JP2018116600A - Motor control device - Google Patents

Motor control device Download PDF

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JP2018116600A
JP2018116600A JP2017008224A JP2017008224A JP2018116600A JP 2018116600 A JP2018116600 A JP 2018116600A JP 2017008224 A JP2017008224 A JP 2017008224A JP 2017008224 A JP2017008224 A JP 2017008224A JP 2018116600 A JP2018116600 A JP 2018116600A
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motor
resonance frequency
frequency
inertia
phase
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JP6846213B2 (en
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井出　勇治
Yuji Ide
勇治 井出
敏雄 平出
Toshio Hiraide
敏雄 平出
通生 北原
Michio Kitahara
通生 北原
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Sanyo Electric Co Ltd
Sanyo Denki Co Ltd
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Sanyo Electric Co Ltd
Sanyo Denki Co Ltd
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Priority to JP2017008224A priority Critical patent/JP6846213B2/en
Priority to CN201711429557.7A priority patent/CN108336940B/en
Priority to TW107100293A priority patent/TWI783961B/en
Priority to PH12018000005A priority patent/PH12018000005B1/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Feedback Control In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a motor control device capable of stably operating a motor with a large inertia ratio even when driving the motor in a two-inertia system.SOLUTION: A motor control device B for controlling a two-inertia system motor 1a includes a speed controller 3 which controls the motor in a direction in which the deviation between a speed command value and a speed feedback value becomes zero. In this motor control device, an inertia ratio compensating filter 5 is provided on an output side of the speed controller 3. The inertia ratio compensating filter gently compensates for a gain with respect to an antiresonant frequency and a resonant frequency, and sets a phase delay in the antiresonant frequency or resonant frequency to a phase margin or lower in relation to at least a set of antiresonance and resonance characteristics of the two-inertia system motor 1a of a control target 1.SELECTED DRAWING: Figure 1

Description

本発明は、モータ制御技術に関する。   The present invention relates to a motor control technique.

工作機械では、ボールねじを用いてモータの回転運動を直線運動に変換し、テーブルを駆動することが行われている。このような動力伝達機構では、ボールねじなどの剛性の低い部分により、２慣性系が構成されている。   In machine tools, a rotary motion of a motor is converted into a linear motion using a ball screw, and a table is driven. In such a power transmission mechanism, a two-inertia system is configured by a portion having low rigidity such as a ball screw.

２慣性系では、例えば図６に示すように１００Ｈｚ付近の反共振周波数と１４０Ｈｚ付近の共振周波数とがあり、反共振周波数から共振周波数までの位相が１８０°進んだ特性になる。   In the two inertia system, for example, as shown in FIG. 6, there are an anti-resonance frequency near 100 Hz and a resonance frequency near 140 Hz, and the phase from the anti-resonance frequency to the resonance frequency is advanced by 180 °.

このような２慣性系において、モータ慣性を小さくすると、負荷側慣性とモータ側慣性との比が大きくなる。速度ループを構成した場合のトルク指令から速度までの周波数特性は図７のように、慣性比が小さい場合（図７（ａ））と比較し、反共振周波数以下のゲインと共振周波数以上のゲインとの差が大きくなる（図７（ｂ））。   In such a two-inertia system, if the motor inertia is reduced, the ratio between the load-side inertia and the motor-side inertia is increased. As shown in FIG. 7, the frequency characteristic from the torque command to the speed when the speed loop is configured is compared with the case where the inertia ratio is small (FIG. 7A), the gain below the anti-resonance frequency and the gain above the resonance frequency. (FIG. 7B).

反共振周波数以下のゲインが同じになるように速度制御ゲインを調整すると、共振周波数以上のゲインが大きくなり、反共振周波数以下の周波数でのゲイン余裕、位相余裕に加えて、共振周波数以上の周波数でのゲイン余裕、位相余裕が確保されないと、制御系が不安定になり、発振してしまう。   When the speed control gain is adjusted so that the gain below the anti-resonance frequency is the same, the gain above the resonance frequency increases, and in addition to the gain margin and phase margin at the frequency below the anti-resonance frequency, the frequency above the resonance frequency. If the gain margin and phase margin are not secured, the control system becomes unstable and oscillates.

このため、従来は、慣性比の大きなモータを駆動する場合に安定性が確保できるよう、速度制御ゲインを下げて使用せざるを得なかった。   For this reason, conventionally, when driving a motor having a large inertia ratio, the speed control gain must be lowered to ensure stability.

