JP2011172317A - Motor control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control device which can easily adjust a parameter in a model control system and also can achieve positioning without vibration at higher speed without causing a torque command output from a model speed controller to be excessive. <P>SOLUTION: The model control system 1 includes a first inertial system mechanical model about a motor, a second inertial system mechanical model about a load, a torsional torque model about a torsional torque between the motor and the load, a first state feedback system which feeds back a feedback acceleration command S10 to a model torque commanding part 8, and a second state feedback system which feeds back a feedback speed command S5 to a model speed commanding part 5. A parameter in a model control system is decided based on the relational expression of a parameter that is obtained by making calculations so that a characteristic equation obtained from a model control system's state equation may have a quadruple root. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a motor control device that drives a machine such as a robot and performs positioning at high speed.

  One method for positioning a machine at a high speed by a motor control device is model following control. Model follow-up control is a control method in which a model control system that simulates an actual control system is constructed, and a feedback control system is driven so as to follow this model control system. FIG. 3 shows a configuration of a motor control device using conventional model following control disclosed in Japanese Patent Application Laid-Open No. Sho 62-217304 (Patent Document 1). In the conventional apparatus, the deviation between the position command and the model position is taken, and the model speed command is output through the model position controller. The deviation between the model speed command and the model speed is taken, and the model torque command is output through the model speed controller. A model torque command is passed through the motor machine model to calculate the model speed. The model speed is passed through the integrator to calculate the model position. The difference between the model position and the motor position detected by the encoder is taken and a speed command is output through the position controller. The deviation between the speed command and the model speed and the speed detection value is taken, and the torque command is output through the speed controller. The torque command and the model torque command are added and the motor is driven through the torque controller to control the motor torque.

Here, in the motor machine model, the motor side inertia is JM, the load side inertia is JL,
Motor machine model = 1 / {(JM + JL) S}
It is expressed. Thus, by configuring the model following control, the command response characteristic and the disturbance response characteristic can be controlled independently. The disturbance response is restricted by high frequency resonance of the mechanical system and cannot be made higher than a certain level. Since the model response is not affected, the model response can be enhanced. Thereby, a command response can be improved and high-speed positioning of the machine can be realized.

  As described above, when the mechanical system is a rigid body, high-speed positioning can be realized by performing model following control using the motor machine model as a rigid body. However, in an actual mechanical system, there is a portion with low rigidity, which causes vibration. As shown in FIG. 4, a machine such as a robot can be regarded as a mechanical system that is approximately coupled by a torsional rigidity having low inertia on the motor side and low inertia on the load side. In such a machine, when the motor is driven, vibration is generated due to the motor side inertia, the load side inertia, and the rigidity therebetween.

  As a method of suppressing such vibration of the two-inertia system, there is a method of inserting a pre-filter in the position command input unit. FIG. 5 is a block diagram for suppressing the vibration of the two-inertia system by the prefilter. For example, vibration can be suppressed by inserting a notch filter as a pre-filter and setting the notch frequency to the vibration frequency. However, when the prefilter is used, there is a problem that the positioning settling time cannot be sufficiently shortened due to the delay of the filter.

  As another method for suppressing vibration of a two-inertia system, a motor control device using model following control is disclosed in Japanese Patent Application Laid-Open No. 8-168280 (Patent Document 2). FIG. 1 of Patent Document 2 shows a configuration of a motor control device that performs model following control. In this motor control device, an electric motor simulation circuit, a load machine simulation circuit, and a torque transmission mechanism simulation circuit are mounted in a first control system (model control system). The motor control device also includes compensation torque calculation means for receiving a compensation torque signal by inputting a deviation command between the simulation speed command from the electric motor model and the simulation speed command from the load machine model. The motor model or torque control means is controlled by a deviation command obtained by subtracting the compensation torque signal from the compensation torque calculation means from the first torque signal from the first speed control means. The compensation torque calculation circuit is composed of a proportional integration controller.

