JP2016039748A - Motor controller, motor control system, motor control method, and motor control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve positional accuracy during movement of a motor.SOLUTION: According to an embodiment, a motor controller for starting drive control of a motor according to a start instruction from an upper rank controller includes: reception means for receiving the start instruction; output means for outputting a control signal for the motor; and change means for changing the control signal on the basis of a time difference generated between first timing at which the reception means receives the start instruction and second timing at which the output means outputs the control signal.SELECTED DRAWING: Figure 1

Description

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

  2. Description of the Related Art Conventionally, there has been a motor control device that outputs a control signal in response to a start instruction from a host controller that controls the entire image forming apparatus and starts drive control of a DC (Direct Current) motor used as a paper transport drive source. Are known.

  A motor that predicts and calculates the rotational speed of the motor based on the time information stored in the storage means, and controls the rotational speed of the motor with high accuracy based on the speed control instruction value generated using the predicted speed. A control device is disclosed (for example, see Patent Document 1).

  However, in the conventional motor control device, the target position cannot be corrected in consideration of the time difference between the timing of receiving the start instruction from the host controller and the timing of outputting the control signal. The position accuracy during movement was low.

  The present invention has been made in view of the above problems, and an object of the present invention is to improve positional accuracy during motor movement.

  The motor control apparatus according to the present embodiment is a motor control apparatus that starts motor drive control in response to a start instruction from a host controller, and includes a receiving unit that receives the start instruction and an output unit that outputs a motor control signal. And a changing means for changing the control signal based on a time difference generated between the first timing at which the receiving means receives the start instruction and the second timing at which the output means outputs the control signal. Is a requirement.

  According to the present embodiment, it is possible to improve the position accuracy during motor movement.

It is a figure which shows an example of a structure of the motor control system which concerns on Embodiment 1. FIG. It is a figure explaining the motor which concerns on Embodiment 1. FIG. 3 is an example of a control flowchart according to the first embodiment. It is a figure which shows the comparison result of an ideal target position profile and an actual target position profile. It is a figure which shows an example of a structure of the motor control system which concerns on Embodiment 2. FIG. 6 is an example of a control flowchart according to the second embodiment.

  Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and redundant description may be omitted.

<Embodiment 1>
[Configuration of motor control system]
FIG. 1 is a block diagram showing a schematic configuration of a motor control system 1 according to the present embodiment.

  The motor control system 1 includes a motor control device (DC motor controller) 100, a host controller 110, a drive unit 120, a motor (DC motor) 130, an encoder (rotation detection unit) 140, and the like.

  When the host controller 110 gives a control instruction (for example, a start instruction) to the motor control apparatus 100, the motor control apparatus 100 outputs a control signal according to the instruction to control the motor 130. The host controller 110 is, for example, a known microcomputer, and is a control device that includes a CPU (Central Processing Unit), a memory, an input / output device, and the like, and executes predetermined processing.

  The drive unit 120 drives the motor 130 based on a control signal (for example, a PWM signal, a direction instruction signal, a drive command signal, etc.) output from the motor control device 100 (for example, supplies current to the coil of the motor 130). Drive signal for output) and output to the motor 130.

  The motor 130 is driven to rotate based on the drive signal. For example, the motor 130 includes a permanent magnet as a stator and a coil as a rotor, and is driven to rotate based on the repulsive force or attractive force of the magnetic force associated with the switching of the direction of the current flowing through the rotor. The motor 130 may include a drive unit 120, a motor control device 100, a connector for ensuring connection with the host controller 110, and the like (see FIG. 2).

  The encoder 140 detects the rotation of the motor 130 and outputs a rotation signal (for example, a signal indicating a rotation position, a rotation speed, etc.) to the motor control device 100.

  The motor control device 100 includes a receiving unit 101, an output unit 102, a changing unit 103, and the like, and according to a start instruction from the host controller 110, motor drive control (for example, acceleration, constant speed, deceleration, stop, etc.) Control). There is a time difference (delay time) between the first timing at which the receiving unit 101 receives a start instruction from the host controller 110 and the second timing at which the output unit 102 outputs a control signal for the motor 130. Arise.

