JP6118988B2 - Motor drive device - Google Patents

Description

  The present invention relates to a motor drive device that controls a motor with a plurality of control parameters.

  Due to the development of integrated circuits that combine customizable elements with conventional ASICs such as FPGAs and SoCs, the current motor drive devices are now equipped with servo motors according to external commands. In addition to the basic functions such as position, speed, and current control for driving control, various automatic adjustment functions are installed.

  FIG. 12 shows a block diagram of a conventional motor driving apparatus.

  The basic function for driving and controlling the motor is composed of single line blocks connected by solid lines in FIG.

  The external position command output from the host device 81 is input to the command selection unit 821 of the motor drive device 82. The command selection unit 821 selects either an internal position command or an external position command output by a test operation function 8211 described later, and outputs the selected command to the command response setting unit 822.

  The command response setting unit 822 performs smoothing (smoothing) processing, and outputs a command after performing filter calculation processing using the position command as input to the position speed control unit 823.

  The position / speed control unit 823 receives this command input and motor position information from the encoder 84, performs a feedback control calculation represented by PID control, and outputs a torque command such that the position deviation becomes zero.

  The load characteristic compensation unit 824 absorbs the difference in load inertia by performing a scaling process according to the total inertia of the motor 63 and the load 85 on the torque command output from the position / speed control unit. In addition, the compensated torque command is generated by estimating the frictional torque of the motor 83 and the load 85 from the motor position information from the encoder 84 and adding in advance.

  The resonance suppression unit 825 obtains the result of passing through a notch filter or low-pass filter process that removes a specific frequency component from the compensated torque command so as not to excite vibrations caused by the resonance characteristics of the motor 83 and the load 85, and the final torque. Output as a command.

  Next, in FIG. 12, an outline of an automatic adjustment function composed of double line blocks connected by dotted lines will be described.

  For example, as disclosed in Patent Document 1, the trial operation function 8211 generates a fixed amount of positive and negative reciprocating operation patterns with a triangular wave having an inclination acceleration / deceleration inside the motor driving device 82. More generally, parameters such as travel distance, maximum speed, acceleration time, deceleration time, stop time, etc. are set from the outside, and the command pattern is automatically calculated in real time by NC calculation processing built in the motor drive device 82. This function generates an internal position command for each. The operation of the command selection unit 821 can also be designated from the test run function 8211 by transmitting additional information for requesting selection of the internal position command to the command selection unit 821 together with the internal position command.

  The command response setting function 8221 gives, for example, a single index called a rigidity value from the outside of the motor drive device 82 and determines the responsiveness of the position command from a table built in the motor drive device 82 as disclosed in Patent Document 2. Determine the cutoff frequency of the prefilter. More generally, a form that indicates finer frequency characteristics with the filter time constant and attenuation ratio of the first-order lag and second-order lag, or a form that indicates transient characteristics of time response such as rise time, delay time, overshoot amount, etc. One or more command response indicators are input, and one or more parameters of the command response setting unit 822 are automatically set so that the input / output relationship of the command response setting unit 822 matches the command response indicator as much as possible.

  For example, as described in Patent Document 3, the stiffness setting function 8231 uses one parameter representing servo stiffness as an index, and multiplies it by a fixed ratio to set a speed proportional gain, a speed integral gain, and a position proportional gain in conjunction with each other. To do. Further, as described in Patent Document 2, the gain setting of the position / speed control unit may be determined from a table corresponding to the stiffness value. In general, one or a plurality of stiffness indicators are input, and one or more parameters of the position / speed control unit 823 are automatically set so that the disturbance response of the position / speed control unit 823 matches the stiffness index as much as possible.

  For example, as disclosed in Patent Document 5, the load characteristic measurement function 8241 uses a least square estimation from a torque command to the motor 83, motor position information from the encoder 84, and speed / acceleration that is a high-order difference thereof. Friction characteristics such as total inertia including 83 and load 85, unbalanced load torque that always works constant, dynamic friction torque depending on the operation direction, and viscous friction torque proportional to the operation speed are automatically estimated. In addition, by reflecting the estimation result on the load characteristic compensation unit 824 in real time, the same responsiveness specified by the command response index and the stiffness index can be obtained regardless of what load 85 is connected, and adaptive robustness is provided. be able to.

  The adaptive filter function 8251 automatically adjusts the parameters of the resonance suppression unit 825 so that the high-frequency component extracted from the motor speed is as close to 0 as possible by an adaptive algorithm using a recursive notch filter, as described in Patent Document 4, for example. To do. Variations such as extracting vibration components from the torque command, extracting vibration components from the difference from the model response, or having multiple adaptive filters to automatically adjust not only the notch frequency but also the width, depth, and Q value Exists. In general, it can be said that the vibration component caused by the resonance characteristics of the motor 83 and the load 85 is extracted by some method and the filter parameter of the resonance suppression unit 825 is automatically adjusted by an adaptive algorithm that minimizes the difference from the reference input. .