しかしながら、速度制御ゲインが低いと加工精度が低下してしまうという問題がある。同じモータトルクであれば、全慣性が小さい方が加減速に要する時間が短くなるため、機械のサイクルタイム短縮のためにはモータ慣性を小さくする必要がある。   However, when the speed control gain is low, there is a problem that the machining accuracy is lowered. If the motor torque is the same, the time required for acceleration / deceleration is shortened when the total inertia is small. Therefore, it is necessary to reduce the motor inertia in order to shorten the cycle time of the machine.

２慣性系の特性の改善を行った技術例が特許文献１に開示されている。特許文献１では、速度指令値と速度フィードバック値との偏差が零になるようにサーボモータを制御する速度制御器を含むサーボ制御装置において、制御対象の少なくとも一組の反共振、共振特性の逆の特性あるいはこれを近似する特性のフィルタを速度制御器に組み込んでいる。これにより、低域の位相遅れの増加を極力抑えながら、共振ピークのゲインを抑えることにより安定化させて速度制御系の速度制御ゲインを上げることができる。   A technical example in which the characteristics of the two-inertia system are improved is disclosed in Patent Document 1. In Patent Document 1, in a servo control apparatus including a speed controller that controls a servo motor so that a deviation between a speed command value and a speed feedback value becomes zero, at least one set of anti-resonance and reverse of resonance characteristics of a control target. The filter of the characteristic of this or the characteristic which approximates this is incorporated in the speed controller. As a result, the speed control gain of the speed control system can be increased by stabilizing the resonance peak gain while suppressing the increase in the low-frequency phase delay as much as possible.

慣性モーメントの変動に対して、その安定性を確保した技術例が特許文献２に開示されている。特許文献２のモータ制御装置においては、慣性モーメントが最小値から最大値まで変動する機械負荷にモータが結合され、モータを速度指令信号に基づいて駆動制御すると共に速度ループを有する。モータ制御装置は、速度指令信号とモータの速度検出信号との偏差信号に応じてモータを駆動すると共に、偏差信号を比例制御演算と積分制御演算とを行ってモータ駆動指令を生成して出力する速度制御手段と、速度ループに速度制御手段と直列に挿入された補償制御手段とを備えている。該補償制御手段は、慣性モーメントの最小値となる時の速度ループを開放した速度開ループの交差周波数である第１交差周波数と慣性モーメントの最大値となる時の速度開ループの交差周波数である第２交差周波数との間の周波数における速度開ループの位相が−１４０°以上となるように設定される。補償制御手段は、中間周波数領域で位相が進み、低周波数領域と高周波数領域で位相がほぼゼロとなる位相進み特性を有する位相進みフィルタである。   Patent Document 2 discloses a technical example in which the stability of the moment of inertia is ensured. In the motor control device of Patent Document 2, a motor is coupled to a mechanical load whose inertia moment varies from a minimum value to a maximum value, and the motor is driven and controlled based on a speed command signal and has a speed loop. The motor control device drives the motor in accordance with a deviation signal between the speed command signal and the motor speed detection signal, and generates and outputs a motor drive command by performing a proportional control calculation and an integral control calculation on the deviation signal. Speed control means and compensation control means inserted in series with the speed control means in the speed loop are provided. The compensation control means is the first open frequency that is the cross frequency of the open speed loop that opens the speed loop when the minimum value of the moment of inertia is the cross frequency of the open speed loop that is the maximum value of the moment of inertia. The phase of the speed open loop at a frequency between the second crossing frequency is set to be −140 ° or more. The compensation control means is a phase advance filter having a phase advance characteristic in which the phase advances in the intermediate frequency region and the phase becomes almost zero in the low frequency region and the high frequency region.

特開２０００−３２２１０５号公報JP 2000-322105 A 特開２００５−３２８６０７号公報JP-A-2005-328607

特許文献１では、２慣性系で構成される機械系の反共振周波数と共振周波数を相殺するフィルタを制御系に搭載し、これにより特性の改善を行っている。   In Patent Document 1, a filter that cancels the anti-resonance frequency and the resonance frequency of a mechanical system constituted by a two-inertia system is mounted on the control system, thereby improving the characteristics.

しかしながら、特許文献１において用いられている制御対象（２慣性系）の一組の反共振、共振特性の逆の特性のフィルタは、図８（ａ）に示すように反共振周波数や共振周波数での位相の変化が急峻な特性を有するものであり、反共振周波数から共振周波数までの間の位相遅れは１８０°になる。   However, a set of anti-resonance and reverse resonance characteristics of the control target (two-inertia system) used in Patent Document 1 has an anti-resonance frequency and a resonance frequency as shown in FIG. The phase change between the anti-resonance frequency and the resonance frequency is 180 °.