Japanese Patent Laid-Open No. 62-217304 JP-A-8-168280

  In the conventional motor control device disclosed in Patent Document 2, a characteristic equation of a model control system is established. However, Patent Document 2 does not clearly show how to set the control parameter by solving the equation in order to perform positioning at high speed and prevent vibration. For this reason, setting control parameters using Patent Document 2 has not been actually implemented. For this reason, in practice, when the configuration shown in Patent Document 2 is used, it is necessary to adjust each parameter by cut-and-try, and there is a problem that it takes time for the adjustment. In addition, using the configuration disclosed in Patent Document 2, a simulation test is performed to determine whether each parameter can be adjusted by cut-and-try, positioning can be performed at high speed, and vibration can be prevented. From the result of the experiment, the model torque command output from the model speed controller (first speed control circuit) is the torque that can be output by the motor as shown in FIG. 6B [vertical of FIG. It has been found that the value becomes larger than the value of ± 2 or less on the axis scale [value of ± 7 or more on the scale of the vertical axis in FIG. 6B]. Therefore, in order to perform positioning at a high speed with the conventional motor control device, it is necessary to make the model speed controller (first speed control circuit) compatible with an excessive torque. However, since dealing with an excessive torque leads to a decrease in calculation accuracy and an increase in calculation time, it is desired to suppress the handling to an excessive torque as much as possible. 6A shows a position command (differential value), and FIG. 6C shows a position deviation.

  An object of the present invention is to provide a motor control apparatus that can easily adjust parameters of a model control system, and that can achieve positioning without vibrations without excessive torque commands and without vibrations. The purpose is to provide.

  In addition to the above object, another object of the present invention is to provide a motor control device that can easily adjust parameters of a model control system with one parameter.

  A motor control apparatus according to the present invention includes a model position controller that simulates an actual motor control system, a model speed command unit, a model speed controller, and a model torque command unit. And a speed controller and a torque controller, and configured to follow the model control system, and a feedback control system that feedback-controls an actual motor.

The model control system generates a model motor side acceleration command S14 and a model motor side speed command S7, generates a first inertial machine model of the motor, a model load side acceleration command S15, and a model load side speed command S16. A second inertial machine model of the load, a torsional torque model of the torsional torque between the motor and the load, and a model that is a deviation between the model load side acceleration command S15 and the model motor side acceleration command S14 A first state feedback system that feeds back a feedback acceleration command S10 obtained by multiplying the side acceleration deviation command S18 by a gain K _AB to a model torque command unit that generates a model torque deviation command S11; a model load side speed command S16; Model-side speed deviation command S19 comprising a deviation from the model motor-side speed command S7 A feedback speed command S5, obtained by multiplying the gain K _VB, and a second state feedback system for state feedback to the model speed command unit. In the motor control device of the present invention, the parameters of the model control system are determined based on the parameter relational expression obtained by calculating the characteristic equation obtained from the state equation of the model control system so as to have a quadruple root. .

  In the present invention, the parameters of the model control system are determined using a two-inertia machine model and applying the modern control theory so that the root of the characteristic equation of the model control system becomes a multiple root. Therefore, when setting the control parameters, the poles in the characteristic equation are determined by the gain of the model position controller, and if the gain of the position controller of the feedback system can be made high, mechanical vibration does not occur at a much higher speed than before. Positioning can be realized.

  In a more specific motor control device according to the present invention, the model control system includes a first deviation calculation unit, a model position controller, a second deviation calculation unit, a third deviation calculation unit, and a model speed control. , Fourth deviation calculation unit, fifth deviation calculation unit, first inertial machine model, second inertial machine model, sixth deviation calculation unit, model load acceleration A command generation unit, a seventh deviation calculation unit, a model speed command generation unit, an eighth deviation calculation unit, and a torsion torque command generation unit are provided.

  The first deviation calculation unit calculates a deviation between the position command S1 and the model motor side position command S2, and outputs this deviation as a model position deviation command S3. The model position controller receives the model position deviation command S3 and outputs a model speed command S4.

  The second deviation calculator calculates the deviation between the model speed command S4 and the feedback speed command S5, and outputs this deviation as the first model speed deviation command S6. The second deviation calculation unit constitutes a model speed command unit.

  The third deviation calculator calculates the deviation between the first model speed deviation command S6 and the model motor side speed command S7, and outputs this deviation as the second model speed deviation command S8. The model speed controller receives the second model speed deviation command S8 and outputs a model torque command S9.

  The fourth deviation calculation unit calculates a deviation between the model torque command S9 and the feedback acceleration command S10 input from the first state feedback system F1, and outputs this deviation as the first model torque deviation command S11. . The fourth deviation calculation unit constitutes a model torque command unit.

