JPH08168280A - Speed controller and speed and position controller for motor - Google Patents

Abstract

PURPOSE: To control the speed of a motor in a desirable state even when the inertia of a load machine changes with highspeed responsiveness and without causing any mechanical vibration. CONSTITUTION: A first torque signal and compensating torque signal are respectively obtained by means of a first speed control circuit 16 and compensating torque computing circuit 14 and a third torque signal is obtained by subtracting the compensating torque signal from the first torque signal. A motor simulating circuit 13 which inputs a signal. obtained by subtracting a simulating transmission torque signal from the third torque signal outputs a first simulating speed signal and a load machine simulating circuit 9 which inputs the simulating transmission torque signal outputs a second speed signal. Then a torque transmitting mechanism simulating circuit 10 outputs the simulating transmission torque signal from the first simulating speed signal and second speed signal. In addition, a torque command signal is outputted by adding a second torque signal outputted from a second speed control circuit 8 and the third torque signal and the torque of a motor is controlled based on the torque command signal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed and position control device for an electric motor for driving a load machine such as an XY table in an industrial machine or an arm of an industrial robot.

[0002]

2. Description of the Related Art FIG. FIG. 201 is a block diagram showing a speed control device for a conventional electric motor shown in 201 “reference model following control method for electric motor”. In the figure, 1 is an electric motor for driving machinery as a load, 2 is a torque transmission mechanism connected to the electric motor 1, 3 is a load machine connected to the torque transmission mechanism 2 and driven by the electric motor 4, and 4 is an electric motor. 1
Is a speed detector that is connected to and detects the actual speed ωM of the electric motor 1.

Further, 50 is an external speed command signal ωM *
And a simulated speed signal of the electric motor 1 (simulating the speed of the electric motor 1) ωA, a subtractor for outputting a deviation signal, 51 represents a speed command signal ωM * and a simulated speed signal ωA of the electric motor 1. The first torque signal T based on the deviation signal (ωM * -ωA)
A first speed control circuit that outputs 1 *, a mechanical system simulation circuit 52 that outputs a simulated speed signal ωA of the electric motor based on the first torque signal T1 *, and a reference numeral 54 represents the actual simulation of the simulated signal ωA and the electric motor 1. A subtractor for creating a deviation signal from the speed signal ωM, 53 is the simulated speed signal ω subtracted by the subtractor 54
A second speed control circuit that outputs a second torque signal T2 * based on a deviation signal (ωA-ωM) between A and the actual speed ωM of the electric motor, and 55 is a first torque signal T1 * and a second torque signal. Signal T
An adder that adds 2 * and outputs a torque command signal TM *,
A torque control circuit 5 controls the electric motor 1 based on the torque command signal TM *.

Next, the operation of FIG. 30 will be described. When the speed command signal ωM * is input from the outside, the subtracter 50 creates a deviation signal (ωM * −ωA) between this speed command signal ωM * and the simulated speed signal ωA from the mechanical system simulation circuit 52, and 1 to the speed control circuit 51. The first speed control circuit 51 uses the deviation signal (ωM * −ωA) as a gain kv1.
Is proportionally amplified by and outputs the first torque signal T1 *. The mechanical system simulation circuit 52 is modeled by the inertia JA that is the sum of the three inertias of the electric motor 1, the torque transmission mechanism 2, and the load machine 3, and is input and integrated to simulate the first torque signal T1 *. Output velocity signal ωA. The subtractor 50, the first speed control circuit 51, the mechanical system simulation circuit 52
The simulated speed signal ω A is controlled so as to follow the speed command signal ω M * in the circuit system consisting of.

This operation will be described below. When the speed command signal ωM * is changed, a speed difference occurs between the simulated speed signal ωA and the speed command signal ωM *. In this case, when the simulated speed signal ωA is slower than the speed command signal ωM *, the speed command signal ωM * and the simulated speed signal ωA output from the subtractor 50 are output.
The deviation (ωM * −ωA) from and shows a positive value, which is the first
The speed control circuit 51 outputs the first torque signal T1 *, which is proportionally amplified by the gain kv1. On the one hand, this first torque signal T1 * is supplied to the torque control circuit 5 to control the electric motor 1. At the same time, however, the mechanical system simulation circuit 52 has a positive value.
The simulated speed signal ωA is accelerated to approach the speed command signal ωM *. Conversely, when the simulated speed signal ωA is faster than the speed command signal ωM *, the deviation signal (ωM * − between the speed command signal ωM * which is the output of the subtractor 50 and the simulated speed signal ωA
ω A) shows a negative value, which is the first speed control circuit 51
In, it is proportionally amplified by the gain kv1 and outputs the first torque signal T1 *. Since the first torque signal T1 * is input to the mechanical system simulation circuit 52 as a negative value, the simulated speed signal ωA
Is decelerated and approaches the speed command signal ωM *. In this way, the simulated speed signal ωA is controlled so as to follow the speed command signal ωM *.

On the other hand, the electric motor 1 drives the load machine 3 via the torque transmission mechanism 2, and the speed detector 4 detects the actual speed of the electric motor 1 and outputs the actual speed signal ωM. Therefore,
The simulated speed signal ωA and the actual speed signal ωM including the disturbance are subtracted by a subtractor 54, and a deviation signal (ωA-ωM) is output. Next, the second speed control circuit 53 outputs a deviation signal (ωA −) between the simulated speed signal ωA and the actual speed signal ωM including the disturbance.
ω M) is proportionally integrated and amplified with proportional gain kv2 and integral gain kI2 (proportionality creates a transient response signal of disturbance and integral creates a steady response signal of disturbance) and outputs a second torque signal T2 *. The torque control circuit 5 uses the second torque signal T
It is possible to control the electric motor 1 based on 2 * so that the actual speed signal ωM of the electric motor 1 follows the simulated speed signal ωA, but it takes time to follow, so the second torque signal for acceleration is used. The first torque signal T1 * is added to T2 * by the adder 5
Then, the torque command signal TM * is output by adding 5 to each other. The torque control circuit 5 controls the electric motor 1 based on the torque command signal TM *.

By the above operation, the actual speed signal ωM can follow the simulated speed signal ωA even when a disturbance is applied to the electric motor, the load machine or the torque transmission mechanism. This operation will be described below. When the actual speed signal ωM is slower than the simulated speed signal ωA due to the disturbance torque generated by friction of the load machine or the electric motor, the deviation (ωA) between the simulated speed signal ωA output from the subtractor 54 and the actual speed signal ωM including the disturbance -ΩM) indicates a positive value, which is proportional-integrally amplified by the second speed control circuit 53 and outputs the second torque signal T2 *. Since this signal is added to the current torque command signal TM *, it accelerates with respect to the electric motor 1 so that the actual speed signal ωM is the simulated speed signal ωA.
Approach. Conversely, when the actual speed signal ω M is faster than the simulated speed signal ω A, the simulated speed signal ω A which is the output of the subtractor 54.
The deviation (ωA −ωM) from the actual speed signal ωM including the disturbance has a negative value, which is proportional-integrally amplified by the second speed control circuit 53 to output the second torque signal T2 *. Since this signal is added to the present torque command signal TM *, the actual speed signal ωM approaches the simulated speed signal ωA because the motor 1 is decelerated. In this way, the actual speed signal ω M is controlled so as to follow the simulated speed signal ω A.

[0008] Next, FIG. FIG. 178 is a block diagram showing a conventional position control system for an electric motor shown in 178 “2 degree-of-freedom position control system for an electric motor to which a reference system model is applied”. In the figure, the same reference numerals as those in FIG. 30 denote the same or equivalent ones. In the figure, 56
Is a subtracter for outputting the deviation signal between the external position command signal θM * and the simulated position signal θA, and 57 is based on the deviation signal (θM * −θA) between the position command signal θM * and the simulated position signal θA. A first position control circuit that outputs a first speed control signal ω1 *, 58 is a mechanical system simulation circuit that inputs a first torque signal T1 * and outputs a simulated position signal θA, and 58a is a first torque signal Numeral 58b is an integrator which produces a simulated speed signal ωA of the electric motor based on T1 *, and 58b is an integrator which produces a simulated position signal θA of the electric motor based on the simulated speed signal ωA of the electric motor. Integrator 5
A mechanical system simulation circuit 58 is composed of 8a and an integrator 58b.

Further, 19 is a position / speed detector that detects the speed and position of the electric motor 1 and outputs an actual speed signal ωM and an actual position signal θM, and 59 is a deviation signal () between the simulated position signal θA and the actual position signal θM. A subtractor for outputting θA-θM), 60 is a deviation signal (θA-θ) between the simulated position signal θA and the actual position signal θM.
Second for outputting a second velocity signal ω2 * based on M)
Position control circuit, 61 is an adder for adding the simulated speed signal ωA and the second speed signal ω2 *, and 62 is the speed signal from the adder 61 and the actual speed output signal from the position / speed detector 19. It is a subtracter for outputting the deviation from ωM.

