JP2008043131A - Motor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor controller for improving disturbance restraint and controlling vibration of a load machine by simple adjustment. <P>SOLUTION: The motor controller includes a position detecting means for detecting a position of a motor, and a position control means for outputting a torque command signal for controlling the motor so that a deviation between an input position reference signal with respect to a position of the load machine or the motor driving the load machine and a position signal of the motor becomes small. The controller includes an acceleration detecting means for detecting acceleration of the load machine and a vibration control means for correcting the torque command signal by using the position signal of the motor and an acceleration signal output from the acceleration detecting means and outputting a correction signal for controlling vibration of the load machine or the motor. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an electric motor control device that controls an electric motor that drives a load machine such as a table in a machine tool or an arm of an industrial robot.

The conventional motor control device performs control so that the torque of the motor driving the load machine matches the torque command signal based on the torque command signal generated based on the speed signal or position signal of the motor. When is low, it has been difficult to simultaneously improve the disturbance suppression force and suppress the vibration of the controlled object.
Therefore, by subtracting a signal obtained by proportionally multiplying the acceleration signal of the load machine from the torque command signal generated based on the speed signal or position signal of the motor, the torque of the load machine included in the acceleration signal of the load machine is torque-commanded. There has been proposed an electric motor control device that reflects the signal and suppresses vibration of the load machine (see, for example, Patent Document 1).
There has also been proposed an electric motor control device that subtracts a signal obtained by proportionally integrating an acceleration signal of a load machine from a torque command signal generated based on a speed signal or a position signal of the electric motor (see, for example, Patent Document 2).

Japanese Patent Laid-Open No. 06-91482 JP 2005-284599 A

However, if it is fixed to a certain value the speed proportional gain K _VP, acceleration feedback gain K is _a by the increase it is possible to suppress vibration of the load machine, appropriate acceleration feedback gain K to the vibration suppression since the magnitude of _a different depending on the speed proportional gain K _VP, must readjust the acceleration feedback gain K _a every time adjust the speed proportional gain K _VP in order to improve the disturbance suppression effect, adjustment work is troublesome There is a problem.

Further, in order to suppress the vibration of the load machine it is necessary to increase the acceleration feedback gain K _a, a signal proportional multiplying the acceleration signal of the load machine speed control circuit is added to the torque command signal to be output since the effect of the acceleration feedback gain K _a for the purpose of vibration suppression, becomes oscillatory and the effect of the speed integration gain K _Vi and the position proportional gain K _P for the purpose to cause interference disturbance suppression, sufficient vibration suppression There is a problem that the effect and the disturbance suppressing effect cannot be obtained at the same time.

  An object of the present invention is to provide an electric motor control device that simultaneously realizes improvement of disturbance suppression force and vibration suppression of a load machine by simple adjustment.

  In the motor control apparatus according to the present invention, the deviation between the position reference means for detecting the position of the motor and the input load machine or the position reference signal for the position of the motor driving the load machine and the position signal of the motor is reduced. In the electric motor control apparatus having the position control means for outputting the torque command signal for controlling the electric motor, the acceleration detection means for detecting the acceleration of the load machine, the position signal of the electric motor and the output from the acceleration detection means Vibration suppression means that corrects the torque command signal using an acceleration signal that is output and outputs a correction signal that suppresses vibration of the load machine or the electric motor.

  The effect of the electric motor control apparatus according to the present invention is that vibration of the load machine can be suppressed by simple adjustment by gradually increasing one adjustment gain independently of gain adjustment for suppressing disturbance of the electric motor and the load machine. Therefore, it is possible to simultaneously improve the disturbance suppressing force and suppress the vibration of the load machine.

