JP3550657B2

JP3550657B2 - Motor control device

Info

Publication number: JP3550657B2
Application number: JP2000209152A
Authority: JP
Inventors: 和寛鶴田
Original assignee: Yaskawa Electric Corp
Current assignee: Yaskawa Electric Corp
Priority date: 2000-07-11
Filing date: 2000-07-11
Publication date: 2004-08-04
Anticipated expiration: 2020-07-11
Also published as: JP2002027784A

Description

【０００１】
【発明の属する技術分野】
本発明は、モータ、ロボット及び工作機械等のモータ制御装置に関するものであり、特に制御パラメータのチューニング方法に関する。
【０００２】
【従来の技術】
制御ゲインをチューニングする装置として、例えば、特開平１０−７６４４４号公報に開示されたものがある。そこに開示されている装置は、負荷イナーシャの大きさを測定して制御ゲインを自動的に決定するオートチューニング部と、決定したゲインを格納するゲイン記憶部と、指令値と出力により決定されるゲインを読み出すゲイン読み出し部と、フィードバックループで構成されるコントローラを備えており、初期的にチューニング作業をしておくことによって、実用的に負荷の変動に応じてリアルタイムなゲイン変更を安価に実現することができる。
【０００３】
【発明が解決しようとする課題】
ところが前記従来例では、実際の運転に入る前に、実動作をいくつかのパターンに分けて指令に対する操作量と出力からゲインを決定し、ゲイン修正量をコントローラに与えるサイクルを繰り返すという手順によって制御ゲインをチューニングしている。しかし、この方法によると、複数個ある制御ゲインのどれをどのくらい変更すれば良いかということは、熟練者の経験に頼らなければならず、チューニングする技術者によっては、最適なゲインを得るまでに多大な時間を要すばかりでなく、振動を誘発する恐れがあるという問題がある。そこで本発明は、かかる問題に鑑みてなされたものであり、複数個ある制御パラメータを１つパラメータで自動的にチューニングするモータ制御装置を提供することを目的とする。
【０００４】
【課題を解決するための手段】
上記問題点を解決するために、請求項１に記載の本発明は、位置指令とモータ位置を入力し、前記位置指令に前記モータ位置が一致するようにトルク指令を決定する位置制御部と、前記トルク指令を入力しフィルタを通して新たなトルク指令を決定するトルクフィルタ部と、前記トルクフィルタ部の出力である前記トルク指令を入力し電流指令に変換してモータ電流が電流指令に一致するように電流制御を行いモータを駆動する電流制御部とを備え、負荷となるメカ部と位置を検出する検出器が連結されたモータを駆動するモータ制御装置において、制御パラメータ選定信号を受けると前記位置制御部と前記トルクフィルタ部と前記電流制御部に制御パラメータを出力して調節するワンパラメータチューニング部が設けられていると共に、前記位置制御部は、前記位置指令と前記モータ位置の差にメインパラメータkgの２乗をかけて補助ゲインkp倍した値を出力する第１トルク指令発生手段と、前記位置指令と前記モータ位置の差を積分してメインパラメータkgの３乗をかけて補助ゲインki倍した値を出力する第２トルク指令発生手段と、前記位置指令と前記モータ位置の差を微分して時定数tvのローパスフィルタを通した後メインパラメータkgをかけて補助ゲインkd倍した値を出力する第３トルク指令発生手段と，前記第１トルク指令発生手段から前記第３トルク指令発生手段までのトルク指令を加算し，前記トルクフィルタ部に出力する加算手段とを備えており、前記ワンパラメータチューニング部が前記メインパラメータkgと、前記補助ゲインkp、ki、kd、トルクフィルタ部の時定数tf、前記時定数tv、前記電流制御部内の電流ループゲインka、電流積分時定数taを自動的に決定することを特徴としている。
請求項２に記載の発明は、前記ワンパラメータチューニング部は、目標応答周波数から決定する手段と、負荷イナーシャ値と目標応答周波数から決定する手段と、メカ特性と目標応答周波数から決定する手段と、これら３つの手段を選択する判定器を備えたことを特徴としている。
請求項３に記載の発明は、前記目標応答周波数から決定する手段は、目標応答周波数ωfを入力すると、前記メインパラメータkgをkg=ωf、前記補助ゲインkpをkp=3、前記補助ゲインkdをkd=3、前記補助ゲインkiをki=1、前記トルクフィルタ定数tfをtf=1/(ωf*4)、前記電流ループゲインkaをka=ωf*4、前記電流積分時定数taをta=1/ωf、前記時定数tvのローパスフィルタをtv=2^0.5/(ωf*4)、と設定されることを特徴としている。
