WO2011148852A1 - モータ制御装置 - Google Patents
モータ制御装置 Download PDFInfo
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- WO2011148852A1 WO2011148852A1 PCT/JP2011/061530 JP2011061530W WO2011148852A1 WO 2011148852 A1 WO2011148852 A1 WO 2011148852A1 JP 2011061530 W JP2011061530 W JP 2011061530W WO 2011148852 A1 WO2011148852 A1 WO 2011148852A1
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- speed
- torque
- command
- motor
- deviation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/0016—Control of angular speed of one shaft without controlling the prime mover
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/22—Controlling the speed digitally using a reference oscillator, a speed proportional pulse rate feedback and a digital comparator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/90—Specific system operational feature
- Y10S388/902—Compensation
Definitions
- the present invention relates to a motor control device, and more particularly to a motor control device used as a drive device for various industrial machines, for example, for driving a transport roll used for transporting a transport material such as a steel plate, paper, or film.
- a conventional motor control device for example, a plurality of continuously arranged transport rolls are driven by a motor in order to transport transport materials such as steel plates, paper, and films.
- a conventional motor control device includes speed control means. The speed control device calculates the compensation torque so that the command speed and the motor speed coincide with each other by proportional integral calculation with the deviation between the command speed and the motor speed as input, and outputs the command torque for the motor.
- a draw control in order to apply a tension to a conveying material, a draw control that generates a command speed so as to have a speed difference (draw) with respect to a certain reference speed is used.
- the conventional motor control device is provided with a tension calculating means for the purpose of making the tension of the conveying material coincide with a desired tension value by easy adjustment.
- the tension calculating means calculates the tension of the conveying material based on the acceleration / deceleration torque necessary for the motor to perform acceleration / deceleration, the mechanical loss torque, and the detected motor current.
- a draw setting for setting a speed difference is provided so that the calculated tension calculation value becomes a desired tension. After the speed difference is set so that the calculated tension value matches the desired tension, the calculated tension value is held as a tension reference value.
- the tension of the conveying material is controlled to be constant by enabling the tension control means for correcting the command speed based on the tension reference value and the calculated tension value ( For example, see Patent Document 1).
- another conventional motor control device includes speed control means for calculating a compensation torque and adding it to a torque command for driving the motor.
- the speed control means calculates the compensation torque so that the speed command and the motor speed coincide with each other by calculation of proportional control or proportional integration control with the deviation between the command speed and the motor speed as an input.
- drooping control is used so that excessive torque is not constantly generated by the action of the speed control means.
- the drooping control is a control having a drooping characteristic that the motor speed decreases as the motor torque increases. In the drooping control, a speed droop amount obtained by proportionally multiplying the compensation torque is subtracted from the command speed.
- the conventional motor control device described in Patent Document 1 has the following problems.
- the tension applied to the conveying material also varies depending on the expansion / contraction characteristics of the conveying material, the shape such as thickness and width, and the diameter of the conveying roll. Therefore, even if the desired tension value is the same, the required speed difference differs depending on the conveying material and the roll diameter. Therefore, in the motor control device described in Patent Document 1, it is necessary to reset the speed difference every time the conveying material or the conveying roll is changed. Also, the speed difference is set while checking the tension calculation value, and the tension calculation value when the speed difference setting is completed is used as the tension reference value. The tension is controlled to be constant with the tension reference value as a reference. For this reason, it is necessary to reset the speed difference every time the tension value applied to the conveying material is changed. Therefore, it is difficult to cope with an operation in which the tension applied to the conveying material is continuously changed.
- the speed control means in the motor control device since the speed control means in the motor control device only has the above-mentioned drooping characteristics, for example, the motor torque is set to a value that balances the desired tension. There was a problem that it was not easy to keep accurate.
- the speed control means operates so that the motor speed matches the speed command giving the theoretical value of the transport speed. Thereby, even if the drooping control described above is performed, the speed control means constantly generates a large torque. As a result, there is a problem that a large error is generated from the value of the conveying material tension given by the torque command input from the outside.
- the speed control means is configured so that the speed controller in the motor control device has the above-mentioned drooping characteristics, especially in the case where acceleration / deceleration is performed, the alignment speed with respect to the motor that drives the other transport rolls is reduced. For this reason, there is a problem that the tension of the conveying material fluctuates greatly.
- the present invention has been made in order to solve such a problem, and even when a desired tension value to be applied to the conveying material, conveying roll, or conveying material is changed, simple adjustment is possible.
- a motor control device that sets the speed difference while performing stable conveyance and applies the tension as set from the outside to the conveyance material and accurately and stably controls the conveyance speed of the motor and the conveyance material according to the command speed is obtained. The purpose is that.
- the present invention is a difference between a command speed calculation means for calculating a command speed based on a reference speed and a ratio gain inputted from the outside, and a motor speed that is a speed of a motor that drives the load machine.
- Control deviation calculation means for outputting a control deviation based on the speed deviation and the speed deviation correction value, and a speed for outputting compensation torque by a control calculation including at least an integral calculation so as to reduce the control deviation based on the control deviation
- Command torque calculating means for outputting a command torque that is a target value of torque, and calculating the ratio gain based on the speed deviation to calculate the finger
- a motor control device that includes a ratio calculation means for inputting the speed calculation means.
- the present invention is a difference between a command speed calculation means for calculating a command speed based on a reference speed and a ratio gain inputted from the outside, and a motor speed that is a speed of a motor that drives the load machine.
