JP5190803B2 - Electric motor control device - Google Patents

Description

The present invention relates to an electric motor control device using a plurality of axes that is used in a semiconductor manufacturing apparatus, a machine tool, an industrial robot, etc., and performs positioning control and pressing control used in a press machine, a processing machine, and the like.

  In order to use the motor control device at high speed and high accuracy in positioning control, pressing control, copying control, etc., it is necessary to operate the motor by optimally matching the mechanical characteristics with the control characteristics of the motor control apparatus. Further, in the configuration including a plurality of motor control devices, the operation of the plurality of motors may cause the detection unit of the own shaft to react due to the operation of the motors of the other shafts and cause interference between the shafts. Originally, it is necessary to optimally match the mechanical characteristics and the control characteristics of the motor control device between the shafts of a plurality of motors.

  On the other hand, a mechanical system equipped with an electric motor control device often uses multiple axes, and there are many possible combinations of electric motor control devices that affect each other between the axes. It is inefficient to consider all degrees. For this reason, it is necessary to narrow down combinations that affect each other between the axes. In addition, in many electric motor control apparatuses, what a gravity and an external force act is contained, requiring a long stroke.

In order to solve such general technical problems, there are conventionally related technologies such as the following four examples.
The conventional motor control apparatus as the first example performs frequency analysis on the input torque signal 112 and the rotation speed signal 110, which are operation command signals 109, by FFT, and outputs an analysis result 114 (for example, Patent Documents). 1).
In addition, the conventional second example of the motor control device and its mechanical characteristic measuring method and controller adjusting method is to measure the mechanical characteristic to grasp the stability of the controller and optimize the controller according to the mechanical characteristic. Closed-loop disturbance frequency response characteristic calculating means 210 for calculating a closed-loop disturbance frequency response characteristic, closed-loop driving force frequency response characteristic calculating means 211 for providing an adjustable motor control device, mechanical characteristic measurement method, and controller adjustment method And a mechanical characteristic calculation unit 213 (see, for example, Patent Document 2).
In addition, a frequency characteristic calculation device for a motor control device, which is a conventional third example, provides a frequency characteristic calculation device that can easily measure the frequency characteristics of a plurality of axes of a motor control system. In some cases, the frequency characteristic is calculated using the rotation command F and the rotation sensor signal X (see, for example, Patent Document 3).
Further, the feedforward control method for the vibration isolation table, which is the conventional fourth example, provides very effective feedforward control for linear motion disturbance that cannot be dealt with by feedback control. The system (G-1) that gives the power is calculated, and the feedforward control signal (U) is given to the active actuators (A) to (D) to cancel the vibration caused by the operation of the device (K). (For example, refer to Patent Document 4).

WO2001 / 082462 (FIG. 1) Japanese Patent Laying-Open No. 2006-221404 (FIG. 1) Japanese Patent Laying-Open No. 2003-061379 (FIG. 1) Japanese Patent Laid-Open No. 05-011856 (FIG. 1) A motor control device of Patent Document 1 as a first conventional example will be described. FIG. 21 is a block diagram of a motor control apparatus showing a first conventional example. In order to determine the servo gain after measuring and grasping the frequency characteristics including the controlled object of the motor control device, an expensive measuring instrument such as an FFT analyzer is prepared and a skilled worker is required. If frequency characteristics are easily measured, aliasing errors in which components outside the measurement frequency range are mixed at the time of digital sampling occur, and accurate frequency characteristics cannot be obtained. Further, when the electric motor is operated to measure the frequency characteristic, the movable part moves. The characteristic of the movable part of the load machine changes depending on its position, the resonance frequency and the anti-resonance frequency shift, and the measurement accuracy of the frequency characteristic decreases. In order to increase the amount of data to be measured in order to perform averaging during measurement, it is necessary to collect long-term data or perform multiple operations and measurements. There is a problem that the measurement accuracy is further deteriorated, for example, the resonance frequency peak of the frequency characteristic is broken. In order to solve the general technical problems as described above, the electric motor control device of Patent Document 1 as the first conventional example does not generate a folding error at the time of frequency analysis, and is an unnecessary high frequency component outside the measurement frequency range. The operation command signal that does not include the signal is generated, output to the servo device 102 to drive the motor 104, the arithmetic device 101 analyzes the frequency of the operation command signal and the rotation detector signal from the rotation detector 103, and outputs the analysis result Like to do. In addition, the operation command signals for the forward rotation side and the reverse rotation side of the electric motor 104 are generated and output to the servo device 102, and the arithmetic device 101 calculates the frequency characteristics from the operation command signal and the detection signal of the rotation detector 103. . In this way, the electric motor control device of Patent Document 1 as the first conventional example calculates the single-axis frequency characteristics. An electric motor control device, a mechanical characteristic measuring method thereof, and a controller adjusting method of Patent Document 2 as a second conventional example will be described. FIG. 22 is an overall configuration diagram of an electric motor control device showing a second conventional example. The stability of the controller was grasped while measuring the mechanical characteristics, and the controller could not be adjusted optimally according to the mechanical characteristics. In order to solve this general technical problem, an electric motor control device, a mechanical characteristic measurement method and a controller adjustment method of Patent Document 2 as a second conventional example are disclosed in an electric motor control device having a feedback loop. 201 or a detection unit 202 that detects an operation amount of the machine 205, a command unit 204 that generates a command signal, a controller 203 that receives the command signal to drive the motor 201, and a current control unit 206. In the electric motor control apparatus, a disturbance signal generator 207 that generates a disturbance input command, a driving force detector 208 that detects a driving force output by the controller 203, and an output and driving force detection of the disturbance signal generator 207 Closed loop driving force frequency response characteristic calculating means 211 for calculating a closed loop driving force frequency response characteristic from the output of the means 208, and the closed loop driving Mechanical characteristic calculation means 213 for calculating mechanical characteristics from the frequency response characteristics and the closed-loop disturbance frequency response characteristics is provided, and the electric motor 201 is driven by the disturbance signal generated by the disturbance signal generation unit 207, and detected by the driving force detection means 208. The detection signal of the means 202 is obtained. A closed loop disturbance frequency response characteristic calculation unit 210 calculates a closed loop disturbance frequency response characteristic from the outputs of the disturbance signal generator 207 and the detection unit 202. Further, the closed loop driving force frequency response characteristic calculating unit 211 calculates the closed loop driving force frequency response characteristic from the outputs of the disturbance signal generating unit 207 and the driving force detecting unit 208. Furthermore, from the closed-loop driving force frequency response characteristic, the one-round loop frequency response characteristic calculation unit 212 calculates the one-round loop frequency response characteristic. In addition, the mechanical characteristic calculation means 213 calculates the mechanical characteristic from the closed loop driving force frequency response characteristic and the closed loop disturbance frequency response characteristic. As described above, the electric motor control device and the mechanical characteristic measuring method and the controller adjusting method of Patent Document 2 which are the second example of the related art include a single-axis closed loop disturbance frequency response characteristic, a closed loop disturbance frequency response characteristic, and a single loop frequency. Response characteristics and mechanical characteristics are calculated. A frequency characteristic calculation device for a motor control device of Patent Document 3 as a conventional third example will be described. FIG. 23 is a block diagram of a motor control apparatus showing a third conventional example. In the case of a motor control device having two or more servo systems, the frequency characteristics of a single axis are separately measured for each axis, and the overall characteristics are grasped by integrating the results. There is a problem that it takes a long time to measure the frequency characteristics of all axes. In addition, there is interference between the axes and there is a characteristic between the axes, but this cannot be achieved by the method of measuring the frequency characteristics of a single axis for each axis. In order to solve the general technical problem as described above, the frequency characteristic calculation device of the motor control device of Patent Document 3 as a third conventional example includes movable parts 310 and 311, motors 306 and 307, and a motor. Transmission mechanism 308, 309 that transmits the rotation of the motor and moves the movable portion, rotation sensors 304, 305 that detect the rotation of the motor, motor rotation command F, and rotation sensor signal X are received to control the rotation of the motor. In a motor control device including a plurality of servo devices 302 and 303 and forming a plurality of servo systems, a motor rotation command F is output, a rotation sensor signal X is input, and a frequency characteristic is calculated based on a predetermined formula. An arithmetic device 301 is provided. As described above, the frequency characteristic calculation device of the motor control device of Patent Document 3 as the third conventional example calculates the frequency characteristics of a plurality of axes. A feedforward control method for a vibration isolation table of Patent Document 4 as a conventional fourth example will be described. FIG. 24 is an arrangement plan view of active actuators showing a fourth conventional example. The main purpose of the vibration isolation table was to deal with ground motion disturbances, so active vibration control by the vibration isolation table was based on feedback control, but there were problems such as insufficient spillover and stability in feedback control, and However, the feedback gain could not be increased without limit, and it was not possible to deal with the linear motion disturbance. There is a general technical problem that a trade-off with vibration control becomes a problem when the feedback gain is increased. In order to solve this general technical problem, the feedforward control method of the vibration isolator of Patent Document 4 as the fourth conventional example obtains the multi-input / multi-output relationship (G) of the vibration isolator in advance. Yes. An anti-vibration table main body 402 for mounting the device (K), active actuators (A) to (D) for supporting the anti-vibration table main body 402, and a vibration for detecting the vibration of the anti-vibration table main body 402 In the vibration isolation table composed of the sensor (S), a known signal is given to the active actuators (A) to (D) of the vibration isolation table, and the response of the vibration isolation table at this time is detected by the sensor (S). Then, the output data (Y) is taken into the arithmetic unit (cont) to obtain a multiple input / multiple output relationship (G). A system (G-1) that reverses the input / output relationship (G) is calculated by an arithmetic unit (cont), and a device (on the vibration isolation base main body 402) that is placed in the reverse system (G-1) ( The output data (Y) obtained by operating K) is multiplied, and an inverted feedforward control signal (U) is generated. This feedforward control signal (U) is stored, and the next device (K) The feedforward control signal (U) based on the reverse system (G-1) is input to the active actuators (A) to (D) in synchronization with the operation of the actuator (K-1) to cancel the vibration caused by the operation of the device (K). I have to.

