JP2008228484A - Motor controller and motor control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To gain desired control by compensating a disturbance torque by estimating the disturbance torque applied to the load side of two inertia resonance systems, using two disturbance observers. <P>SOLUTION: The motor controller includes a first disturbance observer 43 for outputting an estimated value ^τ<SB>reac</SB>of a torsion torque, that is the disturbance torque of a motor 1 and a gear ratio conversion means 44, a second disturbance observer 45 for outputting the estimated value ^τ<SB>dis</SB>of the disturbance torque of a load 11 separated from the torsion torque by inputting the estimated value ^τ<SB>reac</SB>from the gear ratio conversion means 44, and a compensation current calculating means 46 for calculating a compensation current I<SB>cmp</SB>for suppression of the disturbance by inputting the estimated value ^τ<SB>dis</SB>of the disturbance torque to output a current command value I<SB>cmd</SB>reflecting the compensation current I<SB>cmp</SB>to the motor 1 and a calculator 47. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a motor control device and a motor control method for controlling disturbance suppression control to a motor in a situation where mechanical resonance occurs between the motor and a load in high-speed motion control of industrial equipment or the like.

  In recent years, for example, in high-speed motion control in which a motor such as a belt drive is combined with a mechanical system, mechanical resonance between the motor and a load has become a problem. It is known that mechanical resonance is approximated as a two-inertia resonance system, and various control methods based on such approximate models have been proposed. As one of them, a control method based on state feedback is disclosed in, for example, Patent Document 1.

Here, an approximation model of the two-inertia resonance system will be described with reference to FIG. In the figure, reference numeral 1 denotes a motor that is driven to rotate with a target torque current command value I ^cmd as an input. This motor 1 is equivalently converted into a torque constant by the current-torque conversion means 2 to the torque current command value I ^cmd. as converted to a torque value by multiplying the K _t, the deviation between the torsion torque _τ reac / R _g due to mechanical resonance to be described later, is calculated by the subtracter 3 becomes the actual output torque value, the output torque The value converted by the torque-speed converting means 4 is the (angular) speed response value ω _{M of} the motor shaft on which the motor 1 rotates. The speed response value ω _M can be calculated by multiplying the term in the torque-speed converting means 4 shown in FIG. 5 and the output torque value from the subtractor 3. Here, a moment of inertia of the motor 1, also, D _M is the viscous friction of the motor 1, s is a Laplace operator.

On the other hand, 11 is a load that mechanically receives the rotational driving force of the motor 1. The load 11 is equivalently calculated by a subtractor 13 between a disturbance torque τ _dis as a load torque comprehensively including inertia variation and friction and a torsion torque τ _reac caused by mechanical resonance vibration described later. An actual output torque value that is generated and converted by the torque-speed conversion means 14 is the (angular) speed response value ω _{L of the} load 11. The speed response value ω _M can be calculated by multiplying the term in the torque-speed converting means 14 shown in FIG. 5 and the output torque value from the subtractor 13. Here, _{J L} is the moment of inertia of the load 11, also a viscous friction _{D L} is the load 11.

The mechanical resonance component between the motor 1 and the load 11 is a torsion torque τ _reac calculated by the product of the torsion angle θ _s caused by the speed difference between the motor 1 and the load 11 and the spring constant K _s depending on the vibration. 5 can be modeled as shown in FIG. Here, the difference between the value obtained by multiplying the speed response value ω _M of the motor 1 by the reciprocal of the gear ratio R _g in the gear ratio reverse conversion means 21 and the speed response value ω _M of the load 11 is subtracter 22. The torsion angle θ _s is obtained by integrating the value from the subtractor 22 with the integrator 23. In a system in which mechanical resonance occurs between the motor 1 and the load 11, the torsion torque τ _{reac obtained} by multiplying the torsion angle θ _s by the spring constant K _s of the angle-torque conversion means 24 is subtracted from the load 11. Further, a value τ _reac / R _{g obtained} by multiplying this torsional torque by the reciprocal of the gear ratio R _g in the gear ratio reverse conversion means 25 is added to the subtracter 3 of the motor 1.

In general, the control of the two-inertia resonance system as shown in FIG. 5 is performed using the position and speed of the motor 1. A transfer function P _M (s) having a torque current (torque current command value I ^cmd ) as input and a motor shaft speed (speed response value ω _M ) as output is given by the following equation.

The denominator and numerator polynomial of the transfer function P _M (s) shown in Equation 5 include vibration characteristics, and the vibration frequencies are called a resonance frequency and an anti-resonance frequency, respectively. For this reason, in the control of the two-inertia resonance system, it is necessary to improve the vibration characteristics with respect to resonance and antiresonance.

