JP2010187464A - Device and method for selection of motor control unit, computer program implementing the method, and storage medium therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and method for selection of a motor control unit, capable of selecting the motor control unit without imposing a burden upon a user, simulating the operation, and performing selection and parameter adjustment of the motor control unit collectively by setting the parameters matching the use according to the conditions which are used when the motor control unit is selected. <P>SOLUTION: The selection device of the motor control unit includes a command setting unit 14 which sets an operation pattern as the use conditions, a load compensation operation unit 15 which calculates a load compensation value to be set in the load compensation unit of a controller, a control parameter output unit 16 which outputs the parameters to be set in the controller, and an operation simulation unit 17 which simulates the operation of the motor control unit. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention is a selection of an electric motor control device composed of an electric motor and a controller used for semiconductor manufacturing equipment, machine tools, industrial robots, etc. for positioning control, press machine, processing machine, etc. In particular, a motor control device selection device and a motor control device selection method for selecting a suitable motor control device from conditions of use of the motor control device and machine parts constituting the motor and a characteristic database having characteristics of the motor control device The present invention relates to a computer program for realizing the method and a storage medium thereof.

The motor control device is used in semiconductor manufacturing devices, machine tools, industrial robots, and the like, and is used in various applications such as positioning, pressing, and tracing locus control. In addition, the motor control device is equipped with various functions so as to cope with them.
In selecting the motor control device, the motor control device having the minimum capacity is simply selected from the load and the operation pattern, and the setting of the motor control device according to the use conditions is left to the operator who uses the motor control device. For this reason, apart from the process of selecting the motor control device, it is necessary for the operator to consider the setting according to the use conditions. In addition, although there are items in which the conditions used at the time of selecting the motor control device become the usage conditions of the motor control device, the operator may make an inappropriate setting as the usage conditions instead. If the setting is not optimal, the parameters set for the motor control device are not appropriate, and problems such as vibration may occur. In other words, the preliminary examination process for optimally setting the motor control device is separated from the process for selecting the motor control device, and it has not been efficiently and optimally performed.

Looking at examples of control parameter setting methods and setting support devices of conventional motor drive devices, a control parameter setting method and setting support device that can perform safe and appropriate parameter setting even for users who do not have a wealth of knowledge and experience. In order to provide it, there are those that select and set an answer from a plurality of options while referring to recommended values. (For example, see Patent Document 1)

In addition, with the conventional motor drive control device, the actual control parameters can be properly adjusted by easily confirming the operation of the tip of the motor load machine at low cost, and also to optimize the control parameters Next, create a simulation model for each of the motor and motor load machine, input the operation parameters and other control parameters, run the mechanical part dynamic model, and calculate the speed and position changes at the tip of the mechanical part mechanical model. Some will do. (For example, see Patent Document 2)

In addition, the conventional motor capacity selection method can select the optimum motor capacity for the operation pattern desired by the customer and provide a method in which peripheral information can be obtained at a time. The step of setting a desired operation pattern and the step of selecting a motor series from a database stored in advance in the selection software and executing the selection software to display the determination result. In addition to the mechanism elements that are standard equipment in the selection software, there are some that can store new mechanism elements designed by the customer in the downloaded selection software. (For example, see Patent Document 3)

A control parameter setting method and a setting support device for an electric motor drive device of Patent Document 1 as a conventional first example will be described.
FIG. 23 is a block diagram showing a schematic configuration of a control parameter setting support device of the motor driving device of the first conventional example. 23, the parameter setting support device 1010 includes a display device 1011, a keyboard 1012, a mouse 1013, a communication device 1014, a processing device 1015, a main memory 1016, a fixed disk device 1017, and a removable disk device 1018.
The parameter setting support device 1010 (parameter setting support software) performs control so that a user (operator) who does not have a wealth of knowledge and experience about the motor or the motor drive device can perform safe and appropriate parameter setting. Support parameter setting. FIG. 24 is a flowchart showing an outline of processing performed by the processing apparatus 1015.
A use selection dialog box is displayed (# 1101), and the user selects a use (# 1102). Thereafter, a dialog box for questions regarding the type of motor and operating conditions is displayed (# 1103). When a plurality of options are prepared as answers in advance, the options are displayed (# 1105), and selection input is performed (# 1106). If not, a numerical value input field is displayed (# 1107), and after the numerical value is input (# 1108), it is determined to which area the input numerical value belongs (# 1109). The table is referred to according to the user's selection input or numerical input, and the parameter to be changed and its recommended value are obtained (# 1110). Until the answers to all the questions are completed, the processes of steps # 1103 to # 1110 are repeated. As described above, according to the control parameter setting method and the setting support device for the motor drive device according to the conventional first example, Even users who do not have sufficient knowledge and experience can automatically obtain the control parameters to be changed and their recommended values simply by answering questions related to the use and operating conditions of the motor. It can be performed.

Next, a motor drive control device of Patent Document 2 as a second conventional example will be described.
FIG. 25 is a functional block diagram of a loader used in the motor drive control device of the second conventional example. The loader shown in FIG. 25 includes a main model 2501, a system setting unit 2502, a test run unit 2503, a parameter editing unit 2504, a monitor / trace unit 2505, a mechanical analysis unit 2506, a mechanical model creation unit 2101, An operation pattern input unit 2102, a drive specification input unit 2103, a mechanical operation analysis unit 2104, and a control parameter input unit 2105 are configured.
This motor drive control device creates a simulation model for each of the actual motor drive device, motor, and motor load machine by software, creates a model of the mechanism part of the motor load machine, and inputs the drive specifications. A control parameter is input to the motor driving device model to cause the mechanical unit dynamic model to perform a simulation operation, and changes in the speed and position of the tip of the mechanical unit dynamic model are calculated.

