JP6353731B2 - Motor system - Google Patents

Description

  The present invention relates to a motor system including a motor that operates an operation target and a motor control device that controls the motor.

  2. Description of the Related Art Conventionally, a motor control device that controls a motor by P-PI control (proportional / proportional integral control) is known as a motor control device that operates a robot (see, for example, Patent Document 1). In a motor control device that performs P-PI control, the rotational position and rotational speed of the motor are fed back, proportional control is performed for the deviation of the rotational position, and proportional-integral control (PI) is performed for the rotational speed deviation. Control).

In a motor system including a motor control device that performs P-PI control and a motor controlled by the motor control device, a closed loop system that receives a rotational position command of the motor and outputs the rotational position of the motor in a block diagram For example, it is as shown in FIG. In FIG. 5, Kp is a position loop gain, Kv is a velocity loop gain, and Ki is an integral gain. K is a gain obtained by dividing a fixed value including a fixed gain of an amplifier that supplies power to the motor and a torque constant of the motor by the inertia of the robot and the motor, and p is a viscosity of the robot and the motor. The gain is a value obtained by dividing the related term by the inertia of the robot and the motor, and s is a Laplace operator. Further, ω _F is a cutoff frequency of the filter, and the rotational position is converted into the rotational speed by the filter.

JP 2006-244300 A

  In the closed loop system shown in FIG. 5, even if the inertia of the robot or motor increases (that is, even if K decreases), if the velocity loop gain Kv is increased accordingly, the magnitude of the inertia of the robot or motor is increased. Regardless, it is possible to keep the characteristics of the closed loop system constant. However, if the speed loop gain Kv is increased in accordance with the increased robot or motor inertia, the response sensitivity of the motor to disturbance increases. If the response sensitivity of the motor to disturbance increases, vibrations are likely to occur in the motor and robot due to mechanical errors and backlash.

  Here, in the closed loop system shown in FIG. 5, it is possible to reduce the disturbance response sensitivity by reducing the integral gain Ki and to suppress the vibration generated in the motor and the robot. However, if only the integral gain Ki is reduced, the position loop gain Kp, velocity loop gain Kv, and integral gain Ki are out of balance, and the characteristics of the closed loop system shown in FIG. 5 (that is, the response characteristics of the motor to the rotational position command). Fluctuates. Further, if the characteristics of the closed loop system fluctuate, it may be difficult to appropriately control the motor in a stable state.

  Therefore, the problem of the present invention is that even if vibration occurs in the operation target or motor when the operation target or motor inertia increases, the rotational position command of the motor is suppressed while suppressing the vibration of the operation target or motor. It is an object of the present invention to provide a motor system capable of keeping constant the characteristics of a closed loop system in which the rotation position of the motor is output.

In order to solve the above-described problems, a motor system of the present invention is a motor system including a motor that operates an operation target and a motor control device that controls the motor. When a closed loop system having an output of is represented by a block diagram, the closed loop system includes a proportional gain element, an integral filter element, a motor gain element, a motor element, and a differential filter element as a transfer element, and a closed loop system. A forward path from the input section of the system to the output section, and a first feedback path and a second feedback path from the output section of the closed loop system to the input side. In the forward path, the rotational position command is transmitted in the signal transmission direction. Input first addition point, proportional gain element, second addition point, integral filter element, motor gain required And the motor elements are arranged in this order, the first feedback path is negatively feedback connected to the first summing point, the second feedback path is negatively feedback connected to the second summing point, The differential filter element is arranged in the second feedback path, and is a gain that is a value obtained by dividing a fixed value including a fixed gain of an amplifier that supplies power to the motor and a torque constant of the motor by the operation object and the inertia of the motor. , Where K is the gain that is the value of the operating object and motor viscosity divided by the operating object and the inertia of the motor, and p is the Laplace operator, and s is the Laplace operator. the desired transfer function is a transfer function having a desired characteristic of the closed loop system for controlling the, defined by _{m 0 / (s 2 + m} 1 s + m 0), the proportional gain element is m _0, integration Fi Data ^{_{elements, (s 2 + q 1 s}} + q 0) / a transfer function represented by _{(s 2 + a 1 s)} , the motor gain element is 1 / K, the motor ^{element, K / (s 2 + ps} ) The differential filter element is a transfer function represented by (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ ), and a ₁ , b ₁ , and b ₂ are By satisfying the relationship, the characteristics of the closed-loop system agree with the desired transfer function,
a ₁ = q ₁ + m ₁ −p
b ₁ = q ₀ m ₁
b ₂ = (q ₁ −p) (m ₁ −p) + q ₀
The motor control device includes inertia detection means for detecting the operation object and the inertia of the motor, and impairs the characteristics of the desired transfer function by adjusting q ₀ and q ₁ based on the detection result of the inertia detection means. The disturbance response characteristics that change in accordance with the operation object and the inertia of the motor are corrected.