  The fifth deviation calculator calculates the deviation between the first model torque deviation command S11 and the torsion torque command S12 representing the torsion torque, and outputs this deviation as the second model torque deviation command S13.

  The mechanical model of the first inertia system receives the second model torque deviation command S13 and generates a model motor side acceleration command S14, a model motor side speed command S7, and a model motor side position command S2.

The mechanical model of the second inertia system receives a torsion torque command as an input, and generates a model load side acceleration command S15, a model load side speed command S16, and a model load side position command S17. The sixth deviation calculator calculates a deviation between the model motor side acceleration command S14 and the model load side acceleration command S15, and outputs this deviation as a Dell side acceleration deviation command S18. The model acceleration command generation unit multiplies the model side acceleration deviation command S18 by the first gain K _AB to generate a feedback acceleration command S10. The sixth deviation calculator and the model acceleration command generator constitute a first state feedback system.

The seventh deviation calculator calculates the deviation between the model motor side speed command S7 and the model load side speed command S16, and outputs this deviation as the model side speed deviation command S19. The model speed command generator generates a feedback speed command S5 by multiplying the model side speed deviation command S19 by the second gain K _VB . The seventh deviation calculator and the model speed command generator constitute a second state feedback system.

The eighth deviation calculation unit calculates a deviation between the model load side position command S17 and the model motor side position command S2, and outputs this deviation as a model side position deviation command S20. Torsional torque command generating unit generates a torque command S12 torsional model side position difference command S20 by multiplying the third gain K _B.

In the present invention, the gain of the model position controller is K _P , the gain of the model speed controller is K _V , the motor side inertia is J _M , the load side inertia is J _L, and further obtained from the state equation of the model control system. When the pole of the characteristic equation is K, the relational equation obtained by calculating the characteristic equation to have a quadruple root,
K = -4K _P
K _V = −K _B (J _M + J _L ) / [1.5 K _B / K + K _P J _L ]
K _AB = K _V K _B / (− 4K ³ J _L ) −J _M
K _VB = -4K (J _M + K _AB ) / K _V -1
The parameters of the model control system are determined based on the above.

In the specific motor control device of the present invention, when the first and second inertial machine models are used, the model side acceleration deviation command which is the deviation between the model load side acceleration command S15 and the model motor side acceleration command S14. The state of S18 is fed back to the fourth deviation calculation unit that constitutes the model torque command unit that generates the model torque deviation command S11. In addition, state feedback of the model side speed deviation command S19, which is the deviation between the model motor side speed command S7 and the model load side speed command S16, is fed back to the second deviation calculation unit constituting the model speed command unit. Each parameter of the model control system is determined based on a relational expression obtained by applying modern control theory so that the root of the characteristic equation of the model control system has a quadruple root. Thereby, all parameters on the model side can be determined by one parameter of the gain K _P of the position controller of the model control system, and the adjustment of the parameters of the model control system can be easily performed. Moreover, the torque command output from the model speed controller falls within the torque that can be output by the motor. Furthermore, in the parameter setting, if the above relational expression is used, the pole is determined by the gain K _P of the model position controller. Therefore, when the gain of the position controller of the feedback system can be made high, it is much faster than in the past. Positioning without mechanical vibration can be realized.

In particular, K _P is set to the same value as the gain of the position detector of the feedback control system, and the motor side inertia J _M , the load side inertia J _L , and the gain K _B indicating torsional rigidity are set to the same values as those of the actual mechanical system. Thus, when the first gain K _AB , the second gain K _VB , and the model speed controller gain K _V are determined based on the above relational expression, the most effective control effect can be obtained.

It is a block diagram which shows the structure of an example of embodiment of this invention. (A) thru | or (C) are the simulation results of the position command at the time of positioning in embodiment of FIG. 1, the model torque command from a model speed controller, and a model side position deviation command. It is a figure which shows the structure of the motor control apparatus using the conventional model follow-up control shown by patent document 1. FIG. It is a figure used in order to explain that it can be regarded as a mechanical system that is approximately coupled by torsional rigidity with low inertia on the motor side and low inertia on the load side. It is a block diagram of the conventional apparatus which suppresses the vibration of 2 inertia systems by a pre filter. (A) thru | or (C) are the simulation results of the position command at the time of positioning in the apparatus of patent document 2, the model torque command from a model speed controller, and the model side position deviation command.

