JP5301180B2 - Synchronous AC servo motor and its control system - Google Patents

Description

  The present invention relates to a system for controlling a synchronous AC servo motor, and more particularly, to a system for synchronously driving one synchronous AC servo motor having a plurality of electrically independent stator winding systems with a plurality of servo drivers. .

  Conventionally, drive systems using a plurality of synchronous AC servo motors have been employed in the fields of machine tools, industrial robots, and the like.

  In one synchronous AC servo motor, there is usually one independent stator winding system, one position detector is provided, and the basic type is operated by one servo driver.

  Therefore, in a system for driving a plurality of synchronous AC servomotors, it is general to drive and control a plurality of synchronous AC servomotors with the same number of servo drivers to drive one driven body. In this case, the same number of mechanical elements as pulleys and ball screws for transmitting the power of the plurality of synchronous AC servomotors are required. One synchronous AC servo motor is provided with one position detector, which is connected to an individual servo driver.

  As a prior art of a system for driving a plurality of synchronous servo motors of this type, for example, there is one disclosed in Patent Document 1. In this patent document 1, the means for making the output of the integral element of the speed control unit of each servo motor the same is provided to improve the bias of the integral value of the integral element of the speed control unit.

Some synchronous AC servo motors have a plurality of independent stator winding systems in one motor. Even in this case, they are short-circuited and treated as one fixed winding system. It is common to drive with one servo driver.
JP 2003-189657 A

  In a conventional system in which one driven body is driven by a plurality of synchronous AC servo motors, the same number of servo drivers and motor output transmission elements as the servo motors are required.

  Accordingly, an object of the present invention is to provide a plurality of stator winding systems independently in one synchronous AC servo motor, and to each of these stator winding systems, a plurality of independent synchronous AC servo motors. It is an object of the present invention to provide a synchronous AC servomotor and a control system for the same that can construct a drive system similar to the synchronous drive of the above.

  Another object of the present invention is to provide a synchronous AC that distributes the same time position information of one serial communication type position detector to each servo driver connected to each stator winding system and can be driven synchronously. The object is to provide a servo motor drive system.

  The control system according to the present invention is provided with a plurality of electrically independent stator winding systems for one rotor, and a single serial communication type position detector is attached to the shaft of the rotor. Synchronous AC servo motor, a plurality of servo control circuits for performing position control, speed control, and current control for each fixed winding system, synchronization means for operating the servo control circuits in synchronization, and a plurality of the servos A distributor for distributing position information at the same time from the serial communication type position detector in response to a request signal from a specific servo control circuit among the control circuits to each servo control circuit; It is a feature.

Furthermore, the control system according to the present invention is provided with a plurality of electrically independent stator winding systems for one rotor, and a single serial communication type position detector is attached to the shaft of the rotor. Synchronous AC servo motor, a plurality of servo drivers that respectively execute current control of each fixed winding system, and a position that corresponds to each of the stator winding systems that constitutes a higher-level control system of the plurality of servo drivers It includes a host controller to have a control circuit and speed control circuit, and to said host controller, and fed back position information signal from the serial communication type position detector, to provide instructions to the respective servo drivers from the upper controller It is characterized by that.

  According to the present invention, a plurality of stator winding systems are independently provided in one synchronous AC servo motor, and the synchronization of a plurality of independent synchronous AC servo motors is provided for each of these stator winding systems. A drive system similar to the drive can be constructed.

Hereinafter, an embodiment of a synchronous AC servo motor control system according to the present invention will be described with reference to the accompanying drawings.
First embodiment
FIG. 1 is a block diagram showing a drive system to which a synchronous AC servo motor control system according to a first embodiment of the present invention is applied.
In FIG. 1, reference numeral 10 indicates a driven body such as a table of a machine tool. A synchronous AC servo motor 12 is used as a drive motor for the driven body 10, and its power is transmitted to the driven body 10 by a ball screw mechanism. The synchronous AC servo motor 12 is connected to a ball screw 14 via a joint 13. A ball nut (not shown) fixed to the driven body 10 is screwed into the ball screw 14.

