JP6918290B2 - Motor control device, motor device, motor control method, lifting device - Google Patents

Description

The present invention relates to a motor control device used for manufacturing assembly equipment in the manufacturing field, transfer equipment in the transportation field, and the like, and a motor device having the motor and the control device.

In industrial robots used for manufacturing and assembly equipment in the manufacturing field, power assist devices used in transfer equipment in the transportation field, and the like, servomotors are used for moving parts such as joints. A device that is smooth and has improved safety is known by a motor device capable of controlling the torsional torque of the output shaft by connecting a torque sensor to such a motor and measuring the torsional torque of the power output shaft. A method of performing torque control in the control of this motor device is disclosed. (Patent Document 1)

JP-A-2017-034936 Japanese Unexamined Patent Publication No. 2017-100814

This motor device is used, for example, in an elevating device that raises and lowers a heavy cargo, for example, a rope or chain is wound around a winding cylinder, the weight is balanced in the vertical vertical direction with the assistance of a motor, and the weight is moved up and down with a small operating force. A balanced lifting device is disclosed. (Patent Document 2)

However, in such a balanced lifting device, in order to perform various operations, it is necessary not only to control the torsional torque of the motor to balance the weight of the cargo handling object, but also to limit the lifting speed and set the stop position. It is said that. That is, the motor device incorporated in such a device needs to control the speed and position at any time at the same time as the torsional torque control, and it is difficult to deal with it only by the conventional simple torsional torque control.

In view of such a problem, it is an object of the present invention to provide a motor control device, a motor device, and a motor control method for performing an operation with restrictions on speed and position at the same time as torsional torque control. ..

The motor control device according to claim 1 has a motor unit and a motor unit in order to achieve the above object.
A torque detector that detects the torsional torque generated on the output shaft of the motor and outputs the torsional torque value,
A position detector that detects the rotational position of the motor and outputs a position value,
It is a motor control device that is electrically connected to each other to control the motor unit.
A torque control unit that calculates the first control value based on the torsional torque value from the torque detection unit according to the torque target value, and
A speed limit setting unit that sets a speed limit value that defines the range of rotation speed of the motor unit,
Based on the speed value obtained by converting the position value acquired from the position detection unit into speed, when the speed value exceeds the speed limit value, the speed correction value obtained by subtracting the speed limit value from the speed value is used as the speed value. A speed limit correction unit that calculates a speed correction value of zero when it is within the speed limit value,
It includes a motor control command unit that calculates a current command value to be output to the motor unit based on a second control value obtained by subtracting a speed limit value from the first control value.

In the motor control device according to claim 2, in order to achieve the above object, the speed limit setting unit forms the upper and lower ends of the speed limit value according to the position value of the motor unit acquired from the position detection unit. It is configured to set one speed limit value and a second speed limit value and output them to the speed limit correction unit.

In order to achieve the above object, the motor control device according to claim 3 defines the rotation range of the motor unit as a first software limit position and a second software limit position. ,
The speed limit setting unit
The second rotation position of the motor unit is from the first position at a predetermined distance from the first software limit position on the side where the second software limit position is located rather than the first software limit position. In the section from the software limit position of the above to the second software limit position on the side where the first software limit position is located and the second position at the second predetermined distance, the first speed limit value is set to the first. The second speed limit value is set as the second speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the second position to the second software limit position, the first speed limit value is gradually reduced from the first speed value to the second absolute value. The speed on the virtual line that becomes zero at the software limit position is set, and the second speed limit value is set as the second speed value.
In the section from the third position where the rotation position of the motor unit is at a third predetermined distance from the second software limit position beyond the second software limit position to the second software limit position, The first speed limit value is set to the speed on the virtual line that becomes zero at the second software limit position by gradually decreasing the absolute value from the second speed value, and the second speed limit value is set to the second speed limit value. As a speed value
In the section where the rotation position of the motor unit is from the first position to the first software limit position, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value. From, the absolute value is gradually reduced to the speed on the virtual line that becomes zero at the first software limit position.
In the section from the fourth position where the rotation position of the motor unit is at a fourth predetermined distance from the first software limit position beyond the first software limit position to the first software limit position, The first speed limit value is set as the first speed value, and the second speed limit value is set on a virtual line that becomes zero at the first software limit position by gradually reducing the absolute value from the first speed value. It is configured to have a certain speed.

In the motor control device according to claim 4, in order to achieve the above object, the rotation position of the motor unit of the speed limit setting unit is between the movement target position of the motor unit and the first software limit position. Time
In the section where the rotation position of the motor unit is from the first position to the fifth position at the fifth predetermined distance from the movement target position on the side where the first software limit position is located with respect to the movement target position, the second The 1 speed limit value is set as the first speed value, the second speed limit value is set as the second speed value, and the speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the fifth position to the movement target position, the first speed limit value is gradually reduced from the first speed value to zero at the movement target position. Let the speed be on the virtual line, and let the second speed limit value be the second speed value.
In the section from the sixth position where the rotation position of the motor unit is at the sixth predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position to the movement target position, the first The speed limit value is gradually reduced from the second speed value to the speed on the virtual line that becomes zero at the second software limit position, and the second speed limit value is set as the second speed value. It is configured to be set to.