A motor capacity selection method of Patent Document 3 as a third conventional example will be described.
FIG. 26 is a flowchart showing a motor capacity selection method of a third conventional example. In step 3001, the selection software download starts. Step 3002 sets mechanism element combination data and sets an operation pattern. Step 3003 displays motor series selection / execution, determination / result display, and content details display. Subsequent steps are divided into option display and CAD data creation / storage depending on processing selection, and printing / storage is performed.
In step 3002, the customer configures a mechanism block with any combination of mechanism elements. Further, a desired operation pattern is set.
In step 3003, the database is selected in consideration of the function, performance, encoder resolution, and the like. In the judgment result display, one of the effective torque or running torque in the operation pattern calculated by the selection software is compared with the rated torque of all motors that satisfy the instantaneous maximum torque from the selected series. Display (for example, ◯ = 2 times or more, Δ = 1 to 1.5 times, x = 1 or less, etc.). Thereby, selection in consideration of the safety factor becomes possible.

JP 2002-171780 A (FIGS. 2 and 9) Japanese Patent Laying-Open No. 2006-033929 (FIG. 1) JP 2006-260350 A (FIG. 1)

The control parameter setting method and setting support device of the electric motor drive device of Patent Document 1 as the first conventional example is a control parameter setting method and setting which can perform safe and appropriate parameter setting even by a user who is not rich in knowledge and experience. Although it is a support device, the selection of the motor drive device and the control parameter setting of the motor drive device cannot be linked, and the control parameter setting is done without grasping the examination items at the time of selection of the motor drive device. In particular, when the operator changes, the intention at the time of selecting the motor drive device is not transmitted, and the same examination may be performed again at the time of setting the control parameter. In other words, since items that can be examined in advance when selecting the motor drive device are independently performed in the post-process, the control parameter setting is not performed efficiently and optimally, and there is a problem of being troublesome twice.

In addition, the motor drive control device of Patent Document 2 as the second conventional example can appropriately adjust the actual control parameters by easily confirming the operation of the tip of the motor load machine at low cost. The control parameters are optimized, but the selection of the motor drive device and the adjustment of the control parameters are separated, and as in the first example of the related art, the control parameters are efficiently and optimally optimized. There was a problem that the adjustment was not performed and it was troublesome twice.

In addition, the motor capacity selection method of Patent Document 3 which is a conventional third example is a method in which an optimal motor capacity can be selected for an operation pattern desired by a customer and peripheral information can be obtained at a time. This is a method that can only select the device and peripheral devices, and the condition setting and parameter adjustment of the motor drive device cannot be performed. As in the first and second examples, the selection of the motor drive device and the condition setting of the motor drive device are divided, and the problem is that the system cannot be efficiently and optimally linked and requires twice the trouble. was there.

  The present invention has been made in view of such problems, and enables selection of an electric motor control device without imposing a burden on the user, as well as simulation operation of the operation, which was used when selecting the electric motor control device. An object of the present invention is to provide a motor control device selection device and a motor control device selection method capable of collectively selecting a motor control device and adjusting parameters so that parameters can be set according to usage conditions according to conditions. And

In order to solve the above problem, the present invention is configured as follows.
According to the first aspect of the present invention, there is provided an electric motor that drives a machine, an operation amount detection unit that detects an operation amount of the electric motor or the machine, a command device that generates a command signal, and the motor based on the command signal. A motor controller, and a motor controller configured to select a motor controller configured in a feedback loop so that the command signal and the operation amount coincide with each other based on use conditions and a characteristic database of the motor controller A selection calculation unit that performs selection calculation of the motor control device from the use condition and a characteristic database of the motor control device, and selects the motor control device to be actually used, and the motor control device An input unit for inputting a command for operating the selection device and a use condition of the motor, a selection result of the motor control device, and a response result of the operation of the selection device. In an apparatus for selecting an electric motor control device having an output unit that outputs an output and a mechanism condition input unit that inputs an element of the electric motor and a mechanical element as a mechanism condition, the operation pattern of each element is used as the use condition, An operation for simulating the operation of the motor control device using at least one command setting unit, the mechanism condition, the use condition, and a motor control device model that is a numerical calculation model of the motor control device Based on the simulation calculation unit and the input value, the load value or driving force for the selection calculation of the motor control device performed by the selection calculation unit, and the controller of the controller when actually operating the motor control device A load compensation calculation unit for calculating a load compensation value to be set in the load compensation unit, and a control parameter output unit for outputting a parameter to be set in the controller or the command unit , It is characterized in that it comprises a.
Further, the invention according to claim 2 is the motor control device selection device according to claim 1, wherein the relationship between the motor element and the mechanical element input as the mechanism condition and each element input as the use condition The movement of the mechanism is analyzed using any one of the driving patterns, and the load value for the element of the motor, the driving force required by the motor, the operating position / speed / acceleration of the element of the motor or load And a mechanism analysis calculation unit for calculating the value.
According to a third aspect of the present invention, in the motor control device selecting device according to any one of the first and second aspects, the parameter output from the control parameter output unit is proportional-proportional integral control of the controller. It is a switching mode switch.
According to a fourth aspect of the present invention, in the motor control device selecting device according to any one of the first and second aspects, the parameter output from the control parameter output unit is a compensation driving force set in the command device. It is characterized by being.
According to a fifth aspect of the present invention, in the motor control device selecting device according to any one of the first and second aspects, the parameter output from the control parameter output unit is a load compensation value. To do.
According to a sixth aspect of the present invention, in the motor control device selecting device according to the second aspect, a mechanism having a load variation is calculated by the mechanism analysis calculation unit, and a parameter output from the control parameter output unit is The minimum load value is used as a load compensation value.
According to a seventh aspect of the present invention, in the motor control device selection device according to any one of the first and second aspects, the input unit sets a parameter related to a use application of the motor control device. It is characterized by.

