WO2013005388A1 - モータ制御装置 - Google Patents

モータ制御装置 Download PDF

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Publication number
WO2013005388A1
WO2013005388A1 PCT/JP2012/004121 JP2012004121W WO2013005388A1 WO 2013005388 A1 WO2013005388 A1 WO 2013005388A1 JP 2012004121 W JP2012004121 W JP 2012004121W WO 2013005388 A1 WO2013005388 A1 WO 2013005388A1
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WO
WIPO (PCT)
Prior art keywords
unit
deviation
emergency stop
output
motor
Prior art date
Application number
PCT/JP2012/004121
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English (en)
French (fr)
Japanese (ja)
Inventor
敦実 橋本
史 片岡
Original Assignee
パナソニック株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パナソニック株式会社 filed Critical パナソニック株式会社
Priority to JP2012549934A priority Critical patent/JP5201300B2/ja
Priority to CN201280002287.0A priority patent/CN103069713B/zh
Publication of WO2013005388A1 publication Critical patent/WO2013005388A1/ja

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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/24—Arrangements for stopping
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • 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
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • 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
    • H02P29/04—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors by means of a separate brake
    • 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
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
    • H02P3/26—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by combined electrical and mechanical braking

Definitions

  • the present invention relates to stop control of a motor at an emergency stop in a system using a motor control device such as a robot control device.
  • the robot system includes a manipulator driven by a motor or the like, a robot control device for controlling the manipulator, and the like.
  • FIG. 13 is a diagram showing a schematic configuration of a conventional robot system.
  • a robot control apparatus 100 configuring the robot system illustrated in FIG. 13 includes a movement command generation unit 101, a servo control unit 60, and an amplifier 106.
  • the movement command generation unit 101 generates a movement command by performing a trajectory plan based on an operation program created by the user.
  • the servo control unit 60 drives and controls the motor 107 in response to the movement command output from the movement command generation unit 101.
  • the amplifier 106 controls the motor 107 based on the output of the servo control unit 60.
  • the servo control unit 60 includes a position control unit 61, a speed control unit 104, a current control unit 105, and a processing unit 114.
  • Each of these control units is composed of a digital control system that performs control calculations at regular intervals.
  • the position control unit 61 receives the movement command from the movement command generation unit 101, performs position control, and generates a speed command.
  • the speed control unit 104 receives the speed command from the position control unit 61, performs speed control, and generates a current command.
  • the current control unit 105 receives the current command from the speed control unit 104, performs current control, and generates a voltage command.
  • the amplifier 106 receives the voltage command from the current control unit 105 and generates a motor current to be given to the motor 107.
  • the movement command passed from the movement command generation unit 101 to the servo control unit 60 takes the form of a change amount of the rotation angle of the motor 107 every predetermined time.
  • the position control unit 61 includes the deviation counter unit 115 as a constituent element. In the position control unit 61, the movement command is added to the deviation counter unit 115 for each position control cycle, while the actual rotation angle of the motor 107 is changed for each actual position control cycle, which is the output of the processing unit 114. The amount is subtracted from the deviation counter unit 115. The amount of change in the rotation angle of the motor 107 for each position control cycle is calculated by the processing unit 114 based on the rotation angle of the motor 107 detected by the position detector 108 associated with the motor 107.
  • the deviation counter value of the deviation counter unit 115 processed in this way is multiplied by the coefficient of the position gain 116 to obtain a speed command. Further, in addition to this, feed forward control is provided in which a value obtained by multiplying the movement command from the movement command generation unit 101 by the coefficient of the feed forward coefficient 117 is added as a part of the speed command. That is, a combination of the output of the position gain 116 and the output of the feedforward coefficient 117 is a speed command output by the position control unit 61.
  • the motor 107 is provided with a brake 109 for preventing inadvertent movement due to external force when excitation control is not performed.
  • the brake 109 is normally held and braked, and the brake is released by passing an electric current.
  • At least one of the robot control device 100 and the outside of the robot control device 100 is provided with an emergency stop instruction unit 112 as a means for quickly and directly stopping the rotation of the motor 107.
  • the emergency stop instruction unit 112 When the emergency stop instruction unit 112 is activated, the brake 109 is quickly held. That is, the brake 109 is applied to the motor 107.
  • the emergency stop instruction unit 112 when the emergency stop instruction unit 112 is activated, the transmission of the movement command from the movement command generation unit 101 is stopped.
  • the deadman switch 110 and the emergency stop switch 111 provided in the teaching device used during the teaching operation are interlocked with the energization circuit of the brake 109.
  • the power supply from the power supply 113 to the brake 109 is cut off, and the motor 107 is held in a state where the brake 109 is applied.
  • the emergency stop switch 111 include a switch provided in the teaching device, a switch provided in the robot control device 100, a limit switch that detects opening / closing of a fence placed around the manipulator, and the like.
  • the movement command generation unit 101 detects that the emergency stop instruction unit 112 has operated by monitoring the voltage applied to the brake 109, for example, and immediately stops sending the movement command.
  • an emergency stop such a series of operations will be referred to as an emergency stop.
  • the amount of rotation until the motor 107 stops may increase. That is, the coasting distance of the manipulator may be increased. This is due to a time lag from when the power supply to the brake 109 is cut off until the brake 109 starts to work, or a sufficient braking torque cannot be obtained only with the brake torque.
