KR100761689B1 - Torque limited motor controll methode & motor controller - Google Patents

Abstract

A method and an apparatus for driving a torque limited motor are provided to improve durability by minimizing the movement of a load axis after moving by reducing the settling time in moving short distance. A method for driving a torque limited motor includes the steps of: in case of moving a short distance without a constant velocity section according to a moving distance, calculating the velocity profile of the motor when being driven by a predetermined reference acceleration or deceleration, and calculating a preliminary acceleration time and a preliminary deceleration time; comparing a reference acceleration time and a reference deceleration time with the preliminary acceleration time and the preliminary deceleration time; controlling the motor with the reference acceleration(10) and deceleration(20) by using the reference acceleration time and the reference deceleration time as a control acceleration time(t3) and a control deceleration time(t4) in case that the reference acceleration time and the reference deceleration time are equal to or less than the preliminary acceleration time and the preliminary deceleration time; and calculating the new velocity profile and controlling the motor with the newly calculated acceleration and deceleration by using the reference acceleration time and the reference deceleration time as the control acceleration time(t3) and the control deceleration time(t4) in case that the reference acceleration time and the reference deceleration time are greater than the preliminary acceleration time and the preliminary deceleration time.

Description

Torque limited speed profile motor driving method and device {Torque Limited Motor Controll Method & Motor Controller}

Figure 1: Speed profile diagram for typical motor drive

2 is a speed profile diagram and a torque profile diagram according to the conventional motor control method.

3 is a speed profile diagram and a torque profile diagram in the case of a torque limiting speed profile motor control method according to an exemplary embodiment of the present invention;

4 is a block diagram of the torque limit speed profile motor control apparatus according to an embodiment of the present invention;

<Description of Symbols Used in Main Parts of Drawing>

100: motor 200: motor driver

300: motor controller 400: input / output device

500: sensor

The present invention relates to a method and apparatus for driving a torque limited speed profile motor.

In the conventional motor control method, when moving a short distance that does not require a constant velocity section according to the moving distance, the speed profile of the motor when driving at the reference acceleration 10 and the reference deceleration 20 set in advance with limitations. Calculating the preliminary acceleration time t1 and the preliminary deceleration time t2, and the reference acceleration time TR1 and the reference deceleration time TR2 when the general distance with the acceleration section, the constant speed section and the deceleration section is moved. And the preliminary acceleration time t1 and the preliminary deceleration time t2, the reference acceleration time TR1 and the reference deceleration time TR2 are smaller than the preliminary acceleration time t1 and the preliminary deceleration time t2. In this case, the motor is controlled by the reference acceleration 10 and the reference deceleration 20 by using the reference acceleration time TR1 and the reference deceleration time TR2 as the control acceleration time t3 and the control deceleration time t4. The reference acceleration time TR1 and the reference deceleration When the time TR2 is greater than the preliminary acceleration time t1 and the preliminary deceleration time t2, the reference acceleration time TR1 and the reference deceleration time TR2 are controlled by the control acceleration time t3 and the control deceleration time t4. The present invention relates to a torque limiting speed profile motor driving method and apparatus, comprising: controlling the motor with the newly calculated acceleration 30 and the deceleration 40 by calculating a new speed profile.

Generally, the load on the motor is the most load on the motor when it accelerates to raise the motor at a constant speed or decelerates to stop.

In general, the conventional control method, which focuses on speed as shown in FIG. 1, controls the movement to be completed within the shortest time.

This method has no problem when the capacity of the motor is larger than the load because the slope of the speed 10 is constant regardless of the moving distance by the driving of the motor. There was a problem that an error occurs and, in severe cases, a motor and a driver are burned out.

 In order to prevent this, it is possible to increase the motor capacity. However, as the capacity of the motor increases, the size of the equipment is inevitably increased. In the case of a large number of motion axes constituting the equipment, the required capacity of the motor corresponding to the expected load on the equipment may be considered in consideration of the size and strength of the equipment and the price of the equipment. There are many problems in that it is the first big consideration.