In order to improve the vibration characteristics, as described above, state feedback that can arbitrarily design the poles of the system is used. When performing state feedback control, it is necessary to know the state variable, and the state variable is estimated using a state observer. However, when fluctuations occur in parameters such as inertia, the estimated values and gains of the state variables vary, and desired control cannot be performed. In addition, there is a drawback that the disturbance suppression response cannot be positively increased as in the control using the disturbance observer.
JP-A-10-180663

  As described above, in the conventional control of the two-inertia resonance system, the state variable is estimated by the state observer on the condition that there is no position sensor or speed sensor on the load 11 side, and the state feedback is performed using the estimated value. Was common. However, when high-accuracy positioning control on the load 11 side is required, a position sensor or speed sensor is mounted on the load 11 side, and the position on the load 11 side is fed back to the motor control device. In that case, state feedback can be performed without using a state observer. However, since the disturbance feedback applied to the load 11 side is not included in the state feedback, the disturbance suppression performance and the vibration suppression control when the disturbance torque is applied cannot achieve satisfactory performance.

  Therefore, the present invention provides a motor control device and a motor control method that can estimate disturbance torque applied to a load side and compensate for the disturbance torque to perform desired control.

  Conventionally, a disturbance observer for estimating a disturbance to a motor is known. Also, the use of this disturbance observer on the load side can be easily considered from the structure of the disturbance observer. However, a disturbance observer is attached to both the motor side and the load side, these disturbance observers are connected in series, and an estimated value of torsional torque corresponding to the mechanical resonance vibration obtained by the motor side disturbance observer is obtained. To suppress disturbance to the system including the motor and the load by estimating the disturbance torque of the load separately from the mechanical resonance vibration is a new and unique method is there.

  Focusing on this point, the motor control device of the present invention is a motor control device in which the driving force of the motor is mechanically transmitted to a load. The motor control device is attached to the motor and estimates a torsion torque that is a disturbance torque of the motor. A motor-side disturbance observer that outputs a value, and a load that is attached to the load and that outputs an estimated value of the disturbance torque of the load separated from the torsional torque by inputting an estimated value from the motor-side disturbance observer Disturbance suppression control means for calculating a compensation current for disturbance suppression by inputting an estimated value from the side disturbance observer and the load side disturbance observer and outputting a current command value to which the compensation current is added to the motor And.

  The motor control device includes motor speed detection means for detecting a speed response value of the motor, and the motor-side disturbance observer inputs the motor speed response value and a current command value to the motor, The estimated value of the torsion torque is calculated.

  The load-side disturbance observer includes a load speed detection unit that detects a speed response value of the load, and the load-side disturbance observer inputs the load speed response value and the estimated value of the torsional torque to obtain the load disturbance torque. The estimated value is calculated.

  In this case, the speed response value of the motor, the speed response value of the load, and the torsion angle of the motor obtained from these speed response values are input, and the state feedback control of the motor and the load is performed. It is preferable to further include state feedback control means.

Furthermore, the torque constant of the motor and K _t, the spring constant due to mechanical resonance between the motor and the load and K _s, and the moment of inertia J _M of the motor, the viscous friction of the motor and D _M , the gain to be multiplied to the speed response values of the motor and F _M in the state feedback control means, the gain to be multiplied to the velocity response value of the load in the state feedback controller and F _l, torsion angle of said motor Is a gain multiplied by F _θ , a gear ratio between the load and the motor is R _g , and a Laplace operator is s,
The disturbance suppression control unit multiplies the estimated value from the load-side disturbance observer by an inverse system T _m (s) expressed by the following equation:

(Where g is a cutoff frequency when passing through a secondary low-pass filter LPF (s) represented by the following equation.)

  It is preferable that a compensation current for suppressing the disturbance is calculated.

  Further, the motor control method of the present invention paying attention to the above point is a motor control method in which the driving force of the motor is mechanically transmitted to a load, and the motor side disturbance observer attached to the motor is used to An estimated value of a torsional torque that is a disturbance torque is output, and a load-side disturbance observer attached to the load inputs an estimated value from the motor-side disturbance observer to separate the torsional torque from the load. An estimated value of disturbance torque is output, and the disturbance suppression control means inputs the estimated value from the load-side disturbance observer, thereby calculating a compensation current for disturbance suppression, and a current command value obtained by adding this compensation current is calculated. It outputs to the motor.

