WO2011145475A1 - モータ制御装置 - Google Patents
モータ制御装置 Download PDFInfo
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- WO2011145475A1 WO2011145475A1 PCT/JP2011/060738 JP2011060738W WO2011145475A1 WO 2011145475 A1 WO2011145475 A1 WO 2011145475A1 JP 2011060738 W JP2011060738 W JP 2011060738W WO 2011145475 A1 WO2011145475 A1 WO 2011145475A1
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- 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
- G05B13/041—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 variable is automatically adjusted to optimise the performance
Definitions
- the present invention relates to a motor control device that controls driving of a motor for pressing a mechanical load against an object.
- an electric mechanism such as mechanical drive unit
- a motor to apply pressure to the object to be pressed.
- an actual pressure value which is pressure information when a mechanical load is pressed against a molding material or a workpiece that is a pressurization target
- Pressure control is performed based on the pressure value and the pressure command value.
- a speed command value is calculated by multiplying a deviation (difference) between a pressure command value and an actual pressure value by a proportional gain, and a motor speed calculation based on the speed command value is performed.
- a deviation difference
- the followability of the actual pressure value to the pressure command value can be improved by setting the gain characteristic of the pressure control calculation to be relatively large.
- the proportional gain is set excessively, the stability of the control system is impaired, the control system becomes unstable, or an oscillation phenomenon occurs in which high-frequency vibration is placed on the pressure applied to the pressurized object. .
- the control system becomes unstable, but the oscillation phenomenon causes an adverse effect on the quality of the molded product or processed product due to vibration.
- the gain characteristic is set to be relatively small, an oscillation phenomenon does not occur, but the follow-up performance of the actual pressure value with respect to the pressure command value decreases.
- an error occurs between the pressure command value, which is the desired pressure, and the actual pressure value, which is the pressure that is actually applied, and this adversely affects the molding accuracy and processing accuracy of the molded product and processed product.
- the die cushion control device creates a correction value obtained by multiplying the differential value of the pressure command value by a coefficient, and uses this as the speed command value. By adding, the follow-up characteristic of the actual pressure value with respect to the pressure command value is improved.
- the present invention has been made to solve the above-described problems, and even when a target object exhibits nonlinear characteristics with respect to a mechanical physical quantity applied from a mechanical load, the dynamics applied to the target object.
- An object of the present invention is to obtain a motor control device capable of improving the followability of a physical quantity to a physical quantity command value.
- the motor control device includes a motor and is connected to a mechanical load for applying a mechanical physical quantity that is one of force and pressure to an object, and the mechanical load is displaced by the power of the motor.
- the mechanical physical amount is applied to the target object by being pressed against the target object, and the value of the mechanical physical quantity acting on the target object from the mechanical load is used as a physical quantity acquisition value.
- the motor control device main body performs a predetermined simulated physical quantity control calculation based on the difference between the physical quantity command value and the simulated physical quantity calculated value described later, thereby adjusting the motor speed.
- the simulated physical quantity control unit for calculating the simulated speed calculation value and the calculation using the transfer characteristic including a single integral characteristic for the simulated speed calculated value, thereby calculating the motor position and the mechanical load position.
- a simulated position calculation unit for calculating a simulated position calculation value for any one of the above, information on the mechanical physical quantity acting on the object from the mechanical load, and information on one of the motor position and the position of the mechanical load Are stored in advance as simulation calculation information in association with each other, and a calculation using the simulation calculation information is performed on the simulation position calculation value to calculate a simulated physical quantity that is a value simulating the mechanical physical quantity
- the actual speed command value for the motor speed is calculated by performing pressure control calculation based on the simulated physical quantity calculation unit that calculates the value, and the acquired physical quantity value and the simulated physical quantity calculated value.
- a physical quantity control unit for the motor control apparatus main body controls the motor speed on the basis of the sum of the actual speed command value and the simulated speed command value.
- the motor control device main body includes the simulated physical quantity control unit, the simulated position calculation unit, the simulated physical quantity calculation unit, and the physical quantity control unit, and the simulated speed calculation value and the actual speed command value are Since the motor speed is controlled based on the sum of the following, even if the object exhibits nonlinear characteristics with respect to the mechanical physical quantity applied from the mechanical load, the mechanical physical quantity applied to the object follows the physical quantity command value. Can be improved.
- FIG. 1 is a block diagram showing a motor control apparatus according to Embodiment 1 of the present invention.
- the processing apparatus 1 includes an electric mechanism 4 including a rotary motor (pressing motor) 2 and an encoder 3, a mechanical load 5 as a mechanical load, and a pressure detector 6.
- the encoder 3 is a speed detecting means for generating an actual motor speed signal 3a corresponding to the rotational speed of the motor 2.
- the electric mechanism 4 is a feed screw mechanism that converts rotational motion into translation motion, and includes a screw 4a and a ball screw nut 4b.
- the screw 4 a is rotated in the circumferential direction by the motor 2.
- the ball screw nut 4b is displaced in the axial direction of the screw 4a as the screw 4a rotates.
- the mechanical load 5 is attached to the ball screw nut 4b.
- the front end portion of the mechanical load 5 is opposed to the pressurized object (object) 7. Further, the mechanical load 5 is displaced in the axial direction of the screw 4a together with the ball screw nut 4b.
- the pressurized object 7 is pressurized by the mechanical load 5.
- the pressure detector 6 is, for example, a load cell or various force sensors.
- the pressure detector 6 is attached to the mechanical load 5. Further, the pressure detector 6 outputs an actual pressure signal 6 a corresponding to the actual pressure value when the mechanical load 5 is pressurized to the pressurization target 7.
- the driving of the motor 2 of the processing device 1 is controlled by the motor control device body 10.
- the motor control device main body 10 includes a pressure command signal generation unit 11, a simulated pressure control unit 12, a simulated position calculation unit 13, a simulated pressure signal generation unit 14, a pressure control unit 15, a speed control unit 16, and a current control unit 17. ing.
- the pressure command signal generation unit 11 generates a pressure command value (physical quantity command value) signal for setting the actual pressure value (physical quantity acquired value) of the actual pressure signal 6a as a desired target pressure value, that is, the pressure command signal 11a.
- the simulated pressure control unit (simulated physical quantity control unit) 12 is a pressure command value of the pressure command signal 11 a from the pressure command signal generation unit 11 and a simulated pressure calculation value of the simulated pressure signal 14 a generated by the simulated pressure signal generation unit 14.
- a deviation (difference) signal 11b from (simulated physical quantity calculated value) is received.
- the simulated pressure control unit 12 calculates a simulated speed calculation value by performing a simulated pressure control calculation (simulated physical quantity control calculation) based on a deviation between the pressure command value and the simulated pressure calculation value, and is a signal thereof.
- a simulated motor speed signal 12a is generated. This simulated speed calculation value is a simulation of the motor speed of the motor 2.
- An example of the simulated pressure control calculation is to calculate a simulated speed calculation value by performing proportional control by multiplying the deviation between the pressure command value and the simulated pressure calculation value by a proportional gain.
- proportional + integral control that performs proportional control and integral control on the deviation between the pressure command value and the simulated pressure calculation value may be used.
