WO1989002185A1 - Servo motor controller - Google Patents
Servo motor controller Download PDFInfo
- Publication number
- WO1989002185A1 WO1989002185A1 PCT/JP1988/000867 JP8800867W WO8902185A1 WO 1989002185 A1 WO1989002185 A1 WO 1989002185A1 JP 8800867 W JP8800867 W JP 8800867W WO 8902185 A1 WO8902185 A1 WO 8902185A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- servo motor
- acceleration
- speed control
- speed
- signal
- Prior art date
Links
Classifications
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/16—Controlling the angular speed of one shaft
Definitions
- the present invention relates to a servomotor control device having improved characteristics such as frequency response characteristics.
- FIG. 4 is an example of such a conventional speed control system, and shows a block diagram when disturbance is ignored.
- the integral term a is that having a integral gain b down
- b is proportional term that have a proportional gain Lee down K 2
- c is collected by Torque constant kappa tau current amplification section
- d is Mo
- This is a motor term that includes the rotor inertia J M of the motor and a constant-/ 3 indicating the load inertia. Note that s is a differential operator.
- the present invention has been made to solve the above-described problems, and therefore, a servo motor control device capable of improving the frequency response, reducing the influence of disturbance and load fluctuation, and performing stable speed control. It will be provided for the purpose of providing.
- a servomotor control device which has a speed control loop including a control reference model and performs model reference type speed control on a support motor. Means for differentiating the speed signal to be fed back to form an acceleration signal, and means for estimating the acceleration value of the servo motor using a current command output from the speed control loop And a means for calculating a difference between the acceleration signal and the estimated acceleration value, and a means for correcting the current command based on the deviation signal. it can .
- the servo motor control device of the present invention is capable of comparing the calculated acceleration with the estimated acceleration and correcting the current command according to the comparison result, and is thus stable. Speed control becomes possible.
- FIG. 1 is a block diagram showing an embodiment of the present invention having a model-based speed control loop
- FIG. 2 is a block diagram of a speed control system taking into account the influence of disturbance
- Fig. 3 is a block diagram illustrating parallel model reference control
- Fig. 4 is FIG. 5 is a block diagram showing an example of a conventional speed control loop.
- Figure 3 is a block diagram illustrating an example of a parallel model reference control system.
- the reference model 2 is arranged in parallel with the control target 1, and the adjustable gain 3 provided in front of the control target 1 is adapted during the operation of the control target 1.
- Adaptive controller 4 according to the output of arithmetic unit 5 so that output I 0 ⁇ of controlled object 1 follows output IOUT of reference model 2 so that output I 0 ⁇ ⁇ of controlled object 1 Control.
- IBEF is a command signal
- e is a deviation signal.
- Such a model reference adaptive control has the advantage that the response is fast and the adaptive control for the control system can be performed.
- FIG. 1 is a block diagram showing an embodiment of the present invention.
- the coefficient ⁇ of the reference model 2 of the speed control is determined by the cut-off frequency of the speed control loop and the cutoff frequency.
- the feature is that a correction gain K ⁇ is provided.
- an operation term 6 having a differential operator s is provided to differentiate the motor speed W (s) to form an acceleration feed knock system. Then, the acceleration is estimated by the reference model 2 based on the current command T (s), and the acceleration signal fed-knocked is compared with the computing unit 5 to calculate the acceleration of the current command T (s). The correction is made.
- a (s) K A ⁇ (a KT / JM) T (S) -SW (S) ⁇
- ⁇ o A constant corresponding to the load inertia ratio. Also, the constant indicating the load inertia is
- Figure 2 is a block diagram of the speed control system taking into account the influence of disturbance. Before examining the effects of disturbances, let us consider the effects on transfer functions due to changes in the inertia.
