TWI720662B - Servo amplifier and servo system - Google Patents

Abstract

Provided is a servo amplifier including: a torque control unit that controls the torque of the motor based on a torque command of the motor; and detection based on the speed of the motor and the torque command or the torque of the motor A load torque estimating unit that estimates the load torque received by the motor; and outputting monitoring information related to the load torque estimated by the load torque estimating unit to an output unit outside the servo amplifier.

Description

Servo amplifier and servo system

The present invention relates to a servo amplifier and a servo system.

In the past, a motor control device equipped with a load torque observer is well known. The load torque observer can estimate the load torque borne by the motor based on the torque command and the motor speed (for example, refer to Patent Document 1). [Prior Technical Literature] [Patent Literature] [Patent Document 1] (Japan) JP 2012-130214 A

[The problem to be solved by the invention] However, in the prior art, the estimated load torque is applied to motor control for the purpose of suppressing disturbance, and the information related to the estimated load torque cannot be monitored from the outside. Therefore, the purpose of the present disclosure is to provide a servo amplifier and a servo system that can monitor information related to the estimated load torque from the outside. [Means used to solve the problem] The present disclosure provides a servo amplifier, which includes: A torque control unit, which controls the torque of the motor according to the torque command of the motor; A load torque estimation unit that estimates the load torque borne by the motor based on the speed of the motor and the torque command or the torque detection value of the motor; and An output unit that outputs monitoring information related to the load torque estimated by the load torque estimation unit to the outside of the servo amplifier. According to the technology of the present disclosure, since the monitoring information related to the estimated load torque can be output to the outside of the servo amplifier, the information related to the estimated load torque can be monitored from the outside of the servo amplifier. In addition, the present disclosure also provides a servo system including a servo amplifier and an external device provided outside the servo amplifier, wherein: The servo amplifier includes a torque control unit that controls the torque of the motor based on the torque command of the motor, The external device has A load torque estimation unit that estimates the load torque borne by the motor based on the speed of the motor and the torque command or the torque detection value of the motor; and An output unit that outputs monitoring information related to the load torque estimated by the load torque estimation unit to the outside of the external device. According to the technology of the present disclosure, since the monitoring information related to the estimated load torque can be output to the outside of the external device, the information related to the estimated load torque can be monitored from the outside of the external device. [Effects of the invention] According to the technology of the present disclosure, it is possible to provide a servo amplifier and a servo system that can monitor information related to the estimated load torque from the outside.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. First, in order to compare with the embodiment of the present disclosure, the configuration of a servo system of a comparison method will be described. Fig. 1 is a diagram showing an example of the configuration of a servo system in a comparison mode. The servo system 100 shown in FIG. 1 is a motor system which controls the motor 9 for moving the movable part which is not shown in figure. The servo system 100 includes a speed control unit 1, an adder 2, a torque control unit 3, a speed detection unit 4, a load torque estimation unit 5, a control filter 8, a motor 9, and a position detector 10. The torque control unit 3 controls the torque of the motor 9 based on the torque command Tr. The position detector 10 detects the position (rotation position θ) of the motor 9. The position detector is also called PG. The speed detection unit 4 detects the speed (angular speed ω) of the motor 9 based on the temporal change of the rotational position θ detected by the position detector 10. The speed control unit 1 generates a feedback torque command Tb for causing the angular velocity ω detected by the speed detection unit 4 to follow a speed command ωr supplied from an upper-stage control block (not shown). In addition, the servo system 100 includes a load torque estimation unit 5 for estimating the load torque TL received by the motor 9. The load torque estimation unit 5 can estimate the load torque TL based on the torque command Tr and the angular velocity ω detected by the speed detection unit 4. When the generated torque of the motor 9 is set to T, the moment of inertia (inertia value) of the motor 9 is set to J, and the angular acceleration of the motor 9 is set to dω/dt, the load torque TL includes the motor 9 and the movable In the case of the friction torque of the part, the following relational expression holds. TL=T-J×dω/dt ･･･Equation 1 Therefore, the load torque estimation unit 5 can estimate the load torque TL by subtracting the torque (J×dω/dt) calculated by the torque calculation unit 6 from the torque command Tr by the subtractor 7. The control filter 8 performs filter processing on the load torque TL (estimated load torque TLe) estimated by the load torque estimation unit 5 to generate a compensated load