JP5642276B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

  In various industrial machines such as a semiconductor manufacturing apparatus, an electronic component mounting machine, and a machine tool, positioning control using a motor drive is widely performed. In using these industrial machines, there is a desire to reduce the power during positioning control as much as possible.

  Patent Document 1 discloses a technique for minimizing the value obtained by integrating the square integral of the drive current during the positioning operation by focusing on the command value for positioning control and performing positioning control with the command speed being parabolic. Is disclosed.

  Patent Document 2 focuses on the command value (operation path), and considers power loss (average square of the current of the operation path) in the driving device and power loss based on the engine speed (average of the rotation speed of the operation path). It is disclosed that the acceleration and speed in the motion path are adjusted so that the sum of the square integration) becomes small.

JP 2007-241604 A Special table 2004-522602 gazette

  However, the technique of Patent Document 1 focuses on square integration of current. The square integral of current corresponds to a loss called copper loss, and the loss is mainly heat. The copper loss is a part of the power consumption, but does not occupy all the power consumption during the positioning operation. Therefore, although the technique of Patent Document 1 minimizes the generated heat, it does not correspond to reducing the power consumption. The positioning control operation is an operation that accelerates the motor from a stopped state and then decelerates and stops when it approaches a predetermined movement distance.To perform this operation, electric power is required in addition to the loss of heat. is there.

  In the method of Patent Document 2 as well, in the mean square integration of the rotational speed, it is impossible to generate a command value for positioning control that reduces power consumption in consideration of power consumption required for acceleration and deceleration operations necessary for positioning operation. .

  The present invention has been made in view of the above, and an object of the present invention is to obtain a motor control device that reduces power consumption required for positioning control as much as possible.

In order to solve the above-described problems and achieve the object, the present invention provides the position command value to a motor drive amplifier that generates a current for driving the motor so that the operation of the motor follows the position command value. A motor control device that generates and supplies an input receiving unit that receives an input of a moving distance and positioning time, and a generation pattern that defines a transition of a position command value to be generated, and parameters for adjusting the transition A generation pattern storage unit that stores a generation pattern, a parameter generation unit that generates a plurality of parameters of the generation pattern so as to satisfy the movement distance and positioning time received by the input reception unit, and a plurality of parameters generated by the parameter generation unit Each parameter is applied to the generation pattern, and each generation pattern after the parameter is applied A power consumption amount calculating unit that calculates a power consumption amount for each parameter when the motor follows a position command value from the obtained current and speed, and for each parameter; The parameter selection unit that selects the parameter with the smallest power consumption out of the plurality of parameters generated by the parameter generation unit based on the power consumption calculated in step (b), and the parameter selected by the parameter selection unit are applied. A command generation unit that generates a position command value to be supplied to the motor drive amplifier based on the generated pattern .

  According to the present invention, since the position command value is generated so that the power consumption considering not only the loss L but also the work W is minimized, the power consumption required for positioning control can be reduced as much as possible. There is an effect.

FIG. 1 is a block diagram illustrating a configuration example of a system that uses the motor control device according to the first embodiment. FIG. 2 is a diagram illustrating a functional configuration of the motor control device according to the first embodiment. FIG. 3 is a diagram illustrating an example of a command value curve. FIG. 4 is a diagram illustrating an example of a command value curve. FIG. 5 is a flowchart for explaining the operation of calculating the position command value by the motor control device of the first embodiment. FIG. 6 is a block diagram illustrating a configuration example of a system that uses the motor control device of the second embodiment. FIG. 7 is a diagram illustrating a functional configuration of the motor control device according to the second embodiment. FIG. 8 is a block diagram illustrating a configuration example of a system that uses the motor control device according to the third embodiment of the present invention. FIG. 9 is a diagram illustrating a functional configuration of the motor control device according to the third embodiment. FIG. 10 is a flowchart for explaining the operation of calculating the position command value by the motor control device of the third embodiment. FIG. 11 is a block diagram illustrating a configuration example of a system that uses the motor control device according to the fourth embodiment of the present invention. FIG. 12 is a diagram illustrating a functional configuration of the motor control device according to the fourth embodiment. FIG. 13 is a flowchart for explaining the operation of calculating the position command value by the motor control device having the above functional components.

  Embodiments of a motor control device according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a block diagram illustrating a configuration example of a system that uses the motor control device according to the first embodiment of the present invention.

  The motor 1 operates by being supplied with a current 22 from a motor drive amplifier unit 4 described later. The encoder 2 detects motor information 23 such as the position and speed of the motor 1. The mechanical load 3 is driven by a driving force 21 such as torque or thrust provided by the motor 1. The mechanical load 3 corresponds to, for example, a ball screw mechanism.

  The motor control device 7 receives command value generation information 100 including a movement distance D, a positioning time T, a maximum acceleration Amax, and a maximum speed Vmax from the host device, and based on the input command value generation information 100, A position command value 24 that is a reference signal for positioning the motor 1 or the mechanical load 3 is generated. Here, the movement distance D represents the movement amount at which the motor 1 or the mechanical load 3 is positioned, and the positioning time T is the time from the start of the position command value until the target position D is reached, the maximum acceleration Amax. Is the maximum allowable value of the command acceleration which is the second derivative of the position command value, and the maximum speed Vmax is the maximum allowable value of the command speed which is the first derivative of the position command value.

  Here, the motor control device 7 receives mechanical motion information 101, work calculation information, and loss calculation information (here, the work calculation information and loss calculation information are collectively referred to as work / loss calculation information 102) from the host device. The position command value 24 is calculated so that the power consumption for operating the motor 1 or the mechanical load 3 during the positioning time T is as small as possible. Details of the machine motion information 101 and the work / loss calculation information 102 will be described later. For example, a programmable controller (PLC) corresponds to the host device.

  The motor drive amplifier unit 4 generates a current for driving the motor 1 so that the position of the motor 1 follows the position command value 24 generated by the motor control device 7, and supplies the generated current to the motor 1. When a servo motor is employed as the motor 1, the servo amplifier corresponds to the motor drive amplifier unit 4. For example, a feedback control system for following the position command value 24 is mounted on the motor drive amplifier unit 4. Specifically, the position command value 24 is given as a reference signal for the position of the motor 1, the motor information 23 is given by the detection position of the motor 1, and the motor drive amplifier unit 4 is configured such that the detection position of the motor 1 is the position command value. The current command value is calculated so as to follow 24. Then, based on the calculated current command value, a current for driving the motor 1 is generated by a power converter such as a PWM inverter.

