JP2021125943A - Motor control method, motor driving device, industrial robot control method, and industrial robot - Google Patents

Abstract

To suppress occurrence of step-out or vibration of a motor after switching a control method for motor deceleration.SOLUTION: In open loop control, a motor control method performs the steps of: simulating a motor rotation position after responding to a position command value in a configuration in which a motor is driven by detection position feedback control based on a position detection value by a rotary encoder and a current supplied to the motor; calculating an electric angle on the basis of a position simulation value obtained by simulation; and supplying current to an actual motor on the basis of calculation results.SELECTED DRAWING: Figure 5

Description

The present invention relates to a motor control method, a motor drive device, a control method for an industrial robot, and an industrial robot.

Conventionally, a motor control method for driving a motor by open loop control is known.

For example, in the motor control method described in Patent Document 1, the motor is started by open loop control by forced commutation (current drawing method). After that, when the angular velocity of the motor is increased to a predetermined value and a sufficient induced voltage can be obtained in the motor, the rotation position of the motor is estimated based on the detected value of the current flowing through the motor by sensorless vector control. Controls the rotation of the motor. According to Patent Document 1, stable motor control can be realized in such a motor control method.

JP-A-2019-187233

However, in the motor control method described in Patent Document 1, in order to stop the motor, the angular velocity of the motor is reduced to a predetermined value by sensorless vector control, and then the control method of the motor is switched from sensorless vector control to open loop control. Suppose. At this time, if the direction of the DQ-axis current vector flowing through the motor is instantly switched from the Q-axis direction to the positive direction of the D-axis, the torque for moving the drive target machine using the motor as the drive source cannot be obtained. It causes the motor to step out and cause large vibrations.

Although the problems that occur when the motor control method is switched from the sensorless vector control to the open loop control have been described, the same problems may occur in the following configurations. That is, the control method is switched from feedback control that feeds back the detected value of the rotation position of the motor by an encoder or the like to open loop control.

The present invention has been made in view of the above background, and an object of the present invention is to provide the following motor control method, motor drive device, control method for industrial robot, and industrial robot. Is. That is, it is a motor control method or the like that can suppress the step-out of the motor and the occurrence of vibration after switching the control method for decelerating the motor.

The first invention of the present application is a motor control method in which a motor is driven by open loop control by a current drawing method, and is transmitted from a rotation position command signal transmitted from a signal transmitting means and a rotation position detector mounted on the motor. A step of simulating the rotation position of the motor after responding to the rotation position command signal in a configuration in which the motor is driven by feedback control based on the rotation position signal and the current flowing through the motor, and a rotation position simulation obtained by the simulation. The step of calculating the electric angle according to the value and the step of applying a voltage to the motor based on the electric angle are provided, and the rotation position simulation value is obtained in the step of simulating the rotation position and the current. A position virtual control step that virtually controls to follow the rotation position command signal and a current simulation step that simulates the current are executed, and in the position virtual control step, the rotation position command signal and the said The voltage command value for the motor is calculated based on the current simulation value obtained in the current simulation step, and the voltage command value is input to the mechanical and electrical models including the motor and the load machine in the current simulation step. The motor control method is characterized in that the rotation position simulation value and the current simulation value are output from the model.

The second invention of the present application is a motor control method in which a motor is driven by open loop control by a current drawing method, and is transmitted from a rotation position command signal transmitted from a signal transmitting means and a rotation position detector mounted on the motor. A step of simulating the rotation position of the motor after responding to the rotation position command signal in a configuration in which the motor is driven by feedback control based on the rotation position signal, and an electric angle corresponding to the rotation position simulation value obtained by the simulation. A step of calculating and a step of supplying a current to the motor based on the electric angle are provided, and in the step of simulating the rotation position, the rotation position simulation value is made to follow the rotation position command signal. A position virtual control step to be virtually controlled and a simulation value acquisition step to obtain the rotation position simulation value are executed, and in the position virtual control step, a required torque is applied to the motor based on the rotation position command signal. The torque command value to be generated is calculated, the torque command value is input to the model of the mechanical system including the motor and the load device in the simulation value acquisition step, and the rotation position simulation value is output from the model. It is a motor control method characterized by.

According to the third invention of the present application, in a motor control method in which a motor is driven by open loop control by a current drawing method, a rotation position command signal transmitted from a signal transmitting means is converted into the rotation position command signal by a position control response transmission function. It is characterized by including a step of converting to a rotation position of a motor after responding, a step of calculating an electric angle according to the rotation position, and a step of applying a voltage to the motor based on the electric angle. This is a motor control method.

The fourth invention of the present application is a motor driving device for controlling the driving of a motor, wherein the driving of the motor is controlled by the motor control method of the first invention, the second invention, or the third invention. It is a drive device.

A fifth aspect of the present invention is a method for controlling an industrial robot in which the drive of a plurality of motors is individually controlled to change the position of an arm of the industrial robot, and the drive of each of the plurality of motors is controlled by the first invention. , The second invention, or the third invention, which is a control method for an industrial robot, characterized in that it is controlled by the motor control method.

The sixth invention of the present application is an industrial robot that individually controls the drive of a plurality of motors to change the position of an arm, and the drive of each of the plurality of motors is controlled by the motor drive device of the fourth invention. It is an industrial robot characterized by this.

According to these inventions, there is an excellent effect that the step-out of the motor and the occurrence of vibration after switching the control method for decelerating the motor can be suppressed.

The perspective view which shows the industrial robot which concerns on embodiment. Top view showing the industrial robot. It is a block diagram which shows the control composition of the motor drive device mounted on the industrial robot together with a motor and the like. It is a flowchart which shows the process flow of the mode value selection process executed by the control mode selection part of the motor drive apparatus. It is a block diagram which shows the open loop control electric angle generation part for executing the open loop control of 1st example. It is a graph which shows the relationship between the position command value and the actual rotation position and speed of the hand part by control in response to the position command value. It is a block diagram which shows the open loop control electric angle generation part for executing the open loop control of the 2nd example. It is a block diagram which shows the open loop control electric angle generation part for executing the open loop control of the 3rd example. It is a block diagram which shows the open loop control electric angle generation part for executing the open loop control of 4th example. It is a block diagram which shows the open loop control electric angle generation part for executing the open loop control of 5th example. It is a block diagram which shows the open loop control electric angle generation part for executing the open loop control of 6th example.

