TWI382649B - Motor response control device, electric auxiliary device and motor drive control device response feedback control method - Google Patents

Description

Responsive feedback control method for motor drive control device, electric auxiliary device and motor drive control device

The present invention relates to a responsive feedback control method for a motor drive control device, a power assist device, and a motor drive control device, and more particularly to feedback control of a rotational speed of the motor, more specifically, a rotational speed of a rotor of the motor. The motor drive control device includes the electric assist device and the responsive feedback control method of the motor drive control device.

A cabinet that is generally equipped in the kitchen for storing kitchen utensils such as a plate, a food utensil, or a conditioning device, and is usually hung in a high hanging position above the flow table. Therefore, such a hanging cabinet or a hanging shed is a heavy product. Or the handling of larger items is not convenient.

An electric lift cabinet disclosed in Japanese Laid-Open Patent Publication No. 2005-21298 (Technical Document No. 1), which is incorporated in the utility of the present invention. The kitchen, such as a cabinet on the upper wall of the face, is an electric lifting mechanism assembled inside the outer cabinet, and an inner cabinet that can be moved up and down by the electric lifting mechanism. According to the electric lifting cabinet constructed as described above, when the user wants to take out items such as tableware and cooking utensils, the switch provided by the operation unit can be pressed to remove the inner cabinet from the outer cabinet and descend to the lower position, so that It is easy to remove or put the required items from the inner cabinet.

However, in the electric lift cabinet disclosed in the above Patent Document, if the lifting speed of the inner cabinet is set to a low speed, the inner cabinet is lowered to a position where the articles can be taken out, and the cabinet is raised back to the position stored in the outer cabinet. The time required is quite long and the convenience of use is not very good. On the other hand, if the lifting speed of the inner cabinet is set to be fast, the convenience of use can be improved, but the moving distance of the inner box of the inner cabinet becomes longer, for example, if the item is not yet stored, it is too When the situation between the inner cabinet and the outer cabinet is fast, the distance between the inner cabinet and the outer cabinet is relatively long, and the distance between the inner cabinet and the outer cabinet is increased. Often the item is stuck or even crushed.

If the electric lift cabinet described in Patent Document 1 is to be used, it is necessary to set the lifting speed to a low speed.

In order to solve the above problems, an electric cabinet with an electric assist device may be considered. In one example of such an electric cabinet, a handle portion such as a grip is attached to the inner cabinet, and the user applies force to hold the grip. When the inner cabinet is lifted and lowered, the detection device detects the direction and magnitude of the strain (deformation amount) generated by the grip, and obtains the target rotational speed of the motor according to the detection result, thereby controlling the rotational speed and the target of the motor. Feedback control with uniform rotation speed, thereby enabling the motor to rotate at an appropriate rotational speed in response to the force applied by the user to the grip to assist the user in lifting the inner cabinet.

As a typical example of such feedback control, PID (Proportional Integral Derivative) control is well known in the industry. According to this PID control system, P control (proportional control), I control (integral control) and D control (differential control) are used. Three kinds of feedback control, for example, respectively determine the speed difference between the rotational speed of the motor and the target rotational speed, the integral value of the speed difference by time integral, and the differential value of the speed difference by time differential, and then, the desired The speed difference is summed with the integral value and the differential value, and the predetermined gain coefficient is multiplied by the summed value, and the rotational speed of the motor is controlled based on the multiplied product value.

In such a PID control, if the gain coefficient is taken to be a large value, the adjustment amount per unit time of the rotation speed of the motor according to the speed difference is large, and the target rotation speed is changed as shown in, for example, FIG. 13(A). At the time when the rotational speed of the motor reaches the target rotational speed, the arrival time is short, and therefore the reactivity with the speed is high.

However, in this case, for example, as shown in Fig. 13(B), when the target rotational speed vibrates, the motor rotational speed oscillates with the vibration, which is a problem.

For example, an electric cabinet with an electric assist device that can assist the user in operating the lifting operation of the inner cabinet uses PID control to control the motor rotation speed, and if the gain factor is set to a large value, in this case, When the user adjusts the force applied to the grip bar to cause the inner cabinet to slowly move up and down, the adjustment amount of the motor rotation speed of the reaction grip deformation amount is large, and the lifting speed of the cabinet within the lift is often as fast as the motor rotates. Holding the grip bar more than the user makes the lifting and lowering of the inner cabinet faster and faster, causing the hand to just vacate and rest on the grip bar without any effect.

In this way, when the hand becomes empty, the deformation amount of the grip is reduced, the target rotation speed is lowered, and the lifting speed of the inner cabinet is also lowered. Because the lifting speed of the inner cabinet is lowered and the user's hand relatively becomes the lifting speed of the gripping rod, the hand force acts on the gripping rod, so that the deformation amount of the gripping rod is increased, and the target rotating speed is increased again, so that the inner cabinet is The lifting speed becomes faster than the lifting speed of the user's hand, and then becomes the state in which the hand-griping rod is vented as described above. As a result of the repeated action, the motor rotation speed occurs with the oscillation of the target rotation speed. Oscillation phenomenon.