  The changing unit 103 includes a measuring unit 131, a target position correcting unit (correcting unit) 132, a calculating unit 133, a position controller (control unit) 134, and the like, and a time difference generated between the first timing and the second timing. Based on the above, the target position is corrected and the control signal is changed.

  The measuring unit 131 is, for example, an internal timer, and measures a time difference generated between the first timing and the second timing based on information acquired from the receiving unit 101 and the output unit 102, and corrects the measurement result. Information is output to the target position correction means 132.

  The target position correcting unit 132 corrects the target position of the motor 130 based on the correction information (delay time information), and outputs the corrected target position to the calculating unit 133.

  The calculation means 133 calculates a position error between the target position and the current position based on the corrected target position and the current position of the motor 130 fed back from the encoder 140, and calculates the calculated position error as a position Output to the controller 134.

  The position controller 134 generates a control amount of the motor 130 based on the position error, and outputs it to the output means 102. Since the control amount is generated based on the correction information, the control signal is changed as a result of the correction of the target position.

  According to motor control device 100 in accordance with the present embodiment, the target position can be corrected in consideration of the time difference that occurs between the first timing and the second timing. Thereby, since the motor control apparatus 100 can output an appropriate control signal, the positional accuracy of the motor 130 can be improved.

[Control flow chart]
FIG. 3 shows an example of a control flowchart related to main processing and motor control processing of the motor control apparatus 100 according to the present embodiment. FIG. 3A is a control flowchart regarding the main process, and FIG. 3B is a control flowchart regarding the motor control process. The control flowchart shown in FIG. 3 is executed by the motor control device 100 based on the motor control program.

  First, the main process will be described.

  In step S <b> 10, the motor control device 100 determines whether or not there is an operation instruction from the host controller 110. When it is determined that there is an operation instruction from the host controller 110 (YES), the motor control device 100 performs the process of step S20. When it is determined that there is no operation instruction from the host controller 110 (NO), the motor control device 100 performs the process of step S10 again.

  In step S20, the motor control device 100 acquires time information.

  In step S <b> 30, the motor control device 100 acquires operation instruction parameters (for example, acceleration, etc.) from the host controller 110.

  In step S40, the motor control device 100 determines whether or not the parameters are appropriate. When it is determined that the parameters are appropriate (YES), the motor control device 100 performs the process of step S50. When it is determined that the parameters are not appropriate (NO), the motor control device 100 performs the process of step S60.

  In step S50, the motor control device 100 sets an operation request for the motor control process.

  In step S60, the motor control device 100 notifies the host controller 110 of the abnormality.

  Next, the motor control process will be described. The motor control process may be executed every predetermined control cycle, or may be executed irregularly.

  In step S <b> 210, the motor control device 100 determines whether a stop operation is requested from the host controller 110. When it is determined that the stop operation is requested (YES), the motor control device 100 performs the process of step S210 again. When it is determined that the stop operation is not requested (NO), the motor control device 100 performs the process of step S220.

  In step S220, the motor control device 100 determines whether or not to start a shift (motor drive control), that is, whether or not the shift is the first time. When it is determined that the shift is the first time (YES), the motor control device 100 performs the process of step S230. When it is determined that the shift is not the first time (NO), the motor control device 100 performs the process of step S250. The motor control device 100 performs the processing of step S230 and step S240 only when the shift is the first time (performs correction processing), and performs the processing of step S250 after the first time (no correction processing is performed).

  In step S230, the motor control device 100 determines the delay time based on the time difference generated between the first timing when the receiving unit 101 receives the start instruction and the second timing when the output unit 102 outputs the control signal. Information (correction information) is acquired.

  In step S240, the motor control device 100 corrects the target position of the motor 130 based on the delay time information, the control period, and the like.

  In step S250, the motor control device 100 calculates the target position of the motor 130 based on the control period and the like.

  In step S260, the motor control device 100 acquires the current position of the motor 130 based on the rotation signal output from the encoder 140.

  In step S <b> 270, the motor control device 100 calculates a position error based on the corrected target position and the current position of the motor 130.

  In step S280, the motor control device 100 generates a control amount of the motor 130 based on the position error.

