JP6338948B2 - Electric motor control device and control parameter automatic adjustment method used therefor - Google Patents

Description

  The present invention relates to a control parameter automatic adjustment function of an electric motor control device.

  As background art of this technical field, there is JP-A-2007-135344 (Patent Document 1). Patent Document 1 has an object of “providing an automatic adjustment method and apparatus capable of obtaining appropriate feedback and / or feedforward control parameters in a short time”. A position command pattern for adjusting operation that changes with time, this position command pattern is given as a position command for the position controller, and the position controller and speed are within the range where the vibration amplitude of the position deviation waveform does not exceed the predetermined value The controller's response frequency is increased and the maximum acceleration rate is automatically set, while the feedforward control parameter is adjusted by performing a plurality of driving operations for a plurality of position command patterns with a predetermined overshoot amount. Adjust the control parameters of the position feedforward controller so that the value is not exceeded. " It has been.

JP 2007-135344 A

  Patent Document 1 describes an adjustment method and apparatus that repeats automatic adjustment until an appropriate control parameter is obtained within a tolerance range in which the vibration amplitude amount and overshoot amount of the position detection value are set by the user. However, even when automatic adjustment is repeated and an appropriate control parameter is obtained, mechanical characteristics such as the vibration amplitude amount and the overshoot amount of the position detection value may easily change when the motor is operated a plurality of times. Therefore, when the mechanical characteristics change and the allowable value range set by the user is exceeded, it is necessary to repeat the automatic adjustment many times so as to be within the allowable value range set by the user. In addition, when repeating automatic adjustment, it is necessary to change adjustment conditions such as the vibration amplitude amount and overshoot amount of the position detection value set by the user when automatic adjustment is performed. It can be difficult.

  The present invention has been made in view of the above problems, and even if not an experienced person, it is determined whether or not an allowable value range set by a user is exceeded due to a change in mechanical characteristics. An object of the present invention is to easily adjust the control parameter by providing means for automatically adjusting the control parameter so as not to exceed the value range.

  In order to solve the above problems, for example, the configuration described in the claims is adopted. The present application includes a plurality of means for solving the above-described problems. To give an example, the control parameter automatic adjustment method for the motor control device is the operation characteristic data by operating the motor with respect to the plurality of control parameters. Is measured, and a plurality of operation characteristic data for the plurality of control parameters is stored, an automatic adjustment for adjusting the appropriate control parameter is performed, and after the automatic adjustment, the motor is repeatedly operated using the control parameter, and the operation characteristic is determined. If the motor operation check operation is performed to determine whether the data is within the allowable range, and if the allowable range is exceeded, it will be difficult to exceed the allowable range even if the mechanical characteristics change from multiple stored operating characteristic data. Search for the control parameter corresponding to the correct operating characteristic data and perform the first readjustment to reset or exceed the allowable range even if the mechanical characteristic changes The tolerance condition was changed to be Nikuku be configured to perform second readjustment for automatic adjustment again.

  According to the present invention, it is possible to easily confirm whether or not the allowable value range is exceeded due to a change in mechanical characteristics after the automatic adjustment of the control parameters of the electric motor. In addition, it is possible to easily set the control parameters of the electric motor that do not easily exceed the allowable value range even if the mechanical characteristics change.

It is a control block diagram of the electric motor control apparatus in the Example to which this invention is applied. It is a control block diagram which shows the position command production | generation part and control parameter adjustment part in a present Example. It is explanatory drawing of the position command waveform at the time of the motor operation | movement in a present Example, a position detection waveform, a position deviation waveform, and a motor stop signal waveform. It is an explanatory flowchart of the electric motor automatic adjustment algorithm in a present Example. It is a data table which preserve | saves the data at the time of an electric motor several times operation | movement in a present Example. It is a screen of the adjustment result management apparatus in a present Example. It is a process flowchart of the motor operation confirmation driving | operation in a present Example. It is an example of the display screen regarding the result display and readjustment of the motor operation check operation in the present embodiment. It is a process flowchart of the readjustment detail determination in a present Example. It is a flowchart of previous operation result readjustment in a present Example. It is a flowchart of the readjustment operation process by the adjustment condition recommendation value in a present Example. 1 is an overall system configuration diagram of an electric motor control device according to an embodiment. FIG.

  In the embodiment to which the present invention is applied, after the control parameter of the motor control device is automatically adjusted by the automatic adjustment function of the control parameter, the motor is operated a plurality of times under the same conditions to obtain the mechanical characteristics, and the change of the mechanical characteristics allows the user's permission. Determine whether the value range is exceeded. If the change is out of the user's allowable range due to a change in the mechanical characteristics, the adjustment result at the time of automatic adjustment of the motor control device acquired earlier, the search of the control parameter that makes the mechanical characteristics difficult to change, and the resetting are performed. The second readjustment that automatically sets the adjustment condition and performs the automatic adjustment again for the automatic adjustment function of the motor control device so that it is difficult to exceed the user's allowable range due to the readjustment of 1 and the change in mechanical characteristics. Have.

  Hereinafter, an automatic adjustment method and apparatus for an electric motor will be described, and an example of an electric motor operation check operation for determining whether the electric characteristics are within a user's allowable range due to a change in mechanical characteristics will be described. In addition, examples of the first readjustment and the second readjustment for automatic adjustment when the motor operation check operation exceeds an allowable value range set by the user due to a change in mechanical characteristics will be described.

  In this embodiment, the amount of information acquired when the control parameter of the motor control device is automatically adjusted by the automatic adjustment function of the control parameter is stored in the adjustment result management device, and within the allowable range of the user due to the change of the mechanical characteristics. The Example of the motor operation confirmation driving | operation which determines whether there exists is shown. An embodiment of the first readjustment and the second readjustment for automatic adjustment when the motor operation check operation exceeds an allowable value range set by the user due to a change in mechanical characteristics will be described.

  Here, the information amount shown in the present embodiment is operation data, operation characteristic data, and control parameters. The operation data is position data, speed data, and current data related to the electric motor. The driving characteristic data is information that is characteristic of motor operation. In this embodiment, the operation characteristic data includes a positioning settling time, an overshoot amount, and a vibration amount when the motor is stopped, which will be described later, but is not limited thereto. For example, after the motor driving is finished, the vibration amount while the motor is stopped is also the operation characteristic data.

  First, an example in which control parameters are automatically adjusted using an electric motor control device will be described. FIG. 1 is a control block diagram showing an automatic adjustment method for an electric motor control apparatus according to this embodiment.

In FIG. 1, reference numeral 1 denotes an electric motor, 2 denotes a driving target load driven by the electric motor 1, 3 denotes a connecting shaft that connects the electric motor 1 and the driving target load 2, and 4 denotes a power converter that drives the electric motor 1. 5 is attached to motor 1, a position detector for outputting a position detection value theta _M of the electric motor 1, 6 in accordance with the positional deviation theta _e between the position command value theta _M ^* and the detected position value theta _M of the electric motor 1 speed It is a position controller that outputs a command value ω _M ^* .

