JP2002281778A - Ac servo controller and controlling method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an AC servo controller and a controlling method thereof that enable real-time control to be achieved with low-cost configuration. SOLUTION: Data of superimposing torque ripples of a motor 105 on sinusoidal wave data area stored in a memory 114 in advance. An address generating part 113 generates the address of the memory 114 to read the data from electrical angle data DGDT (including bias data BDT) based on a detection result by an encoder 106 and torque data TDT based on a control command. In accordance with the outputted data from the memory 114, pulse width making circuits 115, 116, 117 of each phase generate gate control signals GDuu, GDud, GDvu, GDvd, GDwu, and GDwd that control the opening and closing of upper and lower semiconductor switches of each phase of an inverter 104. The opening and closing each semiconductor switch of the inverter 104 control the speed or position of a motor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an AC servo control which includes an inverter in which upper and lower semiconductor switches of each phase are bridge-connected, and controls the speed or position of a motor to be controlled by opening and closing each semiconductor switch of the inverter. The present invention relates to a device and an AC servo control method, and in particular, does not require an on-delay circuit, a specially isolated current detector, and a higher-speed microprocessor, which are conventionally required, and realizes a less expensive real-time control device configuration. The present invention relates to an AC servo control device and an AC servo control method that can be realized by (1).

[0002]

2. Description of the Related Art Positioning control technology in machine tools, robots or general industrial machines is a pillar of automation and one of important technologies. In particular, with the rapid progress and development of microelectronics in recent years, high-speed and high-accuracy positioning using digital servos has been easily performed. The present inventor has also proposed a “digital pulse width conversion circuit” applied to such a digital servo,
For example, there is a registration: Japanese Patent No. 2090846. In this conventional AC servo control device using a digital pulse width conversion circuit, data equivalent to a triangular wave is created by a counter, and the counter output and a CPU (microprocessor) are used.
The U-phase, V-phase, and W-phase current commands calculated and created in step 3 are compared with each other, and based on the comparison result, the gate opening timing of the upper and lower semiconductor switches (transistors) of each phase constituting the inverter is created. Also, U-phase and V-phase current feedback were applied.

[0003]

However, the conventional AC servo control device has the following problems. First, any voltage is always applied to each phase of the motor to be controlled, and an on-delay circuit is required to prevent upper and lower semiconductor switches (transistors) from being simultaneously turned on at the voltage switching timing. there were. Second, the measurement of the motor current is performed to provide current feedback, but since the measurement of the motor current is performed at the line of the motor, a specially isolated current detector is required. Third, a current command is generated by a CPU (microprocessor). However, a higher-speed CPU is required to speed up the processing, and the apparatus cost is increased. The present invention has been made in view of the above-described conventional problems, and eliminates the need for a conventional on-delay circuit, a specially isolated current detector, and a higher-speed microprocessor, and realizes real-time control. AC servo control device and A that can be realized with less expensive device configuration
It is an object to provide a C servo control method.

[0004]

According to a first aspect of the present invention, there is provided an AC servo control device comprising an inverter in which upper and lower semiconductor switches of each phase are bridge-connected. In an AC servo controller for controlling the speed or position of a motor to be controlled by opening and closing a semiconductor switch, a storage means for storing data obtained by superimposing a torque ripple of the motor on a trigonometric function, and a position detecting means attached to the motor An access unit that generates an address of the storage unit from the electrical angle data based on the detection result and the torque data based on the control command to read the data of the storage unit; and an access unit that outputs the data of the inverter according to output data of the storage unit. Drive signal generating means for generating a drive signal for controlling the opening and closing of the upper and lower semiconductor switches of each phase. Than it is. According to a second aspect of the present invention, in the AC servo controller according to the first aspect, the access unit generates an upper address of the storage unit based on the torque data. The AC servo control device according to claim 3 is
3. The AC servo controller according to claim 1, wherein the inverter has a U phase, a V phase, and a W phase.
In the phase inverter, the storage means holds data of any one phase of U phase, V phase or W phase, and the access means stores data of 120 degrees or 240 degrees in the electrical angle data. In addition, by accessing the storage means, data of another phase is obtained. Claim 4
4. The AC servo control device according to claim 1, wherein the access unit adds arbitrary data to a detection result of the position detection unit, thereby obtaining the electrical angle data. Is set variably. An AC servo control device according to a fifth aspect of the present invention includes an inverter in which upper and lower semiconductor switches of each phase are bridge-connected, and the speed control or position control of a motor to be controlled is performed by opening and closing each semiconductor switch of the inverter. In the servo control device, ripple superimposed data obtained by superimposing a torque ripple of the motor on a trigonometric function, electric angle data based on a detection result of a position detection unit attached to the motor, torque data based on a control command,
A calculating means for generating, for each phase, polarity data indicating which of the upper and lower semiconductor switches is to be opened or closed, and time data for determining an open or closed time of the semiconductor switch; and Drive signal generating means for generating a drive signal for controlling the opening and closing of the upper and lower semiconductor switches of each phase of the inverter according to the polarity data and the time data. Further, the AC servo control device according to claim 6 provides the AC servo control device according to claim 1, 2, 3, 4, or 5.
5. The AC servo control device according to claim 1, wherein the drive signal generation unit opens and closes upper and lower semiconductor switches of each phase of the inverter according to polarity data and time data of the storage unit or the calculation unit at predetermined intervals. A drive means for generating a drive signal for controlling the time data, and after setting the time data, a clock means for clocking based on a predetermined clock;
In the current cycle, when the polarity data of the upper phase in the predetermined phase order and the polarity data of the own phase do not match, or when the polarity data matches and the timing means of the upper phase ends the timing operation. A timing control means for starting the timing operation of the timing means of the own phase, and a signal generation means for generating the drive signal based on the polarity data and the result of the time measurement by the time measurement means for each phase. Claim 7
7. The AC servo control device according to claim 6, wherein the timing control means comprises: a polarity data input for inputting polarity data from an upper phase timing control means in a predetermined phase order; And a polarity data output for outputting polarity data to the timekeeping control means.When the polarity data input is valid, the polarity data of the own phase is output to the polarity data output, and the timekeeping operation of the timekeeping means is started. Or, when the timekeeping operation is completed, the polarity data output is enabled, and when the polarity data input is disabled, the polarity data output is disabled, and the polarity data input does not match the polarity data of the own phase. , The polarity data output is invalidated, and the timekeeping operation of the timekeeping means is started or continued, and when the timekeeping operation is completed, the polarity data is output. And effective power, when the polarity data of the polar data input and self-phase matches, and outputs the polarity data of its own phase in the polar data output. Also,
An AC servo controller according to an eighth aspect of the present invention is the AC servo controller according to the sixth or seventh aspect, further comprising frequency control means for variably controlling the clock frequency of the clock. An AC servo control device according to a ninth aspect of the present invention is the AC servo control device according to the first, second, third, fourth, fifth, sixth, seventh or eighth aspect, wherein the AC servo control device flows through one line on the input side of the inverter. A current detecting means for detecting a current; and a feedback control means for performing a current feedback control based on a detection result of the current detecting means.