In this way, the electric assist device that assists the user of the object to be assisted by the driving force of the motor can not smoothly and smoothly oscillate when the motor rotational speed oscillates with the vibration of the target rotational speed during the low speed operation. Auxiliary user action on the auxiliary object.

On the other hand, in the case of PID control, if the gain coefficient is taken to be a small value, the adjustment amount per unit time of the motor rotation speed in response to the speed difference is small, for example, FIG. 14(B). As shown, even if the target rotational speed vibrates, the motor rotational speed is less likely to oscillate.

However, in such a case, for example, as shown in Fig. 14(A), when the target rotation speed is changed, the elapsed time from the motor rotation speed to the target rotation speed becomes long, and there is a problem that the speed reactivity is slow. The above issues have yet to be resolved.

The present invention is mainly directed to a developer who solves the above problems, and aims to suppress the fluctuation of the speed responsiveness while suppressing the rotation speed of the motor even when the target rotational speed vibrates at a low speed. A responsive feedback control method for the motor drive control device, the electric auxiliary device, and the motor drive control device.

In order to achieve the above object, the motor drive control device of the present invention according to claim 1 includes: a rotational speed detecting device for detecting a rotational speed of the motor; and a target rotational speed obtaining device for obtaining a target rotational speed of the motor; The gain coefficient deriving means is configured to control the speed difference of the rotational speed of the motor with respect to the rotational speed of the target to control the rotational speed of the motor to be the same as the rotational speed of the target And amplifying the gain coefficient of the control amount of the rotational speed of the motor within a range in which the rotational speed of the motor does not exceed the above-mentioned target rotational speed (overshoot), the rotation detected by the detecting device The condition that the value of the faster-speed coefficient is larger is derived; and the control device derives the speed difference of the target rotational speed obtained by the acquiring device based on the rotational speed detected by the detecting device, and is derived by the deriving device The gain factor is used for feedback control.

According to the invention of claim 1, the motor is not used in accordance with the speed difference of the rotational speed of the motor with respect to the target rotational speed to control the rotational speed of the motor in accordance with the rotational speed of the target. The gain coefficient of the regulation amount of the rotation speed of the amplification motor in the range of the over-control (overshoot) in which the rotation speed exceeds the rotation speed of the target is detected by the gain coefficient deriving means, and the rotation is detected by the rotation speed detecting means of the motor The condition that the faster the coefficient of speed is, the larger the condition is derived.

Further, in the present invention, the control device can perform feedback control based on the speed difference between the target rotational speed obtained by the acquisition device and the gain coefficient derived by the deriving device based on the rotational speed detected by the detecting device.

According to this configuration, when the rotation speed of the motor is relatively low, the derived gain coefficient is also relatively small, and the adjustment amount (speed adjustment amount) per unit time of the rotation speed of the motor is small, even if the rotation speed of the target is small. When vibration occurs, the rotation speed of the motor can be effectively suppressed from oscillating. Further, the higher the rotation speed of the motor is, the larger the gain coefficient is derived, and the adjustment amount per unit time of the rotation speed of the motor is also increased, so that the decrease in the speed response (reaction) can be suppressed.

According to the invention as recited in claim 1, the target rotational speed of the motor is obtained while detecting the rotational speed of the motor, and the motor is controlled based on the speed difference of the rotational speed of the motor with respect to the target rotational speed. When the rotation speed period is in accordance with the feedback control of the target rotation speed, the gain coefficient of the control amount of the rotation speed of the motor is amplified within a range that does not cause the rotation speed of the motor to exceed the target rotation speed, according to The faster the detected rotation speed is, the larger the coefficient value is derived, and then the feedback control method is performed according to the detected speed difference between the target rotational speed and the derived gain coefficient. Therefore, on the one hand, it is possible to suppress the decrease in the speed response, and on the other hand, even if the target rotational speed is vibrated at the time of the low speed operation, the phenomenon that the rotational speed of the motor oscillates can be suppressed.

Moreover, the control device of the present invention, as described in claim 2, is based on the speed difference, and integrates the speed difference as a time-integrated integral value, the differential value as a time differential differential value, and derived by the deriving device. The gain coefficient is PID controlled (proportional integral derivative control) as a feedback control device.

Further, the control device according to the present invention, by adding the speed difference to the integral value and the differential value as described in claim 3, multiplying the sum of the sum values by the gain coefficient, and multiplying the gain coefficient Calculate the product for PID control.

In one aspect, the electric assist device according to claim 4, comprising the motor drive control device according to any one of claims 1 to 3, and controlled by the motor drive control device The motor for driving the auxiliary object.