請求項４に記載の発明は、前記負荷イナーシャ値と目標応答周波数から決定する手段は、前記負荷イナーシャ値JLと前記目標応答周波数ωfを入力すると、モータイナーシャJMとの比から求めたイナーシャ補正ゲインJCOM=((JL+JM)/JM)^0.5を用いて、前記メインパラメータkgをkg=ωf/JCOM、前記補助ゲインkpをkp=3、前記補助ゲインkdをkd=3、前記補助ゲインkiをki=1、前記トルクフィルタ定数tfをtf=1/(ωf*4)*JCOM、前記電流ループゲインkaをka=ωf*4/JCOM，前記電流積分時定数taをta=1/ωf*JCOM、前記時定数tvのローパスフィルタをtv=2^0.5/(ωf*4)*JCOM、と設定されることを特徴としている。
請求項５に記載の発明は、前記メカ特性と目標応答周波数から決定する手段は、前記メカの共振周波数ωH及び反共振周波数ωLと前記目標応答周波数ωfを入力すると、モータ側イナーシャJ1をJ1-=(JM+JL)*(ωL/ωH)^２/JMと表し、前記メインパラメータkgをkg=ωf/J1、前記補助ゲインkpをkp=3、前記補助ゲインkdをkd=3、前記補助ゲインkiをki=1、前記トルクフィルタ定数tfをtf=1/(ωf*4)*J1、前記電流ループゲインkaをka=ωf*4/J1、前記電流積分時定数taをta=1/ωf*J1、前記時定数tvのローパスフィルタをtv=2^0.5/(ωf*4)*J1、と設定されることを特徴としている。
【０００５】
【発明の実施の形態】
以下，本発明を具体的実施例に基づいて説明する。図１は本発明のモータ制御装置を適用したモータ制御システムのブロック図である。図において、１１は位置指令Prefを出力する指令発生部、１２は位置指令Prefと検出されたモータの位置信号Pfbを入力してトルク指令Trefを出力し、前記２つの入力信号が一致するようにモータ１４の位置制御をする位置制御部、１３はトルク指令Trefを受けてフィルタをかけるトルクフィルタ部、１４はトルクフィルタ部の出力であるトルク指令Trefを受けて電流指令Irに変換し、検出されたモータ電流Ifbが電流指令Trに一致するように電流制御を行いモータ１５に電流を供給する電流制御部、１６はモータ１５の回転軸に接続されて回転軸の回転位置を検出する検出器、１７はモータで駆動されるメカ部、１８は制御パラメータ選定信号を入力し、前記位置制御部１２とトルクフィルタ部１３と電流制御部１４に最適な制御パラメータを供給するワンパラメータチューニング部である。
【０００６】
次に、位置制御部１２とトルクフィルタ部１３と電流制御部１４とモータ１５と検出器１６の詳細について図２を用いて説明する。図中、２１は位置指令Prefからモータ位置Pfbを減じて位置偏差を出力する減算器、２２は前記位置偏差にメインパラメータkgの2乗をかける乗算器、２３は乗算器２２の出力に補助ゲインkpをかける乗算器、２４は前記位置偏差を積分する積分器、２５は積分器２４の出力にメインパラメータkgの3乗をかける乗算器、２６は乗算器２５の出力に補助ゲインkiをかける乗算器、２７は前記位置偏差に時定数tvのフィルタをかける速度フィルタ、２６は速度フィルタ２７の出力を微分する微分器、２９は微分器２８の出力にメインパラメータkgをかける乗算器、２ａは乗算器２９の出力に補助ゲインkdをかける乗算器、２ｂは前記乗算器２３、２６、２ａの出力を加える加算器である。２ｃは加算器２ｂの出力であるトルク指令に時定数tfのフィルタをかけるトルクフィルタ、２ｄはトルク指令を電流指令Irに変換する電流変換定数である。２ｅは電流指令Irとモータ電流Ifbを減じて電流偏差を出力する減算器、２ｆは電流ループゲインkaと電流積分時定数taで構成されるPI制御器であり電流をモータ１５に出力する。モータ２ｇは抵抗RとインダクタンスLとトルク定数ktと誘起電圧定数keでモデル化している。以上に示したように、モータモデルに表した抵抗R、インダクタンスL、トルク定数kt、誘起電圧定数ke、および電流変換定数ka以外の８つの制御パラメータはユーザが設定しなければならず、それぞれのパラメータの整合を取らなければ振動を誘発し、要求仕様を満たせない場合がある。本発明は、この点に鑑みてなされており、ワンパラメータで全ての制御パラメータを自動的に設定する方法を提案するものである。なお、抵抗RとインダクタンスL、トルク定数kt、誘起電圧定数keはモータ固有の値であり、チューニングする必要はない。
【０００７】
