JP2022135160A - Control unit - Google Patents

Abstract

To match vibratory torque and torsion torque with each other even in the resonant frequency of a two-inertia system.SOLUTION: A control unit 10 according to the present invention comprises: a vibration frequency detector 11 that detects a vibration frequency ω; an electric inertia value operator 12 that operates an electric inertia value matching vibratory torque τL and torsion torque τS from the moment of inertia and viscous friction of a motor inertia and friction unit 21 and a mechanism inertia and friction unit 22 of a two-inertia system, and the spring constant and friction of a torsion element unit 23; and an electric inertia controller 13 that performs electric inertia control based on the electric inertia value operated by the electric inertia value operator 12 and a motor rotation speed ωM corresponding to the deviation between output torque τM and torsion torque τS of a motor.SELECTED DRAWING: Figure 1

Description

The present invention relates to a control device that suppresses vibrations due to resonance between a motor and a mechanical device in a system in which the motor and the mechanical device are connected by a torsion element and the mechanical device is driven by the motor.

In a system in which a motor and a mechanical device are connected by a torsion element and the mechanical device is driven by the motor, vibration due to resonance between the motor and the mechanical device may pose a problem. Therefore, techniques for suppressing such vibrations are being studied.

For example, Patent Document 1 discloses a detection unit that detects torsional torque _τS , a motor rotation speed _ωM corresponding to the deviation between motor output torque _τM and torsional torque _τS , and a friction coefficient _DM ^ a friction torque simulator that calculates the friction torque _TMD based on; an inertia torque simulator that calculates the inertia torque _τMJ based on the motor rotation speed _ωM and the inertia coefficient _JM ^; and a torque command _τM ^ref and An adder for adding the friction torque _τMD and the _inertia torque _τMJ and _outputting the output torque _τM of the motor is provided ^. Techniques for adjusting D _M ̂ and the inertia coefficient J _M ̂ are described.

JP 2020-58216 A

In the technique described in Patent Document 1, a torque meter or the like is used to adjust the friction coefficient D _M ̂ and the inertia coefficient J _M ̂ so that the deviation between the torque command τ _M ^ref and the torsional torque τ _S becomes small. is used to detect the torsional torque τ _S . In that case, the response delay time of the detector affects the control for suppressing vibration. Therefore, phase adjustment for compensating for the delay time is performed by a technique such as iterative learning. There is a problem that the use of repetitive learning impairs the performance of control for suppressing vibration in a transient state in which the vibration frequency changes.

An object of the present invention, which has been made in view of the above problems, is to provide a system in which a motor and a mechanical device are connected by a torsion element and the mechanical device is driven by the motor. Another object of the present invention is to provide a control device capable of suppressing amplification of vibration due to resonance between devices connected by a torsion element, using only the parameters of the spring constant and friction of the torsion element.

In order to solve the above-described problems, a control device according to the present invention is a control device for controlling a motor that drives a mechanical device connected by a torsion element, comprising: a vibration frequency detector for detecting the vibration frequency of vibration torque; , from the vibration frequency, the moment of inertia and viscous friction of the motor and the mechanical device, and the spring constant and friction of the torsion element, an electric inertia value that matches the magnitude of the vibration torque and the torsion torque is calculated. an electric inertia value calculator; an electric inertia value calculated by the electric inertia value calculator; and an electric inertial controller for controlling.

According to the control device of the present invention, in a system in which a motor and a mechanical device are connected by a torsion element and the mechanical device is driven by the motor, the electric inertia value is sequentially calculated even in the process of changing the vibration frequency. Thus, vibration due to resonance between the motor and the mechanical device can be suppressed.

It is a figure which shows the structural example of the control apparatus which concerns on embodiment of this invention. It is a figure which shows the parameter used for experiment of this invention. FIG. 10 is a diagram showing experimental results when the present invention is not used; FIG. 5 is a diagram showing experimental results when the present invention is used;

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing this invention is demonstrated, referring drawings.

FIG. 1 is a diagram showing a configuration example of a control device 10 according to an embodiment of the present invention. The control device 10 according to the present embodiment controls the motor in a system in which a motor and a mechanical device are coupled by a torsion element such as a connecting portion, and the mechanical device is driven by the motor via the torsion element. It is a thing. Specifically, the control device 10 according to the present embodiment controls the motor so as to suppress vibration due to resonance between the motor and the mechanical device. The mechanical device is, for example, a driving transmission system (specimen) such as a transmission that transmits energy generated by an automobile engine to driving wheels.

A system in which a motor and a mechanical device as described above are connected by a torsion element such as a connecting portion can be approximated to the two-inertia system 20 shown in FIG. First, the two-inertia system 20 will be described. The two-inertia system 20 includes a motor inertia/friction section 21 , a mechanical device inertia/friction section 22 , and a torsion element section 23 .

The motor inertia and friction section 21 represents the mechanical elements (inertia and friction) of the motor. A transfer function of the motor inertia/friction unit 21 is represented by 1/(J _M s+D _M ). _JM is the moment of inertia of the motor inertia/friction unit 21, _DM is the viscous friction of the motor inertia/friction unit 21, and s is the Laplace operator. The motor inertia/friction unit 21 receives the deviation between the motor output torque τ _M and the torsional torque τ _S , and outputs the motor rotation speed ω _M corresponding to the deviation. The output torque _τM of the motor is an electromagnetic element, and is output from a torque controller and speed controller (not shown).

The mechanical device inertia and friction section 22 represents the mechanical elements (inertia and friction) of the mechanical device. The transfer function of the mechanical device inertia/friction unit 22 is expressed as 1/(J _L s+D _L ). _JL is the moment of inertia of the mechanical device inertia/friction portion 22 and _DL is the viscous friction of the mechanical device inertia/friction portion 22 . The mechanical device inertia/friction unit 22 receives the deviation between the torsional torque τ _S and the mechanical device side load torque τ _L , which is the load torque on the mechanical device side, and calculates the mechanical device rotational speed ω _L corresponding to the deviation. Output.

