WO2012056844A1 - Dispositif de commande d'un moteur linéaire - Google Patents

Dispositif de commande d'un moteur linéaire Download PDF

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Publication number
WO2012056844A1
WO2012056844A1 PCT/JP2011/072005 JP2011072005W WO2012056844A1 WO 2012056844 A1 WO2012056844 A1 WO 2012056844A1 JP 2011072005 W JP2011072005 W JP 2011072005W WO 2012056844 A1 WO2012056844 A1 WO 2012056844A1
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WIPO (PCT)
Prior art keywords
value
current
axis
command value
mover
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Application number
PCT/JP2011/072005
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English (en)
Japanese (ja)
Inventor
東良行
海野真人
佐藤智紀
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村田機械株式会社
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Priority to JP2012540747A priority Critical patent/JP5578240B2/ja
Publication of WO2012056844A1 publication Critical patent/WO2012056844A1/fr

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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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H02P25/064—Linear motors of the synchronous type
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H02P25/062—Linear motors of the induction type

Definitions

  • the present invention relates to a linear motor control device applied to a synchronous ground-side discrete arrangement linear motor used for driving a transport device for a machine tool, a transport device in an industrial machine, and other various devices.
  • Linear motors are widely used for traveling driving and the like in transport carts and the like of logistics equipment (for example, Patent Document 1).
  • the linear motor includes a linear induction motor (LIM), a linear synchronous motor (LSM), a linear direct current motor, and the like, but the linear induction motor is mainly used as a long-distance traveling system.
  • Most of the linear synchronous motors have a system in which a magnet is arranged on the ground side and moves on the coil side.
  • Non-Patent Document 1 describes modeling for a ground primary type intermittent arrangement (discrete arrangement) linear synchronous motor in which a stator is arranged only at a place where acceleration / deceleration is necessary.
  • the linear induction motor has a low thrust and it is difficult to improve the running performance. For this reason, a linear synchronous motor has been tried to be applied to a transfer device that becomes a loader of a machine tool.
  • Most conventional linear synchronous motors have a magnet moving on the ground side and moving on the coil side.
  • power must be supplied to the mover. Due to the wiring to the mover, the travel route is limited and the power supply system is complicated.
  • in a linear synchronous motor it tried to arrange
  • the primary coil is disposed on the ground side, if the coil is continuously disposed over the entire length of the movement path as in the conventional linear motor, the amount of use of the coil increases and the cost increases.
  • a synchronous linear motor that solves such problems, a plurality of individual motors composed of armatures that can function as the primary armature of one independent linear motor are routed in the moving direction of the mover.
  • the object of the present invention is to achieve smooth movement control corresponding to changes in the induced voltage with respect to the position of the mover relative to the individual motor, while adopting the ground discrete arrangement form of the individual motor which is advantageous in terms of reduction of coil usage and power supply type. It is providing the linear motor control apparatus which can perform.
  • the linear motor control device comprises a plurality of individual motors (3) each having three phases of coils arranged in a linear direction and functioning as a primary armature of one linear motor (1).
  • Each individual motor control means (6) has a position / speed control means (17) that performs both position control and speed control or only position control, and a current control means (13) that performs current control,
  • the individual motor control means (6) includes a current detection means (14) for detecting a current component of each phase of the individual motor (3) and a position for detecting the position and speed of the mover (4).
  • a detection means (15) and a speed detection means (16) are provided.
  • the current control means (14) uses the detected value of the current detection means (14) with respect to the q-axis current command value i q * which is a thrust current command value given from the position / speed control means (17).
  • a coordinate conversion unit (20) that converts the q-axis voltage command value V q ′ and the d-axis voltage command value V d ′ into command values of the coordinates of each phase of the individual motor (3), and the coordinates A power converter (21) that converts the output of the converter (20) into a drive current for the individual motor (3)
  • a vector control type In this configuration, the mover detected by the speed detector (16) with respect to the q-axis voltage command value V q ′ output from the thrust current controller (18) and input to the coordinate converter (20).
