JP3282993B2 - Motor control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling the operation of a motor in accordance with the position and speed of the load when driving the load using the motor. The present invention relates to a motor control device suitable for controlling a curtain.

[0002]

2. Description of the Related Art Conventionally, an electric curtain that opens and closes a curtain using a motor has been known. As a motor used in this type of electric curtain, there is a linear motor in which a rail for guiding the curtain also serves as a motor housing. Incidentally, in order to open and close the curtain with the motor, it is necessary to control the speed at which the curtain is opened and closed. Therefore, in a linear motor used for an electric curtain, a configuration is conceivable in which a position detection signal is generated each time the curtain moves a predetermined distance, and a moving speed of the curtain is calculated based on a time interval of the position detection signal. I have. If the moving speed is obtained in this way, it is possible to perform control such that the curtain is accelerated from the stop position, and is maintained at that speed after reaching a certain speed.

A direct current linear motor is often used as a linear motor. This type of linear motor includes a coil on a mover side or a stator side, and switches the energizing direction of the coil to move the mover. It is possible to generate a position detection signal based on a change in drive current that occurs when the current direction is switched. Here, as the DC linear motor, a brushless type that detects the position of the mover in a non-contact manner using a Hall element or a photoelectric element and switches the direction of energization to the coil based on the detection result of the position of the mover is used. Proposed. However, for a device that travels a relatively long distance, such as an electric curtain, it is difficult to accurately arrange the elements for detecting the position of the mover in a non-contact manner, and the number of elements is large, which leads to an increase in cost. Therefore, it is common to use a linear motor with a brush.

When a linear motor with a brush is used as described above and a position detection signal is taken out based on a change in the drive current, it is necessary to remove a noise component of the drive current caused by chattering of the brush from the position detection signal. . That is, since the position detection signal needs to be generated each time the curtain moves a predetermined distance, the position detection signal may be generated before the curtain moves a predetermined distance due to chattering of the brush or the like. When the position detection signal is generated, the moving speed of the curtain cannot be accurately detected, and the curtain moves abnormally. For example, two or more position detection signals may be generated due to chattering, although one position detection signal should be generated every time a predetermined distance is traveled.

In view of the above, an average value (ie, a moving average of the moving speeds) of a plurality of moving speeds calculated based on the time interval at which the position detection signal is generated is determined, and the influence of the abnormal value which occurs only once is obtained. It is thought to reduce.
Alternatively, when the calculation result of the moving speed is considered to be an abnormal value, the moving speed obtained as a normal value before being considered to be an abnormal value is used instead of being adopted as a suspicious value, and thereafter, it is suspicious. It has been considered that a suspicious value is adopted as a normal value when a value occurs a predetermined number of times in succession.

[0006]

However, if the influence of the abnormal value is reduced by the moving average, the moving speed is always detected only as an average value and no instantaneous speed change is detected. Therefore, so-called integral control is performed. Although a good response characteristic can be obtained for the low frequency component of the change in the moving speed, there is a problem that the characteristic for the high frequency component of the change in the moving speed is deteriorated. In short, the control of the motor cannot follow the change in the moving speed that occurs in a short time. If the number of samples for which the moving average is obtained is reduced, this problem is reduced, but the effect of reducing the effect of the abnormal value becomes insufficient.

On the other hand, when a suspicious value occurs a predetermined number of times in succession, the latter technique adopting the suspicious value as a normal value determines whether the moving speed is a normal value unless the moving speed is detected at least twice continuously. Cannot be determined, an instantaneous change in speed cannot be detected, and the response of speed control is low. For example, even when the speed suddenly changes due to the presence of an obstacle, the motor is controlled to respond to the speed change only after a suspicious value is detected two or more times. A time lag will occur before the control of.

The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to detect an instantaneous change in speed of a motor unit, but to reduce the influence of an abnormal speed value. It is to provide a control device.
The present invention has been made in view of the above circumstances, and has as its object to calculate a detection speed without using an erroneous position detection signal even when an erroneous position detection signal is generated, and as a result, the speed is calculated. An object of the present invention is to provide a motor control device that does not reduce controllability.

