem that it is difficult to obtain a proper setting. Further, since the position feed forward gain αx cannot be set independently of the feedback gain and the speed feed forward gain αv, it is possible to obtain a high-speed settling for a small model error of the controlled object while keeping the response to disturbance optimal. However, there is a problem that it is difficult to realize optimal control. In addition, there is a problem that it is difficult to perform high-speed settling control by suppressing overshoot with simple calculation and simple adjustment.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and precisely adjusts a small model error of a controlled object while maintaining an optimum response to a disturbance. This is for realizing control to settle at high speed without exciting mechanical resonance.

[0023]

A position control device according to the present invention is provided with a model signal calculation section for inputting a position command and generating respective signals of a model torque, a model speed, and a model position assuming an object to be controlled, and a feedback. A control unit and a feed-forward control unit, each signal of a model torque, a model speed, and a model position from the model signal calculation unit; And a torque command calculating unit for generating a torque command for the control object, generating a torque corresponding to the torque command so that the actual position matches the position command, and In the position control device for controlling the feedback control, the feedback control section includes a feedback gain including a position proportional gain, a speed proportional gain, and a position integral gain. Means for setting a feed forward gain comprising a torque feed forward gain, a speed feed forward gain, and a position feed forward gain. In this configuration, a value other than 1 can be set independently of the forward gain and independently of the feedback gain.

[0024] A position control device according to the present invention is a model signal calculation section for inputting a position command and creating respective signals of a model torque, a model speed, and a model position assuming a control object.
And a feedback control unit and a feed-forward control unit. These signals are the model torque, model speed, and model position signals from the model signal calculation unit, and the actual position and speed detection signals that are the position detection signals of the control target. Each of the signals of the actual speed is input, and a torque command calculation unit for creating a torque command of the control object is provided, and a torque corresponding to the torque command is generated so that the actual position matches the position command. In a position control device that controls a control target,
The feedback control unit includes means for setting a feedback gain including a position proportional gain, a speed proportional gain, and a position integration gain, and the feed forward control unit determines a feedback gain from a torque feed forward gain, a speed feed forward gain, and a position feed forward gain. A means for setting the feed forward gain is provided, and all of the position feed forward gain, the speed feed forward gain, and the torque feed forward gain can be set independently of the feedback gain.

The feedforward control section of the position control device according to the present invention is configured so that the position feedforward gain, the speed feedforward gain, and the torque feedforward gain can be set independently of each other.

The feedforward control unit of the position control device according to the present invention is configured to set the position feedforward gain, the speed feedforward gain, and the torque feedforward gain using a relational expression independent of the feedback gain. It is.

The feedforward control section of the position control device according to the present invention is configured to set the position feedforward gain, the speed feedforward gain, and the torque feedforward gain using the following relationship. (Position feed forward gain) = (Speed feed forward gain) = (Torque feed forward gain)

The feedforward control section of the position control device according to the present invention is configured to set the position feedforward gain, the speed feedforward gain, and the torque feedforward gain using the following relationship. (Torque feed forward gain) = (Position feed forward gain) ³ (Speed feed forward gain) = (Position feed forward gain) ²

The position control device according to the present invention inputs a position command xr from the outside, an actual position xm which is a position detection signal of a control target, and an actual speed vm which is a speed detection signal, and outputs a torque command τr, The actual position xm is equal to the position command xr.
In the position control device for controlling the control object by generating a torque according to the torque command τr so as to coincide with the model command, a model position xa calculated by a predetermined transfer function calculation by inputting the position command xr and this model A model signal calculating unit that outputs a model speed va that is a differential signal of the position xa and a model torque τa obtained by multiplying the model acceleration that is a differential signal of the model speed va by the estimated value of inertia of the control object; and the model torque τa And model speed v
a, the model position xa, the actual speed vm, and the actual position xm, and the position proportional gain Kx, the speed proportional gain Kv, the position integral gain Ki, the torque feed forward gain ατ, the speed feed forward gain αv, and the position feed forward gain αx And a torque command calculation unit that outputs the torque command τr based on a calculation represented by the following equation using τr = ατ · τa + Kv · (αv · va−vm) + Kx
-(Αx xa-xm) + Ki (1 / s) (xa-x
m) s: Laplace operator

The torque command calculating section of the position control device according to the present invention comprises a feedforward torque τf obtained by multiplying the model torque τa by a torque feedforward gain ατ.
, A speed feedforward amplifier that outputs a feedforward speed vf obtained by multiplying a model speed va by a speed feedforward gain αv, and a feedforward position xf obtained by multiplying a model position xa by a position feedforward gain αx.
, A position integrator that outputs a signal obtained by integrating the deviation between the model position xa and the actual position xm, and a deviation between the feedforward velocity vf and the actual velocity vm multiplied by a velocity proportional gain Kv. A speed proportional compensator that outputs a signal, a position proportional compensator that outputs a signal obtained by multiplying a deviation between the feedforward position xf and the actual position xm by a position proportional gain Kx, and a position integral gain Ki that is output from the position integrator. And a position integral compensator that outputs a signal obtained by multiplying the feed forward torque τf and the speed proportional compensator, the position proportional compensator,
The added value of the output signal of the position integration compensator is output as a torque command τr.

The torque command calculation unit of the position control device according to the present invention includes a feedforward torque τf obtained by multiplying the model torque τa by a torque feedforward gain ατ.
, A speed feedforward amplifier that outputs a feedforward speed vf obtained by multiplying a model speed va by a speed feedforward gain αv, and a feedforward position xf obtained by multiplying the model speed va by a position feedforward reduction gain βx. , A position integrator that outputs a signal obtained by integrating a signal obtained by subtracting the feedforward position xf from the deviation between the model position xa and the actual position xm, and a feedforward speed vf and an actual speed vm. A velocity proportional compensator that outputs a signal obtained by multiplying a deviation of the model position xa by a velocity proportional gain Kv, a position proportional compensator that outputs a signal obtained by multiplying a deviation between the model position xa and the actual position xm by a position proportional gain Kx, and the position The position integration gain K is applied to the output of the integrator. a position integral compensator that outputs a signal multiplied by i, the position feed forward gain αx is set by the following equation, and the feed forward torque τf and the speed proportional compensator, position proportional compensator, position integral compensator The added value of the output signal is output as a torque command τr. αx = 1−Ki · βx / Kx

The torque command calculating section of the position control device according to the present invention comprises a feedforward torque τf obtained by multiplying the model torque τa by a torque feedforward gain ατ.
, A speed feedforward reducer that outputs a feedforward speed vf obtained by multiplying a model speed va by a speed feedforward reduction gain γv, and a feedforward position obtained by multiplying a model position xa by a position feedforward reduction gain γx. a position feedforward reducer that outputs xf; a position compensator that outputs a signal obtained by multiplying a deviation between the model position xa and the actual position xm by a position gain ωx; A speed PI compensator that receives a signal obtained by adding the output of the compensator, performs a PI (proportional integration) operation of the speed proportional gain Kv and the integral gain ωPI, and outputs an error compensation torque τc; The position feed forward gain αx is And sets the formula feed from the feed-forward torque τf forward speed vf feedforward position xf and the subtraction signal to the error compensation torque τc adding the signals of the torque command τr
Is output. αv = 1−γv / Kv αx = 1−γx / {Kv (ωx + ωPI)}

The position control apparatus according to the present invention receives a position command xr from the outside, an actual position xm as a position detection signal of a control object, and an actual speed vm as a speed detection signal, and outputs a torque command τr. The actual position xm is equal to the position command xr.
In the position control device for controlling the control object by generating a torque according to the torque command τr so as to coincide with the model command, a model position xa calculated by a predetermined transfer function calculation by inputting the position command xr and this model A model signal calculating unit that outputs a model speed va that is a differential signal of the position xa and a model torque τa obtained by multiplying the model acceleration that is a differential signal of the model speed va by the estimated value of inertia of the control object; and the model torque τa A torque feedforward amplifier that outputs a feedforward torque τf obtained by multiplying the model speed va by a torque feedforward gain ατ, a speed feedforward amplifier that outputs a feedforward speed vf obtained by multiplying the model speed va by a speed feedforward gain αv, and the model position xa
Position compensator that outputs a signal obtained by multiplying the deviation between the position integral gain ωi and the deviation between the actual position xm and the model position va and the feedforward speed vf from the output of the position integral compensator.
An integrator that outputs a signal obtained by integrating a signal obtained by subtracting the deviation from the above, and a position that outputs a signal obtained by multiplying a signal obtained by adding the output of the integrator to the deviation between the model position xa and the actual position xm and a position gain ωx. A proportional compensator; and a speed proportional compensator that outputs a signal obtained by multiplying a signal obtained by adding the output of the position proportional compensator to the deviation between the feed forward speed vf and the actual speed vm and a speed proportional gain Kv. A torque command calculation unit for outputting an addition value of the forward torque τf and the output signal of the speed proportional compensator as a torque command τr is provided, and a position feed forward gain αx is set by the following equation. αx = αv

The model signal calculation section of the position control device according to the present invention is configured such that the transfer characteristic from the position command to the model position is a low-pass characteristic that cuts a predetermined frequency or more.