In the conventional example, there are methods for obtaining the mechanical characteristics of the single axis of the motor control device, the self-circular loop transfer function of the single axis, and the mechanical characteristics of the multiple axes, including the control characteristics of the multi-axis motor control device. We could not grasp the mutual loop-opening transfer function. In addition, a method for obtaining mechanical characteristics of a plurality of axes including a motor that is used with a large stroke in a situation where a vertical axis or external force is applied is not sufficient.

  The electric motor control device of Patent Document 1 as the first conventional example is adapted to grasp the frequency characteristic of a mechanical system including a single-axis controlled object, and cannot grasp a single loop transfer function including the control characteristic. Therefore, characteristics including control characteristics cannot be grasped quantitatively. It was insufficient for optimal parameter adjustment of the motor control device. Moreover, since only the frequency characteristics of a single axis can be grasped, there is a problem that the frequency characteristics between axes cannot be grasped when a multi-axis motor control device is configured.

  The electric motor control device and its mechanical characteristic measuring method and controller adjusting method disclosed in Patent Document 2, which is a conventional second example, are configured to grasp single-axis mechanical characteristics and a loop-open transfer function. Since it is impossible to grasp the mechanical characteristics and the loop transfer function between the axes when a multi-axis motor control device is configured, it is a trial and error without quantitatively understanding the mechanical characteristics and control characteristics that interfere between the axes. In addition, there is a problem that there is only a method for adjusting parameters of the motor control device.

  The frequency characteristic calculation device of the motor control device of Patent Document 3 which is the conventional third example is adapted to grasp the frequency characteristic of the multi-axis mechanical system, and the single-axis and multi-axis single-loop transfer function is obtained. Since it cannot be grasped, it was insufficient for optimal parameter adjustment of the motor control device. While there is an increasing demand for accuracy of operation of the motor, there is a problem that there is only a method for adjusting the parameters of the motor control device while the influence of the control system of the other axis between the axes is unknown. Also, the frequency characteristics of multi-axis mechanical systems are grasped, but the situation in which the motor is moved by gravity or external force is not considered, and the frequency characteristics cannot be grasped under all conditions even in a multi-axis configuration. It was.

  Since the multi-input / multi-output relation in the feedforward control method of the vibration isolator of Patent Document 4 as the fourth example of the prior art uses a small stroke voice coil motor, it can be used in the vertical direction or on an axis on which an external force is applied. It is possible to grasp the mechanical characteristics with little load and motor movement and no change. However, when using a combination such as a general-purpose servo motor and a ball screw mechanism or a large stroke such as a general-purpose linear motor, the mechanical characteristics change depending on the position when gravity or external force moves the motor. There is a problem that the multi-axis frequency characteristics of the motor control device cannot be grasped in the state of the position and position of the motor, but it has not been solved.

The present invention has been made in view of such problems, and measures mechanical characteristics including a plurality of shafts including a vertical shaft and an electric motor used with a large stroke in a situation where an external force is applied, and the controller. An object of the present invention is to provide an electric motor control device capable of grasping the stability and grasping the adjustment degree of the controller including the distance between the axes in accordance with the mechanical characteristics.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 is a single shaft including a control unit that controls the electric motor so that the detection value of the detection unit that detects the amount of movement of the load machine or the electric motor that drives the load machine follows the operation command. An electric motor control device comprising at least two motor control devices for a motor,
In the single-axis motor control device, a self-circular loop transfer function calculation unit that calculates a single-axis self-circular loop transfer function including the characteristics of the control unit and the characteristics of the machine to be controlled;
A disturbance driving force input unit that gives an operation command as a disturbance after driving force generation output to the control unit;
A control unit compensating driving force detecting unit for detecting a driving force in front of the disturbance driving force input unit,
A command unit for giving an operation command to the control unit to the motor control device;
Applied to the disturbance driving force input portion of each of all the axes of the disturbance driving force of the shaft as each of the operation command, and detecting the compensation driving force by the control unit compensates the driving force detecting section of each said disturbance driving force for all axes When, with the compensation driving force of all axes, and self-round open-loop transfer function of the single axes of all axes, further comprising a cross-round open-loop transfer function calculation unit that calculates a cross-round open-loop transfer function based on It is a feature.
The invention according to claim 2, wherein the motor control device according to claim 1, wherein the cross-round open-loop transfer function calculation unit, the one-axis increments the disturbance driving force while allowing driving all axes giving the disturbance driving force input portion, and the compensation driving force of all axes in a state where each is driven, and the disturbance driving force given to one axis at a time, said self-round open-loop transfer function of the single axes of all axes When, it is characterized in that calculating the mutual round open-loop transfer function from.
Further, the invention according to claim 3 is the motor control device according to claim 1 or 2 , wherein the at least one single-axis motor control device includes a plurality of the detection units, and a feedback loop is provided in the control unit. In the case where there are a plurality, the mutual loop-opening transfer function calculation unit calculates the sum of the characteristics composed of the response of each of the detection units, the mechanical characteristics by driving the other axis, and the control characteristics of the own axis. It is characterized by that.
Further, the invention according to claim 4, in the electric motor control device according to claim 1, wherein the motor control device includes at least one of the uniaxial electric motor control apparatus, the electric motor a structure off and control the motor to move, equipped with a mechanical characteristic calculation unit for calculating the mechanical properties from the detection value of the detecting unit and the operation command and the compensation driving force, the mechanical characteristic calculation section, it is characterized in that to calculate only the mechanical properties based on the operation command plus at least one axis.
Further, the invention according to claim 5, in the motor control apparatus according to claim 1, wherein the motor control device, the self-round and the cross-round open-loop transfer function and the mechanical properties it is characterized in further comprising a characteristic calculating unit for calculating the cross-round open-loop transfer function of the control system characteristics and new combination of open-loop transfer function.

