JPWO2019188154A1 - Motor drive - Google Patents

Abstract

The motor drive device is a motor drive device that drives a motor, and generates a simulated torque command based on a motor control unit that generates a torque command from a control command, a characteristic of a load connected to the motor, and a torque command. A load characteristic simulation unit that simulates the load characteristics and a motor drive unit that controls the motor based on the simulated torque command are provided.

Description

The present disclosure relates to a motor drive device.

In recent years, application examples of a method called HILS (Hardware-In-the-Loop-Simulation) for developing an actual controller in an environment that virtually reproduces an actual machine are increasing in the field of in-vehicle devices. In the industrial field as well, in the simulation of a motor drive system including a load device and a servomotor and a motor drive device for controlling the load device, there is a simulation of a motor drive system partially realized by using an actual machine (see, for example, Patent Document 1).

In the conventional configuration, among the motor drive systems having a load system, a drive system, and a control system, the output of the actual control system is input to the mathematical model for the load system and the drive system, and the output of the mathematical model is the control system. Input to the actual machine. As a result, we are trying to realize a more accurate simulation than when everything is realized by a simulation model.

In this configuration, the drive system of the motor drive device and many of the actual machines such as the motor, the shaft, and the load device are unnecessary. Therefore, it is possible to perform a simulation of the motor drive device alone. However, in this configuration, the accuracy of the drive system and load system simulation depends on the accuracy of the simulation model in the software block.

Since there is no drive system in which current actually flows and a movable load system in this configuration, the simulation result only outputs the internal information of the software block. For this reason, there is a drawback that information such as sound and vibration generated in the actual operation is lost, and the sense of presence is lacking.

Japanese Unexamined Patent Publication No. 2001-290515

The present disclosure solves such conventional problems. An object of the present disclosure is to provide a motor drive device having a load characteristic simulation function with a more realistic feeling while improving the accuracy of simulation.

In order to solve the above problem, one aspect of the motor drive device according to the present disclosure is a motor drive device that drives a motor, a motor control unit that generates a torque command from a control command, and a load connected to the motor. A load characteristic simulation unit that simulates load characteristics by generating a simulated torque command based on the characteristics and torque command of the above, and a motor drive unit that controls a motor based on the simulated torque command are provided.

Among the drive system and load system of such a motor drive device, by using the actual motor in the drive system, it is possible to perform a simulation with higher accuracy than the conventional configuration using the mathematical model of the motor. In this simulation, when the motor actually operates, the sound and vibration that can occur in the actual operation can be reproduced as the simulation result. This makes it possible to provide a simulation of a motor drive device with a sense of realism.

Further, in one aspect of the motor drive device of the present disclosure, the load characteristic simulating unit has a coefficient for simulating a rigid body characteristic as a load characteristic, and even if the simulated torque command is generated by multiplying the torque command by the coefficient. Good.

Further, in one aspect of the motor drive device of the present disclosure, the load characteristic simulation unit is a secondary filter that simulates a resonance characteristic having at least one of a resonance frequency, an antiresonance frequency, a resonance attenuation ratio, and an antiresonance attenuation ratio as parameters. May include.

Further, in one aspect of the motor drive device of the present disclosure, the load characteristic simulating unit may include a plurality of quadratic filters connected in series.

Further, in one aspect of the motor drive device of the present disclosure, the load characteristic simulation unit may generate a simulated torque command based on the load characteristic and the torque command and the simulated disturbance torque simulating the disturbance torque.

With each of these configurations, many general load systems can be simulated with high accuracy.

According to the present disclosure, it is possible to provide a motor drive device having a load characteristic simulation function with a more realistic feeling while improving the accuracy of the simulation.

FIG. 1 is a control block diagram of the motor drive device according to the first embodiment. FIG. 2 is a control block diagram of a motor drive device which is a simulated target of the motor drive device according to the first embodiment. FIG. 3A is a control block diagram in the case where the load device is assumed to be a rigid system in the configuration shown in FIG. FIG. 3B is a control block diagram showing a configuration in which the calculation order of the control block diagram shown in FIG. 3A is exchanged. FIG. 3C is a control block diagram obtained by modifying the control block diagram shown in FIG. 3B. FIG. 4A is a control block diagram in the case where the load device is assumed to be a two inertial system in the configuration shown in FIG. FIG. 4B is a control block diagram obtained by modifying the control block diagram shown in FIG. 4A. FIG. 4C is a control block diagram obtained by modifying the control block diagram shown in FIG. 4B. FIG. 4D is a control block diagram of the motor drive device according to the second embodiment. FIG. 5 is a control block diagram of the motor drive device according to the third embodiment. FIG. 6A is a control block diagram in which the control block diagram shown in FIG. 4A is deformed while leaving a disturbance torque. FIG. 6B is a control block diagram obtained by modifying the control block diagram shown in FIG. 6A. FIG. 6C is a control block diagram obtained by modifying the control block diagram shown in FIG. 6B. FIG. 6D is a control block diagram obtained by modifying the control block diagram shown in FIG. 6C.

The first aspect of the motor drive device of the present disclosure is a motor drive device that drives a motor, based on a motor control unit that generates a torque command from a control command, characteristics of a load connected to the motor, and a torque command. It includes a load characteristic simulation unit that simulates the load characteristics by generating a simulated torque command, and a motor drive unit that controls the motor based on the simulated torque command.

As a result, among the drive system and the load system of the motor drive device, when the actual machine is used for the motor characteristics in the drive system, it is possible to perform a simulation with higher accuracy than the conventional configuration using the mathematical model of the motor. As a secondary effect, in this simulation, the actual operation of the motor makes it possible to reproduce the sounds and vibrations that can occur in the actual operation as a result of the simulation. This makes it possible to provide a simulation of a motor drive device with a sense of realism.

In the second aspect of the motor drive device of the present disclosure, the load characteristic simulating unit has a coefficient for simulating a rigid body characteristic as a load characteristic, and generates a simulated torque command by multiplying the torque command by the coefficient.

As a result, by changing this coefficient, it is possible to perform a simulation in which the load inertia when the load system is regarded as a rigid body is simulated.

In the third aspect of the motor drive device of the present disclosure, the load characteristic simulating unit is a secondary filter that simulates a resonance characteristic having at least one of a resonance frequency, an antiresonance frequency, a resonance attenuation ratio, and an antiresonance attenuation ratio as parameters. including.

This makes it possible to simulate a load system having the characteristics of a two-inertial system.

In the fourth aspect of the motor drive device of the present disclosure, the load characteristic simulating unit includes a plurality of quadratic filters connected in series.

This makes it possible to simulate a load system having the characteristics of a multi-inertial system of three or more inertial systems.

In the fifth aspect of the motor drive device of the present disclosure, the load characteristic simulating unit generates a simulated torque command based on the load characteristic and the torque command and the simulated disturbance torque simulating the disturbance torque.