  In step S290, the motor control device 100 converts the control amount into a PWM duty.

  In step S <b> 300, the motor control device 100 outputs a control signal to the drive unit 120.

  Here, the position error that occurs between the ideal target position profile and the actual target position profile will be described with reference to FIG. A dotted line is a diagram showing a comparison result between an ideal target position profile and an actual target position profile in a conventional motor control device. A solid line is a diagram illustrating a comparison result between an ideal target position profile and an actual target position profile in the motor control device 100 according to the present embodiment. In FIG. 4, the case where the drive waveform of the motor 130 has a trapezoidal shape (constant acceleration during the rise time) will be described as an example. However, for example, the drive waveform of the motor 130 has a Sin shape. Even if it exists, it can explain similarly.

As shown by the dotted line in FIG. 4, the time (first timing) when the receiving means 101 receives the start instruction (acceleration instruction) is the time t = 0 [sec], and the time when the output means 102 outputs the control signal ( The second timing) is time t = t ₀ [sec].

The ideal target position profile is accelerated from time t = 0 [sec] to time t = t ₁ [sec] with a constant acceleration α [pulse / sec ² ], and at time t = t ₁ [sec] The speed v [pulse / sec] is reached. The rise time is Δt _k = t ₁ [sec].

The actual target position profile is accelerated from time t = t ₀ [sec] to time t = t ₀ + t ₁ [sec] with a constant acceleration α [pulse / sec ² ], and time t = t ₀ + t ₁ [ sec], the target speed v [pulse / sec] is reached. The rise time is Δt _k = t ₁ [sec].

That is, in the conventional motor control apparatus, the actual target position profile is delayed by the delay time Δt = t ₀ [sec] with respect to the ideal target position profile, so that a position error ΔX occurs. For example, the position error ΔX [pulse] at time t = t ₁ + Δt (= t ₁ + t ₀ ) [sec] is ΔX = v × t ₀ .

In the conventional motor control device, the target speed is calculated from the control cycle t _s [sec], the acceleration α [pulse / sec ² ], etc., and the target position is the control cycle t _s [sec], the target speed v [pulse]. / Sec], etc.

The target speed before the shift start is V ₀ [pulse / sec], the target position before the shift start is X ₀ [pulse], the target speed at the start of the shift is V ₁ [pulse / sec], and the target position at the start of the shift is X ₁ [pulse], the target speed after the first time V _n [pulse / sec], and the target position after the first time X _n [pulse] are calculated from the following equations.

The target speed v ₁ [pulse / sec] at the start of shifting is
_{V 1 = V 0 + α ×} t s next,
The target position X ₁ [pulse] at the start of shifting is:
_{X 1 = X 0 + V 0} × t s + {(V 1 -V 0) × (t s / 2)} , and the
The target speed v _n [pulse / sec] after the first time is
_{V n = V n-1 +} α × t s next,
The target position X _n [pulse] after the first time is
_{X n = X n-1 +} V n-1 × t s + a _{{(V n -V (n-} 1)) × (t s / 2)}.
(However, when starting from a stopped state, V ₀ = 0, and at a constant speed state, α = 0.)

  In the conventional motor control device, the target speed or the target position is not corrected based on the delay time, and a position error occurs between the ideal target position profile and the actual target position profile.

As shown by the solid line in FIG. 4, the time (first timing) when the receiving means 101 receives the start instruction (acceleration instruction) is the time t = 0 [sec], and the time when the output means 102 outputs the control signal ( The second timing) is time t = t ₀ [sec].

The ideal target position profile is accelerated from time t = 0 [sec] to time t = t ₁ [sec] with a constant acceleration α [pulse / sec ² ], and at time t = t ₁ [sec] The speed v [pulse / sec] is reached. The rise time is Δt _k = t ₁ [sec].

The actual target position profile is accelerated at a constant acceleration α [pulse / sec ² ] from time t = t ₀ [sec] to time t = t ₁ [sec], and at time t = t ₁ [sec], The target speed v [pulse / sec] is reached. The rise time is Δt _k = t ₁ −t ₀ [sec].

