TW201638690A - Servomotor control device and conflict detection method - Google Patents

Abstract

This invention provides a servomotor control device with higher detection precision for conflicts. A position command speed dimension signal output unit 110a of a servomotor control unit 10a outputs a speed dimension signal corresponding to a position command. A speed dimension signal output unit 120 of the servomotor outputs a speed dimension signal of the servomotor 20. When the absolute value of speed differences exceeds a specific value, a first conflict detection unit 130 detects whether it is a conflict. A position command and acceleration dimension transfer unit 140a transfers the speed dimension signal corresponding to the position command into an acceleration dimension signal and outputs it. A servomotor acceleration dimension transfer unit 150 outputs the acceleration dimension signal of the servomotor 20. When the absolute value of acceleration differences exceeds a specific value, a second conflict detection unit 160 detects whether it is a conflict. On the basis of the detection method for a parameter setting unit 190, a selecting unit 180 selects setting 191 to select the first conflict detection unit 130 and the second conflict detection unit 160.

Description

Servo motor control device and conflict detection method

The present invention relates to a servo motor control device and a collision detecting method, and more particularly to a servo motor control device and a collision detecting method including a servo motor that operates an object to be operated.

In the control device of the servo motor, there has been a technique of detecting a collision of an object to be operated such as a robot arm.

For example, Patent Document 1 describes an actuator control device that controls an actuator having a moving body. The apparatus of Patent Document 1 includes: a current detecting unit that detects a current value of a motor flowing into the actuator during a driving process of the actuator, that is, a period in which the moving body moves from the end of the acceleration to the start of the deceleration; and collision detection The unit detects a collision of the moving body when the current value detected by the current detecting unit exceeds a specific threshold. That is, in the technique of Patent Document 1, if the torque command value exceeds the threshold value, the collision detection signal is output.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2014-87235

However, in the technique of Patent Document 1, there is a problem that collision cannot be detected when a bias load is applied or when acceleration/deceleration is applied. Therefore, the detection accuracy of conflict detection is not foot.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a servo motor control device capable of solving the above problems and improving the accuracy of collision detection.

The servo motor control device according to the present invention includes a servo motor that operates an object to be operated and a servo motor control unit that controls the servo motor based on a position command, and the servo motor control unit includes a position command speed. a dimension signal output unit that outputs a speed dimension signal corresponding to the position command; a servo motor speed dimension signal output unit that outputs a speed dimension signal of the servo motor; and a first collision detecting unit that commands the speed dimension signal by the position When the absolute value of the speed difference between the speed dimension signal output from the output unit and the speed dimension signal outputted by the servo motor speed dimension signal output unit reaches a specific value or more, the detection is a collision; the position command acceleration dimension conversion unit And converting the speed dimension signal outputted by the position command speed dimension signal output unit into an acceleration dimension signal and outputting; the servo motor acceleration dimension conversion unit converting the speed dimension signal output by the servo motor speed dimension signal output unit into acceleration The dimension signal is outputted; the second collision detecting unit is an absolute value of the acceleration deviation between the acceleration dimension signal output by the position command acceleration dimension conversion unit and the acceleration dimension signal output by the servo motor acceleration dimension conversion unit. When a certain value or more is reached, a collision is detected; and a selection unit that selects the first collision detecting unit and the second collision detecting unit based on the specific parameter.

According to this configuration, in the position control, the first collision detecting unit and the second collision detecting unit can be appropriately selected in accordance with the use of the application, etc., and the accuracy of the collision detection can be improved.

A servo motor control device according to the present invention includes a servo motor that operates an operation target and a servo motor control unit that controls the servo motor according to a speed command, and the servo motor control unit includes a speed command speed dimension signal. Output department, And outputting a speed dimension signal corresponding to the speed command; a servo motor speed dimension signal output unit that outputs a speed dimension signal of the servo motor; and a first collision detecting unit that outputs the speed output by the speed command speed dimension signal output unit When the absolute value of the difference value between the dimension signal and the velocity dimension signal outputted by the servo motor speed dimension signal output unit is equal to or greater than a specific value, the collision is detected; the speed command acceleration dimension conversion unit is to be The speed dimension signal outputted by the speed command speed dimension signal output unit is converted into an acceleration dimension signal and output; the servo motor acceleration dimension conversion unit converts the speed dimension signal output by the servo motor speed dimension signal output unit into an acceleration dimension signal and outputs the same; a second collision detecting unit that is specific to an absolute value of an acceleration dimension signal outputted by the speed command acceleration dimension conversion unit and an acceleration dimension signal output by the servo motor acceleration dimension conversion unit, that is, an acceleration deviation When the above situation, the conflict is detected; and a selecting unit, in accordance with certain of its parameters, selecting the first collision detection portion and the second collision detection portion.

According to this configuration, in the speed control, the first collision detecting unit and the second collision detecting unit can be appropriately selected in accordance with the use of the application, etc., and the accuracy of the collision detection can be improved.

In the servo motor control device according to the present invention, the servo motor control unit further includes a third collision detecting unit that reaches a specific value in an absolute value of an acceleration dimension signal output by the servo motor acceleration dimension conversion unit. In the case of the above, the detection is a collision, and the selection unit selects the third collision detecting unit based on the specific parameter.

By constructing in this manner, the accuracy of the collision detection can be improved by comparing the acceleration dimension signal itself with a specific value in the acceleration/deceleration and gentleness conditions.

In the servo motor control device according to the present invention, the servo motor speed dimension signal output unit outputs a signal obtained by differentiating a position signal detected by a position detecting sensor that detects a position of the servo motor as a speed dimension signal.

According to this configuration, the speed dimension signal can be easily obtained by the differentiator, and the configuration can be simplified.

In the servo motor control device according to the present invention, the servo motor speed dimension signal output unit outputs a speed estimation signal calculated by a speed observer as a speed dimension signal, and the speed observer inputs an input to a control object of the model. The signal is estimated from the output signal of the above control object.