This makes it possible to simulate eccentric load and disturbance torque such as friction characteristics such as dynamic friction and viscous friction.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be noted that all of the embodiments described below show a specific example of the present disclosure. Therefore, the numerical values, the components, the arrangement and connection form of the components, the steps and the order of the steps, etc. shown in the following embodiments are examples, and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept of the present disclosure will be described as arbitrary components.

Further, each figure is a schematic view and is not necessarily exactly illustrated. In each figure, substantially the same configuration is designated by the same reference numerals, and duplicate description will be omitted or simplified.

(Embodiment 1)
The motor drive device according to the first embodiment will be described with reference to FIG.

FIG. 1 is a control block diagram of the motor drive device 1 according to the first embodiment. Note that FIG. 1 also shows the motor 2 and the detector 3 connected to the motor drive device 1.

As shown in FIG. 1, the motor drive device 1 includes a motor control unit 13, a load characteristic simulation unit 15, and a motor drive unit 17.

The motor control unit 13 is a control unit that generates a torque command 14 from a control command 11. The control command 11 is a command value for controlling the rotation of the motor. The torque command 14 is a command value indicating a torque for rotating a motor simulated as if a load device is connected. In the present embodiment, the motor control unit 13 generates the torque command 14 based on the control command 11 and the feedback value 12 from the detector 3 connected to the motor 2. The control configuration used in the motor control unit 13 is not particularly limited. For example, feedback control typified by general PID (Proportional-Integral-Differential) control, feedforward control with control command 11 as an input, combined control combining these, and the like may be used. Further, in the position control, for example, cascade control including speed control may be used.

The detector 3 is a measuring device that detects the state of the motor 2. As the detector 3, a measuring device such as an encoder or a resolver that detects the position information of the motor 2 or a measuring device such as a tacho generator that detects the speed information of the motor 2 can be used.

The control command 11 may be given from the outside or generated in the motor drive device 1. The feedback value 12 is not particularly limited as long as it is a value indicating the state of the motor 2. As the feedback value 12, for example, position information obtained when a detector 3 made of an encoder, a resolver or the like is used, or speed information obtained when a detector 3 made of a tacho generator or the like is used is used.

The load characteristic simulation unit 15 is a processing unit that simulates the characteristics of the load connected to the motor 2. The load characteristic simulation unit 15 generates a simulated torque command 16 based on the load characteristics and the torque command 14. The simulated torque command 16 is a command value that causes the motor 2 to simulate the operation when a load is connected. In the present embodiment, the load characteristic simulation unit 15 has a coefficient that simulates a rigid body characteristic as a load characteristic, and generates a simulated torque command by multiplying the torque command by the coefficient.

The motor drive unit 17 is a drive unit that controls the motor 2 based on the simulated torque command 16. The motor drive unit 17 controls the current so that the motor 2 outputs the torque according to the simulated torque command.

As the motor drive unit 17, a current control unit that generally compares the current command calculated from the simulated torque command 16 with the detected value of the motor current, and a voltage command that is the output thereof are applied to the actual motor. Often consists of a PWM (Pulse Width Modulato) control circuit. However, the motor 2 is not particularly limited as long as it is not limited to this form and controls the motor 2 in response to the simulated torque command 16.

Next, a method of deriving the load characteristic simulating unit 15 according to the present embodiment will be described with reference to FIGS. 2 to 3C.

FIG. 2 is a control block diagram of the motor drive device 10 which is a simulated target of the motor drive device 1 according to the first embodiment. As shown in FIG. 2, the motor 2 and the load device 4 are connected to the motor drive device 10, which is a simulated target of the motor drive device 1 according to the present embodiment.

The motor drive device 10 which is the simulated object shown in FIG. 2 is different from the motor drive device 1 shown in FIG. 1 in that the load characteristic simulating unit 15 is not provided. In the motor drive device 10, the motor drive unit 17 controls the motor 2 based on the torque command 14. The actual load device 4 is connected to the motor 2. It is an object of the present disclosure to simulate the operation of the motor 2 in the state shown in FIG. 2 with the configuration of FIG.

FIG. 3A is a control block diagram in the case where the load device 4 is assumed to be a rigid system in the configuration shown in FIG. FIG. 3B is a control block diagram showing a configuration in which the calculation order of the control block diagram shown in FIG. 3A is exchanged. FIG. 3C is a control block diagram obtained by modifying the control block diagram shown in FIG. 3B.

It is assumed that the motor drive unit 17 and the motor 2 shown in FIG. 2 have sufficiently high response characteristics, and the output of the detector 3 is taken as the motor speed. In this case, the motor drive unit 17, the motor 2 and the detector 3 can be approximated by the equation of the motor rigid body characteristic calculation unit 21 as a rigid system consisting of only the motor inertia Jm as shown in FIG. 3A. When the motor 2 and the load device 4 are rigidly coupled, if the load inertia is Jl, the characteristics of the load device 4 can be represented by the total inertia ratio calculation unit 41. In the configuration shown in FIG. 3A, the motor drive unit 17 of FIG. 2 forms a rigid system together with the motor 2 and the detector 3 outside the motor drive device 1A. Therefore, the motor drive device 1A includes only the motor control unit 13 and does not include the motor drive unit 17.

The operation order is interchangeable on the control block diagram of FIG. 3A. Therefore, the total inertia ratio calculation unit 41 representing the characteristics of the load device 4 and the motor rigid body characteristic calculation unit 21 can exchange the calculation order, and the total inertia ratio calculation unit 41 can be put into the motor drive device 1A. As described above, FIG. 3B shows a configuration using the motor drive device 1B in which the total inertia ratio calculation unit 41 is housed in the motor drive device 1A.

Here, the total inertia ratio calculation unit 41 is used as the load characteristic simulation unit 15, and the motor rigid body characteristic calculation unit 21 once approximated is returned to the original motor drive unit 17, the motor 2, and the detector 3, as shown in FIG. 3C. As a result, a control block diagram equivalent to the control block diagram shown in FIG. 1 can be obtained.

The operation and operation of the motor drive device configured as described above will be described below.

When the motor drive device does not include the load characteristic simulation unit 15, the torque command 14 is a value required to drive the motor rigid body characteristic calculation unit 21 of the motor 2 alone. On the other hand, when the load characteristic simulating unit 15 is provided as in the motor drive device 1 according to the present embodiment, the load characteristic simulating unit 15 has a coefficient for simulating a rigid body characteristic as a characteristic of the load device 4, and has a torque. A simulated torque command is generated by multiplying the command by the coefficient. More specifically, since the load characteristic simulation unit 15 outputs as a simulated torque command 16 obtained by multiplying the torque command 14 by a coefficient Jm / (Jm + Jl) of less than 1, the simulated torque command 16 has a value smaller than that of the torque command 14. It becomes. Therefore, although the load device 4 is not actually connected to the motor 2, the motor 2 accelerates slowly as if the load device 4 is connected. As a result, the feedback value 12 also changes slowly, so that the motor control unit 13 outputs a larger torque command 14 in order to follow the control command 11. As described above, since the motor drive device 1 is provided with the load characteristic simulation unit 15, the load device 4 having the total inertia ratio calculation unit 41 is connected to the motor 2 in a state where only the motor 2 is connected to the motor drive device 1. It is possible to simulate the operation when this is done. Therefore, by changing the above coefficient, it is possible to perform a simulation in which the load inertia when the load system is regarded as a rigid body is simulated. Therefore, by observing the control command 11, the feedback value 12, and the torque command 14 as they are in the configuration shown in FIG. 1, they are equivalent to the control command 11, feedback value 12, and torque command 14 in the configuration shown in FIG. The value can be observed.