- the simulated pressure control calculation may be combined with a filter having a low-pass characteristic, a phase delay filter, a phase advance filter, or the like.
- the simulated position calculation unit 13 receives the simulated motor speed signal 12a from the simulated pressure control unit 12.
- the simulated position calculation unit 13 performs a transfer characteristic calculation on the simulated speed calculated value, calculates a simulated position calculated value for the motor position, and generates a simulated position signal 13a as the signal.
- the transfer characteristic from the simulation speed calculation value to the simulation position calculation value of the simulation position calculation unit 13 includes one integration characteristic. As described above, if the transfer characteristic includes one integral characteristic, the relationship between the motor speed and the motor position can be simulated.
- the transmission characteristic may further include a low-pass characteristic in addition to the one-time integral characteristic.
- T is the time constant of the low-pass characteristic filter
- the simulated pressure signal generation unit 14 receives the simulated position signal 13a from the simulated position calculation unit 13. Further, the simulated pressure signal generation unit 14 stores the value of the motor position of the motor 2 and the value of the pressure acting on the pressurizing target 7 in a one-to-one correspondence. Further, the simulated pressure signal generator 14 uses the simulated position calculated value of the simulated position signal 13a as the motor position, and calculates the pressure corresponding to the motor position as the simulated pressure calculated value. The simulated pressure signal generator 14 generates a simulated pressure signal 14a that is a signal for the calculated simulated pressure value.
- FIG. 2 is a graph showing an example of the relationship between the position and pressure when the characteristics of the pressurized object 7 are nonlinear.
- the simulated pressure signal generation unit 14 stores the change in the motor position and the change in the pressure in a one-to-one correspondence, so that the pressure object 7 is the pressure applied from the mechanical load 5. Even if a non-linear characteristic is exhibited, a simulated pressure calculation value can be calculated.
- a table in which the motor position and the pressure are associated with each other is stored in advance, and when the simulated position signal 13a is received, the table is referred to.
- the pressure corresponding to the simulation position calculation value of the simulation position signal 13a is calculated as the simulation pressure calculation value.
- the method of realizing the simulated pressure signal generation unit 14 is not limited to the table, and an approximate function (simulation calculation information) for simulating the relationship between the motor position and the pressure is stored in advance, and simulation is performed using this approximate function.
- a pressure calculation value may be calculated.
- the pressure controller (physical quantity controller) 15 receives the simulated pressure signal 14 a from the simulated pressure signal generator 14 and the actual pressure signal 6 a from the pressure detector 6. Further, the pressure control unit 15 executes a pressure control calculation, calculates an actual motor speed command value so that the pressure command value and the actual pressure value match, and calculates the actual motor speed command value (actual speed command value). An actual motor speed command signal 15a that is a signal is generated.
- proportional control for calculating the actual motor speed command value by multiplying the deviation between the pressure command value and the actual pressure value by the proportional constant defined by the proportional gain parameter. Can be mentioned.
- the speed control unit 16 receives a motor speed command signal 15b which is a sum signal of the actual motor speed command value of the actual motor speed command signal 15a from the pressure control unit 15 and the simulated speed calculation value of the simulated motor speed signal 12a. . Further, the speed control unit 16 receives the actual motor speed signal 3 a from the encoder 3. Furthermore, the speed control unit 16 performs a speed control calculation based on the motor speed command value of the motor speed command signal 15b and the actual motor speed of the actual motor speed signal 3a.
- the speed control unit 16 calculates a motor current command value corresponding to a deviation between the motor speed command value and the actual motor speed by executing a speed control calculation, and a motor current that is a signal of the motor current command value.
- a command signal 16a is generated.
- An example of the speed control calculation by the speed control unit 16 includes proportional + integral control based on two parameters, a proportional gain parameter and an integral gain parameter.
- the current control unit 17 receives the motor current command signal 16 a from the speed control unit 16. Further, the current control unit 17 supplies current to the motor 2 based on the motor current command value of the motor current command signal 16a.
- the motor control device main body 10 includes an arithmetic processing unit (CPU), a storage unit (ROM, RAM, etc.) and a computer (not shown) having a signal input / output unit, an inverter for supplying current to the motor, etc. (Not shown).
- the storage unit of the computer of the motor control device main body 10 includes a pressure command signal generation unit 11, a simulated pressure control unit 12, a simulated position calculation unit 13, a simulated pressure signal generation unit 14, a pressure control unit 15, a speed control unit 16, and a current.
- a program for realizing the function of the control unit 17 is stored.
- a simulation calculation system that is a virtual loop including the simulated pressure control unit 12, the simulated position calculation unit 13, and the simulated pressure signal generation unit 14 as shown in FIG. It is comprised on the computer of the motor control apparatus main body 10. Since the simulated pressure signal 14a, the simulated motor speed signal 12a, and the simulated position signal 13a generated by the simulation calculation system are generated on a computer, a current control unit including a delay element, a pressure detection unit, and an actual position detection And the speed signal detection unit are determined without depending on each detection unit.
- the gain characteristic of the simulated pressure control unit 12 is set large, the stability of the control system is not affected. From this, when the gain characteristic of the simulated pressure control unit 12 is set to be relatively large, the followability of the simulated pressure calculation value of the simulated pressure signal 14a with respect to the pressure command value of the pressure command signal 11a can be improved.
- the simulated speed calculation value of the simulated motor speed signal 12a generated together with the simulated pressure signal 14a by the simulated calculation system is such that the simulated pressure calculation value of the simulated pressure signal 14a is highly responsive to the pressure command value of the pressure command signal 11a. It becomes the motor speed for following.
- the motor speed command signal 15b that is actually applied to the motor improves the follow-up performance of the pressure. This is a motor speed command signal that can be generated.
- the simulated pressure signal generation unit 14 accurately simulates the characteristics of the pressurized object 7, the values of the simulated pressure signal 14a and the actual pressure signal 6a are substantially equal. As a result, the error between the values of the simulated pressure signal 14a and the actual pressure signal 6a is also substantially zero, so that the actual motor speed command value of the actual motor speed command signal 15a that is the output of the pressure control unit 15 is approximately 0. It becomes. From this, among the motor speed command signal 15b, the simulated speed calculation value of the simulated motor speed signal 12a becomes the main component of the motor speed command signal 15b, and becomes the motor speed command value at which the motor 2 should operate.
- the actual motor speed command signal 15a is a signal for correcting this error when the simulated pressure calculation value of the simulated pressure signal 14a has an error from the actual pressure value of the actual pressure signal 6a.
- the simulated motor speed signal 12a is a signal that is determined without depending on the current control unit 17 including a delay element, the actual motor speed signal 3a, and the actual pressure signal 6a even if the gain characteristic of the simulated pressure control unit 12 is increased. . For this reason, it is possible to generate a motor speed command value to be operated by the motor 2 for following the pressure command value of the pressure command signal 11a at a high speed without affecting the stability of the control system.
- the simulated pressure signal generator 14 simulates the simulated position signal 13a using a table or an approximate function.
- the simulated pressure calculation value of the simulated pressure signal 14a is calculated from the position calculation value.