  An example of an embodiment of a motor control device of the present invention will be described in detail with reference to the drawings. In the present embodiment shown in FIG. 1, in the motor control apparatus using the model control system 1 and the feedback control system 2, the motor-side model acceleration command S14 is used using the first and second inertial machine models. And the machine side model acceleration command S15, that is, the model side acceleration deviation command S18, and the model motor side speed signal S7 and the model load side speed command S16, ie, the model side speed deviation command S19, are fed back. Then, modern control theory is applied to determine the parameters of the model control system so that the control system is stable and does not generate vibration.

  Specifically, in the motor control apparatus, the model control system 1 includes a first deviation calculation unit 3, a model position controller 4, a second deviation calculation unit 5 constituting a model speed command unit, and a third It consists of a deviation calculation unit 6, a model speed controller 7, a fourth deviation calculation unit 8 constituting a model torque command unit, a fifth deviation calculation unit 9, a motor side model 10, and integrators 11 and 12. A first inertial machine model, a load-side model 13, a second inertial machine model comprising integrators 14 and 15, a sixth deviation calculator 16, a model acceleration command generator 17, 7 deviation calculation unit 18, model speed command generation unit 19, eighth deviation calculation unit 20, and torsion torque command generation unit 21. The feedback control system 2 includes a ninth deviation calculation unit 22, a position controller 23, a tenth deviation calculation unit 24, a differentiator 25, a speed controller 26, an addition calculation unit 27, and a torque controller. 28. In FIG. 1, a symbol M indicates a motor, a symbol L indicates a machine as a load, and a symbol PS indicates a rotational position sensor including an encoder or the like that detects a rotational position of a rotor of the motor M.

  The first deviation calculation unit 3 calculates a deviation between the position command S1 output from the host controller and the model motor side position command S2 output from the integrator 12, and uses this deviation as a model position deviation command S3 as a model. Output to the position controller 4. The model position controller 4 receives the model position deviation command S3 and outputs a model speed command S4. The second deviation calculator 5 calculates the deviation between the model speed command S4 and the feedback speed command S5 fed back from the second state feedback system F2, and uses this deviation as the first model speed deviation command S6. 3 to the deviation calculation unit 6. In the present embodiment, the second deviation calculator 5 constitutes a model speed command unit. The third deviation calculation unit 6 calculates a deviation between the first model speed deviation command S6 and the model motor side speed command S7 output from the integrator 11, and this difference is supplied to the model speed controller 7 as a second value. Is output as a model speed deviation command S8. The model speed controller 7 receives the second model speed deviation command S8 and outputs a model torque command S9.

  The fourth deviation calculation unit 8 calculates the deviation between the model torque command S9 and the feedback acceleration command S10, and outputs this deviation as the first model torque deviation command S11. In the present embodiment, the fourth deviation calculation unit 8 constitutes a model torque command unit. The fifth deviation calculation unit 9 calculates the deviation between the first model torque deviation command S11 and the torsion torque command S12 representing the torsion torque output from the torsion torque command generation unit 21, and calculates this deviation as the second Output as model torque deviation command S13. The second model torque deviation command S13 is given to the motor side model 10 and the addition operation unit 27.

The mechanical model of the first inertial system includes a motor side model 10 and integrators 11 and 12. The motor-side model 10 multiplies the second model torque deviation command S13 by a gain of 1 / J _M considering the motor-side inertia J _M and outputs the result as a model motor-side acceleration command S14. The integrator 11 integrates the model motor side acceleration command S14 and outputs the result as a model motor side speed command S7 to the integrator 12, the third deviation calculation unit 6, and the tenth deviation calculation unit 24. The integrator 12 integrates the model motor side speed command S7 and outputs a model motor side position command S2. The model motor side speed command S7 is given to the first deviation calculation unit 3 and the ninth deviation calculation unit 22.

The mechanical model of the second inertial system includes a load side model 13 and integrators 14 and 15. The load-side model 13 receives a torsion torque command S12, which will be described later, and multiplies the torsion torque command S12 by 1 / J _L considering the load-side inertia J _L to generate a model load-side acceleration command S15. The integrator 14 integrates the model load side acceleration command S15 and outputs a model load side speed command S16, and the integrator 15 integrates the model load side speed command S16 to generate a model load side position command S17.