Therefore, the electric assist device according to claim 4 can perform the same function as the invention of claim 1, and therefore, similarly to the invention of claim 1, it is possible to suppress the decrease in the speed response and the target even at the low speed. The rotation speed is vibrated, and the rotation speed of the motor can be suppressed from oscillating. Therefore, the user can assist the user to obtain a smooth and smooth movement of the operation of the auxiliary object.

In one aspect, in order to achieve the above object, the responsive feedback control method of the motor drive control device according to claim 5 is to obtain the target rotational speed of the motor while detecting the rotational speed of the motor, and according to the above a speed difference between the rotational speed of the motor and the target rotational speed for controlling the rotational speed of the motor to be consistent with the target rotational speed, and not for causing the rotational speed of the motor to exceed the above Within the range of the over-control of the target rotation speed, the gain coefficient of the control amount for amplifying the rotation speed of the motor is derived according to the detected rotation speed, and the value of the coefficient is larger, and is detected according to the condition The method of performing feedback control on the speed difference between the above-mentioned target rotational speed and the derived gain coefficient.

Therefore, according to the responsive feedback control method of the motor drive control device of the claim 5, since the same effect as the invention of the claim 1 can be exerted, the invention of the claim 1 can suppress the decrease in the speed response at the same time. Even if the target's rotational speed vibrates at low speeds, the motor's rotational speed can be suppressed from oscillating.

As described above, according to the present invention, the target rotational speed of the motor is obtained while detecting the rotational speed of the motor, and the speed difference value of the target rotational speed is controlled based on the rotational speed of the motor. When the rotation speed of the motor can be controlled in accordance with the target rotation speed, the rotation speed of the motor is amplified within a range that does not cause the rotation speed of the motor to exceed the target rotation speed. The gain coefficient of the control quantity is derived according to the detected rotation speed, and the value of the coefficient is derived, and the speed difference of the target rotation speed obtained according to the detected rotation speed is derived and derived. Since the above-described gain factor is used for feedback control, it is effective in suppressing the decrease in speed response, and at the same time, even if the target rotational speed is vibrated at the time of low speed operation, the excellent effect of the phenomenon that the rotational speed of the motor oscillates can be suppressed.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 and Fig. 2 are schematic diagrams showing an electric cabinet 10 according to an embodiment of the present invention, and one of the electric cabinets 10 is a ceiling-mounted ceiling cabinet for a systemized kitchen. The electric wall cabinet 10 has an inner cabinet 12 housed in a cabinet outside the imaginary line, and the inner cabinet 12 can be used to store kitchen utensils such as food utensils and tableware. The inner cabinet 12 is housed in a box-like accommodating portion 14 that is opened before and after being fixed in the outer cabinet.

The two side plates 16 of the accommodating portion 14 are provided with a pair of pivots 18, and one of the support cabinets 12 is pivotally connected to the pair of pivots 18 by one end of the rocker arm 20, and is pivotable about the pivot axis 18. Further, the two side plates 16 of the accommodating portion 14 are formed with an arc-shaped guide groove 22 centered on the pivot 18, and the guide pin 24 provided at the proximal pivot end of the rocker arm 20 is slidably guided along the guide groove 22 In the groove 22, when the rocker arm 20 is rotated about the pivot 18, the guide pin 24 is guided to move along the guide groove 22.

Moreover, the other end of the rocker arm 20 is pivotally connected to the pivoting portion 28 provided on the upper portion of the rear side of the side panel 26 of the inner cabinet 12. Therefore, the inner cabinet 12 can be rocked up and down around the pivot 18 via the rocker arm 20.

On the other hand, the accommodating portion 14 is provided with two shafts 32 and 34 in parallel between the pair of side plates 16, and the shaft 34 is disposed at the front bottom of the side plate 16, and the side plate 16 is fixed. Moreover, one end of the rocker arm 36 is pivotally connected to one end of the rocker arm 36, and the other end of the rocker arm 36 is pivotally connected to the other central portion 38 of the side panel 26 of the inner cabinet 12. In this way, the rocker arm 36 can drive the cabinet 12 to swing up and down in synchronization with the rocker arm 20.

On the other hand, the shaft 32 is rotatably supported on the side plates 16 so that the side plates 16 are rotatably supported at both ends, and the shaft 32 is driven to rotate by the motor 40 which can be rotated forward and backward via the gear train 42.

As shown in FIG. 3, the drive shaft of the motor 40 is directly coupled to a worm 44, and the driving force of the motor 40 is directly transmitted to the worm 44. The worm 44 is engaged with a worm wheel 46A which is rotated by the rotational transmission of the worm 44. A concentrically arranged pinion 46B is integrally connected to the worm wheel 46A. The pinion gear 46B rotates together with the worm wheel 46A, the pinion gear 46B meshes with the large gear 48A, and the pinion gear 46B rotates, and the large gear 48A is driven to rotate. The large gear 48A is integrally formed with another small gear 48B that rotates in unison with the rotation of the large gear 48A. The pinion gear 48B meshes with another large gear 50A, which thus rotates with the pinion gear 48B. The large gear 50A is integrally connected with a helical gear 50B, and the helical gear 50B is rotated together with the large gear 50A. The helical gear 50B meshes with a passive helical gear 58 fixed to the shaft 32, whereby the shaft 32 is thereby rotationally driven by the helical gear 50B.