In the motor control device according to claim 5, in order to achieve the above object, the rotation position of the motor unit is between the movement target position of the motor unit and the second software limit position in the speed limit setting unit. Time
In the section from the 7th position where the rotation position of the motor unit is located at the 7th predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position to the 2nd position, the second position The 1 speed limit value is set as the first speed value, the second speed limit value is set as the second speed value, and the speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the 7th position to the movement target position, the first speed limit value is set as the first speed value, and the second speed limit value is set as the absolute value from the second speed value. Gradually decrease to the speed on the virtual line that becomes zero at the movement target position.
In the section from the eighth position where the rotation position of the motor unit is at the eighth predetermined distance from the movement target position on the side where the first software limit position is located with respect to the movement target position to the movement target position, the first Set the speed limit value as the first speed value, and set the second speed limit value as the speed on the virtual line that becomes zero at the movement target position by gradually reducing the absolute value from the first speed value. It is configured as follows.
have.

The motor device according to claim 6 includes the motor control device according to any one of claims 1 to 5 in order to achieve the above object.
It includes a motor unit, a torque detection unit, and a position detection unit that are electrically connected to the motor control device.

The elevating device according to claim 7 includes the motor device according to claim 6 in order to achieve the above object.

In the motor control method according to claim 8, in order to achieve the above object, the torque detection unit detects the torsional torque generated in the output shaft connected to the motor unit in response to the input of the torque target value, and the torque is torqued. The first step of calculating the first control value by subtracting the output value of the torque detector from the target value, and
The speed limit setting step to set the speed limit value of the rotation speed of the motor part, and
A speed calculation step that calculates a speed value from a position value acquired from a position detection unit that detects the rotation position of the motor unit, and a speed calculation step.
A speed limit correction step that outputs the speed limit value minus the speed limit value when the speed value exceeds the speed limit value, and zero when the speed value is within the speed limit value as a speed limit correction value.
The second step of subtracting the speed correction value from the first control value to calculate the second control value, and calculating the current command value to be input to the motor unit based on the second control value, and the second step.
Includes.

In the motor control method according to claim 9, in order to achieve the above object, the speed limit value setting step forms the upper and lower ends of the speed limit value according to the position value of the motor unit acquired from the position detection unit. The first speed limit value and the second speed limit value are set and output to the speed limit correction step.

In the motor control method according to claim 10, in order to achieve the above object, the motor unit has a rotation range defined by a first software limit position and a second software limit position.
The speed limit setting step is
The second rotation position of the motor unit is from the first position at a predetermined distance from the first software limit position on the side where the second software limit position is located rather than the first software limit position. In the section from the software limit position of the above to the second software limit position on the side where the first software limit position is located and the second position at the second predetermined distance, the first speed limit value is set to the first. And the second speed limit value is the second speed value.
In the section where the rotation position of the motor unit is from the second position to the second software limit position, the first speed limit value is gradually reduced from the first speed value to the absolute value of the second software. The speed on the virtual line that becomes zero at the wear limit position is set, and the second speed limit value is set as the second speed value.
In the section from the third position where the rotation position of the motor unit is at a third predetermined distance from the second software limit position beyond the second software limit position to the second software limit position, The first speed limit value is set to the speed on the virtual line that becomes zero at the second software limit position by gradually reducing the absolute value from the second speed value, and the second speed limit value is set to the second speed limit value. As the speed value of
In the section where the rotation position of the motor unit is from the first position to the first software limit position, the first speed limit value is set as the first speed value and the second speed limit value is set as the second speed value. From, the absolute value is gradually reduced to the speed on the virtual line that becomes zero at the first software limit position.
In the section from the fourth position where the rotation position of the motor unit is at a fourth predetermined distance from the first software limit position beyond the first software limit position to the first software limit position, On a virtual line where the first speed limit value is set as the first speed value and the second speed limit value becomes zero at the first software limit position by gradually reducing the absolute value from the first speed value. It is configured to set each of the speeds in.

In order to achieve the above object, the motor control method according to claim 11 has a speed limit value setting step.
When the rotation position of the motor unit is between the movement target position of the motor unit and the first software limit position,
In the section where the rotation position of the motor unit is from the first position to the fifth position at the fifth predetermined distance from the movement target position on the side where the first software limit position is located with respect to the movement target position, the second The 1 speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the fifth position to the movement target position, the first speed limit value is gradually reduced from the first speed value to zero at the movement target position. The speed on the virtual line is set, and the second speed limit value is set as the second speed value.
In the section from the sixth position where the rotation position of the motor unit is at the sixth predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position to the movement target position, the first The speed limit value is gradually reduced from the second speed value to the speed on the virtual line that becomes zero at the second software limit position, and the second speed limit value is the second speed value. It is configured to make each setting.

In order to achieve the above object, the motor control method according to claim 12 has a speed limit value setting step.
When the rotation position of the motor unit is between the movement target position of the motor unit and the second software limit position,
The rotation position of the motor unit is from the seventh position, which is the seventh predetermined distance from the movement target position on the side where the second software limit position of the movement target position is located, to the second position. In the section, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the 7th position to the movement target position, the first speed limit value is set as the first speed value, and the second speed limit value is set as the absolute value from the second speed value. Is gradually reduced to the speed on the virtual line that becomes zero at the movement target position.
In the section from the eighth position where the rotation position of the motor unit is at the eighth predetermined distance from the movement target position on the side where the first software limit position is located with respect to the movement target position to the movement target position, the first Set the speed limit value as the first speed value, and set the second speed limit value as the speed on the virtual line that becomes zero at the movement target position by gradually reducing the absolute value from the first speed value. It is configured to do.