The sixth deviation calculator 16 calculates the deviation between the model motor side acceleration command S14 and the model load side acceleration command S15, and outputs this deviation as the model side acceleration deviation command S18. The model acceleration command generator 17 multiplies the model-side acceleration deviation command S18 by the first gain K _AB to generate a feedback acceleration command S10. In the present embodiment, the sixth deviation calculation unit 16 and the model acceleration command generation unit 17 constitute a first state feedback system F1.

The seventh deviation calculator 18 calculates the deviation between the model motor side speed command S7 and the model load side speed command S16, and outputs this deviation as the model side speed deviation command S19. The model speed command generator 19 multiplies the model side speed deviation command S19 by the second gain K _VB to generate a feedback speed command S5. In the present embodiment, the seventh deviation calculator 18 and the model speed command generator 19 constitute a second state feedback system F2.

The eighth deviation calculation unit 20 calculates the deviation between the model load side position command S17 and the model motor side position command S2, and outputs this deviation as the model side position deviation command S20. Torsional torque command generating unit 21 generates a torque command S12 twisting by multiplying the third gain K _B showing the torsional stiffness in the model side position difference command S20.

  In the present embodiment, the ninth deviation calculation unit 22 takes the deviation between the model motor side position command S2 and the motor position detected by the position sensor PS composed of an encoder, and gives this deviation S22 to the position controller 23. The position controller 23 calculates a speed command S22. The tenth deviation calculator 24 adds the model motor side speed command S7 and the speed command S22 from the position controller 23, and differentiates the motor position detected by the position detector PS with this differentiator with the differentiator 25. The deviation from the measured speed S23 is taken, and this deviation S24 is given to the speed controller 26. The speed controller 26 calculates a torque command S25. The addition calculation unit 27 adds the torque command S25 from the speed controller 26 and the second model torque deviation command S13 that is the motor-side model torque command, and the addition result is given to the torque controller 28. The motor M is driven based on the output S27 from.

In the present embodiment, when the gain of the model position controller is K _P , the gain of the model speed controller is K _V , the motor side inertia is J _M , and the load side inertia is J _L , the state of the model control system The equation is as follows:

Then, when the pole of the characteristic equation obtained from the state equation of the model control system is K, the relational expression obtained by calculating the characteristic equation to have a quadruple root,
K = -4K _P
K _V = −K _B (J _M + J _L ) / [1.5 K _B / K + K _P J _L ]
K _AB = K _V K _B / (− 4K ³ J _L ) −J _M
K _VB = -4K (J _M + K _AB ) / K _V -1
Based on the above, parameters of the model control system 1 are determined.

When the parameters are determined in this way, all the parameters on the model control system 1 side can be determined by one parameter of the gain K _P of the model position controller 4 of the model control system 1, and the adjustment of the parameters of the model control system is easy. it can. Moreover, the model torque command output from the model speed controller 7 falls within the torque that can be output by the motor M. Further, in the parameter setting, if the above relational expression is used, the pole is determined by the gain K _P of the model position controller 4, and therefore, when the gain of the position controller 23 of the feedback system can be made high, compared with the conventional case, Positioning that does not cause mechanical vibration at high speed can be realized.

In particular, the gain K _P of the model position controller 4 to the same value as the gain of the feedback control system 2 of the position controller 23, motor side inertia J _M, load inertia J _L, torsional rigidity of the actual gain K _B shown When the first gain K _AB , the second gain K _VB , and the model speed controller gain K _V are determined based on the above relational expression, with the same value as that of the mechanical system L, the most effective control is achieved. An effect can be obtained.

Specific parameters are set as follows. The gain of the position controller 23 and the gain of the speed controller 24 are adjusted as high as possible within a range in which the harmonic resonance of the mechanical system is not excited. The gain K _P of the model position controller 4 of the model control system 1 is set to the same value as that of the feedback system. Inertia J _M of the model control system, load inertia J _L, the gain shows a torsional stiffness K _B parameters match the actual value of the mechanical system. Based on these parameters, the first gain K _AB and the second gain K _VB of the first and second state feedbacks F1 and F2 are calculated. In this way, the feedback system parameters are adjusted according to the actual mechanical system, and the parameters of the model control system are determined accordingly. The parameters on the model control system 1 side are determined by adjusting only the gain KP of the model position controller 4, and all the parameters in the model are determined. The parameters of the model control system, that is, the gains K _P, Kv, K _AB and K _VB are individually determined. There is no need to adjust.