Compared with the configuration of Patent Document 1, the configuration according to the present embodiment enables more accurate simulation because the actual machine is used as the motor drive unit 17, the motor 2, and the detector 3. ..

As described above, the motor drive device 1 according to the present embodiment is the motor drive device 1 that drives the motor 2, and is connected to the motor control unit 13 that generates the torque command 14 from the control command 11 and the motor 2. A load characteristic simulation unit 15 that simulates the load characteristics by generating a simulated torque command 16 based on the load characteristics and the torque command 14 to be performed, and a motor drive unit that controls the motor 2 based on the simulated torque command 16. 17 and is provided.

That is, the motor drive device 1 according to the present embodiment connects the load device 4 to the motor 2 by driving the motor 2 based on the simulated torque command output from the load characteristic simulation unit 15 that simulates the load characteristics. It is possible to perform a simulation of this state. Further, in the present embodiment, among the drive system and the load system of the motor drive device, by using the actual motor 2 in the drive system, it is possible to perform a simulation with higher accuracy than the conventional configuration using the mathematical model of the motor. ..

The control of the motor drive unit is usually performed at a higher speed than the calculation of the motor control unit. Therefore, the computational load for realizing this with the simulation model of the software block becomes enormous. Therefore, it leads to an increase in the cost of the evaluation device. In addition, the drive system and motor characteristics have non-linear characteristics that are theoretically difficult to approximate, and may not be able to be simulated with practical accuracy. Any of these problems can be solved by using the motor drive device 1 according to the present embodiment.

Further, when the actual machine of the motor 2 is connected to the motor drive device 1 according to the present embodiment, the motor 2 actually operates. Therefore, as a simulation result, it is possible to reproduce sounds, vibrations, and the like that may occur in actual machine operation. Therefore, it is possible to provide a simulation of the motor drive device 1 having a sense of reality. By using such a motor drive device 1 as a demonstration device for various functions, a training device for gain adjustment, and the like, it is possible to learn how to respond to work in the field.

(Embodiment 2)
The motor drive device according to the second embodiment will be described. The motor drive device according to the present embodiment is different from the motor drive device according to the first embodiment in that the load device is assumed to be a two-inertial system, and is the same in other respects. Hereinafter, the motor drive device according to the present embodiment will be described with reference to FIGS. 4A to 4D, focusing on the differences from the motor drive device 1 according to the first embodiment.

FIG. 4A is a control block diagram in the case where the load device 4 is assumed to be a two inertial system in the configuration shown in FIG. FIG. 4B is a control block diagram obtained by modifying the control block diagram shown in FIG. 4A. FIG. 4C is a control block diagram obtained by modifying the control block diagram shown in FIG. 4B. FIG. 4D is a control block diagram of the motor drive device 101 according to the second embodiment.

The control block diagram shown in FIG. 4A approximates the motor drive unit 17, the motor 2 and the detector 3 by the motor rigid body characteristic calculation unit 21 based on the same premise as the control block diagram shown in FIG. 3A. As shown in FIG. 4A, in the bi-inertial system, the input to the motor rigid body characteristic calculation unit 21 is not the torque command 14 itself, but the torque command 14 minus the torsional torque 42. The torsional torque 42 is a value obtained by using the shaft characteristic calculation unit 44 simulated by approximating with the damper coefficient D and the spring coefficient K. The torsional torque 42 is an output of the shaft characteristic calculation unit 44 obtained when the difference between the feedback value 12 which is the motor speed and the load speed 43 on the load device 4 side is input to the shaft characteristic calculation unit 44. Here, the load speed 43 is an output of the load rigid body characteristic calculation unit 46 obtained when the result of subtracting the disturbance torque 45 from the torsional torque 42 is input to the load rigid body characteristic calculation unit 46 having the load inertia Jl.

When the disturbance torque 45 is transformed to 0 in the control block diagram shown in FIG. 4A, the motor rigid body characteristic calculation unit 21 that inputs the torque command 14 and the resonance characteristics from the output to the feedback value 12 that is the motor speed are represented. The control block diagram of FIG. 4B is derived, which comprises the first transfer function of the secondary filter 47 and the second transfer function of the secondary filter 48 representing the resonance characteristics up to the load speed 43 on the load device side. The resonance frequency ω _p , the anti-resonance frequency ω _z , the resonance attenuation ratio ζ _p, and the anti-resonance attenuation ratio ζ _z in FIG. 4B are the damper coefficient D and the spring coefficient K of the shaft characteristic calculation unit 44, and the motor inertia Jm and the load inertia. From Jl, it is expressed by the following formula.

Here, since the estimation of the load speed 43 shown in FIG. 4B is unnecessary for the time being, the quadratic filter 48 (that is, the filter represented by the second transfer function) is removed from the control block diagram shown in FIG. 4B. Further, the secondary filter 47 (that is, the filter represented by the first transfer function) is moved into the motor drive device 1A. Thereby, as shown in FIG. 4C, the control block diagram is represented by using the motor drive device 101C including the motor control unit 13 and the secondary filter 47, and the motor rigid body characteristic calculation unit 21.

Finally, the secondary filter 47 is used as the load characteristic simulating unit 115, and the motor rigid body characteristic calculation unit 21 is returned to the original motor drive unit 17, the motor 2, and the detector 3. As a result, the control block diagram shown in FIG. 4D having the same configuration as the control block diagram shown in FIG. 1 is obtained. The motor drive device 101 shown in FIG. 4D is different from the motor drive device 1 according to the first embodiment in the calculation formula of the load characteristic simulation unit 115, and is in agreement in other respects.

The operation and operation of the motor drive device 101 configured as described above will be described below.

