JPH08331881A - Controller of motor - Google Patents

Abstract

PURPOSE: To avoid an overshoot even if clone friction is produced by a method wherein the correction torque for the clone friction is outputted in accordance with the output of a rotation detector. CONSTITUTION: A friction correcting circuit 8 receives a torque signal T1 * produced by a speed controller 3 from a rotation angle command signal and a simulated speed signal ωA outputted from the simulation circuit 4 of a motor and outputs a signal Tfset which corrects a parameter in a friction model circuit 7. A speed controller 9 corrects its state values in accordance with a signal Iset from the friction correcting circuit 8 and, further, receives the simulated speed signal ωA outputted from the simulation circuit 4 of the motor and outputs a torque signal T2 *. A position controller 10 receives a simulated rotation angle signal θA from the simulation circuit 4 of the motor as one of the inputs and outputs a speed command signal to the speed controller 9. As the correction torque signal for the clone friction is outputted in accordance with the output of the rotation detector, an overshoot can be avoided even if the clone friction is produced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an electric motor (DC motor, induction motor, synchronous motor, etc.) for driving a load machine such as a table in a machine tool or an arm of an electric industrial robot. Is.

[0002]

2. Description of the Related Art The structure of a conventional example will be described with reference to the drawings. FIG. 36 shows a collection of lectures of the 1994 National Conference of the Institute of Electrical Engineers of Japan, Industrial Application Division FIG. 178 is a block diagram showing an embodiment of a conventional electric motor control device shown in “No. 178“ 2-DOF Position Control Method of Electric Motor with Built-in Reference System Model ””.
In the figure, 1 is a rotation angle command signal generating circuit, 2 is a
The first position control circuit, 3 is a first speed control circuit, 4
Is a motor simulation circuit, 10 is a second position control circuit,
47 is a second speed control circuit, 12 is an electric motor, 13
Is a torque transmission mechanism, 14 is a load machine, 15 is a rotation detector, 48 is a torque control circuit, and 52 is an adder. The electric motor 12 drives the load machine 14 via the torque transmission mechanism 13, and the rotation detector 15 detects the speed and position of the electric motor 12 to detect the actual speed signal ω M and the actual rotation angle signal θ.
Output M. The electric motor simulation circuit 4 is a model of a value obtained by adding up the three inertias of the electric motor 12, the torque transmission mechanism 13, and the load machine 14, and is shown by a simple inertia JA. It is composed of an integrator 23 that inputs and integrates the first torque signal T1 *, which is an output, and outputs a simulated speed signal ωA, and an integrator 21 that integrates the simulated speed signal ωA and outputs a simulated rotation angle signal θA. . The first position control circuit 2 outputs a deviation (θM * −θA) between the rotation angle command signal θM * output from the rotation angle command signal generating circuit 1 and the simulated rotation angle signal θA.
And a deviation coefficient (.theta.M *-. Theta.A) proportionally amplified to output a first speed command signal .omega.1 * from a coefficient unit 16 of a gain KP1, which is controlled so that .theta.A follows .theta.M *. The first speed control circuit 3 uses the speed command signal ω1 * and the simulated speed signal ωA.
And a subtracter 19 for outputting a deviation (ω1 * −ωA) from the first torque signal T1 * by proportionally amplifying the deviation (ω1 * −ωA).
It is composed of a gain KV1 coefficient unit 18 which outputs ωA and controls so that ωA follows ω1 *. Second position control circuit 1
0 is a subtracter 25 that outputs a deviation (θA −θM) between the simulated rotation angle signal θA and the actual rotation angle signal θM, and the deviation (θA).
-[Theta] M) is proportionally amplified to output a second speed command signal [omega] 2 *, and is controlled so that [theta] M follows [theta] A. The second speed control circuit 47 outputs the added value (ωA + ω2 *) of the simulated speed signal ωA and the speed command signal ω2 *, the added value (ωA + ω2 *), and the actual speed signal ωM. It is composed of a subtractor 50 which outputs a deviation ((ωA + ω2 *) − ωM) and a proportional integrator 51 which proportionally and integrally amplifies the deviation ((ωA + ω2 *) − ωM) and outputs a second torque signal T2 *. Then, ωM is controlled so as to follow ωA. The adder 52 adds the first torque signal T1 * and the second torque signal T2 * and outputs the torque command signal TM *, and the torque control circuit 48 outputs the torque command signal TM * based on the torque command signal TM *. Control the torque.

The configuration of the second conventional example will be described with reference to the drawings. FIG. 399 is a block diagram showing an embodiment of a conventional electric motor position control system. In the figure, 1 is
The rotation angle command signal generation circuit 2a is a position control circuit 3a.
Is a speed control circuit, 48a is a torque control circuit, 12
Is an electric motor, 13 is a torque transmission mechanism, 14 is a load machine, and 15 is a rotation detector. The electric motor 12 drives the load machine 14 via the torque transmission mechanism 13, and the rotation detector 15 detects the speed and position of the electric motor 12 and outputs a speed signal ωM and an actual rotation angle signal θM. Position control circuit 2
aa is the deviation (θM * −θ) between the rotation angle command signal θM * output from the rotation angle command signal generation circuit 1 and the actual rotation angle signal θM.
M) and a coefficient unit 16 that proportionally amplifies the deviation (θM * −θM) and outputs a speed command signal ωM *, and controls so that θM * follows θM. The speed control circuit 3a uses the speed command signal ωM * and the actual speed signal ωM.
A deviation (ωM * −ωM) and a proportional integrator 51 that proportionally and integrally amplifies the deviation (ωM * −ωM) and outputs a torque command signal TM *.
Control to follow *. Torque control circuit 48a
Controls the torque of the electric motor 12 based on the torque command signal TM *.

[0004]

In the motor control device in the first conventional example as described above, the response (target value response) to the rotation angle command signal is the first position control circuit 2 and the first speed control. The gain of the circuit 3 can be adjusted, and the response to the disturbance (disturbance response) can be adjusted by the gains of the second position control circuit 10 and the second speed control circuit 47. Therefore, the rotation angle command signal θM * and the position of the motor and There is an advantage that the target value response can be raised over the simple feedback control in which the speed detection signals (the actual rotation angle signal θM and the actual speed signal ωM) are compared and the deviation thereof is controlled to be reduced. However, even with such a control circuit, similarly to the simple feedback control described above, there is a problem that a position overshoot occurs due to Coulomb friction. That is, in the conventional electric motor control device shown in FIG. 36, when the modeled inertia JA set in the electric motor simulation circuit 4 and the actual inertia of the electric motor, the torque transmission mechanism, and the load machine match each other. To the output from the subtractor 50 ((ωA + ω2 *)-ωM)
Coulomb friction between the electric motor, the torque transmission mechanism, and the load machine is a cause of the occurrence of. The torque component of the Coulomb friction is accumulated in the proportional integrator 51 of the second speed control circuit 47 and is output as the second torque signal T2 *. As is well known, Coulomb friction occurs only when the electric motor is running, and when the electric motor stops, the Coulomb friction disappears and the deviation ((ωA +
ω2 *) − ωM) decreases, but since the torque component accumulated in the proportional integrator 51 does not immediately become zero even after the motor stops, the second speed control circuit 47 uses the proportional integrator 51. The torque component accumulated in is output. That is, the second torque signal T2 * is output and the torque command signal T2 is output.
As a result of outputting M *, the torque control circuit 48 controls the torque of the electric motor 12 based on the torque command signal TM *. Therefore, there is a problem that position overshoot occurs.

Also, in the position control device for the electric motor in the second conventional example as described above, the speed deviation (ωM *-
The cause of the amplitude of (ωM) is Coulomb friction between the electric motor, the torque transmission mechanism, and the load machine. The torque component of the Coulomb friction is accumulated in the integrator of the speed control circuit 3a and is output from the torque command signal. Therefore, also in the second conventional example, as in the first conventional example, there is a problem that position overshoot occurs. The present invention has been made in order to solve the above conventional problems, and a first object thereof is to obtain a control device for an electric motor that does not cause position overshooting even if Coulomb friction occurs. A second object of the present invention is to obtain an electric motor control device that does not overshoot a position by appropriately compensating for the Coulomb friction according to the change even when the Coulomb friction changes. A third object of the present invention is to obtain an electric motor control device which does not overshoot a position by appropriately compensating for Coulomb friction even when the rotation detector has quantization noise. A fourth object of the present invention is to obtain an electric motor control device which does not overshoot a position by appropriately compensating for Coulomb friction even when the inertia of the electric motor simulating means is unknown or changes during operation. And Furthermore, it is possible to prevent the adverse effect on the compensation torque due to the ripple component of the torque signal from the first speed control circuit, perform proper compensation for Coulomb friction, and obtain a motor control device without position overshoot. To aim.

[0006]

According to a first aspect of the present invention, there is provided an electric motor control device, wherein speed control means for outputting a torque signal for instructing a predetermined speed of the electric motor and rotation detection for detecting the rotation of the electric motor. And a compensation torque output means for outputting a compensation torque signal for Coulomb friction to correct the rotation of the electric motor based on the rotation detection of the rotation detector.

A control device for an electric motor according to the second invention is
A speed command unit that outputs a first torque signal that commands the speed of the electric motor, a rotation detector that detects the rotation of the electric motor, and a second that controls the rotation of the electric motor based on the rotation detection of the rotation detector. The speed control means for outputting the torque signal, the second torque signal from the speed command control means, and the first torque signal from the speed command means are added as inputs, and the motor is driven based on the addition result. A rotating first adder and a compensating torque output means for outputting a compensating torque signal of Coulomb friction to the adder are provided.

A control device for an electric motor according to the third invention is
The speed command means receives a rotation angle command signal generating circuit for outputting a rotation angle command signal and a rotation angle command signal output from the rotation angle command signal generating circuit as one input, and inputs the one input and the other input. A first position control circuit which outputs a first speed command signal based on the first speed control signal and one input of the first speed command signal, and a first position control circuit based on the one input and the other input
Of the first speed control circuit that outputs the torque signal of the first speed control circuit, and based on the first torque signal, outputs the simulated rotation angle signal to the other input of the first position control circuit and also outputs the simulated speed signal of the first speed control circuit. And a simulated circuit of an electric motor which outputs the speed control circuit to the other input of the speed control circuit.

A control device for an electric motor according to a fourth invention is
The rotation detector outputs an actual rotation angle signal and an actual speed signal, and the speed control means outputs the actual rotation angle signal detected by the rotation detector and the simulated rotation angle signal output from the simulation circuit of the electric motor. A second position control circuit that outputs a second speed command signal based on the above, the second speed command signal, the actual speed signal detected by the rotation detector, and the simulated speed signal output from the simulation circuit of the electric motor. And a second speed control circuit that outputs a second torque signal based on the above.

A control device for an electric motor according to the fifth invention is
The compensation torque output means outputs a compensation torque signal obtained by processing the actual speed signal from the rotation detector or the simulated speed signal from the simulated circuit of the electric motor using a predetermined parameter, and a first speed control circuit. A friction correction circuit for extracting a Coulomb friction component on the basis of the first torque signal from the motor and the simulated speed signal from the simulation circuit of the motor, and outputting a parameter correction signal for correcting the parameter in the friction model circuit based on the extracted component. , Are provided.

A control device for an electric motor according to a sixth aspect of the invention is
The compensation torque output means includes a correction circuit for correcting the inertia of the electric motor simulation circuit.

A control device for an electric motor according to the seventh invention is
A correction circuit outputs an addition / subtraction unit that outputs a deviation between the added value of the simulated speed signal and the second speed command signal and the actual rotation angular velocity signal, and a polarity determination circuit that outputs a polarity signal based on the first torque signal. And a multiplier that multiplies the polarity signal output from the polarity determination circuit and the deviation from the adder / subtractor,
It is provided with an integrator that integrates the output of the multiplier and an adder that adds the output of the integrator and the inertia initial value and outputs the inertia to the motor simulation circuit.