Hereinafter, embodiments of a motor drive device and an industrial robot using the motor control method according to the embodiment of the present invention will be described with reference to the drawings. In the drawings below, the actual structure and the scale and number of each structure may be different in order to make each configuration easy to understand.

First, the basic configuration of the industrial robot according to the embodiment will be described. FIG. 1 is a perspective view showing an industrial robot 1 according to an embodiment. FIG. 2 is a plan view showing the industrial robot 1. The industrial robot 1 is a robot for transporting a glass substrate, and includes an arm 2, a gantry 3, and an elevating part 4. The elevating part 4 is held by the gantry 3 and elevates and elevates in the vertical direction (in the direction of the arrow in FIG. 1) by driving an elevating motor (not shown). The arm 2 includes a hand portion 2A on which a glass substrate is placed, a forearm portion 2B, and an upper arm portion 2C, and is held by the elevating portion 4.

The shoulder joint 2D, which is the connection portion of the upper arm portion 2C with the elevating portion 4, can be rotated along the horizontal direction by the drive of the first motor 22A. Specifically, the rotational driving force of the first motor 22A is transmitted to the shoulder joint 2D via the first belt 2E, so that the shoulder joint 2D rotates in the horizontal direction. Further, the elbow joint 2F, which is a connecting portion between the upper arm portion 2C and the forearm portion 2B, can be rotated along the horizontal direction by the drive of the second motor 22B. Specifically, the rotational driving force of the second motor 22B is transmitted to the elbow joint 2F via the second belt 2G, so that the elbow joint 2F rotates in the horizontal direction. Further, the wrist joint, which is the connecting portion between the forearm portion 2B and the hand portion 2A, can rotate along the horizontal direction by receiving the driving force of the second motor 22B via the belt.

In the industrial robot 1, in order to move the hand portion 2A straight in the direction of the arrow along the trajectory shown by the alternate long and short dash line in FIG. 2, the angle between the shoulder joint 2D and the elbow joint 2F is set to a ratio of 1: 2. It is necessary to rotate both joints. For that purpose, it is necessary to drive the first motor 22A and the second motor 22B with different driving amounts. When both motors are stopped without controlling the rotation positions of the first motor 22A and the second motor 22B, the balance of the driving amounts of both motors is lost and the hand portion 2A deviates from the trajectory indicated by the alternate long and short dash line. It will stop at the position.

Next, a motor drive device using the motor control method according to the embodiment will be described.
FIG. 3 is a block diagram showing a control configuration of the motor drive device 20 mounted on the industrial robot 1 according to the embodiment together with the motor 22 and the like. The industrial robot 1 rotates the motor drive device 20 for rotating the shoulder joint 2D of the arm 2, the elbow joint 2F of the arm 2, and the wrist joint as the motor drive device 20 shown in FIG. The motor drive device 20 for raising and lowering the elevating unit 4 and the motor drive device 20 for raising and lowering the elevating unit 4 are provided.

Each of the three motor drive devices 20 can switch and execute the detection position feedback control, the sensorless vector control, and the open loop control as the control method for driving the motor 22.

The industrial robot 1 includes a host controller 100 that sends commands to three motor drive devices 20. The host controller 100 transmits a position command value (position command signal) to each of the three motor drive devices 20 based on the control program stored in the storage medium. Each of the three motor drive devices 20 executes control to rotate the rotor of the motor 22 to a rotation position corresponding to the position command value sent from the host controller 100. By this control, the arm 2 of the industrial robot 1 performs an operation based on the above-mentioned control program.

The configurations of the three motor drive devices 20 are similar to each other. Therefore, the configuration of only one of the three motor drive devices 20 will be described in detail below.

The motor drive device 20 includes a control mode selection unit 21, a position / speed control unit 23, a vector control DQ axis current command generation unit 24, a first selector 25, a current control unit 26, a DQ inverse conversion unit 27, a PWM control unit 28, and The inverter 29 is provided. The motor 22 driven by the motor driving device 20 is the above-mentioned first motor 22A, second motor 22B, or third motor. The motor drive device 20 includes a current detection unit 31, a second selector 32, a vector control electric angle generation unit 33, a third selector 34, a position estimation unit 35, and an open loop control electric angle generation unit 36. Further, the motor drive device 20 includes an open loop control DQ axis current command generation unit 37, an encoder communication abnormality determination unit 38, and a DQ conversion unit 39. The motor unit includes a motor 22 and a rotary encoder 30.

The position command value output from the host controller 100 is input to the position speed control unit 23 of the motor drive device 20 and the open loop control electric angle generation unit 36.

The motor 22 that is the driving source for the turning motion (rotation of the shoulder joint 2D), the joint bending / stretching motion (rotation of the shoulder joint 2D, the elbow joint 2F, and the wrist joint), or the lifting motion of the arm 2 of the industrial robot 1. Consists of a three-phase (U-phase, V-phase, W-phase) AC PM (Permanent Joint) motor. The rotary encoder 30 as a rotation position detector mounted on the motor 22 detects the rotation position of the rotor of the motor 22 by a well-known technique, and outputs the information of the detection result as a position detection value (rotation position signal). The output position detection value is input to the encoder communication abnormality determination unit 38 and the control mode selection unit 21. The position detection value is also input to the position / speed control unit 23 via the second selector 32.

Hereinafter, the rotation of the rotor of the motor 22 may be expressed as the rotation of the motor 22.

The encoder communication abnormality determination unit 38 detects the presence or absence of an abnormality in the position detection value sent from the rotary encoder 30, and if an abnormality is detected, transmits an abnormality occurrence signal to the control mode selection unit 21 and the host controller 100. do. As an example of the method of detecting the abnormality of the position detection value by the encoder communication abnormality determination unit 38, when the time change amount of the position detection value exceeds a predetermined threshold value (or is equal to or more than the threshold value), it is detected as an abnormality. The method can be mentioned. However, the method is not limited to this method. Further, as a method of detecting the abnormality of the position detection value, a method of detecting the abnormality of the rotary encoder 30 as the abnormality of the position detection value may be adopted.

The control mode selection unit 21 calculates the angular velocity of the motor 22 based on the amount of change in the position detection value sent from the rotary encoder 30 per unit time, and is based on the calculation result and the presence or absence of an abnormality in the position detection value. Select the control mode value and output it.