As a frequency characteristic, the load characteristic simulating unit 115 has a peak corresponding to the resonance attenuation ratio ζ _{p at the resonance frequency ω p} and a dip corresponding to the antiresonance attenuation ratio ζ _{z at the antiresonance frequency ω z.} Therefore, the simulated torque command 16 also has a value in which _{the resonance frequency ω p} component of the torque command 14 is amplified and the anti-resonance frequency ω _{z component is attenuated.} As a result, even though only the motor 2 is actually connected, vibration of the resonance frequency is generated in the feedback value 12 as if the load device 4 is connected. In order to cope with this, the responsiveness of the motor control unit 13 is usually limited to the _{anti-resonance frequency ω z or less.} As described above, the load characteristic simulation unit 115 according to the present embodiment has resonance having at least one of _{a resonance frequency ω p} , an anti-resonance frequency ω _z , a resonance attenuation ratio ζ _p, and an anti-resonance attenuation ratio ζ _{z as parameters.} Includes a quadratic filter that simulates the characteristics. When the motor drive device 101 is provided with such a load characteristic simulation unit 115, the load device has the characteristics of a two-inertial system in the configuration shown in FIG. 2 in a state where only the motor 2 is connected to the motor drive device 101. Simulation is possible when 4 is connected. Therefore, by observing the control command 11, the feedback value 12, and the torque command 14 as they are in the configuration of FIG. 4D, the values equivalent to the control command 11, the feedback value 12, and the torque command 14 in the configuration shown in FIG. 2 can be obtained. It can be observed.

When a load device 4 having the characteristics of a three-inertial frame and a multi-inertial frame of reference or more is used as well as a two-inertial frame, a load including a plurality of quadratic filters connected in series with the same equation modification. A characteristic simulation part can be obtained. By using a motor drive device provided with such a load characteristic simulation unit, a simulation when a load device 4 having complicated resonance characteristics such as characteristics of a three-inertial system and a multi-inertial system having more than three inertial systems is connected to the motor 2. Is possible.

(Embodiment 3)
The motor drive device according to the third embodiment will be described. The motor drive device according to the present embodiment is different from the motor drive device 101 according to the second embodiment in that the load characteristic simulating unit can receive the simulated disturbance torque, and is the same in other respects. Hereinafter, the motor drive device according to the present embodiment will be described with reference to FIGS. 5 to 6D, focusing on the differences from the motor drive device 101 according to the second embodiment.

FIG. 5 is a control block diagram of the motor drive device 201 according to the third embodiment. FIG. 6A is a modified control block diagram in which the disturbance torque 45 is left in the control block diagram shown in FIG. 4A. FIG. 6B is a control block diagram obtained by modifying the control block diagram shown in FIG. 6A. FIG. 6C is a control block diagram obtained by modifying the control block diagram shown in FIG. 6B. FIG. 6D is a control block diagram obtained by modifying the control block diagram shown in FIG. 6C.

As shown in FIG. 5, the motor drive device 201 according to the present embodiment has the motor control unit 13, the load characteristic simulation unit 215, and the motor drive unit, similarly to the motor drive device 101 according to the second embodiment. It is provided with 17. As shown in FIG. 5, the motor drive device 201 according to the present embodiment is different from the motor drive device 101 according to the second embodiment in that the load characteristic simulating unit 215 receives the input of the simulated disturbance torque 18. , In other respects.

In order to derive this control block diagram, if the disturbance torque 45 omitted during the transformation from FIG. 4A to FIG. 4B in the second embodiment is left as it is and deformed, the quadratic filter 49 and the second filter represented by the third transfer function are deformed. The control block diagram shown in FIG. 6A with the addition of the quadratic filter 50 represented by the four transfer functions is obtained. Since the estimation of the load speed 43 is not necessary for the time being, if the quadratic filter 48 represented by the second transfer function and the quadratic filter 50 represented by the fourth transfer function are deleted, it is shown in FIG. 6B. A control block diagram is obtained. In the control block diagram shown in FIG. 6B, the other blocks are moved into the motor drive device 1A, leaving the motor rigid body characteristic calculation unit 21 as in each of the above-described embodiments. Thereby, as shown in FIG. 6C, the control block diagram is represented by using the motor drive device 201C including the motor control unit 13 and the secondary filters 47 and 49, and the motor rigid body characteristic calculation unit 21. Subsequently, the approximate motor rigid body characteristic calculation unit 21 is returned to the original motor drive unit 17, the motor 2, and the detector 3, and the disturbance torque 45 is set to the simulated disturbance torque 18 generated inside the motor drive device 201. , A block diagram 6D equivalent to FIG. 5 is obtained. As shown in FIG. 6D, the load characteristic simulating unit 215 of the motor drive device 201 according to the present embodiment includes the secondary filters 47 and 49.

As described above, in the motor drive device 201 according to the present embodiment, the simulated torque command 16 is generated based on the characteristics of the load device 4 and the torque command 14 and the simulated disturbance torque 18 simulating the disturbance torque. Therefore, the influence of the disturbance torque 45 on the actual machine can be simulated.

(Modification example, etc.)
The motor drive device according to the present disclosure has been described above based on each embodiment. However, the present disclosure is not limited to the above embodiment.

For example, the drive target of the motor drive device according to the present disclosure is not limited to the rotary motor, and can be applied to the linear motor only by replacing the unit of the rotary system with the linear motion system. Further, even in a fully closed control configuration in which the detector is attached not only to the motor 2 but also to the load device 4 and the position and speed information of the load is added to the feedback value 12, the motor drive device does not require a large change. Simulation is possible.

Further, when the characteristics of the detector 3 are different between those for simulation and those for the actual machine, it is also possible to incorporate the difference in characteristics into the load characteristic simulation unit 15.

In addition, it is realized by applying various modifications to each embodiment that can be conceived by those skilled in the art, or by arbitrarily combining the components and functions of each embodiment without departing from the spirit of the present disclosure. Also included in this disclosure.

The motor drive device according to the present disclosure can be used as a motor drive device for simulation that can simulate load characteristics.

The motor drive device according to the present disclosure is particularly useful as a demonstration device for various functions, a training device for gain adjustment, and the like because it enables realistic simulation.

The load characteristic simulation unit of the motor drive device according to the present disclosure can simulate various characteristics of the load device. Therefore, it is useful when testing a function that does not operate unless a load device is connected. Also, if the characteristics of the load device can be measured with the frequency characteristic measurement function, etc., a simulation is performed only with the motor and the motor drive device at a remote location far from the actual device, and the optimum adjustment result is applied to the actual machine. An approach such as doing is also possible. Therefore, various applications can be considered in the fields of in-vehicle devices and industrial fields.

1, 1A, 1B, 10, 101, 101C, 201, 201C Motor drive 2 Motor 3 Detector 4 Load device 11 Control command 12 Feedback value 13 Motor control unit 14 Torque command 15, 115, 215 Load characteristic simulation unit 16 Simulation Torque command 17 Motor drive unit 18 Simulated disturbance torque 21 Motor rigid body characteristic calculation unit 41 Total inertia ratio calculation unit 42 Torque torque 43 Load speed 44 Shaft characteristic calculation unit 45 Disturbance torque 46 Load rigid body characteristic calculation unit 47, 48, 49, 50 2 Next filter

The present disclosure relates to a motor drive device.

In recent years, application examples of a method called HILS (Hardware-In-the-Loop-Simulation) for developing an actual controller in an environment that virtually reproduces an actual machine are increasing in the field of in-vehicle devices. In the industrial field as well, in the simulation of a motor drive system including a load device and a servomotor and a motor drive device for controlling the load device, there is a simulation of a motor drive system partially realized by using an actual machine (see, for example, Patent Document 1).

