JPWO2014112178A1 - Motor control device - Google Patents

Abstract

In order to obtain a motor control device that realizes high-speed and good response characteristics, the motor control device calculates a change amount of the first state variable ξ based on the first state variable ξ and the speed command Vr, and performs the first operation. , The speed model 21 that outputs the speed feedforward Vff and the current feedforward Uff based on the updated first state variable ξ, the actual speed V of the motor 11, the speed feedforward Vff, and the current The second state variable η is calculated based on the feedforward Uff and the second state variable η is updated, and the actual speed V, the speed feedforward Vff, the current feedforward Uff of the motor 11 and the updated state are updated. A speed controller 33 that outputs a current command U based on the second state variable η, and a current limit that outputs a current command Usat after limitation with the current command U as an input Includes a 34, based on the current command U and post-restriction current command USAT, a variation coefficient calculation unit 36 for calculating a variation coefficient alpha, the.

Description

  The present invention relates to a motor control device.

  In a motor control device that drives a control target including a motor and a mechanical system coupled to the motor, if a load such as a moment of inertia or friction of the control target changes, the target position command must be recalculated based on the magnitude of the load. Don't be. For this reason, technological development is being advanced that can automatically adapt to the target position and load size and automatically generate a positioning command with the maximum torque.

  As such a prior art, for example, Patent Document 1 discloses a speed command generating means for switching a maximum speed command, a zero speed command, and a speed command proportional to the position deviation according to the magnitude relationship between the position deviation and a reference value, A control device including a speed controller with a windup function is disclosed. According to the technique disclosed in Patent Document 1, the reference value is a value obtained by dividing the square of the actual speed of the motor by a value obtained by doubling the acceleration obtained from the maximum torque of the motor, the inertial moment and friction of the control target, It is said that it is possible to perform high-speed positioning according to an ideal speed pattern using maximum torque only by giving a target position.

JP 2005-160152 A

  However, in a motor control device that drives a controlled object composed of a motor and a mechanical system coupled to the motor, if the load of the controlled object is unknown, the inertial moment of the controlled object is less than 1 times the inertial moment of the motor. Where it is required to be able to handle up to several tens of times, according to the above-described conventional technology, the response characteristics change depending on the magnitude of the load to be controlled, and the magnitude of the load to be controlled is a nominal value. There is a problem that a good response cannot be obtained when it is greatly different from the above. Further, since the speed command value is switched from the maximum speed to the zero speed, there is a problem that the response may be deteriorated due to a transient change accompanying the switching.

  The present invention has been made in view of the above, and even when the load such as the moment of inertia and friction of the controlled object is unknown or the magnitude of the load changes greatly, the target position, the speed limit, and the load An object of the present invention is to obtain a motor control device that can automatically generate a position command and a speed command adapted to the size of the motor and realizes a high-speed and good response characteristic.

  In order to solve the above-described problems and achieve the object, the present invention is a motor control device that drives a control object including a motor and a mechanical system connected to the motor based on a speed command, and includes one or more The first state variable is calculated based on the first state variable and the speed command, and the first state variable is updated, and the updated first state variable is used as the updated first state variable. A speed model that calculates and outputs a speed feedforward and a current feedforward based on the second speed variable, and a second state variable that is one or more variables based on the actual speed of the motor, the speed feedforward, and the current feedforward And the second state variable is updated, the actual speed of the motor, the speed feedforward, the current feedforward, and the updated second state variable. A speed controller that calculates and outputs a current command based on the state variable, a current limiter that receives the current command as an input and outputs a post-limit current command that is equal to or less than a limit current value, the current command and the post-limit A change coefficient calculation unit that calculates a change coefficient that is a correction coefficient of the change of the first state variable and the second state variable based on a current command, and the speed model includes the first In the calculation of the change amount of the first state variable, correction is performed by multiplying the change amount coefficient, and the speed controller performs correction for multiplying the change amount coefficient in the calculation of the change amount of the second state variable. It is characterized by.

  According to the present invention, even if the load such as the moment of inertia and friction of the controlled object is unknown or the load changes greatly, it is automatically adapted to the target position and speed and the load. There is an effect that it is possible to obtain a motor control device capable of automatically generating a position command and a speed command and realizing a high-speed and good response characteristic.

FIG. 1 is a block diagram illustrating a configuration of the motor control device according to the first embodiment. FIG. 2 is a diagram illustrating a current-torque characteristic represented by a nonlinear function according to the first embodiment. FIG. 3 is a diagram illustrating a speed response on the virtual time τ axis when the load inertia ratio of the control target according to the first embodiment is changed. FIG. 4 is a diagram illustrating velocity responses on the real time t-axis and the virtual time τ axis according to the first embodiment. FIG. 5 is a diagram illustrating a speed response and a torque response when the load inertia ratio of the control target according to the first embodiment is changed. FIG. 6 is a block diagram of a configuration of the motor control device according to the second embodiment. FIG. 7 is a diagram illustrating a speed response and a torque response when the load inertia ratio of the control target according to the second embodiment is changed. FIG. 8 is a block diagram of an example of the configuration of the speed model according to the first embodiment. FIG. 9 is a block diagram of a configuration of the motor control device according to the third embodiment.