The oscillation detection function 826 extracts the fluctuation from the motor position information from the encoder 84, for example, as disclosed in Patent Document 6, and compares it with a threshold value, determines the duration, and the like.
3 and the oscillation state of the load 85 are detected. When oscillation is detected, oscillation detection information is transmitted to the stiffness setting function 8231 described above, and a stiffness value that narrows the frequency bandwidth of the feedback loop is selected to automatically suppress oscillation.

  Finally, the evaluation index measurement function 827 periodically outputs input / output data such as a position command output of the command selection unit 821, a motor position output of the encoder 84, and a torque command output of the load characteristic compensation unit 824 as disclosed in Patent Document 7, for example. This is a function for measuring, storing and calculating, displaying and accumulating evaluation values from input / output data corresponding to evaluation indices such as settling time, overshoot and torque fluctuation. In any case, it is an important aspect of this function to compress data from a huge amount of motor control information that can be acquired in real time into a small number of evaluation indexes that are more meaningful.

JP-A-5-346359 JP 2007-336792 A JP-A-6-319284 JP 2004-274976 A JP 2005-168166 A JP 2012-110230 A International Publication No. 2009/096169 Japanese Patent No. 4720744

  However, in the conventional technique, the oscillation detection function of Patent Document 6 and the vibration detector of Patent Document 8 compare the amplitude level of the vibration component with a threshold value in order to detect vibration, but the amplitude level does not reach the threshold value. Micro-vibration cannot be detected, and the control gain setting obtained as a final result of automatic adjustment has a problem that sound is generated due to micro-vibration that cannot be detected.

  The present invention solves the above-described conventional problems, and provides a motor drive device that does not generate micro-vibration by adding a micro-vibration detection function and not applying an automatic adjustment result that generates micro-vibration as a final result. The purpose is to do.

In order to solve the above problem, in the motor drive device according to claim 1, in the motor control device that controls the motor using the information of the position detector, the speed command is output from the position command, the motor position, and the control gain setting value. A position controller; a speed controller that outputs a torque command from the speed command, the motor speed, and the control gain setting value; a current controller that outputs a motor drive signal from the torque command; and the motor speed from the motor position. A speed calculator that outputs a fine vibration detection signal from the motor speed and the fine vibration detection index , and a control gain automatic setting device that outputs the control gain setting value from the fine vibration detection signal; The micro-vibration detector detects the presence or absence of micro-vibration from the number of zero crossings of the motor speed, and the control gain automatic setting unit includes the micro-vibration With knowledge signal to increase the control gain in the state without micro-vibration detection stores the control gain setting value, in the state of there slight vibration detection, outputs the set value of the control gain that has been stored, further The fine vibration detector sets a threshold value of the number of times of zero crossing for determining that there is vibration based on a minimum frequency to be detected and a count time .

3. The motor drive device according to claim 2, wherein the position control device outputs a speed command from a position command, a motor position, and a control gain setting value in the motor control device that controls the motor using information of the position detector, and the speed command. A speed controller that outputs a torque command from the motor speed and the control gain setting value, a current controller that outputs a motor drive signal from the torque command, a speed calculator that outputs the motor speed from the motor position, A fine vibration detector that outputs a fine vibration detection signal from the motor speed and a fine vibration detection index, an oscillation detector that outputs an oscillation detection signal from the motor speed, the fine vibration detection signal, the oscillation detection signal, and the fine vibration A control gain automatic setting device that outputs the control gain setting value from an allowable setting, and the fine vibration detector uses a zero cross count of the motor speed. The presence / absence of vibration is detected, the oscillation detector detects the presence / absence of oscillation from the vibration information of the motor speed, and the control gain automatic setting device increases the control gain when the oscillation detection signal is not oscillated. In addition, the control gain setting value and the slight vibration detection signal are stored, and in a state where oscillation is present, the control gain is reduced, and in a setting where the fine vibration allowable setting is not allowed, a combination with a reduced control gain is used. The control gain setting value without the stored minute vibration detection signal is output, and in the case of an allowable setting, the control is performed regardless of the stored minute vibration detection signal in combination with the reduced control gain. You output a gain setting value, further, the minute vibration detector, based on the lowest frequency and counting the number of times to be detected, the threshold of the number of times of the zero crossing is determined that there is vibration And sets the.