That is, in the motor control device according to the present embodiment, when the target position profile when there is no time deviation from the start instruction is set by the time function x (t) = f (t), the time deviation Δt from the start instruction is By setting the corrected target position profile in a certain case to x ₂ (t) = f (t + Δt), the actual target position profile has a short rise time, but after time t = t ₀ [sec], an ideal target It matches the position profile and no position error ΔX occurs.

In the motor control device according to the present embodiment, the target speed is calculated from the delay time Δt [sec], the control cycle t _s [sec], the acceleration α [pulse / sec ² ], and the target position is, for example, It is calculated from the delay time Δt [sec], the control cycle t _s [sec], the target speed v [pulse / sec], and the like.

The target speed before the shift start is V ₀ [pulse / sec], the target position before the shift start is X ₀ [pulse], the target speed at the start of the shift is V ₁ [pulse / sec], and the target position at the start of the shift is X ₁ [pulse], the target speed after the first time V _n [pulse / sec], and the target position after the first time X _n [pulse] are calculated from the following equations.

The target speed v ₁ [pulse / sec] at the start of shifting is
_{V 1 = V 0 + α ×} (t s + Δt) next,
The target position X ₁ [pulse] at the start of shifting is:
_{X 1 = X 0 + V 0} × (t s + Δt) + {(V 1 -V 0) × ((t s + Δt) / 2)} , and the
The target speed v _n [pulse / sec] after the first time is
_{V n = V n-1 +} α × t s next,
The target position X _n [pulse] after the first time is
_{X n = X n-1 +} V n-1 × t s + a _{{(V n -V (n-} 1)) × (t s / 2)}.
(However, when starting from a stopped state, V ₀ = 0, and at a constant speed state, α = 0.)

In the motor control apparatus 100 according to the present embodiment, the position of the motor 130 at the start of shifting (initial position = (1/2) × α × (Δt) ² ) is set in advance, and time t = t ₀ In [sec], the actual target position profile is corrected using the initial position. Even if a time deviation Δt occurs, setting the corrected target speed and the corrected target position profile with fv (t + Δt) and fx (t + Δt) matches the target speed and target position profile when there is no time deviation from the start instruction. Can be controlled. In other words, since the target speed or the target position is corrected based on the delay time at the start of shifting, no position error occurs. Thereby, the position accuracy during motor movement can be improved.

<Embodiment 2>
FIG. 5 is a block diagram showing a schematic configuration of the motor control system 2 according to the present embodiment.
In the present embodiment, a motor control system having a configuration different from the configuration of the motor control system 1 according to the first embodiment will be described.

  The difference between the configuration of the motor control system 2 according to the present embodiment and the configuration of the motor control system 1 according to the first embodiment is that the changing unit 203 corrects the target speed and changes the control signal. is there. That is, the motor control device 200 does not include the target position correction unit 132 and the position controller 134 but includes the target speed correction unit 135 and the speed controller 136, and calculates a speed error instead of a position error. Since the other configuration is the same as the configuration of the motor control system 1 according to the first embodiment, the description of the first embodiment can be referred to.

  The target speed correction means (correction means) 132 corrects the target speed of the motor 130 based on the correction information (delay time information), and outputs the corrected target speed to the calculation means 133.

  The calculation means 133 calculates a speed error between the target speed and the current speed based on the corrected target speed and the current speed of the motor 130 fed back from the encoder 140. Output to the controller 136.

  The speed controller (control means) 136 generates a control amount of the motor 130 based on the speed error and outputs it to the output means 102.

[Control flow chart]
FIG. 6 shows an example of a control flowchart related to main processing and motor control processing of the motor control apparatus 200 according to the present embodiment. FIG. 6A is a control flowchart regarding the main process, and FIG. 6B is a control flowchart regarding the motor control process. The control flowchart shown in FIG. 6 is executed by the motor control device 200 according to the motor control program.

  Since the main process is the same as the process according to the first embodiment, the description of the first embodiment can be referred to.

  The motor control process will be described. The motor control process may be executed every predetermined control cycle, or may be executed irregularly.

