Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • 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
  • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
  • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B11/00—Automatic controllers
  • G05B11/01—Automatic controllers electric
  • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • 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
  • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
  • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B5/00—Anti-hunting arrangements
  • G05B5/01—Anti-hunting arrangements electric

Definitions

• the present invention relates to a method for automatically setting a servo control gain in a servo control device that drives a servo motor, and particularly to setting a maximum value of a servo control gain by vibrating a machine or the like by vibrating means and detecting the vibration. On how to do it.
• Patent Document 1 Japanese Patent Application Laid-Open No. 2-261083
• the present invention provides a maximum gain extraction method for a servo control device in which a machine is vibrated by increasing a control gain and large vibrations or noises are not generated by detecting vibrations early. The purpose is to do.
• a simulated disturbance torque is added to the torque command by the vibration means while increasing the control gain, and the vibration of the control system is detected by the vibration detection means.
• the process of applying the simulated disturbance torque is repeated while increasing the control gain until a predetermined level of vibration is detected, and the control gain at the time when the vibration detecting means detects the vibration exceeding the predetermined level is defined as a maximum gain. It is characterized by doing.
• the maximum gain can be obtained by reliably vibrating the machine with the simulated disturbance torque adapted to the machine, and the vibration can be suppressed by reducing the gain immediately after the vibration. It is not necessary to increase the gain more than necessary, and the danger caused by vibration can be prevented.
• FIG. 1 is a configuration diagram of the present invention and a conventional specific example.
• FIG. 2 is a control block diagram of a specific embodiment of the present invention.
• FIG. 3 is a timing chart of a speed command, a speed, a torque waveform and a vibration level during normal operation.
• FIG. 4 is a timing chart for generating a vibration by increasing the gain, and a timing chart for extracting a gain when the vibration is generated and extracting a maximum gain.
• FIG. 5 is a schematic flowchart for extracting a maximum gain according to the present invention.
• FIG. 6 (a) is a timing chart in the case of vibration during normal operation. (b) is a timing chart of increasing the gain in normal operation.
• FIG. 7 is a diagram showing an example in which the gain is increased quickly and large oscillation occurs when the gain is adjusted in normal operation.
• FIG. 8 is a configuration diagram of a conventional example.
• FIG. 1 is a configuration diagram of a specific embodiment of the present invention.
• 1 is a vibration detection circuit
• 2 is a microcomputer
• 3 is a current amplifier
• 4 is a base drive circuit
• 5 is a power transistor module
• 6 is a motor.
• the microcomputer 2 receives commands such as position and speed from an external controller or the like. Then, in the case of the speed command, the speed control is performed, the current command and the current control are output, and the power transistor 5 is driven through the base drive circuit 4 to control the motor 6.
• the vibration detection circuit 1 Vibration component force included in the speed signal of is determined to be vibration if it exceeds a level (detection level) that has been previously determined. This detection level is determined, for example, from the vibration amplitude during normal operation when the control system is stable as shown in FIG. 3, or from the vibration amplitude during operation peculiar to the machine such as torque ripple. In this figure, the maximum value of the torque vibration amplitude during normal operation is detected. As an example, three times the amplitude of this normal vibration is defined as the “vibration detection level”.
• a simulated disturbance torque is added to the torque command at a low gain, and a gas response reaching the vibration detection level is confirmed.
• the simulated disturbance torque is increased. Increase the simulated disturbance torque until the response exceeds the vibration detection level, or lower the vibration detection level.
• a simulated disturbance torque is added to the torque command ⁇ ref of FIG. 2 while gradually increasing the control gain, and vibration is confirmed. Specifically, vibration is confirmed from the speed and torque amplitude. Since the simulated disturbance torque for a short time is calculated with the motor stopped, the vibration damping elements that originally exist in the machine, such as static friction and Coulomb friction, also work to stop oscillation and detect vibration. By reducing the control gain at the time, it is possible to make the state without vibration.
• the torque may be reduced temporarily only by lowering the control gain, or both may be used together.
• the base of the power transistor may be temporarily cut off. Then, the control gain immediately before oscillation is stored, and based on this, the control gain finally oscillated is calculated, and the control gain is set as the maximum gain.
• a step-like simulated disturbance torque is applied as shown in the control block diagram of FIG. 2 to overcome a mechanical load such as friction and break the stable state.
• a mechanical load such as friction and break the stable state.
• the vibration can be stopped immediately after the vibration is detected by the vibration detection circuit.
• Vibration level detection during normal operation The specific procedure for detecting the maximum gain is as follows. First, in step 1, position loop and velocity loop! / Reduce the gain of the control system and detect the vibration amplitude during normal operation or operation during the normal operation as shown in Fig. 3. In this figure, the maximum value of the torque vibration amplitude during normal operation is detected.
• step 2 of Fig. 5 the gain of the control system such as the position loop and speed loop is set to a low gain, and the torque command ⁇ ref Reduce the simulated disturbance torque in steps and confirm that the response, such as position deviation or speed, is at or above a predetermined level as shown in step 3 in FIG.
• the applied simulated disturbance torque is a force that cannot exceed the mechanical load, and the simulated disturbance torque is increased to a predetermined level so that the response is increased.
• the level of this response is, for example, twice the maximum value of the vibration amplitude in normal operation detected in step 1 of Fig. 5.
• the response vibration detection level is reduced. In this way, the detection level of the simulated disturbance torque and its response is adjusted.
• Vibration detection After deciding the magnitude of the simulated disturbance torque, the control gain is increased stepwise at the timing shown in FIG. When the control gain is increased as in the processing of steps 416 in FIG. 5, a simulated disturbance torque is added to the torque command, and the vibration is detected by the vibration detection circuit 1.
• the vibration detection circuit 1 compares the amplitude of, for example, torque or speed with a vibration detection level, and detects a vibration when the amplitude is large.
• the vibration detection level is, for example, 1.5 times the previously adjusted response level.
• Vibration stop If vibration exceeding the vibration detection level is detected as shown in step 6 of Fig. 5 after applying the simulated disturbance torque, the simulated disturbance torque should be reduced at the timing shown in Fig. 4. Is stopped, and the control gain is reduced to a level that does not vibrate as shown in step 7 of Fig. 5 (for example, half of the control gain when vibration is detected, or a low control gain set first). . Alternatively, force to reduce the torque command in order to stop vibration reliably.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Health & Medical Sciences (AREA)
• Artificial Intelligence (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Evolutionary Computation (AREA)
• Medical Informatics (AREA)
• Software Systems (AREA)
• Control Of Electric Motors In General (AREA)
• Feedback Control In General (AREA)

Priority Applications (2)

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Publications (1)

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Family Applications (1)

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Cited By (2)

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Citations (2)

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• 2003
  • 2003-08-05 JP JP2003286708A patent/JP2005056172A/ja active Pending
• 2004
  • 2004-06-28 KR KR1020067002281A patent/KR20060063928A/ko not_active Ceased
  • 2004-06-28 WO PCT/JP2004/009102 patent/WO2005013018A1/ja not_active Ceased
  • 2004-06-28 DE DE112004001444T patent/DE112004001444T5/de not_active Withdrawn
  • 2004-06-28 US US10/567,085 patent/US7459873B2/en not_active Expired - Fee Related

Patent Citations (2)

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