- Gi (s) ⁇ 5 H (s) / 5 ⁇ (s) ⁇ / ⁇ d Ho (s) / a ⁇ (s) ⁇
- the servomotor control device of the present invention provides a speed control system of a servomotor with a loop for differentiating the motor speed to form an acceleration signal, and using the current command as a model reference. Since the current command is corrected by comparing the estimated value with the acceleration signal, the frequency response is increased, the effect of disturbance and load fluctuation is reduced, and stable control is performed. You can do it.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Feedback Control In General (AREA)
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62/217344 | 1987-08-31 | ||
JP62217344A JPS6464577A (en) | 1987-08-31 | 1987-08-31 | Servomotor controller |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1989002185A1 true WO1989002185A1 (en) | 1989-03-09 |
Family
ID=16702706
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1988/000867 WO1989002185A1 (en) | 1987-08-31 | 1988-08-31 | Servo motor controller |
Country Status (4)
Country | Link |
---|---|
US (1) | US4950967A (ja) |
EP (1) | EP0329796A4 (ja) |
JP (1) | JPS6464577A (ja) |
WO (1) | WO1989002185A1 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03155383A (ja) * | 1989-11-08 | 1991-07-03 | Mitsubishi Electric Corp | モータ制御装置 |
US5049799A (en) * | 1990-05-25 | 1991-09-17 | Sundstrand Corporation | High performance controller for variable displacement hydraulic motors |
US5119005A (en) * | 1990-08-28 | 1992-06-02 | Sundstrand Corporation | Controller for non-linear position servo |
JPH04112690A (ja) * | 1990-09-03 | 1992-04-14 | Fanuc Ltd | サーボモータの制御方式 |
US5063335A (en) * | 1990-09-11 | 1991-11-05 | Allen-Bradley Company, Inc. | Two-input control with independent proportional and integral gains for velocity error and velocity feedforward including velocity command limiting |
US5410228A (en) * | 1991-02-05 | 1995-04-25 | Kabushiki Kaisha Yaskawa Denki | Method and apparatus for suppressing torsional vibration in an electric motor speed control system |
US5369345A (en) * | 1992-03-31 | 1994-11-29 | Seagate Technology, Inc. | Method and apparatus for adaptive control |
JPH07170777A (ja) * | 1993-12-14 | 1995-07-04 | Fuji Electric Co Ltd | 電動機の振動抑制制御装置 |
JPH086603A (ja) * | 1994-04-18 | 1996-01-12 | Canon Inc | サーボ系の調整方法及びそのサーボ制御装置 |
US6762580B1 (en) | 2001-08-16 | 2004-07-13 | Lexmark International, Inc. | Electric motor velocity controller |
TW591883B (en) * | 2003-01-24 | 2004-06-11 | Delta Electronics Inc | Method of instant estimation of rotor inertia of a load motor |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57199487A (en) * | 1981-06-03 | 1982-12-07 | Fuji Electric Co Ltd | Controller for speed of motor |
JPH0617510A (ja) * | 1992-07-01 | 1994-01-25 | Yamade:Kk | ユニット屋根材 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61116986A (ja) * | 1984-11-09 | 1986-06-04 | Fanuc Ltd | 速度制御装置 |
JPS61164481A (ja) * | 1985-01-12 | 1986-07-25 | Fanuc Ltd | 速度制御方式 |
JPS6294249A (ja) * | 1985-10-17 | 1987-04-30 | Fanuc Ltd | 速度制御方式 |
JPS62126883A (ja) * | 1985-11-27 | 1987-06-09 | Fanuc Ltd | 速度制御方式 |
-
1987
- 1987-08-31 JP JP62217344A patent/JPS6464577A/ja active Pending
-
1988
- 1988-08-31 WO PCT/JP1988/000867 patent/WO1989002185A1/ja not_active Application Discontinuation
- 1988-08-31 EP EP19880907815 patent/EP0329796A4/en not_active Ceased
- 1988-08-31 US US07/337,612 patent/US4950967A/en not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57199487A (en) * | 1981-06-03 | 1982-12-07 | Fuji Electric Co Ltd | Controller for speed of motor |
JPH0617510A (ja) * | 1992-07-01 | 1994-01-25 | Yamade:Kk | ユニット屋根材 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0329796A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP0329796A1 (en) | 1989-08-30 |
US4950967A (en) | 1990-08-21 |
EP0329796A4 (en) | 1991-03-13 |
JPS6464577A (en) | 1989-03-10 |
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