  According to a third aspect of the present invention, in the motor drive device according to the first or second aspect, the micro-vibration detector is configured such that the acquired value immediately before the motor speed is a value other than zero and the current acquired value. The number of times that the product of is negative is the number of zero crossings.

  According to a fourth aspect of the present invention, in the motor drive device according to the first or second aspect, the micro vibration detector extracts a sign component of the motor speed, and if zero, immediately before the zero becomes zero. The number of times that the product of the sign of the acquired value is held and the product of the sign of the immediately preceding acquired value and the sign of the current acquired value is negative is zero-crossed.

  According to a fifth aspect of the present invention, in the motor drive device according to the first or second aspect, the fine vibration detector may detect a slight vibration from the number of zero crosses of the offset-added signal obtained by performing an offset process on the motor speed. The presence or absence is detected.

  According to a sixth aspect of the present invention, in the motor drive device according to the fifth aspect, the micro-vibration detector determines the number of times that the product of the acquired value immediately before the motor speed becomes a value equal to or smaller than the offset and the current acquired value is zero crossed. It is characterized by the number of times.

  The motor drive device according to claim 7, wherein, in claim 5, the micro vibration detector extracts a sign component of the motor speed with offset, and when the motor speed becomes a value equal to or less than an offset value, the offset value or less. The number of times that the product of the sign of the immediately preceding acquired value and the sign of the current acquired value is negative is zero-crossed.

  The motor drive device according to claim 8 is characterized in that, in any one of claims 1 to 7, the fine vibration detector changes the offset value in accordance with a resolution of a position detector.

  According to a ninth aspect of the present invention, in the motor drive device according to any one of the first to seventh aspects, the fine vibration detector changes the offset value in accordance with a positioning settling completion width.

Further, features of other claims will be described.

The motor drive device according to claim 10 , wherein the micro-vibration detector outputs the micro-vibration detection signal from the position command, the motor speed, and the micro-vibration detection index according to any one of claims 1 to 9. The zero crossing count is counted when there is no command.

In the motor driving device according to claim 11, in any one of claims 1 to 9, wherein the micro-vibration detectors outputs the micro-vibration detection signal the position command and the motor position from the micro-vibration detection index The zero crossing count is counted when there is no command.

In the motor drive device according to claim 12 , in any one of claims 10 and 11 , the fine vibration detector starts counting from the first zero cross after the command is lost, and counts the number of zero crosses. Features.

In the motor drive device according to claim 13 , in any one of claims 10 to 12 , the micro-vibration detector judges as a continuous vibration when the number of zero crosses increases for a predetermined time or more. .

The motor drive device according to claim 14 , wherein the micro-vibration detector according to any one of claims 1 to 13 receives, as an input, a motor speed that has been subjected to filter processing for high frequency removal. To do.

According to a fifteenth aspect of the present invention, in the fourteenth aspect , the filter processing is at least one of a low-pass filter, a band-pass filter, and a moving average filter.

According to a sixteenth aspect of the present invention, in any one of the fourteenth and fifteenth aspects, the offset value is changed in accordance with the setting of the filter processing.

The motor drive device according to claim 17 is the motor drive device according to any one of claims 1 to 16 , wherein the micro-vibration detector outputs the zero-cross frequency of micro-vibration as the micro-vibration frequency.

  According to the motor drive device of the first aspect, vibration with a small amplitude level (fine vibration) can be detected from the number of occurrences of zero crossing of the motor speed, and a control gain that does not generate fine vibration can be set from the automatic adjustment result. .

  According to the motor drive device of the second aspect of the present invention, vibration with a small amplitude level (fine vibration) is detected from the number of occurrences of zero crossing of the motor speed, and a control gain according to the fine vibration allowable setting is set from the automatic adjustment result. Can do.

  According to the motor drive device of claim 3, the motor speed is zero-crossed by counting the number of times that the product of the immediately previous acquired value and the current acquired value is a non-zero value. You can easily count the number of times.

  According to the motor drive device of claim 4, the product of the sign component of the immediately preceding acquired value where the motor speed is a value other than zero and the sign component when the current acquired value is other than zero is a negative value. By counting the number of times, the number of calculation digits can be reduced and the number of zero crossings of the motor speed can be easily counted.

According to the motor drive device of the fifth aspect, the motor speed is compared with the offset level, and when the motor speed is equal to or lower than the offset level, the process of holding the immediately preceding value is performed. By counting the number of zero crossings, it is possible to eliminate fine vibrations that do not lead to the generation of sound such as one-pulse vibration.