- Embodiment 2 As an example of the simulated pressure control unit 12, by performing a linear control calculation such as proportional control or proportional + integral control on a deviation signal between the pressure command value and the simulated pressure calculation value, An example of calculating the simulated speed calculation value has been described.
- a linear control calculation such as proportional control or proportional + integral control
- a limiting process is added in addition to a calculation related to linear transfer characteristics such as proportional control will be described.
- FIG. 3 is a block diagram showing a part of the motor control apparatus according to Embodiment 2 of the present invention.
- the outline of the configuration of the motor control device of the second embodiment is the same as the configuration of the first embodiment.
- a simulation is performed.
- a pressure control unit 21 is used.
- the simulated pressure control unit 21 includes a transfer characteristic calculation unit 22 and a restriction processing unit 23. Similar to the simulated pressure control unit 12 of the first embodiment, the transfer characteristic calculation unit 22 is proportional to the deviation (difference) between the pressure command value of the pressure command signal 11a and the simulated pressure calculation value of the simulated pressure signal 14a. Perform linear control calculations such as control or proportional + integral control. As a result, the transfer characteristic calculation unit 22 calculates a simulated speed calculation value and sends the signal (transfer characteristic output signal) 22 a to the restriction processing unit 23.
- the restriction processing unit 23 uses the signal 22a as it is as the simulation motor speed signal 23a.
- the restriction processing unit 23 sets the predetermined value as the simulation speed calculation value and simulates the signal of the predetermined value.
- the motor speed signal 23a is assumed.
- the simulated speed calculation value does not take a larger value than the maximum speed of the motor 2.
- the motor speed command value of the motor speed command signal 15b can also be controlled without exceeding the maximum speed of the motor 2.
- FIG. 4 is a graph for explaining the effect of the second embodiment.
- FIG. 4A shows changes with time of the simulated pressure signal 14a and the pressure command signal 11a
- FIG. 4B shows changes with time of the simulated motor speed signal 23a.
- changes in the simulated pressure signal 14a and the simulated motor speed signal 23a when the limit processing unit 23 is used are indicated by solid lines, and the simulated pressure signal 14a and the simulated motor speed when the limit processing unit 23 is not used.
- a change in the signal 23a is indicated by a one-dot chain line, and a change in the pressure command signal 11a is indicated by a broken line.
- 4 shows a case where the maximum motor speed is set as the predetermined value of the restriction processing unit 23 when the restriction processing unit 23 in FIG. 4 is used.
- the followability of the simulated pressure calculation value of the simulated pressure signal 14a with respect to the pressure command value of the pressure command signal 11a is slightly reduced as compared with the case where the restriction processing unit 23 is not used.
- the simulation speed calculation value of the simulation motor speed signal 23a is not guaranteed to be equal to or less than the maximum motor speed when the limit processing unit 23 is not used, and may exceed the maximum motor speed.
- the limit processing unit 23 is used, the simulated speed calculation value of the simulated motor speed signal 23a does not exceed the maximum motor speed.
- the pressure command signal 11a is shaped into the simulated pressure signal 14a so that the maximum follow-up performance is improved according to the maximum speed of the motor 2. Furthermore, a simulation speed calculation value (simulation motor speed signal 23a) for realizing the movement is calculated. At this time, a simulated motor speed signal 23a having a simulated speed calculation value equal to or less than the maximum motor speed is fed to the speed controller 16 in a feedforward manner.
- the speed controller 16 tries to control the motor speed below the maximum motor speed in order to follow the simulated speed calculation value of the simulated motor speed signal 23a.
- the simulated motor speed signal 23a is a signal for realizing the simulated pressure signal 14a, and the simulated pressure signal generator 14 can simulate the characteristics of the pressurized object 7.
- the applied pressure is almost the same as the simulated pressure calculation value of the simulated pressure signal 14a.
- the difference between the simulated pressure calculation value of the simulated pressure signal 14a and the actual pressure value of the actual pressure signal 6a is kept close to 0, and the actual motor speed command value of the actual motor speed command signal 15a is also set to 0. A close value.
- the motor speed command value of the motor speed command signal 15b which is the sum of the simulated speed calculation value of the simulated motor speed signal 23a and the actual motor speed command value of the actual motor speed command signal 15a, also exceeds the maximum motor speed. Disappears.
- the motor speed command value of the motor speed command signal 15b is set to be equal to or lower than the maximum speed of the motor 2, the simulated pressure control unit 12 in FIG. It is also conceivable to directly limit the motor speed command value of the motor speed command signal 15b of the motor 2. Even in this case, the motor speed command value of the motor speed command signal 15b, which is a reference signal for speed control, is equal to or lower than the maximum speed of the motor 2.
- the actual pressure value of the actual pressure signal 6a greatly deviates from the simulated pressure calculation value of the simulated pressure signal 14a.
- the actual motor speed command signal 15a generated by the pressure control unit 15 is generated.
- the actual motor speed command value takes a relatively large value, and the ratio of the actual motor speed command signal 15a in the motor speed command signal 15b also increases.
- the gain characteristic of the pressure control unit 15 needs to be increased in order to improve the followability to the pressure command value of the pressure command signal 11a. There is.
- increasing the gain characteristic of the pressure control unit 15 as described above has a limit from the viewpoint of the stability of the control system, and the motor speed command value of the motor speed command signal 15b is equal to the pressure of the pressure command signal 11a. High followability to the command value cannot be obtained.
- the simulated speed calculated value is equal to or less than a predetermined value by the restriction processing unit 23. It is said. With this configuration, the deviation between the simulated pressure calculation value of the simulated pressure signal 14a and the actual pressure value of the actual pressure signal 6a can be made substantially zero. As a result, the occurrence of the above problems can be suppressed. At the same time, the motor speed command value of the motor speed command signal 15b can be kept below the maximum motor speed. In addition to this, the same effect as in the first embodiment can be obtained at the same time.
- the magnitude of the correction value of the correction speed signal may exceed the maximum speed of the motor, and the motor speed of the motor speed command signal that serves as a reference signal for motor speed control.
- a motor speed command value that is higher than the motor performance (maximum speed) may be given. In such a case, problems such as occurrence of overshoot and vibration in the actual pressure signal (pressure detection signal) have occurred, adversely affecting the quality of molded products and processed products.
- the simulation speed calculation value is set to a predetermined value or less by the restriction processing unit 23 in the calculation process of the simulation motor speed signal 23a in the simulation pressure control unit 21, the actual pressure signal 6a Overshoot and vibration generated in the
- Embodiment 3 FIG.
- a simulation calculation system that is a virtual loop for generating the simulated pressure signal 14a from the pressure command signal 11a is configured, and the simulation obtained in the calculation process of the simulated pressure calculation value of the simulated pressure signal 14a.
- a configuration has been described in which the drive of the motor 2 is controlled based on the simulated speed calculation value of the simulated motor speed signal 12a using the motor speed signal 12a.
- a motor 2 is used by using a simulation operation system that is a virtual loop that generates a simulated pressure signal 14a from the pressure command signal 11a.
- a simulation operation system that is a virtual loop that generates a simulated pressure signal 14a from the pressure command signal 11a.