  2A to 2C show the position command (differential value) when positioning is performed using the parameters calculated in this way, the model torque command S9 from the model speed controller 7, and the model side position deviation. It is a simulation result of command S20. As can be seen by comparing the model torque command S9 from the model speed controller 7 shown in FIG. 2 (B) with the model torque command of the conventional device of Patent Document 2 in FIG. 6 (B), vibration on the load side is suppressed. Therefore, high-speed positioning can be realized.

Further, in the present embodiment, the acceleration of the difference between the model motor side acceleration command S14 and the model load side acceleration command S15, that is, the feedback acceleration command S10 obtained by multiplying the model side acceleration deviation command S18 by the gain K _AB is used as the model torque command calculation unit. 4 is fed back to the deviation calculator 8. Further, a second deviation calculating unit 5 which becomes a model speed command calculating unit uses a feedback speed command S5 obtained by multiplying the speed of the difference between the model motor side speed command S7 and the model load side speed command S16, that is, the model side speed deviation command S19 by a gain K _VB State feedback. As a result, the torque command output from the model speed controller 7 falls within the range of torque that can be output by the motor.

In the present invention, when the first and second inertial machine models are used, the model side acceleration deviation command S18, which is the deviation between the model load side acceleration command S15 and the model motor side acceleration command S14, is used as the model torque deviation command S11. Is fed back to the fourth deviation calculating unit constituting the model torque command unit for generating In addition, state feedback of the model side speed deviation command S19, which is the deviation between the model motor side speed command S7 and the model load side speed command S16, is fed back to the second deviation calculation unit constituting the model speed command unit. Each parameter of the model control system is determined based on a relational expression obtained by applying modern control theory so that the root of the characteristic equation of the model control system has a quadruple root. Thereby, all the parameters on the model side can be determined by one parameter of the gain K _P of the position controller of the model control system, and the advantage that the adjustment of the parameters of the model control system can be easily obtained. Moreover, the torque command output from the model speed controller falls within the torque that can be output by the motor. Furthermore, since the pole is determined by the gain K _P of the model position controller in the parameter setting, if the gain of the feedback position controller can be made high, there is an advantage that positioning that does not cause mechanical vibration can be realized at a very high speed. It is done.

DESCRIPTION OF SYMBOLS 1 Model control system 2 Feedback control system 3 1st deviation calculating part 4 Model position controller 5 2nd deviation calculating part 6 3rd deviation calculating part 7 Model speed controller 8 4th deviation calculating part 9 5th Deviation calculation unit 10 Motor side model 11, 12 Integrator 13 Load side model 14, 15 Integrator 16 Sixth deviation calculation unit 17 Model acceleration command generation unit 18 Seventh deviation calculation unit 19 Model speed command generation unit 20 Eighth Deviation calculation unit 21 torsion torque command generation unit 22 ninth deviation calculation unit 23 position controller 24 tenth deviation calculation unit 25 differentiator 26 speed controller 27 addition calculation unit 28 torque controller M motor PS position sensor

Claims (5)