  In the present invention, the inertia detection means is an adaptive identification means for estimating the operation target and the inertia of the motor based on, for example, an input to the motor element and an output from the motor element.

In order to solve the above problems, a motor system according to the present invention is a motor system including a motor that operates an operation target and a motor control device that controls the motor. When the closed loop system that outputs the rotational position is represented by a block diagram, the closed loop system includes a proportional gain element, an integral filter element, a motor gain element, a motor element, and a differential filter element as transmission elements. , A forward path from the input unit of the closed loop system to the output unit, and a first feedback path and a second feedback path from the output unit of the closed loop system to the input side. In the forward path, the rotational position in the signal transmission direction A first summing point to which a command is input, a proportional gain element, a second summing point, an integral filter element, a motor gain And the motor element are arranged in this order, the first feedback path is connected to the first summing point by negative feedback, and the second feedback path is connected to the second summing point by negative feedback. In addition, the differential filter element is disposed in the second feedback path, and is a value obtained by dividing a fixed value including a fixed gain of the amplifier that supplies power to the motor and a torque constant of the motor by the operation target and the inertia of the motor. When a certain gain is K, a gain that is a value obtained by dividing a term related to the operating object and the motor's viscosity by the operating object and the inertia of the motor is p, and a Laplace operator is s, a motor according to the operating object the desired transfer function is a transfer function having a desired characteristic of the closed loop system for appropriately controlling is defined by _{m 0 / (s 2 + m} 1 s + m 0), the proportional gain element is m _0, the product Filter ^{_{element, (s 2 + q 1 s}} + q 0) / a transfer function represented by _{(s 2 + a 1 s)} , the motor gain element is 1 / K, the motor ^{element, K / (s 2 + ps} ) The differential filter element is a transfer function represented by (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ ), and a ₁ , b ₁ , and b ₂ are By satisfying the relationship, the characteristics of the closed-loop system agree with the desired transfer function,
a ₁ = q ₁ + m ₁ −p
b ₁ = q ₀ m ₁
b ₂ = (q ₁ −p) (m ₁ −p) + q ₀
The motor control device includes vibration detection means for detecting the magnitude of vibration of the operation object and / or the motor, and adjusts q ₀ and q ₁ based on the detection result of the vibration detection means, thereby transmitting the desired transmission. It is characterized by suppressing the vibration of the operation object and / or the motor without impairing the characteristics of the function.

In the motor system of the present invention, when a closed loop system having a motor rotational position command as an input and a motor rotational position as an output is represented by a block diagram, the closed loop system is configured as described above. Further, in the present invention, the motor controller operates the object and with the inertia detecting means for detecting the inertia of the motor, based on the detection result of the inertia detecting means, and adjusts the q ₀ and q _1. Although the gain of the integral filter element is adjusted by adjusting q ₀ and q ₁ (that is, the disturbance response sensitivity is adjusted), the present invention is configured as described above. Even if vibration occurs in the operation target or motor when the inertia of the target or motor increases, it is possible to suppress vibration of the operation target or motor. Alternatively, in the motor system of the present invention, the motor control device includes a vibration detection unit that detects the magnitude of vibration of the operation target and / or the motor, and q ₀ and q based on the detection result of the vibration detection unit. ₁ is adjusted. Therefore, in the present invention, even if vibration occurs in the operation target or motor when the inertia of the operation target or motor increases, it is possible to suppress the vibration of the operation target or motor in the same manner as described above. Become. Moreover, even if vibration occurs in the operation target or the motor due to other factors, the vibration of the operation target or the motor can be suppressed.