- a description will be given of a configuration in which a simulation current calculation value to be operated is calculated, and driving of the motor 2 is controlled based on a simulation motor current signal that is a signal of the simulation current calculation value.
- FIG. 5 is a block diagram showing a motor control apparatus according to Embodiment 3 of the present invention.
- the outline of the configuration of the motor control device main body 30 according to the third embodiment is the same as the configuration of the first embodiment, and the motor control device main body 30 according to the third embodiment includes a simulated speed calculation unit 31 and a simulation. And a current calculation unit 32.
- the simulated pressure control unit 12 of the third embodiment calculates a simulated acceleration calculated value based on a signal 11b of a deviation between the pressure command value of the pressure command signal 11a and the simulated pressure calculated value of the simulated pressure signal 14a.
- a simulated motor acceleration signal 12b which is a signal, is generated.
- An example of the control of the simulated pressure control unit 12 is proportional control in which the value of the signal 11b is multiplied by a proportional constant defined by a proportional gain parameter to calculate a simulated acceleration calculated value. Note that the control is not limited to this proportional control, and may be proportional + integral control or the like.
- the simulated current calculation unit 32 divides a constant obtained by dividing the total inertia of the rotor of the motor 2, the mechanical load 5, and the electric mechanism 4 by a torque constant that is a ratio of generated torque to the motor current. Then, the simulation current calculation value is calculated by multiplying the simulation acceleration calculation value of the simulation motor acceleration signal 12b. The simulated current calculator 32 generates a simulated motor current signal 32a that is a signal of the simulated current calculation value.
- the simulated speed calculation unit 31 calculates a simulated speed calculated value by performing a calculation using a transfer characteristic including one integral characteristic on the simulated acceleration calculated value of the simulated motor acceleration signal 12b, A simulated motor speed signal 31a is generated.
- the simulation position calculation unit 13 transmits a one-time integration characteristic to the simulation speed calculation value of the simulation motor speed signal 31a as in the first embodiment. By calculating the characteristic, a calculated simulated position value for the motor position is calculated, and a simulated position signal 13a, which is the signal, is generated.
- the speed control unit 16 of the third embodiment is a motor speed command value that is the sum of the actual motor speed command value of the actual motor speed command signal 15a from the pressure control unit 15 and the simulated speed calculation value of the simulated motor speed signal 31a. , That is, a motor speed command signal 15c. Further, the speed control unit 16 calculates an actual current command value so that the actual motor speed of the motor actual speed signal 3a follows the motor speed command value of the motor speed command signal 16b of the motor speed command signal 15c. The actual motor current command signal 16a is generated.
- the current control unit 17 receives a motor current command signal 16b which is a signal regarding the sum of the actual current command value of the actual motor current command signal 16a and the simulated current calculation value of the simulated motor current signal 32a. . In addition, the current control unit 17 performs control so that the current 17a matches the current command value of the motor current command signal 16b.
- Other configurations are the same as those in the first embodiment.
- the effect of controlling the motor speed based on the sum of the actual motor current command value of the actual motor current command signal 16a and the simulated current calculation value of the simulated motor current signal 32a (motor current command signal 16b) is described in the embodiment. This is the same as the effect 1.
- the simulated motor current signal 32a is a current signal of the motor 2 for the simulated pressure calculation value of the simulated pressure signal 14a to follow the pressure command value of the pressure command signal 11a with a high response.
- the simulated pressure signal generation unit 14 simulates the characteristics of the pressurized object 7, the simulated pressure calculation value of the simulated pressure signal 14a is substantially equal to the actual pressure value of the actual pressure signal 6a.
- the actual speed command value of the actual motor speed command signal 15a that is the output of the pressure control unit 15 is substantially zero.
- the simulated speed calculation value of the simulated motor speed signal 31a and the actual motor speed of the actual motor speed signal 3a are substantially equal, and the actual current command value of the actual motor current command signal 16a is approximately zero.
- the motor 2 is driven mainly based on the simulated motor current signal 32a.
- the response to the current is higher than the response to the speed. Therefore, by adding the simulated motor current signal 32a, which is the main component of the motor current command signal 16b, in a feed-forward manner, there is an effect that the followability of the pressure command signal 11a with respect to the pressure command value is further improved.
- the simulated pressure signal generator 14 calculates a simulated pressure calculation value of the simulated pressure signal 14a from the simulated position calculation value of the simulated position signal 13a using a table or an approximate function.
- the simulated motor current signal 32a serving as a motor current command signal that can improve the command following characteristic of the actual pressure signal 6a can be calculated more accurately.
- the actual motor current command signal 16a corrects this error when the simulated pressure calculation value of the simulated pressure signal 14a generated by the simulated pressure signal generation unit 14 has an error from the actual pressure value of the actual pressure signal 6a. It becomes a signal to do.
- the simulated motor current signal 32a is added to the actual motor current command signal 16a, and the simulated motor speed signal 31a is added to the actual motor speed command signal 15a.
- the present invention is not limited to this example. The same applies to a configuration in which the simulated motor current signal 32a is added to the actual motor current command signal 16a without adding the simulated motor speed signal 31a to the actual motor speed command signal 15a. An effect can be obtained.
- the simulated pressure control unit 41 includes a transfer characteristic calculation unit 42 and a restriction processing unit 43.
- the transfer characteristic calculation unit 42 performs control calculation such as proportional control based on a deviation (difference) between the pressure command value of the pressure command signal 11a and the simulated pressure calculation value of the simulated pressure signal 14a. Thereby, the transfer characteristic calculation unit 42 calculates a simulated acceleration calculation value and sends the signal (transfer characteristic output signal) 42 a to the restriction processing unit 43.
- the restriction processing unit 43 uses the signal 42a as it is as the simulation motor acceleration signal 43a.
- the restriction processing unit 43 sets the predetermined value as the simulated acceleration calculation value and simulates the signal of the predetermined value.
- the motor acceleration signal 43a is assumed.
- the predetermined value of the limit processing unit 43 includes the maximum current of the motor 2 and the mechanical inertia of the portion that moves as the motor operates (in FIG. 5, the inertia of the motor 2, the electric mechanism 4, the mechanical load 5). , Equivalent to the total inertia of the pressure detector 6), and the maximum acceleration determined from the torque constant of the motor 2 (the total current of the motor 2, the electric mechanism 4, and the mechanical load 5 is summed by multiplying the maximum motor current by the torque constant It is preferable that the acceleration obtained by dividing by the inertia) or less.
- the linear motor's maximum current is multiplied by a thrust constant, and the mechanical mass of the movable part of the linear motor and the part that moves as the motor operates are calculated. What is necessary is just to set it as the maximum acceleration obtained by dividing by the total mechanical mass.
- the maximum acceleration corresponds to the acceleration when acceleration is performed using the maximum motor current.
- the simulated acceleration calculation value of the simulated motor acceleration signal 43a does not take a value larger than the maximum acceleration of the motor 2, and the current command value of the motor current command signal 16b does not exceed the maximum current of the motor 2.
- control can be performed. If a motor current command value that exceeds the maximum motor current is given, the current cannot be controlled and vibration occurs in the current. As a result, vibration occurs in the pressure and speed. It adversely affects machining accuracy. Furthermore, in the worst case, the motor may be destroyed by an excessive current.