In the conventional configuration, among the motor drive systems having a load system, a drive system, and a control system, the output of the actual control system is input to the mathematical model for the load system and the drive system, and the output of the mathematical model is the control system. Input to the actual machine. As a result, we are trying to realize a more accurate simulation than when everything is realized by a simulation model.

In this configuration, the drive system of the motor drive device and many of the actual machines such as the motor, the shaft, and the load device are unnecessary. Therefore, it is possible to perform a simulation of the motor drive device alone. However, in this configuration, the accuracy of the drive system and load system simulation depends on the accuracy of the simulation model in the software block.

Since there is no drive system in which current actually flows and a movable load system in this configuration, the simulation result only outputs the internal information of the software block. For this reason, there is a drawback that information such as sound and vibration generated in the actual operation is lost, and the sense of presence is lacking.

Japanese Unexamined Patent Publication No. 2001-290515

The present disclosure solves such conventional problems. An object of the present disclosure is to provide a motor drive device having a load characteristic simulation function with a more realistic feeling while improving the accuracy of simulation.

In order to solve the above problem, one aspect of the motor drive device according to the present disclosure is a motor drive device that drives a motor, a motor control unit that generates a torque command from a control command, and a load connected to the motor. A load characteristic simulation unit that simulates load characteristics by generating a simulated torque command based on the characteristics and torque command of the above, and a motor drive unit that controls a motor based on the simulated torque command are provided.

Among the drive system and load system of such a motor drive device, by using the actual motor in the drive system, it is possible to perform a simulation with higher accuracy than the conventional configuration using the mathematical model of the motor. In this simulation, when the motor actually operates, the sound and vibration that can occur in the actual operation can be reproduced as the simulation result. This makes it possible to provide a simulation of a motor drive device with a sense of realism.

Further, in one aspect of the motor drive device of the present disclosure, the load characteristic simulating unit has a coefficient for simulating a rigid body characteristic as a load characteristic, and even if the simulated torque command is generated by multiplying the torque command by the coefficient. Good.

Further, in one aspect of the motor drive device of the present disclosure, the load characteristic simulation unit is a secondary filter that simulates a resonance characteristic having at least one of a resonance frequency, an antiresonance frequency, a resonance attenuation ratio, and an antiresonance attenuation ratio as parameters. May include.

Further, in one aspect of the motor drive device of the present disclosure, the load characteristic simulating unit may include a plurality of quadratic filters connected in series.

Further, in one aspect of the motor drive device of the present disclosure, the load characteristic simulation unit may generate a simulated torque command based on the load characteristic and the torque command and the simulated disturbance torque simulating the disturbance torque.

With each of these configurations, many general load systems can be simulated with high accuracy.

According to the present disclosure, it is possible to provide a motor drive device having a load characteristic simulation function with a more realistic feeling while improving the accuracy of the simulation.

FIG. 1 is a control block diagram of the motor drive device according to the first embodiment. FIG. 2 is a control block diagram of a motor drive device which is a simulated target of the motor drive device according to the first embodiment. FIG. 3A is a control block diagram in the case where the load device is assumed to be a rigid system in the configuration shown in FIG. FIG. 3B is a control block diagram showing a configuration in which the calculation order of the control block diagram shown in FIG. 3A is exchanged. FIG. 3C is a control block diagram obtained by modifying the control block diagram shown in FIG. 3B. FIG. 4A is a control block diagram in the case where the load device is assumed to be a two inertial system in the configuration shown in FIG. FIG. 4B is a control block diagram obtained by modifying the control block diagram shown in FIG. 4A. FIG. 4C is a control block diagram obtained by modifying the control block diagram shown in FIG. 4B. FIG. 4D is a control block diagram of the motor drive device according to the second embodiment. FIG. 5 is a control block diagram of the motor drive device according to the third embodiment. FIG. 6A is a control block diagram in which the control block diagram shown in FIG. 4A is deformed while leaving a disturbance torque. FIG. 6B is a control block diagram obtained by modifying the control block diagram shown in FIG. 6A. FIG. 6C is a control block diagram obtained by modifying the control block diagram shown in FIG. 6B. FIG. 6D is a control block diagram obtained by modifying the control block diagram shown in FIG. 6C.

The first aspect of the motor drive device of the present disclosure is a motor drive device that drives a motor, based on a motor control unit that generates a torque command from a control command, characteristics of a load connected to the motor, and a torque command. It includes a load characteristic simulation unit that simulates the load characteristics by generating a simulated torque command, and a motor drive unit that controls the motor based on the simulated torque command.

As a result, among the drive system and the load system of the motor drive device, when the actual machine is used for the motor characteristics in the drive system, it is possible to perform a simulation with higher accuracy than the conventional configuration using the mathematical model of the motor. As a secondary effect, in this simulation, the actual operation of the motor makes it possible to reproduce the sounds and vibrations that can occur in the actual operation as a result of the simulation. This makes it possible to provide a simulation of a motor drive device with a sense of realism.

In the second aspect of the motor drive device of the present disclosure, the load characteristic simulating unit has a coefficient for simulating a rigid body characteristic as a load characteristic, and generates a simulated torque command by multiplying the torque command by the coefficient.

As a result, by changing this coefficient, it is possible to perform a simulation in which the load inertia when the load system is regarded as a rigid body is simulated.

In the third aspect of the motor drive device of the present disclosure, the load characteristic simulating unit is a secondary filter that simulates a resonance characteristic having at least one of a resonance frequency, an antiresonance frequency, a resonance attenuation ratio, and an antiresonance attenuation ratio as parameters. including.

This makes it possible to simulate a load system having the characteristics of a two-inertial system.

In the fourth aspect of the motor drive device of the present disclosure, the load characteristic simulating unit includes a plurality of quadratic filters connected in series.

This makes it possible to simulate a load system having the characteristics of a multi-inertial system of three or more inertial systems.

In the fifth aspect of the motor drive device of the present disclosure, the load characteristic simulating unit generates a simulated torque command based on the load characteristic and the torque command and the simulated disturbance torque simulating the disturbance torque.

This makes it possible to simulate eccentric load and disturbance torque such as friction characteristics such as dynamic friction and viscous friction.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be noted that all of the embodiments described below show a specific example of the present disclosure. Therefore, the numerical values, the components, the arrangement and connection form of the components, the steps and the order of the steps, etc. shown in the following embodiments are examples, and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept of the present disclosure will be described as arbitrary components.

Further, each figure is a schematic view and is not necessarily exactly illustrated. In each figure, substantially the same configuration is designated by the same reference numerals, and duplicate description will be omitted or simplified.

(Embodiment 1)
The motor drive device according to the first embodiment will be described with reference to FIG.

FIG. 1 is a control block diagram of the motor drive device 1 according to the first embodiment. Note that FIG. 1 also shows the motor 2 and the detector 3 connected to the motor drive device 1.