Next, the operation of FIG. 31 will be described. When the position command signal θM * is input from the outside, the position command signal θM *
Is subtracted by the simulated position signal θA in the subtractor 56, and the deviation signal (θM * −θA) is output. Deviation signal (θM * -θA) between this position command signal θM * and simulated position signal θA
Is proportionally amplified by the gain kp1 in the first position control circuit 57, and the first speed signal ω1 * is output. The first speed signal ω1 * is subtracted by the simulated speed signal ωA in the subtractor 50 to obtain the first speed signal ω1 * and the simulated speed signal ωA.
A deviation signal (ω1 * -ωA) from A is output. The first speed control circuit 51 proportionally amplifies the deviation signal (ω1 * -ωA) between the first speed signal ω1 * and the simulated speed signal ωA with a gain kv1 and outputs a first torque signal T1 *. The integrator 58a of the mechanical system simulating circuit 58 is modeled by the inertia JA that is the sum of the three inertias of the electric motor 1, the torque transmission mechanism 2 and the load machine 3, and the first torque signal T1 * is calculated by the integrator 58a. To output a simulated speed signal ω A, and the simulated speed signal ω A is further integrated by the integrator 58b to simulate position signal θ
Output A. The simulated position signal θA is controlled so as to follow the position command signal θM * in the circuit system including the circuit from the subtractor 56 to the integrator 58b. As a result, the first speed control circuit coarsely adjusts the position together with the speed of the electric motor, but the final fine adjustment of the electric motor position is performed by the first position control circuit.

This operation will be described below. When the simulated position signal θA lags behind the position command signal θM *, the deviation signal (θM * -θA) between the position command signal θM * output by the subtractor 56 and the simulated position signal θA shows a positive value, This is proportionally amplified by the gain kp1 in the first position control circuit 57 and outputs the first speed signal ω1 *. This first speed signal ω1 * is subtracted by the simulated speed signal ωA in the subtractor 50, and the deviation signal (ω1 * −ωA) is output. The deviation signal (ω1 * -ωA) between the first speed signal ω1 * and the simulated speed signal ωA is proportionally amplified by the gain kv1 in the first speed control circuit 51, and the first torque signal T1 * is output. This first torque signal T1 *, on the one hand, is supplied to the torque control circuit, so that the motor 1
Of the mechanical system simulating circuit 58 at the same time.
It is supplied to a with a positive value. Therefore, the simulated speed signal ωA output from the integrator 58a exhibits a positive value, and the simulated speed signal ωA is integrated by the integrator 58b to output the position signal corresponding to (θM * −θA) in the positive direction. Therefore, the simulated position signal θA approaches the position command signal θM *.

On the contrary, the simulated position signal θA is the position command signal θ.
When it is ahead of M *, the deviation signal (θM * − between the position command signal θM * output by the subtractor 56 and the simulated position signal θA
θA) shows a negative value, which is the first position control circuit 57.
Is proportionally amplified by the gain kp1 and outputs the first speed signal ω1 *. This first speed signal ω1 * is subtracted by the simulated speed signal ωA in the subtractor 50, and the deviation signal (ω1 * −ωA) is output. This first speed signal ω1 * and the simulated speed signal ωA
The deviation signal (ω1 * -ωA) between and is amplified proportionally by the gain kv1 in the first speed control circuit 51 and outputs the first torque signal T1 *. On the one hand, the first torque signal T1 * is supplied to the torque control circuit 5 to control the electric motor 1, but at the same time, it is supplied to the integrator 58a of the mechanical system simulation circuit 58 in a negative value. Therefore, the simulated speed signal ω which is the output of the integrator 58a
A indicates a negative value, and this simulated speed signal ωA is integrator 58b.
The position signal corresponding to (θM * −θA) is output in the negative direction.
Get closer to *.

On the other hand, the simulated position signal θA is subtracted by the actual position signal θM including the disturbance in the subtractor 59 to output a deviation signal (θA-θM), and the deviation between the simulated position signal θA and the actual position signal θM including the disturbance. The signal (θA-θM) is proportionally amplified by the gain kp2 in the second position control circuit 60,
The speed signal ω2 * of is output. This second velocity signal ω2 *
In order to improve the tracking accuracy, the adder 61 adds the simulated speed signal ωA, and then the subtractor 62 subtracts the actual speed signal ωM including the disturbance from the position / speed detector 19 to obtain (ω2 * + ωA-ωM ) Is output. This signal means the sum of the second speed signal ω2 * and the deviation signal (ωA−ωM) between the simulated speed signal ωA and the actual speed signal ωM including the disturbance. Next, the second speed control circuit 53 adds the second speed signal ω2 * and the deviation signal (ωA −ωM) between the simulated speed signal ωA and the actual speed signal ωM including the disturbance (ω2).
* + ΩA-ωM) is proportional to the integral gain kv2 and integral gain kI2 (proportional creates a transient response signal of disturbance, integral creates a steady response signal of disturbance) and the second torque signal T2 *
Is output.

The torque control circuit 5 may control the electric motor 1 according to the second torque signal T2 * so that the actual speed signal ωM of the electric motor 1 follows the simulated speed signal ωA, but it takes time to follow. Therefore, in order to accelerate, the first torque signal T1 * is added to the second torque signal T2 * by the adder 5
Then, the torque command signal TM * is output by adding 5 to each other. The torque control circuit 5 controls the electric motor 1 based on the torque command signal TM *. Even if the position of the electric motor 1 changes in this way, the position of the electric motor is controlled so as to follow the simulated position signal in the same manner as shown in FIG.

[0015]

In the conventional speed control device for an electric motor shown in FIG. 30, the response (target value response) to the speed command signal can be adjusted by the gain of the first speed control circuit, and the response to the disturbance is obtained. Since the (disturbance response) can be adjusted by the gain of the second speed control circuit, the target value response is better than the simple feedback control in which the speed command signal and the speed detection signal of the electric motor are compared and the deviation is reduced. There is an advantage that can be raised. However, since the mechanical system model is modeled as a simple inertia JA that combines the electric motor, the torque transmission mechanism, and the load machine, for example, when the rigidity of the torque transmission mechanism such as the ball screw or speed reducer used for the XY table or robot arm is low. However, if the gain of the first speed control circuit is increased in order to increase the target value response or the rising speed of the speed command signal is increased, the response becomes oscillating. In addition, when the inertia of the load machine changes due to changes in the work, the response characteristics may change or control may become unstable because there is no function to correct the constants of the mechanical system model and the gain of the speed control circuit. There was also the problem that there were cases.

Further, in the conventional position control device for an electric motor shown in FIG. 31, the response (target value response) to the position command signal can be adjusted by the gains of the first position control circuit and the first speed control circuit. Response to disturbance (disturbance response)
Can be adjusted by the gains of the second position control circuit and the second speed control circuit, so a simple feedback control for comparing the position command signal with the position and speed detection signals of the electric motor and controlling so as to reduce their deviations. There is an advantage that the target value response can be improved. However, as in the case of the conventional speed control device for an electric motor shown in FIG. 30, the gains of the first position control circuit and the first speed control circuit are increased to raise the target value response, and the rising of the position command signal is increased. There is a problem that the response becomes oscillating when the speed is increased. In addition, when the inertia of the load machine changes due to changes in the work, the response characteristics may change or control may become unstable because there is no function to correct the constants of the mechanical system model and the gain of the speed control circuit. There was also the problem that there were cases. In addition, since the conventional mechanical system simulation circuit was modeled as a simple inertia that combines the electric motor, torque transmission mechanism, and load machine, in order to find the optimum value of this inertia, it is usually tried multiple times and each time it is set. There is a problem that it is necessary to determine whether or not it is optimal, and it takes time to set the optimal value.

The present invention has been made to solve the above problems, and has a high-speed response to a speed command signal and a position command signal from the outside, does not generate mechanical vibration, and is inertia of a load machine. It is an object of the present invention to obtain a speed and position control device for an electric motor, which can obtain a desired response even when is changed. It is also intended to set the inertia value in a short time.

[0018]

A speed control device for an electric motor according to a first aspect of the present invention receives the deviation signal between a speed command signal from the outside and a first simulated speed signal indicating a simulated speed of the electric motor and inputs the deviation signal. A first speed control means for outputting a first torque signal so that the first simulated speed signal has a desired response characteristic to the speed command signal; and a first speed control means for outputting the first torque signal. An electric motor model for inputting a deviation signal between a torque signal and a simulated transmission torque signal indicating a transmission torque of a torque transmission mechanism connected to the electric motor to output the first simulated speed signal, and the simulated transmission torque signal are input. And a load machine model that outputs a second simulated speed signal indicating a simulated speed of a load machine connected to the electric motor via the torque transmission mechanism, a first simulated speed signal from the electric motor model, and the load. Machine A torque transmission mechanism model that inputs the deviation from the second simulated speed signal from the model and outputs the simulated transmission torque signal, a first simulated speed signal from the electric motor model, and an actual speed signal of the electric motor. Second speed control means for inputting a deviation signal of the second speed signal and a second torque signal, a first torque signal from the first speed control means, and a second torque signal from the second speed control means. And a torque control means for controlling the torque of the electric motor so that an actual speed signal of the electric motor has a desired response characteristic to the speed command signal by inputting an addition signal to the torque signal. .

The speed and position control device for the electric motor according to the second aspect of the present invention receives the deviation signal between the position command signal from the outside and the first simulated position signal indicating the simulated position of the electric motor as the first signal.
Position control means for outputting a speed signal of
The deviation signal between the first speed signal from the position control means and the first speed signal indicating the simulated speed of the electric motor is input, and the first simulated position signal is set to the desired position relative to the position command signal. A first speed control means for outputting a first torque signal so as to have a response characteristic, a first torque signal from the first speed control means, and a transmission torque of a torque transmission mechanism connected to the electric motor. An electric motor model for inputting a deviation signal from the simulated transmission torque signal shown and outputting the first simulated speed signal and the first simulated position signal, and the simulated transmission torque signal for inputting the torque transmission to the electric motor. A load machine model that outputs a second simulated speed signal indicating a simulated speed of a load machine connected via a mechanism, a first simulated speed signal from the electric motor model, and a second simulation from the load machine model. speed A torque transmission mechanism model that inputs a deviation signal from the motor and outputs the simulated transmission torque signal, and a deviation signal between the first simulated position signal from the electric motor model and the actual position signal of the electric motor. Second position control means for outputting a second speed signal, the first simulated speed signal and the second speed signal from the second position control means are added together, and the actual speed signal of the electric motor is added. The second torque signal is input by inputting the deviation signal obtained by subtracting
Speed control means and a first speed control means from the first speed control means.
Of the torque signal and the second torque signal from the second speed control means are input so that the actual position signal of the electric motor has a desired response characteristic to the position command signal. And a torque control means for controlling the torque of the electric motor.