  The power source 5 is a power source that supplies electric power 25 for the motor drive amplifier unit 4 to generate a current, for example, a three-phase AC power source or a single-phase AC power source. The regenerative resistor 6 is a resistor for consuming regenerative energy 26 when the motor 1 is in a regenerative state.

  FIG. 2 is a diagram illustrating a functional configuration of the motor control device 7 of the first embodiment for calculating the position command value 24 so as to reduce the power consumption required for the positioning control as much as possible. As illustrated, the motor control device 7 includes a command value curve storage unit (generation pattern storage unit) 71 that stores a command value curve (generation pattern) group 103, an input reception unit 72, and a command value curve selection unit 73. , A parameter set generation unit (parameter generation unit) 74, a power consumption amount calculation unit 75, a parameter set selection unit (parameter selection unit) 76, and a command generation unit 77.

  The input receiving unit 72 receives input of the command value generation information 100, the machine motion information 101, and the work / loss calculation information 102.

  The machine motion information 101 is information indicating what values the current and motor speed generated in the motor 1 when the motor 1 operates following the position command value 24. For example, the motion equation 101 Corresponds to this. Hereinafter, a specific example of the machine motion information 101 will be described.

Since the motor drive amplifier unit 4 performs control so as to follow the position command value 24, the speed when positioning control is performed using a certain position command value 24 is equal to the speed command which is the first derivative of the position command value 24. Therefore, the motor speed can be obtained by first-order differentiation of the position command value 24. The total inertia J, which is the sum of the inertia of the motor 1 and the inertia of the mechanical load 3 that moves when the motor 1 rotates, and the torque constant Kt of the motor 1, which is a proportional multiplier that generates torque when current is generated in the motor 1. And the time t generated in the motor 1 using the information of the viscous friction coefficient Cd generated in proportion to the speed of the motor 1 and the Coulomb friction Cc which is a constant friction force applied in the direction opposite to the rotation direction of the motor 1. The equation of motion representing the relationship between the current I (t), the motor speed v (t), and the acceleration a (t) is
J.a (t) = Kt.I (t) -Cd.v (t) -Cc (1)
It becomes. In this equation, the command speed v * (t) which is the first derivative of the position command value 24 is represented by the velocity v (t), and the command acceleration a * (t) which is the second derivative of the position command value 24 by the acceleration a (t). Respectively, the equation of motion of equation (1) is
I (t) = (1 / Kt) · (J · a * (t) + Cd · v * (t) + Cc) (2)
And can be transformed. The machine motion information 101 in this case corresponds to the fact that the motor speed v (t) is equal to the value obtained by first-order differentiation of the position command value 24 and the relational expression of Expression (2).

  The mechanical motion information 101 is not the motion equation itself shown in Equation (2), but the equation of motion of Equation (2) using the parameters (J, Kt, Cd, Cc) included in the motion equation as variables. May be held in the motor control device 7 in advance, and parameters (J, Kt, Cd, Cc) may be input as the machine motion information 101. Furthermore, the machine motion information 101 itself may be held in the motor control device 7 in advance so that the input of the machine motion information 101 is unnecessary.

  Further, a model that takes into account the resonance characteristics of the mechanical load 3 and the feedback control system of the motor drive amplifier unit 4 is constructed, and based on the model, the position command value 24, the current I (t), and the speed v (t) A relational expression between them may be obtained, and the relational expression may be used as the machine motion information 101.

Next, the work calculation information in the work / loss calculation information 102 will be described. The work W (t) performed by the motor 1 at time t is obtained by using the motor speed v (t) and the motor torque τ (t) at time t,
W (t) = v (t) × τ (t) (3)
It is expressed. The motor torque τ (t) is generated according to the current I (t). When the motor torque and current are in a proportional relationship, the work W (t) is
W (t) = v (t) × Kt · I (t) (4)
It can be expressed as. Here, Kt is a torque constant of the motor 1. The work calculation information in this case corresponds to the calculation formula (4) and the torque constant Kt.

In addition, when using a synchronous motor as the motor 1, since a torque constant and an induced voltage constant become equal, you may use an induced voltage constant instead of a torque constant. If the proportional relationship does not hold between the torque and the current, the torque value generated when the current flows through the motor 1 is stored in advance in a table or function, and the torque is calculated based on this value. It may be calculated. That is, if a table or function representing the relationship between the current I (t) and the torque τ (t) is F,
W (t) = v (t) × F (I (t)) (5)
It is. In this case, the work calculation information corresponds to the calculation formula (5) and the table or function F.

  In any case, according to the calculation formula as the work calculation information, the work W (t) is calculated by the product of the speed and the torque calculated from the current.

  Next, the loss calculation information in the work / loss calculation information 102 will be described. Specific examples of the loss include a copper loss that is energy lost due to electric resistance of the motor coil, and an iron loss that is energy lost when the iron core wound around the motor is magnetized by alternating current.

The loss Lcopper based on the copper loss uses the winding resistance R of the motor as a proportional constant,
Lcopper = R · I (t) ^ 2 (6)
And can be calculated.

The iron loss is composed of hysteresis loss and eddy current. The loss Lcore based on the iron loss obtained by adding the hysteresis loss and the eddy current loss is obtained by using the magnetic flux density B (t), the speed v and the proportional multipliers α ′ and β ′ of the motor.
Lcore = α ′ · v (t) · B (t) ^ γ + β ′ · v (t) ^ 2 · B (t) ^ 2 (7)
It can be expressed as.

Further, since the magnetic flux density B is generated approximately in proportion to the motor current I, by using different proportional multipliers α and β respectively corresponding to the proportional multipliers α ′ and β ′,
Lcore = α · v (t) · I (t) ^ γ + β · v (t) ^ 2 · I (t) ^ 2 (8)
It can be expressed as. The constants α, β, and γ can be obtained by electromagnetic field analysis of the motor.