As shown in FIG. 1, the motor drive device 1 includes a motor control unit 13, a load characteristic simulation unit 15, and a motor drive unit 17.

The motor control unit 13 is a control unit that generates a torque command 14 from a control command 11. The control command 11 is a command value for controlling the rotation of the motor. The torque command 14 is a command value indicating a torque for rotating a motor simulated as if a load device is connected. In the present embodiment, the motor control unit 13 generates the torque command 14 based on the control command 11 and the feedback value 12 from the detector 3 connected to the motor 2. The control configuration used in the motor control unit 13 is not particularly limited. For example, feedback control typified by general PID (Proportional-Integral-Differential) control, feedforward control with control command 11 as an input, combined control combining these, and the like may be used. Further, in the position control, for example, cascade control including speed control may be used.

The detector 3 is a measuring device that detects the state of the motor 2. As the detector 3, a measuring device such as an encoder or a resolver that detects the position information of the motor 2 or a measuring device such as a tacho generator that detects the speed information of the motor 2 can be used.

The control command 11 may be given from the outside or generated in the motor drive device 1. The feedback value 12 is not particularly limited as long as it is a value indicating the state of the motor 2. As the feedback value 12, for example, position information obtained when a detector 3 made of an encoder, a resolver or the like is used, or speed information obtained when a detector 3 made of a tacho generator or the like is used is used.

The load characteristic simulation unit 15 is a processing unit that simulates the characteristics of the load connected to the motor 2. The load characteristic simulation unit 15 generates a simulated torque command 16 based on the load characteristics and the torque command 14. The simulated torque command 16 is a command value that causes the motor 2 to simulate the operation when a load is connected. In the present embodiment, the load characteristic simulation unit 15 has a coefficient that simulates a rigid body characteristic as a load characteristic, and generates a simulated torque command by multiplying the torque command by the coefficient.

The motor drive unit 17 is a drive unit that controls the motor 2 based on the simulated torque command 16. The motor drive unit 17 controls the current so that the motor 2 outputs the torque according to the simulated torque command.

As the motor drive unit 17, a current control unit that generally compares the current command calculated from the simulated torque command 16 with the detected value of the motor current, and a voltage command that is the output thereof are applied to the actual motor. Often consists of a PWM (Pulse Width Modulato) control circuit. However, the motor 2 is not particularly limited as long as it is not limited to this form and controls the motor 2 in response to the simulated torque command 16.

Next, a method of deriving the load characteristic simulating unit 15 according to the present embodiment will be described with reference to FIGS. 2 to 3C.

FIG. 2 is a control block diagram of the motor drive device 10 which is a simulated target of the motor drive device 1 according to the first embodiment. As shown in FIG. 2, the motor 2 and the load device 4 are connected to the motor drive device 10, which is a simulated target of the motor drive device 1 according to the present embodiment.

The motor drive device 10 which is the simulated object shown in FIG. 2 is different from the motor drive device 1 shown in FIG. 1 in that the load characteristic simulating unit 15 is not provided. In the motor drive device 10, the motor drive unit 17 controls the motor 2 based on the torque command 14. The actual load device 4 is connected to the motor 2. It is an object of the present disclosure to simulate the operation of the motor 2 in the state shown in FIG. 2 with the configuration of FIG.

FIG. 3A is a control block diagram in the case where the load device 4 is assumed to be a rigid system in the configuration shown in FIG. FIG. 3B is a control block diagram showing a configuration in which the calculation order of the control block diagram shown in FIG. 3A is exchanged. FIG. 3C is a control block diagram obtained by modifying the control block diagram shown in FIG. 3B.

It is assumed that the motor drive unit 17 and the motor 2 shown in FIG. 2 have sufficiently high response characteristics, and the output of the detector 3 is taken as the motor speed. In this case, the motor drive unit 17, the motor 2 and the detector 3 can be approximated by the equation of the motor rigid body characteristic calculation unit 21 as a rigid system consisting of only the motor inertia Jm as shown in FIG. 3A. When the motor 2 and the load device 4 are rigidly coupled, if the load inertia is Jl, the characteristics of the load device 4 can be represented by the total inertia ratio calculation unit 41. In the configuration shown in FIG. 3A, the motor drive unit 17 of FIG. 2 forms a rigid system together with the motor 2 and the detector 3 outside the motor drive device 1A. Therefore, the motor drive device 1A includes only the motor control unit 13 and does not include the motor drive unit 17.

The operation order is interchangeable on the control block diagram of FIG. 3A. Therefore, the total inertia ratio calculation unit 41 representing the characteristics of the load device 4 and the motor rigid body characteristic calculation unit 21 can exchange the calculation order, and the total inertia ratio calculation unit 41 can be put into the motor drive device 1A. As described above, FIG. 3B shows a configuration using the motor drive device 1B in which the total inertia ratio calculation unit 41 is housed in the motor drive device 1A.

Here, the total inertia ratio calculation unit 41 is used as the load characteristic simulation unit 15, and the motor rigid body characteristic calculation unit 21 once approximated is returned to the original motor drive unit 17, the motor 2, and the detector 3, as shown in FIG. 3C. As a result, a control block diagram equivalent to the control block diagram shown in FIG. 1 can be obtained.

The operation and operation of the motor drive device configured as described above will be described below.

When the motor drive device does not include the load characteristic simulation unit 15, the torque command 14 is a value required to drive the motor rigid body characteristic calculation unit 21 of the motor 2 alone. On the other hand, when the load characteristic simulating unit 15 is provided as in the motor drive device 1 according to the present embodiment, the load characteristic simulating unit 15 has a coefficient for simulating a rigid body characteristic as a characteristic of the load device 4, and has a torque. A simulated torque command is generated by multiplying the command by the coefficient. More specifically, since the load characteristic simulation unit 15 outputs as a simulated torque command 16 obtained by multiplying the torque command 14 by a coefficient Jm / (Jm + Jl) of less than 1, the simulated torque command 16 has a value smaller than that of the torque command 14. It becomes. Therefore, although the load device 4 is not actually connected to the motor 2, the motor 2 accelerates slowly as if the load device 4 is connected. As a result, the feedback value 12 also changes slowly, so that the motor control unit 13 outputs a larger torque command 14 in order to follow the control command 11. As described above, since the motor drive device 1 is provided with the load characteristic simulation unit 15, the load device 4 having the total inertia ratio calculation unit 41 is connected to the motor 2 in a state where only the motor 2 is connected to the motor drive device 1. It is possible to simulate the operation when this is done. Therefore, by changing the above coefficient, it is possible to perform a simulation in which the load inertia when the load system is regarded as a rigid body is simulated. Therefore, by observing the control command 11, the feedback value 12, and the torque command 14 as they are in the configuration shown in FIG. 1, they are equivalent to the control command 11, feedback value 12, and torque command 14 in the configuration shown in FIG. The value can be observed.