  • the position deviation amount remaining in the deviation counter unit 115 is cleared to zero and the speed command is directly made zero, or the speed command is asymptotically digested with the position deviation amount remaining in the deviation counter unit 115. It is something that makes it zero.
  • FIG. 14 and FIG. 15 are diagrams showing the temporal change behavior of the movement command, the position deviation amount, the speed command, and the differential value of the speed command value at the time of emergency stop in the conventional robot control device.
  • FIG. 14 shows an example in which the speed command is guided to zero while digesting the position deviation amount remaining in the deviation counter unit 115 shown in FIG. 13 at the time of emergency stop.
  • FIG. 14 shows the behavior of the temporal change in the movement command, the position deviation amount, the speed command, and the differential value of the speed command when the feedforward control is performed.
  • FIG. 15 shows an example in which the speed command is guided to zero without digesting the position deviation amount remaining in the deviation counter unit 115 shown in FIG. 13 at the time of emergency stop. That is, FIG. 15 shows the behavior of the temporal change in the movement command, the position deviation amount, the speed command and the differential value of the speed command when the feedforward control is not performed.
  • the responsiveness of the speed control system and the current control system is sufficiently higher than the responsiveness of the position control system, and the position control system is a first order whose time constant is 1 / Kp. The case where a delay system is used is shown.
  • the total output torque the torque that combines the motor output torque and the brake torque
  • the deceleration at the time of emergency stop is performed by the total output torque.
  • a large part of the total output torque is a mechanism part that connects the motor 107 and the driven part (for example, On the reducer).
  • the motor total output torque that begins to cause damage to the mechanism is called the allowable maximum total output torque.
  • the acceleration when the vehicle is decelerated with the allowable maximum total output torque is referred to as a limit acceleration.
  • a limit acceleration When the time differential value of the speed command exceeds the limit acceleration, as a result, a torque exceeding the allowable maximum total torque is applied to the mechanism unit. This is because, even during deceleration due to an emergency stop, the speed of the motor 107 is controlled to be in accordance with the speed command by speed control.
  • the present invention provides a motor control device that performs an emergency stop so as not to damage the mechanism.
  • a motor control device of the present invention is a motor control device that controls a motor that is moved by a relative movement of a movable part of a machine and stopped by a brake, and includes a movement command generation unit, a servo control Department.
  • the movement command generation unit outputs a motor movement command.
  • the servo control unit outputs a command for controlling the motor based on the output of the movement command generation unit.
  • the servo control unit includes a position control unit, a speed control unit, a current control unit, and a processing unit.
  • the position control unit outputs a speed command based on the output of the movement command generation unit.
  • the speed control unit outputs a current command based on the output of the position control unit.
  • the processing unit outputs the amount of change in the rotation angle of the motor based on the output of the position detector that detects the rotational position of the motor.
  • the position control unit includes a deviation counter unit, a first coefficient unit, a second coefficient unit, an addition unit, and a deviation correction unit.
  • the deviation counter unit obtains and outputs a deviation between the output of the movement command generation unit and the output of the processing unit.
  • the first coefficient unit receives the output of the movement command generation unit, multiplies it by a predetermined coefficient, and outputs the result.
  • the second coefficient unit receives the output of the deviation counter unit, multiplies it by a predetermined coefficient, and outputs it.
  • the adding unit adds the output of the first coefficient unit and the output of the second coefficient unit and outputs the result to the speed control unit.
  • the deviation correction unit is a speed command immediately before the emergency stop.
  • a deviation correction value is obtained based on the speed command value output by the position control unit in the position control cycle immediately before the emergency stop and the predetermined coefficient of the second coefficient part.
  • the deviation correction unit stops the output of the movement command by the movement command generation unit, and the deviation obtained by the deviation correction unit is calculated by the deviation correction unit. It is configured to perform control by the position control unit in place of the correction value.
  • the speed command can be reduced at a specified rate while maintaining continuity during an emergency stop, and the speed command during emergency stop can be decelerated in accordance with the strength of the mechanism. Thereby, the damage to the mechanism part at the time of an emergency stop can be avoided.
  • FIG. 1 is a diagram showing a schematic configuration of the robot system according to the first embodiment of the present invention.
  • FIG. 2 is a diagram showing the behavior of the temporal change in the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop in the first embodiment of the present invention.
  • FIG. 3 is a diagram showing a schematic configuration of the robot system according to the second embodiment of the present invention.
  • FIG. 4 is a diagram showing the behavior of the temporal change in the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop in Embodiment 2 of the present invention.
  • FIG. 5 is a diagram showing a schematic configuration of the robot system according to the third embodiment of the present invention.
  • FIG. 6 is a diagram illustrating a processing flow of the servo control unit according to the third embodiment of the present invention.
  • FIG. 7 is a diagram showing the behavior of the temporal change in the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop according to the third embodiment of the present invention.
  • FIG. 8 is a diagram showing a schematic configuration of the robot system according to the fourth embodiment of the present invention.
  • FIG. 9 is a diagram illustrating a processing flow of the servo control unit according to the fourth embodiment of the present invention.
  • FIG. 10 is a diagram showing a schematic configuration of the robot system according to the fifth embodiment of the present invention.