By configuring in this manner, collision detection can be performed even in the configuration using the observer.

In the servo motor control device according to the present invention, the servo motor control device includes a feedback loop that calculates a signal obtained by multiplying a value of the position command by a proportional gain and detected by the position detecting sensor. The servo signal speed dimension signal output unit outputs the output signal of the differential filter disposed in the feedback loop as a velocity dimension signal.

By configuring in this manner, the calculation can be simplified, and the configuration can be simplified.

In the servo motor control device according to the present invention, the first collision detecting unit calculates a signal obtained by multiplying a value of the position command by a proportional gain, and a position signal detected by the position detecting sensor is differentiated. The difference value of the signal is used as the pseudo-velocity deviation instead of the above-described speed deviation, and when the absolute value of the pseudo-velocity deviation reaches a certain value or more, it is detected as a collision.

By configuring in this manner, the calculation can be simplified, and the configuration can be simplified.

In the servo motor control device of the present invention, the second collision detecting unit calculates a signal obtained by differentiating the pseudo-velocity deviation as a pseudo-acceleration signal instead of the acceleration deviation, and the absolute value of the pseudo-acceleration deviation reaches a specific value. In the above case, the detection is a conflict.

By configuring in this manner, the calculation can be simplified, and the configuration can be simplified.

In the servo motor control device of the present invention, the selection unit selects one of the first collision detecting unit, the second collision detecting unit, and the third collision detecting unit based on the parameter set from the outside.

According to this configuration, it is possible to set a circuit suitable for collision detection from the outside at any time, and the load of the circuit change is reduced, so that it can be easily changed.

In the servo motor control device according to the present invention, the specific value of the first collision detecting unit, the specific value of the second collision detecting unit, and the specific value of the third collision detecting unit are set from the outside.

According to this configuration, the specific value can be set from the outside at any time, and the load of the change can be easily changed.

The servo motor control device of the present invention is characterized in that the velocity dimension signal includes a signal having a transfer function of 1/(τ s+1) as a filter of a control system model.

According to this configuration, the elements of the control model can be included in the filter, and the signal close to the actual signal can be pseudo-obtained.

The servo motor control device of the present invention is characterized in that the filter sets a cutoff frequency from the outside.

According to this configuration, the load is reduced, and the cutoff frequency can be appropriately and simply selected.

The collision detecting method according to the present invention is characterized in that the servo motor control device includes a servo motor that operates the object to be operated and a servo motor control unit that controls the servo motor based on the position command, and includes: an output and the position a speed dimension signal corresponding to the command, outputting a speed dimension signal of the servo motor, and calculating a speed deviation between the output speed dimension signal corresponding to the position command and the output speed dimension signal of the servo motor, and outputting The acceleration dimension signal corresponding to the position command outputs the acceleration dimension signal of the servo motor, and calculates the output and the above The acceleration dimension corresponding to the position command and the acceleration deviation of the output servo motor acceleration dimension signal, that is, the acceleration deviation, and the absolute value of any one of the speed deviation and the acceleration deviation selected according to the specific parameter reaches a specific value When the value is above, it is detected as a conflict.

According to this configuration, it is possible to appropriately select the collision detection method in accordance with the use of the application or the like, and it is possible to improve the accuracy of the collision detection.

According to the present invention, collision detection using the speed deviation and collision detection using the acceleration deviation can be selected based on the specific parameters, thereby providing a servo motor control device with excellent detection accuracy of the collision detection.

1‧‧‧Servo motor control unit

2‧‧‧Action objects

3‧‧‧ host device

10, 10a, 10b‧‧‧ Servo Motor Control Department

20‧‧‧Servo motor

30‧‧‧Detection Department

100‧‧‧Control system

110a‧‧‧ Position command speed dimension signal output

110b‧‧‧Speed command speed dimension signal output

111, 310‧‧‧ Differentiator

112‧‧‧ filter

120‧‧‧Servo motor speed dimension signal output

130‧‧‧First Conflict Detection Department

140a‧‧‧ Position Command Acceleration Dimensional Conversion Unit

140b‧‧‧Speed Command Acceleration Dimensional Conversion Unit

150‧‧‧Servo motor acceleration dimension conversion unit

160‧‧‧Second Conflict Detection Department

170‧‧‧ Third Conflict Detection Department

180‧‧‧Selection Department

190‧‧‧Parameter Setting Department

191‧‧‧Test method selection setting

192‧‧‧Specific value setting

193‧‧‧ cut-off setting

200‧‧‧Proportional Gain Elements

210‧‧‧Integral filter elements

220‧‧‧Motor gain elements

230‧‧‧Control object elements

240‧‧‧Differential filter elements

250‧‧‧ forward path

260‧‧‧First feedback path

270‧‧‧second feedback path

300‧‧‧ Observer

X‧‧‧Control System

Fig. 1 is a system configuration diagram of a servo motor control device according to an embodiment of the present invention.

Fig. 2 is a block diagram showing a control structure when the servo motor control unit shown in Fig. 1 performs position control.

Fig. 3 is a block diagram showing a control structure when the servo motor control unit shown in Fig. 1 executes speed control.

Figure 4 is a block diagram showing the control structure of the control system shown in Figure 1 or Figure 2.

<Embodiment> [Composition of Control System X]

The configuration of the control system X according to the embodiment of the present invention will be described with reference to Fig. 1 . The control system X is a system for controlling various machines such as robots, machine tools, vehicles, ships, airplanes, and factory equipment.

Further, the control system X of the present embodiment includes the servo motor control device 1, the operation target 2, and the host device 3.

The servo motor control device 1 adjusts the control amount according to the position command or the speed command. The device that controls the servo motor 20 to operate the object 2 is operated. Further, the servo motor control device 1 performs collision detection of the moving object 2.