According to a tenth aspect of the present invention, there is provided an AC servo control method, comprising an inverter in which the upper and lower semiconductor switches of each phase are bridge-connected, and the speed control or position control of a motor to be controlled by opening and closing each semiconductor switch of the inverter. In the AC servo control method for an AC servo control device, a storage step of storing data obtained by superimposing a torque ripple of the motor on a trigonometric function in a storage means, and an electrical angle based on a detection result of a position detection means attached to the motor. An access step of generating an address of the storage unit from the torque data based on the data and the control command and reading the data of the storage unit; and, depending on output data of the storage unit, an upper and lower semiconductor switch of each phase of the inverter. A drive signal generating step of generating a drive signal for controlling opening and closing. Than it is. In the AC servo control method according to an eleventh aspect, in the AC servo control method according to the tenth aspect, the access step generates an upper address of the storage means based on the torque data. The AC servo control method according to claim 12 is the AC servo control method according to claim 10 or 11, wherein the inverter includes a U-phase, a V-phase, and a W-phase.
A three-phase inverter having three phases,
Phase, V-phase, or W-phase data for one phase,
In the accessing step, data of another phase is obtained by adding data of 120 degrees or 240 degrees to the electrical angle data and accessing the storage unit.
Further, in the AC servo control method according to claim 13, in the AC servo control method according to claim 10, 11, or 12, the access step includes adding arbitrary data to a detection result of the position detection means. , The specification of the electrical angle data is variably set. An AC servo control method according to a fourteenth aspect of the present invention is an AC servo control method, comprising: an inverter in which upper and lower semiconductor switches of each phase are bridge-connected; In an AC servo control method of a servo control device, a ripple superimposed data obtained by superimposing a torque ripple of the motor on a trigonometric function, an electric angle data based on a detection result of a position detecting means attached to the motor, and a torque data based on a control command. A calculation step of generating, for each phase, polarity data indicating which of the upper and lower semiconductor switches is to be opened or closed, and time data for determining an opening or closing time of the semiconductor switch; and Semiconductor switches above and below each phase of the inverter according to the polarity data and time data of the inverter. Is intended to and a drive signal generating step of generating a drive signal for controlling the opening and closing of the switch. Further, the AC servo control method according to claim 15 is the method according to claims 10 and 1.
In the AC servo control method according to any one of 1, 12, 13 and 14, the driving signal generating step includes, for each predetermined period, each phase of the inverter in accordance with the polarity data and the time data of the storage means or the calculating step. Generating a drive signal for controlling the opening and closing of the upper and lower semiconductor switches, after setting the time data, timing a clock based on a predetermined clock; and in the current cycle, an upper phase in a predetermined phase order. When the polarity data of the self phase does not match the polarity data of the own phase, or when the polarity data matches and the time measurement step of the upper phase has finished the time measurement operation, the time measurement operation of the time measurement step of the own phase is started. A timing control step, and a signal generation step of generating the drive signal based on the polarity data and a timing result of the timing step, Is provided for each phase. Further, the AC servo control method according to claim 16 is a method according to claim 1.
5. In the AC servo control method according to 5, the timekeeping control step includes: a polarity data input for inputting polarity data from an upper phase timekeeping control step in a predetermined phase order; and a polarity data output to a lower phase timekeeping control step. A polarity data output, and when the polarity data input is valid, outputs the polarity data of the own phase to the polarity data output and starts or continues the timing operation of the timing step, and the timing operation ends. When the polarity data output is valid, when the polarity data input is invalid, the polarity data output is invalidated, and when the polarity data input and the polarity data of the own phase do not match, the polarity data output is Inactivate and start or continue the timekeeping operation of the timekeeping step, and when the timekeeping operation ends, enable the polarity data output. When the polarity data of the polar data input and self-phase matches, and outputs the polarity data of its own phase in the polar data output. Claim 17
An AC servo control method according to claim 15 is the AC servo control method according to claim 15 or 16, further comprising a frequency control step of variably controlling a clock frequency of the clock. Furthermore, the AC servo control method according to claim 18 is the method according to claims 10, 11, 12, 13, 14, 1
18. The AC servo control method according to 5, 16, or 17, wherein a current detecting step for detecting a current flowing through one line on the input side of the inverter, and a feedback control for performing a current feedback control based on a detection result of the current detecting step. And steps.

The AC according to claims 1, 2, 3, and 4 of the present invention.
In the servo control device and the AC servo control method according to claims 10, 11, 12, and 13, (by the storage step)
Data in which the torque ripple of the motor to be controlled is superimposed on the trigonometric function is stored in advance in the storage means, and the electric angle data and the control based on the detection result of the position detection means attached to the motor are accessed by the access means (access step). An address of the storage means is generated from the torque data based on the command, and the data of the storage means is read out. In the drive signal generation means (drive signal generation step), the upper and lower semiconductors of each phase of the inverter are operated in accordance with the output data of the storage means. A drive signal for controlling the opening and closing of the switch is generated, and the speed control or position control of the motor is performed by opening and closing each semiconductor switch of the inverter. As described above, the data calculated by the control means such as the CPU in advance is stored in the storage means, and the data is accessed by the electrical angle data based on the detection result of the position detection means such as the encoder, and the data is output in accordance with the output data of the storage means. Since the open / close control of the upper and lower semiconductor switches of each phase of the inverter is performed, real-time control becomes possible, and the control means (CPU
Etc.) may be controlled with respect to the access of the storage means and the generation timing of the drive signal, and an AC servo controller can be realized at a lower price without requiring an expensive processor for speeding up processing as in the related art. be able to. In addition, since the data in which the torque ripple of the motor is superimposed is stored in the storage means, and the access according to the torque data is possible, the torque ripple of the motor can be corrected and offset by the data in the storage means, It is possible to control the operation of the motor while reducing the torque ripple of the motor. Also, in particular,
In the AC servo control device according to the second aspect and the AC servo control method according to the eleventh aspect, in the access means (access step), it is preferable to generate an upper address of the storage means based on the torque data. For example, a plurality of (M) blocks addressable with lower address data are prepared in the storage means, and the first to Mth blocks are sequentially multiplied by the minimum value to the maximum value of the torque data. By changing the torque data using a memory map holding the data and the torque data as an upper address, it is possible to substantially multiply the trigonometric function data by the torque data. In particular, in the AC servo control device according to the third aspect and the AC servo control method according to the twelfth aspect, the inverter is a three-phase inverter having a U-phase, a V-phase, and a W-phase.
The data for one of the V phase and the W phase is held, and the access means (access step) adds the data for 120 degrees or 240 degrees to the electrical angle data and accesses the storage means to access the data. It is desirable to obtain phase data. For example, a configuration is possible in which data for the U phase is stored in the storage means in advance, and when data for the V phase or W phase is read, bias data for adding a phase by 120 degrees or 240 degrees is added. For example, it is only necessary to hold one phase (U phase) of data in the storage means, and the storage means can be configured with a smaller storage capacity. In particular, in the AC servo control device according to the fourth aspect and the AC servo control method according to the thirteenth aspect, in the access means (access step), by adding arbitrary data to the detection result of the position detection means, the electrical angle can be increased. It is desirable to variably set the data specification. As a result, flexible operation control of the motor becomes possible.

