JP2003189660A - Motor position controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor position controller which can reduce the communication quantity of signals and can avoid an overshoot regardless of whether the response characteristics of a mechanical system simulation circuit of a feed-forward signal operation circuit agrees with the response characteristics of a motor drive or not. <P>SOLUTION: This motor position controller has a command generator 7 supplying a position command and a motor driver 6 operating according to a torque command T and supplying a position signal and supplies the torque command according to the position command and the position signal. The controller also has a simulation control unit 8 supplying a simulated position and an artificial torque according to the position command, a transmitter 10 generating a composite signal according to the simulated position and the simulated torque and transmitting the composite signal, a receiver 11 receiving the composite signal and decomposing the composite signal into a communication simulation position and a communication simulation torque, an actual control unit 9 supplying the torque command according to the position signal, the communication simulation position, and the communication simulation torque. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controller for a motor (a DC motor, an induction motor, a synchronous motor, a linear motor, etc.) for driving a load machine such as a table in a machine tool or an arm of a robot. is there.

[0002]

2. Description of the Related Art A load machine such as a table or a robot arm in a machine tool, a drive device for driving the load machine, such as a DC motor, an induction motor, a synchronous motor, an electromagnet, a linear motor, the load machine and the drive device. In order to control the mechanical system composed of the transmission mechanism that connects
A two-degree-of-freedom control device having a feedback control system to which an output command value and an actual output value of a controlled object are input and a feed-forward control system to which an output command value is input is often used. For example, reference document 1) ("motor position control device" patent No. 3084928), reference document 2) ("adaptive control of servo motor" measurement and control, Vol. 32, No. 12, p.
p.1010 to 1013 (1993)). FIG. 5 is a block diagram showing an example of a conventional two-degree-of-freedom control device. In FIG. 5, 1 is a load machine, 2 is a transmission mechanism, 3 is an electric motor, 4 is a power conversion circuit, 23 is an actual observer for providing a position signal θ and a speed signal ω, and 24 is composed of 1 to 4 and 23. A motor drive device, a command generator 7 for generating a position command θref, a feedforward signal calculation circuit 20 for providing a simulated position θm, a simulated speed ωm, and a simulated torque Tm using the position command θref, and a position signal 21. A feedback control circuit that provides a feedback torque command Tb based on θ, a speed signal ω, a simulated position θm, and a simulated speed ωm, 2
Reference numeral 2 is a torque control circuit that provides the torque command T based on the feedback torque command Tb and the simulated torque Tm. As shown in References 1) and 2), in the case of a continuous system,
If the response characteristic of the mechanical system simulation circuit of the feedforward signal calculation circuit 20 matches the response characteristic of the motor drive device 6, the position signal θ matches the simulated position θm, and the speed signal ω matches the simulated speed ωm. At that time, Tb = 0 (1). That is, according to the conventional control device shown in FIG. 5, by introducing the feedforward signal arithmetic circuit 20, the response characteristic of the feedforward signal arithmetic circuit 20 can be improved even if the control gain of the feedback control circuit 21 is not set high. High-speed actual response characteristics can be obtained by adjusting.

[0003]