An electric motor controller according to an eighth aspect of the present invention is
The friction correction circuit inputs the first torque signal from the first speed control circuit through the low pass filter.

A control device for an electric motor according to the ninth invention is
A friction correction circuit that outputs first to third state flags based on a simulated speed signal output from the motor simulation circuit and a first torque signal output from the first speed control circuit; A first sample torque signal output from the adder at the rising edge of the first state flag is sampled and held to output a first sample torque signal.
Sample-and-hold circuit and a second sample-and-hold circuit that samples and holds the torque command signal output from the adder at the falling edge of the second state flag and outputs the second sample-torque signal And a third sample and hold circuit which samples and holds the torque command signal output from the adder at the falling edge of the third state flag and outputs a third sample and torque signal, and the second sample and hold circuit described above. Of the sample torque signal and the third sample torque signal, and a subtractor for outputting the deviation between the output of the calculator and the first sample torque signal, A fourth sample and hold circuit that samples and holds this deviation at the falling edge of the status flag 1 and outputs a parameter correction signal. A.

In the motor controller according to the tenth aspect of the present invention, the friction correction circuit has a first speed control circuit which outputs a simulated speed signal output from the electric motor simulation circuit.
A determination circuit that outputs a state flag according to the torque signal of
A first sample and hold circuit that samples and holds the torque command signal output from the adder at the rising edge of this state flag, and outputs a sample torque signal, the torque command signal and the first sample and hold circuit. A subtractor that outputs a deviation from the sample torque signal TS output from the circuit, a second sample and hold circuit that samples and holds the deviation at the falling edge of the status flag, and outputs a parameter correction value, A subtracter that outputs the deviation between the torque command signal and the friction model correction value output from the second sample and hold circuit, and the deviation is sampled and held at the falling edge of the status flag,
And a third sample-and-hold circuit that outputs an integral term correction value.

In the electric motor controller according to the eleventh aspect of the present invention, the friction correction circuit outputs the simulated speed signal output from the electric motor simulation circuit and the first speed control circuit output from the first speed control circuit.
And the torque command signal output from the adder at the rising edge of the status flag 1 are sampled and held.
A first sample and hold circuit that outputs a first sample and torque signal, and a subtractor that outputs a deviation between the torque command signal and the first sample and torque signal output from the first sample and hold circuit. And a second sample and hold circuit that samples and holds the deviation from the subtractor at the falling edge of the status flag 2 and outputs a second sample and torque signal, and the second sample and hold circuit. A subtracter that outputs the deviation between the output second sample torque signal and the torque command signal, and the deviation from this subtractor at the rising edge of the status flag 3 are sampled and held to obtain the third sample torque. A third sample and hold circuit that outputs a signal, a torque command signal, and a third sample and hold signal output from the third sample and hold circuit. An adder that outputs the added value of the Luke signal, a fourth sample-hold circuit that samples and holds the added value of this adder at the falling edge of the status flag 1, and outputs the parameter correction value; A subtractor for outputting the deviation between the command signal and the friction model correction value output from the fourth sample and hold circuit;
A fifth sample-and-hold circuit that samples and holds the deviation from the subtractor at the falling edge of the status flag 1 and outputs an integral term correction value.

In the motor controller according to the twelfth aspect of the invention, the compensation torque output means outputs a compensation torque signal obtained by processing the actual speed signal from the rotation detector using a predetermined parameter, and a rotation model circuit. Stores friction amount data according to the rotation angle command signal from the angle command signal generation circuit,
Based on this, a friction memory circuit for outputting a parameter correction signal for correcting the parameter in the friction model circuit is provided.

In the motor controller according to the thirteenth aspect of the invention, the friction model circuit proportionally amplifies the actual speed signal output from the rotation detector or the simulated speed signal output from the simulated motor circuit, and a coefficient unit. When the limiter circuit that limits the output value of this coefficient unit to a predetermined value and outputs the compensation torque signal and the parameter correction signal output from the friction correction circuit are given, the limit value that corrects the limit value of this limiter circuit. And a preset circuit.

In the electric motor controller according to the fourteenth aspect of the present invention, the compensation torque output means is a command element of the torque signal output from the speed command means and an element of the same kind as this command element, which is detected by the rotation detector. The actual detection elements are compared with each other, and a comparison torque signal for Coulomb friction is output in order to correct the rotation of the electric motor by comparing the comparison result with a predetermined reference.

A motor control device according to a fifteenth aspect of the present invention compares a predetermined reference value with a command element and an actual detection element, and corrects the reference value based on the comparison.

In the electric motor controller according to the sixteenth aspect of the present invention, the elements of the same kind that are compared in the command element and the actual detection element are used as the rotation angle signal, and are used as the rotation angle command signal and the actual rotation angle signal, respectively. Is.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION

First Embodiment First, a first embodiment of the present invention will be described. 1 is a block diagram showing an entire embodiment 1 of the present invention.
1 is a rotation angle command signal generation circuit that outputs a rotation angle command signal θM *, and 2 is a first position that outputs the rotation speed command signal ω1 * based on this rotation angle command signal θM * as one input The control circuit 3 receives the speed command signal ω1 * as one input, and the first speed control circuit 4 which outputs the first torque signal T1 * on the basis of this receives the first torque signal T1 *. A simulated circuit of an electric motor which outputs the simulated rotation angle signal θA to the other input of the first position control circuit 2 and outputs the simulated speed signal ωA to the other input of the first speed control circuit 3 as an input. is there. The rotation angle command signal generation circuit 1, the first position control circuit 2, the first speed control circuit 3, and the motor simulation circuit 4 constitute speed command means. Further, 7 is a friction model circuit for outputting a compensation torque signal TF, 8 is a first torque signal T1 * from the first speed control circuit 3, and a simulated speed signal ωA from the simulated circuit 4 of the electric motor. Is a friction correction circuit that outputs a signal Iset and outputs a signal Tfset for correcting the parameters in the friction model circuit 7 to the friction model circuit 7. Then, these friction model circuits 7
The friction correction circuit 8 constitutes a compensating torque output means. Further, 9 is a signal Iset from the friction correction circuit 8.
The second speed control circuit 10 corrects the state quantity based on the above and outputs the second torque signal T2 * by receiving the simulated speed signal ω A from the motor simulation circuit 4 as the input. Is a second position control circuit which outputs the second speed command signal ω2 * to the second speed control circuit 9 by using the simulated rotation angle signal θA from the one input as one input. The second speed control circuit 9 and the second position control circuit 10 constitute speed control means. 11
Is the first torque signal T1 from the first speed control circuit 3.
*, The compensation torque signal TF from the friction model circuit 7,
And a torque control circuit for inputting a torque command signal TM * obtained by adding the second torque signal T2 * from the second speed control circuit 9 by a first adder, that is, an adder 36,
Reference numeral 12 is an electric motor whose torque is controlled based on the output of the torque control circuit 11, 13 is a torque transmission mechanism for transmitting the torque of the electric motor 12, 14 is a load machine operated by the torque transmission mechanism 13, and 15 is a load machine. Is a rotation detector that detects the rotation of the electric motor 12 and outputs an actual speed signal ω M to the second speed control circuit 9 and an actual rotation angle signal θ M to the second position control circuit 10.

FIG. 2 is a block diagram showing a detailed configuration of the above-mentioned first position control circuit 2. In the figure, 1
7 is a subtraction that outputs a deviation (θM * −θA) between the rotation angle command signal θM * output from the electric rotation angle command signal generation circuit 1 and the simulated rotation angle signal θA output from the motor simulation circuit 4 Reference numeral 16 is a coefficient unit of gain KP1 for proportionally amplifying this deviation (θM * −θA) and outputting the first speed command signal ω1 *. As described above, by providing the feedback of the simulated rotation angle signal θA to the rotation angle command signal θM *, the first position control circuit 2 causes the simulated rotation angle signal θA to follow the rotation angle command signal θM *. To output the first speed command signal ω1 *.

FIG. 3 is a block diagram showing a detailed structure of the first speed control circuit 3 described above. In the figure, 1
Reference numeral 9 denotes a subtractor that outputs a deviation (ω1 * −ωA) between the speed command signal ω1 * output from the first position control circuit 2 and the simulated speed signal ωA output from the motor simulation circuit 4;
Reference numeral 8 is a coefficient unit of gain KV1 which proportionally amplifies this deviation (ω1 * −ωA) and outputs the first torque signal T1 *. In this way, the simulated speed signal ω A is fed back to the first speed command signal ω 1 *
The speed control circuit 3 outputs the first torque signal T1 * so that the simulated speed signal ωA follows the first speed command signal ω1 *.

FIG. 4 is a block diagram showing the detailed structure of the above-mentioned electric motor simulation circuit 4. In the figure, 23
Is the reciprocal of the inertia JA (1 / JA
) Is multiplied and integrated to output a simulated speed signal ωA. Reference numeral 21 is an integrator that integrates the simulated speed signal ωA and outputs a simulated rotation angle signal θA. The inertia JA in the integrator 23 of the electric motor simulation circuit 4 is a sum of the three inertias of the electric motor 12, the torque transmission mechanism 13, and the load machine 14, and is represented by modeling, and this value is appropriate. The motor 12
Appropriate control matching the three inertias of the torque transmission mechanism 13 and the load machine 14 can be performed.

FIG. 5 shows the second position control circuit 10 described above.
3 is a block diagram showing a detailed configuration of FIG. In the figure,
25 is a subtracter that outputs a deviation (θA −θM) between the simulated rotation angle signal θA output from the simulation circuit 4 of the electric motor and the actual rotation angle signal θM output from the rotation detector 15, 26
Is a coefficient unit of gain KP2 that proportionally amplifies this deviation (θA-θM) and outputs the second speed command signal ω2 *. With the configuration in which the actual rotation angle signal θM is fed back to the simulated rotation angle signal θA in this way, the second position control circuit 10 causes the actual rotation angle signal θM to follow the simulated rotation angle signal θA. 2 outputs the speed command signal ω2 *, but as described above, the simulated rotation angle signal θA is controlled by the first position control circuit 2 so as to follow the rotation angle command signal θM *. This is the same as controlling the rotation angle θM of the electric motor 12 so as to finally follow the rotation angle command signal θM *.

FIG. 6 is a block diagram showing the detailed structure of the second speed control circuit 9 described above. In the figure, 2
Reference numeral 8 indicates the rotation speed detection value and the addition value (ωA + ω2 *) of the simulated speed signal ωA output from the simulation circuit 4 of the electric motor and the second speed command signal ω2 * output from the second position control circuit 10. An adder / subtractor that outputs a deviation ((ωA + ω2 *) − ωM) from the actual rotational angular velocity signal ωM output from the device 15, 29
Is a coefficient unit of an integration gain K12 that proportionally amplifies this deviation ((ωA + ω2 *) − ωM), and 30 is an integrator that integrates the output of the coefficient unit 29 and outputs a second integrated torque signal T2i, 27 is an integral term preset circuit that presets the integral value of the integrator 30 when the integral term correction value ISET output from the friction correcting circuit 8 is given, and 31 is provided in parallel with the coefficient unit 29, and Deviation ((ωA + ω2 *)-
A coefficient unit of a gain KV2 that proportionally amplifies ω M), and 32 is an adder that adds the output of the coefficient unit 31 and the second integrated torque signal T2i and outputs a second torque signal T2 *. The second speed control circuit 9 is configured so that the integral value of the integrator 30 is preset by using the integral term correction value ISET that changes when the disturbance torque is applied.
Is the speed ω of the electric motor 12 even when disturbance torque is applied.
Let M follow the simulated speed signal ωA ((ωA + ω2
The second torque signal T2 * obtained by proportionally amplifying *)-ωM) is output. As described above, the simulated speed signal ωA is
Since it is controlled by the speed control circuit 3 to follow the first speed command signal ω1 *, the speed ωM of the electric motor 12 is finally made to follow the first speed command signal ω1 *. It is the same as doing.