  Embodiments of a motor control device according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a first embodiment of a motor control device according to the present invention. The motor control device shown in FIG. 1 includes a control object 1, a speed model 21, a speed controller 33, a current limiter 34, a current controller 35, and a change coefficient calculation unit 36.

  The control target 1 includes a motor 11, a mechanical system 12 connected to the motor 11, and a speed detector 13 that detects the speed of the motor 11. Alternatively, a position detector (for example, an encoder or a resolver) may be provided instead of the speed detector 13, and the speed of the motor 11 may be calculated by differentiating the output of the position detector. Alternatively, a current detector may be provided instead of the speed detector 13, and the speed of the motor 11 may be estimated from the output of the current detector. The speed detector 13 outputs the detected actual speed V.

The speed model 21 is a model that calculates and outputs a speed feed forward V _ff and a current feed forward U _ff from a speed command V _r input from the outside using a state equation represented by the following expression (1). is there.

Note that the matrices A _ff , B _ff , C _ff , and D _ff in Equation (1) are preset matrices, and the variation coefficient α is calculated by the variation coefficient calculation unit 36 as described later. The state variable ξ that is one or more variables is a vector that represents the state variable of the speed model 21. The first expression of the equation (1) is an update operation of the state variable ξ, and the change amount of the state variable ξ is calculated by the first equation of the expression (1). Calculate each.

Here, when α = 1, Equation (1) is a state equation of a speed model in a control method called general model following control. In a control method called general model following control, a speed feedforward V _ff and a current feedforward U _ff are calculated from a speed command V _r input from the outside by a speed model. As the speed feed forward V _ff , a signal having an ideal response waveform with respect to the speed command V _r is output. Further, as the current feedforward U _ff , a signal obtained by differentiating the velocity feedforward V _ff and multiplying by the nominal value J _{n of the} moment of inertia of the controlled object 1 is output. At this time, the characteristics of the current feed forward U _ff and the speed feed forward V _ff are in agreement with the input / output characteristics of the nominal model of the controlled object 1. The matrices A _ff , B _ff , C _ff , and D _ff are set so that the speed model 21 has the characteristics described above.

FIG. 8 is a block diagram showing an example of the configuration of the speed model 21 that can obtain such characteristics. The speed model 21 illustrated in FIG. 8 includes integrators 211 and 212, multipliers 213, 214, and 215, and subtractors 216 and 217. In FIG. 8, when α = 1, the input / output characteristics from the speed command V _r to the speed feed forward V _ff are linear low-pass characteristics, and the current feed forward U _ff is a signal corresponding to the differentiation of the speed feed forward V _ff. Is multiplied by the nominal value J _{n of the} moment of inertia of the controlled object 1. Further, the integrators 211 and 212 calculate the value of the integration variable by integrating the change at each time as the change of the integration variable, which is the product of the input signal to the integrator and the change coefficient α. . If the values of the integrators 211 and 212 are respectively ξ ₁ and ξ ₂ , the state equation of the block diagram shown in FIG. 8 can be expressed by the following equation (2). Therefore, by setting the matrices A _ff , B _ff , C _ff , D _ff and the state variable vector ξ as shown in the following formula (3), the calculation formula of the block diagram of FIG. 8 is expressed by the formula (1). Can do.

  In the present embodiment, the case where the speed model 21 includes two integrators, that is, the case where the order of the speed model 21 is the second order has been described. However, the present invention is not limited to this. The order of the speed model may be a natural number.

The speed controller 33 includes a difference between the speed feedforward V _ff and the actual speed V, a current feedforward U _ff , preset constants K _v (speed proportional gain), K _i (speed integral gain), and change coefficient. From α, the current command U is calculated and output using the state equation shown in the following equation (4).

  Here, when α = 1, Expression (4) represents general speed proportional integration (PI) control. The integral variable η (second state variable) is a scalar value that represents the integral variable of the speed controller 33. However, in the motor control device of the present embodiment, the actual change amount of the integral variable η is changed to the change amount of the integral variable obtained by a general proportional integration calculation, as in the equation (1). The value obtained by multiplying α. For example, when a low-pass filter is added to the speed controller 33, the integral variable η becomes a vector composed of the integral variable of the proportional integral calculation and the state variable of the added low-pass filter calculation.

The current limiter 34 receives the current command U and outputs a post-limit current command U _sat so that the absolute value of the input current command U is equal to or less than a preset maximum current command value U _max . That is, when the absolute value of the input current command U is equal to or less than the maximum current command value U _max , the limited current command U _sat is equal to the input current command U, and the absolute value of the input current command U is When the maximum current command value U _max is exceeded, the post-limit current command U _sat becomes the maximum current command value U _max .

The current controller 35 receives the limited current command U _sat and outputs the current i of the motor 11.