When the position control is executed in accordance with the position command, the servo motor control device 1 detects that the arm is stopped as the collision detection due to contact with an obstacle or the like. Further, when the speed control is executed in accordance with the speed command, the servo motor control device 1 detects that the rotating member of the machine tool is stopped due to missing teeth or a belt failure or the like.

Further, the servo motor control device 1 is a hardware resource for executing the collision detecting method of the present embodiment.

The moving object 2 is a component that is controlled by the servo motor control device 1 to perform operation control. The moving object 2 is, for example, an arm of an industrial robot, a rotating part of a machine tool, a wheel or a gear of a vehicle, a belt, a shaft of a ship, a propeller of an aircraft, an actuator of a factory equipment, or the like.

The host device 3 is an external device for controlling and managing various machines and the like. Specifically, the host device 3 is, for example, a PLC (Programmable Logic Controller), an FC (Factory Computer), a server (Server), a PC (Personal Computer), or the like. The host device 3 executes an application program for controlling and managing the servo motor control device 1. Thereby, the host device 3 transmits a position command or a speed command to the servo motor control device 1, and receives various kinds of information from the servo motor control device 1. Further, the host device 3 can also obtain an instruction from the user, and set various setting values to the parameter setting unit 190 (FIGS. 2 and 3) to be described later.

Further, the servo motor control device 1 includes a servo motor control unit 10, a servo motor 20, and a detecting unit 30.

The servo motor control unit 10 controls the servo motor 20 based on a position command or a speed command from the host device 3. Specifically, the servo motor control unit 10 includes, for example, an FPGA (Field Programmable Gate Array) and an ASIC (Application Specific Integrated Circuit). Control arithmetic unit such as DSP (Digital Signal Processor), CPU (Central Processing Unit), MPU (Micro Processing Unit), and analog or digital drive unit (amplifier) The electric power is supplied to the servo motor 20 to be driven.

Here, the servo motor control unit 10 can be configured by the application of the host device 3 when the position control is executed based on the position command and when the speed control is executed according to the speed command.

The servo motor 20 is an AC servo motor 20, a DC servo motor 20, a linear actuator, or the like. The servo motor 20 operates the moving object 2 .

The detecting unit 30 includes a position detecting sensor that detects the position of the axis of the servo motor 20 or the like. Specifically, the detecting unit 30 includes a position detecting sensor that detects the position of the servo motor 20 and outputs it. The position detecting sensor is, for example, a magnetic or optical encoder or the like.

Further, the output signal of the detecting unit 30 is input to the servo motor control unit 10, and is used for feedback control of position control or speed control.

Further, each of the portions described later by the control arithmetic unit of the servo motor control unit 10 may be constituted by a specific digital circuit. Further, in addition to the digital circuit, the analog circuit may be used, or the control program stored in the ROM (Read Only Memory) may be expanded and executed by a RAM (Random Access Memory). To form a circuit for executing software by hardware resources.

Further, it is also possible to obtain a speed dimension signal of the motor without using a pseudo-differentiator. In this case, as will be described later, the observer 300 (FIG. 4) controls the speed of the servo motor 20 based on the motion model of the moving object 2, and the like.

[Configuration of Servo Motor Control Unit 10]

Next, a detailed control configuration of the servo motor control unit 10 of Fig. 1 will be described with reference to Figs. 2 to 4 .

2 is a configuration of the servo motor control unit 10a when the collision detection is performed with the position command of the servo motor 20 as an input and the position control of the position of the servo motor 20 as the output.

The servo motor control unit 10a includes a position command speed dimension signal output unit 110a, a servo motor speed dimension signal output unit 120, a first collision detecting unit 130, a position command acceleration dimension conversion unit 140a, a servo motor acceleration dimension conversion unit 150, and a second conflict. The detecting unit 160, the third collision detecting unit 170, the selecting unit 180, and the parameter setting unit 190.

The control system 100 has a model of the moving object 2 and represents the entirety of the control system 100 controlled by feedback.

The position command speed dimension signal output unit 110a inputs a position command from the host device 3 or the like, and outputs a speed dimension signal corresponding to the position command.

Further, the position command speed dimension signal output unit 110a includes a differentiator 111 and a filter 112.

The differentiator 111 differentiates the position command and converts it into a pseudo-differentiation portion of the velocity dimension or the like.

The filter 112 is, for example, a primary IIR filter (Infinite Impulse Response Filter). Thereby, the filter 112 outputs a signal of time delay. Further, the filter 112 includes an element having a transfer function of 1/(τ s+1) as a model of the control system 100. Here, τ is a time constant and s is a Laplacian. Further, the parameters such as the cutoff frequency of the filter 112 can be set from the outside, specifically, by the cutoff setting 193 of the parameter setting unit 190.

Furthermore, the cutoff setting 193 can also calculate the cutoff frequency of the filter based on the set value of the servo gain.

Further, various filters other than the primary filter may be used as the filter 112.

The servo motor speed dimension signal output unit 120 outputs a speed dimension signal of the servo motor 20.

As an example, the servo motor speed dimension signal output unit 120 acquires the position signal of the servo motor 20 detected by the position detecting sensor of the detecting unit 30, and differentiates it by the differentiator and outputs it as a speed dimension signal. In this case, the servo motor speed dimension signal output unit 120 calculates a speed feedback value which is a differential value of the position feedback value obtained from the actual control system 100.

Furthermore, the servo motor speed dimension signal output unit 120 can calculate the velocity dimension signal by other means. The method of obtaining and calculating the velocity dimension signal will be described below.

The first collision detecting unit 130 receives a speed deviation which is a difference value between the speed dimension signal output from the position command speed dimension signal output unit 110a and the speed dimension signal output from the servo motor speed dimension signal output unit 120. On the basis of this, when the absolute value of the input speed deviation reaches a certain value or more, the first collision detecting unit 130 detects a collision. The first collision detecting unit 130 outputs a collision detecting signal when it detects a collision.