torque TLc. The adder 2 can generate the torque command Tr by adding the feedback torque command Tb generated by the speed control unit 1 to the compensation load torque TLc generated by the control filter 8. However, in the servo system 100 shown in FIG. 1, the load torque TL estimated by the load torque estimation unit 5 is applied to motor control for the purpose of suppressing interference, and cannot be correlated with the estimated load torque TLe from the outside. Information to monitor. Therefore, the servo amplifier and the servo system of the embodiment of the present disclosure have a configuration capable of monitoring information related to the estimated load torque from the outside. Next, the configuration of the servo amplifier and the servo system of the embodiment of the present disclosure will be described. Fig. 2 is a diagram showing an example of the configuration of a servo amplifier according to the first embodiment. The servo amplifier 111 shown in FIG. 2 is a motor driving device that drives a motor 19 for moving a movable part not shown. For example, by driving the motor 19, the position of the movable part can be controlled at a desired position. . Regarding the servo amplifier 111, for example, as its main components, a speed control unit 11, an adder 12, a torque control unit 13, a speed detection unit 14, a load torque estimation unit 15, a control filter 18, and an output unit 23 can be provided. . The torque control unit 13 controls the torque of the motor 19 based on the torque command Tr. The position detector 20 detects the position (rotation position θ) of the motor 19. The speed detection unit 14 detects the speed (angular velocity ω) of the motor 19 based on the temporal change of the position detected by the position detector 20. The speed control unit 11 generates a feedback torque command Tb for causing the angular velocity ω detected by the speed detection unit 14 to follow a speed command ωr supplied from a control block of the previous stage (not shown). For example, the speed control unit 11 performs PI control (proportional control and integral control) by adopting a method such that the deviation between the angular velocity ω detected by the speed detecting unit 14 and the speed command ωr supplied from a control block of the previous stage (not shown) is zero. Control), can generate feedback torque command Tb. The load torque estimation unit 15 performs a calculation of the load torque TL (load torque TL applied to the motor 9) applied to the motor 9 based on the torque command Tr or the torque detection value Tde, and the angular velocity ω detected by the speed detection unit 14. estimate. The load torque estimation unit 5 is, for example, a load torque observer that estimates the load torque TL. The torque detection value Tde used in the estimation of the load torque TL indicates the torque value of the motor 19 detected by the torque detection unit 21. In other words, the torque command Tr may be used for the estimation of the load torque TL, and the torque detection value Tde may also be used. For example, in a case where the torque detection unit 21 is not included in the servo amplifier 111, the torque command Tr can be used to estimate the load torque TL. Hereinafter, the load torque TL estimated by the load torque estimation unit 15 is also referred to as "estimated load torque TLe". The load torque estimation unit 15 has, for example, the same configuration as the load torque estimation unit 5 shown in FIG. 1. In this case, the load torque estimation unit 15 is the same as described above, by subtracting the torque (J×dω/dt) calculated by the torque calculation unit 6 from the torque command Tr or the torque detection value Tde by the subtractor 7 , The load torque TL can be estimated. It should be noted that the load torque estimation unit 15 is not limited to this configuration, and may have any known configuration. The control filter 18 can generate a compensated load torque TLc by performing filter processing on the estimated load torque TLe. The adder 12 can generate a torque command Tr by adding the feedback torque command Tb generated by the speed control unit 11 to the compensation load torque TLc generated by the control filter 18. The servo amplifier 111 includes an output unit 23 that outputs monitoring information related to the estimated load torque TLe to the outside of the servo amplifier 111. According to this, monitoring information related to the estimated load torque TLe can be output to the outside of the servo amplifier 111. Therefore, not only can the estimated load torque TLe be reflected in the calculation of the torque command Tr for the purpose of suppressing interference for the servo control of the motor 19, but also the estimated load torque TLe can be compared with the estimated load torque TLe from the outside of the servo amplifier 111. Related information is monitored. For example, if an abnormality occurs in the movable part of the motor 19 that controls the position or the like or the motor 19 itself (for example, deterioration over the years, contact with foreign objects, etc.), the estimated load torque TLe also changes. Therefore, by monitoring the monitoring information related to the estimated load torque TLe output from the output unit 23 outside the servo amplifier 111, it is possible to detect an abnormality occurring in the movable part or the motor 19 outside the servo amplifier 111. As the monitoring information related to the estimated load torque TLe, for example, the value of the estimated load torque TLe, the result of abnormality determination based on the estimated load torque TLe in the servo amplifier 111, and the like can be cited. The output unit 23 may output the