According to an eighth aspect of the present invention, there is provided an electric motor that drives a machine, an operation amount detection unit that detects an operation amount of the electric motor or the machine, a command device that generates a command signal, and the command signal based on the command signal. A motor that drives the motor, and selects a motor control device that configures a feedback loop so that the command signal and the operation amount coincide with each other based on usage conditions and a characteristic database of the motor control device. In the control device selection method, the step of inputting the electric motor element or mechanical element as a mechanism condition, the step of setting at least one operation pattern of each element as a use condition, the mechanism condition, Simulates the operation of the motor control device using a use condition and a motor control device model that is a numerical calculation model of the motor control device. Selecting the motor control device from the step, use conditions and the characteristic database of the motor control device, selecting the motor control device to be actually used, and actually operating the motor control device from the input mechanism conditions. Output in a step of calculating a load compensation value to be set in the load compensator of the controller when operating, a step of outputting a parameter set for the controller or the commander, and a step of outputting the parameter Is set in the electric motor control device.
The invention according to claim 9 is the method of selecting a motor control device according to claim 8, wherein the relationship between the motor element and the mechanical element input as the mechanism condition and each element input as the use condition The movement of the mechanism is analyzed using any one of the driving patterns, and the load value for the element of the motor, the driving force required by the motor, the operating position / speed / acceleration of the element of the motor or load And a step of calculating.
The invention described in claim 10 is the method of selecting an electric motor control device according to any one of claims 8 and 9, wherein the step of outputting a parameter to be set for the controller or the command device includes the step of: A mode switch for switching the proportional-proportional-integral control of the controller is output.
The invention described in claim 11 is the method of selecting a motor control device according to any one of claims 8 and 9, wherein the step of outputting a parameter set for the controller or the commander includes the step of: A compensation driving force set in the command device is output.
The invention described in claim 12 is the method of selecting an electric motor control device according to any one of claims 8 and 9, wherein the step of outputting a parameter to be set for the controller or the commander is a load A compensation value is output.
According to a thirteenth aspect of the present invention, in the method for selecting an electric motor control device according to the ninth aspect, for the controller or the commander after the step of analyzing the motion of the mechanism having a load variation. The step of outputting the parameter to be set is characterized by outputting a minimum load value.
The invention according to claim 14 further comprises the step of setting a parameter related to a use application of the motor control device in the method for selecting a motor control device according to any of claims 8 and 9. It is characterized by.
The invention of a computer program according to claim 15 is characterized in that the motor control device selection method according to any one of claims 8 to 14 is realized.
A storage medium according to a sixteenth aspect stores the computer program according to the fifteenth aspect.

According to the first and eighth aspects of the present invention, the motor control device can be selected by inputting the use conditions, and the parameters of the motor control device that match the use application are determined in advance according to the use conditions at the time of selection. Can be set.
In addition, the operation can be simulated and calculated in advance when selecting the motor control device, the parameters of the motor control device matching the usage can be confirmed according to the usage conditions at the time of selection, and the selection and parameter adjustment of the motor control device can be performed. You can do it all at once.
Further, according to the invention described in claim 2 and claim 9, when selecting an electric motor control device, it is possible to simulate the operation in advance for a complicated control object such as a mechanism having a load fluctuation. It is possible to confirm the parameters of the motor control device that matches the usage application according to the usage conditions.
Further, according to the invention described in claim 3 and claim 10, even when the motor controller is used under conditions that cause an unexpected operation unless parameters are set in the motor controller, Since the use conditions can be grasped in advance, the control parameters corresponding to the application can be grasped and set in advance. If the parameter is not set, the motor controller can be used for the actual machine with proportional-proportional-integral control switching in accordance with the usage conditions at the time of selection when the motor generates vibration due to external force. It can be set in advance when selecting.
Further, according to the inventions according to claims 4 and 11, in accordance with the use conditions at the time of selection, the deficient driving force can be grasped and examined in advance at the time of selecting the motor control device. The power can be set in advance so that it can be used in the actual machine.
Further, according to the invention described in claim 5 and claim 12, a load compensation value that is necessary as a parameter of the actual motor control device and that requires information related to the selection of the motor control device is calculated in advance. Inheriting this, the load compensation value can be set in advance so that it can be used in the actual motor controller.
Further, according to the inventions of claims 6 and 13, even in a mechanism with load fluctuations, the motor control device is selected using the maximum load while complying with the use conditions at the time of selection, and is optimal for use in an actual machine. Thus, a minimum load value can be set in advance as a load compensation value, and a motor controller without capacity shortage can be selected, and parameters of the motor controller without oscillation can be set.
Moreover, according to the invention of Claim 7 and Claim 14, a use can be input into the conditions at the time of selection of an electric motor control apparatus, it can evaluate and can set in advance so that it can utilize for an actual machine.

The block diagram of the selection apparatus of the motor control apparatus of 1st Example of this invention. 1 is a configuration diagram of a motor control device and a motor control device selection device according to a first embodiment of the present invention. The flowchart which shows the selection method of the motor control apparatus of 1st Example of this invention. Mechanism diagram of the first embodiment The figure which shows the input example to the step which inputs the element of a motor, and a mechanical element as a mechanism condition, and a mechanism condition input part The figure which shows the example of input to the arbitrary elements of a mechanism condition input part The figure which shows an example of the input part of the step which sets the parameter relevant to the utilization use of an electric motor control apparatus The figure which shows the input example 1 to a command setting part The figure which shows the example 2 of an input to a command setting part The figure which shows an example of the torque waveform of an electric motor control apparatus when the parameter setting of proportional-proportional-integral control switching OFF of a controller is performed The figure which shows an example of the torque waveform of the motor control apparatus when not performing parameter setting of the proportional-proportional-integral control switching OFF of the controller Enlarged view of FIG. Enlarged view of FIG. Explanatory drawing of proportional-proportional integral control switching Configuration diagram of controller Configuration diagram of a motor control device selection device according to a second embodiment of the present invention. The block diagram of the motor control apparatus of 2nd Example of this invention, and the selection apparatus of a motor control apparatus The flowchart which shows the selection method of the motor control apparatus of 2nd Example of this invention. Mechanism diagram of the second embodiment Example of the relationship between the crank rotation angle of the piston / crank mechanism and the piston position Example of the relationship between the crank rotation angle of the piston / crank mechanism and the moment of inertia Example of the relationship between the crank rotation angle of the piston / crank mechanism and the load torque at a constant speed The block diagram which shows schematic structure of the control parameter setting assistance apparatus of the motor drive device of the conventional 1st example The flowchart which shows the outline of the process which the processing apparatus of the electric motor drive device of the conventional 1st example performs. Functional block diagram of a loader used in a conventional second example motor drive control device The flowchart which shows the motor capacity selection method of the conventional 3rd example