２慣性系の特性として反共振周波数から共振周波数までの位相が１８０°進んでいるため、機械系の反共振周波数や共振周波数と補償フィルタに設定した反共振周波数や共振周波数が完全に一致していれば発振する事なく特性が改善される。しかしながら、補償フィルタに設定した反共振周波数と機械系の反共振周波数に少しでもずれが生ずると、急激で大きな補償フィルタの位相遅れにより発振してしまうという問題がある。   Since the phase from the anti-resonance frequency to the resonance frequency is advanced by 180 ° as a characteristic of the two-inertia system, the anti-resonance frequency and resonance frequency of the mechanical system and the anti-resonance frequency and resonance frequency set in the compensation filter completely match. If so, the characteristics are improved without oscillation. However, if a slight deviation occurs between the anti-resonance frequency set in the compensation filter and the anti-resonance frequency of the mechanical system, there is a problem that oscillation occurs due to a sudden and large phase delay of the compensation filter.

位相が１８０°遅れると、信号が反転して出てくるため、制御ループを構成した場合は発振してしまう。また、共振周波数においても同様に、補償フィルタに設定した共振周波数と機械系の共振周波数に少しでもずれが生ずると、急激で大きな補償フィルタの位相遅れにより発振してしまうという問題がある。   When the phase is delayed by 180 °, the signal is inverted and output, so that oscillation occurs when the control loop is configured. Similarly, at the resonance frequency, if there is even a slight deviation between the resonance frequency set for the compensation filter and the resonance frequency of the mechanical system, there is a problem that oscillation occurs due to a sudden and large phase delay of the compensation filter.

ボールねじを用いた機械系では、テーブルの位置によりボールねじのねじり剛性が少し変動するため、テーブルの位置によっては反共振周波数や共振周波数が少し変化して発振してしまうと、補償フィルタを入れることができず、速度制御ゲインを上げられないという問題があった。   In a mechanical system using a ball screw, the torsional rigidity of the ball screw varies slightly depending on the position of the table. Therefore, depending on the position of the table, if the anti-resonance frequency or resonance frequency slightly changes and oscillation occurs, a compensation filter is inserted. There is a problem that the speed control gain cannot be increased.

また、例えば図８（ｂ）に示すように、反共振周波数及び共振周波数における位相の遅れを低減したフィルタを挿入しようとした場合、反共振周波数より少し低い周波数での位相遅れにより、閉ループ周波数特性のハンプが増大したり、共振周波数より少し高い周波数での位相遅れにより、位相余裕がなくなり発振してしまうという問題があった。ハンプの増大や発振は、加工精度を低下させるため、抑制する必要がある。   Further, for example, as shown in FIG. 8B, when an attempt is made to insert a filter with reduced antiresonance frequency and phase delay at the resonance frequency, the closed loop frequency characteristic is caused by the phase delay at a frequency slightly lower than the antiresonance frequency. There has been a problem in that the hump increases and the phase lag occurs at a frequency slightly higher than the resonance frequency, so that there is no phase margin and oscillation occurs. The increase in hump and oscillation reduce the processing accuracy, so it is necessary to suppress it.

特許文献２では、位相進みフィルタを用いて機械負荷の慣性モーメントが最大の時の交差周波数付近での位相遅れを小さくし、機械負荷の慣性モーメントが変動しても位相余裕が４０°以上となる望ましい制御特性が得られるようにしている。   In Patent Document 2, a phase advance filter is used to reduce the phase delay near the crossing frequency when the moment of inertia of the mechanical load is maximum, and the phase margin becomes 40 ° or more even if the moment of inertia of the mechanical load varies. Desired control characteristics are obtained.

しかしながら、特許文献２は、機械負荷の慣性モーメントが最大の時の交差周波数付近での位相遅れを小さくしているのみで、機械負荷に剛性が低い部分のある２慣性系の特性改善を行ったものではない。   However, Patent Document 2 has improved the characteristics of a two-inertia system in which the mechanical load has a portion with low rigidity only by reducing the phase delay near the crossing frequency when the moment of inertia of the mechanical load is maximum. It is not a thing.

また、特許文献２では、位相進みフィルタとして、低周波数領域の速度制御ゲインを低減する特性のフィルタを用いているため、特許文献２の手法を剛性の低い部分が存在する慣性比の大きな機械に適用して共振周波数付近の位相を進めようとすると、制御帯域の速度制御ゲインが低下し、制御特性が悪化してしまうという問題があった。   Further, in Patent Document 2, since a filter having a characteristic of reducing the speed control gain in the low frequency region is used as the phase advance filter, the method of Patent Document 2 is applied to a machine having a large inertia ratio in which a portion having low rigidity exists. When applied to advance the phase near the resonance frequency, the speed control gain in the control band is lowered, and the control characteristics are deteriorated.