Further, in the AC servo control device according to the fifth aspect and the AC servo control method according to the fourteenth aspect, the ripple superimposition data in which the torque ripple of the motor to be controlled is superimposed on the trigonometric function by the operation means (operation step). And which of the upper and lower semiconductor switches of the inverter should be opened or closed for each phase based on the electrical angle data based on the detection result of the position detecting means attached to the motor and the torque data based on the control command. Polarity data and time data for determining the opening or closing time of the semiconductor switch are generated, and the drive signal generation means (drive signal generation step) generates an inverter according to the polarity data and the time data of the calculation means (calculation step). A drive signal for controlling the opening and closing of the upper and lower semiconductor switches of each phase of the inverter is generated. The speed control or position control of the motor by closing. Here, the arithmetic means is a control means (CPU or the like) as in the AC servo control device according to claim 1;
It may be configured by an access unit and a storage unit, or may be configured by a processor having a data memory and a program memory therein, such as a DSP (Digital Signal Processor). As described above, by outputting the polarity data and the time data from the storage means or the arithmetic means and generating the drive signal for controlling the opening and closing of the upper and lower semiconductor switches of each phase of the inverter, the triangular wave conventionally required An on-delay circuit for preventing the upper and lower semiconductor switches of each phase of the inverter from being turned on at the same time by matching the data with the command data becomes unnecessary, and distortion to the command can be eliminated. Further, since the present invention can be realized with less current consumption as compared with the conventional configuration, the operating cost can be reduced and an economical AC servo control device can be provided. Further, the AC servo control device according to claim 6 and the AC servo control device according to claim 15 and the AC servo control device according to claim 15
In the servo control method, the driving signal generating means (driving signal generating step) for each phase includes a time measuring means (time measuring step).
After setting the time data of the storage means or the calculation means (calculation step), the time is measured based on a predetermined clock. The time control means (time control step) uses the polarity data of the upper phase in a predetermined phase order in the current cycle. When the polarity data of the own phase and the polarity data of the own phase do not coincide with each other, or when the polarity data of both phases match and the time measuring means (time measuring step) of the upper phase has finished the time measuring operation, the time measuring means (time measuring step) of the own phase The clocking operation is started, and the signal generation means (signal generation step) uses the polarity data of the storage means or the calculation means (calculation step) and the clocking result of the clocking means (clocking step) based on the upper and lower phases of the inverter. A drive signal for controlling the opening and closing of the semiconductor switch is generated. For example, in a three-phase inverter having a U-phase, a V-phase, and a W-phase, drive signal generation means (drive signal generation steps) having the above-described sequence for each of the U-phase, V-phase, and W-phase are cascaded (continuously). Hardware (software) design is easy. In particular, in the AC servo control device according to the seventh aspect and the AC servo control method according to the sixteenth aspect, the timekeeping control means (timekeeping control step) is provided with the upper phase timekeeping control means (timekeeping control step) in a predetermined phase sequence. A polarity data input for inputting polarity data and a polarity data output for outputting polarity data to a timing control means (time control step) of a lower phase are provided. When the polarity data input is valid, the polarity data of the own phase is provided. It outputs to the polarity data output and starts or continues the timekeeping operation of the timekeeping means (timekeeping step). When the timekeeping operation ends, the polarity data output is enabled. When the polarity data input is invalid, the polarity data output is disabled. Invalid and when the polarity data input and the polarity data of own phase do not match,
The polarity data output is invalidated and the timekeeping operation of the timekeeping means (timekeeping step) is started or continued. When the timekeeping operation is completed, the polarity data output is enabled, and the polarity data input matches the polarity data of the own phase. Sometimes, it is desirable to output the polarity data of the own phase to the polarity data output. An AC servo controller according to claim 8 and claim 1
In the AC servo control method according to the seventh aspect, since the clock frequency of the clock is variably controlled by the frequency control means (frequency control step), the dynamic range of the timekeeping operation of the timekeeping means (timekeeping step) can be improved. Further, in the AC servo control device according to the ninth aspect and the AC servo control method according to the eighteenth aspect, the current detecting means (current detecting step) detects a current flowing through one line on the input side of the inverter and performs feedback. The control means (feedback control step) performs current feedback control based on the detection result. For example, in a three-phase inverter having a U-phase, a V-phase, and a W-phase, current detection is performed at a portion where the U-phase, V-phase, and W-phase are combined. This is unnecessary, and an AC servo controller can be realized at lower cost.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of an AC servo control device and an AC servo control method according to the present invention will be described below in detail with reference to the drawings. FIG. 1 is a configuration diagram of an AC servo control device according to an embodiment of the present invention. In FIG. 1, an AC servo control device according to the present embodiment includes a three-phase commercial power source 101, a converter 102, a smoothing capacitor 103,
Phase inverter 104, motor 105, position detector 10
6. Current detection resistor 110, interface 111, C
PU (microprocessor) 112, address generation unit 1
13, a memory (RAM) 114, a U-phase pulse width generation circuit 115, a V-phase pulse width generation circuit 116, and a W-phase pulse width generation circuit 117. The AC servo control device of the present embodiment converts the output of the three-phase commercial power supply 101 into DC by the converter 102, and converts the DC voltage smoothed by the smoothing capacitor 103 into the U-phase, V-phase, and W-phase by the three-phase inverter 104. The speed control or the position control of the motor 105 to be controlled is performed by driving using a so-called inverter control method, which generates a drive voltage for the motor 105 by converting into a three-phase AC. As the inverter control method, a voltage control type inverter or a PWM control type inverter is applicable. The three-phase inverter 104 includes transistors TRuu and TRud as upper and lower semiconductor switches of the U-phase,
Transistor TRvu as a semiconductor switch above and below V phase
And TRvd are provided with transistors TRwu and TRwd as upper and lower semiconductor switches of the W phase, respectively, and these are bridge-connected. Since the output voltage of the three-phase inverter 104 is a rectangular wave, each transistor TRuu, TRud, TRvu, TRvd, TRwu and TRwd is provided with a feedback diode for processing regenerative energy or reactive power. . In the present embodiment, a bipolar power transistor is used as a semiconductor switch constituting the inverter 104. However, the present invention is not limited to this, and other semiconductor power elements that can be controlled on / off, for example, a GTO (Gate Turn Off Thyristo
r), IGBT (Insuated Gate Bipolar Transisto)
r), Power MOSFET (Power Metal Oxide Semicon
A configuration using a ductor field effect transistor) or the like may be used. A motor 105 driven at a variable speed by the three-phase inverter 104 is additionally provided with an encoder 106 as means for detecting a rotation speed and a position. The output (pulse signal) of the encoder 106 is supplied to the interface 111, and the interface 111
Is converted to electrical angle data DGDT. On the other hand, C
A PU (microprocessor) 112 controls other components in the AC servo controller, but in FIG. 1, torque data T output to an address generation unit 113 described later is used.
Only DT and bias data BDT are shown.
The torque data TDT and the bias data BDT are generated based on a command for performing speed control or position control of the motor 105.