A model signal calculating section for inputting a position command of the position control device according to the present invention and creating respective signals of a model torque, a model speed, and a model position assuming a control object;
And a feedback control unit and a feed-forward control unit. These signals are the model torque, model speed, and model position signals from the model signal calculation unit, and the actual position and speed detection signals that are the position detection signals of the control target. Each of the signals of the actual speed is input, and a torque command calculation unit for creating a torque command of the control object is provided, and a torque corresponding to the torque command is generated so that the actual position matches the position command. In a position control device that controls a control target,
The model signal calculation unit is configured such that a transfer characteristic from the position command to the model position is a low-pass characteristic that cuts a predetermined frequency or more, and the feedback control unit includes a position proportional gain, a speed proportional gain, and a position integral gain. Means for setting a feedback gain comprising a gain, wherein the feedforward control unit comprises means for setting a feedforward gain comprising a torque feedforward gain, a speed feedforward gain and a position feedforward gain, and at least the position The feed forward gain is configured to be set to a value other than 1.

[0036]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a block diagram showing a configuration of a position control device according to Embodiment 1 of the present invention. In FIG. 1, reference numeral 1 denotes a control object that drives a mechanical system by generating a torque according to a torque command τr. Reference numeral 2 denotes a position detector that detects the actual position xm that is the position of the control target 1. Reference numeral 3 denotes a speed detector which detects an actual speed vm which is a differential signal of the actual position xm. Reference numeral 4 denotes a model signal calculation unit that inputs a position command xr from the outside and outputs a model position xa, a model speed va, and a model torque τa. Reference numeral 5 denotes a torque command calculation unit. 6 is a position integrator. 7 is a speed proportional compensator, 8 is a position proportional compensator, 9
Is a position integration compensator. 10 is a torque feed forward amplifier, 11 is a speed feed forward amplifier, 1
2 is a position feed forward amplifier.

Next, the operation of the first embodiment will be described. First, the characteristics of the control target 1 will be described. If it is assumed that the torque generated in the controlled object 1 ideally matches the torque command τr, and the transfer characteristic of the controlled object 1 is described as G (s), the relationship between the torque command τr and disturbance torque τd and the actual position xm is as follows. Equation 1 Here, s represents a Laplace operator in the following equation and thereafter. xm = G (s) · τr + G (s) · τd (1)

If the controlled object 1 is a completely rigid machine, the transfer characteristic G (s) of the controlled object 1 is given by the following equation (2).
It is represented by Here, in the following equation, J is the inertia of the controlled object 1. G (s) = 1 / (J · s ² ) (Equation 2)

However, a model error such as mechanical resonance or friction exists in the actual controlled object 1, and for example, the friction coefficient f
Transfer characteristic G of the controlled object in the presence of viscous friction
(S) is given by the following equation 3. G (s) = 1 / (J · s ² + f · s) (3)

Next, the operation of the model signal calculation section 4 will be described. The model signal calculation unit 4 receives a position command xr externally given to the position control device, calculates a model position xa based on a transfer function calculation of a model transfer characteristic Ga (s) which is a low-pass characteristic, and further calculates a model position xa. The model speed va which is a differential signal and the model acceleration aa which is a differential signal of the model speed va are calculated, and the model signal calculation unit 4 further multiplies the model acceleration aa by a model inertia Ja which is a preset inertia value of the control target. The calculated model torque τa is output as the model position xa, the model speed va, and the model torque τa. For the model transfer characteristic Ga (s), for example, a second-order low-pass characteristic as shown in the following Expression 11 is selected. Ga (s) = 1 / (s + ωa) ² (Equation 11) Here, ωa in the above Equation 11 is the response frequency of the model, that is, the cutoff frequency of the low-pass characteristic, and the position command x
It determines how fast the model responds to r.

With the above operation, the model signal calculation unit 4 performs the transfer function calculation of the following equations 12, 13 and 14. xa = Ga (s) · xr (formula 12) va = s · Ga (s) · xr (formula 13) τa = Ja · s ² · Ga (s) · xr・ (Equation 14)

Next, the operation of the torque command calculator 5 will be described. The torque command calculator 5 calculates the model torque τa, the model speed va, the model position xa, the actual speed vm, and the actual position xm.
Enter Inside the torque command calculation unit 5, the torque feedforward amplifier 10 outputs a feedforward torque τf obtained by multiplying the model torque τa by the torque feedforward gain ατ, and the speed feedforward amplifier 11 applies the speed feedforward gain αv to the model speed va. The multiplied feedforward velocity vf is output, and the position feedforward amplifier 12 outputs a feedforward position xf obtained by multiplying the model position xa by the position feedforward gain αx.

Next, the position integrator 6 outputs a signal obtained by integrating the difference between the model position xa and the actual position xm, and the speed proportional compensator 7 calculates the speed proportional gain Kv by adding the difference between the feed forward speed vf and the actual speed vm. And the position proportional compensator 8 outputs the feedforward position xf and the actual position xm
Is multiplied by the position proportional gain Kx, and a signal is output.
The position integration compensator 9 outputs a signal obtained by multiplying the output signal of the position integrator 6 by the position integration gain Ki,
Controls the control target 1 by outputting, as a torque command τr, the sum signal of the feedforward torque τf, the output of the speed proportional compensator 7, the output of the position proportional compensator 8, and the output of the position integral compensator 9.

With the above configuration, the torque command calculator 5 inputs the model position xa, the model speed va, the model torque τa, the actual position xm, and the actual speed vm, and calculates the torque by the transfer function calculation of the following equation (15). The command τr is output. τr = ατ · τa + Kv (αv · va−vm) + Kx (αx · xa−xm) + Ki (1 / s) (xa−xm) (Equation 15)

Further, the torque command calculating section 5 calculates the torque feed forward gain ατ by the torque feed forward amplifier 10 and the speed feed forward amplifier 11
, The position feedforward gain αx by the position feedforward amplifier 12, the speed proportional gain Kv by the speed proportional compensator 7, and the position proportional gain Kx by the position proportional compensator 8.
In order to set the position integration gain Ki by the position integration compensator 9, the torque feed forward gain ατ, the speed feed forward gain αv, and the position feed forward gain αx are independent of each other, and the speed proportional gain Kv and the position proportional gain Kx And the position integral gain Ki can be set independently. Hereinafter, the speed proportional gain Kv, the position proportional gain Kv, and the position integral gain Ki are collectively called a feedback gain,
Torque feed forward gain ατ, speed feed forward gain αv, position feed forward gain α
x is collectively called a feed forward gain.

In the following description, the controlled object 1 is an ideal rigid machine represented by the formula 1, and the case where the model inertia Ja of the model signal calculation unit 4 and the inertia J of the controlled object 1 match is determined. Let's call it the model case.

In FIG. 1, the feed forward gain α
When τ, αv, and αx are all set to 1, equivalent conversion from the first conventional technique to FIG. 1 is possible. That is, the control system of FIG. 1 operates in the same manner as the first conventional technique. When the control target 1 is an ideal model, the actual position xm and the model position xa completely match the position command xr. However, if the control target 1 has a model error as shown in, for example, Equation 3, even if the model error is small, a problem such as a slight overshoot of the actual position xm occurs.

Next, the setting of the feedback gains Kv, Kx, Ki in the torque command calculation section 5 will be described with reference to FIG. FIG. 2 is a diagram showing a step response of the actual position xm to the disturbance τd.

Feedback gains Kv, Kx, Ki
Is set so that the variation in the error between the actual position xm and the position command xr with respect to the disturbance τd is as small as possible. The transfer characteristic from the disturbance τd to the actual position xm in FIG.
If described as (s), the outline of the step response of Gτ (s) is a stable waveform as shown in FIG. That is, normally, the feedback gain K is set so that the step response of Gτ (s) fluctuates only in the positive direction and does not go too far in the negative direction.
Set v, Kx, and Ki. Note that Gτ (s) is
This is a response of a closed circuit including the control target 1, and is expressed by the following equation from a transfer characteristic G (s) of the control target 1 and a transfer characteristic Cb (s) of a feedback control system described later. Gτ (s) = G (s) / {1 + G (s) · Cb (s)} Further, Gτ (s) in the case where the controlled object 1 is an ideal rigid body machine of Expression 2 is described as Gτ1 (s). Then, Gτ1
(S) is given by the following equation (16). Gτ1 (s) = s / ( J · s 3 + Kv · s 2 + Kx · s + Ki) ···· ( Equation 16)

Next, feed forward gain ατ, α
The setting of v and αx will be described using a general two-degree-of-freedom control system block shown in FIG. The general two-degree-of-freedom control system shown in FIG. 3 is used for analyzing the response characteristics of the control system. 3, the same reference numerals as those in FIG. 1 indicate the same parts. 13 is a feedback controller. 1
Reference numeral 4 denotes a feedforward controller.