  • an induced voltage compensation means (31) for adding the detected voltage value x ⁇ of (4) and the voltage compensation value ⁇ x ⁇ obtained by the determined induced voltage constant ⁇ .
  • Vector control is a technology that grasps motor current and flux linkage as instantaneous values of vectors, and controls those vectors with instantaneous values to make the instantaneous thrust of the motor follow the command. Since it is possible, it is widely used in the control of rotary motors.
  • a vector is formed by the thrust current control unit, the magnetic flux current control unit, and the coordinate conversion unit.
  • the inductance varies depending on the position of the mover (4) with respect to the individual motor (3). Change and the induced voltage changes. Control for these changes cannot be appropriately performed by general vector control alone.
  • the speed detection means (16) detects the q-axis voltage command value V q ′ output from the thrust current control section (18) and input to the coordinate conversion section (20). Since the induced voltage compensation means (31) for adding the voltage compensation value ⁇ s obtained from the speed detection value s of the movable element (4) and the predetermined induced voltage constant ⁇ is provided, the position of the movable element (4) The q-axis voltage command value V q ′ is appropriately compensated for the inductance change and induced voltage change caused by the above, and smooth operation of the mover (4) can be obtained.
  • the linear motor (1) to be controlled is discretely arranged with the primary side armature (3) as the fixed side, the coil usage is small, and the power is supplied to the moving side.
  • the advantage of the discretely arranged linear motor (1) that the power feeding system can be simplified can be obtained.
  • the position change inductance compensation means (32) includes a position detection value x of the mover (4) detected by the position detection means (15) and a mover (4) detected by the speed detection means (16).
  • Q-axis current detection value i q and d-axis current detection value i d obtained by converting the current detection value s of the current and the current value detected by the current detection means (1) into the q-axis and d-axis current values.
  • the q-axis voltage compensation value and the d-axis voltage compensation value are calculated according to the determined calculation formula.
  • the q-axis voltage compensation value is added to the q-axis voltage command value V q ′ output from the thrust current control unit (18) and input to the coordinate conversion unit (20), and the magnetic flux current control unit (19 ) And the d-axis voltage compensation value is added to the d-axis voltage command value V d ′ output to the coordinate conversion unit (20).
  • the position depends on the position of the movable element (4).
  • the q-axis voltage command value V q ′ and the d-axis voltage command value V d ′ are appropriately compensated for the inductance change, and a smoother operation of the mover (4) can be obtained.
  • the predetermined cogging compensation current value i cogging is subtracted from the thrust current command value given from the position / speed control means (17), and (18) is input to the thrust current control unit. It is preferable to provide cogging compensation means (33) for setting the q-axis current command value i q *.
  • Cogging compensation current value i cogging allows for adequate cogging mitigation, because uniquely determined by the position of the movable element (4), it is Toko determined in advance by tests and the like. By performing the cogging compensation with the obtained value, the cogging due to the discrete arrangement of the individual motors (3) can be reduced.
  • the induced voltage constant ⁇ used in the induced voltage compensation means (31) may be a constant value at an intermediate portion in the moving direction of the mover of the individual motor, and a value that gradually decreases toward the end at both ends.
  • the induced voltage constant ⁇ may be a value that changes to a trapezoidal shape.
  • the q-axis voltage compensation value added by the position change inductance compensation means (32) is a value determined by the following equations (5q) and (5d).
  • ⁇ p pitch of one pair of magnetic poles of the mover L d :
  • LM L q LM L: Self-inductance of each phase
  • M Mutual inductance between phases
  • FIG. 1 is a block diagram showing an overall configuration of a linear motor control device according to an embodiment of the present invention.
  • A is a plan view of an individual motor in the linear motor
  • B is a sectional view thereof. It is a block diagram of the individual motor control means in the linear motor control device. It is a block diagram which shows the detail of the current control means in the linear motor control apparatus.
  • FIG. 1 shows a linear motor system including a linear motor 1 to be controlled and a linear motor control device 2.
  • the linear motor 1 is a linear synchronous motor (LSM), and a plurality of ground-side individual motors 3 each composed of an armature capable of functioning as a primary armature of an independent linear motor, 4 is a discretely arranged linear motor installed at intervals in the moving direction X of four.