  In the motor control method, the speed response value of the motor is detected by the motor speed detecting means, the speed response value of the motor and a current command value to the motor are input, and the motor-side disturbance observer is Calculate the estimated torque value.

  Further, the load speed detection value is detected by a load speed detection means, and the load speed response value and the estimated value of the torsion torque are inputted, and the load side disturbance observer estimates the load disturbance torque. Calculate the value.

  In this case, the speed response value of the motor, the speed response value of the load, and the torsion angle of the motor obtained from each of these speed response values are input, and the state feedback control means inputs the motor and the load. State feedback control is preferably performed.

Furthermore, the torque constant of the motor and K _t, the spring constant due to mechanical resonance between the motor and the load and K _s, and the moment of inertia J _M of the motor, the viscous friction of the motor and D _M , the gain to be multiplied to the speed response values of the motor and F _M in the state feedback control means, the gain to be multiplied to the velocity response value of the load in the state feedback controller and F _l, torsion angle of said motor Is a gain multiplied by F _θ , a gear ratio between the load and the motor is R _g , and a Laplace operator is s,
The estimated value from the load-side disturbance observer is multiplied by the inverse system T _m (s) expressed by the following equation:

(Where g is a cutoff frequency when passing through a secondary low-pass filter LPF (s) represented by the following equation.)

  It is preferable that the disturbance suppression control unit calculates a compensation current for suppressing the disturbance.

  According to the apparatus of claim 1 and the method of claim 6, an estimated value of torsional torque corresponding to the mechanical resonance vibration obtained by the motor-side disturbance observer is used as a load-side disturbance coupled in series with the motor-side disturbance observer. When input to the observer, the disturbance torque of the load can be estimated separately from the mechanical resonance vibration. By using the estimated value of the disturbance torque of the load and compensating the current command value to the motor, it is possible to perform desired control with compensation for the disturbance torque.

  According to the apparatus of claim 2 and the method of claim 7, if the motor speed detection means detects the motor speed response value, the speed response value and the current command value to the motor are used to The disturbance observer can correctly calculate the estimated value of torsional torque.

  According to the apparatus of claim 3 and the method of claim 8, if the load speed detection means detects the load speed response value, the load response value and the estimated value of the torsion torque calculated by the motor side disturbance observer are detected. Thus, the estimated value of the load disturbance torque can be calculated correctly.

  According to the apparatus of claim 4 and the method of claim 9, the speed response value of the motor from the motor speed detection means and the speed response value of the load from the load speed detection means are known without using a state observer or the like. Therefore, the state feedback control can be easily performed by using both the torsion angles of the motor obtained from these speed response values.

  According to the device of the fifth aspect and the method of the tenth aspect, the positional vibration of the load can be effectively suppressed.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram of a motor control apparatus applied in this embodiment. Here, the motor 1 and the load 11 of the plant 31 represented by the approximate model of the two-inertia resonance system in FIG. It is configured to be controlled by the control device 32.

The details of the plant 31 are as described in FIG. 5 and will not be described again here. However, for convenience, the value obtained by integrating (1 / s) the speed response value ω _M of the motor 1 by the integrator 33 is indicated as the position response value θ _M of the motor 1 and the speed response value ω _{L of the} load 11 is obtained. a material obtained by integrating (1 / s) in the integrator 34 is illustrated as a position response value theta _L of the load 11.

Further, the plant 31 includes a motor speed detection unit 35 that detects a speed response value ω _M of the motor 1, a load speed detection unit 36 that detects a speed response value ω _L of the load 11, and a position response value of the load 11. load position detecting means 37 for detecting the theta _L is provided. Each of these detecting means 35 to 37 can be constituted by a known encoder or the like, and since the speed is integrated, the load speed detecting means 36 and the load position detecting means 37 are shared by a common sensor (detection). You may comprise.

The control device 32 is faster than the state feedback control unit 42 in addition to a position / speed feedback control unit 41 including a conventionally known speed PI control system and a state feedback control unit 42 that suppresses mechanical resonance vibration. Further, as a low-cost mechanical resonance vibration suppression means, the torque current command value I ^cmd to the motor 1 and the speed response value ω _M detected by the motor speed detection means 35 are input, so that the disturbance to the motor 1 is disturbed. The first disturbance observer 43 that estimates the torsion torque τ _reac / R _g that is the torque, and the estimated value τ _reac / R _g of the torsion torque obtained by the first disturbance observer 43 is used as the gear ratio R _g with the load 11. A gear ratio converting means 44 for inversely converting to a corresponding estimated value ^ τ _reac (hereinafter, “^” representing this estimated value is indicated before the corresponding symbol in the drawings and mathematical expressions), and a load The second disturbance observer 45 that calculates the estimated value τ _dis of the disturbance torque of the load 11 by inputting the speed response value ω _{L of} 11 and the torsion torque estimated value τ τ _reac obtained by the gear ratio conversion means 44; The compensation current calculation means 46 for calculating the compensation current I _cmp for suppressing the disturbance torque at a high speed by inputting the estimated value of the disturbance torque ^ τ _dis obtained by the second disturbance observer 45, and the position / velocity The compensation current I _cmp obtained by the compensation current calculation means 46 is added to the current reference value I _ref obtained by the feedback control unit 41, and the compensation value obtained by the state feedback control unit 42 is further subtracted, whereby the motor 1 is supplied. And a calculator 47 for calculating a current command value _Icmd .