The variation coefficient calculation unit 36 includes a torque constant multiplier 361, a nonlinear torque model 362, and a ratio calculator 363, and calculates a variation coefficient α based on the ratio of the current command U and the limited current command U _sat. To do. The torque constant multiplier 361 receives the current command U, calculates a torque command T _cmd by multiplying it by a preset torque constant K _t , and outputs it. The non-linear torque model 362 is a model that calculates and outputs the actual torque T of the motor 11 from the input post-restricted current command U _{sat using} a preset current-torque characteristic of the motor 11. Here, the current-torque characteristic used for the nonlinear torque model 362 is expressed by a nonlinear function considering the magnetic saturation and voltage saturation of the motor 11. FIG. 2 is a diagram showing current-torque characteristics represented by such a nonlinear function (solid line). The ratio calculator 363 calculates and outputs the variation coefficient α by multiplying the actual torque T by the reciprocal of the torque command T _cmd . When the torque command T _cmd is 0, the variation coefficient α output by the ratio calculator 363 is 1.

  Next, the operation principle of the motor control device of the first embodiment will be described.

  Assuming that the rigidity of the mechanical system 12 included in the control target 1 is high enough to allow the control target 1 to be regarded as a rigid body of the moment of inertia J and that the delay due to the current controller 35 can be ignored, the current of the control target 1 The dynamic characteristics from the command U to the actual speed V are expressed by the following equation (5).

  Here, g (U) is a function of the current command U and represents the non-linear characteristic by the current limiter 34 and the current-torque characteristic of the motor 11. That is, g (U) represents the actual torque T.

Further, the torque constant K _t used in the torque constant multiplier 361 is expressed by the following equation (6).

Since the variation coefficient α is a value calculated by multiplying the actual torque T = g (U) by the reciprocal of the torque command T _cmd = K _t * U, the variation coefficient α is expressed by the following equation ( 7).

  Here, the virtual time τ is defined by the following equation (8).

  The virtual time τ is obtained by expanding and contracting the real time t so that the rate of change is obtained by multiplying the rate of change of the real time t by the reciprocal of the equation (8). The state equation of the controlled object 1 on the virtual time τ axis (equation (5) on the real time t axis) is expressed by the following equation (9) on the virtual time τ axis.

Since the moment of inertia J and the torque constant _Kt are constants, equation (9) is linear.

  Similarly, in the state equation of the velocity model 21 on the virtual time τ axis, since the right side of the equation (8) is the reciprocal of the right side of the equation (5), the following equation (10) is obtained on the virtual time τ axis. expressed.

  Similarly, the state equation of the speed controller 33 on the virtual time τ axis is expressed by the following equation (11) on the virtual time τ axis.

  The above equations (9), (10), and (11) are all linear, and the current command U is not limited. Therefore, the response of the control target 1 on the virtual time τ axis is not affected by the current limit in the current limiter 34. Further, the response of the control object 1 on the virtual time τ axis is not affected by the fact that the current-torque characteristic of the motor 11 is nonlinear.

Further, as described above, the control system of the motor control device shown in FIG. 1 generates a desired response with the speed model 21, and performs model following control in which feedback control is performed so that the controlled object 1 follows this response. Therefore, the response characteristics of the speed control system can be set independently of the characteristics of the speed controller 33 by the matrices A _ff , B _ff , C _ff , and D _ff in the speed model 21.

FIG. 3 shows that the error suppression performance of the speed controller 33 is sufficiently higher than the response characteristic of the speed model 21 (that is, the error is suppressed with respect to the response characteristic of the speed model 21). FIG. 6 is a diagram illustrating a speed response on the virtual time τ axis when the load inertia ratio (moment of inertia) of the control target 1 is changed in the case of setting. When the matrices A _ff , B _ff , C _ff , D _ff and constants K _v , K _i are set so that the error suppression performance of the speed controller 33 is sufficiently higher than the response characteristics of the speed model 21, the control object 1 Even if the moment of inertia changes, a control system in which the change in response characteristics is small can be realized.

That is, even if there is an error between the nominal value J _n of the inertial moment in the controlled object 1 and the inertial moment J of the controlled object 1, a satisfactory response is possible.

FIG. 4 is a diagram illustrating the speed response of the controlled object 1 on the real time t axis and the virtual time τ axis. The speed response of the controlled object 1 on the real time t-axis is expressed by the following formula (9), (10), and (11) that are linear state equations: According to the relationship between the real time t and the virtual time τ obtained in 8), the response is expanded in the time axis direction. Therefore, in order not to overshoot the speed response on the real time t-axis, the dynamic characteristics of the speed model 21 and the speed controller 33 should be set so that the speed response does not overshoot on the virtual time τ axis. That's fine. This means that the control system of the present embodiment described above includes an anti-windup effect, and is a case where a large value is input as a step signal to the speed command V _r and U ≧ U _max. However, the actual speed V can be controlled without overshooting. Therefore, by configuring as described above, control also subject 1 moment of inertia J is a case where the unknown (if the maximum acceleration at U _max is unknown), step signal target speed to the speed command V _r It is possible to realize a high speed response by the maximum acceleration.

