WO2015173878A1 - モータ制御定数計算装置 - Google Patents
モータ制御定数計算装置 Download PDFInfo
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- WO2015173878A1 WO2015173878A1 PCT/JP2014/062664 JP2014062664W WO2015173878A1 WO 2015173878 A1 WO2015173878 A1 WO 2015173878A1 JP 2014062664 W JP2014062664 W JP 2014062664W WO 2015173878 A1 WO2015173878 A1 WO 2015173878A1
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- motor
- motor control
- time constant
- response
- control constant
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/143—Inertia or moment of inertia estimation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/0016—Control of angular speed of one shaft without controlling the prime mover
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/10—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for preventing overspeed or under speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
Definitions
- the present invention relates to a motor control constant calculation device that calculates an appropriate motor control constant set in a motor control device in order to obtain a desired response characteristic.
- the motor control constant is automatically determined.
- the motor control constants targeted by the conventional technology are the position loop gain in the position control unit of the motor control device, the speed loop gain and speed integration time constant in the speed control unit, the filter constant in the torque filter unit, the current The current loop gain and current integration time constant in the control unit, and the filter time constant in the speed signal generation unit (ie, LPF).
- the speed control loop is considered as a secondary system represented only by the speed loop gain and the motor load inertia, and the transfer function in the range from the target speed (speed command) to the motor speed (actual speed) is obtained.
- the speed loop gain is determined so that the characteristic equation becomes a multiple root.
- the calculation formula for determining the filter time constant is defined by trial and error based on the stability conditions of the control system and repeated experiments.
- the prior art has the following problems.
- the speed loop gain is determined ignoring the LPF that reduces noise in the motor speed signal. Therefore, when the motor is controlled by finally inserting the LPF using the determined speed loop gain, the speed response is actually deteriorated from the target response frequency ⁇ f given at the time of determination. That is, there is a problem that the determined speed loop gain is not necessarily an appropriate motor control constant.
- the present invention has been made to solve the above-described problems, and is suitable for obtaining desired response characteristics without causing variations or increasing the number of man-hours due to a difference in user ability. It is an object of the present invention to obtain a motor control constant calculation apparatus capable of automatically calculating and determining a motor control constant.
- a motor control constant calculation apparatus includes a target speed command generation unit that generates a target speed as a speed command for the motor, a first LPF that performs a filtering process on a signal waveform of the target speed input from the target speed command generation unit, Based on the deviation, a second LPF that reduces noise in the motor speed signal waveform detected from the motor, a speed deviation calculation unit that calculates a deviation between the target speed that has passed through the first LPF and the motor speed that has passed through the second LPF,
- a motor control device comprising: a motor target torque calculation unit that calculates a target torque generated by a motor; and a motor application voltage calculation unit that calculates a voltage applied to the motor based on the target torque and outputs the voltage to the motor.
- a motor control constant calculation device for calculating a motor control constant for a motor to obtain a desired response characteristic, Input and set the target response time constant input section to set and set the target response time constant that defines the response speed so as to achieve the characteristics, and the waveform parameter that defines the response waveform to set the desired response characteristics
- Waveform parameter input unit for input, motor load inertia input unit for inputting and setting the motor load inertia of the motor, and normalizing that calculates a normalized time constant based on the waveform parameters acquired from the waveform parameter input unit
- Target time constant obtained from the normalization time constant calculation unit, target response time constant obtained from the target response time constant input unit, waveform parameters obtained from the waveform parameter input unit, normalized time constant obtained from the normalization time constant calculation unit, and motor load Based on the motor load inertia acquired from the inertia input unit, a motor control constant for setting the first LPF, the second LPF, and the motor target torque calculation unit.
- a motor control constant for setting the first L
- the target response time constant acquired from the target response time constant input unit, the waveform parameter acquired from the waveform parameter input unit, the normalized time constant acquired from the normalized time constant calculation unit, and the motor load inertia is automatically calculated based on the motor load inertia acquired from the input unit.