Next, referring to FIG. 1 and FIG. 2, an address generator 113 corresponding to the access means and a memory (RAM) 113 corresponding to the storage means will be described in the claims.
The U-phase pulse width generation circuit 115, the V-phase pulse width generation circuit 116, and the W-phase pulse width generation circuit 117 corresponding to the drive signal generation means will be described. FIG. 2 shows a three-phase inverter 1 in the AC servo controller according to the present embodiment.
04 upper and lower semiconductor switches (transistor TR)
uu, TRud, TRvu, TRvd, TRwu and TRwd) to supply gate control signals GDuu, GDud, GDvu, GD
FIG. 4 is a more specific configuration diagram of a part that generates vd, GDwu, and GDwd. In FIG. 2, a memory (RAM) 113
Holds data obtained by superimposing the torque ripple of the motor 105 to be controlled on the sine wave data. More specifically, polarity data DTUDu, DTUDv, and DTUDw indicating which one of the upper and lower semiconductor switches of each phase of the three-phase inverter 104 is to be turned on for each phase according to the address generated by the address generation unit 113. And time data SDT for determining the ON time of the semiconductor switch.
u, SDTv and SDTw are output. As described later, since the two semiconductor switches (transistors) of each phase do not turn on at the same time, the time data SDTu, S
DTv and SDTw are polarity data DTUD, respectively.
u, DTUDv, and DTUDw represent the ON time of the semiconductor switch (transistor) specified to be ON. In FIG. 2, the address generation unit 113
Has an adder 113a, and the adder 113a uses the electrical angle data DGDT and CP from the interface 111.
The bias data BDT from U112 is added to generate the lower address of the memory (RAM) 114, while the torque data TDT is used as the upper address of the memory (RAM) 114. With such a configuration, the U-phase is stored in the memory (RAM) 114 in advance.
The data in which the torque ripple of the motor 105 is superimposed on the sine wave data is held, and the U-phase polarity data DTUDu is stored.
When reading the time data SDTu, the bias data BDT is set to “0000H”. When reading the V-phase polarity data DTUDv and the time data SDTV, the bias data BD is added to add a phase by 120 degrees.
When T is set to “5555H” and the polarity data DTUDw and the time data SDTw of the W phase are read, the bias data BDT is changed to “AAA” to add a phase by 240 degrees.
AH ”, the U-phase, V-phase, and W-phase data can be generated only by holding the data for one phase (U-phase) in the memory (RAM) 114, and the less storage The memory (RAM) 114 can be configured with a capacity. The above data is 1 (with a suffix “H” added).
It is a hexadecimal notation, and is a value when the address is 16 bits. Also, the bias data BDT is set to 0 degree, 120 degrees.
Instead of switching between degrees or 240 degrees,
An arbitrary phase can be added to the electrical angle data DGDT by adding arbitrary electrical angle data according to designation from the PU 112. Also, the torque data TDT
Is the upper address of the memory (RAM) 114, the sine wave data is substantially multiplied by the torque data by changing the torque data TDT by making the memory map of the memory (RAM) 114 as follows. Is possible. That is, m-bit torque data T
When addressing by DT, a block addressable by lower address data (64 bits for 16 bits)
M bytes (K bytes) are prepared, and the “minimum value τmi” of the torque data is sequentially stored from the first block to the Mth block.
Data obtained by multiplying from “n” to “maximum value τmax” may be held.

Next, the U-phase pulse width generation circuit 115, the V-phase pulse width generation circuit 116, and the W-phase pulse width generation circuit 117 will be described with reference to FIGS. FIG. 3 is a more specific circuit diagram of the U-phase pulse width generation circuit 115 in the AC servo control device of the present embodiment.
In FIGS. 2 and 3, a signal prefixed with “#” indicates that the signal is a negative logic signal. The U-phase pulse width creation circuit 115
U-phase upper and lower semiconductor switches (transistors TRuu, T
Rud) for generating gate control signals GDuu and GDud. In FIG. 3, a counter 115a, a D-type flip-flop 115b, and NOT gates GNT1 to GNT correspond to the timer means in the claims.
3. AND gates GAN1 and GAN2, NAND gates GNA1 to GNA7, and photocouplers PCuu and PCud
It is comprised including. Here, the timing control means corresponds to the second gate groups GNA5 to GNA7, and the signal generation means corresponds to the first gate groups GNA3 and GNA4 and the photocouplers PCuu and PCud. Note that a V-phase pulse width generation circuit 116 generates gate control signals GDvu and GDvd to be supplied to upper and lower V-phase semiconductor switches (transistors TRvu and TRvd), and W-phase upper and lower semiconductor switches (transistors TRwu and TRwd). The configuration of the W-phase pulse width generation circuit 117 that generates the gate control signals GDwu and GDwd to be supplied to the W is also the same as that of FIG. When the load signal #LDu from the CPU 112 is valid (“L” level), the D-type flip-flop 115 b
AM) 114 to set polarity data DTUDu. The positive logic output and the negative logic output of the D-type flip-flop 115b are connected to the first gate group GNA3, GNA
4, are supplied to the second gate groups GNA5 to GNA7 and the third gate groups GNA1, GNA2, GAN1 and GAN2. On the other hand, signals #EBLui and #EBLdi are input to NOT gates GNT2 and GNT3, respectively. In the case of the U-phase pulse width generation circuit 115, this signal #
EBLui and #EBLdi are the CPU 1 as shown in FIG.
12 is an enable signal #EBL. That is, the enable signal #EBL is supplied to the NOT gates GNT2 and GNT3.
, The NAND gate GN of the second gate group
A5 and GNA6. The V-phase pulse width creation circuit 116 and the W-phase pulse width creation circuit 117 have the same configuration as the U-phase pulse width creation circuit 115, and these U-phase pulse width creation circuit 115 and V-phase pulse width creation circuit 116
And the W-phase pulse width creation circuit 117 outputs the U-phase, V-phase, and W-phase.
Cascaded in phase order. That is, the polarity data output #EBLUo, #E of the U-phase pulse width creation circuit 115
BLdo is the polarity data inputs #EBLui and #EBLdi of the V-phase pulse width creation circuit 116, and the polarity data outputs #EBLUo and #EBLdo of the V-phase pulse width creation circuit 116 are the polarity data inputs #EBLui of the W-phase pulse width creation circuit 117. ,
#EBLdi. Next, the U-phase pulse width creation circuit 115
In the second gate group GNA5 to GNA7, when the enable signal #EBL is valid ("L" level), the polarity data DTUDu (positive logic output and negative logic output of the D-type flip-flop 115b) passes through, so that the NAND gate The output of the GNA 5 becomes valid (“H” level) and the counting operation of the counter 115 a is permitted. However, when the enable signal #EBL is invalid (“H” level), the counting operation is prohibited. In the case of the V-phase pulse width generation circuit 116 and the W-phase pulse width generation circuit 117, the polarity data of the upper-phase pulse width generation circuit, that is, U
The polarity data outputs #EBLUo and #EBLdo of the phase pulse width generation circuit 115 and the V-phase pulse width generation circuit 116 and the polarity data DTUD (D-type flip-flop 115
b) (the positive logic output and the negative logic output) do not match, the counting operation of the counter 115a is permitted, and when both match, the counting operation of the counter 115a is prohibited.