  According to the motor drive device of the sixth aspect, the motor speed is compared with the offset level, and when the motor speed becomes equal to or lower than the offset level, the process of holding the immediately preceding value is performed. By counting the number of times that the product of the previous acquired value and the current acquired value is a negative value, the number of zero crossings of the motor speed with offset can be easily counted.

  According to the motor drive device of the seventh aspect, the motor speed is compared with the offset level, and when the motor speed is equal to or lower than the offset level, the process of holding the immediately preceding value is performed. By obtaining the product of the previous acquired value and the current acquired value of the code component, the number of calculation digits can be reduced and the number of zero crossings of the motor speed with offset can be easily counted.

  According to the motor drive device of the eighth aspect, even when the minimum detection speed varies depending on the resolution of the position detection value, the offset value is changed in accordance with the resolution of the position detector, so that the position detection value can be changed according to the resolution of the position detector. It is possible to realize fine vibration detection.

  According to the motor drive device of the ninth aspect, the fine vibration level to be detected can be changed according to the positioning accuracy by changing the offset value in accordance with the positioning settling completion width.

Further, effects of other claims will be described.

According to the motor drive device of the tenth aspect , the fine vibration at the time of stop can be detected by counting the number of times of zero crossing when there is no command.

According to the motor drive device of the eleventh aspect , even when the input of the fine vibration detector is a position deviation, the fine vibration at the time of stop can be detected by counting the number of zero crosses when there is no command. .

According to the motor drive device of the twelfth aspect , by detecting the number of zero crosses starting from the zero cross detection time of the motor speed signal, it is possible to realize vibration detection in consideration of the response follow-up delay tail.

According to the motor drive device of the thirteenth aspect , it is possible to confirm the occurrence of continuous vibration by confirming that the number of zero crossings increases for a predetermined time or more.

According to the motor drive device of the fourteenth aspect , it is possible to remove a frequency band that does not require detection.

According to the motor drive device of the fifteenth aspect , it is possible to detect only the minute vibration of the specific vibration frequency.

According to the motor drive device of the sixteenth aspect , it is possible to realize the detection of the vibration at the level according to the filter setting.

According to the motor drive device of the seventeenth aspect , it is possible to monitor the minute vibration occurrence state.

Block diagram of motor drive apparatus according to Embodiment 1 Flowchart of servo adjustment of motor drive device in Embodiment 1 Block diagram of motor drive apparatus according to Embodiment 2 Flowchart of servo adjustment of motor drive device in embodiment 2 Block diagram of a micro-vibration detector of the motor drive device in the second embodiment Flowchart of micro vibration detector of motor drive device in embodiment 2 The figure of the signal waveform of the micro vibration detector of the motor drive device in Embodiment 2 Block diagram of motor drive apparatus according to Embodiment 3 Block diagram of micro vibration detector of motor drive device in Embodiment 3 Block diagram of motor drive apparatus according to Embodiment 4 Block diagram of micro-vibration detector of motor drive device in Embodiment 4 Block diagram of a conventional motor drive device Block diagram of a conventional motor drive oscillation detector Figure of bandpass filter characteristics of an oscillation detector of a conventional motor drive device

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

(Embodiment 1)
FIG. 1 is a block diagram of a motor driving apparatus according to claim 1 of the present invention.

  In FIG. 1, the position controller 1 outputs a speed command 102 from a position command 101, a motor position 105, and a control gain setting value 109, and the speed controller 2 outputs a speed command 102, a motor speed 106, and a control gain setting value 109. From the torque command 103, the current controller 3 outputs the motor drive signal 104 from the torque command 103, the speed calculator 4 outputs the motor speed 106 from the motor position 105, and the micro vibration detector 5 A fine vibration detection signal 108 is output from the motor speed 106 and the fine vibration detection index 107, and the control gain automatic setting unit 6 outputs a control gain setting value 109 from the fine vibration detection signal 108.

  The position controller 1 is controlled so that the deviation between the position command 101 and the motor position 105 is zero, and has a control gain such as a position proportional gain and a position integral gain. Control is performed using the control gain setting value 109 output from the control gain automatic setting device 6.

  The speed controller 2 is controlled so that the deviation between the speed command 102 and the motor speed 106 is zero, and has control gains such as a speed proportional gain, a speed integral gain, and a speed derivative gain. Control is performed using the control gain setting value 109 output from the control gain automatic setting device 6.

  The current controller 3 outputs a motor drive signal 104 so that the torque specified by the torque command 103 is output, and controls the motor current.

  The speed calculator 4 calculates the motor speed 106 from the difference between the motor position 105 and the value before one sampling.