Reference numeral 7 denotes a speed detector that inputs the position detection value θ _M output from the position detector 5 and outputs the speed detection value ω _M of the electric motor 1. A speed controller 8 outputs a torque current command value I _q ^* according to a speed deviation ω _e between the speed command value ω _M ^* and the detected speed value ω _M of the electric motor 1.

9 is a current detector for detecting a torque current detection value I _q to be supplied to the electric motor 1, 10 of the power converter 4 in accordance with the torque current detection value I _q to be supplied to the torque current command value I _q and the motor 1 It is a current controller that adjusts the output current. A data measurement unit 11 measures the position detection value θ _M , the speed detection value ω _M , and the torque current detection value I _q .

A parameter tuning unit 12 generates a position command θ _M ^* and automatically adjusts control parameters related to the position controller 6 and the speed controller 8. This parameter tuning unit uses the position deviation θ _e between the position command value θ _M ^* and the detected position value θ _M of the electric motor 1 as an input value, and outputs control parameters to be set in the position controller 6 and the speed controller 8. .

  Reference numeral 13 denotes an adjustment result management apparatus that stores control parameters, operation data, and operation characteristic data for each motor operation.

  With these configurations, it is possible to drive the load to be driven to a desired position under various conditions, and to grasp and save the driving state for each operation.

FIG. 2 is a block diagram of the parameter tuning unit 12 in FIG. Reference numeral 121 denotes a position command generation unit that sequentially generates a plurality of position command patterns registered in advance by the user as position commands θ _M ^* . Reference numeral 122 denotes a control parameter adjustment unit that automatically adjusts the control parameter Gain to an optimal control parameter using the position deviation θ _e as an input.

  In the automatic adjustment of the motor in the present embodiment, the position command generator 121 actually operates the motor for all of the plurality of position command patterns 1 to N, and the overshoot amount p_ovsh described later for all the position command patterns is An object is to automatically adjust control parameters so as to satisfy a range not exceeding the allowable value and to shorten a positioning settling time time_inp described later.

  FIG. 3 shows a position detection waveform at the time of motor operation, a position deviation waveform that is a deviation between the position command waveform and the position detection waveform, and a motor stop signal when the position command pattern 1 output from the position command generator 121 is a position command waveform. , And operational characteristic data that is characteristic of motor operation.

  In FIG. 3, a waveform 200 is a position command waveform and is a representative example of the position command patterns 1 to N generated by the position command value posref output from the position command generation unit 121 of FIG. For example, it is assumed that the position command waveform of the position command pattern 1 is the waveform 200.

  A waveform 201 is a position detection value posfb output by the position detector 5 as actual motor position data when the motor is operated with the position command waveform shown in the waveform 200.

  A waveform 202 is a position deviation value posref−posfb which is a deviation value between the position command value posref and the position detection value posfb.

  A waveform 203 is an electric motor stop signal PINP that determines whether the position deviation absolute value | posref osposfb |, which is an absolute value of the position deviation value posref−posfb, is within the positioning width p_inp. When the position deviation absolute value | posref osposfb | is larger than the positioning width p_inp, the position deviation absolute value is outside the positioning width range, and therefore, the motor stop signal PINP = OFF is output. Further, when the position deviation absolute value | posref osposfb | is equal to or less than the positioning width p_inp, the position deviation absolute value is within the range of the positioning width, so that the motor stop signal PINP = ON is output.

  The positioning settling time time_inp is the time from when the position command value posref reaches the target position for stopping the motor until the motor stop signal PINP = ON is stably output. The positioning settling time time_inp is an index for the stop time of the motor. The shorter the positioning settling time time_inp, the shorter the time from the start of operation of the motor to the stop. Generally, in motor operation, it is considered that the positioning settling time time_inp should be short.

  The overshoot amount p_ovsh is a value that represents how much the motor overshoots from the target point for stopping the motor. In general, when the overshoot amount p_ovsh outputs a value larger than 0, it indicates that the motor has exceeded the target stop position, and it is desirable that the overshoot amount p_ovsh be as small as possible.

  The vibration amount p_udovsh when the motor is stopped is a vibration detection amount when the motor is stopped, and is calculated from the overshoot amount and the undershoot amount when the motor is stopped from when the motor is operating. In general, the motor stop vibration amount p_udovsh is desirably a small value.

  In the automatic adjustment method of the control parameter in the motor control device shown in the present embodiment, the overshoot amount p_ovsh and the motor stop vibration amount p_udovsh are within the allowable values set in advance by the user, and the positioning settling time time_inp Is automatically adjusted so as to shorten it, but it is not limited to this.

  For example, each time the motor is repeatedly operated, the control parameters may be adjusted by a combination of a plurality of control parameters set in advance in the motor control device, and automatic adjustment may be performed so as to shorten the positioning settling time time_inp.

  FIG. 4 is a flowchart showing an automatic motor adjustment procedure using the automatic adjustment method of the motor control device shown in FIGS. 1 and 2. The position command waveform in this embodiment is output from the position command generation unit 121 as the waveform 200 shown in FIG. By outputting the waveform 200 from the position command generation unit 121, the motor is actually operated in processing 403, which will be described later, and the control parameters are automatically adjusted.

  The same applies to the case where the position command patterns 1 to N are output from the position command generation unit 121. In this case, after the process 403 is performed on the position command pattern 1, the process 403 is continuously performed on the position command pattern 2. Thereafter, the process 403 may be continuously performed up to the position command pattern N.

  In FIG. 4, the automatic adjustment function and the adjustment procedure of the apparatus start with the automatic adjustment method of the control parameter in the process 400 in order to execute the automatic adjustment method of the motor first, and move to the process 401.

  In process 401, a position command pattern 1 is set in order to output a position command pattern for operating the electric motor from the position command generator 121. Further, an allowable value range designated by the user when the motor is operated is designated. Here, the information amount of the allowable range specified by the user is the allowable overshoot amount P_ovsh_set and the allowable motor stop vibration amount p_udovsh_set. The allowable overshoot amount P_ovsh_set and the allowable motor stop vibration amount p_udovsh_set specified by the user are set, and the process proceeds to processing 402. In process 402, a control parameter adjustment count DriveCnt indicating the number of automatic adjustments of the control parameter is initialized, and the process proceeds to process 403.

  In the process 403, the motor is actually operated according to the position command pattern output from the position command generator 121, and as operation data, a position command waveform, a position detection waveform, a position deviation waveform during operation of the motor and when the motor is stopped, Measure the motor stop signal PINP. Further, positioning settling time time_inp, overshoot amount P_ovsh, and motor stop vibration amount p_udovsh are measured as operation characteristic data. As described above, the operation data and the operation characteristic data are measured, and after the control parameters during operation of the electric motor are stored, the process proceeds to processing 404.

  In process 404, in order to actually measure the number of automatic adjustments of the control parameter, the control parameter adjustment number DriveCnt is counted up and the process proceeds to process 405.

