TWI705657B - Motor control device - Google Patents
Motor control device Download PDFInfo
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- TWI705657B TWI705657B TW105105678A TW105105678A TWI705657B TW I705657 B TWI705657 B TW I705657B TW 105105678 A TW105105678 A TW 105105678A TW 105105678 A TW105105678 A TW 105105678A TW I705657 B TWI705657 B TW I705657B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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Abstract
Description
本發明有關進行馬達的外擾(disturbance)的推定及壓抑之馬達控制裝置。 The present invention relates to a motor control device for estimating and suppressing motor disturbance.
在工作機械,因為微加工(micro-fabrication)等的要求,追求高的加工品質。為此,追求馬達驅動的高精度化。而且,為了縮短週期時間(cycle time),追求縮短定位時間。 In machine tools, high processing quality is pursued due to the requirements of micro-fabrication. For this reason, the high precision of motor drive is pursued. Moreover, in order to shorten the cycle time (cycle time), it is sought to shorten the positioning time.
另一方面,也追求馬達的小型化。在小型化馬達的情況下,因為馬達的構造的限制,是有齒隙轉矩變大的情況。起因於這樣的齒隙轉矩之力矩漣波,在工作加工時成為外擾而作用。起因於齒隙轉矩之力矩漣波,會使被加工物的表面精度下降,或是在定位時成為外擾而作用著,產生位置偏差的變動。該位置偏差的變動,係因為延遲了定位時間,可惜造成機械性的週期時間變長。而且,在機械系統,存在有摩擦。也就這樣的摩擦,成為使加工精度下降,或是延遲定位的要因。 On the other hand, miniaturization of motors is also pursued. In the case of a miniaturized motor, the backlash torque may increase due to the limitation of the structure of the motor. The torque ripple due to such backlash torque becomes an external disturbance and acts during work processing. The torque ripple caused by the backlash torque will reduce the surface accuracy of the workpiece, or it will act as an external disturbance during positioning, resulting in a change in position deviation. This change in position deviation is due to the delay in positioning time, which unfortunately causes the mechanical cycle time to become longer. Moreover, in mechanical systems, there is friction. This kind of friction becomes a factor that reduces the machining accuracy or delays positioning.
圖5為抑制這樣的外擾之以往的外擾觀測器(disturbance observer)的構成圖。在以往的外擾觀測器,根據力矩指令及馬達速度,使用低通濾波器,推定負載力矩。但是,因為插入用於因微分演算所致之雜訊去除的低通濾波器,產生推定值的衰減及相位偏差。為此,適切補償力矩漣波是有困難。 Fig. 5 is a configuration diagram of a conventional disturbance observer for suppressing such external disturbance. In the conventional disturbance observer, a low-pass filter is used to estimate the load torque based on the torque command and the motor speed. However, the insertion of a low-pass filter for noise removal due to differential calculation causes attenuation and phase deviation of the estimated value. For this reason, it is difficult to properly compensate the torque ripple.
這類的外擾觀測器的高響應化之例,被記載於日本特開平4-69082號專利公報。日本特開平4-69082號專利公報記載的伺服馬達控制裝置,具備:推定外擾力矩之觀測器、以及用已推定的外擾力矩補正力矩指令(torque command)之補正手段。在上述觀測器,是以時間上為一定的外擾力矩透過低通濾波器給予到伺服馬達的方式作為前提。上述補正手段,係使用以上述觀測器求出的推定外擾力矩,補正力矩指令。 An example of high response of such an external disturbance observer is described in Japanese Patent Laid-Open No. 4-69082. The servo motor control device described in Japanese Patent Application Laid-Open No. 4-69082 includes an observer for estimating the external disturbance torque and a correction means for correcting the torque command (torque command) using the estimated external disturbance torque. In the above-mentioned observer, the premise is that the external disturbance torque that is constant in time is given to the servo motor through a low-pass filter. The above-mentioned correction means uses the estimated external disturbance torque obtained by the above-mentioned observer to correct the torque command.
