JPS62290901A - Motor position controller - Google Patents

Abstract

PURPOSE:To inhibit the extreme position control even though the abnormal feedback signal is produced by the external noises and to ensure the smooth position control of a motor, by newly estimating the feedback signal and applying it to a feedback control means when the feedback signal value exceeds the control value. CONSTITUTION:A CPU 1 reads the resolver signal via a position detecting control circuit 15 and updates the feedback position. Here the feedback position signal is temporarily defined as FBnew since a circuit malfunction may possibly be considered. Then the difference DELTAnew is obtained between the feedback position FB read in the previous time and the feedback position FBnew read this time. Then a feedback error is decided if the difference DELTAnew is not kept between control values DELTA1 and DELTA2. Thus the FBnew is obtained as the correct value from the value FB read in the previous time and the difference DELTA between the previous FB and its preceding FB. It is decided that the correct position is read, if no feedback error is detected. Therefore the difference DELTA is replaced for the next reading action. In such a way, the position of a motor is controlled based on said feedback position FB.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Objective of the Invention 1 (Industrial Application Field) This invention relates to a morph position control device, and in particular to a position detection device of an absolute position detection type such as a resolver or an absolute encoder. This invention relates to a closed-loop seven-way control system with a device d.

(Prior Art) Absolute single position detection type position detection devices such as resolvers and absolute encoders process feedback signals corresponding to the shaft angle of the motor. I! Even if the circuit malfunctions due to external noise during the process, once the noise disappears, the correct position detection signal will be restored. On the other hand, the relative position detection device of the incremental encoder outputs the relative position between one moment and another as a feedback signal, so it introduces external noise in the process of processing the feedback signal. When malfunctions occur, the errors accumulate. Therefore, in a device that is susceptible to external noise, a position detection device of the continuous one-position detection type is used.

However, even with this type of absolute position detection type position detection device, although it has a tendency to return to the correct feedback signal, at the moment when the erroneous v′J operation occurs, Because it is detecting,
First, the next motor operation is commanded based on the tsuda detection signal.As a result, the motor operation may sometimes not be smooth.

(Problems to be Solved by the Invention) As with the dirt floor, conventional motor position control devices have a problem in which the influence of external noise cannot be avoided.

The present invention has been made to solve such conventional problems, and an object of the present invention is to provide a motor position control 2a neck mount that can smoothly control the position of the -E-Y.

[Structure of the Invention] (Means for Solving the Problems) The L-Ri Saga I11 control system of the present invention (above, for the feedback system OD means, the feedback signal is compared with a predetermined limit value, and the feedback signal is If the signal is larger than the limit value, the feedback signal for the feedback control means is as follows:
The present invention is equipped with a correction means for adding the difference between the feedback signals to the previous feedback signal.

(Function) In the motor Saga control device of the present invention, when the feedback signal to the feedback control means is large exceeding the limit value, the feed rose signal to the feedback control means is newly set to 11, and Even if there is abnormal feedback No. 13 (Le 9η), do not perform position control, and do not perform position control of the motor (211).
Make things smooth.

(Embodiment) Fig. 2 shows the system configuration of an embodiment of the motor (17) control head of the present invention.
It is equipped with a morph speed command signal to signal generation circuit 5 which is Ll+12[1 generated by the CPU 1, a servo dry half, and a motor 9 driven by the servo driver 7. Also,
For the motor 9, a tachogenerator 11 and a resolver 13 as a position detection device are installed (J3).
The position detection signal of this resolver 13 is transmitted to the position detection control circuit 1.
It is designed to be given to 5.

The position detection control circuit 15 of the resolver 13 is composed of a resolver excitation circuit and a resolver-to-digital conversion circuit.

” Two motor position systems! 20; The operation of this will be explained below.

With reference to FIG. 3, according to the blog in memory 3,
A position command value is calculated in the CPU 1, BS is updated to the current command position, and a seven-speed speed command is given to the seven-speed speed command signal generating circuit 5.

(Step 21.23) Receiving this speed command, the light generation circuit 5 issues a speed l command signal 8 to the 1-nervo driver 7, and drives the driver 9 at a predetermined speed. ” Zuru. Then, by driving the motor 9, the current actual position of the variable size is read by the resolver 13, and is input to the position detection control circuit 15. This position detection control circuit 15 performs resolver-digital conversion and sends the actual position signal to the CPU 1 as a feedback position FB.
Enter.