FIG. 7 is a block diagram showing the detailed structure of the friction model circuit 7 described above. In the figure, 42
Is the actual rotation angular velocity signal ω output from the rotation detector 15.
A coefficient unit 43 for the gradient gain Kf of the friction model that proportionally amplifies M, 43 is a limiter circuit that limits the output value of the coefficient unit 42 to a predetermined value, and outputs a compensation torque, and 44 is
Friction model correction value Tfset output from the friction correction circuit 8
Is corrected, the limit value of the limiter circuit 43 is corrected,
That is, it is a limit value preset circuit that presets the Coulomb friction compensation limit value.

FIG. 8 is a diagram showing changes in the compensation torque Tf before and after the Coulomb friction occurs in the electric motor, the torque transmission mechanism and the load machine. As described above, the inertia JA of the electric motor simulation circuit 4 and the electric motor 1
2 and the actual inertia of the torque transmission mechanism 13 and the load machine 14 are the same, the deviation ((ωA
The cause of the amplitude of + ω2 *)-ωM) is that the motor 1
2 and the Coulomb friction between the torque transmission mechanism 13 and the load machine 14. As is well known, this Coulomb friction occurs only when the electric motor is in operation, and when the electric motor stops, the Coulomb friction disappears. The torque component of the Coulomb friction is kept at the second speed control circuit even at the point a in FIG. 8, that is, at the point where the electric motor 12 starts to accelerate and at the point C when the electric motor 12 enters the deceleration. In the present embodiment, the torque component of this Coulomb friction is converted into the second torque signal T2 * and the second torque signal T2 * is added to the torque command signal via the adder 36. The value is detected as TM *, and the friction correction circuit 8 described later presets the integrator 30 of the second speed control circuit 9 by the integral term preset circuit 27 at the point C, that is, when the electric motor 12 starts decelerating. Is changed to make the second torque signal T2 * zero, and the Coulomb friction compensation limit value of the limiter circuit 43 of the friction model circuit 7 is set to the limit value preset. Increasing the upper limit of the Coulomb friction compensation limit value preset by the circuit 44 raises the compensation torque Tf. By doing so, since the torque is supplied to the electric motor in the form of compensating the torque component of the Coulomb friction thereafter, the torque component of the Coulomb friction is not accumulated in the integrator of the second speed control circuit 9. As a result, overshoot of the actual rotation angle signal θM can be reduced. Such an operation is performed every time the motor decelerates, and the friction correction circuit 8 described later corrects the limit value of the friction model circuit 7 and the integral term of the second speed control circuit 9, so Even when the Coulomb friction of the torque transmission mechanism and the load machine changes, the friction model circuit 7 can compensate the Coulomb friction component and reduce the overshoot of the actual rotation angle signal θM.

FIG. 9 is a block diagram showing a detailed structure of the friction correction circuit 8 described above. In the figure, 106
Is a simulated speed signal ω output from the simulation circuit 4 of the electric motor.
A determination circuit that outputs status flags 1 to 3 according to A and the first torque signal T1 * output from the first speed control circuit 3, and 107 is output from the adder 36 at the rising edge of the status flag 1. The first sample-and-hold circuit 108, which samples and holds the torque command signal TM * to output the first sample-torque signal TS1, is output from the adder 36 at the falling edge of the status flag 2. A second sample, which samples and holds the torque command signal TM * and outputs a second sample torque signal TS2.
The hold circuit 109 outputs the torque command signal TM * output from the adder 36 at the falling edge of the status flag 3.
And a third sample and hold circuit 110 for sampling and holding and outputting a third sample torque signal TS3.
Is an adder that outputs the added value (TS2 + TS3) of the second sample torque signal TS2 and the third sample torque signal TS3, and 111 is the added value (TS2 + TS3)
Is multiplied by (1/2) to output ((TS2 + TS3) / 2), and 112 is the output of this coefficient multiplier 111 ((TS2 + T3
A subtractor that outputs the deviation (((TS2 + TS3) / 2) -TS1) between S3) / 2) and the first sample torque signal TS1,
Reference numeral 113 denotes a fourth sample-hold circuit that samples and holds this deviation (((TS2 + TS3) / 2) -TS1) at the falling edge of the status flag 1 and outputs the friction model correction value Tfset. The torque command signal T
Deviation between M * and this friction model correction value Tfset (TM * -Tfs
et) is a subtractor 115, which is a fifth sample and hold circuit that samples and holds this deviation (TM * -Tfset) at the falling edge of the status flag 1 and outputs an integral term correction value Iset. is there. Here, the determination circuit 106
If the absolute value | ωA | of the simulated speed signal ωA is a positive number, the state flag 1 is 1, and the absolute value | ωA If | is 0, the state flag 1 is set to 0, and the product value (ωA × ω) of the simulated speed signal ωA and the second derivative ωA ″ of the simulated speed signal ωA.
A ″) is a positive number and the product value (T1 * × ωA ″) of the first torque signal T1 * and the second derivative ωA ″ of the simulated speed signal ωA is a positive number, the status flag 2 is set to 1 , Product value (ωA × ωA
”) Is 0 or less or the product value (T1 * × ωA”) is 0 or less, the state flag 2 is set to 0 and the product value (ωA × ωA
“) Is a positive number and the product value (T1 * × ωA”) is a negative number, the state flag 3 is 1, the product value (ωA × ωA ″) is 0 or less, or the product value (T1 * × ωA ″) is If it is 0 or more, the state flag 3 is controlled to be 0. The friction correction circuit 8 configured as described above includes the second sample torque signal T indicating the torque command immediately after acceleration when the electric motor 12 performs acceleration / deceleration.
By taking the deviation between the average value of S2 and the third sample torque signal TS3 indicating the torque command immediately before stopping and the first sample torque signal TS1 indicating the torque command immediately before starting, the torque component of the Coulomb friction is calculated. The friction model correction value Tfset is output based on the extracted value and the friction model circuit 7 is output.
In addition to modifying the parameters in the
t is output to correct the state quantity in the second speed control circuit 9.

[0031]

[Table 1]

The reason why the friction correction circuit 8 can correct the state quantity in the second speed control circuit 9 will be described in more detail with reference to FIG. FIG. 10 is a schematic waveform of the simulated speed signal ωA, the torque command signal TM *, and the state flags 1 to 3 when the electric motor 12 accelerates and decelerates in a triangular wave pattern. In the figure, TL is vertical torque, TF is Coulomb friction torque (friction model correction value Tfset in the friction correction circuit 8), TACC is acceleration torque, TD is viscous friction torque, TDEC is deceleration torque, and T1 is start. The immediately preceding torque command signal (first sample torque signal TS1 in the friction correction circuit 8), T2 is the torque command signal immediately after acceleration (second sample torque signal TS2 in the friction correction circuit 8) , T3 are torque command signals immediately before the stop (in the friction correction circuit 8, the third sample torque signal TS
3). Here, in order to correct the parameter in the friction model circuit 7 and the state quantity in the second speed control circuit 9,
It is necessary to find the Coulomb friction torque TF. The torque command signal T2 immediately after the acceleration and the torque command signal T3 immediately before the stop can be expressed by the equations (1) and (2), respectively.

T2 = TL + TF + TACC (1)

T3 = TL + TF-TDEC (2)

The equation (3) is obtained from the equations (1) and (2).

2TF = T2 + T3-TACC + TDEC-2TL (3)

When the acceleration torque TACC and the deceleration torque TDEC are the same, the Coulomb friction torque TF can be expressed by the equation (4).

TF = ((T2 + T3) / 2) −TL (4)

Here, since the vertical torque TL is the same as the torque command signal T1 immediately before starting, the equation (4) is changed to the equation (5).
Can be expressed as

TF = ((T2 + T3) / 2) −T1 (5)

From equation (5), Coulomb friction torque TF
Is the average value of the torque command signal T2 immediately after acceleration and the torque command signal T3 immediately before stop, and the torque command signal T immediately before starting.
It can be seen that it is calculated based on the deviation from 1. In this way, the friction correction circuit 8 can correct the parameters in the friction model circuit and the state quantity in the second speed control circuit.

FIG. 11 is a block diagram showing the detailed structure of the torque control circuit 11 described above. In the figure, 2
4 is a coefficient unit that multiplies the torque command signal TM * output from the adder 36 by the reciprocal of the torque constant Kt to convert it into a current command IM *, 33 is a current detector that detects the current IM of the electric motor 12, 34 Is a current control circuit that applies a voltage V to the motor 1 so that the current IM of the motor 12 follows the current command IM * based on the current IM of the motor 12 detected by the current detector 33. The torque control circuit 11 can be controlled so that the output torque of the electric motor 12 follows the torque command signal TM * by providing the configuration in which the current IM of the electric motor 12 is fed back to the current command IM * as shown in FIG. For the detailed configuration of the current control circuit 34, for example, "Theory of AC Servo System and Practice of Design", Sogo Denshi Publishing Co., Ltd., 1990, P80 to P85, P153.
See page 155.

Second Embodiment Next, a second embodiment will be described. FIG. 12 is a block diagram showing an entire embodiment 2 of the present invention. The second embodiment differs from the first embodiment in that the input of the friction model circuit 45 is the simulated rotation angular velocity signal ω A output from the simulation circuit 4 of the electric motor, but other than the friction model circuit 45. The configuration and the operation are the same as those of the above-described first embodiment, and thus the description thereof will be omitted.

FIG. 13 is a block diagram showing a detailed structure of the friction model circuit 45 described above. In the figure, 4
Reference numeral 2 is a tilt gain Kf of the friction model for proportionally amplifying the simulated rotation angular velocity signal ωA output from the simulation circuit 4 of the electric motor.
Is a limiter circuit for limiting the output value of the coefficient unit 42 to a predetermined value and outputting the compensation torque Tf.
Reference numeral 44 is a limit value correction circuit that corrects the limit value of the limiter circuit 43 when the friction model correction value Tfset output from the friction correction circuit 8 is given. In this way, when the friction model correction value Tfset is given, the limit value of the limiter circuit 43 is corrected, so that the friction model circuit 45 outputs the compensation torque Tf for compensating the Coulomb friction component and outputs the actual rotation angle signal. It is possible to reduce the overshoot of θM.

Next, the reason why the input of the friction model circuit 45 is changed from the actual rotational angular velocity signal ωM to the simulated rotational angular velocity signal ωA will be described. A rotation detector 15 for detecting an actual rotation angular velocity signal ωM, which is used in a digital servo or the like.
Is an incremental encoder or an absolute encoder. When speed detection is performed by such a pulse encoder, the timing of encoder pulse generation and the reading of that pulse are synchronized even if the electric motor 12 is rotating at a constant speed. Therefore, the number of pulses read varies for each speed control cycle. In addition, quantization noise related to the resolution of the encoder (the number of pulses per rotation) is generated. Therefore, variations in the number of read pulses are included in the actual rotation angular velocity signal ω M as detection noise. As a result, the compensation torque output from the friction model circuit 45 includes a large ripple component. Further, as described above, the simulation circuit 4 of the electric motor models the value obtained by adding the three inertias of the electric motor 12, the torque transmission mechanism 13, and the load machine 14, and is shown by mere inertia JA. Signal ωA
Does not include noise components. Therefore, the compensation torque output from the friction model circuit 45 to which the simulated rotational angular velocity signal ω A is input does not include a ripple component, and a smooth signal that hardly induces mechanical vibration can be obtained.

Third Embodiment Next, a third embodiment will be described. FIG. 14 is a block diagram showing an entire embodiment 3 of the present invention. The third embodiment differs from the first embodiment in that the low-pass filter circuit 5 is interposed in the signal path between the first speed control circuit 3 and the friction correction circuit 53. Although the configuration of the circuit 53 is also different, the operations other than the low-pass filter circuit 5 are the same as those in the above-described first embodiment, and thus the description thereof will be omitted.

