JP2013121283A - Motor controller and motor control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To dissolve sustention of current flow to a motor after arrival of an operation target at a target position.SOLUTION: A motor controller 10 includes a position control unit 14 for calculating a speed command value by proportional control based on the difference of a position command value indicating the target position of the operation target and a detection position of the operation target, and a speed control unit 16 for calculating a torque command value indicating a torque being output from a motor 12 based on the sum of an integrated control command value and the speed deviation. The integrated control command value is calculated by integral control based on the speed deviation, which is difference of a speed command value and a detection speed. The integrated control command value output from the speed control unit 16 is reset when the operation target reaches a criteria range.

Description

  The present invention relates to a motor control device and a motor control method.

  In a positioning device that performs positioning by driving an operation target with a motor, such as a table on which a workpiece is placed on a machine tool or a robot arm for carrying out painting, etc., after the operation target has reached the target position However, a phenomenon in which a current continuously flows to the motor, that is, a so-called residual torque command may continue to be generated. If the operation target has reached the target position, it is not desirable that the current continuously flows through the motor.

  The root cause of the continuous flow of current to the motor after reaching the target position is that the integral component of the speed control is accumulated to compensate for the steady-state deviation caused by Coulomb friction (static friction and dynamic friction). It is. Normally, if the friction is small, the device operates according to the integral control command value, and the accumulated integral component immediately converges to 0 (zero). However, if the motor torque (= current) generated based on the integral control command value does not overcome the frictional force, the accumulated integral component remains and current continues to flow to the motor.

  It is not desirable that the current continues to flow to the motor because it causes a reduction in the life of the motor. Further, if the integration command continues to increase with time, the motor torque eventually overcomes the frictional force and causes a phenomenon of slight movement (stick slip). Since the occurrence of stick-slip is meaningless when the positioning accuracy is satisfied, it is necessary to suppress the occurrence of stick-slip.

  In some machine tools, in order to suppress stick-slip after reaching the target position, some control is performed such as setting the control gain as a variable gain and halving the control gain after reaching the target position. . However, the variable gain is not preferable in the case of performing an operation that requires continuous movement to another position after reaching the target position.

  Here, since there is a demand for precise positioning in a read head such as a hard disk, there is a case where measures are taken because there is a problem that the integration control impedes this.

  For example, a head positioning control device described in Patent Document 1 includes a speed control unit that moves the head by speed control, a position control unit that includes an integration operation that moves the head by position control, and the head reaches the vicinity of the target position. The main control unit that switches from speed control by the speed control unit to position control by the position control unit, and after switching from speed control to position control, the difference between the current position of the head and the target position is less than the set value. An integrator control unit that once resets an integration value in the integration operation and continues the integration operation.

  In addition, the head positioning control device described in Patent Document 2 controls the speed of the actuator based on the position signal obtained from the servo information of the servo head by the servo control unit when receiving an access command from the host device. A head positioning control device for a magnetic disk device that moves the head to a position and switches to track following control to pull the head to the center position of the target track when the head speed falls below a predetermined value immediately before the target position. Yes, the integration reset circuit detects that the position signal has reached zero when reaching the track center with respect to the integration circuit that has started the integration operation when switching to track following control.

JP-A-11-162130 Japanese Patent No. 2633761

A reading head such as a hard disk basically does not generate friction or is minute even if it occurs. For this reason, the head positioning device described in Patent Document 1 simply resets the integration value in the integration operation of the position control for the purpose of simply suppressing the overshoot of integration and shortening the arrival time of the target position of the head. The integration operation is continued.
Further, the head positioning device described in Patent Document 2 detects that the position signal has reached zero when reaching the track center for the same purpose as that of the technique described in Patent Document 1, and is an integration circuit. The integral value of is reset. That is, the head positioning device described in Patent Document 2 resets the integration value in the integration operation of position control, similarly to the head positioning device described in Patent Document 1.