However, when the above-mentioned conventional technique is realized by a digital control device, normally, the speed signal ω is not directly observed and the position signal obtained by a position sensor such as an encoder or a linear scale is usually not observed. Using θ, it is generated as follows. However, Ts represents the sample time, and (k) represents the current time order k * Ts. ω (k) = (θ (k) −θ (k−1)) / Ts (2) That is, ω (k) is found to be behind the actual speed. Further, since it is realized by the feedforward signal calculation circuit 20 simulated calculation, the current value can be provided as it is. Therefore, even if the response characteristic of the mechanical system simulation circuit of the feedforward signal calculation circuit 20 matches the response characteristic of the motor drive device 6, θ (k) = θm (k) (3) ω (k) ≠ ωm ( k) (4) Therefore, Tb (k) ≠ 0 (5). Further, since the torque command T is generally generated as T (k) = Tb (k) + Tm (k) (6), T (k) ≠ Tm (k) (7) and θ (k +1) ≠ θm (k + 1) (8). Therefore, the feedforward signal calculation circuit 20
Even if the response characteristic of the mechanical system simulation circuit of (1) matches the response characteristic of the electric motor drive device 6, there is a problem that an overshoot occurs and the actual settling time of the electric motor becomes long. In addition, the feedforward signal calculation circuit 20
When the response characteristic of the mechanical system simulation circuit of No. 2 does not match the response characteristic of the electric motor drive device 6, it is necessary to set the control gain of the feedback control circuit 21 high in order to improve the response characteristic of the electric motor drive device 6. However, the upper limit of the control gain of the feedback control circuit 21 is limited due to the influence of noise contained in the actual observer 23, so that the control gain of the feedback control circuit 21 cannot be set high. Therefore, there is a problem that an overshoot or the like occurs and the actual settling time of the electric motor becomes longer. In addition, the feedforward signal calculation circuit 20
Therefore, the simulated position θm, the simulated speed ωm, and the simulated torque Tm need to be provided to the feedback control circuit 21 at the same time, so that there is a problem that the cost increases because the amount of signal communication is large. An object of the present invention is to reduce the amount of signal communication and to prevent overshoot or the like regardless of whether or not the response characteristic of the mechanical system simulation circuit of the feedforward signal calculation circuit 20 matches the response characteristic of the electric motor drive device 6. It is an object of the present invention to provide a motor position control device that does not cause

[0004]

A motor position control device of a first invention comprises a command generator which provides a position command θref and a motor drive device which operates in accordance with a torque command T and provides a position signal θ thereof. In a motor position control device that provides a torque command T based on the position command θref and the position signal θ, a simulation controller 8 that provides a simulated position θm and a simulated torque Tm based on the position command θref, and the simulated position. A composite signal R is generated based on θm and the simulated torque Tm, the transmitter 10 that transmits the composite signal R and the composite signal R are received, and the composite signal R is converted into a communication simulated position θmf and a communication simulated torque Tmf. Receiver 11 to disassemble
And a real control unit 9 for providing a torque command T based on the position signal θ, the simulated communication position θmf, and the simulated communication torque Tmf. According to the electric motor position control device of the first aspect of the present invention, when the communication amount of signals is reduced and the response characteristic of the mechanical system simulation circuit of the feedforward signal calculation circuit 20 matches the response characteristic of the electric motor drive device 6, the overcurrent occurs. It is possible to realize that there is no shoot. Further, if the simulation control unit 8 and the actual control unit 9 are realized by an electric circuit, control can be performed at a higher sampling period, and thus better control performance can be obtained. Further, the simulation control unit 8 and the actual control unit 9 are located at a farther distance.
And can be built. Further, if the transmitter 10 and the receiver 11 are realized by wireless communication, the wiring cost can be reduced.

In the electric motor position control device of the second invention, the simulation controller 8 provides the simulation controller 8b for providing the simulation torque Tm based on the position command θref and the simulation state quantity X, and the simulation torque Tm. And a simulation model 8a that provides a simulation state quantity X including the simulation position θm based on the simulation model 8a. According to the electric motor position control device of the second aspect of the present invention, the simulation control unit 8 can be constructed more easily by expressing the response characteristics of the electric motor drive device with the simulation model 8a.

In the electric motor position control device of the third invention, the actual control section 9 provides a simulated observer 9a for providing a simulated estimated position θr and a simulated estimated speed ωr based on the simulated position θm and the simulated torque Tm. A real observer 9b that provides an actual estimated position θb and an actual estimated speed ωb based on the position signal θ and the torque command T, the simulated estimated position θr, the simulated estimated speed ωr, the actual estimated position θb, and the actual estimated position θb. A feedback controller 9c that provides a feedback torque command Tb based on the estimated speed ωb and a torque command synthesizer 9d that provides a torque command T based on the feedback torque command Tb and the simulated torque Tm are provided. It is a feature. According to the electric motor position control device of the third aspect of the present invention, the noise included in the position signal θ can be further suppressed, so that the feedback control gain can be set higher. Therefore, more robust control performance can be obtained.