Compared with the configuration of Patent Document 1, the configuration according to the present embodiment enables more accurate simulation because the actual machine is used as the motor drive unit 17, the motor 2, and the detector 3. ..

As described above, the motor drive device 1 according to the present embodiment is the motor drive device 1 that drives the motor 2, and is connected to the motor control unit 13 that generates the torque command 14 from the control command 11 and the motor 2. A load characteristic simulation unit 15 that simulates the load characteristics by generating a simulated torque command 16 based on the load characteristics and the torque command 14 to be performed, and a motor drive unit that controls the motor 2 based on the simulated torque command 16. 17 and is provided.

That is, the motor drive device 1 according to the present embodiment connects the load device 4 to the motor 2 by driving the motor 2 based on the simulated torque command output from the load characteristic simulation unit 15 that simulates the load characteristics. It is possible to perform a simulation of this state. Further, in the present embodiment, among the drive system and the load system of the motor drive device, by using the actual motor 2 in the drive system, it is possible to perform a simulation with higher accuracy than the conventional configuration using the mathematical model of the motor. ..

The control of the motor drive unit is usually performed at a higher speed than the calculation of the motor control unit. Therefore, the computational load for realizing this with the simulation model of the software block becomes enormous. Therefore, it leads to an increase in the cost of the evaluation device. In addition, the drive system and motor characteristics have non-linear characteristics that are theoretically difficult to approximate, and may not be able to be simulated with practical accuracy. Any of these problems can be solved by using the motor drive device 1 according to the present embodiment.

Further, when the actual machine of the motor 2 is connected to the motor drive device 1 according to the present embodiment, the motor 2 actually operates. Therefore, as a simulation result, it is possible to reproduce sounds, vibrations, and the like that may occur in actual machine operation. Therefore, it is possible to provide a simulation of the motor drive device 1 having a sense of reality. By using such a motor drive device 1 as a demonstration device for various functions, a training device for gain adjustment, and the like, it is possible to learn how to respond to work in the field.

(Embodiment 2)
The motor drive device according to the second embodiment will be described. The motor drive device according to the present embodiment is different from the motor drive device according to the first embodiment in that the load device is assumed to be a two-inertial system, and is the same in other respects. Hereinafter, the motor drive device according to the present embodiment will be described with reference to FIGS. 4A to 4D, focusing on the differences from the motor drive device 1 according to the first embodiment.

FIG. 4A is a control block diagram in the case where the load device 4 is assumed to be a two inertial system in the configuration shown in FIG. FIG. 4B is a control block diagram obtained by modifying the control block diagram shown in FIG. 4A. FIG. 4C is a control block diagram obtained by modifying the control block diagram shown in FIG. 4B. FIG. 4D is a control block diagram of the motor drive device 101 according to the second embodiment.

The control block diagram shown in FIG. 4A approximates the motor drive unit 17, the motor 2 and the detector 3 by the motor rigid body characteristic calculation unit 21 based on the same premise as the control block diagram shown in FIG. 3A. As shown in FIG. 4A, in the bi-inertial system, the input to the motor rigid body characteristic calculation unit 21 is not the torque command 14 itself, but the torque command 14 minus the torsional torque 42. The torsional torque 42 is a value obtained by using the shaft characteristic calculation unit 44 simulated by approximating with the damper coefficient D and the spring coefficient K. The torsional torque 42 is an output of the shaft characteristic calculation unit 44 obtained when the difference between the feedback value 12 which is the motor speed and the load speed 43 on the load device 4 side is input to the shaft characteristic calculation unit 44. Here, the load speed 43 is an output of the load rigid body characteristic calculation unit 46 obtained when the result of subtracting the disturbance torque 45 from the torsional torque 42 is input to the load rigid body characteristic calculation unit 46 having the load inertia Jl.

When the disturbance torque 45 is transformed to 0 in the control block diagram shown in FIG. 4A, the motor rigid body characteristic calculation unit 21 that inputs the torque command 14 and the resonance characteristics from the output to the feedback value 12 that is the motor speed are represented. The control block diagram of FIG. 4B is derived, which comprises the first transfer function of the secondary filter 47 and the second transfer function of the secondary filter 48 representing the resonance characteristics up to the load speed 43 on the load device side. The resonance frequency ω _p , the anti-resonance frequency ω _z , the resonance attenuation ratio ζ _p, and the anti-resonance attenuation ratio ζ _z in FIG. 4B are the damper coefficient D and the spring coefficient K of the shaft characteristic calculation unit 44, and the motor inertia Jm and the load inertia. From Jl, it is expressed by the following formula.

Here, since the estimation of the load speed 43 shown in FIG. 4B is unnecessary for the time being, the quadratic filter 48 (that is, the filter represented by the second transfer function) is removed from the control block diagram shown in FIG. 4B. Further, the secondary filter 47 (that is, the filter represented by the first transfer function) is moved into the motor drive device 1A. Thereby, as shown in FIG. 4C, the control block diagram is represented by using the motor drive device 101C including the motor control unit 13 and the secondary filter 47, and the motor rigid body characteristic calculation unit 21.

Finally, the secondary filter 47 is used as the load characteristic simulating unit 115, and the motor rigid body characteristic calculation unit 21 is returned to the original motor drive unit 17, the motor 2, and the detector 3. As a result, the control block diagram shown in FIG. 4D having the same configuration as the control block diagram shown in FIG. 1 is obtained. The motor drive device 101 shown in FIG. 4D is different from the motor drive device 1 according to the first embodiment in the calculation formula of the load characteristic simulation unit 115, and is in agreement in other respects.

The operation and operation of the motor drive device 101 configured as described above will be described below.

As a frequency characteristic, the load characteristic simulating unit 115 has a peak corresponding to the resonance attenuation ratio ζ _{p at the resonance frequency ω p} and a dip corresponding to the antiresonance attenuation ratio ζ _{z at the antiresonance frequency ω z.} Therefore, the simulated torque command 16 also has a value in which _{the resonance frequency ω p} component of the torque command 14 is amplified and the anti-resonance frequency ω _{z component is attenuated.} As a result, even though only the motor 2 is actually connected, vibration of the resonance frequency is generated in the feedback value 12 as if the load device 4 is connected. In order to cope with this, the responsiveness of the motor control unit 13 is usually limited to the _{anti-resonance frequency ω z or less.} As described above, the load characteristic simulation unit 115 according to the present embodiment has resonance having at least one of _{a resonance frequency ω p} , an anti-resonance frequency ω _z , a resonance attenuation ratio ζ _p, and an anti-resonance attenuation ratio ζ _{z as parameters.} Includes a quadratic filter that simulates the characteristics. When the motor drive device 101 is provided with such a load characteristic simulation unit 115, the load device has the characteristics of a two-inertial system in the configuration shown in FIG. 2 in a state where only the motor 2 is connected to the motor drive device 101. Simulation is possible when 4 is connected. Therefore, by observing the control command 11, the feedback value 12, and the torque command 14 as they are in the configuration of FIG. 4D, the values equivalent to the control command 11, the feedback value 12, and the torque command 14 in the configuration shown in FIG. 2 can be obtained. It can be observed.