  The micro-vibration detector 5 has, for example, the configuration shown in FIG. 5 and counts the number of zero crosses with respect to the motor speed 106 and detects the micro-vibration compared with the threshold number set by the micro-vibration detection index 107. And outputs the result as a fine vibration detection signal 108.

  The control gain automatic setting unit 6 first reduces the gain to such an extent that slight vibration does not occur in the motor, increases the control gain setting value 109 for each motor operation, and simultaneously stores the control gain setting value 109 in an internal memory or the like. Remember it. When micro vibration is detected by the micro vibration detection signal 108, the control gain setting value 109 is set to the previous value or an appropriate value several times before. By doing so, it is possible to set a control gain that does not generate micro vibrations.

  Next, the servo adjustment method will be described with reference to the flowchart shown in FIG.

  FIG. 2 is a flowchart of a servo adjustment method in the motor drive apparatus according to claim 1 of the present invention.

  A step 201 for setting the control gain low so that the motor does not oscillate, a step 202 for starting the motor operation, a step 203 for detecting the presence / absence of micro-vibration, and storing the control gain in the internal memory or the like when there is no micro-vibration. Step 204, step 205 for increasing the control gain, and step 206 for setting the control gain to the previous value or the optimum value several times before when there is slight vibration. The process returns to step 203 and is repeated until the slight vibration is detected in step 203.

  By storing the control gain in step 205 and resetting it in step 206, the optimum control gain can be automatically set.

  According to the present invention, even when the control gain is automatically adjusted, it is possible to set a control gain that does not generate micro vibrations. As a result, it is possible to suppress the generation of sound due to minute vibrations.

(Embodiment 2)
Since the basic configuration is the same as that of the first embodiment, differences will be described here.

  FIG. 3 is a block diagram of the motor drive apparatus according to claim 2 of the present invention.

  In FIG. 3, the oscillation detector 7 outputs an oscillation detection signal 110 from the motor speed 106, and the control gain automatic setting device 6 sets a control gain from the oscillation detection signal 110, the fine vibration detection signal 108, and the fine vibration allowable setting 111. The value 109 is output.

  The oscillation detector 7 has, for example, a configuration as shown in FIG. 13 of the conventional example, applies a bandpass filter shown in FIG. 14 to the motor speed 106, extracts a vibration component, and detects oscillation. The result is output as the oscillation detection signal 110.

  The control gain automatic setting unit 6 first reduces the gain to such an extent that no slight vibration is generated in the motor, and simultaneously increases the control gain setting value 109 for each motor operation, and simultaneously detects the control gain setting value 109 and the slight vibration detection. The combination with the signal 108 is stored in an internal memory or the like. When oscillation is detected by the oscillation detection signal 110, if the fine vibration permissible setting 111 is not permitted, the control gain set value 109 is set to OFF when the fine vibration detection signal is off, and if allowed, the control gain set value 109 is set to the previous value, Or set it to an appropriate value several times before. By doing so, it is possible to set an optimum control gain according to the fine vibration allowable setting 111.

  Next, the servo adjustment method will be described with reference to the flowchart shown in FIG.

FIG. 4 is a flowchart of a servo adjustment method in the motor drive apparatus according to claim 2 of the present invention.

  Step 401 for setting the control gain low so that the motor does not oscillate, Step 402 for starting the motor operation, Step 403 for detecting the presence or absence of slight vibration, Step 404 for manipulating the signal based on the result of Step 403, Step 405 for detecting presence / absence, step 406 for storing a combination of a control gain and a slight vibration detection signal in an internal memory or the like when there is no oscillation, step 407 for increasing the control gain, and a case with oscillation Further, step 408 for checking the fine vibration allowable setting 111, and if fine vibration is not allowed, the control gain is set to the previous value of the fine vibration signal OFF or the optimum value several times before, and if shared, the control gain is used. Consists of the procedure of step 409 for setting the previous value to the previous value or the optimal value several times before, and returns from step 407 to step 403 In which it repeated until the oscillation detected in step 405.

  In step 407, the combination of the control gain and the presence / absence of slight vibration is stored, and the control gain is reset in step 409 according to the fine vibration allowable setting 111, so that the optimum control according to the fine vibration allowable setting 111 is achieved. Gain can be set automatically.

  According to the present invention, even when the control gain is automatically adjusted, it is possible to set the control gain according to the fine vibration allowable setting. As a result, it is possible to increase the control gain in an apparatus that allows fine vibrations.

  Next, the micro vibration detector shown in FIG. 5 will be described.

  FIG. 5 is a block diagram of the fine vibration detector in the motor drive device according to claim 1 of the present invention.