Embodiment 1 FIG.
1 is a block diagram of an electric motor control apparatus according to Embodiment 1 of the present invention. FIG. 2 is a block diagram showing the vibration suppression circuit in detail in FIG. FIG. 3 is a block diagram showing the correction variable arithmetic circuit in detail in FIG.
The controlled object 1 controlled by the motor control device according to the first embodiment of the present invention includes a load machine 2, a motor 3 that drives the load machine 2, and a torque τ _m when the motor 3 drives the load machine 2. The torque control circuit 4 controls the signal τ _{r so as} to coincide with the signal τ _r .
The motor control apparatus according to the first embodiment of the invention, detecting the current value and the position signal x position detecting circuit as position detecting means for outputting as _m 5 position of the motor 3, the load machine 2 of the acceleration current Torque command signals from an acceleration detection circuit 6 as an acceleration detection means for detecting a value and outputting it as an acceleration signal _al , a position control circuit 7 as a position control means, a vibration suppression circuit 8 as a vibration suppression means, and a position control circuit 7 Subtracting means 9 for subtracting the correction signal τ _C from τ _a is provided.
The position control circuit 7, the vibration suppression circuit 8, and the subtracting means 9 are constituted by a computer having a CPU, a ROM, a RAM, and an interface circuit, and a control procedure is stored in the ROM as a program.

Position control circuit 7, the position signal x _m of the location reference signal x _r and the electric motor 3 to simulate the position of the motor 3 for driving a load machine 2 or the load machine 2 is input is input, the motor 3 loading machine 2 A torque command signal τ _a which is a target value of the driving torque τ _m is output.
In this position control circuit 7, as shown in the equation (1), a proportional operation, an integral operation, and a position deviation signal (x _r −x _m ) between the position reference signal x _r and the position signal x _m of the electric motor 3 are calculated. A torque command signal τ _a obtained by performing differential operation (PID control) is output. Here, K _D is a differential gain, K _P is the proportional calculation proportional gain, integral gain K _I is the integral calculation of the differential operation.

Vibration suppression circuit 8, the position signal x _m with acceleration signal a _l of the load machine 2 of the motor 3, and outputs a corrected signal tau _C for correcting the torque command signal tau _a output from the position control circuit 7.
The vibration suppression circuit 8, as shown in FIG. 2, the position signal x _m and the load machine 2 a _l of the motor 3 is input, as a correcting variable calculating means for calculating a correction variable u _C correction variable computing means 21 And a multiplication means 22 for outputting a correction signal τ _C obtained by multiplying the correction variable u _C output from the correction variable calculation means 21 by the adjustment gain α.

As shown in FIG. 3, the correction variable calculation means 21 is obtained by inputting the position signal x _m of the electric motor 3 and multiplying the position signal x _m by the same gain K _I as the integral gain K _I of the position control circuit 7. The first gain means 23 for outputting the first correction variable u _C1 and the acceleration signal a _l of the load machine 2 are input, and the second correction variable u _C2 obtained by multiplying the acceleration signal a _l by a predetermined gain K _Z. a second gain unit 24 that outputs the acceleration signal a _l of the load machine 2 is input, the the integrating means 25 for integrating the acceleration signal a _l, signals the acceleration signal a _l in integrating means 25 is integrated input A third gain means 26 for outputting a third correction variable u _C3 obtained by multiplying the same gain K _P as the proportional gain K _P of the position control circuit 7, a first correction variable u _C1 , a second correction variable u _C2 And the third correction variable u Addition means 27 for adding _C3 and outputting a correction variable uC is provided.

The gain K _Z of the second gain means 24 uses the anti-resonance frequency ω _Z of the transfer function G _m (s) of the controlled object 1, the differential gain K _D of the position control circuit 7, and the integral gain K _I of the position control circuit 7. It is a value calculated | required by Formula (2).
Then, the control performed by the vibration suppression circuit 8, the position signal x _m with acceleration signal a _l of the load machine 2 of the motor 3 is input, when the correction signal tau _C is output, represented by the formula (3) . By substituting the gain K _Z obtained by equation (2) into equation (3), the correction signal τ _C is expressed by equation (4).

The subtraction means 9 receives the torque command signal τ _a output from the position control circuit 7 and the correction signal τ _C output from the vibration suppression circuit 8 and is obtained by subtracting the correction signal τ _C from the torque command signal τ _a. Torque command signal τ _r is output. The control performed by the subtracting means 9 is expressed by equation (5).