The spindle of the motor 40 is provided with an encoder 41 which is capable of outputting a pulse signal generated in response to the positive or negative rotation of the motor 40 and its rotational speed.

As shown in FIG. 2, the two ends of the shaft 32 are each fixed with a power transmission gear 54. On the one hand, the two side plates 16 of the accommodating portion 14 are respectively provided with a disk-shaped rocker arm that rotates around the pivot shaft 18. With the shaft plate 56, the guide pin 24 on the rocker arm 20 penetrates the outer edge portion of the rocker arm rocking shaft 56, and the rocker arm rocking shaft 56 is formed with a rocker arm for meshing with the power transmission gear 54. The gear 56A, this rocker rocking gear 56A can thus be rotated by the power transmitting gear 54.

The rocker arm rocking shaft 56 is then rotated by the power transmission gear 54 via the rocker arm gear 56A to rotate around the pivot 18, and the guide pin 24 is slid along the guide groove 22 to drive the rocker arm 20 to rotate. The inner cabinet 12 supported by one end of the arm 20 moves up and down, and the other rocker arm 36 rotates following the movement of the inner cabinet 12.

A pair of support plates 60 are downwardly disposed at the lower edges of the front sides of the inner cabinet 12, and the pair of support plates 60 support a laterally extending rod-shaped handle portion 62 between the two support plates 60.

As shown in FIGS. 4(A) and 4(B), the handle portion 62 has a cylindrical sleeve 64 formed of a resin, and a sleeve-shaped metal plate 66 is formed inside the grip sleeve 64. The metal plate 66 is formed longer than the grip sleeve 64. The length of the metal plate 66 is fixed to the two support plates 60.

Further, a gap is left between the metal plate 66 and the grip sleeve 64, and a central portion of the grip sleeve 64 in the longitudinal direction is provided with a convex portion 64A facing the front surface and the back surface of the metal plate 66, respectively. Further, at both ends of the grip sleeve 64 A plate spring 68 is disposed in the upper and lower gaps between the metal plate 66 and the inner surface of the grip sleeve 64. One end of the metal plate 66 is pressed against the surface or the back surface of the metal plate 66, and the other end is crimped to the inner circumferential surface of the grip cover 64. Thus, the grip sleeve 64 is often inflated outwardly, thereby maintaining the positional relationship between the grip sleeve 64 and the metal plate 66.

Further, a central portion of the grip sleeve 64 is provided with a metal portion 70 (any conductive member is applicable), and the metal portion 70 is connected to a touch sensor 71 (refer to FIG. 5) for detecting the metal portion 70. Electrostatic capacitance. When the electrostatic capacitance detected by the touch sensor 71 is less than the predetermined value, the low level signal is output; and if the predetermined value is exceeded, the high level signal is output. The above-mentioned predetermined value is set to an appropriate value at which the signal can be detected when the user's hand touches the metal portion 70.

On the one hand, as shown in FIG. 4, the metal plate 66 is provided with a strain transmitter 72 facing the convex portion 64A at the central portion in the longitudinal direction thereof, and the handle portion 62 holds the metal portion 70 by the user. When the lifting portion 64A is brought into contact with the metal plate 66, the metal plate 66 is deformed (strained).

The strain sensor 72 incorporates a strain gauge (not shown) which changes the resistance value in accordance with the direction and magnitude of the deformation. The strain sensor 72 converts the change in the resistance value generated by the strain gauge into a change in voltage, and then amplifies the output. Since the strain sensor 72 is strained in response to deformation of the metal plate 66, the voltage level of the signal that is rotated is also varied depending on the magnitude of the strain. The voltage level of the signal outputted by the strain sensor 72 decreases as the strain sensor 72 deforms downward, but rises with the amount of deformation at the time of upward deformation. In other words, the stress and direction acting on the grip 64 can be detected by detecting the voltage level output by the strain sensor 72.

Fig. 5 is a block diagram showing the configuration of essential parts of the circuit system of the electric wall cabinet 10 of the present embodiment.

As shown in the figure, the electric wall cabinet 10 has an amplification circuit 80 capable of amplifying a voltage level of a signal output from the strain sensor 72 (in this embodiment, 1×10 ⁶ times, but can be amplified from 5000 times); The pulse signal output from the encoder 41 determines the rotational speed and the rotational direction of the motor 40, and outputs a speed control for controlling the rotational speed of the motor 40 based on the rotational speed and the rotational direction and the voltage level of the signal amplified by the amplifying circuit 80. The signal microcomputer 82; and a drive circuit 84 for driving the motor 40 in response to the speed control signal.