The low-pass filter circuit 5 outputs the first torque signal T1 * output from the first speed control circuit 3
The filter output signal Tf1 is passed through a signal of a desired frequency or less.
Is output. The rotation angle command signal generating circuit 1 is a pulse train output device such as a sequencer, and when a rotation angle command is input by such a sequencer, even if the pulse train input is constant and the electric motor 12 is rotating at a constant speed, the pulse train of the sequencer. Since the output timing and the reading of the pulse train are not synchronized, the number of pulses read varies for each position control cycle. In addition, quantization noise related to the resolution of the sequencer is generated. Therefore, the variation in the read pulse number acts on the rotation angle command signal θM * output from the rotation angle command signal generation circuit 1, and further the first speed command signal output from the first position control circuit 2 described above. ω1 * is amplified as a ripple component, and further is amplified as a ripple component in the above-described first torque signal T1 * of the first speed control circuit 3.

The detailed structure of the friction correction circuit 53 is shown in FIG. 15, and the structure thereof is almost the same as that of the friction correction circuit 8 of the first embodiment shown in FIG. Here, when the first torque signal T1 * of the input of the friction correction circuit 8 shown in FIG. 9 has a ripple component, the determination circuit 106 in the friction correction circuit 8 is the motor as described in the first embodiment. Since the status flags 1 to 3 are output by the simulated speed signal ω A output from the simulation circuit 4 and the first torque signal T1 * output from the first speed control circuit 3, ripple components are added to the status flags 1 to 3. Therefore, the first to fifth sample and hold circuits may malfunction and the Coulomb friction may be estimated incorrectly. However, as shown in FIG. 14 of the third embodiment, the low-pass filter 5 is inserted, and only the signal having a frequency equal to or lower than the desired frequency is used as the filter output signal Tf1 and the friction correction circuit 53 is used.
By inputting, it is possible to suppress the ripple component and prevent erroneous friction estimation from occurring.

Further, since the ripple component of the torque signal T1 * is likely to occur at a frequency half the reading frequency of the pulse train, the cutoff frequency of the low-pass filter circuit 5 is set to a frequency lower than the reading frequency of the pulse train. To do.

Fourth Embodiment Next, a fourth embodiment will be described. 16 is a block diagram showing an entire embodiment 4 of the present invention. In the fourth embodiment, a low-pass filter circuit 5 similar to that of the third embodiment is added to the configuration of the second embodiment.
Although different from the other embodiments, the operation other than the low-pass filter circuit 5 is the same as that of the second embodiment described above, and the low-pass filter circuit 5 is the same as that of the third embodiment, so the description thereof is omitted.

Fifth Embodiment Next, a fifth embodiment will be described. FIG. 17 is a block diagram showing the entire fifth embodiment of the present invention. In the fifth embodiment, the configurations and operations of the first speed control circuit 46, the motor simulation circuit 35, and the correction circuit 6 are different from those of the other embodiments, but other configurations are the same as those of the above-described embodiment. The description is omitted because it is the same as the first embodiment.

FIG. 18 is a block diagram showing a detailed structure of the first speed control circuit 46. In the figure, 19
Is a subtracter that outputs a deviation (ω1 * −ωA) between the speed command signal ω1 * output from the first position control circuit 2 and the simulated speed signal ωA output from the motor simulation circuit 35, 20
Is the deviation (ω1 * −ωA) output from the subtractor 19.
Is a coefficient unit of gain KV1 for proportionally amplifying and outputting the first torque signal T1 *. The gain KV1 of the coefficient unit 20 is updated when the inertia JA is given from the correction circuit 6 described later. As described above, the simulated speed signal ωA is fed back to the first speed command signal ω1 *, so that the first speed control circuit 46 can simulate the simulated speed signal ωA.
Can be controlled so as to follow the first speed command signal ω1 *. Here, the relationship between the inertia JA and the gain KV1 is shown in equation (1).

KV1 = response frequency × inertia JA / torque constant (1)

FIG. 19 shows a simulation circuit 35 of the above-mentioned electric motor.
3 is a block diagram showing a detailed configuration of FIG. The electric motor simulation circuit 35 is a model in which the sum of the three inertias of the electric motor 12, the torque transmission mechanism 13, and the load machine 14 is modeled, and is shown simply as inertia JA. In the figure, reference numeral 22 receives the first torque signal T1 * output from the first speed control circuit 46, multiplies it by the reciprocal of inertia JA (1 / JA), and integrates it to output a simulated speed signal ωA. The integrator 21 is an integrator that integrates the simulated speed signal ωA output from the simulation circuit 35 of the electric motor and outputs the simulated rotation angle signal θA. The inertia JA of the integrator 22 is updated when the inertia JA is given from the correction circuit 6 described later.

FIG. 20 is a block diagram showing a detailed structure of the correction circuit 6 described above. In the figure, 37 is a sum value (ω) of the simulated speed signal ωA and the second speed command signal ω2 *.
Deviation between (A + ω2 *) and the actual rotation angular velocity signal ωM ((ωA
+ Ω2 *)-ωM), an adder / subtractor 39 which outputs a polarity signal Sg based on the first torque signal T1 *, and a polarity determination circuit 38 which outputs a polarity signal Sg from the polarity determination circuit 39. And the deviation from the adder / subtractor 37 ((ω
A + ω2 *)-ωM), a multiplier 40, an integrator for integrating the output of the multiplier 38, and a reference numeral 41 for adding the output of the integrator 40 and the inertia initial value J0 to output the inertia JA. It is an adder that does. Next, the operation will be described. A deviation ((ωA + ω2 *)-ωM) between the added value (ωA + ω2 *) of the simulated velocity signal ωA and the second velocity command signal ω2 * and the actual rotational angular velocity signal ωM is obtained by the adder / subtractor 37. When the first torque signal T1 * is input to the polarity determination circuit 39, the polarity signal Sg of the first torque signal T1 * is obtained. Here, the polarity signal Sg is 1 when the first speed command signal ω1 * is a forward rotation acceleration command, that is, when the polarity of the first torque signal T1 * is positive, the first speed command signal ω1 *
Is a reverse rotation acceleration command, that is, the first torque signal T1 *
It is a binary signal of -1 if the polarity of is negative. Next, the deviation ((ωA + ω2 *) output from the adder / subtractor 37
The product of −ω M) and the polarity signal Sg of the first torque signal T1 * output from the polarity determination circuit 39 is obtained by the multiplier 38 and supplied to the integrator 40. Then, the integrator 40 determines the correction value ΔJ of the inertia J. Next, the initial value of inertia J0 and this modified value ΔJ
The inertia JA is obtained by adding and with the adder 41. Here, for example, the inertia value of the electric motor 12 may be used as the inertia initial value J0.

Sixth Embodiment Next, a sixth embodiment will be described. 21 is a block diagram showing an entire sixth embodiment of the present invention. In the sixth embodiment, the configuration of the second embodiment is different from that of the second embodiment.
Although the first speed control circuit 46 and the motor simulation circuit 35 and the correction circuit 6 are applied in the same manner as the above, the first speed control circuit 46 and the motor simulation circuit 35 and the modification are different from the other embodiments. The operations other than the circuit 6 are the same as those in the second embodiment, and the first speed control circuit 46, the motor simulation circuit 35, and the correction circuit 6 are the same as those in the fifth embodiment, and therefore their explanations are omitted.

Seventh Embodiment Next, a seventh embodiment will be described. 22 is a block diagram showing an entire embodiment 7 of the present invention. In the seventh embodiment, the low-pass filter circuit 5 is provided and the input of the correction circuit 54 is the filter output signal Tf1 of the low-pass filter circuit 5, which is different from that of the fifth embodiment shown in FIG. Correction circuit 5
The operation other than that of the fourth embodiment is the same as that of the fifth embodiment, and the operation of the low-pass filter 5 is the same as that of the fourth embodiment, and therefore the description thereof is omitted.

FIG. 23 is a block diagram showing a detailed structure of the correction circuit 54 described above. In the figure, 37 is
An adder / subtractor that outputs a deviation ((ωA + ω2 *) − ωM) between the added value (ωA + ω2 *) of the simulated velocity signal ωA and the second velocity command signal ω2 * and the actual rotation angular velocity signal ωM, 39
Is a polarity determining circuit that outputs a polarity signal Sg based on the filter output signal Tf1, and 38 is a polarity signal Sg from the polarity determining circuit 39 and a deviation ((ωA
+ Ω2 *)-ωM), 40 is an integrator that integrates the output of the multiplier 38, and 41 is an adder that adds the output of the integrator 40 and the inertia initial value J0 and outputs the inertia JA. Is. Next, the operation will be described. A deviation ((ωA + ω2 *)-ωM) between the added value (ωA + ω2 *) of the simulated velocity signal ωA and the second velocity command signal ω2 * and the actual rotational angular velocity signal ωM is obtained by the adder / subtractor 37.
When the filter output signal Tf1 is input to the polarity determination circuit 39, the polarity signal Sg of the filter output signal Tf1 is obtained. Here, the polarity signal Sg is 1 when the first speed command signal ω1 * is the forward rotation acceleration command, that is, when the polarity of the filter output signal Tf1 is positive, the first speed command signal ω1 * is the reverse rotation acceleration command. In the case, that is, when the polarity of the filter output signal Tf1 is negative, the binary signal is -1. Then, the deviation ((ωA + ω2 *)-ωM) output from the adder / subtractor 37
And the polarity signal Sg of the filter output signal Tf1 output from the polarity determination circuit 39 are obtained by the multiplier 38 and supplied to the integrator 40. Then, this integrator 40
Thus, the correction value ΔJ of the inertia J is obtained. Further, the inertia JA is obtained by adding the inertia initial value J0 and the correction value ΔJ by the adder 41. Here, for example, the inertia value of the electric motor 12 may be used as the inertia initial value J0.

Eighth Embodiment Next, an eighth embodiment will be described. 24 is a block diagram showing an entire embodiment 8 of the present invention. In the eighth embodiment, the configuration of the sixth embodiment is different from that of the seventh embodiment.
A low-pass filter circuit 5 similar to
21 is different from that of FIG. 21 of the sixth embodiment in that the input of 4 is the filter output signal Tf1 of the low-pass filter circuit 5, but the operations other than the low-pass filter 5 and the correction circuit 54 are the same as those of the sixth embodiment. Since the operation of No. 5 is the same as that of the fourth embodiment, the description thereof will be omitted.

Ninth Embodiment Next, a ninth embodiment will be described. FIG. 25 is a block diagram showing an entire embodiment 9 of the present invention. In this embodiment, although the configuration of the friction correction circuit 126 is different from that of the first embodiment, the other points are the same as those of the above-described first embodiment, and the description thereof will be omitted.

FIG. 26 is a block diagram showing a detailed structure of the friction correction circuit 126 described above. In the figure, 1
00 is a determination circuit that outputs a status flag according to the simulated speed signal ω A output from the simulation circuit 4 of the electric motor and the first torque signal T1 * output from the first speed control circuit 3;
01 is a first sample and hold circuit that samples and holds the torque command signal TM * output from the adder 36 at the rising edge of this state flag, and outputs a sample torque signal TS, and 102 is a torque command Signal T
Deviation (TM * -TS) between M * and the sample torque signal TS output from the first sample and hold circuit 101.
), A second sample-hold circuit 103 that samples and holds the deviation (TM * -TS) at the falling edge of the state flag, and outputs a friction model correction value Tfset, and 104 A subtracter 105 that outputs a deviation (TM * -Tfset) between the torque command signal TM * and the friction model correction value Tfset output from the second sample and hold circuit, and 105 deviates at the falling edge of the status flag ( TM * -Tfset) is a third sample-hold circuit which samples and holds and outputs an integral term correction value Iset. Here, the determination circuit 100 uses the simulated speed signal ωA and the first
If the product value (ωA × T1 *) of the torque signal T1 * is a positive number, the status flag is 1. If the product value (ωA × T1 *) is a negative value, or if the simulated speed signal ωA is 0, the status flag is set. 0,
If the first torque signal T1 * is 0 and the absolute value | ωA | of the simulated speed signal ωA is a positive number, the state flag is controlled so as to retain the past state. Table 2 shows the relationship between the output of the status flag and the physical meaning. With this configuration, the friction correction circuit 126 causes the friction model based on the deviation between the sample torque signal TS immediately before the start and the torque command signal TM * immediately before the start of the deceleration when the electric motor 12 accelerates and decelerates. The correction value Tfset can be output to correct the parameter in the friction model circuit 7, and the integral term correction value Iset can be output to correct the state quantity in the second speed control circuit 9. In addition, in the friction correction circuit 8 of the first embodiment described above, the electric motor 12
Friction model circuit 7 at the end of deceleration when accelerating and decelerating
Since the parameters in the second speed control circuit 9 are corrected and the state quantity in the second speed control circuit 9 is corrected, the stop settling time at the time of acceleration / deceleration of the electric motor 12 after the power is turned on for the second time and thereafter can be reduced. The correction circuit 126 corrects the parameters in the friction model circuit 7 at the time of deceleration start when the electric motor 12 performs acceleration / deceleration, and at the same time, the second speed control circuit 9
Since the state quantity in the middle is corrected, the stop settling time during the first acceleration / deceleration of the electric motor 12 after the power is turned on can also be reduced.