次に図３を用いてワンパラメータチューニング部１８の詳細を説明する。ワンパラメータチューニング部１８では制御パラメータ選定信号を入力し、判定器３１で、ユーザが希望する目標応答周波数ωfから決定する手段３２と、負荷イナーシャ値JLと目標応答周波数ωfから決定する手段３３と、メカ特性である共振周波数ωH及び反共振周波数ωLと目標応答周波数ωfから決定する手段３４の選択を行う。
【０００８】
ユーザが希望する目標応答周波数ωfから決定する手段が選ばれた場合は、前記目標応答周波数ωfを入力し、前記メインパラメータkgをkg=ωf、前記補助ゲインkpをkp=3、前記補助ゲインkdをkd=3、前記補助ゲインkiをki=1、前記トルクフィルタ定数tfをtf=1/(ωf*4)、前記電流ループゲインkaをka=ωf*4、前記電流積分時定数taをta=1/ωf、前記時定数tvのローパスフィルタをtv=2^0.5/(ωf*4)、と設定し、上記演算により算出された制御パラメータを出力する。
【０００９】
負荷イナーシャ値JLと目標応答周波数ωfから決定する手段が選ばれた場合は、モータイナーシャJMとの比から求めたイナーシャ補正ゲインJCOM=((JL+JM)/JM)^0.5を用いて、前記メインパラメータkgをkg=ωf/JCOM、前記補助ゲインkpをkp=3、前記補助ゲインkdをkd=3、前記補助ゲインkiをki=1、前記トルクフィルタ定数tfをtf=1/(ωf*4)*JCOM、前記電流ループゲインkaをka=ωf*4/JCOM、前記電流積分時定数taをta=1/ωf*JCOM、前記時定数tvのローパスフィルタをtv=2^0.5/(ωf*4)*JCOM、と設定し、上記演算により算出された制御パラメータを出力する。
【００１０】
メカ特性である共振周波数ωH及び反共振周波数ωLと目標応答周波数ωfから決定する手段が選ばれた場合は、前記メカの共振周波数ωH及び反共振周波数ωLと前記目標応答周波数ωfを入力し、モータ側イナーシャJ1をJ1-=(JM+JL)*(ωL/ωH)^２/JMと表し、前記メインパラメータkgをkg=ωf/J1、前記補助ゲインkpをkp=3、前記補助ゲインkdをkd=3、前記補助ゲインkiをki=1、前記トルクフィルタ定数tfをtf=1/(ωf*4)*J1、前記電流ループゲインkaをka=ωf*4/J1、前記電流積分時定数taをta=1/ωf*J1、前記時定数tvのローパスフィルタをtv=2^0.5/(ωf*4)*J1、と設定し、上記演算により算出された制御パラメータを出力する。
【００１１】
以上の制御パラメータは安定条件と実験を繰り返すことにより決定される。例えば、メインパラメータと補助ゲインkp、ki、kdは、速度フィルタとトルクフィルタを適用せず、電流制御部とモータを１/JS^２とおき、位置指令からモータ位置までの伝達関数の分母を３重根条件で解いて決定される。なお、本発明ではそれぞれの制御パラメータの整合を重根条件で解かれているが、安定条件を満たす範囲で解いて制御パラメータを設定すれば良い。また、本発明は、１つのパラメータで８つの制御パラメータを自動的に決定できることに加えて、負荷のイナーシャの大きさや、メカ特性である反共振周波数と共振周波数を用いて、制御パラメータの設定指針を自動的に変更し、最適な制御パラメータを得る事ができる．
【００１２】
【発明の効果】
以上、説明したように、本発明によれば、位置制御部、電流制御部、トルクフィルタ部などの制御パラメータを１つのパラメータで振動することなく自動的に決定することができ、さらに、負荷イナーシャの大きさや、メカ特性を用いて、制御パラメータの設定指針を自動的に変更し、負荷イナーシャの大きさやメカ特性に応じた最適な制御パラメータを得る事ができる位置制御装置が実現できる。
【図面の簡単な説明】
【図１】本発明の方法を適用するモータ制御システムのブロック図
【図２】図１の詳細を示すブロック図
【図３】ワンパラメータチューニング部の詳細を示す図
【符号の説明】
１１指令発生器、１２位置制御部、１３トルクフィルタ部、
１４電流制御部、１５モータ、１６検出器、
１７メカ部、１８ワンパラメータチューニング部、
２１、２ｅ減算器、２２、２３、２５、２６、２９、２ａ乗算器、
２４積分器、２７速度フィルタ、２８微分器、
２ｃトルクフィルタ、２ｄ電流変換定数、２ｆ電流PI制御器、
２ｇモータモデル、３１判定器、
３２目標応答周波数から決定する手段、
３３負荷イナーシャ値と目標応答周波数から決定する手段、
３４メカ特性と目標応答周波数から決定する手段[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a motor control device for a motor, a robot, a machine tool, and the like, and more particularly, to a control parameter tuning method.