[0009]

According to a first aspect of the present invention, there is provided a position detecting signal generating section for generating a position detecting signal every time a predetermined amount of movement of a load is performed during operation of a motor section for driving a load, and a position detecting signal. A detected speed calculating unit that detects a speed at which a load moves based on a time interval at which a load occurs as a detected speed, a command speed generating unit that outputs a command speed that is a target value of the speed of the motor unit, a command speed and a detected speed An arithmetic control unit that generates a command value to be given to the motor unit so as to reduce the difference between the driving unit and a driving unit that controls power supplied to the motor unit so as to change the speed of the motor unit according to the command value. Drive of motor part
A predicted speed change amount calculation unit for predicting an allowable range of a speed change amount until a next position detection signal is generated every time a position detection signal is generated using a voltage equation and a thrust equation showing characteristics; and a next position detection. An erroneous position detection signal determining unit that generates a delete signal when the signal generation time is out of the allowable range of the speed change amount obtained by the predicted speed change amount calculation unit, and deletes the position detection signal that generated the delete signal. And an erroneous position detection signal deletion unit that prohibits use of the detection speed calculation. According to this configuration, it is determined whether or not the position detection signal generated during the operation of the motor unit is a noise component, based on whether or not the amount of change in the detection speed is within a predicted allowable range. Is deleted so as not to be used in the calculation of the detection speed, so that the detection speed can be accurately obtained without being affected by the abnormal value, and the speed control of the motor unit can be accurately performed. Moreover, since the speed control is performed based on the instantaneous value of the detected speed, the responsiveness to a change in the speed is improved.

According to a second aspect of the present invention, there is provided a position detecting signal generating section for generating a position detecting signal every time a fixed amount of movement of the load is performed during operation of the motor section for driving the load, and a time interval for generating the position detecting signal. A detected speed calculating unit that detects a speed at which the load moves based on the detected speed as a detected speed, a command speed generating unit that outputs a command speed that is a target value of the speed of the motor unit, and reduces a difference between the command speed and the detected speed. An operation control unit that generates a command value given to the motor unit, a driving unit that controls power supplied to the motor unit so as to change the speed of the motor unit according to the command value, and a driving characteristic of the motor unit. Indicating voltage direction
A predicted speed calculation unit that outputs a predicted value of the speed at the time of the next position detection signal every time a position detection signal is generated using the equation and the thrust equation, and the time when the next position detection signal is generated is based on the predicted speed An erroneous position detection signal judging unit that generates a delete signal when the erroneous position is not within a predetermined margin, and an erroneous position detection that deletes the position detection signal that generated the delete signal and prohibits use of the position detection signal for calculating the detection speed. And a signal deletion unit. According to this configuration, it is determined whether or not the position detection signal generated during the operation of the motor unit is a noise component based on whether or not the predicted value of the detection speed is within the range of the allowable margin. Since the component is deleted so as not to be used in the calculation of the detection speed, the detection speed can be accurately obtained without being affected by the abnormal value, and the speed control of the motor unit can be accurately performed. Moreover, since the speed control is performed based on the instantaneous value of the detected speed, the responsiveness to a change in the speed is improved.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION

(Embodiment 1) In this embodiment, an electric curtain that opens and closes a curtain using a DC linear motor with a brush will be described. However, the type of motor and load is not particularly limited. The same technical idea can be applied to a combination of loads.

The motor section 2 shown in FIG. 1 is obtained by attaching a curtain as a load to a brushed DC linear motor, and includes a motor housing which is also used as a cylindrical rail for running the curtain. One end of the curtain is hung on the mover that travels. The motor section 2 increases the traveling speed of the mover as the applied voltage is higher, and switches the traveling direction of the mover according to the polarity of the applied voltage. Position detection signal generator 3
In the above, a position detection signal is generated each time the mover moves a predetermined distance based on a change in the drive current that occurs when the direction of the current supplied to the coil changes as the mover moves.