  • FIG. 11 is a diagram showing a processing flow of the servo control unit according to the fifth embodiment of the present invention.
  • FIG. 12 is a diagram showing the behavior of the temporal change in the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop according to the fifth embodiment of the present invention.
  • FIG. 13 is a diagram showing a schematic configuration of a conventional robot system.
  • FIG. 14 is a diagram illustrating a temporal change behavior of a movement command, a position deviation amount, a speed command, and a differential value of a speed command value at the time of an emergency stop in a conventional robot control device.
  • FIG. 15 is a diagram illustrating a temporal change behavior of a movement command, a position deviation amount, a speed command, and a differential value of a speed command value at the time of an emergency stop in a conventional robot control device.
  • FIG. 1 is a diagram showing a schematic configuration of the robot system according to the first embodiment of the present invention.
  • FIG. 2 is a diagram showing the behavior of the temporal change in the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop in the first embodiment of the present invention.
  • the robot system includes a manipulator driven by a motor 7 and the like, a robot control device for controlling the manipulator, an emergency stop instruction unit 12 for stopping the motor 7, and the like.
  • the manipulator is driven by a motor 7, and the motor 7 is provided with a position detector 8 and a brake 9.
  • the robot control device that is a motor control device includes a movement command generation unit 1, a servo control unit 2, and an amplifier 6.
  • the emergency stop instruction unit 12 may be provided in the robot control device, may be provided outside the robot control device, or may be provided both outside the robot control device and the robot control device.
  • the movement command generation unit 1 makes a trajectory plan based on an operation program created by the user, generates a change amount of the rotation angle of the motor 7 every predetermined time as a movement command, and passes it to the servo control unit 2.
  • the servo control unit 2 includes a position control unit 3, a speed control unit 4, a current control unit 5, and a processing unit 14.
  • the position control unit 3 and the processing unit 14 perform a control calculation process for each position control cycle.
  • the speed control unit 4 and the current control unit 5 each perform a control calculation process at predetermined intervals.
  • the position control unit 3 receives the movement command from the movement command generation unit 1, performs position control, and generates a speed command.
  • the speed control unit 4 receives the speed command from the position control unit 3 and performs speed control to generate a current command.
  • the current control unit 5 receives the current command from the speed control unit 4 and performs current control to generate a voltage command.
  • the amplifier 6 receives the voltage command from the current control unit 5 and generates a current to be given to the motor 7.
  • the position detector 8 is connected to the motor 7 so that the rotation angle of the motor 7 is detected.
  • the processing unit 14 calculates a change amount of the rotation angle of the motor 7 obtained from the position detector 8 per position control cycle, and outputs this as a change amount of the actual position.
  • the deviation counter unit 15 in the position control unit 3 adds the movement command from the movement command generation unit 1 to the value held by the deviation counter unit 15 for each position control cycle, The actual position change amount is subtracted from the value held by the deviation counter unit 15. Then, the output of the deviation counter unit 15 thus processed is multiplied by the position gain value Kp of the second coefficient unit 16, and the movement command from the movement command generation unit 1 is fed to the first coefficient unit 17. The value multiplied by the value Kf of the forward coefficient is added by the adding unit 23, and this sum is output as a speed command.
  • a brake 9 having a function of stopping the motor 7 is connected to the motor 7.
  • the brake 9 is released by energizing the brake 9. When the brake 9 is not energized, the brake is applied.
  • the energization from the power supply 13 to the brake 9 is performed via the deadman switch 10 and the emergency stop switch 11 constituting the emergency stop instruction unit 12. That is, when the circuit of the deadman switch 10 or the emergency stop switch 11 is opened, the power supply from the power source 13 to the brake 9 is cut off, and the brake is held, that is, the brake is applied.
  • the movement command generation unit 1 detects that the power supply to the brake 9 has been cut off.
  • generation part 1 detects that the electricity supply to the brake 9 was interrupted
  • the movement command generation unit 1 immediately stops sending the movement command.
  • emergency stop means that the circuit of the deadman switch 10 or the emergency stop switch 11 is opened, the brake 9 is held, and the transmission of the movement command from the movement command generator 1 is stopped.
  • the servo controller 2 detects the emergency stop as follows.
  • a determination unit 19 is provided in the servo control unit 2.
  • the determination unit 19 monitors the movement command input from the movement command generation unit 1 to the position control unit 3, and when the movement command periodically sent every position control cycle is interrupted, the determination is made as an emergency stop. to decide.
  • the determination unit 19 appropriately notifies the deviation correction unit 18 that needs emergency stop information in the servo control unit 2 that the emergency stop has been performed.
  • the movement command generation unit 1 may notify the determination unit 19 in the servo control unit 2 that the emergency stop has been performed directly to determine the emergency stop.
  • the deviation correction unit 18 When the deviation correction unit 18 receives a signal indicating that an emergency stop has been performed from the determination unit 19, the deviation correction unit 18 outputs the speed command value Va immediately before the emergency stop (the position control unit 3 outputs in the previous position control cycle).
  • the replacement amount ⁇ c is obtained by the following (Equation 1). As will be described later, the replacement amount ⁇ c is a value used to make the speed command not continuous but continuous before and after an emergency stop.