[0062]

[Table 2]

Next, the friction correction circuit 126 causes the electric motor 12 to
Sample torque signal T immediately before starting when accelerating and decelerating
Refer to FIG. 27 for the reason why the parameter in the friction model circuit 7 can be modified and the state quantity in the second speed control circuit 9 can be modified based on the deviation between S and the torque command signal TM * immediately before the start of deceleration. While explaining. FIG. 27 is a schematic waveform of the simulated speed signal ω A, the torque command signal TM *, and the status flag when the electric motor 12 performs the acceleration / deceleration of the trapezoidal wave pattern. In the figure, TL is vertical torque, TF
Is a Coulomb friction torque, T1 is a torque command signal immediately before starting, and T2 is a torque command signal immediately before starting deceleration. Here, in order to correct the parameter in the friction model circuit 7 and the state quantity in the second speed control circuit 9, it is necessary to obtain the Coulomb friction torque TF. The torque command signal T2 immediately before the start of deceleration can be expressed as in equation (7).

T2 = TL + TF (7)

From equation (1), TF can be expressed as in equation (8).

TF = T2-TL (8)

Here, since the vertical torque TL is the same as the torque command signal T1 immediately before starting, the equation (8) is changed to the equation (9).
Can be expressed as

TF = T2-T1 (9)

From equation (9), Coulomb friction torque TF
Can be obtained based on the deviation between the torque command signal T1 immediately before starting and the torque command signal T2 immediately before starting deceleration, so the parameters in the friction model circuit are modified and the state quantity in the second speed control circuit Can be modified.

Tenth Embodiment Next, a tenth embodiment will be described. FIG. 28 shows the entire tenth embodiment of the present invention.
Then, although the configuration of the friction correction circuit 127 is different from that of the first embodiment, other than that, the first embodiment described above is different.
The description is omitted because it is the same as.

FIG. 29 is a block diagram showing a detailed structure of the friction correction circuit 127 described above. In the figure, 1
Reference numeral 16 denotes a simulated speed signal ω A output from the simulation circuit 4 of the electric motor 12 and a first speed output from the first speed control circuit 3.
The determination circuit 117 which outputs the status flags 1 to 3 in response to the torque signal T1 * of the first flag samples and holds the torque command signal TM * output from the adder 36 at the rising edge of the status flag 1, and the first sample A first sample-and-hold circuit that outputs the torque signal TS1; and 118, a deviation (TM *) between the torque command signal TM * and the first sample-torque signal TS1 output from the first sample-and-hold circuit. -TS1) output subtractor 119 samples and holds the deviation (TM * -TS1) from subtractor 118 at the falling edge of status flag 2 and outputs a second sample torque signal TS2. The second sample and hold circuit 120 is a deviation () between the second sample and torque signal TS2 output from the second sample and hold circuit and the torque command signal TM *. S2-TM *) to output a subtractor, 121, deviation from the subtractor 120 at the rising edge of the state flag 3 (TS2-TM *) Sample a
A third sample-hold circuit 122 for holding and outputting a third sample-torque signal TS3, 122 is a torque command signal TM * and this third sample-hold circuit 121.
The adder 123 outputs the added value (TM * + TS3) with the third sample torque signal TS3 output from the adder 123, and the added value (TM * + TS3) by the adder 122 at the falling edge of the status flag 1. ) Is sampled and held and a friction model correction value Tfset is output, and a fourth sample and hold circuit 124 is used to output the torque command signal TM * and the friction model correction value Tfset output from the fourth sample and hold circuit 123. The subtractor 125 outputs a deviation (TM * -Tfset) from the subtractor 125, which samples and holds the deviation (TM * -Tfset) from the subtractor 124 at the falling edge of the status flag 1 to obtain an integral term correction value. It is a fifth sample-hold circuit that outputs Iset. Here, the determination circuit 116
Is the status flag 1 if the product value (ωA × T1 *) of the simulated speed signal ωA and the first torque signal T1 * is a positive number, or the product value (ωA × T1 *) is a negative value, or the simulated speed Signal ω A is 0
If so, the state flag 1 is set to 0 and the first torque signal T1 *
Is 0 and the absolute value | ωA | of the simulated speed signal ωA is a positive number, the state flag 1 is controlled so as to retain the past state, and the simulated speed signal ωA and the simulated speed signal ωA are twice differentiated. The product value (ωA × ωA ″) of ωA ″ is a positive number, and the two-time differential value ωA ″ of the first torque signal T1 * and the simulated speed signal ωA
If the product value of (T1 * × ωA ″) is a positive number, status flag 2
1 and the product value (ωA × ωA ″) is 0 or less, or the product value (T
If 1 * × ω A ″) is 0 or less, the state flag 2 is set to 0,
The product value (ωA × ωA ”) is a negative number and the product value (T1 * × ωA
") Is a negative number, the status flag 3 is set to 1 and the product value (ωA ×
If ωA ″) is 0 or more or the product value (T1 * × ωA ″) is 0 or more, the state flag 3 is controlled to be 0. Table 3 shows the relationship between the output of the status flags 1 to 3 and the physical meaning. With this configuration, the friction correction circuit 12
7 is a friction model correction based on the torque command signal immediately before acceleration, the torque command signal immediately after acceleration, the torque command signal immediately before the end of acceleration, and the torque command signal during constant speed operation when the electric motor 12 performs acceleration / deceleration. The value Tfset can be output to correct the parameter in the friction model circuit 7, and the integral term correction value Iset can be output to correct the state quantity in the second speed control circuit 9. In addition, the friction correction circuit 8 of the first embodiment described above
Then, the parameters in the friction model circuit 7 are corrected at the end of deceleration when the electric motor 12 performs acceleration / deceleration, and
Since the state quantity in the second speed control circuit 9 is corrected, the stop settling time at the time of acceleration / deceleration of the electric motor 12 after the power is turned on can be reduced, but the friction correction circuit 127 is used.
Then, in order to correct the parameters in the friction model circuit 7 and the state quantity in the second speed control circuit 9 at the start of deceleration when the electric motor 12 performs acceleration / deceleration, the electric motor for the first time after the power is turned on is corrected. 12 The stop settling time during acceleration / deceleration can also be reduced.

[0072]

[Table 3]

Next, the friction correction circuit 127 causes the electric motor 12 to
Based on the torque command signal immediately before acceleration, the torque command signal immediately after acceleration, the torque command signal immediately before the end of acceleration, and the torque command signal during constant speed operation when performing acceleration / deceleration. FIG. 3 shows the reason why the state quantity in the second speed control circuit 9 can be corrected while being corrected.
Description will be given with reference to 0. FIG. 30 is a schematic waveform of the simulated speed signal ωA, the torque command signal TM *, and the status flags 1 to 3 when the electric motor 12 performs the acceleration / deceleration of the trapezoidal wave pattern. In the figure, TL is vertical torque, TF is Coulomb friction torque, TACC is acceleration torque, TD is viscous friction torque, TDEC is deceleration torque, T1 is torque command signal immediately before starting, T2 is torque command signal immediately after acceleration, and T3 is T3. Is a torque command signal immediately before the end of acceleration, and T4 is a torque command signal during constant speed operation. Here, in order to correct the parameter in the friction model circuit 7 and the state quantity in the second speed control circuit 9, it is necessary to obtain the Coulomb friction torque TF. Therefore, this is determined from the relational expression between the Coulomb friction torque TF and the torque command signal T3 immediately before the end of acceleration. The torque command signal T3 immediately before the end of acceleration can be expressed as in equation (10).

T3 = TL + TF + TACC + TD (10)

From the equation (10), the Coulomb friction torque TF can be expressed by the equation (11).

TF = T3-TACC-TD-TL (11)

Here, the acceleration torque TACC, the viscous friction torque TD, and the vertical torque TL are expressed by equations (12) and (1), respectively.
3) and can be expressed as in equation (14).

TACC = T3−T4 (12)

TD = T3−T2 (13)

TL = T1 (14)

From the equations (12), (13) and (14), the equation (11) can be expressed as the equation (15).

TF = T2 + T4-T1-T3 (15)

From the equation (15), the Coulomb friction torque T
Since F can be obtained based on the torque command signal T1 immediately before starting, the torque command signal T2 immediately after acceleration, the torque command signal T3 immediately before the end of acceleration, and the torque command signal T4 during constant speed operation, the friction model circuit 7 The state quantity in the second speed control circuit 9 can be corrected as well as the parameter therein.

Eleventh Embodiment Next, an eleventh embodiment will be described. 31 is a block diagram showing an entire embodiment 11 of the present invention.
The eleventh embodiment differs from the first embodiment in that a friction memory circuit 150 is provided instead of the friction correction circuit 8, but the other configurations and operations are the same as those in the above-described first embodiment, and therefore the description thereof will be omitted. Omit it.

The friction memory circuit 150 outputs the rotation angle command signal θ.
The friction amount data corresponding to M * is stored, and the friction amount data Tfset is output according to the rotation angle command signal θM *. The friction model circuit 7 outputs the compensation torque signal Tf based on the friction amount data Tfset and the actual speed signal ωM output from the rotation detector 15. The adder 36 receives the first torque signal T1 *, the second torque signal T2 *, and the compensation torque signal Tf.
And are added and the torque command signal TM * is output. The torque control circuit 11 controls the torque of the electric motor 12 based on the torque command signal TM *.

FIG. 32 is a diagram for explaining the operation of the friction memory circuit 150 described above. The friction memory circuit 150 is, as shown in the figure, the mechanical friction data Tfset according to the rotation angle command signal θM *.
Is stored, and Tfset is output whenever the rotation angle command θM * of the electric motor is input. With the above-described configuration, the friction torque can be compensated according to the rotational position only by temporarily storing the friction amount data of the mechanical system in the friction storage circuit 150, and the friction correction circuit 8 is not provided. Moreover, the friction torque can be compensated according to the rotation angle.

The friction amount data to be stored in the friction storage circuit 150 is obtained by temporarily setting the friction correction circuit 8 and outputting this output Tfset.
Can be obtained by using For example, the machine is driven by the position control device of the electric motor 12 provided separately, and positioning is performed at an appropriate pitch. At this time, Tfset at each positioned position is obtained as friction amount data stored in the friction storage circuit 150. If this data is stored in the friction storage circuit 150, the friction torque can be compensated in real time without complicated calculation such as friction estimation.

Twelfth Embodiment Next, a twelfth embodiment will be described. FIG. 33 is a block diagram showing the whole of the twelfth embodiment. In the twelfth embodiment, the friction correction circuit 8 is added to the configuration of the eleventh embodiment, and the friction memory circuit 151 is changed accordingly. Other than that, the description is omitted because it is the same as that of the eleventh embodiment.

