JP2010207011A5 - - Google Patents
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- JP2010207011A5 JP2010207011A5 JP2009051736A JP2009051736A JP2010207011A5 JP 2010207011 A5 JP2010207011 A5 JP 2010207011A5 JP 2009051736 A JP2009051736 A JP 2009051736A JP 2009051736 A JP2009051736 A JP 2009051736A JP 2010207011 A5 JP2010207011 A5 JP 2010207011A5
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上記問題を解決するため、本発明は、次のように構成したのである。
本発明の一の観点によるモータ制御装置は、移動距離（ｄｉｓｔ）と移動時間（ｔｂ）と指令次数に関する変数（ｋ）を、指令演算部に対して設定する指令条件設定部と、前記移動距離（ｄｉｓｔ）に依存する変数（ａ）及び前記移動時間（ｔｂ）を含む速度時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算する前記指令演算部と、前記移動時間（ｔｂ）と前記指令次数に関する変数（ｋ）に基づいて、第１の指令フィルタ変数（ωｓ）を演算するフィルタ定数演算部と、前記指令演算部が演算した前記位置指令（ｒｅｆ）、前記フィルタ定数演算部が演算した前記第１の指令フィルタ変数（ωｓ）、所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を含むフィルタ伝達関数に基づいて、後退差分、前進差分、双一次変換のいずれか１つを用いて新たな位置指令（ｒｅｆｃ）を演算する指令フィルタ演算部と、前記新たな位置指令（ｒｅｆｃ）及び制御対象に付加された検出器で検出される位置検出信号に基づいて、前記制御対象であるモータを駆動するための制御演算を行う制御演算部と、を備えたモータ制御装置が適用される。
In order to solve the above problem, the present invention is configured as follows.
A motor control apparatus according to one aspect of the present invention includes a command condition setting unit that sets a variable (k) related to a movement distance (dist), a movement time (tb), and a command order with respect to a command calculation unit; The command calculation unit that calculates a position command (ref) for each command payout period based on a speed time function including a variable (a) that depends on (dist) and the travel time (tb), and the travel time (tb ) And a variable (k) related to the command order, a filter constant calculation unit that calculates a first command filter variable (ωs), the position command (ref) calculated by the command calculation unit, and the filter constant calculation Based on a filter transfer function including the first command filter variable (ωs) calculated by the unit and predetermined second and third command filter variables (ωc, ζ), a backward difference, a forward difference, a bilinear change Based on a command filter calculation unit that calculates a new position command (refc) using any one of the above, a position detection signal detected by the new position command (refc) and a detector added to the control target Thus, a motor control device including a control calculation unit that performs a control calculation for driving the motor to be controlled is applied.
本発明の１つ目の他の観点によるモータ制御装置は、移動距離（ｄｉｓｔ）と移動時間（ｔｂ）と指令次数に関する変数（ｋ）を、指令演算部に対して設定する指令条件設定部と、前記移動距離（ｄｉｓｔ）に依存する変数（ａ）及び前記移動時間（ｔｂ）を含む速度時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算する前記指令演算部と、前記移動時間（ｔｂ）と前記指令次数に関する変数（ｋ）に基づいて、第１の指令フィルタ変数（ωｓ）を演算するフィルタ定数演算部と、前記指令演算部が演算した前記位置指令（ｒｅｆ）、前記フィルタ定数演算部が演算した前記第１の指令フィルタ変数（ωｓ）、所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を含むフィルタ伝達関数に基づいて、後退差分、前進差分、双一次変換のいずれか１つを用いて新たな位置指令（ｒｅｆｃ）を演算する指令フィルタ演算部と、前記新たな位置指令（ｒｅｆｃ）及び制御対象に付加された検出器で検出される位置検出信号に基づいて、前記制御対象であるモータを駆動するための制御演算を行う制御演算部と、を備えたモータ制御装置であって、A motor control device according to a first other aspect of the present invention includes a command condition setting unit that sets a variable (k) relating to a movement distance (dist), a movement time (tb), and a command order to a command calculation unit; The command calculation unit for calculating a position command (ref) for each command payout period based on a speed time function including a variable (a) depending on the moving distance (dist) and the moving time (tb); Based on a travel time (tb) and a variable (k) related to the command order, a filter constant calculation unit that calculates a first command filter variable (ωs), the position command (ref) calculated by the command calculation unit, Based on a filter transfer function