monitoring information related to the estimated load torque TLe to the outside by means of analog output, and may also output it to the outside by means of wired communication or wireless communication. For example, the output unit 23 may convert the value of the estimated load torque TLe into an analog voltage value and output it to the outside. According to this, the external device of the servo amplifier 111 can detect the value of the estimated load torque TLe based on the analog voltage value output from the output unit 23. In addition, when the output unit 23 uses a predetermined carrier wave to output the value of the estimated load torque TLe by means of communication, similarly, the external device of the servo amplifier 111 receives the carrier wave output from the output unit 23. The value of the estimated load torque TLe can be detected. In the same way, the output unit 23 can convert the information indicating the result (normal or abnormal) of the abnormality determination based on the estimated load torque TLe inside the servo amplifier 111 into an analog voltage value and output it to the outside. A predetermined carrier wave is used to output it to the outside by means of communication. According to this, the external device of the servo amplifier 111 detects the analog voltage or the carrier wave output from the output unit 23 to obtain the result of the abnormality determination of the servo amplifier 111. In addition, when the load torque TL is estimated, the moment of inertia (inertia value J) of the motor 19 can be used as described above. When the inertia value used in the estimation of the load torque TL also serves as the inertia value used in the determination of the servo control parameter (for example, the control gain A of the proportional control performed by the speed control unit 11), the load torque The inertia value used in the estimation of TL is not limited to the correct setting. The reason is that the inertia value suitable for improving the controllability of the servo control is not necessarily also suitable for improving the estimation accuracy of the load torque TL. In addition, with regard to the moment of inertia ratio used in the determination of the servo control parameters, even if there is some error, as long as there is no obstacle to the servo control, it is possible to set it to 1, 5, 10 times, etc. Approximate value and fine-tuning the gain by auto tuning. In such a case, it is difficult to estimate the load torque TL with high accuracy. In this regard, the servo amplifier 111 shown in FIG. 2 includes a first inertia value setting unit 24 for setting the first inertia value Jc for controlling the motor 19, and a second inertia value Je for setting the second inertia value Je The estimated second inertia value setting unit 26 of the load torque TL. That is, a function is provided that can independently set the inertia values for the estimation of the load torque TL and the control of the motor 19. By providing such a function that can independently set the inertia value, in order to estimate the load torque TL, a more appropriate inertia value can be set, thereby improving the estimation accuracy of the load torque TL. In addition, since appropriate inertia values for the estimation of the load torque TL and the control of the motor 19 can be set separately, the control accuracy of the servo control and the estimation accuracy of the load torque TL can be improved at the same time. For example, the first inertia value setting unit 24 can automatically tune the control gain A based on the input first inertia value Jc, and set the auto-tuned control gain A to the control gain of the proportional control performed by the speed control unit 11. . On the other hand, the second inertia value setting unit 26 can set the input second inertia value Je to the inertia value J used in the load torque estimating unit 15 to estimate the load torque TL (for example, for calculating The above-mentioned (J×dω/dt) inertia value J). It should be noted that the first inertia value Jc or the second inertia value Je may be an estimated value obtained by the inertia value estimation calculation function of the servo amplifier 111, or may be based on the user or from the servo amplifier The value determined by the information input by the external device of 111. In addition, the servo amplifier 111 shown in FIG. 2 includes a first filter value setting unit 25 that sets the first filter value Kc for use in controlling the motor 19, and a second filter value Ko for setting the second filter value Ko. The second filter value setting unit 27 outputs monitoring information related to the estimated load torque TLe. In other words, a function is provided that can independently set the output for monitoring information and the filter value for control of the motor 19. By providing such a function that can independently set the filter value, not only the filter value suitable for the servo control of the motor 19 can be set, but also the monitoring information of the external device suitable for the servo amplifier 111 can be set. Set the monitored filter value. The servo amplifier 111 includes, for example, a control filter 18 for controlling the motor 19 and an output filter 22 for outputting monitoring information. The first filter value setting unit 25 sets the input first filter value Kc to the control filter 18, and the second filter value setting unit 27 sets the input second filter value Ko to the output filter 22. For example, the first filter value Kc is the response time constant of the control filter 18, and the second filter value Ko is the response time constant of the output filter 22, but it is not limited to this, and it may be set to be suitable for The