According to the present invention, it measures the mechanical characteristics including the axes of multiple axes including the motor used in a large stroke in the situation where the vertical axis and external force are applied, and considers the mechanical characteristics of inter-axis interference, gain margin and phase margin. The control system can be set. In other words, grasp the stability of the control system, grasp the adjustment degree of the controller including the inter-axis according to the mechanical characteristics, and set the control system considering the mechanical characteristics of the inter-axis interference and the gain margin and phase margin. It can be carried out.
First, if the multi-axis transfer function, which is a mechanical characteristic, is obtained, the rigidity of the machine can be grasped. Therefore, the design performance of the rigidity of the machine can be confirmed, which can be used for correction and improvement on the machine side.
In addition, by grasping the multi-axis transfer function, it is possible to select control methods including notch filters, low-pass filters, vibration suppression control, etc. of the control unit, create operation signals that do not resonate the command unit, etc. with only a single axis. It is possible to examine and set in consideration of the degree of influence in the combination between axes between multiple axes.
Further, by grasping the multi-axis transfer function, since the degree of influence of the mechanical characteristics is high, it is possible to narrow down between the axes that need to be set in consideration of the other axis of the motor control device.
Between the narrowed shafts, we can quantitatively grasp the combined characteristics of the mechanical characteristics between the shafts and the control system, the mutual loop-opening transfer function, which is a new evaluation standard, and thereby the response parameters of the control unit and various The filter, vibration suppression function, operation signal processed by the command unit, etc. are set so that they have mutual effects between the axes, and after various settings, various settings are made by obtaining the mutual loop-opening loop transfer function again. Since the effect can be confirmed, an electric motor control device including a plurality of electric motors consistent with mechanical characteristics can be realized.
According to the first aspect of the present invention, it is possible to calculate a mutual open loop transfer function between the axes in the motor control device having two or more axes, and to quantitatively calculate the characteristics combining the mechanical characteristics and the control characteristics between the axes. It is possible to grasp and establish a mutually effective setting between the axes of the control system in consideration of the mechanical characteristics of the inter-axis interference and the gain margin and the phase margin. Or the effect can be confirmed quantitatively.
According to the second aspect of the present invention, it is possible to calculate a mutual loop opening loop transfer function by applying a disturbance driving force for each axis in a motor control device having two or more axes, and measuring the mutual loop opening loop transfer function.・ Calculation can be performed while checking the status of each axis.
According to the invention described in claim 3, even in the case of the motor control device provided with a plurality of feedback loops, it is possible to quantitatively grasp the characteristics combining the mechanical characteristics and the control characteristics between the shafts.
Further, according to the invention described in claim 4, even if an electric motor used with a large stroke in a situation where a direct shaft or an external force is applied, such as when the electric motor is turned off, the electric motor is moved, the control unit is retained. While maintaining the position of the electric motor with force, it is possible to measure and calculate the mechanical characteristics including the multi-axis axis as a multi-axis transfer function. From the mechanical characteristics, the combinations between the axes that require detailed matching between the control characteristics and the mechanical characteristics can be narrowed down from a large number.
According to the fifth aspect of the present invention, the control system characteristics of the control unit alone or a new combination can be obtained from the multi-axis transfer function, the inter-circular loop transfer function between the axes, or the single-axis self-circular loop transfer function. A one-loop open loop transfer function can be calculated. If the control system characteristics of the other axis can be obtained separately, it is also possible to calculate a mutual loop-open loop transfer function with the other axis that has not been measured.

1 is a schematic configuration diagram of a two-axis motor control device showing a first embodiment of the present invention. 1 is a block diagram of a two-axis motor control device showing a first embodiment of the present invention. The block diagram which shows the self-circular loop transfer function calculation part and the mutual loop loop transfer function calculation part which show 1st Example of this invention. The flowchart of the mutual loop-opening transfer function calculation method of the motor control apparatus which shows 1st Example of this invention. The block diagram which shows calculation of the self-circular loop transfer function of the motor control apparatus which shows 1st Example of this invention. The block diagram which shows the output of the self-circular loop transfer function calculation part which shows 1st Example of this invention, and a mutual loop loop transfer function calculation part Schematic configuration diagram of a two-axis motor control device showing a second embodiment of the present invention The block diagram which added operation command as disturbance to the 1st axis of the 2-axis motor control device which shows the 2nd example of the present invention. The block diagram which added operation command as disturbance to the 2nd axis of the 2-axis motor control device which shows the 2nd example of the present invention. Schematic configuration diagram of a three-axis motor control device showing a third embodiment of the present invention The block diagram which shows the characteristic calculating part which shows 3rd Example of this invention Flowchart of Multi-axis Transfer Function Calculation Method and Mutual Loop Loop Transfer Function Calculation Method of Motor Control Device showing Third Embodiment of the Present Invention Block diagram of a three-axis motor control apparatus showing a third embodiment of the present invention The block diagram which shows the output of the characteristic calculating part which shows 3rd Example of this invention Schematic configuration diagram of a three-axis motor control device showing a fourth embodiment and a fifth embodiment of the present invention Block diagram of a three-axis motor control device showing a fourth embodiment of the present invention The block diagram which shows calculation of the self-circular loop transfer function of the motor control apparatus of 1 axis | shaft full-closed control which shows 4th Example of this invention The block diagram which shows the calculation of the mutual open loop transfer function of the motor control apparatus of the biaxial full-closed control which shows 4th Example and 5th Example of this invention Schematic configuration diagram of a three-axis motor control device showing a sixth embodiment of the present invention Block diagram of a two-axis motor control apparatus showing a sixth embodiment of the present invention. Block diagram of a motor control apparatus showing a first conventional example Overall configuration diagram of an electric motor control device showing a second conventional example The block diagram of the motor control apparatus which shows the conventional 3rd example Arrangement plan view of active actuator showing fourth conventional example

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The calculation of the mutual open loop transfer function by simultaneously driving two-axis motors in the first embodiment of the present invention will be described.

Figure 1 is a schematic diagram of a motor control device 2 axis indicating a first embodiment of the present invention, FIG. 2 is a block diagram of a motor control device 2 axis indicating a first embodiment of the present invention, FIG 3 is present It is a block diagram which shows the self-circular loop transfer function calculation part and the mutual loop loop transfer function calculation part which show 1st Example of invention.
In the figure, 1a and 1b are motors, 2a and 2b are detection units, 3a and 3b are control units, 4a and 4b are mechanical units, 5 is a command unit, 6a and 6b are disturbance driving force input units, and 7a and 7b are control units. Part compensation driving force detection unit, 8 is a self-circular loop transfer function calculation unit, and 9 is a mutual loop loop transfer function calculation unit.
In FIG. 1, the electric motors 1a and 1b are of a rotary type, and the table portion is translated via a ball screw mechanism, and the second shaft is mounted on the first shaft.
1 and 4 of FIG. 2 show the electric motors 1a and 1b and the machine parts 4a and 4b by mechanical characteristics.
3 obtains T1, T2, τ1, and τ2 in the block diagram of FIG. 2 to obtain the self-circular loop transfer function and the mutual loop loop. and calculates the transfer function.
FIG. 4 is a flowchart of a mutual loop opening transfer function calculation method for the motor control apparatus according to the first embodiment of the present invention. STP1 is a step of calculating a single-axis self-circular loop transfer function, and STP2 is a step of calculating a mutual circular loop transfer function.
The part in which the present invention differs from the first example of the prior art is that a plurality of electric motor control devices are provided, the electric motors 1a and 1b, the detection units 2a and 2b, and the two mechanical units 4a and 4b are provided, and the disturbance driving force This is a part provided with input units 6 a and 6 b, control unit compensation driving force detection units 7 a and 7 b, a self-circular loop transfer function calculation unit 8, and a mutual loop loop transfer function calculation unit 9.
Moreover, the part provided with step STP1 which calculates a uniaxial self-circular loop transfer function and step STP2 which calculates a mutual circular loop transfer function differs from the 1st example of a prior art.
The present invention is different from the second example of the prior art in that it includes a plurality of motor control devices and includes a motor 1a, 1b, a detector 2a, 2b, and two machines 4a, 4b, This is a part provided with a loop transfer function calculation unit 9.
Moreover, the part provided with step STP2 which calculates a mutual open loop transfer function differs from the 2nd example of a prior art.
The present invention is different from the third example of the prior art in that the disturbance driving force input units 6a and 6b, the control unit compensating driving force detection units 7a and 7b, the self-circular loop transfer function calculation unit 8, and the mutual loop This is a part provided with a loop transfer function calculation unit 9.
Moreover, the part provided with step STP1 which calculates a uniaxial self-circular loop transfer function and step STP2 which calculates a mutual circular loop transfer function differs from the 3rd example of a prior art.
The present invention is different from the fourth example of the prior art in that the disturbance driving force input units 6a and 6b, the control unit compensating driving force detection units 7a and 7b, the self-circular loop transfer function calculation unit 8, and the mutual loop This is a part provided with a loop transfer function calculation unit 9.
Moreover, the part provided with step STP1 which calculates a uniaxial self-circular loop transfer function and step STP2 which calculates a mutual circular loop transfer function differs from the 4th example of a prior art.
A first embodiment of the present invention will be described with reference to FIG.
In step STP1 for calculating a single-axis self-circular loop transfer function, the motor control device having two axes as shown in FIGS. 1 and 2 is used for each axis as in the third example of the prior art.
FIG. 5 is a block diagram showing calculation of the self-circular loop transfer function of the motor control apparatus according to the first embodiment of the present invention. FIG. 5 shows that the two axes operate independently by adding a double line between the first axis and the second axis.

