JP2855611B2 - Controller for control motor - Google Patents

Description

Description: Object of the Invention (Industrial application field) The present invention relates to a control motor controller that adjusts the input of the control motor according to a predetermined procedure.

(Prior Art) Control motors that operate faithfully in response to an input and control a control target at a predetermined rotation speed, position, speed, and angle are used in various fields. A controller for the control motor controls the input of these control motors according to a predetermined procedure. By sequentially providing the control motors with inputs corresponding to the characteristics of the individual control motors, a series of control operations are performed on the control motors. Is running. For example, a controller of a control motor used in a machine tool adjusts an input given to the control motor in accordance with a command from a higher-order program controller and characteristics of the control motor, and drives a tool in a predetermined procedure. To perform machining of workpieces.

When the control motor is not driven as expected by such a controller, that is, when there is some problem in the control system or control procedure of the controller, if this is left unchecked, a series of operations performed after the problem occurs This affects control and adversely affects work processing. Therefore, there has been proposed a controller for a control motor which is provided with such a failure detection function in the controller itself and immediately stops the control of the control motor when the failure is detected and notifies the occurrence of the failure.

According to the controller of this type of control motor, damage due to the occurrence of the above-described inconvenience can be minimized and widely used.

(Problems to be Solved by the Invention) However, the controller of the above-described conventional control motor is still not sufficient, and has the following problems.

When the controller of the control motor reports a problem and stops inputting to the control motor, maintenance personnel must deal with the problem and rush to recover.

However, in the notification of the malfunction by the controller,
It is not possible to specify the cause of the failure, such as whether a failure has occurred in the control motor itself, whether there is any failure in the control target of the control motor, or whether the control procedure has been unreasonable. For this reason, the maintenance factor required much time to investigate the cause of the failure, and the recovery was often delayed.

In addition, in order to control the control motor efficiently, it is necessary to operate the motor near the limit that the control motor can follow. At present, there is no way to know, and much depends on experience.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and when a trouble occurs in a control motor, the cause thereof can be easily and quickly investigated, and analysis for controlling the control motor with high efficiency is easy. An object of the present invention is to provide a controller for a control motor.

Configuration of the Invention (Means for Solving the Problems) In order to solve the above problems, the means configured according to the present invention should show how the control target should be moved as shown in the basic configuration diagram of FIG. The controller of the control motor that controls the output of the control motor by adjusting the input of the control motor used for driving the control target in accordance with the control procedure represented by the control data instructing A control state storage that associates an output of the control motor including at least the rotational position of the motor with the control data that is a command value input when the output is obtained, and stores a history of both of the correspondences. A gist of the invention is a controller for a control motor, which comprises means.

(Operation) The controller of the control motor according to the present invention also performs control expressed by control data that indicates how to move the control target (for example, position, speed, acceleration, torque, time, etc.) as in the related art. The output N of the control motor M is controlled by adjusting the input N of the control motor M according to the procedure S. Thereby, the control motor M can control the control target at a predetermined rotation speed, angle, speed, and position.

Further, the controller of the control motor according to the present invention associates the output H of the control motor including at least the rotational position of the control motor M with the control data which is a command value input when obtaining the output H. And a control state storage means MK for storing the history of both of them.

The output H of the control motor M is uniquely determined by the state of the motor M and the input N. The controller has information on the state of the control motor M and adjusts its input to output the output of the control motor M. H is controlled. Therefore, the output H of the control motor M is originally under the complete control of the controller, and it is not necessary to store the change.

However, for example, when the load of the control motor M has changed from a predetermined value, when a problem has occurred in the control motor itself, when there is any problem in the control target of the control motor, or when the control procedure is unreasonable. For example, when the state of the control motor M changes, the control motor M does not execute the intended operation (output H) even if a predetermined input N is given from the controller. In other words, any malfunction that occurs in the control system appears as a change in the output H of the control motor M. The output H of the control motor M including at least the rotational position of the control motor M and the output H It is possible to manage the state of the entire control system by associating the control data, which is the command value input at the time of acquisition, with the control data, and storing the history of both of these correspondences.

The control state storage means MK has a function of storing how the output H of the control motor M changes, and at least stores the rotational position of the control motor M. Also, the control state storage means MK
Is not limited to the one that directly stores the output H of the control motor M, but may be one that stores the output H indirectly. For example, the controller is not limited to a configuration in which a detection result of a torque sensor, a rotation speed sensor, a position sensor, an acceleration sensor, or the like, which is attached to the control motor M and directly detects its output, is a type in which a controller performs feedback control. Then, since the change in the output H of the control motor M also affects the feedback system, a configuration may be employed in which the feedback amount or the deviation between the input amount and the feedback amount is stored.