value of the filter processing performed by each filter. The control filter 18 performs filter processing using the first filter value Kc on the estimated load torque TLe, thereby generating a compensated load torque TLc. The output filter 22 performs filter processing using the second filter value Ko on the estimated load torque TLe, thereby generating an estimated load torque TLe suitable for external monitoring. It should be noted that the output filter 22 may be a low-pass filter, a band-pass filter, or a high-pass filter. Filter characteristics suitable for external monitoring can be set. Fig. 3 is a diagram showing an example of the configuration of a servo system according to a second embodiment. The servo system 120 shown in FIG. 3 is a motor drive control system that drives and controls a motor 19 for moving a movable part not shown. For example, by driving and controlling the motor 19, the position of the movable part can be adjusted Control in the expected position. It should be noted that, regarding the description of the same configuration and effects as the above-mentioned embodiment, the above-mentioned description is cited here, and the above-mentioned description is omitted or abbreviated. The servo system 120 includes a servo amplifier 121 and an external device 122. The external device 122 is a device installed outside the servo amplifier 121, and has a monitoring function for monitoring the load torque TL. The external device 122 may be connected to the servo amplifier 121 by means of analog voltage, or wired communication or wireless communication. In the second embodiment, the load torque estimation unit 15, the output filter 22, the output unit 23, the second inertia value setting unit 26, and the second filter value setting unit 27 are not included in the servo amplifier 121, but are included in The external device 122 is different from the first embodiment in this point. According to the second embodiment, since the monitoring information related to the estimated load torque TLe can be output to the outside of the external device 122, the information related to the estimated load torque TLe can be monitored from the outside of the external device 122. Therefore, by monitoring the monitoring information related to the estimated load torque TLe output from the output unit 23 outside the external device 122, it is possible to detect the abnormality of the movable part or the motor 19 outside the external device 122. The load torque estimation unit 15 can estimate the load torque TL by acquiring information including the angular velocity ω and the torque command Tr or the torque detection value Tde from the servo amplifier 121. The control filter 18 obtains the load torque TL (estimated load torque TLe) estimated by the load torque estimating unit 15 from the external device 122 to generate a compensated load torque TLc. Fig. 4 is a diagram showing an example of the configuration of a servo amplifier according to a third embodiment. The servo amplifier 131 shown in FIG. 4 is a motor driving device that drives a motor 19 for moving a movable part not shown. For example, by driving the motor 19, the position of the movable part can be controlled to a desired position. . It should be noted that, regarding the description of the same configuration and effects as the above-mentioned embodiment, the above-mentioned description is cited here, and the above-mentioned description is omitted or abbreviated. In the first embodiment, the load torque TL includes the friction torque, and thus the load torque TL is estimated. In the third embodiment, the load torque TL is estimated so that the load torque TL does not include the friction torque of the motor 9 and the movable part. When the disturbance torque received by the motor 19 is set to Td and the friction torque included in the disturbance torque Td is set to Tf, when the load torque TL does not include the friction torque Tf of the motor 9 and the movable part Next, the following relationship holds. TL=Td-Tf=T-J×dω/dt-Tf ･･･Equation 2 By removing the friction torque Tf from the load torque TL that is the estimation target, the estimation accuracy of the load torque TL can be improved. It should be noted that the friction torque Tf can be represented by a function of Coulomb friction and dynamic friction, for example. When the load torque TL is estimated using Equation 2, the load torque estimation unit 15 has, for example, a disturbance torque estimation unit 28, a friction torque estimation unit 29, and a subtractor 30. The disturbance torque estimation unit 28 can receive the disturbance torque Td (the disturbance torque Td applied to the motor 19) to the motor 19 based on the torque command Tr or the torque detection value Tde and the angular velocity ω detected by the speed detection unit 14 Make an estimate. The disturbance torque estimation unit 28 is, for example, a disturbance torque observer that can estimate the disturbance torque Td. Hereinafter, the disturbance torque Td estimated by the disturbance torque estimation unit 28 is also referred to as “estimated disturbance torque Tdie”. The disturbance torque estimation unit 28 has, for example, the same configuration as the load torque estimation unit 5 shown in FIG. 1. In this case, the disturbance torque estimation unit 28 uses the subtractor 7 to subtract the torque calculated by the torque calculation unit 6 (J×dω/dt) from the torque command Tr or the torque detection value Tde in the same manner as described above. , The disturbance torque Td can be estimated. It should be noted that the disturbance torque estimation unit 28 is not limited to this configuration, and may have any known configuration. The friction torque estimation unit 29 can estimate the