  • the individual motors 3 are arranged over the entire movement range of the mover 4.
  • Each individual motor 3 is installed on a common frame 5 having a rail (not shown) of the mover 4.
  • a sensor 15 serving as a position detector for detecting the position of the mover 4 is installed in the frame 5 for each individual motor 3.
  • the sensor 15 is shown between the individual motors 3 for convenience of illustration. However, in actuality, the sensor 15 is disposed at the same position as the individual motor 3 in the moving element moving direction (X direction).
  • a linear sensor 15 capable of detecting the position in a slightly longer range is used.
  • the mover 4 is provided with a plurality of N and S magnetic poles made of permanent magnets arranged in the move direction X on the mover base 4a, and is guided by a rail (not shown) provided on the frame 5 so as to be freely advanced and retracted. Is done.
  • the mover 4 is formed to have a length extending between the plurality of individual motors 3.
  • each individual motor 3 is formed by arranging a plurality of coils 3a and cores 3b serving as magnetic poles of each layer in the moving direction X.
  • Each core 3b is constituted by a portion protruding like a comb from a common main body.
  • the individual motor 3 may be an armature provided with a plurality of electrodes for each phase (U, V, W phase) and having an electrode that is an integral multiple of the number of phases.
  • the control device 2 includes a plurality of individual motor control means 6 that respectively control the individual motors 3, and one overall control means 7 that gives a position command to the plurality of individual motor control means 6.
  • the overall control means 7 is composed of a weak electric circuit element, a computer, a part of its program, and the like.
  • the overall control means 7 stores the assigned range obtained by dividing the movement range of the entire linear motor for each individual motor 3, and the command position of the position command input from the host control means (not shown) A position command corresponding to the motor 3 is converted and given.
  • the position command corresponding to each individual motor 3 is a command obtained by coordinate conversion to the coordinates of the individual motor 3.
  • Each individual motor control means 6 is composed of a strong electric motor drive circuit for supplying a motor current to the individual motor and a weak electric control unit (not shown) for controlling the motor drive circuit.
  • the weak electric system control unit is constituted by a microcomputer and its program and circuit elements, and performs feedback control shown in FIG.
  • the individual motor control means 6 has a position control means 11, a speed control means 12, and a current control means 13 for performing feedback control of position, speed, and current, respectively, and a position loop, speed loop, and Performs feedback control of cascade control having a current loop.
  • the position control means 11 performs feedback control of a predetermined position loop gain according to the deviation between the detected value of the sensor 15 for detecting the current position of the movable element 4 with respect to the individual motor 3 and the command value of the position command.
  • the position control means 11 outputs a speed command value as its output.
  • the speed control means 12 performs feedback control of a predetermined speed loop gain according to the deviation between the speed detection value of the mover 4 obtained through the speed detection means 16 and the speed command value.
  • the speed control means 12 outputs a current command value as its output.
  • the speed detection unit 16 includes a differentiation unit that obtains the speed from the position detection value of the sensor 15.
  • the speed detection unit 16 may be provided separately from the sensor 15 and directly detect the speed.
  • a combination of the position control unit 11 and the speed control unit 12 is referred to as a position / speed control unit 17.
  • the position control and the speed control are performed.
  • the position / speed control means 17 may perform only the position control without performing the speed control.
  • the current control means 13 detects the drive current applied to the individual motor 3 by the current detection means 14 such as a current detector, and determines a current command value corresponding to the deviation between the current detection value and the current command value. Generated using current loop gain to control motor drive current.
  • the current detection means 14 detects components of each phase of the drive current, and includes phase current detection units 14a and 14b (FIG. 4) that detect two of the three phases. If detection for two phases can be performed, the current component of the remaining one phase can be obtained by calculation.
  • FIG. 4 shows details of the current control means 13 of FIG.
  • the current control means 13 is a control means for performing vector control, and has various compensation means that characterize the present invention and the embodiment.
  • each compensation means 31 from FIG. A basic configuration of vector control in which .about.33 is omitted will be described with reference to FIG.