Since the position detection signals are generated one after another while the motor unit 2 is operating, if the time interval at which the position detection signals are generated is measured, (a known distance corresponding to the position detection signal generation interval) / (Time interval when position detection signal is generated)
By the calculation, the speed of the motor unit 2 (traveling speed of the mover) can be known. This speed is called a detection speed.
The detection speed calculation unit 11 provided in the control unit 1 obtains the detection speed of the motor unit 2 by this calculation.

On the other hand, the opening / closing and stopping of the curtain are instructed by the operation switch 4, and a target value of the speed of the motor unit 2 is generated in the command speed creating unit 12 according to the contents of the instruction. In other words, when the movement of the curtain is instructed by the operation switch 4, the command speed creating unit 12 accelerates the curtain until it reaches a certain speed, and thereafter gives a target value such that the curtain can be moved at a certain speed. . The command speed, which is the target value of the speed generated by the command speed creating unit 12, is provided to the arithmetic control unit 10 and compared with the detected speed of the motor unit 2 obtained by the above-described detected speed calculating unit 11. The operation switch 4 instructs the arithmetic and control unit 10 to start the motor unit 2. The arithmetic control unit 10 generates a command value so as to reduce an error between the detected speed obtained by the detected speed calculating unit 11 and the command speed generated by the command speed creating unit 12.

In this embodiment, an erroneous position detection signal deleting section 20 is provided between the position detection signal generating section 3 and the detection speed calculating section 11, and the erroneous position detection signal deleting section 20 is provided with an extra position by chattering or the like. When a detection signal (hereinafter, referred to as an erroneous position detection signal) is generated, it has a function of removing the erroneous position detection signal. That is, the erroneous position detection signal deletion unit 20 inputs the position detection signal to the detection speed calculation unit 11 if the position detection signal output from the position detection signal generation unit 3 is not an erroneous position detection signal.

Hereinafter, a function of detecting and deleting an erroneous position detection signal will be described. In the present embodiment, the motor unit 2
Paying attention to the fact that the moving speed of the motor unit 2 with respect to the voltage applied to the motor unit changes depending on the weight of the load (curtain in this embodiment), the moving average of the applied voltage to the motor unit 2 and the moving average of the detection speed of the motor unit 2 And the weight of the load is estimated using both. That is, the detection speed calculation unit 1
The detected speed obtained in step 1 is input to the average speed calculator 21 to obtain a moving average of the detected speed. Further, an applied voltage to the motor unit 2 is detected by an applied voltage detecting unit 22, and the average voltage calculating unit 2
In 3, the moving average of the applied voltage to the motor unit 2 detected by the applied voltage detection unit 22 is obtained. The number of samples required to calculate these moving averages may be set to an optimum value experimentally.

The moving average of the detected speed and the moving average of the applied voltage are input to the load weight estimating calculation unit 24, and the weight of the load is calculated. Here, since the magnitude of the motor load is generally included in the term of the acceleration of the motor, the weight of the load cannot be detected during the period when the command value is set to the constant speed as the target value. Since the dynamic friction is proportional to the weight of the load, the applied voltage increases as the weight of the load increases. Paying attention to this point, it is possible to calculate the weight of the load using the moving average of the applied voltage and the detected speed even during the period in which the command value has the constant speed as the target value.

The load weight obtained by the load weight estimating calculation unit 24 is input to a predicted speed change amount calculation unit 25. The predicted speed change calculation unit 25 calculates the load weight calculated by the load weight estimation calculation unit 24, the instantaneous value of the voltage applied to the motor 2 detected by the applied voltage detection unit 22, and the detected speed calculation unit 11. Based on the instantaneous value of the detected speed, a range of a change amount of the detected speed detected next is calculated. That is, the drive characteristics of the motor are expressed using the voltage equation (1) and the thrust equation (2) shown in Expression 1, and the next detection speed is predicted from these to calculate the amount of change.

[0019]

(Equation 1)

Where L is the inductance of the coil,
R: coil resistance, i: current, KE: back electromotive force constant,
v: speed, e: applied voltage, m: motor (movable element) mass,
tm: dynamic friction, KT: torque constant, TL: load. FIG. 2 shows the allowable range of the speed change amount with respect to the detected speed with the load kept constant. The boundary between the hatched portion and the non-hatched portion in FIG. 2 indicates the maximum value of the allowable range. In other words, the hatched portion means a change that cannot be taken in view of the characteristics of the motor unit 2, and when the change in the speed falls within this region, it is determined to be an erroneous position detection signal.

