KR20180010145A - Motor system - Google Patents

Abstract

The present invention provides a motor system capable of suppressing vibration by automatic tuning without increasing an operation processing load of a CPU. According to the present, in the motor system (1), a speed loop gain, m_1 is simply calculated by calculating, by a first gain conversion means (15), an inertia ratio Gr(=K_0/K) of a gain, K_0 in case that an operation object (2) is not connected to a motor (3) with respect to a gain, K in case that the operation object (2) is connected to the motor (3), and obtaining the ratio (=Ri/Gr) of any parameter constant, Ri with respect to the inertia ratio, Gr. In a motor control apparatus (4), a third table is stored to correspond to degrade m_1, q_0, and q_1 in response to a degradation of m_1 with respect to a relation of m_1 with m_1, q_0, and q_1. Also, a second gain conversion means (16) performs a conversion from the speed loop gain, m_1 calculated by the first gain conversion means (15) to m_0, q_0, and q_1 with reference to the third table.

Description

Motor system {MOTOR SYSTEM}

The present invention relates to a motor system including a motor for operating an operating object and a motor control device for feedback-controlling the rotation of the motor.

BACKGROUND ART Conventionally, a motor control device for controlling a motor by P-PI control (proportional and proportional integral control) is known as a control device of a motor for operating a robot or the like. In the motor control apparatus that carries out the P-PI control, the rotational position and the rotational speed of the motor are fed back, and the proportional control (P control) is performed with respect to the deviation of the rotational position. The proportional integral control (PI control) Is performed.

Conventionally, as a motor system for carrying out this type of P-PI control, for example, an electric motor control apparatus disclosed in Patent Document 1 is used. This electric motor control apparatus has a vibration extraction filter for extracting a vibration component caused by mechanical resonance and outputting it as an extracted vibration signal. The notch control section changes the notch center frequency of each of the first notch filter and the second notch filter based on the extracted vibration signal and the second notch filter output signal such that the amplitude of the second notch filter output signal decreases. Further, the notch depth control section changes the notch depth of the first notch filter based on the extracted vibration signal. The judgment control section automatically tunes the parameters of each notch filter to suppress the mechanical vibration. That is, when the amplitude of the second notch filter output signal is larger than the predetermined value, the notch control section is operated to adjust the notch center frequencies of the first notch filter and the second notch filter to Change it. Further, when the amplitude of the second notch filter output signal is smaller than the predetermined value, the notch depth control section is operated to change the notch depth of the first notch filter so that the vibration component due to the oscillation of the mechanical resonance decreases.

As a motor system for carrying out P-PI control, there has been used a motor control device disclosed in, for example, Patent Document 2 in the past. The motor control apparatus using a load inner syeogap JL and a target to enter the response frequency ωf, inner syeogap correction gain JCOM = determined from the ratio of the motor inner syeogap JM ((JL + JM) / JM) 0.5, the speed loop gain kv, speed The integral time constant ti, the position loop gain kp, the torque filter constant tf, the current loop gain ki, the current integration time constant ta, and the filter time constant tv. That is, a plurality of these control parameters are auto-tuned from the target response frequency? F, which is one parameter, and the inertia value correction gain JCOM.

Further, a conventional motor system for performing robust pole arrangement control is disclosed in, for example, Patent Document 3. The motor control device in this motor system has a closed loop system that inputs a rotational position command of the motor and outputs the rotational position of the motor. The closed-loop system has a first additive point, a proportional gain element, a second additive point, an integral filter element, a motor gain element and a motor element for an omnidirectional path. Further, the first feedback path is connected to the first feedback path via a feedback connection, and the second feedback path is connected to the second feedback point through the differential filter element via the feedback path. In this motor system, control parameters q ₀ and q ₁ relating to the disturbance response characteristics are set to auto, based on the detection result of the inertia detecting means, even if vibration occurs in the operation object and the motor when the inertia of the operation object or the motor becomes large. Is tuned. By this adjustment, the characteristics of the closed loop system are kept constant while suppressing the vibration of the operation object and the motor.

Japanese Patent No. 5873975 Japanese Patent No. 3561911 Japanese Patent Application Laid-Open No. 2016-35676

However, in the motor systems described in the above-mentioned Patent Documents 1 and 3, in which vibration is detected and control parameters are autotuned, processing for analyzing the frequency of vibration and the amplitude of vibration is required. For this purpose, unless a speed detection signal is sampled from a motor at a frequency sufficiently higher than twice the frequency of the vibration, and the vibration is not analyzed, resolution sufficient for vibration extraction can not be obtained. As a result, in the motor systems described in the above-mentioned conventional Patent Documents 1 and 3, a computation device used in the motor control device requires a high computation speed, and the computation load becomes large.

In addition, the use of square root ((JL + JM) / JM ) in the calculation of the inner syeogap JCOM correction gain used in the calculation of the control parameters ^.5 The motor system according to the prior art of Patent Document 2. Therefore, in the motor system described in the above-mentioned conventional Patent Document 2, the calculation load of the arithmetic unit used in the motor control apparatus is increased by calculation of the square root thereof.

In order to solve the above problems,

A motor system comprising a motor for operating an object to be operated and a motor control device for feedback-controlling the rotation of the motor,

A closed loop system constituting a transfer function including a speed loop gain as a factor for inputting the rotational speed command of the motor and feedback control of the rotational position of the motor to output the rotational speed,

Inertia detecting means for detecting inertia of the operation object and the motor,

The gain K, which is the value obtained by dividing the fixed value including the fixed gain of the amplifier supplying the motor with electric power and the torque constant of the motor divided by the inertia of the operation object and the motor, is input to the motor position transmitting element and the output from the motor position transmitting element An adaptation identification means for identifying the identification information based on the identification information,

The inertia ratio Gr for the gain K of the gain K _{0, which} is a value obtained by dividing the fixed value including the fixed gain of the amplifier that supplies power to the motor and the torque constant of the motor to the inertia of the motor, is calculated, and the calculated inertia ratio Gr is used , And a calculation means for calculating a velocity loop gain from a ratio of an arbitrary parameter constant Ri to a predetermined function value taking the inertia ratio Gr as a factor and correcting the transfer function by the velocity loop gain calculated by the calculation means .

The adaptation identifying means can constitute the inertia detecting means by identifying the inertia of the operating object and the motor based on the input to the motor position transmitting element and the output from the motor position transmitting element.

According to this configuration, the velocity loop gain, which is a factor of the transfer function, is obtained by dividing the inertia ratio Gr (= K (k ₎₎ of the gain K ₀ when the load is not connected to the motor to the gain K when the load is connected to the motor calculated by the calculating means the ₀ / K), and any parameters for the, inertia ratio Gr with the inertia ratio Gr calculated f (Gr) a predetermined function value as a parameter constant, Ri ratio (= Ri / f ( Gr) is calculated, and it is simply calculated. The velocity loop gain is inversely proportional to the function value f (Gr) at a constant proportional constant Ri, and tends to decrease as the inertia ratio Gr increases. When the inertia ratio Gr is large, the gain at the higher frequency than the gain peak at the mechanical resonance frequency and the mechanical resonance frequency of the gain frequency characteristic of the control object becomes large, and oscillation easily occurs. However, in this configuration, since the velocity loop gain is lowered in the direction of canceling this, a gain margin indicating the stability of the closed loop system is secured. Therefore, the oscillation can be suppressed by auto-tuning without increasing the processing load of the arithmetic processing unit (CPU) constituting the calculating means. As a result, it is possible to use a CPU with a low computation processing load of the CPU and a slow processing speed, so that the cost of the motor control apparatus can be reduced.