  • the current control unit 13 includes a thrust current control unit 18, a magnetic flux current control unit 19, a coordinate conversion unit 20, and a power conversion unit 21 as a basic configuration.
  • the thrust current control unit 18 detects the q-axis current command value i q *, which is the thrust current command value given from the speed control unit 12 of the position / speed control unit 17, from the detection value of the current detection unit 14. It is means for controlling the q-axis current detection value i q of the individual motor 3 obtained via the coordinate ⁇ conversion unit 22 and the detected coordinate dq conversion unit 23 to follow, and the q-axis voltage command value V q ′ is output as an output. Output.
  • the thrust current control unit 18 includes a subtraction unit 18a that subtracts the q-axis current detection value i q and a calculation unit 18b that controls the output of the subtraction unit 18a.
  • the magnetic flux current control unit 19 detects the detected coordinate ⁇ conversion unit 22 from the detection value of the current detection unit 14 with respect to the d-axis current value i d * which is the magnetic flux current command value set in the magnetic flux current command value setting unit 29. And a means for controlling the d-axis current detection value i d of the individual motor 3 obtained via the detected coordinate dq conversion unit 23 to follow, and outputs a d-axis voltage command value V d ′ as an output.
  • the magnetic flux current command value setting means 29 is appropriately set according to the motor characteristics of the individual motor 3, but normally the d-axis electric current value i d * is set to “0”.
  • Flux current controller 19, consisting of a subtraction unit 19a for subtracting the d-axis current detection value i d, a calculation section 19b for controlling the output of the subtraction unit 19a.
  • the detected coordinate ⁇ converting unit 22 converts the detected values of the currents ia, ib, and ic flowing through the U phase, V phase, and W phase of the individual motor 3 into the actual current of the stationary orthogonal two-phase coordinate component (the actual current on the ⁇ axis). , And the actual current on the ⁇ -axis).
  • the detection coordinate dq conversion unit 23 converts the detection values i ⁇ and i ⁇ of the actual current of the stationary quadrature two-phase coordinate component into detection values i q and i d on the q and d axes. Means.
  • the q axis is an axis in the traveling direction of the linear motor
  • the d axis is an axis perpendicular to the q axis.
  • the mover phase input to the detection coordinate dq conversion unit 23 is a detected value of the phase obtained by converting the output of the sensor 15 which is a position detector by the magnetic pole table 24 and the sin / cos conversion unit 25.
  • the magnetic pole table 24 is a table that converts the detected value of the linear position obtained from the sensor 15 into an electrical angle ⁇ .
  • the sin / cos conversion unit 25 is a means for converting between the cos and sin for the electrical angle ⁇ output from the magnetic pole table 24.
  • the calculation units 18b and 19b of the thrust current control unit 18 and the magnetic flux current control unit 19 perform PID control (proportional integral differential control), for example, by a predetermined calculation formula.
  • PID control proportional integral differential control
  • K p is a proportional control gain
  • K i is an integral control gain
  • K d is a differential control gain.
  • the coordinate conversion unit 20 includes an ⁇ conversion unit 20a and an abc conversion unit 20b.
  • ⁇ conversion unit 20a the q-axis voltage command value V q and the d-axis voltage command value V d, based on the armature phase command value V ⁇ of the actual voltage of the fixed two-layer coordinate components, is a means for converting the V ⁇ .
  • the mover phase is obtained from the position detection value of the sensor 15 via the magnetic pole table 24 and the sin / cos converter 25.
  • the abc converter 20b converts the actual voltage command values V ⁇ and V ⁇ output from the ⁇ converter 20a into voltage command values Va, Vb and Vc for controlling the U phase, V phase and W phase of the individual motor 3. It is.
  • the power conversion unit 21 is a means for converting the output of the coordinate conversion unit 20 into the drive current of the individual motor 3, and includes an inverter 21a and an output control unit 21b for controlling the inverter 21a.
  • the output control unit 21b may be any unit as long as it can control the electric power output from the inverter 21a.
  • the output control unit 21b is not particularly limited, and is, for example, means for performing pulse width modulation (PWM).