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram of a motor control device selection device according to a first embodiment of the present invention. In FIG. 1, 10 is a selection calculation unit, 11 is an input unit, 12 is an output unit, 13 is a mechanism condition input unit, 14 is a command setting unit, 15 is a load compensation calculation unit, 16 is a control parameter output unit, and 17 is an operation. The simulation calculation unit 21 is a characteristic database.
Here, the characteristic database 21 stores characteristic data of the motor control device. The input unit 11 inputs a command for operating the selection device of the motor control device and conditions for using the motor. The mechanism condition input unit 13 inputs an electric motor element and a mechanical element. The command setting unit 14 sets at least one operation pattern of any one of the motor and machine elements as a use condition. The output unit 12 outputs the selection result of the motor control device and the response result of the operation of the selection device. The control parameter output unit 16 outputs parameters to be set in the controller or commander. The selection calculation unit 10 performs a selection calculation of the motor control device from the use condition and characteristic database 21, and selects a motor control device such as an electric motor or a controller to be actually used. The load compensation calculation unit 15 is a load value or driving force for the selection calculation of the motor control device performed by the selection calculation unit 10 based on the input value, and the load compensation unit of the controller before actually operating the motor control device. The load compensation value to be set is calculated. The operation simulation calculation unit 17 simulates the operation of the motor control device using the mechanism condition, the use condition, and the motor control device model that is a numerical calculation model of the motor control device.
The present invention is different from the prior art in that it includes a command setting unit 14, a load compensation calculation unit 15, a control parameter output unit 16, and an operation simulation calculation unit 17.
FIG. 2 is a configuration diagram of the motor control device and the motor control device selection device according to the first embodiment of the present invention. In FIG. 2, 1 is an electric motor, 2 is an operation amount detection unit, 3 is a command device, 4 is a controller, 5 is a machine, 6 is an electric motor control device, 19 is a parameter setting unit, and 20 is a selection device for the electric motor control device. Realized by computer. Here, the motor control device 6 refers to the range of the motor 1, the operation amount detection unit 2, the command device 3, the controller 4, and the parameter setting unit 19.

FIG. 3 is a flowchart showing a method of selecting the motor control device according to the first embodiment of the present invention. In FIG. 3, STP01 is a step of inputting an electric motor element or mechanical element as a mechanism condition, STP02 is a step of setting a parameter related to the use application of the electric motor control device, and STP03 is a usage condition of one of the operating patterns of each element. The step of setting at least one, STP04 is a step of simulating calculation of the operation of the motor control device, STP05 is a step of calculating calculation of the motor control device from the use condition and the characteristic database of the motor control device, and STP06 is the input mechanism A step of calculating a load compensation value to be set in the load compensator of the controller when the motor control device is actually operated from the conditions, STP07 is a step of outputting parameters to be set for the controller or commander, and STP08 is The parameter output in STP07 is the motor controller. And it has a step of setting.

Next, the implementation procedure of the present invention will be described in detail using an example of a mechanism including an electric motor control device, a reduction gear, a ball screw, and the like.
FIG. 4 is a diagram showing the structure of the first embodiment. In FIG. 4, 51 is a coupling, 52 is a speed reducer, and 53 is a ball screw. An electric motor 1 equipped with an operation amount detection unit 2 is connected via a coupling 51. Further, the ball screw table is provided with a load, and is further configured to receive an external force Fd.
The implementation procedure of the present invention is the process of FIG. By performing the processing of FIG. 3, the operating conditions are input, and the motor 1 and the controller 4 (FIG. 2) that satisfy the maximum torque, the maximum rotation speed, the effective torque, and the allowable moment of inertia are selected. In addition, the parameters at the time of shipment of the actual motor control device grasp in advance that abnormal operation occurs and output parameters that can be improved. The parameter is set in the actual motor control device.

Next, details of each step of FIG. 3 will be described.
In the step of inputting the motor elements and mechanical elements of STP01 as mechanism conditions, the coupling 51, the speed reducer 52, the ball screw 53 and the external force Fd are input to the mechanism condition input unit 13 as mechanism conditions.
FIG. 5 is a diagram showing a step of inputting an electric motor element or a mechanical element as a mechanism condition and an example of input to a mechanism condition input unit. In FIG. 5, 100 is an electric motor element model, 101 is a coupling element model, 102 is a speed reducer element model, 103 is a ball screw element model, and 104 is an external force element model. The coupling element model 101 corresponding to the coupling 51, the speed reducer 52, the ball screw 53 and the external force Fd, the speed reducer element model 102, the ball screw element model 103, and the external force element model 104 are made into an actual machine by the mechanism condition input unit 13. Configure together.
FIG. 6 is a diagram illustrating an input example to an arbitrary element of the mechanism condition input unit. FIG. 6 shows an example of inputting detailed specifications of the ball screw element model 103. Similarly, detailed specifications are input for the coupling element model 101 and the speed reducer element model 102. The external force element model 104 can also input specifications in the same manner, but in this example, since it is a time-dependent condition like the operation pattern, in that case, it becomes an input in the command setting unit 14 described later.

In the step of setting the parameters related to the use application of the motor control device of STP02, in accordance with the conditions found in step STP01 in which the motor elements and machine elements are input as mechanism conditions, or the user newly A parameter related to the usage is input to the input unit 11.
FIG. 7 is a diagram illustrating an example of an input unit in a step of setting parameters related to the usage application of the motor control device. In FIG. 7, the torque limit which is a function of the controller 4 is input to the input unit 11 as shown in FIG. 7 in accordance with the external force found in step STP01. Torque limit is a function that limits output torque for the purpose of machine protection, and selection of a limit method and related parameters exist depending on the limit method.
In this embodiment, step STP02 is arranged after step STP01. However, step STP02 may be arranged after step STP03 or step STP04.
Further, the setting order of step ST01 and step ST02 may be changed and operated by the input unit 11. The output unit 12 confirms the result input in each step and displays various input items.