  FIG. 5 is a diagram illustrating a speed response (FIG. 5A) and a torque response (FIG. 5B) when the load inertia ratio (moment of inertia J) of the control target 1 is changed. According to FIGS. 5A and 5B, in any case, the actual speed V does not overshoot even when acceleration is performed with the maximum torque (maximum acceleration).

  As described above, in the motor control device of the present embodiment, even if the inertial moment to be controlled is unknown or the magnitude of the load changes greatly, if the target speed is given, Therefore, it is possible to realize a high speed and good speed response adapted to the target speed and the moment of inertia. Further, in the motor control device of the present embodiment, the non-linearity of the motor current-torque characteristic (non-linear torque model characteristic) is compensated to prevent deterioration of the response due to the non-linearity of the motor current-torque characteristic. Can do.

  In addition, in said description, the case where there is no friction in the control object 1 is demonstrated. If friction occurs in the controlled object 1 and the viscous friction coefficient is c, the dynamic characteristic of the controlled object 1 is expressed by the following equation (12).

  If the same control as in the case where there is no friction is performed on the control target 1 in which friction occurs, the control target 1 on the virtual time τ axis is represented by the following equation (13).

  The above equation (13) can be regarded as a linear time-varying state equation in which the viscous friction coefficient c varies with the variation coefficient α. As described above, since the control system in the model following control is not easily affected by the error and fluctuation of the controlled object 1, the friction coefficient is the same as the response characteristic hardly changes even when the inertia moment J fluctuates. Even if it changes, the response characteristic hardly changes. Therefore, the motor control device according to the present embodiment is hardly affected by friction and can realize a high speed and good speed response only by giving a target speed.

  When the moment of inertia J and the viscous friction coefficient c are set in advance, the variation coefficient calculation unit 36 can also calculate the variation coefficient α by the following equation (14).

  At this time, the virtual time τ is defined by the following equation (15) instead of the above equation (8).

  Then, the state equation of the control target 1 on the virtual time τ axis is expressed by the following equation (16).

  Unlike the above equation (13), the above equation (16) can be regarded as a linear time-invariant state equation that does not include the variation coefficient α. Thus, the calculation method of the variation coefficient α calculated by the variation coefficient calculation unit 36 is not limited to the above, and various methods can be applied.

  In the above description, the state equation of the continuous time is used. However, even in the case of the discrete time, the change from the previous sampling time of the state variable at each sampling time is similarly obtained by the conventional update operation of the state variable. The above characteristics can be realized by setting the value to α times the value obtained.

Note that when the non-linearity of the current-torque characteristic of the motor 11 is so small that it can be ignored, or when the operation is performed only in a range where such non-linearity can be ignored, the torque coefficient multiplier 361 and The current command U and the limited current command U _sat may be input to the ratio calculator 363 without providing the nonlinear torque model 362. By adopting such a configuration, only the non-linearity due to the maximum current command value U _max that is the limit value of the current command in the current limiter 34 is considered.

  If the speed controller 33 is provided with a low-pass filter or a notch filter that suppresses mechanical resonance, even if current saturation occurs, no error is accumulated in these filters. The change need not be multiplied by the change coefficient α. In particular, in the notch filter, when the change of the state variable is multiplied by the change coefficient α, the notch frequency set according to the resonance frequency of the machine changes, and therefore, the change coefficient α need not be multiplied.

  As described above, the motor control device of the present embodiment is a motor control device that drives a control target including a motor and a mechanical system coupled to the motor based on a speed command, and includes one or more variables. The change of the first state variable is calculated based on the first state variable and the speed command, and the first state variable is updated. Based on the updated first state variable A speed model that calculates and outputs a speed feedforward and a current feedforward, and a change in a second state variable that is one or more variables based on the actual speed of the motor, the speed feedforward, and the current feedforward The second state variable is calculated and the second state variable is updated, the actual speed of the motor, the speed feedforward, the current feedforward, and the updated second state variable. A speed controller that calculates and outputs a current command based on the current command, a current limiter that receives the current command as input and outputs a post-restricted current command that is equal to or less than a limit current value, the current command and the post-restricted current command And a variation coefficient calculation unit that calculates a variation coefficient that is a correction coefficient for the variation of the first state variable and the second state variable, and the velocity model includes the first state variable In the calculation of the change amount of the variable, correction is performed by multiplying by the change amount coefficient, and in the calculation of the change amount of the second state variable, the speed controller performs correction by multiplying by the change amount coefficient. To do.

Embodiment 2. FIG.
FIG. 6 is a block diagram showing the configuration of the second embodiment of the motor control apparatus according to the present invention. Here, constituent elements having the same functions as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. The motor control device shown in FIG. 6 includes a control object 1a, a position model 2 including a speed model 21, a position controller 31, a differentiator 32, a speed controller 33, a current limiter 34, and a current controller. 35, a change coefficient calculation unit 36, an inertia moment estimation unit 37, a deceleration calculation unit 38, and a maximum speed setting unit 39.