The present invention has been made to solve the above problems, in the case of a motor drive to move a short distance that does not require a constant speed section, the motor is driven at a constant acceleration or deceleration, and the acceleration and deceleration time is adjusted to drive the motor Unlike the conventional method, a reference acceleration time and a deceleration time that do not generate a torque higher than a certain reference value are set, and a speed profile required for moving a short distance is calculated first, and then the speed profile is referred to as the reference acceleration time and deceleration. Torque limit that drives the motor by calculating a new speed profile that produces a small torque that can be driven by the reference acceleration time and reference deceleration time if the required acceleration time and deceleration time are shorter than the reference acceleration time and reference deceleration time. By providing a speed profile motor driving method and apparatus, In addition, it is possible to reduce the capacity of the motor compared to the size of the external load due to the low-cost structure, and to minimize the shaking of the load shaft after moving by reducing the SettlingTime (time required until the position error becomes 0) during short distance movement. The purpose of the present invention is to provide a motor driving method and apparatus which can increase durability and increase the life of the motor by reducing the load of the motor without increasing the working time of the entire equipment by varying the speed gradient according to the distance.

In order to achieve the above object, the present invention, in the conventional motor control method, when moving a short distance that does not need a constant speed section in accordance with the movement distance, the reference acceleration (10), the reference deceleration ( Calculating the speed profile of the motor in the case of driving in 20) to obtain the preliminary acceleration time t1 and the preliminary deceleration time t2, and after the prediction, the general distance of the acceleration section, the constant speed section and the deceleration section The reference acceleration time TR1 and the reference deceleration time TR2 are compared with each other by comparing the reference acceleration time TR1 and the reference deceleration time TR2 with the preliminary acceleration time t1 and the preliminary deceleration time t2. In the case of less than or equal to the preliminary acceleration time t1 and the preliminary deceleration time t2, the reference acceleration time TR1 and the reference deceleration time TR2 are referred to as the control acceleration time t3 and the control deceleration time t4. With acceleration (10) and reference deceleration (20) The reference acceleration time TR1 and the reference deceleration time TR2 are greater than the preliminary acceleration time t1 and the preliminary deceleration time t2. TR2) using the control acceleration time (t3) and the control deceleration time (t4) to calculate a new speed profile, characterized in that it comprises a step of controlling the motor with the newly calculated acceleration 30 and deceleration 40 .

In addition, the motor 100, the motor driver 200 for driving the motor 100, and the motor driver 200 are controlled, and an operation state is received through an input / output device 400 to receive an operation state. In the case of moving a short distance that does not require a constant velocity section according to the moving distance, the speed profile of the motor when driving at the reference acceleration 10 and the reference deceleration 20, which are determined in advance, is calculated and reserved. The acceleration time t1 and the preliminary deceleration time t2 are obtained, and after the prediction, the reference acceleration time TR1 and the reference deceleration time TR2 and the acceleration during the movement of the general distance including the acceleration section, the constant speed section and the deceleration section are obtained. The reference acceleration time TR1 and the reference deceleration time TR2 are smaller than or equal to the preliminary acceleration time t1 and the preliminary deceleration time t2 by comparing the time t1 and the deceleration time t2. Control acceleration time TR1 and reference deceleration time TR2 The motor is controlled by the reference acceleration 10 and the reference deceleration 20 using the time t3 and the control deceleration time t4, and the reference acceleration time TR1 and the reference deceleration time TR2 are the preliminary acceleration. If the time t1 and the preliminary deceleration time t2 are greater than the reference acceleration time TR1 and the reference deceleration time TR2, the speed profile is newly calculated using the control acceleration time t3 and the control deceleration time t4. It characterized in that it comprises a controller 300 for performing a function to control the motor with a newly calculated acceleration 30 and deceleration 40.

In addition, the motor 100 is characterized in that composed of a linear motor.

Hereinafter, with reference to the accompanying drawings, a torque limit speed profile motor driving method and apparatus according to an embodiment of the present invention will be described in detail. First, in the drawings, the same components or parts are to be noted that as indicated by the same reference numerals as possible. In describing the present invention, detailed descriptions of related well-known functions or configurations are omitted in order not to obscure the subject matter of the present invention.