According to the motor control device of the invention according to claim 1, the speed limit range is compared with the current speed of the motor unit and the set speed limit range with the first speed limit and the second speed limit as both ends limits. When the value exceeds, the motor unit is controlled by using a correction value that cancels the correction value. Therefore, it is possible to provide a motor control device that enables operation with a speed limit at the same time as torsional torque control. ..

According to the motor control device of the invention according to claim 2, in addition to the above effect, the speed limit value is set according to the position value of the motor unit acquired from the position detection unit. It is possible to provide a motor control device that enables speed limitation corresponding to the position of the motor unit.

According to the motor control device of the invention according to claim 3, in addition to the above effects, it is possible to provide a motor control device that smoothes the operation from deceleration to stop in the vicinity of the software limit position.

According to the motor control device of the invention according to claim 4 or 5, in addition to the above effects, it is possible to provide a motor control device that smoothes the operation from deceleration to stop in the vicinity of the movement target position.

It is a block diagram of the motor device which concerns on embodiment of this invention. It is a control block diagram of the motor device which concerns on embodiment of this invention. It is a diagram which showed the detail of the speed limit setting by the speed limit setting part of the motor control device which concerns on embodiment of this invention. It is a diagram which showed the detail of the speed limit setting corresponding to the target position movement by the speed limit setting part of the motor control device which concerns on embodiment of this invention. It is a diagram which showed the detail of the speed limit setting corresponding to the target position movement by the speed limit setting part of the motor control device which concerns on embodiment of this invention. It is a diagram which showed the detail of the speed correction by the speed limit correction part of the motor control device which concerns on embodiment of this invention. It is a perspective view of the elevating device using the motor device which concerns on embodiment of this invention. It is operation | movement explanatory drawing of the elevating device using the motor device which concerns on embodiment of this invention.

Hereinafter, the motor control device and the motor device according to the embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram of a motor device according to an embodiment of the present invention.

The motor device 1 of the present invention includes a motor unit 3, a torque detection unit 6 connected to the load side of the motor unit 3, a position detection unit 4 connected to the opposite load side of the motor unit 3, and a torque detection unit 6. , The motor control device 2 is electrically connected to the motor unit 3 and the position detection unit 4 by wirings 8a, 8b, and 8c, respectively.

The motor unit 3 is, for example, a servomotor to which a speed reducer 5 is attached, and the torque generated by the motor is decelerated by the speed reducer 5 and amplified to the torque required to drive the load. In the embodiment of the present invention, the speed reducer 5 uses a strain wave gearing speed reducer. The strain wave gearing speed reducer has a wave generator with an elliptical outer circumference and a large number of external teeth formed on the outer circumference, which are fitted onto the wave generator so that the position of being bent in the circumferential direction changes due to the rotation of the wave generator. It consists of an elastically deformable flexspline and a circular spline having internal teeth on the outer peripheral side of the flexspline that fit with the external teeth of the flexspline. Then, the power is taken out and transmitted to the sprocket rotation shaft which connects the flexspline as the rotation output.

The torque detection unit 6 has, for example, a rotation shaft connected in series with the output on the load side of the motor unit 3, that is, the output of the speed reducer 5, and connected to an output shaft 7 that outputs rotation. A strain gauge is attached to this rotating shaft, which detects the torsional torque due to shearing of the rotating shaft and outputs the torsional torque value. The torque detection unit 6 is not limited to this, and may be a drum-shaped one that detects a reaction force applied to the motor unit 3, or may be a modified one such as using a load cell. Further, the torsional torque is detected not only by the strain gauge but also by the capacitance type or the magnetostrictive type.

A position detection unit 4 for detecting the rotational position of the motor is attached to the counterload side of the motor unit 3. In the present embodiment, the position detection unit 4 is an optical encoder arranged on the counterload side of the motor unit 3, but even if it is provided on the output shaft 7 decelerated by the speed reducer 5, it is still provided on both sides. Is also good. Further, in the present embodiment, the position detection unit 4 is an encoder by optical reflection, but the present invention is not limited to this, and it may be a transmission type or a magnetic force.

The motor control device 2 is electrically connected to the torque detection unit 6, the motor unit 3, and the position detection unit 4 by wirings 8a, 8b, and 8c, respectively, and includes a drive circuit of the motor unit 3. The wirings 8a, 8b, and 8c may have a plurality of wirings such as an input wiring and an output wiring. In FIG. 1, each wiring 8a, 8b, 8c is shown as one line for convenience. The motor control device 2 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and other storage devices and input / output devices.

The basic control of the motor control device 2 is that when the torque target value is input from a command means such as the operation command unit 17 shown in FIG. 7, the torsional torque generated in the output shaft 7 follows the torque target value. Controls the motor unit 3. That is, the motor control device 2 outputs a current command value calculated based on the torque target value and the torque output value of the torque detection unit 6 to the motor unit 3 to drive the motor unit 3 to reduce the magnitude of the torsional torque. Control. Here, outputting the current command value to the motor unit 3 means supplying a current corresponding to the current command value to the motor unit 3.

Next, the motor control device 2 and the motor control method according to the embodiment of the present invention will be described with reference to the control block diagram shown in FIG. FIG. 2 schematically shows the control configuration of the motor control device 2 and the elements connected to the control configuration and controlled by the motor control device 2. The motor control device 2 may be realized by hardware using an LSI or the like, or may be realized by software using a computer program.

The motor control device 2 includes a torque control unit 20, a speed limit setting unit 24, a speed calculator 30, a speed limit correction unit 25, and a motor control command unit 29.