Next, the counter 115 a
When the load signal #LDu is valid (“L” level), the time data SDTu read from the memory (RAM) 114 is set, and the pulses of the operation clock CP are counted. Ripple carry output (terminal R
C) becomes "H" level. Since the signal #RC obtained by inverting the ripple carry output by the NOT gate GNT1 is input to the enable terminal P, the counter 115a
After all the data outputs have become "H" level, the counting operation is completed. Here, the operation clock CP is generated by the clock generation unit 121, and the clock frequency of the operation clock CP can be variably controlled by a control signal CNTcp from the CPU 112 corresponding to the frequency control means. Thus, by variably controlling the clock frequency of the operation clock CP, the counter 11
The dynamic range of the count operation of 5a can be improved. Next, the first gate group GNA3, G
At NA4, the inverted signal #RC of the ripple carry output of the counter 115a is at "H" level,
5a is in the counting operation, the polarity data D of the own phase
TDUu (the positive logic output and the negative logic output of the D-type flip-flop 115b) passes through. At this time, one of the outputs #GDuu and #GDud of the NAND gates GNA3 and GNA4 is valid according to the polarity data DTUDu ("" L "
Level), and one of the gate control signals GDuu, GDud becomes valid (“H” level) via the photocouplers PCuu, PCud, and one of the upper and lower semiconductor switches (transistors TRuu, TRud) of the U phase. Is turned on. That is, when the polarity data DTUDu is at “H” level, the transistor TRuu is turned on, and when the polarity data DTUDu is at “L” level, the transistor TRud is turned on. Further, the third phase of the U-phase pulse width generation circuit 115
In the gate group, the enable signal #EBL is valid (“L” level) in the NAND gates GNA1 and GNA2.
At this time, the polarity data DTUDu (positive logic output and negative logic output of the D-type flip-flop 115b) of the own phase passes through, and in the AND gates GAN1 and GAN2, the inverted signal #RC of the ripple carry output of the counter 115a.
Is "H" level, that is, when the counter 115a is counting, the polarity data DTUDu of the own phase passes through as it is, and the lower-phase V-phase pulse width generation circuit 116
Polarity data outputs #EBLUo and #EBLdo. When the counting operation of the counter 115a is completed, the inverted signal #RC of the ripple carry output becomes "L" level, so that the polarity data outputs #EBLUo and #EBL are output.
do is both valid (“L” level). On the other hand, when the enable signal #EBL is invalid (“H” level), the polarity data outputs #EBLUo and #EBLdo
Since a does not perform the count operation, the polarity data outputs #EBLUo and #EBLdo are both invalid ("H" level). In the case of V-phase pulse width generation circuit 116 and W-phase pulse width generation circuit 117, signals #EBLui, #EBLui
EBLdi is the polarity data of the upper-phase pulse width generation circuit, that is, U-phase pulse width generation circuit 115 and V
Polarity data output #EBLu of phase pulse width creation circuit 116
o, #EBLdo, the NAND gates GNA1,
In the GNA2, when the polarity data DTUD (positive logic output and negative logic output of the D-type flip-flop 115b) of the own phase coincides with the polarity data of the pulse width generation circuit of the upper phase, the counter 115a does not count. So let it go through. On the other hand, in the NAND gates GNA1 and GNA2, if the polarity data of the own phase does not match the polarity data of the pulse width generation circuit of the upper phase, the inverted signal # of the ripple carry output of the counter 115a is output in the AND gates GAN1 and GAN2. R
When C is at the “H” level, that is, when the counter 115a is counting, the NAND gates GNA1 and GNA2
Is passed through as it is, and the polarity data outputs #EBLUo and #EBLdo to the lower phase pulse width generation circuit are both invalid ("H" level). When the counting operation of the counter 115a is completed, the inverted signal #RC of the ripple carry output becomes "L" level, so that both the polarity data outputs #EBLUo and #EBLdo become valid ("L" level). In the V-phase pulse width generation circuit 116 and the W-phase pulse width generation circuit 117, the operation when the polarity data inputs #EBLui and #EBLdi are valid ("L" level) or invalid ("H" level) is described. This is the same as the operation when the enable signal #EBL is valid (“L” level) or invalid (“H” level) in the U-phase pulse width generation circuit 115 described above.

Next, the operation of the AC servo controller of the present embodiment having the above-described configuration, that is, the AC servo controller of the present embodiment,
The servo control method will be described in detail with reference to FIGS. FIG. 4 is an explanatory diagram for explaining the contents of a command corresponding to the electrical angle, that is, the time data and the polarity data held in the memory (RAM) 114. FIG.
Corresponds to a memory (RAM) 114 for specific command contents.
Time data and polarity data output from
Gate control signals GDuu, GDud, GDvu, GD generated by the respective pulse width generating circuits 115, 116, 117
It is a timing chart of vd, GDwu, and GDwd.
In FIG. 4, FIG. 4 (a) shows U,
It shows changes in V and W phase voltage data. FIG. 4
(B) shows the content of the command according to the electrical angle, that is, U, V, W
Upper and lower transistors TRuu, TRud, TRvu, TR
FIG. 9 is a schematic diagram illustrating polarity data DTUD indicating which one of vd, TRwu, and TRwd is to be turned on, and time data SDT that determines an on time of a transistor to be turned on. For example, when the electrical angle is 210 degrees, the V-phase upper transistor TRvu is turned on for a time kT, and in synchronization with this, the U-phase lower transistor TRud is turned on for a time kT / 2.
Only, and then sequentially turns on the lower transistor TRwd of the W-phase for a time kT / 2. Here, T is the CPU 112 of FIG.
This is a unit time of control of the inverter 104 defined by a synchronization signal having a constant cycle as shown in FIG. K is a constant taking a value between “0.0” and “1.0”, and as described above, the memory (RAM) 114
In the memory map of (1), "minimum value τmin" to "maximum value τmax" are multiplied for each block according to the torque data TDT. Here, k = 1.
When 0, kT is assumed to be substantially equal to the period of the synchronization signal. Also, when the electrical angle is 240 degrees, the command content is to turn on the upper transistor TRvu of the V phase for a time kT and to turn on the lower transistor TRud of the U phase for a time kT in synchronization with this. Further, when the electrical angle is 270 degrees, the upper transistor TRvu of the V phase is turned on for a time kT / 2, and then the transistor TRvu is sequentially turned on.
The upper transistor TRwu of the phase is turned on for a time kT / 2, and the lower transistor TRud of the U phase is synchronized with the V phase.
Is turned on for a time kT. As can be seen from the comparison between FIGS. 4A and 4B, the upper or lower transistor of each phase is turned on in proportion to the voltage data of the three phases U, V, and W according to the electrical angle. That means
The on time of the transistor is a three-phase voltage. Also,
As shown in FIGS. 4C and 4D, different polarity data DTUD and time data SDT depending on the electrical angle shown in FIG. 4B are read out in synchronization with the synchronization signal, and the upper and lower transistors of each phase are read out. Is turned on by a synchronization signal.