- Control deviation calculation means for outputting a control deviation based on the speed deviation and the speed deviation correction value, and a speed for outputting compensation torque by a control calculation including at least an integral calculation so as to reduce the control deviation based on the control deviation
- Command torque calculating means for outputting a command torque that is a target value of torque, and calculating the ratio gain based on the speed deviation to calculate the finger Since it is a motor control device provided with a ratio calculating means for inputting to the speed calculating means, even if the desired tension value to be applied to the conveying material, conveying roll, or conveying material is changed, it is simple.
- the speed difference can be set while performing stable conveyance by adjustment, and the conveyance speed of the motor and the conveyance material can be controlled accurately and stably according to the command speed while applying the tension as set from the outside to the conveyance material. .
- FIG. 1 is a block diagram showing a motor control apparatus according to Embodiment 1 of the present invention.
- 1 is a motor
- 2 is a load machine
- 3 is a speed detection means
- 100 is a motor control device
- 101 is a command speed calculation means
- 102 is a ratio calculation means
- 103 is a control deviation calculation means
- 104 is a speed control means.
- 105 is a speed deviation correcting means
- 106 is an acceleration / deceleration torque calculating means
- 107 is a command torque calculating means
- 108 is a reference speed generating means.
- the motor control device 100 includes components 101 to 108 therein.
- the motor control apparatus 100 is connected to the motor 1 arranged outside thereof.
- the motor control device 100 First, the overall operation of the motor control device 100 will be described.
- a mode of operation based on speed control is shown.
- the present invention is not particularly limited to speed control, and can be similarly realized when position control is performed. .
- the motor control device 100 receives a motor speed ⁇ m, which is the speed of the motor 1 detected by the speed detection means 3, a reference speed ⁇ b input from the outside, and a feedforward torque ⁇ ff. Then, the command torque ⁇ r is output to the motor 1 by the operation described below.
- the motor 1 generates torque that matches the command torque ⁇ r by the action of torque control means and power conversion means (not shown), and drives the motor 1 itself and the load machine 2.
- a transfer system see FIG. 2 will be described as an example, but the present invention is not limited thereto.
- the command speed calculation means 101 receives a reference speed ⁇ b input from the outside and a ratio gain ⁇ calculated by the ratio calculation means 102 described later.
- the command speed calculation means 101 generates a command speed ⁇ r for controlling the motor speed ⁇ m of the motor 1 using the reference speed ⁇ b and the ratio gain ⁇ .
- the command speed calculation means 101 performs, for example, a calculation as shown in the following equation (1) using the ratio gain ⁇ so that the command speed ⁇ r has a speed difference with respect to the reference speed ⁇ b.
- the command speed ⁇ r is generated.
- tension can be applied to the transport material transported by the load machine 2.
- the reference speed generation means 108 receives the command speed ⁇ r, and calculates the reference speed ⁇ a so that the reference speed ⁇ a follows the command speed ⁇ r by, for example, first-order lag calculation.
- the control deviation calculation means 103 receives the speed deviation ⁇ e, which is the difference between the reference speed ⁇ a and the motor speed ⁇ m, and the speed deviation correction value ⁇ ec output from the speed deviation correction means 105 described later, and inputs the following expression (2).
- the control deviation e is output by the calculation shown.
- the speed control means 104 receives the control deviation e as an input and performs an operation such that the control deviation e is reduced by a proportional integration operation using the speed proportional gain Kvp and the speed integral gain Kvi, for example, as shown in the following equation (3):
- the result is output as compensation torque ⁇ m.
- s is a Laplace operator.
- the speed deviation correction means 105 receives the compensation torque ⁇ m and outputs a speed deviation correction value ⁇ ec by applying a predetermined control calculation based on the compensation torque ⁇ m.
- the compensation torque ⁇ m may be multiplied by a predetermined gain, and the multiplication result may be used as a speed deviation correction value ⁇ ec.
- the acceleration / deceleration torque calculation means 106 receives the reference speed ⁇ a output from the command speed calculation means 101, and accelerates / decelerates the motor 1 and the load machine 2 coupled to the motor 1 in accordance with the change in the reference speed ⁇ a.
- the torque required for this is calculated and output as acceleration / deceleration torque ⁇ a.
- the acceleration / deceleration torque ⁇ a is calculated by, for example, calculating a reference acceleration ⁇ a ′ that is a differential signal of the reference speed ⁇ a, and multiplying the calculated reference acceleration ⁇ a ′ by the inertia moment of the motor 1 and the load machine 2.
- the command torque calculation means 107 receives the feedforward torque ⁇ ff input from the outside, the compensation torque ⁇ m output from the speed control means 104, and the acceleration / deceleration torque ⁇ a output from the acceleration / deceleration torque calculation means 106, and feedforward torque ⁇ ff Then, the sum of the compensation torque ⁇ m and the acceleration / deceleration torque ⁇ a is output as the command torque ⁇ r.
- the ratio calculation means 102 receives the speed deviation ⁇ e, which is the difference between the command speed ⁇ r and the motor speed ⁇ m, and calculates and outputs the ratio gain ⁇ by applying a control calculation that reduces the speed deviation ⁇ e. .
- the command speed calculation means 101 changes the reference speed ⁇ b by the calculation shown in Expression (1) based on the ratio gain ⁇ calculated by the ratio calculation means 102, and outputs the command speed ⁇ r.
- FIG. 2 shows a configuration example of a transport system using the motor control device according to the present invention.