在此,在實際的編碼器,因為有分解能的限制,存在量化誤差(quantization error)。為此,在日本特開平4-69082號專利公報的手法中,有以下的問題。亦即,提升用觀測器推定的外擾力矩之高通(high pass)的增益。為此,編碼器的量化誤差所致之漣波表現在推定外擾力矩。特別是,在編碼器的分解能低的情況下,可惜推定外擾力矩的雜訊變大。 Here, in actual encoders, there are quantization errors due to the limitation of resolution. For this reason, the method disclosed in Japanese Patent Laid-Open No. 4-69082 has the following problems. That is, the gain of the high pass of the external disturbance torque estimated by the observer is increased. For this reason, the ripple caused by the quantization error of the encoder appears in the estimated external disturbance torque. In particular, when the resolution of the encoder is low, it is a pity that the noise of the external disturbance torque is estimated to increase.
本發明有鑑於上述情事而為之發明。本發明的目的,係提供以下的馬達控制裝置。在該馬達控制裝置,一邊抑制編碼器的量化誤差的影響,一邊推定馬達之包含齒隙轉矩的外擾力矩,進行外擾壓抑補償。經此,可以抑制摩擦的影響,以及減少馬達的速度漣波及力矩漣波。 The present invention was invented in view of the above-mentioned circumstances. The object of the present invention is to provide the following motor control device. In this motor control device, while suppressing the influence of the quantization error of the encoder, the external disturbance torque including the backlash torque of the motor is estimated to perform external disturbance suppression compensation. Through this, the influence of friction can be suppressed, and the speed ripple and torque ripple of the motor can be reduced.
有關本發明之其中一樣態的馬達控制裝置(本馬達控制裝置),具備:補償資料記憶部,係記憶與齒隙轉矩所致之馬達的力矩變動對應的資料;以及外擾觀測器,係算出對應馬達的位置之齒隙轉矩推定值,根據算出的齒隙轉矩推定值,進行外擾壓抑補償。 One aspect of the motor control device (this motor control device) of the present invention is provided with: a compensation data storage unit that stores data corresponding to the torque variation of the motor caused by the backlash torque; and an external disturbance observer, which is Calculate the estimated value of backlash torque corresponding to the position of the motor, and perform external disturbance suppression compensation based on the calculated estimated value of backlash torque.
根據本馬達控制裝置,可以一邊抑制編碼器的量化誤差的影響,一邊推定馬達之包含齒隙轉矩及力矩漣波的外擾力矩。經由使用該外擾觀測器進行外擾壓抑補償的方式,可以抑制摩擦等的影響,及減少馬達的速度漣波及力矩漣波。 According to this motor control device, it is possible to estimate the external disturbance torque including the backlash torque and torque ripple of the motor while suppressing the influence of the quantization error of the encoder. By using the external disturbance observer to perform external disturbance suppression compensation, the influence of friction and the like can be suppressed, and the speed ripple and torque ripple of the motor can be reduced.
1‧‧‧馬達控制裝置 1‧‧‧Motor control device
2‧‧‧馬達 2‧‧‧Motor
3‧‧‧編碼器 3‧‧‧Encoder
4‧‧‧速度控制器 4‧‧‧Speed Controller
5‧‧‧力矩控制器 5‧‧‧torque controller
10‧‧‧外擾觀測器 10‧‧‧External Disturbance Observer
11‧‧‧補償資料記憶部 11‧‧‧Compensation data memory
12‧‧‧第1速度算出器 12‧‧‧The first speed calculator
13‧‧‧速度算出器 13‧‧‧Speed Calculator
14‧‧‧第1乘法運算器 14‧‧‧The first multiplier
15‧‧‧低通濾波器 15‧‧‧Low Pass Filter
16‧‧‧第2乘法運算器 16‧‧‧The second multiplier
100‧‧‧齒隙轉矩推定值算出部 100‧‧‧Backlash torque estimation value calculation unit
200‧‧‧第1速度算出部 200‧‧‧First speed calculation unit
300‧‧‧第2速度算出部 300‧‧‧Second speed calculation unit
400‧‧‧外擾力矩推定值算出部 400‧‧‧External disturbance torque estimation value calculation unit
500‧‧‧全外擾力矩算出部 500‧‧‧Total external disturbance torque calculation unit
圖1係表示有關本發明之一實施方式的馬達控制裝置 的構成的其中一例。 Fig. 1 shows a motor control device according to an embodiment of the present invention An example of the composition.
圖2係表示在上述馬達控制裝置具備的外擾觀測器的構成的其中一例。 Fig. 2 shows an example of the configuration of an external disturbance observer provided in the motor control device.