Moreover, the signal outputted by the strain sensor 72 is only about a few μV (microvolts), and it is not possible to take a larger value of the S/N (signal noise ratio) of the noise generated by the signal to the wiring line transmitting the signal. In the electric ceiling cabinet 10 of the present embodiment, the amplifier circuit 80 is disposed as close as possible to the strain sensor 72 so that the wiring distance between the amplifier circuit 80 and the strain sensor 72 is as short as possible, and the state of the noise generated by the wiring is suppressed as much as possible. The signal is amplified to suppress the influence of noise.

The microcomputer 82 is configured such that a CPU, a ROM, a RAM, and the like are arranged on a single wafer, and data such as a drive control program, a potential difference target rotation speed conversion data table, and a reference voltage level which will be described later are stored in the ROM.

The drive circuit 84 improves the rotational speed of the motor 40 by changing the action ratio (energy ratio) of the drive signal output to the motor 40 in accordance with the speed control signal.

Fig. 6 shows an example of a potential difference/target rotation speed conversion data table stored in the microcomputer 82 of the present embodiment.

As shown in the figure, the potential difference/target rotation speed conversion data table stores the target rotation speed corresponding to each difference, and the relationship between the two is set such that the larger the absolute value of the potential difference is, the faster the target rotation speed is. Further, in the present embodiment, the rotational speed is set to a negative ("-") value when the rotational axis of the motor 40 drives the inner cabinet 12 to rotate downward, and is positive when the inner cabinet 12 is rotated in the upward direction ( The "+" value, thereby indicating both the rotational speed and the rotational direction.

Fig. 7 is a flow chart showing the function of the microcomputer 82 of the present embodiment.

In the figure, the microcomputer 82 includes: a target rotational speed acquiring unit 90 for acquiring a target rotational speed; detecting a pulse signal input from the encoder 41 for a certain period of time to obtain a rotational speed and a rotational direction of the motor 40, and depending on the rotational direction a rotation speed detecting unit 92 that determines the rotation speed for positive or negative values; a gain coefficient deriving unit 94 that derives a gain coefficient K _{P for} PID control based on the rotation speed detected by the rotation speed detecting unit 92; The gain coefficient K _P is PID controlled to output a speed control signal to the PID control unit 96.

Further, the target rotational speed acquiring unit 90 stores in advance a reference voltage level corresponding to the state in which the strain gauge built in the strain transmitter 72 is not strained, and is outputted by the strain transmitter 72. The signal is amplified by the amplification circuit 80 to a voltage level. When the signal input from the touch sensor 71 is at a high level, the target rotational speed acquisition unit 90 obtains a potential difference between the voltage level of the signal input from the self-amplifying circuit 80 based on the reference voltage level, and based on the potential difference. The target rotation speed is obtained in the potential difference target rotation speed conversion data table.

Further, the voltage of the signal output from the strain transmitter 72 may be slightly changed due to a change in the external environment, etc., in order to prevent the signal input from the touch sensor 71 from being low. The stored reference voltage level is corrected based on the voltage level of the signal input from the amplifying circuit 80.

The gain coefficient deriving unit 94 stores in advance a predetermined conversion function in which the rotational speed is used as the output value and the gain coefficient K _P as the output value, and the gain coefficient K _P is derived from the rotational speed using the transform function.

As for the PID control, as shown in Fig. 8, if the value of the gain coefficient K _P is taken large, the rotation speed of the motor 40 may exceed the oscillation speed of the target rotation speed; however, if the optimum value of the gain coefficient K _P is It should be the maximum value within the range where oscillation does not occur.

Therefore, the above-described conversion function is set in advance so that the rotation speed of the motor 40 is faster in the range in which the rotation speed of the motor 40 does not oscillate when the PID control is performed, and the value of the derived gain coefficient K _P is also larger. Further, in the gain coefficient deriving unit 94 of the present embodiment, the gain coefficient K _P is derived from the rotational speed using the transformation function, and the relationship between the determined rotational speed and the gain coefficient K _P is stored in advance, so that the rotational speed is faster. The value of the gain coefficient K _P derived in the range where the oscillation does not occur also becomes the larger rotation speed/gain coefficient conversion table, and then the gain coefficient K _P can be derived from the rotation speed of the motor 40 according to the rotation speed/gain coefficient conversion table. .