- 10 is a conveying material such as a steel plate, paper or film
- 11 is a first roll
- 12 is a second roll
- 21 is a first motor
- 22 is a second motor.
- the motor control apparatus described in the first embodiment of the present invention is, for example, for driving the first motor 21 shown in FIG. 2, and at that time, the second motor 22 is normally used for speed control. Alternatively, position control may be used.
- the feedforward torque ⁇ ff is input to the motor control device 100 from the outside.
- the feedforward torque ⁇ ff is calculated in advance externally as a torque necessary for applying tension to the conveying material 10. More precisely, a value obtained by calculating a mechanical loss such as friction in the motor 1 and the load machine 2 or a value measured in advance may be used as the feedforward torque ⁇ ff.
- the command torque ⁇ r is obtained by adding the feedforward torque ⁇ ff and the acceleration / deceleration torque ⁇ a by the command torque adding means 107. Then, the motor 1 is operated based on the command torque ⁇ r. If the calculation of the feed forward torque ⁇ ff and the acceleration / deceleration torque ⁇ a is accurate and there are no disturbance factors such as friction fluctuations, it is possible to accelerate and decelerate the motor 1 and the load machine 2 while applying a desired tension to the conveying material, The speed and tension of the conveying material can be controlled as desired.
- the motor speed ⁇ m varies.
- the causes include the pulsation generated by the motor 1, the pulsation of speed due to mechanical eccentricity of the load machine 2, the fluctuation of mechanical loss such as friction, and the transient component in the calculation of the acceleration / deceleration torque ⁇ a.
- the command torque ⁇ r generated by the feedforward torque ⁇ ff and the acceleration / deceleration torque ⁇ a has a problem that the conveyance of the conveyance material cannot be performed stably.
- the speed control means 104 has an effect of suppressing fluctuations in the motor speed ⁇ m caused by the influence of the disturbance described above. Further, consider the case where both the first motor 21 and the second motor 22 are driven by speed control in the transport system shown in FIG. 2, that is, the case where the speed deviation correcting means 105 is omitted.
- a certain reference speed for example, a command speed given to a motor (first motor 21 in the transport system shown in FIG. 2) that controls the transport speed, and a motor (shown in FIG. 2) that drives an adjacent transport roll.
- the command speed given to the first motor 21 is generated so as to have a slight speed difference between the command speed given to the second motor 22) and tension is applied to the transport material. Is done.
- the tension applied to the conveying material is the first motor 21 and the second motor 22. Since it is determined only by the speed difference of the motor 22, even if the feedforward torque ⁇ ff is input from the outside so that the tension of the conveying material becomes a desired value, it cannot be controlled so that the tension becomes a desired value.
- the physical relationship between the speed difference and the tension applied to the conveying material is not clear. Therefore, in order to control the tension applied to the conveying material to a desired value, it is necessary to adjust the speed difference by trial and error.
- the transport system as shown in FIG. 2 is easily destabilized even by a slight speed difference setting error. Therefore, it is extremely delicate and difficult to adjust the speed difference so that the tension applied to the conveying material becomes a desired value.
- the transport roll diameter in the transport system shown in FIG. 2 has a minute error from the design value. Also, if the tension of the transport material is different before and after the transport roll, the transport speed of the transport material changes before and after the transport roll due to the expansion and contraction of the transport material.
- the conveyance speed of the conveyance material has an error with respect to a desired value.
- the speed control is performed so that the motor speed matches the command speed, the speed between the transport speed of the transport material transported while being restrained by the plurality of transport rolls and the command speed input to the motor An error occurs.
- the tension applied to the conveying material has an excessive error.
- the command speed given to the motor is larger than the conveying speed of the conveying material, the tension applied to the conveying material is lowered and the conveying material is loosened.
- the command speed given to the motor is smaller than the conveying speed of the conveying material, excessive tension is applied to the conveying material, and excessive motor torque is generated to balance this excessive tension.
- the conventional motor control device described in Patent Document 1 described above includes tension calculation means for the purpose of facilitating the setting of the speed difference.
- the tension calculating means calculates the tension applied to the conveying material from the acceleration / deceleration torque calculated from the inertia moment of the conveying roll and the command speed, the mechanical torque, and the detected current value of the motor.
- the speed difference is set so that the tension applied to the conveying material is optimized while checking the tension calculation value calculated by the tension calculation means. In this way, by setting the speed difference while confirming the tension calculation value, it is possible to apply a desired tension to the conveying material.
- the speed difference is set while checking the tension calculation value. Therefore, it is necessary to reset the speed difference according to the tension setting value every time the tension setting value applied to the transport material is changed. Therefore, the conventional motor control device described in Patent Document 1 cannot be applied to a conveyance system that changes the tension setting value stepwise or continuously during operation. Moreover, if the dimension and material of the conveying material to convey, the distance between conveyance rolls, etc. are changed, the required speed difference will differ even if it is the same tension setting value. Further, as described above, the conveyance roll diameter has a minute error from the design value, and the minute error differs for each conveyance roll.
- the speed difference is set so that the tension applied to the conveying material becomes a desired value while checking the tension calculation value calculated by the tension calculation means. .
- the conventional motor control device described in Patent Document 1 since the setting of the speed difference for controlling the tension applied to the transport material requires delicate settings, it is easy to make trial and error adjustments. Will be stabilized. For this reason, the conventional motor control device described in Patent Document 1 has a problem that the conveyance system becomes unstable during a set period until the set speed difference becomes a somewhat appropriate speed difference from the initial setting.
- the motor control device 100 of the present invention includes speed deviation means 105.