In the electric motor position control device according to the fourth aspect of the invention, the actual control section 9 provides a simulated observer 9a for providing a simulated estimated position θr and a simulated estimated speed ωr based on the simulated position θm and the simulated torque Tm. An actual observer 9e that provides an actual estimated position θb, an actual estimated speed ωb, and an actual estimated disturbance db based on the position signal θ and the torque command T, the simulated estimated position θr, the simulated estimated speed ωr, and the actual estimation. A feedback controller 9c that provides a feedback torque command Tb based on the position θb and the actual estimated speed ωb, and a torque command T based on the feedback torque command Tb, the simulated torque Tm, and the actual estimated disturbance db. And a torque command synthesizer 9f. According to the electric motor position control device of the fourth aspect of the present invention, a faster response characteristic can be obtained by further directly compensating for the actual estimated disturbance db.

The electric motor position control device of the fifth invention is characterized in that the simulation control section 8 and the actual control section 9 are provided with a means constituted by a plurality of processors. According to the electric motor position control device of the fifth invention,
By configuring the simulated control unit 8 and the actual control unit 9 by respective processors, it is possible to more easily realize designing the simulated control unit 8 according to the characteristics of the electric motor drive device.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION A first embodiment of the present invention will be described with reference to FIG. Hereinafter, the electric motor position control device is an embodiment of the electric motor position control method. As shown in FIG. 1, an electric motor position control device of this embodiment includes a command generator that provides a position command θref, an electric motor drive device that operates according to a torque command T, and provides a position signal θ, and the position. A motor position controller that provides a desired torque command T based on a command θref and the position signal θ, and a simulation controller 8 that provides a simulated position θm and a simulated torque Tm based on the position command θref. A transmitter 10 that generates a composite signal R and transmits the composite signal R based on the simulated position θm and the simulated torque Tm; and a transmitter 10 that receives the composite signal R and communicates the composite signal R with a communication simulated position θmf. It is composed of a receiver 11 that decomposes into a torque Tmf, and an actual control unit 9 that provides a torque command T based on the position signal θ, the simulated communication position θmf, and the simulated communication torque Tmf. The electric motor drive device 6 includes a load machine 1, a transmission mechanism 2, an electric motor 3, a power conversion circuit 4, and an actual observer 5. The load machine 1 is an actuator such as a table or a linear slider. The transmission mechanism 2 is a fixing device such as a ball screw or a reduction mechanism. The electric motor 3 is a rotary motor or a linear motor. The power conversion circuit 4 is a power voltage or current control device such as a PWM inverter. The real observer 5 is a position sensor such as an encoder or a linear scale. The command generator 7 has the same structure as that of the conventional device. The simulation controller 8 provides the simulated position θm and the simulated torque Tm based on the position command θref as follows. However, Jm is an equivalent moment of inertia of the motor drive device 6, and kpf and kvf are control gains. Also, kp
The settings of f and kvf may be designed by pole arrangement.

Θm (k + 1) = θm (k) + ω (k) * Ts + Tm (k) * Ts * Ts * 0.5 / Jm (9) ωm (k + 1) = ωm (k) + Tm ( k) * Ts / Jm (10) Tm (k) = (kpf * (θref (k) −θm (k)) − ωm (k)) * kvf (11) The transmitter 10 first determines the simulated position θm. The composite signal R is generated by using the lower bit of the composite signal R and the simulated torque Tm as the upper bit of the composite signal R. Next, the composite signal R is transmitted by serial communication. Also, the composite signal R
Similarly, when the simulated position θm is generated, the simulated position θm is set as the upper bit of the composite signal R and the simulated torque Tm is set as the lower bit of the composite signal R. The receiver 11 first receives the composite signal R input as a serial signal. Next, the communication simulation position θmf and the communication simulation torque Tmf are generated according to the definition of the composite signal R. For example, the simulated communication position θmf is generated from the lower bits of the composite signal R, and the simulated communication torque Tmf is generated from the higher bits of the composite signal R. Actual control unit 9
Is based on the position signal θ, the communication simulation position θmf, and the communication simulation torque Tmf as follows.
I will provide a. However, L1 and L2 are observer gains, and it is sufficient to design pole arrangement. kp and kv are feedback gains, which may be set in the conventional manner.