The position / speed feedback control unit 41 uses the speed response value ω _L of the load 11 from the load speed detection unit 36 and the position response value θ _L of the load 11 from the load position detection unit 37 to The current reference value I _ref to the motor 1 is controlled so that the position response value θ _M follows the position reference value θ _ref . Specifically, a subtractor 51 that calculates a deviation between the position reference value θ _ref and the position response value θ _L of the load 11, a position-speed conversion unit 52 that multiplies the calculation result of the subtractor 51 by a gain K _PP , and A subtractor 53 that calculates a deviation between the reference value of the speed obtained by the position-speed converting means 52 and the speed response value ω _L of the load 11, and the calculation result of the subtractor 53 adds the gain PI (s of the speed PI control system. ) To calculate the current reference value I _ref , and the position / speed feedback control unit 41 is configured by the speed-current conversion means 54.

The state feedback control unit 42 also multiplies the speed response value ω _M of the motor 1 from the motor speed detection means 35 by the gain F _m and the speed response value ω of the load 11 from the load speed detection means 36. _The value obtained by multiplying _L by the gain F ₁ is added by an adder 56, and the torsion angle θ _{s of the} motor 1 that can be calculated based on the value added by the adder 56 and the respective speed response values ω _M and ω _L. A compensation value obtained by adding a value obtained by multiplying the gain by F _θ to another computing unit 57 is output to the computing unit 47.

FIG. 2 shows the internal structure of the first disturbance observer 43. For convenience, the torque of the motor 1 - speed converting means 4 'is considered as no viscous friction D _M. The first disturbance observer 43 inputs a torque current command value I ^cmd that is an operation amount to the motor 1, and also inputs a speed response value ω _M of the motor 1 from the motor speed detecting means 35, and from each of these values It is composed of a speed information type disturbance observer that calculates and outputs an estimated value _{ττ reac} / R _g of a torsion torque that is a disturbance torque to the motor 1. Incidentally, here, the gear ratio R _g between the motor 1 and the load 11 is taken into consideration, and the estimated value of the torsion torque ^ τ _reac / R _g obtained by the first disturbance observer 43 is converted into the gear ratio R by the gear ratio conversion means 44. the multiplication value of _g, but as an estimate ^ tau _REAC final twist torque is output to the second disturbance observer 45, if the gear ratio R _g is 1, and the gear ratio conversion unit 44, the above-mentioned The gear ratio reverse conversion means 21 and 25 are unnecessary.

In addition to the speed information type described above, the first disturbance observer 43 is based on the torque current command value I ^cmd and the position response value of the motor 1 detected by the motor position detection means (not shown). A position information type disturbance observer for calculating the estimated value ^ τ _reac / R _g may be used. These types of disturbance observers have the advantage of simple internal construction. Although the internal configuration is somewhat complicated, an acceleration / position integrated disturbance observer in which acceleration and position are integrated may be used as the first disturbance observer 43.

As shown in FIG. 2, the first disturbance observer 43 incorporates an inverse model equivalent to the motor 1 and multiplies the torque current command value ^Icmd by a nominal value of a torque constant, thereby obtaining a torque. An inverse model unit 61 that converts a signal in units of (force) and generates a comparison signal between the converted signal and a value obtained by differentiating the speed response value ω _M of the motor 1 obtained by the motor speed detection means 35. When, this time the derivative of the inverse model 61 is formed by setting the cut-off frequency g _d, takes out a comparison signal components of low frequency band free of noise from said inverse model 61, twisting it _And a low-pass filter 62 that outputs the estimated torque value ^ τ _reac / R _g . In the figure, J _Mn is the nominal value of the moment of inertia of the motor 1, and g _d is the cutoff frequency of the first disturbance observer 43.