In the step of setting at least one operation pattern of each element of STP03 as a use condition, a time-dependent operation pattern is input to the command setting unit.
FIG. 8 is a diagram showing an input example 1 to the command setting unit, and FIG. 9 is a diagram showing an input example 2 to the command setting unit. A plurality of operation patterns can be input to the command setting unit 14 as shown in FIGS. 8 and 9, the position command speed and the external force Fd of the electric motor 1 are input. In FIG. 8, the maximum rotational speed of the electric motor 1 is larger than that in FIG. 9, and the external force Fd is smaller than that in FIG. In FIG. 9, the maximum rotation speed of the electric motor 1 is smaller than that in FIG. 8, and the external force Fd is larger than that in FIG.
For selecting the motor control device, the command that puts the most load is used. In this example, the user can input a plurality of operation patterns without the user determining which is the most loaded command in FIGS.
In the subsequent step STP05, the selection control unit 10 selects the motor control device with a command that is most loaded.
In this embodiment, the position command speed of the electric motor 1 is input. However, the position command speed of the table of the ball screw 53 on the load side may be input, or the position command speed of the decelerator which is a component in the middle. good. Further, not a position command speed but a position command may be used. In this embodiment, the external force Fd is also the external force applied to the table of the ball screw 53, but an external force applied to the electric motor 1 may be input.

In the step of simulating the operation of the motor control device of STP04, the operation simulation calculation unit 17 calculates the load inertia moment based on the mechanism condition input in step STP01. The load mass, table mass, moment of inertia of the ball screw shown in FIG. 6, the pitch that is the translational movement amount per rotation of the ball screw, the moment of inertia of the coupling that is the component shown in FIG. Since the gear reduction ratio and the moment of inertia of the motor are input as mechanism conditions in the mechanism condition input unit 13, the inertia moment of the entire load driven by the electric motor 1 is calculated. That is, the moment of inertia of all loads applied to the rotary electric motor 1 is calculated.
Further, the operation simulation calculation unit 17 calculates the maximum torque, the maximum rotation speed, and the effective torque for operating with the load and the total moment of inertia of the electric motor 1 based on the operation pattern input in step STP03. That is, the required torque for causing the motor 1 to operate according to the operation pattern is calculated for the total moment of inertia.
The motion simulation calculation unit 17 calculates the product of the acceleration of the driving pattern acceleration / deceleration region shown in FIGS. 8 and 9 and the total moment of inertia of the motor and the load, and calculates the required maximum torque. obtain. If there is a mechanical relationship such as a reduction ratio and a ball screw pitch, the operation pattern of the motor can be calculated even if the operation pattern shown in FIGS. Can be calculated.
Moreover, the steady torque required at the time of constant speed operation | movement can be calculated using friction, efficiency, gravity, etc. which are not illustrated in FIG. 6 and mechanism conditions, such as external force, load mass, and an inertia moment.
Further, the effective torque can be calculated in consideration of the entire operation including the maximum torque, the steady torque, and the stop hold.
In addition, the operation inputted by the step STP02 is added, and the operation simulation calculation unit 17 calculates the operation in accordance with the use conditions. In this example, the mode switch for switching the external force Fd, the torque limit, and the proportional-proportional-integral control of the controller 4 detects the possibility of torque vibration.
FIG. 10 is a diagram showing an example of the torque waveform of the motor control device when the parameter setting of proportional-proportional-integral control switching OFF of the controller is performed, and FIG. 11 shows the parameter setting of proportional-proportional-integral control switching OFF of the controller. FIG. 12 is an enlarged view of FIG. 10, and FIG. 13 is an enlarged view of FIG. 11. With the position command speed of the motor 1 and the external force applied to the table of the ball screw 53 given as the operation pattern, if the proportional-proportional-integral control switching is OFF, the torque does not vibrate as shown in FIGS. Unless the integral control switching is OFF, the torque oscillates as shown in FIGS.

The mode switch for proportional-proportional-integral control switching is used when the overshoot during acceleration / deceleration is desired, or when the settling time is desired to be shortened by reducing the undershoot during positioning operation. Is a function of automatically switching the processing of the control loop from proportional integral control to proportional control depending on whether or not is less than or equal to a preset detection point.
FIG. 14 is an explanatory diagram of proportional-proportional integral control switching. Here, P is proportional control, and PI is proportional-integral control. Normally, proportional-integral control is performed, but when the torque becomes + Tc or -Tc or more, the control is automatically switched to proportional control. The switching may be a torque value as shown in FIG. 14, a motor speed value, a motor acceleration value, a position deviation value, or no proportional-proportional integral control switching. .
When the parameter of the proportional-proportional-integral control switching at the time of shipment of the controller 4 is a torque value, vibration is generated as shown in FIGS. 11 and 13 under the conditions of this embodiment.
Since such a case can be grasped in advance by the operation simulation calculation unit 17 according to the use conditions, the parameter can be output from the control parameter output unit in the later STP07.
Further, step STP02 may be arranged after step STP04, and confirmation may be made with the user to turn off the proportional-proportional-integral control switching parameter.
Further, the operation simulation calculation unit 17 only detects the possibility that the external force Fd and the torque limit, which are usage conditions, and the mode switch of proportional-proportional-integral switching of the controller 4 may generate torque vibration. It may be urged to turn OFF the proportional-proportional-integral control switching parameter. Alternatively, it is calculated by simulating the function of the controller 4 in the operation simulation calculation unit 17, and the parameters of the proportional-proportional-integral control switching are turned on, and the simulation is performed as shown in FIGS. The response of the motor is calculated and displayed on the output unit 12, and the occurrence of vibration is confirmed. After the user turns OFF the proportional-proportional-integral control switching parameter, the simulated response in which the vibration of FIGS. 10 and 12 does not occur again. It may be used to confirm.

In the step of selecting the motor control device from the use condition of STP05 and the characteristic database of the motor control device, the selection calculation unit 10 performs the selection calculation of the motor control device from the use condition and characteristic database 21 and actually uses it. Motor control devices such as the motor 1 and the controller 4 are selected. When a plurality of operation patterns are input in step STP03, an electric motor control device that requires a larger capacity is selected. The selection calculation unit 10 selects the motor control device from these conditions. Specifically, a combination of the electric motor 1 and the controller 4 in which the electric motor control device operates properly is selected. Further, the operation amount detector 2 and the command device 3 corresponding to the selected electric motor 1 and controller 4 and cables connecting them may be included in the characteristic database 21 and selected.
These output from the output unit 12 are an appropriate electric motor 1, an operation amount detection unit 2 associated with the electric motor 1, a controller 4 corresponding to the electric motor 1, and the like. In the configuration of FIG. 2, it may be output as a computer monitor or file.