friction torque Tf included in the disturbance torque Td based on the angular velocity ω detected by the speed detection unit 14. Fig. 5 is an illustration of the relationship between the angular velocity ω and the friction torque Tf. As shown in FIG. 5, the friction torque Tf has a characteristic of starting from Coulomb friction and increasing as the angular velocity ω increases according to the slope based on the viscous friction. The friction torque estimation unit 29 can estimate the friction torque Tf based on the characteristics shown in FIG. 5. As shown in Equation 2, the load torque TL can be estimated by subtracting the friction torque Tf from the disturbance torque Td. Therefore, the load torque estimation unit 15 subtracts the friction torque Tf estimated by the friction torque estimation unit 29 from the disturbance torque Td (estimated disturbance torque Tdie) estimated by the disturbance torque estimation unit 28 by the subtractor 30. , The load torque TL can be estimated. That is, through compensation of the friction torque Tf, a high-precision estimated load torque TLe can be obtained. Fig. 6 is a diagram showing an example of the configuration of a servo system according to a fourth embodiment. The servo system 140 shown in FIG. 6 is a motor drive control system that drives and controls a motor 19 for moving a movable part not shown. For example, by driving and controlling the motor 19, the position of the movable part can be adjusted Control in the expected position. It should be noted that, regarding the description of the same configuration and effects as the above-mentioned embodiment, the above-mentioned description is cited here, and the above-mentioned description is omitted or abbreviated. The servo system 140 includes a servo amplifier 141 and an external device 142. The external device 142 is a device provided outside the servo amplifier 141, and has a monitoring function for monitoring the load torque TL. The external device 142 may be connected to the servo amplifier 141 by means of analog voltage, wired communication or wireless communication. In the fourth embodiment, the load torque estimation unit 15, the output filter 22, the output unit 23, the second inertia value setting unit 26, and the second filter value setting unit 27 are not included in the servo amplifier 141, but are included in The external device 142 is different from the third embodiment in this point. According to the fourth embodiment, since the monitoring information related to the estimated load torque TLe can be output to the outside of the external device 142, the information related to the estimated load torque TLe can be monitored outside the external device 142. Fig. 7 is a diagram showing an example of the configuration of a servo amplifier according to a fifth embodiment. The servo amplifier 151 shown in FIG. 7 is a motor driving device that drives a motor 19 for moving a movable part not shown. For example, by driving the motor 19, the position of the movable part can be controlled to a desired position. . It should be noted that, regarding the description of the same configuration and effects as the above-mentioned embodiment, the above-mentioned description is cited here, and the above-mentioned description is omitted or abbreviated. The servo amplifier 151 includes an abnormality determination unit 31 that determines abnormality of the estimated load torque TLe. The output unit 23 can output monitoring information related to the estimated load torque TLe including the determination result determined by the abnormality determination unit 31 to the outside. Accordingly, the user or the external device can recognize the abnormality determination result based on the estimated load torque TLe. For example, the abnormality determination unit 31 may determine whether the estimated load torque TLe exceeds a predetermined abnormality determination threshold (level), and when the estimated load torque TLe exceeds a predetermined abnormality determination threshold (level), determine that it is a movable part. Or the motor 19 is abnormal (for example, deterioration over the years, contact with foreign objects, etc.). In addition, the abnormality determination unit 31 may also determine that the movable part or the motor 19 has occurred when the estimated load torque TLe exceeds a predetermined abnormality determination threshold (level) for a duration that exceeds a predetermined abnormality determination threshold (time), for example. Abnormality (for example, deterioration over the years, contact with foreign objects, etc.). It should be noted that the load torque estimation unit 15 may estimate the load torque TL using the above-mentioned formula 1 as in the first embodiment, or may estimate the load torque TL using the above-mentioned formula 2 as in the third embodiment. Fig. 8 is a diagram showing an example of the configuration of a servo system according to a sixth embodiment. The servo system 160 shown in FIG. 8 is a motor drive control system that drives and controls a motor 19 for moving a movable part not shown. For example, by driving and controlling the motor 19, the position of the movable part can be adjusted. Control in the expected position. It should be noted that, regarding the description of the same configuration and effects as the above-mentioned embodiment, the above-mentioned description is cited here, and the above-mentioned description is omitted or abbreviated. The servo system 160 includes a servo amplifier 161 and an external device 162. The external device 162 is a device provided outside the servo amplifier 161 and has a monitoring function for monitoring the load torque TL. The external device 162 may be connected to the servo amplifier 161 by means