including the first command filter variable (ωs) and predetermined second and third command filter variables (ωc, ζ) calculated by the filter constant calculation unit, a backward difference, a forward difference, A command filter calculation unit for calculating a new position command (refc) using any one of the primary conversions, and a position detection signal detected by the new position command (refc) and a detector added to the control target A control operation unit that performs a control operation for driving the motor that is the control target, and a motor control device comprising:
前記指令条件設定部は、加減速時間（ｔａ）と一定速度時間（ｔｃ）を、前記指令演算部に対して更に設定し、前記指令演算部は、速度に依存する変数（ａｄ）及び前記加減速時間（ｔａ）、前記一定速度時間（ｔｃ）を含む加速度時間関数に基づいて、指令払い出し周期毎に位置指令を演算し、前記フィルタ定数演算部は、前記加減速時間（ｔａ）と前記指令次数に関する変数（ｋ）に基づいて、第１の指令フィルタ変数（ωｓ）を演算するモータ制御装置が適用される。The command condition setting unit further sets an acceleration / deceleration time (ta) and a constant speed time (tc) for the command calculation unit, and the command calculation unit includes a variable (ad) dependent on speed and the acceleration / deceleration. Based on an acceleration time function including a deceleration time (ta) and the constant speed time (tc), a position command is calculated for each command payout period, and the filter constant calculation unit calculates the acceleration / deceleration time (ta) and the command A motor control device that calculates the first command filter variable (ωs) based on the variable (k) related to the order is applied.
本発明の２つ目の他の観点によるモータ制御装置は、移動距離（ｄｉｓｔ）と移動時間（ｔｂ）と指令次数に関する変数（ｋ）を、指令演算部に対して設定する指令条件設定部と、前記移動距離（ｄｉｓｔ）に依存する変数（ａ）及び前記移動時間（ｔｂ）を含む速度時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算する前記指令演算部と、前記移動時間（ｔｂ）と前記指令次数に関する変数（ｋ）に基づいて、第１の指令フィルタ変数（ωｓ）を演算するフィルタ定数演算部と、前記指令演算部が演算した前記位置指令（ｒｅｆ）、前記フィルタ定数演算部が演算した前記第１の指令フィルタ変数（ωｓ）、所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を含むフィルタ伝達関数に基づいて、後退差分、前進差分、双一次変換のいずれか１つを用いて新たな位置指令（ｒｅｆｃ）を演算する指令フィルタ演算部と、前記新たな位置指令（ｒｅｆｃ）及び制御対象に付加された検出器で検出される位置検出信号に基づいて、前記制御対象であるモータを駆動するための制御演算を行う制御演算部と、を備えたモータ制御装置であって、A motor control apparatus according to a second other aspect of the present invention includes a command condition setting unit that sets a variable (k) relating to a movement distance (dist), a movement time (tb), and a command order to a command calculation unit; The command calculation unit for calculating a position command (ref) for each command payout period based on a speed time function including a variable (a) depending on the moving distance (dist) and the moving time (tb); Based on a travel time (tb) and a variable (k) related to the command order, a filter constant calculation unit that calculates a first command filter variable (ωs), the position command (ref) calculated by the command calculation unit, Based on a filter transfer function including the first command filter variable (ωs) and predetermined second and third command filter variables (ωc, ζ) calculated by the filter constant calculation unit, a backward difference, a forward difference, A command filter calculation unit for calculating a new position command (refc) using any one of the primary conversions, and a position detection signal detected by the new position command (refc) and a detector added to the control target A control operation unit that performs a control operation for driving the motor that is the control target, and a motor control device comprising:
前記フィルタ定数演算部と前記指令フィルタ演算部とに代えて、指令定数演算部を備え、Instead of the filter constant calculator and the command filter calculator, a command constant calculator is provided,