  In process 405, each information amount when the electric motor is operated in process 403 is stored in the data table Table [m] [n]. The data table Table [m] [n] represents an array for storing each information amount. That is, the information amount 1 obtained by the motor operation is stored in an information amount 1 data table column Table [1] [DriveCnt] described later, and the information amount 2 is stored in an information amount 2 data table column Table [2] [DriveCnt] described later. save. Thereafter, the information amount 3, the information amount 4,... Are executed, and in the case of the information amount M, the information amount M is stored in the data table column Table [M] [DriveCnt]. Details will be described later with reference to FIG. In processing 405, the information amount from information amount 1 to information amount M is stored in the data table Table [m] [DriveCnt], and then the processing proceeds to processing 406.

  In process 406, the control parameter for operating the motor next in process 403 is set by the automatic adjustment function, and the process proceeds to process 407.

  In process 407, it is determined whether or not to end the automatic adjustment function of the electric motor. If it is not determined in step 407 that automatic adjustment has ended, the process moves to step 403 to continue automatic adjustment of control parameters.

  If it is determined in process 407 that automatic adjustment has ended, the process moves to process 408.

  In process 408, the control parameter adjusted by the automatic adjustment function is set in the motor control device from among the control parameters adjusted by the automatic adjustment method. After setting appropriate control parameters, the process moves to processing 409.

  In step 409, the control parameter adjustment count DriveCnt is stored in the automatic adjustment count value TuningCnt indicating the number of times the control parameter was adjusted during automatic adjustment. After saving, the process moves to process 410, and the motor control parameter automatic adjustment ends.

  Here, the automatic adjustment end determination method for the electric motor in the process 407 may be ended because the positioning settling time time_inp is within the allowable value t_in set in advance by the user. For example, when the time required to reach a desired position is within an allowable value t_in seconds set in advance by the user, it is determined that the control parameter is appropriate, and the automatic adjustment of the control parameter is terminated.

  However, the automatic adjustment procedure of the motor is not limited to the procedure shown in the flowchart of FIG. For example, the operation may be terminated because the number of times the motor has been operated exceeds a predetermined value, and the termination condition of the automatic adjustment method is not limited.

  Next, an adjustment result management apparatus that stores the amount of information obtained by the automatic control parameter adjustment method will be described.

  FIG. 5 is a data table Table [m] [n] representing the amount of information related to the motor operation in which m is the number of information adjustments and the number of control parameter automatic adjustments is n. Stored in table Table [m] [n].

  Reference numeral 500 denotes a data table label number LblNo, which represents a data table column number. According to this embodiment, the data table label number LblNo is the number of control parameter adjustments. In the case of the first control parameter adjustment, the data table label number LblNo = 1, and in the case of the control parameter adjustment n, the data table label number LblNo = n.

  Reference numeral 501 denotes a data table column Table [1] [n] for information amount 1. According to the present embodiment, the data of the information amount 1 obtained when the motor operation for the first control parameter adjustment is stored in Table [1] [1], and the information amount obtained for the motor operation for the second control parameter adjustment. The data of 1 is stored in Table [1] [2].

  Similarly to 501, 502 stores information amount 2 data in order in the data tables Table [2] [1] and Table [2] [2]. Similarly, 503 is a data table column Table [3] [n] of information amount 3, and 504 is a data table column Table [M] [n] of information amount M.

  In the present embodiment, the information amount 1 is described as an overshoot amount p_ovsh, the information amount 2 is described as a motor stop vibration amount p_udovsh, the information amount 3 is described as a positioning settling time time_inp, and the information amount 4 is described as a control parameter.

  FIG. 6 is an example of a display screen of the motor information amount data table Table [m] [n] stored in the adjustment result management apparatus and a display screen of operation buttons related to a motor operation check operation to be described later.

  In FIG. 6, 550 is a screen, and a graph 551 is a graph in which the amount of information stored in the data table Table [m] [n] is displayed on the adjustment result management apparatus. It is a graph in which the horizontal axis is the number of control parameter adjustments and the vertical axis is displayed with an information amount of 1. In this embodiment, the horizontal axis represents the number of control parameter adjustments, and an overshoot amount P_ovsh, which is information amount 1, corresponding to each number of adjustments is plotted in a graph 551. That is, when the control parameter adjustment count is 1, the values of the overshoot amount storage data Table [1] [1] are plotted. When the control parameter adjustment count is 2, the values of the overshoot amount storage data Table [1] [2] are plotted in the graph 551.

  A button 552 is a button for selecting an amount of information that is emphasized by the user. When the user selects an important information amount, the information amount corresponding to the information amount becomes the vertical axis of the graph 551. For example, when the user places importance on the positioning settling time time_inp, the positioning settling time time_inp is selected by the user with the button 552, whereby the vertical axis of the graph 551 is changed to the positioning settling time time_inp. That is, when the control parameter adjustment count is 1, the values of the positioning settling time storage data Table [3] [1] are plotted. When the control parameter adjustment count is 2, the values of the positioning settling time storage data Table [3] [2] are plotted in the graph 551.

  When the button 553 is selected by the user, a motor operation check operation described later is performed to determine whether the mechanical characteristics of the motor are likely to change. When the button 554 is selected by the user, the motor operation check operation described later is terminated.

  By providing the adjustment result management apparatus shown in FIG. 6, the amount of information when the drive target load is driven to a desired position under various conditions is stored and displayed. In addition, by performing the motor operation check operation, it is determined whether the allowable value set by the user is likely to be exceeded due to a change in mechanical characteristics.

  By this. Based on the determination of the motor operation check operation, it is possible to easily provide the user with information as to whether the motor is likely to exceed an allowable value set by the user due to a change in mechanical characteristics.

  Next, the motor operation check operation will be described. In the motor operation check operation, first, the motor operation operation is repeatedly performed using appropriate control parameters set by repeating automatic adjustment. Each time the motor operation is repeated, the information amount of the motor is acquired, and it is determined whether the overshoot amount p_ovsh_set and the motor stop time vibration amount p_udovsh_set exceed the allowable value range set by the user from the information amount. The determination process is a function for executing the determination process until the user ends the motor operation check operation with the button 554. That is, the motor operation check operation repeats the motor operation until the user stops with the button 554 in FIG. 6 according to the operation pattern and operation conditions operated during the automatic adjustment. This is a function for determining whether the motor operation is performed without exceeding the allowable range specified by the user due to a change in mechanical characteristics when the motor operation is repeated.

  FIG. 7 is a process flowchart of the motor operation check operation, and shows a case where the button 553 of FIG. 6 is selected and the motor operation check operation is started.

  In FIG. 7, first of all, in order to carry out the confirmation operation of the motor, the motor operation confirmation operation is started in process 600, and the process moves to process 601. In process 601, position command pattern 1 is set in order to output a position command pattern for operating the electric motor from position command generator 121, and the process moves to process 602. In process 602, a re-operation count value ReDriveCnt indicating the number of re-operations is initialized, and the process proceeds to process 603.

