JP2012226458A - Multimotor control device and movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multimotor control device including an integrating controller, the output from which does not diverge, and a movable body.SOLUTION: The multimotor control device includes a first control system 11 and a second control system 21 each of which controls one control system of a multimotor 51 based on deviation between a speed command and an actual speed. The first control system 11 performs a PI control on one control system of the multimotor 51. The second control system 21 performs P control on the other control system of the multimotor 51. With this, there are provided a control device for a multimotor including an integrating controller, the output from which does not diverge, and a movable body.

Description

  The present invention relates to a control device for a multi-system motor and a moving body.

In recent years, as disclosed in Patent Documents 1 to 4, there is a technique for controlling a multiplex motor with a plurality of control systems in order to improve safety and the like. That is, each of the plurality of control systems controls one system of the motor. As a result, even if one control system becomes inoperable, another control system can control the motor.
In such a control device, in order to reduce the steady-state deviation, each control system includes an integral controller, and performs P (Proportional) I (Integral) control or PID (Derivative) control.

JP 2004-326288 A Japanese Patent Laid-Open No. 2000-213666 JP-A-11-150986 JP 2003-216243 A

  When the control systems are each provided with an integral controller as in the control device described above, an error occurs between the control systems. Therefore, as shown in FIG. Speed command to be antagonized. Therefore, the output of the integration controller diverges as shown in FIG.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a control device for a multi-system motor and a moving body in which the output of the integration controller does not diverge.

  A control device for a multiplex system motor according to an aspect of the present invention is a control device for a multiplex system motor, and controls each of the systems of the multiplex system motor based on a deviation between a speed command and an actual speed. A first control system and a second control system, wherein the first control system performs PI control of one system of the multiplex system motor, and the second control system includes the multiplex system motor. One system of P is controlled.

  In the above-described multi-system motor control device, the first control system includes a first proportional controller that multiplies the deviation by a proportional constant, a first integration controller that integrates the deviation, and the first integral controller. A first comparator that adds the value calculated by the proportional controller and the value calculated by the first integral controller, and the second control system is a second that multiplies the deviation by a proportional constant. It is preferable to provide a proportional controller.

  In the above-described multi-system motor control device, the first control system is supplied with power from a first power supply device, and a first switch for switching whether or not to operate the first integration controller; A first switching controller that receives the voltage value of the first power supply device and controls the first switch, and the second control system supplies power from the second power supply device. A second integration controller that integrates the deviation, a second comparator that adds the value calculated by the second proportional controller and the value calculated by the second integration controller; A second switch for switching whether or not to operate the second integration controller, and a second switch control for controlling the second switch by inputting a voltage value of the second power supply device. And the first switching controller and the second switching controller include a first power supply device. Of comparing the voltage value of the voltage value and the second power supply, operating the integral controller of the control system that the power from the power supply unit on busy remaining side is supplied, it is preferred.

A moving body according to an aspect of the present invention includes the above-described multi-system motor control device.
In the above-described moving body, the moving body is an inverted control type coaxial two-wheeled vehicle, and a posture detector that detects a posture of the coaxial two-wheeled vehicle, and an inverted control that generates a speed command based on a detection value of the posture detector. It is preferable to provide a vessel.

  As described above, according to the present invention, it is possible to provide a control device for a multiplex system motor and a moving body in which the output of the integration controller does not diverge.

1 is a block diagram of a multiplex system motor control apparatus according to Embodiment 1. FIG. FIG. 3 is a diagram schematically showing a moving body using the multiplex system motor control device according to the first embodiment. FIG. 3 is a block diagram illustrating an application example of the multiplex system motor control device according to the first embodiment to a moving object. 6 is a block diagram of a control device for a multiplex system motor according to Embodiment 2. FIG. FIG. 10 is a flowchart showing a flow of causing an integral controller of one control system to operate in the control apparatus for a multiplex system motor according to the second embodiment. It is a figure which shows roughly the relationship between the speed instruction | command input into each duplexed control system, and an actual speed. It is a figure which shows roughly the output from an integral controller at the time of performing PI control by each of the duplexed control systems.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
A control device and a moving body for a multiplex system motor according to Embodiment 1 of the present invention will be described. First, a control device for a multiplex system motor will be described.