First, the first axis is brought into an operable state. Since the second axis is not used, the power is turned off.
A driving signal T1 is given as a disturbance from the command unit 5 to the disturbance driving force input unit 6a of the control unit 3a. As the drive signal, a random wave having a wide frequency component, a swept sine wave, or an M-sequence signal is used. Controller 3a drives the motor 1a in the driving signal, to obtain this response r1 by the detection unit 2a. The controller 3a feeds back the response of the detector 2a to generate a compensation driving force τ1, which is detected by the controller compensation driving force detector 7a.
The self-circular loop transfer function calculator 8 calculates the self-circular loop transfer function Zo1 from the drive signal T1 and the compensation driving force τ1.
This self-circular loop transfer function Zo1 is the same calculation method as in the third example of the prior art. Derivation of the self-circular loop transfer function Zo1 will be described.
The first axis in FIG. 5 is in the state of equation (16). Here, when the drive signal T1 and the compensation drive force τ1 are detected and the compensation drive force τ1 per drive signal T1 is obtained as a self-closed loop transfer function Zc1, Equation (17) is obtained. Since the self-circular loop transfer function Zo1 is a product of the control characteristic G1 and the mechanical characteristic H11, Zo1 = G1 × H11 is a function of the self-closed loop transfer function Zc1 as shown in Expression (18).

here,
r ₁ : first axis response H ₁₁ : mechanical characteristics of the first axis vibration first axis response T ₁ : disturbance driving force τ _{1 of} the first axis τ compensation driving force G _{1 of} the first axis G ₁ : of the first axis Control system characteristic Z _C1 : Self-closed loop transfer function Z _{O1 of} the first axis: Self-open loop transfer function of the first axis
It is.
Self closed-loop transfer function Z _C1 is obtained from the measured compensation driving force tau ₁ of disturbance driving force T _1, actually the cross spectrum X were obtained from the frequency spectrum of the compensation driving force tau ₁ of disturbance driving force _{T 1} τ1T1 Then, the auto power spectrum A _T1T1 is _averaged as shown in Equation (19) to obtain a self-closed loop transfer function Z _C1 .

Here, N is the number of times of averaging.
As described above, the self-closed loop transfer function calculation unit 8 calculates the self-closed loop transfer function of the first axis.
Similarly for the second axis, the second axis self-open loop transfer function Zo2 is obtained as in equation (20), and the second axis self-closed loop transfer function Zc2 is obtained as in equation (21). .

here,

H ₂₂ : Mechanical characteristic of second axis excitation second response G ₂ : Control system characteristic Z _{C2 of} second axis: Self-closed loop transfer function Z _{O2 of} second axis measured: Self-circular loop transmission of second axis function
It is.
As described above, in step STP1 for calculating the uniaxial self-circular loop transfer function, the respective self-circular loop transfer functions Zo1 and Zo2 are calculated.
In step STP2 for calculating the mutual loop-opening loop transfer function, the first axis and the second axis are made operable as shown in FIG. 2, and the disturbance driving force input unit of the control units 3a and 3b is set from the command unit 5 to the two axes. Drive signals T1 and T2 are given to 6a and 6b as disturbances. The driving signal is a random wave having a wide frequency component, a swept sine wave, or an M-sequence signal, and a signal having no correlation between the driving signals T1 and T2 is used.
The control units 3a and 3b drive the electric motors 1a and 1b with the drive signals T1 and T2, and the responses r1 and r2 are obtained by the detection units 2a and 2b. Further, the control units 3a and 3b feed back the responses of the detection units 2a and 2b to generate the compensation driving forces τ1 and τ2, which are detected by the control unit compensation driving force detection units 7a and 7b. Since the two axes are mechanically connected, driving the motor 1a causes the detection unit 2b to detect a response, and driving the motor 1b causes the detection unit 2a to detect the response. As shown in FIG. 2, the electric motors 1a and 1b and the machine parts 4a and 4b have mechanical characteristics H11, H12, H21, and H22.
The mutual loop-opening transfer function calculation unit 9 calculates the driving signals T1, T2, the compensation driving forces τ1, τ2, and the uniaxial self-looping loop transfer function in step STP1, and the self-looping loop transfer function calculating unit 8 Are used to calculate mutual loop-opening loop transfer functions Zo12 and Zo21.
A theoretical background for deriving the mutual loop-open loop transfer functions Zo12 and Zo21 from the drive signals T1 and T2 and the compensation driving forces τ1 and τ2 will be described. The state of the block diagram of FIG. 2 has a relationship of Expressions (22) and (23). Expressions (22) and (23) are expressed as matrices, and expressions (24) and (25) are obtained. When the responses r1 and r2 are excluded from the equations (24) and (25), the equation (26) is obtained. When the driving signals T1 and T2 input to the biaxial system and the compensation driving forces τ1 and τ2 detected from the outputs from the biaxial system are divided into terms (27). Expression (27) includes a control characteristic Gi, a mechanical characteristic Hij, drive signals T1 and T2, and compensation drive forces τ1 and τ2.
Actually, since the calculation is performed on the frequency axis as the self-circular loop transfer function is obtained, both sides of the equation (27) are multiplied from the right by the adjoint matrix (transposed complex conjugate) of the terms of the drive signals T1 and T2. The drive signals T1 and T2 created on the right side and the inverse matrix of the 2 × 2 matrix whose conjugate is an element are multiplied on both sides from the right. Further, both sides are multiplied from the left by an inverse matrix of a 2 × 2 matrix having the left side control characteristic Gi and the mechanical characteristic Hij as elements. As a result, as shown in Expression (28), the matrix is divided into a matrix having the control characteristics Gi and the mechanical characteristics Hij as elements, and a matrix having the compensation driving forces τ1 and τ2, the driving signals T1 and T2, and their conjugates as elements.

here,
[T] ^h : adjoint matrix of [T] (transposition and complex conjugate)
[B] ⁻¹ : Inverse matrix of [B] The left side composed of the elements of T1, T2, τ1, and τ2 to be actually measured is represented by Expression (29).
However, since the frequency conversion is performed and averaged as the self-circular loop transfer function is obtained, Equation (7) is obtained.

On the other hand, the right side of the equation (28) composed of the elements of Hij and Gi indicating the characteristic is the self-rounding loop transfer function calculation unit 8 calculated by the self-rounding loop transfer function calculation unit 8 in step STP1 for calculating the uniaxial self-rounding loop transfer function. Since the open loop transfer functions Zo1 and Zo2 are the expressions (5) and (6), the expression (30) is obtained.
Since the equations (30) to (31) and (32) hold, the mutual open loop transfer function Zo12 is obtained as in the equations (1) and (3) .
Or you may obtain | require the mutual 1-open loop transfer function Zo21 like Formula (2) or Formula (4) from Formula (30) to Formula (33) (34).

As described above, in step STP2 for calculating the mutual loop opening loop transfer function, the mutual loop opening loop transfer functions Zo12 and Zo21 are calculated.
FIG. 6 is a block diagram showing the outputs of the self-circular loop transfer function calculation unit and the mutual loop transfer function calculation unit according to the first embodiment of the present invention.

  FIGS. 6A and 6D are steps STP1 for calculating a single-axis self-revolving loop transfer function. The drive signals T1 and T2 input to the single-axis system are operated independently for each axis, and 1 The self-circular loop transfer function calculating unit 8 calculates the self-circular loop transfer functions Zo1 and Zo2 from the compensated driving forces τ1 and τ2 detected from the output from the shaft system.

(B) and (C) of FIG. 6 are steps STP2 for calculating a mutual loop-opening transfer function, and the two axes are operated simultaneously, and the drive signals T1 and T2 inputted to the two axes system and the two axes system are used. From the compensated driving forces τ1 and τ2 from which the outputs are detected, the mutual loop opening loop transfer function calculating unit 9 calculates the loop opening loop transfer functions Zo12 and Zo21 . In addition, as shown in (B) ′ (C) ′ of FIG. 6, the mutual loop-opening loop transfer functions Zo12 and Zo21 are the same as those of the detecting unit 2 on the other axis side in the mechanically connected two-axis motor control device. It is possible to evaluate the degree of influence that the response is fed back to generate the compensation driving force.