  In process 603, the motor is actually operated according to the position command pattern output from the position command generation unit 121, and the positioning settling time time_inp, the overshoot amount P_ovsh, and the motor stop vibration amount p_udovsh are obtained as operation data and operation characteristic data. taking measurement. As described above, the operation data and the operation characteristic data are measured, and after the control parameters at the time of the motor operation are stored, the process proceeds to the process 604.

  In process 604, the re-run count value ReDriveCnt is counted up, and the process proceeds to process 605. In process 605, it is determined whether the overshoot amount p_ovsh is within the allowable overshoot amount p_ovsh_set when the motor is operated in process 603. When the overshoot amount p_ovsh is within the range of the allowable overshoot amount p_ovsh_set, the process proceeds to processing 606 in order to satisfy the mechanical characteristics desired by the user. If the overshoot amount p_ovsh is outside the range of the allowable overshoot amount p_ovsh_set, the user does not satisfy the desired mechanical characteristics. In this case, it is determined that the mechanical characteristics are not satisfied, and the process proceeds to processing 607.

  In process 607, since it is determined that the overshoot amount p_ovsh may be outside the allowable range specified by the user due to the change, the overshoot crack signal P_ovshflg = ON and the process proceeds to process 606.

  In process 606, when the motor is operated in process 603, it is determined whether the motor stop vibration amount p_udovsh is within the allowable motor stop vibration amount p_udovsh_set. If the motor stop vibration amount p_udovsh is within the range of the allowable motor stop vibration amount p_udovsh_set, the process proceeds to processing 608 in order to satisfy the mechanical characteristics desired by the user. When the motor stop vibration amount p_udovsh is outside the range of the allowable motor stop vibration amount p_udovsh_set, the machine characteristics desired by the user are not satisfied. In this case, it is determined that the mechanical characteristics are not satisfied, and the process proceeds to processing 609.

  In process 609, since it is determined that the motor stop vibration amount p_udovsh may be outside the allowable range specified by the user due to the change, the motor stop vibration amount crack signal P_udovshflg = ON and the process proceeds to process 608.

  In process 608, it is determined whether or not the motor operation check operation of the motor is to be ended. In the present embodiment, the motor operation is stopped when the user inputs a button 554 shown in FIG. 6 at a timing when the user wants to stop the operation. When the user inputs button 554, the process moves to process 610, and the motor operation check operation ends. The motor operation may be stopped not by the button 554 but by a preset number of times.

  As described above, as shown in FIG. 7, in the motor operation check operation, first, the motor is repeatedly operated with proper control parameters, operation patterns, and operation conditions set by automatic adjustment, and thereafter, the tolerance set by the user according to the change in mechanical characteristics. This function determines whether the value range is exceeded.

  FIG. 8 is an example of a display screen regarding the display of the result of the motor operation check operation shown in FIG. 7 and the readjustment in the case of an electric motor whose mechanical characteristics are likely to change.

  In FIG. 8, a screen 700 is an example of a screen that displays data obtained in the motor operation check operation. Table 701 is an example of a screen that displays whether or not the overshoot amount p_ovsh exceeds the allowable value and whether the motor stop vibration amount p_udovsh exceeds the allowable value in the motor operation check operation.

  In this embodiment, in the motor operation check operation, a case where the overshoot amount p_ovsh exceeds the allowable value and the motor stop vibration amount p_udovsh also exceeds the allowable value is shown. In this case, A in Table 701 displays the maximum value of the overshoot amount p_ovsh measured a plurality of times in the motor operation check operation. B in Table 701 displays NG when the overshoot amount p_ovsh exceeds the allowable value, that is, when the overshoot amount signal cracking p_ovsh_flg = ON. When the overshoot amount p_ovsh does not exceed the allowable value, that is, when the overshoot amount signal cracking p_ovsh_flg = OFF, OK is displayed.

  Similarly, C in Table 701 displays the maximum value of the motor stop vibration amount p_udovsh measured a plurality of times in the motor operation check operation. D in Table 701 displays NG when the motor stop vibration amount p_udovsh exceeds the allowable value, that is, when the motor stop vibration amount signal crack p_udovsh_flg = ON. When the motor stop vibration amount p_udovsh does not exceed the allowable value, that is, when the motor stop vibration amount signal crack p_udovsh_flg = OFF, OK is displayed.

  The buttons 702 and 703 are displayed again when the user displays a determination that the overshoot amount p_ovsh exceeds the allowable value in B of Table 701, or displays a determination that the motor stop vibration amount p_udovsh exceeds the allowable value. This is a function for selecting a means for performing the adjustment.

  When the button 702 is selected, the mechanical characteristics are further selected from the data table Table [m] [n] storing the results of the automatic adjustment operation shown in FIG. A control parameter that is less likely to change is searched and a mode to be set is selected.

  When the button 703 is selected, an allowable overshoot amount p_ovsh_set, which is an adjustment condition at the time of automatic adjustment using means described later in FIG. 9 and FIG. 11, based on the result of the motor operation check operation shown in FIG. After automatically changing the stop vibration amount p_udovsh_set, a mode in which automatic adjustment is repeated again until an appropriate control parameter is obtained is selected.

  Note that when the button 702 is selected, the button 703 is released. When the button 703 is selected, the button 702 is released, so that the button 702 and the button 703 are not selected at the same time.

  The button 704 is a button for executing the readjustment means selected by the button 702 or the button 703. The button 705 confirms the motor operation when it is determined that readjustment is not necessary from the result of the motor operation check operation. It is a button to end.

  Thus, by providing the motor operation check operation result display device shown in FIG. 8, it is possible to check whether the operation of the motor changes depending on the mechanical characteristics and is within the allowable range desired by the user. This provides the user with a determination as to whether the electric motor exceeds the allowable value set by the user due to a change in mechanical characteristics. If the allowable value set by the user is likely to be exceeded due to a change in mechanical characteristics, It is possible to automatically reset the control parameter so that it is difficult to exceed the set allowable value, or to change the adjustment condition automatically and readjust.

  Next, the control parameter readjustment method for the electric motor will be described. First, in order to show a method of readjustment from the automatic adjustment operation result data table shown in FIG. 5 so that the mechanical characteristics are less likely to change, a case where the button 704 is selected while the button 702 is selected will be described. . In that case, in order to search and set the control parameter that makes it difficult to exceed the allowable value set by the user due to the change in the mechanical characteristics from the automatic adjustment operation result data table shown in FIG. Readjustment detail determination processing is performed.

  FIG. 9 is a processing flow of readjustment detail determination. In FIG. 9, first, in order to perform the readjustment detail determination process, the readjustment detail determination process is started in process 800, and the process proceeds to process 801.