When the loss includes copper loss and iron loss, the loss L (t) is L (t) = R · I (t) ^ 2 + α · v (t) · I (t) ^ γ + β · v (t) ^ 2・ I (t) ^ 2 (9)
Calculated by For example, the loss calculation information corresponds to the calculation formula (9) and the coefficients R, α, β, and γ. When the iron loss of the motor 1 is very small, only the copper loss may be lost, that is, α = 0 and β = 0.

  In the above description, the loss based on the copper loss generated in proportion to the square of the current and the iron loss generated depending on both the motor speed and the current are calculated as in equation (9). Although it has been described that modeling is performed by an expression, any expression can be used as long as it represents a calculation expression for modeling loss and a constant, and the present invention is not limited to this. For example, if the loss of the motor drive amplifier unit 4 occurs at a constant value regardless of the speed, current and torque of the motor 1, a constant value term may be added to the equation (9). If a loss occurs in proportion to the absolute value of the current, a term proportional to the absolute value of the current may be added to the equation (9). Further, the work calculation information or the loss calculation information may be held in the motor control device 7 in advance, and the work calculation information or the loss calculation information may not be input.

  The command value curve storage unit 71 is a memory that stores a plurality of command value curves (command value curve group 103). The command value curve is a generation pattern that defines a time transition of the position command value 24 to be generated, and includes a parameter for adjusting the shape of the command value curve. That is, by setting the value of the parameter, the time transition of the position command value 24 that satisfies the movement distance D and the positioning time T can be uniquely defined. Hereinafter, an example of the command value curve and the parameters will be described. 3 and 4 are diagrams for explaining an example of the command value curve.

  One example of the command value curve is a universal cam curve. FIG. 3 shows a position command value 24 represented by a universal cam curve having a moving distance D and a positioning time T, a speed (command speed) which is a first derivative of the position command value 24, and a second derivative of the position command. The graph showing the acceleration (command acceleration) which is is shown. As shown in the figure, the universal cam curve is divided into seven sections. As a whole, the positive and negative uniform acceleration sections (t2, t6), the uniform speed section (t4), and a section for connecting them with a trigonometric function ( It is a curve consisting of t1, t3, t5, t7). According to this universal cam curve, the length of each section is expressed so as to satisfy the condition that the position command value 24 at the positioning time T is equal to the movement distance D and the total value of t1 to t7 is equal to the positioning time T. By designating a set of parameters (t1, t2, t3, t4, t5, t6, t7), the time transition of the position command value 24 in which the moving distance is D and the positioning time is T is uniquely determined. be able to.

  Moreover, the curve shown in FIG. 4 is mentioned as another example of a command value curve. The curve shown in FIG. 4 uses a plurality of coordinates (Tj, Xj) (j = 1, 2, 3, 4) satisfying 0 <Tj <T and 0 <Xj <D as parameters. , (0, 0), these coordinates, and (T, D) are interpolated by, for example, spline interpolation. That is, according to this curve, a set of eight parameters (T1, X1, T2, X2, T3, X3, T4, and X4) is specified under conditions that satisfy 0 <Tj <T and 0 <Xj <D. Thus, the time transition of the position command value 24 can be uniquely determined.

  The command value curve is not limited to these. As long as the moving distance is D, the positioning time is T, and the shape is determined by one or more parameters, any curve may be used. Hereinafter, a set of parameters for uniquely determining the time transition of the position command value 24 is referred to as a parameter set.

  The command value curve selection unit 73 selects a command value curve used for generating the position command value 24 from the command value curve group 103 stored in the command value curve storage unit 71. The command value curve selection unit 73 may receive a command specifying a desired command value from the host device and select a command value curve based on the command.

  The parameter set generation unit 74 generates a plurality of parameter sets corresponding to the selected command value curve so that the movement distance is D and the positioning time is T. The plurality of generated parameter sets are accumulated and stored as a parameter set group 104 in an internal memory. For example, when the universal cam curve is used as the command value curve, the parameter set generation unit 74 determines that the position command value 24 at the positioning time T is the movement distance D and the total value of t1 to t7 is the positioning time T. N parameter sets (t1, t2, t3, t4, t5, t6, t7) satisfying the condition of being equal to N are prepared.

The power consumption calculation unit 75 uses the command value generation information 100, the machine motion information 101, and the work / loss calculation information 102 to calculate the power consumption for positioning control for each parameter set. Specifically, the calculation is performed as follows. If the power consumption at time t is Q (t),
Q (t) = L (t) + W (t) (10)
It becomes. In order to avoid complications, formula deformation is omitted, but it goes without saying that the mechanical motion information 101 and the work / loss calculation information 102 are applied to the formula (10). In Embodiment 1, since the regenerative power is consumed by the regenerative resistor 6, the power consumption E (i) is

  It becomes. The power consumption E (i) calculated for each parameter set is accumulated and stored in an internal memory in association with the used parameter set.

  The parameter set selection unit 76 selects a parameter set that minimizes power consumption E (i) from the parameter set group 104.

  The command generation unit 77 causes the time transition of the position command value 24 to be a curve obtained by applying the parameter set selected by the parameter set selection unit 76 to the command value curve selected by the command value curve selection unit 73. The position command value 24 is generated. The generated position command value 24 is supplied to the motor drive amplifier unit 4.

  Each of these functional components may be realized by a hardware circuit. Further, it may be realized by executing a program installed in advance in a computer including an arithmetic device, a storage device, and an interface for connecting to the host device and the motor drive amplifier unit 4. For example, the arithmetic device functions as an input receiving unit 72, a command value curve selecting unit 73, a parameter set generating unit 74, a power consumption calculating unit 75, a parameter set selecting unit 76, and a command generating unit 77 based on the program. . The storage device stores the program in advance and also functions as a command value curve storage unit 71.

  FIG. 5 is a flowchart for explaining the operation of calculating the position command value 24 by the motor control device 7 having the above functional components.

  First, the input receiving unit 72 receives an input of the command value generation information 100 (movement distance D, positioning time T, maximum acceleration Amax, and maximum speed Vmax) (step ST1). And the input reception part 72 receives the input of the machine motion information 101 (step ST2).

  Subsequent to step ST2, the input receiving unit 72 receives input of work / loss calculation information 102 (step ST3).