Further, in the present invention, since the closed loop system is configured as described above, even if the operation object and the inertia of the motor are increased and q ₀ and q ₁ are adjusted, a ₁ , By automatically adjusting b ₁ and b _2, it becomes possible to match the desired transfer function without changing the transfer function of the closed loop system. Therefore, in the present invention, when the operation object or the inertia of the motor is increased, the disturbance response sensitivity is increased and the detection sensitivity to vibration is also increased. However, q ₀ and q ₁ are adjusted and corresponding to them. Thus, a ₁ , b ₁ and b ₂ are also automatically adjusted, so that the characteristics of the closed loop system can be kept constant. As described above, according to the present invention, even if vibration occurs in the operation target or motor when the inertia of the operation target or motor increases, the characteristics of the closed loop system are kept constant while suppressing the vibration of the operation target or motor. It becomes possible to keep on.

In the present invention, the motor control device stores a table in which the operation target and the inertia of the motor are associated with q ₀ and q _1, and the motor control device stores the detection result and the table in the inertia detection means. It is preferable to adjust q ₀ and q ₁ based on In the present invention, the motor control device stores a table in which the operating object and / or the magnitude of vibration of the motor and q ₀ and q ₁ are associated with each other. The motor control device is a vibration detection unit. It is preferable to adjust q ₀ and q ₁ based on the detection result and the table. According to this structure, it becomes possible to adjust the q ₀ and q ₁ based on the table stored in the motor controller, the operation object and the adjustment of q ₀ and q ₁ corresponding to the inertia of the motor It becomes possible to improve the reproducibility and the reproducibility of the adjustment of q ₀ and q ₁ according to the magnitude of vibration of the operation object and / or the motor. Therefore, stable adjustment of q ₀ and q ₁ is possible.

In the present invention, the motor control device performs a predetermined calculation on the basis of the operation object detected by the inertia detection means and the inertia of the motor, calculates q ₀ and q _1, and calculates q ₀ and q ₁ You may adjust it. In the present invention, the motor control device calculates q ₀ and q ₁ by performing a predetermined calculation based on the motion object detected by the vibration detection means and / or the magnitude of the motor vibration, ₀ and _{q 1} may be adjusted.

In the present invention, for example, if the root of the characteristic polynomial s ² + q ₁ s + q ₀ of the differential filter element is a double root, q ₀ and q ₀ and the case where there are two roots of the characteristic polynomial s ² + q ₁ s + q ₀ q ₁ can be easily adjusted.

  In the present invention, the motor control device includes adaptive identification means for estimating the gain K based on the input to the motor element and the output from the motor element, and the motor gain element based on the gain K estimated by the adaptive identification means. Is preferably updated. In this case, for example, the adaptive identification unit sequentially executes the estimation of the gain K at a predetermined time interval, and the motor control device sets the motor gain element at the predetermined time interval based on the gain K estimated by the adaptive identification unit. Update sequentially. With this configuration, it becomes possible to automatically match the transfer function of the closed loop system with the desired transfer function when the inertia of the operation target or the motor increases. Therefore, even when the operation object and the inertia of the motor are increased, it is possible to automatically keep the characteristics of the closed loop system constant.

  In the present invention, the adaptive identification means preferably estimates the gain p based on the input to the motor element and the output from the motor element. With this configuration, even if the value of the gain p is large, the integral filter element and the differential filter element can be set as appropriate transfer functions based on the estimated gain p.

  As described above, in the motor system of the present invention, even if vibration occurs in the operation target or the motor when the operation target or the inertia of the motor becomes large, the motor while suppressing the vibration of the operation target or the motor. It is possible to keep constant the characteristics of the closed loop system in which the rotational position command is input and the rotational position of the motor is output.

1 is a block diagram showing a schematic configuration of a motor system according to an embodiment of the present invention. FIG. 2 is a block diagram of a closed loop system when a motor rotational position command is input and a motor rotational position is output in the motor system shown in FIG. 1. It is a figure for demonstrating that the transfer function of the closed loop type | system | group shown in FIG. 2 becomes equal to the desired transfer function which is a transfer function which has the desired characteristic of a closed loop type | system | group. It is a block diagram which shows the differential filter element concerning other embodiment of this invention. FIG. 6 is a block diagram of a closed loop system when a motor rotational position command is input and a motor rotational position is output in a motor system according to the prior art.