- the speed deviation means 105 outputs a value obtained by multiplying the compensation torque ⁇ m, which is an output of the speed control means 104 that performs calculations such as proportional integral control, by a predetermined gain, as a speed deviation correction value ⁇ ec.
- the control deviation calculation means 103 performs control for subtracting the speed deviation correction value ⁇ ec output from the speed deviation means 105 from the speed deviation ⁇ e.
- the speed control unit 104 is a proportional integral calculation shown in Expression (3), and the speed deviation correction unit 105 performs a proportional calculation using the proportional gain K.
- the transfer function from the speed deviation ⁇ e to the compensation torque ⁇ m is expressed by the following equation (4).
- the speed control means 104 outputs a steady compensation torque ⁇ m, so that the command torque given to the motor is a feedforward torque ⁇ ff and an acceleration / deceleration torque ⁇ a.
- the compensation torque ⁇ m is added, and it is difficult to accurately maintain the tension as set by the feedforward torque ⁇ ff.
- the motor control device shown in the first embodiment of the present invention includes the ratio calculation means 102.
- the ratio calculation means 102 calculates the ratio gain ⁇ by calculation including at least integration calculation so that the speed deviation ⁇ e gradually approaches zero based on the speed deviation ⁇ e. Then, the reference speed ⁇ b inputted from the outside is changed using the ratio gain ⁇ , and the command speed ⁇ r is generated so that the command speed ⁇ r has an appropriate speed difference with respect to the reference speed ⁇ b.
- Kr is an integral gain when performing the ratio calculation.
- the transport speed changes before and after the transport roll due to a minute error in the transport roll diameter and the expansion / contraction of the transport material, and the steady speed generated due to the change.
- the ratio calculation means 102 adjusts the value of the ratio gain ⁇ based on the speed deviation ⁇ e.
- the command speed calculation means 101 corrects the reference speed ⁇ b using the ratio gain ⁇ so as to make the speed deviation ⁇ e asymptotic to zero, and generates the command speed ⁇ r.
- the speed deviation ⁇ e can be made minute (substantially zero). Therefore, the compensation torque ⁇ m output from the speed control means 104 does not have a steady output, and a desired tension as set by the feedforward torque ⁇ ff can be applied to the conveying material, so that highly accurate tension control can be performed. Is possible.
- the ratio gain ⁇ is not adjusted directly based on the tension or the calculated tension value, and the ratio gain ⁇ is set based on the speed deviation ⁇ e so that the speed deviation ⁇ e approaches zero. Arithmetic. As a result, an appropriate ratio gain ⁇ can be automatically calculated even when the transport material or the transport roll is replaced. Accordingly, it is possible to always apply the tension as set by the feedforward torque ⁇ ff to the conveying material. Even if the transport speed and tension fluctuate due to the influence of unexpected disturbance, the effect of the speed deviation correction means 105 prevents the occurrence of excessive motor torque and tension errors and instability of the transport system. To do.
- the ratio gain ⁇ is automatically calculated based on the transiently generated speed deviation ⁇ e, and the command speed ⁇ r that makes the speed deviation ⁇ e asymptotic to zero is generated. It becomes possible to grant.
- acceleration / deceleration torque calculation means 106 and command torque calculation means 107 are provided.
- the acceleration / deceleration torque calculating means 106 calculates an acceleration / deceleration torque ⁇ a necessary for driving the motor 1 and the load machine 2.
- the command torque calculation means 107 adds the acceleration / deceleration torque ⁇ a, the feed forward torque ⁇ ff, and the compensation torque ⁇ m to generate the command torque ⁇ r.
- the speed deviation correcting unit 105 has been described as performing a proportional calculation using the proportional gain K.
- the speed deviation correction difference means 105 may be omitted, and a high-pass filter may be added in series to the speed control means 104 that performs proportional integral calculation.
- the speed deviation correcting unit 105 may be omitted, and the control calculation may be performed by replacing the integral calculation of the speed control unit 104 with a pseudo-integral calculation instead of the high-pass filter.
- the ratio calculation means 102 calculates the ratio gain ⁇ based on the speed deviation ⁇ e so that the speed deviation ⁇ e gradually approaches zero.
- the ratio calculation means 102 may perform a proportional calculation or a proportional integration calculation using a proportional gain. In any case, even if the set tension, the transport roll, and the transport material are changed, the effect that the ratio gain can be automatically calculated is obtained. Further, when the ratio calculation means 102 calculates the ratio gain ⁇ by proportional calculation based on the speed deviation ⁇ e, the proportional gain is continuously or stepwise until the magnitude of the speed deviation ⁇ e becomes smaller than a predetermined threshold value. By making it larger, it is possible to obtain substantially the same effect as the above-described integral calculation.
- the command torque calculation means 107 outputs at least the feedforward torque ⁇ ff and the compensation torque ⁇ m that are input from the outside to output the command torque ⁇ r.
- the tension as set by the torque ⁇ ff can be applied to the transport material.
- acceleration / deceleration torque calculation means 106 and command torque calculation means 107 are provided.
- the acceleration / deceleration torque calculating means 106 receives the command speed ⁇ r and outputs the acceleration / deceleration torque ⁇ a necessary for acceleration / deceleration so that the motor speed ⁇ m matches the command speed ⁇ r.
- the command torque calculation means 107 adds the compensation torque ⁇ m, the feed forward torque ⁇ ff, and the acceleration / deceleration torque ⁇ a, and outputs the command torque ⁇ r. Thereby, even at the time of acceleration / deceleration, the motor 1 can be operated stably, and accurate acceleration / deceleration can be realized.