[0002]
[Prior art]
As an apparatus for tuning the control gain, for example, there is an apparatus disclosed in Japanese Patent Application Laid-Open No. H10-76444. The device disclosed therein is determined by an auto-tuning unit that automatically determines a control gain by measuring the magnitude of a load inertia, a gain storage unit that stores the determined gain, and is determined by a command value and an output. It has a gain reading unit that reads out the gain and a controller that is composed of a feedback loop. By performing initial tuning work, real-time gain change can be realized in real time at low cost according to load fluctuations. be able to.
[0003]
[Problems to be solved by the invention]
However, in the conventional example, before the actual operation is started, the actual operation is divided into several patterns, the gain is determined from the operation amount and the output with respect to the command, and the cycle of giving the gain correction amount to the controller is repeated. Tuning the gain. However, according to this method, which of the plurality of control gains should be changed and how much should be relied on the experience of a skilled person. There is a problem that not only takes a lot of time but also may induce vibration. The present invention has been made in view of such a problem, and has as its object to provide a motor control device that automatically tunes a plurality of control parameters with one parameter.
[0004]
[Means for Solving the Problems]
In order to solve the above problems, the present invention according to claim 1, a position control unit that inputs a position command and a motor position, and determines a torque command such that the motor position matches the position command, A torque filter unit for inputting the torque command and determining a new torque command through a filter; and inputting the torque command, which is an output of the torque filter unit, converting the torque command to a current command so that the motor current matches the current command. and a current control unit for driving the motor performs current control, the position control and the load becomes the mechanical part in the motor controller for driving a motor detector coupled to detect the position, and receives a control parameter selection signal with one-parameter tuning unit for adjusting outputs the control parameter section and the torque filter section in the current-control unit is provided, before A position control unit configured to output a value obtained by multiplying the difference between the position command and the motor position by the square of the main parameter kg and multiplying the difference by the auxiliary gain kp; and a difference between the position command and the motor position. And a second torque command generating means for outputting a value multiplied by the auxiliary gain ki by multiplying by the cube of the main parameter kg, and a low-pass filter having a time constant tv by differentiating the difference between the position command and the motor position. After passing, the third torque command generating means for outputting a value multiplied by the auxiliary gain kd by multiplying by the main parameter kg, and a torque command from the first torque command generating means to the third torque command generating means are added. An adding means for outputting to the torque filter unit , wherein the one-parameter tuning unit includes the main parameter kg, the auxiliary gains kp, ki, kd, and a time constant t of the torque filter unit. f, the time constant tv, the current loop gain ka in the current control unit, and the current integration time constant ta are automatically determined.
The one-parameter tuning unit may be configured such that the one-parameter tuning unit determines a target response frequency, a load inertia value and a target response frequency, and a mechanical characteristic and a target response frequency. It is characterized by including a determiner for selecting these three means.
In the invention according to claim 3, the means for determining from the target response frequency, when the target response frequency ωf is input, sets the main parameter kg to kg = ωf, the auxiliary gain kp to kp = 3, and the auxiliary gain kd to kd = 3, the auxiliary gain ki is ki = 1, the torque filter constant tf is tf = 1 / (ωf * 4), the current loop gain ka is ka = ωf * 4, and the current integration time constant ta is ta = ta = 1 / ωf, and the low-pass filter with the time constant tv is set as tv = 2 ^0.5 / (ωf * 4).