Θr (k) = θr (k−1) + ωr (k−1) * Ts + Tmf (k−1) * Ts * Ts * 0.5 / Jm + L1 * (θmf (k) −θr (k− 1)) (12) ωr (k) = ωr (k-1) + Tmf (k-1) * Ts / Jm + L2 * (θmf (k) -θr (k-1)) (13) θb (k ) = Θb (k−1) + ωb (k−1) * Ts + T (k−1) * Ts * Ts * 0.5 / Jm + L1 * (θ (k) −θb (k−1)) (14) ωb (k) = ωb (k−1) + T (k−1) * Ts / Jm + L2 * (θ (k) −θb (k−1)) (15) Tb (k) = (kpf * ( θr (k) −θb (k)) + ωr (k) −ωb (k)) * kvf (16) T (k) = Tb (k) + Tmf (k) (17) Also, instead of the equation (17) In addition, T (k) may be generated as follows. T (k) = Tb (k) + Tmf (k + 1) (18) Therefore, if the response characteristics of the motor drive device are equivalent to the expressions (9) and (10), then θ (k) = θmf (K) becomes (19). If θr (k−1) = θb (k−1) = 0 (20) is set as the initial condition, then θr (k) = θb (k) (21) ωr from equations (12) to (15). (K) = ωb (k) (22). Therefore, Tb (k) = 0 (23) and T (k) = Tmf (k) (24). Therefore, θ (k + 1) = θmf (k + 1) (25) holds. In addition, when transmitting and receiving between the transmitter 10 and the receiver 11, it may be realized by a wireless communication system. Therefore,
According to this embodiment, when performing the feedback calculation shown in the equation (16), the physical quantity θr (k) at the current time,
Since θb (k), ωr (k), and ωb (k) are used, if the response characteristic of the mechanical system simulation circuit of the feedforward signal calculation circuit 20 matches the response characteristic of the electric motor drive device 6, then it is over. It is possible to realize that there is no shoot. In addition, the problem that the limit of the control gain is lowered due to the time delay of the speed signal ω that has been present in the prior art has been solved. Further, from the simulation controller 8, the simulated position θm
Since only the simulated torque Tm and the simulated torque Tm need be provided to the actual control unit 9, the communication amount of signals is reduced. Therefore, there is an effect that it can be realized with less wiring, leading to cost reduction. In addition, by introducing the transmitter 10 and the receiver 11,
The wiring can be further reduced, and the cost can be reduced. Also, if you use serial communication or wireless communication,
The simulated control unit and the actual control unit can be realized over a long distance, which makes it easier to use. Further, if wireless communication is used, it is possible to construct without wiring even in the case of a long distance, so that the cost can be reduced.

A motor position control device according to a second embodiment of the present invention will be described with reference to FIG. As shown in FIG. 2, in the electric motor position control device of this embodiment, the simulation controller 8b provides a simulation torque Tm based on the position command θref and the simulation state quantity X.
And a simulation model 8a that provides a simulation state quantity X including a simulation position θm based on the simulation torque Tm. The simulated model 8a has the simulated torque T
A simulated state quantity X including a simulated position θm is provided based on m.

Θm (k + 1) = θm (k) + ωm (k) * Ts + Tm (k) * Ts * Ts * 0.5 / Jm (26) ωm (k + 1) = ωm (k) + Tm ( k) * Ts / Jm (27) X (k + 1) = [θm (k + 1), ωm (k + 1)] (28) The simulated controller 8b uses the position command θref as follows.
And a simulated torque Tm based on the simulated state quantity X. However, the subscript T represents transposition of a matrix or a vector. Tm (k) = ([1, 0] * θref (k) −X (k)) * K (29) K = [K1, K2] ^T (30) Further, instead of the expressions (26) to (27). And as follows:
The simulated state quantity X may be generated. Tmn (k) = Tmax (for Tm (k)> Tmax) (31) Tmn (k) =-Tmax (for Tm (k) <-Tmax) (32) Tmn (k) = Tm (k) (for Tm (K) ε (−Tmax, Tmax,)) (33) θm (k + 1) = θm (k) + ωm (k) * Ts + Tmn (k) * Ts * Ts * 0.5 / Jm (34) ωm (K + 1) = ωm (k) + Tmn (k) * Ts / Jm (35) Further, instead of the equation (29), the simulated controller 8b may be configured by PID control.

