JPH11341885A - Motor controller - Google Patents
Motor controllerInfo
- Publication number
- JPH11341885A JPH11341885A JP14270098A JP14270098A JPH11341885A JP H11341885 A JPH11341885 A JP H11341885A JP 14270098 A JP14270098 A JP 14270098A JP 14270098 A JP14270098 A JP 14270098A JP H11341885 A JPH11341885 A JP H11341885A
- Authority
- JP
- Japan
- Prior art keywords
- servo system
- servo
- deviation counter
- control device
- motor control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Multiple Motors (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、異なる応答を持つ
２軸のサーボ系において、第１のサーボ系のモータの動
作状態を第２のサーボ系のモータに反映し追従させるこ
とにより、２軸のサーボ系間の同期制御を実現するモー
タ制御装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-axis servo system having a different response by reflecting the operating state of a motor of a first servo system to a motor of a second servo system so as to follow the two-axis servo system. The present invention relates to a motor control device that realizes synchronous control between servo systems.
【０００２】[0002]
【従来の技術】従来の２軸の同期制御は、図２に示すよ
うに、第１のサーボ系２１のサーボモータ２２により動
作させる機械２３の剛性や摩擦などと、第２サーボ系２
４のサーボモータ２５により動作させる機械２６の剛性
や摩擦などを均一とし、かつ第１サーボ系２１のサーボ
アンプ２７と第２のサーボ系２４のサーボアンプ２８の
マイナーループゲイン２９を同じとすることにより、２
軸間のサーボ系の応答を一致させ、上位コントローラ３
０より同じ位置指令パルスをサーボアンプ２７，２８に
入力する方法があった。2. Description of the Related Art As shown in FIG. 2, conventional two-axis synchronous control is based on the rigidity and friction of a machine 23 operated by a servo motor 22 of a first servo system 21 and the second servo system 2.
4) The rigidity and friction of the machine 26 operated by the servo motor 25 are made uniform, and the minor loop gain 29 of the servo amplifier 27 of the first servo system 21 and the servo amplifier 28 of the second servo system 24 are made the same. Thereby 2
Match the response of the servo system between the axes, and
There has been a method of inputting the same position command pulse from 0 to the servo amplifiers 27 and 28.
【０００３】または簡易的な追従制御では、図３に示す
ように、コントローラ３０より第１のサーボ系２１のサ
ーボアンプのみに位置指令パルスを入力し、第１のサー
ボ系２１の位置検出信号３１を第２のサーボ系２１のサ
ーボアンプ２４に位置指令パルスとして与えることによ
る方法があった。In a simple follow-up control, as shown in FIG. 3, a position command pulse is inputted from a controller 30 only to a servo amplifier of a first servo system 21 and a position detection signal 31 of the first servo system 21 is inputted. Is given to the servo amplifier 24 of the second servo system 21 as a position command pulse.
【０００４】なお、図２，図３において、３２，３３は
各サーボモータ２２，２５の回転を検出するロータリー
エンコーダである。[0004] In FIGS. 2 and 3, reference numerals 32 and 33 are rotary encoders for detecting the rotation of each of the servomotors 22 and 25.
【０００５】さらに高度な２軸の追従制御では、第１の
サーボ系の位置検出信号をサンプリングしてデジタル演
算処理をした信号を、速度の閉回路制御系をマイナルー
プとして持つ第２のサーボ系の位置指令信号とすること
により、第２のサーボ系の挙動を第１のサーボ系の挙動
に追従させる方法が知られている。In more advanced two-axis follow-up control, a signal obtained by sampling the position detection signal of the first servo system and performing digital arithmetic processing is used as the signal of the second servo system having a closed loop control system for speed as a minor loop. A method is known in which the behavior of the second servo system is made to follow the behavior of the first servo system by using a position command signal.
【０００６】[0006]
【発明が解決しようとする課題】しかしながら、上記従
来の構成では、前者の場合において機械の摩擦などを経
時変化や温度変化を考慮すると均一に保つことは困難で
あり、実際には完全な同期制御は不可能であった。However, in the above-mentioned conventional structure, it is difficult to keep the friction of the machine uniform in the former case in consideration of the aging and the temperature change. Was impossible.
【０００７】また後者の場合においては、第１のサーボ
系の位置検出信号を第２のサーボ系の位置指令とするの
で、原理的に第１のサーボ系に対し第２のサーボ系は遅
れが生じ、完全な同期制御は不可能であった。In the latter case, since the position detection signal of the first servo system is used as the position command of the second servo system, the delay of the second servo system is delayed in principle with respect to the first servo system. As a result, perfect synchronous control was not possible.