When a load device 4 having the characteristics of a three-inertial frame and a multi-inertial frame of reference or more is used as well as a two-inertial frame, a load including a plurality of quadratic filters connected in series with the same equation modification. A characteristic simulation part can be obtained. By using a motor drive device provided with such a load characteristic simulation unit, a simulation when a load device 4 having complicated resonance characteristics such as characteristics of a three-inertial system and a multi-inertial system having more than three inertial systems is connected to the motor 2. Is possible.

(Embodiment 3)
The motor drive device according to the third embodiment will be described. The motor drive device according to the present embodiment is different from the motor drive device 101 according to the second embodiment in that the load characteristic simulating unit can receive the simulated disturbance torque, and is the same in other respects. Hereinafter, the motor drive device according to the present embodiment will be described with reference to FIGS. 5 to 6D, focusing on the differences from the motor drive device 101 according to the second embodiment.

FIG. 5 is a control block diagram of the motor drive device 201 according to the third embodiment. FIG. 6A is a modified control block diagram in which the disturbance torque 45 is left in the control block diagram shown in FIG. 4A. FIG. 6B is a control block diagram obtained by modifying the control block diagram shown in FIG. 6A. FIG. 6C is a control block diagram obtained by modifying the control block diagram shown in FIG. 6B. FIG. 6D is a control block diagram obtained by modifying the control block diagram shown in FIG. 6C.

As shown in FIG. 5, the motor drive device 201 according to the present embodiment has the motor control unit 13, the load characteristic simulation unit 215, and the motor drive unit, similarly to the motor drive device 101 according to the second embodiment. It is provided with 17. As shown in FIG. 5, the motor drive device 201 according to the present embodiment is different from the motor drive device 101 according to the second embodiment in that the load characteristic simulating unit 215 receives the input of the simulated disturbance torque 18. , In other respects.

In order to derive this control block diagram, if the disturbance torque 45 omitted during the transformation from FIG. 4A to FIG. 4B in the second embodiment is left as it is and deformed, the quadratic filter 49 and the second filter represented by the third transfer function are deformed. The control block diagram shown in FIG. 6A with the addition of the quadratic filter 50 represented by the four transfer functions is obtained. Since the estimation of the load speed 43 is not necessary for the time being, if the quadratic filter 48 represented by the second transfer function and the quadratic filter 50 represented by the fourth transfer function are deleted, it is shown in FIG. 6B. A control block diagram is obtained. In the control block diagram shown in FIG. 6B, the other blocks are moved into the motor drive device 1A, leaving the motor rigid body characteristic calculation unit 21 as in each of the above-described embodiments. Thereby, as shown in FIG. 6C, the control block diagram is represented by using the motor drive device 201C including the motor control unit 13 and the secondary filters 47 and 49, and the motor rigid body characteristic calculation unit 21. Subsequently, the approximate motor rigid body characteristic calculation unit 21 is returned to the original motor drive unit 17, the motor 2, and the detector 3, and the disturbance torque 45 is set to the simulated disturbance torque 18 generated inside the motor drive device 201. , A block diagram 6D equivalent to FIG. 5 is obtained. As shown in FIG. 6D, the load characteristic simulating unit 215 of the motor drive device 201 according to the present embodiment includes the secondary filters 47 and 49.

As described above, in the motor drive device 201 according to the present embodiment, the simulated torque command 16 is generated based on the characteristics of the load device 4 and the torque command 14 and the simulated disturbance torque 18 simulating the disturbance torque. Therefore, the influence of the disturbance torque 45 on the actual machine can be simulated.

(Modification example, etc.)
The motor drive device according to the present disclosure has been described above based on each embodiment. However, the present disclosure is not limited to the above embodiment.

For example, the drive target of the motor drive device according to the present disclosure is not limited to the rotary motor, and can be applied to the linear motor only by replacing the unit of the rotary system with the linear motion system. Further, even in a fully closed control configuration in which the detector is attached not only to the motor 2 but also to the load device 4 and the position and speed information of the load is added to the feedback value 12, the motor drive device does not require a large change. Simulation is possible.

Further, when the characteristics of the detector 3 are different between those for simulation and those for the actual machine, it is also possible to incorporate the difference in characteristics into the load characteristic simulation unit 15.

In addition, it is realized by applying various modifications to each embodiment that can be conceived by those skilled in the art, or by arbitrarily combining the components and functions of each embodiment without departing from the spirit of the present disclosure. Also included in this disclosure.

The motor drive device according to the present disclosure can be used as a motor drive device for simulation that can simulate load characteristics.

The motor drive device according to the present disclosure is particularly useful as a demonstration device for various functions, a training device for gain adjustment, and the like because it enables realistic simulation.

The load characteristic simulation unit of the motor drive device according to the present disclosure can simulate various characteristics of the load device. Therefore, it is useful when testing a function that does not operate unless a load device is connected. Also, if the characteristics of the load device can be measured with the frequency characteristic measurement function, etc., a simulation is performed only with the motor and the motor drive device at a remote location far from the actual device, and the optimum adjustment result is applied to the actual machine. An approach such as doing is also possible. Therefore, various applications can be considered in the fields of in-vehicle devices and industrial fields.

1, 1A, 1B, 10, 101, 101C, 201, 201C Motor drive 2 Motor 3 Detector 4 Load device 11 Control command 12 Feedback value 13 Motor control unit 14 Torque command 15, 115, 215 Load characteristic simulation unit 16 Simulation Torque command 17 Motor drive unit 18 Simulated disturbance torque 21 Motor rigid body characteristic calculation unit 41 Total inertia ratio calculation unit 42 Torque torque 43 Load speed 44 Shaft characteristic calculation unit 45 Disturbance torque 46 Load rigid body characteristic calculation unit 47, 48, 49, 50 2 Next filter

Claims (5)

A motor drive device that drives a motor
A motor control unit that generates torque commands from control commands,
A load characteristic simulation unit that simulates the load characteristics by generating a simulated torque command based on the load characteristics connected to the motor and the torque command.
A motor drive device including a motor drive unit that controls the motor based on the simulated torque command. The motor drive device according to claim 1, wherein the load characteristic simulating unit has a coefficient that simulates a rigid body characteristic as the load characteristic, and generates the simulated torque command by multiplying the torque command by the coefficient. The motor drive device according to claim 1, wherein the load characteristic simulating unit includes a secondary filter that simulates a resonance characteristic having at least one of a resonance frequency, an anti-resonance frequency, a resonance attenuation ratio, and an anti-resonance attenuation ratio as parameters. The motor drive device according to claim 3, wherein the load characteristic simulating unit includes a plurality of the secondary filters coupled in series. The motor drive device according to claim 1, wherein the load characteristic simulation unit generates the simulated torque command based on the load characteristics, the torque command, and the simulated disturbance torque simulating the disturbance torque.

Images