  • the value of the deviation counter unit 15 is replaced with the replacement amount ⁇ c.
  • FIG. 2 shows the behavior of the temporal change of the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop of the motor control device using the configuration of FIG.
  • FIG. 2 shows temporal changes in the movement command, the positional deviation amount ⁇ (t), the speed command Vcmd (t), and the differential value Vcmd ′ (t) of the speed command before and after the emergency stop, respectively.
  • the differential value Vcmd '(t) of the speed command is shown with the sign reversed in order to make the drawing easier to see.
  • the time change of the movement command in FIG. 2 indicates that the movement command is stopped due to the emergency stop. As shown in FIG.
  • the position deviation amount ⁇ (t) is a deviation counter unit value held in the deviation counter unit 15, and ⁇ r is a value of the deviation counter unit immediately before the emergency stop.
  • a straight line and a curve indicated by a dotted line show the behavior of the speed command in the case of the conventional method shown as a reference, and Kf ⁇ Wa corresponds to the feedforward term. .
  • the deviation command changes discontinuously immediately after the movement command is stopped.
  • the value is replaced with the replacement amount ⁇ c calculated in (Equation 1).
  • the speed command can be set to the same value immediately before and after the emergency stop, and the speed commands are continuously connected.
  • the total output torque is a torque obtained by combining the motor output torque and the brake torque, and is a torque for stopping the motor 7.
  • the allowable maximum total output torque is a motor total torque having a magnitude that starts to damage the mechanism.
  • the limit acceleration is the acceleration when the vehicle is decelerated with the allowable maximum total output torque.
  • the speed command can be made continuous even at the time of an emergency stop.
  • the motor control device of the present invention is a motor control device that controls the motor 7 that is moved by the relative movement of the movable part of the machine and stopped by the brake 9, and includes a movement command generation unit 1, a servo control unit 2, and the like. It has.
  • the movement command generator 1 outputs a movement command for the motor 7.
  • the servo control unit 2 outputs a command for controlling the motor 7 based on the output of the movement command generation unit 1.
  • the servo control unit 2 includes a position control unit 3, a speed control unit 4, a current control unit 5, and a processing unit 14.
  • the position control unit 3 outputs a speed command based on the output of the movement command generation unit 1.
  • the speed control unit 4 outputs a current command based on the output of the position control unit 3.
  • the processing unit 14 outputs the amount of change in the rotation angle of the motor 7 based on the output of the position detector 8 that detects the rotational position of the motor 7.
  • the position control unit 3 includes a deviation counter unit 15, a first coefficient unit 17, a second coefficient unit 16, an addition unit 23, and a deviation correction unit 18.
  • the deviation counter unit 15 obtains and outputs the deviation between the output of the movement command generation unit 1 and the output of the processing unit 14.
  • the first coefficient unit 17 receives the output of the movement command generation unit 1, multiplies it by a predetermined coefficient, and outputs it.
  • the second coefficient unit 16 receives the output of the deviation counter unit 15, multiplies it by a predetermined coefficient, and outputs it.
  • the adding unit 23 adds the output of the first coefficient unit 17 and the output of the second coefficient unit 16 and outputs the result to the speed control unit 4.
  • the deviation correction unit 18 uses the speed command immediately before the emergency stop.
  • a deviation correction value is obtained based on the speed command value output by the position control unit 3 and a predetermined coefficient of the second coefficient unit 16 in a position control cycle immediately before an emergency stop.
  • the deviation correction unit 18 stops outputting the movement command by the movement command generation unit 1, and the deviation correction unit 18 obtains the deviation of the deviation counter unit 15. It is configured to perform control by the position controller 3 in place of the deviation correction value.
  • the speed command can be reduced at a specified rate while maintaining continuity during an emergency stop, and the speed command during emergency stop can be decelerated in accordance with the strength of the mechanism. Thereby, the damage to the mechanism part at the time of an emergency stop can be avoided.
  • FIG. 3 is a diagram showing a schematic configuration of the robot system according to the second embodiment of the present invention.
  • FIG. 4 is a diagram showing the behavior of the temporal change in the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop in Embodiment 2 of the present invention.
  • the configuration of the motor control device shown in the first embodiment can prevent the speed command from becoming discontinuous even during an emergency stop, and can reduce the differential value of the speed command.
  • the position gain value Kp of the second coefficient portion 16 is large, the limit acceleration may be exceeded. Therefore, a motor control apparatus according to the second embodiment will be described as another example for dealing with this.
  • the coefficient correction unit 22 obtains a value Kpc as described later, and performs a process of replacing the position gain value Kp of the second coefficient unit 16 with the value Kpc.
  • the coefficient correction unit 22 calculates the value Kpc as follows. That is, the value of the limit acceleration is Ac (> 0), the speed command value output by the position control unit 21 immediately before the emergency stop is Va, and calculated by the following (Equation 7).
  • the motor control apparatus of the second embodiment includes a coefficient correction unit 22 that obtains a coefficient correction value, and when an emergency stop is instructed by the emergency stop instruction unit 12, a predetermined coefficient of the second coefficient unit 16 May be replaced with the coefficient correction value obtained by the coefficient correction unit 22 and control by the position control unit 21 may be performed.