【０００８】また高度な２軸の追従制御では、専用の追
従制御コントローラが必要なためシステムが高価なもの
であった。In advanced two-axis follow-up control, a dedicated follow-up controller is required, so that the system is expensive.
【０００９】本発明は、このような従来の課題を解決す
るものであり、第１のサーボ系のモータの動作状態を第
２のサーボ系のモータに反映し追従させる２軸のサーボ
系間の同期制御に近い追従制御を実現するモータ制御装
置を提供することを目的とする。SUMMARY OF THE INVENTION The present invention solves such a conventional problem. The present invention relates to a two-axis servo system which reflects the operating state of a motor of a first servo system to a motor of a second servo system and makes it follow. An object of the present invention is to provide a motor control device that realizes tracking control close to synchronous control.
【００１０】[0010]
【課題を解決するための手段】上記の課題を解決するた
めに本発明は、第１のサーボ系の位置検出信号と、第２
のサーボ系の位置検出信号を、第２のサーボ系のモータ
制御装置の位置制御を行なう偏差カウンタとは別に設け
た補助偏差カウンタに入力することにより、第１のサー
ボ系と第２のサーボ系の動作位置偏差を検出可能とし、
この値に係数を乗じた値により第２のサーボ系の速度偏
差を補正するものである。SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a first servo system position detection signal and a second servo system position detection signal.
The servo system position detection signal of the first servo system and the second servo system by inputting the position detection signal of the second servo system to an auxiliary deviation counter provided separately from the deviation counter for controlling the position of the motor control device of the second servo system. Operation position deviation can be detected,
The speed deviation of the second servo system is corrected by a value obtained by multiplying this value by a coefficient.
【００１１】[0011]
【発明の実施の形態】上記の課題を解決するために本発
明は、第１のサーボ系の位置検出信号と、第２のサーボ
系の位置検出信号を第２のサーボ系のモータ制御装置の
位置制御を行なう偏差カウンタとは別に設けた補助偏差
カウンタに入力することにより、第１のサーボ系と第２
のサーボ系の動作位置偏差を検出可能とし、この値に係
数（Ｋ）を乗じた値により第２のサーボ系の速度偏差を
補正するものである。DESCRIPTION OF THE PREFERRED EMBODIMENTS In order to solve the above-mentioned problems, the present invention relates to a method for detecting a position of a first servo system and a position of a second servo system by using a second servo system motor control device. By inputting to an auxiliary deviation counter provided separately from the deviation counter for performing position control, the first servo system and the second servo
Of the second servo system is corrected by a value obtained by multiplying this value by a coefficient (K).
【００１２】そして、マイクロプロセッサを用いたディ
ジタルサーボアンプにおいては、上記２軸間の位置偏差
量により補正ゲイン（Ｋ）を変化させることが容易であ
る。In a digital servo amplifier using a microprocessor, it is easy to change the correction gain (K) according to the positional deviation between the two axes.
【００１３】また本発明は、上記２軸間の位置偏差量に
より、第２のサーボ系のサーボアンプの位置ゲイン（Ｋ
Ｐ）を変化させるものである。Further, according to the present invention, the position gain (K) of the servo amplifier of the second servo system is calculated based on the positional deviation between the two axes.
P).
【００１４】さらに本発明は、上記２軸間の位置偏差量
により、第２のサーボ系の位置フィードフォワード（Ｆ
Ｆ）を変化させるものである。Further, according to the present invention, the position feed forward (F) of the second servo system is determined based on the positional deviation between the two axes.
F).
【００１５】このように第１のサーボ系と第２のサーボ
系の動作位置偏差を検出し、その値に係数を乗じ速度偏
差の補正を行なうことは、第２のサーボ系の応答を第１
のサーボ系の応答に応じて常に変化させることが可能と
なり、より同期制御に近い追従制御を実現することがで
きる。Detecting the operating position deviation between the first servo system and the second servo system and correcting the speed deviation by multiplying the value by a coefficient as described above makes the response of the second servo system equal to the first servo system.
Can be constantly changed in accordance with the response of the servo system, and tracking control closer to synchronous control can be realized.