Referring to FIG. 5, time data and polarity data are read out from memory (RAM) 114 in accordance with specific instructions, and pulse width generating circuits 115, 116 and 117 are performed. Control signals GDuu, GDud, GDvu, GDvd, GDwu and GD
The generation of wd will be described. In FIG. 5, the electrical angle is 210
2 shows a timing chart of each signal when the signal is at 270 degrees. First, the CPU 112 sets the torque data T
DT (k = 1.0 in the following description) is set, and when the electrical angle data DGDT fed back from the encoder 106 is 210 degrees, a synchronization signal (see FIG. 5B) is used. Synchronously, the memory (RAM) 11
4 shows the polarity data DTUD and time data SD of each phase.
T is sequentially read. That is, as shown in FIGS. 5C to 5E, first, the bias data BDT is set to "0000".
As “H”, the U-phase polarity data DTUDu = “L” level and time data SDTu = kT / 2 are read out, and the load signal #LDu becomes valid (“L”) at a timing delayed by a predetermined time from the pulse of the synchronization signal. (Level), and set in the D-type flip-flop 115b and the counter 115a in the U-phase pulse width creation circuit 115, respectively. Similarly, the bias data BDT is changed to “5555”.
As "H", the V-phase polarity data DTUDv = "H" level and time data SDTv = kT are read out and set in the V-phase pulse width generation circuit 116. Further, the bias data BDT is set to "AAAAAH" and W Phase polarity data DTUDw "L" level and time data SDTw =
kT / 2 is read out and set in the W-phase pulse width creation circuit 117. In the U-phase pulse width creation circuit 115, when the enable signal #EBL becomes valid (“L” level), the enable terminal P becomes valid (“H” level) by the second gate groups GNA5 to GNA7, and the counter 11
5a is started, and the U-phase polarity data DT
UDu = Gate control signal GDuu corresponding to “L” level =
The “L” level and the GDud = “H” level are output, and the lower transistor TRud is turned on. Also, at this time, since the inverted signal #RC of the ripple carry output of the counter 115a is at the “H” level, the third gate group GNA1, GNA2, GAN1, GAN2 does not
The phase polarity data DTUDu = “L” level is passed through, and # EBLUo = “L” level and # EBLdo = “H” level are output as the polarity data output of the U-phase pulse width generation circuit 115. Therefore, in the V-phase pulse width generation circuit 116, the polarity of the U-phase polarity data DTUDu (= "L" level) and the V-phase polarity data DTUDv (= "H" level) in the second gate groups GNA5 to GNA7. Are not coincident with each other, the enable terminal P becomes valid (“H” level), the counting operation of the counter 115a is started, and the V-phase polarity data DTUDv =
The gate control signals GDvu = “H” level and GDvd = “L” level corresponding to the “H” level are output, and the upper transistor TRvu is controlled to be turned on. At this time, since the inverted signal #RC of the ripple carry output is at the “H” level, the third gate group GNA1, GNA2, G
Information (“H” level) indicating that the U-phase polarity data and the V-phase polarity data do not match in AN1 and GAN2.
, The polarity data output of the V-phase pulse width generation circuit 115 becomes invalid (#EBLUo, # EBLdo = “H” level). Therefore, the W-phase pulse width creation circuit 117
In this case, the outputs of the second gate groups GNA5 to GNA7, that is, the enable terminal P becomes invalid (“L” level), the count operation of the counter 115a is prohibited, and neither the upper nor upper transistor TRvu or TRvd is controlled to be turned on. next,
The counter 115a of the U-phase pulse width creation circuit 115 includes:
Since time data SDTu = kT / 2 is set,
When the pulse of the clock CP for the time kT / 2 is counted, the ripple carry RC is output, and the inverted signal #RC of the ripple carry output becomes “L” level. Since the inverted signal #RC is supplied to the enable terminal T, the counting operation of the counter 115a ends, and the ON control of the lower transistor TRud also ends. In the third gate group GNA1, GNA2, GAN1, GAN2, the counting operation end information is prioritized, and the polarity data output of the U-phase pulse width creation circuit 115 is valid (#EBL
uo, # EBLdo = "L" level). At this time, in the V-phase pulse width creation circuit 116, since the polarity data input is valid (#EBLui, # EBLdi = “L” level), the enable terminal P is valid (“H”) by the second gate group GNA5 to GNA7. Counter 115
The counting operation of a is continued. Therefore, the ON control of the upper transistor TRvu is continued according to the V-phase polarity data DTUDv = “H” level. Also, at this time, since the inverted signal #RC of the ripple carry output of the counter 115a is at the “H” level, the third gate group GNA1, GNA2, GAN1 and GAN2 have V
The phase polarity data DTUDv = “H” level passes through, and # EBLUo = “H” level and # EBLdo = “L” level are output as the polarity data output of the V-phase pulse width generation circuit 115. At this time, in the W-phase pulse width creation circuit 117, the V-phase polarity data DTUDv (= “H” level) and the W-phase polarity data DTUDw (= “L” level) in the second gate groups GNA5 to GNA7. Are inconsistent, the enable terminal P becomes valid ("H" level), the counter 115a starts counting, and the W-phase polarity data DTUDw =
The gate control signals GDwu = “L” level and GDwd = “H” level corresponding to the “L” level are output, and the lower transistor TRwd is turned on.

Next, the CPU 112 sets the torque data TDT
(K = 1.0), and when the electrical angle data DGDT fed back from the encoder 106 is 270 degrees, the memory (RAM) 114 is synchronized with the synchronization signal (see FIG. 5B). , The polarity data DTUD and time data SDT of each phase are sequentially read. That is, FIG.
As shown in (c) to (e), first, the bias data B
Assuming that DT is “0000H”, the U-phase polarity data DTU
Du = “L” level and time data SDTu = kT are read out, and the load signal #LDu becomes valid (“L” level) at a timing delayed by a predetermined time from the pulse of the synchronization signal.
And the D-type flip-flop 115b and the counter 115 in the U-phase pulse width creation circuit 115, respectively.
Set to a. Similarly, assuming that the bias data BDT is “5555H”, the V-phase polarity data DTUDv =
The “H” level and time data SDTv = kT / 2 are read out and set in the V-phase pulse width generation circuit 116. Further, the bias data BDT is set to “AAAAAH”, and the W-phase polarity data DTUDw is set to “H” level. And time data SDTw = kT / 2 are read out and set in the W-phase pulse width creation circuit 117. In the U-phase pulse width creation circuit 115, when the enable signal #EBL becomes valid (“L” level), the counting operation of the counter 115a is started, and the U-phase polarity data DTUDu =
The gate control signals GDuu = “L” level and GDud = “H” level corresponding to the “L” level are output, and the lower transistor TRud is turned on. At this time, the third gate group GNA1, GNA2, GAN1, GA
At N2, the U-phase polarity data DTUDu = “L” level passes through, and as the polarity data output of the U-phase pulse width generation circuit 115, # EBBLuo = “L” level, #EBL
do = “H” level is output. Therefore, in the V-phase pulse width creation circuit 116, the second gate groups GNA5 to GN
At A7, the U-phase polarity data DTUDu (= “L”)
Level) and the V-phase polarity data DTUDv (= “H” level) do not match, the counter 115a starts counting, and the V-phase polarity data DTUDv.
= Gate control signal GDvu according to "H" level = "H"
Level, GDvd = “L” level is output, and the upper transistor TRvu is turned on. At this time, the third gate group GNA1, GNA2, GAN1, GA
At N2, the information (“H” level) indicating that the U-phase polarity data and the V-phase polarity data do not match each other is passed, and the polarity data output of the V-phase pulse width creation circuit 115 is invalid (#EBLUo, #EBLu). EBLdo = “H” level).
Therefore, in the W-phase pulse width creation circuit 117, the outputs of the second gate groups GNA5 to GNA7, that is, the enable terminal P becomes invalid (“L” level), and the counter 115a
Is prohibited, and the upper and lower transistors T
Rvu and TRvd are not turned on. Next, the time data S is stored in the counter 115a of the U-phase pulse width creation circuit 115.
Since DTu = kT is set, the ripple carry RC is not output until the pulse of the clock CP for the time kT is counted, and the ON control of the lower transistor TRud is continued for substantially the period of the synchronization signal. On the other hand, V
Since the time data SDTu = kT / 2 is set in the counter 115a of the phase pulse width creation circuit 116, when the pulse of the clock CP for the time kT / 2 is counted, the ripple carry RC is output, and the ripple carry output is output. The inverted signal #RC becomes "L" level. At this time, the counting operation of the counter 115a ends, and the ON control of the lower transistor TRud also ends. In the third gate group GNA1, GNA2, GAN1, GAN2, the counting operation end information is prioritized, and the polarity data output of the U-phase pulse width creation circuit 115 is valid (#EBL
uo, # EBLdo = "L" level). At this time,
In the W-phase pulse width generation circuit 117, since the polarity data input is valid (#EBLui, # EBLdi = “L” level), the counting operation of the counter 115a is started, and the W-phase polarity data DTUDw = “H” level. GDwu = “H” level and GDwd = “L” level according to the above, and the upper transistor TRwu is turned on. In FIG. 5, the electrical angle is typically 21
The operation at 0 ° and 270 ° has been described, but the operation is performed in the same sequence at other electrical angles.