FIG. 3 shows the internal structure of the second disturbance observer 45. For convenience, the torque of the load 11 - speed converting means 14 'is considered as no viscous friction D _L. The second disturbance observer 45 inputs the torsional torque estimated value ^ τ _reac obtained by the gear ratio converting means 44 and the speed response value ω _L of the load 11 from the load speed detecting means 36. From each value, the estimated value τ _dis of the disturbance torque of the load 11 is calculated and output.

As shown in FIG. 3, the second disturbance observer 45 incorporates an inverse model equivalent to the load 11, and the estimated value of the torsion torque ^ τ _reac and the speed of the load 11 obtained by the load speed detecting means 36. The inverse model unit 71 that generates a comparison signal with a value obtained by differentiating the response value ω _L , and the cut-off frequency g _d is set during differentiation in the inverse model unit 71. A low-pass filter 72 that extracts a comparison signal of a low-frequency band component from which noise has been removed from the model unit 71 and outputs the comparison signal as an estimated value ττ _dis of the disturbance torque of the load 11. In the figure, J _Ln is the nominal value of the moment of inertia of the load 11, and g _d is the cutoff frequency of the second disturbance observer 45.

In the configuration of the above embodiment, the position of the motor 1 is determined using the speed response value ω _L from the load speed detection means 36 attached to the load 11 and the position response value θ _L from the load position detection means 37. The position / speed feedback control unit 41 adjusts the current reference value I _ref to the motor 1 so that the response value θ _M follows the desired position reference value θ _ref . At the same time, in addition to the speed response value ω _L of the load 11 from the load speed detection means 36, the state feedback control unit 42 sends the speed response value ω _M of the motor 1 from the motor speed detection means 35 and these speeds. Using the torsion angle θ _{s of the} motor 1 that can be calculated based on the response values ω _M and ω _L , a compensation value that allows the speed response value ω _L of the load 11 to follow without mechanical resonance vibration is given to the calculator 47. Output. Thus, not only the motor speed detecting means 35 attached to the motor 1 side but also the load speed detecting means 36 attached to the load 11 allows the state feedback control unit 42 to detect the position response values θ _M , θ _L , speed response values ω _M , ω _L and torsion angle θ _s between the motor 1 and the load 11 can be known without using an existing state observer or the like, and state feedback control can be easily performed. .

The transfer function P _L (s) from the torque current command value I ^cmd to the speed response value ω _L of the load 11 is given by the following equation.

  It is noted that the numerator polynomial is simplified in the equation (10) as compared with the equation (5) described above. Therefore, it becomes possible to perform control while suppressing the influence of anti-resonance.

  By the way, since the final goal as the control device 32 is to control the load 11 instead of the motor 1 of the plant 31 at high speed and accurately, the load speed detecting means 36 and the load position detecting means 37 are inevitably An expensive one having higher resolution than the motor speed detecting means 35 is used. At this time, the control characteristic of the state feedback control unit 42 is affected by the above-described difference in resolution and depends on the characteristic of the motor speed detecting means 35 having a low resolution.

On the other hand, in this embodiment, disturbance suppression control is realized by two first and second disturbance observers 43 and 45 coupled in series in addition to the position / velocity feedback control unit 41 and the state feedback control unit 42. . The first disturbance observer 43 receives the speed response value ω _M detected by the motor speed detection means 35, and the second disturbance observer 45 receives the speed response value ω _L of the load 11 detected by the load speed detection means 36. However, since these disturbance observers 43 and 45 are controlled separately, the resolution of the motor speed detecting means 35 and the load speed detecting means 36 is calculated in calculating the final compensation current I _cmp . The influence of the difference does not occur, and the sensor configuration can be made cheaper.

In the system shown in FIG. 1, first, the torque current command value I ^cmd to the motor 1 and the speed response value ω _M detected by the motor speed detecting means 35 are input to the first disturbance observer 43, and Disturbance torque, that is, the torsion torque τ _reac / R _g obtained by dividing the product (K _s θ _s ) of the spring constant K _{s of the} angle-torque conversion means 24 and the torsion angle θ _s by the gear ratio R _g is the first disturbance. Estimated by the observer 43. Then, calculated from the value obtained in the first disturbance observer 43 _^ τ reac / R _g, the estimated value ^ tau _REAC torsional torque input to another second disturbance observer 45 with the gear ratio conversion unit 44, the 2 The disturbance observer 45 receives the estimated value τ _reac of the torsion torque and the speed response value ω _L of the load 11 detected by the load speed detecting means 36 as input, and uses the estimated value τ _dis of the disturbance 11 of the load 11 as an input. calculate.