Next, the operation of the general two-degree-of-freedom control system shown in FIG. 3 will be described. Feed forward controller 14
Receives a position command xr and outputs a feedforward torque τf by a transfer function calculation of Cf (s). The feedback controller 13 inputs the actual position xm and outputs a feedback torque τb by calculating a transfer function of Cb (s). In the two-degree-of-freedom control system of FIG. 3, the sum of the feedforward torque τf and the feedback torque τb
The controlled object 1 is driven as r.

When the model signal calculation unit 4 and the torque command calculation unit 5 in FIG. 1 are equivalently converted to the general two-degree-of-freedom control system in FIG.
(S) and the transfer characteristic Cb of the feedback controller 13
(S) is represented by the following Expression 17 and Expression 18. Cf (s) = Ga (s) · Gf (s) (Equation 17) Cb (s) = Kv · s + Kx + Ki / s (Equation 18) where Gf (s) ) = (Ατ · Ja · s ³ + αv · Kv · s ² + αx · Kx · s + Ki) / s (Equation 19) Gf when all of the feedforward gains ατ, αv, and αx are set to 1 as in the following Expression 20:
Let (s) be Gf1 (s). Gf1 (s) = (Ja · s ³ + Kv · s ² + Kx · s + Ki) / s (Equation 20)

Next, the transfer function from the feedforward torque τf to the actual position xm is exactly the same as the response Gτ (s) from the disturbance torque τd to the actual position xm. Therefore, the response from the position command xr to the actual position xm is given by the following equation 2.
It is represented by 1. xm / xr = Cf (s) · Gτ (s) = Ga (s) · Gf (s) · Gτ (s) (Equation 21)

Here, in the above equation, Ga (s) is the transfer characteristic Ga (s) of the model signal calculating section 4 as described above. This is a part for setting the response speed of the subject 1. Further, a transfer characteristic Gf (s) · Gτ (s) obtained by removing the model transfer characteristic from the response from the position command xr to the actual position xm represented by Expression 21 becomes a characteristic for correcting the response,
The transfer characteristic of Gf (s) · Gτ (s) is given by the following expression 22 from expression 19. Gf (s) · Gτ (s) = (ατ · Ja · s ² + αv · Kv · s + αx · Kx + Ki / s) · Gτ (s) (Equation 22)

From the above equation 22, Gf (s) · Gτ
The response of (s) is a linear sum of the integral, proportional, differential and second derivative responses of the disturbance response Gτ (s) shown in FIG. FIG.
Ki · Gτ (s) / s, Kx · Gτ (s), Kv · s
Gτ (s) and Ja · s ² · Gτ (s) step responses, respectively. When the control target 1 is an ideal model, Gf (s) · Gτ (s) becomes Gf1 (s) · G when feedforward gains ατ, αv, and αx are all set to 1.
τ1 (s), and the transfer characteristic of Gf (s) · Gτ (s) matches 1 from the above description and Expressions 16 and 20. That is, in this case, when the four waveforms shown in FIG. Therefore, the feedforward gains ατ, αv, αx are set based on 1.

Since the control target 1 has a model error as described above, the response of Gf (s) · Gτ (s) is 1
However, a small error is generated. Since the response from the position command xr to the actual position xm is given by the above equation 21,
When the response frequency ωa of the response Ga (s) of the model shown in FIG. 1 is reduced, a high frequency component of the response of the model itself is removed, so that the error between the model position xa and the actual position xm decreases. Therefore, with respect to an error occurring at a high frequency such as a mechanical resonance, the error between the model position xa and the actual position xm is reduced without significantly delaying the response of the model by reducing the response frequency ωa of the model by a predetermined amount. be able to. However, for errors occurring at relatively low frequencies, such as the viscous friction shown in Equation 3 and the resulting overshoot, if the response frequency ωa of the model is to be further reduced to reduce the errors, the first conventional technique will be described. As described above, the response frequency ωa of the model needs to be considerably reduced, and as a result, the response of the actual position xm to the position command xr becomes considerably slow.

Therefore, for example, when the position feed forward gain αx is reduced from 1, Gf (s) · Gτ (s)
Of the response waveform of FIG.
The waveform is changed to a value obtained by subtracting the waveform obtained by multiplying the waveform of x · Gτ (s) by (1−αx). As described above, by changing the feed forward gains αx, αv, ατ from 1,
Without changing the feedback gains Kv, Kx, Ki, that is, the disturbance response is kept optimal, for example, as shown in FIG.
Can be adjusted without delaying the response of the actual position xm to the position command xr.

The characteristics of the model error of the controlled object 1 are various. To settle as quickly as possible in response to such uncertainty, the position feed forward gain αx, the speed feed forward gain αv, and the torque feed By independently adjusting the forward gain ατ, the feedback gains Kv, Kx, Ki
It is possible to settle as quickly as possible in response to the uncertainty in detail, while keeping the value at the optimum value.

As shown in FIG. 2, in the normal adjustment of the feedback gains Kv, Kx, and Ki, the step response of the disturbance response Gτ (s) responds only in the positive direction, so that the position command xr When the response of the actual position xm to the overshoot causes an overshoot, if αx is reduced as described above, the overshoot always acts to suppress the overshoot. Therefore, as an example, FIG. 5 shows a simulation in which the characteristics of the control target 1 are an ideal model, and Gf (s) when αx is changed small while the speed feedforward gain αv and the torque feedforward gain ατ are fixed at 1. 7) shows how the response of Gτ (s) changes. If the response at the actual actual position xm causes a slight overshoot based on the change in the response of Gf (s) · Gτ (s) shown in FIG. 5, only the position feedforward gain αx is made slightly smaller than 1. This makes it possible to suppress overshoot with a simple operation in the controller and a simple adjustment.

In the above description, only the position feed forward gain αx is reduced, but the step response of Gf (s) · Gτ (s) when only the position feed forward gain αx shown in FIG. , Rises to 1 immediately after time 0, then decreases once, gradually rises again, and reaches 1. That is, the position command xr
Includes a high frequency component that is not significantly involved in suppressing overshoot. On the other hand, since the characteristics of the controlled object 1 in the high frequency region often include mechanical resonance, reducing the high frequency component of the torque command τr that does not contribute to the suppression of overshoot increases the effect of suppressing mechanical resonance. Become. Therefore, in order to suppress the overshoot, the position feed forward gain αx is made smaller than 1 and at the same time,
When the speed feed forward gain αv and the torque feed forward gain ατ are set to be smaller than 1, the vibration suppressing effect is increased and the settling time is shortened.

Here, for example, Gf (s) · Gτ by reducing the speed feed forward gain αv
The change in the step response of (s) is represented by Kv · s · Gτ in FIG.
The result of multiplying the waveform of (s) by a constant is subtracted,
The change in the step response of Gf (s) · Gτ (s) due to the decrease in the torque feed forward gain ατ is obtained by reducing the waveform obtained by multiplying the Ja · s2 · Gτ (s) waveform in FIG. 4 by a constant. Therefore, the response waveform changes in both positive and negative directions, and if the speed feed forward gain αv or the torque feed forward gain ατ is reduced carelessly, it may cause an increase in overshoot, or a specific frequency component The response may be oscillating because of the remaining. Therefore, by providing the feedforward gains αx, αv, ατ with an appropriate relational expression, it is possible to suppress overshoot with a simple adjustment and to obtain a vibration suppression effect.

Next, as an example, a case where the feedforward gains αx, αv, and ατ are given the following equation 23 will be described. αx = αv = ατ (23)

When the feedforward gains αx, αv, ατ are reduced from 1 by giving the relationship of the above equation 23, the response of Gf (s) · Gτ (s) is expressed by the following equation 24 from the equation 23. Is done. Gf (s) · Gτ (s) = αx · Gf1 (s) · Gτ (s) + Ki · (1−αx) · Gτ (s) / s (Expression 24) That is, Gf1 (s) Since the transfer characteristic of Gτ (s) is close to 1, the step response waveform of Gf (s) · Gτ (s) has a step change in height αx and Ki · shown in FIG.
This is the sum of the waveform of Gτ (s) / s multiplied by a constant.
FIG. 6 shows the steps of Gf (s) · Gτ (s) when the transfer characteristic of Gf1 (s) · Gτ (s) is set to 1 and the feedforward gain αx is reduced while giving the relationship of Equation 23. Show changes in response. From the state of the change in the figure, Gf
When 1 (s) · Gτ (s) causes a slight overshoot, the feedforward gains αx, αv, and ατ may be reduced while maintaining the relationship of Equation 23, so that one parameter αx can be obtained smoothly. With a simple adjustment by
Overshoot can be suppressed.