In the step of calculating the load compensation value to be set in the load compensator of the controller when the motor control device is actually operated from the mechanism condition input in STP06, the load compensation calculator 15 is selected in step STP05, and the selection calculator 10 is calculated in step STP05. An appropriate load compensation value is calculated with respect to the calculated inertia moment of the load on the electric motor 1. In this embodiment, since there is no load fluctuation, the moment of inertia calculated by the selection calculation unit 10 in step STP05 becomes the load compensation value.
FIG. 15 is a block diagram of the controller. In FIG. 15, Kj is a load compensation value, and Kc is a speed loop gain. In the controller 4, the load compensation value Kj compensates for the moment of inertia of the load machine that is the control target of the electric motor 1, and the torque required to move the load machine is output. The load compensation value Kj for this is appropriately output in this embodiment.

In the step of outputting the parameters to be set for the controller or commander of STP07, the output unit 12 outputs the mode switch and load compensation value of the proportional-proportional-integral control switching calculated so far. In the configuration of FIG. 2, it may be output as a computer monitor or file.

The step of setting the parameters of STP08 in the motor control device is carried out with an actual machine in which the selected motor control device is actually mounted.
In step STP08, the proportional-proportional-integral control switching mode switch and load compensation value parameters output in step STP07 are set in the motor controller.
The motor control device and the selection device are configured as shown in FIG. 2, and parameters are set in the motor control device via the control parameter output unit 16 (FIG. 1).

As described above, according to this embodiment, motor elements and machine elements are input as mechanism conditions, parameters related to usage are set, a plurality of operation patterns are input, and the operation of the motor control device is simulated. It is possible to grasp in advance that abnormal operation will occur with the initial parameters after calculation, select the motor control device, output an appropriate load compensation value under the usage conditions, and set the parameters in the motor control device.

Next, a second embodiment of the present invention will be described.
FIG. 16 is a configuration diagram of a motor control device selection device according to a second embodiment of the present invention. In FIG. 16, reference numeral 18 denotes a mechanism analysis calculation unit. The mechanism analysis calculation unit 18 analyzes the motion of the mechanism using the relationship between the motor elements and machine elements input as the mechanism conditions and the operation pattern of each element input as the use conditions, and loads the load on the motor elements. Calculates the value, the driving force required by the motor, and the operation position / speed / acceleration of the motor or load element, and analyzes the operation of multiple machine parts linked to the operation pattern of the specified element. The analysis result is used in the operation simulation calculation unit 17. Other configurations of the motor control device selection device are the same as those of the first embodiment, and the selection calculation unit 10, input unit 11, output unit 12, mechanism condition input unit 13, command setting unit 14, load compensation calculation unit 15, control The parameter output unit 16, the operation simulation calculation unit 17, and the characteristic database 21 are configured.
FIG. 17 is a configuration diagram of the motor control device and the motor control device selection device according to the second embodiment of the present invention. In FIG. 17, 2b is an operation amount detector. Other configurations of the motor control device and the motor control device selection device are the same as those in the first embodiment, and the motor 1, the operation amount detection unit 2, the command unit 3, the controller 4, the machine 5, the parameter setting unit 19, and the motor control. It comprises a device selection device 20.

FIG. 18 is a flowchart showing a method for selecting a motor control device according to the second embodiment of the present invention. In FIG. 18, STP04B is a step of analyzing the motion of the mechanism. STP04B is executed by the mechanism analysis calculation unit 18. The other parts of the flowchart are the same as those in the first embodiment, step STP01 for inputting the motor element or machine element as a mechanism condition, step STP02 for setting a parameter related to the use application of the motor control device, any of the elements. Step STP03 for setting at least one operation pattern as a use condition, step STP04 for simulating calculation of the operation of the motor control apparatus, step STP05 for calculating and selecting a motor control apparatus from the use conditions and the characteristic database of the motor control apparatus, Step STP06 for calculating a load compensation value to be set in the load compensator of the controller when the motor control device is actually operated from the input mechanism condition, Step STP07 for outputting a parameter to be set for the controller or commander, Set parameters to the motor controller It is constructed from-up STP08.

The second embodiment of the present invention is different from the first embodiment of the present invention in that the mechanism analysis operation unit 18 is provided, the machine 5 to be controlled by the electric motor 1 is configured to vary in load, and the operation. The point which added the quantity detection part 2b, and the point provided with step STP04B which analyzes the motion of a mechanism. Details of the machine 5 are shown in FIG. Also, the setting contents of the parameters executed in step STP08 set in the motor control device are different from those in the first embodiment of the present invention. In the motor control device shown in FIG. 17, from the operation amount detection unit 2b to the command unit 2. And the feedforward from the command unit 2 to the controller 3 are different.

The implementation procedure of the present invention is the process of FIG.
Here, an example of an electric motor control device and a piston / crank mechanism is shown.
FIG. 19 is a diagram showing the structure of the second embodiment. The electric motor 1 omitted in FIG. 19 rotates a crank 54 via a speed reducer 52, the crank 54 is connected to a connecting rod 55, and a piston 56 is disposed at the tip of the connecting rod 55. Although omitted in FIG. 19, an operation amount detection unit 2b for detecting the position of the piston 56 is provided as shown in FIG.
The motor control device positions the piston of the piston / crank mechanism.

Next, details of each step in FIG. 18 will be described.
At least one step STP01 for inputting a motor element or machine element as a mechanism condition, step STP02 for setting a parameter related to the use application of the motor control device, or an operation pattern of each element as a use condition Step STP03 to be performed is the same as that in the first embodiment.
In step STP01, as shown in FIG. 5, the speed reducer element model 102 and the element model of the piston / crank mechanism are set in the mechanism condition input unit 13 as a mechanism condition.
In step STP02, parameters related to the positioning application are set. If not, you can omit it. In addition, it is possible to perform the setting for performing feedforward from the command unit 3 in step STP02 and calculate the feedforward setting conditions in subsequent steps. Since a load fluctuation occurs in the piston / crank mechanism, a switch using a disturbance observer may be set to be turned on.
In step STP03, a plurality of motion patterns may be input as in the first embodiment.