本発明は、２慣性系において、慣性比の大きなモータを駆動する場合において、より安定した動作をさせることを目的とする。   An object of the present invention is to perform a more stable operation when a motor having a large inertia ratio is driven in a two-inertia system.

本発明は、以上のような問題点を解決するためになされたものであり、以下の構成を有する。   The present invention has been made to solve the above problems, and has the following configuration.

１）反共振周波数より少し低い周波数の補償フィルタの位相遅れをなくす、もしくは進めて閉ループ周波数特性のハンプを生じないようにする。   1) Eliminate the phase delay of the compensation filter having a frequency slightly lower than the anti-resonance frequency, or advance it so as not to cause a hump in the closed loop frequency characteristic.

２）同時に共振周波数より少し高い周波数の補償フィルタの位相を進める。これにより、共振周波数での発振が生じないようにすることができる。   2) At the same time, the phase of the compensation filter having a frequency slightly higher than the resonance frequency is advanced. Thereby, it is possible to prevent oscillation at the resonance frequency.

３）さらに、反共振周波数、共振周波数での補償フィルタの位相遅れを位相余裕（４０°〜６０°）以下にする。   3) Further, the phase delay of the compensation filter at the antiresonance frequency and the resonance frequency is set to a phase margin (40 ° to 60 °) or less.

これにより、機械系の反共振周波数や共振周波数が多少変動しても発振することがない。   As a result, oscillation does not occur even if the anti-resonance frequency or the resonance frequency of the mechanical system slightly varies.

また、機械系の反共振周波数でのゲイン低下と共振周波数でのゲイン上昇をある程度補償し、慣性比が大きくても速度制御系の応答を高くできる。   Further, the gain reduction at the anti-resonance frequency and the gain increase at the resonance frequency of the mechanical system are compensated to some extent, and the response of the speed control system can be improved even if the inertia ratio is large.

従って、モータ慣性を小さくする事による加減速時間の短縮や、同じ加減速時間であればモータ出力トルクを低減する事によるモータコストの低減を実現し、機械のサイクルタイムの短縮と高精度化の両立を図れるモータ制御装置を提供することができる。   Therefore, the acceleration / deceleration time can be shortened by reducing the motor inertia, and the motor cost can be reduced by reducing the motor output torque if the acceleration / deceleration time is the same. It is possible to provide a motor control device that can achieve both.

本発明の一観点によれば、２慣性系のモータを制御するモータ制御装置であって、速度指令値と速度フィードバック値との偏差が零になる方向にモータを制御する速度制御器を含むモータ制御装置において、制御対象の前記２慣性系のモータの少なくとも一組の反共振特性と共振特性とに関して、反共振周波数及び共振周波数に対して緩やかにゲインを補償するとともに、反共振周波数、共振周波数での位相遅れを位相余裕（４０°〜６０°）以下とする慣性比補償フィルタを前記速度制御器の出力側に設けることを特徴とするモータ制御装置が提供される。   According to an aspect of the present invention, a motor control device that controls a two-inertia motor, including a speed controller that controls the motor in a direction in which a deviation between a speed command value and a speed feedback value becomes zero. In the control device, with respect to at least one set of anti-resonance characteristics and resonance characteristics of the two-inertia motor to be controlled, the gain is gently compensated for the anti-resonance frequency and the resonance frequency, and the anti-resonance frequency and the resonance frequency are also compensated. A motor control device is provided in which an inertia ratio compensation filter is provided on the output side of the speed controller so that the phase lag at is less than or equal to the phase margin (40 ° to 60 °).

例えば、機械系の反共振周波数の特性のみを打ち消す双二次フィルタと位相進みフィルタとを組合せて使用することができる。   For example, a biquadratic filter that cancels only the anti-resonance frequency characteristic of the mechanical system and a phase advance filter can be used in combination.

これにより、慣性比の大きなモータを駆動する場合に、安定した動作が可能となる。   As a result, stable operation is possible when a motor having a large inertia ratio is driven.

本発明によれば、慣性比の大きなモータを駆動する場合に、安定した動作が可能となる。   According to the present invention, when a motor having a large inertia ratio is driven, stable operation is possible.