- FIG. 1 is a block diagram showing an overall configuration of a motor control system including a motor control constant calculation device according to Embodiment 1 of the present invention. It is a block diagram which shows the structure of the motor control constant calculation apparatus in Embodiment 2 of this invention. It is a block diagram which shows the structure of the motor control constant calculation apparatus in Embodiment 3 of this invention. It is a block diagram which shows the structure of the motor control constant calculation apparatus in Embodiment 4 of this invention. It is explanatory drawing which shows an example of the response waveform displayed by the normalization waveform display part of the motor control constant calculation apparatus in Embodiment 4 of this invention. It is a block diagram which shows the structure of the motor control constant calculation apparatus in Embodiment 5 of this invention. It is a block diagram which shows the structure of the motor control system containing the motor control constant calculation apparatus in Embodiment 6 of this invention.
- FIG. 1 is a block diagram showing an overall configuration of a motor control system including a motor control constant calculation device 200 according to Embodiment 1 of the present invention.
- the motor control system includes a motor 10, a detector 20 that is connected to the motor 10 and obtains a motor speed signal from the motor 10, a motor control device 100 that controls driving of the motor 10, and a motor control device. And a motor control constant calculation device 200 for calculating an optimal motor control constant for setting to 100.
- the motor control device 100 includes a target speed command generation unit 101, a first LPF 102, a speed deviation calculation unit 103, a motor target torque calculation unit 104, a motor applied voltage calculation unit 105, a second LPF 106, a motor control constant storage unit 107, and a first communication I. / F108.
- the target speed command generation unit 101 generates a target speed ⁇ ref as a speed command for the motor 10 and outputs the target speed ⁇ ref to the speed deviation calculation unit 103 via the first LPF 102. Therefore, the signal waveform is filtered to the filter time constant by passing through the first LPF 102, and the target speed ⁇ ref is input to the speed deviation calculation unit 103.
- the target speed ⁇ ref that has passed through the first LPF 102 will be expressed as a target speed ⁇ ref ′.
- the transfer function F ref (s) of the first LPF 102 is expressed by, for example, the following equation (A) using the proportional gain K vp , the integral gain K vi, and the time constant (filter time constant) ⁇ LPF of the first LPF 102. It is assumed that
- the detector 20 detects the position of the motor 10 and outputs the motor speed ⁇ (actual speed) of the motor 10 as a motor speed signal based on the detection result.
- the motor speed ⁇ output from the detector 20 is input to the speed deviation calculation unit 103 via the second LPF 106. Therefore, the motor speed ⁇ from which noise of the signal waveform has been removed by passing through the second LPF is input to the speed deviation calculation unit 103.
- the motor speed ⁇ that has passed through the second LPF 106 will be referred to as a motor speed ⁇ ′.
- the motor speed ⁇ output from the detector 20 is input to the second LPF 106 and fed back to the speed deviation calculation unit 103 in the form of the motor speed ⁇ ′.
- the transfer function F LPF (s) of the second LPF 106 is expressed by, for example, the following expression (B) using the time constant (filter time constant) ⁇ LPF of the second LPF 106.
- Motor target torque calculating section 104 uses the speed deviation e omega inputted, calculates a target torque T ref of the motor 10. Further, the motor target torque calculation unit 104 outputs the calculated target torque T ref to the motor applied voltage calculation unit 105.
- the transfer function C FB (s) of the motor target torque calculation unit 104 is expressed by, for example, the following expression (C) using the proportional gain K vp and the integral gain K vi .
- the motor applied voltage calculation unit 105 calculates a voltage to be applied to the motor 10 so that the torque T generated by the motor 10 follows the input target torque T ref and outputs the voltage to the motor 10.
- the motor control constant storage unit 107 includes a proportional gain K vp , an integral gain K vi, and a filter time constant ⁇ as appropriate motor control constants automatically calculated by the motor control constant calculation device 200 in order to obtain a desired response characteristic. LPF is stored.
- the first LPF 102, the motor target torque calculation unit 104, and the second LPF 106 obtain the motor control constant stored in the motor control constant storage unit 107. In this way, appropriate motor control constants automatically calculated by the motor control constant calculation apparatus 200 are set in the first LPF 102, the motor target torque calculation unit 104, and the second LPF 106.