Here, when an inertia change or the like occurs, an error occurs in the disturbance torque ^ τ _dis estimated by the second disturbance observer 45 with respect to the actual value of the disturbance torque τ _dis . Considering this error as disturbance torque due to parameter fluctuation, compensation for parameter fluctuation can be performed using the estimated disturbance torque ^ τ _dis . The compensation current calculation means 46 calculates the compensation current I _cmp by using the disturbance torque estimated value ^ τ _dis in order to compensate for such disturbance torque.

Here, a transfer function from the compensation current I _cmp to the actual value of the disturbance torque τ _dis is obtained, and its inverse system T _m (s) is derived as follows. The compensation current calculation means 46 calculates the compensation current I _cmp by multiplying the inverse system T _m (s) by the estimated disturbance torque ^ τ _dis from the second disturbance observer 45.

Since the differential term is present in the equation (11), it is passed through a second-order low-pass filter LPS (s) represented by the following equation (12), and finally the inverse system T _m shown in the equation (13). (S) is obtained. Here, g is a cutoff frequency of the low-pass filter LPS (s).

Various other inverse systems T _m (s) can be derived. In particular, in the system configuration of FIG. 1, in order to effectively suppress the positional vibration of the load 11, the inverse system T _m shown in the above equation 13 is used. It is preferable that the compensation current calculation means 46 calculates the compensation current I _cmp using (s).

The compensation current I _cmp thus obtained is added to the current reference value I _ref obtained by the position / velocity feedback control unit 41 by the calculator 47. The computing unit 47 outputs to the motor 1 a current command value _Icmd obtained by subtracting the compensation value obtained by the state feedback control unit 42 from the added value. Disturbance suppression control can be performed on the plant 31.

Next, an example of the result of simulation will be described based on the graph of FIG. 4 in order to confirm the effectiveness of the control device in the present embodiment. Here, a simulation is performed in the case where an inertia change occurs, and a plant having a resonance frequency of 10 Hz is targeted. 0.1 sec (seconds) after the position command (position reference value θ _ref ) is given by the control device 32. Later, the inertia was stepped to 200 percent. Further, the gain of the speed PI control system in the position / speed feedback control unit 41 and the gain of the state feedback control unit 42 are both determined by the pole placement method.

4, when added to the compensation current I _cmp to the current command value I _cmd to the motor 1 (solid line), if not added a compensation current I _cmp for (dashed line) shows the simulation result of each position response ing. As is apparent from the figure, in the compensation current I _cmp proposed in this embodiment, when compensating the current command value I _cmd to the motor 1, as compared with the case without the conventional such compensation, It can be confirmed that the positional vibration of the load 11 is suppressed and a good result is obtained.

As described above, in this embodiment, in the motor control device that mechanically transmits the driving force of the motor 1 to the load 11, the estimated value of the torsion torque that is attached to the motor 1 and is a disturbance torque of the motor 1 The first disturbance observer 43 and the gear ratio conversion means 44 as the motor side disturbance observer that outputs τ _reac , and the torsional torque by being attached to the load 11 and inputting the estimated value τ τ _reac from the gear ratio conversion means 44 and outputs an estimated value ^ tau _dis of the disturbance torque of the separation to the load 11 and the second disturbance observer 45 as a load disturbance observer, by inputting the estimated value ^ tau _dis of the disturbance torque, for disturbance suppression compensation current to calculate the I _cmp, Oyo compensating current calculation means 46 as a disturbance suppression control means for outputting a current instruction value I _cmd reflecting the compensation current I _cmp to the motor 1 It includes a calculator 47, a.

As a result, the estimated value of the torsion torque ^ τ _reac corresponding to the mechanical resonance vibration obtained by the first disturbance observer 43 and the gear ratio conversion means 44 is _transferred to the second disturbance observer 45 connected in series with the first disturbance observer 43. When input, the disturbance torque τ _dis of the load 11 can be estimated separately from the mechanical resonance vibration. By using the estimated value τ _dis of the disturbance torque of the load 11 and compensating the current command value I _cmd to the motor 1, it is possible to perform desired control with compensation for the disturbance torque.

In the motor control method in which the driving force of the motor 1 is mechanically transmitted to the load 11, the disturbance torque of the motor 1 is reduced by the first disturbance observer 43 and the gear ratio conversion means 44 attached to the motor 1. The torsion torque estimated value ^ τ _reac is output, and the second disturbance observer 45 attached to the load 11 inputs the torsion torque estimated value ^ τ _reac from the gear ratio converting means 44, whereby the torsion torque and separated by outputting the estimated value ^ tau _dis of the disturbance torque of the load 11, by an estimate ^ tau _dis from the second disturbance observer 45 is compensating current calculation means 46 for inputting the compensation current for disturbance suppression It is also realized by calculating I _cmp and outputting the current command value I _cmd to which the compensation current I _cmp is added by the computing unit 47 to the motor 1.