Next, the operation and effect of the motor control device according to the embodiment of the present invention will be described.
It is assumed that the control target 1 is a two-inertia system having a mechanical resonance characteristic and a transfer function from the torque command signal τ _r to the position signal x _m of the electric motor 3 having only one mechanical resonance characteristic. At this time, the transfer function from the torque τ _m of the motor 3 to the position signal x _m of the motor 3 is G _m (s), and the transfer function from the torque τ _m of the motor 3 to the acceleration signal a ₁ of the load machine 2 is G _a. Assuming (s), G _m (s) and G _a (s) are respectively expressed by Expression (6) and Expression (7).

In equations (6) and (7), ω _Z is the anti-resonance frequency, ω _P is the resonance frequency, J is the total inertia of the controlled object 1, J _m is the inertia of the motor 3, and J _l is the inertia of the load machine 2. is there. Then, the total inertia J is determined by the sum of _{J m} and _{J l.}
Then, as can be seen from the equation (6), the transfer function G _{m (s)} has anti-resonance zero z ₀ obtained by the formula (8) corresponding to the anti-resonance frequency omega _Z.

First, consider a conventional motor control device in which the adjustment gain α in the vibration suppression circuit 8 is 0, that is, the torque command signal τ _a output from the position control circuit 7 is not corrected by the correction signal τ _C output from the vibration suppression circuit 8. At this time, the torque command signal τ _r given to the torque control circuit 4 in FIG. 1 becomes equal to the torque command signal τ _a output from the position control circuit 7.
The transfer characteristic of the torque control circuit 4 is ideally 1, that is, τ _m = τ _r, and an open-loop transfer function that opens the control loop at the input end of the control target 1 (the location of the torque command signal τ _r in FIG. 1) Assuming L (s), L (s) is expressed by equation (9).

As can be seen from the equation (9), when the adjustment gain α is 0, the zero point of the open loop transfer function L (s) is determined by the differential gain K _D , the proportional gain K _P , and the integral gain K _I of the position control circuit 7. The zero point determined and the anti-resonance zero point z ₀ of the transfer function G _m (s) of the controlled object 1 represented by the equation (6).

Next, consider a value that exceeds the adjustment gain α in the vibration suppression circuit 8, that is, the open-loop transfer function L (s) in the embodiment of the present invention.
When the position signal x _m of the electric motor 3 represented by the equation (6) and the acceleration signal a ₁ of the load machine 2 represented by the equation (7) are substituted into the equation (4), the correction signal τ _C is the torque of the electric motor 3. It is expressed by the equation (10) using τ _m .

To summarize Equation (10), the transfer function from the torque τ _m of the electric motor 3 to the correction signal τ _C output from the vibration suppression circuit 8 is expressed by Equation (11).

  In FIG. 1, assuming that the transfer characteristic of the torque control circuit 4 is ideally 1 and the open loop transfer function with the control loop opened at the input end of the controlled object 1 is L (s), L (s) is expressed by the following equation (12). It is represented by

As can be seen from the equation (12), the open-loop transfer function L (s) is an inverse that varies depending on the zero point determined by the differential gain K _D , the proportional gain K _P , and the integral gain K _I of the position control circuit 7 and the adjustment gain α. And a resonance zero z. The antiresonance zero z in the equation (12) is expressed by the equation (13).

In the equation (13), ζ _Z means a damping coefficient at the antiresonance zero point z and is represented by the equation (14).

Therefore, by changing the adjustment gain α, the zero point in the open-loop transfer function L (s) changes from the antiresonance zero point z ₀ shown in the equation (8) to the antiresonance zero point z shown in the equation (13).
Generally, in order to improve disturbance suppression, it is necessary to increase the loop gain of the open loop transfer function. However, if the loop gain of the open loop transfer function is increased, the closed loop pole of the entire control system becomes the open loop transfer function. It is known that the attenuation coefficient of the closed-loop pole asymptotically approaches the attenuation coefficient of the open-loop zero.
The attenuation coefficient of the closed-loop pole is a representative index that indicates the rate of attenuation of the vibration of the closed-loop pole response.The smaller the attenuation coefficient of the closed-loop pole, the greater the vibration of the closed-loop response, and vice versa. Indeed, the vibration of the closed loop response is quickly attenuated.