前記指令条件設定部は、前記制御演算部と前記制御対象とを合わせた全システムを、２次遅れ系で近似した際の固有振動角周波数と減衰係数にそれぞれ設定される、前記所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を前記指令演算部に対して更に設定し、前記指令定数演算部は、前記移動時間（ｔｂ）と前記指令次数に関する変数（ｋ）に基づいて、前記第１の指令フィルタ変数（ωｓ）を演算し、前記指令演算部は、前記前記指令定数演算部が演算した前記第１の指令フィルタ変数（ωｓ）、前記所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を含むフィルタ特性と、前記移動距離（ｄｉｓｔ）に依存する変数（ａ）及び前記移動時間（ｔｂ）とを含む時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算し、前記制御演算部は、該位置指令（ｒｅｆ）に基づいて前記モータを駆動するための制御演算を行うモータ制御装置が適用される。The command condition setting unit is set to the specific second angular frequency and the damping coefficient, respectively, when the entire system including the control calculation unit and the control target is approximated by a second-order lag system. And a third command filter variable (ωc, ζ) are further set for the command calculation unit, and the command constant calculation unit is based on the travel time (tb) and the variable (k) related to the command order. A first command filter variable (ωs) is calculated, and the command calculation unit is configured to calculate the first command filter variable (ωs) calculated by the command constant calculation unit, the predetermined second and third command filter variables. Based on a filter function including (ωc, ζ) and a time function including a variable (a) depending on the moving distance (dist) and the moving time (tb), a position command (ref) for each command payout period. To calculate the above Control arithmetic unit, a motor control apparatus for controlling operation for driving the motor based on the position command (ref) is applied.
本発明の３つ目の他の観点によるモータ制御装置は、移動距離（ｄｉｓｔ）と移動時間（ｔｂ）と指令次数に関する変数（ｋ）を、指令演算部に対して設定する指令条件設定部と、前記移動距離（ｄｉｓｔ）に依存する変数（ａ）及び前記移動時間（ｔｂ）を含む速度時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算する前記指令演算部と、前記移動時間（ｔｂ）と前記指令次数に関する変数（ｋ）に基づいて、第１の指令フィルタ変数（ωｓ）を演算するフィルタ定数演算部と、前記指令演算部が演算した前記位置指令（ｒｅｆ）、前記フィルタ定数演算部が演算した前記第１の指令フィルタ変数（ωｓ）、所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を含むフィルタ伝達関数に基づいて、後退差分、前進差分、双一次変換のいずれか１つを用いて新たな位置指令（ｒｅｆｃ）を演算する指令フィルタ演算部と、前記新たな位置指令（ｒｅｆｃ）及び制御対象に付加された検出器で検出される位置検出信号に基づいて、前記制御対象であるモータを駆動するための制御演算を行う制御演算部と、を備ると共に、A motor control apparatus according to a third other aspect of the present invention includes a command condition setting unit that sets a variable (k) relating to a movement distance (dist), a movement time (tb), and a command order to a command calculation unit; The command calculation unit for calculating a position command (ref) for each command payout period based on a speed time function including a variable (a) depending on the moving distance (dist) and the moving time (tb); Based on a travel time (tb) and a variable (k) related to the command order, a filter constant calculation unit that calculates a first command filter variable (ωs), the position command (ref) calculated by the command calculation unit, Based on a filter transfer function including the first command filter variable (ωs) and predetermined second and third command filter variables (ωc, ζ) calculated by the filter constant calculation unit, a backward difference, a forward difference, A command filter calculation unit for calculating a new position command (refc) using any one of the primary conversions, and a position detection signal detected by the new position command (refc) and a detector added to the control target And a control calculation unit that performs a control calculation for driving the motor that is the control target,
前記フィルタ定数演算部と前記指令フィルタ演算部とに代えて、指令定数演算部を備え、Instead of the filter constant calculator and the command filter calculator, a command constant calculator is provided,