- the acceleration value obtained by dividing the limit value of the limit processing unit by the total mechanical inertia which is obtained by multiplying the maximum motor current by the torque constant and summing the motor inertia and the mechanical inertia of the parts that move with motor operation. Since the simulation current signal is limited to be equal to or less than the maximum motor current, the simulated pressure signal when the motor is operated at the maximum motor current or less is calculated. By applying the simulated current signal at this time in a feed-forward manner, a control in which the simulated current calculated value and the current are substantially equal is realized. As a result, the simulated pressure calculated value and the actual pressure value are substantially equal to each other. . Thereby, since there is no large deviation between the actual pressure value and the simulated pressure calculation value, the simulated current calculation value is used to increase the actual pressure to the pressure command value without increasing the gain characteristic of the pressure control unit 15. It becomes possible to improve the followability of the value.
- the simulated speed calculation unit 51 includes a one-time integration characteristic calculation unit 52 and a restriction processing unit 53.
- the one-time integral characteristic calculation unit 52 performs a calculation related to the transfer characteristic including the one-time integral characteristic on the simulated acceleration calculated value of the simulated motor acceleration signal 12b, calculates the simulated speed calculated value, and generates the signal 51a. To do.
- the limit processing unit 53 uses the signal 52a as it is as the simulation motor speed signal 53a.
- the restriction processing unit 53 sets the predetermined value as the simulation speed calculation value, and the signal of the predetermined value Is a simulated motor speed signal 53a.
- the predetermined value of the restriction processing unit 53 may be set to be equal to or less than the maximum speed of the motor 2.
- the simulation speed calculation value of the simulation motor speed signal 53a does not take a value larger than the maximum speed of the motor 2, and as a result, the speed command value of the motor speed command signal 15c also exceeds the maximum speed of the motor 2.
- the control can be performed in the absence of the control.
- the limit value of the limit processing unit below the maximum speed of the motor, the simulated speed signal is limited to be below the maximum motor speed, so the simulated pressure signal when the motor operates at the maximum motor speed or below. Is calculated.
- the simulated speed signal By applying the simulated speed signal at this time in a feed-forward manner, a control in which the simulated speed calculated value and the speed are substantially equal is realized. As a result, the simulated pressure calculated value and the actual pressure value are substantially equal to each other. . As a result, since a large deviation does not occur between the actual pressure value and the simulated pressure calculation value, the simulated pressure calculation value is used to increase the actual pressure to the pressure command value without increasing the gain characteristic of the pressure control unit 15. It becomes possible to improve the followability of the value.
- the transfer characteristics of the simulation speed calculation unit 31 and the simulation position calculation unit 13 of the third embodiment may be only the one-time integration characteristics, and in addition to the one-time integration characteristics, the transfer characteristics are low.
- a band pass characteristic or the like may be included.
- Embodiment 4 FIG.
- the configuration in which the pressure control unit 15 performs control for outputting a signal having a dimension of speed that is, the configuration in which the speed control is placed in the minor loop of the pressure control unit 15
- a configuration in which the pressure control unit 15 performs control to output a signal having a current dimension that is, a configuration in which current control is placed in a minor loop of the pressure control unit 15 will be described.
- FIG. 8 is a block diagram showing a motor control apparatus according to Embodiment 4 of the present invention.
- the configuration of the motor control device main body 60 of the fourth embodiment is the same as that of the third embodiment except that it has a simulation current calculation unit 32 similar to that of the third embodiment and the speed control unit 16 is omitted.
- 1 is the same as the configuration of the motor control device main body 10.
- Embodiments 1 and 3 will be mainly described.
- the simulated pressure control unit 12 of the fourth embodiment calculates a simulated acceleration calculated value based on a deviation signal 11b between the values of the pressure command signal 11a and the simulated pressure signal 14a, and a simulated motor acceleration signal that is the signal. 12b is generated.
- Examples of the control of the simulated pressure control unit 12 include proportional control and proportional + integral control.
- the simulated position calculation unit 13 according to the fourth embodiment receives the simulated motor acceleration signal 12b from the simulated pressure control unit 12, performs a transfer characteristic calculation including a double integration characteristic, calculates a simulated position calculation value, A simulated position signal 13a is generated.
- the simulated current calculation unit 32 generates the motor current in the total mechanical inertia, which is the sum of the rotor of the motor 2, the electric mechanism 4, and the mechanical load 5, using the simulated motor acceleration signal 12b as an input signal.
- a simulation current calculation value is calculated by multiplying a simulation acceleration calculation value by a constant divided by a torque constant which is a torque ratio, and a simulation motor current signal 32a which is the signal is generated.
- the current control unit 17 according to the fourth embodiment controls the current flowing through the motor 2 based on the current command value of the motor current command signal 15e.
- the motor current command signal 15e for determining the current that is actually applied to the motor 2.
- this is a signal that can improve the followability of pressure.
- the simulated pressure signal generation unit 14 accurately simulates the characteristics of the pressurization target 7, the values of the simulated pressure signal 14a and the actual pressure signal 6a are substantially equal.
- the actual current command value of the actual motor current command signal 15d which is the output of the pressure control unit 15, becomes almost zero.
- the simulated motor current signal 32a of the motor current command signal 15e becomes the main component of the motor current command signal 15e, and becomes a signal for the motor 2 to operate.
- the actual motor current command signal 15d is a signal for correcting this error when the simulated pressure calculation value of the simulated pressure signal 14a generated by the simulated pressure signal generator 14 is different from the actual pressure value. Become.
- the simulated pressure signal generator 14 uses the simulated pressure signal 14a from the simulated position calculated value of the simulated position signal 13a using a table or an approximate function. The simulated pressure calculation value is calculated. With this configuration, there is an effect that it is possible to generate a simulated motor current signal 32a serving as a motor current command signal that can improve the command following characteristic of the actual pressure signal 6a.
- the simulated pressure control unit 12 of the fourth embodiment may be provided with a restriction process similar to that of the second and third embodiments. Specifically, the simulated pressure control unit 12 may be configured as shown in FIG. 6 in the third embodiment. The effect obtained by providing the restriction process is the same as the effect described in the third embodiment.
- Embodiment 5 FIG. In the fourth embodiment, the configuration using the current control loop as the minor loop of the pressure control has been described. On the other hand, Embodiment 5 demonstrates the structure which uses a position control loop as a minor loop of pressure control.
- FIG. 9 is a block diagram showing a motor control apparatus according to Embodiment 5 of the present invention.
- the configuration of the motor control device main body 70 according to the fifth embodiment is the same as the configuration of the motor control device main body 30 according to the third embodiment except that a position control unit 71 is further provided.
- a position control unit 71 is further provided.
- the encoder 3 of the fifth embodiment outputs not only the actual motor speed signal 3a but also an actual motor position signal 3b that is a signal corresponding to the motor position (rotational position).
- the pressure control unit 15 of the fifth embodiment calculates an actual position command value based on the respective values of the simulated pressure signal 14a and the actual pressure signal 6a, and generates an actual position command signal 15f that is the signal.