The calculation of the mutual loop-opening transfer function by alternately driving two-axis motors one by one in the second embodiment of the present invention will be described.
FIG. 7 is a schematic configuration diagram of a two-axis motor control device showing a second embodiment of the present invention, and FIG. 8 gives an operation command to the first shaft of the two-axis motor control device showing a second embodiment of the present invention. FIG. 9 is a block diagram in which an operation command is added as a disturbance to the second axis of the two-axis motor control apparatus according to the second embodiment of the present invention.
In FIG. 7, the electric motors 1 a and 1 b are of a translation type, and the movable portion of the electric motors 1 a and 1 b directly translates the table portion, and the second shaft is mounted on the first shaft.
The flowchart of the mutual loop opening loop transfer function calculation method of the motor control device of the present invention is the same as that in FIG. 4 of the first embodiment.
The difference between the second embodiment of the present invention and the first embodiment of the present invention is the procedure for calculating the mutual open loop transfer function. In the first embodiment , the drive signals T1 and T2 are given so as to simultaneously operate the two-axis motors 1a and 1b as shown in FIG. 2, but in the second embodiment , as shown in FIGS. The drive signals T1 and T2 are provided so that the electric motors 1a and 1b are operated one axis at a time.
The difference between the first example, the second example, the third example, and the fourth example of the prior art is the same as the first example of the present invention.
The second embodiment of the present invention is executed in the same procedure as FIG. 4 of the first embodiment of the present invention.
In step STP1 for calculating the single-axis self-circular loop transfer function, the self-circular loop transfer function calculating unit 8 calculates the self-circular loop transfer functions Zo1 and Zo2 as in the first embodiment of the present invention. .
In step STP2 for calculating the mutual loop opening loop transfer function, as shown in FIGS. 8 and 9, drive signals T1 and T2 are given for each axis, and the motors 1a and 1b are driven for each axis. However, unlike step STP1 for calculating a single-axis self-circular loop transfer function, if the motor 1 that is not driven can be driven, and the disturbance is fed back from the detection unit 2, the control unit 3 can compensate the driving force τ. Is assumed to occur.
First, a procedure for driving the first axis to calculate the mutual loop-opening transfer function will be described. As shown in FIG. 8, a drive signal T1 is given as a disturbance from the command unit 5 to the disturbance driving force input unit 6a of the control unit 3a. This response r1 is obtained by the detector 2a. The controller 3a feeds back the response of the detector 2a to generate a compensation driving force τ1, which is detected by the controller compensation driving force detector 7a. Since the two axes are mechanically connected, there is a component that the detection unit 2b detects a response by driving the electric motor 1a. Therefore, the control unit 3b feeds back the response of the detection unit 2b to generate the compensation driving force τ2, which is detected by the control unit compensation driving force detection unit 7b.
It will be described that a mutual loop-opening transfer function is obtained from the driving signal T1 and the compensation driving forces τ1 and τ2.
The state of FIG. 8 has a relationship of Expressions (35) and (36). When the expressions (35) and (36) are represented by a matrix, the expressions (37) and (38) are obtained. Summarizing equations (37) and (38) yields equation (39). It is divided into terms of the drive signal T1 input to the biaxial system and the compensation driving forces τ1, τ2 detected from the output from the biaxial system, and a matrix having the control characteristic Gi and the mechanical characteristic Hij as elements. When the driving forces τ1, τ2, the driving signal T1, and their conjugates are divided into matrixes, Expression (40) is obtained.

The left side of the equation (40) composed of the known drive signal T1 and the compensation drive forces τ1, τ2 is an averaged auto power spectrum and cross spectrum related to T1, τ1, τ2, as in equation (10). Consists of
The right side of Expression (40) composed of control characteristics and mechanical characteristics is Expression (41).
Here, since the drive signal T2 is not given, the element corresponding to the “0” element of the equation (10) is not used, and if the equation (42) is used, the mutual loop-opening transfer function as in the equation (8) is obtained. Zo12 is obtained.

Next, the procedure for driving the second axis to calculate the mutual loop-opening transfer function will be described. As shown in FIG. 9, the drive signal T2 is given as disturbance from the command unit 5 to the disturbance driving force input unit 6b of the control unit 3b. This response r2 is obtained by the detector 1a. The control unit 3b feeds back the response of the detection unit 2b to generate the compensation driving force τ2, which is detected by the control unit compensation driving force detection unit 7b. Since the two axes are mechanically connected, there is a component that the detection unit 2a detects a response by driving the electric motor 1b. Therefore, the control unit 3a feeds back the response of the detection unit 2a to generate the compensation driving force τ1, which is detected by the control unit compensation driving force detection unit 7a.
The state of FIG. 9 has the relationship of Formula (43) (44). Expressions (43) and (44) can be expressed as matrices (45) and (46). When formulas (45) and (46) are put together, formula (47) is obtained.

The left side of the equation (47) consisting of the known drive signal T2 and the compensation driving forces τ1 and τ2 is an averaged auto power spectrum and cross associated with T2, τ1, and τ2, as in equation (11). Consists of spectrum.
The right side of Expression (47) composed of control characteristics and mechanical characteristics is Expression (48).
Here, since the drive signal T1 is not given, the element corresponding to the “0” element in the equation (11) is not used, and if the equation (49) is used, the mutual loop-opening transfer function as in the equation (9) is obtained. Zo21 is obtained.

As described above, in step STP2 for calculating the mutual loop opening loop transfer function, the mutual loop opening loop transfer functions Zo12 and Zo21 are calculated.
As described above, also in the second embodiment of the present invention, as shown in FIG. 6 of the first embodiment, the single-axis self-circular loop transfer functions Zo1 and Zo2 are output in step STP1. Further, the mutual open loop transfer functions Zo12 and Zo23 are output in step STP2.

In the third embodiment of the present invention , in a three-axis motor control apparatus including a motor used with a large stroke in a situation where a direct axis or an external force is applied such that the motor moves when the control of the motor is cut off, The calculation of the multi-axis transfer function and the calculation of the mutual open loop transfer function will be described.
FIG. 10 is a schematic configuration diagram of a three-axis motor control device showing a third embodiment of the present invention, and FIG. 11 is a block diagram showing a characteristic calculation unit showing the third embodiment of the present invention. In FIG. 10, 24 is a fixed machine part. The configurations of the second axis and the third axis are the same as those in FIG. 7 of the second embodiment. A rotary electric motor 1a is used for the first shaft, the table portion is translated in a vertical direction via a ball screw mechanism, and the table portion has a detection portion 2d, which is configured to perform full-closed control. The first to third axes have an overall configuration as shown in FIG.
In FIG. 11, 10 is a characteristic calculation unit, and 11 is a mechanical characteristic calculation unit.
FIG. 12 is a flowchart of a multi-axis transfer function calculating method and a mutual loop-opening transfer function calculating method of the motor control apparatus according to the third embodiment of the present invention. STE1 is a step of calculating a mechanical characteristic, STE2 is a step of outputting only a mechanical characteristic based on an operation command applied to at least one axis, and ST is a step of calculating a mutual open loop transfer function of a control system characteristic and a new combination. is there.
The third embodiment of the present invention is different from the first and second examples of the present invention in that the motor control device is provided with three axes, one axis is a vertical axis, and full closed control is performed. It is a point. Further, as shown in FIG. 11, the characteristic calculation unit 10 and the mechanical characteristic calculation unit 11 are provided.
Further, in FIG. 12, a step STE1 of calculating the mechanical properties, and a step STE2 to output only mechanical properties based on the operation command plus at least one axis, the cross-round open-loop transfer function of the control system characteristics and new combination It is a part provided with step ST to calculate.
A third embodiment of the present invention will be described with reference to FIG.
First, in step STE1 for calculating the mechanical characteristics, the mechanical characteristics of the three axes including the first axis that is the vertical axis and the full-closed control are calculated.
FIG. 13 is a block diagram showing a three-axis motor control apparatus showing a third embodiment of the present invention. In FIG. 13, 21 is a control mode switching unit, and 22 is a unit conversion unit.
Since there are three electric motors 1a, 1b, and 1c and four detection units 2a, 2b, 2c, and 2d, in FIG. 13, mechanical characteristics H11, H12, H13, H21, H22, H23, H31, H32, H33, The motor 1 and the machine part 4 are shown by 12 pieces of H41, H42, and H43. The first axis of the vertical axis performs position control that forms a feedback loop, and the second and third axes of the horizontal axis perform driving force control (thrust control). In the position control is turned ON the control mode switching unit 21 to turn OFF the control mode switching unit 21 is a driving force control.
Here, a method for obtaining the mechanical characteristic H by operating the electric motor 1 for each axis in step STE1 for calculating the mechanical characteristic will be described.
In this case, for each axis, step STE1 for calculating mechanical characteristics and step STE2 for outputting only mechanical characteristics based on an operation command applied to at least one axis are processed.
First, the first shaft motor 1a is operated as CASE1. The command unit 5 gives a drive signal T1 to the control unit 3a. The controller 3a gives a drive signal T1 to the disturbance driving force input unit 6a as a disturbance to operate the electric motor 1a. The control unit 3a forms a feedback loop. The second axis and the third axis are driving force controls and do not form a feedback loop. The drive signals given to the control units 3b and 3c are T2 = 0 and T3 = 0.
Since this state is expression (50), mechanical characteristics H11, H21, H31, and H41 are obtained as expression (51). Actually, frequency analysis is performed on the sum of the driving signal T1 and the compensation driving force τ1 and the detection results r1, r2, r3, and r4 of the detection units 2a, 2b, 2c, and 2d, and the averaged auto power spectrum and cross spectrum are used. Mechanical characteristics H11, H21, H31, and H41 are obtained as in Expression (52).
In this example, only mechanical characteristics H11, H21, H31, and H41 are obtained, but at the same time, step STE2 for automatically outputting only mechanical characteristics based on an operation command applied to at least one axis has been processed. .