  However, the continuous flow of current to the motor after reaching the target position as described above is caused not by the integration operation of the position control but by the integration control command value remaining in the integration operation of the speed control. For this reason, even if the integration value in the integration operation of the position control is reset as in the head positioning devices described in Patent Documents 1 and 2, it cannot be solved that the current continuously flows to the motor after reaching the target position.

  The present invention has been made in view of such circumstances, and provides a motor control device and a motor control method capable of eliminating the continuous flow of current to the motor after the operation target has reached the target position. The purpose is to provide.

  In order to solve the above problems, the motor control device and motor control method of the present invention employ the following means.

  That is, the motor control device according to the first aspect of the present invention is a motor control device that controls a motor that changes the position of an operation target, and includes a position command value indicating a target position of the operation target and the operation Position control means for calculating a speed command value indicating a target speed of the motion object by proportional control based on a difference from the detected position of the object, and the speed command value and the motion object detected An integral control command value is calculated by integral control based on a speed deviation that is a difference from the speed, and a torque command value indicating torque to be output to the motor is calculated based on the sum of the integral control command value and the speed deviation. Speed control means for calculating, and the integral control command value is reset when the operation object reaches the target position.

According to this configuration, the motor control device controls the motor that changes the position of the operation target.
The position control means provided in the motor control device performs the target of the operation target by proportional control based on the difference between the position command value indicating the target position of the operation target and the detected position of the operation target. A speed command value indicating the speed is calculated. Further, the speed control means calculates an integral control command value by integral control based on a speed deviation that is a difference between the speed command value and the detected speed of the operation target, and the integral control command value and the speed deviation are calculated. Based on the sum of these, a torque command value indicating the torque to be output to the motor is calculated. The motor generates torque and changes the position of the operation target when a current corresponding to the torque command value flows.

  Here, even after the operation target reaches the target position, a current may continue to flow to the motor, and a residual torque may be generated. This is because the integral component of speed control for compensating for the steady deviation caused by friction accumulates. That is, the integration control command value calculated by the integration control means does not become 0 (zero).

  Therefore, the integral control command value output from the integral control means is reset when the operation target reaches the target position. The reset is to set the integration control command value output from the integration control means to 0 or a value equivalent to 0. Thereby, since the torque command value calculated by the speed control means is not affected by the accumulated integral component, the current flowing through the motor becomes about 0 when the operation target has reached the target position. The case where the operation target has reached the target position includes not only that the operation target has reached the target position but also the case where the operation target has reached a predetermined range including the target position.

  Therefore, this configuration can eliminate the continuous flow of current to the motor after the operation target reaches the target position.

  In addition, since this configuration is performed while the speed control is being performed, the integration control command value is reset, so there is no need to newly provide a sequence for resetting the integration control command value. It is possible to eliminate the continuous flow of current to the motor after the operating object reaches the target position.

  In the first aspect, it is preferable that the integral control command value is reset by resetting a state quantity of an integrator for calculating the integral control command value.

  According to this configuration, since the state quantity of the integrator for calculating the integral control command value is reset, accumulation of integral components of speed control can be reliably removed.

  In the first aspect, it is preferable that the integral control command value is reset every time the operation target reaches the target position.

  According to this configuration, even if the operation target reaches the target position, the position of the operation target is again set to the target position by the action of a minute time delay, other proportional control parts, a filter for improving characteristics, and the like. May be outside. Therefore, this configuration resets the integral control command value output from the integral control means every time the operation target reaches the target position, so that the current continues to the motor after the operation target reaches the target position. Can be more reliably eliminated.

  In the first aspect, it is preferable that the integral control command value is continuously reset while the operation target object stays at the target position.

  According to this configuration, since the integral control command value is continuously reset while the operation target stays at the target position, the current continues to the motor after the operation target reaches the target position more reliably. You can eliminate the flow.

  In the first aspect, when the operation target reaches the target position, and the torque command value calculated by the speed control unit becomes equal to or less than a predetermined threshold value for a predetermined time or more, the It is preferable that the integral control command value is reset.