【００１６】また２軸間の位置偏差量により、第２のサ
ーボ系のサーボアンプの位置ゲイン（ＫＰ）を変化させ
ることも、第２のサーボ系の応答を第１のサーボ系の応
答に応じて変動させる一つの方法である。The position gain (KP) of the servo amplifier of the second servo system may be changed according to the position deviation between the two axes, or the response of the second servo system may be changed according to the response of the first servo system. This is one way to vary.
【００１７】また２軸間の位置偏差量により、第２のサ
ーボ系のサーボアンプの位置フィードフォワード（Ｆ
Ｆ）を変化させることも、第２のサーボ系の応答を第１
のサーボ系の応答に応じて変動させる一つの方法であ
る。Also, the position feed forward (F
F) can also change the response of the second servo system to the first
This is one method of varying the response in accordance with the response of the servo system.
【００１８】上記手段によって、第２のサーボ系の動作
に第１のサーボ系の動作状態を反映することが可能とな
り、完全な同期制御に近い追従制御を実現することがで
きる。By the above means, the operation state of the first servo system can be reflected in the operation of the second servo system, and the follow-up control close to perfect synchronous control can be realized.
【００１９】[0019]
【実施例】以下本発明の実施例について図面を参照して
説明する。Embodiments of the present invention will be described below with reference to the drawings.
【００２０】図１に示すサーボシステムは、位置指令を
出力する上位コントローラ１、第１のサーボ系２におけ
るサーボアンプ３、サーボモータ４、位置検出器である
ロータリーエンコーダ５、駆動する機械６、第２のサー
ボ系７におけるサーボアンプ８、サーボモータ９、位置
検出器のロータリーエンコーダ１０、駆動する機械１
１、サーボアンプ３，８に与えられる位置指令パルス１
２、第１のサーボ系２の位置検出信号１３、第２のサー
ボ系７の位置検出信号１４、第２のサーボ系７のサーボ
アンプ８における偏差カウンタ１５、補助偏差カウンタ
１６、マイクロコンピュータ１７からなる。The servo system shown in FIG. 1 comprises a host controller 1 for outputting a position command, a servo amplifier 3 in a first servo system 2, a servomotor 4, a rotary encoder 5 as a position detector, a driving machine 6, 2 servo system 7, servo motor 8, servo motor 9, rotary encoder 10 of position detector, machine 1 to be driven
1. Position command pulse 1 given to servo amplifiers 3 and 8
2, position detection signal 13 of first servo system 2, position detection signal 14 of second servo system 7, deviation counter 15, auxiliary deviation counter 16 in servo amplifier 8 of second servo system 7, and microcomputer 17 Become.
【００２１】上位コントローラ１からそれぞれのサーボ
アンプ３，８に同じ位置指令パルス信号を入力する。指
令に従い動作した第１のサーボ系２のサーボモータ４に
取り付けられたロータリーエンコーダ５から位置検出信
号が出力され、第２のサーボ系７のサーボアンプ８の補
助偏差カウンタ１６に入力される。また、第２のサーボ
系７の位置検出信号１４も同様に得られるので、これを
第２のサーボ系７のサーボアンプ８の補助偏差カウンタ
１６に入力する。The same position command pulse signal is input from the host controller 1 to each of the servo amplifiers 3 and 8. A position detection signal is output from the rotary encoder 5 attached to the servomotor 4 of the first servo system 2 that operates according to the command, and is input to the auxiliary deviation counter 16 of the servo amplifier 8 of the second servo system 7. Also, since the position detection signal 14 of the second servo system 7 is obtained in the same manner, this is input to the auxiliary deviation counter 16 of the servo amplifier 8 of the second servo system 7.
【００２２】これにより２軸間の位置偏差が検出でき
る。この２軸間の位置偏差量をマイコン１７に入力し、
ソフトウェアにて補正ゲインＫを乗じた偏差量にて速度
偏差の補正を行なう。As a result, a positional deviation between the two axes can be detected. The position deviation between the two axes is input to the microcomputer 17 and
The speed deviation is corrected by a deviation amount obtained by multiplying the correction gain K by software.
【００２３】第１のサーボ系２の動作状態により第２の
サーボ系７の応答を変化させるためにサーボ系の位置ゲ
インＫＰ、位置フィードフォワードＦＦは２軸間の位置
偏差量にて可変可能とする。これにより、第２のサーボ
系７の応答を第１のサーボ系２の応答に応じて常に変化
させることが可能となり、完全な同期制御に近い追従制
御を実現することができた。In order to change the response of the second servo system 7 depending on the operation state of the first servo system 2, the position gain KP and the position feedforward FF of the servo system can be changed by the amount of positional deviation between the two axes. I do. As a result, the response of the second servo system 7 can be constantly changed according to the response of the first servo system 2, and tracking control close to perfect synchronous control can be realized.