(Step 25) The CPU uses the read feedback (the latest 11C1 is 11C1) and compares it with the current command position ABS to find the deviation. (Step 27) Then, this deviation is calculated. Then, it is determined whether the actual position has reached the command value, and if it has, the feedback 11 control is ended, and if it has not reached the command value, the next speed feedback control is performed (step 2). 1) Feedback T, II
12n indicates that CPU 1 has a deviation "E", motor 9
Introducing the new speed of c1, speed! ! J, Command (11g) Gives the signal to the g generation circuit 5. Then, the motor speed command signal generation circuit 5 gives the servo driver 7 a dogfish speed IQ command signal COm proportional to G i'A IE. , this 4)-bo driver 7 is fast Lfl j+);"-iV
Drive the seventh gear 9 at a speed Iff proportional to com,
, and the tachogenerator 11 controls the speed j− of the motor 9.
The speed of the motor is fed back to the servo driver 7, and the speed of the motor 9 is changed. : Iυ11 becomes. (Step 31.: +3
) By repeating the above operations, the rotation amount of the motor 9 is feedback-controlled so as to follow the current command position ABS.

However, there is generally a distance between the control circuit and the mechanical system to which the motor, tachogenerator, and resolver are attached, and they are connected by cables. Therefore, the cable is often exposed to external noise, and as a result, a feedback signal detection error may occur. Furthermore, the control circuit may also malfunction.

Therefore, in the case of an absolute position detecting type position detecting device such as the resolver 13 of this embodiment, the feedback signal utilizes the property that even if a malfunction occurs, the feedback signal itself returns to the correct position if it returns to normal. , the feedback error is detected and the correct feedback position is estimated and generated as follows.

Referring to FIG. 4, CPU 1 reads the resolver signal via position detection control circuit 15 and updates the feedback position. Here, since it is unknown because it includes a malfunction of the circuit, the feedback position signal is hypothetically F B n
Leave it as ew. (Step 41) Next, find the difference between the previously read feedback position "B" and the current feedback position F B new.
Step 43) Δnew =F3new-FB Check whether this Δnew is between the limit values Δ1 and Δ2. (Step 45) In this step 45, if △new is not within the above range, it is determined that a feedback error has occurred (step 47), the newly read value is discarded, and the previously read value /v is used as the correct value. From the value F[3 and the difference △ between the previous FB and the previous previous FB, F Bnew is calculated by Ω. (Step 47) 1':13new=FB+Δ This is because if the cycle of reading the feedback signal is sufficiently faster than the response speed of the motor, the motor will maintain the rotation direction and speed when it was read last time. be.

In step 45, if there is no feedback error, the correct position has been read, so Δ is updated for the next read operation. (Step 49
) Δ = Δnew After the feedback position is correctly determined by reading or Jff determination, FB is updated. (Step 51) F B = F B new At the feedback position FB thus obtained, the position of the motor is thereafter feedback-controlled. This feedback control is performed based on steps 25 and subsequent steps in the flow shown in FIG.

Note that Δ1 and Δ2 are set in advance as follows. Reading of the feedback signal is normally executed within a constant cycle interrupt processing routine. In addition, a constant feed F is added in the imprint processing routine so that the motor rotates at a constant speed.

Therefore, if the motor is normally following the position command, FB should also be incremented by F. Therefore, considering the tracking error Δer, set Δ1-"-Δer Δ2-"-1-Δ cr.Here, the tracking error Δer is specific to the mechanical system and control circuit, It is set in advance for each device.

Of course, a feedback error may occur due to a fatal failure such as a break in the feedback signal line. In order to prevent such feedback errors, a hardware abnormality detection circuit may be provided, or a counter may be provided to count consecutive errors after a certain number of days. L feedback error is 4
If the process continues, a flow can be provided to take other types of measures for re-booting.

[Effect of the invention] This invention corrects the above horizontal hole, so 57□':';
lIC+(j1shi, motor @ work without smoothness: trowel/monkey.

[Brief explanation of drawings]

Fig. 1 is a diagram corresponding to the claims of the present invention, Fig. 2 is a block circuit diagram of an embodiment of the invention, and Fig. 3 is a diagram showing the operation of the above embodiment. Above fruit 11
(!Example Fee 1: Flow Iz-l- shows the operation when a back error occurs. 1...CPU 3...Memory 5...Motor speed command generation circuit 7. ...Revo driver 9...Seven-taper 11...Tachogenerator 13...Resolver 15...Pleasure detection control 21 circuit Agent Patent attorney Yasuo Miyoshi Figure 1 Figure 2 Figure 3 Figure 4 = “Continuation of the series I (spontaneous) June 72, 1988”

Claims (1)

[Scope of Claims] A motor position command means; a motor position detection means; a motor position detection value from the position detection means is compared with a position command value of the position command means, and the motor is placed in a normal position. A control means for performing feedback control compares the difference between the actual position detection value and the position command value with a predetermined limit value, and if the difference value exceeds the limit value, the previous feedback control value of the motor is used. A motor position control device comprising a correction means for adding a difference Δ between a motor position detection value and a previous motor position detection value to the previous motor position detection value to estimate a new feedback position signal.