圖3係表示在上述馬達控制裝置具備的外擾觀測器所適用的速度控制系統的構成的其中一例。 Fig. 3 shows an example of the configuration of a speed control system applied to the disturbance observer provided in the motor control device.
圖4係表示外擾壓抑補償的模擬結果。 Figure 4 shows the simulation results of external disturbance suppression compensation.
圖5係表示以往的外擾觀測器的構成。 Fig. 5 shows the structure of a conventional disturbance observer.
在下列詳細說明中,為了解釋目的,會提到許多特定細節以便提供所揭示之實施態樣的深入理解。然而,應明白的是,可在未有這些特定細節下實施一或多個實施態樣。在其他不同的情況中,眾所周知的結構及裝置係示意性地示出以簡化圖式。 In the following detailed description, for explanatory purposes, many specific details are mentioned in order to provide an in-depth understanding of the disclosed implementation modes. However, it should be understood that one or more implementation aspects can be implemented without these specific details. In other different situations, well-known structures and devices are schematically shown to simplify the drawings.
有關本實施方式的馬達控制裝置1,係如圖1所表示,具備:補償資料記憶部11、及外擾觀測器10。補償資料記憶部11,係把與馬達2的位置對應的齒隙轉矩的資料(齒隙轉矩資料),作為用於抑制齒隙轉矩所致之馬達2的力矩變動的資料,而記憶著。
As shown in FIG. 1, the
外擾觀測器10進行取得馬達2的位置。外擾觀測器10,係根據記憶在補償資料記憶部11的齒隙轉矩資料,從已取得的馬達的位置,算出齒隙轉矩推定值。更進一步,外擾觀測器10,係根據已算出的齒隙轉矩推定值,進行外擾壓抑補償。而且,馬達控制裝置1,具備:
速度控制器4、力矩控制器5、及速度算出器13。就有關這些,使用圖3後述之。
The
外擾觀測器10,具備:齒隙轉矩推定值算出部100、第1速度算出部200、第2速度算出部300、外擾力矩推定值算出部400、及全外擾力矩算出部500。齒隙轉矩推定值算出部100算出齒隙轉矩推定值。第1速度算出部200,係利用標稱慣量(nominal inertia),算出第1速度。第2速度算出部300算出除掉齒隙轉矩推定值之第2速度。外擾力矩推定值算出部400算出除掉齒隙轉矩推定值之外擾力矩推定值。全外擾力矩算出部500算出全外擾力矩。
The
齒隙轉矩推定值算出部100具有補償資料記憶部11。齒隙轉矩推定值算出部100,係根據齒隙轉矩資料,算出齒隙轉矩推定值。亦即,齒隙轉矩推定值算出部100取得藉由編碼器3檢測出的馬達位置。齒隙轉矩推定值算出部100,係根據記憶在補償資料記憶部11的齒隙轉矩資料,從已取得的馬達位置,算出齒隙轉矩推定值。亦即,齒隙轉矩推定值算出部100,係根據齒隙轉矩資料及馬達位置,算出齒隙轉矩推定值。齒隙轉矩推定值算出部100,係把算出的齒隙轉矩推定值,輸出到第1速度算出部200及全外擾力矩算出部500。
The backlash torque estimation
第1速度算出部200,係取得利用齒隙轉矩推定值算出部100算出的齒隙轉矩推定值,根據已取得的齒隙轉矩推定值,利用標稱慣量,算出第1速度。第1速度
算出部200,係把算出的第1速度,輸出到第2速度算出部300。
The first
第2速度算出部300,取得:利用速度算出器13算出的馬達速度、及利用第1速度算出部200算出的第1速度。第2速度算出部300,係藉由從馬達速度減去第1速度的方式,算出除掉齒隙轉矩推定值之第2速度。第2速度算出部300,係把算出的第2速度,輸出到外擾力矩推定值算出部400。
The second
外擾力矩推定值算出部400,係根據第2速度,算出除掉齒隙轉矩推定值之外擾力矩推定值。亦即,外擾力矩推定值算出部400,取得:力矩指令、及利用第2速度算出部300算出之第2速度。外擾力矩推定值算出部400,係根據力矩指令及第2速度,算出除掉齒隙轉矩推定值之外擾力矩推定值。外擾力矩推定值算出部400,係把算出的外擾力矩推定值,輸出到全外擾力矩算出部500。
The external disturbance torque estimation
全外擾力矩算出部500,取得:利用外擾力矩推定值算出部400算出的外擾力矩推定值、及利用齒隙轉矩推定值算出部100算出的齒隙轉矩推定值。全外擾力矩算出部500,係利用把外擾力矩推定值與齒隙轉矩推定值相加的方式,算出全外擾力矩,回饋算出的全外擾力矩。
The total external disturbance
尚且,在本實施方式,補償資料記憶部11被配置在外擾觀測器10側。外擾觀測器10亦可具備齒隙轉矩推定值算出部100。因此,補償資料記憶部11也可以