  In process 801, it is determined whether or not the overshoot crack signal P_ovshflg = ON when the motor operation check operation is performed in FIG. The overshoot crack signal P_ovshflg is a signal that is turned ON when the overshoot amount p_ovsh exceeds the allowable overshoot amount p_ovsh_set at least once during the motor operation check operation.

  When the overshoot crack signal P_ovshflg = ON, the motor operation check operation indicates that the overshoot amount is outside the allowable value range and is easily affected by the mechanical characteristics. In this case, the process proceeds to process 802.

  In process 802, since the overshoot crack signal P_ovshflg = ON, overshoot cracks have occurred once or more during the motor operation check operation. That is, when the control parameter is automatically adjusted with the allowable overshoot amount p_ovsh_set, it may be outside the allowable value range due to a change in the mechanical characteristics of the electric motor. In this case, the allowable overshoot amount p_ovsh_set that is set for automatic adjustment needs to be set smaller than the allowable value set in FIG. Therefore, the reset allowable overshoot amount P_ovsh_rty is set to a value obtained by subtracting one count from the allowable overshoot amount p_ovsh_set set by the user, and the process proceeds to processing 804. Although the subtraction amount is 1 count here, the subtraction amount does not matter. For example, since the value obtained by subtracting the allowable overshoot amount p_ovsh_set from the maximum value of the overshoot amount p_ovsh measured a plurality of times in the motor operation confirmation operation indicated by A in Table 701 is a value exceeding the allowable overshoot amount p_ovsh_set, You may subtract by this value.

  When the overshoot crack signal P_ovshflg = OFF, the motor operation check operation indicates that all overshoot amounts are within the allowable range, and the operation is not affected by changes in mechanical characteristics. In this case, the process proceeds to process 803. In the process 803, since all overshoot amounts are within the allowable range, the reset allowable overshoot amount P_ovsh_rty need not be changed from the allowable overshoot amount P_ovsh set by the user. Therefore, the reset allowable overshoot amount P_ovsh_rty is set to the allowable overshoot amount P_ovsh_set, and the process proceeds to processing 804.

  In process 804, it is determined whether or not the motor stop vibration amount breaking signal P_udovshflg = ON when the motor operation check operation is performed in FIG. The motor breaking vibration amount signal P_udovshflg is a signal that is turned ON when the motor stopping vibration amount p_udovsh exceeds the allowable motor stopping vibration amount p_udovsh_set at least once during the motor operation check operation.

  When the motor stop vibration amount breaking signal P_udovshflg = ON, the motor stop vibration amount outside the allowable range in the motor operation check operation indicates that it is easily affected by mechanical characteristics. In this case, the process moves to process 805.

  In the process 805, since the vibration amount cracking signal P_udovshflg = ON when the motor is stopped, the vibration amount cracking when the motor is stopped occurs at least once during the motor operation check operation. That is, when the control parameter is automatically adjusted with the allowable motor stop vibration amount, it may be outside the allowable value range due to a change in the mechanical characteristics of the motor. In this case, it is necessary to set the allowable motor stop vibration amount that is set when performing automatic adjustment to be smaller than the allowable value set in FIG. Accordingly, the reset allowable motor stop vibration amount P_udovsh_rty is set to a value obtained by subtracting one count from the allowable motor stop vibration amount P_udovsh_set set by the user, and the process proceeds to processing 807. Although the subtraction amount is 1 count here, the subtraction amount does not matter. For example, a value obtained by subtracting the permissible motor stop vibration amount P_udovsh_set from the maximum value of the motor stop vibration amount P_udovsh_set measured multiple times in the motor operation check operation indicated by C in Table 701 is too much greater than the permissible motor stop vibration amount P_udovsh_set. Therefore, it may be subtracted by this value.

  When the motor stop vibration amount breaking signal P_udovshflg = OFF, it is shown that the motor stop vibration amount is all within the allowable range in the motor operation check operation, and the operation is not affected by changes in the mechanical characteristics. In this case, the process moves to process 806, and the reset allowable motor stop vibration amount P_udovsh_rty used when resetting the control parameter adjustment is set as the allowable motor stop vibration quantity P_udovsh_set set by the user, and the process moves to step 807.

  In the process 807, readjustment is performed from the automatic adjustment operation result data table shown in FIG. 5, or the motor control device using the allowable overshoot amount P_ovsh_rty and the allowable motor stop vibration amount P_udovsh_rty which are recommended adjustment condition values It is determined whether to perform readjustment.

  When the button 702 is selected, a search is made for a control parameter in which the mechanical characteristics are less likely to change from the data table Table [m] [n] storing the automatic adjustment operation result shown in FIG. In order to implement, it moves to the process 808 and changes to the readjustment process (first readjustment process) of the previous automatic adjustment result. Details of the subsequent processing will be described later with reference to FIG.

  When the button 703 is selected, the process moves to a process 809, and the process proceeds to a readjustment process (second readjustment process) using the recommended adjustment condition value. Details of the subsequent processing will be described later with reference to FIG.

  As described above, according to FIG. 9, it is determined whether the motor operation with the control parameter automatically adjusted in FIG. 4 exceeds the allowable value set by the user due to the change in the mechanical characteristics. When the allowable value set by the user is easily exceeded, the automatic adjustment condition is automatically set without the user changing the automatic adjustment condition for readjustment of the control parameter.

  FIG. 10 is a process after the process 808 in FIG. 9, in the data table Table [m] [n] storing the automatic adjustment operation result shown in FIG. 5 using the automatic adjustment conditions set in FIG. 9. Thus, a search is made for a control parameter that is less likely to exceed an allowable value set by the user due to a change in mechanical characteristics, and the setting is performed.

  In FIG. 10, the previous operation result readjustment procedure starts with the previous operation result readjustment method in step 900 in order to implement the previous operation result readjustment method, and moves to step 901. In the process 901, the readjustment count value ResetCnt indicating the column of the data table Table [m] [n] being determined and the readjustment indicating the column determined to be optimal from the data table Table [m] [n] The optimal operation count DataNo is initialized, and the processing moves to step 902.

  A process 902 is a process for determining whether the determination has been performed for all the data tables Table [m] [n]. Judgment process is readjustment in order to determine whether it is optimal as the readjustment value of the previous automatic adjustment result in the range of data table Table [m] [0] to Data table Table [m] [TuningCnt] The count value ResetCnt continues to be executed within the automatic adjustment count value TuningCnt. If the readjustment count value ResetCnt is within the automatic adjustment count value TuningCnt in process 902, the process moves to process 903 to evaluate Table [] [ResetCnt] in the data table of the readjustment count value ResetCnt.

  In process 903, it is determined whether or not the overshoot amount stored in the data table Table [1] [ResetCnt] of the readjustment count value ResetCnt indicating the column under determination is equal to or smaller than the reset allowable overshoot amount P_ovsh_rty. If the overshoot amount stored in the data table Table [1] [ResetCnt] is less than or equal to the reset allowable overshoot amount P_ovsh_rty, the data table stored in the column of the readjustment count value ResetCnt is the control desired by the user. It can be a parameter. In this case, the process proceeds to process 904 in order to execute the next determination process. When the overshoot amount stored in the data table Table [1] [ResetCnt] is larger than the allowable reset overshoot amount P_ovsh_rty, the data table stored in the column of the readjustment count value ResetCnt is the control parameter desired by the user. Absent. In this case, the readjustment count value ResetCnt is incremented, and the process proceeds to processing 907 to determine the next data table.