As shown in Expression (9), the zero point of the open loop transfer function L (s) when the adjustment gain α is 0 is the differential gain K _D , proportional gain K _P , and integral gain K of the position control circuit 7. _A zero point determined by _I and an anti-resonance zero point z ₀ possessed by the transfer function G _m (s) of the controlled object 1 represented by Expression (6).
Of these, the derivative gain _{K D,} the proportional gain _{K P,} the zero point determined by the integral gain _{K I,} derivative gain _{K D,} the proportional gain _{K P,} can be arbitrarily changed by changing the integration gain _{K I.}
On the other hand, the anti-resonance zero z ₀ is a zero that the transfer function G _m (s) of the controlled object 1 has and cannot be changed even if the differential gain K _D , proportional gain K _P , and integral gain K _I are changed. .
From equation (14), when the adjustment gain α is set to ₀ , the damping coefficient ζ _Z at the anti-resonance zero z ₀ of the open loop transfer function is 0. Thus, the differential gain K _D of the position control circuit 7 so that the loop gain of the open loop transfer function is _large, the proportional gain K _P, when the increased integral gain K _I, the damping coefficient of the closed-loop pole becomes very small, the controlled object The response of 1 becomes oscillatory.

On the other hand, when the adjustment gain α is increased, the anti-resonance zero of the open loop transfer function L (s) changes from the anti-resonance zero z ₀ when the adjustment gain α is ₀ to z. The damping coefficient ζ _Z of the resonance zero point z can be increased. Therefore, if the adjustment gain α is changed so that the damping coefficient ζ _Z becomes an appropriate magnitude, the differential gain K of the position control circuit 7 is increased so that the loop gain of the open loop transfer function is increased in order to improve the disturbance suppression force. _D, the proportional gain K _P, the damping coefficient of the even closed-loop pole by increasing the integral gain K _I is not become very small, the controlled object 1 can be adjusted so as not to vibrate. Therefore, vibration suppression and disturbance suppression force of the control target 1 can be realized at the same time.

Such correction signal tau _C outputted from the vibration suppression circuit 8 is, first correction obtained by performing proportional calculation using the integral gain K _I of the position control circuit 7 with respect to the position signal x _m of the electric motor 3 A second correction signal obtained by subjecting the signal u _C1 and the acceleration signal a ₁ of the load machine 2 to a proportional calculation using a predetermined gain K _Z and an integration calculation using the proportional gain K _P of the position control circuit 7. Since it is obtained by performing a proportional operation on the addition signal u _{C of} u _C2 and the third correction signal u _C3 using the adjustment gain α, the attenuation coefficient ζ _Z shown in Expression (14) changes only by the adjustment gain α. Even if the differential gain K _D , the proportional gain K _P , and the integral gain K _I of the position control circuit 7 are changed, the damping coefficient ζ _Z is not affected. That is, adjustments for improving the disturbance suppressing force and suppressing the vibration can be performed independently.

It is sufficient to set the adjustment gain α so as to gradually increase until the damping coefficient ζ _Z shown in the equation (14) reaches a value of about 0.5.
Further, in the first embodiment, the correction for correcting the torque command signal τ _a output from the position control circuit 7 by multiplying the correction variable u _C output from the correction variable calculation means 21 inside the vibration suppression circuit 8 by the adjustment gain α. Although the signal τ _C is output, the position signal x _m of the motor 3 and the load machine that are input to the correction variable calculation unit 21 instead of multiplying the correction variable u _C output from the correction variable calculation unit 21 by the adjustment gain α. It may be configured to multiply the acceleration signal a _{1 of} 2.
In the first embodiment, the vibration suppression circuit 8 removes a predetermined frequency component from the acceleration signal a ₁ of the load machine 2 to the transfer characteristic from the acceleration signal a ₁ of the load machine 2 to the torque command signal τ _r. It is good also as a structure which adds a filter characteristic.

For example, high-frequency noise included in the acceleration signal _al of the load machine 2 that may adversely affect the stability of the controlled object 1 by adding a low-pass filter that removes a component having a predetermined frequency or more from the filter characteristics. Can be removed.
Further, by adding a high-pass filter that removes components having a predetermined frequency or less from the filter characteristics, it is possible to remove a steady-state error due to an offset included in the acceleration signal a ₁ of the load machine 2.