FIG. 4 is a flowchart showing a processing flow of the mode value selection process executed by the control mode selection unit 21. In the mode value selection process, first, it is determined whether or not the abnormality occurrence signal transmitted from the encoder communication abnormality determination unit 38 as needed has been received (S (step) 1). Then, when the abnormality occurrence signal is not received (N in S1), "0" is selected as the control mode value and output from the control mode selection unit 21 (S2). After that, the processing flow is returned to S1.

On the other hand, when the abnormality occurrence signal is received (Y in S1), it is then determined whether or not the angular velocity of the motor 22 is equal to or higher than a predetermined value (or whether or not it exceeds a predetermined value). (S3). When the angular velocity is equal to or higher than a predetermined value (Y in S3), "1" is selected as the control mode value and output from the control mode selection unit 21 (S4). On the other hand, if it is not equal to or greater than the predetermined value (or does not exceed the predetermined value) (N in S3), "2" is selected as the control mode value and output from the control mode selection unit 21.

As described above, in the control mode value selection process, "0" is selected as the control mode value when no abnormality has occurred in the position detection value. If an abnormality in the position detection value occurs and the angular velocity is equal to or higher than the predetermined value, "1" is selected as the control mode value, and if an abnormality occurs in the position detection value and the angular velocity is not equal to or higher than the predetermined value. "2" is selected as the control mode value.

The above-mentioned predetermined value is, for example, 10% of the rated angular velocity of the motor 22.

When an abnormality occurrence signal is sent from the motor drive device 20, the host controller 100 transfers the position command values to be transmitted to the three motor drive devices 20 while moving the arm 2 on a predetermined orbit, and the arm 2 and the motor 22. Is changed in a pattern that decelerates and stops. As a result, the arm 2 stops on a predetermined orbit.

In FIG. 3, the control mode values output from the control mode selection unit 21 are the first selector 25, the second selector 32, and the third selector 34 (hereinafter, these are collectively three selectors (25, 32, 34)). It is also entered in each of). Each of the three selectors (25, 32, 34) has a 0th input terminal, a 1st input terminal, and a 2nd input terminal, and outputs based on the control mode value sent from the control mode selection unit 21. Switch signals. Specifically, each of the three selectors (25, 32, 34) outputs a signal input to the 0th input terminal when the control mode value is "0", and when it is "1". Outputs the signal input to the 1st input terminal, and outputs the signal input to the 2nd input terminal when it is "2".

The following signals are output from each of the three selectors (25, 32, 34) having such a configuration. That is, when no abnormality in the position detection value has occurred (control mode value = 0), the detection position feedback control for rotating the motor 22 from the position indicated by the position detection value to the position indicated by the position command value. The signal to execute is output. Further, when an abnormality of the position detection value occurs and the angular velocity of the motor 22 is equal to or higher than a predetermined value (or exceeds a predetermined value) (control mode value = 1), the motor 22 is driven by the sensorless vector control described later. A signal is output. Further, when an abnormality of the position detection value occurs and the angular velocity of the motor 22 is less than a predetermined value (or a predetermined value or less) (control mode value = 2), the motor 22 is driven by the open loop control described later. Signal is output.

Of the above three control methods, first, the detection position feedback control will be described.
If there is no abnormality in the position detection value output from the rotary encoder 30, the motor drive device 20 drives the motor 22 by the detection position feedback control. Specifically, when there is no abnormality in the position detection value, the position detection value is output from the second selector 32 and input to the position speed control unit 23 and the vector control electric angle generation unit 33 as the position feedback value. .. The position / speed control unit 23 calculates the torque value required to rotate the motor 22 from the position indicated by the position feedback value to the position indicated by the position command value, and outputs the torque value to the vector control DQ axis current command generation unit 24. .. Further, the vector control electric angle generation unit 33 generates an electric angle based on the position feedback value. This electric angle is input to the DQ conversion unit 39 via the third selector 34.

The vector-controlled DQ-axis current command generator 24 has a D-axis current required to generate the same torque as the input torque value, a D-axis current command value for generating the Q-axis current in the motor 22, and a D-axis current command value. A Q-axis current command value (hereinafter, these are also referred to as a DQ-axis current command value) is generated. The D-axis current is a component of the current flowing through the motor 22 that is parallel to the magnetic flux of the permanent magnet. The Q-axis current is a component of the current flowing through the motor 22 that is orthogonal to the magnetic flux of the permanent magnet.

The DQ axis current command value output from the vector control DQ axis current command generation unit 24 is input to the 0th input terminal and the 1st input terminal of the first selector 25. When the detection position feedback control is executed (control mode value = 0) and when the sensorless vector control is executed (control mode value = 1), the DQ generated by the vector control DQ axis current command generation unit 24 The shaft current command value is output from the first selector 25. This DQ axis current command value is input to the current control unit 26.

The DQ conversion unit 39 generates a D-axis current feedback value and a Q-axis current feedback value (hereinafter, also referred to as a DQ-axis current feedback value) based on the electric angle sent from the third selector 34, and is a current control unit. Output to 26. At the time of sensorless vector control, which will be described later, the DQ conversion unit 39 has a DQ axis based on the electric angle sent from the third selector 34 and the three-phase current detection value sent from the current detection unit 31. Generate a current feedback value.

The current control unit 26 generates a DQ axis voltage command value based on the DQ axis current command value sent from the first selector 25 and the DQ axis current feedback value sent from the DQ conversion unit 39. Output to the DQ inverse conversion unit 27.

The DQ inverse conversion unit 27 receives the required D-axis current and Q-axis current based on the electric angle sent from the third selector 34 and the DQ-axis voltage command value sent from the current control unit 26. Is generated and output as a U-phase voltage command value, a V-phase voltage command value, and a W-phase voltage command value (hereinafter, also referred to as a three-phase voltage command value) for generating the current in the motor 22. The three-phase voltage command value output from the DQ inverse conversion unit 27 is input to the PWM control unit 28. The PWM control unit 28 is a U composed of a PWM signal for outputting the U-phase voltage, the V-phase voltage, and the W-phase voltage indicated by the U-phase voltage command value, the V-phase voltage command value, and the W-phase voltage command value from the inverter 29. A phase gate signal, a V phase gate signal, and a W phase gate signal are output. The inverter 29 supplies the U-phase gate signal, the V-phase gate signal, the U-phase voltage based on the W-phase gate signal, the V-phase voltage, and the W-phase voltage to the motor 22 to rotate the motor 22.