図１（ａ）は、２慣性系で構成される機械系を加工するモータを制御するシステムの一構成例を示す図であり、図１（ｂ）は、モータ制御装置の慣性比補償フィルタの一構成例を示す機能ブロック図である。FIG. 1A is a diagram showing a configuration example of a system that controls a motor that processes a mechanical system composed of two inertia systems, and FIG. 1B is a diagram illustrating an inertia ratio compensation filter of a motor control device. It is a functional block diagram which shows one structural example. 双二次フィルタの周波数特性の一例を示す図である。It is a figure which shows an example of the frequency characteristic of a biquadratic filter. 位相進みフィルタの周波数特性の一例を示す図である。It is a figure which shows an example of the frequency characteristic of a phase advance filter. 慣性比補償フィルタの周波数特性の一例を示す図である。It is a figure which shows an example of the frequency characteristic of an inertial ratio compensation filter. 本実施の形態による補償フィルタを反共振周波数が１００Ｈｚ、共振周波数が１５０Ｈｚの機械系のモータ制御装置に適用（挿入）した場合の効果を示した図であり、図５（ａ）は補償フィルタなし、図５（ｂ）は補償フィルタありの場合の例を示す図である。FIG. 5A is a diagram showing an effect when the compensation filter according to the present embodiment is applied (inserted) to a mechanical motor control device having an anti-resonance frequency of 100 Hz and a resonance frequency of 150 Hz. FIG. FIG. 5B is a diagram showing an example in the case of having a compensation filter. ２慣性系における速度制御ゲインと位相との周波数依存性を示す図である。It is a figure which shows the frequency dependence of the speed control gain and phase in a 2 inertia system. ２慣性系における速度制御ゲインとの周波数依存性を示す図であり、慣性比が小さい場合（図７（ａ））と、慣性比が高い場合（図７（ｂ））とを示す図である。It is a figure which shows the frequency dependence with the speed control gain in a 2 inertia system, and is a figure which shows the case where an inertia ratio is small (FIG.7 (a)), and the case where an inertia ratio is high (FIG.7 (b)). . 図８（ａ）は特許文献１に記載の２慣性係の逆関数の特性を示す図であり、図８（ｂ）は、反共振周波数及び共振周波数における位相の遅れを低減したフィルタを挿入しようとした場合の特性を示す図である。FIG. 8 (a) is a diagram showing the characteristics of the inverse function of the two-inertia relationship described in Patent Document 1, and FIG. 8 (b) is to insert a filter with reduced anti-resonance frequency and phase delay at the resonance frequency. It is a figure which shows the characteristic at the time of setting.

以下に、本発明の一実施の形態によるモータ制御装置について、図面を参照しながら詳細に説明する。   Hereinafter, a motor control device according to an embodiment of the present invention will be described in detail with reference to the drawings.

図１（ａ）に示すシステムＡは、２慣性系で構成される機械系１ｂを駆動するモータ１ａを制御する本発明の実施の形態によるモータ制御装置Ｂを含む。図１（ｂ）は、モータ制御装置Ｂのうち慣性比補償フィルタ５の一構成例を示す機能ブロック図である。   A system A shown in FIG. 1A includes a motor control device B according to an embodiment of the present invention that controls a motor 1a that drives a mechanical system 1b constituted by a two-inertia system. FIG. 1B is a functional block diagram illustrating a configuration example of the inertia ratio compensation filter 5 in the motor control device B.

図１（ａ）に示すように、モータ制御装置Ｂにおいては、速度指令と速度フィードバックとを速度制御器３に通す。速度制御器３の出力は慣性比補償フィルタ５を介して、トルク制御部７にトルク指令として出力される。トルク制御部７から出力された制御指令によりモータ１ａが駆動される。モータ１ａの回転位置はエンコーダ１１によりエンコードされ、速度演算器（ｓ）１５により速度を算出して，速度フィードバックとして速度制御器３に戻る。   As shown in FIG. 1A, in the motor control device B, the speed command and the speed feedback are passed through the speed controller 3. The output of the speed controller 3 is output as a torque command to the torque control unit 7 via the inertia ratio compensation filter 5. The motor 1a is driven by the control command output from the torque control unit 7. The rotational position of the motor 1a is encoded by the encoder 11, the speed is calculated by the speed calculator (s) 15, and the speed feedback is returned to the speed controller 3.

本実施の形態においては、慣性比補償フィルタ５は、図１（ｂ）に示すように、機械系１ｂの反共振周波数の特性のみを打ち消す双二次フィルタ５−１と位相進みフィルタ５−２とを組合せて構成することができる。   In the present embodiment, as shown in FIG. 1B, the inertia ratio compensation filter 5 includes a biquadratic filter 5-1 that cancels only the anti-resonance frequency characteristic of the mechanical system 1b and a phase advance filter 5-2. Can be combined.

例えば、慣性比補償フィルタ５の伝達関数Ｇは、以下の伝達関数とすることができる。   For example, the transfer function G of the inertia ratio compensation filter 5 can be the following transfer function.