  In FIG. 5, the fine vibration detector 5 includes an offset-added signal generation processing unit 5 a, a zero-cross count processing unit 5 b, and a fine vibration detection processing unit 5 c, and the offset-added signal generation processing unit 5 a The offset-added signal 501 is output from the offset level 107a given as the micro-vibration detection index 107, and the zero-cross number counting processing unit 5b detects the zero-cross from the micro-vibration detection start signal 107b given as the micro-vibration detection index 107 and the signal with offset 501. The fine vibration detection processing unit 5c outputs the fine vibration detection signal 108 from the zero cross detection frequency 502 and the fine vibration detection threshold 107c given as the fine vibration detection index 107.

  Next, the flow of processing of the fine vibration detection method shown in FIG. 6 will be described.

FIG. 6 is a flowchart showing the steps of the fine vibration detection method in the motor drive device according to claim 1 or 2 of the present invention.
In FIG. 6, the signal generation processing unit with offset 5a in step 301 compares the motor speed 106 with the offset level 107a. If the motor speed 106 is higher than the offset level 107a, the motor speed code information is output. An offset-added signal 501 that retains the sign of the previous motor speed is generated. Next, the zero crossing count processing unit 5b in step 302 obtains the product of the previous value and the current value of the offset-added signal 501 when the fine vibration detection start signal 107b is on. If the calculation result is negative, the zero crossing is performed. The detection count 502 is incremented by one. Further, the micro vibration detection processing unit 5c in step 303 compares the zero cross detection frequency 502 with the micro vibration detection threshold 107c, and when the zero cross detection frequency 502 exceeds the micro vibration detection threshold 107c, the micro vibration detection signal 108 is turned on. To do.

  Next, signals of the micro vibration detector shown in FIG. 7 will be described.

  FIG. 7 is a signal waveform in the micro-vibration detector in the motor drive device according to claim 1 or 2 of the present invention.

  In FIG. 7, when the speed command 102 is given, the signal waveform of the motor speed 106 is obtained. When the offset level 107a is given, the offset-added signal generation processing unit 5a compares the motor speed 106 with the offset level 107a. When the motor speed 106 is smaller than the offset level 107a, an offset motor speed signal 501a holding the previous motor speed signal is generated, and a sign component 501b of the offset motor speed signal obtained by extracting only the sign component is output. Next, in the zero cross frequency count processing unit 5b, the fine vibration detection start signal 107b is always turned on, the product 601 of the previous value and the current value of the sign component of the motor speed signal with offset is obtained, and if the result is negative, the zero cross Increment the number by one. Further, the micro vibration detection processing unit 5c compares the number of zero crossings with the micro vibration detection threshold 107c, and turns on the micro vibration detection signal 108 when the number of zero crosses exceeds the micro vibration detection threshold 107c.

  According to the present invention, vibration with a small amplitude can be detected from the number of zero crossings of a signal.

  The offset level of the fine vibration detection index 107 may be zero.

  Also, in order to count the number of zero crossings, the count is increased when the result of the product 601 of the previous value and the current value of the sign component of the motor speed signal with offset is negative, but the value of the motor speed signal 501a with offset is simply The number of zero crosses may be incremented when a positive / negative code is confirmed and the code becomes different from the previous code.

  In addition, the motor speed signal with offset is compared with the offset level of the motor speed 106 and the fine vibration detection index 107, and only the sign component is extracted and used as the code component 501b of the motor speed signal with offset. The product of the speed signals 501a may be obtained to count the number of zero crossings.

  When the motor speed signal with offset is smaller than the offset level 107a, the motor speed signal with offset is set by holding the previous motor speed signal, but the offset level is set instead of the previous motor speed signal. Alternatively, the previous value may be used as zero by the zero cross frequency count processing unit.

  Further, the offset level may be changed in accordance with the resolution of the position detector, or may be changed in accordance with the positioning settling completion width.

  Further, the number of zero crossings may be displayed as the number of micro vibrations.

  In addition, since zero crossing occurs twice in one cycle of the signal, for example, the number of zero crosses during a count time of 500 ms at a vibration frequency of 50 Hz is 50 times. Micro vibrations up to 50 Hz can be detected, and the number of micro vibration detections can be set from the minimum micro vibration frequency and count time desired to be detected in this way.

  In addition, by applying a filter process to the motor speed input to the micro vibration detector, it is possible to confirm the presence or absence of micro vibrations in a predetermined frequency band such as an audible region.

Further, the offset level may be changed in accordance with the setting of the filter processing to the motor speed input to the fine vibration detector.

(Embodiment 3)
Since the basic configuration is the same as that of the second embodiment, differences will be described here.

FIG. 8 is a block diagram of the motor drive apparatus according to claim 10 of the present invention.