- the motor control constant calculation device 200 includes a target response time constant input unit 201, a motor control constant calculation unit 202, a waveform parameter input unit 203, a normalized time constant calculation unit 204, a motor control constant display unit 205, and a motor load inertia input unit 206. And a second communication I / F 207.
- the motor control constant calculation unit 202 includes a filter time constant calculation unit 202a and a speed control constant calculation unit 202b.
- the target response time constant input unit 201 is for inputting and setting a target response time constant ⁇ d that defines a response speed so that the motor 10 has desired response characteristics.
- the waveform parameter input unit 203 is used to input and set the waveform parameters ⁇ 1 and ⁇ 2 that define the response waveform so that the motor 10 has desired response characteristics.
- the motor load inertia input unit 206 is for inputting and setting the motor load inertia J corresponding to the load characteristic of the motor 10.
- the user can set the desired target response time constant ⁇ d , waveform parameters ⁇ 1 , ⁇ 2.
- the motor load inertia J can be freely set in the motor control constant calculation unit 202.
- the normalized time constant calculation unit 204 calculates a normalized time constant ⁇ s based on the waveform parameters ⁇ 1 and ⁇ 2 acquired from the waveform parameter input unit 203 and outputs the calculated time constant ⁇ s to the motor control constant calculation unit 202.
- a method for calculating the normalized time constant ⁇ s will be described.
- the transfer function G (s) from the target speed ⁇ ref to the motor speed ⁇ is expressed by the following equation.
- the waveform parameters ⁇ 1 , ⁇ 2 and ⁇ e are defined by the following equations. By using these, the transfer function G (s) can be rewritten as:
- ⁇ e s is regarded as a new variable, and the transfer function G (s) can be considered as G ( ⁇ e s).
- the response waveform of the transfer function G ( ⁇ e s) is determined by the denominator polynomial coefficient, which is uniquely determined by the values of the waveform parameters ⁇ 1 and ⁇ 2 . Since the time scale of the response waveform depends on the variable ⁇ e s, the response speed is determined by ⁇ e .
- the transfer function obtained by replacing the variable ⁇ e s with s ′ and normalizing the time axis by ⁇ e is G n (s ′), and the time constant of the step response is calculated as the normalized time constant ⁇ s .
- the normalized time constant ⁇ s corresponds to the combination of the waveform parameters ⁇ 1 and ⁇ 2 on a one-to-one basis.
- the transfer function G n (s ′) is expressed by the following equation (D) using the waveform parameters ⁇ 1 and ⁇ 2 .
- the motor control constant calculation unit 202 calculates a proportional gain K vp , an integral gain K vi, and a filter time constant ⁇ LPF as motor control constants to be set in the motor control device 100 and outputs them to the motor control device 100.
- the proportional gain K vp , the integral gain K vi and the filter for setting the first LPF 102 are used.
- the case where the time constant ⁇ LPF , the time constant ⁇ LPF for setting to the second LPF 106, and the proportional gain K vp and the integral gain K vi for setting to the motor target torque calculation unit 104 are illustrated.
- the filter time constant calculation unit 202a includes the target response time constant ⁇ d acquired from the target response time constant input unit 201, the waveform parameters ⁇ 1 and ⁇ 2 acquired from the waveform parameter input unit 203, and the normalized time constant calculation unit 204.
- the filter time constant ⁇ LPF is calculated so as to satisfy the following expression (E) based on the normalized time constant ⁇ s obtained from the above.
- the filter time constant calculation unit 202a also calculates the cut-off frequency f LPF as a motor control constant according to the following equation (F) based on the calculated filter time constant ⁇ LPF .
- the speed control constant calculation unit 202b includes the waveform parameters ⁇ 1 and ⁇ 2 acquired from the waveform parameter input unit 203, the motor load inertia J acquired from the motor load inertia input unit 206, and the filter acquired from the filter time constant calculation unit 202a. Based on the time constant ⁇ LPF , the proportional gain K vp and the integral gain K vi are calculated according to the following equations (G) and (H).
- the proportional gain K vp , the integral gain K vi and the filter time constant ⁇ LPF calculated by the motor control constant calculation unit 202 are transmitted via the second communication I / F 207 and the first communication I / F 108.