- the proportional control for calculating the actual position command value by multiplying the deviation between the values of the simulated pressure signal 14a and the actual pressure signal 6a by the proportionality constant defined by the proportional gain parameter.
- proportional + integral control, integral control, and the like are examples of the proportional control, and the like.
- the position controller 71 receives a position command signal 15g which is a sum signal of the values of the actual position command signal 15d and the simulated position signal 13a. Further, the position controller 71 calculates an actual speed command value so that the actual motor position of the actual motor position signal 3b follows the position command value of the position command signal 15g, and the actual motor speed command signal 71a that is the signal is calculated. Is generated. As an example of the control of the position control unit 71, proportional control for calculating the actual speed command value by multiplying the deviation between the value of the position command signal 15g and the value of the actual motor position signal 3b by a proportional constant. Etc.
- the speed controller 16 receives a motor speed command signal 71b which is a sum signal of the values of the actual motor speed command signal 71a and the simulated motor speed signal 31a. Further, the speed control unit 16 receives the actual motor speed signal 3a. Further, the speed control unit 16 performs a speed control calculation so that the actual motor speed of the actual motor speed signal 3a follows the speed command value of the motor speed command signal 71b, and calculates an actual current command value. The actual motor current command signal 16a is generated. The current control unit 17 controls the current flowing through the motor 2 based on the current command value of the motor current command signal 16b, and causes the motor 2 to generate a driving force.
- a motor speed command signal 71b is a sum signal of the values of the actual motor speed command signal 71a and the simulated motor speed signal 31a. Further, the speed control unit 16 receives the actual motor speed signal 3a. Further, the speed control unit 16 performs a speed control calculation so that the actual motor speed of the actual motor speed signal 3a follows the speed command value
- the simulation is a virtual loop including the simulated pressure signal generation unit 14, the simulated pressure control unit 12, the simulated speed calculation unit 31, the simulated position calculation unit 13, and the simulated current calculation unit 32.
- An arithmetic system (virtual control circuit) is configured on the computer of the motor control device main body 70.
- the values of the simulated position signal 13a, the simulated motor speed signal 31a, and the simulated motor current signal 32a generated by the simulated operation system are the position and speed for the actual pressure signal 6a to follow the pressure command signal 11a with a high response. And current.
- the position command signal 15g, the motor speed command signal 71b, and the motor current command signal 16d are generated, so that the gain characteristic of the pressure control unit that causes the oscillation phenomenon under control is increased. Therefore, it is possible to realize control that improves the followability to the pressure command signal. This effect can be obtained in the same manner because the simulated pressure signal generation unit 14 simulates the characteristics of the pressurized object 7 even when the pressurized object 7 exhibits nonlinear characteristics.
- all three types of signals that is, the simulated position signal 13a, the simulated motor speed signal 31a, and the simulated motor current signal 32a are used, and based on the respective signals, the position command signal 15g, the motor speed command A signal 71b and a motor current command signal 16d are generated.
- the simulated motor speed signal 31a and the simulated motor current signal 32a are not fed forward, but the actual motor speed command signal 71a and the actual motor current command signal 16a are respectively converted into the motor speed command signal 71b and the motor current command signal 16b.
