JP2021012073A - サーボモータの制御装置 - Google Patents
サーボモータの制御装置 Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
- G01D5/24466—Comparison of the error value to a threshold
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33155—Communication between motor current controller and position controller
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37166—Rotating magnets shunt motor over resistance, cause current variations
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
Description
但し、本発明に係るサーボモータの制御装置は、工作機械に限らず、ロボット、搬送機、計測器、試験装置、プレス機、圧入器、印刷機、ダイカストマシン、射出成型機、食品機械、包装機、溶接機、洗浄機、塗装機、組立装置、実装機、木工機械、シーリング装置、切断機など、他の産業用機械に用いられるサーボモータの駆動制御に適用しても勿論構わない。
なお、図1において、符号3dは動力線、符号3eはサーモスタット線、符号3fは位置検出回路、符号3gはFSSB(接続用光ファイバケーブル)を示している。
このとき、異常判定部8は、磁極検出部6と磁極位置計算部7から求まるそれぞれの磁極位置の差の値、又はその差の微分値が継続的に所定の閾値を超えた場合に異常と判定することが好ましい。
さらに、換算/検出値比較部10 を備えた場合には、位置検出部5の位置精度を捉えることも可能になるため、例えば、工作機械では加工を高精度で制御することが可能になる。なお、この場合には、必ずしも異常判定部8を備えなくてもよい。
2 CNC
3 サーボモータ
3a 軸
4 サーボモータの制御装置
5 位置検出部
6 磁極検出部
7 磁極位置計算部
8 異常判定部
9 警報部
10 換算/検出値比較部
Claims (6)
- 産業用機械のサーボモータを制御するための装置であって、
前記サーボモータの位置を検出する位置検出部と、
前記サーボモータの磁極位置を検出する磁極検出部と、
絶対位置確立前に、少なくとも最初の計算で、前記磁極検出部で検出された磁極位置を初期磁極位置として求め、それ以降の計算で、前記位置検出部で検出された位置データとモータの磁極間隔とからインクリメンタルに磁極位置を求める磁極位置計算部と、
を備える、サーボモータの制御装置。 - 前記磁極検出部と前記磁極位置計算部から求まるそれぞれの磁極位置の差の値、又はその差の微分値を所定の閾値と比較して、前記位置検出部又は前記磁極検出部の異常の有無を判定する異常判定部を備える、
請求項1に記載のサーボモータの制御装置。 - 絶対位置確立後は、前記磁極位置計算部が前記位置検出器から求まる絶対位置から磁極位置を計算するように切り替わる、
請求項1または請求項2に記載のサーボモータの制御装置。 - 前記異常判定部は、前記差又は前記差の微分値が継続的に所定の閾値を超えた場合に異常と判定する、
請求項2または請求項3に記載のサーボモータの制御装置。 - 前記異常判定部が異常と判定した場合に、該判定の結果を受けてアラームを発生させ、前記サーボモータを停止させる警報部を備える、
請求項2から請求項4のいずれか一項に記載のサーボモータの制御装置。 - 前記サーボモータの位置の指令値から励磁位相の指令値を換算し、換算した指令値と検出値とを比較する換算/検出値比較部を備える、
請求項1から請求項5のいずれか一項に記載のサーボモータの制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2019125731A JP7277291B2 (ja) | 2019-07-05 | 2019-07-05 | サーボモータの制御装置 |
US16/920,146 US11460826B2 (en) | 2019-07-05 | 2020-07-02 | Servo motor controller |
CN202010632609.6A CN112187117A (zh) | 2019-07-05 | 2020-07-02 | 伺服电动机的控制装置 |
DE102020208362.2A DE102020208362A1 (de) | 2019-07-05 | 2020-07-03 | Servomotor-steuerung |
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JP2019125731A JP7277291B2 (ja) | 2019-07-05 | 2019-07-05 | サーボモータの制御装置 |
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JP2021012073A true JP2021012073A (ja) | 2021-02-04 |
JP7277291B2 JP7277291B2 (ja) | 2023-05-18 |
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US (1) | US11460826B2 (ja) |
JP (1) | JP7277291B2 (ja) |
CN (1) | CN112187117A (ja) |
DE (1) | DE102020208362A1 (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001336951A (ja) * | 2000-05-29 | 2001-12-07 | Shinko Electric Co Ltd | 回転位置検出装置及び方法 |
JP2007209080A (ja) * | 2006-01-31 | 2007-08-16 | Fanuc Ltd | モータ制御方法およびモータ制御装置 |
WO2019031219A1 (ja) * | 2017-08-08 | 2019-02-14 | パナソニックIpマネジメント株式会社 | コントローラの情報送信方法及びエンコーダの異常検出方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05282046A (ja) | 1992-04-03 | 1993-10-29 | Seiko Instr Inc | Acサーボモータ制御方法 |
JP3042385B2 (ja) | 1995-10-12 | 2000-05-15 | 日本電気株式会社 | Acサーボモータの位置検出回路の故障検出方法および検出装置 |
JP2008022590A (ja) | 2006-07-10 | 2008-01-31 | Nachi Fujikoshi Corp | サーボモータ監視装置 |
JP6070925B2 (ja) * | 2012-08-24 | 2017-02-01 | 富士電機株式会社 | 電動機駆動システム |
DE112013006974T5 (de) * | 2013-04-23 | 2016-01-07 | Mitsubishi Electric Corporation | Magnetpositions-Detektionsvorrichtung und Magnetpositions-Detektionsverfahren |
CN105229917B (zh) * | 2013-05-28 | 2017-05-03 | 富士电机株式会社 | 永磁体型同步电动机的磁极位置检测装置 |
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2019
- 2019-07-05 JP JP2019125731A patent/JP7277291B2/ja active Active
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2020
- 2020-07-02 US US16/920,146 patent/US11460826B2/en active Active
- 2020-07-02 CN CN202010632609.6A patent/CN112187117A/zh active Pending
- 2020-07-03 DE DE102020208362.2A patent/DE102020208362A1/de active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001336951A (ja) * | 2000-05-29 | 2001-12-07 | Shinko Electric Co Ltd | 回転位置検出装置及び方法 |
JP2007209080A (ja) * | 2006-01-31 | 2007-08-16 | Fanuc Ltd | モータ制御方法およびモータ制御装置 |
WO2019031219A1 (ja) * | 2017-08-08 | 2019-02-14 | パナソニックIpマネジメント株式会社 | コントローラの情報送信方法及びエンコーダの異常検出方法 |
Also Published As
Publication number | Publication date |
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US20210003989A1 (en) | 2021-01-07 |
US11460826B2 (en) | 2022-10-04 |
CN112187117A (zh) | 2021-01-05 |
DE102020208362A1 (de) | 2021-01-07 |
JP7277291B2 (ja) | 2023-05-18 |
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