First, a driving speed profile of a general motor in the case of moving a distance of a predetermined distance or more by driving of a motor is composed of an acceleration section, a constant speed section, and a deceleration section as shown in FIG. 1. In this case, the acceleration time may be expressed as a reference acceleration time (TR1), and the deceleration time may be expressed as a reference acceleration time (TR2). The acceleration in this case is represented by the slope 10 in the acceleration section of the speed profile of FIG. 1, and the deceleration is represented by the slope 20 in the deceleration section of the speed profile of FIG. 1. This acceleration 10 and deceleration 20 are used as reference acceleration 10 and reference deceleration 20 in the method of the present invention.

On the other hand, when moving a short distance by the drive of the motor speed profile (Profile) in the case of the conventional motor drive control method has a form as shown in the upper portion of FIG. That is, the acceleration time t1 and the acceleration 30 and the deceleration 40, such as the acceleration 10 and the deceleration 20, in the case of a motor drive having a general acceleration section, constant speed section, and deceleration section, Shorten the deceleration time t2 to drive the motor. In this case, the torque that the motor must bear in order to drive the load on the motor is as shown in the lower part of FIG.

Unlike the general motor driving method, in the torque limiting speed profile motor driving method of the present invention, when a short distance that does not need a constant speed section is moved according to the moving distance, the motor has a general acceleration / constant speed / deceleration section. In the case of driving with the reference acceleration 10 and the reference deceleration 20, which are set in advance by limiting the speed profile, i.e., in accordance with the existing motor driving method, the speed profile of the motor is calculated, and the preliminary acceleration time t1 and The preliminary deceleration time t2 is obtained.

In the next step, the reference acceleration time TR1 and the reference deceleration time TR2 and the preliminary acceleration time t1 and the preliminary deceleration time t2 when the general distance including the acceleration section, the constant speed section and the deceleration section are moved are compared. The reference acceleration time TR1 and the reference deceleration time TR2 are compared with the reference deceleration time TR2, the preliminary acceleration time t1, and the preliminary deceleration time t2. In the case of less than or equal to the deceleration time t2 (TR1 <= t1 & TR2 <= t2), the reference acceleration time TR1 and the reference deceleration time TR2 are controlled acceleration time t3 and control deceleration time t4. The motor is controlled by the reference acceleration 10 and the reference deceleration 20. That is, when the reference acceleration time TR1 and the reference deceleration time TR2 are less than or equal to the preliminary acceleration time t1 and the preliminary deceleration time t2 as a result of the comparison using the speed profile, the acceleration / constant speed / deceleration section Since it is the same as in the case of the general driving having the reference, the reference acceleration time TR1 and the reference deceleration time TR2 are regarded as the control acceleration time t3 and the control deceleration time t4, so that the reference acceleration 10 and the reference deceleration are performed. The motor drive in the case of having a general acceleration / constant velocity / deceleration section for controlling the motor in FIG.

On the other hand, when the reference acceleration time TR1 and the reference deceleration time TR2 are larger than the preliminary acceleration time t1 and the preliminary deceleration time t2, the reference acceleration is performed because a short distance without a constant velocity section is driven. Using the time TR1 and the reference deceleration time TR2 as the control acceleration time t3 and the control deceleration time t4, the newly calculated acceleration 30 and deceleration are calculated by calculating a new speed profile as shown in FIG. 40 controls the motor. That is, as shown in the upper part of FIG. 3, the new acceleration 30 and the deceleration 40 having a value smaller than the reference acceleration 10 and the reference deceleration 20 are calculated to drive the motor. When driving the motor with a new acceleration 30 and a deceleration 40 having a value smaller than the reference acceleration 10 and the reference deceleration 20, SettlingTime (time required until the position error becomes zero) This reduces, and the shaking of the load shaft after the movement is minimized.

 In this case, the torque that the motor must bear in order to drive the load applied to the motor has a smaller value than the torque that the motor must bear in the conventional method as shown in the lower part of FIG. 3. (T3 <T1, T4 <T2) Briefly, when moving over short distances without constant velocity section, the speed is adjusted to reduce the torque so that the motor can withstand the load. At a short distance

Next, a torque limit speed profile motor drive device will be described.

The torque limiting speed profile motor driving device of the present invention is composed of a motor 100, a motor driver 200, and a controller 300 as shown in FIG.

The motor 10 performs the function of generating a driving force in the device of the present invention. On the other hand, the motor 100 may be configured as a linear motor.