- the motor control device 100 has a configuration in which the acceleration / deceleration torque calculation means 106 is provided in the motor control device 100. However, when the acceleration / deceleration torque calculation means 106 is omitted and a command speed is input. The acceleration / deceleration torque calculated in advance may be input from the outside.
- the reference speed generation unit 108 is configured to calculate the reference speed ⁇ a so as to follow the command speed ⁇ r by a first-order lag calculation, whereby the tension generated due to the discontinuous change at the inflection point of the command speed ⁇ r. It becomes possible to suppress fluctuations. Further, by equalizing the response of the first-order lag calculation of the reference speed generation means 108 in the motor control device that drives and controls each of the motor 21 and the motor 22 in FIG. The tension can be improved and accurate tension control becomes possible.
- FIG. FIG. 3 is a block diagram showing a motor control apparatus according to Embodiment 2 of the present invention.
- 200 is a motor control device (corresponding to 100 in FIG. 1)
- 201 is a command speed calculating means (corresponding to 101 in FIG. 1)
- 202 is a ratio calculating means (corresponding to 102 in FIG. 1)
- 203 is a control.
- Deviation calculation means (corresponding to 103 in FIG. 1)
- 204 is speed control means (corresponding to 104 in FIG. 1)
- 205 is speed deviation correction means (corresponding to 105 in FIG. 1)
- 206 is acceleration / deceleration torque calculation means (FIG. 1).
- 207 is a command torque calculating means (corresponding to 107 in FIG.
- the motor control device 200 receives the motor speed ⁇ m, which is the speed of the motor 1 detected by the speed detection means 3, the reference speed ⁇ b input from the outside, and the feedforward torque ⁇ ff, and outputs the command torque ⁇ r by the operation described below. To do.
- the command speed calculation means 201 receives the reference speed ⁇ b input from the outside and the ratio gain ⁇ calculated by the ratio calculation means 202 as inputs.
- the command speed calculation means 201 generates a command speed ⁇ r for controlling the motor speed ⁇ m of the motor 1 using the reference speed ⁇ b and the ratio gain ⁇ .
- the command speed calculation means 201 uses the ratio gain ⁇ so that the command speed ⁇ r has a speed difference with respect to the reference speed ⁇ b, for example, performs a calculation as shown in the equation (1) to obtain the command speed. ⁇ r is generated.
- the control deviation calculating means 203 outputs the control deviation e by performing, for example, the calculation shown in Expression (2) using the speed deviation ⁇ e and the speed deviation correction value ⁇ ec.
- the speed control unit 204 receives the control deviation e as an input, and performs an operation such that the control deviation e is reduced by a proportional-integral calculation using the speed proportional gain Kvp and the speed integral gain Kvi, for example, as shown in Equation (3). The result is output as compensation torque ⁇ m.
- the speed deviation correction means 205 receives the compensation torque ⁇ m output from the speed control means 204.
- the speed deviation correction means 205 outputs a speed deviation correction value ⁇ ec by applying a predetermined control calculation based on the compensation torque ⁇ m.
- the compensation torque ⁇ m may be multiplied by a predetermined gain, and the multiplication result may be used as a speed deviation correction value ⁇ ec.
- the acceleration / deceleration torque calculation means 206 calculates the torque required to accelerate / decelerate the motor 1 and the load machine 2 coupled to the motor 1 according to the change in the command speed ⁇ r, and outputs it as the acceleration / deceleration torque ⁇ a.
- the acceleration / deceleration torque ⁇ a is calculated by, for example, calculating a command acceleration ⁇ r ′, which is a differential signal of the command speed ⁇ r, and multiplying the calculated command acceleration ⁇ r ′ by the moment of inertia of the motor 1 and the load machine 2.
- the command torque calculation means 207 receives a feedforward torque ⁇ ff input from the outside, a compensation torque ⁇ m output from the speed control means 204, and an acceleration / deceleration torque ⁇ a output from the acceleration / deceleration torque calculation means 206.
- the command torque calculation means 207 outputs a sum of the input feedforward torque ⁇ ff, compensation torque ⁇ m, and acceleration / deceleration torque ⁇ a as the command torque ⁇ r.
- the ratio calculation means 202 receives the speed deviation correction value ⁇ ec output from the speed deviation correction means 205.
- the ratio calculation means 202 calculates the ratio gain ⁇ by applying a control calculation that reduces the speed deviation correction value ⁇ ec. Furthermore, the ratio calculation means 202 changes the reference speed ⁇ b by the calculation shown in the equation (1) based on the ratio gain ⁇ , and outputs the command speed ⁇ r.
- the speed control means 204 performs a proportional-integral calculation using the speed proportional gain Kvp and the speed integral gain Kvi represented by the equation (3), and the speed deviation correction means 205 is a proportional using the speed proportional gain Kvp.
- the transfer function from the speed deviation ⁇ e to the speed deviation correction value ⁇ ec is expressed by the following equation (6).
- the speed deviation correction value ⁇ ec is used as an input to the proportional calculation means 202 instead of the speed deviation ⁇ e, and the proportional calculation means 202 has the speed deviation correction value ⁇ ec instead of the speed deviation ⁇ e.
- the ratio gain ⁇ is calculated on the basis of the above and the command speed calculation means 201 is configured to generate the command speed ⁇ r, so that the same effect as in the first embodiment described above can be obtained although there are transiently different portions. be able to.