  The control target 1 a includes a motor 11, a mechanical system 12 connected to the motor 11, and a position detector 14 that detects the position of the motor 11. For example, an encoder or a resolver may be used as the position detector 14.

  The position model 2 includes a speed model 21, a speed command calculation unit 22, and an integrator 23.

The speed command calculator 22, (the difference between the target position X _r and the position feedforward X _ff) remaining distance e, which is calculated by the deceleration calculation unit 38 to the maximum velocity V _max, and described below a preset The deceleration A _dec is input, and the speed command V _r is output. The maximum speed V _max is set by the maximum speed setting unit 39.

The speed model 21 is a model that receives the speed command V _r and calculates and outputs the speed feed forward V _ff and the current feed forward U _ff as in the first embodiment.

The integrator 23 integrates the velocity feedforward V _ff output from the velocity model 21 and outputs the position feedforward _Xff .

The position controller 31, the deviation of the actual position X is detected as a position feedforward X _ff output from the integrator 23 at a position detector 14 as an input, the speed correction amount using the position gain set in advance V _c is output.

  The differentiator 32 differentiates the actual position X and outputs an actual speed V.

Speed controller 33, the difference between the sum and the actual speed V of the velocity feed forward V _ff and the speed correction amount V _c, and inputs the current feedforward U _ff, as in the first embodiment, the output current command U To do.

  The current limiter 34, the current controller 35, and the variation coefficient calculation unit 36 are the same as those in the first embodiment.

The inertia moment estimator 37 receives the current i output from the current controller 35 and the actual position X or the actual speed V, and outputs the estimated inertia moment J _hat of the controlled object 1a. The inertia moment estimated value J _hat may be calculated, for example, by successively estimating using the acceleration and current i calculated by second-order differentiation of the actual position X or first-order differentiation of the actual speed V.

The deceleration calculation unit 38 receives the estimated inertia moment value J _hat and calculates and outputs the deceleration A _dec using the maximum torque T _max calculated from the preset maximum current U _max . The deceleration A _dec is calculated by the following equation (17).

Here, the constant γ in the above equation (17) is a positive constant that is set to 1 or less in advance, and is approximately 0.8 to 0.9 in order to make the torque during deceleration smaller than the maximum torque. . In addition, when the magnitude of the friction of the control object 1a is set in advance, the deceleration A _dec can be made larger than the value calculated by the above equation (17) in consideration of the friction. is there.

Here, the operation of the speed command calculation unit 22 will be described. The speed command calculation unit 22 uses a target speed function of a control method called a PTOS (Proximate Time-Optical Servo mechanism) method. This target speed function is expressed by the following equations (18) to (20). Note that e is the remaining distance between the target position _Xr and the position feedforward _Xff .

When such a target speed function is used, the target speed function is continuously switched according to the remaining distance e, so that the speed command V _r can be switched without deteriorating the transient response.

  Next, the operation of the motor control device according to the second embodiment will be described.

When the target position _{X r} where sufficiently distant from the current actual position X is set, the speed command calculation unit 22 from the equation (19) outputs a maximum speed _{V max,} the speed command _{V r} is from 0 _{V max} Switch. Then, since this control system includes a control system equivalent to the speed control system of the first embodiment in the speed loop, it automatically responds to the current limitation and the nonlinearity of the current-torque characteristics of the motor 11 and responds quickly and satisfactorily. actual speed V of the motor 11 is accelerated to the maximum velocity _{V max} by.

At this time, if current saturation occurs during acceleration, the response of the speed feedforward V _ff is automatically adjusted by the variation coefficient α. Therefore, the position feed forward X _ff obtained by integrating the speed feed forward V _ff is also a response that is automatically adjusted with respect to the current saturation. Further, the inertia moment estimation unit 37 estimates the inertia moment of the controlled object 1a during acceleration, and the deceleration A _dec input to the speed command calculation unit 22 is set by the above equation (17).

When the remaining distance e decreases, the target speed function V _r ′ of the speed command calculation unit 22 is switched to the first expression of Expression (18). Therefore, the speed command _Vr is decelerated at a constant speed _Adec . During this time, the actual speed V of the motor 11 is also decelerated at the deceleration A _dec . Since the value of the deceleration A _dec is set by the inertia moment estimated value J _{hat of the} controlled object 1a, an ideal deceleration response using the torque that can be generated by the motor 11 to the maximum can be realized.

Finally, when the remaining distance e becomes equal to or less than _el calculated by the above equation (20), the target velocity function V _r ′ of the velocity command calculating unit 22 is switched to the second equation of the above equation (18), The target speed function V _r ′ (speed command V _r ) is proportional to the remaining distance e. At this time, since the whole position model 2 is linear, the position feedforward X _ff is smoothly converged to the target position X _r. The position controller 31, the error of the position feedforward X _ff and the actual position X so is suppressed, the actual position X is also smoothly settled at the target position X _r.