Next, as an example, a case where the feedforward gains αx, αv, and ατ are given the following equation 25 will be described. αv = αx2, ατ = αx3 (25)

Gf (s) when the feedforward gains αx, αv, ατ are reduced from 1 by giving the relationship of the above equation 25 is expressed by the following equation. Gf (s) = ｛Ja · (αx · s) 3 + Kv · (αx ·
s) 2 + Kx · αx · s + Ki) / s FIG. 7 shows Gf1 when the transfer characteristic of Gf1 (s) · Gτ (s) is set to 1 and the feedforward gain αx is reduced while maintaining the relationship of Equation 25. (S) · Change of the step response of Gτ (s). From the state of the change in the figure, Gf
In the case where 1 (s) · Gτ (s) causes a slight overshoot, if the feedforward gains αx, αv, ατ are reduced while giving the relationship of Equation 25, the rise is reduced, that is, the high frequency component Can be reduced, and the overshoot can be suppressed smoothly and with a simple adjustment using one parameter αx.

With the above-described configuration, the first embodiment is provided with the position feedforward amplifier 12 which is a feedforward gain setting element, and changes the position feedforward gain αx to the speed feedforward gain α.
independent of v, speed proportional gain Kv, position proportional gain K
x and the position integral gain Ki can be set to a value other than 1 independently, and the position feed forward gain αx in the position feed forward amplifier 12 is set to 1 even when the torque feed forward gain ατ and the speed feed forward gain αv remain 1. By making small adjustments in this manner, overshoot can be suppressed and settled at high speed with a simple controller operation while maintaining the optimum disturbance response.

Further, the first embodiment includes a torque feedforward amplifier 10, a speed feedforward amplifier 11, and a position feedforward amplifier 12, which are feedforward setting elements, and has a feedforward gain α.
Since τ, αv, αx can be set to values other than 1 independently of each other and independently of the feedback gains Kv, Kx, Ki, the feedforward gains ατ, αv, αx are set to 1
By finely adjusting the reference based on the reference, it is possible to settle at high speed while keeping the disturbance response at the optimum.

Further, in the first embodiment, the torque feedforward amplifier 10 as a feedforward setting element is used.
And a speed feed forward amplifier 11 and a position feed forward amplifier 12.
By setting a single parameter using an appropriate relational expression independent of Ki, the feedforward gain α
By finely adjusting τ, αv, and αx with one parameter αx based on 1, it is possible to suppress overshoot and settle smoothly and at high speed while keeping the disturbance response optimal.

Further, in the first embodiment, the response from the position command xr to the model position xa in the model signal calculation section 4 has a low-pass characteristic, and a position feed-forward amplifier 12 as a feed-forward setting element is provided. Since the feed forward gain αx can be set to a value other than 1, the excitation of mechanical resonance is suppressed by using the model transfer characteristic Ga (s) as a low-pass characteristic, and the position feed forward gain αx is finely adjusted small with reference to 1. It is possible to settle at high speed by suppressing vibration and suppressing overshoot while keeping the disturbance response optimal.

In the above description of the first embodiment, the torque command calculation unit 5 is configured to include the torque feedforward amplifier.
Is multiplied by the inertia J of the control target 1 and the torque feed forward gain ατ, it goes without saying that the same effect is obtained.

Also, for example, when a low-pass filter is inserted in a signal such as the output of the speed proportional compensator 8,
It goes without saying that the present invention has the same effects without changing the essential effects of the present invention. Further, depending on the condition, the suppression of the high-frequency mechanical resonance may be performed not by making the transfer function of the model signal calculation unit 4 a low-pass characteristic but by adjusting the above-described setting of each feedforward gain. It goes without saying that you can do it.

Embodiment 2 FIG. 8 is a block diagram showing a configuration of the position control device according to the second embodiment. 8, the same reference numerals as those in FIG. 1 denote the same parts, and a description thereof will be omitted.

Reference numeral 105 denotes a torque command calculator. 106
Is a position integrator. 107 is a speed proportional compensator, 108
Is a position proportional compensator, and 109 is a position integral compensator. 1
10 is a torque feed forward amplifier, 111 is a speed feed forward amplifier, and 112 is a position feed forward reducer.

In the first embodiment shown in FIG. 1, the torque command τr is calculated using the difference signal between the actual position and the feedforward position xf obtained by multiplying the model position xa by the position feedforward gain αx. When the moving distance of the command xr is large, the output of the position proportional compensator 8 steadily increases, and the output signal of the position integration compensator 9 has a large value to offset this output. However, the second embodiment has solved the above problem.

Next, the operation of the second embodiment will be described. The operation of the torque command calculator 105, which is different from the first embodiment, will be described. Torque command calculation unit 10
5 is model torque τa, model speed va and model position x
a, the actual speed vm, and the actual position xm are input. Inside the torque command calculation unit 105, the torque feed forward amplifier 110 controls the feed forward torque τ by multiplying the model torque τa by the torque feed forward gain ατ.
f, the speed feedforward amplifier 111 outputs a feedforward speed vf obtained by multiplying the model speed va by the speed feedforward gain αv, and the position feedforward reducer 112 multiplies the model speed va by the position feedforward reduction gain βx. The output feedforward position (position feedforward reduction signal) xf is output.

Next, the position integrator 106 outputs a signal obtained by integrating a signal obtained by subtracting the position feedforward reduction signal xf from the deviation between the model position xa and the actual position xm, and the speed proportional compensator 107 outputs the feedforward speed. The position proportional compensator 108 outputs a signal obtained by multiplying the difference between the model position xa and the actual position xm by the position proportional gain Kx, and outputs a signal obtained by multiplying the difference between the model position xa and the actual position xm by the speed proportional gain Kv. The position integration compensator 109 outputs a signal obtained by multiplying the output signal of the position integrator 106 by the position integration gain Ki, and the torque command calculator 105 outputs the feedforward torque τf, the output of the speed proportional compensator 107, and the position proportional compensator 108. Is output as the torque command τr to control the control target 1.

With the above-described configuration, the torque command calculation unit 105 can determine the model position xa, the model speed va,
Based on the model torque τa, the actual position xm, and the actual speed vm, a torque command τr is output by the transfer function calculation of the following equation 26. τr = ατ · τa + Kv (αv · va−vm) + Kx (xa−xm) + Ki (1 / s) (xa−xm−βx · va) (Equation 26)

Here, since the integral of the model velocity va is the model position xa, the following equation 27 is obtained by transforming the equation 26 so that the signals are integrated in the dimensions of the integral of the torque, velocity, position, and position. τr = ατ · τa + Kv (αv · va−vm) + Kx ｛(1−Ki · βx / Kx) xa−xm｝ + Ki (1 / s) (xa−xm) (Equation 27)

Accordingly, if the position feed forward gain αx is defined by the following equation (28), the above equation (26) is calculated by the equation (15) in the torque command calculating section 5 of the first embodiment.
Is exactly the same as αx = 1−Ki · βx / Kx (28)

Τr = ατ · τa + Kv (αv · va−vm) + Kx (αx · xa−xm) + Ki (1 / s) (xa−xm) (Equation 15)

The position feed forward reduction gain β
By setting x, it is possible to set the position feed forward gain αx independently of the velocity feed forward gain αv and the feedback gains Kv, Kx, Ki.

With the above configuration, the second embodiment has exactly the same effects as the first embodiment, and even if the position command xr increases, the position proportional compensator 10
The output of No. 8 does not become particularly large, and stable operation characteristics can be obtained.

Embodiment 3 FIG. 9 is a block diagram showing a control system according to the third embodiment. 9, the same reference numerals as those in FIG. 1 denote the same parts, and a description thereof will be omitted.

Reference numeral 205 denotes a torque command calculator. 206
Is a position compensator, and 207 is a speed PI compensator. 210
Denotes a torque feed forward amplifier, and 211 denotes a speed feed forward amplifier.

Next, the operation of the third embodiment will be described. The operation of the torque command calculation unit 205, which is different from the first embodiment, will be described. Torque command calculation unit 20
5 is model torque τa, model speed va and model position x
a, the actual speed vm, and the actual position xm are input. Inside the torque command calculation unit 205, the torque feed forward amplifier 210 has a feed forward torque τ obtained by multiplying the model torque τa by a torque feed forward gain ατ.
f, and the speed feedforward amplifier 211 outputs a feedforward speed vf obtained by multiplying the model speed va by the speed feedforward gain αv.