  In this configuration, when the torque command value is equal to or less than a predetermined threshold value for a predetermined time or more, it is determined that the operation target is stopped because the motor torque is lost to the frictional force. . That is, in such a case, a torque command value for generating torque in the motor is output even though the operation target is stopped. Therefore, the integral control command value is reset when the operation object reaches the target position and the torque command value is equal to or less than a predetermined threshold value for a predetermined time or longer. The remaining allowable time can be managed. By managing the remaining allowable time of the torque command value, it is possible to improve the accuracy of motor life management.

  In the first aspect, when the operation object reaches the target position, and the integral value output from the integrator provided in the integral control means becomes equal to or less than a predetermined threshold value for a predetermined time or more. It is preferable that the integral control command value is reset by resetting the integral value.

In this configuration, when the integrated value output from the integrator becomes equal to or less than a predetermined threshold value for a predetermined time or more, it is determined that the operation target is stopped. By using the integration value output from the integrator to determine whether or not the operation target is stopped, the motor control device can not only perform simple proportional-integral control, but also a filter for improving characteristics, etc. Even in the case of a complicated control form including other elements, it is possible to prevent the process of clearing the integral control command value from being disabled by the action of the other elements. This is because the integral value output from the integrator is not easily affected by the action of the other elements.
As described above, when the operation object reaches the target position and the integral value output from the integrator provided in the integral control means becomes equal to or less than a predetermined threshold value for a predetermined time or more, the integration is performed. Since the value is reset, this configuration can manage the remaining allowable time of the integral control command value. By managing the remaining allowable time of the integral control command value, the accuracy of motor life management can be improved.

  The motor control method according to the second aspect of the present invention includes a proportional control based on a difference between a position command value indicating a target position of the operation object and a detected position of the operation object, and An integral control command value is calculated by position control means for calculating a speed command value indicating a target speed, and integral control based on a speed deviation that is a difference between the speed command value and the detected speed of the operation object, Speed control means for calculating a torque command value indicating a torque to be output to the motor based on the sum of the integral control command value and the speed deviation, and controlling the motor that changes the position of the operation object A motor control method of a motor control device that performs a first step of determining whether or not the operation target has reached the target position, and when it is determined that the operation target has reached the target position , And a second step of resetting the integral control command value.

  According to the present invention, there is an excellent effect that it is possible to eliminate the continuous flow of current to the motor after the operation object reaches the target position.

It is a functional block diagram showing a function about speed control of a motor control device concerning a 1st embodiment of the present invention. It is an example of the speed control command which a residual torque generate | occur | produces. In the motor control device concerning a 1st embodiment of the present invention, it is a graph which shows time change of a torque command value when an integrated value is reset whenever an operation subject reaches the criteria range. In the motor control device concerning a 1st embodiment of the present invention, it is a graph which shows time change of a torque command value when an integrated value is reset while an operation subject has reached the criteria range. It is the functional block diagram which showed the function regarding the speed control of the motor control apparatus which concerns on 2nd Embodiment of this invention. It is the functional block diagram which showed the function regarding the speed control of the motor control apparatus which concerns on 3rd Embodiment of this invention.

  Hereinafter, an embodiment of a motor control device and a motor control method according to the present invention will be described with reference to the drawings.

[First Embodiment]
The first embodiment of the present invention will be described below.
FIG. 1 is a functional block diagram illustrating functions related to speed control of the motor control device 10 according to the first embodiment. The motor control device 10 is a device that controls a motor 12 that drives an operation target such as a table or a robot arm via a ball screw or a gear.

  The motor control device 10 includes a position control unit 14 and a speed control unit 16.

The position control unit 14 performs proportional control based on a positional deviation that is a difference between a position command value indicating the target position of the operation target and a detected position of the operation target (hereinafter referred to as “detection position”). Then, a speed command value indicating the target speed of the operation target is calculated.
Specifically, the position control section 14, a subtracter detected position from the position command value 20 to calculate a position deviation by subtracting, multiplying the position control gain K _p predetermined for the position deviation is proportional 22 To calculate a speed command value.