The position command acceleration dimension conversion unit 140a converts the speed dimension signal output by the position command speed dimension signal output unit 110a into an acceleration dimension signal and outputs it. Specifically, the position command acceleration dimension conversion unit 140a further differentiates the input speed dimension signal associated with the position command by the differentiator and converts it into an acceleration dimension, and outputs the acceleration dimension as an acceleration dimension signal.

The servo motor acceleration dimension conversion unit 150 converts the velocity dimension signal of the servo motor 20 into an acceleration dimension signal and outputs it. Specifically, as an example, the servo motor acceleration dimension conversion unit 150 further differentiates and converts the velocity dimension signal output by the servo motor speed dimension signal output unit 120 into an acceleration dimension by using a differentiator, and uses the acceleration dimension as an acceleration dimension signal. Output.

The second collision detecting unit 160 receives the acceleration deviation which is the difference value between the acceleration dimension signal output from the position command acceleration dimension conversion unit 140a and the acceleration dimension signal output from the servo motor acceleration dimension conversion unit 150. On the basis of this, in the acceleration deviation When the absolute value reaches a certain value or more, the second collision detecting unit 160 detects a collision. The second collision detecting unit 160 outputs a collision detecting signal when a situation of a collision is detected.

When the absolute value of the acceleration dimension signal output by the servo motor acceleration dimension conversion unit 150 reaches a certain value or more, the third collision detecting unit 170 detects a collision. The third collision detecting unit 170 outputs a collision detecting signal when a situation of a collision is detected.

The selection unit 180 selects which of the first collision detecting unit 130, the second collision detecting unit 160, and the third collision detecting unit 170 to use for collision determination based on the detection method selection setting 191 of the parameter setting unit 190. Further, the selection unit 180 outputs the conflict detection signal of the selected portion to the host device 3 or the like.

The parameter setting unit 190 mainly sets various settings, and stores various settings in a non-transitory recording medium such as a RAM or an EEPROM. Each set value of the parameter setting unit 190 can be set by a device external to the host device 3 or the like. Further, each set value can also be set by a dip-in package switch or the like.

Further, the parameter setting unit 190 includes a detection method selection setting 191, a specific value setting 192, and an OFF setting 193.

The detection method selection setting 191 is a setting selection unit 180 that sets the setting information of the specific parameter of the collision detection using which of the first collision detection unit 130, the second collision detection unit 160, and the third collision detection unit 170. In the application that operates the servo motor 20 at a normal speed, the specific parameter preferentially selects the first collision detecting unit 130 that uses the speed deviation. Further, in the application in which the acceleration/deceleration is fast, the specific parameter preferentially selects the second collision detecting unit 160 using the acceleration deviation. Further, in the acceleration/deceleration and slow application, the specific parameter preferentially selects the third collision detecting unit 170 that uses the feedback of the acceleration.

Furthermore, the particular parameter is specified not only by the numerical value, but also by a function such as a specific mathematical model, a fuzzy function, or an artificial neural network.

The specific value setting 192 is a specific value of the first conflict detecting unit 130, and the second conflict detecting is performed. The specific value of the unit 160 and the specific value of the third collision detecting unit 170. This particular value setting 192 can also be prepared as a single value for use in each application. Further, the specific values of the specific value setting 192 may be used for the first collision detecting unit 130, the second collision detecting unit 160, and the third collision detecting unit 170, respectively.

The cutoff setting 193 sets the cutoff frequency of the filter 112. Further, since the cutoff frequency can be calculated from the set value of the servo gain, the cutoff frequency can be set by changing the set servo gain by the cutoff setting 193.

Furthermore, the first collision detecting unit 130, the second collision detecting unit 160, and the third collision detecting unit 170 may perform collision detection by other methods. The methods for other conflict detection will be described below.

Further, the configuration of the third collision detecting unit 170 may not be present.

Next, a configuration of the servo motor control unit 10b when the speed command of the servo motor 20 is input and the speed of the servo motor 20 is output is controlled will be described with reference to Fig. 3 . In FIGS. 2 and 3, the same components are denoted by the same reference numerals.

The servo motor control unit 10b includes a speed command speed dimension signal output unit 110b and a speed command acceleration dimension conversion unit 140b.

The speed command speed dimension signal output unit 110b inputs a speed command from the host device 3 or the like, and outputs a speed dimension signal corresponding to the speed command.

The speed command speed dimension signal output unit 110b is input to the same filter 112 as the filter included in the position command speed dimension signal output unit 110a because the speed command is not differentiated at the speed dimension.

The speed command acceleration dimension conversion unit 140b converts the speed dimension signal output by the speed command speed dimension signal output unit 110b into an acceleration dimension signal and outputs it. This processing is the same as the position command acceleration dimension conversion unit 140a.

[Composition of the model of the control system 100]

Next, referring to FIG. 4, in the control system 100, taking into consideration the internal state The model of the state space representation describes the details of the speed dimension signal and the acceleration dimension signal, and other conflict detection methods.

The control system 100 performs model matching control in conjunction with an ideal transfer function (model) having a transfer function for appropriately controlling the ideal characteristics of the servo motor 20 in accordance with the object 2 to be moved.

If the Laplacian is set to s, the model can be expressed as m0/(s ² +m1s+m0). This model can be modified, for example, as follows.

M0/(s ² +m1s+m0)=ω1ω2/(s+ω1)(s+ω2))

Here, ω 1 and ω 2 are the cutoff frequencies of the model, and the following relation holds.

M0=ω1ω2,m1=ω1+ω2...(1)

Further, since ω 1 and ω 2 are set in accordance with the characteristics of the moving object 2 and the servo motor 20 or the purpose of control, the required control response characteristics can be obtained.

Further, the control system 100 includes a proportional gain element 200, an integral filter element 210, a motor gain element 220, a control target element 230 including a servo motor and an operation target, a differential filter element 240, a forward path 250, and a first feedback path. 260 and a second feedback path 270.