A speed controller for a motor or a speed and position controller for a motor according to a third aspect of the present invention outputs a deviation signal between a first simulated speed signal from a motor model and a second simulated speed signal from a load machine model. Compensation torque calculating means for inputting and outputting a compensation torque signal is provided, and the motor model or the deviation torque signal from the compensation torque calculating means is subtracted from the first torque signal from the first speed control means. The torque control means is controlled.

The speed controller for the motor or the speed and position controller for the motor according to the fourth aspect of the invention inputs the deviation signal between the first simulated speed signal from the motor model and the actual speed signal of the motor. The inertia identifying means is provided for identifying the inertia of the load machine model so that the deviation signal decreases.

A speed control device for an electric motor or a speed and position control device for an electric motor according to a fifth aspect of the present invention inputs the deviation signal between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor. An inertia identifying means for outputting an identification signal and a gain modifying means for modifying the gain of the first speed control means based on the inertia identifying signal from the inertia identifying means are provided.

According to a sixth aspect of the present invention, there is provided an electric motor speed control device or an electric motor speed and position control device which inputs a deviation signal between a first simulated speed signal from an electric motor model and an actual speed signal of the electric motor. An inertia identifying means for outputting an identification signal and a gain modifying means for modifying the gain of the compensating torque computing means based on the inertia identifying signal from the inertia identifying means are provided.

A speed controller for an electric motor or a speed and position controller for an electric motor according to a seventh aspect of the present invention inputs the deviation signal between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor. The inertia identifying means for outputting the identification signal and the gain modifying means for modifying the gain of the second speed control means based on the inertia identifying signal from the inertia identifying means are provided.

A speed and position control device for an electric motor according to an eighth aspect of the present invention inputs a deviation signal between the first simulated speed signal from the electric motor model and the second simulated speed signal from the load machine model to receive a compensation torque signal. And a compensating speed calculating means for inputting a deviation signal of the first simulated position signal from the electric motor model and the second simulated position signal from the load machine model and outputting a compensating speed signal. The compensation speed signal from the compensation speed calculation means is added to the first speed signal from the first position control means and then supplied to the first speed control means. The electric motor model or the torque control means is controlled based on the first torque and the compensation torque signal from the compensation torque calculation means.

A speed and position control device for an electric motor according to a ninth aspect of the present invention is an inertia device which inputs a deviation signal between a first simulated speed signal from an electric motor model and an actual speed signal of the electric motor and outputs an inertia identification signal. The identification means and the gain correction means for correcting the gain of the compensation speed calculation means based on the inertia identification signal from the inertia identification means are provided.

[0027]

In the speed control device for the electric motor according to the first aspect of the present invention, the electric motor model is the first speed control means from the first speed control means.
And a simulated transmission torque signal indicating a transmission torque signal of a torque transmission mechanism connected to the electric motor are input and a first simulated speed signal is output. The load machine model inputs the simulated transmission torque signal and outputs a second simulated speed signal indicating the simulated speed of the load machine connected to the electric motor via the torque transmission mechanism. Further, the torque transmission mechanism model inputs the deviation between the first simulated speed signal from the electric motor model and the second simulated speed signal from the load machine model and outputs the simulated transmission torque signal.

In the speed and position control device for the electric motor according to the second aspect of the present invention, the first position control means outputs the deviation signal between the position command signal from the outside and the first simulated position signal indicating the simulated position of the electric motor. Input and output a first speed signal. Further, the first speed control means inputs the deviation signal between the first speed signal from the first position control means and the first simulated speed signal indicating the simulated speed of the electric motor to input the first simulated signal. The first torque signal is output so that the position signal has a desired response characteristic to the position command signal. Also,
The electric motor model receives the deviation signal between the first torque signal from the first speed control means and the simulated transmission torque signal indicating the transmission torque of the torque transmission mechanism connected to the electric motor, and inputs the deviation signal to the first simulated speed. The signal and the first simulated position signal are output. The load machine model inputs the simulated transmission torque signal and outputs a second simulated speed signal indicating the simulated speed of the load machine connected to the electric motor via the torque transmission mechanism.

The torque transmission mechanism model inputs the deviation signal between the first simulated speed signal from the electric motor model and the second simulated speed signal from the load machine model and outputs the simulated transmission torque signal. . Further, the second position control means inputs the deviation signal between the first simulated position signal from the electric motor model and the actual position signal of the electric motor, and then inputs the deviation signal to the second position control means.
The speed signal of is output. The second speed control means inputs a deviation signal obtained by adding the first simulated speed signal and the second speed signal from the second position control means and further subtracting the actual speed signal of the electric motor. And outputs a second torque signal. Further, the torque control means inputs the addition signal of the first torque signal from the first speed control means and the second torque signal from the second speed control means to input the actual position signal of the electric motor. Controls the torque of the electric motor so as to have a desired response characteristic to the position command signal.

In the speed controller for the electric motor or the speed and position controller for the electric motor according to the third aspect of the present invention, the compensating torque calculating means includes a first simulated speed signal from the electric motor model and a second simulated speed signal from the load machine model. The deviation signal of the speed signal is input and the compensation torque signal is output. Further, the motor model or the torque control means is controlled so that the deviation signal obtained by subtracting the compensation torque signal from the compensation torque calculation means from the first torque signal from the first speed control means decreases.

In the speed controller for a motor or the speed and position controller for a motor according to the fourth aspect of the invention, the inertia identifying means is a deviation signal between the first simulated speed signal from the motor model and the actual speed signal of the motor. Is input to identify the inertia of the load machine model so that the deviation signal is reduced.

In the speed control device for a motor or the speed and position control device for a motor according to the fifth aspect of the present invention, the gain correction means is a deviation signal between the first simulated speed signal from the motor model and the actual speed signal of the motor. Is input to output an inertia identification signal, and the gain of the first speed control means is corrected based on the inertia identification signal from the inertia identification means.

In the speed controller for the electric motor or the speed and position controller for the electric motor according to the sixth aspect of the present invention, the gain correction means is a deviation between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor. The gain of the compensation torque calculating means is corrected based on the inertia identifying means for inputting a signal and outputting the inertia identifying signal and the inertia identifying signal from the inertia identifying means.

In the speed control device for an electric motor or the speed and position control device for an electric motor according to the seventh aspect of the present invention, the gain correction means is a deviation between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor. The gain of the second speed control means is corrected based on the inertia identifying means for inputting the signal and outputting the inertia identifying signal and the inertia identifying signal from the inertia identifying means.

In the speed and position control device for an electric motor according to the eighth aspect of the present invention, the compensation speed calculation means is a deviation signal between the first simulated position signal from the electric motor model and the second simulated position signal from the load machine model. To output a compensation speed signal, add the compensation speed signal from the compensation speed calculation means to the first speed signal from the first position control means, and then supply the first speed control means, The electric motor model or the torque control circuit is controlled based on the first torque from the first speed control means and the compensation torque signal from the compensation torque calculation circuit.

In the speed and position control device for the electric motor according to the ninth aspect of the present invention, the gain correction means inputs the deviation signal between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor, and the inertia signal is input. The inertia identifying means for outputting the identifying signal and the gain of the compensating speed calculating means are corrected based on the inertia identifying signal from the inertia identifying means.

[0037]

【Example】

Example 1. FIG. 1 is a block diagram showing the overall construction of an embodiment of the present invention. In the figure, the same reference numerals as those in FIG. 51 denote the same or equivalent ones.
Reference numeral 17 is a subtracter that subtracts the speed command signal ωM * from the simulated speed signal ωA1 and outputs a deviation signal (ωM * −ωA1), 15
Is a first torque signal T1 * output from the first speed control circuit 16 and an output TC of a compensation torque calculation circuit 14 to be described later.
Subtracting 18 to subtract the third torque signal T3 *,
Is a subtractor that outputs a deviation signal (T3 * -TF) between the third torque signal T3 * and a simulated transmission torque signal TF which is the output of the torque transmission mechanism simulation circuit 10 described later, and 13 is the transfer function of the motor 1. A motor simulation circuit that simulates and inputs a deviation signal (T3 * -TF) and outputs a simulated speed signal ωA1
Reference numeral 11 is a subtractor that subtracts a second simulated speed signal ωA2 described later from the first simulated speed signal ωA1 and outputs a deviation signal (ωA1-ωA2). 10 is a subtractor that simulates the transfer function of the torque transmission mechanism 2. Deviation signal (ωA1−ω
A2) is a torque transmission mechanism simulation circuit for inputting A2) and outputting a simulated transmission torque signal TF.

Further, 9 is a load machine simulation circuit which simulates the transfer function of the load machine 3 and inputs the torque signal TF and outputs the second simulated speed signal ωA2, and 12 is the first simulated speed signal ωA1 to the first simulated speed signal ωA1. A subtractor that subtracts the second simulated speed signal ωA2 and outputs a deviation signal (ωA1-ωA2), and 14 inputs a deviation signal (ωA1-ωA2) between the first simulated speed signal ωA1 and the second simulated speed signal ωA2 Then the load machine sends the speed command signal ωM *
A compensating torque calculation circuit for outputting a compensating torque signal TC so as to follow, a subtracter 7 for subtracting the actual speed signal ωM of the motor 1 from the first simulated speed signal ωA1 and outputting a deviation signal (ωA1-ωM), 8 outputs the second torque signal T2 * so that the speed deviation (ωA1−ωM) decreases and the actual speed signal ω
A second speed control circuit for controlling M so as to follow the first simulated speed signal ωA1, and 6 is a third torque signal T3 * and a second torque control circuit.
Is an adder that outputs the torque command signal TM *.