The invention according to claim 4, wherein the means for determining from the load inertia value and the target response frequency, when the load inertia value JL and the target response frequency ωf are input, an inertia correction gain determined from a ratio of a motor inertia JM. Using JCOM = ((JL + JM) / JM) ^0.5 , the main parameter kg is kg = ωf / JCOM, the auxiliary gain kp is kp = 3, the auxiliary gain kd is kd = 3, and the auxiliary gain ki is ki = 1, the torque filter constant tf is tf = 1 / (ωf * 4) * JCOM, the current loop gain ka is ka = ωf * 4 / JCOM, and the current integration time constant ta is ta = 1 / ωf * JCOM. , The low-pass filter having the time constant tv is set as tv = 2 ^0.5 / (ωf * 4) * JCOM.
In the invention according to claim 5, the means for determining from the mechanical characteristics and the target response frequency , when the resonance frequency ωH and the anti-resonance frequency ωL of the mechanism and the target response frequency ωf are input, sets the motor-side inertia J1 to J1-. = (JM + JL) * (ωL / ωH) ² / JM, the main parameter kg is kg = ωf / J1, the auxiliary gain kp is kp = 3, the auxiliary gain kd is kd = 3, and the auxiliary gain is ki = ki = 1, the torque filter constant tf = tf = 1 / (ωf * 4) * J1, the current loop gain ka = ka = ωf * 4 / J1, and the current integration time constant ta = ta = 1 / ωf * J1, and the low-pass filter with the time constant tv is set as tv = 2 ^0.5 / (ωf * 4) * J1.
[0005]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the present invention will be described based on specific examples. FIG. 1 is a block diagram of a motor control system to which the motor control device of the present invention is applied. In the figure, reference numeral 11 denotes a command generation unit for outputting a position command Pref, and 12 receives a position command Pref and a detected position signal Pfb of the motor to output a torque command Tref, so that the two input signals match. A position controller 13 for controlling the position of the motor 14, a torque filter 13 for receiving and filtering the torque command Tref, and 14 receiving the torque command Tref, which is the output of the torque filter, converting the torque command Tref to a current command Ir, and detecting the current command Ir. A current control unit that performs current control so that the motor current Ifb matches the current command Tr and supplies a current to the motor 15; 16 is a detector that is connected to the rotation shaft of the motor 15 and detects a rotation position of the rotation shaft; Reference numeral 17 denotes a mechanical unit driven by a motor. Reference numeral 18 inputs a control parameter selection signal, and supplies optimal control parameters to the position control unit 12, the torque filter unit 13, and the current control unit 14. It is a down parameter tuning unit.
[0006]
Next, details of the position control unit 12, the torque filter unit 13, the current control unit 14, the motor 15, and the detector 16 will be described with reference to FIG. In the figure, reference numeral 21 denotes a subtractor for subtracting the motor position Pfb from the position command Pref to output a position deviation, 22 a multiplier for multiplying the position deviation by the square of the main parameter kg, and 23 an auxiliary gain to the output of the multiplier 22. a multiplier that multiplies the position deviation, 25 is a multiplier that multiplies the output of the integrator 24 by the cube of the main parameter kg, and 26 is a multiplication that multiplies the output of the multiplier 25 by an auxiliary gain ki. , A speed filter that applies a time constant tv filter to the position deviation, a differentiator that differentiates the output of the speed filter 27, a multiplier that applies the main parameter kg to the output of the differentiator, and 2a is a multiplier A multiplier 2b for multiplying the output of the multiplier 29 by the auxiliary gain kd is an adder for adding the outputs of the multipliers 23, 26 and 2a. Reference numeral 2c denotes a torque filter that applies a time constant tf filter to the torque command output from the adder 2b, and 2d denotes a current conversion constant that converts the torque command into a current command Ir. 2e is a subtractor for subtracting the current command Ir and the motor current Ifb to output a current deviation, and 2f is a PI controller composed of a current loop gain ka and a current integration time constant ta, and outputs a current to the motor 15. The motor 2g is modeled by a resistance R, an inductance L, a torque constant kt, and an induced voltage constant ke. As described above, the user must set eight control parameters other than the resistance R, inductance L, torque constant kt, induced voltage constant ke, and current conversion constant ka expressed in the motor model. If the parameters are not matched, vibration may be induced and the required specifications may not be satisfied. The present invention has been made in view of this point, and proposes a method of automatically setting all control parameters with one parameter. Note that the resistance R and inductance L, torque constant kt, and induced voltage constant ke are motor-specific values and do not need to be tuned.