前記指令条件設定部は、前記制御演算部と前記制御対象とを合わせた全システムを、２次遅れ系で近似した際の固有振動角周波数と減衰係数にそれぞれ設定される、前記所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を前記指令演算部に対して更に設定し、前記指令定数演算部は、前記移動時間（ｔｂ）と前記指令次数に関する変数（ｋ）に基づいて、前記第１の指令フィルタ変数（ωｓ）を演算し、前記指令演算部は、前記前記指令定数演算部が演算した前記第１の指令フィルタ変数（ωｓ）、前記所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を含むフィルタ特性と、前記移動距離（ｄｉｓｔ）に依存する変数（ａ）及び前記移動時間（ｔｂ）とを含む時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算し、前記制御演算部は、該位置指令（ｒｅｆ）に基づいて前記モータを駆動するための制御演算を行うモータ制御装置であって、The command condition setting unit is set to the specific second angular frequency and the damping coefficient, respectively, when the entire system including the control calculation unit and the control target is approximated by a second-order lag system. And a third command filter variable (ωc, ζ) are further set for the command calculation unit, and the command constant calculation unit is based on the travel time (tb) and the variable (k) related to the command order. A first command filter variable (ωs) is calculated, and the command calculation unit is configured to calculate the first command filter variable (ωs) calculated by the command constant calculation unit, the predetermined second and third command filter variables. Based on a filter function including (ωc, ζ) and a time function including a variable (a) depending on the moving distance (dist) and the moving time (tb), a position command (ref) for each command payout period. To calculate the above Control arithmetic unit is a motor control apparatus for controlling operation for driving the motor based on the position command (ref),
前記指令条件設定部は、加速時間（ｔａ１）と一定速度時間（ｔｃ）と減速時間（ｔａ２）とを、前記指令演算部に対して更に設定し、前記指令演算部は、速度に依存する変数（ａ１）及び変数（ａ２）、並びに前記加速時間（ｔａ１）、前記一定速度時間（ｔｃ）、前記減速時間（ｔａ２）を含む加速度時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算するモータ制御装置が適用される。The command condition setting unit further sets an acceleration time (ta1), a constant speed time (tc), and a deceleration time (ta2) for the command calculation unit, and the command calculation unit is a variable depending on the speed. Based on the acceleration time function including (a1), the variable (a2), the acceleration time (ta1), the constant speed time (tc), and the deceleration time (ta2), the position command (ref) A motor control device for calculating is applied.
本発明の一の観点によるモータ制御装置によると、指令の次数に関わる変数ｋを任意に選べるため，変数ｋを整数にすることができるため，通常の演算器で演算が可能となり，また，関数の積分が可能になることで変数ａを求めるために予め変数ａを１として全移動時間分の移動距離Ｉｄを求め最後に実際の移動距離ｄｉｓｔをＩｄで除算して変数ａを求める必要がなくなり演算時間が大幅に短縮される。結果として目標値変更にも対応できるようになる。
また，指令フィルタの分子に減衰の項があるため，もともと制御対象の共振に減衰がある場合や，制御系の設計により制御対象の極が移動して減衰を持つようになった場合も，完全に振動を抑制することが可能になる。
また，全システムを２次遅れ系で近似したときの固有振動角周波数ωｃと減衰係数ζを設定するため，制御系により極が移動して極の周波数が変化した場合も完全に振動を抑制することができる。
また，制御系の設計はどのようなものでもよく，従来のように必ず電動機外乱オブザーバを用いる必要もなくなる。
また，Ｓ字指令ではなく，指令次数に関する変数ｋを調整することで振動を抑制できる時間関数を指令として用いることで，負荷の振動を抑制するだけでなく，モータも滑らかに動作させることができる。果として目標値変更にも対応できるようになる。
また，指令フィルタの分子に減衰の項があるため，もともと制御対象の共振に減衰がある場合や，制御系の設計により制御対象の極が移動して減衰を持つようになった場合も，完全に振動を抑制することが可能になる。
また，全システムを２次遅れ系で近似したときの固有振動角周波数ωｃと減衰係数ζを設定するため，制御系により極が移動して極の周波数が変化した場合も完全に振動を抑制することができる。
また，制御系の設計はどのようなものでもよく，従来のように必ず電動機外乱オブザーバを用いる必要もなくなる。
また，Ｓ字指令ではなく，指令次数に関する変数ｋを調整することで振動を抑制できる時間関数を指令として用いることで，負荷の振動を抑制するだけでなく，モータも滑らかに動作させることができる。
また、請求項４に記載の発明によると、数式で解析的に最も遅い振動根を算出し，そのまま指令フィルタの変数であるωｃとζを決定できるため，制御対象が既知の場合に，簡単に変数を設定できる。
また、請求項７，８に記載の発明によると、境界条件を元に解析的に移動時間ｔｂあるいは加減速時間ｔａとωｓの関係を求めることができるため，変数ｋと移動時間ｔｂあるいは加減速時間ｔａが与えられた時，数式で正確にωｓを算出することができるようになり，指令フィルタの分母の変数は自動的に設定することができる。
According to the motor control device according to one aspect of the present invention, the variable k related to the order of the command can be arbitrarily selected, and therefore the variable k can be an integer. In order to obtain the variable a, it is not necessary to obtain the variable a by previously setting the variable a as 1 and obtaining the movement distance Id for the entire movement time and finally dividing the actual movement distance dist by Id. The calculation time is greatly reduced. As a result, the target value can be changed.