FIG. 2 shows the configuration of an actual mechanical system including an electric motor, a torque transmission mechanism and a load machine.
In the figure, the same reference numerals as those in FIG. 1 denote the same or equivalent ones. It is assumed that the electric motor 1 and the load machine 3 are connected by a low-rigidity shaft.

FIG. 3 is a block diagram of the electric motor simulation circuit 13, the torque transmission mechanism simulation circuit 10 and the load machine simulation circuit 9 of FIG. 1 corresponding to the mechanical system of FIG. In the figure, 1
01 is the third torque command T3 * and the simulated transmission torque signal TF
Deviation (T3 * -TF) is multiplied by the reciprocal of the motor inertia JM and integrated to output a simulated speed signal ωA1, 102 is a first simulated speed signal ωA1 and a second simulated speed signal ωA2. The spring constant K is calculated by integrating the deviation (ωA1-ωA2).
An integrator that multiplies F to output the simulated transmission torque signal TF, and 103 inputs the simulated transmission torque signal TF and multiplies it by the reciprocal (1 / JL) of the inertia JL of the load machine to integrate the second simulated velocity signal. This is an integrator that outputs ωA2.

This electric motor simulation circuit, load machine simulation circuit,
By separating the torque transmission mechanism simulating circuit, the gain can be set more easily and more accurately than before.

FIG. 4 is a block diagram of the compensation torque calculation circuit 14. In the figure, 104 is a coefficient unit of gain kCV,
Reference numeral 105 is an integrator having an integration gain kCP, and 106 is a coefficient multiplier 10.
4 is an adder for adding the output of 4 and the output of the integrator 105.

Next, the operation of FIG. 4 will be described. The compensating torque calculation circuit 14 proportionally and integrally amplifies the compensating torque signal TC of the deviation signal (ωA1-ωA2) between the first simulated speed signal ωA1 and the second simulated speed signal ωA2 of FIG. 1 with the gain kCV and the integral gain kCP. The first simulated speed signal ωA1 which is the output of the electric motor simulation circuit 13 that outputs and simulates the response of the electric motor 1 and the second simulated speed signal ωA2 that is the output of the load machine simulation circuit 9 that simulates the response of the load machine 3 Deviation signal (ωA1 ー ωA2)
Can be reduced.

FIG. 5 is a block diagram of the first speed control circuit 16. In the figure, 107 is a velocity deviation signal (ωM *
-ΩA1) is a coefficient unit that proportionally amplifies the gain kv1 and outputs a first torque signal T1 *.

With the configuration shown in FIG. 5, the first speed control circuit 16 can be controlled so that the first simulated speed signal ωA1 follows the speed command signal ωM *.

FIG. 6 is a block diagram of the second speed control circuit 8. In the figure, 108 is a coefficient unit of gain kV2,
109 is an integrator having an integration gain kI2, and 110 is a coefficient multiplier 10
8 and the output of the integrator 109 are summed to obtain the second torque signal T
This is an adder that outputs 2 *.

Next, the operation of FIG. 6 will be described with reference to FIG. The second speed control circuit 8 in FIG. 1 outputs a torque signal T2 * obtained by proportionally and integrally amplifying the speed deviation signal (ωA1−ωM) with a gain kv2 and an integral gain kI2. Therefore, even when disturbance torque is applied, the motor 1 The speed ω M can be controlled so as to follow the first simulated speed signal ω A1. As described above, ωA1 is controlled by the first speed control circuit 16 so as to follow ωM *.
Is controlled so as to follow the speed command signal ωM *. Here, the reason why the input of the second speed control circuit is set to (ωA1−ωM) instead of (ωM * −ωM) will be described. First
The simulated speed signal ωA1 of is mainly the first speed control circuit 16
By this action, the first simulated speed signal ωA1 becomes a signal obtained by low-pass filtering the speed command signal ωM *, since the first simulated speed signal ωA1 responds to the speed command signal ωM * at a certain response frequency.
When the two velocity deviation signals (ωA1−ωM) and (ωM * −ωM) are compared, the former is a smooth signal with less high frequency components. Therefore, the use of (ωA1−ωM) as the input of the second speed control circuit 8 makes it possible to obtain the second torque signal T2 * in which mechanical vibration is less likely to be induced.

FIG. 7 shows a block diagram of the torque control circuit 5. In the figure, 111 is a coefficient unit that multiplies the torque command signal TM * by the reciprocal of the torque constant kt to convert it into a current command signal IM *, 112 is a current detector that detects the current IM of the motor 1, 113 is the The current control circuit applies a voltage V to the electric motor 1 so that the current IM follows the current command IM *.

With the configuration shown in FIG. 7, the torque control circuit 5 can be controlled so that the output torque of the electric motor 1 follows the torque command signal TM *. Current control circuit 113
For the detailed configuration of the above, see, for example, “Theory of AC Servo System and Practice of Design”, Sogo Denshi Publisher, 1990.
Year, P80 to P85, P153 to P155.

Next, a method of designing the gain of each control circuit will be described. Since the response of the torque control is sufficiently faster than the response of the normal speed control, the transfer function of the torque control circuit 5 can be set to 1. The electric motor simulation circuit 13 is designed to simulate the transfer function of the electric motor 1. Similarly, the torque transmission mechanism simulation circuit 10 and the load machine simulation circuit 9 are designed to simulate the transfer function of the torque transmission mechanism 2 and the transfer function of the load machine 3, respectively. At this time, the actual speed signal ω M of the electric motor 1 and the first simulated speed signal ω A1 of the electric motor simulation circuit 13 match. That is, the transfer function from the speed command signal ωM * to the actual speed signal ωM of the electric motor 1 matches the transfer function from the speed command signal ωM * to the first simulated speed signal ωA1. Similarly, the actual speed signal ωL of the load machine 3 and the output ωA2 of the load machine simulation circuit 9 match, and the transfer function from the speed command signal ωM * to the actual speed signal ωL of the load machine 3 is the second from the speed command signal ωM *.
It matches the transfer function up to the simulated velocity signal ωA2. When the transfer function from the speed command signal ωM * to the actual speed signal ωM of the electric motor 1 is GVM, and the transfer function from the speed command signal ωM * to the actual speed signal ωL of the load machine 3 is GVL, Equation (1) and Expression, respectively It is represented by (2).

[0051]

[Equation 1]

[0052]

[Equation 2]

However, ω S is the mechanical resonance frequency, and ω Z is the anti-resonance frequency, which is expressed by the following equation.

[0054]

(Equation 3)

[0055]

[Equation 4]

Transfer function GV shown in equations (1) and (2)
Since the coefficients of the terms M and GVL can be manipulated by the gains kCV and kCP of the compensation torque calculation circuit 14 and the gain kV1 of the first speed control circuit 16, a desired target value response characteristic can be obtained.

Here, the control characteristics of the motor speed control device and the conventional motor speed control device shown in FIG. 51 will be compared by simulation. Both of the control targets are the electric motors shown in FIG. 2 and a mechanical system that drives the load machine via a low-rigidity shaft that is a torque transmission mechanism. Here, the inertia JM of the electric motor 1, the inertia JL of the load machine, and the spring constant KF of the low-rigidity shaft are set as in equation (5). However, the inertia of the low rigidity axis is ignored.

[0058]

(Equation 5)

First, FIG. 24 is a diagram showing a simulation result of a target value response in the case where a speed command step is applied in the above-described conventional motor speed control device. FIG. 10A shows the case where the gain kV1 of the first speed control circuit and the gains kV2 and kI2 of the second speed control circuit are set as shown in equation (5). It turns out that the sex is low.

[0060]

(Equation 6)

Further, FIG. 6B shows the case where each gain is set as in the equation (6) in order to improve the responsiveness, and it can be seen that the response is very oscillatory.

[0062]

(Equation 7)

Next, the simulation result of the speed control circuit of the electric motor of the present invention will be shown. The gains of the first speed control circuit and the second speed control circuit are set as in the equation (7) as in the case of the speed control circuit of the conventional electric motor described above. Further, the gains kcp and kcv of the compensation torque calculation circuit 14
Was set as in equation (8).

[0064]

(Equation 8)

FIG. 8 is a diagram showing the simulation result of the target value response when the speed command ωM * is given in steps. As shown in FIG. 24- (b), in the conventional technique, the first
While the response of the second speed control circuit and the gain of the second speed control circuit are very oscillatory, the response of the load machine speed ωL is high and there is no overshoot in FIG. It shows the characteristics. Therefore, it is understood that the speed control device for the electric motor according to the present invention is superior to the speed control device for the conventional electric motor shown in FIG.

As described above, the conventional mechanical system simulating circuit is divided into each model of the electric motor simulating device, the load machine simulating device, and the torque transmission mechanism simulating device, so that the gain setting for each model can be made easy and high speed. Further, since the compensating torque calculation circuit is provided, it is possible to obtain a good response characteristic of the response of the speed .omega.L of the load machine in FIG.

Example 2. Although the case where the compensation torque calculation circuit is added has been described in the first embodiment, it goes without saying that the operation is performed even when the compensation torque calculation circuit is not provided. In this case, the subtractor 12, the compensation torque calculation circuit 14, and the subtractor 15 in FIG. 1 are omitted. Here, since the conventional mechanical system simulation circuit is divided into each model of the electric motor simulation device, the load machine simulation device, and the torque transmission mechanism simulation device, the gain setting for each model can be easily performed at high speed.