  In FIG. 1, reference numeral 20 indicates a control device. The control device 20 includes a host controller 22, here generally n servo drivers and a signal distributor 36. FIG. 2 is a block configuration diagram of the control device 20.

  In the synchronous AC servomotor 12, a rotor 26 is attached to the rotor shaft 25. In this embodiment, the synchronous AC servo motor 12 is provided with two stator winding systems constituting a stator for one rotor 26. In FIG. 2, the first stator winding system 28 and the second stator winding system 29 are shown. The first stator winding system 28 and the second stator winding system 29 are electrically independent winding systems and are controlled independently. Accordingly, a first servo driver 30 is provided as a servo mechanism for controlling the first stator winding system 28, and a second servo driver 31 is provided as a servo mechanism for controlling the second stator winding system 29. Yes. The first servo driver 30 and the second servo driver 31 are mutually independent drivers, but are controlled so as to operate in synchronization with a synchronization signal upon receiving a command from the host controller 32.

  The first servo driver 30 and the second servo driver 31 have a position control unit, a speed control unit, and a current control unit, respectively, and feed back the position information of the synchronous AC servo motor 12 from the position detector, A loop for position control and speed control for comparison with commands given from a device or the like is configured.

  The synchronous AC servo motor 12 of this embodiment is provided with a serial communication type position detector 34 as a position detector. As described above, although there are two stator winding systems, the serial communication type position detector 34 is a single detector that detects the rotation angle of the rotor shaft 25 as position information. The serial communication type position detector 34 is connected to the first servo driver 30 and the second servo driver 31 via a signal distributor 36, respectively.

  Next, FIG. 3 is a block diagram showing a signal flow between the serial communication type position detector 34 and the first servo driver 30 and the second servo driver 31.

  In this embodiment, a data request signal is introduced from each of the first servo driver 30 and the second servo driver 31 to the signal distribution circuit 37 of the signal distributor 36 via the first transceiver and the second transceiver. The signal distribution circuit 37 transmits only the data request signal # 1 from the first servo driver 30 to the serial communication type position detector 34 via the transceiver.

  The serial communication type position detector 34 responds to the signal distributor 36 via the transceiver with a position information signal at the same time with respect to the data request signal # 1. Therefore, the signal distribution circuit 37 distributes the position information signal responded by the serial communication type position detector 34 to the first servo driver 30 and the second servo driver 31 via the first transceiver and the second transceiver, respectively. give feedback. In this way, the position information signal at the same time is fed back to the first servo driver 30 and the second servo driver 31.

  Since the first servo driver 30 and the second servo driver 31 are synchronized based on the synchronization signal given from the host controller 32, the first servo driver 30 and the second servo servo driver 31 are at the same time, respectively. Based on the position information signal, position control, speed control, and current control processing can be performed synchronously. As described above, the same control as that for synchronous control of two independent AC servo motors is realized by one AC servo motor 12 having two independent stator winding systems. Will be. Note that the synchronization signal can be synchronized by being supplied from the first servo driver 30 to the second servo driver 31 instead of from the host controller 32, for example.

  In the first embodiment described above, the fixed winding system is an example of two systems. However, even when more winding systems are provided, as shown in FIG. The position information signal at the same time may be distributed to the other servo drivers with respect to the request signal # 1 of (1 servo driver).

  By applying the synchronous AC servo motor control system configured as described above to the drive system as shown in FIG. 1, one synchronous AC servo motor 12 to which a single serial communication type position detector 34 is attached is provided. Can be used to drive the driven body 10. As a result, a plurality of servo motors can be combined and a drive system that is substantially the same as a system driven by a transmission element such as a ball screw mechanism can be realized, and the system configuration can be further simplified.

Second embodiment
FIG. 5 is a block diagram showing a synchronous AC servo motor control system according to a second embodiment of the present invention.
In the second embodiment, the first servo driver 40 and the second servo driver 41 are control circuits that perform only current control of the first stator winding system 28 and the second stator winding system 29, respectively. . The host controller 42 includes a first position / speed control unit 43 and a second position / speed control unit 44 that perform position control and speed control based on position information signals fed back from the serial communication type position detector 34, respectively. Since the first position / speed control unit 43 and the second position / speed control unit 44 are in the same controller, the control operations are synchronized.