In addition, since there is a damping term in the numerator of the command filter, the case where the resonance of the controlled object is originally attenuated, or when the controlled object pole moves due to the design of the control system, it has complete attenuation. It is possible to suppress vibration.
In addition, since the natural vibration angular frequency ωc and the damping coefficient ζ when the entire system is approximated by a second-order lag system are set, vibration is completely suppressed even when the pole is moved by the control system and the pole frequency is changed. be able to.
Further, the control system can be designed in any way, and it is not necessary to use a motor disturbance observer as in the prior art.
In addition, by using a time function that can suppress vibration by adjusting a variable k related to the command order instead of an S-shape command, not only the load vibration but also the motor can be operated smoothly. . As a result, it becomes possible to cope with the target value change.
In addition, since there is a damping term in the numerator of the command filter, the case where the resonance of the controlled object is originally attenuated, or when the controlled object pole moves due to the design of the control system, it has complete attenuation. It is possible to suppress vibration.
In addition, since the natural vibration angular frequency ωc and the damping coefficient ζ when the entire system is approximated by a second-order lag system are set, vibration is completely suppressed even when the pole is moved by the control system and the pole frequency is changed. be able to.
Further, the control system can be designed in any way, and it is not necessary to use a motor disturbance observer as in the prior art.
In addition, by using a time function that can suppress vibration by adjusting a variable k related to the command order instead of an S-shape command, not only the load vibration but also the motor can be operated smoothly. .
Further, according to the invention described in claim 4, since the slowest vibration root can be calculated analytically by the mathematical formula and ωc and ζ that are the variables of the command filter can be determined as they are, the control object can be easily obtained. Variables can be set.
According to the seventh and eighth aspects of the invention, since the relationship between the movement time tb or the acceleration / deceleration time ta and ωs can be obtained analytically based on the boundary condition, the variable k and the movement time tb or the acceleration / deceleration are obtained. When time ta is given, ωs can be accurately calculated by a mathematical expression, and the denominator variable of the command filter can be automatically set.
本発明の１つ目の他の観点によるモータ制御装置によると、加速，一定速，減速区間を場合わけした指令を用いることで，速度の最大値に制限がある場合や動作速度を指定されている場合も問題なく本アイデアを使用でき，本発明の一の観点によるモータ制御装置と同様の効果が得られる。
According to the motor control device according to the first other aspect of the present invention, by using a command in which acceleration, constant speed, and deceleration sections are separated , the maximum speed value is limited or the operation speed is specified. In this case, the present idea can be used without any problem, and the same effect as the motor control device according to one aspect of the present invention can be obtained.