Example 3. Next, another embodiment of the present invention will be described with reference to FIGS. FIG. 9 is a block diagram of a circuit in which a position control circuit is added to the speed control circuit of the electric motor shown in FIG. In the figure, the components denoted by the same reference numerals indicate the same or equivalent components. Two
4 is a position command signal θM * and a first simulated position signal θA1 described later.
And a subtracter 25 for outputting a deviation signal (θM * −θA1) between the position command signal θM * and the first simulated position signal θA1 (θM * −θA1) so that the deviation signal (θM * −θA1) decreases. Signal ω1 *
Is output to control θA1 to follow θM *, and 26 is a first simulated speed signal ωA1 from the first speed signal ω1 * output from the first position control circuit 25. A subtractor that subtracts the difference and outputs a deviation signal (ω1 * −ωA1), 19
Detects the actual speed and the actual position of the motor 1 and detects the actual speed signal ω
Position and speed detector that outputs M and actual position signal θM, 20
Is a subtracter that outputs a deviation signal (θA1−θM) between a first position signal θA1 and an actual position signal θM, which will be described later.

Reference numeral 21 outputs the second velocity signal ω2 * so that the deviation signal (θA1−θM) between the first position signal θA1 and the actual position signal θM decreases so that θM follows θA1. The second position control circuit for controlling the second speed control circuit 22, the adder 22 for adding the first speed signal ωA1 and the second speed signal ω2 *, and the reference numeral 23 for the deviation signal by subtracting the actual speed signal ωM from the output of the adder 22.
Subtractor that outputs (ω2 * ＋ ωA1－ωM), 27 is the motor 1
Of the first simulated position signal θA1 and the first simulated velocity signal ω by inputting (T3 * -TF)
This is a motor simulation circuit that outputs A1. The other blocks are the same as those in FIG.

Each section will be described below with reference to FIGS. 10 to 12. FIG. 10 is a block diagram of the first position control circuit 25. In the figure, 201 is a position deviation (θM * −
θA1) is a coefficient unit of gain kP1 which proportionally amplifies and outputs the first speed signal ω1 *.

With the configuration as shown in FIG. 10, the first simulated position signal θA1 can be controlled so as to follow the position command signal θM *.

FIG. 11 is a block diagram of the second position control circuit 21. In the figure, 202 is a position deviation (θA1−
θM) is proportionally amplified to output a second speed signal ω2 *, which is a coefficient unit of gain kP2.

Next, the operation of FIG. 11 will be described with reference to FIG. Even if the disturbance torque TL is applied, θ
M can be controlled to follow θA1. As mentioned above, θA
Since 1 is controlled so as to follow θM *, the position θM of the electric motor 1 is finally controlled so as to follow the position command signal θM *. Here, the input of the second position control circuit is (θM *
The reason for using (θA1−θM) instead of −θM) will be described. The first simulated position signal θA1 responds to the position command signal θM * at a certain response frequency mainly by the actions of the first position control circuit 25 and the first speed control circuit 16, so that the first simulated position signal θA1 θA1 is the position command signal θM *
The signal is like a low-pass filtered signal. When the two position deviation signals (θA1−θM) and (θM * −θM) are compared, the former is a smooth signal with less high frequency components. Therefore, when the position command signal changes in the state where the disturbance is applied, it is more difficult to induce the mechanical vibration by using (θA1−θM) as the input of the second position control circuit 21. * Is obtained.

FIG. 12 is a block diagram of the electric motor simulation circuit 27. In the figure, 204 is the third torque signal T3 *.
Deviation signal from the simulated transmission torque signal TF (T3 * -TF)
Is an integrator that multiplies the reciprocal of the inertia JM of the electric motor and outputs a simulated speed signal ωA1, and 205 is an integrator that calculates a simulated position signal θA1 from the simulated speed signal ωA1 output from 204.

By constructing as shown in FIG.
The electric motor simulated speed signal ωA1 and the simulated position signal θA1 are obtained.

Since the response of the torque control is sufficiently faster than the response of the normal position and speed control, the transfer function of the torque control means 5 can be set to 1. As described above, the electric motor simulation circuit 27 is shown in FIG.
It is designed to simulate the transfer function of the mechanical motor 1 shown in FIG. Similarly, the torque transmission mechanism simulating circuit 10 and the load machine simulating circuit 9 respectively correspond to the torque transmission mechanism 2 of FIG.
And is designed to simulate the transfer function of the load machine 3. At this time, the response of the actual position signal θM of the electric motor 1 viewed from the position command signal θM * and the response of the simulated position signal θA1 viewed from the position command signal θM * match. That is, position command signal θM *
To the actual position signal θM of the electric motor 1 match the transfer function from the position command signal θM * to the simulated position signal θA1. Similarly, the load machine 3 viewed from the position command signal θM *
The actual position signal θL of the load machine 3 and the output (not shown) of the load machine simulation circuit 9 seen from the position command signal θM * match, and the transfer function from the position command θM * to the actual position signal θL of the load machine 3 is It matches the transfer function from the signal θM * to the simulated position signal (not shown). Therefore, if the transfer function from the position command signal θM * to the actual position signal θM of the electric motor 1 is GPM and the transfer function from the position command signal θM * to the actual position signal θL of the load machine 3 is GPL, then each is given by equation (9). , Expressed by equation (10).

[0077]

[Equation 9]

[0078]

[Equation 10]

Further, ω S and ω Z are represented by the above-mentioned equations (3) and (4). The coefficient of each term of the transfer functions GPM and GPL shown in the equations (9) and (10) is the compensation torque calculation circuit 1
Since the gain can be controlled by the gains kCV and kCP of 4, the gain kP1 of the first position control circuit 25 and the gain kV1 of the first speed control circuit 16, a desired target value response characteristic can be obtained.

Next, it will be shown by simulation that the control performance of the electric motor position control device of the present invention and the conventional electric motor position control device shown in FIG. 23 are superior. The control target is the same as in the case of the simulation shown in FIG.

First, FIG. 33 is a diagram showing a simulation result of a target value response when a position command is given stepwise in the above-described conventional position control device for an electric motor.
The figure (a) shows the gain kP1 of the first position control circuit 25,
This is a case where the gain kP2 of the second position control circuit 21, the gain kV1 of the first speed control circuit 16, and the gains kV2 and kI2 of the second speed control circuit 8 are set as in equation (11),
It can be seen that the response is not oscillatory, but the response is low.

[0082]

[Equation 11]

Next, FIG. 33- (b) shows the case where each gain is set as shown in equation (12) in order to improve the response, and it can be seen that the response is very oscillatory.

[0084]

(Equation 12)

Next, a simulation result of the speed control device for the electric motor according to the present invention will be shown. The gain of each control circuit is set as in the equation (12) as in the case of the conventional speed control device for a motor. Further, the gains kcp and kcv of the compensation torque calculation circuit 14 are set as in Expression (13).

[0086]

(Equation 13)

FIG. 13 is a diagram showing a simulation result of the target value response when the position command θM * is given stepwise. As shown in FIG. 33- (b), in the conventional technique, the response of the gain of each control circuit is oscillating when the equation (12) is set, whereas in FIG. 13, the response of the position θL of the load machine is high. In addition, good response characteristics with very little overshoot are exhibited. Therefore, it can be seen that the electric motor position control device according to the present invention is superior to the conventional electric motor position control device shown in FIG. further,
Although the speed controller can control only coarse adjustment of the position, this circuit enables fine adjustment of the position.

As described above, since the speed and position control device is provided, the position can be finely adjusted. Moreover, since the conventional mechanical system simulation circuit is divided into each model of the electric motor simulation device, the load machine simulation device, and the torque transmission mechanism simulation device, the gain setting for each model can be easily performed at high speed. Further, since the compensating torque calculation circuit is provided, it is possible to obtain a good response characteristic of the response of the speed .omega.L of the load machine in FIG.

Example 4. In the third embodiment, the case where the compensation torque calculation circuit is added has been described, but it goes without saying that the operation is performed even when the compensation torque calculation circuit is not provided. In this case, the subtractor 12, the compensation torque calculation circuit 14, and the subtractor 15 in FIG. 1 are omitted. Since a speed and position control device is provided here, fine adjustment of the position becomes possible. Moreover, since the conventional mechanical system simulation circuit is divided into each model of the electric motor simulation device, the load machine simulation device, and the torque transmission mechanism simulation device, the gain setting for each model can be easily performed at high speed.

Example 5. Another embodiment of the present invention will be described with reference to FIGS. FIG. 14 shows FIG.
FIG. 6 is a block diagram of a circuit in which an inertia identification circuit and gain correction means are added in FIG. In the figure, the components denoted by the same reference numerals indicate the same or equivalent components. A subtractor 30 subtracts the motor actual speed signal ωM from the motor simulated speed signal ωA1 and outputs a speed deviation signal (ωA1−ωM) (hereinafter referred to as Δω), and 28 is the load machine 3 so that Δω decreases.
An inertia identification circuit for identifying the inertia of the control circuit 29, 29 is a gain correction means for correcting and outputting each gain of the control circuit based on the inertia identification value JL * of the load machine which is the output of the inertia identification circuit 28.

Reference numeral 31 is a second output which outputs the second torque command T2 * by inputting the speed deviation (ωA1-ωM) which is the output of the subtractor 7 and the kV2 and kI2 which are the outputs of the gain correcting means 29. A speed control circuit 32 simulates a transfer function of the load machine 3 and also a simulated transfer torque signal TF and an inverter.
A load machine simulation circuit that inputs the load machine inertia identification value JL *, which is the output of the shear identification means 28, and outputs a second simulated speed signal ωA2, and 33 is the speed deviation (ωM * −ωA1) that is the output of the subtractor 17. ) And the output kV1 of the gain correction means 29, and outputs the first torque control signal T1 * so that the speed deviation (ωM * −ωA1) is reduced.