  In process 904, whether or not the motor stop vibration amount stored in the data table Table [2] [ResetCnt] of the readjustment count value ResetCnt indicating the column under determination is equal to or less than the reset allowable motor stop vibration amount P_upovsh_rty. judge. If the motor stop vibration amount stored in the data table Table [2] [ResetCnt] is less than the reset allowable motor stop vibration amount P_upovsh_rty, the data table stored in the column of the readjustment count value ResetCnt is the user May be the desired control parameter. In this case, the process proceeds to process 905 to perform the next determination process. When the motor stop vibration amount stored in the data table Table [2] [ResetCnt] is greater than the reset allowable motor stop vibration amount P_upovsh_rty, the data table stored in the column of the readjustment count value ResetCnt is desired by the user It is not a control parameter. In this case, the readjustment count value ResetCnt is incremented, and the process proceeds to processing 907 to determine the next data table.

  In process 905, it is determined whether the positioning settling time stored in the data table Table [3] [ResetCnt] of the readjustment count value ResetCnt indicating the column being determined is the smallest value currently determined. The positioning settling time stored in the data table Table [3] [DataNo] stores the smallest positioning settling time currently determined. On the other hand, it is compared with the data table Table [3] [ResetCnt] stored in the readjustment count value ResetCnt currently being determined. If the positioning settling time stored in data table Table [3] [ResetCnt] is less than or equal to the data table Table [3] [DataNo] that stores the smallest positioning settling time currently determined, currently determined The data table having the smallest positioning settling time is the data table Table [3] [ResetCnt]. In this case, in order to update the readjustment optimum operation number value DataNo to the current readjustment count value ResetCnt, the process proceeds to processing 906. If the positioning settling time stored in the data table Table [3] [ResetCnt] is greater than the data table Table [3] [DataNo] that stores the smallest positioning settling time currently determined, The data table having a small positioning settling time is the data table Table [3] [DataNo]. In this case, since it is not necessary to update the readjustment optimum operation count value DataNo, the readjustment count value ResetCnt is incremented, and the process proceeds to processing 907 to determine the next data table.

  In process 906, the optimum read operation count value DataNo for readjustment is updated to the current readjustment count value ResetCnt, and the process moves to process 907 to determine the next data table. In process 907, in order to determine the next data table, the readjustment count value ResetCnt is counted up, and then the process moves to process 902 to continue the determination process.

  If the readjustment count value ResetCnt is larger than the automatic adjustment count value TuningCnt in the process 902, it is determined that all determinations have been made for the data table, and the process ends, and the process moves to the process 908. The process 908 resets the control parameter of the data table Table [4] [DataNo] stored in the optimum read operation number value DataNo for readjustment to the motor control device, moves to process 909, and performs the previous automatic adjustment result readjustment procedure. Exit.

  As described above, as shown in FIG. 9 and FIG. 10, when the overshoot crack signal P_ovshflg = ON, the overshoot amount p_ovsh becomes large due to the change of the mechanical characteristics in the control parameter in the automatic adjustment adjusted before the motor operation check operation. The allowable overshoot amount p_ovsh_set set by the user may be exceeded. In this case, by setting the reset allowable overshoot amount P_ovsh_rty, which is smaller than the allowable overshoot amount p_ovsh_set set by the user as the allowable value range, as the new allowable value range for automatic adjustment, Therefore, a search is made for a control parameter that does not easily exceed the allowable value.

  Similarly, when the motor stop vibration amount crack signal P_udovshflg = ON, the control parameter for automatic adjustment adjusted before the motor operation check operation increases the motor stop vibration amount p_udovsh due to a change in mechanical characteristics, and is set by the user. May exceed the allowable motor stop vibration amount p_udovsh_set set as the allowable value range. In this case, there is a change in mechanical characteristics by setting the reset allowable motor stop vibration amount P_udovsh_rty, which is smaller than the allowable motor stop vibration amount p_udovsh_set set by the user as the allowable value range, as a new automatic adjustment allowable value range. However, the control parameter that does not easily exceed the allowable value of the user is searched.

  That is, the reset allowable overshoot amount P_ovsh_rty and the reset allowable motor stop vibration amount P_udovsh_rty are set as the allowable range for readjustment, and positioning is set from the automatic adjustment data table Table [m] [n] shown in FIG. Search and set the control parameter with the shortest time time_inp.

  Next, a description will be given of means for automatically resetting the automatic adjustment conditions so that the mechanical characteristics are less likely to change, and performing automatic adjustment of the control parameters again.

  When the button 704 is selected in a state where the button 703 in FIG. 8 is selected, the automatic adjustment conditions are automatically reset by the procedure shown in FIG. 9 so that the mechanical characteristics are less likely to change. When the button 703 is selected in the process 807, the process proceeds to the process 809 to perform automatic adjustment again until an appropriate control parameter is obtained, and the process shifts to the readjustment process with the recommended adjustment condition value. FIG. 11 shows readjustment operation processing with recommended adjustment condition values after processing 809 in FIG.

  FIG. 11 is a flowchart showing an automatic motor adjustment procedure using the automatic control method of the motor control device shown in FIGS. 1 and 2 as in FIG. The position command waveform in this embodiment is output from the position command generation unit 121 as the waveform 200 shown in FIG. By outputting the waveform 200 from the position command generation unit 121 shown in FIG. 2, the motor is actually operated in processing 1003 described later, and automatic adjustment of the control parameters is performed.

  The same applies to the case where the position command patterns 1 to N are output from the position command generation unit 121. In this case, after the processing 1003 is performed on the position command pattern 1, the processing 1003 is continuously performed on the position command pattern 2. Thereafter, the processing 1003 may be continuously performed up to the position command pattern N.

  In FIG. 11, the automatic adjustment function and the apparatus adjustment procedure start with the automatic adjustment method of the motor in the process 1000 in order to execute the automatic adjustment method of the motor, and move to the process 1001. In process 1001, a position command pattern 1 is set in order to output a position command pattern for operating the electric motor from the position command generator 121. Further, the allowable overshoot amount P_ovsh_rty for resetting and the allowable vibration amount P_udovsh_rty for resetting resetting motors set in FIG. 9 are newly set as allowable values of the overshoot amount p_ovsh during motor operation and the vibration amount p_udovsh during motor stop. Set as an acceptable value. After the setting, the process moves to process 1002. In process 1002, a control parameter adjustment count DriveCnt indicating the number of automatic adjustments of the control parameter is initialized, and the process moves to process 1003.