As described above, in the AC servo control device and the AC servo control method of the present embodiment, C
The PU 112 holds, in a memory (RAM) 114, data in which the torque ripple of the motor 105 to be controlled is superimposed on the sine wave data, and the address generation unit 113 provides position detection means (encoder) attached to the motor 115.
From the electrical angle data DGDT (including the bias data BDT) based on the detection result of 106 and the torque data TDT based on the control command, an address of the memory (RAM) 114 is generated, and the data in the memory (RAM) 114 is read. In the phase pulse width generation circuit 115, the V-phase pulse width generation circuit 116, and the W-phase pulse width generation circuit 117, the upper and lower semiconductor switches (transistor T
Ruu, TRud, TRvu, TRvd, TRwu and TRwd)
Control signals GDuu, GDud, GD for controlling the opening and closing of
vu, GDvd, GDwu, and GDwd are generated, and the speed control or position control of the motor is performed by opening and closing each semiconductor switch of the inverter 104. In this way, the CPU
The data calculated by 112 is stored in a memory (RAM) 114 and accessed by electrical angle data DGDT based on the detection result of the position detection means (encoder) 106,
Output data of the memory (RAM) 114 (polarity data DT
UD and time data SDT).
4 upper and lower semiconductor switches (transistors TRuu,
Since TRud, TRvu, TRvd, TRwu and TRwd) are opened and closed, real-time control becomes possible, and the CPU 112 accesses the memory (RAM) 114 and controls gate control signals GDuu, GDud, GDvu, GDvd, GD.
It is only necessary to control the generation timing of wu and GDwd, and an expensive processor is not required for speeding up the processing as in the related art, so that an AC servo controller can be realized at a lower price. Also, a memory (RAM) 1
Since the data in which the torque ripple of the motor 105 is superimposed is held in the memory 14 and the access according to the torque data TDT is possible, the torque ripple of the motor 105 is corrected by the data in the memory (RAM) 114 to cancel out. Thus, the operation control of the motor 105 with reduced torque ripple of the motor 105 is possible. In the above-described embodiment, the address generation unit 113 stores the electric angle data DGDT (including the bias data BDT) based on the detection result of the position detection unit (encoder) 106 and the torque data TDT based on the control command into the memory ( R
AM) 114 was generated, but the CPU 11
It is also possible to variably set the designation of the electrical angle data DGDT by adding arbitrary data from 2.
This allows more flexible operation control of the motor 105. As shown in FIG. 1, a current detecting resistor 110 is provided as a current detecting means on the input side of the inverter 104 to detect a line current, and a CPU 112 corresponding to a feedback control means controls a current feedback based on the detected current. Control may be performed. in this way,
Since the current detection is performed in a portion where the U-phase, V-phase and W-phase are combined, a specially-isolated current detector as in the related art becomes unnecessary, and an AC servo controller can be realized at lower cost. . Further, in the embodiment described above, ripple superimposition data in which the torque ripple of the motor 105 to be controlled is superimposed on the sine wave data, electric angle data based on the detection result of the position detection unit (encoder) 106, and control commands Based on the torque data, polarity data DTUD indicating which of the upper and lower semiconductor switches of the inverter 104 should be opened or closed for each phase, and
As a configuration of the arithmetic means for generating the time data SDT for determining the opening or closing time of the semiconductor switch, the control means (C
PU 112), address generation unit 113 and memory (R
AM) 114, but may be a processor such as a DSP (Digital Signal Processor) having a data memory and a program memory therein. As described above, the polarity data DTUD and the time data SDT are output from the memory (RAM) 114 or the arithmetic means, and the upper and lower semiconductor switches (transistors TRuu, TRud, TRvu, TRvd, Tvd) of each phase of the inverter 104 are output.
Rwu and TRwd) gate control signal G for controlling opening and closing
By generating Duu, GDud, GDvu, GDvd, GDwu, and GDwd, it is possible to prevent the semiconductor switches above and below each phase of the inverter from being simultaneously turned on by matching the triangular wave data and the command data, which has been required conventionally. And an on-delay circuit is not required, and distortion to a command can be eliminated. Further, since the present invention can be realized with less current consumption as compared with the conventional configuration, the operating cost can be reduced and an economical AC servo control device can be provided.

[0016]

As described above, according to the AC servo control device and the AC servo control method of the present invention, the torque ripple of the motor to be controlled is superimposed on the trigonometric function in the storage means in advance (by the storage step). The data is held, and the access means (access step) generates an address of the storage means from the electrical angle data based on the detection result of the position detection means attached to the motor and the torque data based on the control command, and The data is read out, and the drive signal generation means (drive signal generation step) generates a drive signal for controlling the opening and closing of the upper and lower semiconductor switches of each phase of the inverter in accordance with the output data of the storage means. Opening and closing the motor to control the speed or position of the motor, enabling real-time control and control. The stage (CPU or the like) only needs to control the access of the storage means and the generation timing of the drive signal, and does not require an expensive processor for speeding up the processing as in the related art. Can be realized. In addition, since the data in which the torque ripple of the motor is superimposed is stored in the storage means, and the access according to the torque data is possible, the torque ripple of the motor can be corrected and offset by the data in the storage means, It is possible to control the operation of the motor while reducing the torque ripple of the motor. According to the AC servo control device and the AC servo control method of the present invention, the calculation means (calculation step) uses the ripple superimposition data obtained by superimposing the torque ripple of the motor to be controlled on the trigonometric function and the position detection attached to the motor. Electrical angle data based on the detection result of the means,
On the basis of the torque data based on the control command, polarity data indicating which of the upper and lower semiconductor switches of the inverter are to be opened or closed, and time data for determining the open or closed time of the semiconductor switch are generated for each phase. The drive signal generation means (drive signal generation step) generates a drive signal for controlling the opening and closing of the upper and lower semiconductor switches of each phase of the inverter in accordance with the polarity data and the time data of the calculation means (calculation step). Speed control or position control of the motor is performed by opening and closing each semiconductor switch of the inverter, and polarity data and time data are output from the storage means or the arithmetic means to control opening and closing of the upper and lower semiconductor switches of each phase of the inverter. Generates a drive signal that eliminates the need for a conventional on-delay circuit, and eliminates distortion due to commands. Can also can be realized by the conventional less current consumption can be reduced operating costs, it is possible to provide an economical AC servo controller. Further, according to the present invention, since the clock frequency of the clock is variably controlled by the frequency control means (frequency control step), the dynamic range of the timekeeping operation of the timekeeping means (timekeeping step) can be improved. further,
According to the present invention, the current flowing through one line on the input side of the inverter is detected by the current detection means (current detection step), and the current feedback control is performed by the feedback control means (feedback control step) based on the detection result. This eliminates the need for a specially isolated current detector as in the related art, and can realize an AC servo controller at lower cost.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an AC servo control device according to an embodiment of the present invention.

FIG. 2 is a more specific configuration diagram of a portion that generates a gate control signal to be supplied to upper and lower semiconductor switches of each phase of a three-phase inverter in the AC servo control device of the embodiment.

FIG. 3 is a more specific circuit diagram of a U-phase pulse width creation circuit in the AC servo control device of the embodiment.

FIG. 4 is an explanatory diagram for explaining instruction contents (time data and polarity data held in a memory) according to an electrical angle.

FIG. 5 is a timing chart of time data and polarity data output from a memory with respect to specific command contents, and a gate control signal generated by each pulse width generation circuit.