  Subsequent to step ST3, the command value curve selection unit 73 extracts a command value curve that defines the type of time transition of the position command value 24 to be generated from the command value curve group 103 stored in the command value curve storage unit 71. Select (step ST4).

  The parameter set generation unit 74 generates a plurality (here, N) of parameter sets corresponding to the selected command value curve so that the movement distance is D and the positioning time is T, and the parameter set group 104 (Step ST5).

  First, the power consumption calculating unit 75 initializes an index i used for counting the loop processing in steps ST7 to ST12 with 1 (step ST6), and selects one parameter set from the parameter set group 104 (step ST7). ). Then, the peak velocity Vp and peak acceleration Ap of the position command value 24 when the selected parameter set is used are calculated (step ST8). Specifically, the power consumption amount calculation unit 75 calculates the position command value from the time transition curve of the position command value 24 obtained by applying the parameter set selected in step ST7 to the command value curve selected in step ST4. The command speed, which is the first derivative of 24, is calculated, and the maximum absolute value of the command speed is set as the peak speed Vp. Further, a command acceleration that is a second-order derivative of the position command is calculated, and the maximum absolute value of the command acceleration is set as the peak acceleration Ap.

  Then, the power consumption calculation unit 75 determines whether Ap ≦ Amax and Vp ≦ Vmax are satisfied (step ST9). When the above condition is satisfied (step ST9, Yes), the power consumption amount of the position command value 24 when the parameter set is used is calculated (step ST10). If Ap ≦ Amax and Vp ≦ Vmax are not satisfied in step ST9 (step ST9, No), the process of step ST10 is skipped.

  After step ST10, the power consumption calculation unit 75 determines whether i = N (step ST11). When i = N is not satisfied (step ST11, No), the power consumption amount calculation unit 75 sets i = i + 1 (step ST12), proceeds to step ST7, and selects one unselected parameter set from the parameter set group 104. select. When i = N (step ST11, Yes), the parameter set selection unit 76 selects a parameter set having the minimum power consumption (step ST13).

  The command generation unit 77 generates the position command value 24 based on the time transition of the position command value 24 determined by applying the parameter set selected in step ST13 to the command value curve selected in step ST4, and the generated position The command value 24 is sequentially supplied to the motor drive amplifier unit 4 (step ST14), and the operation ends.

  In this embodiment, both the maximum speed and the maximum acceleration are input, and using these pieces of information, the position command value is generated so that the peak speed and the peak acceleration are less than or equal to the maximum speed and the maximum acceleration, respectively. Alternatively, only the maximum speed or only the maximum acceleration may be input, and the position command value may be generated so that only the corresponding peak speed or only the peak acceleration is less than or equal to the input maximum value.

  For example, in the case of positioning control only when the moving distance is sufficiently short, since the operation is to decelerate before reaching the maximum speed of the motor, the maximum speed is not input, only the maximum acceleration is input, and the peak A position command value is generated so that the acceleration is less than or equal to the input maximum value.

  Also, if the positioning control is only when the positioning time is sufficiently long, the acceleration during positioning will be small, so the input of the maximum acceleration is omitted, only the maximum speed is input, and the peak speed is less than the input maximum value. The position command value is generated so that

  The power consumption when the motor 1 is driven includes the loss L (t) generated in the motor 1 and the motor drive amplifier unit 4 generated according to the current I (t) flowing through the motor 1 and the motor speed v (t). It depends on the work W (t) performed by the motor 1. The positioning operation includes an operation in which the motor 1 and the mechanical load 3 are accelerated from the stop state, decelerate and stop when approaching a predetermined movement distance. The acceleration operation and the deceleration operation are not caused by the loss of the power consumption, but are caused by work performed by the motor 1. Therefore, when the estimated value of the power consumption required for the positioning operation is calculated, a position command value for positioning control that reduces the power consumption cannot be obtained unless the work performed by the motor 1 is taken into consideration.

  Further, since the loss L (t) becomes thermal energy, it takes a positive value regardless of the acceleration / deceleration state of the motor 1. The work W (t) is a positive value when the motor 1 is accelerating and maintaining a constant speed, and is a negative value when the motor 1 is decelerating and the sign of torque and speed is different. The negative work W (t) means that regenerative energy is generated due to a decrease in kinetic energy associated with the deceleration operation. When both work and loss are positive, or when work W (t) is negative and its absolute value is smaller than loss L (t), the value of L (t) + W (t) is also It becomes positive, and this is the power consumption P (t) at that time. On the other hand, when the value of work W (t) is negative and the absolute value is larger than the loss L (t), the total value L (t) + W (t) of work and loss becomes a negative value. . This means that the power for compensating for the loss L (t) is supplied by the regenerative energy of the motor (= work W (t)), so that the motor drive amplifier unit 4 does not require power. Furthermore, the power of the loss L (t) is compensated, and the surplus regenerative energy is consumed by the regenerative resistor 6, so that the power consumption P (t) at that time becomes zero. By integrating this power consumption P (t), the power consumption during the positioning operation is calculated. Expression (11) is a model of the above.

  According to the first embodiment of the present invention, the motor control device 1 calculates the position command value so that the power consumption E (i) obtained based on the equation (11) is minimized. Since the position command value is generated so that the power consumption considering not only L but also the work W is minimized, the power consumption required for positioning control can be reduced as much as possible. In addition, since the amount of power consumption can be estimated in consideration of the consumption of regenerative energy, the power consumption required for positioning control when the system has a configuration that consumes the regenerative energy in the regenerative resistor 6. It is possible to reduce as much as possible.

  The parameter set generation unit 74 (parameter generation unit) generates a plurality of command value curve parameter sets to satisfy the movement distance D and the positioning time T received by the input reception unit 72, and the power consumption calculation unit 75 For each of the plurality of parameter sets generated by the parameter set generation unit 74, the power consumption amount E (i) is calculated based on the work and loss of the motor 1 when the parameter set is applied to the command value curve. The set selection unit (parameter selection unit) 76 selects the parameter set with the smallest power consumption based on the power consumption calculated for each parameter set, and the command generation unit 77 applies the selected parameter set. The position command value 24 to be supplied to the motor drive amplifier unit 4 is generated based on the command value curve thus obtained. Since it is configured, it is possible to reduce as much as possible the power consumption required for the positioning control.