[0007]
Next, the details of the one-parameter tuning unit 18 will be described with reference to FIG. The one-parameter tuning unit 18 receives a control parameter selection signal, and the determination unit 31 determines a target response frequency ωf desired by the user from a unit 32, and determines from the load inertia value JL and the target response frequency ωf, The means 34 for determining from the resonance frequency ωH and anti-resonance frequency ωL, which are mechanical characteristics, and the target response frequency ωf is selected.
[0008]
When the means for determining from the target response frequency ωf desired by the user is selected, the target response frequency ωf is input, the main parameter kg is kg = ωf, the auxiliary gain kp is kp = 3, and the auxiliary gain kd Kd = 3, the auxiliary gain ki is ki = 1, the torque filter constant tf is tf = 1 / (ωf * 4), the current loop gain ka is ka = ωf * 4, and the current integration time constant ta is ta. = 1 / ωf, the low-pass filter with the time constant tv is set as tv = 2 ^0.5 / (ωf * 4), and the control parameters calculated by the above calculation are output.
[0009]
When a means for determining from the load inertia value JL and the target response frequency ωf is selected, the main inertia correction gain JCOM = ((JL + JM) / JM) ^0.5 obtained from the ratio of the motor inertia JM is used to perform the main control. The parameter kg is kg = ωf / JCOM, the auxiliary gain kp is kp = 3, the auxiliary gain kd is kd = 3, the auxiliary gain ki is ki = 1, and the torque filter constant tf is tf = 1 / (ωf * 4 ) * JCOM, the current loop gain ka is ka = ωf * 4 / JCOM, the current integration time constant ta is ta = 1 / ωf * JCOM, and the low-pass filter of the time constant tv is tv = 2 ^0.5 / (ωf * 4 ) * JCOM, and output the control parameters calculated by the above calculation.
[0010]
When the means for determining the resonance frequency ωH and the anti-resonance frequency ωL and the target response frequency ωf, which are the mechanical characteristics, is selected, the resonance frequency ωH and the anti-resonance frequency ωL of the mechanism and the target response frequency ωf are input, and the motor is input. The side inertia J1 is expressed as J1-= (JM + JL) * (ωL / ωH) ² / JM, the main parameter kg is kg = ωf / J1, the auxiliary gain kp is kp = 3, and the auxiliary gain kd is kd. = 3, the auxiliary gain ki is ki = 1, the torque filter constant tf is tf = 1 / (ωf * 4) * J1, the current loop gain ka is ka = ωf * 4 / J1, the current integration time constant ta Is set as ta = 1 / ωf * J1, and the low-pass filter with the time constant tv is set as tv = 2 ^0.5 / (ωf * 4) * J1, and the control parameters calculated by the above calculation are output.
[0011]
The above control parameters are determined by repeating a stable condition and an experiment. For example, the main parameters and auxiliary gain kp, ki, kd is without applying the rate filter and torque filter, the current control unit and the motor 1 / JS ² Distant, the denominator of the transfer function from the position command to the motor position 3 It is determined by solving under the multiple root condition. In the present invention, the matching of the respective control parameters is solved under the double root condition, but the control parameters may be set within a range satisfying the stability condition. In addition, the present invention can automatically determine eight control parameters with one parameter, and furthermore, uses the magnitude of the inertia of the load and the anti-resonance frequency and the resonance frequency, which are mechanical characteristics, to set the control parameters. Can be changed automatically to obtain the optimal control parameters.
[0012]
【The invention's effect】
As described above, according to the present invention, the control parameters of the position control unit, the current control unit, the torque filter unit, and the like can be automatically determined without vibrating with one parameter, and further, the load inertia can be further reduced. Thus, a position control device capable of automatically changing the setting guideline of the control parameter using the magnitude of the mechanical parameter and the mechanical characteristic, and obtaining the optimal control parameter according to the magnitude of the load inertia and the mechanical characteristic can be realized.