- At least one of the simulated pressure control unit 12 and the simulated speed calculation unit 31 according to the fifth embodiment may be provided with a limiting process as illustrated in FIGS.
- the restriction process described with reference to FIGS. 6 and 7 may be provided in at least one of the simulated pressure control unit 12 and the simulated speed calculation unit 31.
- the effect obtained by providing the restriction process is the same as the effect described in the third embodiment.
- the configuration related to pressure control has been described.
- the pressure control in the first to fifth embodiments can be replaced with force control as it is. That is, force can be used as a mechanical physical quantity.
- the pressure detector 6 is used in the first to fifth embodiments, the pressure detector 6 is not necessarily physically provided.
- pressure may be estimated and acquired from motor current and speed information, and the pressure may be controlled based on this estimated value (physical quantity acquired value).
Abstract
Description
実施の形態1.
図1は、この発明の実施の形態1によるモータ制御装置を示すブロック図である。
図1において、加工装置1は、回転式のモータ(加圧用モータ)2及びエンコーダ3を含む電動機構4と、機械負荷としての機械負荷5と、圧力検出器6とを有している。
xm(s)=(1/s)・vm(s) (1)
なお、この式(1)は、模擬速度算出値から模擬位置算出値への伝達特性に一回の積分特性が含まれていることを表している。
xm(s)=(1/s)・{1/(Ts+1)}・vm(s) (2)
実施の形態1では、模擬圧力制御部12の例として、圧力指令値と模擬圧力算出値との偏差の信号に対して、比例制御あるいは比例+積分制御等の線形な制御演算を行うことによって、模擬速度算出値を算出する例について説明した。これに対して、実施の形態2では、比例制御等の線形な伝達特性に関する演算に加え、制限処理を加えた例について説明する。
これに対して、実施の形態2では、模擬圧力制御部21における模擬モータ速度信号23aの算出過程で、制限処理部23によって、模擬速度算出値が所定値以下とされるので、実圧力信号6aに発生するオーバーシュートや振動を抑制することができる。
実施の形態1,2では、圧力指令信号11aから模擬圧力信号14aを発生させる仮想的なループである模擬演算系が構成され、この模擬圧力信号14aの模擬圧力算出値の算出過程で得られる模擬モータ速度信号12aを利用し、この模擬モータ速度信号12aの模擬速度算出値に基づいてモータ2の駆動を制御する構成について説明した。
これに対して、制限処理部の制限値を、モータの最大電流にトルク定数を乗じ、モータのイナーシャとモータ動作に伴い可動する部分の機械イナーシャを合計した機械総イナーシャで割ることにより得られる加速度以下にすることにより、模擬電流信号は、モータ最大電流以下になるように制限されるため、モータ最大電流以下でモータが動作したときの模擬圧力信号が算出される。このときの模擬電流信号をフィードフォワード的に加えることによって、模擬電流算出値と電流とがほぼ等しい制御が実現され、この結果、模擬圧力算出値と実圧力値ともほぼ等しい値となる制御となる。これにより、実圧力値と模擬圧力算出値との間に大きな偏差を生じないので、圧力制御部15のゲイン特性を大きくすることなく、模擬電流算出値を用いて、圧力指令値への実圧力値の追従性を向上させることが可能となる。
制限処理部の制限値を、モータの最高速度以下にすることにより、模擬速度信号は、モータ最高速度以下になるように制限されるため、モータ最高速度以下でモータが動作したときの模擬圧力信号が算出される。このときの模擬速度信号をフィードフォワード的に加えることによって、模擬速度算出値と速度とがほぼ等しい制御が実現され、この結果、模擬圧力算出値と実圧力値ともほぼ等しい値となる制御となる。これにより、実圧力値と模擬圧力算出値との間に大きな偏差を生じないので、圧力制御部15のゲイン特性を大きくすることなく、模擬速度算出値を用いて、圧力指令値への実圧力値の追従性を向上させることが可能となる。
実施の形態1~3では、圧力制御部15が速度の次元を持つ信号を出力するための制御を行う構成、即ち圧力制御部15のマイナーループに速度制御を置く構成について説明した。これに対して、実施の形態4では、圧力制御部15が電流の次元を持つ信号を出力する制御を行う構成、即ち圧力制御部15のマイナーループに電流制御を置く構成について説明する。
実施の形態4では、圧力制御のマイナーループとして電流制御ループを用いた構成について説明した。これに対して、実施の形態5では、圧力制御のマイナーループとして位置制御ループを用いる構成について説明する。
この効果は、加圧対象物7が非線形な特性を示す場合であっても、模擬圧力信号生成部14が加圧対象物7の特性を模擬するので、同様に得ることができる。
Claims (11)
- モータを有し、力及び圧力のいずれか一方である力学的物理量を対象物に加えるための機械負荷に接続され、前記モータの動力によって、前記機械負荷を変位させて前記対象物に押し付けることにより、前記対象物に前記力学的物理量を加える電動機構に設けられるモータ制御装置であって、
前記機械負荷から前記対象物に作用する前記力学的物理量の値を物理量取得値として取得し、前記物理量取得値を予め設定された物理量目標値とするための物理量指令値を生成して、その生成した物理量指令値を用いて前記モータの駆動を制御するモータ制御装置本体を備え、
前記モータ制御装置本体は、
前記物理量指令値と後記模擬物理量算出値との差分から、所定の模擬物理量制御演算を行うことにより、モータ速度についての模擬速度算出値を算出する模擬物理量制御部と、
前記模擬速度算出値に対して、一回の積分特性を含む伝達特性を用いた演算を行うことにより、モータ位置及び前記機械負荷の位置のいずれか一方についての模擬位置算出値を算出する模擬位置算出部と、
前記機械負荷から前記対象物に作用する前記力学的物理量の情報と、モータ位置及び前記機械負荷の位置のいずれか一方の情報とを互いに対応付けて模擬演算用情報として予め記憶し、前記模擬位置算出値に対して、前記模擬演算用情報を用いた演算を行って、前記力学的物理量を模擬した値である模擬物理量算出値を算出する模擬物理量算出部と、
前記物理量取得値及び前記模擬物理量算出値に基づいて、圧力制御演算を行うことによって、モータ速度についての実速度指令値を算出する物理量制御部と
を有し、
前記モータ制御装置本体は、前記模擬速度算出値と前記実速度指令値との和に基づいてモータ速度を制御する
ことを特徴とするモータ制御装置。 - モータを有し、力及び圧力のいずれか一方である力学的物理量を対象物に加えるための機械負荷に接続され、前記モータの動力によって、前記機械負荷を変位させて前記対象物に押し付けることにより、前記対象物に前記力学的物理量を加える電動機構に設けられるモータ制御装置であって、
前記機械負荷から前記対象物に作用する前記力学的物理量の値を物理量取得値として取得し、前記物理量取得値を予め設定された物理量目標値とするための物理量指令値を生成して、その生成した物理量指令値を用いて前記モータの駆動を制御するモータ制御装置本体を備え、
前記モータ制御装置本体は、
前記物理量指令値と後記模擬物理量算出値との差分から、所定の模擬物理量制御演算を行うことにより、モータ加速度についての模擬加速度算出値を算出する模擬物理量制御部と、
前記模擬加速度算出値に対して、比例特性を含む伝達特性を用いた演算を行うことにより、モータ電流についての模擬電流算出値を算出する模擬電流算出部と、
前記模擬加速度算出値に対して、一回の積分特性を含む伝達特性を用いた演算を行うことにより、前記モータ速度についての模擬速度算出値を算出する模擬速度算出部と、
前記模擬速度算出値に対して、一回の積分特性を含む伝達特性を用いた演算を行うことにより、モータ位置及び前記機械負荷の位置のいずれか一方についての模擬位置算出値を算出する模擬位置算出部と、
前記機械負荷から前記対象物に作用する前記力学的物理量の情報と、モータ位置及び前記機械負荷の位置のいずれか一方の情報とを互いに対応付けて模擬演算用情報として予め記憶し、前記模擬位置算出値に対して、前記模擬演算用情報を用いた演算を行って、前記力学的物理量を模擬した値である模擬物理量算出値を算出する模擬物理量算出部と、