Hereinafter, the present invention will be described more specifically with reference to examples.

FIG. 2 is a diagram for explaining a hardware configuration of a controller of a control motor according to an embodiment.

The controller 10 of the embodiment is composed of a digital circuit mainly composed of a microcomputer as shown in FIG. 2 in consideration of simplification of the configuration and versatility. That is, a CPU 10a that executes a logical operation, a ROM 10b that nonvolatilely stores various control programs executed by the CPU 10a, and a RAM that executes a temporary storage of information and assists the operation of the CPU 10a.
The main part is an input / output port 10d for exchanging information between the logic circuit 10c and these logic circuits and other devices.

Other devices of the controller 10 output a PWM signal according to a control signal input from the input / output port 10d.
A PWM circuit 10e and a pre-driver 10g for driving a power amplifier 10f configured by a power transistor based on the PWM signal are provided. Since the three-phase alternating current PWM controlled by the power amplifier 10f is supplied as the armature current of the control motor 20, the control motor 20 is driven by a control signal output from the input / output port 10d, that is, the CPU 10a is driven. Is controlled by the logic circuit.

Further, the controller 10 of the control motor according to the present embodiment includes:
In order to control the control motor 20 stably with higher accuracy,
A feedback control method is adopted. The information on the output of the control motor 20 that is fed back includes the detection outputs of the current detection coils 22 and 24 that detect the armature current value for detecting the torque generated by the control motor 20 and the rotation axis of the control motor 20. This is a detection output of the encoder 26 that detects the rotation state of.

The rotating shaft of the control motor 20 is connected to a pole screw 32 screwed to a table 30 on which a work or the like is placed.
Therefore, when the rotation shaft of the control motor 20 rotates, the pole screw 32 rotates, and the screwed table 30 can be moved in the horizontal direction in the drawing. At this time, the rotation amount of the rotating shaft corresponds to the moving amount of the table 30, and the rotating speed of the rotating shaft corresponds to the table.
Corresponds to 30 movement speeds.

ROM1 of the control motor of the embodiment configured as described above
Various information described below is stored in 0b.

First, in order to perform predetermined processing on a work in conjunction with other machine tools (not shown), a control procedure for instructing at what speed and how to move the table 30 on which the work is placed (hereinafter, a control procedure) , Control data D).

Further, in order to actually drive the control motor 30 according to the stored control data D, various programs for sequentially outputting a control signal in accordance with the contents indicated by the data from the input / output port 10d are stored. ing. As is known, a logic circuit centering on the CPU 10a is like an aggregate of various electronic components, and by executing a predetermined program on these, various electronic circuits of interest can be configured. .

FIGS. 3, 4 and 5 show flowcharts of programs stored in the ROM 10b of the present embodiment. These programs are repeatedly executed from the time when the servo system including the controller 10 is started. The 2mSec interrupt routine in FIG. 3 is executed every 2mSec, and the 200 μSec interrupt routine in FIG. The 60 μSec routine of FIG. 5 is repeatedly executed by interrupting the CPU 10a every 60 μSec. Hereinafter, the processing of each interrupt routine will be described.

When the processing of the 2mSec interrupt routine of FIG. 3 is started, first, the rotational position Xn (the subscript n represents the elapsed time) from the detection result of the encoder 26 to detect the current drive state of the control motor 30. Detection) (Step 100)
Is executed. Then, the control data Dn indicating how to drive the control motor 30 in this state next is executed (step 110), and the control motor Dn is read out based on these data Xn and Dn. The calculation of the 30 rotation position X feedback control system is executed by the following equation (step 120).

OX = AX (Dn−β1 · Xn) That is, the information of the current rotational position Xn is negatively fed back to the current control data Dn. To calculate the deviation of the rotational position, the control data Dn is fed back to the rotational position Xn. The value (β1 · Xn) obtained by multiplying the gain β1 is subtracted, and the result is multiplied by the amplification degree AX to obtain a variable OX. Where amplification degree AX
Includes the proportional constant P1 and the integral constant I1, and executes the so-called PI control.

The variable OX calculated in this way is the variable OX shown in FIG.
It is used as follows in the μSec routine. First, 200
In the μSec interrupt routine, the rotational position Xn is obtained from the detection result of the encoder 26 to detect the drive state of the control motor 30.
Is detected (step 200), and the result is differentiated to calculate the rotation speed Vn (step 210). Then, the latest variable OX calculated in the 2mSec interrupt routine is read (step 220), and based on these data, a negative feedback calculation for the rotational speed is executed by the following equation (step 230).