Ｇ＝Ｇ１×Ｇ２
Ｇ１＝（ｓ２＋２ζＨωＨｓ＋ωＨ ２）／（ｓ２＋２ζLωＬｓ＋ωＬ ２）・ωＬ ２／ωＨ ２
Ｇ2＝｛（１＋ｓＴ１）／（１＋ｓＴ２）｝２ G = G 1 × G 2
G 1 = (s 2 + 2ζ H ω H s + ω H 2) / (s 2 + 2ζ L ω L s + ω L 2) · ω L 2 / ω H 2
G 2 = {(1 + sT 1 ) / (1 + sT 2 )} 2

ここで、Ｇ１は双二次フィルタである。ｓはラプラス演算子、ωＬ、ωＨは固有角周波数、ζＬ、ζＨは減衰係数であり、ωＬを機械系の反共振周波数に、ωＨを機械系の共振周波数に、ζＨ＝０．５として機械系の共振周波数でのゲイン低減をなくし、ζＬ＝０．１〜０．０１程度として機械系の反共振周波数でのゲイン低下をある程度補償する。 Here, G 1 is a biquadratic filter. s is a Laplace operator, ω L and ω H are natural angular frequencies, ζ L and ζ H are damping coefficients, ω L is an anti-resonance frequency of the mechanical system, ω H is a resonant frequency of the mechanical system, and ζ H = 0.5 is used to eliminate the gain reduction at the resonance frequency of the mechanical system, and ζ L = about 0.1 to 0.01 compensates for the gain reduction at the anti-resonance frequency of the mechanical system to some extent.

また、Ｇ２は位相進みフィルタである。（１/Ｔ１)＜（１/Ｔ２）であり、Ｔ１とＴ２の比は高周波数領域におけるゲイン上昇が、双二次フィルタの高周波数領域におけるゲイン低下と同程度になるようにする。反共振周波数、共振周波数での慣性比補償フィルタの位相遅れを位相余裕以下とする。位相余裕は、例えば、４０°〜６０°である。 Also, G 2 is a phase lead filter. (1 / T 1 ) <(1 / T 2 ), and the ratio of T 1 and T 2 is such that the gain increase in the high frequency region is the same as the gain decrease in the high frequency region of the biquadratic filter. To do. The phase delay of the inertia ratio compensation filter at the antiresonance frequency and the resonance frequency is set to be equal to or less than the phase margin. The phase margin is, for example, 40 ° to 60 °.

これにより、慣性比補償フィルタ５の反共振周波数より少し低い周波数での位相遅れをなくすか、もしくは、少し進める。また、反共振周波数、共振周波数での位相遅れを９０°以下にする。さらに、共振周波数より少し高い周波数での位相を進める。   Thereby, the phase delay at a frequency slightly lower than the anti-resonance frequency of the inertia ratio compensation filter 5 is eliminated or slightly advanced. Further, the phase delay at the antiresonance frequency and the resonance frequency is set to 90 ° or less. Further, the phase at a frequency slightly higher than the resonance frequency is advanced.

図２、図３、図４は、それぞれ、上記のように設定した双二次フィルタ（伝達関数Ｇ１）、位相進みフィルタ（伝達関数Ｇ２）、慣性比補償フィルタ（伝達関数Ｇ）のそれぞれの周波数特性の一例を示す図である。 2, 3, and 4 respectively show a biquadratic filter (transfer function G 1 ), a phase advance filter (transfer function G 2 ), and an inertia ratio compensation filter (transfer function G) set as described above. It is a figure which shows an example of the frequency characteristic.

図４に示すように、慣性比補償フィルタ（伝達関数Ｇ）は、例えば、機械系の反共振周波数の１０％低い周波数以下で位相が進み、また、双二次フィルタのゲイン特性は、図６に示すような従来のものと比べて、ゲインの周波数依存がゆるやかになっている（図４の１））。加えて、反共振周波数、共振周波数での位相遅れは４０°弱である（図４の２））。さらに、共振周波数より１．５〜５倍高い周波数での位相を進めている（図４の３））。   As shown in FIG. 4, the inertia ratio compensation filter (transfer function G) advances in phase at, for example, a frequency that is 10% lower than the anti-resonance frequency of the mechanical system, and the gain characteristic of the biquadratic filter is as shown in FIG. The frequency dependence of the gain is gradual compared with the conventional one as shown in (1) in FIG. In addition, the anti-resonance frequency and the phase delay at the resonance frequency are less than 40 ° (2 in FIG. 4)). Further, the phase is advanced at a frequency 1.5 to 5 times higher than the resonance frequency (3 in FIG. 4).