Here, the specific gain of the amplifier (not shown) including the electric power supplied to the servo motor 20 and the specific value of the torque constant of the servo motor 20 are divided by the values of the moment of inertia of the operating object 2 and the servo motor 20 ( Inertia, the value obtained (gain) is set to K.

Further, the gain obtained by dividing the viscosity of the moving object 2 and the servo motor 20 by the inertia of the moving object 2 and the servo motor 20 is set to p.

In this case, the various elements behave as follows:

The proportional gain element 200 is m0.

Further, the integral filter element 210 is a transfer function expressed by (s ² + q1s + q0) / (s ² + a1s).

Further, the motor gain element 220 is 1/K.

Further, the control target element 230 including the servo motor and the operation target is a transfer function expressed by K/(s ² + ps) indicating the control target.

Further, the differential filter element 240 is a transfer function expressed by (b2s ² + b1s) / (s ² + q1s + q0).

Again, the forward path 250 is the path from the input to the output of the control system 100.

Further, the first feedback path 260 is a first feedback loop from the output of the control system 100 to the input side.

Further, the second feedback path 270 is a second feedback loop from the output of the control system 100 to the input side. Here, the second feedback path 270 calculates a deviation of the signal obtained by multiplying the value of the position command by the proportional gain. In other words, the second feedback path 270 is a feedback loop that calculates a signal obtained by multiplying the value of the position command by the proportional gain and a signal differentiated from the position signal detected by the position detecting sensor by the differential filter element 240. .

Furthermore, a1, b1, and b2 satisfy the following relationship.

A1=q1+m1-p...(2)

B1=q0×m1......(3)

B2=(q1-p)×(m1-p)+q0...(4)

Further, the above-described q0 and q1 are used to appropriately control the object 2 and the servo motor 20 to be arbitrarily set.

With such a configuration, the servo motor speed dimension signal output unit 120 can select the value of any of the speed feedback (a), the speed feedback (b), and the speed feedback (c) shown in FIG. 4 as the velocity dimension signal. And used for the calculation and output of the velocity dimension signal.

As described above, the speed feedback (a) is a speed feedback value obtained by the positioner detecting the position signal (position feedback value) of the servo motor 20 detected by the position detecting sensor or the like of the detecting unit 30.

The speed feedback (b) is a speed estimation signal estimated by the observer 300. The observer 300 estimates the input signal input to the control object of the model and the output signal of the control object. Speed speed observer. Specifically, the observer 300 estimates the gains K and p based on the input to the control target element 230 and the output of the self-control target element 230. At this time, the observer 300 may be configured to estimate the gain K by, for example, a least square method or the like. In this case, the observer 300 can use the values of the gains K and p when the gains K and p are known. Further, when the values are unknown, the estimation of the gains K and p is successively performed at specific time intervals.

Furthermore, when the speed feedback (b) is not used, the configuration of the observer 300 may not be used.

The speed feedback (c) is the output signal of the differential filter element 240 of the second feedback path 270. That is, the speed feedback (c) outputs the output signal of the differential filter disposed in the second feedback loop as a velocity dimension signal.

Further, which speed feedback value is used by the servo motor speed dimension signal output unit 120 can be set in the parameter setting unit 190.

Further, the first collision detecting unit 130 calculates a difference value between the signal obtained by multiplying the position command value by the proportional gain and the signal differentiated by the position detecting sensor by the position detecting sensor as the pseudo-velocity deviation instead of the above-described speed deviation. And can use the pseudo-velocity deviation instead of the speed deviation for collision detection. That is, the first collision detecting unit 130 calculates a difference value between the output value of the proportional gain element 200 and the output value of the differential filter element 240 of the second feedback path 270 as the pseudo-velocity deviation. Further, in such a case, the first collision detecting unit 130 detects a collision when the absolute value of the calculated pseudo-velocity deviation reaches a certain value or more.

Further, similarly, the second collision detecting unit 160 may calculate a signal obtained by the differentiator 310 by differentiating the pseudo-velocity deviation as a pseudo-acceleration deviation instead of the acceleration deviation. In this case, the second collision detecting unit 160 detects a collision when the absolute value of the calculated pseudo-acceleration deviation reaches a certain value or more. Further, the third collision detecting unit 170 can also perform collision detection using the value of the pseudo acceleration deviation.

[Effect of this embodiment]

By configuring as described above, the following effects can be obtained.

In the prior art, in the method of detecting the collision using the torque described in Patent Document 1, sufficient collision detection accuracy cannot be obtained.

The servo motor control device 1 according to the embodiment of the present invention includes a servo motor 20 that operates an object to be operated, and a servo motor control unit 10a that controls the servo motor 20 based on a position command, and a servo motor control unit. 10a includes: a position command speed dimension signal output unit 110a that outputs a speed dimension signal corresponding to the position command; a servo motor speed dimension signal output unit 120 that outputs a speed dimension signal of the servo motor 20; and a first collision detecting unit 130 When the absolute value of the speed difference between the speed dimension signal outputted by the position command speed dimension signal output unit 110a and the speed dimension signal outputted by the servo motor speed dimension signal output unit 120 reaches a specific value or more, the collision is detected as a collision. a position command acceleration dimension conversion unit 140a that converts the speed dimension signal output by the position command speed dimension signal output unit 110a into an acceleration dimension signal and outputs the servo motor acceleration dimension conversion unit 150, which is output by the servo motor speed dimension signal Speed dimension of the output of section 120 The number is converted into an acceleration dimension signal and output; the second collision detecting unit 160 is different from the acceleration dimension signal output by the position command acceleration dimension conversion unit 140a and the acceleration dimension signal output by the servo motor acceleration dimension conversion unit 150. That is, when the absolute value of the acceleration deviation reaches a certain value or more, the detection is a collision; and the selection unit 180 selects the first collision detection unit 130 and the second collision detection based on the detection method selection setting 191 of the parameter setting unit 190. Department 160.