The speed control unit 16 calculates a proportional control command value and an integral control command value based on a speed deviation that is a difference between the speed command value and the detected speed of the operation target (hereinafter referred to as “detected speed”). To do.
Specifically, the speed deviation is calculated by subtracting the detected speed from the speed command value output from the position controller 14 by the subtractor 24, and is set as a proportional control command value. Then, the speed control unit 16 calculates an integral value of the speed deviation by the integrator 26 and calculates an integral control command value by multiplying the integral value by a predetermined speed control integral gain K _vI by the proportional unit 28. .

Furthermore, the speed control unit 16 calculates a torque command value indicating the torque to be output to the motor 12 based on the sum of the integral control command value and the speed deviation.
Specifically, the speed controller 16 adds a speed deviation (proportional control command value) to the integral control command value by the adder 30, and multiplies the addition result by the adder 30 by the speed control gain K _vp by the proportional device 32. By doing so, a torque command value is calculated.

  The motor 12 generates torque and changes the position of the operation target when a current corresponding to the torque command value flows.

  Here, even after the operation target reaches the target position, a current continues to flow to the motor 12 and a residual torque may be generated. This is because an integral component of speed control for compensating for a steady deviation caused by friction (static friction and dynamic friction) is accumulated. That is, the integral control command value calculated in the speed control unit 16 does not become 0 (zero).

  FIG. 2 is an example of a speed control command that generates residual torque. FIG. 2 shows a proportional control command value A (corresponding to a speed deviation) generated by proportional control, an integral control command value B (corresponding to an integral control command value) generated by integral control, and a proportional control command value A A time change of the control command value C (corresponding to the torque command value) that is the sum of the integral control command value B is shown.

As shown in FIG. 2, the control command value C does not converge to 0 even when the operation target reaches the target position. As a result, residual torque is generated in the motor 12. This is because the proportional control command value A converges to 0 a little later when the operation target reaches the target position, while the integral control command value B is a substantially constant value until the operation target reaches the target position. Although it is Cvi, it does not converge to 0 even if the operation target reaches the target position.
From this, it is understood that the control command value C converges to 0 by setting the integral control command value B by the integral control to 0.

  Therefore, the motor control device 10 according to the first embodiment resets the integral control command value output from the speed control unit 16 when the operation target reaches the target position.

Specifically, when the operation target reaches the target position, the reset unit 40 provided in the motor control device 10 resets the state quantities (accumulated integration components and integration constants) of the integrator 26. That is, when the operation target reaches the target position, the integration value calculated by the integrator 26 is reset. In the first embodiment, the integration value calculated by the integrator 26 is set to 0 as a reset. However, the present invention is not limited to this, and the integration value may be set to a value equivalent to 0 as a reset. .
Thereby, the torque command value calculated by the speed control unit 16 is not affected by the integral control but only by the proportional control. That is, the torque command value is a value obtained by multiplying the speed deviation by the speed control gain K _vp, so that the current flowing through the motor is about 0 when the operation target has reached the target position.

  The case where the operation target has reached the target position includes not only that the operation target has reached the target position but also the case where the operation target has reached a predetermined range including the target position. In the first embodiment, a case where the absolute value of the position deviation is equal to or less than a predetermined threshold value α is a case where the operation target has reached the target position. Note that a range indicated by the threshold value α is referred to as a criterion range.

  In the reset unit 40 according to the first embodiment, a positional deviation is input, an absolute value output unit 42 that outputs an absolute value of the positional deviation, and an absolute value output from the absolute value output unit 42 is a threshold value α or less. The determination part 44 which determines whether it is is provided. Then, the determination unit 44 sets the integral value calculated by the integrator 26 when the absolute value is equal to or less than the threshold value α as a reset reference and sets the integral value calculated by the integrator 26 when the position deviation satisfies the reset reference as an integral control. Reset the command value.