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

(Configuration of motor system)
FIG. 1 is a block diagram showing a schematic configuration of a motor system 1 according to an embodiment of the present invention. FIG. 2 is a block diagram of the closed loop system 8 when the rotational position command of the motor 3 is input and the rotational position of the motor 3 is output in the motor system 1 shown in FIG.

  The motor system 1 of this embodiment includes a motor 3 that operates the operation target 2 and a motor control device 4 that controls the motor 3. The motor 3 is an AC servo motor or a DC servo motor, and operates, for example, an arm of an industrial robot that is the operation target 2. The motor 3 includes a detection mechanism (encoder) 5 for detecting the rotational position of the motor 3. An output signal of the detection mechanism 5 is input to the motor control device 4. In the motor system 1, a closed loop system 8 that receives the rotational position command of the motor 3 and outputs the rotational position of the motor 3 is represented by a block diagram as shown in FIG. 2. In this embodiment, the motor control circuit of the motor control device 4 is an analog circuit (continuous time system circuit), but the motor control circuit may be a digital circuit (discrete time system circuit), It may be configured by software.

  As shown in FIG. 2, the closed loop system 8 includes a proportional gain element 9, an integral filter element 10, a motor gain element 11, a motor element 12, and a differential filter element 13 as transmission elements. The closed loop system 8 includes a forward path 15 from the input section of the closed loop system 8 to the output section, a first feedback path 16 (first feedback path) 16 and a second feedback path from the output section of the closed loop system 8 to the input side. (Second feedback path) 17.

  In the forward path 15, in the signal transmission direction, a first addition point 18, a proportional gain element 9, a second addition point 19, an integral filter element 10, and a motor gain are input. Element 11 and motor element 12 are arranged in this order. The first feedback path 16 is connected to the first addition point 18 by negative feedback. The second feedback path 17 is connected to the second addition point 19 by negative feedback. Further, the differential filter element 13 is disposed in the second feedback path 17.

Assuming that the Laplace operator is s, the desired transfer function, which is a transfer function having the desired characteristics of the closed loop system 8 for appropriately controlling the motor 3 in accordance with the operation target object 2, is m ₀ / (s ² + m ₁ s + m. ₀ ). This desired transfer function can be modified as follows, for example.
m ₀ / (s ² + m ₁ s + m ₀ ) = ω ₁ ω ₂ / (s + ω ₁ ) (s + ω ₂ )
Here, ω ₁ and ω ₂ are cutoff frequencies of the desired transfer function, and the following relationship is established.
m ₀ = ω ₁ ω ₂ , m ₁ = ω ₁ + ω ₂
In addition, desired control response characteristics can be obtained by setting ω ₁ and ω ₂ according to the characteristics of the operation target 2 and the motor 3.

Further, a gain obtained by dividing a fixed value including a fixed gain of an amplifier (not shown) for supplying power to the motor 3 and a torque constant of the motor 3 by an inertia of the operation object 2 and the motor 3 is defined as K, and When the gain that is a value obtained by dividing the term related to the viscosity of the object 2 and the motor 3 by the inertia of the operation object 2 and the motor 3 is p, the proportional gain element 9 is m ₀ , and the integral filter element 10 is It is a transfer function represented by (s ² + q ₁ s + q ₀ ) / (s ² + a ₁ s), the motor gain element 11 is 1 / K, and the motor element 12 is represented by K / (s ² + ps). The differential filter element 13 is a transfer function represented by (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ ). A ₁ , b ₁ and b ₂ satisfy the following relationship.
a ₁ = q ₁ + m ₁ −p (1)
b ₁ = q ₀ m ₁ Formula (2)
_{b 2 = (q 1 -p)} (m 1 -p) + q 0 ··· formula (3)

Note that q ₀ and q ₁ are values arbitrarily set in order to appropriately control the operation target 2 and the motor 3. The characteristic polynomial (s ² + q ₁ s + q ₀ ) of the differential filter element 13 and the numerator polynomial (s ² + q ₁ s + q ₀ ) of the integral filter element 10 can be modified as follows, for example.
s ² + q ₁ s + q ₀ = (s + ω _q1 ) (s + ω _q2 )
Here, ω _q1 and ω _q2 are cutoff frequencies, and the following relationship is established.
q ₀ = ω _q1 ω _q2 , q ₁ = ω _q1 + ω _q2
In this embodiment, ω _q1 and ω _q2 are equal. That is, the root of the characteristic polynomial of the differential filter element 13 is a multiple root. However, ω _q1 and ω _q2 do not have to be equal.