The other operations are the same as those in the first embodiment, and the description thereof will be omitted. The same applies to the compensation torque calculation circuit.

Next, an example of each part will be described. FIG. 15 shows an embodiment of the second speed control circuit 31. 206 is a coefficient unit with a gain kV2, 207 is an integrator with an integration gain kI2, 20
8 is an adder. The coefficient unit 206 and the integrator 207 receive the corrected gains kV2 and kV from the gain correction unit 29, respectively.
The gain is updated when I2 is given.

Since the other operations are the same as those of the second speed control circuit 8 shown in FIG. 6 of the first embodiment, the description thereof will be omitted.

FIG. 16 shows an embodiment of the second load machine simulation circuit 32. Reference numeral 209 is an integrator having an integral gain of (1 / JL *). The integrator 209 updates the integral gain when the gain correction means 29 outputs a new identification value JL * of the load mechanical inertia.

Since the other operations are the same as those of the load machine simulation circuit 9 shown in FIG. 3 of the first embodiment, the description thereof will be omitted.

FIG. 17 shows an embodiment of the first speed control circuit 33. 210 is a coefficient unit having a gain kV1. Coefficient unit 2
When a new gain kV1 is given from the gain correcting means 29, the gain 10 is updated. The other operation is the first embodiment.
The description is omitted because it is the same as the first speed control circuit 16 shown in FIG.

FIG. 18 shows an embodiment of the compensation torque calculation circuit 35. Reference numeral 211 is a coefficient unit having a gain kCV, and 212 is an integrator having an integral gain of kCP. The gains of the coefficient unit 211 and the integrator 212 are updated when new gains kCV and kCP are given from the gain correction unit 29. Since other operations are the same as those of the compensation torque calculation circuit 14 shown in FIG. 4 of the first embodiment, description thereof is omitted.

Next, an embodiment of the inertia identifying circuit 28 will be described. FIG. 19 shows an embodiment of the inertia identification circuit 28. In the figure, 213 is a polarity signal generation circuit for outputting a polarity signal ST according to the operating state of the electric motor, and 2
A multiplier 14 outputs the product of the speed deviation Δω and the polarity signal ST. Reference numeral 215 is an integrator that multiplies the output of the multiplier 214 by the integral gain KJ and integrates the output of the integrator 215 and the preset initial value JL0 * of the load machine model inertia, and outputs the inertia identification value JL *. It is an adder that does. FIG. 20 is a graph showing response waveforms of the first simulated speed signal ωA1, the actual speed signal ωM, and the first torque signal T1 * when the acceleration / deceleration operation is performed in a state where the inertia identification value JL * has an error. From the figure, it can be seen that the following equation is established between the magnitude relationship between the inertia identification value JL * and the inertia JL of the load machine and the speed deviation Δω (ωA1−ωM).

[0100]

[Equation 14]

Since the expression (14) is established, the polarity signal generation circuit 213 may output the polarity signal ST according to the expression (15), for example.

[0102]

(Equation 15)

At this time, the input signal Δω · of the integrator 215
ST becomes as shown in Expression (16).

[0104]

[Equation 16]

Therefore, from the equation (16), the integrator 21
The output of 5 increases when JL * <JL and decreases when JL *> JL, so the inertia identification value JL * is corrected to match the inertia value JL of the actual load machine. .

Next, an embodiment of the gain correction means 29 will be described. When the inertia JL * of the load machine simulation circuit 32 matches the inertia JL of the actual load machine,
From the equation (2), the characteristic equation of this speed control system is given by the equation (17)
It is represented by.

[0107]

[Equation 17]

By operating the coefficient of each term of the characteristic equation of the equation (17), an arbitrary desired value response can be obtained. Now, the coefficient of each term of the characteristic equation of the equation (17) is given by the equation (1
When a2, a1, and a0 are set as in 8) and the gain kV1 of the first speed control circuit 33 and the gains kCV and kCP of the compensation torque calculation circuit 35 are solved, the equation (19) is obtained.

[0109]

(Equation 18)

[0110]

[Formula 19]

However, ω S and ω Z are respectively expressed by equation (3),
It is represented by formula (4).

Next, the integral gain 1 of the load machine simulation circuit 32
/ JL * may be corrected by using the output JL * of the inertia identification circuit 28 as it is.

Further, the gain k of the second speed control circuit 31
V2 and kI2 may be corrected as in, for example, equation (20) using the gain obtained by equation (19).

[0114]

(Equation 20)

As described above, the gain kV1 of the first speed control circuit 33 and the integral gain 1 / J of the load machine simulation circuit 32 are set.
By correcting L *, the gains kV2 and kI2 of the second speed control circuit 31 and the gains kCV and kCP of the compensation torque calculation circuit 35, respectively, a constant response is maintained even when the inertia JL of the load machine changes. Alternatively, a desired response can be obtained by changing the response according to the magnitude of JL.

Example 6. Next, an embodiment of the present invention will be described with reference to FIG.
1 will be described. FIG. 21 is a block diagram of a circuit in which an inertia identifying circuit and gain correcting means are added in FIG. In the figure, the components denoted by the same reference numerals indicate the same or equivalent components. Reference numeral 36 is a gain correction means for correcting and outputting each gain of the control circuit based on the inertia identification value JL * output from the inertia identification circuit 28, and 37 is a position deviation (θM * −θA1) and a gain correction means 3
Position deviation (θM * -θA1) by inputting kP1 which is the output of 6
The first position control circuit 38 outputs the first speed command ω1 * such that the position deviation (θA1−θM) and the output kP2 of the gain correction means 36 are used for the position deviation (θ).
It is a second position control circuit that outputs a second velocity signal such that A1−θM) decreases. The other components are the same as those in the second and third embodiments, and thus the description thereof will be omitted. Needless to say, 31, 32, and 33 operate in the same manner as in the third embodiment.

An embodiment of the gain correction means 36 will be described below. When the inertia JL * of the load machine simulation circuit 9 matches the inertia JL of the actual load machine, the characteristic equation of this position control system is given by equation (10) and equation (21).
It is represented by.

[0118]

[Equation 21]

By operating the coefficient of each term of the characteristic equation, an arbitrary desired value response can be obtained. Now, the coefficient of each term of the characteristic equation of Expression (21) is set as in Expression (22).

[0120]

[Equation 22]

Next, the gain kV of the first speed control circuit 33
1, the gain kP1 of the first position control circuit 37 and the gains kCV and kCP of the compensation torque calculation circuit 35 are expressed by the formula (2
Equation (23) is obtained by solving 2).

[0122]

(Equation 23)

Next, the integral gain 1 of the load machine simulation circuit 32
/ JL * may be corrected by using the output JL * of the inertia identification circuit 28 as it is.

Also, the gain k of the second position control circuit 38
The gains kV2 and kI2 of p2 and the second speed control circuit 8 may be corrected, for example, as in Expression (24) using the gain obtained by Expression (21).

[0125]

[Equation 24]

As described above, the gain kP1 of the first position control circuit 37, the gain kV1 of the first speed control circuit 33, the integral gain 1 / JL * of the load machine simulation circuit 32, and the second position control circuit 38. By modifying the gain kP2, the gains kV2 and kI2 of the second speed control circuit 31 and the gains kCV and kCP of the compensation torque calculation circuit 35, respectively, a constant response can be maintained even when the inertia JL of the load machine changes. It is possible to obtain a desired response, for example, by changing the response according to the magnitude of JL.

Example 7. FIG. 22 is a block diagram of a circuit in FIG. 9 in which the simulated position signal θA1 is compensated. In the figure, the same reference numerals as those in FIG. 9 indicate the same or equivalent ones. 40 is a simulated speed signal ωA by inputting the torque signal TF from the torque transmission mechanism simulation circuit.
Load machine simulation circuit that outputs 2 and simulated position signal θA2, 4
4 is a motor simulated position signal θA1 from the motor simulation circuit 27.
Is a subtracter that outputs a deviation signal (θA1−θA2) obtained by subtracting the load machine simulation position signal θA2 from the load machine simulation circuit 40. Reference numeral 42 denotes a compensation speed calculation circuit that inputs a deviation signal (θA1−θA2) between the motor simulated position signal θA1 and the load machine simulated position signal θA2 and outputs a compensation speed signal ωC.
By adding this compensation speed signal ωC to the output signal ω1 * of the first position control circuit in the adder 43, the load machine simulated position signal θA2 can follow the electric motor simulated position signal θA1. Reference numeral 41 inputs a deviation signal (ωA1-ωA2) between the first simulated speed signal ωA1 from the electric motor simulation circuit 27 and the second simulated speed signal ωA2 from the load machine simulation circuit 40 and outputs a compensation speed signal ωC. It is a compensation torque calculation circuit.

FIG. 23 is a block diagram of the load machine simulation circuit 40. In the figure, 300 is an integrator that inputs a torque signal TF and integrates the inverse of inertia JL * as a gain to output a simulated speed signal ωA2, and 301 integrates the simulated speed signal ωA2 and outputs a simulated position signal θA2. Is an integrator.

FIG. 24 is a block diagram of the compensation torque calculation circuit 41. In the figure, 302 is a deviation signal between the first simulated speed signal ωA1 and the second simulated speed signal ωA2.
It is a coefficient unit that inputs (ωA1−ωA2), amplifies it with a gain KC1, and outputs a torque signal TC.

