JP4206374B2 - Synchronous motor control device and initial phase setting method thereof - Google Patents
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Description
本発明は、同期モータを制御する技術に関するものである。 The present invention relates to a technique for controlling a synchronous motor.
同期モータを制御する装置について、特許文献1に開示がある。特許文献1には、「(1)エンコーダを取付ける際のずれ角を補正することで、ずれ角の影響を無くすことができる。(2)エンコーダ取付け時のずれ角の影響を無くすことで、品質向上に大きく貢献できる。(3)エンコーダ取付け時間を短縮することでコストダウンに繋がる。という効果がある(公開特許公報第4頁12行〜18行)」との記載がある。
Patent Document 1 discloses an apparatus for controlling a synchronous motor. Patent Document 1 states that “(1) The effect of the deviation angle can be eliminated by correcting the deviation angle when the encoder is installed. (2) The quality is eliminated by eliminating the influence of the deviation angle when the encoder is attached. (3) There is an effect that the cost is reduced by shortening the encoder mounting time (published patent publication,
同期モータを制御装置で駆動制御する場合には、通常、同期モータの回転軸の位置情報を取得し、信号として出力するエンコーダを回転軸に取付け、当該エンコーダからの信号に基づき制御を行なう。しかし、当該エンコーダの取付けの初期位相が同期モータの所定の磁極位置とずれている場合、正常な制御ができず問題となることがある。また、同期モータが正常に制御できない場合、エンコーダの取付け位置がずれているのか、同期モータまたは制御装置が正常動作していないのか原因が特定できずに問題となる場合がある。 When the synchronous motor is driven and controlled by the control device, the position information of the rotating shaft of the synchronous motor is usually acquired, and an encoder that outputs the signal is attached to the rotating shaft, and control is performed based on the signal from the encoder. However, when the initial phase of mounting the encoder is deviated from the predetermined magnetic pole position of the synchronous motor, normal control cannot be performed, which may be a problem. In addition, when the synchronous motor cannot be controlled normally, there may be a problem that the cause of the fact that the mounting position of the encoder is shifted or whether the synchronous motor or the control device is not operating normally cannot be specified.
したがって本発明は、エンコーダの回転軸への好適な取付けをする装置を提供することを目的とする。 Therefore, an object of the present invention is to provide an apparatus for suitably attaching an encoder to a rotating shaft.
エンコーダの取付け位置とZ相位置のずれ角が不定なA,B,Z相信号を持つインクリメンタルエンコーダを使用した同期モータの制御装置において、上記問題を解決するため、電流レベル設定部と励磁位相設定部を持つ初期位相設定手段を電流制御系に取付け、モータに一定レベルの電流を流し、励磁位相角を変化させることで回転軸を回してZ相を探索し、励磁開始時の停止位置と電気角が1周期回転した後の停止位置と、1周期回転中に検出されたZ相位置の関係から、動作に必要な初期位相オフセット値を算出することを特徴とする。 In order to solve the above problem in a synchronous motor control device using an incremental encoder with A, B, and Z phase signals, where the angle between the encoder mounting position and the Z phase position is indefinite, a current level setting unit and excitation phase setting An initial phase setting means having a section is attached to the current control system, a constant level of current is passed through the motor, the excitation phase angle is changed, the rotation axis is rotated to search for the Z phase, and the stop position and electrical The initial phase offset value required for the operation is calculated from the relationship between the stop position after the angle has rotated for one cycle and the Z-phase position detected during the one-cycle rotation.
本発明によれば、エンコーダの取付け工数を低減することができ、エンコーダ取付け精度の向上により同期モータの良好な制御が可能となる。 According to the present invention, the number of steps for mounting the encoder can be reduced, and the synchronous motor can be satisfactorily controlled by improving the encoder mounting accuracy.
本発明の実施例について図を用いて説明する。 Embodiments of the present invention will be described with reference to the drawings.