【００２４】またこのモータ制御装置のハードウェアは
標準的な位置制御サーボアンプに対し、補助偏差カウン
タ１６があればおおむね設計可能である。さらにリニア
スケールなどを用いた機械の実位置を検出・制御するこ
とが可能なフルクローズ制御用サーボアンプは、通常の
位置偏差カウンタの他に補助カウンタを備えている場合
が多く、この場合はこの補助カウンタを補助偏差カウン
タとして用いることにより、サーボ制御ソフトウェアの
書き換えのみで、この２軸追従制御が容易に可能とな
る。The hardware of the motor control device can be generally designed with respect to a standard position control servo amplifier if an auxiliary deviation counter 16 is provided. In addition, servo amplifiers for full-closed control that can detect and control the actual position of a machine using a linear scale or the like often have an auxiliary counter in addition to a normal position deviation counter. By using the auxiliary counter as the auxiliary deviation counter, the two-axis follow-up control can be easily performed only by rewriting the servo control software.
【００２５】[0025]
【発明の効果】上記実施例の記載から明らかなように、
請求項１記載の発明により、応答の異なる２軸間の追従
制御について、片方の位置検出信号を他方のサーボアン
プにフィードバックすることで、２軸間の位置偏差を検
出し速度偏差を補正することで容易に実現可能である。As is clear from the description of the above embodiment,
According to the first aspect of the present invention, for following control between two axes having different responses, a position deviation between two axes is detected and a speed deviation is corrected by feeding back one position detection signal to the other servo amplifier. And can be easily realized.
【００２６】さらに請求項２から５の発明により、より
正確な追従制御を得ることが可能となる。Further, according to the second to fifth aspects of the present invention, more accurate following control can be obtained.
【図１】本発明の実施例を示すサーボ系のブロック図FIG. 1 is a block diagram of a servo system showing an embodiment of the present invention.
【図２】従来の実施例を示すサーボ系のブロック図FIG. 2 is a block diagram of a servo system showing a conventional embodiment.
【図３】従来の実施例を示すサーボ系のブロック図FIG. 3 is a block diagram of a servo system showing a conventional embodiment.
２ 第１のサーボ系 ７ 第２のサーボ系 １３ 第１のサーボ系の位置検出信号 １４ 第２のサーボ系の位置検出信号 １５ 偏差カウンタ １６ 補助偏差カウンタ 2 First servo system 7 Second servo system 13 Position detection signal of first servo system 14 Position detection signal of second servo system 15 Deviation counter 16 Auxiliary deviation counter
Claims (5)
出信号をフィードバックし、位置制御を行うモータ制御
装置において、位置指令と位置フィードバック量の比較
を行う偏差カウンタとは別に設けた補助偏差カウンタを
備えることにより、異なる応答を持つ２軸のサーボ系に
対し、第１のサーボ系の位置検出信号と第２のサーボ系
の位置検出信号を、第２のサーボ系の補助偏差カウンタ
に入力することにより、第１のサーボ系と第２のサーボ
系の動作状態での位置偏差を検出可能とし、上記補助偏
差カウンタの値に補正ゲイン（Ｋ）を乗じた信号を、第
２のサーボ系の速度マイナーループに加算し、第２のサ
ーボ系の速度偏差を補正することにより、２軸のサーボ
系を追従動作させるモータ制御装置。An auxiliary deviation counter provided separately from a deviation counter for comparing a position command and a position feedback amount in a motor control device for performing position control by feeding back a position detection signal from a motor having a position detector. With respect to the two-axis servo system having different responses, the position detection signal of the first servo system and the position detection signal of the second servo system are input to the auxiliary deviation counter of the second servo system. This makes it possible to detect a position deviation in the operating state of the first servo system and the second servo system, and outputs a signal obtained by multiplying the value of the auxiliary deviation counter by a correction gain (K) to the second servo system. A motor control device that causes a two-axis servo system to follow up by adding to a speed minor loop to correct a speed deviation of a second servo system.
ーボ系のサーボアンプの補正ゲイン（Ｋ）を変化させる
ことにより、第２のサーボ系の動作を指令に対し補正
し、２軸のサーボ系を追従動作させる請求項１記載のモ
ータ制御装置。2. The operation of the second servo system is corrected in response to a command by changing the correction gain (K) of the servo amplifier of the second servo system according to the value of the auxiliary deviation counter, and the two-axis servo is controlled. 2. The motor control device according to claim 1, wherein the system performs a follow-up operation.