The current detection unit 31 detects the U-phase current, the V-phase current, and the W-phase current (hereinafter, these are also referred to as three-phase currents) flowing from the inverter 29 to the motor 22, and the detection results are the U-phase current detection value and V. It is output as a phase current detection value and a W phase current detection value (hereinafter, also referred to as a three-phase current detection value). Instead of detecting the current value of the three phases, only the current value of the two phases is detected among the three phases, and the current value of the remaining one phase is based on the detection result of the current value of the two phases. May be calculated.

If there is no abnormality in the position detection value output from the rotary encoder 30, the motor 22 is driven by the detection position feedback control as described above.

Next, sensorless vector control will be described. When sensorless vector control is executed, that is, when there is an abnormality in the position detection value and the angular velocity of the motor 22 immediately before the abnormality occurs is equal to or greater than a predetermined value (or exceeds a predetermined value) (control mode value = 1). Drives the motor 22 as follows. That is, the three-phase current detection value output from the current detection unit 31 is input to the DQ conversion unit 39. The DQ conversion unit 39 generates and outputs a DQ axis current feedback value based on the three-phase current detection value and the electric angle sent from the third selector 34. The output DQ axis current feedback value is input to the current control unit 26 and the position estimation unit 35.

The current control unit 26 generates and outputs a DQ axis voltage command value based on the DQ axis current command value sent from the first selector 25 and the DQ axis current feedback value sent from the DQ conversion unit. do. The position estimation unit 35 estimates the rotational position of the motor 22 based on the DQ axis voltage command value sent from the current control unit 26 and the DQ axis current feedback value sent from the DQ conversion unit 39.

The position estimation unit 35 has a position estimation value and an electric angle estimation value based on the DQ axis current feedback value sent from the DQ conversion unit 39 and the DQ axis voltage command value sent from the current control unit 26. And ask. Then, the position estimation unit 35 outputs the position estimation value to the first input terminal of the second selector 32, and outputs the electric angle estimation value to the first input terminal of the third selector.

The position estimation value output from the position estimation unit 35 is input to the position speed control unit 23 as a position feedback value via the second selector 32. The position / speed control unit 23 outputs a torque command value in the same manner as the detected position feedback control except that the position estimated value is used as the position feedback value. The processing until the U-phase gate signal, the V-phase gate signal, and the W-phase gate signal are input to the inverter 29 based on the torque command value is the same as the detection position feedback control. That is, in the sensorless vector control, the detected position feedback control is performed except that the position estimated value based on the induced voltage generated in the motor 22 is fed back to the position speed control unit 23 as the position feedback value instead of the position detected value. The same process is performed.

In the sensorless vector control, the motor drive device 20 lowers the control loop gain of the position speed control as compared with the detection position feedback control. As an example of the method of lowering the control loop gain, there is a method of lowering the control loop gain by a command of the host controller 100. In order to maintain the trajectory of the arm 2 with high accuracy, it is desirable to reduce not only the motor drive device 20 in which the abnormality of the position detection value has occurred but also the control loop gain of the position speed control of the other motor drive device 20. According to the command of the host controller 100, it is possible to appropriately reduce the control loop gain of the position speed control in all the motor drive devices 20.

As another example of reducing the control loop gain of the position / speed control of the motor drive device 20, the control loop gain of the position / speed control of the motor drive device 20 by the processing of the motor drive device 20 that caused the abnormality of the position detection value. There is a way to reduce only. As an example of the processing of this method, there is a method of reducing each of the speed loop gain, the position loop gain, and the speed loop integrated gain in the configuration in which the position and the speed are controlled by P-PI control. Further, as another example, in a configuration in which the position and speed are controlled by RPP control as described in JP-A-2002-229604, for example, there is a method of reducing _{ω 2} gain, ω ₁ gain, and ω _{q gain.} Can be mentioned. Further, as another example, there is a method of lowering the inertial nominal set value in the configuration in which the position and the speed are controlled by the RPP control. By lowering the inertial nominal setting value, it is possible to approximately lower _{the ω 2} gain and the ω _{1 gain.} According to this method, the control loop gain can be appropriately reduced without constructing a dedicated program for reducing the control loop gain.

Next, open loop control will be described. When open loop control is executed, that is, when there is an abnormality in the position detection value and the angular velocity of the motor 22 is less than (or less than or equal to) the predetermined value (control mode value = 2), the following The motor 22 is driven in this way. That is, the open loop control electric angle generator 36 calculates and opens the rotation position (hereinafter referred to as the forced synchronization position command value) that attracts the magnetic poles of the motor 22 based on the position command value sent from the host controller 100. Output to the loop control DQ axis current command generation unit 37. Further, the electric angle is calculated based on the position command value and output to the third selector 34.

The motor drive device according to the embodiment executes any of the open loop controls of the first to sixth examples described below.

FIG. 5 is a block diagram showing an open loop control electric angle generation unit 36 for executing the open loop control of the first example. The open-loop control electric angle generation unit 36 includes a controller 36a, an electric / mechanical model 36b, and an electric angle calculation unit 36c.

The controller 36a includes a position / speed control unit 36a1, a vector control DQ axis current command generation unit 36a2, a current control unit 36a3, a DQ inverse conversion unit 36a4, a PWM control unit 36a5, and a DQ conversion unit 36a6. The position / speed control unit 36a1 shown in FIG. 5 executes the same processing as the position / speed control unit 23 shown in FIG. The vector control DQ axis current command generation unit 36a2 shown in FIG. 5 executes the same processing as the vector control DQ axis current command generation unit 24 shown in FIG. The current control unit 36a3 shown in FIG. 5 executes the same processing as the current control unit 26 shown in FIG. The DQ inverse conversion unit 36a4 shown in FIG. 5 executes the same processing as the DQ inverse conversion unit 27 shown in FIG. The PWM control unit 36a5 shown in FIG. 5 executes the same processing as the PWM control unit 28 shown in FIG. The DQ conversion unit 36a6 shown in FIG. 5 executes the same processing as the DQ conversion unit 39 shown in FIG.

The electrical / mechanical model 36b includes a model of the inverter 36b1, a model of the motor 36b2, and a model of the load machine 36b5 for the motor. These models show how the rotation position of the motor 22 and the current value flowing through the motor 22 when the gate signal changes from the value before the change to the value after the change for each of the U phase, the V phase, and the W phase. It is equipped with an algorithm that simulates whether it changes to. The position simulation value obtained by the simulation is output from the model of the rotary encoder 36b4, and the position speed control unit 36a1 of the controller 36a, the electric angle calculation unit 36c, and the open loop control DQ axis current command generation unit 37 in FIG. Is entered in.