According to this embodiment, in addition to the operation and effect of the first embodiment, the design of the simulated controller 8b can be easily realized if the simulated model 8a is designed to match the electric motor drive device. Therefore, the simulation controller 8 is easily realized. Further, when the motor drive device 2 has a non-linear characteristic, accordingly (31) to (35)
If these factors are taken into consideration and the simulation model 8a is configured as described above, it is possible to easily cope with the situation.

A motor position control device according to a third embodiment of the present invention will be described with reference to FIG. As shown in FIG. 3, in the electric motor position control device of this embodiment, the actual control unit 9 provides a simulated estimated position θr and a simulated estimated speed ωr based on the simulated position θm and the simulated torque Tm. An observer 9a, an actual observer 9b that provides an actual estimated position θb and an actual estimated speed ωb based on the position signal θ and the torque command T, the simulated estimated position θr, the simulated estimated speed ωr, and the actual estimated position. From a feedback controller 9c that provides a feedback torque command Tb based on θb and the actual estimated speed ωb, and a torque command synthesizer 9d that provides a torque command T based on the feedback torque command Tb and the simulated torque Tm. It is configured. The simulated observer 9a is (1
2) and (13), the simulated estimated position θr and the simulated estimated speed ω based on the simulated position θmf and the simulated torque Tmf.
provide r and. The actual observer 9b has (14), (1
As in equation (5), the actual estimated position θb and the actual estimated speed ωb are provided based on the position signal θ and the torque command T. The feedback controller 9c, like the equation (16),
A feedback torque command Tb is provided based on the simulated estimated position θr, the simulated estimated speed ωr, the actual estimated position θb, and the actual estimated speed ωb. The torque command synthesizer 9d, based on the feedback torque command Tb and the simulated torque Tm, expresses the torque command T as shown in equation (17).
I will provide a. Further, the simulated observer 9a may be configured as follows. However, L3 is the gain of the observer.

Θr (k) = θr (k−1) + ωr (k−1) * Ts + Tmf (k−1) * Ts * Ts * 0.5 / Jm + dm (k−1) * Ts * Ts * 0.5 / Jm + L1 * (θmf (k) -θr (k-1)) (36) ωr (k) = ωr (k-1) + Tmf (k-1) * Ts / Jm + dm (k-1) * Ts / Jm + L2 * (θmf (k) −θr (k−1)) (37) dm (k) = dm (k−1) + L3 * (θmf (k) −θr (k−1)) ( 38) Further, the actual observer 9b may be configured as follows. θb (k) = θb (k-1) + ωb (k-1) * Ts + T (k-1) * Ts * Ts * 0.5 / Jm + db (k-1) * Ts * Ts * 0.5 / Jm + L1 * (θ (k) −θb (k−1)) (39) ωb (k) = ωb (k−1) + T (k−1) * Ts / Jm + db (k−1) * Ts / Jm + L2 * (θ (k) −θb (k−1)) (40) db (k) = db (k−1) + L3 * (θ (k) −θb (k−1)) (41) The feedback controller 9c may be composed of PID. Further, the torque command synthesizer 9d may be configured as follows. However, Km is a feedforward gain. T (k) = Tb (k) + Tmf (k) * Km (42)

According to this embodiment, in addition to the effects and advantages of the first and second embodiments, the noise contained in the position signal θ can be suppressed by the observer, so that the feedback control gain is increased. Can be set. Therefore, more robust control performance can be obtained. Further, if the torque command synthesizer 9d is configured as in the equation (42), the feedforward gain K can be obtained even if some modeling error exists.
can be compensated by m.