A model control system simulating an actual motor control system;
A motor control device including a position controller, a speed controller, and a torque controller, configured to follow the model control system, and having a feedback control system for feedback control of the actual motor;
The model control system is
A first deviation calculator that calculates a deviation between the position command S1 and the model motor side position command S2 indicating the model motor side position, and outputs the deviation as a model position deviation command S3;
A model position controller that receives the model position deviation command S3 as an input and outputs a model speed command S4;
A second deviation calculator that calculates a deviation between the model speed command S4 and the feedback speed command S5, and outputs the deviation as a first model speed deviation command S6;
A third deviation calculator that calculates a deviation between the first model speed deviation command S6 and the model motor side speed command S7, and outputs the deviation as a second model speed deviation command S8;
A model speed controller that receives the second model speed deviation command S8 as an input and outputs a model torque command S9;
A fourth deviation calculating unit that calculates a deviation between the model torque command S9 and the feedback acceleration command S10 and outputs the deviation as a first model torque deviation command S11;
A fifth deviation calculator that calculates a deviation between the first model torque deviation command S11 and a torsion torque command S12 representing a torsion torque, and outputs the deviation as a second model torque deviation command S13;
A mechanical model of a first inertia system that generates the model motor side acceleration command S14, the model motor side speed command S7, and the model motor side position command S2 with the second model torque deviation command S13 as an input;
A second inertia system model that generates a model load side acceleration command S15, a model load side speed command S16, and a model load side position command S17 with the torsion torque command as an input;
A sixth deviation calculator that calculates a deviation between the model motor side acceleration command S14 and the model load side acceleration command S15 and outputs the deviation as a model side acceleration deviation command S18;
A model acceleration command generator for generating the feedback acceleration command S10 by multiplying the model side acceleration deviation command S18 by a first gain K _AB ;
A seventh deviation calculator that calculates a deviation between the model motor side speed command S7 and the model load side speed command S16, and outputs the deviation as a model side speed deviation command S19;
A model speed command generator for generating the feedback speed command S5 by multiplying the model side speed deviation command S19 by a second gain K _VB ;
An eighth deviation calculating unit that calculates a deviation between the model load side position command S17 and the model motor side position command S2 and outputs the deviation as a model side position deviation command S20;
And a torsional torque command generating unit generates a torsional torque command S12 the by multiplying the third gain K _B on the model side position difference command S20,
The model position controller gain is K _P , the model speed controller gain is K _V , the motor side inertia is J _M , the load side inertia is J _L, and the characteristic equation obtained from the state equation of the model control system A relational expression obtained by calculating so that the characteristic equation has a quadratic root, where K is the pole of
K = -4K _P
K _V = −K _B (J _M + J _L ) / [1.5 K _B / K + K _P J _L ]
K _AB = K _V K _B / (− 4K ³ J _L ) −J _M
K _VB = -4K (J _M + K _AB ) / K _V -1
The motor control apparatus according to claim 1, wherein parameters of the model control system are determined. The K _P is the same value as the gain of the position controller of the feedback control system, the motor-side inertia J _M, the load inertia J _L, respective values of the real mechanical system the gain K _B showing the torsional stiffness 2. The motor control device according to claim 1, wherein the first gain K _AB , the second gain K _VB , and the gain K _V of the model speed controller are determined in the same manner as in FIG. A model control system configured to include a model position controller, a model speed command unit, a model speed controller, and a model torque command unit simulating an actual motor control system;
A motor control device including a position controller, a speed controller, and a torque controller, configured to follow the model control system, and having a feedback control system for feedback control of the actual motor;
The model control system generates a model motor side acceleration command S14 and a model motor side speed command S7, a first inertia system machine model for the motor, a model load side acceleration command S15, and a model load side speed command S16. A second inertial machine model for the load, a torsion torque model for the torsion torque between the motor and the load, the model load side acceleration command S15 and the model motor side acceleration command S14. A first state feedback system that feeds back a feedback acceleration command S10 obtained by multiplying the model-side acceleration deviation command S18, which is a deviation from the above, by a gain K _AB to the model torque command unit that generates the model torque deviation command S11; The deviation between the model load side speed command S16 and the model motor side speed command S7. A feedback speed command S5, obtained a model side speed difference command S19 by multiplying the gain K _VB consisting comprises a second state feedback system for state feedback to the model speed command unit,
Motor control characterized in that parameters of the model control system are determined based on a relational expression of parameters obtained by calculating so that a characteristic equation obtained from the state equation of the model control system has a quadruple root apparatus. The gain of the model position controller is K _P , the gain of the model speed controller is K _V , the motor side inertia is J _M , the load side inertia is J _L, and the gain related to torsional rigidity is K _B , When the gain related to the acceleration information is K _AB , the gain related to the speed information of the model motor is K _VB, and the characteristic equation obtained from the state equation of the model control system is K, the characteristic equation is 4 Relational expressions obtained by calculating to have multiple roots,
K = -4K _P
K _V = −K _B (J _M + J _L ) / [1.5 K _B / K + K _P J _L ]
K _AB = K _V K _B / (− 4K ³ J _L ) −J _M
K _VB = -4K (J _M + K _AB ) / K _V -1
4. The motor control device according to claim 3, wherein a parameter of the model control system is determined based on the parameter. The K _P is the same value as the gain of the position detector of the feedback control system, the motor-side inertia J _M, the load inertia J _L, respective values of the real mechanical system the gain K _B showing the torsional stiffness 5. The motor control device according to claim 4, wherein the gain K _AB , the gain K _VB , and the gain K _V of the model speed controller are defined in the same manner as in FIG.

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