KR100195078B1 - Speed control method and apparatus of a vr motor - Google Patents

Abstract

The speed control method and apparatus of the VR motor of the present invention adds the change amount of the command speed and the change amount of the disturbance to the torque command, respectively, to improve the speed response in the speed control of the VR motor and exhibit robustness against disturbance.

Description

Speed control method and apparatus of VR motor

1A is a schematic structural block diagram of the prior art.

2B is a system diagram of the prior art.

2 is a schematic block diagram of the speed control device according to the present invention.

3 is a flowchart for explaining a speed control method according to the present invention.

* Explanation of symbols for main parts of the drawings

202: circuit feedback controller 204: speed detection unit

206: disturbance detection unit

The present invention relates to a speed control method and apparatus of a motor, and more particularly, to a speed control method and apparatus of a VR (Direct Drive) type DD (Direct Drive) motor.

In general, a stepping motor is a kind of electric motor that controls rotation by an input pulse signal. The rotation angle is proportional to the number of input pulses, and the rotation speed is proportional to the frequency of the input pulse. Therefore, it is not necessary to detect and control the motor position or rotational speed by another detector, and to control the input pulse, high-precision position control and speed control can be performed with open loops. Stepping motors are widely used in many fields.

Among the stepping motors, the VR type (Variable Reluctance type) stepping motor (hereinafter referred to simply as motor) is the most basic motor in view of the principle of torque generation. However, the vr-type motor has a problem due to nonlinearity of inductance.

In addition, when the vr-type motor is used as a servo motor of a robot driven without a gear (that is, when it is used as a dd motor), a control method and a device for speed control are necessary because the speed should be basically controlled.

In addition, there is a need for a control method and apparatus for solving the problem of response characteristics and robustness against disturbance in a system occurring in conventional proportional integral (hereinafter, referred to as pl) control.

The problems of the prior art will be briefly described with reference to FIG. 1a plus a schematic block diagram of the prior art and FIG. 1b showing a system diagram thereof.

The VR motor 106 is in a transient state until the torque generating unit 108 can instruct the torque command according to the changed command speed through the proportional integrator 108 with respect to the change of the command speed W.

In addition to the torque Te generated by the torque generating unit 108, the external motor is not affected by the disturbance TL from the outside, so that accurate speed control of the VR motor 106 is impossible. Accordingly, the actual speed Wr is fed back so as to be different from the command speed. Since the error is gradually increased because it is input to the proportional integrator 110.

Accordingly, it is an object of the present invention to provide a speed control method and apparatus for a VR motor that is responsive and robust to disturbances.

In order to achieve the above object, the speed control method of the VR motor of the present invention is a VR motor control system for driving a VR motor by generating a torque signal by inputting a torque command according to a command speed of a speed controller, wherein Adding a change amount of the command speed to the torque command so as to respond quickly to the change;

Subtracting the amount of change in the disturbance from the torque command to reduce the influence of the disturbance applied from the outside;

Generating a difference between the detected actual speed and the command speed after detecting the actual speed of the motor; And

And generating a torque command by proportionally integrating the difference as an input.

In order to achieve the above another object, the speed control device of the VR motor of the present invention is a VR motor control system for driving a VR motor by generating a torque signal by inputting a torque command according to the command speed,

A proportional integrator generating the torque command by using a proportional integral of an input signal by inputting a difference between the command speed and the actual speed of the motor;

Forward feedback control means for differentiating said command speed of said command speed and adding it to said torque command so that said motor can react quickly to said change of command speed;

Disturbance detection means for detecting disturbance from the outside by differentiating the actual speed of the motor; And

Even if the actual speed of the motor is a low speed, the speed detection means for providing accurate speed detection by detecting the speed by setting the speed level and applying a weight to each section for accurate speed detection.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

2 is a schematic block diagram of the speed control apparatus of the VR motor of the present invention. The speed control apparatus according to the present invention further includes a forward feedback controller 202, a disturbance detection unit 206, and a speed detection unit 204 in addition to the proportional integrator 110 included in the conventional speed control unit 100. have,

The operation according to the configuration of FIG. 2 is as follows.

Net feedback controller 202 outputs the non-amount characteristic function represented by K _fS to provide an amount of change in the command speed to the command speed of W _R as an input to the mixer 208, (where, K _f is Net feedback constant)

In the mixer 208, the proportional integrator cannot quickly respond to the instantaneous change in the command speed by adding the output signal of the feedback feedback controller 202 to the torque generating unit 108 by adding the output signal from the proportional integrator 110. It is possible to prevent the transient phenomenon due to the output signal of (110).

Disturbance detection unit 206, a characteristic so as to prevent the torque generating unit 108 in addition to Te of the torque signal outputted from due to the disturbance T _l which is input from the outside through a mixer 114, which disables the precise speed control of the motor functions By outputting the differential amount of Ka s to the mixer 208, it is possible to subtract by the amount corresponding to the disturbance (where Ka is the acceleration constant).

The speed detector 204 detects the correct speed in the low speed region by using a method of changing the sampling period according to the speed increment of the actual speed of the motor from the VR motor 106, and provides the detection speed to the mixer 112. 3 is a flowchart of the speed control method of the present invention, which will be described below in conjunction with FIG.

If there is a change in the command speed Wr (step 300), the speed feedback is improved by adding the change amount of the command speed to the torque command through the forward feedback controller 202. (step 302).

If there is disturbance from the actual speed from the VR motor 106 (step 304), the disturbance detection unit 206 subtracts the change amount of the disturbance by the torque command to have the robustness against the disturbance (step 306).

The speed detector 204 detects the actual speed and inputs a difference from the command speed to the proportional integrator 110 so as to output a torque command.

Therefore, the present invention adds and subtracts the change amount of the command speed and the change amount of the disturbance to the torque command, respectively, to improve the quick response in the speed control of the VR motor, and exhibit robustness against the disturbance.

Claims (2)

Generating a torque signal by inputting a torque command according to the command speed of the speed control unit, the VR motor control system comprising: adding a change amount of the command speed to the torque command so as to quickly respond to the change in the command speed; Detecting a disturbance and subtracting the change amount by the torque command to reduce the influence of the disturbance applied from the outside; Detecting the actual speed of the monitor and generating a difference between the detected actual speed and the command speed; And generating a torque command by proportionally integrating the difference as an input. In a VR motor control system that generates a torque signal by driving a torque signal according to a command speed to drive a VR motor, a proportional integral of the input signal is used by inputting a difference between the command speed and the actual speed of the motor. Thereby generating a torque command; A circular feedback control means configured to differentiate the command speed and add it to the torque command so that the motor can react quickly to the change of the command speed; Disturbance detection means for detecting the disturbance from the outside by differentiating the actual speed of the motor; And a speed detecting means for providing accurate speed detection by detecting a speed by applying a weight to each section by setting a speed level for accurate speed detection even when the actual speed of the motor is low speed. Speed control device.