In the step of analyzing the movement of the mechanism of STP04B, the mechanism analysis calculation unit 18 analyzes the operation of a mechanism in which load fluctuation occurs, such as a piston / crank mechanism and a cam mechanism as shown in FIG.
The mechanism analysis calculation unit 18 analyzes the motion of the mechanism using the relationship between the motor elements and machine elements input as the mechanism conditions and the operation pattern of each element input as the use conditions, and loads the load on the motor elements. Calculates the value, the driving force required by the motor, and the operation position / speed / acceleration of the motor or load element, and analyzes the operation of multiple machine parts linked to the operation pattern of the specified element. In this example, the mechanism analysis calculation unit 18 analyzes how each unit moves in accordance with a given operation pattern with a plurality of mass points and moments of inertia.
FIG. 20 is a view showing an example of the relationship between the crank rotation angle of the piston / crank mechanism and the piston position, FIG. 21 is a view showing an example of the relationship between the crank rotation angle of the piston / crank mechanism and the moment of inertia, and FIG. It is a figure of an example which shows the relationship between the crank rotation angle of a mechanism, and the load torque at the time of fixed speed.
In the piston / crank mechanism, the piston fluctuates as shown in FIG. 20 due to the rotation of the crank. The crank rotates to the electric motor 1 via a reduction ratio 1 / R.
Since the moment of inertia varies depending on the rotation angle of the crank as shown in FIG. 21, the torque varies even when the rotational speed is constant as shown in FIG.
The above characteristics are calculated by the mechanism analysis calculation unit 18 and output by the output unit 12.
In the piston / crank function as in this example, the mass of the piston 56, the mass and length of the connecting rod 55, the position of the center of gravity, the moment of inertia around the position of the center of gravity, the rotation radius of the crank 54, the moment of inertia, the reduction ratio of the reducer 52, Moment of inertia is given as a mechanism condition and there is an operation pattern, so the torque that drives the total inertia moment that varies by analyzing the motion of machine parts and the side that does not give the operation pattern (when the motor operation pattern is input) The position, speed, acceleration, etc. of the piston 56 are calculated by the mechanism analysis unit 18. Even a mechanism such as a piston / crank mechanism in which the direction of movement on the load side changes in a complex manner by driving the motor, it is applied to the position of the load side (piston) that changes depending on the position of the motor and the shaft of the motor. The mechanism analysis unit 18 analyzes the moment of inertia and the like.
The operation may be analyzed and confirmed even in the case of a mechanism such as the first embodiment in which no load fluctuation occurs.
As a result calculated by the mechanism analysis unit 18, the movement of the machine element model as shown in FIG. Moreover, you may output the graph like FIGS.

In the step of simulating the operation of the motor control device of STP04, the operation simulation calculation unit 17 simulates the operation based on the characteristics of the piston / crank mechanism obtained in the preceding step STP04B. Similar to the first embodiment, the motion simulation calculation unit 17 calculates the maximum torque, the maximum rotation speed, and the effective torque based on the moment of inertia of the maximum load obtained in step STP04B and the operation pattern input in step STP03. calculate.
Returning to step STP04B in the previous stage, the mechanism analysis calculation unit 18 and the operation simulation calculation unit 17 may be coupled to perform mechanism calculation and operation simulation. The simulation operation is a combination of the mechanical operation and the controller function, and the operation close to that of the actual machine can be simulated.
For example, the operation of adding torque to the controller 4 by feedforward can be simulated using the load fluctuation and piston timing obtained by the mechanism analysis calculation unit 18.

In the step of calculating the motor control device from the use conditions of STP05 and the characteristic database of the motor control device, the capacity of the motor control device determined by the use conditions is determined as in the first embodiment, and the motor control device Make a selection.
In this embodiment, the piston / crank mechanism that causes load fluctuations, the maximum load is taken into consideration, and the selection calculation unit 10 selects a motor control device that meets the conditions from the characteristic database 21.

In the step of calculating the load compensation value to be set in the load compensator of the controller when the motor control device is actually operated from the mechanism condition input in STP06, the minimum inertia moment calculated by the mechanism analysis calculation unit 18 is load compensated. Value. The selection calculation unit 10 selected the motor control device in consideration of the maximum moment of inertia. Here, if the maximum moment of inertia is a load compensation value, the load fluctuation mechanism may cause the feedback loop to oscillate due to excessive compensation of the speed loop gain Kc of the controller 4 by the load compensation value Kj.
Thus, in step STP06, an appropriate load compensation value is output under the usage conditions.

In the step of outputting the parameter set for the controller or commander of STP07, the output compensation unit 12 outputs the load compensation value obtained from the minimum inertia moment calculated so far. Also, the load fluctuation and piston position timing obtained by the mechanism analysis calculation unit 18 and the torque / feed forward setting to the controller 4 are output from the output unit 12. If the use of the disturbance observer is set in step STP02, this is output from the output unit 12.
As in the first embodiment, the output from the output unit 12 may be a computer monitor display or a file.

In the step of setting the parameters of STP08 in the motor controller, the load compensation value output in step STP07 is set in the controller 4. The motor control device and the selection device are configured as shown in FIG. 17, and parameters are set in the motor control device via the control parameter output unit (FIG. 16).
Further, use of a disturbance observer may be set in the controller 4. Further, the setting of torque / feed forward to the controller 4 is set in the command unit 3 via the control parameter output unit 16. If the piston position is detected by the operation amount detector 2b, feedforward can be used in the same manner as the operation performed in a simulated manner.
Thus, the control parameter output unit 16 sets parameters in the motor control device.

As described above, according to the present embodiment, the elements of the electric motor and the mechanical elements are input as the mechanism conditions, the parameters related to the use application are set, the operation pattern is input, and the piston / crank mechanism with the load variation is set. Even if there is, it can analyze the mechanism, simulate the operation, study the optimal control method for the mechanism, select the motor control device, output the minimum moment of inertia appropriate for the usage conditions as the load compensation value, Parameters can be set in the motor control device.
In this embodiment, the piston / crank mechanism is used for positioning the piston. However, in the case where an external force is applied by pressing the piston, the proportional-proportional-integral control switching mode is applied as in the first embodiment. It can also be used for prior examination of switches.