As described above, the motor control device of the present embodiment, only the input of the target position X _r, the position so that the velocity response is an ideal trapezoidal waveform feedforward X _ff, velocity feedforward V _ff, and The current feedforward U _ff is automatically generated, and a high-speed and good positioning response can be realized.

In the present embodiment, since the speed control system having the configuration described in the first embodiment is included, compared to the conventional PTOS control method, for example, non-linearity such as load fluctuation or current limitation of the controlled object 1a. Robust control is possible. Further, although the deceleration A _dec is fixed in the conventional PTOS control method, the deceleration A _dec is dynamically set by the inertia moment estimated value J _hat of the controlled object 1a in the present embodiment. Even when the magnitude of the load 1a is unknown, an ideal response can be obtained for both acceleration and deceleration.

Even when the moving distance is small, the speed command V _r corresponding to the remaining distance e is calculated, and acceleration and deceleration are automatically switched depending on the magnitude of the speed command V _r and the speed feed forward V _ff. Position feedforward X _ff , velocity feedforward V _ff , and current feedforward U _ff are automatically generated so that the response has an ideal triangular waveform.

  FIG. 7 is a diagram showing a speed response (FIG. 7A) and a torque response (FIG. 7B) when the load inertia ratio (moment of inertia J) of the controlled object 1a is changed. According to FIG. 7, in any case, high-speed positioning with an ideal speed pattern is possible.

  As described above, in the motor control device of the present embodiment, if the target load is given even if the magnitude of the load to be controlled is unknown or the magnitude of the load changes greatly. In addition, it is possible to realize high-speed and good positioning that is automatically adapted to the target position and the size of the load to be controlled.

In this embodiment, a control system capable of automatically performing positioning control when a target position is given is described. However, the present embodiment is not limited to this, and this embodiment is a time series (for example, The present invention can also be applied to a control system that performs follow-up control with respect to a position command given by a pulse train). In this case, the speed command calculation unit 22, regardless of the remaining distance e, is set to output a speed command V _r which is proportional to the remaining distance e. Further, in such a control system, in a situation where no current saturation, in order to coincide with the position control of the control system called general model following control, so as to follow the given position command X _r motor 11 The actual position X is controlled. On the other hand, when current saturation occurs, both the speed model 21 and the speed controller 33 are compensated for by the variation coefficient α, so that an anti-windup effect can be obtained and unstable, for example, overshoot. It is possible to control without causing a response.

  As described above, the motor control device according to the present embodiment is a motor control device that drives a control target including a motor based on a position command, and a speed command based on a deviation between the position command and the position feedforward. The speed command calculation unit for outputting the first state variable, the first state variable that is one or more variables, and the speed command to calculate a change amount of the first state variable and update the first state variable A speed model that calculates and outputs a speed feedforward and a current feedforward based on the updated first state variable, an integrator that integrates the speed feedforward and outputs the position feedforward, A position controller that outputs a speed correction amount based on the difference between the actual position of the motor and the position feedforward; the actual speed of the motor and the speed correction amount; Based on the speed feedforward and the current feedforward, a change in the second state variable that is one or more variables is calculated to update the second state variable, and the actual speed of the motor A speed controller that calculates and outputs a current command based on a speed correction amount, the speed feedforward, the current feedforward, and the updated second state variable; and the current command as an input, and a current limit value A change amount that is a correction coefficient for a change amount of the first state variable and the second state variable based on the current limiter that outputs the following limited current command and the current command and the limited current command. A change coefficient calculation unit that calculates a coefficient, wherein the speed model performs correction by multiplying the change coefficient in calculating the change of the first state variable, and the speed controller In the calculation of the change of the second state variable, and it performs the correction by multiplying the variation coefficient.

Embodiment 3 FIG.
FIG. 9 is a block diagram showing the configuration of the third embodiment of the motor control apparatus according to the present invention. In FIG. 9, components having the same functions as those in FIGS.

  The motor control device shown in FIG. 9 includes a control object 1a, a position model 2b, a position controller 31, a differentiator 32, a speed controller 33, a current limiter 34, a current controller 35, and a change amount. A coefficient calculation unit 36, an inertia moment estimation unit 37, a deceleration calculation unit 38, a maximum speed setting unit 39, a model correction unit 40, and a changeover switch 41 are provided. That is, the motor control device shown in FIG. 9 is obtained by adding a model correction unit 40 and a changeover switch 41 to the motor control device shown in FIG.

In the present embodiment, the current limiter 34 has a configuration for outputting the presence or absence of current limitation. Further, the integrator 23 receives a deviation between the speed feedforward V _ff output from the speed model 21 and the output signal of the changeover switch 41.

Model correction section 40, the deviation between the actual position X detected by a position feedforward X _ff and the position detector 14 output from the integrator 23 (error signal) similarly to type position controller 31, to A model correction signal obtained by multiplying a preset model correction gain Wm is output. The output model correction signal is input to the changeover switch 41.