Further, in the vibration suppression circuit 8, a filter characteristic for removing a predetermined frequency component from the acceleration signal a ₁ of the load machine 2 is added to the transfer characteristic from the acceleration signal a ₁ of the load machine 2 to the torque command signal τ _r , it may be configured to add a filter characteristic shown comparable properties to transfer characteristic from the position signal x _m of the motor 3 to the torque command signal tau _r. Thus, the phase shift between the first correction signal u _C1 , the second correction signal u _C2 and the third correction signal u _C3 is eliminated by the filter characteristic added to the transfer characteristic from the load machine 2 to the torque command signal τ _r. be able to.

Embodiment 2. FIG.
FIG. 4 is a block diagram of an electric motor control apparatus according to Embodiment 2 of the present invention.
The electric motor control apparatus according to the second embodiment of the present invention is different from the electric motor control apparatus according to the first embodiment in the position control circuit 7B, and the other parts are the same. Is omitted.
Position control circuit 7B according to the second embodiment, the position signal x _m of the location reference signal x _r and the motor 3 relative to the position of the motor 3 for driving a load machine 2 or the load machine 2 is input, the speed command signal v _r a position proportional means 31 for outputting a position signal x _m of the motor 3 is input, the speed calculating means 32 for calculating the velocity signal v _m of the electric motor 3, the speed command signal v _r and the speed calculation output by the position proportional means 31 velocity signal v _m of the electric motor 3 which means 32 outputs is input, having a speed proportional integral means 33 for outputting a torque command signal tau _a, a.

Position proportional means 31, as shown in equation (15), and outputs a velocity command signal _{v r} is multiplied by a position proportional gain _{k p} to the position deviation signal _(x r -x _m).
The speed calculation means 32 outputs the speed signal v _m of the electric motor 3 by differentiating the position signal x _m of the electric motor 3 as shown in the equation (16).

The speed proportional integration means 33 receives the speed command signal v _r and the speed signal v _m of the electric motor 3, and performs a proportional integration calculation represented by the equation (17) using the speed proportional gain k _v and the speed integral gain ω _vi. and it outputs a torque command signal tau _a.
Then, equation (15) to equation (17), the transfer function from the position signal _{x m} of the motor 3 to the torque command signal tau _a is represented by the formula (18).

The equation (18) is compared with the equation (1), and the position proportional gain k _p , velocity proportional gain k _v , velocity integral gain are satisfied so as to satisfy the relational expressions shown in the equations (19), (20), and (21). By setting ω _vi , the position control circuit 7B according to the second embodiment can perform a calculation equivalent to performing a proportional-integral-derivative calculation on the position signal x _m of the electric motor 3.

As described above, the torque command signal τ _a output from the position control circuit 7B according to the second embodiment is corrected by the correction signal τ _C output from the vibration suppression circuit 8 according to the first embodiment, thereby enabling the first embodiment. In the same manner as described above, by increasing the adjustment gain α from 0, the anti-resonance attenuation in the open-loop transfer function when the control loop is opened at the position of the torque command signal τ _r is increased, thereby suppressing the vibration of the controlled object. Is possible.

Embodiment 3 FIG.
FIG. 5 is a block diagram of an electric motor control apparatus according to Embodiment 3 of the present invention.
The motor control device according to the third embodiment of the present invention is different from the motor control device according to the first embodiment except for the vibration suppression circuit 8B, and is otherwise the same. Is omitted.
The vibration suppression circuit 8B according to the third embodiment is the same as the vibration suppression circuit 8 according to the first embodiment except for the correction variable calculation means 21B. Description is omitted.
Correcting variable computing means 21B according to the third embodiment, the acceleration signal a _l of the position signal x _m and the load machine 2 of the motor 3 is input, the acceleration signal from the position signal x _m of load machine 2 of the motor 3 a _l And the signal u _C1 ′ obtained by subjecting the signal obtained by subtracting the signal obtained by multiplying the signal obtained by multiplying 1 / ω _Z ⁻² to the same gain K _I as the integral gain K _I of the position control circuit 7 to the acceleration of the load machine 2 and signal a differential gain K same gain as _D K signal obtained by performing proportional calculation of _D u _C2 of _l to the position control circuit 7 _', the proportional gain K of the position control circuit 7 to the acceleration signal a _l of the load machine 2 _The signal u _C3 ′ obtained by performing the integral operation with the same gain K _P as _P is added to output a correction variable u _C.