- the data is input to the storage unit 107.
- these motor control constants automatically calculated by the motor control constant calculation unit 202 are set in the first LPF 102, the motor target torque calculation unit 104, and the second LPF 106 by the motor control constant storage unit 107.
- the motor control constant display unit 205 displays the motor control constant calculated by the motor control constant calculation unit 202. As a result, the user can immediately visually check the specific numerical value of the motor control constant calculated by the motor control constant calculation unit 202.
- the target response time constant acquired from the target response time constant input unit, the waveform parameter acquired from the waveform parameter input unit, and the normalized time constant acquired from the normalization time constant calculation unit And a motor control constant set in the motor control device is automatically calculated based on the motor load inertia acquired from the motor load inertia input unit.
- the stability of the transfer function G (s) is theoretically guaranteed by ⁇ 1 ⁇ 1.5 and ⁇ 2 ⁇ 1.5.
- the motor load inertia J is fixed, it is preferable to set the fixed motor load inertia J as a default value in the motor load inertia input unit 206 in advance.
- the response speed of the target response time constant tau d, response waveform waveform parameters gamma 1, since it can be adjusted independently by gamma 2, waveform parameters gamma 1, gamma 2, the default value of the motor load inertia J If set, the user can obtain a motor control constant that realizes a desired response characteristic only by giving the target response time constant ⁇ d .
- the cutoff frequency f LPF of the second LPF 106 is theoretically minimum within a range in which the response characteristic of the motor 10 can achieve the target response time constant ⁇ d . Therefore, it is possible to obtain a motor speed control system capable of reducing noise as much as possible while achieving desired response characteristics.
- FIG. 1 The motor control constant calculation apparatus 200 according to the second embodiment of the present invention differs from the configuration of the motor control constant calculation apparatus 200 according to the first embodiment (FIG. 1) in the following points. That is, in addition to the same configuration as motor control constant calculation apparatus 200 in the first embodiment, lamp response specification input unit 208 is further provided. Therefore, the following description will be focused on such differences.
- FIG. 2 is a block diagram showing the configuration of the motor control constant calculation apparatus 200 according to Embodiment 2 of the present invention.
- the ramp response specification input unit 208 accepts the ramp response target acceleration a ref and the absolute value e ss of the steady deviation with respect to the ramp response target acceleration as the ramp response specification so that the motor 10 has a desired ramp response characteristic. For inputting and setting the value e ramp .
- the user can further desire in addition to the desired target response time constant ⁇ d , the waveform parameters ⁇ 1 and ⁇ 2 , and the motor load inertia J.
- the lamp response specification can be freely set in the motor control constant calculation unit 202. Then, further considering the lamp response specification, an appropriate motor control constant for obtaining a desired response characteristic can be automatically calculated and determined.
- the filter time constant calculation unit 202a calculates the target response time constant ⁇ d acquired from the target response time constant input unit 201, the waveform parameters ⁇ 1 and ⁇ 2 acquired from the waveform parameter input unit 203, and the normalized time constant calculation. Based on the normalized time constant ⁇ s acquired from the unit 204, the target acceleration a ref and the allowable value e ramp acquired from the ramp response specification input unit 208, the filter time constant ⁇ is set so as to satisfy the following expression (I). Calculate LPF .
- the filter time constant calculation unit 202a calculates the cutoff frequency f LPF according to the above equation (F) based on the filter time constant ⁇ LPF calculated in this way.
- the speed control constant calculating unit 202b calculates the proportional gain K vp and the integral gain K vi according to the above equations (G) and (H) based on the filter time constant ⁇ LPF calculated in this way.
- an appropriate motor control constant can be calculated in consideration of both the target response speed and the ramp response specification.
- the ramp response specification is set so that the motor has a desired ramp response characteristic.
- a lamp response specification input unit for inputting and setting an allowable value is further provided, and a motor control constant is calculated based on the lamp response specification acquired from the lamp response specification input unit.
- the cutoff frequency f LPF of the second LPF 106 is a range in which the response characteristic of the motor 10 considers the target response time constant ⁇ d and the allowable value e ramp of the absolute value e ss of the steady deviation with respect to the target acceleration of the ramp response. Within it is theoretically minimal. Therefore, it is possible to obtain a motor speed control system capable of reducing noise as much as possible while considering desired speed response and ramp response specifications as desired response characteristics.