- the ratio gain ⁇ may be calculated based on the compensation torque ⁇ m.
- the ratio calculation unit 202 calculates the ratio gain ⁇ by calculation including at least integral calculation so that the speed deviation correction value ⁇ ec gradually approaches zero based on the speed deviation correction value ⁇ ec.
- the ratio calculation unit 202 may perform a proportional calculation or a proportional integration calculation using the proportional gain ⁇ . In any case, even if the set tension, the transport roll, and the transport material are changed, the effect that the ratio gain ⁇ can be automatically calculated is obtained. Further, when the ratio calculation means 202 calculates the ratio gain ⁇ by proportional calculation based on the speed deviation correction value ⁇ ec, the proportional gain ⁇ is increased until the magnitude of the speed deviation correction value ⁇ ec becomes smaller than a predetermined threshold value. By increasing continuously or stepwise, it is possible to obtain substantially the same effect as performing the above integral calculation.
- FIG. FIG. 4 is a block diagram showing a motor control apparatus according to Embodiment 3 of the present invention.
- 300 is a motor control device (corresponding to 100 in FIG. 1)
- 301 is command speed calculating means (corresponding to 101 in FIG. 1)
- 302 is ratio calculating means (corresponding to 102 in FIG. 1)
- 303 is control.
- Deviation calculation means (corresponding to 103 in FIG. 1)
- 304 is speed control means (corresponding to 104 in FIG. 1)
- 305 is speed deviation correction means (corresponding to 105 in FIG. 1)
- 307 command torque calculation means (FIG. 1).
- 308 is a reference speed generation means (corresponding to 108 in FIG. 1). Since reference numerals 1 to 3 are the same as those in FIG. 1, their description is omitted here.
- the motor control device 300 receives the motor speed ⁇ m detected by the speed detection means 3, the reference speed ⁇ b and the feedforward torque ⁇ ff input from the outside, and outputs the command torque ⁇ r by the operation described below.
- the command speed calculation means 301 receives the reference speed ⁇ b input from the outside and the ratio gain ⁇ calculated by the ratio calculation means 302 as inputs.
- the command speed calculation means 301 generates a command speed ⁇ r for controlling the motor speed ⁇ m of the motor 1 using the ratio gain ⁇ .
- the motor 1 drives the load machine 2 according to the command speed ⁇ r.
- the command speed calculation means 301 performs a calculation as shown in, for example, Expression (1) so that the command speed ⁇ r has a speed difference with respect to the reference speed ⁇ b, and generates the command speed ⁇ r.
- the speed deviation ⁇ e which is the difference between the command speed ⁇ r and the motor speed ⁇ m, is input to the control deviation calculation means 303. Furthermore, a speed deviation correction value ⁇ ec output from a speed deviation correcting means 305 described later is also input to the control deviation calculating means 303.
- the control deviation calculation means 303 outputs the control deviation e by performing, for example, the calculation shown in Expression (2) using the speed deviation ⁇ e and the speed deviation correction value ⁇ ec.
- the speed control means 304 receives the control deviation e as an input, performs an operation such that the control deviation e is reduced by a proportional-integral calculation using the speed proportional gain Kvp and the speed integral gain Kvi, for example, as shown in equation (3), The result is output as compensation torque ⁇ m.
- the speed deviation correction means 305 outputs a speed deviation correction value ⁇ ec by applying a predetermined control calculation based on the compensation torque ⁇ m output from the speed control means 304.
- the compensation torque ⁇ m may be multiplied by a predetermined gain, and the multiplication result may be used as a speed deviation correction value ⁇ ec.
- the command torque calculation means 307 receives the feedforward torque ⁇ ff input from the outside and the compensation torque ⁇ m output from the speed control means 304, and adds the feedforward torque ⁇ ff and the compensation torque ⁇ m as the command torque ⁇ r. Output.
- the ratio calculation means 302 calculates the ratio gain ⁇ by applying a control calculation that reduces the speed deviation ⁇ e.
- the command speed calculation means 301 changes the reference speed ⁇ b by the calculation shown in Expression (1) based on the ratio gain ⁇ calculated by the ratio calculation means 302, and outputs the command speed ⁇ r.
- the conveyance speed may change before and after the conveyance roll due to a minute error in the conveyance roll diameter and expansion / contraction of the conveyance material. Further, the speed deviation ⁇ e may occur due to this.
- the compensation torque ⁇ m output by the speed control means 304 does not have a steady output, and a desired tension as set by the feedforward torque ⁇ ff can be applied to the conveying material, so that high-precision tension control is achieved. Is possible.
- the ratio calculation means 302 calculates the ratio gain ⁇ so that the speed deviation ⁇ e asymptotically approaches zero based on the speed deviation ⁇ e, the conveyance material or the conveyance roll is replaced. Even so, since the appropriate ratio gain ⁇ is automatically calculated, it is possible to always apply the tension as set by the feedforward torque ⁇ ff to the conveying material. Even if the transport speed and tension fluctuate due to unexpected disturbances, the speed deviation correction means 305 prevents the occurrence of excessive motor torque and tension errors and the instability of the transport system.
- the ratio gain ⁇ is automatically calculated based on the transiently generated speed deviation ⁇ e, and the command speed ⁇ r is generated so that the speed deviation ⁇ e gradually approaches zero. It becomes possible to grant.
- the speed deviation correction value ⁇ ec and the compensation torque ⁇ m may be input to the ratio calculation means 302 instead of the speed deviation ⁇ e.