被配置在編碼器3側。
Furthermore, in this embodiment, the compensation
接著,就有關補償資料記憶部11與外擾觀測器10之具體的構成的其中一例,進行說明。
Next, an example of the specific configuration of the compensation
首先,在馬達控制裝置1,由馬達的運動方程式,成立以下的算式(1)及(2)。
First, in the
Jnωm.s=Tcmd-TD=Tcmd-TL-TR...(1) Jn ω m. s=Tcmd-TD=Tcmd-TL-TR. . . (1)
TL=Tcmd-Jn{ωm+TR/(Jn.s)}.s...(2) TL=Tcmd-Jn{ ω m+TR/(Jn.s)}. s. . . (2)
為此,在算式(2)中,令齒隙轉矩成分推定值為TR^、其他成分推定值為TL^,全外擾力矩推定值TD^可以用下式推定。 For this reason, in the formula (2), let the backlash torque component estimated value be TR^, and the other component estimated value TL^, the total external disturbance torque estimated value TD^ can be estimated by the following formula.
TDˆ=TLˆ+TRˆ=gd/(s+gd)[Tcmd-Jn{ωm+TRˆ/(Jn .s).s}]+TRˆ..(3) TDˆ=TLˆ+TRˆ=gd/(s+gd)[Tcmd-Jn{ ω m+TRˆ/(Jn .s). s}]+TRˆ. . (3)
其中,Jn:慣量標稱值、ωm:馬達速度、Tcmd:力矩指令、gd:低通濾波器的截止頻率 Among them, Jn: nominal value of inertia, ωm: motor speed, Tcmd: torque command, gd: cut-off frequency of low-pass filter
經由使用上述算式(3),可以構成補償記憶在補償資料記憶部11的齒隙轉矩資料與瞬時的外擾推定之兩者的外擾觀測器10。
By using the above equation (3), it is possible to construct an
圖2係表示根據上述算式(3)之具備在馬達控制裝置1的外擾觀測器10的構成的其中一例。
FIG. 2 shows an example of the configuration of the
在此,被記憶在上述補償資料記憶部11的齒隙轉矩資料,乃是預先計測及記憶之與馬達位置對應的齒隙轉矩的資料。
Here, the backlash torque data stored in the compensation
如圖2所表示,外擾觀測器10,係根據藉由編碼器3檢測出的馬達位置,使用記憶在補償資料記憶部11的齒隙轉矩資料,求取齒隙轉矩推定值a1。外擾觀測
器10,係藉由第1速度算出器12,使用標稱慣量,算出根據齒隙轉矩推定值的第1速度a2。
As shown in FIG. 2, the
接著,外擾觀測器10,係使用速度算出器13,從馬達位置求出馬達速度a3。外擾觀測器10,係藉由從馬達速度a3減去根據齒隙轉矩推定值的第1速度a2的方式,算出除掉齒隙轉矩推定值之第2速度a4。
Next, the
接著,外擾觀測器10,係對力矩指令Tcmd、及藉由把除掉齒隙轉矩推定值之第2速度a4使用第1乘法運算器14乘上gd.Jn倍的方式所得的值a5,進行相加。外擾觀測器10,係藉由把該加法運算值通過gd/(s+gd)的低通濾波器15的方式,算出值a6。外擾觀測器10,係從該值a6,減掉藉由把除掉齒隙轉矩推定值之第2速度a4使用第2乘法運算器16乘上gd.Jn倍的方式所得的值a7。經此,外擾觀測器10算出除掉齒隙轉矩推定值之外擾力矩推定值a8。
Next, the
最後,外擾觀測器10,係藉由該把除掉齒隙轉矩推定值之外擾力矩推定值a8與齒隙轉矩推定值a1予以相加的方式,推定全外擾力矩TD^。
Finally, the
尚且,外擾觀測器10,係亦可藉由根據上述算式(3)的等價電路而構成。低通濾波器亦可作為2次過濾器等之1次以外的過濾器而構成。
Furthermore, the
圖3係表示在馬達控制裝置1具備的外擾觀測器10所適用的速度控制系統的構成的其中一例。
FIG. 3 shows an example of the configuration of a speed control system to which the
馬達控制裝置1,係利用編碼器3,檢測馬達
位置。馬達控制裝置1,係經由利用速度算出器13對馬達位置微分的方式,算出馬達速度。
接著,馬達控制裝置1比較速度指令與馬達速度(從速度指令減去馬達速度)。更進一步,馬達控制裝置1,係使用該減法運算結果,利用速度控制器4,算出根據速度控制之力矩指令。
Next, the
接著,馬達控制裝置1,係把利用外擾觀測器10推定出的全外擾力矩TD^,加到已算出之根據速度控制之力矩指令。經此,馬達控制裝置1算出外擾壓抑補償後的力矩指令Tcmd(補償過外擾壓抑的力矩指令Tcmd)。馬達控制裝置1,係使用外擾壓抑補償後的力矩指令Tcmd,利用力矩控制器5,驅動馬達2。
Next, the