ーボ系のサーボアンプの位置ゲイン（ＫＰ）を変化させ
ることにより、第２のサーボ系の動作を指令に対し補正
し、２軸のサーボ系を追従動作させる請求項１記載のモ
ータ制御装置。3. The operation of the second servo system is corrected in response to a command by changing the position gain (KP) of the servo amplifier of the second servo system according to the value of the auxiliary deviation counter, and the two-axis servo 2. The motor control device according to claim 1, wherein the system performs a follow-up operation.
ーボ系の位置フィードフォワード（ＦＦ）を変化させる
ことにより、第２のサーボ系の動作を指令に対し補正
し、２軸のサーボ系を追従動作させる請求項１記載のモ
ータ制御装置。4. The operation of the second servo system is corrected in response to a command by changing the position feed forward (FF) of the second servo system according to the value of the auxiliary deviation counter, and the two-axis servo system is controlled. 2. The motor control device according to claim 1, wherein the motor control device performs a follow-up operation.
から４に記すいずれかの値を組み合わせることにより、
第２のサーボ系の動作を指令に対し補正し、２軸のサー
ボ系を追従動作させる請求項１記載のモータ制御装置。5. The method according to claim 2, wherein the value of the auxiliary deviation counter is determined by the value of the auxiliary deviation counter.
By combining any of the values from
2. The motor control device according to claim 1, wherein the operation of the second servo system is corrected for the command, and the two-axis servo system is made to follow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14270098A JP3551762B2 (en) | 1998-05-25 | 1998-05-25 | Motor control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14270098A JP3551762B2 (en) | 1998-05-25 | 1998-05-25 | Motor control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH11341885A true JPH11341885A (en) | 1999-12-10 |
| JP3551762B2 JP3551762B2 (en) | 2004-08-11 |
Family
ID=15321532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14270098A Expired - Fee Related JP3551762B2 (en) | 1998-05-25 | 1998-05-25 | Motor control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3551762B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005176493A (en) * | 2003-12-11 | 2005-06-30 | Yaskawa Electric Corp | Emergency stop method for motor driving device |
| JP2005278363A (en) * | 2004-03-26 | 2005-10-06 | Aisin Seiki Co Ltd | Motor controller |
| JP2005278361A (en) * | 2004-03-26 | 2005-10-06 | Aisin Seiki Co Ltd | Motor controller |
| JP2005278362A (en) * | 2004-03-26 | 2005-10-06 | Aisin Seiki Co Ltd | Motor controller |
| JP2006254525A (en) * | 2005-03-08 | 2006-09-21 | Toyo Electric Mfg Co Ltd | Synchronous control system |
| US7671553B2 (en) | 2003-04-11 | 2010-03-02 | Mitsubishi Denki Kabushiki Kaisha | Servo controller |
-
1998
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7671553B2 (en) | 2003-04-11 | 2010-03-02 | Mitsubishi Denki Kabushiki Kaisha | Servo controller |
| JP2005176493A (en) * | 2003-12-11 | 2005-06-30 | Yaskawa Electric Corp | Emergency stop method for motor driving device |
| JP4565312B2 (en) * | 2003-12-11 | 2010-10-20 | 株式会社安川電機 | Servo controller and emergency stop method |
| JP2005278363A (en) * | 2004-03-26 | 2005-10-06 | Aisin Seiki Co Ltd | Motor controller |
| JP2005278361A (en) * | 2004-03-26 | 2005-10-06 | Aisin Seiki Co Ltd | Motor controller |
| JP2005278362A (en) * | 2004-03-26 | 2005-10-06 | Aisin Seiki Co Ltd | Motor controller |
| JP4586960B2 (en) * | 2004-03-26 | 2010-11-24 | アイシン精機株式会社 | Electric motor control device |
| JP4678475B2 (en) * | 2004-03-26 | 2011-04-27 | アイシン精機株式会社 | Electric motor control device |
| JP4678476B2 (en) * | 2004-03-26 | 2011-04-27 | アイシン精機株式会社 | Electric motor control device |
| JP2006254525A (en) * | 2005-03-08 | 2006-09-21 | Toyo Electric Mfg Co Ltd | Synchronous control system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3551762B2 (en) | 2004-08-11 |
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