本発明の２つ目又は３つ目の他の観点によるモータ制御装置によると、特別な時間関数と特別な伝達特性を併せ持つ時間関数ｒｅｆを指令関数とすることにより，位置指令だけで振動が抑制でき、指令フィルタを用いないことで，フィルタの演算精度が十分に得られない場合に本来の制振効果が劣化するという問題がなくなる。またフィルタの出力をクランプする処理を追加する必要がなくなる。また，指令フィルタ処理後の位置の監視が不要となり演算量が少なくてよくなる。
また、本発明の３つ目の他の観点によるモータ制御装置によると、加速、一定速、減速といった区間に場合分けされる、いわゆる台形速度指令のように一定の速度で動作する動きも実現でき、本発明の一の観点によるモータ制御装置と同等の効果が得られる。
また、本発明の２つ目又は３つ目の他の観点によるモータ制御装置によると、パラメータｋを決定すれば、振動抑制できるωｓを自動的に演算で求めることができるため、実際に設定あるいは調整するパラメータは、２次遅れ系で近似した際の分母の伝達関数の変数である振動周波数ωｃと減衰係数ζの２つのみで良くなり簡単に位置指令を作成することができる。
According to the motor control apparatus according to the second or third aspect of the present invention , the vibration is suppressed only by the position command by using the time function ref having both a special time function and a special transfer characteristic as a command function. In addition, by not using the command filter, there is no problem that the original damping effect is deteriorated when the calculation accuracy of the filter is not sufficiently obtained. Further, it is not necessary to add a process for clamping the output of the filter. In addition, it is not necessary to monitor the position after the command filter processing, and the amount of calculation is reduced.
In addition, according to the motor control device of the third other aspect of the present invention, a motion that operates at a constant speed such as a so-called trapezoidal speed command divided into sections such as acceleration, constant speed, and deceleration can be realized. An effect equivalent to that of the motor control device according to one aspect of the present invention can be obtained.
In addition, according to the motor control device of the second or third aspect of the present invention, if the parameter k is determined, ωs that can suppress vibration can be automatically obtained by calculation. Only two parameters, the vibration frequency ωc and the damping coefficient ζ, which are variables of the transfer function of the denominator when approximated by a second-order lag system, need to be adjusted, and a position command can be easily created.
Claims (10)
前記移動距離（ｄｉｓｔ）に依存する変数（ａ）及び前記移動時間（ｔｂ）を含む速度時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算する前記指令演算部と、
前記移動時間（ｔｂ）と前記指令次数に関する変数（ｋ）に基づいて、第１の指令フィルタ変数（ωｓ）を演算するフィルタ定数演算部と、
前記指令演算部が演算した前記位置指令（ｒｅｆ）、前記フィルタ定数演算部が演算した前記第１の指令フィルタ変数（ωｓ）、所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を含むフィルタ伝達関数に基づいて、後退差分、前進差分、双一次変換のいずれか１つを用いて新たな位置指令（ｒｅｆｃ）を演算する指令フィルタ演算部と、
前記新たな位置指令（ｒｅｆｃ）及び制御対象に付加された検出器で検出される位置検出信号に基づいて、前記制御対象であるモータを駆動するための制御演算を行う制御演算部と、を備えた
ことを特徴とするモータ制御装置。 A command condition setting unit that sets a variable (k) relating to the movement distance (dist), the movement time (tb), and the command order to the command calculation unit ;
The command calculation unit that calculates a position command (ref) for each command payout period based on a speed time function including a variable (a) that depends on the travel distance (dist) and the travel time (tb) ;
A filter constant calculator that calculates a first command filter variable (ωs) based on the travel time (tb) and the variable (k) related to the command order;
The position command (ref) calculated by the command calculation unit, the first command filter variable (ωs) calculated by the filter constant calculation unit, and predetermined second and third command filter variables (ωc, ζ). A command filter calculation unit that calculates a new position command (refc) using any one of a backward difference, a forward difference, and a bilinear transformation based on a filter transfer function ;
A control calculation unit that performs a control calculation for driving the motor that is the control target, based on the new position command (refc) and a position detection signal that is detected by a detector added to the control target. A motor control device characterized by that.
前記所定の第２及び第３指令フィルタ変数（ωｃ，ζ）をそれぞれ、
前記制御演算部と前記制御対象とを合わせた全システムを、２次遅れ系で近似した際の固有振動角周波数と減衰係数に設定される
ことを特徴とする請求項１記載のモータ制御装置。 The command filter calculation unit is
The predetermined second and third command filter variables (ωc, ζ), respectively;
It is set to the natural vibration angular frequency and the damping coefficient when the entire system including the control calculation unit and the controlled object is approximated by a second-order lag system.