  In process 1003, the motor is actually operated according to the position command pattern output from the position command generator 121, and the positioning settling time time_inp, the overshoot amount P_ovsh, and the motor stop vibration amount p_udovsh are obtained as operation data and operation characteristic data. taking measurement. As described above, the operation data and the operation characteristic data are measured, and after the control parameters at the time of the motor operation are stored, the process moves to the process 1004.

  In process 1004, in order to actually measure the number of times of automatic adjustment of the control parameter, the control parameter adjustment number DriveCnt is counted up and the process moves to process 1005. In process 1005, each information amount when the electric motor is operated in process 1003 is stored in the data table Table [m] [n]. That is, the information amount 1 obtained by the motor operation is stored in an information amount 1 data table column Table [1] [DriveCnt] described later, and the information amount 2 is stored in an information amount 2 data table column Table [2] [DriveCnt] described later. save. Thereafter, the information amount 3, the information amount 4,... Are executed, and in the case of the information amount M, the information amount M is stored in the data table column Table [M] [DriveCnt].

  In processing 1005, the information amount from information amount 1 to information amount M is stored in the data table Table [m] [DriveCnt], and then the processing proceeds to processing 1006. In process 1006, the control parameter for operating the motor next in process 1003 is set by the automatic adjustment function, and the process moves to process 1007.

  In process 1007, it is determined whether or not to end the automatic adjustment function of the electric motor. If it is not determined in step 1007 that automatic adjustment has ended, the process moves to step 1003 to continue automatic adjustment of control parameters.

  If it is determined in step 1007 that automatic adjustment has been completed, the process moves to step 1008. In process 1008, the control parameter that is appropriate for the automatic adjustment function is set in the motor control device after the control parameter is adjusted by the automatic adjustment method. After setting an appropriate control parameter, the process moves to a process 1009, and the automatic control parameter adjustment of the electric motor is terminated.

  Here, the automatic adjustment end determination method for the electric motor in the process 1007 may be ended because the positioning settling time time_inp is within the allowable value t_in set in advance by the user. For example, when the time required to reach a desired position is within an allowable value t_in seconds set in advance by the user, it is determined that the control parameter is appropriate, and the automatic adjustment of the control parameter is terminated. However, the automatic adjustment procedure of the motor is not limited to the procedure shown in the flowchart of FIG. For example, the operation may be terminated because the number of times the motor has been operated exceeds a predetermined value, and the termination condition of the automatic adjustment method is not limited.

  In addition, after the control parameter automatic adjustment is completed in the process 1009, FIG. 6 is displayed, the user confirms, and re-trys if necessary.

  As described above, as shown in FIGS. 9 and 11, when the overshoot crack signal P_ovshflg = ON, the overshoot amount p_ovsh becomes large due to the change in the mechanical characteristics in the control parameter in the automatic adjustment adjusted before the motor operation check operation. The allowable overshoot amount p_ovsh_set set by the user may be exceeded. In this case, by setting the reset allowable overshoot amount P_ovsh_rty, which is smaller than the allowable overshoot amount p_ovsh_set set by the user as the allowable value range, as the new allowable value range for automatic adjustment, Therefore, a search is made for a control parameter that does not easily exceed the allowable value.

  Similarly, when the motor stop vibration amount crack signal P_udovshflg = ON, the control parameter for automatic adjustment adjusted before the motor operation check operation increases the motor stop vibration amount p_udovsh due to a change in mechanical characteristics, and is set by the user. May exceed the allowable motor stop vibration amount p_udovsh_set set as the allowable value range. In this case, there is a change in mechanical characteristics by setting the reset allowable motor stop vibration amount P_udovsh_rty, which is smaller than the allowable motor stop vibration amount p_udovsh_set set by the user as the allowable value range, as a new automatic adjustment allowable value range. However, the control parameter that does not easily exceed the allowable value of the user is searched.

  By performing automatic adjustment with the same operation pattern with the reset allowable overshoot amount P_ovsh_rty and the reset allowable motor stop vibration amount P_udovsh_rty as the new allowable value range, even if the motor easily changes its mechanical characteristics, The control parameters are automatically adjusted to be within the allowable range.

  As described above, the present embodiment is a method for automatically adjusting a control parameter of an electric motor control device, which measures operating characteristic data by operating an electric motor with respect to a plurality of control parameters, and a plurality of control parameters for the plurality of control parameters. Motor that saves operating characteristic data, performs automatic adjustment to adjust appropriate control parameters, and after automatic adjustment, repeatedly operates the motor using the control parameters, and determines whether the operating characteristic data is within the allowable range When the operation check operation is performed and the allowable value range is exceeded, the control parameters corresponding to the operation characteristic data that makes it difficult to exceed the allowable value range even if the mechanical characteristics change are searched from a plurality of stored operation characteristic data. 1st readjustment to perform resetting, or change the tolerance condition so that it is difficult to exceed the tolerance range even if the mechanical characteristics change, and then automatically adjust again Configured to performing a second readjustment performed.

  Moreover, it is displayed whether it is in the tolerance | permissible_value range which is a result of an electric motor operation check driving | operation, and the selection screen for a user to select a 1st readjustment and a 2nd readjustment is displayed.

  In addition, the control parameter automatic adjustment method of the motor control device is a method for adjusting the control parameter so that the operation characteristic data is within the allowable value range and automatically adjusting the control parameter, and then using the control parameter, a plurality of the motors are adjusted. The motor operation check operation is performed to determine whether or not the operation characteristic data is within the allowable range, and whether or not it is within the allowable range is displayed.

  Further, the motor control device is a speed detector that inputs a signal from a position detector that outputs a position detection value of the motor and outputs a speed detection value of the motor, and a position command value and the position detection value. A position controller that outputs a speed command value according to a position deviation, a speed controller that outputs a torque current command value according to a speed deviation between the speed command value and the speed detection value, and torque supplied to the motor A current detector that detects a current detection value; a power converter that drives the motor; a current controller that adjusts an output current of the power converter according to the torque current command value and the torque current detection value; A data measurement unit that measures the position detection value, speed detection value, and torque current detection value, and the position detection value as an input value, generates the position command value, and sets the position command value and the speed controller. Control parameters A parameter tuning unit that automatically adjusts the control parameter, and a control parameter for each motor operation, and an adjustment result management device that stores operating characteristic data. The parameter tuning unit includes a plurality of parameter tuning units. For the control parameter, the operation parameter data is measured by the data measuring unit by operating the electric motor, and a plurality of operation characteristic data for the plurality of control parameters is stored in the adjustment result management device to be appropriate. After the automatic adjustment is performed, the motor is repeatedly operated using the control parameter, and the motor operation check operation is performed to determine whether the operation characteristic data is within the allowable value range. Exceeding the allowable range even if the mechanical characteristics change Search for the control parameter corresponding to the operating characteristic data to be changed, the first readjustment to be reset, or change the allowable value condition so that it is difficult to exceed the allowable value range even if the mechanical characteristic changes The second readjustment is performed for automatic adjustment again.