  Further, the motor 1 and the mechanical load 3 have a maximum speed and a maximum acceleration that can be output. It is not preferable to operate the motor 1 or the mechanical load 3 beyond this limit value. As an example of determining the maximum speed, the maximum speed is the maximum rotation speed of the motor 1. The maximum acceleration is the maximum acceleration determined by the motor maximum torque. From the relationship of the equation of motion (inertia × acceleration = torque) due to the maximum torque of the motor 1, the acceleration when accelerating using the maximum torque can be generated only up to the maximum torque / inertia. For this reason, this becomes a factor which determines the maximum acceleration. Also, if the mechanical load is operated beyond a certain speed tolerance or acceleration tolerance, very large vibrations may be caused, which is a factor that determines the maximum speed and maximum acceleration in the operation of the mechanical load. Become.

  On the other hand, according to the first embodiment of the present invention, the input receiving unit 72 receives the input of the maximum speed Vmax and the maximum acceleration Amax that define the position command value that can be supplied to the motor drive amplifier unit 4 and consumes power. The calculation unit 75 calculates the peak speed Vp and the peak acceleration Ap based on the generation pattern after applying the parameter set, and the calculated peak speed Vp is smaller than the input maximum speed Vmax and the calculated Since the power consumption required for the parameter set is calculated when the peak acceleration Ap is smaller than the input maximum acceleration Amax, the peak acceleration of the position command value used for positioning control exceeds the maximum acceleration. In addition, the peak speed does not exceed the maximum speed and the power consumption is as small as possible. Position command value to be able to calculate the.

  The loss is typically a copper loss that is generated in proportion to the square of the current. However, the loss that occurs when the motor 1 is driven is not limited to the copper loss. The iron loss that occurs depending on the speed may not be negligible.

  According to the first embodiment of the present invention, the power consumption calculation unit 75 calculates the loss based on the copper loss by squaring the current flowing through the motor 1, and the current flowing through the motor 1 and the motor Since the loss based on the iron loss is calculated based on the speed of 1, the loss can be calculated more accurately than in the case where the iron loss is not taken into account. There is an effect that the position command value to be reduced as much as possible can be accurately calculated.

Embodiment 2. FIG.
In the first embodiment, a case has been described in which the present invention is applied to a system that employs a method in which the regenerative energy of the motor drive amplifier unit is consumed by a regenerative resistor (resistance regenerative method), but the motor of the second embodiment The control device is applied to a system having a method for returning regenerative energy to a power source (power regeneration method).

  FIG. 6 is a block diagram illustrating a configuration example of a system that uses the motor control device according to the second embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the component similar to Embodiment 1 here, and the overlapping description is abbreviate | omitted.

  As shown in the figure, according to the configuration example of the system using the motor control device 11 of the second embodiment, the motor drive amplifier unit 4 is connected to the power regeneration circuit 10 instead of the regeneration resistor 6. Different from the first embodiment. Specifically, the power regeneration circuit 10 is realized by using a power regeneration converter or the like, and functions to return the regeneration energy 26 to the power source 5 when the motor drive amplifier unit 4 is in a regeneration state.

  FIG. 7 is a diagram illustrating a functional configuration of the motor control device 11 according to the second embodiment. As illustrated, the motor control device 11 includes a command value curve storage unit 71 that stores a command value curve group 103, an input reception unit 72, a command value curve selection unit 73, a parameter set generation unit 74, and power consumption. An amount calculation unit 111, a parameter set selection unit 76, and a command generation unit 77 are provided.

In the system of FIG. 6, since the regenerative energy is returned to the power source 5 by the power regeneration circuit 10, the power consumption calculation unit 111 uses the following equation instead of the equation (11) to calculate the power consumption E (i ) Is calculated.

  In the operation of calculating the position command value 24 by the motor control device 11 according to the second embodiment, the power consumption calculation unit 111 calculates the power consumption E (i) for each parameter set based on the equation (12) in step ST10. Since the operation is the same as that of the first embodiment shown in FIG. 5 except for the above, description of the operation in which the motor control device 11 of the second embodiment calculates the position command value 24 is omitted.

  Next, effects obtained by the invention of Embodiment 2 will be described. In the motor drive amplifier unit 4 in which the power regeneration system is mounted, as in the case where the resistance regeneration system is employed, the power consumption during the positioning control operation includes the work W (t) performed by the motor and the generated current. And the loss L (t) according to the speed. The acceleration operation and the deceleration operation during the positioning control operation are caused by energy for work W (t). When the total value of work W (t) and loss L (t) is positive, the power consumption P (t) is given by the total value of work W (t) and loss L (t). Although it is the same as in the case of the method, the difference from the case of the resistance regeneration method is that the power consumption is used as it is even when the value of P (t) = W (t) + L (t) is negative. The negative power consumption P (t) is not consumed by resistance regeneration but is returned to the power source 5 by the power regeneration circuit 10. Further, the power consumption amount during the positioning operation can be estimated by integrating the power consumption P (t). Expression (12) represents the power consumption of the motor regeneration amplifier of the power regeneration type as described above.

  According to the second embodiment of the present invention, the motor control device 11 calculates the power consumption E (i) for each parameter set based on the equation (12). Even if the system is equipped with a return configuration, the power consumption can be calculated taking into account the regeneration of regenerative energy, so the power consumption can be estimated accurately, and as a result The power consumption required for positioning control can be reduced as much as possible.

  Also, the present embodiment differs from the first embodiment only in the formula for calculating power consumption. In steps ST8 and ST9, the peak acceleration does not exceed the maximum acceleration Amax, and the maximum value of the peak speed is the maximum. Since the points to be checked so as not to exceed the speed Vmax are the same, as in the first embodiment, the position command that satisfies the constraint that the command acceleration and the command speed are equal to or less than the maximum acceleration and the maximum speed and that minimizes the power consumption. There is an effect that a value can be generated.

Embodiment 3 FIG.
In the first and second embodiments, the power consumption is estimated for each parameter set by calculation, and the parameter set that minimizes the estimated value is selected. In the third embodiment, the current for determining the power consumption by actually executing the positioning control and the motor speed are measured for each parameter set, and the power consumption for each parameter set is calculated based on the measured value.