With this configuration, the first collision detecting unit 130 and the second collision detecting unit 160 corresponding to the use of the application or the like can be appropriately selected and used. Here, the first collision detecting unit 130 can perform collision detection with higher accuracy than when the positional deviation and the torque are used. Further, the second collision detecting unit 160 can accelerate and decelerate the servo motor 20 Collision detection is performed with higher precision. Therefore, since the selection can be made based on the specific parameters corresponding to the application, the detection accuracy of the collision detection can be improved.

Further, in the technique of Patent Document 1, the collision cannot be detected during acceleration/deceleration, but the present invention can detect the collision even during acceleration/deceleration by selecting the second collision detecting unit 160.

Further, the servo motor control device 1 according to the embodiment of the present invention includes a servo motor 20 that operates an object to be operated, and a servo motor control unit 10b that controls the servo motor 20 based on a speed command, and a servo motor. The control unit 10b includes a speed command speed dimension signal output unit 110b that outputs a speed dimension signal corresponding to the speed command, and a servo motor speed dimension signal output unit 120 that outputs a speed dimension signal of the servo motor 20; the first collision detecting unit 130 When the absolute value of the speed deviation between the speed dimension signal outputted by the speed command speed dimension signal output unit 110b and the speed dimension signal outputted by the servo motor speed dimension signal output unit 120 reaches a specific value or more, it is detected as a speed command acceleration dimension conversion unit 140b that converts the speed dimension signal output by the speed command speed dimension signal output unit 110b into an acceleration dimension signal and outputs the servo motor acceleration dimension conversion unit 150, which is to be output by the servo motor speed dimension signal 120 output speed dimension signal turn And outputting the acceleration dimension signal; the second collision detecting unit 160 is different from the acceleration dimension signal output by the speed command acceleration dimension conversion unit 140b and the acceleration dimension signal output by the servo motor acceleration dimension conversion unit 150. When the absolute value is equal to or greater than the specific value, the collision is detected; and the selection unit 180 selects the first collision detection unit 130 and the second collision detection unit 160 based on the detection method selection setting 191 of the parameter setting unit 190.

According to this configuration, similarly to the above-described servo motor control unit 10a, the accuracy of collision detection can be improved. Moreover, if the speed command is used, the differential element can be reduced, so that the part can be simplified.

Further, in the technique of performing collision detection using only the position command, collision detection cannot be performed at the time of speed control. For this point, the servo motor control of this embodiment is controlled. The portion 10b can also perform collision detection with high precision during speed control.

Further, the servo motor control unit 10 according to the embodiment of the present invention further includes a third collision detecting unit 170 that detects the absolute value of the acceleration dimension signal output by the servo motor acceleration dimension conversion unit 150. When the specific value or more is reached, the collision is detected, and the selection unit 180 also selects the third collision detecting unit 170 based on the specific parameter.

By configuring in this way, it is possible to compare the dimensional signal itself, which is the value of the acceleration, with a specific value, thereby improving the accuracy of the collision detection in the case of acceleration and deceleration and slowness.

Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the servo motor speed dimension signal output unit 120 uses a signal obtained by differentiating the position signal detected by the position detecting sensor that detects the position of the servo motor 20 as a speed. Dimension signal output.

By constructing in this manner, the velocity dimension signal can be simply obtained by the differentiator. Therefore, it is possible to simplify the configuration and reduce the cost.

Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the servo motor speed dimension signal output unit 120 outputs a speed estimation signal calculated by the observer 300 as a velocity dimension signal, and the observer 300 is based on a model. The input signal input to the control object and the output signal of the control object are used to estimate the speed.

With this configuration, collision detection can be performed even in the configuration in which the observer 300 is employed without using the servo motor speed dimension signal output circuit 120.

Further, the servo motor control device 1 according to the embodiment of the present invention includes a second feedback path 270 that calculates a signal obtained by multiplying a value of a position command by a proportional gain and a sense of position detection. a feedback loop of the deviation of the signal after the position signal detected by the detector is differentiated by the differential filter element 240, and the servo motor speed dimension signal output unit 120 outputs the output signal of the differential filter element 240 disposed in the second feedback path 270. Output as a speed dimension signal.

By constructing in this way, the output in the feedback loop can be directly used as the speed Since the dimension signal is used, the calculation can be simplified, and the configuration can be simplified and the cost can be reduced.

Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the first collision detecting unit 130 calculates a signal obtained by multiplying the position command value by the proportional gain and a position signal detected by the position detecting sensor. The difference value of the signal after the differentiation is used as the pseudo-velocity deviation instead of the speed deviation, and when the absolute value of the pseudo-velocity deviation reaches a certain value or more, it is detected as a collision.

According to this configuration, since the value of the transfer function, that is, the pseudo-speed deviation, can be directly used as the velocity dimension signal, the calculation can be simplified, and the configuration and cost can be simplified.

Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the second collision detecting unit 160 calculates a signal obtained by differentiating the pseudo-velocity deviation as a pseudo-acceleration deviation instead of the acceleration deviation, and the absolute value of the pseudo-acceleration deviation. When a situation above a certain value is reached, it is detected as a conflict.

According to this configuration, since the pseudo-acceleration deviation can be directly used as the acceleration dimension signal by differentiating only the value in the middle of the calculation of the transfer function, the calculation can be simplified, and the configuration can be simplified and the cost can be reduced.

Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the selection unit 180 selects the first collision detecting unit 130, the second collision detecting unit 160, and the third collision detecting unit 170 based on parameters set from the outside. anyone.

By configuring in this manner, it is possible to externally set a circuit suitable for which collision detection is appropriate. Therefore, the load of the change is reduced, and the method of collision detection can be easily changed.

Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the specific value of the first collision detecting unit 130 of the selecting unit 180, the specific value of the second collision detecting unit 160, and the specific value of the third collision detecting unit 170. It is set from the outside.