FIG. 25 is a block diagram of the compensation speed calculation circuit 42. In the figure, reference numeral 303 denotes a deviation signal (θA) between the first simulated position signal θA1 and the second simulated position signal θA2.
It is a coefficient unit that inputs 1-θA2), amplifies it with a gain KC2, and outputs ωC1.

By adopting this structure, it is possible to suppress the mechanical vibration generated in the load machine.

Next, this operation will be described with reference to FIG. When the second position signal from the load machine simulation circuit changes due to a change in load, the first simulated position signal θA1 from the motor simulation circuit and the second position signal from the load machine simulation circuit are output.
There is a deviation from the simulated position signal θA2 of. For example, if the second simulated position signal θA2 becomes larger than the first simulated position signal θA1, the subtractor 44 causes the first simulated position signal θA2 to
The second simulated position signal θA2 is subtracted from A1 to obtain the deviation signal
(θA1-θA2) is output. This signal is amplified by the gain kC2 in the compensation speed calculation circuit 42, and the compensation speed signal ωC is output. This compensation speed signal ωC is a negative value,
The velocity is reduced by adding it to the first velocity signal from the first position control circuit. This signal is converted to a first torque signal in the first speed control circuit 16 and then supplied to the electric motor simulation circuit so that it can be followed. The same applies to the reverse case, and thus the description is omitted. The operation of the other circuits is the same as in FIG.

As described above, in the above structure, not only the compensating torque calculating circuit but also the compensating speed calculating circuit is loaded. Therefore, mechanical vibration generated in the load machine can be suppressed, and high-speed and highly accurate position control is possible. Become.

Example 8. FIG. 26 is a block diagram of a circuit obtained by adding an inertia identifying circuit and gain correcting means to FIG. In the figure, the same reference numerals as those in FIG. 21 denote the same or equivalent ones. 30 is a subtractor that subtracts the position speed signal ωM from the position speed detector from the first speed signal ωA1 and outputs a deviation signal (ωA1−ωM), and 28 is a load machine that receives the deviation signal (ωA1−ωM) An inertia identification circuit for identifying the inertia of the simulation circuit, and 36 is a gain correction means for inputting the inertia identification signal JL * from the inertia identification circuit 28 and outputting various gains. 4
Reference numeral 5 is a load machine simulation circuit, and 47 is a compensation speed calculation circuit. The gain kC2 of the compensation speed calculation circuit 47 can be corrected based on the kC2 signal from the gain correction means 36.

FIG. 27 is a block diagram of the load machine simulation circuit 45. In the figure, 304 is an integrator that inputs a torque signal TF and integrates the inverse of inertia JL * as a gain to output a simulated speed signal ωA2, and 301 integrates a simulated speed signal ωA2 and outputs a simulated position signal θA2. Is an integrator. Further, the inertia JL can be identified by the inertia identification circuit.

FIG. 28 is a block diagram of the compensation torque calculation circuit 46. In the figure, 306 is a deviation signal between the first simulated speed signal ωA1 and the second simulated speed signal ωA2.
It is a coefficient unit that inputs (ωA1−ωA2), amplifies it with a gain kC1, and outputs a torque signal TC. Further, the gain kc1 can be corrected by the gain correction circuit.

FIG. 29 is a block diagram of the compensation speed calculation circuit 42. In the figure, reference numeral 307 denotes a deviation signal (θA) between the first simulated position signal θA1 and the second simulated position signal θA2.
It is a coefficient unit that inputs 1-θA2), amplifies it with a gain kC2, and outputs ωC1. Further, the gain kc2 can be modified by a gain modification circuit.

The mathematical expressions corresponding to the expressions (9) to (17) at this time are as shown in the expressions (25) to (30) as follows.

[0139]

(Equation 25)

[0140]

(Equation 26)

[0141]

[Equation 27]

[0142]

[Equation 28]

[0143]

[Equation 29]

[0144]

[Equation 30]

With this configuration, speed control or position control having desired response characteristics can be performed even when the inertia of the load machine is unknown or changes during operation. Further, it is possible to suppress the mechanical vibration generated in the load machine as in the seventh embodiment.

[0146]

As described above, according to the first aspect of the present invention, the first torque signal from the first speed control means and the simulated transmission torque signal indicating the transmission torque of the torque transmission mechanism connected to the electric motor. And a simulated speed of a load machine connected to the electric motor via the torque transmission mechanism, by inputting a deviation signal from the electric motor model that outputs the first simulated speed signal and inputting the simulated transmission torque signal. The load transfer model that outputs the second simulated speed signal shown, and the deviation between the first simulated speed signal from the electric motor model and the second simulated speed signal from the load mechanical model are input to input the simulated transmission torque. Since a torque transmission mechanism model that outputs a signal is provided, it is possible to easily set the gain for each of the electric motor simulation circuit, load machine simulation circuit, and torque transmission mechanism simulation circuit. There is an effect that can be set to.

Further, according to the second aspect of the invention, the deviation signal between the position command signal from the outside and the first simulated position signal indicating the simulated position of the electric motor is input and the first speed signal is output. The position control means, the deviation signal between the first torque signal from the first speed control means and the simulated transmission torque signal indicating the transmission torque of the torque transmission mechanism connected to the electric motor is input and the first torque signal is input. A motor model that outputs a simulated speed signal, and a load machine that inputs the simulated transmission torque signal and outputs a second simulated speed signal that indicates a simulated speed of a load machine that is connected to the electric motor via the torque transmission mechanism. A model and a torque transmission mechanism model that inputs a deviation between a first simulated speed signal from the electric motor model and a second simulated speed signal from the load machine model and outputs the simulated transmission torque signal. Therefore, the gain can be easily set for each of the motor simulation circuit, load machine simulation circuit, and torque transmission mechanism simulation circuit, and more accurate values than before can be set within a predetermined time, and position control is fast and highly accurate. There is an effect that can be.

According to the third invention, the first simulated speed signal from the electric motor model and the second simulated speed signal from the load machine model are used.
Compensation torque calculation means for inputting the deviation signal of the simulated speed signal and outputting a compensation torque signal is provided, and the compensation torque signal from this compensation torque calculation means is subtracted from the first torque signal from the first speed control means. Since the electric motor model or the torque control means is controlled by the deviation signal, there is an effect that high-speed speed control can be realized with very little overshoot or vibration with respect to the speed command signal.

According to the fourth invention, the deviation signal between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor is input, and the deviation machine signal is reduced so that the deviation signal decreases. Since the inertia identifying means for identifying the inertia is provided, it is possible to set the inertia faster and more accurately than before.

According to the fifth invention, the inertia identifying means for inputting the deviation signal between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor and outputting the inertia identifying signal, Since the gain correction means for correcting the gain of the first control means on the basis of the inertia identification signal from the inertia identification means is provided, even if the inertia of the load machine is unknown or changes during operation, a desired value can be obtained. There is an effect that speed control or position control having response characteristics can be performed.

According to the sixth aspect of the invention, the inertia identification means for inputting the deviation signal between the first simulated speed signal from the motor model and the actual speed signal of the motor and outputting the inertia identification signal, and this inertia identification means. Since the gain correction means for correcting the gain of the compensation torque calculation means based on the inertia identification signal from the identification means is provided, the desired response characteristics can be obtained even when the inertia of the load machine is unknown or changes during operation. There is an effect that speed control or position control can be performed.

According to the seventh invention, the inertia identifying means for inputting the deviation signal between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor and outputting the inertia identifying signal, and the inertia identifying means. Since the gain correction means for correcting the gain of the second control means on the basis of the inertia identification signal from the identification means is provided, even when the inertia of the load machine is unknown or changes during operation,
There is an effect that speed control or position control with desired response characteristics can be performed.

According to the eighth aspect of the present invention, the compensation for inputting the deviation signal between the first simulated speed signal from the motor model and the second simulated speed signal from the load machine model and outputting the compensation torque signal. A torque calculation means, and a compensation speed calculation means for inputting a deviation signal of the first simulated position signal from the electric motor model and the second simulated position signal from the load machine model and outputting a compensation speed signal. The compensating speed signal from the compensating speed calculating means is added to the first speed signal from the first position controlling means and then supplied to the first speed controlling means, and the first torque from the first speed controlling means is supplied. Since the motor model or the torque control circuit is controlled on the basis of the compensation torque signal from the compensation torque calculation circuit, vibration of the load machine can be suppressed, and high-speed and highly-accurate position control can be achieved. That.

According to the ninth invention, the inertia identifying means for inputting the deviation signal between the first simulated speed signal from the motor model and the actual speed signal of the motor and outputting the inertia identification signal, and the inertia identifying means. Since the gain correction means for correcting the gain of the compensation speed calculation means based on the inertia identification signal from the identification means is provided, the desired response characteristic can be obtained even when the inertia of the load machine is unknown or changes during operation. There is an effect that speed control or position control can be performed.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a mechanical system including an electric motor, a torque transmission mechanism, and a load machine.

FIG. 3 is a block diagram of an electric motor simulation circuit, a torque transmission mechanism simulation circuit, and a load machine simulation circuit according to an embodiment of the present invention.

FIG. 4 is a block diagram of a compensation torque calculation circuit of the present invention.

FIG. 5 is a block diagram of a first speed control circuit according to the present invention.

FIG. 6 is a block diagram of a second speed control circuit according to the present invention.

FIG. 7 is a block diagram of a torque control circuit according to the present invention.

FIG. 8 is a diagram showing simulation results for explaining the operation of the present invention.

9 is a block diagram of a circuit in which a position control circuit is added to the speed control circuit of the electric motor shown in FIG.

FIG. 10 is a block diagram of a first position control circuit of the present invention.

FIG. 11 is a block diagram of a second position control circuit of the present invention.

