JPH1075592A - Speed controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed controller which can respond quickly following the change of speed setting without adjusting each element of P(proportion), I(integration), and D (differentiation) in a well balanced state. SOLUTION: A speed controller is composed of a motor 17 which drives a load, a motor 24 which gives a load torque to the load, the speed control (ASR) section 1 of the motor 17, and the load torque control (ATR) section 2 of the motor 24 and the ASR section 1 is composed of a P-gain speed controller 11, a PI torque controller 15 which generates a torque command by adding the output Δτ of the controller 11 to a set load torque τ1 set and inputs the deviation of the detected torque τ1 of the motor 17 from the torque command, and a current controller 16. Though the speed controller 11 only has a proportional gain P and the torque controller 15 has an integrated gain I, gains P and PI can be adjusted easily, because the response of the speed controller is faster that that of a PI gain controller by one digit or more. Since N1 set is added to an ATR minor loop, no speed change occurs due to the fluctuation of the load torque and the response of the controller is fast.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a speed control device for controlling a motor, a dynamometer, a vehicle, and the like.

[0002]

2. Description of the Related Art Conventionally, for example, a motor speed control system includes a PID control system and a speed control system with an acceleration minor loop.

In the PID control method, as shown in FIG. 4A, a deviation signal between a speed command value N ₁ set and a detected value N ₁ is subjected to P calculation by a PID gain speed controller 41, and a current control loop is provided. The motor 46 is driven by the current controller 45 to rotate the rotation system 47 with the difference torque between the motor torque τ ₁ and the load torque τ ₂ .

The speed control method with the acceleration minor loop is, as shown in FIG. 4B, a speed command value N ₁ set.
The difference signal between the detected value N ₁ and the P gain of the speed controller 42
And the difference signal between the output signal and the detected speed value N ₁ through the acceleration signal having the transfer function SJ of the rotation system and passed through the acceleration minor circuit 43 is used as the torque controller 44 of the PI gain.
, And the motor 46 is driven by the current controller 45,
The rotating system 47 is rotated by the difference torque between the motor torque τ ₁ and the load torque τ ₂ .

[0005]

The above-mentioned conventional speed control circuit performs a PID operation and a PI operation, so that the integral element I
Contains. This is because a simple P (proportional) control characteristic of the feedback control causes a steady-state deviation (error) in speed setting and detection.

If PI (proportional integration) control is performed to eliminate the steady-state deviation, overshoot is likely to occur.
In order to eliminate this overshoot, PID control is performed by adding a D (differential element), and control with an acceleration minor loop is performed by adding an acceleration minor circuit.

In order to obtain a stable and appropriate response waveform in PID control, it is necessary to adjust stability and response time with a PI constant, and to adjust a D constant so as to eliminate overshoot.

In addition, since the control target generally changes linearity, it is necessary to adjust each of the elements P, I, and D in a well-balanced manner according to the operating state. The adjustment method also requires experience and know-how. It is difficult and necessary, and it is not always the best adjustment.

The present invention has been made in view of the above-mentioned conventional problems.
It is an object of the present invention to provide a speed control device capable of obtaining a fast response following a change in speed setting without having to adjust I and D components in a well-balanced manner.

[0010]

SUMMARY OF THE INVENTION The present invention comprises a first motor for driving a load, a second motor for applying a load torque to the load, a speed controller for controlling the first motor, and a second motor. A load torque control unit for controlling the speed control unit, wherein the speed control unit is a proportional gain speed controller to which a deviation signal between the speed set value and the speed detection value is input, and an output of the speed controller and a load torque control unit. A proportional integral gain torque controller to which a deviation signal between a torque command value obtained by adding a load torque set value and a torque detection value of the first motor is input; and a first current command from the torque controller. And a current controller for driving the motor.

Further, the apparatus may be provided with a feedforward compensation circuit having a transfer function of a rotating system for inputting the speed set value and outputting a compensation torque signal to an input section of the torque controller.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. 1 shows a control system configuration of a speed control device, and FIG. 2 shows a control block diagram thereof. In FIG. 1, A is a specimen (load), M1 is a specimen input motor for driving the specimen A,
M2 is a motor for controlling the load torque of the specimen A, 1 is a speed control (ASR control) unit for controlling the motor M1, and 2 is a torque control (ATR control) unit for applying a set load torque to the motor M2. . In the figure, J ₀ and J ₁ , J
₂ indicates the moment of inertia of the specimen A and the motors 1 and 2.

Referring to FIG. 2, the ASR control unit 1 has a P gain speed controller for calculating the deviation signal between the speed set value N ₁ set and the detected speed N ₁ of the rotation system 19, and the output Δτ of the speed controller. Adder 1 for adding load torque set value τ ₂ set
3, a PI gain torque controller 15 for performing PI calculation of a deviation between the output of the adder and the torque τ ₁ of the motor 17 (M1), and the motor 17 is controlled based on a current command from the torque controller. It is composed of a current control (ACR control) unit 16 and has an ATR minor loop in the ASR loop.

The ATR control unit 2 has a load torque set value τ ₂
set and the load torque τ ₂ output by the motor 24 (M2).
And a PI torque controller 22 that performs a PI calculation of a deviation from the motor 24 (M) based on a current command from the torque controller.
₂ ) a current controller 23 for controlling

The ATR control unit 2 sets the torque to control the torque of the motor 24 (M 2), and applies the set load torque to the specimen A. The ASR controller 1 sets the speed deviation signal to P
The output of the speed controller 11 to be calculated and the load torque set value τ ₂
The set 17 is added by the adder 13 to control the torque of the motor 17 (M1) as the torque setting of the ATR minor loop, and to control the speed by the ASR loop.

