JPH06269188A - Vibration suppressing control system for low rigidity load - Google Patents
Vibration suppressing control system for low rigidity loadInfo
- Publication number
- JPH06269188A JPH06269188A JP5077670A JP7767093A JPH06269188A JP H06269188 A JPH06269188 A JP H06269188A JP 5077670 A JP5077670 A JP 5077670A JP 7767093 A JP7767093 A JP 7767093A JP H06269188 A JPH06269188 A JP H06269188A
- Authority
- JP
- Japan
- Prior art keywords
- formula
- motor
- load
- observer
- acceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/206—Body oscillation speed; Body vibration frequency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
- B60G2400/91—Frequency
Landscapes
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、産業用ロボットなどの
ようにモータに低剛性負荷を連結したサーボ制御系に適
用し、負荷振動を効果的に低減できる方式に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system which can be applied to a servo control system in which a motor is connected to a low rigidity load such as an industrial robot to effectively reduce load vibration.
【0002】[0002]
【従来の技術】産業用ロボットなどのような低剛性負荷
をもつサーボ系においては、位置決め時、あるいは定速
運転時に負荷の振動が起こり、このことが機械全体の性
能を著しく悪化させる。このような場合、従来は、例え
ば、特開60−200788号公報、特開平1−304
501号公報等に示されるように、制御対象である低剛
性負荷を共振モデルで近似して構成したオブザーバによ
って必要な状態変数を推定し、該状態変数の推定値をト
ルク指令にフィードバックしていた。つまり、以下のと
おりである。図3は、低剛性負荷を持つサーボ系を解析
するためのモデルをブロック線図で表現したものである
(但し、物理量はモータ軸換算で記述)。また、低剛性
負荷とモータを関連づける運動方程式は、式(1)とな
る。2. Description of the Related Art In a servo system having a low rigidity load such as an industrial robot, load vibration occurs during positioning or constant speed operation, which significantly deteriorates the performance of the entire machine. In such a case, conventionally, for example, JP-A-60-200888 and JP-A-1-304 are used.
As disclosed in Japanese Patent Publication No. 501, etc., a necessary state variable is estimated by an observer configured by approximating a low-rigidity load to be controlled by a resonance model, and the estimated value of the state variable is fed back to a torque command. . That is, it is as follows. FIG. 3 is a block diagram showing a model for analyzing a servo system having a low rigidity load (however, the physical quantity is described in terms of a motor axis). The equation of motion that associates the low-rigidity load with the motor is Equation (1).
【0003】[0003]
【数1】 [Equation 1]
【0004】ここで、Kは低剛性負荷のバネ定数、JM
はモータの慣性、JL は負荷の慣性、TREF はトルク指
令、θM はモータ角度、θL は負荷の回転角度、ωM は
モータ角速度、ωL は負荷の回転角速度である。状態変
数としてはいろいろな選び方があるが、例えば、ωM 、
ねじれ角θs (=θM −θL )、ωL を選ぶと、状態方
程式は式(2)となる。Where K is the spring constant of a low rigidity load, J M
Is the inertia of the motor, J L is the inertia of the load, T REF is the torque command, θ M is the motor angle, θ L is the rotation angle of the load, ω M is the motor angular velocity, and ω L is the rotation angular velocity of the load. There are various ways to select the state variable, for example, ω M ,
When the twist angle θ s (= θ M −θ L ) and ω L are selected, the equation of state becomes equation (2).
【0005】[0005]
【数2】 [Equation 2]
【0006】この系において最小次元オブザーバを構成
すると、式(3)となる。When the minimum dimension observer is constructed in this system, the equation (3) is obtained.
【0007】[0007]
【数3】 [Equation 3]
【0008】ここで、Zは内部変数、ωL 、θS は
ωL 、θS の推定値、F、G、L、Jはオブザーバの設
計時に決める極とK、JM 、JL で決定される定数行列
である。低剛性負荷を制振するためには、図4で示した
ように、式(2)で推定した状態変数(ωL 、θs )に
適当な係数(K1、K2)をかけトルクにフィードバッ
クする方法がとられていた。Here, Z is an internal variable, ω L and θ S are estimated values of ω L and θ S , and F, G, L, and J are determined by K, J M , and J L and poles determined when the observer is designed. Is a constant matrix. In order to suppress the low rigidity load, as shown in FIG. 4, the state variables (ω L , θ s ) estimated by the equation (2) are multiplied by appropriate coefficients (K1, K2) and fed back to the torque. The method was taken.