  As shown in FIG. 1, the multi-system motor control apparatus 1 of the present embodiment includes a first control system 11, a second control system 21, batteries 31 and 41, a multi-system motor 51, and a speed detector 61. Prepare.

  Here, a double system motor is used as the multiplex system motor 51 of the present embodiment. Therefore, the first control system 11 controls one system of the multiplex system motor 51, and the second control system 21 controls the other system of the multiplex system motor 51.

The first control system 11 includes a comparator 12, a speed controller 13, a current controller 14, and an inverter 15, and operates with power supplied from the battery 31.
The comparator 12 receives a signal indicating a speed command output from a higher-level controller (not shown) and a signal indicating the actual speed of the multiplex system motor 51 output from the speed detector 61. . The comparator 12 subtracts the actual speed from these speed commands and outputs a signal indicating the subtracted value to the speed controller 13. That is, the comparator 12 calculates a so-called deviation. Incidentally, the speed detector 61 obtains the actual speed of the multiplex system motor 51 by differentiating the detected value of an angle detector such as a potentiometer provided in the multiplex system motor 51.

  The speed controller 13 includes a proportional controller 131, an integral controller 132, and a comparator 133. A signal indicating the subtracted value is input to the proportional controller 131. The proportional controller 131 multiplies this subtracted value by a preset proportionality constant. That is, the proportional controller 131 multiplies the deviation by a proportional constant and outputs a signal indicating the calculated value to the comparator 133.

  The integration controller 132 also receives a signal indicating the subtracted value. The integration controller 132 adds the subtracted values. That is, the integration controller 132 adds the deviations and outputs a signal indicating the calculated value to the comparator 133.

  The comparator 133 receives a signal indicating the calculated value from the proportional controller 131 and the integral controller 132. The comparator 133 adds the input values to each other and outputs a signal indicating the added value to the current controller 14.

  A signal indicating the added value is input to the current controller 14. The current controller 14 calculates a voltage value to be supplied to the multiplex system motor 51 based on the added value. Then, the current controller 14 outputs a signal indicating the calculated voltage value to the inverter 15.

  A signal indicating the calculated voltage value is input to the inverter 15. The inverter 15 converts the DC voltage supplied from the battery 31 into an AC voltage, and supplies the calculated voltage value to one system of the multiplex system motor 51. As a result, one system of the multiplex system motor 51 is PI-controlled by the first control system 11.

  As shown in FIG. 1, the second control system 21 has substantially the same configuration as the first control system 11, and includes a comparator 22, a speed controller 23, a current controller 24, and an inverter 25. The power supply supplied from the battery 41 operates. However, the speed controller 23 includes a proportional controller 231 and an integration controller and a comparator are omitted. As a result, the other system of the multiplex system motor 51 is P-controlled by the second control system 21.

  As described above, in the control device 1 of the present embodiment, the integral controller 132 is provided in the speed controller 13 of the first control system 11, and the integral controller is omitted from the speed controller 23 of the second control system 21. did. That is, in the control device 1 of the present embodiment, the first control system 11 performs PI control on one system of the multiplex system motor 51, and the second control system 21 performs P control on the other system of the multiplex system motor 51. Therefore, the speed commands input from the host controller to the first control system 11 and the second control system 21 do not antagonize. Therefore, the output of the integral controller 132 of the first control system 11 does not diverge. That is, although the steady deviation remains in the second control system 21, the steady deviation of the first control system 11 can be reduced, and the steady deviation can be reduced as a whole.

Next, a moving body using the above-described multi-system motor control device will be described.
For example, an inverted control type coaxial two-wheel vehicle as shown in FIG. 2 can be used as the moving body 2. That is, when the occupant who has boarded the step plate 3 moves the load forward, the moving body 2 accelerates forward while maintaining the inverted state of the moving body 2, and the occupant moves the load backward. The left and right multi-system motors are controlled so as to accelerate backward while maintaining the inverted state of the moving body 2. Then, when the passenger who has boarded the step plate 3 moves the load in the left-right direction, the step body 3 rotates in the left-right direction. The left and right multi-system motors are controlled so as to turn in the rotational direction.

Such a moving body 2 includes a control system as shown in FIG. That is, the control system includes attitude detectors 71 and 72 that detect the amount of tilting of the movable body 2 in the front-rear direction, angle detectors 81 and 82 that detect the amount of rotation of the step plate 3 in the left-right direction, and the control device 1. , Batteries 31 and 41, left and right multiplex system motors 51L and 51R, and left and right multiplex system motors 51L and 51R, respectively, are provided with speed detectors 61L and 61R.
Here, the posture detectors 71 and 72 include an acceleration sensor, a gyro sensor, and the like. The angle detectors 81 and 82 include a potentiometer and the like.