[Explanation of symbols]

Reference Signs List 101 three-phase commercial power supply 102 converter 103 smoothing capacitor 104 three-phase inverter 105 motor 106 position detector 110 current detection resistor 111 interface 112 CPU (microprocessor) 113 address generation unit 114 memory (RAM) 115 U-phase pulse width generation circuit 116 V-phase pulse width generation circuit 117 W-phase pulse width generation circuit TRuu, TRud U-phase upper and lower transistors (semiconductor switches) TRvu, TRvd V-phase upper and lower transistors (semiconductor switches) TRwu, TRwd W-phase upper and lower transistors (semiconductors) Switch) 115a Counter 115b D-type flip-flop GNT1 to GNT3 NOT gate GAN1, GAN2 AND gate GNA1 to GNA7 NAND gate PCuu, PCud Photocoupler DGDT Electrical angle Over data BDT bias data TDT torque data SDTu, SDTv, SDTw time data DTUDu, DTUDv, DTUDw polarity data #LDu load signal

Claims (18)

[Claims] An AC servo control device, comprising: an inverter in which upper and lower semiconductor switches of each phase are bridge-connected to each other, wherein speed control or position control of a motor to be controlled is performed by opening and closing each semiconductor switch of the inverter. A storage unit for storing data obtained by superimposing the torque ripple on a trigonometric function, and from the electrical angle data based on the detection result of the position detection unit attached to the motor and the torque data based on the control command,
An access unit that generates an address of the storage unit and reads data of the storage unit; and a drive that generates a drive signal that controls opening and closing of upper and lower semiconductor switches of each phase of the inverter according to output data of the storage unit. An AC servo control device, comprising: signal generation means. 2. The AC servo control device according to claim 1, wherein the access unit generates an upper address of the storage unit based on the torque data. 3. The inverter according to claim 1, wherein the inverter includes a U-phase, a V-phase and a W-phase.
A three-phase inverter having three phases, wherein the storage unit stores data of any one of a U phase, a V phase, and a W phase, and the access unit stores 120 or 240 degrees in the electrical angle data. 3. The AC servo control device according to claim 1, wherein data of another phase is obtained by accessing the storage unit after adding data of minutes. 4. The apparatus according to claim 1, wherein said access means variably sets designation of said electrical angle data by adding arbitrary data to a detection result of said position detection means. An AC servo controller as described in the above. 5. An AC servo control device comprising an inverter in which upper and lower semiconductor switches of each phase are bridge-connected, and performing speed control or position control of a motor to be controlled by opening and closing each semiconductor switch of the inverter. Based on the ripple superimposed data obtained by superimposing the torque ripple on the trigonometric function, the electrical angle data based on the detection result of the position detection means attached to the motor, and the torque data based on the control command, the upper and lower Polarity data of which of the semiconductor switches to open or close, and arithmetic means for generating time data for determining the open or close time of the semiconductor switch, and according to the polarity data and time data of the arithmetic means,
An AC servo control device, comprising: a drive signal generation unit configured to generate a drive signal for controlling opening and closing of upper and lower semiconductor switches of each phase of the inverter. 6. The drive signal generating means controls the opening and closing of upper and lower semiconductor switches of each phase of the inverter in accordance with polarity data and time data of the storage means or the arithmetic means at predetermined intervals. A signal generating means for setting the time data, and clocking based on a predetermined clock; and in the current cycle, the polarity data of the upper phase in the predetermined phase order and the polarity data of the own phase do not match. Or when the polarity data is coincident and the upper-phase timer is terminating the timer operation, the timer control means for starting the timer operation of the self-phase timer, the polarity data and the timer 6. The AC servo control according to claim 1, further comprising: a signal generating means for generating the drive signal based on a clock result of the means for each phase. Control device. 7. The timekeeping control means includes: a polarity data input for inputting polarity data from an upper phase timekeeping control means in a predetermined phase sequence; and a polarity data output for outputting polarity data to a lower phase timekeeping control means. When the polarity data input is valid, the polarity data of the own phase is output to the polarity data output, and the timekeeping operation of the timekeeping means is started or continued, and when the timekeeping operation is completed, the polarity data is output. When the polarity data input is invalid, the polarity data output is invalidated.When the polarity data input and the polarity data of the own phase do not match, the polarity data output is invalidated and the output is invalidated. The timing operation of the timing means is started or continued, and when the timing operation is completed, the polarity data output is made valid. When, AC servo control device according to claim 6, characterized in that the output polarity data of its own phase in the polar data output. 8. The AC servo controller according to claim 6, further comprising frequency control means for variably controlling the clock frequency of the clock. 9. A current detection means for detecting a current flowing through one line on the input side of the inverter, and a feedback control means for performing current feedback control based on a detection result of the current detection means. The AC servo controller according to claim 1, 2, 3, 4, 5, 6, 7, or 8. 10. An AC servo control method for an AC servo control device, comprising an inverter in which upper and lower semiconductor switches of each phase are bridge-connected, and performing speed control or position control of a motor to be controlled by opening and closing each semiconductor switch of the inverter. In the storage step, storing data in which a torque ripple of the motor is superimposed on a trigonometric function in a storage unit, and from electrical angle data based on a detection result of a position detection unit attached to the motor and torque data based on a control command,
An access step for generating an address of the storage means and reading data from the storage means; and a drive for generating a drive signal for controlling opening and closing of upper and lower semiconductor switches of each phase of the inverter according to output data of the storage means. A signal generation step. 11. The AC servo control method according to claim 10, wherein said accessing step generates an upper address of said storage means based on said torque data. 12. The inverter according to claim 1, wherein the inverter is a three-phase inverter having a U-phase, a V-phase, and a W-phase, and the storage unit stores data for one of the U-phase, the V-phase, and the W-phase. 12. The method according to claim 10, wherein the accessing step obtains data of another phase by adding data of 120 degrees or 240 degrees to the electrical angle data and accessing the storage unit. AC servo control method. 13. The method according to claim 10, wherein the access step variably sets the designation of the electrical angle data by adding arbitrary data to a detection result of the position detection means. The described AC servo control method. 14. An AC servo control method for an AC servo control device comprising an inverter in which upper and lower semiconductor switches of each phase are bridge-connected, and performing speed control or position control of a motor to be controlled by opening and closing each semiconductor switch of the inverter. In each phase, based on ripple superimposed data obtained by superimposing a torque ripple of the motor on a trigonometric function, electrical angle data based on a detection result of a position detecting unit attached to the motor, and torque data based on a control command. A polarity data indicating which one of the upper and lower semiconductor switches is to be opened or closed, and a calculation step of generating time data for determining an open or close time of the semiconductor switch; and a polarity data and a time data of the calculation step. A drive signal for controlling the opening and closing of upper and lower semiconductor switches of each phase of the inverter in response to the signal. AC servo control method characterized by having a drive signal generating step of generating a. 15. The driving signal generating step controls the opening and closing of upper and lower semiconductor switches of each phase of the inverter according to the polarity data and the time data of the storage means or the calculation step at predetermined intervals. Generating a signal, wherein after setting the time data, a clocking step of clocking based on a predetermined clock; and in the current cycle, the polarity data of the upper phase in the predetermined phase order and the polarity data of the own phase do not match. Or when the bipolar data match and the upper-phase clocking step has finished the clocking operation, a clocking control step to start the clocking operation of the clocking step of the own phase; and the polarity data and the clocking A signal generating step of generating the drive signal based on a time measurement result of the step, for each phase. 1, 12,
15. The AC servo control method according to 13 or 14. 16. The timing control step includes: a polarity data input for inputting polarity data from an upper phase timing control step in a predetermined phase sequence; and a polarity data output for outputting polarity data to a lower phase timing control step. When the polarity data input is valid, the polarity data of the own phase is output to the polarity data output, and the timing operation of the timing step is started or continued, and when the timing operation is completed, the polarity data is output. When the polarity data input is invalid, the polarity data output is invalidated.When the polarity data input and the polarity data of the own phase do not match, the polarity data output is invalidated and the output is invalidated. Start or continue the timing operation of the timing step, and enable the polarity data output when the timing operation ends, When the polarity data of the own phase is matched, AC servo control method according to claim 15, characterized in that the output polarity data of its own phase in the polar data output. 17. The AC servo control method according to claim 15, further comprising a frequency control step of variably controlling a clock frequency of the clock. 18. A current detection step for detecting a current flowing through one line on the input side of the inverter, and a feedback control step for performing current feedback control based on a detection result of the current detection step. Claims 10, 11, 12, 13,
18. The AC servo control method according to 14, 15, 16 or 17.