_{For example, the torque target value τ ref} output based on the command from the operation command unit 17 shown in FIG. 7 _{is input to the torque control unit 20, and the output value τ s} is input from the torque detection unit 6. Has been done. The operation command unit 17 has input means such as a button, a keyboard, and a dial, and is configured so that the value of the torsional torque to be generated on the output shaft 7 can be input via the input means. The operation command unit 17 outputs the input value as the torque target value τ _ref . _{Of course, the torque target value τ ref} stored in advance in the storage unit of the motor control device 2 by the operation command unit 17 may be read out by the command of the operation command unit 17 and used.

The torque target value τ _ref and the output value τ _s are input to the subtractor 21. Subtractor 21 subtracts the output value tau _s from the torque target value tau _ref, and outputs the deviation of the output value tau _s and torque target value tau _ref. Differential output of the output value tau _s and torque target value tau _ref is a proportional gain K ₁ is multiplied by a multiplier 22 having a proportional gain K _1. The multiplier 22 outputs the multiplication result as the first control value p _1. The first step is to output the _first control value p1 from the torque target value τ _ref and the output value τ _s.

On the other hand, the motor controller 2 is in a position to get the position value r _c is the rotational position information of the motor unit 3, which is output from the detection unit 4, an input speed limit setting unit 24 of this. Speed limit setting unit 24 there can be used a position value r _c for speed limit setting, and outputs the first speed limit value v _L1 and the second speed limit value v _L2 of the motor unit 3. The first speed limit value v _L1 and the second speed limit value v _L2 are upper and lower limit values that define the range of the rotational speed of the motor unit 3. The speed limit setting step is to set the upper and lower ends of the speed limit value of the rotation speed of the motor unit 3.

Then, the first speed limit value v _L1 and the second speed limit value v _L2 output from this speed limit value setting step are input to the speed limit correction unit 25. _{On the other hand, the position value r c} of the motor unit 3 output from the position detection unit 4 is converted into a rotation speed by the speed calculator 30, and the speed value v _c output from the speed calculator 30 is input to the speed limit correction unit 25. Will be done. The speed calculation by the speed calculator 30 is a speed calculation step.

A velocity value v _c outputted from the speed calculator 30, and performs the operation defined by comparing the set speed limit value by limiting the speed setting unit 24, the speed correction value from the speed limit correcting unit 25 v _a is output. Is a limiting speed correction step for outputting a speed correction value v _a at this speed limit correcting unit 25.

A first control value p ₁ outputted from the torque control unit 20, and the speed correction value v _a output from the speed limit correcting section 25 is input to the subtractor 23 of the motor control command unit 29. Subtractor 23, a speed correction value v _a is subtracted from the first control value p _1, and outputs a deviation between the first control value p ₁ and the speed correction value v _a.

Differential output of the first control value p ₁ and the speed correction value v _a is the proportional gain K ₂ is multiplied by a multiplier 26 having a proportional gain K _2. The multiplier 26 outputs the multiplication result as the second control value p _2.

The second control value p ₂ and the output from the disturbance compensator 27 are input to the adder 28. The motor control command unit 29 adds the output from the disturbance compensator 27 to the _second control value p2 by the adder 28, _{and outputs the current command value i q} to the motor unit 3. Therefore, the motor control command unit 29 includes a subtractor 23, a multiplier 26, a disturbance compensator 27, and an adder 28. The second step is to output the current command value i _q based on the first control value p ₁ and the speed correction value v _a.

The disturbance compensator 27 _{calculates an estimated value of the disturbance torque of the motor unit 3 based on the current command value iq} to the motor unit 3 and the response value of the position of the motor unit 3 detected by the position detection unit 4. ing. The disturbance compensator 27 _{may estimate the disturbance torque based on the current command value q} and the speed response value of the motor unit 3.

Next, the details of the speed limit setting method by the speed limit setting unit 24 will be described with reference to FIG. FIG. 3 shows the relationship between the software limit and the speed limit that define the rotation range of the motor unit 3 with the rotation position of the output shaft 7 as the horizontal axis and the speed limit as the vertical axis.

The rotation of the output shaft 7 is performed from the first software limit position r _HL1 and the second hardware limit position r _HL2 located inside the first software limit position r _SL1 to the second software limit position r _SL2. Is the range that can be moved in principle. The speed when the first software limit position r _SL1 side is directed toward the second software limit position r _SL2 direction is taken as the forward speed, and conversely, the speed when the second software limit position r is _{from the SL2} side is the first. Software limit position r _{The speed when heading in the SL1} direction is expressed as the speed in the negative direction.

And the position of the first software limit position from the _{r SL1} first predetermined distance d1 second software limit position _{r SL2} side as first position _{r 1,} and from the first software limit position _{r SL1} the fourth predetermined distance d4 first hardware limit position r _HL1 side, namely an outer position than the first software limit position r _SL1 represents the fourth position r _4. Whereas the position of the two software limit position _{r SL2} by a second predetermined distance d2 first software limit position _{r SL1} side and a second position _{r 2,} also from the second software limit position _{r SL2} the third predetermined distance d3 by the second hardware limit position r _HL2 side, that represents a third position r ₃ to a position outside from a second software limit position r _SL2.

The speed limit setting unit 24 sets the speed limit as follows. In the _{section from the first} position r 1 to the second position r ₂ , the first speed limit value v _L1 is, for example, the first speed value v ₁ , and the second speed limit value v _L2 is, for example, the second. it is a speed value _{v 2.} The first speed value v ₁ and the second speed value v ₂ may be set with the same absolute value, or may be set with different values. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is the speed limit in the negative direction.