  The changeover switch 41 is configured to be connected or disconnected depending on whether or not the current limiter 34 outputs a current limit. When the current limiter 34 generates a current limit, the changeover switch 41 is connected. When the current limiter does not occur, the changeover switch 41 is disconnected. In other words, the changeover switch 41 is connected when the magnitude of the current command U exceeds the limit current value, and is disconnected when the magnitude of the current command U is equal to or less than the limit current value.

  When the changeover switch 41 is in the connected state, the output of the changeover switch 41 is a model correction signal, and when it is in the disconnected state, the output of the changeover switch 41 is 0.

By the output of the changeover switch 41, the integrator 23 integrates the deviation between the speed feedforward _Vff and the model correction signal, and outputs a position feedforward _Xff .

  Next, the operation of the motor control apparatus according to the third embodiment will be described.

First, when the target position _Xr sufficiently separated from the current actual position X is set, the speed command calculation unit 22 determines the maximum speed V as described with reference to the equation (19) in the second embodiment. outputs _max, the speed command _{V r} is switched from 0 to _{V max,} the actual speed V of the motor 11 is accelerated to the maximum velocity _{V max.}

  At this time, when current saturation occurs during acceleration, the changeover switch 41 is connected, and a feedback loop is formed by the integrator 23, the model correction unit 40, and the changeover switch 41. The state equation of the feedback loop is expressed by the following equation (21).

When the model correction gain Wm is an observer gain, the above equation (21) is the same as the state observer equation, and the feedback loop formed by the integrator 23, the model correction unit 40, and the changeover switch 41 is the position. The position feedforward _Xff is corrected so that the error between the feedforward _Xff and the actual position X decreases.

  As described in the second embodiment, in the motor control device shown in FIG. 6, the operation of the speed model 21 is corrected by the variation coefficient α when the current saturation occurs. When the operation of the speed model 21 is corrected in this way, a difference in response between the position model 2 and the controlled object 1a is suppressed, and a good response can be obtained even when current saturation occurs.

In the motor control device shown in FIG. 9 in the present embodiment, the model correction unit 40 also corrects the error between the position feedforward _Xff and the actual position X, so that the position model and control when current saturation occurs are controlled. The deviation of the response with the object 1a is further suppressed. Therefore, more robust control than that of the second embodiment can be realized with respect to current saturation.

  Furthermore, since the changeover switch 41 is not connected in a state where the current is not saturated, it coincides with position control by a control method called general model following control, and is robust against variations in control objects and disturbances. Can be realized.

  As described above, the motor control device according to the present embodiment is a motor control device that drives a control target including a motor based on a position command, and a speed command based on a deviation between the position command and the position feedforward. The speed command calculation unit for outputting the first state variable, the first state variable that is one or more variables, and the speed command to calculate a change amount of the first state variable and update the first state variable And a model correction signal based on a difference between a speed model that calculates and outputs a speed feedforward and a current feedforward based on the updated first state variable, and the position feedforward of the actual position of the motor. A model correction unit for outputting and a switching switch for inputting the model correction signal, outputting the model correction signal in a connected state, and outputting a zero signal in a disconnected state. A speed correction amount based on the difference between the actual position of the motor and the position feedforward, and an integrator that integrates the deviation of the output signals of the speed feedforward and the changeover switch and outputs the position feedforward. Based on the output position controller, the actual speed of the motor, the speed correction amount, the speed feed forward, and the current feed forward, a change amount of a second state variable that is one or more variables is calculated. The second state variable is updated, and a current command is calculated based on the actual speed of the motor, the speed correction amount, the speed feedforward, the current feedforward, and the updated second state variable. Output the speed controller and the current command as an input, and the current command after the limit that limits the magnitude of the current command to the limit current value or less. A variation coefficient for calculating a variation coefficient that is a correction coefficient for a variation of the first state variable and the second state variable based on the current limiter to be applied, and the current command and the post-limit current command A calculation unit, wherein the speed model performs correction by multiplying the change coefficient in calculating the change amount of the first state variable, and the speed controller changes the change amount of the second state variable. In the calculation of the change coefficient, the changeover switch is connected when the magnitude of the current command exceeds the limit current value, the magnitude of the current command is the limit current value It is characterized by being disconnected when:

  As described above, the motor control device according to the present invention is useful as a motor control device to be applied to a control target whose load such as moment of inertia or friction is unknown or whose load greatly changes.

  1, 1a Control object, 2, 2b Position model, 11 Motor, 12 Mechanical system, 13 Speed detector, 14 Position detector, 21 Speed model, 211, 212 Integrator, 213, 214, 215 Multiplier, 216, 217 Subtractor, 22 Speed command calculator, 23 Integrator, 31 Position controller, 32 Differentiator, 33 Speed controller, 34 Current limiter, 35 Current controller, 36 Change coefficient calculator, 361 Torque constant multiplier, 362 Nonlinear torque model, 363 ratio calculator, 37 moment of inertia estimation unit, 38 deceleration calculation unit, 39 maximum speed setting unit, 40 model correction unit, 41 changeover switch.