of analog voltage, or wired communication or wireless communication. The sixth embodiment is different from the fifth embodiment in that the external device 162 includes an abnormality determination unit 31. The output unit 23 is for outputting monitoring information related to the estimated load torque TLe including the determination result determined by the abnormality determination unit 31 to the outside. Accordingly, the user or an external device different from the external device 162 can recognize the abnormality determination result based on the estimated load torque TLe. FIG. 9 is an illustration of each waveform when the friction torque Tf is included in the estimated load torque TLe. That is, the case where the load torque estimation unit 15 estimates the load torque TL using the above-mentioned formula 1 is shown. The torque command Tr or the torque detection value Tde includes the friction torque Tf based on Coulomb friction and/or dynamic friction, the acceleration and deceleration torque of the motor 9, and the like. In the case where the load torque estimation unit 15 estimates the load torque TL using the above formula 1, the waveform of the estimated load torque TLe becomes the shape shown in FIG. 9. Therefore, according to FIG. 9, when it is desired to externally monitor changes in friction caused by deterioration of the movable part or the motor 19, etc., the load torque estimating unit 15 preferably estimates the load torque TL using the above formula 1. FIG. 10 is an illustration of each waveform when the friction torque Tf is not included in the estimated load torque TLe. That is, the case where the load torque estimation unit 15 estimates the load torque TL using the above-mentioned formula 2 is shown. In this case, as for the waveform of the estimated load torque TLe, as shown in FIG. 10, the load torque TL temporarily borne by the motor 19 is removed by removing the friction torque Tf and acceleration/deceleration torque. shape. Therefore, it can be seen from FIG. 10 that when it is desired to externally monitor foreign body contact such as foreign body biting into the movable part or the motor 19, the load torque estimating unit 15 preferably estimates the load torque TL using the above formula 2. . As described above, according to the above-described embodiment, since the monitoring information related to the estimated load torque TL can be output to the outside, the information related to the estimated load torque can be externally monitored. It should be noted here that, in the above-mentioned embodiment, the functions of each component such as the estimated torque estimation unit included in the servo amplifier or the external device can also be used to make the CPU readable by a program stored in the memory. (Central Processing Unit) work to achieve. Based on the above, it is possible to provide a servo amplifier including: a torque control unit that controls the torque of the motor based on the torque command of the motor; and based on the speed of the motor and the torque command or the motor A load torque estimating unit that estimates the load torque borne by the motor; and a load torque estimating unit that outputs monitoring information related to the load torque estimated by the load torque estimating unit to the servo amplifier External output section. The servo amplifier further includes: a first inertia value setting unit for setting a first inertia value for controlling the motor; and a second inertia value for setting a second inertia value for estimating the load torque The second inertia value setting part. The servo amplifier further includes a filter value setting unit for setting the output of the monitoring information. The servo amplifier further includes a filter value setting unit for setting a filter value for controlling the motor. The load torque estimating unit has: an interference torque estimating unit that estimates the interference torque received by the motor based on the speed of the motor and the torque command or the torque detection value of the motor; A friction torque estimating section that estimates the friction torque contained in the disturbance torque by the speed of the motor; and subtracting the friction torque from the disturbance torque estimated by the disturbance torque estimating section The friction torque estimated by the torque estimating part is thus a subtractor that calculates the load torque. The servo amplifier further includes an abnormality determination unit that determines an abnormality of the load torque estimated by the load torque estimation unit. Wherein, the monitoring information includes a determination result determined by the abnormality determination unit. The output unit uses analog output or communication to output the monitoring information to the outside. In addition, it is also possible to provide a servo system including: a servo amplifier; and an external device provided outside the servo amplifier. Wherein, the servo amplifier includes a torque control unit that controls the torque of the motor based on a torque command of the motor. The external device includes: a load torque estimating unit that estimates the load torque borne by the motor based on the speed of the motor and the torque command or the torque detection value of the motor; and The load torque-related monitoring information estimated by the load torque estimation unit is output to an external output unit of the external device. Although the servo amplifier and the servo system have been described above with the embodiment, the present invention is not limited to the above embodiment. Various modifications and improvements can also be made to it without going beyond the technical scope of the present invention.