In the present embodiment, a motor speed detecting means 35 for detecting the velocity response value omega _M of the motor 1, the first disturbance observer 43 includes a velocity response value omega _M of the motor 1, the current command value I to the motor 1 By inputting _cmd , the estimated value of the torsion torque ^ τ _reac is calculated.

Therefore, when the speed response value ω _M of the motor 1 is detected by the motor speed detection means 35, the first disturbance observer 43 is twisted using the speed response value ω _M and the current command value I _cmd to the motor 1. The estimated torque value ^ τ _reac can be calculated correctly.

Then, the speed response value ω _M of the motor 1 is detected by the motor speed detecting means 35, and the speed response value ω _M of the motor 1 and the current command value I _cmd to the motor 1 are input, and the first This can also be realized by the disturbance observer 43 calculating the estimated value of the torsion torque ^ τ _reac .

In this embodiment, provided with a load speed detector 36 for detecting the velocity response value omega _L of the load 11, the second disturbance observer 45, the speed and response value omega _L of the load 11, the estimated value of the torsional torque ^ tau _REAC and , And the estimated value of the disturbance torque ^ τ _dis of the load 11 is calculated.

Thus, by detecting the velocity response value omega _L of the load 11 at a load speed detecting means 36, the velocity response value omega _L of the load 11, the estimated value of the torsional torque calculated by the second disturbance observer 45 ^ tau _REAC Thus, the estimated value of the disturbance torque ^ τ _dis of the load 11 can be correctly calculated.

Then, the speed response value ω _L of the load 11 is detected by the load speed detection means 36, and the speed response value ω _L of the load 11 and the estimated value of the torsion torque ^ τ _reac are input, and the second disturbance This can also be realized by the observer 45 calculating the estimated value τ _dis of the disturbance torque of the load 11.

Furthermore, in this embodiment, the speed response value ω _M of the motor 1, the speed response value ω _L of the load 11, and the torsion angle θ _{s of the} motor 1 obtained from these speed response values ω _M and ω _L are input. In addition, a state feedback control unit 42 that performs state feedback control of the motor 1 and the load 11 is further provided.

In this way, the speed response value ω _M of the motor 1 from the motor speed detecting means 35 and the speed response value ω _L of the load 1 from the load speed detecting means 36 can be known without using a state observer or the like. The state feedback control can be easily performed by using both the torsion angles θ _s of the motors obtained from the respective speed response values ω _M and ω _L.

Then, the speed response value ω _M of the motor 1, the speed response value ω _L of the load 11, and the torsion angle θ _{s of the} motor 1 obtained from these speed response values ω _M and ω _L are input. This is also realized by the state feedback control unit 42 performing state feedback control of the motor 1 and the load 11.

Further, in this embodiment, the torque constant of the motor 1 and K _t, the spring constant due to mechanical resonance between the motor 1 and the load 11 and K _s, and the moment of inertia J _M of the motor 1, the motor 1 viscous friction was a D _M, the gain in the state feedback controller 42 is multiplied by the velocity response value omega _M of the motor 1 and F _M, the gain in the state feedback controller 42 is multiplied by the velocity response value omega _L of the load 11 F _{When the} gain multiplied by the torsion angle θ _s of the motor 1 is F _θ , the gear ratio between the load 11 and the motor 1 is R _g , and the Laplace operator is s, the compensation current calculation means 46 is The estimated value of the disturbance torque ^ τ _dis of the load 11 from the second disturbance observer 45 is multiplied by the inverse system T _m (s) expressed by the equation 13 to calculate the compensation current I _cmp for disturbance suppression. Shi Thus, the positional vibration of the load 11 can be effectively suppressed.

  In addition, this invention is not limited to the said Example, A various deformation | transformation implementation is possible in the range of the summary of this invention.

  When performing high-speed positioning control, it is expected not only to control the load at high speed and with high accuracy, but also to suppress vibration on the load side. Therefore, the present invention has industrial utility in these fields.