[Brief description of the drawings]
1 is a block diagram of a motor control system to which the method of the present invention is applied; FIG. 2 is a block diagram showing details of FIG. 1; FIG. 3 is a diagram showing details of a one-parameter tuning unit;
11 command generator, 12 position control unit, 13 torque filter unit,
14 current control unit, 15 motor, 16 detector,
17 Mechanical section, 18 One parameter tuning section,
21, 2e subtractor, 22, 23, 25, 26, 29, 2a multiplier,
24 integrators, 27 speed filters, 28 differentiators,
2c torque filter, 2d current conversion constant, 2f current PI controller,
2g motor model, 31 judgment device,
32 means for determining from the target response frequency,
33 means for determining from the load inertia value and the target response frequency,
34 Means to Determine from Mechanical Characteristics and Target Response Frequency

Claims

A position control unit that inputs a position command and a motor position and determines a torque command so that the motor position matches the position command, and a torque filter unit that inputs the torque command and determines a new torque command through a filter A current control unit that inputs the torque command output from the torque filter unit, converts the torque command into a current command, performs current control so that the motor current matches the current command, and drives the motor. In a motor control device that drives a motor to which a detector that detects a part and a position is connected,
A one-parameter tuning unit for outputting and adjusting a control parameter to the position control unit, the torque filter unit, and the current control unit when receiving a control parameter selection signal is provided,
The position control unit includes a first torque command generation unit that outputs a value obtained by multiplying a square of a main parameter kg by a difference between the position command and the motor position and multiplying the difference by an auxiliary gain kp; A second torque command generating means for integrating the difference between the power command and the third power of the main parameter kg to output a value multiplied by the auxiliary gain ki; and a low pass of a time constant tv by differentiating the difference between the position command and the motor position. A third torque command generating means for outputting a value multiplied by an auxiliary gain kd by multiplying by a main parameter kg after passing through a filter, and a torque command from the first torque command generating means to the third torque command generating means are added. , An adding means for outputting to the torque filter unit ,
The one parameter tuning unit calculates the main parameter kg, the auxiliary gains kp, ki, kd, the time constant tf of the torque filter unit, the time constant tv, the current loop gain ka in the current control unit, and the current integration time constant ta . A motor control device which is automatically determined.

The one-parameter tuning unit includes a unit that determines from a target response frequency, a unit that determines from a load inertia value and a target response frequency, a unit that determines from a mechanical characteristic and a target response frequency, and a determiner that selects these three units. The motor control device according to claim 1, further comprising:

The means for determining from the target response frequency , when the target response frequency ωf is input, sets the main parameter kg to kg = ωf, the auxiliary gain kp to kp = 3, the auxiliary gain kd to kd = 3, and the auxiliary gain ki Is ki = 1, the torque filter constant tf is tf = 1 / (ωf * 4), the current loop gain ka is ka = ωf * 4, the current integration time constant ta is ta = 1 / ωf, and the time constant tv 3. The motor control device according to claim 2, wherein the low-pass filter is set to tv = 2 ^0.5 / (ωf * 4).

The means for determining from the load inertia value and the target response frequency , when the load inertia value JL and the target response frequency ωf are input, an inertia correction gain JCOM obtained from a ratio of the motor inertia JM = ((JL + JM) / JM) ^0.5 , the main parameter kg is kg = ωf / JCOM, the auxiliary gain kp is kp = 3, the auxiliary gain kd is kd = 3, the auxiliary gain ki is ki = 1, and the torque filter constant tf Tf = 1 / (ωf * 4) * JCOM, the current loop gain ka is ka = ωf * 4 / JCOM, the current integration time constant ta is ta = 1 / ωf * JCOM, and the time constant tv is a low-pass filter. 3. The motor control device according to claim 2, wherein tv = 2 ^0.5 / (ωf * 4) * JCOM is set.

The means for determining from the mechanical characteristics and the target response frequency , when the resonance frequency ωH and the anti-resonance frequency ωL of the mechanism and the target response frequency ωf are input, sets the motor-side inertia J1 to J1-= (JM + JL) * (ωL / ωH) ² / JM, the main parameter kg is kg = ωf / J1, the auxiliary gain kp is kp = 3, the auxiliary gain kd is kd = 3, the auxiliary gain ki is ki = 1, and the torque filter is The constant tf is tf = 1 / (ωf * 4) * J1, the current loop gain ka is ka = ωf * 4 / J1, the current integration time constant ta is ta = 1 / ωf * J1, and the time constant tv is low-pass. 3. The motor control device according to claim 2, wherein the filter is set as tv = 2 ^0.5 / (ωf * 4) * J1.