  The control device 1 according to the present embodiment includes the first control system 11 and the second control system 21 described above. These control systems 11 and 21 include an inverted controller as a host controller. Specifically, the first control system 11 receives signals indicating detection values from the attitude detector 71, the speed detectors 61 </ b> L and 61 </ b> R, and the angle detector 81. The first control system 11 controls the above-described comparator 12L, speed controller 13L, current controller 14L, inverter, in order to control one system of the left multi-system motor 51L based on the input detection value. In addition to 15L, an inverted controller 16L is provided. Further, the first control system 11 controls the above-described comparator 12R, speed controller 13R, current controller 14R, and the like in order to control one system of the right multiplex system motor 51R based on the input detection value. In addition to the inverter 15R, an inverted controller 16R is provided.

  On the other hand, the second control system 21 receives signals indicating detection values from the attitude detector 72, the speed detectors 61L and 61R, and the angle detector 82. The second control system 21 controls the other system of the left multiplex system motor 51L based on the input detection value in order to control the comparator 22L, the speed controller 23L, the current controller 24L, and the inverter described above. In addition to 25L, an inverted controller 26L is provided. Further, the second control system 21 controls the other system of the right multiplex system motor 51R based on the input detection value in order to control the above-described comparator 22R, speed controller 23R, current controller 24R, In addition to the inverter 25R, an inverted controller 26R is provided.

  That is, when the passenger tilts the moving body 2 in the front-rear direction in order to move the moving body 2 forward or backward, the posture detectors 71 and 72 detect the tilting amount of the moving body 2, and a signal indicating the detection value Are input to the left and right inverted controllers 16L, 16R and 26L, 26R, respectively. Further, when the passenger rotates the step plate 3 in the turning direction in order to turn the moving body 2 to the right or left side, the angle detectors 81 and 82 detect the rotation amount of the step plate 3, and the detected value is obtained. The signals shown are input to the left and right inverted controllers 16L, 16R and 26L, 26R, respectively. The left and right inversion controllers 16L, 16R and 26L, 26R maintain the inversion control based on the input detection values, and the left and right multi-system motors 51L so that the moving body 2 moves forward or backward and further turns. , 51R speed command is generated. The left and right inverted controllers 16L, 16R, 26L, and 26R output signals indicating the generated speed commands to the left and right comparators 12L, 12R, 22L, and 22R. Since the subsequent operations of the first control system 11 and the second control system 21 have been described above, they will be omitted. However, the first control system 11 includes the speed command and speed detector generated by the inverted controller 16L (16R). Based on the actual speed of multi-system motor 51L (51R) input from 61L (61R), one system of multi-system motor 51L (51R) is PI-controlled. On the other hand, the second control system 21 performs multiplexing based on the speed command generated by the inverted controller 26L (26R) and the actual speed of the multiplex system motor 51L (51R) input from the speed detector 61L (61R). The other system of the system motor 51L (51R) is P-controlled.

  The moving body 2 using such a control device 1 can realize a desired operation with high accuracy.

<Embodiment 2>
In the multiplex system motor control apparatus 1 according to the first embodiment, since the integral controller 132 is mounted only in the first control system 11, the power consumption of the first control system 11 increases.

  Therefore, as shown in FIG. 4, the control device 10 for the multiplex system motor according to the present embodiment has the integration controller 232 and the comparator 233 in the second control system 21 as well as the first control system 11. Integration control of a control system in which the battery 31 that supplies power to the first control system 11 or the battery 41 that supplies power to the second control system 21 supplies power to the battery that has a large remaining battery level. Operate the vessel.

  Specifically, the first control system 11 further includes a switch 134, a voltage detector 135 for the battery 31, and a switch controller 136 in addition to the configuration of the first embodiment. The switch 134 is provided between the integration controller 132 and the comparator 133. The switch 134 is a switch element that switches whether or not to operate the integration controller 132 based on the control of the switching controller 136. The switching controller 136 is configured to be able to input / output signals to / from the switching controller 236 of the second control system 21 by wire or wirelessly. The switching controller 136 receives a signal indicating the voltage value of the battery 31 from the voltage detector 135 and is based on the voltage value and the voltage value of the battery 41 input from the switching controller 236 of the second control system 21. Then, the switch 134 is controlled.