The electric angle calculation unit 36c in FIG. 5 calculates the electric angle of the motor 22 based on the position simulation value, and outputs the result to the DQ inverse conversion unit 27 and the DQ conversion unit 39 in FIG.

Control method when an abnormality occurs in the position detection value. After switching from the detection position feedback control or the sensorless vector control to the open loop control of the first example, it is possible to operate the motor in the same manner as when the position detection value is performed. Therefore, according to the open loop control of the first example, it is possible to suppress the step-out of the motor and the occurrence of vibration after switching.

As a method of bringing the electric angle of the motor 22 closer to the position command value, there is a method of using a first-order lag filter that gradually converges the position deviation to zero with the position deviation immediately before switching to the open loop control as the initial value. However, in this method, since the position deviation is reduced regardless of the position command value, the hand portion 2A cannot be moved along the desired trajectory.

FIG. 6 is a graph showing the relationship between the position command value and the actual rotation position and speed of the hand portion 2A by control in response to the position command value. Focusing on the graph showing the relationship between the rotation position and time, the change in the actual position is delayed with respect to the change in the position command value. This is because it takes time to change the actual position in response to the command. In the detection position feedback control and the sensorless vector control, the trajectory of the hand 2A is set by setting the position control gain so as to uniformly delay the actual rotation position with respect to the position command value of the motor of each joint of the industrial robot 1. Ensure accuracy. On the other hand, in open-loop control, when the method of converging the position deviation to zero only on a specific axis by the above-mentioned first-order lag filter is used, as shown in the figure, the change in the actual rotation position is different from that in the detection position feedback control. different. As a result, there is a difference in the delay of the position of each axis with respect to the position command value, and the position of the hand portion 2A deviates from the target trajectory. On the other hand, in the method using the simulation value as in the open loop control of the first example, as shown in the figure, the actual rotation position is the same as when the detection position feedback control is executed with respect to the change of the position command value. (The hand 2A can be moved along the target trajectory).

FIG. 7 is a block diagram showing an open loop control electric angle generation unit 36 for executing the open loop control of the second example. The open-loop control electric angle generation unit 36 includes a controller 36a, a mechanical model 36b, and an electric angle calculation unit 36c.

The controller 36a includes a position / speed control unit. The position / speed control unit generates a torque command value based on the position command value sent from the host controller 100 and the position simulation value sent from the mechanical model 36b. The mechanical model 36b is a result of simulating the rotation position of the motor 22A after responding to the torque based on the assumption that the torque generated by the motor matches the torque command value sent from the position / speed control unit. Is output as a position simulation value. The position simulation value is output to the electric angle calculation unit 36c. Further, the position simulation value is output to the open loop control DQ axis current command generation unit 37 shown in FIG. 3 as a forced synchronization position command value. The electric angle calculation unit 36c shown in FIG. 7 calculates the electric angle based on the position simulation value, and outputs the result to the DQ inverse conversion unit 27 and the DQ conversion unit 39 shown in FIG.

In the open-loop control of the second example, as can be seen from the comparison between FIGS. 7 and 5, compared to the open-loop control of the first example, the step-out and vibration of the motor after switching the control method by simple processing are performed. Occurrence can be suppressed.

FIG. 8 is a block diagram showing an open loop control electric angle generation unit 36 for executing the open loop control of the third example. The open-loop control electric angle generation unit 36 includes a calculation unit 36d, a parameter calculation unit 36e, and an electric angle calculation unit 36c.

The calculation unit 36d responds to the position command value sent from the host controller 100 by the position control response transfer function G (s) in response to the position detection value when the detection position feedback control is virtually executed. Convert to 22 rotation positions.

The basic equation of the position control response transfer function G (s) is expressed by the following equation.

The calculation unit 36d used for the open loop control of the third example converts the position command value into the position conversion value by the following equation obtained by modifying the right side of the above basic equation.

The position conversion value obtained by the conversion is output to the open loop control DQ axis current command generation unit 37 shown in FIG. 3 as a forced synchronization position command value. The position conversion value is also output to the parameter calculation unit 36e and the electrical angle calculation unit 36c shown in FIG. The electric angle calculation unit 36c calculates the electric angle of the motor 22 based on the position conversion value sent from the calculation unit 36d, and outputs the result to the DQ inverse conversion unit 27 and the DQ conversion unit 39 shown in FIG. do.

In the open loop control of the third example, the position command value is obtained as a position conversion value by the position control response transfer function G (s) as to what kind of delay and what kind of rotation position is reflected in the actual control. It is desirable to use the above-mentioned basic equation as the position control response transfer function G (s). However, in the open loop control of the third example, it is fast and expensive by using a simple position control response transfer function G (s) including only ω _{2 among ff 1} , ff ₂ , ω ₁ , and ω _2. It is possible to obtain the position conversion value of the motor 22 at high speed without using an arithmetic unit (for example, a CPU). Even with a simple position control response transfer function G (s), the position conversion value of the motor 22 can be obtained with an appropriate value if the motor is controlled in the following aspects. That is, ff ₁ takes a value close to 1, and ff ₂ takes a value close to 0.

In the above-described embodiment, after switching the control method of the motor 22 from the detection position feedback control or the sensorless vector control to the open loop control of the third example, the behavior is the same as that in the case of performing the position feedback control. It is possible to operate the motor. Therefore, according to the open loop control of the third example, it is possible to suppress step-out and vibration of the motor 22 after the control method is switched to the open loop control. In addition, according to the open loop control of the third example, the position conversion value can be appropriately obtained by an inexpensive arithmetic unit.

In the configuration in which the position conversion value is obtained by the position control response transfer function G (s), it is _{assumed that ω 1} and ω ₂ are constant values regardless of the state of the controlled object. Then, when the control method is switched to open loop control, the position and speed of the motor 22 may be disturbed due to improper values of _{ω 1} and ω _{2 due to fluctuations in the moment of inertia of the controlled object.}

_{Therefore, the parameter calculation unit 36e shown in FIG. 8 obtains an appropriate value ω 2} based on the immediately preceding position deviation and the speed estimation value at the start of the open loop control, and outputs the result to the calculation unit 36d. The position deviation is the deviation of the position feedback value with respect to the position command value. The speed estimate is the speed estimated based on the position detection value when the detection position feedback control is executed immediately before the start of the open loop control. Further, when the sensorless vector control is executed immediately before the start of the open loop control, the speed is estimated based on the current detection value. _{The calculation unit 36d updates the value of ω 2} stored in the storage medium to the value sent from the parameter calculation unit 36e at any time.