Next, the position compensator 206 outputs a signal obtained by multiplying the deviation between the model position xa and the actual position xm by the position gain ωx. And outputs the error compensation torque τc by performing a PI (proportional integration) calculation of the speed proportional gain Kv and the integral gain ωPI. The torque command calculation unit 205 outputs a sum signal of the feedforward torque τf and the error compensation torque τc as a torque command τr. That is, the torque command calculation unit 205 calculates the torque command τr by the calculation of Expression 29 below. τr = ατ · τa + Kv (1 + ωPI / s) {αv · va−vm + ωx (xa−xm)} (Equation 29)

Here, since the integral of the model speed va is the model position xa, when Expression 29 is converted so that the signals are integrated by the integral dimensions of torque, speed, position, and position, the following Expression 30, Expression 31, Equations 32 and 33 are obtained. .tau.r = .alpha..tau.a + Kv (.alpha.v.va-vm) + Kx (.alpha.x.xa-xm) + Ki (1 / s) (xa-xm) (Equation 30) where Kx = Kv (.omega.x + .omega.PI) .. .. (Equation 31) Ki = Kv · ωx · ωPI (Formula 32) αx = (ωx + αv · ωPI) / (ωx + ωPI) (Formula 33)

From the above equations 31, 32 and 33, equation 3
The position feed forward gain αx at 0 cannot be set independently of the speed feed forward gain αv and independently of the position proportional gain Kx and the position integral gain Ki. However, the speed feed forward gain αv in the speed feed forward amplifier 211
Is smaller than 1, the position feed forward gain αx in Expression 15 is also smaller than 1. Also,
The relationship between the position feed forward gain αx and the velocity ford forward gain αv is determined by the relationship between the position gain ωx, which is a feedback gain, and the integral gain ωPI according to Equation 33, so that the feedback characteristics slightly change. By adjusting the magnitude relationship with the gain ωPI, the position feed forward gain αx is rapidly reduced by reducing the speed ford forward gain αv, and the overshoot is reliably suppressed by adjusting the speed ford forward gain αv. it can.

Also, as with the first embodiment, by reducing the response frequency ωa of the model transfer characteristic Ga (s) in the model signal calculation unit 4 against mechanical resonance at high frequencies, a mechanical vibration suppression effect is obtained. Is greatly obtained.

With the above-described configuration, the third embodiment includes the model signal operation unit 4 having a low-pass characteristic in the transfer characteristic from the position command xr to the model position xa, By reducing the position feed forward gain αx by the forward amplifier 211, the disturbance suppression effect is somewhat sacrificed, but the vibration can be suppressed by a relatively simple operation, and the overshoot can be suppressed to settle at high speed. is there.

Embodiment 4 FIG. 10 is a block diagram showing a control system according to the fourth embodiment. 10, the same reference numerals as those in FIG. 1 denote the same parts, and a description thereof will be omitted.

Reference numeral 304 denotes a model signal calculation unit which inputs a position command xr from the outside and outputs a model position xa, a model speed va, and a model torque τa. 313 is a first differentiator. 314 is a second differentiator. 315 is an inertia amplifier. 305 is a torque command calculation unit. 306 is a position compensator, and 307 is a speed PI compensator. 310 is a torque feed forward amplifier, 311
Is a velocity feed forward reducer, and 312 is a position feed forward reducer.

Next, the operation of the fourth embodiment will be described. The model signal calculator 304 receives the position command xr, the first differentiator 313 differentiates the position command xr and outputs a speed command vr, and the second differentiator 314 differentiates the speed command vr to accelerate the speed command vr. ar, and the inertia amplifier 315 outputs a model torque τa obtained by multiplying the acceleration command ar by a preset inertia estimated value Ja of the controlled object 1.

By the above operation, the model signal calculation unit 304
Performs the transfer function calculation of the following Expressions 34, 35 and 36. xa = xr (Equation 34) va = s · xr (Equation 35) τa = Ja · s2 · xr (Equation 36)

From the above equations 34, 35, and 36, the model signal calculation section 304 in the fourth embodiment sets the model transfer characteristic Ga (s) to 1 in the model signal calculation section 4 in the first embodiment. It is nothing but a thing. Therefore, the model transfer characteristic Ga (s) does not have a low-pass characteristic, but otherwise has characteristics similar to those of the first embodiment.

Next, the operation of the torque command calculator 305 will be described. The torque command calculator 305 calculates the model torque τ
a, model speed va, model position xa, actual speed vm, and actual position xm are input. Inside the torque command calculation unit 305, the torque feedforward amplifier 310 outputs a feedforward torque τf obtained by multiplying the model torque τa by the torque feedforward gain ατ, and the speed feedforward reducer 311 outputs a speed feedforward reduction gain to the model speed va. Feedforward speed multiplied by γv (speed feedforward reduction signal) vf
And the position feed forward reducer 312 outputs a feed forward position (position feed forward reduction signal) xf obtained by multiplying the model position xa by the position feed forward reduction gain γx.

Next, the position compensator 306 outputs a signal obtained by multiplying the deviation between the model position xa and the actual position xm by the position gain ωx, and the speed PI compensator 307 outputs the signal based on the deviation between the model speed va and the actual speed vm. A signal to which the output of the compensator 306 is added is input, and the speed proportional gain Kv and the PI
(Proportional integration) calculation to output the error compensation torque τc. Further, the torque command calculation unit 305 calculates the speed feedforward reduction signal vf from the feedforward torque τf.
A signal obtained by adding the error compensation torque τc to a signal obtained by subtracting the position feedforward reduction signal xf from the torque command τ
Output as r. That is, the torque command calculation unit 305 calculates the torque command τr by the calculation of Expression 37 below. τr = ατ · τa−γv · va−γx · xa + Kv · (1 + ωPI / s) {va−vm + ωx (xa−xm)} (Equation 37)

Here, since the integral of the model speed va is the model position xa and the integral of the actual speed vm is the actual position xm, the equation 37 is converted so that the signals are integrated by the integral dimensions of torque, speed, position and position. Then, the following Expression 38, Expression 39, and Expression 4
0 and equation 41. .tau.r = .alpha..tau.a + Kv (.alpha.v.va-vm) + Kx (.alpha.x.xa-xm) + Ki (1 / s) (xa-xm) (Equation 38) where Kx = Kv (.omega.x + .omega.PI). (Equation 39) Ki = Kv · ωx · ωPI (Equation 40) αv = 1−γv / Kv (Equation 41) αx = 1−γx / Kx (Equation 42) )

Accordingly, by setting the speed feedforward reduction gain γv by the speed feedforward reducer 311, the speed feedforward gain αv can be set independently, and the position feedforward reducer 312 can be set.
The position feed forward gain αx can be set independently by setting the position feed forward reduction gain γx with.

According to the fourth embodiment, the feedback control system is constituted by the position compensator and the speed PI
Also in the case of a configuration using a compensator, the position feedforward reducer 312 which is a feedforward gain setting element
Since the position feed forward gain αx can be set to a value other than 1 independently of the speed feed forward gain αv and independently of the feedback gain, even if the torque feed forward gain ατ or the speed feed forward gain αv remains 1, By finely adjusting the feed forward gain αx to a small value based on 1, it is possible to suppress overshoot and settle at high speed with a simple controller operation while maintaining the optimum disturbance response.

In the fourth embodiment, a torque feedforward amplifier 310 as a feedforward setting element is used.
And the speed feed forward reducer 311 and the position feed forward reducer 312, and the feed forward gains ατ, αv, and αx can be set to values other than 1 independently of each other and independently of the feedback gain, so that the feed forward gain ατ, By finely and finely adjusting αv and αx on the basis of 1, it is possible to settle at high speed while keeping the disturbance response optimal.

Embodiment 5 FIG. FIG. 11 is a block diagram showing a control system configuration according to the fifth embodiment. In FIG.
The same reference numerals denote the same parts, and a description thereof will be omitted.

Reference numeral 405 denotes a torque command calculator. 406
Is an integrator. 407 is a speed proportional compensator, 408 is a position proportional compensator, and 409 is a position integral compensator. 410
Is a torque feedforward amplifier, and 411 is a speed feedforward amplifier.

Next, the operation of the fifth embodiment will be described. The operation of the torque command calculator 405, which is different from the first embodiment, will be described. Torque command calculator 40
5 is model torque τa, model speed va and model position x
a, the actual speed vm, and the actual position xm are input. Inside the torque command calculation unit 405, the torque feed forward amplifier 410 feeds the feed forward torque τ by multiplying the model torque τa by the torque feed forward gain ατ.
f, and the speed feedforward amplifier 411 outputs a feedforward speed vf obtained by multiplying the model speed va by the speed feedforward gain αv.