  • the current control means 13 of the embodiment shown in FIG. 4 is based on the vector control described above with reference to FIG. 5 and includes an induced voltage compensation means 31, a position change inductance compensation means 32, and a cogging compensation means 33.
  • the induced voltage compensator 31 detects the speed detection value of the mover 4 detected by the speed detector 16 with respect to the q-axis voltage command value V q ′ output from the thrust current controller 18 and input to the coordinate converter 20. This is a means for adding a voltage compensation value obtained by x ⁇ and a predetermined induced voltage constant ⁇ . This induced voltage compensation value is the product of the detected velocity value x ⁇ of the mover and the induced voltage constant ⁇ , ⁇ x ⁇ . Induced voltage compensating means 31, consisting of an arithmetic unit 31a for calculating a voltage compensation value [Phi] x ⁇ , an adder 31b for adding the calculated voltage compensation value [Phi] x ⁇ .
  • the position change inductance compensation means 32 includes a calculation unit 32a and two addition units 32b and 32c.
  • the calculation unit 32a includes a position detection value x of the mover 4 detected by the sensor 15 as position detection means, a speed detection value x ⁇ of the mover detected by the speed detection means 16, and a current detection means 14.
  • the q-axis voltage compensation value and the q-axis current detection value i q and the d-axis current detection value i d obtained by coordinate-converting the detected current value into the q-axis and d-axis current values according to a predetermined arithmetic expression,
  • the d-axis voltage compensation value is calculated.
  • the adder 32 b adds the q-axis voltage compensation value calculated by the calculator 32 a to the q-axis voltage command value V q ′ output from the thrust current controller 18 and input to the coordinate converter 20.
  • the adder 32 c adds the d-axis voltage compensation value calculated by the calculator 32 a to the d-axis voltage command value V d ′ output from the magnetic flux current controller 19 and input to the coordinate converter 20. .
  • the calculation unit 32a of the position change inductance compensation unit 32 performs calculations of the following expressions (5q) and (5d), for example.
  • ⁇ p is the pitch of one magnetic pole pair of the mover
  • L d is LM
  • L q is LM
  • L is the self-inductance of each phase
  • M is the mutual inductance between the phases.
  • Cogging compensation means 33 to the thrust current command value given from the position and speed control means 17, subtracts the prescribed cogging compensation current value i cogging, q-axis current command to be input to the thrust current control unit 18 This is a means for setting the value i q *. That is, subtraction is performed from the q-axis current command value by a current compensation value i cogging arbitrarily determined in consideration of disturbance at the end of the individual motor 3. Thereby, cogging when the mover 4 enters or protrudes into the individual motor 3 is alleviated.
  • the cogging compensation means 33 includes a current compensation value setting unit 33a that determines the current compensation value i cogging and a subtraction unit 33b that performs the subtraction.
  • ⁇ f u , ⁇ f v , and ⁇ f w are flux linkages in a range where the phases of the movable element 4 and the individual motor 3 are opposed to each other.
  • the trapezoid is changed as an example.
  • the figure shows the change which considered the difference of each phase.
  • the compensator for solving the above problems 1 and 2 was considered, the introduction of these compensators was introduced depending on the performance (CPU processing speed and memory capacity) of the servo amplifier constituting the individual motor control means 6. It can be difficult. Therefore, the following cases are divided into four cases shown in Table 1, and in this embodiment, the compensators (compensation means 31 to 33) are introduced in cases (1) and (2).
  • the four cases (1) to (4) in the table are compensators that theoretically improve accuracy. Of these, cases (1) and (2) are compensators that can be introduced even if the servo amplifier performance is low.
  • the motor end means a state in which the degree of engagement between the magnet (movable element) and the stator is not completely opposed in the stator (individual motor) region.
  • FIG. 8B shows changes taking into account the differences between the phases, and is shown for comparison.
  • the parameter changes even in the middle of the individual motor 3 as shown in FIG. ⁇ f is a flux linkage on the individual motor 3 side when the mover 4 and the individual motor 3 face each other.