Further, the PID control unit 96 can obtain a speed difference e between the rotational speed of the motor 40 and the target rotational speed, and integrate the speed difference e with the integrated value of the time integral and the differential value of the speed difference by time, and each of the points After the speed difference is added to the integrated value and the differential value to obtain the sum thereof, the MV value is obtained by multiplying the sum value by the gain coefficient K _P , and the speed indicating the increase or decrease of the rotational speed of the motor 40 is output according to the MV value. control signal. Further, the PID control unit 96 shown in Fig. 7 displays the flow of PID control in the form of Laplace transform, where Ti represents the integration time, Td represents the differentiation time, and s represents the Laplacian operator. The speed difference e is multiplied by 1/(Ti.S) to find the integral value, and the speed difference e is multiplied by Td. S can obtain the differential value, add the speed difference e to the integral value and the differential value, and multiply the added value by the gain coefficient K _P to derive the MV value.

In the microcomputer 82 of the present embodiment, the PID control unit 96 is realized by executing a drive control formula.

Hereinafter, the operation of the electric clothes cabinet 10 of the present embodiment will be described. First, the flow of the overall operation process when the user operates the inner cabinet 12 is described in detail with reference to FIGS. 9 and 10 .

As shown in FIG. 9(A), when the user wants to lower the inner box 12 housed in the storage portion (outer cabinet) 14, the metal portion 70 of the handle portion 62 is gripped by hand and the force is applied. The handle portion 62 is pulled downward, and by this operation, the convex portion 64A (see FIG. 4) provided inside the handle portion 62 contacts the metal plate 66 and is pressed downward to generate a downward deformation, and the strain sensor 72 follows the metal. The deformation of the plate 66 also undergoes a downward deformation (see Figure 9 (B)).

The microcomputer 82 obtains the target rotational speed based on the magnitude of the voltage level output from the strain sensor 72, and rotates the rotational direction of the motor 40 in the direction in which the inner casing 12 is lowered by the PID control at the target rotational speed, thereby assisting the user. The action of pulling the inner cabinet 12 down (see Figure 9 (C)).

On the other hand, as shown in Fig. 10(A), if the user wants to raise the cabinet 12 in the downward direction, the user holds the metal portion 70 of the handle portion 62 by hand and pushes the handle portion 62 upward. can.

By this operation, the metal plate 66 provided inside the handle portion 62 is deformed upward, and the strain sensor 72 is also deformed upward (see Fig. 10(B)).

The microcomputer 82 obtains the target rotational speed based on the magnitude of the voltage level output from the strain sensor 72, and rotates the rotational direction of the motor 40 in the direction in which the inner casing 12 is raised by the target rotational speed via the PID control, thereby assisting the user. The action of raising the inner cabinet 12 (see Fig. 10(C)).

As described above, according to the electric wall cabinet 10 of the present embodiment, the user does not have to specify the operation of the auxiliary operation, and only the metal portion 70 of the handle portion 62 is held by one hand, and the electric cabinet 10 can be fitted with the inner cabinet. The motor-assisted action of the 12 rise and fall movements is therefore very operability.

Further, according to the electric ceiling cabinet 10 of the present embodiment, the amount of deformation of the strain sensor 72 can be changed by the user's adjustment of the force applied to the metal portion 70, and the lifting speed of the inner cabinet 12 can be adjusted, which makes it easier and smoother to use.

Hereinafter, the function of the microcomputer 82 when the drive control program is executed will be described in detail with reference to Fig. 11. Further, the drive control program is programmed when the power (not shown) of the electric ceiling cabinet 10 is turned ON (ON), and the program control is terminated when the power is turned off (OFF).

In step 102 of the figure, it is first determined whether the signal input by the touch sensor 71 is at a high level (level). If yes, the process proceeds to the next step 106; but if not, the process proceeds to step 104 for voltage level. Correction.

That is, in step 104, the original stored reference voltage level can be corrected to the voltage level of the signal input from the amplifying circuit 80, and then the process returns to step 102. In other words, the actions of steps 102 through 104 are repeated until the user's hand contacts the metal portion 70. Thereby, it is possible to prevent malfunction caused by the strain sensor 72 being strained by, for example, vibration. Further, since the reference voltage level is corrected in this step 104, even if the strain sensor 72 is strained due to a change in the surrounding environment, etc., in the step 106 described later, the user can be correctly detected. The potential difference of the deformation of the metal portion 70 of the handle portion 62.

In step 106, a potential difference of the voltage level of the input signal from the amplifying circuit 80 based on the stored (stored) reference voltage level can be detected.

In the next step 108, the target rotational speed corresponding to the potential difference can be obtained from the stored potential difference and the target rotational speed conversion table according to the potential difference detected in step 106, and in step 110, it is detected that the target rotational speed is constant. The pulse value input by the encoder 41 is detected in time to detect the rotational speed of the motor 40. Then, in the next step 112, the gain coefficient K _P is derived from the rotational speed of the motor 40 detected in the above step 110 using the above-described transformation function. .