  In addition, the adjustment result management device displays whether or not it is within an allowable range that is a result of the motor operation check operation, and allows the user to select the first readjustment and the second readjustment. Display the selection screen.

  FIG. 12 is an overall system configuration diagram of the motor control device according to the present embodiment. In FIG. 12, 1101 is a ball screw unit, 1102 is an electric motor, 1103 is a position detector of the electric motor 1102, 1105 is a slider on which a load 1104 is mounted, 1100 is a servo amplifier (electric motor controller), and 1106 is a position detection signal of the electric motor 1102. A cable for transmitting to the servo amplifier 1100. Reference numeral 1107 denotes a cable for supplying driving power from the servo amplifier 1100 to the electric motor 1102. Reference numeral 1108 denotes a cable for supplying power to the servo amplifier. 1109 is a personal computer equipped with an automatic adjustment function and an adjustment result management apparatus, 1110 is an adjustment condition from the personal computer 1109, and a motor operation time when the motor is operated by a position command generated by a 121 position command generation unit Is a communication cable for transmitting the operation data to the servo amplifier 1100.

  The present embodiment is an embodiment that is common to both rotary motors and linear motors as motor control targets.

  In this embodiment, the position command patterns 1 to N output from the position command generation unit 121 are described as position command values when the motor is operated a plurality of times during automatic adjustment of the motor. The means for operating is not limited. That is, a position command generation device input from the outside may be attached to the motor control device, and a position command pattern may be input.

  When the motor is operated a plurality of times, the control parameter adjustment method of the motor control device may be automatic adjustment or manual adjustment. In other words, the control parameter may be adjusted every time the electric motor is operated, and stored if necessary.

  As described above, according to the present embodiment, it is possible to easily check whether or not the allowable value range set by the user due to the change in the mechanical characteristics after the automatic adjustment of the control parameters of the electric motor is completed. Further, it is possible to easily set the control parameters of the electric motor that hardly exceed the allowable value range set by the user even if the mechanical characteristics change.

  The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Moreover, it is also possible to add, delete, and replace other configurations for a part of the configuration of the embodiment.

DESCRIPTION OF SYMBOLS 1 ... Electric motor, 2 ... Drive object load, 3 ... Connection shaft, 4 ... Power converter, 5 ... Position detector,
6 ... Position controller, 7 ... Speed detector, 8 ... Speed controller, 9 ... Current detector, 10 ... Current controller,
DESCRIPTION OF SYMBOLS 11 ... Data measurement part, 12 ... Parameter tuning part, 13 ... Adjustment result management apparatus,
121: Position command generation unit, 122: Control parameter adjustment unit, θ _M ^* : Position command value,
θ _M … position detection value, ω _M ^* … speed command value, ω _M … speed detection value, I _q ^* … torque current command value,
I _q ... Torque current detection value

Claims (7)

A method for automatically adjusting control parameters of an electric motor control device, comprising:
Operate the electric motor for a plurality of control parameters to measure driving characteristic data, save a plurality of driving characteristic data for the plurality of control parameters, perform automatic adjustment to adjust the control parameters to be appropriate,
After the automatic adjustment, the motor is repeatedly operated using the control parameter, and the motor operation check operation is performed to determine whether the operation characteristic data is within the allowable value range,
When the allowable value range is exceeded, a search is made for a control parameter corresponding to the operation characteristic data that does not easily exceed the allowable value range even if the mechanical characteristic changes from the plurality of stored operation characteristic data, and is reset. Or a second readjustment in which the automatic adjustment is performed again by changing the allowable value condition so that the allowable value range is not easily exceeded even if the mechanical characteristics change. Automatic control parameter adjustment method. A control parameter automatic adjustment method for an electric motor control device according to claim 1,
Display whether or not it is within the allowable range that is the result of the motor operation check operation,
A control parameter automatic adjustment method for an electric motor control device, comprising: displaying a selection screen for a user to select the first readjustment and the second readjustment. It is a control parameter automatic adjustment method of the electric motor control device according to any one of claims 1 and 2,
The operation characteristic data that makes it difficult to exceed the allowable value range even if the mechanical characteristic changes is the operation characteristic data that is within the allowable range that is smaller than the allowable value at the time of the automatic adjustment as a new allowable value range. And
The control parameter automatic adjustment of the motor control device characterized in that the allowable value condition that makes it difficult to exceed the allowable value range even if the mechanical characteristic changes is an allowable value smaller than the allowable value at the time of the automatic adjustment. Method. An electric motor control device,
A speed detector that inputs a signal from a position detector that outputs a position detection value of the motor and outputs a speed detection value of the motor;
A position controller that outputs a speed command value according to a position deviation between the position command value and the position detection value;
A speed controller that outputs a torque current command value according to a speed deviation between the speed command value and the speed detection value;
A current detector for detecting a detected torque current value supplied to the electric motor;
A power converter for driving the electric motor;
A current controller that adjusts an output current of the power converter according to the torque current command value and the torque current detection value;
A data measuring unit for measuring the position detection value, speed detection value, torque current detection value;
A parameter tuning unit that takes the position detection value as an input value, generates the position command value, outputs control parameters to be set in the position controller and the speed controller, and automatically adjusts the control parameters;
It has an adjustment result management device for storing control parameters for each motor operation, and operation characteristic data,
The parameter tuning unit operates the electric motor with respect to a plurality of control parameters, measures driving characteristic data with the data measuring unit, and supplies a plurality of driving characteristic data for the plurality of control parameters to the adjustment result management device. Motor operation to save and adjust the control parameter to be appropriate, and after the automatic adjustment, the motor is repeatedly operated using the control parameter to determine whether the operation characteristic data is within the allowable range Confirm operation,
When the allowable value range is exceeded, a search is made for a control parameter corresponding to the operation characteristic data that does not easily exceed the allowable value range even if the mechanical characteristic changes from the plurality of stored operation characteristic data, and is reset. Or a second readjustment in which the automatic adjustment is performed again by changing the allowable value condition so that the allowable value range is not easily exceeded even if the mechanical characteristics change. . The electric motor control device according to claim 4,
The adjustment result management device displays whether or not it is within an allowable range that is a result of the motor operation check operation, and a selection screen for the user to select the first readjustment and the second readjustment An electric motor control device characterized by displaying. The motor control device according to any one of claims 4 and 5 ,
The operation characteristic data that makes it difficult to exceed the allowable value range even if the mechanical characteristic changes is the operation characteristic data that is within the allowable range that is smaller than the allowable value at the time of the automatic adjustment as a new allowable value range. And
The electric motor control apparatus according to claim 1, wherein the allowable value condition that makes it difficult to exceed the allowable value range even if the mechanical characteristic changes is an allowable value smaller than an allowable value at the time of the automatic adjustment . The electric motor control device according to any one of claims 4 to 6 ,
The electric motor control apparatus , wherein the operation characteristic data is a vibration amplitude amount or an overshoot amount .

Images