When the reset criterion is satisfied, the determination unit 44 sets a reset flag (sets the reset flag to 1). When the reset flag set to “1” is input from the determination unit 44, the integrator 26 resets the integral control command value by setting the integral value to zero. On the other hand, when the reset criterion is not satisfied, the determination unit 44 does not set the reset flag and keeps 0. In this case, the integrator 26 does not set the integral value to zero.
Even if a new position command is input to the motor control device 10 and the reset standard is satisfied before input, if the reset standard is not satisfied after input, speed control is performed immediately using proportional control and integral control. Will be.

  Here, two patterns will be described with respect to the timing of resetting the integral control command value with the integral value set to 0.

  Even when the operation target reaches the criteria range, a minute time delay, another proportional control part, a filter for improving the characteristics, etc. (for example, provided between the proportional device 32 and the motor 12). Due to the action, there is a possibility that the position of the moving object will be out of the criteria range again. Therefore, in the first pattern, every time the operation target reaches the criterion range from the outside of the criterion range, the integral control command value is reset to zero. That is, the reset flag is set to 1 at the timing when the operation target reaches the criteria range, and then the reset flag returns to 0.

FIG. 3 is a graph showing a time change of the torque command value in the first pattern. In FIG. 3, the time change of the target position and the time change of the position deviation corresponding to the time change of the torque command value are shown together with the time change of the torque command value. The solid line in FIG. 3 is the time change of the torque command value by the conventional control, and the broken line in FIG. 3 is the time change of the torque command value by the first pattern according to the first embodiment.
As shown in FIG. 3, the torque command value has not converged to 0 immediately before, even if the position deviation is reduced. However, in the first pattern according to the first embodiment, when the position deviation falls within the criteria range, the torque command value becomes zero.

Further, in the second pattern, the integration control command value is continuously reset while the operation target object stays within the criteria range. That is, the reset flag is continuously set to 1 while the operation target reaches the criterion range.
Here, in the first pattern, when the operation target reaches the criteria range, the integral value is set to 0, so that the integral control command value is reset to 0. However, the operation target is within the criteria range. Even then, the integrator 26 starts operation again. That is, the integral control command value once becomes 0, but the integral control and the proportional control are continued again within the criteria range. On the other hand, in the second pattern, the integral value is set to 0 and the integral control command value is continuously reset while the operation object stays within the criterion range. Therefore, integral control is not performed within the criterion range, and proportional control is performed. Control is converged only by.

FIG. 4 is a graph showing the time change of the torque command value in the second pattern. The solid line in FIG. 4 is the time change of the torque command value by the conventional control, and the broken line in FIG. 4 is the time change of the torque command value by the second pattern according to the first embodiment.
As shown in FIG. 4, in the second pattern as well, as in the first pattern, the torque command value becomes 0 when the position deviation is within the criteria range.

  As described above, the motor control device 10 according to the first embodiment performs speed command by proportional control based on the difference between the position command value indicating the target position of the operation target and the detection position of the operation target. The position control unit 14 for calculating the value calculates the integral control command value by the integral control based on the speed deviation which is the difference between the speed command value and the detected speed of the operation target, and calculates the integral control command value and the speed deviation. A speed control unit 16 that calculates a torque command value indicating a torque to be output to the motor 12 based on the sum is provided. The integral control command value output from the speed control unit 16 is reset when the operation target reaches the criteria range.

  Therefore, the motor control apparatus 10 according to the first embodiment can eliminate the phenomenon of a so-called residual torque command in which a current continuously flows to the motor 12 after the operation target reaches the target position.

  Further, since the motor control device 10 according to the first embodiment resets the integral control command value while the speed control is being executed, it is necessary to newly provide a sequence for resetting the integral control command value. There is no. For this reason, the motor control apparatus 10 according to the first embodiment has a simple configuration and can eliminate the continuous flow of current to the motor after the operation target has reached the target position.

  Further, the motor control device 10 according to the first embodiment resets the integral control command value by resetting the state quantity of the integrator 26 for calculating the integral control command value. Can be reliably removed.

[Second Embodiment]
Hereinafter, a second embodiment of the present invention will be described.