  FIG. 8 is a block diagram illustrating a configuration example of a system that uses the motor control device according to the third embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the component similar to Embodiment 1 here, and the overlapping description is abbreviate | omitted.

  As shown in the figure, according to the configuration example of the system using the motor control device 12 of the third embodiment, the current detection unit 13 for detecting the current 22 supplied from the motor drive amplifier unit 4 to the motor 1 is shown in the embodiment. 1 is added to the system used. The current detection unit 13 inputs current information 27 corresponding to the detected current value to the motor control device 12.

  The motor control device 12 receives the command value generation information 100 and the work / loss calculation information 102 from the host device. Further, of the motor information 23 detected by the encoder 2, a detected value of the motor speed is input as a detected speed signal 28 via the motor drive amplifier unit 4.

  FIG. 9 is a diagram illustrating a functional configuration of the motor control device 12 according to the third embodiment. As illustrated, the motor control device 12 includes a command value curve storage unit 71 that stores the command value curve group 103, an input reception unit 72, a command value curve selection unit 73, a parameter set generation unit 74, and power consumption. A quantity measuring unit 121, a parameter set selecting unit 76, and a command generating unit 77 are provided.

  The power consumption measuring unit 121 collects the values of the current information 27 and the detection speed signal 28 by performing positioning control on a trial basis, so that the actual current Ir ( t) and the actual speed Vr (t) are measured. Then, the power consumption E (i) is calculated based on the measured actual current Ir (t) and actual speed Vr (t). Specifically, the power consumption measuring unit 121 calculates the loss L (t) when calculating the work W (t) using the formula (4) or the formula (5) and using the formula (9). In this case, the actual current Ir (t) is used instead of the current I (t), and the actual speed Vr (t) is used instead of the speed v (t). Then, the calculated work W (t) and the loss L (t) are applied to the equations (10) and (11) to obtain the power consumption E (i). The power consumption measuring unit 121 measures the actual current Ir (t) and the actual speed Vr (t) and calculates the power consumption E (i) for each parameter set generated by the parameter set generating unit 74. Run. The power consumption amount E (i) calculated for each parameter set is accumulated and stored in an internal memory.

  FIG. 10 is a flowchart for explaining the operation of calculating the position command value 24 by the motor control device 12 having the above functional components.

  First, the input receiving unit 72 receives input of command value generation information 100 (movement distance D, positioning time T, maximum acceleration Amax, and maximum speed Vmax) (step ST21). And the input reception part 72 receives the input of the work / loss calculation information 102 (step ST22).

  Subsequently, the command value curve selection unit 73 selects one command value curve from the command value curve group 103 stored in the command value curve storage unit 71 (step ST23).

  The parameter set generation unit 74 generates a plurality (here, N) of parameter sets corresponding to the selected command value curve so that the movement distance is D and the positioning time is T, and the parameter set group 104 (Step ST24).

  Subsequently, the power consumption measuring unit 121 executes a loop process of step ST26 to step ST31 to calculate the power consumption for positioning control for each parameter set. Specifically, first, the power consumption measuring unit 121 initializes an index i used for counting the loop processing with 1 (step ST25), and selects one parameter set from the parameter set group 104 (step ST26). ).

  Then, the power consumption measuring unit 121 calculates the peak velocity Vp and the peak acceleration Ap of the position command value 24 when the selected parameter set is used (step ST27). Then, the power consumption measuring unit 121 compares the maximum acceleration Amax and maximum speed Vmax received in step ST21 with the calculated peak speed Vp and peak acceleration Ap to determine whether Ap ≦ Amax and Vp ≦ Vmax are satisfied. It is determined whether or not (step ST28).

  When the above condition is satisfied (Yes in step ST28), the power consumption measuring unit 121 determines the position command determined by applying the parameter set selected in step ST26 to the command value curve selected in step ST23. The position command value 24 is generated in accordance with the time transition of the value 24 to execute the positioning control, and the current information 27 and the detection speed signal 28 are received, and the actual current from the start of the positioning control operation to the completion thereof. Ir (t) and actual speed Vr (t) are measured (step ST29).

  Then, the power consumption measuring unit 121 calculates the power consumption E (i) for each parameter set based on the measured actual current Ir (t) and the actual speed Vr (t) (step ST30).

  After step ST30, the power consumption measuring unit 121 determines whether i = N (step ST31). When i = N is not satisfied (No in step ST31), the power consumption measuring unit 121 sets i = i + 1 (step ST32), moves to step ST26, and selects one unselected parameter set from the parameter set group 104. select. When i = N (step ST31, Yes), the parameter set selection unit 76 selects a parameter set having the minimum power consumption (step ST33).

  In Step ST28, if Ap ≦ Amax and Vp ≦ Vmax are not satisfied (No in Step ST28), the processes in Step ST29 and Step ST30 are skipped.

  After step ST33, the command generator 77 generates the position command value 24 based on the time transition of the position command value 24 determined by applying the parameter set selected in step ST33 to the command value curve selected in step ST23. Then, the generated position command value 24 is sequentially supplied to the motor drive amplifier unit 4 (step ST34), and the operation ends.

  In the third embodiment of the present invention, the case where the motor drive amplifier unit 4 is applied to a system in which regenerative energy is consumed by the regenerative resistor 6 when the motor drive amplifier unit 4 is in a regenerative state has been described. When applied to the system returned to the above, as described in the second embodiment, the power consumption E (i) may be calculated based on the equation (12).

  Thus, according to the third embodiment of the present invention, the power consumption measuring unit 121 is actually a motor drive amplifier unit based on the command value curve after applying the parameter set generated by the parameter set generating unit 74. 4, the position command value is supplied to drive the motor 1 on a trial basis, the current flowing through the motor 1 and the speed of the motor 1 when the motor 1 is driven are measured, and the motor work W ( t) and the loss L (t) are obtained, so that the machine motion information 101 required in the first and second embodiments for estimating the work W (t) and the loss L (t) by calculation is used. The work W (t) and the loss L (t) can be obtained without any problem. That is, the power consumption can be reduced as much as possible without the mechanical motion information 101 for accurately estimating the work W (t) and the loss L (t).