Thus, the range of the predicted speed change amount obtained by the predicted speed change amount calculation unit 25 is input to the erroneous position detection signal determination unit 26. The erroneous position detection signal determination unit 26 converts the range of the change amount of the predicted speed into the time range. That is, the fixed distance in which the position detection signal is generated is divided by the range of the change amount of the predicted speed to replace the time range. The time range obtained in this manner indicates the allowable range of the time until the next position detection signal is detected. Therefore, the erroneous position detection signal determination unit 26 determines from the position detection signal generation unit 3 the next position. It is determined whether the time until the detection signal is generated is within the time range obtained from the range of the change amount of the predicted speed. As described above, when the amount of change in the detection speed belongs to the shaded area in FIG. 2, an erroneous position detection signal is generated. Therefore, the time interval at which the position detection signal is generated falls within the time range obtained as described above. If so, the position detection signal is determined to be an erroneous position detection signal, and the erroneous position detection signal determination unit 26 generates a delete signal. If the condition for generating the deletion signal is not satisfied, the erroneous position detection signal determination section 26 generates a non-deletion signal in synchronization with the position detection signal.

Here, when the deletion signal is given to the erroneous position detection signal deletion unit 20, the erroneous position detection signal deletion unit 20 does not supply the position detection signal that generated the deletion signal to the detection speed calculation unit 11. . However, the erroneous position detection signal deletion unit 2
0 and a erroneous position detection signal judging unit 26, a continuous deletion limiting unit 27 is provided, and the erroneous position detection signal judging unit 26 corresponds to the position detection signal next to the position detection signal that generated the deletion signal. Irrespective of which of the deletion signal and the non-deletion signal is output from the
This position detection signal is given to the detection speed calculation unit 11.

Since the position detection signal which is considered to have been generated due to the chattering of the brush is deleted from the position detection signal from which the detection speed is calculated by the above-described processing, the detection speed is accurately calculated. be able to. When the detected speed is calculated, a command value is obtained so as to reduce the error from the command speed as described above. The above operation is summarized as shown in FIG. That is, if a position detection signal is generated by the position detection signal generation unit 3 (S
4) The erroneous position detection signal determination section 26 determines whether or not the signal is an erroneous position detection signal (S5). If it is an erroneous position detection signal, the erroneous position detection signal determination unit 26 generates a delete signal. Here, if no deletion signal has been generated for the previous position detection signal (S6), the continuous deletion restriction unit 27 adopts the deletion signal and deletes the position detection signal that generated the deletion signal (S7). . On the other hand, whether a delete signal is generated (S5),
Even if the delete signal is generated, if the delete signal has been generated with respect to the previous position detection signal (S6), the position detection signal is given to the detection speed calculation unit 11 (S8). Here, the reason why the deletion signal generated after the deletion signal is repeated twice is not adopted is that the unnecessary position detection signal generally generated by the chattering of the brush often occurs only once during the normal position detection signal. This is because only the position detection signal generated between two normal position detection signals is considered to be an erroneous position detection signal to be deleted.

When the detected speed is obtained, a command value is calculated based on the command speed and the detected speed (S1, S2).
The obtained command value is given to a drive unit 6 inserted between the power supply unit 5 and the motor unit 2, and the drive unit 6
Is controlled according to the command value (S3). Here, the power supply unit 5 generates a DC voltage from a commercial power supply, and supplies power to the control unit 1 and the drive unit 6.
When the operation stop is instructed (S9), the motor unit 2 is stopped.

With the above configuration, each time a position detection signal is generated from the position detection signal generator 3, it is determined whether or not the signal is an erroneous position detection signal. The position detection signal is deleted by the signal deletion unit 20 and is not input to the detection speed calculation unit 11. As a result, the detection speed is calculated based only on the normal position detection signal from which the erroneous position detection signal has been deleted, and a command value is generated by the arithmetic and control unit 10 so as to reduce the error between the detection speed and the command speed. The motor unit 2 is controlled based on the value. That is, the drive speed of the motor unit 2 is controlled so as to match the command speed given from the command speed creation unit 12.