  In FIG. 8, the micro vibration detector 5 outputs a micro vibration detection signal 108 from a position command 101, a motor speed 106, and a micro vibration detection index 107.

  Next, a block diagram of the micro vibration detector shown in FIG. 9 will be described.

  The fine vibration detector 5 turns off the fine vibration detection start signal 107b when the position command 101 is given, and turns on the fine vibration detection start signal 107b when the position command 101 is not given to detect the fine vibration. And outputs the result as a fine vibration detection signal 108.

  According to the present invention, vibration at the time of stop can be detected.

  In this embodiment, the command is a position command, but a speed command may be used.

(Embodiment 4)
Since the basic configuration is the same as that of the third embodiment, differences will be described here.

FIG. 10 is a block diagram of the motor drive apparatus according to claim 11 of the present invention.

  In FIG. 10, the micro vibration detector 5 outputs a micro vibration detection signal 108 from a position command 101, a motor position 105 and a micro vibration detection index 107.

  Next, a block diagram of the micro vibration detector shown in FIG. 11 will be described.

  The fine vibration detector 5 obtains a position deviation 112 which is a difference between the position command 101 and the motor position 105, and inputs the position deviation 112 to the offset-added signal generation processing unit 5a. Then, the fine vibration detection start signal 107b is turned off when there is a position command, and the fine vibration detection start signal 107b is turned on when there is no position command to perform fine vibration detection, and the result is output as the fine vibration detection signal 108. To do.

  According to the present invention, it is possible to detect a slight vibration at the time of stopping from the position deviation.

  In this embodiment, the command is a position command, but a speed command may be used, the motor position may be a motor speed, and fine vibration detection may be performed from the speed deviation.

  In addition, when the number of zero crossings increases after a predetermined time has elapsed since the command is lost, it can be determined that the vibration is a continuous vibration.

  Also, by checking the number of counts at regular intervals with reference to the first zero-cross count-up after the command disappears, it is possible to confirm the presence or absence of slight vibration in consideration of the follow-up delay of the motor position.

  Further, although described as a position control system, a speed control system using a speed command as an input may be used.

  Further, although the fine vibration detector 5 and the oscillation detector 7 are described separately, the fine vibration detection and the oscillation detection may be performed by one block.

  As described above, the motor drive device of the present invention can automatically adjust the control gain that does not generate micro vibrations to the optimum value, and can be used for servo motor control with a control parameter adjustment function, control of other linear motors, and the like. Is also useful.

  The servo adjustment method for the motor driving device described in the present invention is not necessarily built in the motor driving device. A personal computer equipped with a corresponding communication means through a communication interface (not shown) provided in the motor driving device (RS232, RS485, USB communication, Ethernet (registered trademark) connection, wireless communication means such as Bluetooth (registered trademark) communication or wireless LAN). The servo adjustment step of the present invention may be implemented in another device such as a console.

DESCRIPTION OF SYMBOLS 1 Position controller 2 Speed controller 3 Current controller 4 Speed calculator 5 Slight vibration detector 5a Signal generation processing part with offset 5b Zero cross frequency count processing part 5c Slight vibration detection processing part 6 Control gain automatic setting device 7 Oscillation detector 7a Bandpass filter 7b Amplitude determiner 7c Vibration continuation determiner 101 Position command 102 Speed command 103 Torque command 104 Motor drive signal 105 Motor position 106 Motor speed 107 Slight vibration detection index 107a Offset level 107b Slight vibration detection start signal 107c Slight vibration detection Threshold 108 Slight vibration detection signal 109 Control gain set value 110 Oscillation detection signal 111 Slight vibration allowable setting 112 Position deviation 501 Signal with offset 501a Motor speed signal with offset 501b Sign component of motor speed signal with offset 502 Zero Loss detection number 601 preceding value of the code component of the motor speed signal with the offset and the current value of a product 701 motor speed 702 vibration component signal 703 vibration detection signal 704 oscillation detection signal

Claims (17)