これらの特徴を有する本実施の形態による伝達関数Ｇをもつ慣性比補償フィルタにより、モータの慣性比が大きくなり、高周波数域の速度制御ゲインが高くなっても、その部分の位相を進ませることにより、共振周波数より高い周波数での共振を抑制して安定化する。また、反共振周波数、共振周波数での慣性比補償フィルタの位相遅れを位相余裕（４０°〜６０°）以下と小さくしているため、機械系の反共振周波数や共振周波数が５％程度変動しても発振することはない。   With the inertia ratio compensation filter having the transfer function G according to the present embodiment having these characteristics, even if the inertia ratio of the motor is increased and the speed control gain in the high frequency range is increased, the phase of that portion is advanced. Thus, the resonance at a frequency higher than the resonance frequency is suppressed and stabilized. In addition, since the phase lag of the inertia ratio compensation filter at the anti-resonance frequency and the resonance frequency is reduced to a phase margin (40 ° to 60 °) or less, the anti-resonance frequency and the resonance frequency of the mechanical system fluctuate by about 5%. However, it does not oscillate.

図５（ａ）、図５（ｂ）は、本実施の形態による慣性比補償フィルタを反共振周波数が１００Ｈｚ、共振周波数が１５０Ｈｚの機械系のモータ制御装置に適用（挿入）した場合の効果を示した図である。図５（ａ）に示すように、慣性比補償フィルタが無い場合は、機械系のモータ制御装置における例えば５５Ｈｚ付近のハンプ２１が大きく、また、４００Ｈｚにおける共振２３が見られる。このような状態でモータを動作させると、その動作が安定しない。図５（ｂ）に示すように、図４のようなゲイン特性と位相特性を有する慣性比補償フィルタを挿入すると、５５Ｈｚのハンプ２１ａが小さくなる方向に抑制されるとともに、４００Ｈｚの共振２３ａも抑制され、制御帯域のカットオフ周波数を高くすることができる。   5 (a) and 5 (b) show the effect when the inertia ratio compensation filter according to the present embodiment is applied (inserted) to a mechanical motor control device having an anti-resonance frequency of 100 Hz and a resonance frequency of 150 Hz. FIG. As shown in FIG. 5A, when the inertia ratio compensation filter is not provided, the hump 21 near 55 Hz, for example, in the mechanical motor control device is large, and the resonance 23 at 400 Hz is observed. If the motor is operated in such a state, the operation is not stable. As shown in FIG. 5B, when the inertia ratio compensation filter having the gain characteristic and the phase characteristic as shown in FIG. 4 is inserted, the 55 Hz hump 21a is suppressed in a decreasing direction, and the 400 Hz resonance 23a is also suppressed. Thus, the cut-off frequency of the control band can be increased.

以上のように、本実施の形態では、機械系の反共振周波数の特性のみを打ち消す双二次フィルタと位相進みフィルタとを組合せて慣性比補償フィルタを構成して使用することにより、以下の効果が得られる。   As described above, in the present embodiment, the following effects can be obtained by configuring and using the inertia ratio compensation filter by combining the biquadratic filter that cancels only the anti-resonance frequency characteristic of the mechanical system and the phase advance filter. Is obtained.

慣性比の大きなモータを駆動する場合に、反共振周波数より少し低い周波数の補償フィルタの位相遅れをなくす、もしくは進めて、閉ループ周波数特性のハンプを生じないようにし、同時に共振周波数より少し高い周波数の補償フィルタの位相を進めることにより、共振周波数での発振が生じないようにする。   When driving a motor with a large inertia ratio, eliminate or advance the phase delay of the compensation filter with a frequency slightly lower than the anti-resonance frequency so as not to cause a hump in the closed loop frequency characteristic, and at the same time, with a frequency slightly higher than the resonance frequency. Advancing the phase of the compensation filter prevents oscillation at the resonant frequency.

さらに、反共振周波数、共振周波数での補償フィルタの位相遅れを位相余裕（４０°〜６０°）以下にして、機械系の反共振周波数や共振周波数が多少変動しても発振することがなく、機械系の反共振周波数での速度制御ゲイン低下と共振周波数での速度制御ゲイン上昇をある程度補償し、慣性比が大きくても速度制御系の応答を高くすることができる。   Furthermore, the phase delay of the compensation filter at the anti-resonance frequency and the resonance frequency is set to be less than the phase margin (40 ° to 60 °), and no oscillation occurs even if the anti-resonance frequency or the resonance frequency of the mechanical system slightly varies. The speed control gain decrease at the anti-resonance frequency of the mechanical system and the speed control gain increase at the resonance frequency are compensated to some extent, and the response of the speed control system can be increased even if the inertia ratio is large.