  In the motor control device 10 according to the second embodiment, the operation target reaches the criteria range, and the torque command value calculated by the speed control unit 16 is equal to or less than a predetermined threshold β for a predetermined time T1 or more. In this case, the integral control command value output from the speed control unit 16 is reset.

  FIG. 5 is a functional block diagram illustrating functions related to speed control of the motor control device 10 according to the second embodiment. In FIG. 5, the same components as those in FIG. 1 are denoted by the same reference numerals as those in FIG.

  The determination unit 44 outputs a determination result as to whether or not the absolute value of the position deviation is equal to or less than the threshold value α (within the criteria range) to the comprehensive determination unit 50. When the determination result is affirmative, the determination result is output to the comprehensive determination unit 50 by setting a flag.

  The determination unit 60 determines whether or not the torque command value calculated by the speed control unit 16 is equal to or less than the threshold value β for the time T1 or more, and outputs the determination result to the comprehensive determination unit 50.

The threshold value β is, for example, identified in advance as the Coulomb friction torque generated in the operation target and set to a value smaller than the Coulomb friction force.
Alternatively, the threshold value β is set as a torque command value when the operation target is driven at a predetermined speed. This torque command value is the sum of the Coulomb friction torque and the viscous friction torque, but since the viscous friction torque is smaller than the Coulomb friction torque, it can be considered that the torque command value and the Coulomb friction torque are substantially equivalent. it can.

  That is, even if a torque command value smaller than the threshold value β is continuously output, the motor 12 continues to flow even though the operation target is not driven.

  If the determination result by the determination unit 60 is affirmative, the determination result is output to the comprehensive determination unit 50 by setting a flag.

  The overall determination unit 50 receives a flag set to 1 from the determination units 44 and 60, with the absolute value of the position deviation being the threshold value α or less and the torque command value being the threshold value β or less during the time T1 or more. In this case, since the torque of the motor 12 is in a state where the frictional force is lost, it is determined that the operation target is stopped, and a reset flag is set. When the reset flag set to “1” is input from the determination unit 44, the integrator 26 resets the integral control command value by setting the integral value to zero.

  As described above, the motor control device 10 according to the second embodiment integrates when the operation target reaches the criteria range and the torque command value is equal to or less than the threshold value β for the time T1 or more. Since the control command value is reset, the remaining allowable time of the torque command value can be managed. By managing the remaining allowable time of the torque command value, it is possible to improve the accuracy of motor life management.

[Third Embodiment]
Hereinafter, a third embodiment of the present invention will be described.

  In the motor control device 10 according to the third embodiment, the integrated value output from the integrator 26 provided in the speed control unit 16 is predetermined for a predetermined time T2 or more when the operation target reaches the criteria range. The integral control command value is reset by resetting the integral value when the threshold value γ or less is reached.

  FIG. 6 is a functional block diagram illustrating functions related to speed control of the motor control device 10 according to the third embodiment. In FIG. 6, the same components as those in FIG. 1 are denoted by the same reference numerals as those in FIG.

  The determination unit 44 outputs a determination result as to whether or not the absolute value of the position deviation is equal to or less than the threshold value α (within the criteria range) to the comprehensive determination unit 50. When the determination result is affirmative, the determination result is output to the comprehensive determination unit 50 by setting a flag.

  The determination unit 70 determines whether or not the integrated value output from the integrator 26 is equal to or less than the threshold value γ for a time T2 or more, and outputs the determination result to the comprehensive determination unit 50.

  For example, the threshold value γ is a predetermined value less than the integral value Cvi ′ used for calculating the integral control command value Cvi when the operation target is driven at a predetermined speed. The integral value Cvi ′ is not limited to simple proportional-integral control by the motor control device 10, but is used for other elements such as a filter for improving characteristics (for example, provided between the proportional device 32 and the motor 12). Is a value that is not easily affected by the action of other elements. The integral value Cvi ′ is obtained by actual measurement when the operation target is driven at a predetermined speed.

  When the determination result is affirmative, the determination result is output to the comprehensive determination unit 50 by setting a flag.