Claims (7)

A motor control device that drives a control object including a motor and a mechanical system coupled to the motor based on a speed command,
Based on the first state variable that is one or more variables and the speed command, a change amount of the first state variable is calculated to update the first state variable, and the updated first state variable A velocity model that calculates and outputs velocity feedforward and current feedforward based on state variables;
Based on the actual speed of the motor, the speed feedforward, and the current feedforward, a change amount of a second state variable that is one or more variables is calculated to update the second state variable, and the motor A speed controller that calculates and outputs a current command based on the actual speed, the speed feedforward, the current feedforward, and the updated second state variable;
A current limiter that outputs the current command after limiting the current command as an input and limiting the magnitude of the current command to a limit current value or less;
A variation coefficient calculation unit that calculates a variation coefficient that is a correction coefficient of a variation of the first state variable and the second state variable based on the current command and the limited current command;
The speed model performs correction by multiplying the change coefficient in the calculation of the change of the first state variable,
The speed controller performs correction by multiplying by the change coefficient in the calculation of the change of the second state variable. A motor control device that drives a control object including a motor based on a position command,
A speed command calculation unit that outputs a speed command based on a deviation between the position command and the position feedforward;
Based on the first state variable that is one or more variables and the speed command, a change amount of the first state variable is calculated to update the first state variable, and the updated first state variable A velocity model that calculates and outputs velocity feedforward and current feedforward based on state variables;
An integrator that integrates the velocity feedforward and outputs the position feedforward;
A position controller that outputs a speed correction amount based on the difference between the actual position of the motor and the position feedforward;
Based on the actual speed of the motor, the speed correction amount, the speed feed forward, and the current feed forward, a change amount of a second state variable that is one or more variables is calculated, and the second state variable is calculated. A speed controller that updates and outputs a current command based on the actual speed of the motor, the speed correction amount, the speed feedforward, the current feedforward, and the updated second state variable; ,
A current limiter that outputs the current command after limiting the current command as an input and limiting the magnitude of the current command to a limit current value or less;
A variation coefficient calculation unit that calculates a variation coefficient that is a correction coefficient of a variation of the first state variable and the second state variable based on the current command and the limited current command;
The speed model performs correction by multiplying the change coefficient in the calculation of the change of the first state variable,
The speed controller performs correction by multiplying by the change coefficient in the calculation of the change of the second state variable. A motor control device that drives a control object including a motor based on a position command,
A speed command calculation unit that outputs a speed command based on a deviation between the position command and the position feedforward;
Based on the first state variable that is one or more variables and the speed command, a change amount of the first state variable is calculated to update the first state variable, and the updated first state variable A velocity model that calculates and outputs velocity feedforward and current feedforward based on state variables;
A model correction unit that outputs a model correction signal based on a difference between the actual position of the motor and the position feedforward;
The switch for outputting the model correction signal as an input, outputting the model correction signal in a connected state, and outputting a zero signal in a disconnected state;
An integrator that integrates a deviation of the output signal of the speed feedforward and the changeover switch and outputs the position feedforward;
A position controller that outputs a speed correction amount based on the difference between the actual position of the motor and the position feedforward;
Based on the actual speed of the motor, the speed correction amount, the speed feed forward, and the current feed forward, a change amount of a second state variable that is one or more variables is calculated, and the second state variable is calculated. A speed controller that updates and outputs a current command based on the actual speed of the motor, the speed correction amount, the speed feedforward, the current feedforward, and the updated second state variable; ,
A current limiter that outputs the current command after limiting the current command as an input and limiting the magnitude of the current command to a limit current value or less;
A variation coefficient calculation unit that calculates a variation coefficient that is a correction coefficient of a variation of the first state variable and the second state variable based on the current command and the limited current command;
The speed model performs correction by multiplying the change coefficient in the calculation of the change of the first state variable,
The speed controller performs correction by multiplying the change coefficient in the calculation of the change of the second state variable,
The changeover switch is connected when the magnitude of the current command exceeds the limit current value, and is disconnected when the magnitude of the current command is equal to or less than the limit current value. Motor control device. A maximum speed setting unit for setting the maximum speed of the motor;
A deceleration calculating unit that calculates a deceleration at the time of deceleration stop of the motor,
The speed command calculation unit calculates the speed command using a function based on a deviation between the position command and the position feedforward, the maximum speed, and the deceleration. Motor control device. The deceleration calculation unit
5. The motor control device according to claim 4, wherein the deceleration is calculated based on an estimated moment of inertia of the control object estimated from the current and actual position or actual speed of the motor. The change coefficient calculation unit
6. The motor control device according to claim 1, wherein the change coefficient is calculated based on a ratio between the current command and the post-limit current command. The change coefficient calculation unit
A torque constant multiplier that calculates a torque command by multiplying the current command by a preset torque constant of the motor;
A non-linear torque model that models non-linear characteristics between the motor current and torque;
The torque command;
6. The motor control according to claim 1, wherein the change coefficient is calculated based on a ratio between the post-limit current command and an actual torque calculated based on the nonlinear torque model. apparatus.

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