  The motor control device 4 includes adaptive identification means 21 that estimates the gain K based on the input to the motor element 12 and the output from the motor element 12 (see FIG. 2). The adaptive identification means 21 estimates the gain K by an identification method such as a least square method. In addition, the adaptive identification unit 21 sequentially executes the estimation of the gain K at predetermined time intervals. The motor control device 4 updates the motor gain element 11 based on the gain K estimated by the adaptive identification means 21. That is, the motor control device 4 sequentially updates the motor gain element 11 at predetermined time intervals based on the gain K sequentially estimated by the adaptive identification means 21 at predetermined time intervals.

Further, the adaptive identification means 21 estimates the inertia of the operation object 2 and the motor 3 based on the input to the motor element 12 and the output from the motor element 12. The adaptive identification means 21 estimates the inertia of the operation object 2 and the motor 3 by an identification method such as a least square method, and sequentially executes the estimation of the inertia at predetermined time intervals. The motor control device 4 adjusts q ₀ and q ₁ based on the inertia estimated by the adaptive identification means 21.

Specifically, the motor control device 4 stores a table in which the inertia of the operation object 2 and the motor 3 and q ₀ and q ₁ are associated with each other. Based on the inertia estimated by 21 and the table, q ₀ and q ₁ are adjusted. In addition, the motor control device 4 increases the disturbance sensitivity and the detection sensitivity to vibration as the inertia estimated by the adaptive identification means 21 increases. However, by reducing q ₀ and q ₁ , the closed loop system 8 It is possible to reduce the disturbance sensitivity while keeping the characteristics constant. The adaptive identification means 21 of this embodiment is an inertia detection means for detecting the inertia of the operation target 2 and the motor 3, and the motor control device 4 is based on the detection result of this inertia detection means (that is, the adaptive identification means 21). Q ₀ and q ₁ are adjusted. Further, the motor control device 4 automatically adjusts a ₁ , b _1, and b ₂ according to the above formulas (1) to (3) according to the values of q ₀ and q ₁ .

Note that a table in which the inertia of the operation object 2 and the motor 3 and q ₀ and q ₁ are associated with each other may not be stored in the motor control device 4. In this case, the motor control unit 4, for example, on the basis of the inertia estimated by the adaptive identification means 21 calculates a q ₀ and q ₁ by performing a predetermined operation, by adjusting the q ₀ and q ₁ good.

  Furthermore, the adaptive identification means 21 estimates the gain p based on the input to the motor element 12 and the output from the motor element 12. The adaptive identification means 21 estimates the gain p by an identification method such as a least square method, and sequentially executes the estimation of the gain p at predetermined time intervals. The motor control device 4 updates the integral filter element 10 and the differential filter element 13 based on the gain p estimated by the adaptive identification means 21. That is, the motor control device 4 sequentially updates the integral filter element 10 and the differential filter element 13 at predetermined time intervals based on the gains p sequentially estimated by the adaptive identification means 21 at predetermined time intervals.

(Main effects of this form)
As described above, in this embodiment, when the closed loop system 8 is represented by a block diagram, the closed loop system 8 is configured as shown in FIG. In the present embodiment, the motor control device 4 adjusts q ₀ and q ₁ based on the inertia estimated by the adaptive identification means 21. Therefore, in this embodiment, even if vibration occurs in the operation target 2 or the motor 3 when the inertia of the operation target 2 or the motor 3 becomes large, it is possible to suppress the vibration of the operation target 2 or the motor 3. become.

