JP4288695B2 - Motor position controller - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motor position controller that adjusts a speed loop gain and a position loop gain by moving a movable range of a machine, detecting vibration of a position deviation at a movement or stop, and a minute distance feed, and the like.
[0002]
[Prior art]
Conventionally, the position deviation of the machine driven by the motor is determined by observing the position deviation at the time of positioning completion or within a certain position deviation by human observation, and if the completion signal is broken, the position loop gain is set. It was changed, such as lowering.
“The completion signal is broken” means that the positioning command has been completed once the position command has been issued and the position deviation signal has entered the positioning completion range within the time until the next command is entered. The expression means a state outside the positioning completion range (see, for example, Patent Document 1).
[0003]
[Patent Document 1]
JP-A-6-178570 [0004]
[Problems to be solved by the invention]
However, in the conventional technique, it is impossible to determine the gain by determining the state at all the moving positions because of the adjustment time. In addition, when a person measures the position deviation or positioning completion, it may not be the optimum gain when the location for positioning changes, for example, due to a change in the rigidity of the ball screw. There has been a problem that the positional accuracy of.
Accordingly, an object of the present invention is to increase the accuracy of positioning characteristics by automatically moving the movable range of the machine to finely adjust the gain parameters of the speed loop and the position loop and adjust the relations.
[0005]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, when the position is vibrated with a low position loop gain by detecting the vibration of the position deviation by moving or stopping and fine distance feed by moving the movable range of the machine, the speed loop gain If the position vibrates during positioning, adjust the position loop gain. If the relationship between velocity loop gain and position loop gain is poor, adjust the position loop gain to correct the relationship. The positioning determination condition is determined by no vibration by the positioning vibration detecting means.
By the above means, it is possible to suppress variations in the machine and the movable range of the machine, and to improve the accuracy in positioning in a short time. The speed loop gain and position loop gain can be finely adjusted, and the balance can also be adjusted. In addition, the positioning specification can be easily changed by changing the detection time condition of the positioning vibration detecting means.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a specific embodiment of the present invention will be described with reference to FIG.
In FIG. 1, 1 is a positioning vibration detection circuit, 2 is a microcomputer, 3 is a current amplifier, 4 is a base drive circuit, 5 is a power transistor module, and 6 is a motor.
The operation of the circuit configured as described above will be described with reference to the control block diagram of FIG. 2, the timing diagram of FIG. 3, and the flowchart of FIG.
First, the microcomputer 2 receives commands such as position and speed from an external controller or the like. The position command is received, position control is performed, speed control is performed with the output speed command, and the power transistor 5 is driven through the base drive drive circuit 4 with the output current command or current control output to control the motor.
Here, when the positioning vibration detection circuit 1 completes the positioning first and the position deviation Perr in the block diagram of FIG. 2 exceeds a certain level, the exceeding time is measured and integrated as shown in FIG. When the accumulated time exceeds a certain level, it is determined as vibration. This level is determined as a positioning specification. For example, it is 0 for an application that never allows the completion signal to be broken, and it is several ms when the tolerance of the completion signal is several ms due to the working time of the machine. Etc.
First, conditions such as the movable range of the machine and the allowable positioning accuracy are set as in step 1 of FIG.
Next, as shown in step 2 to step 4 of FIG.
That is, as shown in FIG. 3 (i), a command for a minute distance movement that moves once and performs forward / reverse rotation is sent, and the speed loop gain is lowered so that the positioning vibration detection circuit 1 does not shake (vibration) after completion of positioning. And confirm. Here, the minute distance command is sent in the positive and negative directions (forward rotation, reverse rotation direction) in order to prevent vibrations caused by movement at a normal feed speed or fast feed speed when there is a vibration factor. That is, in the slight movement of the one-way movement, there is an effect of avoiding such a state because the vibration may be generated when the normal movement operation is performed without generating the vibration.
Next, as shown in FIG. 3 (ii), the movable range of the machine is positioned at a normal speed or a rapid feed speed as in Step 6 to Step 9 in FIG. Check with. That is, once the positioning is completed, the positioning vibration detection circuit 1 confirms that it does not return due to overshoot or the like. The degree of adjustment can be automatically adjusted since it is known from the accumulated time level. For example, it can be determined that the longer the integration time, the greater the vibration.
A certain level of conditions (such as the limit value of the integration time) is first set and performed in step 1 of FIG. If it can be determined that it vibrates, the position loop gain is lowered as in step 8 of FIG. Finally, as in step 10 of FIG. 5, the balance between the speed loop gain and the position loop gain is determined. That is, when the gain balance is poor, the position loop gain is adjusted again by changing the speed loop gain, for example, when the position loop gain is too large compared to the speed loop gain. For example, position loop gain Kp≈speed loop gain Kv / 4.
The positioning vibration detection circuit 1 may be performed by the microcomputer 2.
[0007]
【The invention's effect】
As described above, according to the present invention, there is an effect that the variation in the machine and the variation in the movable range of the machine can be suppressed, and the accuracy in positioning in a short time can be improved stably.
Furthermore, the speed loop gain and position loop gain can be finely adjusted, and the balance can also be adjusted.
In addition, since the positioning specification can be easily changed by changing the detection time condition of the positioning vibration detecting means, the adjustment specification can be selected according to the application.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a specific embodiment of the present invention.
FIG. 2 is a control block diagram.
FIG. 3 is a timing diagram of adjustment.
FIG. 4 is a simple configuration example of a machine.
FIG. 5 is an adjustment flow of the present plan.
FIG. 6 is a configuration diagram of a conventional embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Positioning vibration detection circuit 2 Microcomputer 3 Current amplifier 4 Base drive circuit 5 Power transistor module 6 Motor 7 Measuring instrument 8 Position controller 9 Speed controller 10 Load (including motor)
11 integrator 12 load 13 ball screw 14 motor

Claims (4)

In a motor position controller with a position loop and a speed loop,
After the output of the position command is completed, measure the time when the position deviation first enters the predetermined deviation value and then deviates from the predetermined deviation value, and if the time exceeds the predetermined time, lower the position loop gain A motor position controller comprising a gain adjusting means . In a motor position controller with a position loop and a speed loop,
After the output of the position command is completed, measure the time when the position deviation first enters the predetermined deviation value and then deviates from the predetermined deviation value. If the time exceeds the predetermined time, decrease the speed loop gain. A motor position controller comprising a gain adjusting means . 2. The motor position controller according to claim 1, wherein the gain adjusting means adjusts a position loop gain for each moving position by moving an operating range of a machine driven by a motor . 3. The motor position controller according to claim 2, wherein the gain adjusting means adjusts a speed loop gain for each moving position by moving an operating range of a machine driven by a motor .

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