In the section from the second position r ₂ to the second software limit position r _SL2 , the first speed limit value v _L1 is the absolute value of the first speed value v ₁ to the first speed value v _1. a speed of a virtual line becomes zero at a gradually reduced so by the second software limit position r _SL2, the second speed limit value v _L2 is the second velocity value v _2. This virtual line is a linear straight line in the present embodiment, but the present invention is not limited to this, and a curve of quadratic or higher may be used. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is the speed limit in the negative direction.

In the _{section from the third} position r 3 to the second software limit position r _SL2 , the first speed limit value v _L1 is the absolute value of the second speed value v ₂ from the second speed value v _2. in the second software limit position r _SL2 is gradually reduced to a speed of a virtual line becomes zero, the second speed limit value v _L2 is the second velocity value v _2. This virtual line is a linear straight line in the present embodiment, but the present invention is not limited to this, and a curve of quadratic or higher may be used. In this section, the first speed limit value v _L1 is the speed limit in the negative direction, and the second speed limit value v _L2 is also the speed limit in the negative direction.

In the _{section from the first position r 1} to the first software limit position r _SL1 , the first speed limit value v _L1 is the first speed value v ₁ , and the second speed limit value v _L2 is the first. It is a speed on a virtual line that gradually decreases the absolute value of the second speed value v ₂ from the speed value v _{2 of 2 and becomes zero at the first software limit position r SL1.} This virtual line is a linear straight line in the present embodiment, but the present invention is not limited to this, and a curve of quadratic or higher may be used. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is the speed limit in the negative direction.

In the _{section from the fourth} position r 4 to the first software limit position r _SL1 , the first speed limit value v _L1 is the first speed value v ₁ , and the second speed limit value v _L2 is the first. at first software limit position r _SL1 gradually decreases the absolute value of the first velocity value v ₁ from 1 velocity value v ₁ is the speed of a virtual line becomes zero. This virtual line is a linear straight line in the present embodiment, but the present invention is not limited to this, and a curve of quadratic or higher may be used. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is also the speed limit in the positive direction.

Therefore the speed limit setting unit 24 is input with the position value r _c of the motor output from the position detection unit 4, and outputs the first speed limit value v _L1 and the second speed limit value v _L2 at that time. For example, when the position of the motor unit 3 is _{r a,} the first speed limit value _v L1 = _{v 1,} a second speed limit value _v L2 _{= v 21,} when the position of the motor unit 3 is _{r b} is The first speed limit value v _L1 = v ₂₂ and the second speed limit value v _L2 = v ₂ .

Next, the details of the speed limit setting method by the speed limit setting unit 24 when the movement target position is set using FIGS. 4 and 5 will be described.

The movement target position is set at an arbitrary position between the first software limit position r _SL1 and the second software limit position r _SL2 . For example, the motor unit 3 is given a command from the operation command unit 17 shown in FIG. Moves from the current position to this movement target position. The operation command unit 17 has input means such as a button, a keyboard, and a dial, and is configured as a command means for moving the movement target position for moving the motor unit 3 to the set movement target position together with the input means. FIG. 4 shows the relationship between the software limit that defines the rotation range of the motor unit 3 and the movement target position and the speed limit, with the rotation position of the output shaft 7 as the horizontal axis and the speed limit as the vertical axis. The current position value r _c indicates the time when the movement target position r _TP1 and the first software limit position r _SL1 are in the middle position.

The position of the movement target position _{r TP1} first only five predetermined distance d5 first software limit position _{r SL1} side is located _{r 5} of the fifth and the movement target position _{r TP1} only sixth predetermined distance d6 second the position of the software limit position _{r SL2} side represents the position _{r 6} of the sixth. The positional relationship between the first position r ₁ and the fourth position r ₄ with the first software limit position r _SL1 is the same as that shown in FIG.

In the _{section from the first} position r 1 to the fifth position r ₅ , the first speed limit value v _L1 is, for example, the first speed value v ₁ , and the second speed limit value v _L2 is, for example, the second. it is a speed value _{v 2.} The first speed value v ₁ and the second speed value v ₂ may be set with the same absolute value, or may be set with different values. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is the speed limit in the negative direction.

In the section from the fifth position r ₅ to the movement target position r _TP1 , the first speed limit value v _L1 gradually decreases the absolute value of the first speed value v ₁ from the first speed value v _1. The speed on the virtual line becomes zero at the moving target position r _{TP1 , and the second speed limit value v L2} is the second speed value v ₂ . This virtual line is a linear straight line in the present embodiment, but the present invention is not limited to this, and a curve of quadratic or higher may be used. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is the speed limit in the negative direction.

In the section from the sixth position r ₆ to the movement target position r _TP1 , the first speed limit value v _L1 gradually decreases the absolute value of the second speed value v ₂ from the second speed value v _2. The speed on the virtual line becomes zero at the moving target position r _{TP1 , and the second speed limit value v L2} is the second speed value v ₂ . This virtual line is a linear straight line in the present embodiment, but the present invention is not limited to this, and a curve of quadratic or higher may be used. In this section, the first speed limit value v _L1 is the speed limit in the negative direction, and the second speed limit value v _L2 is also the speed limit in the negative direction.

The section from the first position r ₁ to the first software limit position r _SL1 and the section from the fourth position r ₄ to the first software limit position r _SL1 are near the above-mentioned software limit position. Same as setting.