Next, the motor driver 200 will be described. The motor driver has a function of driving the motor 100 according to the control signal received from the controller 300 to be described later. The motor driver 200 has a corresponding driving function according to the type of the motor 100 (eg, step motor, linear motor, etc.).

Next, the controller 300 will be described. The controller 300 controls the motor driver 200 according to the torque limit speed profile motor driving method described above, receives an operation signal through the input / output device 400, and outputs an operation state. The operation signal input through the input / output device may be a simple manual operation signal, an operation signal according to a pre-programmed operation process, or an operation signal using information collected through the sensor 500.

The technique of configuring and programming the apparatus to perform the above torque limiting speed profile motor driving method in the controller 300 is well known in the art, and thus, detailed description thereof will be omitted.

In the foregoing description, optimal embodiments have been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not used to limit the scope of the present invention as defined in the meaning or claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

As described above, according to the present invention, a relatively simple and inexpensive structure can reduce the capacity of the motor compared to the size of the external load, and reduce the SettlingTime (time required until the position error becomes zero) during short distance movement. This makes it possible to increase the durability of the equipment by minimizing the shaking of the load shaft after moving, and by reducing the load of the motor without increasing the working time of the whole equipment by varying the speed gradient according to the distance. have.

Claims (3)

In the conventional motor control method, In the case of moving a short distance that does not require a constant velocity section according to the moving distance, the speed profile of the motor when driving at the reference acceleration 10 and the reference deceleration 20 determined in advance is calculated, and the preliminary acceleration time ( obtaining t1) and a preliminary deceleration time t2; After the prediction, comparing the reference acceleration time TR1 and the reference deceleration time TR2 with the preliminary acceleration time t1 and the preliminary deceleration time t2 when the general distance including the acceleration section, the constant speed section, and the deceleration section moves. step; The reference acceleration time TR1 and the reference deceleration time TR2 are compared to the preliminary acceleration time t1 and the preliminary deceleration by comparing the reference deceleration time TR2 with the preliminary acceleration time t1 and the preliminary deceleration time t2. If it is less than or equal to the time t2, the reference acceleration time 10 and the reference deceleration rate may be regarded as the control acceleration time t3 and the control deceleration time t4 as the reference acceleration time TR1 and the reference deceleration time TR2. 20) to control the motor, When the reference acceleration time TR1 and the reference deceleration time TR2 are greater than the preliminary acceleration time t1 and the preliminary deceleration time t2, the reference acceleration time TR1 and the reference deceleration time TR2 are controlled and accelerated. Controlling the motor with the newly calculated acceleration 30 and the deceleration 40 by calculating a new speed profile using the time t3 and the control deceleration time t4; Torque speed limit profile motor driving method, characterized in that consisting of. Motor 100; A motor driver 200 for driving the motor 100; Control the motor driver 200, receives the operation signal through the input / output device 400 and outputs the operating state, In the case of moving a short distance that does not require a constant velocity section according to the moving distance, the speed profile of the motor when driving at the reference acceleration 10 and the reference deceleration 20 determined in advance is calculated, and the preliminary acceleration time ( t1) and the preliminary deceleration time t2, and after the prediction, the reference acceleration time TR1 and the reference deceleration time TR2 and the acceleration time t1 at the time of the movement of the general distance including the acceleration section, the constant speed section and the deceleration section are estimated. ) And the deceleration time (t2) When the reference acceleration time TR1 and the reference deceleration time TR2 are less than or equal to the preliminary acceleration time t1 and the preliminary deceleration time t2, the reference acceleration time TR1 and the reference deceleration time TR2 are determined. The motor is controlled by the reference acceleration 10 and the reference deceleration 20 using the control acceleration time t3 and the control deceleration time t4. When the reference acceleration time TR1 and the reference deceleration time TR2 are greater than the preliminary acceleration time t1 and the preliminary deceleration time t2, the reference acceleration time TR1 and the reference deceleration time TR2 are controlled and accelerated. A controller 300 performing a function of controlling the motor with the newly calculated acceleration 30 and the deceleration 40 by calculating a new velocity profile using the time t3 and the control deceleration time t4; Torque speed limit profile motor drive device characterized in that it comprises a. The method according to claim 2, The motor 100 is a torque limiting speed profile motor drive device, characterized in that consisting of a linear motor (Linear Motor).

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