  Further, in steps ST27 and ST28, since the peak acceleration is checked so as not to exceed the maximum acceleration Amax and the maximum value of the peak speed does not exceed the maximum speed Vmax, it is the same as in the first embodiment. As in the first embodiment, there is an effect that it is possible to generate a position command value that satisfies the constraint that the command acceleration and the command speed are equal to or less than the maximum acceleration and the maximum speed and that minimizes the power consumption.

Embodiment 4 FIG.
In the first and second embodiments, the position command value is calculated within a range where the command acceleration does not exceed the maximum acceleration Amax. However, according to the fourth embodiment, the current generated during the positioning control does not exceed the maximum value. Calculate the position command value in the range.

  FIG. 11 is a block diagram illustrating a configuration example of a system that uses the motor control device according to the fourth embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the component similar to Embodiment 1 here, and the overlapping description is abbreviate | omitted.

  As shown in the figure, the motor control device 14 of the fourth embodiment is different from the first embodiment in that the maximum current Imax is input from the host device instead of the maximum acceleration Amax. Specifically, the motor control device 14 receives the command value generation information 105 including the movement distance D, the positioning time T, the maximum current Imax, and the maximum speed Vmax. Then, the motor control device 14 ensures that the current flowing through the motor 1 during positioning control does not exceed the maximum current Imax input from the host device, and the command speed that is the first derivative of the position command value does not exceed the maximum speed Vmax. In addition, a position command value 24 is generated.

  FIG. 12 is a diagram illustrating the functional configuration of the motor control device 14 according to the fourth embodiment. As illustrated, the motor control device 14 includes a command value curve storage unit 71 that stores the command value curve group 103, an input reception unit 72, a command value curve selection unit 73, a parameter set generation unit 74, and power consumption. An amount calculation unit 141, a parameter set selection unit 76, and a command generation unit 77 are provided.

  FIG. 13 is a flowchart for explaining the operation of calculating the position command value 24 by the motor control device 14 having the above functional components.

  First, the input reception part 72 receives the input of the command value generation information 105 including the movement distance D, the positioning time T, the maximum current Imax, and the maximum speed Vmax (step ST41). Thereafter, in step ST42 to step ST45, the motor control device 7 executes the same processing as in step ST2 to step ST5.

  After step ST45, the power consumption calculating unit 141 initializes the index i with 1 (step ST46), and selects one parameter set from the parameter set group 104 (step ST47).

  Then, the power consumption calculation unit 141 uses the peak current value Ip that is the maximum value of the current that flows through the motor 1 when the selected parameter set is used, and the maximum value of the command speed that is the first derivative of the position command value 24. Is calculated (step ST48). Specifically, the power consumption calculating unit 141 sets the maximum value at the time 0 ≦ t ≦ T of the command speed v * (t), which is the first derivative of the position command value 24, as the peak speed Vp. Regarding the peak current value Ip, the current I (t) is calculated using Equation (2), and the maximum value of the calculated current I (t) at time 0 ≦ t ≦ T is defined as the peak current Ip.

  Subsequently, the power consumption calculating unit 141 compares the maximum current Imax and the maximum speed Vmax received in step ST41 with the calculated peak current value Ip and the peak speed Vp, and sets Ip ≦ Imax and Vp ≦ Vmax. It is determined whether or not it is satisfied (step ST49). If the above condition is satisfied (step ST49, Yes), the power consumption amount E (i) of the position command value 24 when the parameter set is used is calculated (step ST50). The calculation method of power consumption in the process of step ST50 is the same as that in the first embodiment. The power consumption amount E (i) calculated for each parameter set is accumulated and stored in an internal storage device.

  In step ST49, when Ip ≦ Imax and Vp ≦ Vmax are not satisfied (step ST49, No), the process of step ST50 is skipped.

  After step ST50, the power consumption amount calculation unit 141 determines whether i = N (step ST51). If i = N is not satisfied (No in step ST51), the power consumption calculating unit 141 sets i = i + 1 (step ST52), proceeds to step ST47, and selects an unselected parameter set from the parameter set group 104. To do. When i = N (step ST51, Yes), the parameter set selection unit 76 selects a parameter set having the minimum power consumption (step ST53).

  Thereafter, the command generation unit 77 executes the same process as step ST14 (step ST54), and the operation of the motor control device 14 ends.

  Although Embodiment 4 of the present invention has been described for a case where the present invention is applied to a system in which regenerative energy is consumed by the regenerative resistor 6 when the motor drive amplifier unit 4 enters a regenerative state, the regenerative energy is supplied from the power source 5. When applied to the system returned to the above, as described in the second embodiment, the power consumption E (i) may be calculated based on the equation (12).

  Next, the effect of the fourth embodiment will be described. Usually, the motor 1 has a maximum value of current that may be passed. If the current exceeds this maximum value, the motor 1 may be damaged. According to the fourth embodiment of the present invention, the input receiving unit 72 receives the input of the maximum speed Vmax and the maximum current Imax that define the position command value that can be supplied to the motor drive amplifier unit 4, and the power consumption calculating unit 141 The peak speed Vp and the peak current Ip are calculated based on the command value curve after the parameter set generated by the parameter set generation unit 74 is applied, and the calculated peak speed Vp is smaller than the input maximum speed Vmax. In addition, when the calculated peak current Ip is smaller than the input maximum current Imax, the power consumption amount E (i) applied to the parameter is calculated. Therefore, the user can input the maximum current Imax to be input. By appropriately setting the value, the current generated during positioning control is reduced to a value that causes damage to the motor 1 or less. Rukoto can. That is, damage to the motor 1 can be prevented. Further, as shown in Expression (2), a linear relationship is established between the current and the acceleration. By limiting the current during the positioning control, an effect that the peak acceleration can also be limited is obtained.

  In this embodiment, both the maximum speed and the maximum current are input, and using these pieces of information, the position command value is generated so that the peak speed and the peak current are less than or equal to the maximum speed and the maximum current, respectively. Alternatively, only the maximum speed or only the maximum current may be input, and the position command value may be generated so that only the corresponding peak speed or only the peak current is less than or equal to the input maximum value.