FIG. 5 shows the relationship between the software limit that defines the rotation range of the motor unit 3 and the movement target position and the speed limit, with the rotation position of the output shaft 7 as the horizontal axis and the speed limit as the vertical axis. The current position value r _c indicates the time when the movement target position r _TP2 and the second software limit position r _SL2 are in the middle position.

The position of the movement target position _{r TP2} seventh predetermined distance d7 only second software limit position _{r SL2} side by the position _{r 7} of the seventh, also by a predetermined distance d8 eighth from the movement target position _{r TP2} first the position of the software limit position _{r SL1} side represents the position _{r 8} of the eighth. The positional relationship between the second position r ₂ and the third position r ₃ with the second software limit position r _SL2 is the same as that shown in FIG.

In the section from the position _{r 7} of the seventh to the second position _{r 2,} the first speed limit value _{v L1} a first velocity value _{v 1} for example, the second speed limit value _{v L2,} for example a second it is a speed value _{v 2.} The first speed value v ₁ and the second speed value v ₂ may be set with the same absolute value, or may be set with different values. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is the speed limit in the negative direction.

The section from the second position r ₂ to the second software limit position r _SL2 and the section from the third position r ₃ to the second software limit position r _SL2 are near the above-mentioned software limit position. It is the same as the setting of.

In the section from the seventh position r ₇ to the movement target position r _TP2 , the first speed limit value v _L1 is the first speed value v ₁ , and the second speed limit value v _L2 is the second speed value v. the absolute value of the second velocity value v ₂ from ₂ gradually decreases the speed of the virtual line becomes zero at the movement target position r _TP2. This virtual line is a linear straight line in the present embodiment, but the present invention is not limited to this, and a curve of quadratic or higher may be used. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is the speed limit in the negative direction.

In the section from the eighth position r ₈ to the movement target position r _TP2 , the first speed limit value v _L1 is the first speed value v ₁ , and the second speed limit value v _L2 is the first speed value. v at ₁ from the first speed value v ₁ for the absolute value of the gradually decreasing the movement target position r _TP2 is the speed of a virtual line becomes zero. This virtual line is a linear straight line in the present embodiment, but the present invention is not limited to this, and a curve of quadratic or higher may be used. In this section, the first speed limit value v _L1 is the speed limit in the positive direction, and the second speed limit value v _L2 is also the speed limit in the positive direction.

The first predetermined distance d1 to the eighth predetermined distance d8 are determined in consideration of the weight of the load driven by the motor device and the like. For example, when the load moves horizontally, the first predetermined distance d1 = the second predetermined distance d2 = the fifth predetermined distance d5 = the sixth predetermined distance d6 = the seventh predetermined distance d7 = the eighth predetermined distance d8. However, different values may be set. Further, when the second software limit position r _SL2 is in the vertically upward direction of the first software limit position r _SL1 , the fifth predetermined distance d5 may be set smaller than the first predetermined distance d1. .. Since the fourth predetermined distance d4 is an _{overrun region on the software between the first software limit position r SL1} and the first hardware limit position r _HL1 , it is compared with the first predetermined distance d1. May be set small. Since the third predetermined distance d3 is also an _{overrun region on the software between the second software limit position r SL2} and the second hardware limit position r _HL2 , it is compared with the second predetermined distance d2. May be set small.

With the above configuration, in the speed limit setting unit 24, when the motor unit 3 approaches the target position or the vicinity of the software limit position by a predetermined distance, the speed limit setting unit 24 decelerates and the speed becomes zero at the target position or the software limit position. The 1 speed limit value v _L1 and the second speed limit value v _L2 are output to the speed limit correction unit 25. As a result, the movement when the load connected to the output shaft 7 and the output shaft 7 is stopped becomes smooth, and overrun under a load having a large inertial force can be reduced.

FIG. 6 is a diagram showing details of speed correction by the speed limit correction unit 25 of the motor device control device according to the embodiment of the present invention, and details of the correction method by the speed limit correction unit 25 using FIG. explain.

Figure 6 shows the speed correction value v _a of outputting current speed acquired on the horizontal axis and the vertical axis at a speed limit correcting unit 25. On the one hand, the speed limit correction unit 25 obtains the first speed limit value v _L1 and the second speed limit value v _L2 from the speed limit setting unit 24, and on the other hand, simultaneously obtains the current speed value v _{c from the speed calculator 30.} As a result, it has a function of outputting _{a speed correction value v a that corrects the speed value v c} when the speed limit exceeds the speed limit. The speed limit is defined by the first speed limit value v _L1 and the second speed limit value v _L2 depending on the direction. Within the range of the first speed limit value v _L1 and the second speed limit value v _L2 , the speed correction value v _a becomes zero. Then, when the speed exceeds this range, the speed limit correction unit 25 outputs _{a speed correction value va for correction in order to cancel each excess speed.} The motor control command unit 29 uses this to perform control, and a motor control device that controls speed as well as torque control can be realized.

FIG. 7 is a perspective view of an elevating device 10 using the motor device 1 according to the embodiment of the present invention. The elevating device 10 includes a main body 11 covered with a cover, and a locking member 14 that suspends and locks the cargo handling object 40 at a position extending downward along the link chain 15 from the main body 11. , It is composed of an operation command unit 17 that moves up and down together with the locking member 14. The lifting device 10 is provided with a hanging hook 16 on the main body 11, and can be used by hanging it on a structure such as a beam of a building or a movable device provided on a rail that can move in the horizontal direction.