Next, as CASE 2, the second-axis motor 1b is operated. The command unit 5 gives a drive signal T2 to the control unit 3b. The controller 3b operates the electric motor 1b by the driving signal T2 by driving force control. Although the control unit 3a forms a feedback loop, the second axis and the third axis are driving force controls, and do not form a feedback loop. The drive signals given to the control units 3a and 3c are T1 = 0 and T3 = 0.
Since this state is Expression (53), Expression (54) is obtained. The adjoint matrix (transposition / complex conjugate) of the compensation driving force τ1 and the driving signal T2 is multiplied by both sides of the equation (54), and the inverse matrix of the matrix composed of τ1, T2, τ1 ^* , T2 ^* is both sides of the equation (54). Multiply by to get a matrix of mechanical properties. Actually, frequency analysis is performed on the compensation driving force τ1, the driving signal T2, and the detection results r1, r2, r3, and r4 of the detection units 2a, 2b, 2c, and 2d, and an equation ( As in (55), mechanical characteristics H11, H12, H21, H22, H31, H32, H41, and H42 are obtained.

The multi-axis transfer function which is the mechanical characteristic obtained here is separated into mechanical characteristics H11, H21, H31 and H41 excited by the compensation driving force τ1, and H12, H22, H32 and H42 excited by the driving signal T2. doing. In CASE1, mechanical characteristics H11, H21, H31, and H41 are calculated and excited by a compensation driving force τ1 that is considered to have a limited frequency component. Therefore, only mechanical characteristics based on an operation command applied to at least one axis are used. In step STE2 for outputting, the mechanical characteristics H12, H22, H32, and H42 excited by the drive signal T2 are employed.
Similarly, as CASE3, the electric motor 1c is operated by the driving signal T3 by driving force control. The drive signals given to the control units 3a and 3b are T1 = 0 and T2 = 0.
Since this state is Expression (56), the mechanical characteristic H is obtained as Expression (57) as in CASE2.

In step STE2 for outputting only mechanical characteristics based on an operation command applied to at least one axis, mechanical characteristics H13, H23, H33, and H43 excited by the drive signal T3 are employed.
As described above, step STE1 for calculating the mechanical characteristics for each axis through CASE1, CASE2, and CASE3 and step STE2 for outputting only the mechanical characteristics based on the operation command applied to at least one axis are processed. The mechanical characteristic calculation unit 11 calculates the multi-axis transfer functions H11, H21, H31, H41, H12, H22, H32, H42, H13, H23, H33, and H43, which are characteristics.

The next procedure is a step STP1 for calculating a uniaxial self-circular loop transfer function and a step STP2 for calculating a mutual circular loop transfer function, which are the same as in the first and second embodiments of the present invention. It is. The characteristics between the axes of the mechanical system can be grasped by step STE1 for calculating the mechanical characteristics of the previous stage and step STE2 for outputting only the mechanical characteristics based on the operation command applied to at least one axis. Since the configuration is as shown in FIG. 10B, the first axis is separated from the second axis and the third axis, the correlation is low, and it is not necessary to obtain a mutual open loop transfer function including the first axis. To do.

In this way, the mechanical characteristics can be obtained with multiple axes, and the axes for obtaining the mutual loop-opening transfer function can be narrowed down. Here, the same processing as in the first embodiment of the present invention is performed.
Note that step STP1 for calculating the single-axis self-circular loop transfer function is performed from the first axis to the third axis in the same manner as in the first embodiment of the present invention in order to adjust the parameters of the independent motor control device. Axis is implemented, and self-open loop transfer functions Zo1, Zo2, and Zo3 are obtained.
Next, also in step STP2 for calculating the mutual loop opening loop transfer function, the same processing as in the first embodiment of the invention is performed to obtain the mutual loop opening loop transfer functions Zo23 and Zo32.
When the axis numbers and the subscripts of the equations are unified and the self-rounding loop transfer functions Zo1, Zo2, and Zo3 and the mutual loop-opening loop transfer functions Zo23 and Zo32 are shown, formulas (18), (20), (57), and (59) ( 60)

Next, the process of step ST which calculates a control system characteristic and the mutual combination open loop transfer function of a new combination is performed.
FIG. 14 is a block diagram showing the output of the characteristic calculation unit according to the third embodiment of the present invention.
In step STE1 for calculating the mechanical characteristics and in step STE2 for outputting only the mechanical characteristics based on the operation command applied to at least one axis, the mechanical characteristic calculation unit 11 performs the mechanical characteristics H11, H21, H31, H41, H12, H22. , H32, H42, H13, H23, H33, and H43 are calculated. In step STP1 for calculating a single-axis self-circular loop transfer function, the self-circular loop transfer function calculator 8 calculates self-circular loop transfer functions Zo1, Zo2, and Zo3. Further, in step STP2 for calculating the mutual one-open loop transfer function, the mutual one-open loop transfer function calculating unit 9 calculates the mutual one-open loop transfer functions Zo23 and Zo32. Zo23 and Zo32 are shown in FIGS. 14D and 14E.
If the above characteristics are known, the characteristic calculation unit 10 obtains the control characteristics G1 and G2 as shown in FIGS. 14F and 14G, the self-circular loop transfer function Zo1, the mechanical characteristic H11, and the self-circular loop. It is obtained from the transfer function Zo2 and the mechanical characteristic H11. The control characteristic G2 may be obtained from the mutual open loop transfer function Zo23.
Furthermore, the characteristic calculation unit 10 can also obtain a mutual loop-opening transfer function calculation unit Zo12 that is not actually measured from the obtained control characteristic G1 and mechanical characteristic H12 as shown in FIG.
A new characteristic of a combination of the control characteristics G1 and G2 and the mechanical characteristic H12 as shown in FIG. 14 (I) can be calculated.

  As described above, the multi-axis mechanical characteristics are grasped as multi-axis transfer functions, the degree of influence between the axes is narrowed down from the mechanical characteristics, and the control system in the combination in which the inter-axis open loop transfer function has a large effect between the axes The characteristics between the axes can be grasped quantitatively.

  If a single-axis self-circular loop transfer function is obtained, control characteristics can be obtained, and a new combination of mutual circular loop transfer functions can be calculated without actual measurement.