- the ratio calculation means 302 calculates the ratio gain ⁇ based on the speed deviation correction value ⁇ ec or the compensation torque ⁇ m.
- the command torque ⁇ r and the feedforward torque ⁇ ff do not match during acceleration / deceleration.
- the followability of the motor speed ⁇ m with respect to the command speed ⁇ r is also deteriorated as compared with the first embodiment, the follow-up characteristic with respect to the command speed ⁇ r is extremely large because the compensation torque ⁇ m is increased or decreased transiently with the increase or decrease of the command speed ⁇ r. It does not deteriorate.
- the acceleration / deceleration torque necessary for accelerating / decelerating the motor 1 and the load machine 2 is calculated when calculating the feedforward torque ⁇ ff input from the outside in the motor control device 200. If it is further added to the feedforward torque ⁇ ff, substantially the same effect as in the first embodiment can be obtained.
- the ratio calculation means 202 calculates the ratio gain ⁇ by a calculation including at least an integral calculation based on the speed deviation ⁇ e so that the speed deviation ⁇ e gradually approaches zero.
- the ratio calculation means 202 may perform a proportional calculation or a proportional integration calculation using a proportional gain. In any case, even if the set tension, the transport roll, and the transport material are changed, the effect that the ratio gain can be automatically calculated is obtained. Further, when the ratio calculation means 102 calculates the ratio gain ⁇ by proportional calculation based on the speed deviation ⁇ e, the proportional gain is continuously or stepwise until the magnitude of the speed deviation ⁇ e becomes smaller than a predetermined threshold value. By making it larger, it is possible to obtain substantially the same effect as the above-described integral calculation.
- FIG. FIG. 5 is a block diagram showing a motor control apparatus according to Embodiment 4 of the present invention.
- 400 is a motor control device (corresponding to 100 in FIG. 1)
- 401 is command speed calculating means (corresponding to 101 in FIG. 1)
- 402 is ratio calculating means (corresponding to 102 in FIG. 1)
- 403 is control.
- Deviation calculation means (corresponding to 103 in FIG. 1)
- 404 is speed control means (corresponding to 104 in FIG. 1)
- 405 is speed deviation correction means (corresponding to 105 in FIG. 1)
- 406 is acceleration / deceleration torque calculation means (FIG. 1).
- 407 is command torque calculating means (corresponding to 107 in FIG. 1)
- 408 is reference speed generating means (corresponding to 108 in FIG.
- the motor control device 400 receives the motor speed ⁇ m, the reference speed ⁇ b input from the outside, and the feedforward torque ⁇ ff, and outputs the command torque ⁇ r by the operation described below.
- the command speed calculation means 401 receives the reference speed ⁇ b input from the outside and the ratio gain ⁇ calculated by the ratio calculation means 402 as inputs, and the motor speed of the motor 1 that drives the load machine 2.
- a command speed ⁇ r for controlling ⁇ m is generated.
- the command speed calculation means 401 uses the ratio gain ⁇ to perform a calculation as shown in, for example, Expression (1) so that the command speed ⁇ r has a speed difference with respect to the reference speed ⁇ b, thereby generating the command speed ⁇ r.
- the speed control means 404 receives the control deviation e as an input, performs an operation such that the control deviation e is reduced by a proportional integration calculation using the speed proportional gain Kvp and the speed integral gain Kvi, for example, as shown in Equation (2), The result is output as compensation torque ⁇ m.
- the speed deviation correction means 405 receives the torque deviation ⁇ e, which is a deviation between the feedforward torque ⁇ ff inputted from the outside and the compensation torque ⁇ m, and outputs a speed deviation correction value ⁇ ec by applying a predetermined control calculation.
- the compensation torque ⁇ m may be multiplied by a predetermined gain, and the multiplication result may be used as a speed deviation correction value ⁇ ec.
- the torque required for acceleration / deceleration is calculated and output as acceleration / deceleration torque ⁇ a.
- the acceleration / deceleration torque ⁇ a is calculated by, for example, calculating a command acceleration ⁇ r ′, which is a differential signal of the command speed ⁇ r, and multiplying the calculated command acceleration ⁇ r ′ by the moment of inertia of the motor 1 and the load machine 2.
- the command torque calculation means 407 receives the compensation torque ⁇ m output from the speed control means 404 and the acceleration / deceleration torque ⁇ a output from the acceleration / deceleration torque calculation means 406, and adds the compensation torque ⁇ m and the acceleration / deceleration torque ⁇ a. Output as command torque ⁇ r.
- the ratio calculating means 402 calculates a ratio gain ⁇ by applying a control calculation that reduces the speed deviation ⁇ e with the speed deviation ⁇ e as an input, and the command speed calculating means 401 is based on the calculated ratio gain ⁇ .
- the reference speed ⁇ b is changed by the calculation shown in Expression (1), and the command speed ⁇ r is output.
- the speed deviation correction means 405 inputs the difference ⁇ e between the feedforward torque ⁇ ff and the compensation torque ⁇ m and calculates the speed deviation correction value ⁇ ec, so that the torque is fed back. Accordingly, it is possible to stably control the tension applied to the transport material and to apply the tension as set by the feed forward torque to the transport material.
- the ratio calculation means 402 calculates the ratio gain ⁇ by calculation including at least integral calculation so that the speed deviation ⁇ e asymptotically approaches zero based on the speed deviation ⁇ e.