従って、モータ慣性を小さくすることによる加減速時間の短縮や、同じ加減速時間であればモータ出力トルクを低減することによるモータコストの低減を実現し、機械のサイクルタイムの短縮と高精度化の両立を図れるモータ制御装置を提供することができる。   Therefore, the acceleration / deceleration time can be shortened by reducing the motor inertia, and the motor cost can be reduced by reducing the motor output torque if the acceleration / deceleration time is the same. It is possible to provide a motor control device that can achieve both.

上記の実施の形態において、添付図面に図示されている構成等については、これらに限定されるものではなく、本発明の効果を発揮する範囲内で適宜変更することが可能である。その他、本発明の目的の範囲を逸脱しない限りにおいて適宜変更して実施することが可能である。   In the above-described embodiment, the configuration and the like illustrated in the accompanying drawings are not limited to these, and can be appropriately changed within a range in which the effect of the present invention is exhibited. In addition, various modifications can be made without departing from the scope of the object of the present invention.

また、本発明の各構成要素は、任意に取捨選択することができ、取捨選択した構成を具備する発明も本発明に含まれるものである。   Each component of the present invention can be arbitrarily selected, and an invention having a selected configuration is also included in the present invention.

本発明は、モータ制御装置に利用可能である。   The present invention is applicable to a motor control device.

Ａ…システム、Ｂ…モータ制御装置、１ａ…モータ、１ｂ…機械系、３…速度制御器、５…慣性比補償フィルタ、５−１…双二次フィルタ、５−２…位相進みフィルタ、７…トルク制御部、１５…速度演算器（ｓ）。 A ... system, B ... motor control device, 1a ... motor, 1b ... mechanical system, 3 ... speed controller, 5 ... inertia ratio compensation filter, 5-1 ... biquadratic filter, 5-2 ... phase advance filter, 7 ... torque control unit, 15 ... speed calculator (s).

Claims (6)

２慣性系のモータを制御するモータ制御装置であって、速度指令値と速度フィードバック値との偏差が零になる方向にモータを制御する速度制御器を含むモータ制御装置において、
制御対象の前記２慣性系のモータの少なくとも一組の反共振特性と共振特性とに関して、反共振周波数及び共振周波数に対して緩やかにゲインを補償するとともに、反共振周波数、共振周波数での位相遅れを位相余裕以下とする慣性比補償フィルタを前記速度制御器の出力側に設けることを特徴とするモータ制御装置。 A motor control device that controls a motor of two inertia systems, including a speed controller that controls the motor in a direction in which a deviation between a speed command value and a speed feedback value becomes zero.
With respect to at least one set of anti-resonance characteristics and resonance characteristics of the two-inertia motor to be controlled, the gain is gently compensated for the anti-resonance frequency and the resonance frequency, and the phase lag at the anti-resonance frequency and the resonance frequency. An inertia ratio compensation filter is provided on the output side of the speed controller. 前記慣性比補償フィルタは、
双二次フィルタと位相進みフィルタとを含むことを特徴とする請求項１に記載のモータ制御装置。 The inertia ratio compensation filter is:
The motor control device according to claim 1, comprising a biquadratic filter and a phase advance filter. 前記双二次フィルタは、
制御対象の前記２慣性系のモータの少なくとも一組の反共振特性と共振特性とに関して、反共振周波数及び共振周波数に対して緩やかにゲインを補償することを特徴とする請求項２に記載のモータ制御装置。 The biquadratic filter is
3. The motor according to claim 2, wherein the gain is gently compensated for the anti-resonance frequency and the resonance frequency with respect to at least one set of the anti-resonance characteristic and the resonance characteristic of the two-inertia system motor to be controlled. Control device. 前記位相余裕は、４０°〜６０°である請求項２又は３に記載のモータ制御装置。   The motor control device according to claim 2, wherein the phase margin is 40 ° to 60 °. 前記位相進みフィルタは、
さらに、共振周波数より１．５〜５倍高い周波数における位相を進めていることを特徴とする請求項４に記載のモータ制御装置。 The phase advance filter is
5. The motor control device according to claim 4, wherein the phase is advanced at a frequency 1.5 to 5 times higher than the resonance frequency. 前記位相進みフィルタは、
反共振周波数より少し低い周波数の補償フィルタの位相遅れをなくす、もしくは進めて閉ループ周波数特性のハンプを生じないようにするとともに、共振周波数より少し高い周波数の補償フィルタの位相を進めることを特徴とする請求項４に記載のモータ制御装置。 The phase advance filter is
The phase delay of the compensation filter having a frequency slightly lower than the anti-resonance frequency is eliminated or advanced so as not to cause a hump in the closed loop frequency characteristic, and the phase of the compensation filter having a frequency slightly higher than the resonance frequency is advanced. The motor control device according to claim 4.
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