According to such a configuration, it is possible to suppress disturbance of the rotation position and speed of the motor 22 due to improper value of _{ω 2} when the control method is switched to the open loop control of the third example.

FIG. 9 is a block diagram showing an open loop control electric angle generation unit 36 for executing the open loop control of the fourth example. The open-loop control electric angle generator 36 has the same configuration as the open-loop control electric angle generator 36 shown in FIG. 8, except that the position control response transfer function G (s) represented by the following equation is used. It has become.

In the open loop control of the fourth example, high speed is achieved by using a simple position control response transfer function G (s) that includes only ff ₂ and ω _{2 among ff 1} , ff ₂ , ω ₁ , and ω _2. It is possible to obtain the position conversion value at high speed without using an expensive arithmetic unit. If the motor control is such that ff ₁ takes a value close to 1, it is possible to obtain a position conversion value having an appropriate value. Therefore, according to the open loop control of the fourth example, it is possible to suppress step-out and vibration of the motor 22 after the control method is switched to the open loop control. In addition, according to the open loop control of the fourth example, the position conversion value can be appropriately obtained by an inexpensive arithmetic unit.

FIG. 10 is a block diagram showing an open loop control electric angle generation unit 36 for executing the open loop control of the fifth example. The open-loop control electric angle generation unit 36 uses the position control response transfer function G (s) represented by the following equation, and the parameter calculation unit 36e obtains _{ω 1} and ω _2. It has the same configuration as the open loop control electric angle generator 36 shown in 8.

The open-loop control of the fifth _{example, ff 1, ff 2, ω} 1, and of ω2, ff _1, with omega ₁ and omega position control response transfer function G containing only ₂ (s), position conversion value Can be obtained at high speed. Even with the above-mentioned position control response transfer function G (s) _{, if the motor is controlled in such a manner that ff 2} takes a value close to 0, it is possible to obtain an appropriate position conversion value. It is possible to suppress step-out and vibration of the motor 22 after switching the control method to open-loop control.

FIG. 11 is a block diagram showing an open loop control electric angle generation unit 36 for executing the open loop control of the sixth example. FIG. 8 shows that the open-loop control electric angle generation unit 36 uses the above-mentioned basic equation as the position control response transfer function G (s) and obtains ω1 and ω2 by the parameter calculation unit 36e. It has the same configuration as the open loop control electric angle generator 36.

In the open loop control of the sixth example, the position conversion value is obtained by using the position control response transfer function G (s) including all of _{ff 1} , ff ₂ , ω ₁ , and ω _2. According to such a configuration, a position conversion value of an appropriate value can be obtained more accurately than a configuration using a position control response transfer function G (s) that does not include all of _{ff 1} , ff ₂ , ω ₁ , and ω _2. be able to.

<Action and effect of industrial robot 1>
<Structure 1>
(1) In the industrial robot 1 having the above configuration, the motor control method of the configuration 1 is mounted on the motor 22 and the position command value (rotation position command signal) transmitted from the host controller 100 (signal transmitting means). The rotation position of the motor 22 after responding to the position detection value in the configuration in which the motor 22 is driven by the detection position feedback control based on the position detection value (rotation position signal) transmitted from the rotary encoder 30 (rotation position detector). And a step of simulating the current supplied to the motor (36b in FIG. 5). Further, the configuration 1 includes a step (36c in FIG. 5) of calculating the electric angle according to the position simulation value (rotational position simulation value) obtained by the simulation. Further, the configuration 1 includes a step (electrical angle in FIG. 5) of supplying a current to the motor 22 based on the electric angle. In the step of simulating the rotation position and the current, a position virtual control step (36a in FIG. 5) that virtually controls the position simulation value so as to follow the position command value and a current simulation step (FIG. 5) that simulates the current. 36b3) and are executed. In the position virtual control step, the voltage command value for the motor 36b2 is calculated based on the position command value and the three-phase current simulation value obtained in the current simulation step (36a1 to 36a1 to FIG. 5). In the current simulation step, the voltage command value is input to the electrical / mechanical model 36b including the motor 36b2 and the load machine 36b5, and the position simulation value and the three-phase current simulation value are output from the electrical / mechanical model 36b. do.

<Action and effect of configuration 1>
In the configuration 1, it is assumed that the detection position feedback control is performed, and how the rotation position of the motor 22 is changed according to the position command value is simulated. Then, the electric angle corresponding to the position simulation value obtained by the simulation is calculated, and the rotation position of the motor 22 is controlled by the open loop control based on the calculation result. In such a configuration, it is assumed that the control method of the motor 22 is switched from the detection position feedback control or the sensorless vector control to the open loop control. Then, after the switching, the motor 22 can be operated in the same manner as in the case of performing the detection position feedback control, so that the step-out and the occurrence of vibration of the motor 22 after the switching can be suppressed.

<Structure 2>
The motor control method of configuration 2 is a configuration in which the motor 22 is driven by detection position feedback control based on a position command value transmitted from the host controller 100 and a position detection value transmitted from a rotary encoder 30 mounted on the motor 22. The step (36 of FIG. 7) is provided for simulating the rotational position of the motor 22 after responding to the position command value in. Further, in the configuration 2, the step of calculating the electric angle according to the position simulation value (rotational position simulation value) obtained by the simulation (36c in FIG. 7) and supplying a current to the motor 22 based on the electric angle. It includes a step (electrical angle in FIG. 7). In the step of simulating the rotation position, a position virtual control step (36a in FIG. 7) for virtually controlling the position simulation value so as to follow the position command value and a simulation value acquisition step for obtaining the position simulation value are executed. .. In the position virtual control step (36a in FIG. 7), the torque command value for generating the required torque in the motor 22 is calculated based on the position command value. In the simulation value acquisition step, the torque command value is input to the model 36b of the electrical system / mechanical system including the motor and the load device, and the position simulation value is output from the model 36b of the electrical system / mechanical system.

<Action and effect of configuration 2>
According to the configuration 2, it is possible to suppress the step-out and the occurrence of vibration of the motor 22 after the control method of the motor 22 is switched to the open loop control by a process simpler than that of the configuration 1.

<Structure 3>
The motor control method of configuration 3 includes a step of converting the position command value transmitted from the host controller 100 into the rotational position of the motor "" after responding to the position detection value by the position control response transmission function G (s). A step of calculating an electric angle according to the rotation position and a step of supplying a current to the motor 22 based on the electric angle are provided.