Inside the main body, a control unit 12 that controls the entire lifting device 10 is housed in the main body 11 including the motor control device 2. The control unit 12 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and other storage devices and input / output devices. Further, the control unit 12 is electrically connected to the operation command unit 17 and the like by the spiral cord 13. When the manager or worker who handles the elevating device 10 operates the operation command unit 17, various work commands, torque target value τ _ref, and movement target value are input, and the control unit 12 is based on these. The motor unit 3 is controlled.

With the above configuration, when the operator hangs the cargo handling object 40 on the locking member 14, the link chain 15 is pulled by the weight of the cargo handling object 40, so that the locking member 14, the link chain 15, and the link chain 15 are wound around. Torque is generated in the torque detection unit 6 via a load sheave and an output shaft 7 (not shown). Then, the motor control device 2 controls the motor unit 3 by calculating based on the torque signal detected by the torque detection unit 6 and the position signal detected by the position detection unit 4.

FIG. 8 is an operation explanatory view of the lifting device 10 using the motor device according to the embodiment of the present invention. FIG. 8A shows a lower limit position when the cargo handling object 40 is suspended from the locking member 14 and is in a balanced state, that is, a second software limit position r _SL2 , and FIG. 8C shows an upper limit position. That is, it indicates the first software limit position r _SL1 , and at this time, it can move within the range W. Then, the movement target position r _TP exists at an intermediate position between the first software limit position r _SL1 and the second software limit position r _SL2 (FIG. 8 (b)). Therefore, by using the above-mentioned motor device 1 for such an elevating device 10, the torque applied to the torque detection unit 6 is controlled to a predetermined value, and the movement target position command from the operation command unit 17 is used to move to the movement target position r _TP . It is possible to control the ascending / descending speed and perform smooth deceleration just before the _{moving target position r TP when performing the moving operation of.}

Although the present invention has been described above based on the preferred embodiment, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist thereof.

As an example of utilization of the present invention, it can be applied to an electric lifting device or the like mounted on an industrial robot, a trolley, a movable vehicle, or the like.

1: Motor device 2: Motor control device 3: Motor unit 4: Position detection unit 5: Reducer 6: Torque detection unit 7: Output shafts 8a, 8b, 8c: Wiring 10: Lifting device 11: Main unit 12: Control unit 13: Spiral cord 14: Locking member 15: Link chain 16: Hanging hook 17: Operation command unit 20: Torque control unit 21: Adder 22: Multiplier 23: Subtractor 24: Speed limit setting unit 25: Limit Speed compensator 26: Multiplier 27: Disturbance compensator 28: Adder 29: Motor control command unit 30: Speed calculator 40: Cargo handling

Claims (12)