OV = AV (OX−β2 · Vn) Here, β2 represents a feedback gain.
AV is an amplification factor including a proportional constant P2 and an integral constant I2, and executes PI control in the same manner as described above.

Further, the variable OV calculated by the 200 μSec routine is used by the 60 μSec interrupt routine of FIG. 5 to finally determine the control signal OT to be output to the intended PWM circuit 10e. That is, first, the torque Tn obtained by converting the detection results of the current detection coils 22 and 24, which are analog information, into digital information is calculated (step 300) to prepare for the following processing. Then, the latest variable OV calculated in the above 200 μSec interrupt routine is read (step
310), in order to negatively feed back the torque Tn detected in step 120 to the variable OV, the following calculation is performed, and the final control signal OT is calculated (step 320).

OT = AT (OV−β3 · Tn) Here, β3 represents a feedback gain.
AT is an amplification degree including a proportional constant P3 and an integral constant I3.

When the final control signal OT is calculated in this way, the control signal OT is output from the input / output port 10d to the PWM circuit 10e (step 330), and a series of processing is completed.

To summarize the processing by the above three interrupt routines, the control data Dn and the actual rotational position Xn of the control motor 30
Is detected every 2mSec, and the speed deviation is 200μSec
The deviation of the current (torque) is detected every 60 μsec, and the armature current of the control motor 30 is PWM-controlled to minimize these deviations.

FIG. 6 is a diagram visually showing a pseudo electronic circuit configured as the controller 10 by the various programs as described above. By executing the above programs, CP
The logic circuit constituted by U10a and the input / output port 10d constitutes a servo circuit having a triple feedback loop as shown.

In brief, the command section 40a for giving a command to the servo system corresponds to a storage area of the ROM 10b that stores the control procedure described above. The amplification (transfer function) of the position amplifier 40b, the speed amplifier 40c, and the current amplifier 40d that amplifies the command value stepwise corresponds to a coefficient at the time of a logical operation executed in the CPU 10a. The degree corresponds to the coefficient AX in step 120, the amplification of the speed amplifier 40c corresponds to the coefficient AV in step 230, and the amplification of the current amplifier 40d corresponds to the coefficient AT in step 320. The feedback information of the servo system is the detection output of the current detection coils 22 and 23 and the encoder 26 as described above.
Since the detected output is an analog output, it is converted into digital information by the A / D converter 40e, and then fed back to the input of the current amplifier 40d via a predetermined feedback gain β3. Since the detection output of the encoder 26 is a digital signal, it is directly fed back to the input of the position amplifier 40b via the feedback gain β1, and is fed back to the input of the speed-up 40c via the differential factor s and the feedback gain β2.

The above is the description of the servo system constituted by the logic circuit.In addition to the above configuration, the controller 10 of the control motor according to the present embodiment further includes the following control state storage unit 40f in a pseudo configuration. Have been.

The control state storage unit 40f stores how each component device operates in the pseudo servo system shown in FIG. 6, and stores control data Dn sequentially output and detection output of the encoder 26. The current rotational position of a control motor 20
Xn, a rotational speed Vn that is a value obtained by differentiating the rotational position Xn, a current (torque) value Tn that is a value obtained by A / D converting the detection output of the current detection coils 22 and 24, and finally output to the PWM circuit 10e. The five data of the control signal OT are detected and stored at predetermined time intervals.

In order to realize the control state storage unit 40f having such a function by a logic circuit centering on the CPU 10a, the ROM 10b stores, in addition to the above-mentioned various programs, a periodic interrupt routine whose flowchart is shown in FIG. I have.

This periodic interrupt routine is started in synchronization with the start of control of the control motor 20 by execution of the above-described various programs, and thereafter, the CPU 1 is executed at predetermined elapse time intervals.
This is repeatedly performed by 0a. That is, immediately after the control of the control motor 20 is started, the control data Dn corresponding to the current elapsed time is read and stored (step 400), and the detection results of the current detection coils 22, 245 and the encoder 26 are subsequently read. Enter the current control motor 20
, That is, the rotational position Xn, the rotational speed Vn, and the current (torque) value Tn are calculated and stored (step 410).
In addition, after the above processing, the control signal finally output to the PWM circuit 10e to detect the operation state of the controller 10.
OTn is read and stored (step 420), and the process of this routine is completed once. That is, every time the periodic interrupt routine is executed, the control signal OTn output from the servo system constituted by the controller 10 to the control motor 20 and the driving state of the control motor 20 are instantaneously stored and recorded. Become.