In order to select a motor control device, it can also be selected by inputting machine elements and evaluating a motor control device suitable for the operation pattern, so it can be applied to the design of a mechanical system using the motor control device. .
In addition, although both the first and second embodiments have been described with respect to the rotary electric motor, the electric motor may be a translation type.

DESCRIPTION OF SYMBOLS 1 Electric motor 2 Operation amount detection part 3 Command device 4 Controller 5 Machine 6 Motor control device 10 Selection calculating part 11 Input part 12 Output part 13 Mechanism condition input part 14 Command setting part 15 Load compensation calculating part 16 Control parameter output part 17 Operation Simulation calculation unit 18 Mechanism analysis calculation unit 19 Parameter setting unit 20 Motor control device selection device 21 Characteristic database 51 Coupling 52 Reducer 53 Ball screw 54 Crank 55 Connecting rod 56 Piston 100 Motor element model 101 Coupling element model 102 Decelerator element Model 103 Ball screw element model 104 External force element model 1010 Parameter setting support device 1011 Display device 1012 Keyboard 1013 Mouse
1014 Communication device 1015 Processing device 1016 Main memory 1017 Fixed disk device 1018 Removable disk device 1020 Communication cable 1050 Motor drive device 2101 Mechanical model creation unit 2102 Operation pattern input unit 2103 Drive specification input unit 2104 Mechanical operation analysis unit 2105 Control parameter input unit 2501 main Menu 2502 System setting unit 2503 Trial run unit 2504 Parameter editing unit 2505 Monitor / trace unit 2506 Mechanical analysis unit

Claims (16)

An electric motor that drives a machine, an operation amount detection unit that detects an operation amount of the electric motor or the machine, a command device that generates a command signal, and a controller that drives the motor based on the command signal, A motor control device selecting device that selects a motor control device that configures a feedback loop so that the command signal and the operation amount coincide with each other from a use condition and a characteristic database of the motor control device,
A selection calculation unit that performs a selection calculation of the motor control device from the use condition and a characteristic database of the motor control device, and selects the motor control device to be actually used;
An input unit for inputting a command for operating the selection device of the motor control device and a use condition of the motor;
An output unit that outputs a selection result of the motor control device and a response result of operation of the selection device;
In the motor control device selection device having a mechanism condition input unit for inputting the motor element and the mechanical element as a mechanism condition,
A command setting unit that sets at least one operation pattern of each element as the use condition,
An operation simulation operation unit that simulates the operation of the motor control device using the mechanism condition, the use condition, and a motor control device model that is a numerical operation model of the motor control device; In addition, a load value or driving force for the selection calculation of the motor control device performed by the selection calculation unit, and a load compensation value set in the load compensation unit of the controller when the motor control device is actually operated, A load compensation calculation unit for calculating
A control parameter output unit for outputting a parameter to be set in the controller or the commander;
An apparatus for selecting an electric motor control device comprising:   Analyzing the motion of the mechanism using the relationship between the motor elements and mechanical elements input as the mechanism conditions and the operation pattern of each element input as the use conditions, and the load value for the elements of the motor 2. The electric motor according to claim 1, further comprising: a mechanism analysis calculation unit that calculates a driving force required by the electric motor and an operation position / speed / acceleration of an element of the electric motor or a load. Control device selection device. The motor control device selection device according to claim 1, wherein the parameter output from the control parameter output unit is a mode switch for switching between proportional-proportional integral control of the controller. The motor control device selection device according to claim 1, wherein the parameter output from the control parameter output unit is a compensation driving force set in the command device.   3. The motor control device selection device according to claim 1, wherein the parameter output from the control parameter output unit is a load compensation value. The motor control device according to claim 2, wherein a mechanism having a load variation is calculated by the mechanism analysis calculation unit, and a parameter output from the control parameter output unit uses a minimum load value as a load compensation value. Selection equipment. The said input part sets the parameter relevant to the utilization use of the said motor control apparatus, The selection apparatus of the motor control apparatus in any one of Claims 1 and 2 characterized by the above-mentioned. An electric motor that drives a machine, an operation amount detection unit that detects an operation amount of the electric motor or the machine, a command device that generates a command signal, and a controller that drives the motor based on the command signal, In the method for selecting the motor control device, the motor control device configured as a feedback loop so that the operation amount matches the command signal is selected from the use conditions and the characteristic database of the motor control device.
Inputting an element of the electric motor or a mechanical element as a mechanism condition;
Setting at least one of the operation patterns of each element as a use condition;
Simulating the operation of the motor control device using the mechanism condition, the use condition, and a motor control device model that is a numerical calculation model of the motor control device;
Performing a selection calculation of the motor control device from a use condition and a characteristic database of the motor control device, and selecting the motor control device to be actually used;
Calculating a load compensation value to be set in a load compensator of the controller when actually operating the motor control device from the input mechanism condition;
Outputting parameters to be set for the controller or the commander;
Setting an output in the step of outputting a parameter to the motor control device;
A method for selecting an electric motor control device. Analyzing the motion of the mechanism using the relationship between the motor elements and mechanical elements input as the mechanism conditions and the operation pattern of each element input as the use conditions, and the load value for the elements of the motor The motor control device according to claim 8, further comprising a step of calculating a driving force required by the electric motor and an operation position / speed / acceleration of an element of the electric motor or a load. Selection method. 10. The step of outputting a parameter to be set for the controller or the command unit outputs a mode switch for switching between proportional-proportional-integral control of the controller. To select the motor control device.   10. The motor control device according to claim 8, wherein the step of outputting a parameter set for the controller or the commander outputs a compensation driving force set for the commander. Selection method.   10. The method for selecting a motor control device according to claim 8, wherein the step of outputting a parameter set for the controller or the commander outputs a load compensation value. 10. The step of outputting a parameter to be set for the controller or the commander after the step of analyzing the motion of the mechanism having a load change outputs a minimum load value. The method for selecting the motor control device described. The motor control device selection device according to claim 8, further comprising a step of setting a parameter related to a use application of the motor control device. The computer program which implement | achieves the selection method of the motor control apparatus of any one of Claims 8-14. A storage medium storing the computer program according to claim 15.

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