In the fourth embodiment of the present invention , description will be given of the calculation of the mutual one-loop open loop transfer function configured to perform full-closed control in which each of the two-axis motor control device includes two detection units.
FIG. 15 is a schematic configuration diagram of a three-axis motor control device showing a fourth embodiment and a fifth embodiment of the present invention, and FIG. 16 is a block diagram of a three-axis motor control device showing a fourth embodiment of the present invention. is there.
As shown in FIG. 15B, although it is similar to the three-axis configuration of the third embodiment, the second axis and the third axis are configured to perform full-closed control. The first axis is not fully closed control.
As in the third embodiment of the present invention, the processing is divided into CASE 1, 2, and 3, step STE1 for calculating the mechanical characteristics, and step STE2 for outputting only the mechanical characteristics based on the operation command applied to at least one axis, Mechanical properties can be calculated.
Because of the multi-axis configuration including three electric motors 1a, 1b, and 1c and five detectors 2a, 2b, 2c, 2d, and 2e, the expression (62) for CASE1, the expression (63) for CASE2, and the expression (64) for CASE3 ) To calculate mechanical characteristics, and output only mechanical characteristics based on an operation command applied to at least one axis. Based on the processing in step STE2, H11, H21, H31, H41, H51, H12, and CASE2 are H22, H32. , H42, H52, and CASE3, H13, H23, H33, H43, and H53 are obtained.

Next, a self-circular loop transfer function configured to perform full-closed control in step STP1 for calculating a single-axis self-circular loop transfer function will be described.
FIG. 17 is a block diagram showing calculation of a self-circular loop transfer function of a motor controller for single-axis full-closed control according to a fourth embodiment of the present invention.
The control unit 3b includes a position control unit Gp2 and a speed control unit Gv2, and the response of the detection unit 2b is fed back to the speed control unit Gv2 via the unit conversion unit 22 whose characteristic is a. The response of the detection unit 2d is fed back to the position control unit Gp2.
In order to obtain a self-circular loop transfer function, a drive signal T2 is given as a disturbance from the command unit 5 to the disturbance driving force input unit 6b of the control unit 3b. Control unit 3b drives the motor 1b in the drive signal, obtained by the detection unit 2d responding r5 this response r2 by the detection unit 2b. The controller 3b feeds back the responses of the detectors 2b and 2d to generate a compensation driving force τ2, which is detected by the controller compensation driving force detector 7b.
Since this state is Expressions (65) and (66), a self-closed loop transfer function Zc2 is obtained as shown in Expression (67). Here, to obtain a self-closed loop transfer function _{Z C2} cross spectrum X _Tau2T2 and auto power spectrum _{A T2T2} obtained from the frequency spectrum of the disturbance driving force _{T 2} and the compensation driving force tau ₂ are averaged by the equation (68). The self-circular loop transfer function Zo2 is obtained as shown in Equation (69). Similarly, the third axis is expressed by equation (70). The first axis is expressed by equation (18) as in the first embodiment.

FIG. 18 is a block diagram showing the calculation of the mutual open loop transfer function of the two-axis full-closed motor control apparatus according to the fourth and fifth embodiments of the present invention.
The control unit 3c includes a position control unit Gp3 and a speed control unit Gv3, and the response of the detection unit 2c is fed back to the speed control unit Gv3 via the unit conversion unit 22 whose characteristic is a. The response of the detector 2e is fed back to the position controller Gp3.
Here, calculation of a mutual loop-opening transfer function by simultaneously driving two-axis motors as in the first embodiment will be described.
As shown in FIG. 18, the second and third axes are operable, and the drive signals T2 and T3 are given as disturbances to the disturbance driving force input units 6b and 6c of the control units 3b and 3c from the command unit 5 to the two axes. . Then, the compensation drive forces τ2 and τ3 are detected by the controller compensation drive force detectors 7b and 7c.
This state has a relationship of Expression (71) and Expression (72). Expression (71) can be decomposed into Expressions (73) and (74). Further, Expression (72) is represented by a matrix like Expression (75).

  When formulas (73), (74), and (75) are put together, formula (76) is obtained. When the formulas (69) and (70) of the self-rounding loop transfer functions Zo2 and Zo3 obtained in the previous step and the formulas (77) and (78) which are the mutual loop-opening loop transfer functions Zo23 and Zo32 are substituted into the formula (76). Equation (79) is obtained. When Expression (79) is summarized in the same manner as in the first embodiment, Expression (80) is obtained.

Since the term composed of the self-circular loop transfer functions Zo2 and Zo3 and the mutual loop-open loop transfer functions Zo23 and Zo32 in the equation (80) becomes the equation (81), the equation (82) and the equation (83) are obtained and the mutual circle is obtained. Open loop transfer functions Zo23 and Zo32 are obtained as shown in equations (84) and (85).

In this way, even with a two-axis motor control device configured to perform full-closed control, the mutual loop-opening loop transfer function can be obtained.
Further, similarly to the third embodiment, the characteristic calculation unit 10 may be used to perform the process of step ST for calculating the mutual loop-opening transfer function of the control system characteristic and a new combination.
As described above, even if a two-axis motor controller configured to perform full-closed control is included, the multi-axis mechanical characteristics are grasped as a multi-axis transfer function, and the degree of influence between the axes is narrowed down from the mechanical characteristics. It is possible to quantitatively grasp the characteristics between the axes including the control system in the combination where the influence between the axes is large by the one loop open loop transfer function.

  If a single-axis self-circular loop transfer function is obtained, control characteristics can be obtained, and a new combination of mutual circular loop transfer functions can be calculated without actual measurement.

In the fifth embodiment of the present invention , in a configuration for performing full-closed control in which each of the two-axis motor control device includes two detection units, the mutual loop-opening loop transfer function is obtained by alternately driving the motors one by one. The calculation will be described. An example in which three axes are driven in step STE1 for calculating mechanical characteristics will be described.
The configuration is a schematic configuration diagram of a three-axis motor control device shown in FIG. 15 of the fourth embodiment and showing a fourth embodiment and a fifth embodiment of the present invention.
First, step STE1 for calculating mechanical characteristics will be described. In FIG. 16 of the fourth embodiment, the process divided into CASE1, CASE2, and CASE3 is performed once.
By providing the drive signals T1, T2, and T3, the compensation driving force τ1 of the detection result of the compensation driving force detector 6a, the detection results r1, r2, r3, and r4 of the detectors 2a, 2b, 2c, and 2d Since a certain multi-axis transfer function H has the relationship of the equation (86), the mechanical characteristic H can be obtained by processing as in the equation (87). Actually, it is obtained from the averaged auto power spectrum and cross spectrum as shown in equation (88).
In step STE2 in which only the mechanical characteristics based on the operation command applied to at least one axis are output, since the three axes are driven, all the multi-axis transfer functions H that are the mechanical characteristics of Expression (88) are selected.

Step STP1 for calculating a single-axis self-circular loop transfer function is obtained in the same manner as in the fourth embodiment.
In step STP2 for calculating the next reciprocal loop transfer function, unlike the fourth embodiment, the motors are alternately operated one by one for the two axes of the motor controller for the fully closed control. FIG. 18 is a block diagram showing the calculation of the mutual open loop transfer function of the two-axis full-closed motor control apparatus according to the fourth and fifth embodiments of the present invention.
First, when only the second axis is operated, there is a relationship of equations (89) and (90). Expression (89) can be decomposed as Expressions (91) and (92), and Expression (90) can be expressed as a matrix as Expression (93). Equations (91), (92), and (93), and the self-circular loop transfer function and the mutual circular loop transfer function shown in the fourth embodiment are expressed by the equations (69), (70), (77), and (78). (94). The right side of Expression (94) is Expression (95), and the left side is actually Expression (96) because it is composed of an averaged auto power spectrum and cross spectrum.
Here, since the drive signal T3 is not given, an element corresponding to the “0” element in Expression (96) is not used, and a mutual open loop transfer function Zo23 is obtained as shown in Expression (97).

Similarly, when only the drive signal T3 is given, Expressions (100) and (101) are obtained from the relations of Expressions (98) and (99), and therefore, an element corresponding to the “0” element in Expression (101) is not used. , A mutual open loop transfer function Zo32 is obtained as shown in equation (102).

As described above, in step STP2 for calculating the mutual loop-opening loop transfer function, the motors are driven alternately one axis at a time even in a configuration in which the two-axis motor control device is provided with two detection units and each has two detection units. Therefore , the mutual loop-opening transfer functions Zo23 and Zo32 are output.

