JP6281114B2 - Motor control device and motor control system - Google Patents

Description

  The present invention relates to a motor control system having a function of distributing processing among a plurality of motor control devices used in industrial apparatuses such as liquid crystal transfer devices and machine tools.

  Conventionally, an industrial apparatus such as a liquid crystal transfer apparatus has a motor control system configuration as shown in FIG. The motor controller is the master axis, the slave axis is the only function of the torque controller, and the torque command that is the output of the master axis position / speed controller is sent to the master axis torque controller and the slave axis. There has been proposed a system that distributes (assists) motor torque on a plurality of axes by allowing a slave axis to output torque that is input to a torque controller and synchronized with a master axis (see, for example, Patent Document 1). .

  In addition, a method has been proposed in which a master axis and a slave axis are connected by a synchronous communication device, and data detected by the master axis is synchronized with respect to the timing at which the data is input to the master axis and the slave axis (see Patent Document 2, for example).

JP 2007-219601 A JP 2012-90385 A

  The problem to be solved is that the slave axis is the same as the master axis for the purpose of reducing the number of models of the motor control device even though the calculation load on the slave axis is lighter than the calculation load on the master axis. As a result, the slave axis is equipped with a CPU that exceeds the required computing power, which increases the material cost of the motor controller. It was.

  The present invention solves the above-described conventional problems, and an object of the present invention is to provide a motor control system that reduces the material cost of both the master axis and the slave axis of the motor control device and reduces the cost of the industrial device itself.

In order to solve the above problem, a motor control device according to claim 1 is configured to connect a host device and a plurality of motor drive devices by synchronous communication, and the motor control device includes a CPU, a synchronous communication device, a storage device, and the like. The CPU includes a position command calculator, a position / speed controller, a torque controller, and a switch, and the position command of any one of the motor control devices among the plurality of motor control devices. A plurality of parameter values stored in each of the storage units of the plurality of motor control devices, which is calculated by the arithmetic unit and which one of the motor control devices is operated by the position / speed controller The switching is performed by each of the switching units of the plurality of CPUs based on the plurality of CPUs, and the plurality of motor control devices pass through each of the synchronous communication units, and the position of one of the CPUs among the plurality of CPUs The calculation result of the command calculator or the position / speed controller is output to the position / speed controller or the torque controller of another CPU, and by setting the parameter value, a plurality of motor control devices The torque controller delays the output of the calculation result of each of the motor control devices, and synchronizes the input timing of the calculation result to the torque controller .

According to the motor control device according to claim 1, CPU mounting master shaft, the motor control device of the slave axis, than the prior art it is possible to replace those low computing power, lowering the unit price of the CPU Reduce material costs for motor control devices. In addition, since the master axis and slave axis can be realized with the same hardware and software as before, the number of models of the motor control device can be suppressed, and inventory can be reduced.

Configuration diagram of a motor control system in Embodiment 1 of the present invention Timing chart of motor control system in embodiment 1 of the present invention Configuration diagram of conventional motor control system

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

(Embodiment 1)
The first embodiment is an example showing the basic configuration of claim 1 of the present invention, and will be described with reference to FIG.

The host device 131 and the plurality of motor control devices 121 are connected by synchronous communication.

The motor control device 121 includes a synchronous communication device 101, and a position command computing unit 102 having an output value of the output z3 of the synchronous communication device 101 as an input value, input a1, input a2, output a1, and output a2 between each input and output. The switching device A103 is capable of switching the connection, the output value of the position command calculator 102 is input to the input a1 of the switching device A103, and the output z1 of the synchronous communication device 101 is input to the input a2 of the switching device A103. The output value is input, the output value of the output a1 of the switch A103 is input to the input z1 of the synchronous communication device 101, the output value of the output a2 of the switch A103 is input to the position / speed controller 104, the input b1, A switch B105 is provided that can switch the connection between the input b2, the output b1, and the output b2, and the output value of the position / speed controller 104 is input to the input b1 of the switch B105. The output value z2 of the synchronous communication device 101 is input to the input b2 of the switching device B105, the output value b1 of the switching device B105 is input to the input z2 of the synchronous communication device 101, and the output b2 of the switching device B105. Is output to the torque controller 106, the calculation performed by the position command calculator 102, the switch A103, the position / speed controller 104, the switch B105, and the torque controller 106 is performed in the CPU 122, and the torque controller 106 is provided with a motor controller 107 having an output value of 106 as an input value, and a condition for switching the connection between the input and output of the switch A103 and the switch B105 is set by the parameter value A and the parameter value B. A storage device 108 for storing is provided. The motor controller 107 is connected to the motor 123, and inputs the current flowing through the motor 123, position sensor information in the motor 123, and the like to the torque controller 106 and the position / speed controller 104, and performs feedback control, so that the motor The operation of 123 is controlled.

Of the motor control device 121, the input a1 of the switch A103 is connected to the output a1, the input b2 of the switch B105 is connected to the output b2, and the slave shaft motor control device 121X is used, and the input a2 of the switch A103 is used. A master shaft motor controller 121Y is connected to the output a2 and the input b1 of the switch B105 is connected to the output b1 and the output b2.