A transfer function of the torsion element portion 23 is represented by (K _S /s+D _S ). K _S is the spring constant and Ds is the friction. The torsion element unit 23 receives the deviation between the motor rotation speed ω _M and the mechanical device rotation speed ω _L and outputs it as a torsion torque τ _S .

In the two-inertia system 20 shown in FIG. 1, the transfer function from the machine side load torque _τL to the torsion torque _τS is represented by the following equation (1).

In the equation (1), the gain characteristic of the mechanical device side load torque _τL at the vibration frequency ω is represented by the equation (2). is determined by the spring constant and friction-only parameters of

Next, the configuration of the control device 10 according to this embodiment will be described.

A control device 10 shown in FIG. 1 includes a vibration frequency detector 11 , an electrical inertia value calculator 12 , and an electrical inertia controller 13 .

The vibration frequency detector 11 detects the vibration frequency ω of the vibration torque included in the mechanical device side load torque _τL . The input to the vibration frequency detector 11 may be torsional torque τ _S detected using a torque meter or accelerometer, or may be detected from the vibration component of the motor rotation speed ω _M or mechanical device rotation speed ω _L. good.

The electric inertia controller 13 receives the motor rotation speed ω _M and the electric inertia value _{Ja calculated by the electric inertia value calculator 12 as inputs, and outputs an electric inertia torque τ MJ .}

When the electric inertia controller 13 is added to the two-inertia system 20 of FIG. 1, the transfer function from the mechanical device side load torque _τL to the torsion torque _τS is represented by Equation (3).

In equation (1), the moment of inertia on the motor side is J _M and in equation (3) is converted to J _M +J _a . Therefore, at the vibration frequency ω shown in Equation (2), the gain characteristic from the mechanical device side load torque _τL to the torsional torque _τS is converted to Equation (4).

In order to match the amplitude of the mechanical device side load torque _τL with the amplitude of the torsional torque _τS , the electrical inertia value _Ja is derived so that the equation (4) becomes equal to 1, resulting in the equation (5).

The electric inertia value calculator 12 inputs the vibration frequency ω detected by the vibration frequency detector 11, and calculates the electric inertia value J _a that matches the mechanical device side load torque _τL and the torsional torque _τS according to the equation (5). It is calculated and output to the electric inertia controller 13 .

As a result, even when the vibration torque having the resonance frequency of the two-inertia system 20 is input as the mechanical device-side load torque _τL , the gain can be maintained at 1 without gain amplification.

Effects of the present invention will be described with reference to FIGS. 2, 3, and 4. FIG. FIG. 2 shows parameters of the motor inertia/friction portion 21, the mechanical device inertia/friction portion 22, and the torsion element portion 23 used in the experiment. ±1 Nm is input as the amplitude of the oscillating torque of the mechanical device side load torque _τL .

FIG. 3 shows the amplitude and phase of the torsional torque _τS with respect to the oscillation frequency ω of the mechanical device-side load torque _τL when neither the electric inertia value calculator 12 nor the electric inertia controller 13 is used.

The amplitude of the torsional torque _τS increases as it approaches the resonance frequency _ωn , and at the resonance frequency _ωn , the amplitude is 2.5 times or more that of the mechanical device side load torque _τL .

Further, the phase delay of the torsional torque _τS increases as it approaches the resonance frequency _ωn , and the phase is reversed in the region exceeding the resonance frequency _ωn .

FIG. 4 shows the amplitude and phase of the torsional torque _τS with respect to the oscillation frequency ω of the mechanical device side load torque _τL when using the electric inertia value calculator 12 and the electric inertia controller 13. FIG.

Also in the vicinity of the resonance frequency _ωn , the amplitude of the mechanical device-side load torque _τL and the amplitude of the torsional torque _τS match.

In addition, the phase lag of the torsional torque _τS with respect to the mechanical device side load torque _τL is also suppressed near the resonance frequency _ωn .

In this case, the electric inertia value J _a changes from a positive value to a negative value as shown in FIG. 4, and is calculated so as not to cause a resonance phenomenon with respect to the vibration frequency ω.

As described above, by using the electric inertia value calculator 12 and the electric inertia controller 13, the amplitude and phase of the mechanical device side load torque _τL and the torsional torque _τS can be calculated even in the vicinity of the resonance frequency of the two-inertia system 20. can be matched.

Although the above embodiments have been described as representative examples, it will be apparent to those skilled in the art that many modifications and substitutions are possible within the spirit and scope of the invention. Therefore, this invention should not be construed as limited by the above-described embodiments, and various modifications and changes are possible without departing from the scope of the claims.

10 Control Device 11 Vibration Frequency Detector 12 Electric Inertia Value Calculator 13 Electric Inertia Controller 20 Two-Inertia System 21 Motor Inertia/Friction Section 22 Mechanical Device Inertia/Friction Section 23 Torsion Element Section

Claims (1)

A control device for controlling a motor that drives a mechanical device connected by a torsion element,
a vibration frequency detector that detects the vibration frequency of the vibration torque;
Electricity for calculating an electric inertia value that matches the magnitude of the vibration torque and the torsion torque from the vibration frequency, the moment of inertia and viscous friction of the motor and the mechanical device, and the spring constant and friction of the torsion element an inertia value calculator;
An electric inertia controller that performs electric inertia control based on the electric inertia value calculated by the electric inertia value calculator and the rotational speed of the motor corresponding to the deviation between the output torque of the motor and the torsional torque. When,
A control device comprising:

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