15: Load torque estimation section 18: Control filter 22: output filter 23: output section 24: The first inertia value setting part 25: The first filter value setting section 26: The second inertia value setting part 27: Second filter value setting section 28: Disturbance torque estimation section 29: Friction torque estimation section 100, 120, 140, 160: Servo system 111, 121, 131, 141, 151, 161: Servo amplifier 122, 142, 162: external device

[Fig. 1] A diagram showing an example of the configuration of a servo system in a comparison mode. [Fig. 2] A diagram showing an example of the configuration of a servo amplifier according to the first embodiment. [Fig. 3] A diagram showing an example of the configuration of a servo system according to the second embodiment. [Fig. 4] A diagram showing an example of the configuration of a servo amplifier according to the third embodiment [Fig. 5] Illustrative diagram of the relationship between motor speed and friction torque. [Fig. 6] A diagram showing an example of the configuration of a servo system according to the fourth embodiment. [Fig. 7] A diagram showing an example of the configuration of a servo amplifier according to a fifth embodiment. [Fig. 8] A diagram showing an example of the configuration of a servo system according to a sixth embodiment. [FIG. 9] Illustrative diagrams of respective waveforms when friction torque is included in the estimated load torque. [Fig. 10] Illustrative diagrams of respective waveforms in the case where friction torque is not included in the estimated load torque.