  • the coefficient correction unit 22 has a limit acceleration that is an acceleration when the motor is decelerated with an allowable maximum total output torque that is a motor total torque that starts to damage the mechanical unit of the machine, and immediately before an emergency stop is instructed.
  • the correction value of the coefficient is obtained based on the speed command value output by the position control unit 21.
  • the speed command can be reduced at a specified rate while maintaining continuity, and the speed command at the time of emergency stop can be decelerated in accordance with the strength of the mechanism unit. Thereby, the damage to the mechanism part at the time of an emergency stop can be avoided.
  • the deviation correction unit 18 obtains the replacement amount ⁇ c from the position gain value Kpc and the speed command value Va by the following (Equation 8).
  • the value of the deviation counter unit 15 is replaced with the replacement amount ⁇ c.
  • the replacement of the predetermined coefficient of the second coefficient unit 16 with the coefficient correction value obtained by the coefficient correction unit 22 is the first position immediately after the emergency stop is performed. It is good also as a structure which performs only once by a control period, and controls after that using the replaced coefficient correction value.
  • the value of the limit acceleration Ac is a value determined in advance according to the strength of the mechanism part.
  • FIG. 4 shows the behavior of temporal changes in the differential value of the movement command, position deviation amount, speed command, and speed command value at the time of emergency stop when the configuration of the motor control device of FIG. 3 is used.
  • the temporal changes in FIG. 4 indicate the movement command, the position deviation amount ⁇ (t), the speed command Vcmd (t), and the differential value Vcmd ′ (t) of the speed command before and after the emergency stop, respectively, from the top.
  • FIG. 4 shows the same physical quantity as shown in FIG.
  • FIG. 4 shows that the speed command Vcmd (t) is continuously connected even if the value of the position gain is changed from Kp to Kpc by the coefficient correction unit 22 shown in FIG.
  • FIG. 4 also shows that the differential value of the speed command can be suppressed to a limit acceleration or less by determining the position gain value as described above (Equation 7).
  • the speed command can be reduced at a specified rate while maintaining continuity. It can be below the limit acceleration. Thereby, speed command deceleration at the time of emergency stop according to the strength of the mechanism part can be performed, and damage to the mechanism part at the time of emergency stop can be avoided.
  • FIG. 5 is a diagram showing a schematic configuration of the robot system according to the third embodiment of the present invention.
  • FIG. 6 is a diagram showing a processing flow of the servo control unit 30 according to the third embodiment of the invention.
  • FIG. 7 is a diagram showing the behavior of the temporal change in the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop according to the third embodiment of the present invention.
  • the main difference of the motor control device of the third embodiment from the first embodiment is that a deviation update unit 32 is added to the configuration of FIG. 1 described in the first embodiment.
  • the deviation update part 32 is a part which correct
  • the deviation correction unit 18 uses the speed command value Va immediately before the emergency stop (the speed command value output by the position control unit 31 in the previous position control cycle) and the second value. Using the position gain value Kp of the coefficient unit 16, the replacement amount ⁇ c is obtained by (Equation 1) shown in the first embodiment. Then, the value of the deviation counter unit 15 is replaced with this replacement amount ⁇ c. These operations are performed only once after an emergency stop.
  • the deviation update unit 32 corrects the value of the deviation counter unit 15 for each position control cycle.
  • the process of the deviation updating unit 32 is performed after an emergency stop is detected.
  • steps S1 and S2 shown in FIG. 6 are performed only once after the emergency stop is detected, and subsequent steps including step S3 are performed for each position control cycle.
  • Step S1 is a process in the deviation correction unit 18 described above.
  • step S2 After performing the process of step S1, in step S2, the speed command value immediately before the emergency stop is Va, the limit acceleration is Ac, the position control cycle is Tp, and the position deviation amount ⁇ (t) is calculated by the following (Equation 9). A limit amount D for making the rate of decrease constant is obtained.
  • the limit amount D is a signed amount.
  • step 3 if the predetermined time has not elapsed since the emergency stop was instructed, the process proceeds to step S4 and further to step S5. Note that the case where a predetermined time has elapsed since the emergency stop was instructed will be described later.
  • Step S4 and step S5 correspond to the position control calculation described with reference to FIG. 1 in the first embodiment. That is, in step S4, the actual position change amount per position control cycle is obtained, and in step S5, the value of the deviation counter unit 15 is updated by subtracting the actual position change amount from the deviation counter unit 15.
  • the position deviation count value of the deviation counter unit 15 before subtracting the actual position change amount is referred to as “previous deviation”, and the position deviation counter value after subtracting the actual position change amount is referred to as “current deviation”. I will decide.
  • step S7 the absolute value of the value obtained by subtracting the limit amount D obtained in step S2 from the previous deviation is compared with the absolute value of the current deviation obtained in step S5. If the former is larger, the current deviation is replaced with a value obtained by subtracting the limit amount D from the previous deviation in step S8.
  • step S11 the current deviation corrected as described above is multiplied by the position gain value Kp to obtain a speed command.
  • step S12 speed control by the speed control unit 4 and current control by the current control unit 5 are performed as step S12. Note that the speed control and the current control are not limited to once per position control cycle, and may be performed a plurality of times.
  • step S13 the current deviation is the previous deviation in the next position control cycle.