Correction variable calculation circuit 21B according to Embodiment 3 of this implementation includes a signal subjected to the proportional calculation with the same gain and the integral gain K _I of the position control circuit 7 with respect to the position signal x _m of the electric motor 3, the load machine 2 was subjected to proportional calculation by a predetermined gain K _Z relative to the acceleration signals a and subjected to integral calculation with the same gain as the proportional gain K _P of the position control means with respect to _l, the load machine 2 acceleration signal a _l An operation equivalent to the output of the correction variable u _C is performed by adding the signal. Therefore, the correction signal τ _C output from the vibration suppression circuit 8B is the same as that in the expression (4), and the control loop is set at the position of the torque command signal τ _r by making the adjustment gain α larger than 0 as in the first embodiment. By increasing the anti-resonance attenuation in the open-loop transfer function when the is opened, it is possible to suppress the vibration of the controlled object.

Embodiment 4 FIG.
FIG. 6 is a block diagram of an electric motor control apparatus according to Embodiment 4 of the present invention.
The motor control device according to the fourth embodiment of the present invention is different from the motor control device according to the first embodiment in the position control circuit 7C and the vibration suppression circuit 8C. The description is omitted.

The position control circuit 7C according to the fourth embodiment includes the position reference signal x _r for the position of the load machine 2 or the motor 3 that drives the load machine 2, the position signal x _m of the motor 3, and the second output from the vibration suppression circuit 8C. A correction signal τ _C2 is input, a torque command signal τ _a ′ is output, a proportional calculation of a predetermined proportional gain K _P and a predetermined value are performed with respect to a deviation signal between the position reference signal x _r and the position signal x _m of the motor 3. a proportional differentiation means 41 for performing a differential operation of the differential gain K _D, position deviation (x r _{-x m)} and gain means 42 for outputting a signal obtained by multiplying a predetermined integral gain K _I, signal gain means 42 outputs Integration means 43 for integrating the signal obtained by subtracting the second correction signal τ _C2 output from the vibration suppression circuit 8C from the second correction signal τ _C2 . That is, the position control circuit 7C according to the fourth embodiment performs the calculation shown in the equation (22).

The vibration suppression circuit according to the fourth embodiment 8C are input acceleration signal a _l of the position signal of the motor 3 x _m and the load machine 2, first for correcting a torque command signal tau _{a 'outputted} by the position control circuit 7C The correction signal τ _C1 and the second correction signal τ _C2 for correcting the signal output from the gain means 42 in the position control circuit 7C are output.
The vibration suppression circuit 8C includes a gain unit 44 that outputs a signal u _C1 obtained by multiplying the position signal x _m of the electric motor 3 by the same gain K _I as the integral gain K _I of the position control circuit 7C, and an acceleration signal of the load machine 2 a gain unit 45 that outputs a signal u _C2 obtained by multiplying a _l by a predetermined gain K _Z, and a signal obtained by multiplying the acceleration signal a _l of the load machine 2 by the same gain K _P as the position proportional gain K _P of the position control circuit 7C. u _C2 "and gain means 46 for outputting a signal _{u C2} gain means 45 from the signal _{u C1} gain means 44 outputs to the output signal _{u C1} obtained by adding" and gain means 47 for multiplying the adjustment to the gain alpha, gain means 46 has a gain unit 48 for multiplying the adjustment gain α to the signal u _{C2 "to} be output. that is, the vibration suppression circuit 8C, the load machine and the position signal x _m of the electric motor 3 to be input To the acceleration signal _{a l,} it performs computation shown in equation (23) and (24). Then, from FIG. 6, the torque command signal tau _r inputted to the torque control circuit 4 is the formula (25) When the equation (22) is substituted into the equation (25), the torque command signal τ _r becomes the equation (26).

Further, when the formulas (23) and (24) are substituted into the formula (26) and rearranged, the torque command signal τ _r is expressed as the formula (27). The first term of equation (27) is equal to equation (1), and the second term is equal to equation (4).