Further, in this embodiment, when the inertia of the operation target 2 or the motor 3 is increased, the disturbance sensitivity is increased and the detection sensitivity to vibration is also increased, but q ₀ and q based on the inertia estimated by the adaptive identification means 21. ₁ is adjusted, and the closed-loop system 8 is configured as shown in FIG. 2, and further, in accordance with the values of q ₀ and q ₁ , the above equations (1) to (3) Therefore, since a ₁ , b ₁ and b ₂ are also automatically adjusted, it is possible to match the transfer function of the closed loop system 8 with the desired transfer function while suppressing the vibration of the operation object 2 and the motor 3. Therefore, in this embodiment, it is possible to keep the characteristics of the closed loop system 8 constant even when the inertia of the operation target 2 and the motor 3 increases. As described above, in the present embodiment, even if vibration occurs in the operation target 2 or the motor 3 when the inertia of the operation target 2 or the motor 3 is increased, the vibration of the operation target 2 or the motor 3 is suppressed, The characteristics of the closed loop system 8 can be kept constant.

In particular, in this embodiment, the gain K is estimated by the adaptive identification means 21 based on the input to the motor element 12 and the output from the motor element 12, and the motor is based on the gain K estimated by the adaptive identification means 21. Since the gain element 11 is updated, the transfer function of the closed loop system 8 can be automatically matched with the desired transfer function even when the inertia of the operation target 2 or the motor 3 becomes large. Specifically, using FIG. 3 and the like, first, the closed loop system 8 shown in FIG. 2 can be sequentially equivalently converted as shown in FIGS. The denominator of the transfer function in FIG.
s ⁴ + (a ₁ + p) s ³ + (a ₁ p + b ₂ ) s ² + b ₁ s + m ₀ (s ² + q ₁ s + q ₀ )
And substituting the above formulas (1) to (3) into the denominator after deformation,
s ² (s ² + q ₁ s + q ₀ ) + m ₁ s (s ² + q ₁ s + q ₀ ) + m ₀ (s ² + q ₁ s + q ₀ )
Since the common factor (s ² + q ₁ s + q ₀ ) is present in the denominator, the transfer function in FIG. 3D can be obtained by dividing (s ² + q ₁ s + q ₀ ). It can be seen that it matches m ₀ / (s ² + m ₁ s + m ₀ ).

  As described above, in this embodiment, even if the inertia of the operation target 2 or the motor 3 becomes large, the transfer function of the closed loop system 8 can be automatically matched with the desired transfer function. Even if the inertia of 3 is increased, the characteristics of the closed loop system 8 can be automatically kept constant. In this embodiment, since the adaptive identification means 21 estimates the gain p, the integral filter element 10 and the differential filter element 13 are appropriately set based on the estimated gain p even if the value of the gain p is large. By adjusting, the characteristics of the closed loop system 8 can be automatically kept constant.

In the present embodiment, the motor control device 4 stores a table in which the inertia of the operation object 2 and the motor 3 and q ₀ and q ₁ are associated with each other. Based on the estimated inertia and the table, q ₀ and q ₁ are adjusted. Therefore, in this embodiment, it becomes possible to improve the reproducibility of the adjustment of q ₀ and q ₁ according to the inertia of the operation object 2 and the motor 3, and as a result, stable adjustment of q ₀ and q ₁ is possible. become. Further, in this embodiment, since the roots of the characteristic polynomial of the differential filter element 13 are double roots, q ₀ and q ₁ can be easily adjusted.

(Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited to this, and various modifications can be made without departing from the scope of the present invention.

In the embodiment described above, the motor control device 4 adjusts q ₀ and q ₁ based on the inertia estimated by the adaptive identification means 21. In addition to this, for example, the motor control device 4 includes vibration detection means for detecting the magnitude of vibration of the operation object 2 and / or the motor 3, and q ₀ based on the detection result of the vibration detection means. and q ₁ may be adjusted. In this case, the motor control device 4 decreases q ₀ and q ₁ when the magnitude of vibration detected by the vibration detection means increases.

Even in this case, even if the operation object 2 or the motor 3 is vibrated when the inertia of the operation object 2 or the motor 3 is increased, the vibration of the operation object 2 or the motor 3 can be suppressed. it can. Similarly to the above-described embodiment, even if q ₀ and q ₁ are adjusted, the transfer function of the closed-loop system 8 can be matched with the desired transfer function, so that the characteristics of the closed-loop system 8 are kept constant. Is possible. Therefore, even in this case, the same effect as the above-described embodiment can be obtained.