  • step S3 when a predetermined time has elapsed from the emergency stop, the servo control is stopped. However, the servo control may be continued without being stopped. In that case, position control is performed so that the deviation counter unit becomes zero.
  • FIG. 7 shows the behavior of the temporal change in the differential value of the movement command, position deviation amount, speed command, and speed command value at the time of emergency stop when the configuration of the motor control device of FIG. 5 is used.
  • the temporal changes in FIG. 7 indicate the movement command, the positional deviation amount ⁇ (t), the speed command Vcmd (t), and the differential value Vcmd ′ (t) of the speed command before and after the emergency stop, respectively, from the top.
  • FIG. 7 shows the same physical quantity as shown in FIG.
  • the position deviation amount ⁇ (t) shown in FIG. 7 tries to decrease at a rate corresponding to the magnitude of the actual speed (actual position change amount).
  • the process from step S5 to step S11 places a limit on the rate of decrease of the positional deviation amount ⁇ (t).
  • the positional deviation amount ⁇ (t) decreases in the form of a linear function.
  • the speed command Vcmd (t) shown in FIG. 7 also decreases in the form of a linear function, and its differential value becomes a constant value.
  • the positional deviation amount ⁇ (t) after the emergency stop, the speed command value Vcmd (t), and the differential value Vcmd ′ (t) of the speed command are expressed by the following (Equation 10) and (Equation 11), respectively. ) And (Equation 12).
  • the deviation of the deviation counter unit 15 is replaced with the deviation correction value obtained by the deviation correction unit 18, and then the deviation counter unit A deviation updating unit 32 that corrects the value of 15 for each position control cycle is provided. Then, the deviation updating unit 32 obtains the current deviation based on the speed command value immediately before the emergency stop, the limit acceleration, the position control cycle, the deviation correction value, and the previous deviation, and calculates the deviation for each position control cycle. The control may be performed by replacing the deviation of the counter unit 15 with the current deviation obtained.
  • the limit acceleration is the acceleration when the vehicle is decelerated with the maximum allowable total output torque, which is the total motor torque that begins to cause damage to the mechanical parts of the machine.
  • the deviation correction value is obtained by the deviation correction unit 18.
  • the previous deviation is the value of the deviation counter unit 15 before subtracting the actual position change amount that is the output of the processing unit 14.
  • the current deviation is obtained as the value of the deviation counter unit 15 after subtracting the actual position change amount for each position control cycle.
  • the value of the deviation counter unit 15 is replaced at the time of an emergency stop, and further, position control is performed while correcting the value of the deviation counter unit 15, thereby reducing the speed command at a constant rate while maintaining continuity. be able to.
  • the vehicle can be decelerated and stopped without unnecessarily extending the deceleration distance while avoiding damage to the mechanism part during an emergency stop.
  • FIG. 8 is a diagram showing a schematic configuration of the robot system according to the fourth embodiment of the present invention.
  • FIG. 9 is a diagram showing a processing flow of the servo control unit 40 according to the fourth embodiment of the present invention.
  • the main difference of the schematic configuration of the robot system of the fourth embodiment from the first embodiment is that the first position correction unit 42 is added to the configuration of FIG. 1 described in the first embodiment.
  • the first position correction unit 42 is a part that corrects the actual position change amount subtracted from the deviation counter unit 15 for each position control cycle.
  • the deviation correction unit 18 uses the speed command value Va immediately before the emergency stop (speed command value output by the position control unit 41 in the previous position control cycle) and the second coefficient unit. Using the position gain value Kp of 16, the replacement amount ⁇ c is obtained by (Equation 1) described in the first embodiment. Then, the value of the deviation counter unit 15 is replaced with the replacement amount ⁇ c. These operations are performed only once after an emergency stop.
  • the first position correction unit 42 corrects the value of the actual position change amount subtracted from the deviation counter unit 15 for each position control cycle. Note that the processing of the first position correction unit 42 is performed after an emergency stop is detected.
  • steps for performing the same processing as in FIG. 6 used in Embodiment 3 are given the same reference numerals as in FIG. 6. Further, steps S1 and S2 shown in FIG. 9 are performed only once after the emergency stop is detected, and the subsequent steps including step S3 are performed every position control cycle.
  • Step S1 is a process in the deviation correction unit 18 described above. After performing the process of step S1, in step S2, the speed command value Va immediately before the emergency stop, the limit acceleration Ac, and the position control cycle Tp are used to limit by the (Equation 9) shown in the third embodiment.
  • the quantity D is determined.
  • the limit amount D is a signed amount.
  • step S3 if the predetermined time has not elapsed since the emergency stop, the process proceeds to step S4 and subsequent steps. In step S4, an actual position change amount per position control cycle is obtained. Thereafter, the process proceeds to step S20 as shown in FIG. The case where a predetermined time has elapsed since the emergency stop will be described later.
  • step S20 the actual position change amount obtained in step S4 is set as a position feedback amount.
  • the position feedback amount is described as the position FB amount in step S20 of FIG.
  • step S21 the absolute value of the position feedback amount is compared with the absolute value of the limit amount D. If the absolute value of the position feedback amount is larger, the position feedback amount is replaced with the limit amount D in step S23.
  • the position feedback amount is not replaced.
  • step S25 a value obtained by subtracting the position feedback amount obtained as described above from the previous deviation is set as the current deviation.