It is a block diagram which shows an example of the system in the motor control apparatus of this invention. It is a block diagram which shows the system structure of a 1st disturbance observer same as the above. It is a block diagram which shows the system structure of a 2nd disturbance observer same as the above. It is a graph which shows the response result of the numerical simulation in the motor control method of this invention. It is a block diagram which shows the approximation model of a two-inertia resonance system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor 11 Load 35 Motor speed detection means 36 Load speed detection means 42 State feedback control part (State feedback control means)
43 First disturbance observer (motor-side disturbance observer)
44 Gear ratio conversion means (motor side disturbance observer)
45 Second disturbance observer (load-side disturbance observer)
46 Compensation current calculation means (disturbance suppression control means)
47 arithmetic unit (disturbance suppression control means)

Claims (10)

In the motor control device that mechanically transmits the driving force of the motor to the load,
A motor-side disturbance observer attached to the motor and outputting an estimated value of a torsional torque that is a disturbance torque of the motor;
A load-side disturbance observer that is attached to the load and outputs an estimated value of the disturbance torque of the load separated from the torsional torque by inputting an estimated value from the motor-side disturbance observer;
Disturbance suppression control means for calculating a compensation current for disturbance suppression by inputting an estimated value from the load-side disturbance observer and outputting a current command value to which the compensation current is added to the motor. The motor control apparatus characterized by the above-mentioned. Motor speed detecting means for detecting a speed response value of the motor;
The said motor side disturbance observer inputs the speed response value of the said motor, and the electric current command value to the said motor, The estimated value of the said torsion torque is calculated. Motor control device. A load speed detecting means for detecting a speed response value of the load;
The load-side disturbance observer receives the load speed response value and the estimated value of the torsion torque, and calculates the estimated value of the disturbance torque of the load. Motor control device.   State feedback control for performing state feedback control of the motor and the load by inputting the speed response value of the motor, the speed response value of the load, and the torsion angle of the motor obtained from these speed response values 4. The motor control device according to claim 3, further comprising means. The torque constant of the motor is K _t , the spring constant due to mechanical resonance vibration between the motor and the load is K _s , the moment of inertia J _M of the motor, the viscous friction of the motor is D _M , a gain to be multiplied to the speed response values of the motor and F _M in the state feedback controller, the gain to be multiplied to the velocity response value of the load and F _l in the state feedback controller, multiplied by the twist angle of the motor the gain is the F _theta, the gear ratio of the said load motor by a R _g, a Laplace operator is taken as s,
The disturbance suppression control unit multiplies the estimated value from the load-side disturbance observer by an inverse system T _m (s) expressed by the following equation:

(Where g is a cutoff frequency when passing through a secondary low-pass filter LPF (s) represented by the following equation.)

5. The motor control apparatus according to claim 4, wherein a compensation current for suppressing the disturbance is calculated. In the motor control method that mechanically transmits the driving force of the motor to the load,
The motor side disturbance observer attached to the motor outputs an estimated value of torsion torque that is disturbance torque of the motor,
A load-side disturbance observer attached to the load inputs an estimated value from the motor-side disturbance observer, and outputs an estimated value of the load disturbance torque separated from the torsional torque.
A disturbance suppression control means inputs an estimated value from the load-side disturbance observer, calculates a compensation current for disturbance suppression, and outputs a current command value to which the compensation current is added to the motor. Motor control method. The speed response value of the motor is detected by a motor speed detecting means,
7. The motor control method according to claim 6, wherein the speed response value of the motor and a current command value to the motor are inputted, and the motor side disturbance observer calculates the estimated value of the torsion torque. The load speed detection means detects the load speed response value,
8. The motor control method according to claim 7, wherein the load-side disturbance observer calculates the estimated value of the disturbance torque of the load by inputting the speed response value of the load and the estimated value of the torsional torque. .   The speed feedback value of the motor, the speed response value of the load, and the torsion angle of the motor obtained from each speed response value are input, and the state feedback control means controls the state feedback control of the motor and the load. 9. The motor control method according to claim 8, wherein: The torque constant of the motor is K _t , the spring constant due to mechanical resonance vibration between the motor and the load is K _s , the moment of inertia J _M of the motor, the viscous friction of the motor is D _M , a gain to be multiplied to the speed response values of the motor and F _M in the state feedback controller, the gain to be multiplied to the velocity response value of the load and F _l in the state feedback controller, multiplied by the twist angle of the motor the gain is the F _theta, the gear ratio of the said load motor by a R _g, a Laplace operator is taken as s,
The estimated value from the load-side disturbance observer is multiplied by the inverse system T _m (s) expressed by the following equation:

(Where g is a cutoff frequency when passing through a secondary low-pass filter LPF (s) represented by the following equation.)

The motor control method according to claim 9, wherein the disturbance suppression control unit calculates a compensation current for suppressing the disturbance.

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