図1は永久磁石形同期モータ制御装置の制御ブロック図である。モータ1には位置検出器2が取り付けられており、位置検出器2で検出された情報を基に速度演算部3で検出速度Nが計算される。モータ制御装置には速度指令値Nrefが与えられ、比較器4で速度指令値Nrefと検出速度Nの偏差を計算する。この速度偏差は速度制御部5に入力され、例えば比例積分演算されて電流指令irefとなって電流指令切替部6に出力される。
FIG. 1 is a control block diagram of a permanent magnet type synchronous motor control device. A
次に電流制御系について、電流検出器7、8で例えばモータ軸u相とw相の電流を検出し、3相電流の総和が零となることを利用してv相電流を求める。この3相電流は、u相の電流方向とこれと直交する電流方向を基準として、3相−2相変換し、さらにモータの位置検出器2より得られる電気角の情報を基に、回転座標系に変換し、モータ軸方向のd軸電流とπ/2進む方向のq軸電流に座標変換する。これで回転座標系において、d軸電流を零、q軸電流を速度制御部で演算されたトルク電流指令に制御することでモータ電流を制御することができる。
Next, for the current control system, the current detectors 7 and 8 detect, for example, motor shaft u-phase and w-phase currents, and obtain the v-phase current by utilizing the sum of the three-phase currents being zero. This three-phase current is converted into three-phase to two-phase based on the current direction of the u-phase and the current direction orthogonal thereto, and the rotation coordinates based on the electrical angle information obtained from the
電流制御部9では比例積分制御を用いて、d軸電圧指令、q軸電圧指令をそれぞれ求め、2相−3相変換を行ない3相の電圧指令値を求める。PWM制御部10では三角波比較PWM方式などを用いてPWM信号を作成し、指令電圧がパワー素子11に与えられ、サーボモータに対して三相電流を流すことによりモータの制御を行う。 The current control unit 9 obtains a d-axis voltage command and a q-axis voltage command using proportional-integral control, respectively, performs two-phase to three-phase conversion, and obtains a three-phase voltage command value. The PWM control unit 10 creates a PWM signal using a triangular wave comparison PWM method, the command voltage is given to the power element 11, and the motor is controlled by flowing a three-phase current to the servo motor.
初期位相設定部12には、一定の電流指令を出力するための電流レベル設定部13と、電気角を一定の割合で変化させ電流制御部に送るための励磁位相設定部14が組み込まれており、現在の磁極位置情報を用いずにモータを回転させることができる。これにより電源投入後に電流位相が不定状態のとき、運転開始時に一定電流を保持し、励磁位相角のみを変化させることで回転軸を回してZ相を探索し、Z相検出した時点で前述の初期位相オフセット値に再設定することで電流位相を確定させることができる。
The initial
前述の電流指令切替部6は、初期位相設定中の状態と、電源投入後からZ相を検出して位相が確定するまでの状態と、位相確定後の通常運転中の状態により、電流指令の切替を行なうことを特徴とする。 The current command switching unit 6 described above determines the current command depending on the state during initial phase setting, the state from when the power is turned on until the phase is detected by detecting the Z phase, and the state during normal operation after the phase is determined. It is characterized by switching.
つぎに初期位相設定時の処理を図2のフローチャートおよび図3の動作概略図を用いて説明する。
外部から初期位相設定の開始指令で初期位相設定モードが開始された場合 (図2step1)、処理に必要な変数を設定した後に初期位相設定部を有効として、電流レベル設定を一定として電流を出力開始する(図2step2および図3(A))。
Next, processing at the time of initial phase setting will be described using the flowchart of FIG. 2 and the operation schematic diagram of FIG.