- the ratio calculation unit 402 may perform a proportional calculation using a proportional gain or a proportional integration calculation. In any case, even if the set tension, the transport roll, and the transport material are changed, the effect that the ratio gain can be automatically calculated is obtained. Further, when the ratio calculation means 102 calculates the ratio gain ⁇ by proportional calculation based on the speed deviation ⁇ e, the proportional gain is continuously or stepwise until the magnitude of the speed deviation ⁇ e becomes smaller than a predetermined threshold value. By making it larger, it is possible to obtain substantially the same effect as the above-described integral calculation.
Abstract
Description
図3は、この発明の実施の形態2によるモータ制御装置を示すブロック図である。図3において、200はモータ制御装置(図1の100に相当)、201は指令速度演算手段(図1の101に相当)、202は比率演算手段(図1の102に相当)、203は制御偏差演算手段(図1の103に相当)、204は速度制御手段(図1の104に相当)、205は速度偏差補正手段(図1の105に相当)、206は加減速トルク演算手段(図1の106に相当)、207は指令トルク演算手段(図1の107に相当)、208は規範速度生成手段(図1の108に相当)である。なお、符号1~3は、図1と同じであるため、ここでは説明を省略する。なお、以下の記述では、実施の形態1と同様に説明を容易にするため規範速度生成手段208の入力から出力までの伝達特性を1とし、ωa=ωr、ωa′=ωr′として説明する。
図4は本発明の実施の形態3によるモータ制御装置を示すブロック図である。図4において、300はモータ制御装置(図1の100に相当)、301は指令速度演算手段(図1の101に相当)、302は比率演算手段(図1の102に相当)、303は制御偏差演算手段(図1の103に相当)、304は速度制御手段(図1の104に相当)、305は速度偏差補正手段(図1の105に相当)、307は指令トルク演算手段(図1の107に相当)、308は規範速度生成手段(図1の108に相当)である。なお、符号1~3は、図1と同じであるため、ここでは説明を省略する。なお、以下の記述では、実施の形態1と同様に説明を容易にするため規範速度生成手段108の入力から出力までの伝達特性を1とし、ω=ωaとして説明する。
図5は、本発明の実施の形態4によるモータ制御装置を示すブロック図である。図5において、400はモータ制御装置(図1の100に相当)、401は指令速度演算手段(図1の101に相当)、402は比率演算手段(図1の102に相当)、403は制御偏差演算手段(図1の103に相当)、404は速度制御手段(図1の104に相当)、405は速度偏差補正手段(図1の105に相当)、406は加減速トルク演算手段(図1の106に相当)、407は指令トルク演算手段(図1の107に相当)、408は規範速度生成手段(図1の108に相当)である。なお、符号1~3は、図1と同じであるため、ここでは説明を省略する。なお、以下の記述では、実施の形態1と同様に説明を容易にするため規範速度生成手段108の入力から出力までの伝達特性を1とし、ωa=ωr、ωr′=ωa′として説明する。
Claims (8)
- 外部から入力される基準速度と比率ゲインとに基づいて指令速度を演算する指令速度演算手段と、
前記指令速度と負荷機械を駆動するモータの速度であるモータ速度との差である速度偏差と速度偏差補正値とに基づいて制御偏差を出力する制御偏差演算手段と、
前記制御偏差に基づいて、前記制御偏差が低減するよう少なくとも積分演算を含む制御演算により補償トルクを出力する速度制御手段と、
少なくとも前記補償トルクに基づいて前記速度偏差補正値を演算して前記制御偏差演算手段に入力する速度偏差補正手段と、
少なくとも前記補償トルクに基づいて前記負荷機械を駆動する前記モータのトルクの目標値である指令トルクを出力する指令トルク演算手段と、
前記速度偏差に基づいて前記比率ゲインを演算して前記指令速度演算手段に入力する比率演算手段と
を備えたことを特徴とするモータ制御装置。 - 前記比率演算手段は、前記速度偏差が低減するよう少なくとも積分演算を含む制御演算により前記比率ゲインを演算することを特徴とする請求項1に記載のモータ制御装置。
- 前記比率演算手段は、前記速度偏差が低減するよう所定のゲインの比例演算により前記比率ゲインを演算することを特徴とする請求項1に記載のモータ制御装置。
- 前記比率演算手段は、前記速度偏差が所定の閾値より小さくなるまで前記比率ゲインを増大させることを特徴とする請求項1に記載のモータ制御装置。
- 前記指令トルク演算手段は、外部から入力されるフィードフォワードトルクと前記補償トルクとを加算して前記指令トルクを出力することを特徴とする請求項1に記載のモータ制御装置。
- 前記速度偏差補正手段は、外部から入力されるフィードフォワードトルクと前記補償トルクとの差を入力として前記速度偏差補正値を演算することを特徴とする請求項1に記載のモータ制御装置。
- 前記指令速度を入力として前記モータ速度が前記指令速度に一致するよう加減速を行うのに必要な加減速トルクを出力する加減速トルク演算手段をさらに備え、
前記指令トルク演算手段は、前記補償トルクと前記フィードフォワードトルクと加減速トルクとを加算して前記指令トルクを出力する
ことを特徴とする請求項1に記載のモータ制御装置。 - 前記指令速度演算手段が出力する前記指令速度に基づいて演算される規範速度と前記モータ速度との差を速度偏差とし、前記加減速トルク演算手段は前記規範速度を入力として前記モータ速度が前記規範速度に一致するよう加減速を行うのに必要な加減速トルクを出力する
ことを特徴とする請求項7に記載のモータ制御装置。
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