  • the meanings of the current deviation and the previous deviation are the same as those described in the third embodiment.
  • step S11 a speed command is calculated by multiplying the current deviation by the position gain value Kp.
  • step S12 speed control and current control are performed.
  • step S13 the current deviation is stored as the next previous deviation, and the process returns to step S3.
  • the motor control apparatus includes a first position correction unit 42 that corrects the output of the processing unit 14 and outputs it to the deviation counter unit 15 every position control cycle.
  • the first position correction unit 42 includes an actual position change amount obtained by the processing unit 14, a speed command value immediately before an emergency stop, a limit acceleration, a position control cycle, and a deviation correction value obtained by the deviation correction unit 18.
  • the position feedback amount to be output to the deviation counter unit 15 may be obtained based on the above.
  • the limit acceleration is the acceleration when the vehicle is decelerated with the maximum allowable total output torque, which is the total motor torque that begins to cause damage to the mechanical parts of the machine.
  • the value of the deviation counter unit 15 is replaced at the time of an emergency stop, and further, position control is performed while correcting the position feedback amount to the deviation counter unit 15. Then, the speed command can be reduced at a constant rate while maintaining continuity. As a result, the vehicle can be decelerated and stopped without unnecessarily extending the deceleration distance while avoiding damage to the mechanism part during an emergency stop.
  • FIG. 10 is a diagram showing a schematic configuration of the robot system according to the fifth embodiment of the present invention.
  • FIG. 11 is a diagram showing a processing flow of the servo control unit 50 according to the fifth embodiment of the present invention.
  • FIG. 12 is a diagram showing the behavior of the temporal change in the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop according to the fifth embodiment of the present invention.
  • the main difference of the motor control device of the fifth embodiment from the first embodiment is that a second position correction unit 52 is added to the configuration of FIG. 1 described in the first embodiment.
  • the second position correction unit 52 is different from the first position correction unit 42 described in the fourth embodiment with reference to FIG.
  • the second position correction unit 52 is a part that corrects the actual position change amount subtracted from the deviation counter unit 15 for each position control cycle.
  • the second position correction unit 52 holds a value obtained by integrating the actual position change amount for each position control cycle as a position integrated amount. Then, the second position correction unit 52 takes out a constant amount from the position integrated amount for each position control period in order to make the rate of decrease of the deviation counter unit 15 constant until the speed command becomes zero. Output as position feedback.
  • the actual position change amount is integrated after the actual position change amount is made zero, and the actual position change amount is integrated.
  • the process of setting the integrated amount to zero may be performed only once after the emergency stop is detected. Thereby, it is possible to decelerate and stop at the necessary and shortest deceleration distance while avoiding damage to the mechanism part at the time of emergency stop.
  • the deviation correction unit 18 uses the speed command value Va immediately before the emergency stop (speed command value output by the position control unit 51 in the previous position control cycle) and the second value. Using the position gain value Kp of the coefficient unit 16, the replacement amount ⁇ c is obtained by (Equation 1) described in the first embodiment. Then, the value of the deviation counter unit 15 is replaced with the replacement amount ⁇ c. These operations are performed only once after an emergency stop.
  • the second position correction unit 52 corrects the actual position change amount input from the processing unit 14 for each position control cycle, and calculates a position feedback amount. Then, the position feedback amount is subtracted from the deviation counter unit 15 every position control cycle. Note that the processing of the second position correction unit 52 is performed after an emergency stop is detected. In addition, the integrated position amount in the second position correction unit 52 is cleared to zero only once in the first position control cycle after the emergency stop is detected.
  • FIG. 11 shows a detailed processing flow including a correction method by the second position correction unit 52.
  • steps that perform the same processing as in FIG. 6 described in the third embodiment and FIG. 9 described in the fourth embodiment are denoted by the same reference numerals as those used in FIG. ing. Note that the processing of step S1, step S2, and step S30 in FIG. 11 is performed only once after the emergency stop is detected. The subsequent steps including step S3 are performed every position control cycle.
  • Step S1 is a process of the deviation correction unit 18 described above. After performing the process of step S1, in step S2, using the speed command value Va immediately before the emergency stop, the limit acceleration Ac, and the position control cycle Tp, the limit amount is obtained according to (Equation 9) shown in the third embodiment. D is obtained.
  • the limit amount D is a signed amount.
  • the second position correction unit 52 shown in FIG. 10 includes a position integration amount, and this is cleared to zero in step S30.
  • step S3 if the predetermined time has not elapsed since the emergency stop, the process proceeds to step S4 and subsequent steps, and the actual position change amount per position control cycle is obtained in step S4.
  • step S31 the actual position change amount obtained in step S4 is added to the position integrated amount.
  • step S32 the absolute value of the integrated position amount obtained in step S31 is compared with the absolute value of the limit amount D obtained in step S2. If the absolute value of the integrated position amount is larger, the position feedback amount is replaced with the limit amount D in step S23.
  • step S32 If it is determined in step S32 that the absolute value of the position integrated amount is not larger than the absolute value of the limit amount D, the position feedback amount is set as the position integrated amount in step S34.
  • step S35 the position feedback amount is subtracted from the position integration amount to obtain the next position integration amount.