The friction memory circuit 151 outputs the friction data Tfset according to the rotation angle command θM * similarly to the friction memory circuit 150 according to the eleventh embodiment. It has the function to correct the data from time to time.

Next, the operation of the friction memory circuit 151 will be described with reference to FIGS. 34 and 35. FIG. 34 is a diagram showing stored data in the friction storage circuit 151 in the initial state immediately after power-on. Immediately after the power is turned on, a constant and appropriate value Tfset0 is written in the friction amount data Tfset, and the stored data is corrected at any time after the operation is started.

FIG. 35 is a diagram for explaining the operation of the friction memory circuit 151. This figure shows an example when the rotation angle command θM * changes from θA, θB, and θC. The figure (a) shows the change of the rotation angle command θM * with time, and the figure (b) shows the friction memory circuit 151. It is a figure which shows the amount data of friction inside. This friction correction circuit 15
According to 1, when the rotation angle command θM * is changed and then stopped, the friction correction circuit 8 outputs the estimated value of the friction amount of the mechanical system. The rotation angle command θM * changes from θA to θ as shown in Fig. 36 (a).
Estimate the amount of friction output when B is changed to Tfset
Letting Tfsetb be the estimated value of the friction amount output when a and θB are changed to θC, as shown in FIG.
The friction amount data between θB is corrected to Tfset a, and the friction amount data between θB and θC is corrected to Tfset b.

By thus correcting the stored friction amount data every time the rotation angle command θM * changes,
The friction torque can be compensated even when the friction amount varies depending on the rotational position, and the friction torque can be compensated even in a machine in which the friction amount is unknown or fluctuates.

By configuring the friction memory circuit 151 by a non-volatile memory or the like, the data immediately before the power is turned off can be retained, and the next time the power is turned on, the data is utilized from the first start-up to the friction torque. It goes without saying that compensation for

Thirteenth Embodiment The thirteenth embodiment will be described with reference to FIGS. 36 to 41. 36 is a block diagram showing an entire embodiment 13 of the present invention. In the figure, 1 is a rotation angle command signal generation circuit that outputs a rotation angle command signal θM *, and 2a is one of the inputs of this rotation angle command signal θM *, and the rotation detector 15
The actual rotation angle signal θM output from
The position control circuit 3a that outputs the speed command signal ωM * based on this receives the speed command signal ωM * as one input,
A speed control circuit that outputs a first torque signal T1 * and an integrator output Ti based on a reference value θdrp * described later, using the actual speed signal ωM and the integrator initial value Tiset as the other inputs, 60
Is the rotation angle command signal θM *, the actual rotation angle signal θM output from the rotation detector 15, the actual speed signal ωM, and the speed control circuit 3a.
Compensation torque control circuit 61 which outputs a second torque signal T2 * as a compensation torque signal based on the integrator output Ti output from
An adder 11a that adds the first torque signal T1 * and the second torque signal T2 * and outputs a torque command signal TM * is
A torque control circuit 14 for controlling the torque of the electric motor 12 based on the torque command signal TM * is a torque transmission mechanism 1.
The load machine operated by the torque control circuit 11a through 3, 3, 15 detects the rotation of the electric motor 12,
The rotation detector outputs an actual speed signal ωM to the speed control circuit 3a and an actual rotation angle signal θM to the position control circuit 2a. Note that these 1, 2a, 12, 14, and 15 are the same as those of the conventional device shown in FIG.

FIG. 37 is a block diagram showing a detailed structure of the position control circuit 2a described above. In the figure, 200
Is the deviation (θM * −θM) between the rotation angle command signal θM * output from the rotation angle command signal generation circuit 1 and the actual rotation angle signal θM.
A subtracter 201 for outputting the coefficient is a coefficient unit of gain Kp for proportionally amplifying the deviation (θM * −θM) and outputting the speed command signal ωM *. With this configuration, the position control circuit 2a can perform control so that the actual rotation angle signal θM follows the rotation angle command signal θM *.

FIG. 38 is a block diagram showing the detailed structure of the speed control circuit 3a described above. In the figure, 202
Is the deviation between the speed command signal ωM * and the actual speed signal ωM (ωM *
−ωM), a subtractor 203 outputs the deviation (ωM * −ω
M) is a coefficient unit of a gain Kv for proportional amplification, 204 is an integrator for proportionally amplifying the deviation (ωM * -ωM) with an integral gain Ki, and then integrating it to output an integrated torque signal Ti. 205 is a compensation torque control circuit. Initial value of integral term Tis output from 60
An integrator preset circuit that presets the integrated value of the integrator 204 when et is given, 206 is an adder that adds the outputs of the coefficient unit 203 and the integrator 204 and outputs the first torque signal T1 *. With this configuration, the speed control circuit 3a is controlled so that the actual rotation speed ωM follows the speed command signal ωM *.

FIG. 39 shows the compensation torque control circuit 60 described above.
3 is a block diagram showing a detailed configuration of FIG. In the figure,
207 is a reset circuit that outputs a reset signal RES according to the actual rotation angle signal θM, the rotation angle command signal θM *, and the reference value θdrp *, and 208 is based on the actual speed signal ωM and the reset signal RES output from the rotation detector 15. The first, second, third, and fourth sample hold command signals SH1, SH2,
A determination circuit that outputs SH3 and SH4, a first sample and hold circuit 209 that samples and holds the integrated torque signal Ti at the rising edge of the sample and hold command signal SH1, and outputs a first sample torque signal TS1.
210 is a second sample and hold circuit that samples and holds the integrated torque signal Ti at the rising edge of the second sample and hold command signal SH2 and outputs the second sample torque signal TS2. 211 is the second sample and torque signal. The subtracter 212 outputs the deviation (TS2-TS1) between TS2 and the first sample torque signal TS1, and the sampler 212 holds the first sample torque signal TS1 when the third sample hold command signal SH3 is 1. The third sample hold circuit 213, which outputs the integrated torque initial value Tiset and resets the output when the third sample hold command signal SH3 is 0, subtracts when the fourth sample hold command signal SH4 is 1. Output of the vessel 106 (TS2-
Ts1) is sample-held to output a second torque signal T2 * as a compensation torque signal, and the fourth sample-hold circuit resets the output when the fourth sample-hold command signal SH4 is zero. Here, if the absolute value | θM * −θM | of the deviation between the actual rotation angle signal θM and the rotation angle command signal θM * is equal to or smaller than the reference value θdrp *, the reset circuit 207 sets the reset signal RES to 1 and the absolute value | θM. If * −θM | is larger than the reference value θdrp *, the reset signal RES is controlled to be 0. Further, the determination circuit 208 determines the product of the actual speed signal ωM and the one-time differential value ωM ′ of the actual speed signal ωM (ωM ×
If ωM ′) is a positive number, the first sample hold command signal SH1 is 1, and if the product (ωM × ωM ′) is a negative number, the first
Sample hold command signal SH1 of 0, product (ωM × ω
If M ') is 0, the first sample hold command signal S
H1 holds the past state. If the first sample hold command signal SH1 is 0, the second sample hold command signal SH2 is 1, and if the first sample hold command signal SH1 is 1, the second sample hold command signal SH2 is 0. To do. Further, if the second sample hold command signal SH2 is 1 and the reset signal is 0, the fourth sample hold command signal SH4 is 1, and if the second sample hold command signal SH2 is 0 or the reset signal is 1. The second sample hold command signal SH2 is set to 0, and if there is no change in the value of the second sample hold command signal SH2, the second sample hold command signal SH2.
Is 0, and the value of the second sample hold command signal SH2 is 0.
If there is a change from 1 to 1 or from 1 to 0, the fourth sample hold command signal SH4 is controlled to be 1.
Table 1 shows the relationship between the outputs of the first, second, third and fourth sample hold command signals SH1, SH2, SH3, SH4 and their physical meanings. With this configuration, the compensation torque control circuit 60 causes the integrated torque signal Ti of the speed control circuit 3a immediately before the start and the integrated torque signal Ti of the speed control circuit 3a immediately before the start of deceleration when the electric motor 12 performs acceleration / deceleration. Based on the above, the second torque signal T2 * as the compensating torque signal is output, and the integrator initial value Tiset is output to correct the state quantity in the speed control circuit 3a.

[0098]

[Table 4]

FIG. 40 shows the case where the electric motor 12, the torque transmission mechanism and the load machine 14 have Coulomb friction.
The second torque signal T2 * as a compensation torque signal, which is the output of the compensation torque control circuit 60 when the rotation angle command signal θM * is changed, and the integrated torque initial value Tiset, and the output of the speed control circuit 3a. It is a figure which shows the change of the torque signal T1 * of 1 and the torque command signal TM *. When the electric motor 12 is rotating, the cause of the amplitude of the deviation (ωM * −ωM) is the electric motor 12, the torque transmission mechanism, and the load machine 14.
There is Coulomb friction. The torque component corresponding to the Coulomb friction is accumulated in the integrator 204 of the speed control circuit 3a from the point A, that is, the electric motor 12 is started to the point C, that is, the time when the electric motor 12 starts decelerating, from the first torque signal T1 *. Is output. Further, the compensation torque control circuit 60 corrects the state quantity of the speed control circuit 3a at the point C, that is, presets the integrator 204 of the speed control circuit 3a, and at the same time prevents the torque command signal TM * from becoming discontinuous. The output of 60 is changed, that is, the second torque signal T2 * is output as the compensation torque signal. As described above, Coulomb friction occurs only when the electric motor 12 is operating, and the Coulomb friction disappears when the electric motor 12 stops. The compensation torque control circuit 60 uses the reference value θdrp * of the position deviation as a guide for the stop settling of the electric motor 12, and when the absolute value of the position deviation | θM * −θM | becomes the reference value θdrp * or less, the speed control circuit 3a. The integrator 204 is reset again, and at the same time, the output of the second torque signal T2 * as the compensation torque signal is stopped. Therefore, the torque component of the Coulomb friction does not accumulate in the integrator 204 of the speed control circuit 3a. By operating in this manner, the compensation torque control circuit 60 can output the second torque signal T2 * as a compensation torque signal for compensating the Coulomb friction component and reduce the overshoot of the actual rotation angle signal θM. it can.

FIG. 41 shows the torque control circuit 11a described above.
3 is a block diagram showing a detailed configuration of FIG. In the figure,
Reference numeral 214 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 IM *, 215 is a current detector that detects the current IM of the motor 12, and 216 is a current detector.
The current control circuit applies a voltage V to the electric motor 12 so that the electric current of the electric motor 12 follows the current command IM *. The torque control circuit 11a is configured as shown in FIG.
Can be controlled so that the output torque of the electric motor 12 follows the torque command signal TM *. For the detailed configuration of the current control circuit 216, for example, “Theory of AC Servo System and Practice of Design”, Sogo Denshi Publishing Co., Ltd., 1990, P80.
-P85, P153-P155.

Fourteenth Embodiment A fourteenth embodiment will be described with reference to FIGS. 42 and 43. 42 is a block diagram showing an entire 14th embodiment of the present invention. Here, the operations other than the reference value adjusting circuit 61 are the same as those in the thirteenth embodiment described above, and thus the description thereof is omitted.