When the initial phase setting mode is started by the external phase setting start command from the outside (step 1 in Fig. 2), after setting the variables necessary for processing, the initial phase setting unit is enabled and current output is started with the current level setting kept constant. (FIG. 2
一定電流励磁により磁極が定位置に安定した状態で、正転、逆転の指令方向に基づいて電流励磁位相を徐々に変化させ電流位相角1周期分回転させる(図2step3および図3(B))。このときの電流位相を変化させる方向は、初期位相設定処理の開始時に設定するものとする。 While the magnetic pole is stable at a fixed position by constant current excitation, the current excitation phase is gradually changed based on the forward and reverse command directions and the current phase angle is rotated by one cycle (FIG. 2 step 3 and FIG. 3 (B)). . The direction in which the current phase is changed at this time is set at the start of the initial phase setting process.
一周期回転後、磁極が安定した時点で位置情報θ2を読み取る(図2step4および図3(C))。この時点でまだZ相が検出されていない場合(図2step5−No)、前回の位置θ1を更新後(図2step6)、検出された位相データを基に相方向の判定(図2step7)、断線検出(図2step8)を行い、電流位相角を1周期変化させる処理(図2step3)に戻る。
After one rotation, when the magnetic pole is stabilized, the position information θ2 is read (FIG. 2
一方、一周期変化した後にZ相が検出されている場合(図2step5-Yes)、Z相の検出位置情報θzを読み取り(図2step9および図3(D))、位置情報θ1,θ2,θzを使用して、初期位相を計算する(図2step10)。 On the other hand, if the Z phase has been detected after one cycle change (FIG. 2, step 5-Yes), the detected position information θz of the Z phase is read (FIG. 2, step 9 and FIG. 3D), and the position information θ1, θ2, θz is read. Use to calculate the initial phase (step 10 in FIG. 2).
初期位相が算出された場合、正常終了とし電流指令を解除する(図2step11および図3(E))。初期位相の比率を求めるために、
dT = |θz-θ1|,
正転時: θinit = (dT/T)×θreso ,
逆転時: θinit = (1-dT/T)θreso (数1)
ここで、θinit:初期位相設定値、dT: Z相検出までのオフセットパルス数、
T:電気角1周期分のパルス数、θreso:電気角1周期あたりの分解能(パルス数)である。
When the initial phase is calculated, the current command is canceled with normal termination (step 11 in FIG. 2 and FIG. 3E). To find the initial phase ratio,
dT = | θz-θ1 |,
During forward rotation: θinit = (dT / T) × θreso,
Reverse rotation: θinit = (1-dT / T) θreso (Equation 1)
Where θinit: initial phase setting value, dT: number of offset pulses until Z-phase detection,
T: number of pulses for one electrical angle cycle, θreso: resolution (number of pulses) per electrical angle cycle.
また、図2において異常検出処理として、Z相検出を行いZ相位置が確定される前に(図2step5-No)、前回位置を更新した時点で(図2step6)、前回値と今回値の磁極位置データを確認することにより、出力方向の判定処理(図2step7)、およびエンコーダの断線検出機能として処理を行なうことができる(図2step8)。 In FIG. 2, as the abnormality detection process, before the Z-phase position is determined and the Z-phase position is determined (step 5-No in FIG. 2), when the previous position is updated (step 6 in FIG. 2), the magnetic poles of the previous value and the current value are displayed. By confirming the position data, it is possible to perform the output direction determination process (step 7 in FIG. 2) and the encoder disconnection detection function (step 8 in FIG. 2).