  • step S25 the current deviation is obtained by subtracting the position feedback amount from the previous deviation.
  • step S11 a speed command is calculated by multiplying the current deviation by the position gain value Kp.
  • step S12 speed control and current control are performed.
  • step S13 the current deviation is stored as the next previous deviation, and the process returns to step S3.
  • FIG. 12 shows the behavior of the temporal change of the differential value of the movement command, the position deviation amount, the speed command, and the speed command value at the time of emergency stop when the configuration of the motor control device of FIG. 10 is used.
  • the temporal changes in FIG. 12 indicate the movement command, the positional deviation amount ⁇ (t), the speed command Vcmd (t), and the differential value Vcmd ′ (t) of the speed command before and after the emergency stop, respectively, from the top. .
  • FIG. 12 shows the same physical quantity as that shown in FIG.
  • the position deviation amount ⁇ (t) attempts to decrease at a rate corresponding to the magnitude of the actual speed (actual position change amount).
  • the processing from step S31 to step S35 limits the rate of decrease of the positional deviation amount ⁇ (t).
  • the positional deviation amount ⁇ (t) decreases in the form of a linear function. Therefore, the speed command Vcmd (t) also decreases in the form of a linear function, and the differential value becomes a constant value.
  • the differential value of the speed command is constant over the entire area until the position deviation amount becomes zero, and is kept at the limit acceleration Ac.
  • the motor control apparatus includes a second position correction unit 52 that corrects the output of the processing unit 14 and outputs it to the deviation counter unit 15 for each position control cycle. Then, the second position correcting unit 52 integrates the actual position change amount obtained by the processing unit 14 for each position control cycle, the speed command value immediately before the emergency stop, the limit acceleration, and the position control cycle.
  • the position feedback amount to be output to the deviation counter unit 15 may be obtained based on the deviation correction value obtained by the deviation correction unit 18.
  • the limit acceleration is the acceleration when the vehicle is decelerated with the maximum allowable total output torque, which is the total motor torque that begins to cause damage to the mechanical parts of the machine.
  • the value of the deviation counter unit 15 is replaced, and further, the position control is performed while keeping the position feedback amount to the deviation counter unit 15 constant. Then, the speed command can be reduced at a constant rate while maintaining continuity. As a result, the vehicle can be decelerated and stopped at the shortest deceleration distance while avoiding damage to the mechanism unit during an emergency stop.
  • the motor control device of the present invention can prevent excessive torque from being applied to the mechanism portion due to deceleration at the time of emergency stop, and can avoid damage to the mechanism portion. As industrially useful.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
  • Stopping Of Electric Motors (AREA)
  • Manipulator (AREA)
PCT/JP2012/004121 2011-07-06 2012-06-26 モータ制御装置 WO2013005388A1 (ja)

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JP2016124078A (ja) * 2015-01-06 2016-07-11 株式会社デンソーウェーブ ロボットの非常停止方法、ロボットの制御装置
JP2017215726A (ja) * 2016-05-31 2017-12-07 株式会社堀場エステック 流体制御装置
JP2021164209A (ja) * 2020-03-30 2021-10-11 シチズン千葉精密株式会社 モータ制御装置
WO2022259874A1 (ja) * 2021-06-10 2022-12-15 パナソニックＩｐマネジメント株式会社 ロボット制御方法及びロボット制御装置

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CN105129656B (zh) * 2014-06-06 2017-12-12 深圳市阿尔法变频技术有限公司 一种起重机械制动方法和起重机械制动装置
EP3648337B1 (en) 2018-10-30 2022-06-08 Roche Diagnostics GmbH Method of estimating an operating state of a drive system and drive system

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JP2010110080A (ja) * 2008-10-29 2010-05-13 Okuma Corp モータ制御装置

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JPH02262883A (ja) * 1989-03-31 1990-10-25 Matsushita Electric Ind Co Ltd モータ制御装置
JP2008148449A (ja) * 2006-12-11 2008-06-26 Matsushita Electric Ind Co Ltd モータ位置制御方法
JP2010110080A (ja) * 2008-10-29 2010-05-13 Okuma Corp モータ制御装置

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016124078A (ja) * 2015-01-06 2016-07-11 株式会社デンソーウェーブ ロボットの非常停止方法、ロボットの制御装置
JP2017215726A (ja) * 2016-05-31 2017-12-07 株式会社堀場エステック 流体制御装置
CN107450612A (zh) * 2016-05-31 2017-12-08 株式会社堀场Stec 流量控制装置和存储有流量控制装置用程序的存储介质
CN107450612B (zh) * 2016-05-31 2022-06-07 株式会社堀场Stec 流量控制装置和存储有流量控制装置用程序的存储介质
JP2021164209A (ja) * 2020-03-30 2021-10-11 シチズン千葉精密株式会社 モータ制御装置
JP7467201B2 (ja) 2020-03-30 2024-04-15 シチズン千葉精密株式会社 モータ制御装置
WO2022259874A1 (ja) * 2021-06-10 2022-12-15 パナソニックＩｐマネジメント株式会社 ロボット制御方法及びロボット制御装置
JP7474935B2 (ja) 2021-06-10 2024-04-26 パナソニックＩｐマネジメント株式会社 ロボット制御方法及びロボット制御装置

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