The motor control device according to claim 1.
前記所定の第２及び第３指令フィルタ変数（ωｃ，ζ）をそれぞれ、The predetermined second and third command filter variables (ωc, ζ), respectively;
前記制御演算部と前記制御対象とを合わせた全システムの最も遅い振動根の固有振動角周波数と減衰係数に設定されるIt is set to the natural vibration angular frequency and damping coefficient of the slowest vibration root of the entire system including the control calculation unit and the controlled object.
ことを特徴とする請求項２記載のモータ制御装置。The motor control device according to claim 2.
前記指令次数に関する変数（ｋ）を任意の正の整数した場合、When the variable (k) related to the command order is an arbitrary positive integer,
前記速度時間関数に基づく速度及び加速度が、時刻０（ゼロ）及び時刻前記移動時間（ｔｂ）で０（ゼロ）になる境界条件を満たす、前記移動時間（ｔｂ）、前記指令次数に関する変数（ｋ）、前記第１の指令フィルタ変数（ωｓ）との関係から、前記第１の指令フィルタ変数（ωｓ）を演算するA variable (k) relating to the movement time (tb) and the command order satisfying a boundary condition that the velocity and acceleration based on the velocity time function satisfy 0 (zero) at the time 0 (zero) and the movement time (tb). ), Calculating the first command filter variable (ωs) from the relationship with the first command filter variable (ωs).
ことを特徴とする請求項１または２に記載のモータ制御装置。The motor control device according to claim 1, wherein the motor control device is provided.
加減速時間（ｔａ）と一定速度時間（ｔｃ）を、前記指令演算部に対して更に設定し、An acceleration / deceleration time (ta) and a constant speed time (tc) are further set for the command calculation unit,
前記指令演算部は、The command calculation unit is
速度に依存する変数（ａｄ）及び前記加減速時間（ｔａ）、前記一定速度時間（ｔｃ）を含む加速度時間関数に基づいて、指令払い出し周期毎に位置指令を演算し、Based on an acceleration time function including a variable (ad) dependent on speed (ad), the acceleration / deceleration time (ta), and the constant speed time (tc), a position command is calculated for each command payout period,
前記フィルタ定数演算部は、The filter constant calculator is
前記加減速時間（ｔａ）と前記指令次数に関する変数（ｋ）に基づいて、第１の指令フィルタ変数（ωｓ）を演算するA first command filter variable (ωs) is calculated based on the acceleration / deceleration time (ta) and the variable (k) related to the command order.
ことを特徴とする請求項１−３のいずれか１項に記載のモータ制御装置。The motor control device according to claim 1, wherein the motor control device is a motor control device.
前記指令次数に関する変数（ｋ）を任意の正の整数した場合、When the variable (k) related to the command order is an arbitrary positive integer,
前記加速度時間関数に基づく加速度及び躍度が、時刻０（ゼロ）及び時刻前記加減速時間（ｔａ）で０（ゼロ）になる境界条件を満たす、前記加減速時間（ｔａ）、前記指令次数に関する変数（ｋ）、前記第１の指令フィルタ変数（ωｓ）との関係から、前記第１の指令フィルタ変数（ωｓ）を演算するThe acceleration / deceleration time (ta), which is based on the acceleration time function, satisfies the boundary condition of 0 (zero) and 0 (zero) at the time of acceleration / deceleration time (ta). The first command filter variable (ωs) is calculated from the relationship between the variable (k) and the first command filter variable (ωs).
ことを特徴とする請求項５に記載のモータ制御装置。The motor control device according to claim 5.