11: Speed control department

12: adder

13: Torque control department

14: Speed detection department

15: Load torque estimation section

18: Control filter

19: Motor

20: position detector

21: Torque detection department

22: output filter

23: output section

24: The first inertia value setting part

25: The first filter value setting section

26: The second inertia value setting part

27: Second filter value setting section

111: Servo amplifier

A: Control gain

Jc: 1st inertia value

Je: 2nd inertia value

Kc: the first filter value

Ko: 2nd filter value

Tb: feedback torque command

TLc: Compensate load torque

TLe: Estimated load torque

Tr: Torque command

TL: Load torque

Tde: Torque detection value

ωr: Speed command

ω: angular velocity

θ: Rotation position

Claims (11)

A servo amplifier includes: a torque control unit that controls the torque of the motor according to a torque command of the motor; a load torque estimation unit that estimates the load torque borne by the motor; and an output unit The monitoring information related to the load torque estimated by the load torque estimation unit is output to the outside of the servo amplifier; a first inertia value setting unit that sets a first inertia value for controlling the motor; and second The inertia value setting unit sets the second inertia value for use in the estimation of the load torque. The servo amplifier described in the first item of the scope of patent application further includes a second filter value setting unit that sets a filter value for the output of the monitoring information. A servo amplifier includes: a torque control unit that controls the torque of the motor according to a torque command of the motor; a load torque estimation unit that estimates the load torque borne by the motor; and an output unit The load estimated by the load torque estimation unit The monitoring information related to the torque is output to the outside of the servo amplifier; and the second filter value setting part sets the filter value for the output of the monitoring information. The servo amplifier described in claim 2 or 3 further includes a first filter value setting unit that sets a filter value for use in controlling the motor. The servo amplifier according to any one of items 1 to 3 in the scope of patent application, wherein the load torque estimating section has a disturbance torque estimating section, and the load torque estimating section is based on the speed of the motor and the torque command The torque detection value of the motor estimates the disturbance torque borne by the motor; the friction torque estimation unit estimates the friction torque included in the disturbance torque according to the speed of the motor; and A subtractor that subtracts the friction torque estimated by the friction torque estimation unit from the disturbance torque estimated by the disturbance torque estimation unit, thereby calculating the load torque. A servo amplifier includes: a torque control unit that controls the torque of the motor according to the torque command of the motor; A load torque estimation unit that estimates the load torque borne by the motor; and an output unit that outputs monitoring information related to the load torque estimated by the load torque estimation unit to the outside of the servo amplifier, wherein The load torque estimation unit has an interference torque estimation unit, and estimates the interference torque borne by the motor based on the speed of the motor and the torque command or the torque detection value of the motor; A friction torque estimation unit that estimates the friction torque included in the disturbance torque based on the speed of the motor; and a subtractor that subtracts the disturbance torque estimated by the disturbance torque estimation unit The friction torque estimated by the friction torque estimation section is removed, thereby calculating the load torque. The servo amplifier according to any one of items 1 to 3 of the scope of patent application further includes: an abnormality determining unit that determines an abnormality of the load torque estimated by the load torque estimating unit, wherein: The monitoring information includes a determination result determined by the abnormality determination unit. The servo amplifier described in any one of items 1 to 3 of the scope of patent application, wherein: The output unit outputs the monitoring information to the outside by means of analog output or communication. A servo system includes: a servo amplifier; and an external device provided outside the servo amplifier, wherein the servo amplifier includes a torque control unit that controls the torque of the motor according to a torque command of the motor; And a first inertia value setting unit for setting the first inertia value for control of the motor, the external device is provided with a load torque estimation unit for estimating the load torque borne by the motor; an output unit, The monitoring information related to the load torque estimated by the load torque estimation unit is output to the outside of the external device; and a second inertia value setting unit that sets a second inertia value for performing the load rotation Moment estimation. A servo system includes: a servo amplifier; and an external device provided outside the servo amplifier, wherein, The servo amplifier includes a torque control unit to control the torque of the motor according to a torque command of the motor, and the external device includes a load torque estimation unit to estimate the load torque borne by the motor; and output; Section for outputting monitoring information related to the load torque estimated by the load torque estimating section to the outside of the external device; and a second filter value setting section for setting the filter value for performing the Describe the output of monitoring information. A servo system includes: a servo amplifier; and an external device provided outside the servo amplifier, wherein the servo amplifier includes a torque control unit that controls the torque of the motor based on a torque command of the motor, The external device includes a load torque estimation unit that estimates the load torque borne by the motor; and an output unit that outputs monitoring information related to the load torque estimated by the load torque estimation unit to Outside of the external device, the load torque estimating unit has The disturbance torque estimation unit estimates the disturbance torque that the motor bears based on the speed of the motor and the torque command or the torque detection value of the motor; the friction torque estimation unit estimates the disturbance torque borne by the motor according to the The speed of the motor, which estimates the friction torque contained in the disturbance torque; and a subtractor, which subtracts the friction torque estimated by the disturbance torque estimation part from the disturbance torque estimated by the disturbance torque estimation part The estimated friction torque, from which the load torque is calculated.

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