經此,根據馬達2的馬達速度,利用圖2所示的外擾觀測器10,推定全外擾力矩TD^。可以使用來自外擾觀測器10的輸出,實施外擾壓抑補償。
Through this, based on the motor speed of the
尚且,在位置控制的情況下,馬達控制裝置1,係亦可藉由以下的動作,控制馬達的位置。亦即,馬達控制裝置1比較用編碼器3檢測出的位置與位置指令(算出這些的差)。馬達控制裝置1,係根據比較結果(算出結果),利用位置控制器,算出速度指令。更進一步,馬達控制裝置1,係把算出的速度指令,作為圖3的速度指令來給與。
Furthermore, in the case of position control, the
圖4係表示外擾壓抑補償的模擬結果。 Figure 4 shows the simulation results of external disturbance suppression compensation.
圖4的上段表示馬達的速度中的響應。圖4
的下段表示馬達的力矩中的響應。而且,0~0.5sec的波形,係表示不適用外擾觀測器的情況(不實施補償的情況)之響應。尚且,0.5~1.0sec的波形,係表示適用圖5所示之以往的外擾觀測器的情況之響應。1.0~1.5sec的波形,係表示適用有關本實施方式的外擾觀測器10的情況之響應。
The upper part of FIG. 4 shows the response in the speed of the motor. Figure 4
The lower part of represents the response in the torque of the motor. In addition, the waveform of 0~0.5sec indicates the response when the external disturbance observer is not applied (when compensation is not performed). Furthermore, the 0.5~1.0sec waveform represents the response of the conventional disturbance observer shown in Fig. 5. The waveform of 1.0 to 1.5 sec represents the response when the
如圖4所表示,經由適用本實施方式的外擾觀測器10的方式,了解到可以大幅減低速度漣波及力矩漣波。
As shown in FIG. 4, by applying the
如此,在本實施方式的馬達控制裝置1下,組合用以補償力矩漣波的補償資料記憶部11、與進行瞬時的外擾推定的外擾觀測器10之兩者。經此,進行適切的瞬時的外擾推定。更進一步,可以適切地進行使用該推定值之外擾壓抑補償。
In this way, in the
尚且,在本實施方式,於補償資料記憶部11,作為與齒隙轉矩所致之馬達的力矩變動對應之資料,記憶有預先計測出之與馬達位置對應的齒隙轉矩之資料(齒隙轉矩資料)。作為與齒隙轉矩所致之馬達的力矩變動對應之資料,亦可記憶m個(m為2以上的自然數)的正弦波之頻率、振幅及相位的資料。該情況下,外擾觀測器10,係根據被記憶在補償資料記憶部11之m個的頻率、振幅及相位,作成m個的正弦波。外擾觀測器10,係藉由把這些予以加法運算的方式,產生合成正弦波訊號。外擾觀測器10,係可以根據該合成正弦波訊號,求
出與馬達位置對應之齒隙轉矩推定值。
Furthermore, in this embodiment, in the compensation
外擾觀測器10,係亦可從根據補償資料記憶部11所輸入的馬達的位置算出齒隙轉矩推定值,根據已算出的齒隙轉矩推定值,進行外擾壓抑補償。齒隙轉矩推定值算出部100,係亦可具有補償資料記憶部11,輸入用編碼器3檢測出的馬達位置,從根據補償資料記憶部11所輸入的馬達位置算出齒隙轉矩推定值,把算出的齒隙轉矩推定值輸出到第1速度算出部200及全外擾力矩算出部500。
The
第1速度算出部200,係亦可輸入利用齒隙轉矩推定值算出部100算出的齒隙轉矩推定值,把已輸入的齒隙轉矩推定值利用標稱慣量算出第1速度,把已算出的第1速度輸出到第2速度算出部300。
The first
外擾觀測器10的構成,係可以藉由根據上述算式(3)之等價電路而構成,亦可把低通濾波器構成為2次等之1次以外的過濾器。
The structure of the
亦可經由使用上述算式(3),構成補償補償資料記憶部11與瞬時的外擾推定之兩者的外擾觀測器10。
It is also possible to construct an
外擾觀測器10,係亦可根據用編碼器3檢測出的馬達位置,使用補償資料記憶部11,求取齒隙轉矩推定值a1。
The
尚且,在位置控制的情況下,亦可用把用編碼器3檢測出的位置與原先的位置指令做比較,利用位置
控制器算出速度指令,作為圖3的速度指令來給與的方式,控制馬達的位置。
Moreover, in the case of position control, it can also be used to compare the position detected by the
全外擾力矩算出部500亦可以是全外擾力矩推定值算出部。
The total external disturbance
有關本實施方式的馬達控制裝置,亦可是以下的第1~第4馬達控制裝置。 The motor control device of this embodiment may be the following first to fourth motor control devices.