In the motor control device that controls the motor using the information of the position detector,
A position controller that outputs a speed command from the position command, motor position, and control gain setting value, a speed controller that outputs a torque command from the speed command, motor speed, and control gain setting value, and motor drive from the torque command A current controller that outputs a signal; a speed calculator that outputs the motor speed from the motor position; a micro vibration detector that outputs a micro vibration detection signal from the motor speed and a micro vibration detection index; and the micro vibration detection A control gain automatic setting device that outputs the control gain setting value from a signal,
The fine vibration detector detects the presence or absence of fine vibration from the number of zero crossings of the motor speed, and the control gain automatic setting device increases the control gain when the fine vibration detection signal is not detected. The control gain setting value is memorized, and in the state where fine vibration is detected, the memorized control gain setting value is output ,
Further, the fine vibration detector sets a threshold value of the number of times of zero crossing that determines that there is vibration based on a minimum frequency to be detected and a count count time . In the motor control device that controls the motor using the information of the position detector,
A position controller that outputs a speed command from the position command, motor position, and control gain setting value, a speed controller that outputs a torque command from the speed command, motor speed, and control gain setting value, and motor drive from the torque command A current controller that outputs a signal, a speed calculator that outputs the motor speed from the motor position, a micro vibration detector that outputs a micro vibration detection signal from the motor speed and a micro vibration detection index, and the motor speed An oscillation detector for outputting an oscillation detection signal; and a control gain automatic setting device for outputting the control gain setting value from the fine vibration detection signal, the oscillation detection signal and the fine vibration allowable setting,
The fine vibration detector detects the presence or absence of fine vibration from the number of zero crossings of the motor speed, the oscillation detector detects the presence or absence of oscillation from the vibration information of the motor speed, and the control gain automatic setting device When the oscillation detection signal is not oscillated, the control gain is increased and the control gain setting value and the micro vibration detection signal are stored. When the oscillation is detected, the control gain is decreased and the micro vibration is allowed. If the setting is not allowed, the control gain setting value without the micro-vibration detection signal stored in combination with the reduced control gain is output. If the setting is allowed, the combination with the reduced control gain is output. Regardless of the micro-vibration detection signal stored in step 1, the control gain setting value is output .
Further, the fine vibration detector sets a threshold value of the number of times of zero crossing that determines that there is vibration based on a minimum frequency to be detected and a count count time .   3. The micro vibration detector according to claim 1, wherein the number of times that the product of the previous acquired value and the current acquired value becomes negative is zero-crossed, wherein the motor speed is a value other than zero. 2. The motor drive device according to item 1.   The micro-vibration detector extracts the sign component of the motor speed, and in the case of zero, holds the sign of the acquired value immediately before becoming zero, and the product of the sign of the immediately preceding acquired value and the sign of the current acquired value is 3. The motor driving apparatus according to claim 1, wherein the number of times of being negative is the number of zero crossings.   The said micro vibration detector detects the presence or absence of a micro vibration from the frequency | count of the zero cross of the motor speed signal with an offset which performed the offset process to the said motor speed, The one of Claim 1 or 2 characterized by the above-mentioned. Motor drive device.   6. The motor drive according to claim 5, wherein the fine vibration detector sets the number of times that the product of the acquired value immediately before the motor speed becomes a value equal to or less than the offset and the current acquired value to be negative is the number of zero crossings. apparatus.   The fine vibration detector extracts a sign component of the offset motor speed signal, and retains the sign of the acquired value immediately before the motor speed is equal to or less than the offset value when the motor speed is equal to or less than the offset value. 6. The motor driving apparatus according to claim 5, wherein the number of times that the product of the sign of the immediately preceding acquired value and the sign of the present acquired value is negative is zero-crossed.   The motor drive device according to any one of claims 5 to 7, wherein the fine vibration detector changes the offset value in accordance with a resolution of a position detector.   The motor drive device according to claim 5, wherein the fine vibration detector changes the offset value in accordance with a positioning settling completion width. The micro-vibration detectors, the position command and outputs the micro-vibration detection signal from the micro-vibration detection index and the motor speed, claim, characterized in that counting the number of times of the zero crossing in the absence command 1-9 The motor drive device of any one of these. The micro-vibration detectors, the position command and outputs the micro-vibration detection signal from the micro-vibration detection index and the motor position, claim, characterized in that counting the number of times of the zero crossing in the absence command 1-9 The motor drive device of any one of these. The micro-vibration detectors and starting from the first zero crossing from missing command, the motor driving apparatus according to any one of claims 10 or 11, characterized in counting the number of times of the zero crossing. The motor drive device according to any one of claims 10 to 12 , wherein the micro-vibration detector judges as continuous vibration when the number of zero crosses increases for a predetermined time or more. The motor drive device according to any one of claims 1 to 13 , wherein the micro-vibration detector receives a motor speed subjected to filter processing for the purpose of high-frequency removal. 15. The motor drive device according to claim 14 , wherein the filter processing is at least one of a low-pass filter, a band-pass filter, and a moving average filter. The motor drive device according to any one of claims 14 or 15, characterized in that for changing the offset value in accordance with the setting of the filtering process. The motor drive device according to any one of claims 1 to 16 , wherein the micro vibration detector outputs the number of times of zero crossing of micro vibration as the number of micro vibrations.

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