Note that the ATR control requires PI control, and generally there may be an input ATR-output ASR due to a control combination, and the ASR control unit 1 has an ATR function. Further, the PI torque controller 22 of the ATR control unit 2 has a response which is one digit or more faster than the PI speed controller of the ASR control, and the adjustment is relatively easy.

It is necessary to pay attention that the I (integral) output when the ASR control is performed by the PI control is a command corresponding to τ ₂ corresponding to the load torque. Therefore, by adding the τ ₂ set corresponding to the load torque τ ₂ to the ATR minor loop by the adder 13, it is possible to perform the role of I control as an integration function. In the case of PI speed control, the I constant is determined based on the speed deviation and the feedback control response. However, in this control circuit, since the load torque value is already known, the PI torque controller 15 has no direct response delay. The torque can be set.

As a result, the ASR control adjustment is performed by the speed controller 1
Since only the proportional gain is 1, the optimum adjustment can be performed very easily.

Embodiment 2 FIG. 3 shows a control block diagram of the speed control device. Note that the same components as those shown in FIG. 2 are denoted by the same reference numerals, and redundant description thereof will be omitted.

In FIG. 3, reference numeral 12 denotes a speed set value N ₁ se
A feedforward torque compensating circuit having a transfer function S (J ₀ + J ₁ + J ₂ ) of a rotating system that inputs a t and outputs a compensation torque signal τα, and 14 is an output Δτ of the P-gain speed controller 11 and load torque The set value τ ₂ set and the compensation torque τα from the feedforward compensation circuit are added and PI
It is an adder that outputs to the gain torque controller 15. Other configurations are the same as those in FIG.

This control circuit corresponds to the ATR of the ASR control circuit 1.
Since the compensation torque τα from the feedforward compensation circuit 12 is applied to the minor loop, the response to the speed setting change is improved, and the set deviation during acceleration / deceleration can be reduced to zero.

[0022]

Since the present invention is configured as described above, the following effects can be obtained.

(1) Since a change in speed setting is followed by the response speed of the ATR minor loop, a fast response can be obtained.

(2) Since the setting of the load torque is added to the ATR minor loop, the speed of the ASR control does not fluctuate due to the fluctuation of the load torque.

(3) Since the speed controller has no integral control element, there is no overcharging due to integration and no overshoot occurs in principle.

(4) Since the ASR control adjustment is performed only with the proportional gain, the optimum adjustment can be performed very easily.

[Brief description of the drawings]

FIG. 1 is a control system configuration diagram of a speed control device according to first and second embodiments.

FIG. 2 is a control block diagram of the speed control device according to the first embodiment.

FIG. 3 is a control block diagram of a speed control device according to a second embodiment;

FIG. 4 is a control block diagram according to a conventional example.

[Explanation of symbols]

 A: specimen M1: motor for controlling the speed of the specimen M2: motor for controlling the output torque of the specimen 1. speed controller (ASR controller) 2: torque controller (ATR controller) 11: P gain speed controller 12: Feedforward torque compensation circuit 15: PI gain torque controller 16: Current controller (ACR controller) 17: Motor M1 19: Rotating system 22: PI gain torque controller 23: Current controller (ACR controller) 41: PID gain speed controller 42: P gain speed controller 43: acceleration minor circuit 44: PI gain torque controller 45: current controller (ACR controller) 46: motor 47: rotating system

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[Procedure amendment]

[Submission date] February 3, 1997

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0013

[Correction method] Change

[Correction contents]

Referring to FIG. 2, an ASR control unit 1 performs a P-gain operation on a deviation signal between a speed set value N ₁ set and a detected speed N ₁ of the rotating system 19 by a P-gain speed controller 11 , and an output Δτ of the speed controller. Adder 13 for adding the torque and load torque set value τ ₂ set, a PI gain torque controller 15 for performing a PI calculation of a deviation between the output of the adder and the torque τ ₁ of the motor 17 (M1), Control (ACR control) device 1 for controlling the motor 17 based on a current command from the heater
6 and has an ATR minor loop in the ASR loop.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0017

[Correction method] Change

[Correction contents]

The conventional ASR control shown in FIG .
It is necessary to pay attention to the fact that the output of I (integral) when the ID control is performed is a command for τ ₂ corresponding to the load torque. Therefore, by adding τ ₂ set corresponding to the load torque τ ₂ in FIG. 2 to the ATR minor loop by the adder 13, it is possible to fulfill the role of I control as an integration function. In the case of PI speed control, the I constant is determined based on the speed deviation and the feedback control response. However, in this control circuit, since the load torque value is already known, the PI torque controller 15 has no direct response delay. The torque can be set.

[Procedure amendment 3]

[Document name to be amended] Drawing

[Correction target item name] Fig. 1

[Correction method] Change

[Correction contents]

[Fig. 1]

Claims (2)

[Claims] A first motor that drives a load, a second motor that applies a load torque to the load, a speed controller that controls the first motor, and a load torque controller that controls the second motor. The speed control unit is configured to add a speed controller of a proportional gain to which a deviation signal between a speed set value and a detected speed value is input, and to add an output of the speed controller and a load torque set value of a load torque control unit. A torque controller having a proportional integral gain to which a deviation signal between a torque command value and a torque detection value of the first motor is input; a current controller driving the first motor in response to a current command from the torque controller; A speed control device comprising: 2. A feed-forward compensating circuit according to claim 1, wherein a feed-forward compensating circuit having a transfer function of a rotating system for inputting the speed set value and outputting a compensation torque signal to an input section of the torque controller is provided. Speed control device.