  Next, FIG. 2 is also used to describe the specific calculation data flow and transmission timing.

Communication data is transmitted from the synchronous communication device 133 of the host device 131 to the motor control device 121X, and the communication data is a start command, a target position, a target speed, etc. for the position command computing unit 102, and these values are those of the motor control device 121X. It is set to the output Z3 of the synchronous communication device 101 and input to the position command calculator 102. The position command calculator 102 generates a position command value (position movement amount during the control calculation cycle), and the position command value is input to the input z1 of the synchronous communication device 101 via the switch A103. This position command value is added to the communication data and set to the output z1 of the synchronous communication device 101 of the motor control device 121Y.

The output z1 of the synchronous communication device 101 of the motor control device 121Y is input to the position / speed controller 104 via the switch A103. The torque command value, which is the calculation result of the position / speed controller 104, is input to the input z2 of the synchronous communication device 101 via the switch B105. At this time, the output b2 of the switch B105 temporarily holds the output. The holding period is determined by the parameter value C input from the storage unit 108. The torque command value input to the input z2 of the synchronous communication device 101 is added to the communication data, set to the output z2 of the synchronous communication device 101 of the motor control device 121X, and input to the torque controller 106 via the switch B105. Is done. The parameter value C is set so that the torque command value is synchronously input to the torque controller 106 of the motor control device 121Y at the timing when the torque command value is input to the torque controller 106 of the motor control device 121X. To do.

In the case of the timing shown in FIG. 2, the torque command value generated by the position / speed controller 104 of the motor controller 121Y is not used in the calculation (1) of the torque controller 106, but is used in the calculation (2). The parameter value C is set so that the torque controller 106 holds the calculation once.

  With this configuration, the torque commands of the master axis and slave axis are reflected simultaneously, and synchronized control is possible.

  Further, as can be seen from FIG. 2, although there is no processing time for the master axis CPU 122 to perform the position command calculation, the idle time of the slave axis CPU 122 can be utilized to perform the master axis position command calculation.

  Furthermore, since the setting of the switch A103 and the switch B105 is made variable, the master axis and the slave axis can be realized with the same hardware and software.

The motor control device and the motor control system of the present invention are useful for industrial devices such as a liquid crystal transport device in which a plurality of motor control devices are connected by a synchronous communication device and cooperatively control the motor.

101 Synchronous communication device (installed in host device)
102 Position command calculator 103 Switch A
104 Position / speed controller 105 Switch B
106 Torque controller 107 Motor controller 108 Storage device 121, 121X, 121Y Motor controller 122 CPU (mounted on motor controller)
123 Motor 131 Host device 132 CPU (mounted on host device)
133 Synchronous communication device (installed in host device)

Claims (2)

A motor control device that operates by connecting a host device and a plurality of motor control devices through synchronous communication,
The motor control device includes a CPU, a synchronous communication device, and a storage device,
The CPU
A position command calculator, a position / speed controller, a torque controller, and a switch;
Among the plurality of motor control devices, which one of the motor control devices calculates with the position command calculator, and which one of the motor control devices calculates with the position / speed controller, Based on a plurality of parameter values stored in each of the storage units of the plurality of motor control devices, the switching unit of each of the plurality of CPUs is switched,
The plurality of motor control devices, through each of the synchronous communication devices, output the calculation results of the position command calculator or the position / speed controller of one of the CPUs to another Output to the position / speed controller or the torque controller of the CPU ,
Further, by setting the parameter value, the torque controllers of the plurality of motor control devices delay the output of the calculation results of the motor control devices, and the input timing of the calculation results to the torque controller is set. A motor control device that is synchronized. A motor control device that operates by connecting a host device and a plurality of motor control devices through synchronous communication,
The motor control device includes a CPU, a synchronous communication device, and a storage device,
The CPU
A position command calculator, a switch A, a position / speed controller, a switch B, and a torque controller;
The output of the position command calculator is input to the position / speed controller of the motor control device having the switch A or another motor control device by switching the switch A,
The output of the position / speed controller is input to the torque controller of the motor control device having the switch B and the other motor control device by switching the switch B,
Switching between the switch A and the switch B, and setting whether the plurality of motor control devices are master axes or slave axes are set by a plurality of parameter values stored in the storage unit,
The motor control device is connected to the master axis or slave via each synchronous communication device.
Among the CPUs of the motor control device for any of the axes, the position command calculator of the CPU of the master axis or the calculation result of the position / speed controller of the CPU is used as the position / speed controller of the CPU of the slave axis . Or output to the torque controller, or the calculation result of the position command calculator or the position / speed controller of the CPU of the slave axis is the position / speed controller or the torque control of the CPU of the master axis. A motor control device that synchronizes the input timing of the calculation result to the torque controller of the master axis and the slave axis by setting at least one of the output to the controller and setting the parameter value .

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