A motor position control device according to a fourth embodiment of the present invention will be described with reference to FIG. As shown in FIG. 4, in the electric motor position control device of the present embodiment, the actual control unit 9 provides a simulated estimated position θr and a simulated estimated speed ωr based on the simulated position θm and the simulated torque Tm. The observer 9a, the actual observer 9e that provides the actual estimated position θb, the actual estimated speed ωb, and the actual estimated disturbance db based on the position signal θ and the torque command T, the simulated estimated position θr, and the simulated estimated speed ωr. And a feedback controller 9c that provides a feedback torque command Tb based on the actual estimated position θb and the actual estimated speed ωb, and a torque command based on the feedback torque command Tb, the simulated torque Tm, and the actual estimated disturbance db. And a torque command synthesizer 9f that provides T. The actual observer 9e may be configured as shown in equations (30) to (41). The torque command synthesizer 9f uses the feedback torque command Tb and the simulated torque as follows.
A torque command T is provided based on Tm and the actual estimated disturbance db. T (k) = Tb (k) + Tmf (k) -db (k) (43) Further, the torque command synthesizer 9f may be configured as follows. T (k) = Tb (k) + Tmf (k) * Km-db (k) (44) According to this embodiment, in addition to the effects and advantages of the first to third embodiments, By directly compensating for the estimated disturbance db, the response characteristic to the disturbance can be improved, and a faster response characteristic can be obtained.

The simulation controller 8 and the actual controller 9 shown in the above embodiment can be easily realized by respective processors. According to this embodiment, in addition to the actions and effects of the first to fourth embodiments, the simulation control unit 8 and the actual control unit 9 are configured by respective processors, so that the simulation control unit 8 More complicated calculation can be performed by the real control unit 9 and the simulation control unit 8 can be designed more easily according to the characteristics of the motor drive device. Further, by performing the operations of the simulation control unit 8 and the actual control unit 9 at high speed, it is possible to obtain a higher simulated position θm with respect to the actual command θref.

[0020]

According to the electric motor position control device of the first aspect, the physical quantities θr (k), θb (k), ωr at the current time are calculated when the feedback calculation shown in the equation (16) is performed.
Since (k) and ωb (k) are used, if the response characteristic of the mechanical system simulation circuit of the feedforward signal calculation circuit 20 matches the response characteristic of the motor drive device 6, no overshoot or the like occurs. Can be realized. Also,
The problem that the limit of the control gain is lowered due to the time delay of the speed signal ω, which has been present in the prior art, has been solved. Further, from the simulation control unit 8, the simulation position θm and the simulation torque
Since only the Tm need be provided to the actual control unit 9, the amount of signal communication is reduced. Therefore, it can be realized with less wiring,
It also has the effect of reducing costs. Further, since the simulation controller 8 and the actual controller 9 can be realized by an electric circuit and can be controlled at a higher sampling period, better control performance can be obtained. Furthermore, by introducing the transmitter 10 and the receiver 11, the wiring can be further reduced and the cost can be reduced. Further, if the serial communication or the wireless communication is used, the simulation control unit and the real control unit can be realized at a long distance, which makes it easier to use. Further, if wireless communication is used, it is possible to construct without wiring even in the case of a long distance, so that the cost can be reduced. According to the electric motor position control device of the second aspect, in addition to the operation and effect of the first aspect, the simulation controller 8b can be easily designed by designing the simulated model 8a so as to coincide with the electric motor drive device. Since it is realized, the simulation controller 8 is easily realized. If the motor drive device 2 has a non-linear characteristic, it can be easily dealt with by configuring the simulation model 8a in consideration of those elements as in (31) to (35). According to the electric motor position control device of claim 3, in addition to the effect and effect of claim 2, noise contained in the position signal θ can be further suppressed by the observer, so that the feedback control gain is set higher. it can. Therefore, more robust control performance can be obtained. Further, if the torque command synthesizer 9d is configured as in Expression (42), even if some modeling error exists, it can be compensated by the feedforward gain Km. Claim 4
According to the electric motor position control device described above, in addition to the action and effect of claim 3, by directly compensating the actual estimated disturbance db, the response characteristic to the disturbance can be improved, and a faster response characteristic can be obtained. can get. According to the electric motor position control device of the fifth aspect, in addition to the operation and effect of the fourth aspect, the simulation control unit 8 and the actual control unit 9 are configured by respective processors, so that the simulation control unit 8 can be obtained. More complicated calculation can be performed by the real control unit 9 and the simulation control unit 8 can be designed more easily according to the characteristics of the motor drive device. Further, by performing the operations of the simulation control unit 8 and the actual control unit 9 at high speed,
A faster simulated position θm can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an electric motor position control device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of an electric motor position control device according to a second embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of an electric motor position control device according to a third embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration of an electric motor position control device according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a conventional electric motor position control device.