In the fourth embodiment, the transmission characteristic from the position signal x _m of the electric motor 3 input to the vibration suppression circuit 8C to the torque command signal τ _r and the torque command signal τ _r from the acceleration signal a _l of the load machine 2 are used. transfer characteristic up, respectively (4), also becomes a transfer characteristic represented by the formula (5), proportional calculation with the same gain and the integral gain K _I of the position control means relative to the position signal x _m of the electric motor 3 a signal subjected to the signal subjected to the integration operation in the same gain as the proportional gain K _P of the position control means with respect to the load machine 2 acceleration signal a _l, predetermined with respect to the acceleration signal a _l of the load machine 2 A correction variable u _C is calculated by adding a signal subjected to proportional calculation with the gain K _Z , and a correction signal τ _C obtained by multiplying the calculated correction variable u _C by the adjustment gain α is calculated. the correction signal τ _C Ri position control circuit 7 will be doing the same calculation and correcting the torque command signal tau _a for outputting. Therefore, as in the first embodiment, the anti-resonance attenuation in the open-loop transfer function when the control loop is opened at the position of the torque command signal τ _r by increasing the adjustment gain α from 0 is increased. Can be suppressed.

1 is a block diagram of an electric motor control device according to Embodiment 1 of the present invention. It is the block diagram which showed the vibration suppression circuit part in detail in FIG. FIG. 3 is a block diagram illustrating in detail a correction variable arithmetic circuit portion in FIG. 2. It is a block diagram of the electric motor control apparatus concerning Embodiment 2 of this invention. It is a block diagram of the electric motor control apparatus concerning Embodiment 3 of this invention. It is a block diagram of the electric motor control apparatus concerning Embodiment 4 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Control object, 2 Load machine, 3 Electric motor, 4 Torque control circuit, 5 Position detection circuit, 6 Acceleration detection circuit, 7, 7B, 7C Position control circuit, 8, 8B, 8C Vibration suppression circuit, 9 Subtraction means, 21, 21B correction variable calculation means, 22 multiplication means, 23, 24, 26, 42, 44, 45, 46, 47, 48 gain means, 25, 43 integration means, 27 addition means, 31 position proportional means, 32 speed calculation means, 33 Speed proportional integration means, 41 Proportional differentiation means.

Claims (4)

Position detecting means for detecting the position of the motor and input load machine or for controlling the motor so that a deviation between a position reference signal for the position of the motor driving the load machine and a position signal of the motor is small. In the motor control device having position control means for outputting a torque command signal,
Acceleration detecting means for detecting the acceleration of the load machine;
Vibration suppression means for correcting the torque command signal using the position signal of the motor and the acceleration signal output from the acceleration detection means, and outputting a correction signal for suppressing vibration of the load machine or the motor;
An electric motor control device comprising:   The vibration suppression means performs the calculation equivalent to multiplying a correction variable calculated by using the position signal of the electric motor and the acceleration signal output from the acceleration detection means by one adjustment gain, thereby generating the torque command signal. The motor control device according to claim 1, wherein a correction signal that suppresses vibration of the load machine or the motor is output. The position control means inputs a position reference signal for a load machine or a position signal of an electric motor that drives the load machine and a position signal of the electric motor, and at least a proportional calculation of a predetermined proportional gain for the position signal of the electric motor, Output the torque command signal obtained by performing an operation equivalent to performing an integral operation of the integral gain and a differential operation of a predetermined differential gain,
The vibration suppression means includes a signal obtained by performing a proportional operation on the position signal of the electric motor with the same gain as the integral gain of the position control means, and a proportional gain of the position control means with respect to an acceleration signal of the load machine. Correction that outputs the correction variable by performing an operation equivalent to adding a signal that has been integrated with the same gain and a signal that has been proportionally calculated with a predetermined gain to the acceleration signal of the load machine The variable calculating means and a multiplying means for outputting the correction signal obtained by performing a calculation equivalent to multiplying the correction variable by the adjustment gain. Electric motor control device.   The predetermined gain is a value obtained by subtracting a value obtained by multiplying the value obtained by squaring the reciprocal of the anti-resonance frequency expressed in the transfer characteristic from the torque command signal to the position signal of the motor from the differential gain by the integral gain. The electric motor control device according to claim 3.

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