  • FIG. 7 shows the relationship between the load on the memory and CPU and accuracy in the above four cases (1) to (4). If it is not necessary to consider the burden on the servo amplifier, it is ideal in calculation to use the compensator (4). However, in cases (3) and (4), the burden on the memory and CPU is high. Therefore, in this embodiment, in consideration of the burden on the servo amplifiers such as the memory and the CPU, the cases (1) and (2) are compensated.
  • ⁇ p is the length of one magnet of the individual motor 3 per pole and is the same as the pitch of one magnetic pole pair.
  • the magnetic poles have an equal pitch.
  • x ⁇ represents the speed of the carriage, but is the speed of the movable element 4, and when the movable element 4 is installed on a traveling body such as a carriage, it is the speed of the traveling body.
  • ⁇ f1 to ⁇ f5 are flux linkages around one magnetic pole pair. The pitch of the electrodes of each phase of the individual motor 3 is assumed to be equal.
  • n the relationship between the individual motor 3 and the mover 4. It is the number of interlinkage magnetic fluxes of the opposing portions, and the interlinkage magnetic flux of the magnetic poles on both ends of the individual motor 3 is calculated by ⁇ f n ⁇ opposed area ratio.
  • the flux linkage ⁇ f changes in a form as shown in FIG.
  • the induced voltage constant ⁇ is proportional to the flux linkage ⁇ f, and therefore can be expressed in the form of FIG.
  • the speed x ⁇ is constant and the difference between the phases is not taken into consideration.
  • the induced voltage constant ⁇ is the movable element at a speed x ⁇ [m / sec] when the individual motor 3 and the movable element 4 are completely opposed to each other. 4 is obtained from the induced voltage generated when the vehicle 4 is run. At this time, the mover 4 is free of control and is pulled using another drive source (not shown). In this way, the induced voltage constant ⁇ is determined as follows: The induced voltage constant ⁇ obtained by the test in this way is used for calculation in the induced voltage compensation means 31 of FIG. The method for experimentally obtaining the induced voltage constant ⁇ is an example.
  • the induced voltage constant ⁇ used in the induced voltage compensation means 31 of FIG. 4 may be a value that varies according to such a position, that is, a value that gradually decreases at both ends of the individual motor 3.
  • the position data when this variable induced voltage constant ⁇ is used is obtained from the position detection value x.
  • modeling is performed so that the interlinkage magnetic flux of each phase is maximized when the motor of each phase is fully supported, and the value changes according to the area ratio at the motor end.
  • the calculation by the induced voltage compensation means 31 in FIG. 4 shows that the induced voltage coefficient ⁇ varies according to the area ratio of the opposing areas at the end of the individual motor 3 as shown in FIG. The value will change in consideration of the above.
  • ⁇ u , ⁇ v , and ⁇ w indicate magnetic fluxes generated when a current flows in each phase. This includes mutual inductance as a term that affects each other.
  • ⁇ u , ⁇ v , and ⁇ w are expressed by the following equations.
  • the coil resistance R is, for example, the same for all phases.
  • the inductance determined by the position change inductance compensating means 32 uses a value determined by the following equation.
  • inductance compensation in the above equation corresponds to the term enclosed by the line on the right side in the following equation.
  • This inductance compensation is compensation that does not take into account changes in inductance, requires only a small calculation load, and can be employed even if the capacity of the memory or CPU in the servo amplifier constituting the individual motor control means 6 is low.
  • the part surrounded by the solid line is the part related to the reverse axis current compensation
  • the part enclosed by the dotted line is the part related to the L position / time change compensation.
  • the cogging compensation will be described. As shown in FIG. 13, when the mover 4 enters or protrudes into the individual motor 3, a pulling force is generated between the mover 4 and the individual motor 3 and affects the control as a disturbance. This disturbance can be predicted and modeled in advance, and the disturbance due to the pulling force can be suppressed by issuing a current command in consideration of the disturbance.
  • the cogging compensation means 33 in FIG. 4 performs subtraction from the q-axis current command value by a current compensation value i cogging arbitrarily determined in consideration of this disturbance. Thereby, cogging when the mover 4 enters or protrudes into the individual motor 3 is alleviated.