With the motor part
A torque detection unit that detects the torsional torque generated on the output shaft of the motor unit and outputs the torsional torque value,
A position detection unit that detects the rotational position of the motor unit and outputs a position value,
A motor control device that electrically connects to each other to control the motor unit.
A torque control unit that calculates a first control value based on the torsional torque value from the torque detection unit according to the torque target value, and a torque control unit.
A speed limit setting unit that sets a speed limit value that defines the range of rotation speed of the motor unit, and a speed limit setting unit.
Speed correction by subtracting the speed limit value from the speed value when the speed value exceeds the speed limit value based on the speed value obtained by converting the position value acquired from the position detection unit into a speed. The value is determined by a speed limit correction unit that calculates the speed correction value of zero when the speed value is within the speed limit value.
A motor control including a motor control command unit that calculates a current command value to be output to the motor unit based on a second control value obtained by subtracting the speed limit value from the first control value. Device. The speed limit setting unit sets a first speed limit value and a second speed limit value forming the upper and lower ends of the speed limit value according to the position value of the motor unit acquired from the position detection unit. The motor control device according to claim 1, wherein the motor control device outputs to a speed limit correction unit. The motor control device defines the rotation range of the motor unit as a first software limit position and a second software limit position.
The speed limit setting unit
The first rotation position of the motor unit is at a first predetermined distance from the first software limit position on the side where the second software limit position is located with respect to the first software limit position. In the section from the position to the second position at the second predetermined distance from the second software limit position on the side where the first software limit position is located rather than the second software limit position. The first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the second position to the second software limit position, the first speed limit value is gradually set, and the absolute value thereof is gradually set from the first speed value. The speed is set to be on the virtual line that is reduced to zero at the second software limit position, and the second speed limit value is set to the second speed value.
The second software limit position from a third position where the rotation position of the motor unit is at a third predetermined distance from the second software limit position beyond the second software limit position. In the section up to, the first speed limit value is set as the speed on the virtual line that becomes zero at the second software limit position by gradually reducing the absolute value from the second speed value. The second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the first position to the first software limit position, the first speed limit value is set as the first speed value, and the second speed limit value is used. Is the speed on the virtual line that becomes zero at the first software limit position by gradually reducing the absolute value from the second speed value.
The first software limit position from a fourth position where the rotation position of the motor unit is at a fourth predetermined distance from the first software limit position beyond the first software limit position. In the section up to, the first speed limit value is set as the first speed value, and the second speed limit value is gradually reduced from the first speed value by the absolute value of the first software. The motor control device according to claim 2, wherein the speed is on a virtual line that becomes zero at the limit position. When the rotation position of the motor unit is between the movement target position of the motor unit and the first software limit position, the speed limit setting unit may be used.
A fifth position where the rotation position of the motor unit is at a fifth predetermined distance from the first position on the side where the first software limit position is located with respect to the movement target position. In the section up to, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the fifth position to the movement target position, the first speed limit value is gradually reduced from the first speed value in absolute value to move the motor unit. The speed on the virtual line that becomes zero at the target position is set, and the second speed limit value is set as the second speed value.
From the sixth position where the rotation position of the motor unit is at the sixth predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position to the movement target position. In the section of, the first speed limit value is gradually reduced from the second speed value to obtain a speed on a virtual line that becomes zero at the second software limit position, and the second speed value is set. The motor control device according to claim 3, wherein the speed limit value is set as the second speed value. When the rotation position of the motor unit is between the movement target position of the motor unit and the second software limit position, the speed limit setting unit may be used.
The second position from the seventh position where the rotation position of the motor unit is at a seventh predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position. In the section up to, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the seventh position to the movement target position, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed limit value. The absolute value is gradually reduced from the speed value of to obtain the speed on the virtual line that becomes zero at the movement target position.
From the eighth position where the rotation position of the motor unit is at the eighth predetermined distance from the movement target position on the side where the first software limit position is located with respect to the movement target position to the movement target position. In the section of, the first speed limit value is set as the first speed value, and the second speed limit value is set to zero at the movement target position by gradually reducing the absolute value from the first speed value. The motor control device according to claim 3, wherein the speed is set to be on a virtual line. The motor control device according to any one of claims 1 to 5.
A motor device including the motor unit, the torque detection unit, and the position detection unit, which are electrically connected to the motor control device, respectively. An elevating device including the motor device according to claim 6. The torque detection unit detects the torsional torque generated in the output shaft connected to the motor unit in response to the input of the torque target value, and the output value of the torque detection unit is subtracted from the torque target value to obtain the first control value. The first step to calculate
The speed limit value setting step for setting the speed limit value of the rotation speed of the motor unit, and
A speed calculation step for calculating a speed value from a position value acquired from a position detection unit that detects the rotation position of the motor unit, and a speed calculation step.
When the speed value exceeds the speed limit value, the speed limit value is subtracted from the speed limit value, and when the speed value is within the speed limit value, zero is output as the speed limit correction value. When,
The second step of subtracting the speed correction value from the first control value to calculate the second control value, and calculating the current command value to be input to the motor unit based on the second control value. When,
A motor control method comprising. The speed limit value setting step sets the first speed limit value and the second speed limit value forming the upper and lower ends of the speed limit value according to the position value of the motor unit acquired from the position detection unit. The motor control method according to claim 8, wherein the output is output to the speed limit correction step. The rotation range of the motor unit is defined by the first software limit position and the second software limit position.
The speed limit value setting step is
The first rotation position of the motor unit is at a first predetermined distance from the first software limit position on the side where the second software limit position is located with respect to the first software limit position. In the section from the position to the second position at the second predetermined distance from the second software limit position on the side where the first software limit position is located rather than the second software limit position. The first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the second position to the second software limit position, the first speed limit value is gradually reduced from the first speed value in absolute value. The speed is set to the speed on the virtual line that becomes zero at the second software limit position, and the second speed limit value is set to the second speed value.
The second software limit position from a third position where the rotation position of the motor unit is at a third predetermined distance from the second software limit position beyond the second software limit position. In the section up to, the first speed limit value is set to a speed on the virtual line that becomes zero at the second software limit position by gradually reducing the absolute value from the second speed value. The second speed limit value is defined as the second speed value.
In the section where the rotation position of the motor unit is from the first position to the first software limit position, the first speed limit value is set as the first speed value and the second speed limit value is used. The value is set to a velocity on the virtual line that becomes zero at the first software limit position by gradually decreasing the absolute value from the second velocity value.
The first software limit position from a fourth position where the rotation position of the motor unit is at a fourth predetermined distance from the first software limit position beyond the first software limit position. In the section up to, the first speed limit value is set as the first speed value, and the second speed limit value is gradually reduced from the first speed value by the absolute value of the first software. The motor control method according to claim 9, wherein the speed is set to be on a virtual line that becomes zero at the wear limit position. The speed limit value setting step is
When the rotation position of the motor unit is between the movement target position of the motor unit and the first software limit position,
A fifth position where the rotation position of the motor unit is at a fifth predetermined distance from the first position on the side where the first software limit position is located with respect to the movement target position. In the section up to, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the fifth position to the movement target position, the first speed limit value is gradually reduced from the first speed value in absolute value to move the motor unit. The speed on the virtual line that becomes zero at the target position is set, and the second speed limit value is set as the second speed value.
From the sixth position where the rotation position of the motor unit is at the sixth predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position to the movement target position. In the section, the first speed limit value is gradually reduced from the second speed value so that the speed is on a virtual line that becomes zero at the second software limit position, and the speed is set to zero. 2. The motor control method according to claim 10, wherein the speed limit value is set as the second speed value. The speed limit value setting step is
When the rotation position of the motor unit is between the movement target position of the motor unit and the second software limit position,
From the seventh position where the rotation position of the motor unit is on the side of the movement target position where the second software limit position is located and at a seventh predetermined distance from the movement target position. In the section to the second position, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value.
In the section where the rotation position of the motor unit is from the seventh position to the movement target position, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed limit value. The absolute value is gradually reduced from the speed value of 2 to obtain the speed on the virtual line that becomes zero at the movement target position.
From the eighth position where the rotation position of the motor unit is at the eighth predetermined distance from the movement target position on the side where the first software limit position is located with respect to the movement target position to the movement target position. In the section of, the first speed limit value is set as the first speed value, and the absolute value of the second speed limit value is gradually reduced from the first speed value to be zero at the movement target position. The motor control method according to claim 10, wherein the speed is set to be on a virtual line.

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