According to the controller 10 of the control motor of the present embodiment configured as described above, the following effects are apparent. .

For example, when the table 30 that moves in the left-right direction in the drawing due to the rotation of the control motor 20 is prevented from moving due to contact with foreign matter or the like, uneven rotation of the control motor 20 occurs, and this is suppressed. Control signal OTn increases,
The input of the control motor 20 also increases. In such a case, the conventional controller merely protects the armature windings of the control motor 20 and executes an abnormality notification to notify an abnormality of the servo system.

However, according to the controller 10 of the control motor of the present embodiment, since all the processes of the change of the control signal OTn, the rotational position Xn, etc. due to the occurrence of the abnormality are stored in the predetermined area of the RAM 10c, these data are analyzed. By doing so, the occurrence state and location of the abnormality can be determined, and the cause of the abnormality can be easily investigated. Therefore, the cause of the abnormality can be quickly removed, and restoration can be completed early.

The driving state of the control motor 20 is verified by the armature current, and the current detection coils 22, 24
Is used to detect the armature current, so that the driving state of the control motor 20 can be detected with extremely high responsiveness, and the abnormality can be analyzed with high accuracy.

Furthermore, even when no abnormality occurs in the control motor 20, the driving state of the control motor 20 is sequentially stored. For example, to speed up large processes
Important information when changing the control data D for efficient use can be obtained.

In the above embodiment, various data including the armature current are sequentially stored and used for abnormality analysis.
The present invention is not limited to such a configuration, and the information to be stored may be further limited in consideration of the storage capacity of the RAM 10c and the arithmetic performance of the CPU 10a.

In the embodiment, a pseudo feedback control system shown in FIG. 6 is constituted by a logic circuit centering on the CPU 10a and various programs shown in FIGS. 3 to 5 as shown in FIG. However, the present invention is not limited to the embodiment in which the controller 10 is constituted by such a logic circuit.
The present invention may be embodied in various forms that do not depart from the gist of the present invention, for example, by configuring an electric circuit as illustrated in hardware.

Effects of the Invention As described in detail in the above embodiments, the controller of the control motor according to the present invention includes the output of the control motor including at least the rotational position of the control motor, and the input when obtaining the output. A control state storage means for associating control data, which is a command value, and storing the history of both of them, has a function of recording the driving condition of a control system including a control motor.

Therefore, when any trouble occurs in the control motor or the like, the cause of the trouble can be easily investigated by analyzing the driving condition. In particular, the output of the control motor stored by the control state storage means includes at least the rotational position of the control motor. It is possible to accurately and easily find the location of an abnormality that is important information in investigating the cause of the problem. For this reason, an excellent control motor controller that can promptly respond to an abnormality and can quickly recover from the abnormality is provided. Also, by analyzing the driving state of the control motor, not limited to the abnormality analysis, valuable information for controlling the control motor with higher efficiency can be obtained.

[Brief description of the drawings]

FIG. 1 is a basic configuration diagram showing a basic configuration of a control motor controller of the present invention, and FIG. 2 is a schematic configuration diagram of a control motor controller of the embodiment, FIGS. 3, 4 and 5. Is a flowchart of a program processed by the controller of the embodiment, FIG. 6 is a block diagram of a pseudo electric circuit of the controller which operates by executing the program, and FIG. 7 is a process performed by the controller of the embodiment. 9 shows a flowchart of a periodic interrupt routine. MK: Control state storage means, 10: Controller 10a: CPU, 10b: ROM 10c: RAM, 10d: Input / output port 10f: Power amplifier, 10g: Predriver 10e: PWM circuit, 20 …… Control motors 22, 24 …… Current detection coil, 26 …… Encoder 30 …… Table, 32 …… Pole screw

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) H02P 5/00-5/52 H02P 7/00-7/80 G05B 9/00-9/05 G05B 23/00-23 / 02 301

Claims (1)

(57) [Claims] 1. The control motor according to claim 1, wherein said control motor controls an input of a control motor used for driving said control object in accordance with a control procedure indicated by control data indicating how to move said control object. A controller for controlling the output of the control motor, wherein an output of the control motor including at least a rotational position of the control motor corresponds to the control data, which is a command value input when obtaining the output. And a control state storage means for storing the history of both of them corresponding to each other.