【0009】[0009]
【発明が解決しようとする課題】現在では、サーボ系が
ソフトウェアー化され、計算時間と使用メモリ数をでき
るだけ少なくすることが必須技術となっている。ところ
が、従来技術では、式(3)のオブザーバの計算に時間
がかかり、また、行列F、G、L、Jを記憶する必要が
あり、簡単に効果のあがる方法で制振することができな
かった。本発明は、このような点に鑑みてなされたもの
であり、低剛性負荷の状態推定にトルク指令だけを使い
計算時間を短縮し、かつ使用メモリ数を少なくする方式
を提供することを目的とする。At present, it has become an essential technique to reduce the calculation time and the number of memories used as much as possible by converting the servo system into software. However, in the conventional technique, it takes a long time to calculate the observer of the equation (3), and it is necessary to store the matrices F, G, L, and J, so that it is not possible to easily suppress the vibration by a method that is effective. It was The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a method for reducing the calculation time by using only a torque command for state estimation of a low rigidity load and reducing the number of memories used. To do.
【0010】[0010]
【課題を解決するための手段】上記課題を解決するた
め、本発明は、概念図1に示すように、モータの回転加
速度が殆ど0とみなせる場合、前記オブザーバによる状
態変数の推定式をトルク指令にのみに依存する関数式に
変更することを特徴とするものである。In order to solve the above-mentioned problems, according to the present invention, as shown in the conceptual diagram 1, when the rotational acceleration of the motor can be regarded as almost 0, the estimation formula of the state variable by the observer is a torque command. It is characterized by changing to a functional expression that depends only on.
【0011】[0011]
【作用】低剛性負荷の状態推定にトルク指令だけを使こ
とにしたので、オブザーバの計算に時間がかからず、か
つ使用メモリ数を少なくすることができるので、簡単に
効果があがる制振制御が実現できる。[Operation] Since only the torque command is used for estimating the state of the low rigidity load, it does not take much time to calculate the observer and the number of memories used can be reduced. Can be realized.
【0012】[0012]
【実施例】以下、本発明の実施例を説明する。図3、式
(1)で示した系において、振動が特に問題となる位置
決め時、あるいはほぼ一定速動作時はモータ加速度dω
M /dtが殆ど0とみなせるので、式(1)は式(4)EXAMPLES Examples of the present invention will be described below. In the system shown in FIG. 3 and the equation (1), the motor acceleration dω is set at the time of positioning where vibration is a particular problem, or at a substantially constant speed operation.
Since M / dt can be regarded as almost 0, the formula (1) is expressed by the formula (4).
【0013】[0013]
【数4】 [Equation 4]
【0014】と近似可能となる。ここで、ωL 、TREF
の振動成分だけに注目し、式(5)とおく。ここでωA
は注目した振動成分の振動数である。すると、式
(4)、式(5) Tref =TO ・sin(ωA ・t+α) …(5) より式(6)Can be approximated by Where ω L and T REF
Paying attention only to the vibration component of, the expression (5) is set. Where ω A
Is the frequency of the vibration component of interest. Then, equation (4), equation (5) T ref = T O · sin (ω A · t + α) ... (5) from the equation (6)
【0015】[0015]
【数5】 [Equation 5]
【0016】が得られる。従って、アーム加速度の推定
値として式(6)を用いればよいことになる。また、ね
じれ角θs に関しては、式(1)第2式と式(4)より
式(7)Is obtained. Therefore, the equation (6) may be used as the estimated value of the arm acceleration. Regarding the twist angle θ s , the formula (1), the second formula, and the formula (4) are used to calculate the formula (7).
【0017】[0017]
【数6】 [Equation 6]
【0018】が得られるのでこれを用いればよい。以上
をブロック線図で表したのが図2である。すなわち、モ
ータの回転加速度が殆ど0とみなせる場合、図4のオブ
ザーバ部Aから図2のオブザーバ部Bに切り替えるので
ある(オブザーバ部以外は図2と図4は同一である)。
式(5)で用いているωA は、振動の原因によって適当
なものを利用する。例えば、位置決め時では、低剛性負
荷の固有振動数式(8)Since it is possible to use, this can be used. FIG. 2 shows the above in a block diagram. That is, when the rotational acceleration of the motor can be considered to be almost 0, the observer unit A of FIG. 4 is switched to the observer unit B of FIG. 2 (other than the observer unit, FIGS. 2 and 4 are the same).