FIG. 43 is a block diagram showing a detailed structure of the reference value adjusting circuit 61 described above. In the figure, 2
17 is a subtracter that outputs a deviation (θM * −θM) between the rotation angle command signal θM * and the actual rotation angle signal θM, and 218 is a reference value based on the deviation (θM * −θM) and the actual rotation speed signal ωM. The sign determination circuit 219 that outputs the variation Δθdrp * is an integrator that integrates the variation Δθdrp * of the reference value and outputs the reference value θdrp *. Here, the sign determination circuit 218 sets the reference value change amount Δθdrp * to 1 and the actual rotation speed when the deviation (θM * −θM) when the actual rotation speed signal ωM changes from a positive number to 0 is a positive number. If the deviation (θM * −θM) when the signal ωM changes from a positive number to 0 is a negative number, the reference value change Δθdrp * is −1, and the deviation when the actual rotation speed signal ωM changes from a negative number to 0. If (θM * -θM) is a negative number, the reference value change amount Δθdrp * is 1, and if the deviation (θM * -θM) when the actual rotation speed signal ωM is 0 is a positive number, the reference value is If the change amount Δθdrp * is −1 and the deviation (θM * −θM) when the actual rotation speed signal ωM is 0 is 0, the reference value change amount Δθdrp * is adjusted to 0.
With this configuration, the reference value adjusting circuit corrects the reference value θdrp * based on the actual rotation speed of the electric motor, the rotation angle command signal, and the actual rotation angle signal, and the second value as the compensation torque signal is corrected.
The timing of resetting the torque signal T2 * can be changed.

Fifteenth Embodiment A fifteenth embodiment will be described with reference to FIGS. 44 and 45. 44 is a block diagram showing an entire embodiment 3 of the invention. The operations other than the reference value adjusting circuit 62 are the same as those in the above-described fifteenth embodiment, and therefore the description thereof will be omitted.

FIG. 45 is a block diagram showing a detailed structure of the reference value adjusting circuit 34 described above. In the figure, 2
Reference numeral 17 is a subtractor that outputs a deviation (θM * −θM) between the rotation angle command signal θM * and the actual rotation angle signal θM, and 220 is a derivative that outputs a differential value θM * ′ of the rotation angle command signal θM *. Bowl, 22
1 is a code determination circuit that outputs the reference value change amount Δθdrp * based on the deviation (θM * −θM) and the differential value θM * ′, and 219 integrates the reference value change amount Δθdrp * and outputs the reference value θdrp * It is an integrator. Here, the sign determination circuit 221 determines that the differential value θM * '
If the deviation from a positive number to 0 (θM * −θM) is a positive number, the reference value change amount Δθdrp * is 1, and the deviation when the differential value θM * ′ is 0 from a positive number ( If θM * −θM) is a negative number, the reference value change amount Δθdrp * is −1, and if the deviation (θM * −θM) when the differential value θM * ′ is 0, the reference value is changed. If the deviation Δθdrp * is 1, the deviation (θM * -θM) when the differential value θM * 'becomes 0 from a negative number is a positive number, the reference value change amount Δθdrp * is -1, the differential value θM *' If the deviation (θM * -θM) when 0 becomes 0, the reference value change amount Δ
Adjust θdrp * to be 0. With this configuration, the reference value adjusting circuit 62 causes the rotation angle command signal θM *
The reference value θdrp * can be modified based on the actual rotation angle signal θM and the timing of resetting the second torque signal T2 * as the compensation torque signal can be changed. Further, since the compensating torque control circuit 60 and the reference value adjusting circuit 62 are added and the speed information required in the reference value adjusting circuit 62 is obtained from the differential value of the speed rotation angle command signal, there is little noise and overshoot. There is an effect that the reference value can be adjusted based on the speed information that does not exist. Further, the reference value adjusting circuit 62 adjusts the parameter in the compensation torque control circuit 60 by performing the positioning at least once to perform the feedforward compensation of the friction torque. There is an effect that it is possible to realize position control with extremely little overshoot.

Sixteenth Embodiment A sixteenth embodiment will be described with reference to FIGS. 46 and 47. 46 is a block diagram showing an entire 16th embodiment of the present invention. Here, the operations other than the reference value adjusting circuit 63 are the same as those of the thirteenth embodiment described above, and thus the description thereof is omitted.

FIG. 46 is a block diagram showing a detailed structure of the reference value adjusting circuit 35 described above. In the figure, 2
Reference numeral 17 is a subtracter that outputs a deviation (θM * −θM) between the rotation angle command signal θM * and the actual rotation angle signal θM, and 220 is a differentiator that outputs a differential value θM * ′ of the rotation angle command signal θM *. 222
Is the maximum deviation detection circuit that outputs the reference value change amount Δθdrp * according to the deviation (θM * −θM) and the differential value θM * '. The reference value θdrp * is output by integrating the reference value change amount Δθdrp *. Is an integrator. Here, the maximum deviation detection circuit 222 determines the deviation (θM * −θM) at the time when the differential value of the deviation (θM * −θM) becomes 0 after the differential value θM * ′ becomes 0 from a positive number. If it is a positive number, the reference value change amount Δθdrp * is 1, and after the differential value θM * ′ becomes 0 from a positive number, the differential value of the deviation (θM * −θM) is 0.
If the deviation (θM * −θM) at the time of becomes a negative number, the reference value change amount Δθdrp * is −1, and the differential value θM * ′ is 0 from the negative number.
If the deviation (θM * -θM) at the time when the differential value of the deviation (θM * -θM) becomes 0 is a negative number, the reference value change amount Δθdrp * is 1, the differential value θM * ' If the deviation (θM * −θM) at the time when the differential value of the deviation (θM * −θM) becomes 0 after the negative value changes from 0 to a positive value, the reference value change amount Δθdrp
After * is -1 and the differential value θM * 'is 0, the deviation (θM * −θ
The deviation (θM * -θM) when the differential value of M) becomes 0 is 0
If so, the reference value change amount Δθdrp * is adjusted to be zero. With this configuration, the reference value adjusting circuit 63 corrects the reference value θdrp * based on the rotation angle command signal θM * and the actual rotation angle signal θM, and the second value as the compensation torque signal is obtained.
The timing of resetting the torque signal T2 * can be changed. Also, the deviation (θM *
Since the differential value of −θM) is reduced, there is an effect that the reference value can be adjusted by directly using the overshoot amount.

Seventeenth Embodiment A seventeenth embodiment will be described with reference to FIG. FIG.
8 is a block diagram showing an entire embodiment 17 of the present invention. Here, the operation other than the low-pass filter circuit 64 is the same as that of the thirteenth embodiment described above, and thus the description thereof is omitted.

The low-pass filter circuit 64 operates when the second torque signal T2 * is reset to 0, passes a signal having a frequency equal to or lower than a desired frequency of the second torque signal T2 * as a compensating torque signal, and filters it. The output signal Tf2 * is output. When the second torque signal as the compensating torque signal is reset to 0 stepwise, the output torque of the electric motor 12 changes stepwise, so that a strong shock is given to the torque transmission mechanism and the load machine. However, by inserting the low-pass filter 64, the step-shaped second torque signal T2 * can be smoothed, and the impact on the torque transmission mechanism and the load machine 14 can be mitigated. As described above, the compensation torque control circuit 60 and the low-pass filter circuit 6
4 is added to prevent the torque signal of the compensating torque control circuit 60 from becoming discontinuous, there is an effect that the impact given to the torque transmission mechanism and the load machine can be reduced.

For comparison of the above-described embodiments, in the above-described first to twelfth embodiments, the processing for subdividing the friction elements becomes complicated and the processing takes time, but
It is extremely useful in that it is possible to know the ratio of friction elements. In addition, Embodiments 13 to 1 above
Although No. 7 cannot know the ratio of frictional elements, it is extremely useful in that it can be applied to a model having a low CPU capability because the above process is simplified.

[0110]

As described above, according to the present invention, speed command means for outputting a torque signal for commanding the speed of a predetermined electric motor, a rotation detector for detecting the rotation of the electric motor, and this rotation detection Since the compensation torque output means for outputting the compensation torque signal of the Coulomb friction to correct the rotation of the electric motor based on the rotation detection of the motor is provided, even if the Coulomb friction occurs, there is no position overshoot.

According to another aspect of the present invention, the compensation torque output means is compensated by processing the actual speed signal from the rotation detector or the simulated speed signal from the simulation circuit of the electric motor using predetermined parameters. A friction model circuit that outputs a torque signal, and a Coulomb friction component is extracted based on the first torque signal from the first speed control circuit and the simulated speed signal from the simulation circuit of the electric motor, and the friction model circuit based on this is extracted. Since it is equipped with a friction correction circuit that outputs a parameter correction signal that corrects the inside parameter,
Even if the Coulomb friction changes, appropriate compensation for the Coulomb friction is performed according to this change and there is no position overshoot. Further, when the friction model circuit that outputs the compensation torque signal obtained by processing the simulated speed signal from the simulation circuit of the electric motor using a predetermined parameter is a part of the configuration, the rotation detector has quantization noise. Even if there is no position overshoot with proper compensation for Coulomb friction

Further, according to another invention of the present invention, since the compensation torque output means is provided with a correction circuit for correcting the inertia of the electric motor simulation circuit, when the inertia of the electric motor simulation means is unknown. Even if it changes during or during operation, there is no position overshoot with proper compensation for Coulomb friction.

Further, according to another invention of the present invention, the compensation torque output means is a command element of the torque signal output from the speed command means and an element of the same kind as this command element, and detected by the rotation detector. The actual detection elements are compared with each other and a compensation torque signal for Coulomb friction is output in order to correct the rotation of the electric motor by comparing the comparison result with a predetermined reference. The element and the actual detection element are compared, and correction is performed based on this, so that even if the Coulomb friction of the mechanical system changes, the rotation angle command signal is exceeded during the second and subsequent positioning operations. There is an effect that the position control with extremely few chutes can be realized.

[Brief description of drawings]

FIG. 1 is a block diagram of a position control device for an electric motor according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing details of a first position control circuit in the embodiment of the present invention.

FIG. 3 is a block diagram showing a first detailed embodiment of a first speed control circuit in the embodiment of the present invention.

FIG. 4 is a block diagram showing a first detailed embodiment of the electric motor simulation circuit in the embodiment of the present invention.

FIG. 5 is a block diagram showing details of a second position control circuit in the embodiment of the present invention.

FIG. 6 is a block diagram showing details of a second speed control circuit in the embodiment of the present invention.

FIG. 7 is a block diagram showing details of a friction model circuit in the embodiment of the present invention.

FIG. 8 is an operation explanatory view for explaining the operation of friction compensation of the present invention.

FIG. 9 is a block diagram showing a first detailed embodiment of the friction correction circuit in the embodiment of the present invention.

10 is an explanatory diagram of the operation of the friction correction circuit in FIG.

FIG. 11 is a block diagram showing details of a torque control circuit in the embodiment of the present invention.

FIG. 12 is a block diagram of an electric motor position control device according to a second embodiment of the present invention.

FIG. 13 is a block diagram showing details of a friction model circuit in the embodiment of the present invention.

FIG. 14 is a block diagram of an electric motor position control device according to a third embodiment of the present invention.

FIG. 15 is a block diagram showing a second detailed embodiment of the friction correction circuit in the embodiment of the present invention.

FIG. 16 is a block diagram of an electric motor position control device according to a fourth embodiment of the present invention.

FIG. 17 is a block diagram of an electric motor position control device according to a fifth embodiment of the present invention.

FIG. 18 is a block diagram showing a second detailed embodiment of the first speed control circuit in the embodiment of the present invention.

FIG. 19 is a block diagram showing a second detailed embodiment of the electric motor simulation circuit in the embodiment of the present invention.

FIG. 20 is a block diagram showing a first detailed embodiment of a correction circuit in the embodiment of the present invention.

FIG. 21 is a block diagram of an electric motor position control device according to a sixth embodiment of the present invention.

FIG. 22 is a block diagram of an electric motor position control device according to a seventh embodiment of the present invention.

FIG. 23 is a block diagram showing a second detailed embodiment of the correction circuit in the embodiment of the present invention.

FIG. 24 is a block diagram of an electric motor position control device according to an eighth embodiment of the present invention.

FIG. 25 is a block diagram of an electric motor position control device according to a ninth embodiment of the present invention.

FIG. 26 is a block diagram showing a third detailed embodiment of the friction correcting circuit in the embodiment of the present invention.

27 is an explanatory diagram of the operation of the friction correction circuit in FIG.

FIG. 28 is a block diagram of an electric motor position control device according to a tenth embodiment of the present invention.