  If the positioning control is performed only when the positioning time is sufficiently long, the acceleration during positioning decreases, and the current decreases accordingly.Therefore, the maximum current is omitted, only the maximum speed is input, and the peak speed is The position command value is generated so that is less than the input maximum value.

  In addition, you may make it the motor control apparatus of Embodiment 1-4 include the other component shown in the structural example of the system, such as the motor drive amplifier part 4, etc.

  In the first to fourth embodiments, a plurality of parameters are prepared in advance, each of which is applied to the generation pattern, and the current and speed of the motor are obtained based on each generation pattern after the parameters are applied. The example of calculating the power consumption of the motor for each parameter based on the obtained current and speed of the motor has been described, but without generating a plurality of parameters, the least square method, the steepest descent method, etc. The parameters for minimizing the power consumption represented by the equation (11) or the equation (12) may be calculated using the various optimization methods.

DESCRIPTION OF SYMBOLS 1 Motor 2 Encoder 3 Mechanical load 4 Motor drive amplifier part 5 Power supply 6 Regenerative resistor 7, 11, 12, 14 Motor control device 10 Power supply regeneration circuit 13 Current detection part 21 Driving force 22 Current 23 Motor information 24 Position command value 25 Electric power 26 Regenerative energy 27 Current information 28 Detection speed signal 71 Command value curve storage unit 72 Input reception unit 73 Command value curve selection unit 74 Parameter set generation unit 75, 111, 141 Power consumption calculation unit 76 Parameter set selection unit 77 Command generation unit 100 , 105 Command value generation information 101 Machine motion information 102 Work / loss calculation information 103 Command value curve group 104 Parameter set group 111 Power consumption calculation unit 121 Power consumption measurement unit

Claims (13)

A motor control device that generates and supplies the position command value to a motor drive amplifier that generates a current for driving the motor so that the operation of the motor follows the position command value,
An input receiving unit for receiving an input of a moving distance and positioning time;
A generation pattern that defines a transition of the position command value to be generated and stores a generation pattern that includes a parameter for adjusting the transition;
A parameter generation unit that generates a plurality of parameters of the generation pattern so as to satisfy the movement distance and positioning time received by the input reception unit;
Applying each of the plurality of parameters generated by the parameter generation unit to the generation pattern, obtaining the current and speed of the motor based on each generation pattern after applying the parameter, from the obtained current and speed, A power consumption calculation unit that calculates the power consumption when the motor follows the position command value for each parameter;
Based on the power consumption calculated for each parameter, a parameter selection unit that selects the parameter with the smallest power consumption among the plurality of parameters generated by the parameter generation unit;
A command generation unit that generates a position command value to be supplied to the motor drive amplifier based on a generation pattern to which the parameter selected by the parameter selection unit is applied;
Motor control apparatus comprising: a. The power consumption calculating unit includes: a motor configured by a product of a loss L generated according to a current or speed of the motor; a torque of the motor determined from the current of the motor; and a speed of the motor. By integrating for each parameter P = Q when the sum Q of the work W to be performed and the sum Q is larger than the zero value, and P = 0 when the sum Q is smaller than the zero value, the consumption of the motor Calculate the energy for each parameter,
  The motor control device according to claim 1. The power consumption calculating unit includes: a motor configured by a product of a loss L generated according to a current or speed of the motor; a torque of the motor determined from the current of the motor; and a speed of the motor. Calculating the power consumption of the motor by integrating the sum P of the work W to be performed ;
The motor control device according to claim 1 . The motor control device according to claim 2 , wherein the motor drive amplifier includes a regenerative resistor that consumes regenerative energy of the motor.   The motor control device according to claim 3, wherein the motor drive amplifier includes a power regeneration circuit that returns the regenerative energy of the motor to a power source that supplies power to the motor drive amplifier. The power consumption calculation unit calculates a current flowing through the motor and a speed of the motor based on a generation pattern after applying the parameter generated by the parameter generation unit.
The motor control device according to claim 2 , wherein the motor control device is a motor control device. The power consumption calculation unit supplies a position command value to the motor drive amplifier based on a generation pattern after applying the parameter generated by the parameter generation unit, and drives the motor on a trial basis. Measuring the current flowing through the motor during driving and the speed of the motor;
The motor control device according to claim 2 , wherein the motor control device is a motor control device. The input receiving unit receives an input of a maximum speed Vmax that defines a position command value that can be supplied to the motor drive amplifier,
The power consumption calculation unit calculates a peak speed Vp based on a generation pattern after applying the parameters generated by the parameter generation unit, and the calculated peak speed Vp is smaller than the input maximum speed Vmax In this case, calculate the power consumption for the parameter,
The motor control device according to claim 2 , wherein the motor control device is a motor control device. The input receiving unit receives an input of a maximum acceleration Amax that defines a position command value that can be supplied to the motor drive amplifier,
The power consumption calculation unit calculates a peak acceleration Ap based on a generation pattern after applying the parameter generated by the parameter generation unit, and the calculated peak acceleration Ap is smaller than the input maximum acceleration Amax. In this case, calculate the power consumption for the parameter,
The motor control device according to claim 2 , wherein the motor control device is a motor control device. The input receiving unit receives an input of a maximum current Imax that defines a position command value that can be supplied to the motor drive amplifier,
The power consumption calculation unit calculates a peak current Ip based on a generation pattern after applying the parameter generated by the parameter generation unit, and the calculated peak current Ip is smaller than the input maximum current Imax. In this case, calculate the power consumption for the parameter,
The motor control device according to claim 2 , wherein the motor control device is a motor control device. The power consumption calculation unit
Copper loss calculated by squaring the current flowing through the measured motor, or
To any one of claims 2 to 5, and calculates the loss L including at least one of the iron loss is calculated based on the current flowing through the motor with the measured and the speed of the motor The motor control apparatus described. The power consumption calculation unit
Copper loss calculated by squaring the current flowing through the measured motor, or
To any one of claims 2 to 5, and calculates the loss L including at least one of the iron loss is calculated based on the current flowing through the motor with the measured and the speed of the motor The motor control apparatus described. The loss L includes a loss based on copper loss, which is obtained by squaring the current of the motor, or a loss based on iron loss, which is obtained based on the current and speed flowing through the motor. The motor control device according to any one of claims 2 to 5 .

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