  On the other hand, the second control system 21 further includes an integration controller 232, a comparator 233, a switch 234, a voltage detector 235 for the battery 41, and a switch controller 236 in addition to the configuration of the first embodiment. That is, in substantially the same manner as in the first control system 11, the switching controller 236 receives a signal indicating the voltage value of the battery 41 from the voltage detector 235, and the switching controller of the first control system 11. The switch 234 is controlled based on the voltage value of the battery 31 input from 136.

  That is, the first control system 11 and the second control system 21 operate as shown in FIG. First, the switching controller 136 of the first control system 11 acquires the voltage value of the battery 31 from the voltage detector 135 (S1). Similarly, the switching controller 236 of the second control system 21 acquires the voltage value of the battery 41 from the voltage detector 235 (S2). Then, the switching controllers 136 and 236 compare the voltage values of the batteries (S3), determine the battery on the side where the remaining battery level is large, and integrate control of the control system on the side where the battery supplies power The switch is controlled so as to operate, and the switch is controlled so that the integral controller of the other control system does not operate (S4). Thereby, the decrease in the battery can be reduced.

The embodiment of the control device and the moving body of the multiplex system motor according to the present invention has been described above. However, the present invention is not limited to the above configuration, and can be changed without departing from the technical idea of the present invention. .
The multiplex system motor control device of the above embodiment is used for a moving body, but the device to be used is not particularly limited.
Although the multi-system motor control apparatus of the above embodiment has been described by taking a double system motor as an example, the number of systems is not particularly limited.

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 of a multi-system motor 3 Moving body 3 Step plate 10 Control apparatus 11 1st control system 12 (12L, 12R) Comparator 13 (13L, 13R) Speed controller 14 (14L, 14R) Current controller 15 ( 15L, 15R) Inverter 16L, 16R Inverted controller 21 Second control system 22 (22L, 22R) Comparator 23 (23L, 23R) Speed controller 24 (24L, 24R) Current controller 25 (25L, 25R) Inverter 26L, 26R Inverted controller 31, 41 Battery 51 (51L, 51R) Multiplexed motor 61 (61L, 61R) Speed detector 71, 72 Attitude detector 81, 82 Angle detector 131 Proportional controller, 132 Integration controller, 133 Comparator, 134 switcher, 135 voltage detector, 136 switch controller 231 proportional controller, 232 integral controller 233 comparator, 234 switch, 235 the voltage detector, 236 switch controller

Claims (5)

A control device for a multi-system motor,
A first control system and a second control system, each controlling one system of the multi-system motor based on a deviation between a speed command and an actual speed;
The first control system PI-controls one system of the multi-system motor,
The second control system is a multi-system motor control device that performs P control on another system of the multi-system motor. The first control system includes: a first proportional controller that multiplies the deviation by a proportional constant; a first integration controller that integrates the deviation; a value calculated by the first proportional controller; A first comparator for adding the value calculated by one integral controller;
The multi-system motor control device according to claim 1, wherein the second control system includes a second proportional controller that multiplies the deviation by a proportional constant. The first control system is supplied with power from a first power supply device, and a first switch for switching whether or not to operate the first integration controller, and a voltage value of the first power supply device And a first switching controller that controls the first switching device, and
The second control system is supplied with power from a second power supply device, and integrates the deviation, a value calculated by the second proportional controller, and the second integral control. The voltage value of the second power supply device is input, the second comparator for adding the value calculated by the detector, the second switch for switching whether or not to operate the second integration controller. A second switching controller for controlling the second switching device,
The first switching controller and the second switching controller compare the voltage value of the first power supply device with the voltage value of the second power supply device, and supply power from the power supply device with the larger remaining amount. The multi-system motor control device according to claim 2, wherein an integral controller of a control system to which is supplied is operated.   A moving body comprising the controller for a multiplex system motor according to any one of claims 1 to 3. The moving body is an inverted control type coaxial two-wheeled vehicle,
An attitude detector for detecting the attitude of the coaxial two-wheel vehicle;
An inverted controller that generates a speed command based on the detected value of the attitude detector;
A moving body according to claim 4.

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