前記指令条件設定部は、The command condition setting unit
前記制御演算部と前記制御対象とを合わせた全システムを、２次遅れ系で近似した際の固有振動角周波数と減衰係数にそれぞれ設定される、前記所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を前記指令演算部に対して更に設定し、The predetermined second and third command filter variables (respectively) set to the natural vibration angular frequency and the damping coefficient when the entire system including the control calculation unit and the control target is approximated by a second-order lag system. ωc, ζ) is further set for the command calculation unit,
前記指令定数演算部は、The command constant calculator is
前記移動時間（ｔｂ）と前記指令次数に関する変数（ｋ）に基づいて、前記第１の指令フィルタ変数（ωｓ）を演算し、Based on the travel time (tb) and the variable (k) related to the command order, the first command filter variable (ωs) is calculated,
前記指令演算部は、The command calculation unit is
前記前記指令定数演算部が演算した前記第１の指令フィルタ変数（ωｓ）、前記所定の第２及び第３指令フィルタ変数（ωｃ，ζ）を含むフィルタ特性と、前記移動距離（ｄｉｓｔ）に依存する変数（ａ）及び前記移動時間（ｔｂ）とを含む時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算し、Depends on the filter characteristic including the first command filter variable (ωs) calculated by the command constant calculation unit, the predetermined second and third command filter variables (ωc, ζ), and the moving distance (dist) A position command (ref) is calculated for each command payout period based on a time function including the variable (a) to be performed and the travel time (tb)
前記制御演算部は、The control calculation unit is
該位置指令（ｒｅｆ）に基づいて前記モータを駆動するための制御演算を行うControl calculation for driving the motor is performed based on the position command (ref).
ことを特徴とする請求項１−６のいずれか１項に記載のモータ制御装置。The motor control device according to claim 1, wherein the motor control device is a motor control device.
前記指令次数に関する変数（ｋ）を任意の正の整数した場合、When the variable (k) related to the command order is an arbitrary positive integer,
前記速度時間関数に基づく速度及び加速度が、時刻０（ゼロ）及び時刻前記移動時間（ｔｂ）で０（ゼロ）になる境界条件を満たす、前記移動時間（ｔｂ）、前記指令次数に関する変数（ｋ）、前記第１の指令フィルタ変数（ωｓ）との関係から、前記第１の指令フィルタ変数（ωｓ）を演算するA variable (k) relating to the movement time (tb) and the command order satisfying a boundary condition that the velocity and acceleration based on the velocity time function satisfy 0 (zero) at the time 0 (zero) and the movement time (tb). ), Calculating the first command filter variable (ωs) from the relationship with the first command filter variable (ωs).
ことを特徴とする請求項７に記載のモータ制御装置。The motor control device according to claim 7.
加速時間（ｔａ１）と一定速度時間（ｔｃ）と減速時間（ｔａ２）とを、前記指令演算部に対して更に設定し、An acceleration time (ta1), a constant speed time (tc), and a deceleration time (ta2) are further set for the command calculation unit,
前記指令演算部は、The command calculation unit is
速度に依存する変数（ａ１）及び変数（ａ２）、並びに前記加速時間（ｔａ１）、前記一定速度時間（ｔｃ）、前記減速時間（ｔａ２）を含む加速度時間関数に基づいて、指令払い出し周期毎に位置指令（ｒｅｆ）を演算するBased on the acceleration time function including the variable (a1) and variable (a2) depending on the speed, the acceleration time (ta1), the constant speed time (tc), and the deceleration time (ta2), for each command payout period. Calculate position command (ref)
ことを特徴とする請求項７記載のモータ制御装置。The motor control apparatus according to claim 7.
前記指令次数に関する変数（ｋ）を任意の正の整数した場合、When the variable (k) related to the command order is an arbitrary positive integer,
前記加速度時間関数に基づく加速度及び躍度が、時刻０（ゼロ）及び時刻前記加減速時間（ｔａ）で０（ゼロ）になる境界条件を満たす、前記加減速時間（ｔａ）、前記指令次数に関する変数（ｋ）、前記第１の指令フィルタ変数（ωｓ）との関係から、前記第１の指令フィルタ変数（ωｓ）を演算するThe acceleration / deceleration time (ta), which is based on the acceleration time function, satisfies the boundary condition of 0 (zero) and 0 (zero) at the time of acceleration / deceleration time (ta). The first command filter variable (ωs) is calculated from the relationship between the variable (k) and the first command filter variable (ωs).
ことを特徴とする請求項５に記載のモータ制御装置。The motor control device according to claim 5.
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