FIG. 29 is a block diagram showing a fourth detailed embodiment of the friction correcting circuit in the embodiment of the present invention.

FIG. 30 is an operation explanatory diagram of the friction correction circuit of FIG. 29.

FIG. 31 is a block diagram of a position control device for an electric motor according to an eleventh embodiment of the present invention.

FIG. 32 is an operation explanatory diagram of the friction memory circuit according to the embodiment of the present invention.

FIG. 33 is a block diagram of an electric motor position control device according to a twelfth embodiment of the present invention.

34 is an operation explanatory diagram of the friction memory circuit in FIG. 33. FIG.

FIG. 35 is another operation explanatory diagram of the friction memory circuit in FIG. 33.

FIG. 36 is a block diagram of a position control device for an electric motor according to a thirteenth embodiment of the present invention.

FIG. 37 is a thirteenth embodiment and a first embodiment of the present invention.
4th Embodiment 15th Embodiment 16th Embodiment 17th Embodiment
3 is a block diagram showing a detailed embodiment of a position control circuit in FIG.

FIG. 38 is a thirteenth embodiment and a first embodiment of the present invention.
4th Embodiment 15th Embodiment 16th Embodiment 17th Embodiment
3 is a block diagram showing a detailed embodiment of a speed control circuit in FIG.

FIG. 39 is a block diagram showing a detailed embodiment of a compensation torque control circuit according to a thirteenth embodiment of the present invention.

FIG. 40 is an operation explanatory diagram of the compensation torque control circuit in the thirteenth embodiment of the present invention.

FIG. 41 is a thirteenth embodiment and a first embodiment of the present invention.
4th Embodiment 15th Embodiment 16th Embodiment 17th Embodiment
3 is a block diagram showing a detailed embodiment of a torque control circuit in FIG.

42 is a block diagram of an electric motor position control device according to a fourteenth embodiment of the present invention. FIG.

FIG. 43 is a block diagram showing a reference value adjusting circuit according to a fourteenth embodiment of the present invention.

FIG. 44 is a block diagram of a position control device for an electric motor according to a fifteenth embodiment of the present invention.

FIG. 45 is a block diagram showing a reference value adjusting circuit according to a fifteenth embodiment of the present invention.

FIG. 46 is a block diagram of a position control device for an electric motor according to a sixteenth embodiment of the present invention.

FIG. 47 is a block diagram showing a reference value adjusting circuit according to a sixteenth embodiment of the present invention.

FIG. 48 is a block diagram of a position control device for an electric motor according to a seventeenth embodiment of the present invention.

FIG. 49 is a block diagram showing a conventional position control device for an electric motor according to a first example.

FIG. 50 is a block diagram showing a conventional position control device for an electric motor according to a second example.

[Explanation of symbols]

 1. Rotation angle command signal generation circuit 2. First position control circuit 2a. Position control circuit 3. First speed control circuit 3a. Speed control circuit 4. Electric motor simulation circuit 5, 64. Low-pass filter 6. Correction circuit 7. Friction model circuit 8. Friction correction circuit 9. Second speed control circuit 10. Second position control circuit 11, 11a. Torque control circuit 12. Electric motor 13. Torque transmission mechanism 14. Load machine 15. Rotation detector 16. Coefficient unit 17. Adder 18. Coefficient unit 19. Adder 20. Coefficient unit 21. Integrator 22. Integrator 23. Integrator 24. Coefficient unit 25. Subtractor 26. Coefficient unit 27. Integral term preset circuit 28. Adder / subtractor 29. Coefficient unit 30. Integrator 31. Coefficient unit 32. Adder 33. Current detector 34. Current control circuit 35. Electric motor simulation circuit 36. Adder 37. Adder / subtractor 38. Multiplier 39. Polarity discriminating circuit 40. Integrator 41. Adder 42. Coefficient unit 43. Limiter circuit 44. Limit value preset circuit 45. Friction model circuit 46. First speed control circuit 47. Second speed control circuit 48. Torque control circuit 60. Compensation torque control circuit 61.62, 63. Reference value adjustment circuit

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Internal reference number FI Technical indication location G05D 3/12 306 G05D 3/12 306G 13/62 13/62 E (72) Inventor Tetsuaki Nagano 2-3 2-3 Marunouchi, Chiyoda-ku, Tokyo Sanritsu Electric Co., Ltd. (72) Inventor Fumio Kumazaki 2-6-2 Otemachi, Chiyoda, Tokyo Mitsubishi Electric Engineering Co., Ltd.

Claims (16)

[Claims] 1. A speed command means for outputting a torque signal for commanding a speed of a predetermined electric motor, a rotation detector for detecting rotation of the electric motor, and the electric motor based on the rotation detection of the rotation detector. And a compensating torque output means for outputting a compensating torque signal for Coulomb friction in order to correct the rotation of the electric motor. 2. A second torque for controlling the rotation of the electric motor based on the rotation detection of the rotation detector, which is different from the first torque signal, as the torque signal output from the speed command means. A speed control means for outputting a signal, a second torque signal from the speed command control means, a first torque signal from the speed command means, and a Coulomb friction for correcting the rotation of the electric motor from the compensating torque output means. 2. The control device for an electric motor according to claim 1, further comprising: a first adder for adding the compensation torque signal of 1. as an input and rotating the electric motor based on a result of the addition. 3. The speed command means receives a rotation angle command signal generating circuit for outputting a rotation angle command signal and a rotation angle command signal output from the rotation angle command signal generating circuit as one input, and inputs the one input. And a first position control circuit that outputs a first speed command signal based on the other input, and this first speed command signal as one input, and a first torque based on the one input and the other input. A first speed control circuit that outputs a signal, and based on the first torque signal, outputs a simulated rotation angle signal to the other input of the first position control circuit,
The motor control device according to claim 2, further comprising a motor simulation circuit that outputs a simulated speed signal to the other input of the first speed control circuit. 4. The rotation detector outputs an actual rotation angle signal and an actual speed signal, and the speed control means outputs the actual rotation angle signal detected by the rotation detector and a simulation circuit of the electric motor. And a second position control circuit that outputs a second speed command signal based on the simulated rotation angle signal, the second speed command signal, the actual speed signal detected by the rotation detector, and the simulation circuit of the motor. A second speed control circuit that outputs a second torque signal based on the simulated speed signal thus generated, the motor control device according to claim 3. 5. A friction model circuit for outputting a compensation torque signal obtained by processing an actual speed signal from a rotation detector or a simulated speed signal from a simulated circuit of an electric motor using a predetermined parameter, the compensating torque output means; A Coulomb friction component is extracted based on the first torque signal from the first speed control circuit and the simulated speed signal from the electric motor simulation circuit, and based on this, a parameter correction signal for correcting the parameter in the friction model circuit is output. 5. The control device for the electric motor according to claim 3, further comprising: 6. The motor control device according to claim 5, wherein the compensation torque output means includes a correction circuit for correcting inertia of the motor simulation circuit. 7. A correction circuit, an adder / subtractor that outputs a deviation between an added value of a simulated speed signal and a second speed command signal and an actual rotation angular speed signal, and a polarity signal based on the first torque signal. An output polarity determination circuit, a multiplier that multiplies the polarity signal output from this polarity determination circuit and the deviation from the adder-subtractor, an integrator that integrates the output of this multiplier, and an output of this integrator 7. An electric motor control device according to claim 6, further comprising: an adder for adding the inertia initial value and the inertia initial value to output the inertia to the electric motor simulation circuit. 8. The motor control device according to claim 5, wherein the friction correction circuit inputs the first torque signal from the first speed control circuit through a low-pass filter. 9. A friction correction circuit outputs first to third status flags based on a simulated speed signal output from a simulation circuit of an electric motor and a first torque signal output from a first speed control circuit. And a holding circuit for sampling and holding the torque command signal output from the adder at the rising edge of the first state flag.
The first sample-and-hold circuit that outputs the sample torque signal of No. 2 and the torque command signal that is output from the adder at the falling edge of the second state flag
Second sample-and-hold circuit that outputs the sample torque signal of No. 1 and the torque command signal output from the adder at the falling edge of the third state flag,
And a calculator for outputting the average value of the second sample torque signal and the third sample torque signal, and the output of this calculator And a subtractor for outputting the deviation from the first sample torque signal, and a fourth sample and hold circuit for sampling and holding the deviation at the falling edge of the status flag 1 and outputting a parameter correction signal. 9. The method according to claim 5, further comprising:
The motor control device described. 10. A friction correction circuit, a judgment circuit for outputting a status flag according to a simulated speed signal output from a simulation circuit of an electric motor and a first torque signal output from a first speed control circuit, and the status flag. The first command and hold circuit that samples and holds the torque command signal output from the adder at the rising edge of and outputs the sample torque signal, and the torque command signal and the output from this first sample and hold circuit Subtractor that outputs the deviation from the sampled torque signal TS, the second sample and hold circuit that samples and holds the deviation at the falling edge of the status flag, and outputs the parameter correction value, and the torque command signal And a subtractor that outputs the deviation between the friction model correction value output from the second sample and hold circuit, and the status flag The deviation at Chi edge to sample and hold, a third sample and hold circuit and the control device of the motor of claims 5 to 8, wherein further comprising a for outputting the integral term correction value. 11. A friction correction circuit includes a determination circuit that outputs status flags 1 to 3 according to a simulated speed signal output from a simulation circuit of an electric motor and a first torque signal output from a first speed control circuit. , A first sample and hold circuit which samples and holds the torque command signal output from the adder at the rising edge of the status flag 1 and outputs a first sample torque signal, and the torque command signal and the first sample and hold circuit. The sampler and hold circuit outputs the deviation from the first sample torque signal and the deviation from the subtractor at the falling edge of the status flag 2 A second sample and hold circuit that outputs a torque signal and this second
Of the second sample torque signal and the torque command signal output from the sample-and-hold circuit, and sample and hold the deviation from this subtractor at the rising edge of the status flag 3. A third sample and hold circuit that outputs a third sample and torque signal, and an adder that outputs a sum of the torque command signal and the third sample and torque signal output from the third sample and hold circuit. And a fourth sample and hold circuit that samples and holds the value added by this adder at the falling edge of status flag 1 and outputs the parameter correction value, the torque command signal and this fourth sample and hold A subtracter that outputs the deviation from the friction model correction value output from the circuit, and this subtractor at the falling edge of status flag 1 Deviation sample hold and a fifth sample-and-hold circuit for outputting an integral term correction value, the motor control apparatus of claims 5 to 8, wherein further comprising a. 12. The friction torque output means outputs a compensation torque signal obtained by processing the actual speed signal from the rotation detector using a predetermined parameter, and a rotation angle command from a rotation angle command signal generation circuit. 5. A friction storage circuit for storing friction amount data according to a signal and outputting a parameter correction signal for correcting a parameter in the friction model circuit based on the data, according to any one of claims 3 to 4. The motor control device described. 13. The friction model circuit includes a coefficient unit for proportionally amplifying an actual speed signal output from a rotation detector or a simulated speed signal output from a simulation circuit of an electric motor, and an output value of the coefficient unit to a predetermined value. It is equipped with a limiter circuit that limits the output with a compensation torque signal and a limit value preset circuit that corrects the limit value of this limiter circuit when the parameter correction signal output from the friction correction circuit is given. The motor control device according to any one of claims 5 to 12. 14. Compensation torque output means compares the command element of the torque signal output from the speed command means with an actual detection element which is the same type of element as this command element and is detected by a rotation detector, 2. The motor control device according to claim 1, wherein a compensating torque signal for Coulomb friction is output so as to correct the rotation of the electric motor by comparing the comparison result with a predetermined reference. 15. The motor control device according to claim 1, wherein the predetermined reference value is corrected based on a comparison between the command element and the actual detection element. 16. An element of the same type compared with each other in the command element and the actual detection element is a rotation angle signal, and is a rotation angle command signal and an actual rotation angle signal, respectively. Item 15. A control device for an electric motor according to Item 15.