[Explanation of symbols]

1 load machine 2 transmission mechanism 3 electric motor 4 power conversion circuit 5 real observers 6 Electric motor drive 7 Command generator 8 Simulation controller 8a Simulated model 8b Simulated controller 9 Actual control unit 9a Simulated observer 9b Real observer 9c Feedback controller 9d Torque command synthesizer 9e Real observer 9f torque synthesizer 10 transmitter 11 receiver 20 Feedforward signal calculation circuit 21 Feedback control circuit 22 Torque control circuit 23 Real Observer 24 Electric motor drive

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 5H004 GA03 GA05 GA07 GA08 GA16                       GA35 GB16 GB20 HA07 HB07                       JA02 JB21 JB22 KA32 KA72                       KB02 KB04 KB16 KB32 KB33                       KC24 KC27 LA02 MA38 MA53                 5H550 AA18 BB08 BB10 DD03 DD04                       DD06 GG01 GG05 JJ03 JJ04                       LL01

Claims (5)

[Claims] 1. A command generator that provides a position command θref, and a motor drive device that operates in accordance with a torque command T and provides a position signal θ thereof are provided, and a desired signal is generated based on the position command θref and the position signal θ. In a motor position control device that provides a torque command T, a simulation controller 8 that provides a simulated position θm and a simulated torque Tm based on the position command θref, and the simulated position θm and the simulated torque Tm,
A composite signal R that is a combination of upper and lower bits of a signal is generated, a transmitter 10 that transmits the composite signal R, and the composite signal R are received, and the composite signal R is set to a simulated communication position θ.
a receiver 11 that decomposes into mf and communication simulation torque Tmf,
An electric motor position control device comprising: an actual control unit 9 that provides a torque command T based on the position signal θ, the simulated communication position θmf, and the simulated communication torque Tmf. 2. The simulation controller 8 is configured to control the position command θre
A simulation controller 8b that provides a simulation torque Tm based on f and the simulation state amount X, and a simulation model 8a that provides a simulation state amount X including the simulation position θm based on the simulation torque Tm. The electric motor position control device according to claim 1. 3. The actual control unit 9 provides a simulated observer 9a for providing a simulated estimated position θr and a simulated estimated speed ωr based on the simulated position θm and the simulated torque Tm, the position signal θ and the torque command T. A real observer 9b that provides a real estimated position θb and a real estimated speed ωb based on the above, and a feedback torque based on the simulated estimated position θr, the simulated estimated speed ωr, the real estimated position θb, and the real estimated speed ωb. A feedback controller 9c for providing a command Tb, and a torque command synthesizer 9d for providing a torque command T based on the feedback torque command Tb and the simulated torque Tm are provided.
Alternatively, the electric motor position control device described in 2. 4. The simulated observer 9a for providing the simulated estimated position θr and the simulated estimated speed ωr based on the simulated position θm and the simulated torque Tm, the actual control section 9, the position signal θ and the torque command T. A real observer 9e that provides a real estimated position θb, a real estimated velocity ωb, and a real estimated disturbance db based on the above, the simulated estimated position θr, and the simulated estimated velocity ω.
A feedback controller 9c that provides a feedback torque command Tb based on r, the actual estimated position θb, and the actual estimated speed ωb, and a torque based on the feedback torque command Tb, the simulated torque Tm, and the actual estimated disturbance db. Torque command synthesizer 9 for providing command T
The electric motor position control device according to claim 1 or 2, further comprising: 5. The electric motor position control device according to claim 1, wherein the simulation control unit 8 and the actual control unit 9 are composed of a plurality of processors.