With the above operation, the erroneous position detection signal due to the chattering of the brush of the motor unit 2 is removed, so that the motor unit 2 is not affected by the abnormal value and the motor unit 2 always operates based on the instantaneous value of the detection speed. As a result, control with good responsiveness to speed change becomes possible.
That is, better response characteristics can be obtained not only for the low frequency component but also for the high frequency component of the change in the moving speed as compared with the conventional configuration in which the control is performed using the moving average.

(Embodiment 2) In this embodiment, as shown in FIG. 4, the average speed calculation unit 21, the average voltage calculation unit 23, and the load weight estimation calculation unit 24 are omitted from the configuration of the first embodiment. . Further, in the predicted speed change amount calculation unit 25, the minimum value (prescribed value) of the load weight is used instead of the estimated value of the load weight used in the first embodiment. That is, instead of using the load weight calculated based on the detection speed or the applied voltage, a predetermined value set in advance is used. Therefore, the amount of calculation is reduced as compared with the first embodiment. Other configurations and operations are the same as those in the first embodiment, and thus description thereof is omitted.

(Embodiment 3) In this embodiment, as shown in FIG. 5, the configuration of Embodiment 2 is further simplified. That is, in the predicted speed change amount calculation unit 25, in the second embodiment, the detection speed obtained by the detection speed calculation unit 11 is used in addition to the applied voltage obtained by the applied voltage detection unit 22. The allowable value of the change amount of the predicted speed is obtained without using the speed. Here, the detection speed is set to zero, and the allowable value of the amount of change in the detection speed is calculated. That is, the specified value is used for the detection speed without using the actually measured value. Other configurations and operations are the same as those of the second embodiment.

(Embodiment 4) This embodiment has the same configuration as Embodiment 1 shown in FIG. 1, except that the setting of the allowable range of the speed change amount in the predicted speed change amount calculating section 25 is different. . The present embodiment is intended to suppress the influence of an error due to a shift in the position where the position detection signal is generated, which occurs according to the driving speed of the motor unit 2.

That is, it has been found that as the position detection signal increases, the displacement of the generated position increases as the driving speed of the motor unit 2 increases, and the position detection signal includes an error component corresponding to the driving speed. I know that. Such an error in the positional deviation of the position detection signal is caused by detecting the position detection signal based on a current fluctuation occurring at the time of switching of the current supplied to the coil. In short, the position detection signal should be generated each time the mover moves by a certain distance, but the position where the position detection signal is generated is shifted due to the vibration of the brush during the movement of the mover. If the driving speed of the motor unit 2 (moving speed of the mover) increases, the time interval at which the position detection signal is generated becomes shorter. Therefore, as the driving speed increases, the influence of the displacement error increases.

Here, the driving speed of the motor unit 2 is shown in FIG.
It is assumed that (a) and (b) are set. FIG.
(A) has a drive speed twice that of FIG. 6 (b). The design value of the distance for generating the position detection signal (the vertical line in the figure) is L, the time required for the mover to move by the distance L at the driving speed in FIG. . 6B, the time required for the mover to move by the distance L is C, and the error is D. Therefore, at the driving speed shown in FIG. 6A, the error of the speed is expressed by the following equation (3).

[0032]

(Equation 2)

When the speed error is obtained in the same manner at the driving speed shown in FIG. 6B, it is expressed by the following equation (4).

[0034]

[Equation 3]

From equations (3) and (4), it can be seen that the rate of the speed error increases as the time interval at which the position detection signal is obtained is shorter. In other words, the influence of the error increases as the driving speed of the motor unit 2 increases. Therefore, in the present embodiment, as the driving speed of the motor unit 2 increases,
In order to increase the allowable range of the speed change amount, FIG.
As shown in the figure, in a region where the detection speed is high, the permissible range of the amount of change in the speed is widened in consideration of the displacement error of the position detection signal (a region where the hatched portion is not permissible). Note that the straight line shown in FIG. 7 indicates the maximum value of the allowable region in the first embodiment.