Further, when the control gain is updated by the load inertia estimated to be the same as that of the drive system of one inertia system with respect to the drive system of a dual inertia system or a multi-inertia system, the servo is oscillated. However, according to this configuration, oscillation can be suppressed by simple arithmetic processing with respect to resonance in a driving system of a two-inertial system or a multi-inertial system.

Further, according to the present invention,

A transfer function including a closed loop system, a velocity loop gain, and a position loop gain is constituted. In place of the rotational speed command, a rotational position command of the motor is inputted and a rotational position of the motor is feedback controlled to output a rotational position ,

The calculation means calculates a value having a constant relation with the velocity loop gain as the value of the position loop gain,

And corrects the transfer function by the velocity loop gain and the position loop gain calculated by the calculation means

.

According to this configuration, the value of the position loop gain is a value having a constant relationship with the speed loop gain and is simply calculated by the calculating means, and the balance of the control system is auto-tuned to the value of the speed loop gain. This makes it possible to perform stable feedback control in consideration of the rotational speed of the motor and the rotational position of the motor without the control becoming unstable without applying a load to the CPU by simple arithmetic processing.

Further, according to the present invention,

A closed loop system, a first proportional-gain transfer element, a first add-on point into which the rotational speed command of the motor is inputted, an integral filter transfer element, a motor gain transfer element and an omni-directional path having a motor position transfer element, Has a first return path for returning to the first junction point via the differential filter transfer element,

The desired transfer function of the closed loop system having the desired characteristics of controlling the speed of the operation object and the motor is defined by the equation m1 / (s + m1), where the velocity loop gain is m1 and the Laplace operator is s,

The gain, which is a value obtained by dividing the terms related to viscosity of the operation object and the motor by the inertia of the operation object and the motor, which is identified based on the input to the motor position transmission element and the output from the motor position transmission element by the adaptive identification means, the parameters to match the control parameters related to the disturbance response of the q ₀ and q _1, characteristic of the closed loop based on the desired transfer function _{a 1 = q 1 + m 1} -p, b 1 = q 0 and m _1, b ₂ = (Q _{1 -} p) - (m _{1 -} p) + q ₀ ,

The first proportional gain transmission element is m ₁ ,

The integral filter transfer element is (s ² + q ₁ s + q ₀ ) / (s ² + a ₁ s)

The motor gain transfer elements are 1 / K,

The motor position transmission element is K / (s ² + p · s),

The differential filter transfer element is (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ )

Respectively,

The motor control apparatus has a table associating a relationship between m1 and q _0, q ₁ is stored,

The calculation means performs the conversion from the calculated velocity loop gain m ₁ to q ₀ and q ₁ with reference to the table

.

According to this configuration, since the table in which the relationship between m ₁ and q ₀ and q ₁ is associated is stored in the motor control device, the arithmetic processing for converting m ₁ to q ₀ and q ₁ can be performed by simply searching the table have. As a result, the operation processing time is shortened, and the load on the operation processing of the CPU is further reduced.

Further, according to the present invention,

A closed loop system, a first proportional-gain transfer element, a first add-on point into which the rotational speed command of the motor is inputted, an integral filter transfer element, a motor gain transfer element and an omni-directional path having a motor position transfer element, Has a first return path for returning to the first junction point via the differential filter transfer element,

The desired transfer function for controlling the speed of the operation object and the motor is defined by the equation m ₁ / (s + m ₁ ), where the velocity loop gain is m ₁ and the Laplace operator is s,

The gain, which is a value obtained by dividing the terms related to viscosity of the operation object and the motor by the inertia of the operation object and the motor, which is identified based on the input to the motor position transmission element and the output from the motor position transmission element by the adaptive identification means, , A control parameter for the disturbance response characteristic is denoted by _qq , and parameters for matching the characteristics of the closed loop system to the desired transfer function are b ₁ = ω _q · m ₁ and b ₂ = m ₁ -p + ω _q ,

The first proportional gain transmission element is m ₁ ,

The integral filter transfer element is (s + omega _q ) / s,

The motor gain transfer elements are 1 / K,

The motor position transmission element is K / (s ² + p · s),

The differential filter transfer element is (b ₂ s ² + b ₁ s) / (s + ω _q )

Lt; / RTI >

A table in which the relationship between m ₁ and? _Q is associated is stored in the motor control apparatus,

The calculation means is characterized in that the conversion from the calculated velocity loop gain m ₁ to? _Q is performed with reference to the table.

According to this configuration, since the table associating the relationship between m ₁ and _q is stored in the motor control device, the calculation process of converting m ₁ to ω _q can be performed by simply searching the table. As a result, the operation processing time is shortened, and the load on the operation processing of the CPU is further reduced.

Further, according to the present invention,

The closed loop system has a second additive point, a second proportional gain transfer element, a first additive point, an integral filter transfer element, a motor gain transfer element, and a motor position transfer element, to which a rotational position command of the motor is inputted instead of a rotational speed command And a second return path for directly returning the rotational position of the motor to the second junction, wherein the first return path is a forward return path for returning the rotational position of the motor to the first junction point via the differential filter transfer element,

If the desired transfer function for controlling the position of the operating object and the motor is m ₀ , the velocity loop gain is m ₁ , the position loop gain is m ₀ / m ₁ , and the Laplace operator is s, the calculation formula m ₀ / (s ² + m ₁ · s + m ₀ ), < / RTI >

The gain, which is a value obtained by dividing the terms related to viscosity of the operation object and the motor by the inertia of the operation object and the motor, which is identified based on the input to the motor position transmission element and the output from the motor position transmission element by the adaptive identification means, the parameters to match the control parameters related to the disturbance response of the q ₀ and q _1, characteristic of the closed loop based on the desired transfer function _{a 1 = q 1 + m 1} -p, b 1 = q 0 and m _1, b ₂ = (Q _{1 -} p) - (m _{1 -} p) + q ₀ ,

The second proportional gain transfer element is m ₀ ,

The integral filter transfer element is (s ² + q ₁ s + q ₀ ) / (s ² + a ₁ s)

The motor gain transfer elements are 1 / K,

The motor position transmission element is K / (s ² + p · s),

The differential filter transfer element is (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ )

Respectively,

The motor control device stores a table in which the relationship between m ₁ and m ₀ , q ₀ , and q ₁ is associated,

The calculation means performs the conversion from the calculated velocity loop gain m ₁ to m ₀ , q ₀ , q ₁ with reference to the table

.

With this arrangement, it m ₁ and m _0, q _0, because there is that the table corresponding to the relation of q ₁ is stored in the motor control apparatus, arithmetic processing to convert from m _0, q _0, q ₁ from m ₁ is a table Can be carried out simply by searching. As a result, the operation processing time is shortened, and the load on the operation processing of the CPU is further reduced.

Further, the present invention is characterized in that the predetermined function for calculating the velocity loop gain having the inertia ratio Gr as a factor is a linear function having only the inertia ratio Gr.

According to this configuration, the values of the velocity loop gains m ₁ and Kvp decrease in a simple inverse proportion to the increase of the inertia ratio Gr. As a result, the calculation processing of the CPU for calculating the values of the velocity loop gains m ₁ and Kvp is simplified, and the load of the CPU processing processing can be further suppressed.

Further, the present invention is characterized in that the predetermined function for calculating the velocity loop gain having the inertia ratio Gr as a factor is a linear function having the inertia ratio Gr and a constant as a factor.