By configuring in this way, it is also possible to set a specific value from the outside at any time. because Thus, by changing the load reduction, it is possible to easily change the specific value as the threshold of the collision detection.

Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the velocity dimension signal includes a signal of a filter 112 having a transfer function of 1/(τ s+1) as a model of the control system 100.

By configuring in this manner, the elements of the control model can be included in the filter 112, and the position command value or the speed command value can be used as the value input to the actual control object. Thereby, a signal close to the actual signal can be pseudo-obtained, so that collision detection can be performed with higher precision than before.

Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the filter 112 sets the cutoff frequency from the outside.

According to this configuration, since the cutoff frequency can be set from the outside at any time, the load change is reduced. Further, the cutoff frequency can be appropriately and simply selected in conjunction with the servo motor 20. Furthermore, as described above, the cutoff frequency can also be calculated from the set value of the servo gain.

Further, the collision detecting method according to the embodiment of the present invention is characterized in that the servo motor 20 including the servo motor 20 for operating the object and the servo motor control unit 10 for controlling the servo motor 20 based on the position command is provided. An executor, comprising: outputting a speed dimension signal corresponding to the position command, outputting a speed dimension signal of the servo motor 20, and calculating a output speed dimension signal corresponding to the position command and the output servo motor 20; The differential value of the velocity dimension signal, that is, the velocity deviation, outputs an acceleration dimension signal corresponding to the position command, outputs an acceleration dimension signal of the servo motor 20, and calculates an output acceleration dimension signal corresponding to the position command and the output. The difference value of the acceleration dimension signal of the servo motor 20, that is, the acceleration deviation, is detected as a conflict when the absolute value of the speed deviation and the acceleration deviation selected according to the specific parameter reaches a certain value or more. This way In the configuration, it is possible to appropriately select and use the method of collision detection depending on the use of the application or the like. Therefore, the accuracy of collision detection can be improved.

[Other Embodiments]

Furthermore, in the above-described embodiment, an example of collision detection of the servo motor 20 has been described.

However, the collision detecting method of the present invention can also be used for detecting the state in which the control system 100 becomes unstable and causes vibration or the like. Thereby, the control of the servo motor 20 can be stabilized with respect to external disturbance or the like.

Further, in the above-described embodiment, the absolute value of the speed deviation, the absolute value of the acceleration deviation, and the acceleration dimension signal are described by the first collision detecting unit 130, the second collision detecting unit 160, and the third collision detecting unit 170. The absolute value is compared to a specific value to implement collision detection.

However, the absolute value of the speed deviation, the absolute value of the acceleration deviation, and the absolute value of the acceleration dimension signal may be input to the selection circuit 180, and the absolute value of the absolute value may be selected by the detection method selection setting 191. When the value set by the specific value setting 192 of the setting unit 190 reaches a predetermined value or more, the comparator or the like after the selection unit 180 detects a collision. According to this configuration, the output of the collision detection can be processed by one comparator, whereby the circuit scale can be reduced and the cost can be reduced.

In addition, the configuration and operation of the above-described embodiment are merely examples, and it is a matter of course that appropriate modifications can be made without departing from the spirit and scope of the invention.

10a‧‧‧Servo Motor Control Department

20‧‧‧Servo motor

30‧‧‧Detection Department

100‧‧‧Control system

110a‧‧‧ Position command speed dimension signal output

111‧‧‧Differentiator

112‧‧‧ filter

120‧‧‧Servo motor speed dimension signal output

130‧‧‧First Conflict Detection Department

140a‧‧‧ Position Command Acceleration Dimensional Conversion Unit

150‧‧‧Servo motor acceleration dimension conversion unit

160‧‧‧Second Conflict Detection Department

170‧‧‧ Third Conflict Detection Department

180‧‧‧Selection Department

190‧‧‧Parameter Setting Department

191‧‧‧Test method selection setting

192‧‧‧Specific value setting

193‧‧‧ cut-off setting

Claims (23)