  In step S <b> 310, the motor control device 200 determines whether a stop operation is requested from the host controller 110. When it is determined that the stop operation is requested (YES), the motor control device 200 performs the process of step S310 again. When it is determined that the stop operation is not requested (NO), the motor control device 200 performs the process of step S320.

  In step S320, the motor control device 200 determines whether or not to start shifting (motor drive control), that is, whether or not shifting is the first time. When it is determined that the shift is the first time (YES), the motor control device 200 performs the process of step S330. When it is determined that the shift is not the first time (NO), the motor control device 200 performs the process of step S350.

  In step S330, the motor control device 200 determines the delay time based on the time difference generated between the first timing when the receiving unit 101 receives the start instruction and the second timing when the output unit 102 outputs the control signal. Information (correction information) is acquired.

  In step S340, the motor control device 200 corrects the target speed of the motor 130 based on the delay time information, the control period, the acceleration, and the like.

  In step S350, the motor control device 200 calculates a target speed of the motor 130 based on the control cycle, acceleration, and the like.

  In step S <b> 360, the motor control device 200 acquires the current speed of the motor 130 based on the rotation signal output from the encoder 140.

  In step S <b> 370, the motor control device 200 calculates a position error based on the corrected target speed and the current speed of the motor 130.

  In step S380, the motor control device 200 generates a control amount for the motor 130 based on the speed error.

  In step S390, the motor control device 200 converts the control amount into a PWM duty.

  In step S <b> 300, motor control device 200 outputs a control signal to drive unit 120.

  The motor control device according to the present embodiment can correct the target speed in consideration of the time difference that occurs between the first timing and the second timing. Thereby, since the motor control apparatus 100 can output an appropriate control signal, the speed accuracy of the motor 130 can be improved.

  As mentioned above, although the form for implementing this invention was explained in full detail, this invention is not limited to this specific embodiment, In the range of the summary of this invention described in the claim, various Can be modified or changed.

DESCRIPTION OF SYMBOLS 1, 2 Motor control system 100, 200 Motor control apparatus 101 Receiving means 102 Output means 103 Change means 110 Host controller 120 Drive part 130 Motor 131 Measuring means 132 Target position correction means (correction means)
133 Calculation means 134 Position controller (control means)
135 Target speed correction means (correction means)
136 Speed controller (control means)
140 Rotation detector

JP 2009-153369 A

Claims (6)

A motor control device that starts motor drive control in response to a start instruction from a host controller,
Receiving means for receiving the start instruction;
Output means for outputting a control signal of the motor;
Changing means for changing the control signal based on a time difference generated between a first timing at which the receiving means receives the start instruction and a second timing at which the output means outputs the control signal; A motor control device. The changing means is
Measuring means for measuring the time difference;
Correction means for correcting the target position or target speed of the motor based on the time difference;
A calculation means for calculating an error based on the corrected target position and the current position of the motor, or the corrected target speed and the current speed of the motor;
The motor control device according to claim 1, further comprising: a control unit that generates a control amount of the motor based on the error.   The motor control device according to claim 2, wherein the changing unit changes the control signal for each predetermined control cycle. The motor control device according to any one of claims 1 to 3,
A drive unit for driving the motor based on the control signal;
A motor control system comprising: a rotation detection unit configured to detect rotation of the motor. According to a start instruction from a host controller, a motor control method of a motor control device that outputs a control signal to start motor drive control,
Receiving the start instruction;
Measuring a time difference generated between a first timing at which the start instruction is received and a second timing at which the control signal is output;
Correcting the target position or target speed of the motor based on the time difference;
Calculating an error based on the corrected target position and the current position of the motor, or the corrected target speed and the current speed of the motor;
Generating a control amount of the motor based on the error. A motor control program to be executed by a motor control device that starts a motor drive control by outputting a control signal in response to a start instruction from a host controller,
Processing to receive the start instruction;
A process of measuring a time difference generated between a first timing at which the start instruction is received and a second timing at which the control signal is output;
A process of correcting the target position or target speed of the motor based on the time difference;
A process of calculating an error based on the corrected target position and the current position of the motor, or the corrected target speed and the current speed of the motor;
And a process of generating a control amount of the motor based on the error.

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