第1馬達控制裝置,具備:外擾觀測器,該外擾觀測器係從把與馬達的齒隙轉矩所致之力矩變動對應之資料予以記憶的補償資料記憶部,算出與馬達的位置對應的齒隙轉矩推定值,根據已算出的齒隙轉矩推定值,進行外擾壓抑補償。 The first motor control device includes: an external disturbance observer, which calculates the position corresponding to the motor from the compensation data memory unit that memorizes the data corresponding to the torque change caused by the backlash torque of the motor Based on the calculated backlash torque estimated value, external disturbance suppression compensation is performed.
第2馬達控制裝置,係在第1馬達控制裝置中,前述外擾觀測器,具備:從前述補償資料記憶部算出齒隙轉矩推定值之齒隙轉矩推定值算出部;把利用前述齒隙轉矩推定值算出部算出的齒隙轉矩推定值利用標稱慣量算出第1速度之第1速度算出部;從馬達速度減去利用前述第1速度算出部算出的前述第1速度,算出除掉齒隙轉矩推定值的第2速度之第2速度算出部;根據利用前述第2速度算出部算出的第2速度,算出除掉齒隙轉矩推定值的外擾力矩推定值之外擾力矩推定值算出部;以及,經由把利用前述外擾力矩推定值算出部算出的外擾力矩推定值、與利用前述齒隙轉矩推定值算出部算出的齒隙轉矩推定值予以相加的方式,算出全外擾力矩之全外擾力矩算出部。 The second motor control device is in the first motor control device, and the external disturbance observer includes: a backlash torque estimation value calculation unit that calculates the backlash torque estimation value from the compensation data storage unit; The backlash torque estimation value calculated by the backlash torque estimation value calculation unit uses the nominal inertia to calculate the first speed first speed calculation unit; subtracts the first speed calculated by the first speed calculation unit from the motor speed to calculate The second speed calculation section of the second speed that removes the backlash torque estimated value; based on the second speed calculated by the aforementioned second speed calculation section, calculates the external disturbance torque estimated value excluding the backlash torque estimated value Disturbance torque estimation value calculation unit; and by adding the disturbance torque estimation value calculated by the aforementioned disturbance torque estimation value calculation unit to the backlash torque estimation value calculated by the aforementioned backlash torque estimation value calculation unit Calculate the total external disturbance torque calculation part of the total external disturbance torque.
第3馬達控制裝置,係在第1或是第2馬達控制裝置中,前述外擾觀測器,係藉由根據下述的算式之等價電路而構成。 The third motor control device is the first or second motor control device, and the aforementioned external disturbance observer is constituted by an equivalent circuit based on the following equation.