In this case, a table in which the magnitude of vibration of the operation object 2 and / or the motor 3 is associated with q ₀ and q ₁ is stored in the motor control device 4, and the motor control device 4 It is preferable to adjust q ₀ and q ₁ based on the detection result of the detection means and this table. However, the motor control device 4 calculates q ₀ and q ₁ by performing a predetermined calculation based on the magnitude of vibration detected by the vibration detecting means, and adjusts q ₀ and q _1. good.

Further, the motor control device 4 may adjust q ₀ and q ₁ based on the inertia estimated by the adaptive identification means 21 and the magnitude of vibration detected by the vibration detection means.

  In the embodiment described above, the differential filter element 13 is configured by one transfer element, but the differential filter element 13 may be configured by two or more transfer elements. For example, the differential filter element 13 may be configured by two transmission elements 13a and 13b shown in FIG. Similarly, in the embodiment described above, the integral filter element 10 is configured by one transfer element, but the integral filter element 10 may be configured by two or more transfer elements.

In the embodiment described above, the adaptive identification unit 21 estimates the gain p. However, when the gain p is small, the adaptive identification unit 21 does not have to estimate the gain p. In the above-described form, the motor control device 4 updates the motor gain element 11 based on the gain K estimated by the adaptive identification means 21. That is, in the embodiment described above, the gain K is automatically updated, but the gain K may be updated manually. In this case, when the gain p is small and q ₀ and q ₁ are adjusted based on the detection result of the vibration detection means for detecting the magnitude of vibration of the operation object 2 and / or the motor 3. The motor control device 4 may not include the adaptive identification unit 21.

  In the embodiment described above, the adaptive identification means 21 is an inertia detection means for detecting the inertia of the operation object 2 and the motor 3, but the motor control device 4 includes the operation object 2 in addition to the adaptation identification means 21. In addition, an inertia detection means for detecting the inertia of the motor 3 may be provided.

DESCRIPTION OF SYMBOLS 1 Motor system 2 Operation | movement object 3 Motor 4 Motor controller 8 Closed loop system 9 Proportional gain element 10 Integral filter element 11 Motor gain element 12 Motor element 13 Differential filter element 15 Forward path 16 1st feedback path 17 2nd feedback path 18 1st 1 addition point 19 2nd addition point 21 Adaptive identification means (inertia detection means)

Claims (11)