As described above, in the region where the driving speed is high, the allowable range of the speed change amount is large compared to the first embodiment, and the restriction is loose. As a result, the detection speed can be obtained even if a position error occurs in the position detection signal. Other configurations and operations are the same as those of the first embodiment. Further, the configuration is the same as that of the second embodiment, and the weight of the load is set to a specified value.
The same processing can be performed by the predicted speed change amount calculation unit 25 when the configuration is the same as that of the third embodiment and the calculation is performed with the load weight set to the specified value and the detected speed set to zero.

(Embodiment 5) In this embodiment, as shown in FIG. 8, a predicted speed calculation unit 29 is provided in place of the predicted speed change amount calculation unit 25 in the configuration of Embodiment 1 shown in FIG. , The continuous deletion restriction unit 27 is omitted.
The predicted speed calculation unit 29 is provided with the instantaneous value of the voltage applied to the motor unit 2 detected by the applied voltage detection unit 22, but is not provided with the instantaneous value of the detection speed obtained by the detection speed calculation unit 11. . The predicted speed calculation unit 29 predicts the next detected speed based on the applied voltage and the estimated value of the weight of the load, and has a function of calculating and outputting a predicted value of the detected speed. In this calculation, the voltage equation (1) and the thrust equation (2) shown in Expression 1 may be used. Other configurations and operations are the same as those of the first embodiment.

Thus, the erroneous position detection signal judging section 26 sets a detected speed width obtained by adding a margin of a predetermined width to the predicted value of the detected speed calculated by the predicted speed calculating section 29, and implements the detected speed width. It is replaced with a time width in the same manner as in the allowable range of the variation in the first embodiment. By comparing the time width set in this way with the time interval at which the position detection signal is generated, it can be determined whether the position detection signal is an erroneous position detection signal.

FIG. 9 summarizes the operation of this embodiment. That is, when a position detection signal is generated by the position detection signal generation unit 3 (S4), the erroneous position detection signal determination unit 26 determines whether the signal is an erroneous position detection signal (S5). If the signal is an erroneous position detection signal, a deletion signal is generated from the erroneous position detection signal determination unit 26, and the position detection signal that generated the deletion signal is deleted (S6). On the other hand, if no delete signal is generated (S
5) The position detection signal is given to the detection speed calculation unit 11 to calculate the detection speed (S7).

When the detected speed is obtained, a command value is calculated based on the command speed and the detected speed (S1, S2).
The obtained command value is given to a drive unit 6 inserted between the power supply unit 5 and the motor unit 2, and the drive unit 6
Is controlled according to the command value (S3). Here, the power supply unit 5 generates a DC voltage from a commercial power supply, and supplies power to the control unit 1 and the drive unit 6.
When the operation stop is instructed (S8), the motor unit 2 is stopped.

(Embodiment 6) This embodiment corresponds to Embodiment 2
The same technical idea as that of the fifth embodiment is applied to the above configuration. That is, as shown in FIG. 10, a predicted speed calculation unit 29 is provided in place of the predicted speed change amount calculation unit 25 in the configuration of the second embodiment shown in FIG. 4, and the continuous deletion restriction unit 27 is omitted. . The predicted speed calculation unit 29 is provided with the instantaneous value of the voltage applied to the motor unit 2 detected by the applied voltage detection unit 22, but is not provided with the instantaneous value of the detection speed obtained by the detection speed calculation unit 11. . The predicted speed calculation unit 29 predicts the next detected speed based on the applied voltage and the estimated value of the weight of the load, and has a function of calculating and outputting a predicted value of the detected speed. In this calculation, the voltage equation (1) and the thrust equation (2) shown in Expression 1 may be used. Other configurations and operations are the same as those of the second embodiment.

That is, the predicted speed calculation unit 29 uses the minimum value of the weight of the load as a specified value for the weight of the load, and uses this specified value and the applied voltage to calculate the voltage equation (1) and the thrust equation (2). The predicted value of the detection speed is calculated. The calculation after obtaining the predicted value of the detected speed is the same as that of the fifth embodiment, and sets a detected speed width obtained by adding a margin of a predetermined width to the predicted value of the detected speed calculated by the predicted speed calculating unit 29. ,
The detection speed width is replaced with the time width in the same manner as the allowable range of the variation in the first embodiment. By comparing the time width set in this way with the time interval at which the position detection signal is generated, it can be determined whether the position detection signal is an erroneous position detection signal.