A servo motor control device including a servo motor that operates an object to be operated and a servo motor control unit that controls the servo motor based on a position command, wherein the servo motor control unit includes a position command speed dimension signal output a speed dimension signal corresponding to the position command; a servo motor speed dimension signal output unit that outputs a speed dimension signal of the servo motor; and a first collision detecting unit that outputs the position command speed dimension signal output unit When the absolute value of the speed difference signal, which is a difference value between the speed dimension signal output from the servo motor speed dimension signal output unit, is equal to or greater than a specific value, the collision is detected; the position command acceleration dimension conversion unit is Converting the speed dimension signal outputted by the position command speed dimension signal output unit into an acceleration dimension signal and outputting; the servo motor acceleration dimension conversion unit converting the speed dimension signal output by the servo motor speed dimension signal output unit into the acceleration dimension And outputting a signal; the second collision detecting unit is configured to obtain an absolute value of an acceleration value of the acceleration dimension signal output by the position command acceleration dimension conversion unit and the acceleration dimension signal output by the servo motor acceleration dimension conversion unit When the specific value is equal to or greater than the specific value, the collision is detected; and the selection unit selects the first collision detecting unit and the second collision detecting unit based on the specific parameter. The servo motor control device according to claim 1, wherein the servo motor control unit further includes a third collision detecting unit that reaches a specific value of an absolute value of an acceleration dimension signal output by the servo motor acceleration dimension conversion unit. In the case of the above, the detection is a collision, and the selection unit selects the third collision detecting unit based on the specific parameter. The servo motor control device according to claim 1, wherein the servo motor speed dimension signal output unit outputs a signal obtained by differentiating the position signal detected by the position detecting sensor that detects the position of the servo motor as a speed dimension signal. The servo motor control device according to claim 1, wherein the servo motor speed dimension signal output unit outputs a speed estimation signal calculated by the speed observer as a speed dimension signal, and the speed observer inputs the control object according to the model. The input signal and the output signal of the above control object are used to estimate the speed. A servo motor control device according to claim 1, comprising: a feedback loop that calculates a signal obtained by multiplying a value of the position command by a proportional gain, and a differential signal filtered by a position signal detected by the position detecting sensor The servo motor speed dimension signal output unit outputs the output signal of the differential filter disposed in the feedback loop as a velocity dimension signal. The servo motor control device according to any one of claims 3 to 5, wherein the first collision detecting unit calculates a signal obtained by multiplying a value of the position command by a proportional gain, and a position detected by the position detecting sensor The difference value of the signal after the differential signal is used as the pseudo-velocity deviation instead of the above-mentioned speed deviation, and when the absolute value of the pseudo-velocity deviation reaches a certain value or more, the detection is performed. For conflict. The servo motor control device according to claim 6, wherein the second collision detecting unit calculates a signal obtained by differentiating the pseudo-velocity deviation as a pseudo-acceleration deviation instead of the acceleration deviation, and the absolute value of the pseudo-acceleration deviation reaches a specific value. In the above case, the detection is a conflict. The servo motor control device according to claim 2, wherein the selection unit selects one of the first collision detecting unit, the second collision detecting unit, and the third collision detecting unit based on the parameter set from the outside. The servo motor control device according to claim 2, wherein the specific value of the first collision detecting unit of the selection unit, the specific value of the second collision detecting unit, and the specific value of the third collision detecting unit are set externally. The servo motor control device of claim 1, wherein the velocity dimension signal comprises a signal having a transfer function of 1/(τ s+1) as a filter of a control system model. The servo motor control device of claim 10, wherein the filter is configured to set a cutoff frequency from the outside. A collision detecting method comprising: a servo motor including a servo motor that operates an object to be operated; and a servo motor control device that controls a servo motor control unit of the servo motor according to a position command, and includes an output corresponding to the position command a velocity dimension signal, outputting a velocity dimension signal of the servo motor, calculating a velocity deviation of a velocity dimension signal corresponding to the position command outputted from the position command and a speed dimension signal of the output servo motor, and outputting the position and the position The acceleration dimension signal corresponding to the instruction, And outputting an acceleration dimension signal of the servo motor, and calculating an acceleration dimension signal corresponding to the position command and a difference value of the acceleration dimension signal of the servo motor output, that is, the speed difference selected according to the specific parameter When the absolute value of any of the deviation and the acceleration deviation reaches a certain value or more, the collision is detected. A servo motor control device including a servo motor that operates an object to be operated and a servo motor control unit that controls the servo motor according to a position command, and the servo motor control unit includes a speed command speed dimension signal An output unit that outputs a speed dimension signal corresponding to the speed command; a servo motor speed dimension signal output unit that outputs a speed dimension signal of the servo motor; and a first collision detecting unit that is configured by the speed command speed dimension signal output unit When the absolute value of the output speed dimension signal and the speed difference value outputted by the servo motor speed dimension signal output unit, that is, the speed deviation value reaches a certain value or more, the collision is detected; the speed command acceleration dimension conversion unit, The speed dimension signal outputted by the speed command speed dimension signal output unit is converted into an acceleration dimension signal and output; the servo motor acceleration dimension conversion unit converts the speed dimension signal output by the servo motor speed dimension signal output unit into an acceleration. Signal component, and; second collision detection unit, in which the speed command by the acceleration output of the acceleration dimensional conversion unit dimension signal, and output by the servo motor acceleration conversion section dimensions When the difference value of the acceleration dimension signal, that is, the absolute value of the acceleration deviation reaches a certain value or more, the detection is a collision; and the selection unit selects the first collision detection unit and the second collision detection unit according to the specific parameter. . The servo motor control device according to claim 13, wherein the servo motor control unit further includes a third collision detecting unit that reaches a specific value of an absolute value of an acceleration dimension signal output by the servo motor acceleration dimension conversion unit. In the case of the above, the detection is a collision, and the selection unit selects the third collision detecting unit based on the specific parameter. The servo motor control device of claim 13, wherein the servo motor speed dimension signal output portion outputs a signal obtained by differentiating the position signal detected by the position detecting sensor that detects the position of the servo motor as a speed dimension signal. The servo motor control device according to claim 13, wherein the servo motor speed dimension signal output unit outputs a speed estimation signal calculated by the speed observer as a speed dimension signal, wherein the speed observer is input according to a control object input to the model. The signal and the output signal of the above control object are estimated speed. The servo motor control device of claim 13 further comprising: a feedback loop that calculates a signal obtained by multiplying the value of the position command by a proportional gain, and a differential signal filtered by a position signal detected by the position detecting sensor The servo motor speed dimension signal output unit outputs the output signal of the differential filter disposed in the feedback loop as a speed dimension signal. A servo motor control device according to any one of claims 15 to 17, wherein The first collision detecting unit calculates a difference value between a signal obtained by multiplying a value of the position command by a proportional gain and a signal differentiated by a position signal detected by the position detecting sensor as a pseudo speed deviation instead of the above The speed deviation is detected as a collision when the absolute value of the pseudo-speed deviation is above a certain value. The servo motor control device according to claim 18, wherein the second collision detecting unit calculates a signal obtained by differentiating the pseudo-velocity deviation as a pseudo-acceleration deviation instead of the acceleration deviation, and the absolute value of the pseudo-velocity deviation reaches a specific value or more In the case of a situation, it is detected as a conflict. The servo motor control device according to claim 14, wherein the selection unit selects one of the first collision detecting unit, the second collision detecting unit, and the third collision detecting unit based on the parameter set from the outside. The servo motor control device according to claim 14, wherein the specific value of the first collision detecting unit, the specific value of the second collision detecting unit, and the specific value of the third collision detecting unit are set from the outside. The servo motor control device of claim 13, wherein the velocity dimension signal comprises a signal having a transfer function of 1/(τ s+1) as a filter of a control system model. The servo motor control device of claim 22, wherein the filter is configured to set a cutoff frequency from the outside.