In a motor system comprising a motor that operates an operation target and a motor control device that controls the motor,
When a closed loop system having the rotational position command of the motor as an input and the rotational position of the motor as an output is represented by a block diagram, the closed loop system includes a proportional gain element, an integral filter element, and a motor gain element as transmission elements. And a motor element and a differential filter element, a forward path from the input part of the closed loop system to the output part, a first feedback path and a second feedback path from the output part of the closed loop system to the input side, With
In the forward path, in the signal transmission direction, the first addition point to which the rotational position command is input, the proportional gain element, the second addition point, the integration filter element, and the motor gain Elements and the motor elements are arranged in this order,
The first feedback path is negatively feedback connected to the first summing point;
The second feedback path is negatively feedback connected to the second summing point, and the differential filter element is disposed in the second feedback path,
A gain obtained by dividing a fixed value including a fixed gain of an amplifier that supplies power to the motor and a torque constant of the motor by the operation object and the inertia of the motor is defined as K, and the operation object and the motor The gain, which is a value obtained by dividing the term related to the viscosity of the operation object and the inertia of the motor, is p, and the Laplace operator is s.
The desired transfer function, which is a transfer function having desired characteristics of the closed loop system for appropriately controlling the motor according to the operation object,
m ₀ / (s ² + m ₁ s + m ₀ )
Stipulated in
The proportional gain element is m ₀ ;
The integral filter element is a transfer function represented by (s ² + q ₁ s + q ₀ ) / (s ² + a ₁ s),
The motor gain element is 1 / K;
The motor element is a transfer function represented by K / (s ² + ps),
The differential filter element is a transfer function represented by (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ ),
When a ₁ , b ₁ , and b ₂ satisfy the following relationship, the characteristics of the closed-loop system agree with the desired transfer function,
a ₁ = q ₁ + m ₁ −p
b ₁ = q ₀ m ₁
b ₂ = (q ₁ −p) (m ₁ −p) + q ₀
The motor control device includes inertia detection means for detecting the operation object and inertia of the motor, and adjusts q ₀ and q ₁ based on a detection result of the inertia detection means, thereby transmitting the desired transmission. A motor system that corrects a disturbance response characteristic that changes in accordance with the operation object and the inertia of the motor without impairing the characteristics of the function.   The inertia detection means is an adaptive identification means for estimating the operation object and inertia of the motor based on an input to the motor element and an output from the motor element. Motor system. The motor control device stores a table in which the operation object and the inertia of the motor are associated with q ₀ and q ₁ ,
3. The motor system according to claim 1, wherein the motor control device adjusts q ₀ and q ₁ based on a detection result of the inertia detection unit and the table. The motor control device, based on the detected operation object and inertia of the motor by the inertia detecting unit, and calculates a q ₀ and q ₁ by performing a predetermined operation, to adjust the q ₀ and q ₁ The motor system according to claim 1, wherein the motor system is a motor system. In a motor system comprising a motor that operates an operation target and a motor control device that controls the motor,
When a closed loop system having the rotational position command of the motor as an input and the rotational position of the motor as an output is represented by a block diagram, the closed loop system includes a proportional gain element, an integral filter element, and a motor gain element as transmission elements. And a motor element and a differential filter element, a forward path from the input part of the closed loop system to the output part, a first feedback path and a second feedback path from the output part of the closed loop system to the input side, With
In the forward path, in the signal transmission direction, the first addition point to which the rotational position command is input, the proportional gain element, the second addition point, the integration filter element, and the motor gain Elements and the motor elements are arranged in this order,
The first feedback path is negatively feedback connected to the first summing point;
The second feedback path is negatively feedback connected to the second summing point, and the differential filter element is disposed in the second feedback path,
A gain obtained by dividing a fixed value including a fixed gain of an amplifier that supplies power to the motor and a torque constant of the motor by the operation object and the inertia of the motor is defined as K, and the operation object and the motor The gain, which is a value obtained by dividing the term related to the viscosity of the operation object and the inertia of the motor, is p, and the Laplace operator is s.
The desired transfer function, which is a transfer function having desired characteristics of the closed loop system for appropriately controlling the motor according to the operation object,
m ₀ / (s ² + m ₁ s + m ₀ )
Stipulated in
The proportional gain element is m ₀ ;
The integral filter element is a transfer function represented by (s ² + q ₁ s + q ₀ ) / (s ² + a ₁ s),
The motor gain element is 1 / K;
The motor element is a transfer function represented by K / (s ² + ps),
The differential filter element is a transfer function represented by (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ ),
When a ₁ , b ₁ , and b ₂ satisfy the following relationship, the characteristics of the closed-loop system agree with the desired transfer function,
a ₁ = q ₁ + m ₁ −p
b ₁ = q ₀ m ₁
b ₂ = (q ₁ −p) (m ₁ −p) + q ₀
The motor control device includes vibration detection means for detecting the magnitude of vibration of the operation object and / or the motor, and adjusts q ₀ and q ₁ based on the detection result of the vibration detection means. The motor system is characterized by suppressing vibrations of the operation object and / or the motor without impairing characteristics of the desired transfer function. The motor control device stores a table in which the operating object and / or the magnitude of vibration of the motor is associated with q ₀ and q ₁ .
The motor system according to claim 5, wherein the motor control device adjusts q ₀ and q ₁ based on a detection result of the vibration detection unit and the table. The motor control device, on the basis of the magnitude of vibration of said operation object and / or the motor detected by the vibration detecting means, calculates a q ₀ and q ₁ by performing a predetermined calculation, q ₀ and motor system according to claim 5, wherein the adjusting q _1. The motor system according to any one of claims 1 to 7, wherein a root of the characteristic polynomial s ² + q ₁ s + q ₀ of the differential filter element is a double root.   The motor control device includes adaptive identification means for estimating the gain K based on an input to the motor element and an output from the motor element, and based on the gain K estimated by the adaptive identification means, 9. The motor system according to claim 1, wherein the motor gain element is updated. The adaptive identification means sequentially executes the estimation of the gain K at predetermined time intervals,
The motor system according to claim 9, wherein the motor control device sequentially updates the motor gain element at predetermined time intervals based on the gain K estimated by the adaptive identification means.   The motor system according to claim 9 or 10, wherein the adaptive identification means estimates the gain p based on an input to the motor element and an output from the motor element.

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