図4に、上記の異常検出処理部についての動作概略を示す。位相励磁により電気角を1周期回転させた後(図4step1)、1周期回転毎に繰り返し許容回数を更新し(図4step2)、前回値と今回値の磁極位置データを取得した後(図4step3)、前回値と今回値の変化量がエンコーダ分解能の設定とかけ離れている場合エンコーダ分解能の設定異常と見なすことができる(図4step4)。
FIG. 4 shows an outline of the operation of the abnormality detection processing unit. After rotating the electrical angle by one cycle by phase excitation (Fig. 4, step 1), update the allowable number of repetitions every cycle rotation (Fig. 4, step 2), and obtaining the magnetic pole position data of the previous value and the current value (Fig. 4, step 3) When the amount of change between the previous value and the current value is far from the encoder resolution setting, it can be regarded as an encoder resolution setting error (
磁極位置データの取得後、前回値と今回値が全く変化していない場合はエンコーダの配線異常が考えられる(図4step5)。また、許容回数以上してもZ相が検出できない場合、Z相信号の断線異常と見なし、警告表示することができる(図4step6)。
After obtaining the magnetic pole position data, if the previous value and the current value have not changed at all, an abnormal wiring of the encoder is considered (
さらに、前回値と今回値の磁極位置のデータを確認するとき、初期位相合わせの開始時に指定した方向と、実際に回転させ磁極位置データの増減した方向を確認することにより、A相、B相の位相進み方向を確認し自動設定することが可能である(図4step7)。 Furthermore, when checking the magnetic pole position data of the previous value and the current value, by checking the direction specified at the start of initial phase alignment and the direction in which the magnetic pole position data was actually increased and decreased, the A phase and B phase It is possible to confirm and automatically set the phase advance direction (step 7 in FIG. 4).
以上の処理で初期位相の確定、配線確認が可能であるため、つぎに、電源投入後にZ相を検出した時点で磁極位置情報を初期位相設定値でプリセットし、通常運転が開始できるまでのフローチャートを図5に示す。また、このときの動作概略図を図6に示す。 Since the initial phase can be confirmed and the wiring can be confirmed by the above processing, the magnetic pole position information is preset with the initial phase setting value when the Z phase is detected after the power is turned on, and the normal operation can be started. Is shown in FIG. In addition, FIG. 6 shows a schematic diagram of the operation at this time.
まず電源投入すると、運転準備完了となった段階で運転開始待ちとなる(図5step1および図6(A))。運転開始した後(図5step1-Yesおよび図6(B))、Z相がまだ一度も検出されず磁極位置が確定していない状態であれば(図5step2-yes)、初期位相設定部を使用して一定レベル電流値で励磁位相を変化させ(図5step3および図6(C))、Z相検出されるまで回転させる。 When the power is turned on, the operation is waited for when the operation preparation is completed (step 1 in FIG. 5 and FIG. 6A). After starting operation (FIG. 5, step 1-Yes and FIG. 6B), if the Z phase has not been detected yet and the magnetic pole position has not been determined (FIG. 5, step 2-yes), the initial phase setting unit is used. Then, the excitation phase is changed at a constant level current value (step 3 in FIG. 5 and FIG. 6C) and rotated until the Z phase is detected.
回転中にZ相を検出したら(図5step4-Yes),Z相を検出した時点で初期位相オフセット値を用いて電流位相角を確定する(図5step5および図6(D))。電流位相角が確定したら、通常モードに移り通常運転を開始する(図5step6および図6(E))。通常運転を終了して停止した後は(図5step7および図6(F))、電源を切らない限り位置情報は保持されているため、再び運転開始された場合(図5step1-yes)は、初期位相設定処理を介さずに直接通常運転を開始する(図5step2-Noおよび図6(G))。
If the Z phase is detected during rotation (step 4-Yes in FIG. 5), the current phase angle is determined using the initial phase offset value when the Z phase is detected (
以上のように、初期位相合わせ処理部を通常の電流制御系に組み込むことにより、初期位相の検出開始から、初期位相オフセット値の計算、初期位相オフセット値の記憶、配線異常検出の動作までを行なうことができる。これらの一連の処理をプログラムソフトで構成しコントローラに内蔵することで、パソコンからの動作開始指令、または操作パネルのボタンで動作開始指令を与えるだけで、初期位相設定の動作を自動的に行なうことが可能となる。 As described above, by incorporating the initial phase matching processing unit into a normal current control system, the process from the initial phase detection start to the initial phase offset value calculation, the initial phase offset value storage, and the wiring abnormality detection operation is performed. be able to. By configuring this series of processing with program software and incorporating it in the controller, the initial phase setting operation can be performed automatically just by giving the operation start command from the personal computer or the operation start command with the button on the operation panel. Is possible.