As ω A used in Expression (5), an appropriate value is used depending on the cause of vibration. For example, at the time of positioning, a natural vibration equation (8) with a low rigidity load
【0019】[0019]
【数7】 [Equation 7]
【0020】を利用する。また、ハーモニックギアのト
ルクリップルが原因の定常振動では、(9)ととるとよ
い(ハーモニックギアでは、トルクリップルがモータ軸
1回転に2回出るからである)。 ωA =2・ωM …(9)Is utilized. Further, in the steady vibration caused by the torque ripple of the harmonic gear, it is preferable to use (9) (because in the harmonic gear, the torque ripple appears twice per one rotation of the motor shaft). ω A = 2 · ω M (9)
【0021】[0021]
【発明の効果】以上述べたように、本発明のよれば、低
剛性負荷をもつサーボ系に関し、該負荷振動を低減する
ために用いられたオブザーバ計算において、トルク指令
だけを使うことにしたので、計算時間が短くなり、かつ
メモリー容量も少なくすることができ、振動を効率的に
低減することができるという効果がある。As described above, according to the present invention, regarding the servo system having a low rigidity load, only the torque command is used in the observer calculation used for reducing the load vibration. The calculation time can be shortened, the memory capacity can be reduced, and vibration can be effectively reduced.
【図1】本発明の概念を表すブロック線図FIG. 1 is a block diagram showing the concept of the present invention.
【図2】本発明の実施図を表すブロック線図FIG. 2 is a block diagram showing an embodiment of the present invention.
【図3】低剛性負荷をもつサーボ系を表すブロック線図FIG. 3 is a block diagram showing a servo system having a low rigidity load.
【図4】オブザーバを制振制御に用いるときのサーボ系
の構成例を示すブロック線図FIG. 4 is a block diagram showing a configuration example of a servo system when an observer is used for vibration suppression control.
Claims (1)
御系であって、前記低剛性負荷を共振モデルで近似して
構成したオブザーバによって状態変数を推定し、その状
態変数をトルク指令にフィードバックすることによって
低剛性負荷の振動を低減する制御方式において、 モータの回転加速度が殆ど0とみなせる場合、前記オブ
ザーバによる状態変数の推定式をトルク指令にのみに依
存する関数式に変更することを特徴とする低剛性負荷の
制振制御方式。1. A servo control system in which a low-rigidity load is connected to a motor, wherein a state variable is estimated by an observer configured by approximating the low-rigidity load with a resonance model, and the state variable is fed back to a torque command. Therefore, in the control method for reducing the vibration of the low rigidity load, when the rotational acceleration of the motor can be regarded as almost 0, the estimation formula of the state variable by the observer is changed to a functional formula that depends only on the torque command. Vibration control method with low rigidity load.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP05077670A JP3117047B2 (en) | 1993-03-10 | 1993-03-10 | Low rigidity load vibration suppression control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP05077670A JP3117047B2 (en) | 1993-03-10 | 1993-03-10 | Low rigidity load vibration suppression control method |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH06269188A true JPH06269188A (en) | 1994-09-22 |
JP3117047B2 JP3117047B2 (en) | 2000-12-11 |
Family
ID=13640323
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP05077670A Expired - Fee Related JP3117047B2 (en) | 1993-03-10 | 1993-03-10 | Low rigidity load vibration suppression control method |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3117047B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3348435A1 (en) * | 2017-01-16 | 2018-07-18 | Siemens Aktiengesellschaft | Method for monitoring an electric device in a power transmission of an electric vehicle and control unit operating according to this method |
JP2018152990A (en) * | 2017-03-13 | 2018-09-27 | ファナック株式会社 | Servo motor controller and servo motor control system |
-
1993
- 1993-03-10 JP JP05077670A patent/JP3117047B2/en not_active Expired - Fee Related
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3348435A1 (en) * | 2017-01-16 | 2018-07-18 | Siemens Aktiengesellschaft | Method for monitoring an electric device in a power transmission of an electric vehicle and control unit operating according to this method |
JP2018152990A (en) * | 2017-03-13 | 2018-09-27 | ファナック株式会社 | Servo motor controller and servo motor control system |
US10452049B2 (en) | 2017-03-13 | 2019-10-22 | Fanuc Corporation | Servomotor control device, and servomotor control system |
Also Published As
Publication number | Publication date |
---|---|
JP3117047B2 (en) | 2000-12-11 |
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