FIG. 12 is a block diagram of an electric motor simulation circuit of the present invention.

FIG. 13 is a diagram showing simulation results for explaining the operation of the present invention.

FIG. 14 is a block diagram of a circuit in which an inertia identification circuit and gain correction means are added in FIG.

FIG. 15 is a block diagram of a second speed control circuit according to the present invention.

FIG. 16 is a block diagram of a load machine simulation circuit according to the present invention.

FIG. 17 is a block diagram of a first speed control circuit according to the present invention.

FIG. 18 is a block diagram showing another embodiment of the compensation torque circuit of the present invention.

FIG. 19 is a block diagram showing an embodiment of an inertia identification circuit of the present invention.

FIG. 20 is an explanatory diagram of the operation of the inertia identification circuit of the present invention.

FIG. 21 is a block diagram of a circuit in which an inertia identification circuit and gain correction means are added in FIG. 9.

FIG. 22 is a block diagram of a circuit in which the simulated position signal θA1 in FIG. 9 is subjected to compensation calculation.

FIG. 23 is a block diagram of a load machine simulation circuit 40.

FIG. 24 is a block diagram of a compensation torque calculation circuit 41.

FIG. 25 is a block diagram of a compensation speed calculation circuit 42.

FIG. 26 is a block diagram of a circuit in which an inertia identification circuit and gain correction means are added to FIG. 22.

FIG. 27 is a block diagram of a load machine simulation circuit 45.

FIG. 28 is a block diagram of a compensation torque calculation circuit 46.

FIG. 29 is a block diagram of a compensation speed calculation circuit 47.

FIG. 30 is a block diagram of a conventional speed control device for an electric motor.

FIG. 31 is a block diagram of a conventional position control device for an electric motor.

FIG. 32 is a simulation result for explaining the operation of the conventional speed control device for an electric motor.

FIG. 33 is a simulation result for explaining the operation of the conventional position control device for an electric motor.

[Explanation of symbols]

1 electric motor, 2 torque transmission mechanism, 3 load machine, 4
Speed detector, 5 torque control means, 6 adder, 7 subtractor, 8 second speed control circuit, 9 load machine simulation circuit, 10 torque transmission mechanism simulation circuit, 11, 12 subtractor, 13 electric motor simulation circuit, 14 Compensation torque calculation circuit, 15 Subtractor, 16 First speed control circuit, 17,
18 subtractor, 19 position / velocity detector, 20 subtractor,
21 second position control circuit, 22 adder, 23, 24
Subtractor, 25 First position control circuit, 26 Subtractor,
27 electric motor simulation circuit, 28 inertia identification circuit, 2
9 gain correction means, 30 subtractor, 31 second speed control circuit, 32 load machine simulation circuit, 33 first speed control circuit, 35 compensation torque calculation circuit, 36 gain correction means, 37 first position control circuit, 38 Second position control circuit, 39 Subtractor, 40 Load machine simulation circuit, 4
1 compensation torque calculation circuit, 42 compensation speed calculation circuit, 4
3 adder, 44 subtractor, 45 load machine simulation circuit,
46 compensation torque calculation circuit, 47 compensation speed calculation circuit,
50 Subtractor, 51 First Speed Control Circuit, 52 Mechanical System Simulation Circuit, 53 Second Speed Control Circuit, 54 Subtractor, 55 Adder, 56 Subtractor, 57 First Position Control Circuit, 58 Mechanical System Simulation Circuit, 58a, 58b integrator, 59 subtractor, 60 second position control circuit, 61
Adder, 62 subtractor, 101, 102, 103 integrator, 104 coefficient unit, 105 integrator, 106 adder,
107 coefficient unit, 108 coefficient unit, 109 integrator, 1
10 adder, 111 coefficient unit, 112 current detector,
113 current control circuit, 114, 115 subtractor, 20
1,202 coefficient unit, 204,205 integrator, 206
Coefficient unit, 207 integrator, 208 adder, 209
Integrator, 210 coefficient device, 211 coefficient device, 212 integrator, 213 adder, 214 multiplier, 215 integrator, 216 adder, 300 integrator, 301 integrator, 302 coefficient device, 303 coefficient device.

Claims (9)

[Claims] 1. A deviation signal between a speed command signal from the outside and a first simulated speed signal indicating a simulated speed of an electric motor is inputted, and the first simulated speed signal has a desired response to the speed command signal. A first speed control means for outputting a first torque signal so as to have characteristics, a first torque signal from the first speed control means, and a transmission torque of a torque transmission mechanism connected to the electric motor are shown. An electric motor model that inputs a deviation signal from the simulated transmission torque signal and outputs the first simulated speed signal, and a load machine that inputs the simulated transmission torque signal and is connected to the electric motor via the torque transmission mechanism. Of the load machine model that outputs a second simulated speed signal indicating the simulated speed of the motor, and a deviation between the first simulated speed signal from the electric motor model and the second simulated speed signal from the load mechanical model. The model A torque transmission mechanism model that outputs a pseudo transmission torque signal, and a second torque signal that outputs a second torque signal by inputting a deviation signal between the first simulated speed signal from the electric motor model and the actual speed signal of the electric motor And an actual signal of the electric motor by inputting an addition signal of the first torque signal from the first speed control means and the second torque signal from the second speed control means. And a torque control means for controlling the torque of the electric motor so as to have a desired response characteristic to the speed command signal. 2. A first position control means for inputting a deviation signal between a position command signal from the outside and a first simulated position signal indicating a simulated position of the electric motor and outputting a first speed signal, and the first position control means. The deviation signal between the first speed signal from the first position control means and the first speed signal indicating the simulated speed of the electric motor is input to request the first simulated position signal with respect to the position command signal. Speed control means for outputting a first torque signal so as to have a response characteristic of, a first torque signal from the first speed control means, and a transmission torque of a torque transmission mechanism connected to the electric motor. Of the electric motor model for inputting the deviation signal from the simulated transmission torque signal and outputting the first simulated speed signal and the first simulated position signal, and the simulated transmission torque signal for inputting the torque to the electric motor. Connected via transmission mechanism Load machine model that outputs a second simulated speed signal indicating the simulated speed of the load machine, a deviation signal between the first simulated speed signal from the electric motor model and the second simulated speed signal from the load machine model. And a deviation signal between the first simulated position signal from the electric motor model and the actual position signal of the electric motor, and a second speed signal. A deviation signal obtained by adding the second position control means for outputting the first simulated speed signal and the second speed signal from the second position control means, and further subtracting the actual speed signal of the electric motor. And a second torque signal from the first speed control means, a second speed control means for inputting and outputting a second torque signal, a second torque signal from the first speed control means, and a second torque signal from the second speed control means. Input the addition signal of Serial motor desired the electric motor electric motor velocity and position control apparatus characterized by comprising a torque control means for controlling the torque of to have a response characteristic with respect to the actual position signal is the position command signal. 3. Compensation torque calculation means for inputting a deviation signal between a first simulated speed signal from the electric motor model and a second simulated speed signal from the load machine model and outputting a compensation torque signal, 2. The motor model or the torque control means is controlled by a deviation signal obtained by subtracting a compensation torque signal from the compensation torque calculation means from the first torque signal from the first speed control means. An electric motor speed control device according to claim 2, or an electric motor speed and position control device. 4. An inertia for identifying the inertia of the load machine model such that a deviation signal between the first simulated speed signal from the electric motor model and an actual speed signal of the electric motor is input and the deviation signal is reduced. The speed control device for an electric motor or the speed and position control device for an electric motor according to claim 1 or 2, further comprising an identification means. 5. An inertia identifying means for inputting a deviation signal between a first simulated speed signal from the electric motor model and an actual speed signal of the electric motor and outputting an inertia identifying signal, and inertia from the inertia identifying means. 3. The speed control device for an electric motor or the speed and position control device for an electric motor according to claim 1 or 2, further comprising a gain correction means for correcting a gain of the first speed control means based on an identification signal. . 6. An inertia identifying means for inputting a deviation signal between a first simulated speed signal from the electric motor model and an actual speed signal of the electric motor and outputting an inertia identifying signal, and inertia from the inertia identifying means. 4. The speed control device for the electric motor or the speed and position control device for the electric motor according to claim 3, further comprising a gain correction means for correcting the gain of the compensation torque calculation means based on an identification signal. 7. An inertia identifying means for inputting a deviation signal between a first simulated speed signal from the electric motor model and an actual speed signal of the electric motor and outputting an inertia identifying signal, and inertia from the inertia identifying means. 3. The speed control device for the electric motor or the speed and position control device for the electric motor according to claim 1, further comprising a gain correction means for correcting the gain of the second speed control means based on an identification signal. . 8. Compensation torque calculation means for inputting a deviation signal between a first simulated speed signal from the electric motor model and a second simulated speed signal from the load machine model and outputting a compensation torque signal, and the electric motor. Compensation speed calculation means for inputting the deviation signal of the first simulated position signal from the model and the second simulated position signal from the load machine model and outputting a compensation speed signal is provided, and the compensation from this compensation speed calculation means is provided. The speed signal is added to the first speed signal from the first position control means and then supplied to the first speed control means to calculate the first torque and the compensation torque from the first speed control means. 3. The speed and position control device for the electric motor according to claim 2, wherein the electric motor model or the torque control means is controlled based on a compensation torque signal from the means. 9. An inertia identifying means for inputting a deviation signal between a first simulated speed signal from the electric motor model and an actual speed signal of the electric motor and outputting an inertia identifying signal, and inertia from the inertia identifying means. 9. The speed and position control device for an electric motor according to claim 8, further comprising gain correction means for correcting the gain of the compensation speed calculation means based on an identification signal.