  The overall determination unit 50 uses the determination unit 44, 70 to 1 as the reset reference when the absolute value of the position deviation is equal to or less than the threshold value α and the integral value output from the integrator 26 is equal to or less than the threshold value γ during the time T2. When the flag is input, it is determined that the operation target is stopped, and a reset flag is set. When the reset flag set to “1” is input from the determination unit 44, the integrator 26 resets the integral control command value by setting the integral value to zero.

  As described above, the motor control device 10 according to the third embodiment uses the integrated value output from the integrator 26 to determine whether or not the operation target object is stopped, so that the motor control device 10 When 10 is a complicated control form including not only simple proportional-integral control but also other elements such as a filter for improving characteristics, the integral control command value is cleared by the action of other elements. It can be prevented that the processing does not work. This is because the integrated value output from the integrator 26 is not easily affected by the action of the other elements. Further, the motor control device 10 according to the third embodiment can manage the remaining allowable time of the integral control command value. By managing the allowable remaining time of the integration control command value, the life management accuracy of the motor 12 can be improved.

  As mentioned above, although this invention was demonstrated using said each embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various changes or improvements can be added to the above-described embodiments without departing from the gist of the invention, and embodiments to which the changes or improvements are added are also included in the technical scope of the present invention.

For example, in each of the above-described embodiments, a state in which the state quantity of the integrator 26 for calculating the integral control command value, that is, the integral value calculated by the integrator 26 is reset in order to reset the integral control command value. However, the present invention is not limited to this. For example, when the operation target reaches the target position, the speed control integral gain K _vI is switched to 0 and the integral control command value is reset. Also good.
In the case of this form, when the reset criterion is satisfied, for example, a reset flag set to “1” is input from the determination unit 44 or the comprehensive determination unit 50 to the proportional device 28, and the proportional device 28 is calculated by the integrator 26. The integral control command value is reset by multiplying the integrated value by 0 instead of the speed control integral gain _KvI .

DESCRIPTION OF SYMBOLS 10 Motor control apparatus 12 Motor 14 Position control part 16 Speed control part 26 Integrator

Claims (7)

A motor control device that controls a motor that changes the position of an operation target,
Position control for calculating a speed command value indicating the target speed of the operation object by proportional control based on a difference between a position command value indicating the target position of the operation object and a detected position of the operation object Means,
An integral control command value is calculated by integral control based on a speed deviation that is a difference between the speed command value and the detected speed of the operation target, and based on a sum of the integral control command value and the speed deviation. Speed control means for calculating a torque command value indicating a torque to be output to the motor;
With
The integral control command value is a motor control device that is reset when the operation object reaches the target position.   The motor control device according to claim 1, wherein the integration control command value is reset by resetting a state quantity of an integrator for calculating the integration control command value.   The motor control device according to claim 1, wherein the integral control command value is reset every time the operation target reaches the target position.   The motor control device according to claim 1, wherein the integral control command value is continuously reset while the operation target object stays at the target position.   The integral control command value is reset when the operation object reaches the target position and the torque command value calculated by the speed control means is not more than a predetermined threshold value for a predetermined time or more. The motor control device according to claim 1 or claim 2 to be performed.   The integral value is reset when the operation object reaches the target position and the integral value output from the integrator provided in the integral control means is below a predetermined threshold for a predetermined time or more. The motor control device according to claim 1, wherein the integral control command value is reset by being performed. Position control means for calculating a speed command value indicating the target speed of the operation object by proportional control based on a difference between a position command value indicating the target position of the operation object and a detected position of the operation object And an integral control command value is calculated by integral control based on a speed deviation that is a difference between the speed command value and the detected speed of the operation object, and the sum of the integral control command value and the speed deviation is calculated. Speed control means for calculating a torque command value indicating the torque to be output to the motor based on the motor control method of the motor control device for controlling the motor that changes the position of the operation object,
A first step of determining whether or not the operation object has reached the target position;
A second step of resetting the integral control command value when it is determined that the operation object has reached the target position;
A motor control method including:

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