According to this configuration, the inverse proportion of the speed loop gains m ₁ , Kvp and the inertia ratio Gr can be adjusted by a constant value. As a result, it is possible to suppress the computational processing load of the CPU while expanding the setting range of the velocity loop gains m ₁ and Kvp.

Further, the present invention is characterized in that the predetermined function for calculating the velocity loop gain with the inertia ratio Gr as a factor is a quadratic function having the inertia ratio Gr and a constant as a factor.

According to this configuration, the values of the velocity loop gains m ₁ and Kvp can be set to a desired relationship that monotonously decreases with respect to the increase of the inertia ratio Gr, which is different from a simple inverse relationship. As a result, both the command response characteristic and the vibration suppression characteristic of the closed loop system can be achieved.

Further, the present invention is characterized in that the parameter constant Ri is stored in the motor control device as a plurality of values depending on the type of the power transmission mechanism between the motor and the operation object.

According to this configuration, the user can set parameters by simply selecting the value of the parameter constant Ri in accordance with the type of the power transmission mechanism among the plurality of parameter constants Ri previously stored in the motor control device. Therefore, it is possible to provide a motor system that enhances the convenience of the user.

Further, the present invention is characterized in that the upper limit value of the inertia ratio Gr is limited.

When the values of the velocity loop gains m ₁ and Kvp become too small as the inertia ratio Gr increases and the values of the velocity loop gains m ₁ and Kvp corresponding to the values of the inertia ratio Gr can not be set, If a speed loop gain, m _1, the value of Kvp corresponding to the value of Gr, is smaller than the value of the minimum level, the velocity loop gain m _1, Kvp that is set in the table, the speed loop gain, m _1, can not lower the value of Kvp. In this case, the inertia ratio Gr (g) obtained on the basis of the relational expression (m ₁ = Ri / f (Gr), Kvp = Ri / f (Gr)) from the settable velocity loop gains m ₁ and Kvp _min of the minimum values m _1min and Kvp _{min (= Ri / m 1min, =} Ri / Kvp min) the as set as the upper limit value of inertia ratio Gr, and placing apply a limit to the upper limit value of inertia ratio Gr as in the present configuration, a speed loop gain corresponding to the value of inertia ratio Gr limitations are imposed on the lower limit of the values of m ₁ and Kvp. Therefore, the relation _{(m 1 = Ri / f (} Gr), Kvp = Ri / f (Gr)) is always satisfied, the speed loop gain of ₁ m, which do not disappear can set the value of Kvp.

According to the motor system of the present invention, vibration can be suppressed by auto-tuning without increasing the computational processing load of the CPU as described above.

1 is a block diagram showing a schematic configuration of a motor system according to each embodiment of the present invention.
2 is a block diagram showing a closed loop system in a motor system according to a first embodiment of the present invention.
Of Figure 3 (a) shows a first embodiment showing a relationship between the velocity loop gain of m ₁ and the inertia ratio Gr of the motor system according to the form of a simple inverse relationship graph, (b) is according to a modified example of the third embodiment A graph showing the time variation of the inertia ratio Gr when the upper limit value grcamax is set to the inertia ratio Gr in the motor system.
4 is a block diagram showing a closed loop system in a motor system according to a second embodiment of the present invention.
5 is a block diagram showing a closed loop system in a motor system according to a third embodiment of the present invention.
6 is a block diagram showing a closed loop system in a motor system according to a fourth embodiment of the present invention.
7 is a block diagram showing a closed loop system in a motor system according to a fifth embodiment of the present invention.
8 is a block diagram showing a closed loop system in a motor system according to a modification of the third embodiment of the present invention.

Next, a mode for carrying out the motor system according to the present invention will be described.

1 is a block diagram showing a schematic configuration of a motor system 1 according to each embodiment of the present invention.

The motor system 1 is provided with a motor 3 for operating the object 2 and a motor control device 4 for controlling the motor 3. The motor 3 is an AC servomotor or a DC servomotor, and operates, for example, an arm or the like of an industrial robot, which is the object 2 to be operated. The operation object 2 is connected to the motor 3 through a power transmission mechanism 6 such as a belt. The motor 3 is provided with a detection mechanism (encoder) 5 for detecting the rotational position of the motor 3. The output signal of the detecting mechanism 5 is inputted to the motor control device 4 for feedback-controlling the rotation of the motor 3. [ Although the motor control circuit of the motor control device 4 is constituted by an analog circuit (a circuit of a continuous time system), it may be constituted by a digital circuit (a circuit of a discrete time system) or by software.

2 is a block diagram showing the closed loop system 8A in the motor system 1 according to the first embodiment of the present invention.

The closed loop system 8A includes a first proportional gain transmitting element 9, a first adding point 10 to which a rotational speed command of the motor 3 is inputted, an integral filter transmitting element 11, a motor gain transmitting element 12 And the motor position transmission element 13 and the rotational position of the motor 3 from the motor position transmission element 13 to the first junction point 10 via the differential filter transmission element 14 (First feedback path) for returning, and inputs a rotation speed command of the motor 3 and feedback control of the rotation position of the motor 3 to output the rotation speed. This closed loop system 8A constitutes a transfer function including the velocity loop gain m ₁ in the factor, and the Laplace operator is s, the desired transfer function of the velocity is defined by the equation m ₁ / (s + m ₁ ). The desired transfer function has the desired characteristic of appropriately controlling the motor 3 in accordance with the operation object 2. The operation object speed is set by the motor 3 whose rotation is controlled by the closed loop system 8A.

The adaptive identification means 21 is a value obtained by dividing a fixed value including a fixed gain of an amplifier for supplying power to the motor 3 and a torque constant of the motor 3 by the inertia of the operation object 2 and the motor 3 The gain K (= fixed gain of the amplifier) (fixed value of the motor 3) / (inertia of the operation object 2 and the motor 3)) to the motor position transmission element 13, Based on the output from the position transmitting element 13. This identification is sequentially performed at predetermined time intervals by an identification method such as a least squares method. The amplifier referred to here is a constituent portion excluding the motor position transmission element 13 in the closed loop system 8A. In this embodiment, the adaptive identification means 21 constitutes inertia detection means, and based on the input to the motor position transmission element 13 and the output from the motor position transmission element 13, the operation object 2 And the motor 3 are identified by an identification method such as a least squares method, and are sequentially detected at predetermined time intervals. The adaptation identifying means 21 also determines the viscometric terms of the operation object 2 and the motor 3 based on the input to the motor position transmission element 13 and the output from the motor position transmission element 13 The gain p which is a value divided by the inertia of the operation object 2 and the motor 3 is identified. This identification is sequentially performed at predetermined time intervals by an identification method such as a least squares method.

A ₁ , b _1, and b ₂ , which set the control parameters for the disturbance response characteristic to be q ₀ and q ₁ and match the characteristics of the closed loop system 8A with the desired transfer function, are expressed by the following equations (1) and (2) and (3), respectively,

The first proportional gain transmission element 9 is m ₁ , the integral filter transmission element 11 is s ² + q ₁ s + q ₀ / s ² + a ₁ s, the motor gain transmission element 12 is 1 / K, the motor position transfer element 13 is K / (s ² + p s), the differential filter transfer element 14 is (b ₂揃 s ² + b ₁揃 s) / (s ² + q ₁揃 s + q ₀ ) Is expressed.

The first gain conversion means 15 receives an arbitrary parameter constant Ri set by the user. The first gain conversion means 15 calculates the inner ratio Gr (= K ₀ / K) with respect to the gain K of the gain K ₀ based on the gain K identified by the adaptive identification means 21 and the input parameter constant Ri do. The gain K ₀ is a fixed gain value of the fixed value divided by the inertia of the motor 3 (= (an amplifier comprising the torque constant of a fixed gain and the motor 3 of the amplifier for supplying power to the motor 3) (Fixed value of the motor 3) / (inertia of the motor 3)).

The first gain converting means 15 calculates the ratio of the parameter constant Ri to a predetermined function value f (Gr) using the inertia ratio Gr calculated as the factor (= Ri / f (Gr ), The velocity loop gain m ₁ is calculated. In the present embodiment, the predetermined function f (Gr) is set to Gr (f (Gr) = Gr) and the velocity loop gain m ₁ is expressed by the following equation (4).

The motor control device 4 stores the first table corresponding to the relationship between m ₁ and q ₀ and q ₁ so that q ₀ and q ₁ decrease as m ₁ decreases. The second gain converting means 16 performs conversion from the velocity loop gain m ₁ calculated by the first gain converting means 15 to q ₀ and q ₁ with reference to the first table. At this time, conversion from the m ₁ of the table value closest to the value of the velocity loop gain m ₁ calculated by the first gain converting means 15 to q ₀ , q ₁ is performed. The third gain converting means 17 calculates the gain of the first gain converting means 15 based on m ₁ calculated by the first gain converting means 15 and the gain p identified by the adaptive identifying means 21 in the equations (1), (2) And calculates a ₁ , b ₁ and b ₂ , respectively.

The first gain converting means 15 and the second gain converting means 16 calculate the inertia ratio Gr and calculate the velocity loop gain m ₁ by using the calculated inertia ratio Gr . The first gain conversion means 15, the second gain conversion means 16 and the third gain conversion means 17 are constituted by a CPU of a microcomputer provided in the motor control device 4 in this embodiment. The motor control device 4 gives the speed loop gain m ₁ calculated by the first gain converting means 15 to the first proportional gain transmitting element 9 and outputs the first proportional gain transmitting element 9 to the first proportional gain transmitting element 9 for a predetermined time Sequentially update at intervals. Further, q ₀ and q ₁ obtained by the second gain converting means 16 and a ₁ , b ₁ and b ₂ calculated by the third gain converting means 17 are multiplied by the integral filter transmitting element 11 and the differential filter transmitting element (14), and sequentially updates the integral filter transfer element (11) and the differential filter transfer element (14) at predetermined time intervals. Further, the adaptive identification means 21 gives the identified gain K to the motor gain transmission element 12, and sequentially updates the motor gain transmission element 12 at predetermined time intervals.

Even if the transfer functions of the closed loop system 8A are sequentially corrected at predetermined time intervals and the inertia of the operation object 2 or the motor 3 becomes large and the vibration tends to become strong by these updates, 8A) can be automatically matched to the desired transfer function. This makes it possible to stabilize the characteristics of the closed loop system 8A and to suppress the vibration even if the inertia of the operation object 2 or the motor 3 is increased.

According to the motor system 1 according to the first embodiment, the velocity loop gain m ₁ is a gain K ₀ of the motor 3 when the object 2 is not connected to the motor 3, The inertia ratio Gr (= K0 / K) with respect to the gain K when the operation object 2 is connected is calculated by the first gain conversion means 15, and an arbitrary parameter constant Ri (= Ri / Gr).

3 (a) is a graph showing the relationship between the velocity loop gain m ₁ and the inertia ratio Gr in a simple inverse proportion relation expressed by equation (4). The horizontal axis of this graph is the inertia ratio Gr, and the vertical axis is the velocity loop gain m ₁ . Each of the characteristic lines a, b, and c shows characteristics when the proportional constant Ri is Ri1, Ri2, and Ri3 (Ri1 < Ri2 < Ri3). As shown in this graph, the velocity loop gain m ₁ is inversely proportional to the inertia ratio Gr at a constant proportional constant Ri, and tends to decrease as the inertia ratio Gr increases. Further, the smaller the value of the proportional constant Ri, acts to lower the value of the speed loop gain of m ₁ with respect to the increase in inertia ratio Gr is strengthened.

The proportional constant Ri is a control parameter set by the user and is set according to the rigidity of the power transmission mechanism 6. [ For example, when the power transmission mechanism 6 is a mechanism having a small rigidity such as a belt drive, the proportionality constant Ri is set to a smaller value as the stiffness is smaller. Further, the smaller the viscous resistance of the operation object 2, the smaller the proportional constant Ri is set. If the proportional constant Ri is small, the reduction ratio of the speed loop gain values of m ₁ in accordance with the increase in the inertia ratio Gr becomes large, but the presented command response is stable, an improvement in vibration suppression performance. If the table value is set so that the values of q ₀ and q ₁ decrease as the value of m ₁ decreases, the vibration suppression effect becomes stronger.

Further, when the power transmission mechanism 6 is a mechanism having a large rigidity such as a ball screw drive, the proportionality constant Ri is set to a large value so that the velocity loop gain m ₁ does not become too low as the stiffness is great. If the proportional constant Ri large, becomes the reduction ratio of the speed loop gain values of m ₁ in accordance with the increase in the inertia ratio Gr small, and improve the responsiveness of the command, but the vibration is suppressed performance is lowered.

When the inertia ratio Gr is large, the gain at the higher frequency than the gain peak at the mechanical resonance frequency and the mechanical resonance frequency of the gain frequency characteristic of the control object becomes large, and oscillation easily occurs. However, in the motor system 1 according to the present embodiment, when the inertia ratio Gr is large, the gain of the gain of the closed loop system is secured since the velocity loop gain m ₁ is lowered in the direction of canceling the inertia ratio Gr. Further, the velocity loop gain m ₁ is simply calculated as described above. Therefore, vibration can be suppressed by auto-tuning without increasing the processing load of the CPU. As a result, it is possible to use a CPU with a low computation processing load of the CPU and a slow processing speed, and thus the cost of the microcomputer constituting the motor control apparatus 4 can be reduced. By this auto-tuning, the user can operate the motor 3 without oscillating without any adjustment at the start of use of the motor system.

Further, when the control gain is updated by the load inertia estimated to be the same as that of the drive system of one inertia system with respect to the drive system of a dual inertia system or a multi-inertia system, the servo is oscillated. However, according to the present embodiment, oscillation can be suppressed by simple arithmetic processing for resonance in a drive system of a dual inertia system or a multi-inertia system.

Further, according to the motor system 1 of the first embodiment, the first table in which the relationship of m ₁ , q ₀ , and q ₁ is associated is stored in the motor control device 4. Thus, the arithmetic processing for converting from m ₁ to q ₀ , q ₁ can be performed by simply searching the first table by the second gain converting means 16. As a result, the computation processing time is shortened and the computation processing load of the CPU is further reduced.

In the motor system 1 according to the first embodiment, the predetermined function having the inertia ratio Gr as a factor is defined as a linear function having only the inertia ratio Gr, as shown in the denominator of the equation (4) . Therefore, the value of the velocity loop gain m ₁ decreases in a simple inverse proportion to the increase of the inertia ratio Gr. As a result, the calculation processing of the CPU for calculating the value of the velocity loop gain m ₁ is simplified, and the load on the calculation processing load of the CPU can be further suppressed.

Next, the closed loop system 8B in the motor system 1 according to the second embodiment of the present invention will be described. Fig. 4 is a block diagram showing the closed loop system 8B. In Fig. 4, the same reference numerals are assigned to the same or equivalent parts as those in Fig. 2, and a description thereof will be omitted.

The desired transfer function of the velocity of the closed loop system 8B is also defined by the same mathematical expression m ₁ / (s + m ₁ ) as in the first embodiment. With, however, the disturbance response characteristic parameter, b _1, and b the following formula _2, respectively 5, 6, to match the control parameter to a ω _q, and the closed loop system desired characteristics of (8B) The transfer function relating the When indicated,

The integral filter transfer element 11 is represented by (s +? _Q ) / s and the differential filter transfer element 14 is represented by (b _2? S ² + b ₁ ? S) / (s +? _Q ).

The motor control device 4 also stores a second table corresponding to the relationship between m ₁ and ω _q so that ω _q decreases as m ₁ decreases. The second gain conversion means 16 performs the conversion from the speed loop gain m ₁ to ω _q calculated by the first gain conversion means 15 as described above with reference to the second table. The third gain converting means 17 calculates the gain of the first gain converting means 15 based on m ₁ calculated by the first gain converting means 15 and the gain p identified by the adaptive identifying means 21 based on Expressions (5) and (6) ₁ and b ₂ , respectively.

The motor control device 4 outputs ω _q obtained by the second gain converting means 16 and b ₁ and b ₂ calculated by the third gain converting means 17 to the integral filter transmitting element 11 and the differential filter transmitting element 14, and sequentially updates the integral filter transmission element 11 and the differential filter transmission element 14 at predetermined time intervals. Even if the transfer functions of the closed loop system 8B are sequentially corrected at predetermined time intervals and the inertia of the operation object 2 or the motor 3 becomes large and the vibration tends to become strong by these updates, 8B) can be automatically matched to the desired transfer function. Thus, even if the inertia of the operation object 2 or the motor 3 is increased, the characteristics of the closed loop system 8B can be changed so as to be stabilized to suppress the vibration.

Also in the motor system 1 according to the second embodiment, the velocity loop gain m ₁ is obtained by calculating the inertia ratio Gr (= K ₀ / K) by the first gain converting means 15, (Ri / Gr) of an arbitrary parameter constant Ri for Gr. As a result, the motor system 1 according to the second embodiment can suppress vibration by auto-tuning without increasing the computational processing load of the CPU, and the same advantageous effects as those of the first embodiment are exhibited.

Further, in the motor system 1 according to the second embodiment, the motor control device 4 stores the second table in which the relationship between m ₁ and _q is associated. Thus, the arithmetic processing for converting from m ₁ to ω _q can be performed by simply searching the second table by the second gain conversion means 16. As a result, the operation processing time is shortened, and the load on the operation processing of the CPU is further reduced.

Next, the closed loop system 8C in the motor system 1 according to the third embodiment of the present invention will be described. 5 is a block diagram showing the closed loop system 8C. In Fig. 5, the same or corresponding parts as those in Fig. 2 are denoted by the same reference numerals, and a description thereof will be omitted.

The closed loop system 8C constitutes a transfer function including the velocity loop gain m ₁ and the position loop gain m ₀ / m ₁ in the factor and inputs the rotational position command of the motor 3 instead of the rotational speed command , And the rotational position of the motor 3 is feedback-controlled to output the rotational position. The desired transfer function of the position of the closed loop system 8C is defined by the equation m ₀ / (s ² + m ₁ s + m ₀ ). The closed loop system 8C has a second proportional gain transmission element 19 and a second proportional gain transmission element 19 instead of the first proportional gain transmission element 9 in comparison with the closed loop system 8A shown in Fig. ) At the front end of the first junction point 10 in the forward path. The rotational position command of the motor 3 is inputted to the second joining point 18 instead of the rotational speed command and the rotational position of the motor 3 is inputted from the motor position transmitting element 13 to the second feedback path Path). In the second proportional gain transmitting element 19, the deviation of the rotational position command and the rotational position output from the second adding point 18 is input. The operation object position is set by the motor 3 whose rotation is controlled by the closed loop system 8C.

In the closed loop system 8C, the second proportional gain transmission element 19 is represented by m ₀ , and the integral filter transmission element 11, the motor gain transmission element 12 and the differential filter transmission element 14 are represented by Is represented similarly to the closed loop system 8A.

In addition, there is a relation of m ₁ and m _0, q _0, q _1, a third table corresponds to that in accordance with the decrease in m ₁ m _0, q _0, q ₁ is lowered stored motor control unit 4 . The second gain conversion means 16 performs the conversion from the velocity loop gain m ₁ calculated by the first gain conversion means 15 to m ₀ , q ₀ and q ₁ with reference to the third table. At this time, the table value of the third table is set so that a value having a constant relation with the velocity loop gain m ₁ is calculated as a value of the position loop gain m ₀ / m ₁ . This is because the cases in which lowering the value as m ₁ man alone, a bad balance of the m _0, the control is unstable. So, lowering the value of m ₁ makes a value of m _0, and adjusts the value of the m ₀ according to the value of m _1. for the value of m ₁ being much lower the value of m _0, it is determined such that the ratio of m ₁ and m ₀ is the stability in the first inertial frames.

At this time, the table value of the third table is set so that a value having a constant relation with the velocity loop gain m ₁ is calculated as the value of q ₀ , q ₁ . This is also because, if the value of m ₁ alone is lowered, the control may become unstable. Thus, when the value of m ₁ is decreased, the values of q ₀ and q ₁ are decreased, and the values of q ₀ and q ₁ are adjusted according to the value of m ₁ .

Third gain changing means 17 is a first m ₁ calculated as described above, the gain changing means (15) and, from the gain p identified as adapted identification means (21), formula (1), (2), based on (3), and calculates the closed loop-based parameter, a _1, to match the characteristics of the (8C) to the desired transfer function b ₁ and b _2, respectively. The motor control unit 4 outputs m ₀ , q ₀ , q ₁ obtained by the second gain converting means 16 and a ₁ , b ₁ , b ₂ calculated by the third gain converting means 17 to the integral filter transmitting element The differential filter transfer element 14 and the second proportional gain transfer element 19 and the integral filter transfer element 11, the differential filter transfer element 14 and the second proportional gain transfer element 19, Are sequentially updated at predetermined time intervals. Even if the transfer functions of the closed loop system 8C are sequentially corrected at predetermined time intervals and the inertia of the operation object 2 or the motor 3 becomes large and the vibration tends to become strong by these updates, 8C) can be automatically matched to the desired transfer function. Therefore, even if the inertia of the operation object 2 or the motor 3 is increased, the characteristics of the closed loop system 8C can be changed so as to be stabilized to suppress the vibration.

In the motor system 1 according to the third embodiment as well, the velocity loop gain m ₁ is obtained by calculating the inertia ratio Gr (= K ₀ / K) by the first gain converting means 15, (Ri / Gr) of an arbitrary parameter constant Ri for Gr. As a result, the motor system 1 according to the third embodiment can also suppress the vibration by auto-tuning without increasing the computational processing load of the CPU, and the same operational effects as those of the first embodiment are exhibited.

In the motor system 1 according to the third embodiment, since the motor control device 4 stores the third table in which the relationship between m ₁ and m ₀ , q ₀ , and q ₁ is mapped, m ₁ To m ₀ , q ₀ , and q ₁ can be performed by simply searching the third table by means of the second gain conversion means 16. As a result, the operation processing time is shortened, and the load on the operation processing of the CPU is further reduced.

Further, according to the motor system 1 of the third embodiment, the value of the position loop gain m ₀ / m ₁ is a value having a constant relation with the velocity loop gain m _{1 by} the second gain converting means 16 And the balance of the control system is auto-tuned to a good value with respect to the speed loop gain m ₁ . This makes it possible to perform stable feedback control taking into consideration the rotational speed of the motor 3 and the rotational position of the motor 3 without the control becoming unstable without applying a load to the CPU by simple arithmetic processing.

The desired transfer function defined by the arithmetic expression m ₀ / (s ² + m ₁揃 s + m ₀ ) in the closed loop system 8C can be modified as follows.

^{_{m 0 / (s 2 + m}} 1 and s + m ₀₎ = ω ₁ and _{ω 2 / (s + ω 1} ) and (s + ω ₂₎

Here,? ₁ and? ₂ are the cut-off frequencies of the desired transfer function, and the following relationship is established.

m ₀ = ω ₁ ω ₂ , m ₁ = ω ₁ + ω ₂

Therefore, in the third embodiment, instead of controlling m ₀ and m ₁ , ω ₁ and ω ₂ may be controlled.

The characteristic polynomial (s ² + q ₁ s + q ₀ ) in the integral filter transmission element 11 and the differential filter transmission element 14 can be modified as follows.

s ² + q ₁ and _{s + q 0 = (s +} ω q1) and (s + ω _q2)

Here, the following relationships are established for? _Q1 and? _Q2 .

q ₀ = ω _q1 and _q2 ω, q ₁ = ω + ω _{q1 q2}

Further, in order to simplify the adjustment,? _Q1 and? _Q2 may be equal to each other as in the following expression.

? _q =? _q1 =? _q2

Here, the following relationship holds for? _Q.

q ₀ = q q ₂ , q ₁ = 2 _{q q}

Therefore, in the first and third embodiments, q _q1 and _{q q2} may be controlled instead of q ₀ and q ₁ .

The motor system 1 according to each of the first, second, and third embodiments described above performs the robust pole arrangement control. However, the present invention can be similarly applied to a motor system that performs P-PI control.

Fig. 6 is a block diagram showing the closed loop system 8D in the motor system 1 according to the fourth embodiment of the present invention which performs PI speed control. In Fig. 6, the same reference numerals are assigned to the same or corresponding parts to those in Fig. 2, and a description thereof will be omitted.

The closed loop system 8D constitutes a transfer function including the velocity loop gain Kvp in the factor, inputs the rotational speed command of the motor 3, and feedback-controls the rotational position of the motor 3 to calculate the rotational speed Output. The rotation speed command of the motor 3 is directly inputted to the first junction point 10 of the closed loop system 8D and the integral filter transmission element 11 includes the velocity loop gain Kvp as a proportional gain transmission element have. The integral filter transfer element 11 in the closed loop system 8D has Kvp (1 + Kvi / s) when the speed integration gain is Kvi and the differential filter transmission element 14 has? Cs / (s + oc). The operation object speed is set by the motor 3 whose rotation is controlled by the closed loop system 8D.

Also in this closed loop system (8D), inertia ratio Gr (= K ₀ / K) of the gain K of the identified adaptive identification means 21, the gain K, based on the input parameters constant, Ri, gain K ₀ . Then, the velocity loop gain Kvp is calculated from the ratio of the parameter constant Ri to a predetermined function value taking the inertia ratio Gr as a factor, using the calculated inertia ratio Gr. In the present embodiment, the velocity loop gain Kvp is calculated from the equation (Kvp = Ri / Gr) corresponding to the equation (4). Further, based on the calculated speed loop gain Kvp, each control parameter in the closed loop system 8D is sequentially updated with reference to the table. This makes it possible to easily calculate the speed loop gain Kvp also by the motor system 1 according to the fourth embodiment and to suppress the vibration by auto-tuning without increasing the calculation processing load of the CPU, The same function and effect as those of the shape are exhibited.

Fig. 7 is a block diagram showing a closed loop system 8E in the motor system 1 according to the fifth embodiment of the present invention for performing PI position control. In Fig. 7, the same or similar parts as in Fig. 6 are denoted by the same reference numerals, and a description thereof will be omitted.

The closed loop system 8E constitutes a transfer function including the velocity loop gain Kvp and the position loop gain Kpp in the factor and inputs the rotational position command of the motor 3 instead of the rotational speed command, And outputs the rotation position. The closed loop system 8E is constructed so that the second joining point 18 and the second proportional gain transmitting element 19 are connected to the first joining point 18 in the forward path 10). The rotational position command of the motor 3 is inputted to the second joining point 18 instead of the rotational speed command and the rotational position of the motor 3 is directly inputted from the motor position transmitting element 13 through the second return path, Return. In the second proportional gain transmitting element 19, the deviation of the rotational position command and the rotational position output from the second adding point 18 is input. The operation object position is set by the motor 3 whose rotation is controlled by the closed loop system 8E.

Also in this closed loop system (8E), inertia ratio Gr (= K ₀ / K) of the gain K of the identified adaptive identification means 21, the gain K, based on the input parameters constant, Ri, gain K ₀ . Then, the velocity loop gain Kvp is calculated from the ratio of the parameter constant Ri to a predetermined function value taking the inertia ratio Gr as a factor, using the calculated inertia ratio Gr. Also in this embodiment, the velocity loop gain Kvp is calculated from the equation (Kvp = Ri / Gr) corresponding to the equation (4). Further, on the basis of the calculated speed loop gain Kvp, each control parameter in the closed loop system 8E is sequentially updated with reference to the table.

At this time, the values of the position loop gain Kpp and the speed integral gain Kvi are calculated to have a constant relationship with the speed loop gain Kvp. This is because, if only the value of Kvp alone is lowered, the balance of Kpp and Kvi becomes worse, and the control may become unstable. Thus, when the value of Kvp is lowered, the values of Kpp and Kvi are lowered, and the values of Kpp and Kvi are adjusted according to the value of Kvp. Determining how low the values of Kpp and Kvi for the values of Kvp are to be the ratio of Kvp, Kpp and Kvi, which are stable in one inertial system.

With the motor system 1 according to the fifth embodiment, the speed loop gain Kvp and the position loop gain Kpp can be simply calculated, and vibration can be suppressed by auto-tuning without increasing the computational processing load of the CPU , The same operational effects as those of the first embodiment are exhibited.

In the motor system 1 according to each of the above-described first to fifth embodiments, the predetermined function f (Gr) having the inertia ratio Gr as a factor is a linear function f (Gr) having only the inertia ratio Gr (Gr) = Gr), and the case where the velocity loop gains m ₁ , Kvp and the inertia ratio Gr are in a simple inverse proportion relation expressed by the equation (4). However, a predetermined function f (Gr) is represented by a linear function (f (Gr) = Gr + Rid0) having the inertia ratio Gr and the constant Rid0 as a factor and the velocity loop gain m ₁ , and Kvp may be specified.

According to the equations (7.1) and (7.2), the inverse relationship of the velocity loop gains m ₁ , Kvp and the inertia ratio Gr can be adjusted by the constant value Rid 0. As a result, it is possible to suppress the computational processing load of the CPU while expanding the setting range of the velocity loop gains m ₁ and Kvp.

Further, the second function (f (Gr) = Gr ² + Rid1 and Gr + Rid0) represents f (Gr), a predetermined function by the following equation (8.1), (8.2) the inertia ratio Gr and the constant Rid0 as a factor The speed loop gains m ₁ and Kvp may be defined.

According to Eqs. (8.1) and (8.2), where the denominator is a second-order fraction function, the values of the velocity loop gains m ₁ and Kvp are set to a desired relationship that monotonically decreases with increasing in- . The command response characteristic and the vibration suppression characteristic can be more compatible if the denominator is a second order fraction function rather than an inverse proportion relation of the first order function.

Each equation defining a speed loop gain, _{m 1, Kvp (4),} (7.1), (7.2), (8.1), the specific characteristics that are represented by (8.2) is, in this embodiment, the velocity loop gain m _1, Kvp And the inertia ratio Gr were determined to be characteristics passing through the points measured by the experiment. The higher the degree of the function of the denominator is, the higher the precision of fitting the function value to the measuring point can be increased, but the load of the CPU is increased.

In the motor system 1 according to each of the above-described first to fifth embodiments, the case where the user completely freely inputs an arbitrary parameter constant Ri to the motor control device 4 has been described. However, the parameter constant Ri may be stored in the motor control unit 4 as a plurality of values depending on the type of the power transmission mechanism 6 between the motor 3 and the operation object 2. [ According to this configuration, the user can set the parameter by simply selecting the value of the parameter constant Ri corresponding to the type of the power transmission mechanism 6 among the plurality of parameter constants Ri stored in advance in the motor control device 4. [ Thus, it is possible to provide the motor system 1 in which the convenience of the user is enhanced.

In the motor system 1 according to each of the first to fifth embodiments described above, the case where the conversion from the velocity loop gains m ₁ and Kvp to the respective control parameters is performed using a table has been described. However, instead of using the table, the conversion from the velocity loop gains m ₁ and Kvp to the respective control parameters may be performed by an operation using an operation expression.

In the motor system 1 according to each of the above-described first to fifth embodiments, the upper limit of the inertia ratio Gr may be set to a limit.

When the values of the velocity loop gains m ₁ and Kvp become too small due to the increase of the inertia ratio Gr and the values of the velocity loop gains m ₁ and Kvp corresponding to the values of the inertia ratio Gr can not be set, If the speed loop gain of ₁ m, the value of Kvp corresponding to the value smaller than the value of the minimum level of speed loop gain ₁ m, Kvp that is set in the table, speed loop gain is ₁ m, it can not lower the value of Kvp.

In such a case, it is calculated based on the relational expression (m ₁ = Ri / f (Gr), Kvp = Ri / f (Gr)) from the minimum value m _1min of the velocity loop gain m ₁ settable in the table and the minimum value Kvp _min of Kvp The inertia ratio Gr is set to the motor control unit 4 as the upper limit value of the inertia ratio Gr. By limiting the upper limit value of the inertia ratio Gr in this manner, the lower limit of the values of the velocity loop gains m ₁ and Kvp corresponding to the value of the inertia ratio Gr is limited. Therefore, the relation _{(m 1 = Ri / f (} Gr), Kvp = Ri / f (Gr)) is always satisfied, the speed loop gain of ₁ m, which do not disappear can set the value of Kvp.

For example, if the value of the velocity loop gain m ₁ is calculated by the equation (4) and the relationship between the velocity loop gain m ₁ and the inertia ratio Gr is in a simple inverse proportion relationship ( the upper limit value grcamax of the inertia ratio Gr can be expressed by the following equation (9) based on the equation (4): m ₁ = Ri / Gr where the minimum value of the velocity loop gain m _{1 that} can be set in the table is m _{1 min} , ).

FIG. 3 (b) is a graph showing the time variation of the inertia ratio Gr when the upper limit value grcamax is set to the inertia ratio Gr. The horizontal axis of this graph is time, and the vertical axis is the inertia ratio Gr. As shown in this graph, when the upper limit value grcamax is set to the inertia ratio Gr at time t, the estimated value of the increasing inertia ratio Gr is limited to grcamax [%] as shown by the chain line after time t. Therefore, by giving it limited to a upper limit value grcamax is determined the setting of the inertia ratio Gr by the formula (9), is limited is applied to the lower limit of the speed loop gain values of m ₁ corresponds to the value of inertia ratio Gr, the relation (m ₁ = Ri / f (Gr)) is always established and the value of the velocity loop gain m ₁ can not be set.

In the relationship between the velocity loop gain m ₁ and the inertia ratio Gr shown in FIG. 3 (a), as shown in the graph, the upper limit value m _1max is set to the value of the velocity loop gain m ₁ , If so as to saturate the value of m ₁ m in the upper limit _1max to the user desired, it can be as high as possible for the command response. According to such a motor system 1, vibration can be suppressed by auto-tuning without increasing the computational processing load of the CPU, and the command responsiveness can be made closer to the characteristic desired by the user.

8 is a block diagram of a closed loop system 8C 'according to a modified example in which a configuration for setting a limit to the upper limit value of the inertia ratio Gr is added to the motor system 1 according to the third embodiment. In FIG. 8, the same or equivalent parts as those in FIG. 5 are denoted by the same reference numerals, and a description thereof will be omitted.

The closed loop system 8C 'further includes a Gr upper limit value calculating means 22 and a limiter 23 constituted by a CPU in addition to the closed loop system 8C. In the closed loop system 8C ', the motor gain transmission element 12 expressed by 1 / K (= Gr / K ₀ ) in FIG. 5 is composed of a transmission element 12a represented by 1 / K ₀ , And is represented by two transfer elements of the transfer element 12b represented by Gr. The Gr upper limit value calculating means 22 is given a minimum value m _1min and a parameter constant Ri of the speed loop gain m _{1 that} can be set in the third table. Gr upper limit value calculating means 22 is calculated by the upper limit grcamax of inertia ratio Gr from Min m _1min and parameters constant Ri in formula (9) and stores. When the value of the velocity loop gain m ₁ calculated by the equation (4) is saturated at the lower limit in the third table, the limiter 23 sets the value of Gr in the transmitting element 12b to the Gr upper limit value calculating means 22, Lt; RTI ID = 0.0 &gt; grcamax &lt; / RTI &gt; Thus, the 1 / K setting value is limited not to be excessively high, in other words, the K setting value is not excessively low. Therefore, the relational expression (m ₁ = Ri / Gr) is always established and the value of the velocity loop gain m ₁ can not be set.

In the motor system 1 according to each of the first to fifth embodiments and the modified examples described above, the transfer function of the closed loop systems 8A, 8B, 8C, 8C ', 8D, Is described. However, even when the transfer function of the closed loop system defines the characteristics of a single inertial system, the present invention can be similarly applied. According to such a configuration, although the command response characteristic of the closed loop system is lowered, it is possible to prevent the oscillation due to the control without the user being aware of whether the control target apparatus is a highly rigid single inertia system or a low control rigidity multi- have.

In the motor system 1 according to each of the first to fifth embodiments and the modification described above, the adaptive identification means 21 detects the inertia of the operation object 2 and the motor 3 A case in which the inertia detecting means is constituted. However, the motor control device 4 may be configured to include, in addition to the adaptive identification means 21, inertia detection means for detecting the inertia of the operation object 2 and the motor 3.

1: Motor system
2: Operation object
3: Motor
4: Motor control device
6: Power transmission mechanism
8A, 8B, 8C, 8C ', 8D, 8E: closed loop system
9: First proportional gain transmission element
10: First pick-up point
11: integral filter transfer element
12: Motor gain transmission element
13: Motor position transfer element
14: Differential filter transfer element
15: first gain conversion means
16: second gain conversion means
17: Third gain conversion means
18: second combination point
19: Second proportional gain transmission element
21: Adaptation identification means

Claims (11)

A motor system comprising a motor for operating an operating object and a motor control device for feedback-controlling the rotation of the motor,
A closed loop system constituting a transfer function including a speed loop gain as a factor for inputting a rotational speed command of the motor and feedback control of the rotational position of the motor to output a rotational speed;
Inertia detecting means for detecting an inertia of the operation object and the motor,
A gain K, which is a value obtained by dividing a fixed value including a fixed gain of an amplifier for supplying electric power to the motor and a torque constant of the motor by an inertia of the operation object and the motor, An adaptive identification means for identifying based on an output from the adaptive identification means,
Calculating an inertia ratio Gr with respect to the gain K of a gain K _{0, which} is a value obtained by dividing a fixed value including a fixed gain of an amplifier for supplying power to the motor and a torque constant of the motor by an inertia of the motor, And a calculation means for calculating the velocity loop gain from a ratio of an arbitrary parameter constant Ri to a predetermined function value using the inertia ratio Gr as a factor,
And the transfer function is corrected by the velocity loop gain calculated by the calculation means
&Lt; / RTI &gt; 2. The motor control apparatus according to claim 1, wherein the closed loop system comprises a transfer function including the speed loop gain and the position loop gain as factors, inputs a rotation position command of the motor instead of the rotation speed command, And outputs the rotation position,
Wherein the calculating means calculates a value having a constant relationship with the velocity loop gain as a value of the position loop gain,
And the transfer function is corrected by the velocity loop gain and the position loop gain calculated by the calculation means
&Lt; / RTI &gt; The system of claim 1, wherein the closed loop system includes a first proportional gain transmission element, a first addition point to which a rotational speed command of the motor is input, an integral filter transmission element, a motor gain transmission element, And a first return path for returning the rotational position of the motor to the first junction point via the differential filter transfer element,
A desired transfer function having a desired characteristic for controlling the velocity of the operation object and the motor is defined by an arithmetic expression m ₁ / (s + m ₁ ) when the velocity loop gain is m ₁ and the Laplace operator is s,
Wherein said operation identifying means identifies an operating object and an item related to the viscosity of said motor which are identified based on an input to said motor position transmitting element and an output from said motor position transmitting element by said adaptation identifying means, syeoro the parameters to match the control parameter q ₀ and q _1, characteristic of the closed loop based on the gain is calculated by dividing the p, the disturbance response of the desired transfer function _{a 1 = q 1 + m 1} -p, b 1 when the q = ₀ and _{m 1, b 2 = + q} 0 (q 1 -p) and (m ₁ -p),
Wherein the first proportional gain transmission element is m ₁ ,
(S ² + q ₁ s + q ₀ ) / (s ² + a ₁ s),
Wherein the motor gain transmission element is a 1 / K,
Wherein the motor position transmission element is K / (s &lt; ² &gt; + p &lt;
The differential filter transfer element has (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ )
Respectively,
In the motor control apparatus, a table in which the relationship of m ₁ , q ₀ , and q ₁ is associated is stored,
The calculation means performs conversion from the calculated velocity loop gain m ₁ to q ₀ and q ₁ with reference to the table
&Lt; / RTI &gt; The system of claim 1, wherein the closed loop system includes a first proportional gain transmission element, a first addition point to which a rotational speed command of the motor is input, an integral filter transmission element, a motor gain transmission element, And a first return path for returning the rotational position of the motor to the first junction point via the differential filter transfer element,
A desired transfer function having a desired characteristic for controlling the velocity of the operation object and the motor is defined by an arithmetic expression m ₁ / (s + m ₁ ) when the velocity loop gain is m ₁ and the Laplace operator is s,
Wherein said operation identifying means identifies an operating object and an item related to the viscosity of said motor which are identified based on an input to said motor position transmitting element and an output from said motor position transmitting element by said adaptation identifying means, B ₁ = ω _q揃 m ₁ , b ₂ = m ₁ - 了 is a parameter for making the control parameter related to the disturbance response characteristic be ω _q , the characteristics of the closed loop system matching the desired transfer function, p + omega _q ,
Wherein the first proportional gain transmission element is m ₁ ,
Wherein the integral filter transfer element comprises (s + [omega] _q ) / s,
Wherein the motor gain transmission element is a 1 / K,
Wherein the motor position transmission element is K / (s &lt; ² &gt; + p &lt;
The differential filter transfer element has (b ₂ s ² + b ₁ s) / (s + ω _q )
Lt; / RTI &gt;
The motor control device stores a table in which the relationship between m ₁ and? _Q is associated,
And the calculation means performs the conversion from the calculated velocity loop gain m ₁ to? _Q with reference to the table
&Lt; / RTI &gt; 3. The motor control apparatus according to claim 2, wherein the closed loop system includes a second additive point, a second proportional gain transfer element, a first additive point, an integral filter transfer element, a motor A forward path having a gain transmission element and a motor position transmission element, a first feedback path for returning the rotational position of the motor to the first junction point via a differential filter transmission element, And a second feedback path for direct feedback to the junction point,
Desired transfer function having the desired characteristics for controlling the position of the operation object and the motor, when the speed loop gain, m _1, the position loop gain m ₀ / m _1, called the Laplace operator s, equation m ₀ / (s ² + m ₁ s + m ₀ )
Wherein said operation identifying means identifies an operating object and an item related to the viscosity of said motor which are identified based on an input to said motor position transmitting element and an output from said motor position transmitting element by said adaptation identifying means, syeoro the parameters to match the control parameter q ₀ and q _1, characteristic of the closed loop based on the gain is calculated by dividing the p, the disturbance response of the desired transfer function _{a 1 = q 1 + m 1} -p, b 1 when the q = ₀ and _{m 1, b 2 = + q} 0 (q 1 -p) and (m ₁ -p),
Wherein the second proportional gain transmission element is m ₀ ,
(S ² + q ₁ s + q ₀ ) / (s ² + a ₁ s),
Wherein the motor gain transmission element is a 1 / K,
Wherein the motor position transmission element is K / (s &lt; ² &gt; + p &lt;
The differential filter transfer element has (b ₂ s ² + b ₁ s) / (s ² + q ₁ s + q ₀ )
Respectively,
The motor control device stores a table in which the relationship of m ₁ and m ₀ , q ₀ , and q ₁ is associated,
And the calculation means performs conversion from the calculated velocity loop gain m ₁ to m ₀ , q ₀ , q ₁ with reference to the table
&Lt; / RTI &gt; 6. The method according to any one of claims 1 to 5, characterized in that the predetermined function for calculating the velocity loop gain with the inertia ratio Gr as a factor is a linear function having only the inertia ratio Gr as a factor . 6. The method according to any one of claims 1 to 5, wherein the function for calculating the predetermined velocity loop gain with the inertia ratio Gr as a factor is a function of a linear function that takes the inertia ratio Gr and a constant as a factor &Lt; / RTI &gt; 6. The method according to any one of claims 1 to 5, wherein the function for calculating the predetermined velocity loop gain with the inertia ratio Gr as a factor is a function of a quadratic function having the inertia ratio Gr and a constant as a factor &Lt; / RTI &gt; The motor control device according to any one of claims 1 to 5, wherein the parameter constant Ri is a value stored in the motor control device as a plurality of values depending on the type of the power transmission mechanism between the motor and the operating object A motor system characterized by. The motor system according to any one of claims 1 to 5, wherein a limit is set in the upper limit value of the inertia ratio Gr. The motor control device according to any one of claims 1 to 5, wherein the adaptation identification means constitutes the inertia detection means, and based on the input to the motor position transmission element and the output from the motor position transmission element, And the inertia of the motor and the object to be operated are identified.

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