Next, the position integration compensator 409 calculates the model position x
a and outputs a signal obtained by multiplying the deviation between the actual position xm and the position integration gain ωi. The integrator 406 outputs the model speed va and the feedforward speed vf from the output of the position integration compensator 409.
A signal obtained by subtracting the difference signal from the input is input and an integrated signal is output. Next, the position proportional compensator 408 inputs a signal obtained by adding the output of the integrator 406 to the difference signal between the model position xa and the actual position xm, and outputs a signal multiplied by the position gain ωx.
Next, the speed proportional compensator 407 calculates the feedforward speed v
A signal obtained by adding the output of the position proportional compensator 408 to the difference signal between f and the actual speed vm is input, and a signal obtained by multiplying the signal by the speed proportional gain Kv is output. A sum signal with the feedforward torque τf is output as a torque command τr. That is, the torque command calculation unit 405 calculates the torque command τr by the calculation of the following Expression 43. τr = ατ · τa + Kv [αv · va−vm + ωx ｛xa−xm + (1 / s) (ωi (xa−xm) − (1−αv) va)}] (Equation 43)

Here, since the integral of the model speed va is the model position xa, when the expression 43 is converted so that the signals are integrated by the integral dimensions of torque, speed, position, and position, the following expressions 44, 45, Equations 46 and 47 are obtained. .tau.r = .alpha..tau.a + Kv (.alpha.v.va-vm) + Kx (.alpha.x.xa-xm) + Ki (1 / s) (xa-xm) (Equation 44) where Kx = .omega.x.Kv. · (Equation 45) Ki = ωi · ωx · Kv · · · (Equation 46) αx = αv · · (Equation 47)

From the above equations 45, 46 and 47, equation 1
5 has the same value as the speed feedforward gain αv. A torque feed forward gain ατ is set by a torque feed forward amplifier 410 which is a feed forward gain setting element.
By setting the speed feedforward gain αv of No. 11, the speed feedforward gain αv and the position feedforward gain αx can be set independently of the feedback gain. Further, FIG.
In the equation (44), the relationship between the feedforward gains ατ, αv, and αx in equation (44) can be obtained by giving a relational expression that makes the torque feedforward gain ατ the same value as the speed feedforward gain αv in equation (2).
Since the relationship of 3 is satisfied, adjustment can be made to smoothly suppress overshoot with one parameter αv as in the first embodiment.

With the above-described configuration, the fifth embodiment includes the torque feedforward amplifier 410 and the speed feedforward amplifier 411 which are feedforward setting elements, and performs the position feedforward gain αx with a relatively simple calculation. All of feed forward gains ατ, αv, and αx can be set to values other than 1 independently of feedback gain while maintaining good relationship with speed Ford forward gain αv, suppressing overshoot and optimizing disturbance response , It is possible to settle at high speed.

In the fifth embodiment, a torque feedforward amplifier 410 as a feedforward setting element is used.
And a speed feedforward amplifier 411, and the feedforward gain ατ, αv, and αx are set with one parameter using an appropriate relational expression independently of the feedback gain, so that the feedforward gain α
By finely adjusting τ, αv, and αx with one parameter αv based on 1, it is possible to suppress overshoot and settle smoothly and at high speed while keeping the disturbance response optimal.

It should be noted that the present invention is not limited to the specific circuit configuration examples described in each of the above embodiments, but includes the above-described predetermined model signal calculation unit, the feedback control unit, and the torque control unit having the feedforward control unit. Equipped with a command calculation unit, enabling position feed forward gain to be set independently of speed feed forward gain and independent of feedback gain, and all position, speed and torque feed forward gains to be set independently of feedback gain. It goes without saying that the present invention can be applied to various circuit configuration examples.

[0111]

As described above, the position control device according to the present invention is provided with a model signal calculation section for inputting a position command and generating each signal of a model torque, a model speed, and a model position assuming a control target, and It has a feedback control unit and a feedforward control unit, and outputs the model torque, model speed, and model position signals from the model signal calculation unit, and the actual position and speed detection signals that are the position detection signals of the control target. A torque command calculation unit for inputting each speed signal and generating a torque command for the control object; generating a torque corresponding to the torque command so that the actual position matches the position command; In the position control device for controlling an object, the feedback control section includes a feedback gain including a position proportional gain, a speed proportional gain, and a position integral gain. Means for setting a feed forward gain comprising a torque feed forward gain, a speed feed forward gain, and a position feed forward gain, wherein the position feed forward gain is controlled by the speed feed forward gain. The configuration is such that it can be set to a value other than 1 independently of the forward gain and independently of the feedback gain. The overshoot can be suppressed while maintaining the control, and control capable of setting at high speed can be realized.

Further, the position control device according to the present invention comprises: a model signal calculation section for inputting a position command and generating each signal of a model torque, a model speed, and a model position assuming an object to be controlled; a feedback control section; A forward control unit, and a model torque, a model speed, and a model position signal from the model signal calculation unit, and an actual position that is a position detection signal of the control target, and an actual speed signal that is a speed detection signal. And a torque command calculating unit for generating a torque command for the control target, a position for controlling the control target by generating a torque according to the torque command so that the actual position matches the position command. In the control device, the feedback control unit sets a feedback gain including a position proportional gain, a speed proportional gain, and a position integral gain. Means for setting a feed forward gain comprising a torque feed forward gain, a speed feed forward gain, and a position feed forward gain, wherein the position feed forward gain, the speed feed forward gain, and the torque Since all of the feed forward gains can be set independently of the above feedback gains, a simple fine adjustment of changing the position feed forward gain, the speed feed forward gain, and the torque feed forward gain based on 1 While maintaining optimal characteristics against disturbance,
Overshoot can be suppressed, and control that can settle at high speed can be realized.

Further, the feedforward control section of the position control device according to the present invention has a configuration in which the position feedforward gain, the speed feedforward gain, and the torque feedforward gain can be set independently of each other. And the speed feed forward gain and the torque feed forward gain are independently changed based on 1,
It is possible to suppress overshoot while keeping the characteristics with respect to the disturbance optimally, and realize a control that can settle at high speed.

Further, the feedforward control section of the position control device according to the present invention sets the position feedforward gain, the speed feedforward gain, and the torque feedforward gain using a relational expression independent of the feedback gain. As a result, overshoot can be suppressed by simpler fine adjustment while maintaining optimal characteristics with respect to disturbance, and control capable of setting at high speed can be realized.

Further, the feedforward control unit of the position control device according to the present invention is configured to set the position feedforward gain, the speed feedforward gain, and the torque feedforward gain using the following relationship. While maintaining the optimum characteristics against disturbance, 1
The overshoot can be suppressed smoothly by simple fine adjustment using the two parameters, and control capable of setting at high speed can be realized. (Position feed forward gain) = (Speed feed forward gain) = (Torque feed forward gain)

Further, the feedforward control unit of the position control device according to the present invention is configured to set the position feedforward gain, the speed feedforward gain, and the torque feedforward gain using the following relationship. While maintaining the optimum characteristics against disturbance, 1
The overshoot can be suppressed smoothly by simple fine adjustment using the two parameters, and control capable of setting at high speed can be realized. (Torque feed forward gain) = (Position feed forward gain) 3 (Speed feed forward gain) = (Position feed forward gain) 2

Further, the position control device according to the present invention inputs a position command xr from the outside, an actual position xm which is a position detection signal of a control target, and an actual speed vm which is a speed detection signal, and outputs a torque command τr. Then, in the position control device for controlling the control object by generating a torque according to the torque command τr so that the actual position xm matches the position command xr, the position command xr is inputted and a predetermined transmission is performed. The model position xa calculated by the function operation and the model position xa
Model speed va which is a differential signal of
A model signal calculation unit for outputting a model torque τa obtained by multiplying the model acceleration which is a differential signal of the above by the inertia estimated value of the control object, and the model torque τa, the model speed va, the model position xa, the actual speed vm, and the actual position xm, a position proportional gain Kx, a speed proportional gain Kv, a position integral gain Ki, and a torque feedforward gain α.
τ, the speed feedforward gain αv, and the position feedforward gain αx, and the torque command calculating section that outputs the torque command τr based on the calculation represented by the following equation. Therefore, each feedforward gain αx, α
By finely adjusting v and ατ as appropriate, overshoot can be suppressed and the control that can settle at high speed can be realized while maintaining the characteristics with respect to the disturbance determined by the feedback gains Kx, Kv, and Ki optimally. τr = ατ · τa + Kv · (αv · va−vm) + Kx
-(Αx xa-xm) + Ki (1 / s) (xa-x
m) s: Laplace operator

Further, the torque command calculation unit of the position control device according to the present invention includes a torque feedforward amplifier for outputting a feedforward torque τf obtained by multiplying the model torque τa by a torque feedforward gain ατ, and a speed feedforward for the model speed va. A speed feedforward amplifier that outputs a feedforward speed vf multiplied by a gain αv, a position feedforward amplifier that outputs a feedforward position xf obtained by multiplying a model position xa by a position feedforward gain αx, and the model position xa and the actual position xm. Position integrator that outputs a signal obtained by integrating the deviation of
Proportional compensator that outputs a signal obtained by multiplying the deviation between the feed forward position xf and the actual position xm by a speed proportional gain Kx.
A position-proportional compensator that outputs a signal obtained by multiplying the position-integrator and a position-integral compensator that outputs a signal obtained by multiplying the output of the position integrator by a position integration gain Ki. Since the added value of the output signals of the position proportional compensator and the position integration compensator is output as the torque command τr, each of the feedforward amplifiers can directly set the torque, speed, and position feedforward gain. Is more reliably adjusted.