(Embodiment 7) In the present embodiment, as shown in FIG. 11, the average speed calculation unit 21, the applied voltage detection unit 22, and the average voltage calculation unit 2 are different from the configuration of the embodiment 1 shown in FIG.
3, the load weight estimation calculation section 24 and the continuous deletion restriction section 27 are omitted, and a predicted speed calculation section 29 is provided instead of the predicted speed change amount calculation section 25. Further, a predicted speed calculation unit 2
9 is given only the command speed from the command speed creating unit 12. Here, the predicted speed calculation unit 29 treats the commanded speed as a predicted value of the next detected speed, and gives the predicted value to the erroneous position detection signal determination unit 26. The processing in the erroneous position detection signal determination unit 26 is the same as that of the fifth embodiment, and sets a detection speed width obtained by adding a margin of a predetermined width to the predicted value of the detection speed given from the predicted speed calculation unit 29, The detection speed width is replaced with the time width in the same manner as the allowable range of the variation in the first embodiment. By comparing the time width set in this way with the time interval at which the position detection signal is generated, it can be determined whether the position detection signal is an erroneous position detection signal. Other configurations and operations are the same as those of the first embodiment.

[0044]

According to the first aspect of the present invention, there is provided a position detection signal generating section for generating a position detection signal every time a certain amount of movement of a load is performed during operation of a motor section for driving a load, and a time for generating the position detection signal. A detection speed calculation unit that detects a speed at which the load moves based on the interval as a detection speed, a command speed creation unit that outputs a command speed that is a target value of the speed of the motor unit, and a difference between the command speed and the detection speed. an arithmetic control unit for generating a command value applied to the motor unit so as to reduce a driving unit for controlling the power supplied to the motor unit so as to vary the speed of the motor unit in accordance with the command value, the motor unit Characteristic voltage
A predicted speed change calculation unit that predicts an allowable range of a speed change amount until a next position detection signal is generated every time a position detection signal is generated using an equation and a thrust equation, and a time when the next position detection signal is generated Is an error position detection signal determining unit that generates a delete signal when the speed change amount is outside the allowable range of the speed change amount calculated by the predicted speed change amount calculating unit, and deletes the position detection signal that generated the delete signal to detect the detected speed. An erroneous position detection signal deleting unit that prohibits use in the calculation, and determines whether or not the position detection signal generated during the operation of the motor unit is a noise component. The noise component is deleted so as not to be used in the calculation of the detection speed, so that the detection speed can be obtained accurately without being affected by abnormal values, and the speed control of the motor unit can be accurately performed. Can be done Cormorants has the advantage. Moreover, since the speed control is performed based on the instantaneous value of the detected speed, there is an advantage that the responsiveness to a change in speed is good.

According to a second aspect of the present invention, there is provided a position detecting signal generating section for generating a position detecting signal every time a certain amount of movement of the load is performed during operation of the motor section for driving the load, and a time interval for generating the position detecting signal. A detected speed calculating unit that detects a speed at which the load moves based on the detected speed as a detected speed, a command speed generating unit that outputs a command speed that is a target value of the speed of the motor unit, and reduces a difference between the command speed and the detected speed. An operation control unit that generates a command value given to the motor unit, a driving unit that controls power supplied to the motor unit so as to change the speed of the motor unit according to the command value, and a driving characteristic of the motor unit. Indicating voltage direction
A predicted speed calculation unit that outputs a predicted value of the speed at the time of the next position detection signal every time a position detection signal is generated using the equation and the thrust equation, and the time when the next position detection signal is generated is based on the predicted speed An erroneous position detection signal judging unit that generates a delete signal when the erroneous position is not within a predetermined margin, and an erroneous position detection that deletes the position detection signal that generated the delete signal and prohibits use of the position detection signal for calculating the detection speed. A signal deletion unit, and determines whether or not the position detection signal generated during operation of the motor unit is a noise component, based on whether or not the predicted value of the detection speed is within an allowable margin range, Since the noise component is deleted so as not to be used in the calculation of the detection speed, there is an advantage that the detection speed can be accurately obtained without being affected by the abnormal value, and the speed control of the motor unit can be accurately performed. .
Moreover, since the speed control is performed based on the instantaneous value of the detected speed, there is an advantage that the responsiveness to a change in the speed is good.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is an operation explanatory view of the above.