TD^=gd/(s+gd)[Tcmd-Jn{ωm+TR^/(Jn.s).s}]+TR^ TD^=gd/(s+gd)[Tcmd-Jn{ωm+TR^/(Jn.s). s}]+TR^
其中,TD^:全外擾力矩推定值、TR^:齒隙轉矩推定值、Jn:慣量標稱值、ωm:馬達速度、Tcmd:力矩指令、gd:低通濾波器的截止頻率。 Among them, TD^: estimated value of total external disturbance torque, TR^: estimated value of backlash torque, Jn: nominal value of inertia, ωm: motor speed, Tcmd: torque command, gd: cut-off frequency of low-pass filter.
第4馬達控制裝置,具備:把與馬達的齒隙轉矩所致之力矩變動對應之資料予以記憶之補償資料記憶部;以及從補償資料記憶部算出齒隙轉矩推定值,根據已算出的齒隙轉矩推定值進行外擾壓抑補償之外擾觀測器。 The fourth motor control device is provided with: a compensation data storage unit that memorizes the data corresponding to the torque change caused by the backlash torque of the motor; and calculates the backlash torque estimation value from the compensation data storage unit, based on the calculated value The estimated value of backlash torque performs external disturbance suppression compensation external disturbance observer.
根據第1~第4馬達控制裝置,可以提供一種馬達控制裝置,係可以不受編碼器的量化誤差的影響而推定包含馬達的齒隙轉矩或力矩漣波之外擾力矩,利用使用該外擾觀測器進行外擾壓抑補償的方式,可以抑制摩擦等的影響,減少馬達的速度漣波及力矩漣波。 According to the first to fourth motor control devices, it is possible to provide a motor control device that can estimate external disturbance torque including the backlash torque or torque ripple of the motor without being affected by the quantization error of the encoder, and use the external The disturbance observer performs external disturbance suppression compensation, which can suppress the influence of friction, etc., and reduce the speed ripple and torque ripple of the motor.
為繪示及描述之目的,已呈現上述詳細說明。可依上述教示有許多修飾及變體。並非意欲窮盡本文中所述之發明標的物或將本文中所述之發明標的限制在所揭示之特定精確形式。雖然該發明標的已對特定結構特徵及/或方法行為之用語而描述,但應了解的是,後附申請專利範圍所界定之發明標的並不必然被限定在上述之特定特徵或行為。相反地,上述之特定特徵及行為係揭示作為 實施後附之申請專利範圍的實施例形式。 For the purpose of illustration and description, the above detailed description has been presented. There are many modifications and variations based on the above teachings. It is not intended to exhaust or limit the subject matter of the invention described herein to the specific precise form disclosed. Although the subject matter of the invention has been described in terms of specific structural features and/or methodological behaviors, it should be understood that the subject matter of the invention defined in the scope of the attached patent application is not necessarily limited to the specific features or behaviors mentioned above. On the contrary, the specific characteristics and behaviors mentioned above are revealing acts Implement the attached example form of the scope of patent application.
1‧‧‧馬達控制裝置 1‧‧‧Motor control device
2‧‧‧馬達 2‧‧‧Motor
3‧‧‧編碼器 3‧‧‧Encoder
4‧‧‧速度控制器 4‧‧‧Speed Controller
5‧‧‧力矩控制器 5‧‧‧torque controller
10‧‧‧外擾觀測器 10‧‧‧External Disturbance Observer
11‧‧‧補償資料記憶部 11‧‧‧Compensation data memory
12‧‧‧第1速度算出器 12‧‧‧The first speed calculator
13‧‧‧速度算出器 13‧‧‧Speed Calculator
14‧‧‧第1乘法運算器 14‧‧‧The first multiplier
15‧‧‧低通濾波器 15‧‧‧Low Pass Filter
16‧‧‧第2乘法運算器 16‧‧‧The second multiplier
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CN106911280B (en) * | 2017-03-13 | 2019-04-02 | 江苏大学 | Permanent-magnetism linear motor method for controlling position-less sensor based on novel disturbance observer |
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CN109375511B (en) * | 2018-11-19 | 2021-11-26 | 曲阜师范大学 | Anti-interference quantitative control model acquisition method and system, controller and control method |
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