  • the inductance matrix (L 5 to L 8 ) can be written as the following first half expression. Furthermore, when the inductances (L 1 to L 4 ) included in (L 5 to L 8 ) are written, the following latter half equation is obtained.
  • L 5 to L 8 are obtained from the self-inductance (L u , L v , L w ) and mutual inductance (M uv , M vw , M wu ) of each coil. That is, a more accurate compensator can be obtained by appropriately modeling these six inductances.
  • the machine tool 42 is a lathe in the illustrated example, and on a bed 51, a spindle base 53 that supports a work support means 52 that is a spindle, and a turret-type tool post 54 that is a processing means. And are installed.
  • the conveying device 41 is configured such that a traveling body 43 that conveys a workpiece W that is a material for processing is installed on a rail 44 so that the traveling body 43 can freely travel, and the linear motor 1 is provided as a motor that drives the traveling body 43 to travel. Yes, the workpiece W is delivered to the workpiece support means 52 of the machine tool 42.
  • the rail 44 is provided along a longitudinal direction on a horizontal frame 45 constructed by a column 45a.
  • the traveling body 43 includes traveling wheels 61 guided by the rails 44, and guide rollers 62 that are in contact with the side surfaces of the rails 44 and regulate the position in the width direction of the traveling body 43.
  • the linear motor 1 includes a plurality of individual motors 3 installed on the frame 46 and a mover 4 installed on the traveling body 43.
  • the traveling body 43 is mounted with a front / rear moving table 46 that moves back and forth in the front / rear direction (Z direction) orthogonal to the traveling direction (X direction), and the lower end of a rod-shaped lifting body 47 that is installed on the front / rear moving table 46 so as to be movable up and down.
  • a work holding head 48 is provided.
  • the work holding head 48 is provided with a plurality of chucks 49 serving as conveyance object holding means.
  • the front / rear moving table 46 is moved back and forth by a drive source (not shown) such as a motor installed on the traveling body 3, and the elevating body 47 is driven up and down by a drive source such as a motor installed on the front / rear moving table 46.
  • the chuck 49 has a chuck claw (not shown) that is driven to open and close by a drive source such as a cylinder device or a solenoid and holds the conveyed object W.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)

Abstract

L'invention concerne un dispositif de commande d'un moteur linéaire, lequel comporte un moyen (13) de commande du courant électrique de type commande vecteur. Ce dispositif comporte également un moyen (31) de compensation de tension induite permettant de faire la somme d'une valeur de compensation de tension obtenue à partir d'une valeur (x') de vitesse détectée d'un élément mobile et d'une constante (Φ) de tension induite, et d'une valeur (Vq') de commande de tension d'axe q émise par une unité (18) de commande de courant de poussée. En outre, ce dispositif comporte un moyen (32) de compensation de l'induction selon changement de position, lequel calcule une valeur de compensation de tension d'axe q ainsi qu'une valeur de compensation de tension d'axe d au moyen d'une valeur (x) de position détectée, de la valeur (x') de vitesse détectée, d'une valeur (1q) de courant d'axe q détecté et d'une valeur (id) de courant d'axe d détecté. Ainsi, ce moyen (32) compense la valeur (Vq') de commande de tension d'axe q et une valeur (Vd') de commande de tension d'axe d.