In the next step 114, the speed difference e of the rotational speed of the motor 40 detected in the above step 110 to the target rotational speed derived in the above step 108, and the integral value of the time difference integral of the speed difference e are obtained. And the differential value e is differentiated by time differential value, and then the obtained speed difference e and the integrated value are added to the differential value, and the summed value is multiplied by the gain coefficient K _P . Calculate the MV value.

The next step 116 outputs a speed control signal indicating the increase or decrease of the rotational speed based on the MV value calculated in the above step 114, and then returns to the above-described start step 102 to continue the above-described processing.

Fig. 12 (A) and (B) are graphs showing changes in the rotational speed of the motor 40 when the microcomputer 82 of the present embodiment controls the rotational speed of the motor 40.

According to the PID control of the drive control program of the present embodiment, since the value of the gain coefficient derived from the conversion function increases as the rotational speed of the motor 40 increases, it can be maintained as shown in Fig. 12(A). The target rotational speed is changed to a good speed response (reaction) of the rotational speed of the motor 40 at the fast rotational speed.

Further, when the rotational speed of the motor 40 is low, the gain coefficient K _P derived from the conversion function becomes a relatively small value, and as shown in Fig. 12(B), even if the target rotational speed vibrates, It can effectively suppress the oscillation of the rotation speed of the motor.

Further, according to the electric ceiling cabinet 10 of the present embodiment, even if the user is eager to raise the inner cabinet 12 to apply a large force to the metal portion 70, and the strain sensor 72 is greatly deformed, the rotation speed of the motor 40 is In the case of low speed, the gain coefficient derived from the transformation function is small, so the inner cabinet 12 still starts to move slowly, and is easy to operate for elderly users and the like.

As described above, according to the embodiment of the present invention, the rotation speed of the motor is detected by the detecting device (here, the rotation speed detecting unit 92), and the speed acquiring device (target rotation speed obtaining unit 90) obtains the speed. a target rotational speed of the motor, and a speed difference value of the target rotational speed according to a rotational speed of the motor by a deriving device (here, a gain coefficient deriving unit 94) to control a rotational speed of the motor When the target rotation speed is the same as the feedback control, the gain coefficient of the adjustment amount of the rotation speed of the motor is amplified to the detected rotation speed without causing the rotation speed of the motor to exceed the overshoot of the target rotation speed. The faster the value is, the larger the value is derived, and the multi-drop control device (PID control unit 96) corrects the speed difference of the obtained target rotational speed based on the detected rotational speed, and the derived gain coefficient to the motor. When the rotation speed is feedback control, it is possible to suppress the low speed response, and at the time of low speed operation, even if the target rotation speed vibrates, It can also suppress the vibration of the motor from oscillating.

In the present embodiment, the case where the feedback control of the rotational speed of the motor 40 is performed by the PID control will be described. However, the present invention is not limited to this embodiment, and other feedback control such as PI (proportional integral) control is employed to control the motor. 40 rotation speed is also possible. In this case, the same effects as in the present embodiment can be achieved.

Further, in the present embodiment, the case where one gain coefficient K _{P is} derived from the rotational speed of the motor 40 by the transfer function will be described. However, the present invention is not limited to this form, and if the rotational speed is a proportional gain coefficient and an integral gain The coefficient and the differential gain coefficient are each derived by different transformation functions, and the product values of the above-mentioned speed difference multiplied by the proportional gain coefficient are respectively obtained, and the integral value of the time integral is multiplied by the product value of the integral gain coefficient, and It is also feasible to multiply the differential value of the time differential by the product of the differential gain coefficient and then control the rotational speed of the motor according to the value obtained by adding the above-mentioned respective product values. By this control, since the proportional gain coefficient, the integral gain coefficient, and the differential gain coefficient can be individually changed depending on the rotational speed of the motor 40, the speed response of the motor 40 can be finely controlled.

Further, in the present embodiment, the inner cabinet 12 is exemplified by the driving force of the motor 40 to assist the lifting operation. However, the present invention is not limited to this example, and the driving force of the motor 40 is assisted. The device of the present invention can also be applied to other various electric assist devices in which the user operates the auxiliary object.

Further, the structure of the electric ceiling cabinet 10 described in the present embodiment (see FIGS. 1 to 4), the circuit system configuration of the electric window cabinet 10 (see FIG. 5), and the functional configuration of the microcomputer 82. It is to be understood that the modifications and modifications may be made without departing from the spirit and scope of the invention.

Further, the flow of the drive control program (see FIG. 10) described in the present embodiment is merely an example, and it is needless to say that modifications and modifications can be made without departing from the spirit and scope of the invention.