また、コントローラ内蔵の電流制御系をそのまま使用するため簡単に構成できる。 Moreover, since the current control system with a built-in controller is used as it is, it can be configured easily.
1…モータ、2…位置検出装置、3…速度検出器、4…比較器、5…速度制御部、6…電流指令切替、7…CT、8…電流検出装置、9…電流制御部、10…PWM制御部、11…パワー素子、12…初期位相設定手段、13…電流レベル設定部、14…励磁位相設定部
DESCRIPTION OF SYMBOLS 1 ... Motor, 2 ... Position detection apparatus, 3 ... Speed detector, 4 ... Comparator, 5 ... Speed control part, 6 ... Current command switching, 7 ... CT, 8 ... Current detection apparatus, 9 ... Current control part, 10 ... PWM control unit, 11 ... power element, 12 ... initial phase setting means, 13 ... current level setting unit, 14 ... excitation phase setting unit
Claims (4)
電流レベル設定部と励磁位相設定部を有する初期位相設定手段を設け、電流制御部の前段で速度制御部からの電流指令と初期位相設定手段からの電流指令の切替を行なうことにより、磁極位置の初期位相設定を行なう手段を備え、
前記初期位相設定手段は、電流レベル設定部で電流レベルを一定に出力し、励磁位相設定部で電流位相角を一定の割合で増加させることにより、Z相位置を検索し、Z相位置、動作開始位置、動作停止位置の取り込み情報から初期位相を演算する手段を備えることを特徴とする同期モータ制御装置。 The detection speed is calculated from the position information of the position detection device attached to the synchronous motor, the current command is calculated by the speed control unit based on the deviation between the speed command and the detection speed, and the current command and servo output from the speed control unit are calculated. Has a current control unit that calculates the voltage command based on the deviation of the detected current from the current detection device attached to the motor, generates a PWM signal by giving the voltage command to the PWM control unit, and synchronizes via the power element In a synchronous motor control device that drives a motor,
An initial phase setting unit having a current level setting unit and an excitation phase setting unit is provided, and by switching the current command from the speed control unit and the current command from the initial phase setting unit in the previous stage of the current control unit, the magnetic pole position Means for initial phase setting ;
The initial phase setting means searches the Z phase position by outputting a constant current level at the current level setting unit and increasing the current phase angle at a constant rate by the excitation phase setting unit. A synchronous motor control device comprising means for calculating an initial phase from information on acquisition of a start position and an operation stop position .
前記初期位相設定手段は、磁極位置探索中の磁極の回転方向とパルスのカウント方向を確認することによりエンコーダ信号線の配線順序を確認し、エンコーダ信号の相方向を決定する手段を備えることを特徴とする同期モータ制御装置。 The synchronous motor control device according to claim 1 ,
The initial phase setting means includes means for confirming the wiring order of the encoder signal lines by confirming the rotation direction of the magnetic pole and the pulse counting direction during the magnetic pole position search, and determining the phase direction of the encoder signal. Synchronous motor control device.
前記初期位相設定手段は、位相設定中のパルスを入力監視することにより断線検出を行ない、異常時には警告表示することを特徴とする同期モータ制御装置。 The synchronous motor control device according to claim 1 ,
The synchronous motor control device, wherein the initial phase setting means detects disconnection by monitoring the input of a pulse whose phase is being set, and displays a warning when an abnormality occurs.
操作入力手段を設け、前記初期位相設定手段は、操作入力手段から初期位相設定開始命令を与えることで磁極位置を探索開始し、位相設定、配線確認を行なうことを特徴とする同期モータ制御装置。 The synchronous motor control device according to claim 1 ,
An operation input means is provided, and the initial phase setting means starts searching for a magnetic pole position by giving an initial phase setting start command from the operation input means, and performs phase setting and wiring confirmation.
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