Further, the torque command calculation unit of the position control device according to the present invention includes a torque feedforward amplifier for outputting a feedforward torque τf obtained by multiplying the model torque τa by a torque feedforward gain ατ, and a speed feedforward for the model speed va. A speed feedforward amplifier that outputs a feedforward speed vf multiplied by a gain αv, a position feedforward reducer that outputs a feedforward position xf obtained by multiplying the model speed va by a position feedforward reduction gain βx, a model position xa and an actual position a position integrator that outputs a signal obtained by integrating a signal obtained by subtracting the feedforward position xf from the deviation from xm, the feedforward speed v
a speed proportional compensator that outputs a signal obtained by multiplying a deviation between f and the actual speed vm by a speed proportional gain Kv;
A position proportional compensator that outputs a signal obtained by multiplying a deviation between the actual position xm and a position proportional gain Kx, and a position integral compensator that outputs a signal obtained by multiplying the output of the position integrator by a position integral gain Ki, The position feed forward gain αx is set by the following equation, and the sum of the feed forward torque τf and the output signals of the speed proportional compensator, the position proportional compensator, and the position integral compensator is expressed by a torque command τ
output as r, even when the position command xr is large,
A stable control operation is performed. αx = 1−Ki · βx / Kx

Further, the torque command calculating section of the position control device according to the present invention includes a torque feedforward amplifier for outputting a feedforward torque τf obtained by multiplying the model torque τa by a torque feedforward gain ατ, and a speed feedforward for the model speed va. Reduction gain γv
A speed feedforward reducer that outputs a feedforward velocity vf multiplied by a position feedforward reducer that outputs a feedforward position xf obtained by multiplying a model position xa by a position feedforward reduction gain γx, a model position xa and an actual position xm, And a position compensator that outputs a signal obtained by multiplying the deviation of the model speed va by the position gain ωx, and a signal obtained by adding the output of the position compensator to the deviation between the model speed va and the actual speed vm. A speed PI compensator that performs PI (proportional integration) calculation of the gain ωPI and outputs an error compensation torque τc is provided. The speed feedforward gain αv and the position feedforward gain αx are set by the following equations, respectively.
A signal obtained by adding an error compensation torque τc to a signal obtained by subtracting the feedforward speed vf and the feedforward position xf from the feedforward torque τf is output as a torque command τr. , The feedforward gains αx, αv, ατ can be set independently of each other and independently of the feedback gain. αv = 1−γv / Kv αx = 1−γx / {Kv (ωx + ωPI)}

Further, the position control device according to the present invention inputs a position command xr from the outside, an actual position xm which is a position detection signal of a control target, and an actual speed vm which is a speed detection signal, and outputs a torque command τr. Then, in the position control device for controlling the control object by generating a torque according to the torque command τr so that the actual position xm matches the position command xr, the position command xr is inputted and a predetermined transmission is performed. The model position xa calculated by the function operation and the model position xa
Model speed va which is a differential signal of
A model signal calculating unit that outputs a model torque τa obtained by multiplying the model acceleration, which is a differential signal of the control object, by the estimated value of inertia of the control object, and outputs a feedforward torque τf obtained by multiplying the model torque τa by a torque feedforward gain ατ. Torque feedforward amplifier, a speed feedforward amplifier that outputs a feedforward speed vf obtained by multiplying the model speed va by a speed feedforward gain αv, and the model position x
a position integration compensator that outputs a signal obtained by multiplying the deviation between a and the actual position xm by the position integration gain ωi, and outputs the model speed va and the feedforward speed v from the output of the position integration compensator.
an integrator that outputs a signal obtained by integrating a signal obtained by subtracting a deviation from f, and outputs a signal obtained by multiplying a signal obtained by adding the output of the integrator to the deviation between the model position xa and the actual position xm and a position gain ωx. A position proportional compensator; and a speed proportional compensator that outputs a signal obtained by multiplying a signal obtained by adding the output of the position proportional compensator to the deviation between the feed forward speed vf and the actual speed vm by a speed proportional gain Kv, A torque command calculation unit that outputs the sum of the feedforward torque τf and the output signal of the speed proportional compensator as a torque command τr is provided, and the position feedforward gain αx is set by the following equation. While maintaining the good relationship between the position feed forward gain αx and the speed ford forward gain αv, the feed forward gains αx, αv, α It is possible to set all of the independently of the feedback gain. αx = αv

Further, since the model signal calculation section of the position control device according to the present invention is configured such that the transmission characteristic from the position command to the model position is a low-pass characteristic for cutting a predetermined frequency or more, the torque feedforward operation is performed. Optimal adjustment of gain ατ, speed Ford forward gain αv, and position feed forward gain αx based on 1 enables high-speed setting while suppressing the excitation of mechanical resonance while maintaining the optimal characteristics against disturbance. Control can be realized.

Further, the position control device according to the present invention includes a model signal calculation section for inputting a position command and generating respective signals of a model torque, a model speed, and a model position assuming a control target, and a feedback control section and a feed control section. A forward control unit, and a model torque, a model speed, and a model position signal from the model signal calculation unit, and an actual position that is a position detection signal of the control target, and an actual speed signal that is a speed detection signal. And a torque command calculating unit for generating a torque command for the control target, a position for controlling the control target by generating a torque according to the torque command so that the actual position matches the position command. In the control device, the model signal calculation section has a low-pass characteristic in which a transfer characteristic from the position command to the model position cuts a predetermined frequency or more. The feedback control unit includes means for setting a feedback gain including a position proportional gain, a speed proportional gain, and a position integral gain, and the feed forward control unit includes a torque feed forward gain, a speed feed forward gain, and a position There is provided a means for setting a feed forward gain comprising a feed forward gain, and at least the position feed forward gain can be set to a value other than 1, so that the position feed forward gain can be reduced with reference to 1. With such fine adjustment, overshoot can be suppressed while suppressing the excitation of mechanical resonance while maintaining the characteristic with respect to the disturbance optimally, and control capable of setting at high speed can be realized.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a position control device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a response waveform to a disturbance of a normal control system.

FIG. 3 is a configuration diagram of a general two-degree-of-freedom control system.

FIG. 4 is a diagram showing a response characteristic of a signal according to the present invention.

FIG. 5 is a diagram illustrating an example of a response change according to the first embodiment of the present invention.

FIG. 6 is a diagram illustrating an example of a response change according to the first embodiment of the present invention.

FIG. 7 is a diagram illustrating an example of a response change according to the first embodiment of the present invention.

FIG. 8 is a configuration diagram of a position control device according to a second embodiment of the present invention.

FIG. 9 is a configuration diagram of a position control device according to a third embodiment of the present invention.

FIG. 10 is a configuration diagram of a position control device according to a fourth embodiment of the present invention.

FIG. 11 is a configuration diagram of a position control device according to a fifth embodiment of the present invention.

FIG. 12 is a configuration diagram of a position control device of a first related art.

FIG. 13 is a configuration diagram of a second conventional position control device.

[Explanation of symbols]

1 control target, 2 position detector, 3 speed detector, 4,
304 Model signal operation unit, 5, 105, 205, 30
5,405 torque command calculator, 6,106 position integrator, 7,107 speed proportional compensator, 8,108 position proportional compensator, 9,109 position integral compensator, 10,11
0, 210, 310, 410 Torque feed forward amplifier, 11, 111, 211, 411 Speed feed forward amplifier, 12 Position feed forward amplifier, 112 Position feed forward reducer, 20
6,306 position compensator, 207,307 speed PI compensator, 311 speed feed forward reducer, 312
Position feed forward reducer, 406 integrator, 4
07 Speed proportional compensator, 408 Position proportional compensator, 40
9 position integration compensator, xr position command, xm actual position,
vm actual speed, τa model torque, va model speed, xa model position, ατ torque feed forward gain, αv speed feed forward gain, αx
Position feed forward gain, τf feed forward torque, vf feed forward speed, xf
Feed forward position, βx position feed forward reduction gain, γv velocity feed forward reduction gain, γ x position feed forward reduction gain.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroshi Terada 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsui Electric Co., Ltd. (72) Masahiko Yoshida 2-3-2 Marunouchi 3-chome, Chiyoda-ku, Tokyo F-term (Reference) 5H004 GA03 GA05 GB15 HA07 HB07 HB08 JA11 JB09 KB32 KB37 KB38 KC27 LA02 LA13 5H303 AA01 CC05 DD01 FF03 HH01 JJ01 KK02 KK03 KK11 KK28 5H550 AA18 BB10 DD01 EE05 GG10GG03 JJ26 LL01 LL32 LL34

Claims (13)