<Action and effect of configuration 3>
In the configuration 3, when it is assumed that the detection position feedback control is performed, how the rotation position of the motor 22 is changed according to the position command value is obtained by the position control response transfer function G (s). Then, the electric angle corresponding to the obtained rotation position is calculated, and the rotation position of the motor 22 is controlled by open loop control based on the calculation result. In such a configuration 3, it is assumed that the control method of the motor 22 is switched from the detection position feedback control or the sensorless vector control to the open loop control. Then, after the switching, the motor 22 can be operated in the same manner as in the case of performing the detection position feedback control, so that the step-out and the occurrence of vibration of the motor 22 after the switching can be suppressed.

<Structure 4>
In the motor control method of the configuration 4, the equation represented by the above equation 2 is used as the position control response transfer function (Gs) in the configuration 3.

<Action and effect of configuration 4>
In configuration 4, a high-speed and expensive arithmetic unit (for example, a CPU) is used by using a simple position control response transfer function G (s) including only ω _{2 among ff 1} , ff ₂ , ω ₁ , and ω _2. ) Is not used, and the position conversion value of the motor 22 can be obtained at high speed. Even with the simple position control response transfer function G (s) as described above, it is possible to obtain an appropriate position conversion value if the motor is controlled in the following aspects. That is, ff ₁ takes a value close to 1, and ff ₂ takes a value close to 0. Therefore, according to the configuration 4, the position conversion value in the above-described embodiment can be obtained with an appropriate value by an inexpensive arithmetic unit.

<Structure 5>
In the motor control method of the configuration 5, the equation represented by the above equation 3 is used as the position control response transfer function (Gs) in the configuration 3.

<Action and effect of configuration 5>
In configuration 5, a simple position control response transfer function G (s) that includes only ff ₂ and ω _{2 among ff 1} , ff ₂ , ω ₁ , and ω ₂ is used, so that a high-speed and expensive calculation is performed. It is possible to obtain the position conversion value at high speed without using an apparatus. If the motor control is such that ff ₁ takes a value close to 1, it is possible to obtain a position conversion value having an appropriate value. Therefore, according to the configuration 5, the position conversion value in the above-described embodiment can be obtained with an appropriate value by an inexpensive arithmetic unit.

<Structure 6>
In the motor control method of configuration 6, the equation represented by the above equation 4 is used as the position control response transfer function (Gs) in configuration 3.

<Action and effect of configuration 6>
In configuration 6, the position conversion value is obtained by using the position control response transfer function G (s) including only ff ₁ , ω ₁ and ω _{2 among ff 1} , ff ₂ , ω ₁ and ω _2. Is possible. Even with the above-mentioned position control response transfer function G (s), the position conversion value can be obtained with an appropriate value as long as the motor control _{is such that ff 2 takes a value close to 0.}

<Structure 7>
In the motor control method of configuration 7, the above basic equation is used as the position control response transfer function (Gs) in configuration 3.

<Action and effect of configuration 7>
In the configuration 7, the position conversion value is obtained by using the position control response transfer function G (s) including all of _{ff 1} , ff ₂ , ω ₁ , and ω _2. According to the configuration 7, the position conversion value of an appropriate value is accurately obtained as compared with the case of using the position control response transfer function G (s) which does not include all of _{ff 1} , ff ₂ , ω ₁ , and ω _2. be able to.

<Structures 8 and 9>
The motor control method of configuration 8 includes any of configurations 1 to 3. The motor control method of configuration 9 includes any of configurations 4 to 7. The motor control method of configurations 8 and 9 includes a step (38 in FIG. 3) of detecting the presence or absence of an abnormality in the position detection value transmitted from the rotary encoder 30 that detects the rotation position of the motor 22. Further, the motor control method of configurations 8 and 9 includes a step of driving the motor 22 by detection position feedback control based on the position command value and the position detection value when an abnormality of the position detection value is not detected. Further, in the motor control methods of configurations 8 and 9, when an abnormality in the position detection value is detected, the position estimation value of the motor 22 estimated based on the induced voltage generated in the motor 22 in a predetermined high-speed angular velocity region ( The motor 22 is driven by sensorless vector control based on the rotation position estimated value). On the other hand, in the low speed rotation region lower than the high speed rotation region, the motor 22 is driven by open loop control.

<Actions and effects of configurations 8 and 9>
According to the configuration 8, when an abnormality of the position detection value occurs, the drive of the motor 22 can be stopped by the same behavior as in the case of performing feedback control for feeding back the detected position.

<Structure 10>
The motor control method of configuration 10 includes the configuration of configuration 9. _{In the motor control method of configuration 10, ω 2} immediately after switching from the detection position feedback control or the sensorless vector control to the open loop control is based on the position command value and the position detection value in the detection feedback control immediately before the switching, or. It is calculated based on the position command value and the position estimation value (rotation position estimation value) in the sensorless vector control immediately before switching.

<Action and effect of configuration 10>
In configuration 10, the deviation between the position command value and the position detection value (or position estimation value) and the position detection value (or position estimation value) immediately before switching from the detection position feedback control or the sensorless vector control to the open loop control. _{Calculate ω 2} based on the speed estimated based on. Then, the calculation result is used as _{ω 2} in the position control response transfer function G (s) immediately after switching. According to such a configuration, it is possible to suppress the occurrence of sudden fluctuations in the position and speed of the motor immediately after switching.

<Structure 11>
The motor drive device 20 of the configuration 11 controls the drive of the motor 22 by the motor control method according to any one of the configurations 1 to 10.

<Action and effect of configuration 11>
According to the configuration 11, by using the motor control method according to any one of the configurations 1 to 10, the step-out of the motor when the control method is switched from the detection position feedback control or the sensorless vector control to the open loop control can be achieved. The generation of vibration can be suppressed.

<Structure 12>
In the control method of the industrial robot 1 of the configuration 12, the driving of the plurality of motors 22A and 22B is individually controlled to change the position of the arm 2 of the industrial robot 1 and the driving of the plurality of motors 22A and 22B is performed. , It is controlled by the motor control method according to any one of configurations 1 to 9.

<Structure 13>
The industrial robot 1 of the configuration 13 individually controls the drive of the plurality of motors 22A and 22B to change the position of the arm 2, and drives each of the plurality of motors 22A and 22B in the motor drive device 20 of the configuration 10. Controlled by.