In the sixth embodiment of the present invention , in the two-axis motor control apparatus, one shaft is provided with one detection unit, and the other shaft is provided with two detection units, and a full-closed control is performed. The calculation of the mutual loop-opening transfer function by simultaneously driving the two-axis motor will be described. A self-circular loop transfer function when the control unit is divided into a speed control unit and a position control unit will also be described.
FIG. 19 is a schematic configuration diagram of a three-axis motor control device showing a sixth embodiment of the present invention. The mutual loop-opening transfer function is obtained on the second axis and the third axis as in the fourth and fifth embodiments.
FIG. 20 is a block diagram of a two-axis motor control apparatus showing a sixth embodiment of the present invention.
The description of step STE1 for calculating the mechanical characteristics and step STE2 for outputting only the mechanical characteristics based on the operation command applied to at least one axis will be omitted.
In step STP1 for calculating the single-axis self-circular loop transfer function, in the configuration in which the second-axis closed loop control is performed, Expression (69) is obtained as shown in the fourth embodiment.
The self-circular loop transfer function of the third axis and the first axis is shown including the speed control unit and the position control unit.
When the drive signal T3 is given as a disturbance independently to the third axis, there is a relationship of Equation (103), and thus a self-closed loop transfer function Z _C3 is obtained as shown in Equation (104). As a result, a self-circular loop transfer function Zo3 is obtained as shown in equation ( 105a ). Similarly, a self-circular loop transfer function Zo1 of the first axis is obtained as in the formula ( 105b ).

FIG. 20 is a block diagram of a two-axis motor control device showing a sixth embodiment of the present invention, and the calculation of a mutual open loop transfer function by simultaneously driving the two-axis motor will be described. The process of step ST which calculates a mutual open loop transfer function uses the relationship of Formula ( 106a ) and Formula ( 106b ).
Expression ( 106a ) can be decomposed into Expressions (107) and (108), and Expression ( 106b ) becomes Expression (109), so Expression (110) is obtained. When a relational expression (111) between a known self-circular loop transfer function and a mutual circular loop transfer function obtained from this is used, Expression (110) becomes Expression (112). Since Expression (112) becomes Expression (113) and Expression (114), a mutual open loop transfer function is obtained as in Expression (115).
To summarize, the mutual loop-opening transfer function Zo23 is expressed by equation (116), and Zo32 is expressed by equation (117).

As described above, even when full-closed control is mixed, the mutual loop-opening transfer function can be quantitatively grasped. Further, similarly to the third embodiment, the characteristic calculation unit 10 may be used to perform the process of step ST for calculating the mutual loop-opening transfer function of the control system characteristic and a new combination.
In the first to sixth embodiments, the control characteristic is Gi, but other processes such as an integral term, a differential term, and a filter term may be included in the control characteristic Gi. As shown in the fifth and sixth embodiments, also in the first to fourth embodiments, the control characteristics may be divided into speed control characteristics Gvi and position control characteristics Gpi.
As described above, the present invention measures the mechanical characteristics including the shafts of multiple axes including the electric motor used with a large stroke in a situation where a vertical axis or an external force is applied, and grasps the stability of the controller to improve the mechanical characteristics. An electric motor control device capable of grasping the degree of adjustment of a controller including the combined axes and a mutual loop-opening transfer function calculation method or a multi-axis transfer function calculation method of the device are provided.

It can be used for machine design verification of machine systems equipped with multiple motor control devices, control system design, control / command unit adjustment, and parameter setting. Furthermore, the present invention can be applied to the use of testing the characteristics of solids when mass-producing mechanical systems.
If a multi-axis transfer function, which is a mechanical characteristic, is obtained, the rigidity of the machine can be grasped, so that the design performance of the machine rigidity can be confirmed and used for correction and improvement on the machine side.
In addition, by grasping the multi-axis transfer function, it is possible to select control methods including notch filters, low-pass filters, vibration suppression control functions, etc. in the control unit, and create operation signals that do not resonate in the command unit. Rather, it can be studied and set in consideration of the degree of influence in the combination between multiple axes.
Further, by grasping the multi-axis transfer function, since the degree of influence of the mechanical characteristics is high, it is possible to narrow down between the axes that need to be set in consideration of the other axis of the motor control device.
Between the narrowed shafts, we can quantitatively grasp the combined characteristics of the mechanical characteristics between the shafts and the control system, the mutual loop-opening transfer function, which is a new evaluation standard, and thereby the response parameters of the control unit and various The filter, vibration suppression function, operation signal processed by the command unit, etc. are set so that they have mutual effects between the axes, and after various settings, various settings are made by obtaining the mutual loop-opening loop transfer function again. Since the effect can be confirmed, an electric motor control device including a plurality of electric motors consistent with mechanical characteristics can be realized.

1 1a, 1b , 1c Motor 2 2a, 2b, 2c, 2d, 2e Detection unit 3 3a, 3b , 3c Control unit
4 4a, 4b, 4c Machine part 5 Command part 6 6a, 6b Disturbance driving force input part 7 7a, 7b Control part Compensation driving force detection part 8 Self-one-round open loop transfer function calculation part 9 Mutual one-round loop transfer function calculation part 10 Characteristic calculation unit 11 Mechanical characteristic calculation unit 21 Control mode switching unit 22 Unit conversion unit 24 Fixed machine unit 101 Calculation device
102 Servo control device 103 Rotation detector 104 Electric motor 105 Transmission mechanism 106 Movable portion 107 Non-movable portion 108 Operation command signal 109 Rotation detector signal 110 Control signal 119 Input device 120 Frequency characteristic equation 121 Output device 201 Electric motor 202 Detection means 203 Controller 204 Commander 205 Machine 206 Current control unit 207 Disturbance signal generation unit 208 Driving force detection means 209 Adder 210 Closed loop disturbance frequency response characteristic calculation means 211 Closed loop driving force frequency response characteristic calculation means 212 Single loop open loop frequency response characteristic calculation means 213 Machine Characteristic calculation means 214 Load inertia moment estimation device 215 Motor characteristic 216 Motor inertia value of rotor or mass of mover 217 Unit conversion means 218 Resonance frequency estimation means 219 Controller characteristic calculation means 220 Output Stage 221 input device 222 memory device 302, 303 Servo devices 304 and 305 Sensors 306 and 307 Motor 308, 309 Transmission mechanism 310, 311 Movable part 312 Fixed base 313, 314 Vibration sensor 402 Anti-vibration base (A) to (D) Active actuator (S) Sensor (K) machine

Claims (5)

A single-axis motor control device including a control unit that controls the motor so that the detection value of the detection unit that detects the amount of movement of the load machine or the motor that drives the load machine follows the operation command. An electric motor control device comprising:
In the single-axis motor control device, a self-circular loop transfer function calculation unit that calculates a single-axis self-circular loop transfer function including the characteristics of the control unit and the characteristics of the machine to be controlled;
A disturbance driving force input unit that gives an operation command as a disturbance after driving force generation output to the control unit;
A control unit compensating driving force detecting unit for detecting a driving force in front of the disturbance driving force input unit,
A command unit for giving an operation command to the control unit to the motor control device;
Applied to the disturbance driving force input portion of each of all the axes of the disturbance driving force of the shaft as each of the operation command, and detecting the compensation driving force by the control unit compensates the driving force detecting section of each said disturbance driving force for all axes When, with the compensation driving force of all axes, and self-round open-loop transfer function of the single axes of all axes, further comprising a cross-round open-loop transfer function calculation unit that calculates a cross-round open-loop transfer function based on An electric motor control device. The mutual round open-loop transfer function calculation unit, the one-axis increments the disturbance driving force while allowing driving all axes given to the disturbance driving force input portion, the compensation drive of all axes in a state where each driven and power 1 and the disturbance driving force applied to the shaft at a time, and the self-round open-loop transfer function of the single axes of all axes to claim 1, characterized in that calculating the mutual round open loop transfer function from The motor control device described. When the at least one single-axis motor control device includes a plurality of the detection units and the control unit includes a plurality of feedback loops, the mutual loop-opening transfer function calculation unit calculates the response of each of the detection units. 3. The motor control apparatus according to claim 1, wherein a sum of characteristics composed of mechanical characteristics due to driving of the other axis and control characteristics of the own axis is used as a mutual loop-opening transfer function. The motor control device is configured such that the motor moves when at least one of the one-axis motor control devices turns off the control of the motor ,
Equipped with a mechanical characteristic calculation unit for calculating the mechanical properties from the detection value of the detecting unit and the operation command and the compensation driving force,
The mechanical characteristics calculating unit is, the motor control device according to any one of claims 1 to 3, characterized in that to calculate only the mechanical properties based on the operation command plus at least one axis. The motor control device further comprising a characteristic calculating unit for calculating the cross-round open-loop transfer function of the control system characteristics and a new combination with the cross-round open-loop transfer function and the mechanical properties of the self-round open loop transfer function The electric motor control device according to claim 1, wherein