[Claims] 1. A position command is input and a control target is assumed.
A model signal calculation unit that creates each signal of a model torque, a model speed, and a model position, and a feedback control unit and a feedforward control unit; and a model torque, a model speed, and a model position from the model signal calculation unit. A signal and an actual position which is a position detection signal of the controlled object, and a signal of an actual speed which is a speed detection signal are inputted, and a torque command calculating unit for creating a torque command of the controlled object is provided. In a position control device that controls the control target by generating a torque according to the torque command so as to match the position command, the feedback control unit includes a feedback gain including a position proportional gain, a speed proportional gain, and a position integral gain. Means for setting the torque feed forward gain and the speed. Means for setting a feed forward gain comprising a feed forward gain and a position feed forward gain, wherein the position feed forward gain can be set to a value other than 1 independently of the speed feed forward gain and independently of the feedback gain. A position control device having a configuration. 2. Assuming a position to be controlled by inputting a position command,
A model signal calculation unit that creates each signal of a model torque, a model speed, and a model position, and a feedback control unit and a feedforward control unit; and a model torque, a model speed, and a model position from the model signal calculation unit. A signal and an actual position which is a position detection signal of the controlled object, and a signal of an actual speed which is a speed detection signal are inputted, and a torque command calculating unit for creating a torque command of the controlled object is provided. In a position control device that controls the control target by generating a torque according to the torque command so as to match the position command, the feedback control unit includes a feedback gain including a position proportional gain, a speed proportional gain, and a position integral gain. Means for setting the torque feed forward gain and the speed. Means for setting a feed forward gain consisting of a feed forward gain and a position feed forward gain, a configuration capable of setting all of the position feed forward gain, speed feed forward gain, and torque feed forward gain independently of the feedback gain; A position control device characterized in that: 3. The position control device according to claim 2, wherein the feed forward control section is configured to be able to set a position feed forward gain, a speed feed forward gain, and a torque feed forward gain independently of each other. 4. The feed forward control unit is configured to set a position feed forward gain, a speed feed forward gain, and a torque feed forward gain using a relational expression independent of a feedback gain. 3. The position control device according to 2. 5. The feed forward control unit according to claim 4, wherein the feed forward control unit sets the position feed forward gain, the speed feed forward gain, and the torque feed forward gain using the following relationship. Position control device. (Position feed forward gain) = (Speed feed forward gain) = (Torque feed forward gain) 6. The feed forward control unit according to claim 4, wherein the feed forward control unit sets the position feed forward gain, the speed feed forward gain, and the torque feed forward gain using the following relationship. Position control device. (Torque feed forward gain) = (Position feed forward gain) ³ (Speed feed forward gain) = (Position feed forward gain) ² 7. A torque command τr is output by inputting an external position command xr, an actual position xm which is a position detection signal of a control target, and an actual speed vm which is a speed detection signal, and the actual position xm is the position A position control device for controlling the controlled object by generating a torque corresponding to the torque command τr so as to match the command xr, comprising: a model position xa calculated by a predetermined transfer function calculation by inputting the position command xr; A model signal calculating section for outputting a model speed va which is a differential signal of the model position xa and a model torque τa obtained by multiplying the model acceleration which is a differential signal of the model speed va by the inertia estimated value of the control object; Input torque τa, model speed va, model position xa, actual speed vm, and actual position xm,
The torque command τr is calculated based on the following equation using the position proportional gain Kx, the speed proportional gain Kv, the position integral gain Ki, the torque feedforward gain ατ, the speed feedforward gain αv, and the position feedforward gain αx. The position control device according to any one of claims 1 to 6, further comprising: a torque command calculation unit that outputs a torque command. τr = ατ · τa + Kv · (αv · va−vm) + Kx
-(Αx xa-xm) + Ki (1 / s) (xa-x
m) s: Laplace operator 8. The torque command calculation section calculates a model torque τa
Feedforward amplifier that outputs a feedforward torque τf obtained by multiplying a model speed va by a torque feedforward gain ατ, and a feedforward speed vf obtained by multiplying a model speed va by a speed feedforward gain αv.
, A position feedforward amplifier that outputs a feedforward position xf obtained by multiplying the model position xa by a position feedforward gain αx, and outputs a signal obtained by integrating the deviation between the model position xa and the actual position xm. A position integrator, a speed proportional compensator that outputs a signal obtained by multiplying the difference between the feedforward speed vf and the actual speed vm by a speed proportional gain Kv, and a position proportional gain Kx based on the difference between the feedforward position xf and the actual position xm And a position integration compensator that outputs a signal obtained by multiplying the output of the position integrator by a position integration gain Ki, wherein the feed forward torque τf and the speed proportional compensator The sum of the output signals of the position proportional compensator and position Position controller according to claim 7, wherein the output as .tau.r. 9. The torque command calculation unit calculates a model torque τa
Feedforward amplifier that outputs a feedforward torque τf obtained by multiplying a model speed va by a torque feedforward gain ατ, and a feedforward speed vf obtained by multiplying a model speed va by a speed feedforward gain αv.
, A position feedforward reducer that outputs a feedforward position xf obtained by multiplying the model speed va by a position feedforward reduction gain βx, and a feedforward position based on a deviation between the model position xa and the actual position xm. a position integrator that outputs a signal obtained by integrating the signal obtained by subtracting xf, a speed proportional compensator that outputs a signal obtained by multiplying a difference between the feedforward speed vf and the actual speed vm by a speed proportional gain Kv,
A position proportional compensator that outputs a signal obtained by multiplying a deviation between the model position xa and the actual position xm by a position proportional gain Kx, and a position integral compensator that outputs a signal obtained by multiplying the output of the position integrator by a position integral gain Ki The position feedforward gain αx is set by the following equation, and the added value of the feedforward torque τf and the output signals of the speed proportional compensator, the position proportional compensator, and the position integral compensator is output as a torque command τr. The position control device according to claim 7, wherein: αx = 1−Ki · βx / Kx 10. The torque command calculation section calculates a model torque τ
A torque feedforward amplifier that outputs a feedforward torque τf obtained by multiplying a by a torque feedforward gain ατ, a speed feedforward reducer that outputs a feedforward speed vf obtained by multiplying a model speed va by a speed feedforward reduction gain γv, a model position a position feedforward reducer that outputs a feedforward position xf obtained by multiplying xa by a position feedforward reduction gain γx, a model position xa and an actual position xm
A position compensator that outputs a signal obtained by multiplying a deviation of the model speed va by a position gain ωx, and a signal obtained by adding an output of the position compensator to a deviation between the model speed va and the actual speed vm,
The speed P at which the PI (proportional integration) calculation of the speed proportional gain Kv and the integral gain ωPI is performed to output the error compensation torque τc.
An I compensator is provided. The speed feed forward gain αv and the position feed forward gain αx are respectively set by the following equations, and an error compensation torque is obtained by subtracting the feed forward speed vf and the feed forward position xf from the feed forward torque τf. 8. The position control device according to claim 7, wherein a signal obtained by adding τc is output as a torque command τr. αv = 1−γv / Kv αx = 1−γx / {Kv (ωx + ωPI)} 11. A torque command τr is output by inputting a position command xr from the outside, an actual position xm as a position detection signal of a control target, and an actual speed vm as a speed detection signal, and the actual position xm is the position In a position control device for controlling the controlled object by generating a torque according to the torque command τr so as to match the command xr, a model position xa calculated by a predetermined transfer function calculation by inputting the position command xr and The model torque va obtained by multiplying the model velocity va, which is a differential signal of the model position xa, and the model acceleration, which is a differential signal of the model velocity va, by the estimated value of the inertia of the control object.
a, a model signal calculating section for outputting a and a torque feedforward amplifier for outputting a feedforward torque τf obtained by multiplying the model torque τa by a torque feedforward gain ατ, and a feed for multiplying the model speed va by a speed feedforward gain αv. A speed feedforward amplifier for outputting a forward speed vf, a position integration compensator for outputting a signal obtained by multiplying a deviation between the model position xa and the actual position xm by a position integration gain ωi, and a model speed va from an output of the position integration compensator. An integrator that outputs a signal obtained by integrating a signal obtained by subtracting a deviation between the actual position xm and the actual position xm by multiplying a signal obtained by adding the output of the integrator to the deviation between the model position xa and the actual position xm by a position gain ωx A position proportional compensator for outputting a signal; Word speed vf and the actual speed v
and a speed proportional compensator that outputs a signal obtained by multiplying a signal obtained by adding the output of the position proportional compensator to a deviation from m and a speed proportional gain Kv. Add the value to torque command τr
3. The position control device according to claim 2, further comprising: a torque command calculation unit that outputs the position feed forward gain αx according to the following equation. αx = αv 12. The model signal calculation unit according to claim 1, wherein a transfer characteristic from the position command to the model position is a low-pass characteristic for cutting a predetermined frequency or more. 3. The position control device according to claim 1. 13. A model signal calculating unit for generating a model torque, a model speed, and a model position signal assuming a control target by inputting a position command, and a feedback control unit and a feedforward control unit. The model torque, model speed, and model position signals from the model signal calculation unit and the actual position that is the position detection signal of the control target,
A torque command calculating unit for inputting each signal of the actual speed which is a speed detection signal and generating a torque command for the control object; and a torque corresponding to the torque command so that the actual position matches the position command. Wherein the model signal calculation unit is configured such that a transfer characteristic from the position command to the model position is a low-pass characteristic that cuts a predetermined frequency or more. The feedback control unit includes means for setting a feedback gain including a position proportional gain, a speed proportional gain, and a position integration gain, and the feed forward control unit includes a torque feed forward gain, a speed feed forward gain, and a position feed forward gain. A means for setting a feed forward gain, and Without even the position controller, wherein said position feedforward gain that was set configurable to a value other than 1.