10. . . Electric wall cabinet

12. . . Inside cabinet

14. . . Storage department

16,26. . . Side panel

18. . . Pivot

20,36. . . Rocker arm

twenty two. . . Guide slot

twenty three. . . Guide pin

28,38. . . Pivot

32,34. . . axis

40. . . motor

41. . . Partial encoder

42. . . Gear train

44. . . Worm

46A. . . Worm gear

46B, 48B. . . gear

48A, 50A. . . big gear

50B, 58. . . helical gear

54. . . Power transmission gear

56. . . Rocker arm rocker

56A. . . Rocker arm gear

60. . . Support board

62. . . Handle

64. . . Grip

64A. . . Convex

66. . . Metal plate

68. . . Plate spring

70. . . Metal department

71. . . Touch sensor

72. . . Strain sensor

80. . . amplifying circuit

82. . . Microcomputer

84. . . Drive circuit

90. . . Target rotation speed acquisition unit

92. . . Rotation speed detection unit

94. . . Gain coefficient derivation unit

96. . . PID control unit

102,104,106,108,110,112,114,116. . . Drive control program

K _P . . . Gain coefficient

Ti. . . Integration time

Td. . . Differential time

e. . . Speed difference

S. . . Labras operator

Fig. 1 is a perspective view showing the configuration of an electric clothes cabinet in which the cabinet of the embodiment is housed in the outer casing.

Fig. 2 is a view showing a state in which the cabinet of the embodiment is lowered from the outer box.

Fig. 3 is an enlarged view showing a detailed configuration of a gear train of the embodiment.

Fig. 4(A) is a cross-sectional view showing the handle portion, and Fig. 4(B) is a longitudinal sectional view showing the handle portion.

Fig. 5 is a block diagram showing the configuration of a main part of a circuit system of an electric wall cabinet according to an embodiment.

Fig. 6 is a comparison table showing an example of the data mechanism of the potential difference/target rotation speed conversion table of the embodiment.

Fig. 7 is a block diagram showing the functional configuration of the microcomputer of the embodiment.

Fig. 8 is a graph showing the relationship of the rotational speed of the motor of each gain coefficient.

Fig. 9 (A) to (C) are views showing the operation of the electric cabinet in the embodiment when the cabinet is lowered.

Fig. 10 (A) to (C) are explanatory views showing the operation of the electric cabinet in the storage case of the embodiment.

Fig. 11 is a flow chart showing the flow of processing of the drive control program of the embodiment.

Fig. 12 (A) and (B) are graphs showing an example of a change in the rotational speed of the motor when the rotational speed of the motor is controlled by the PID control method.

13(A) and (B) are graphs showing an example of a change in the rotational speed of the motor when the rotational speed of the motor is controlled by the PID control method of the prior art.

14(A) and (B) are graphs showing another variation of the rotational speed of the motor when the rotational speed of the motor is controlled by the PID control method of the prior art.

40. . . motor

41. . . Encoder

71. . . Touch sensor

80. . . amplifying circuit

82. . . Microcomputer

84. . . Drive circuit

90. . . Target rotation speed acquisition unit

92. . . Rotation speed detection unit

94. . . Gain coefficient derivation unit

96. . . PID control unit

Claims (5)

A motor drive control device includes: a rotation speed detecting device for detecting a rotation speed of the motor; a target rotation speed obtaining device for acquiring a target rotation speed of the motor; and a gain coefficient deriving device for rotating according to the motor The speed difference with respect to the rotational speed of the above-mentioned target is used to control the rotational speed of the motor to be the same as the rotational speed of the target, and is used to prevent the rotational speed of the motor from exceeding the above target The gain coefficient of the control amount for amplifying the rotational speed of the motor within the range of the overshoot (overshoot) of the rotational speed is derived as the condition that the value of the rotational speed faster than the coefficient of rotation is detected by the detecting means And the control device performs feedback control on the speed difference of the target rotational speed obtained by the acquisition device and the gain coefficient derived by the deriving device based on the rotational speed detected by the detecting device. The motor drive control device according to claim 1, wherein the control device derives the speed difference as a time differential integral value according to the speed difference, and derives the speed difference as a time differential differential value, and derives from the derivation device The gain coefficient is subjected to PID control (proportional integral derivative control) as the above feedback control. The motor drive control device according to claim 1, wherein the control device adds the speed difference to the integral value and the differential value, and multiplies the sum obtained by the sum by the gain coefficient. The resulting product is multiplied to perform the above PID control. A motor-assisted device comprising: the motor drive control device according to any one of claims 1 to 3, and a motor controlled by the motor drive control device for driving the auxiliary object. A responsive feedback control method for a motor drive control device, which acquires a target rotational speed of the motor while detecting a rotational speed of the motor; and a speed difference value of the target rotational speed according to a rotational speed of the motor, When the feedback control for controlling the rotational speed of the motor to match the target rotational speed is performed, the motor is amplifying within a range that does not cause the rotational speed of the motor to exceed the target rotational speed. The gain coefficient of the control amount of the rotation speed is derived according to the detected rotation speed, and the value of the coefficient is larger; and the speed difference of the target rotation speed obtained according to the detected rotation speed is detected. And deriving the above gain coefficient to perform feedback control.