PCT/JP2011/072005 2010-10-26 2011-09-27 Dispositif de commande d'un moteur linéaire WO2012056844A1 (fr)

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CN105610377A (zh) * 2014-11-18 2016-05-25 西门子公司 具有决定控制的振动衰减装置的线性驱动器
WO2019008909A1 (fr) * 2017-07-06 2019-01-10 日立オートモティブシステムズ株式会社 Système de moteur linéaire et compresseur le comprenant
CN112688607A (zh) * 2020-12-15 2021-04-20 大国重器自动化设备(山东)股份有限公司 一种伺服电机及人工智能机器人
US20220063924A1 (en) * 2020-08-31 2022-03-03 Rockwell Automation Technologies, Inc System and Method of Monitoring Disturbance Force in an Independent Cart System, Compensation of Said Disturbance Force
WO2023135893A1 (fr) * 2022-01-14 2023-07-20 日立Astemo株式会社 Moteur linéaire, dispositif de suspension électrique le comprenant, et système d'amortissement des vibrations
EP4286968A1 (fr) * 2022-05-31 2023-12-06 Rockwell Automation Technologies, Inc. Réglage et commande automatiques d'un système de chariot indépendant basé sur un entraînement linéaire avec compensation de valeur initiale

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CN105591587A (zh) * 2014-11-14 2016-05-18 中国航空工业第六一八研究所 一种基于直线电机的机电作动器控制系统及控制方法
JP6704705B2 (ja) * 2015-10-22 2020-06-03 キヤノン株式会社 可動磁石型リニアモータ制御システム及びその制御方法
CN107104621B (zh) * 2017-04-27 2020-04-21 上海新时达电气股份有限公司 交流电动机运行速度的弱磁控制方法及装置
JP6966344B2 (ja) * 2018-02-01 2021-11-17 株式会社日立産機システム 磁極位置推定方法及び制御装置

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JP2010130740A (ja) * 2008-11-26 2010-06-10 Toshiba Mach Co Ltd マグネット可動型リニアモータ

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JP2001275375A (ja) * 2000-03-24 2001-10-05 Central Japan Railway Co 低速度における速度起電力位相制御装置
JP2006288076A (ja) * 2005-03-31 2006-10-19 Toshiba Elevator Co Ltd 制御装置
JP2010110145A (ja) * 2008-10-31 2010-05-13 Nikon Corp 交流モータの駆動装置、及びこれを備えている駆動制御装置
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Cited By (13)

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Publication number Priority date Publication date Assignee Title
EP3024137A1 (fr) * 2014-11-18 2016-05-25 Siemens Aktiengesellschaft Entraînement linéaire doté d'un amortissement des vibrations adapté à la commande
US9628013B2 (en) 2014-11-18 2017-04-18 Siemens Aktiengesellschaft Linear Drive with cross-controller vibration damping
CN105610377B (zh) * 2014-11-18 2018-07-10 西门子公司 具有决定控制的振动衰减装置的线性驱动器
CN105610377A (zh) * 2014-11-18 2016-05-25 西门子公司 具有决定控制的振动衰减装置的线性驱动器
WO2019008909A1 (fr) * 2017-07-06 2019-01-10 日立オートモティブシステムズ株式会社 Système de moteur linéaire et compresseur le comprenant
JP2019017177A (ja) * 2017-07-06 2019-01-31 日立オートモティブシステムズ株式会社 リニアモータシステム及びそれを有する圧縮機
US11718482B2 (en) 2020-08-31 2023-08-08 Rockwell Automation Technologies, Inc. System and method of monitoring disturbance force in an independent cart system, compensation of said disturbance force
US20220063924A1 (en) * 2020-08-31 2022-03-03 Rockwell Automation Technologies, Inc System and Method of Monitoring Disturbance Force in an Independent Cart System, Compensation of Said Disturbance Force
EP3989432A1 (fr) * 2020-08-31 2022-04-27 Rockwell Automation Technologies, Inc. Système et procédé de surveillance de la force de perturbation dans un système de chariots indépendants, compensation de la force de perturbation
CN112688607A (zh) * 2020-12-15 2021-04-20 大国重器自动化设备(山东)股份有限公司 一种伺服电机及人工智能机器人
CN112688607B (zh) * 2020-12-15 2023-08-15 大国重器自动化设备(山东)股份有限公司 一种伺服电机及人工智能机器人
WO2023135893A1 (fr) * 2022-01-14 2023-07-20 日立Astemo株式会社 Moteur linéaire, dispositif de suspension électrique le comprenant, et système d'amortissement des vibrations
EP4286968A1 (fr) * 2022-05-31 2023-12-06 Rockwell Automation Technologies, Inc. Réglage et commande automatiques d'un système de chariot indépendant basé sur un entraînement linéaire avec compensation de valeur initiale

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TW201230660A (en) 2012-07-16
JP5578240B2 (ja) 2014-08-27

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