<Actions and effects of configurations 12 and 13>
In configurations 12 and 13, among the plurality of motors 22A and 22B that are the drive sources of the arm 2, the rotational operation of the motor in which the abnormal position detection value occurs is appropriately controlled by sensorless vector control or open loop control, while being appropriately controlled. The rotation operation of the other motors is controlled by the detection position feedback after birth to appropriately stop the rotation of all the motors 22. According to such a configuration, when an abnormality of the position detection value occurs in any one of the motors 22, it is possible to avoid the occurrence of improper operation of the arm 2 by immediately forcibly stopping all the motors 22. ..

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the embodiment, and various modifications and modifications can be made within the scope of the gist thereof. The embodiments are included in the scope and gist of the invention, and at the same time, are included in the invention described in the claims and the equivalent scope thereof.

1: Industrial robot, 2: Arm, 20: Motor drive, 21: Control mode selection unit, 22: Motor, 23: Position speed control unit, 24: Vector control DQ axis current command generation unit, 25: First selector , 26: Current control unit, 27: DQ reverse conversion unit, 28; PWM control unit, 29: Inverter, 30: Rotary encoder (rotation position detector), 31: Current detector, 32: Second selector, 33: Vector Control electric angle generation unit, 34: 3rd selector, 35: position estimation unit, 36: open loop control electric angle generation unit, 37: open loop control DQ axis current command generation unit, 38 encoder communication abnormality determination unit, 39: DQ Conversion unit, 100: Upper controller

Claims (13)

In the motor control method in which the motor is driven by open-loop control by the current drawing method,
After responding to the rotation position command signal in the configuration in which the motor is driven by feedback control based on the rotation position command signal transmitted from the signal transmitting means and the rotation position signal transmitted from the rotation position detector mounted on the motor. A step of simulating the rotation position of the motor and the current flowing through the motor, a step of calculating an electric angle according to the rotation position simulation value obtained by the simulation, and applying a voltage to the motor based on the electric angle. Equipped with steps to
In the step of simulating the rotation position and the current, a position virtual control step that virtually controls the rotation position simulation value so as to follow the rotation position command signal and a current simulation step that simulates the current are provided. Run and
In the position virtual control step, the voltage command value for the motor is calculated based on the rotation position command signal and the current simulation value obtained in the current simulation step.
In the current simulation step, the voltage command value is input to the mechanical and electrical models including the motor and the load machine, and the rotation position simulation value and the current simulation value are output from the model. Motor control method. In the motor control method in which the motor is driven by open loop control by the current drawing method,
After responding to the rotation position command signal in the configuration in which the motor is driven by feedback control based on the rotation position command signal transmitted from the signal transmitting means and the rotation position signal transmitted from the rotation position detector mounted on the motor. It includes a step of simulating the rotation position of the motor, a step of calculating an electric angle according to the rotation position simulation value obtained by the simulation, and a step of supplying a current to the motor based on the electric angle.
In the step of simulating the rotation position, a position virtual control step of virtually controlling the rotation position simulation value so as to follow the rotation position command signal and a simulation value acquisition step of obtaining the rotation position simulation value are performed. Run and
In the position virtual control step, a torque command value for generating a required torque in the motor is calculated based on the rotation position command signal.
A motor control method characterized in that, in the simulation value acquisition step, the torque command value is input to a mechanical model including a motor and a load device, and the rotation position simulation value is output from the model. In the motor control method in which the motor is driven by open loop control by the current drawing method,
The step of converting the rotation position command signal transmitted from the signal transmitting means into the rotation position of the motor after responding to the rotation position command signal by the position control response transmission function, and the electric angle corresponding to the rotation position are calculated. A motor control method comprising a step of applying a voltage to the motor based on the electric angle. The position control response transfer function is expressed by the following equation.

The following equation modified from the right side of

The motor control method according to claim 3, wherein the motor control method is characterized by the above. The position control response transfer function is expressed by the following equation.

The following equation modified from the right side of

The motor control method according to claim 3, wherein the motor control method is characterized by the above. The position control response transfer function is expressed by the following equation.

The following equation modified from the right side of

The motor control method according to claim 3, wherein the motor control method is characterized by the above. The position control response transfer function is expressed by the following equation.

The motor control method according to claim 3, wherein the motor control method is characterized by the above. The step of detecting the presence or absence of abnormality in the rotation position signal transmitted from the rotation position detector that detects the rotation position of the motor, and
A step of driving the motor by feedback control based on the rotation position command signal transmitted from the signal transmitting means and the rotation position signal when the abnormality of the rotation position signal is not detected.
When an abnormality in the rotation position signal is detected, in a predetermined high-speed angular velocity region, the motor is driven by sensorless vector control based on the rotation position estimation value of the motor estimated based on the induced voltage generated in the motor. On the other hand, the motor control method according to any one of claims 1 to 3, wherein the motor is driven by open loop control in a low speed rotation region lower than the high speed rotation region. The step of detecting the presence or absence of abnormality in the rotation position signal transmitted from the rotation position detector that detects the rotation position of the motor, and
A step of driving the motor by feedback control based on the rotation position command signal transmitted from the signal transmitting means and the rotation position signal when the abnormality of the rotation position signal is not detected.
When an abnormality in the rotation position signal is detected, in a predetermined high-speed angular velocity region, the motor is driven by sensorless vector control based on the rotation position estimation value of the motor estimated based on the induced voltage generated in the motor. On the other hand, the motor control method according to any one of claims 4 to 7, wherein the motor is driven by open loop control in a low speed rotation region lower than the high speed rotation region. _{The ω 2} immediately after switching from the feedback control or the sensorless vector control to the open loop control is based on the rotation position command signal and the rotation position signal in the feedback control immediately before the switching, or just before the switching. The motor control method according to claim 9, wherein the motor control method is calculated based on the rotation position command signal and the rotation position estimated value in sensorless vector control. A motor drive device that controls the drive of a motor.
A motor driving device, characterized in that the driving of the motor is controlled by the motor control method according to any one of claims 1 to 10. It is a control method for an industrial robot that changes the position of the arm of the industrial robot by individually controlling the drive of multiple motors.
A control method for an industrial robot, wherein each drive of a plurality of motors is controlled by the motor control method according to any one of claims 1 to 10. An industrial robot that individually controls the drive of multiple motors to change the position of the arm.
An industrial robot characterized in that the drive of each of a plurality of motors is controlled by the motor drive device according to claim 11.

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