  Therefore, in the second embodiment, unlike the first embodiment, the signal distributor 36 can be dispensed with. That is, a position information signal is directly transmitted from the serial communication type position detector 34 to the host controller 44, and the position information signal at the same time is transmitted to the first position / speed control unit 43 and the second position / speed control unit 44. Is fed back. Therefore, since the first position / speed control unit 43 and the second position / speed control unit 44 are synchronized within the host controller 42, position control and speed control are performed based on the position information signal at the same time. Can be performed synchronously. Thus, by bringing the position / velocity control unit to the host controller 42, a control system equivalent to that of the first embodiment can be configured as the substance of the control.

  Then, by applying the synchronous AC servo motor control system according to the present embodiment to the drive system as shown in FIG. 1, a single synchronous AC servo motor 12 with a single serial communication type position detector 34 attached is provided. It is possible to drive the driven body 10 and to simplify the system configuration.

The block block diagram of the drive system to which the synchronous AC servomotor control system by this invention is applied. 1 is a block configuration diagram of a synchronous AC servo motor control system according to a first embodiment of the present invention. FIG. The block diagram which shows the exchange of the signal in the signal distributor of the synchronous AC servomotor control system by 1st Embodiment of this invention. The block diagram which expanded the exchange of the signal in the signal divider | distributor of the synchronous AC servomotor control system by 1st Embodiment of this invention to n servo drivers. The block block diagram of the synchronous AC servomotor control system by 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Driven body 12 Synchronous type AC servo motor 13 Joint 14 Ball screw 20 Control device 22 Host controller 26 Rotor 28 First stator winding system 29 Second stator winding system 34 Serial communication type position detector 36 Signal distribution vessel

Claims (5)

A plurality of electrically independent stator winding systems are provided for one rotor, and a synchronous AC servomotor having a single serial communication type position detector attached to the rotor shaft, A plurality of servo control circuits for performing position control, speed control, and current control of the fixed winding system;
Synchronizing means for operating each servo control circuit in synchronization;
A distributor for distributing position information at the same time to the servo control circuits from the serial communication type position detector in response to a request signal from a specific servo control circuit among the plurality of servo control circuits;
A control system for a synchronous AC servomotor, comprising: 2. The synchronous AC servo motor control system according to claim 1 , wherein the synchronization means includes a host controller that supplies a synchronization signal to the plurality of servo control circuits. A plurality of electrically independent stator winding systems are provided for one rotor, and a synchronous AC servomotor having a single serial communication type position detector attached to the rotor shaft, Multiple servo drivers that perform current control of the fixed winding system;
And a host controller which have a corresponding position control circuit and speed control circuit each configured the stator coils system control system of the upper of said plurality of servo drivers, to the upper controller, the serial communication type A synchronous AC servo motor control system, wherein a position information signal is fed back from a position detector, and a command is given to each servo driver from the host controller. A driven body;
A single synchronous AC servo motor in which a plurality of electrically independent stator winding systems are provided for one rotor, and a single serial communication type position detector is attached to the rotor shaft; ,
A single transmission element for transmitting the power of the synchronous AC servo motor to the driven body;
Multiple servo control circuits that perform position control, speed control, and current control for each fixed winding system,
Synchronizing means for operating each servo control circuit in synchronization;
A distributor for distributing position information at the same time to the servo control circuits from the serial communication type position detector in response to a request signal from a specific servo control circuit among the plurality of servo control circuits;
A synchronous AC servo motor drive system comprising: A driven body;
A synchronous AC servomotor in which a plurality of electrically independent stator winding systems are provided for one rotor and a single serial communication type position detector is attached to the rotor shaft; A single transmission element for transmitting the power of the type AC servo motor to the driven body;
A plurality of current control circuits each performing current control of each fixed winding system;
A plurality of servo drivers that execute current control of each fixed winding system,
And a host controller which have a corresponding position control circuit and speed control circuit each configured the stator coils system control system of the upper of said plurality of servo drivers, to the upper controller, the serial communication type A synchronous AC servo motor drive system, wherein a position information signal is fed back from a position detector, and a command is given from the host controller to each servo driver .

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