前記物理量取得値及び前記模擬物理量算出値に基づいて、圧力制御演算を行うことによって、モータ速度についての実速度指令値を算出する物理量制御部と
を有し、
前記モータ制御装置本体は、前記実速度指令値を用いた速度制御演算を行うことにより、モータ電流についての実電流指令値を算出し、前記実電流指令値及び前記模擬電流算出値の和に基づいて、モータ電流を制御する
ことを特徴とするモータ制御装置。 - モータを有し、力及び圧力のいずれか一方である力学的物理量を対象物に加えるための機械負荷に接続され、前記モータの動力によって、前記機械負荷を変位させて前記対象物に押し付けることにより、前記対象物に前記力学的物理量を加える電動機構に設けられるモータ制御装置であって、
前記機械負荷から前記対象物に作用する前記力学的物理量の値を物理量取得値として取得し、前記物理量取得値を予め設定された物理量目標値とするための物理量指令値を生成して、その生成した物理量指令値を用いて前記モータの駆動を制御するモータ制御装置本体を備え、
前記物理量指令値と後記模擬物理量算出値との差分から、所定の模擬物理量制御演算を行うことにより、モータ加速度についての模擬加速度算出値を算出する模擬物理量制御部と、
前記模擬加速度算出値に対して、比例特性を含む伝達特性を用いた演算を行うことにより、モータ電流についての模擬電流算出値を算出する模擬電流算出部と、
前記模擬加速度算出値に対して、二回の積分特性を含む伝達特性を用いた演算を行うことにより、モータ位置及び前記機械負荷の位置のいずれか一方についての模擬位置算出値を算出する模擬位置算出部と、
前記機械負荷から前記対象物に作用する前記力学的物理量の情報と、モータ位置及び前記機械負荷の位置のいずれか一方の情報とを互いに対応付けて模擬演算用情報として予め記憶し、前記模擬位置算出値に対して、前記模擬演算用情報を用いた演算を行って、前記力学的物理量を模擬した値である模擬物理量算出値を算出する模擬物理量算出部と、
前記物理量取得値及び前記模擬物理量算出値に基づいて、圧力制御演算を行うことによって、モータ電流についての実電流指令値を算出する物理量制御部と
を有し、
前記モータ制御装置本体は、前記実電流指令値及び前記模擬電流算出値の和に基づいて、モータ電流を制御する
ことを特徴とするモータ制御装置。 - モータを有し、力及び圧力のいずれか一方である力学的物理量を対象物に加えるための機械負荷に接続され、前記モータの動力によって、前記機械負荷を変位させて前記対象物に押し付けることにより、前記対象物に前記力学的物理量を加える電動機構に設けられるモータ制御装置であって、
前記機械負荷から前記対象物に作用する前記力学的物理量の値を物理量取得値として取得し、前記物理量取得値を予め設定された物理量目標値とするための物理量指令値を生成して、その生成した物理量指令値を用いて前記モータの駆動を制御するモータ制御装置本体を備え、
前記モータ制御装置本体は、
前記物理量指令値と後記模擬物理量算出値との差分を用いて、モータ位置についての模擬位置算出値を算出する模擬物理量制御部と、
前記機械負荷から前記対象物に作用する前記力学的物理量の情報と、モータ位置及び前記機械負荷の位置のいずれか一方の情報とを互いに対応付けて模擬演算用情報として予め記憶し、前記模擬位置算出値に対して、前記模擬演算用情報を用いた演算を行って、前記力学的物理量を模擬した値である模擬物理量算出値を算出する模擬物理量算出部と、
前記物理量取得値及び前記模擬物理量算出値に基づいて、圧力制御演算を行うことによって、モータ位置についての実位置指令値を算出する物理量制御部と
を有し、
前記モータ制御装置本体は、前記模擬位置算出値及び前記実位置指令値の和に基づいてモータ位置を制御する
ことを特徴とするモータ制御装置。 - モータを有し、力及び圧力のいずれか一方である力学的物理量を対象物に加えるための機械負荷に接続され、前記モータの動力によって、前記機械負荷を変位させて前記対象物に押し付けることにより、前記対象物に前記力学的物理量を加える電動機構に設けられるモータ制御装置であって、
前記機械負荷から前記対象物に作用する前記力学的物理量の値を物理量取得値として取得し、前記物理量取得値を予め設定された物理量目標値とするための物理量指令値を生成して、その生成した物理量指令値を用いて前記モータの駆動を制御するモータ制御装置本体を備え、
前記モータ制御装置本体は、
前記物理量指令値と後記模擬物理量算出値との差分を用いて、モータ速度についての模擬速度算出値を算出する模擬物理量制御部と、
前記模擬速度算出値に対して、一回の積分特性を含む伝達特性を用いた演算を行うことにより、モータ位置及び前記機械負荷の位置のいずれか一方についての模擬位置算出値を算出する模擬位置算出部と、
前記機械負荷から前記対象物に作用する前記力学的物理量の情報と、モータ位置及び前記機械負荷の位置のいずれか一方の情報とを互いに対応付けて模擬演算用情報として予め記憶し、前記模擬位置算出値に対して、前記模擬演算用情報を用いた演算を行って、前記力学的物理量を模擬した値である模擬物理量算出値を算出する模擬物理量算出部と、
前記物理量取得値及び前記模擬物理量算出値に基づいて、圧力制御演算を行うことによって、モータ位置についての実位置指令値を算出する物理量制御部と
を有し、
前記モータ制御装置本体は、前記実位置指令値を用いた位置制御演算を行うことにより前記実位置指令値にモータ位置を追従させるためのモータ速度についての速度指令値を算出し、前記模擬速度算出値及び前記速度指令値の和に基づいて、モータ速度を制御する
ことを特徴とするモータ制御装置。 - モータを有し、力及び圧力のいずれか一方である力学的物理量を対象物に加えるための機械負荷に接続され、前記モータの動力によって、前記機械負荷を変位させて前記対象物に押し付けることにより、前記対象物に前記力学的物理量を加える電動機構に設けられるモータ制御装置であって、
前記機械負荷から前記対象物に作用する前記力学的物理量の値を物理量取得値として取得し、前記物理量取得値を予め設定された物理量目標値とするための物理量指令値を生成して、その生成した物理量指令値を用いて前記モータの駆動を制御するモータ制御装置本体を備え、
前記モータ制御装置本体は、
前記物理量指令値と後記模擬物理量算出値との差分から、所定の模擬物理量制御演算を行うことにより、モータ加速度についての模擬加速度算出値を算出する模擬物理量制御部と、
前記模擬加速度算出値に対して、比例特性を含む伝達特性を用いた演算を行うことにより、モータ電流についての模擬電流算出値を算出する模擬電流算出部と、
前記模擬加速度算出値に対して、二回の積分特性を含む伝達特性を用いた演算を行うことにより、モータ位置及び前記機械負荷の位置のいずれか一方についての模擬位置算出値を算出する模擬位置算出部と、
前記機械負荷から前記対象物に作用する前記力学的物理量の情報と、モータ位置及び前記機械負荷の位置のいずれか一方の情報とを互いに対応付けて模擬演算用情報として予め記憶し、前記模擬位置算出値に対して、前記模擬演算用情報を用いた演算を行って、前記力学的物理量を模擬した値である模擬物理量算出値を算出する模擬物理量算出部と、
前記物理量取得値及び前記模擬物理量算出値に基づいて、圧力制御演算を行うことによって、モータ位置についての実位置指令値を算出する物理量制御部と
前記物理量取得値及び前記模擬物理量算出値に基づいて、圧力制御演算を行うことによって、モータ電流についての実電流指令値を算出する物理量制御部と
を有し、
前記モータ制御装置本体は、前記実位置指令値を用いた位置制御演算を行うことにより前記実位置指令値にモータ位置を追従させるためのモータ速度についての速度指令値を算出し、前記速度指令値を用いた速度制御演算を行うことによりモータ電流についての実電流指令値を算出し、前記実電流指令値及び模擬電流算出値の和に基づいてモータ電流を制御する
ことを特徴とするモータ制御装置。 - 前記模擬物理量制御部は、
前記物理量指令値と前記模擬物理量算出値との差分に基づいて、前記模擬速度算出値を算出するための所定の伝達特性の演算を行う伝達特性演算部と、
前記伝達特性演算部の演算結果が所定値以下の場合には、その演算結果を前記模擬速度算出値とし、前記伝達特性演算部の演算結果が所定値よりも大きい場合には、前記所定値を前記模擬速度算出値とする制限処理部と
を有していることを特徴とする請求項1又は請求項5に記載のモータ制御装置。 - 前記模擬速度算出部は、
前記模擬加速度算出値に基づいて、前記模擬速度算出値を算出するための所定の伝達特性の演算を行う伝達特性演算部と、
前記伝達特性演算部の演算結果が所定値以下の場合には、その演算結果を前記模擬速度算出値とし、前記伝達特性演算部の演算結果が所定値よりも大きい場合には、前記所定値を前記模擬速度算出値とする制限処理部と
を有していることを特徴とする請求項2記載のモータ制御装置。 - 前記制限処理部の所定値は、モータ最大速度以下である
ことを特徴とする請求項7又は請求項8に記載のモータ制御装置。 - 前記模擬物理量制御部は、
前記物理量指令値と前記模擬物理量算出値との差分に基づいて、前記模擬加速度算出値を算出するための所定の伝達特性の演算を行う伝達特性演算部と、
前記伝達特性演算部の演算結果が所定値以下の場合には、その演算結果を前記模擬加速度算出値とし、前記伝達特性演算部の演算結果が所定値よりも大きい場合には、前記所定値を前記模擬加速度算出値とする制限処理部と
を有していることを特徴とする請求項2、請求項3又は請求項6に記載のモータ制御装置。 - 前記制限処理部の所定値は、前記モータの最大電流に、トルク定数もしくは推力定数を乗じて、その乗じて得た値をモータの動作に伴い可動する部分の機械イナーシャもしくは機械総質量で割った値以下である
ことを特徴とする請求項10記載のモータ制御装置。
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