FIG. 3 is an operation explanatory diagram of the above.

FIG. 4 is a block diagram showing a second embodiment of the present invention.

FIG. 5 is a block diagram showing a third embodiment of the present invention.

FIG. 6 is a diagram illustrating the principle of a fourth embodiment of the present invention.

FIG. 7 is an operation explanatory view of the above.

FIG. 8 is a block diagram showing a fifth embodiment of the present invention.

FIG. 9 is an operation explanatory view of the above.

FIG. 10 is a block diagram showing Embodiment 6 of the present invention.

FIG. 11 is a block diagram showing a seventh embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Control part 2 Motor part 3 Position detection signal generation part 6 Drive part 10 Operation control part 11 Detected speed calculation part 12 Command speed creation part 20 False position detection signal deletion part 25 Predicted speed change amount calculation part 26 False position detection signal judgment part 29 Predicted speed calculator

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor ▲ Hama ▼ Keisho Moto 1048 Kadoma, Kadoma, Osaka Prefecture Inside Matsushita Electric Works, Ltd. (72) Inventor Kenji Sakamoto 1048 Kadoma, Kazuma, Kadoma, Osaka Matsushita Electric Works (56) References JP-A-6-311773 (JP, A) JP-A-2-118808 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) H02P 5/00-5 / 26 H02P 7/00-7/34 E05F 15/20

Claims (2)

(57) [Claims] 1. A position detection signal generation unit for generating a position detection signal every time a certain amount of movement of a load is performed during operation of a motor unit for driving a load, and movement of the load based on a time interval at which the position detection signal is generated. A detection speed calculation unit that detects a speed to be performed as a detection speed, a command speed creation unit that outputs a command speed that is a target value of the speed of the motor unit, and a motor unit that reduces a difference between the command speed and the detection speed. A calculation control unit for generating a command value to be given, a drive unit for controlling power supplied to the motor unit so as to change the speed of the motor unit according to the command value, a voltage equation and thrust indicating drive characteristics of the motor unit Way
A predicted speed change amount calculating unit that predicts an allowable range of a speed change amount until a next position detection signal is generated every time a position detection signal is generated using an expression, and a predicted speed change time when the next position detection signal is generated is a predicted speed An erroneous position detection signal determination unit that generates a delete signal when the change amount of the speed obtained by the change amount calculation unit is out of an allowable range;
A motor control device comprising: an erroneous position detection signal deletion unit that deletes a position detection signal that has generated a deletion signal and prohibits use of the position detection signal for calculating a detection speed. 2. A position detection signal generating unit for generating a position detection signal every time a certain amount of movement of the load is performed during operation of a motor unit for driving the load, and movement of the load based on a time interval at which the position detection signal is generated. A detection speed calculation unit that detects a speed to be performed as a detection speed, a command speed creation unit that outputs a command speed that is a target value of the speed of the motor unit, and a motor unit that reduces a difference between the command speed and the detection speed. A calculation control unit for generating a command value to be given, a drive unit for controlling power supplied to the motor unit so as to change the speed of the motor unit according to the command value, a voltage equation and thrust indicating drive characteristics of the motor unit Way
A predicted speed calculation unit that outputs a predicted value of the speed at the time of the generation of the next position detection signal each time a position detection signal is generated using the equation, and a predetermined time that the time of the next position detection signal is generated based on the predicted speed. Error detection signal judging unit that generates a deletion signal if it does not exist within the margin of error, and error position detection signal deletion unit that deletes the position detection signal that generated the deletion signal and prohibits its use for calculating the detection speed A motor control device comprising: