KR970066570A - Servo motor instantaneous velocity estimation device - Google Patents

Abstract

[0001] The present invention relates to an instantaneous speed estimation apparatus for controlling the speed of a servomotor, and as the processing speed of the CPU is improved, the speed control cycle becomes shorter, and thus the speed detection cycle of the motor becomes shorter, The amount of information of the encoder can be reduced and accurate speed detection becomes difficult. In some cases, one pulse may not be inputted during the sampling time.

In order to solve such a problem, the present invention estimates an instantaneous velocity using two velocity observers (OBSERVER) so that the period for obtaining position information from the encoder is lengthened and the time period is divided again into several sections, By estimating the instantaneous velocity using the command value and the load torque estimate, it is possible to improve the accuracy of the information obtained from the encoder and to reduce the error between the actual velocity and the instantaneous velocity, thereby improving the accuracy of the velocity measurement using the velocity controller having a short period .

Description

Servo motor instantaneous velocity estimation device

Since this is a trivial issue, I did not include the contents of the text.

FIG. 2 is a configuration diagram of the instantaneous speed estimation apparatus of the present invention. FIG.

Claims (1)

A first comparator 11 comparing the input speed command w ^* with the feedback instantaneous speed estimate to provide a speed error w ^* -w1; A second comparator for comparing the input speed command w ^* with a feedback speed estimate to obtain a speed error w ^{* -} w2; A switch SW71 for sampling the speed error w ^* -w1 of the first comparator at a period T2 and a switch SW72 for sampling the speed error w ^* -w2 of the second comparator 12 at a period T1, (70); From the proportional controller 21 and the speed error (w ^* -w2) sampled at the switch (SW12) to perform a speed control from a speed error (w ^* -w1) sampled at the switch (SW71) of the sample part 70 A speed control unit 20 comprising an integral controller 22 for performing speed control; A third comparator 13 for calculating a current command i ^* by adding the proportional outputs of the speed controllers 20 and the outputs of the integrators 21 and 22; A fourth comparator 14 for comparing the current command i ^{* with} the current i of the actual motor M to obtain a current error i ^* -i; A current controller 30 configured to configure a voltage v applied to the motor M based on the current error i ^* -i; An encoder 6 attached to the motor M for detecting the number of revolutions of the motor p; And a closed-loop-type torque command value calculating unit for calculating a speed, a position, and a load torque estimation value from a value obtained by sampling the revolution number p detected from the encoder 6 through the switch SW12 at a cycle T1 and an input current command i ^* A switch SW13 for sampling the speed, position and load torque estimate at a new cycle T2 divided by a plurality of intervals of the cycle T1; And a second speed observer (62) of a closed loop type in which a new instantaneous speed, position and load torque estimation value is calculated from the command (i ^* ) and supplied to the first comparator (11) Speed estimation device. ※ Note: It is disclosed by the contents of the first application.