- Embodiment 3 FIG.
- the motor control constant calculation apparatus 200 according to the third embodiment of the present invention differs from the configuration (FIG. 1) of the motor control constant calculation apparatus 200 according to the first embodiment in the following points. That is, as compared with the motor control constant calculation apparatus 200 in the first embodiment, it has a filter time constant input unit 209 instead of the target response time constant input unit 201, and a target response instead of the filter time constant calculation unit 202a. It has a time constant calculator 202c. Therefore, the following description will be focused on such differences.
- FIG. 3 is a block diagram showing a configuration of motor control constant calculation apparatus 200 in Embodiment 3 of the present invention. Further, on the assumption that the ramp response specification is not set as in the second embodiment, the target response time constant ⁇ d and the filter time constant ⁇ LPF are one pair as can be seen from the above equation (E). There is one relationship. Therefore, the motor control constant calculation apparatus 200 can be configured as shown in FIG.
- the filter time constant input unit 209 is for inputting and setting the filter time constant ⁇ LPF so that the motor 10 has a desired response characteristic. In this way, by providing the filter time constant input unit 209 instead of the target response time constant input unit 201, the user can freely set the desired filter time constant ⁇ LPF to the motor control constant calculation unit 202. Can be set.
- the target response time constant calculation unit 202 c receives the filter time constant ⁇ LPF acquired from the filter time constant input unit 209, the waveform parameters ⁇ 1 and ⁇ 2 acquired from the waveform parameter input unit 203, and the normalized time constant calculation unit 204. Based on the acquired time constant ⁇ s , the target response time constant ⁇ d is calculated so as to satisfy the following expression (J).
- the speed control constant calculation unit 202b calculates the proportional gain K vp and the integral gain K vi according to the above equations (G) and (H) based on the filter time constant ⁇ LPF acquired from the filter time constant input unit 209. calculate.
- the filter time constant acquired from the filter time constant input unit, the waveform parameter acquired from the waveform parameter input unit, and the normalized time constant calculation is automatically calculated based on the normalized time constant acquired from the motor unit and the motor load inertia acquired from the motor load inertia input unit.
- the target response time constant ⁇ d is theoretically minimum within a range achievable when the filter time constant ⁇ LPF acquired from the filter time constant input unit 209 is set as the time constant of the second LPF 106. Therefore, the third embodiment is effective when it is desired to set the motor control constant in preference to noise reduction over response speed.
- a resolver is generally used as a motor rotation angle detector.
- pulsations resolveer pulsations
- the resolver pulsation is generated at a frequency synchronized with the motor rotation angle.
- the filter time constant ⁇ LPF is input and set to the filter time constant input unit 209 to preferentially reduce the influence of pulsation and achieve the fastest speed response that can be achieved.
- Embodiment 4 FIG.
- the motor control constant calculation apparatus 200 according to the fourth embodiment of the present invention differs from the configuration (FIG. 1) of the motor control constant calculation apparatus 200 according to the first embodiment in the following points. That is, in addition to the same configuration as motor control constant calculation apparatus 200 in the first embodiment, it further has a normalized waveform display unit 210. Therefore, the following description will be focused on such differences.
- FIG. 4 is a block diagram showing the configuration of the motor control constant calculation apparatus 200 according to Embodiment 4 of the present invention.
- the response speed can be independently adjusted by the target response time constant ⁇ d and the response waveform can be independently adjusted by the waveform parameters ⁇ 1 and ⁇ 2 .
- the degree of vibration and the degree of overshoot in the step response are independently set while satisfying the target response speed. be able to.
- the normalized waveform display unit 210 sets the time axis of the transfer function G (s) from the target speed ⁇ ref to the motor speed ⁇ on the basis of the waveform parameters ⁇ 1 and ⁇ 2 acquired from the waveform parameter input unit 203.
- the response waveform for G n (s ′) normalized by e is displayed.
- the user confirms the display of the normalized waveform display unit 210 while changing the waveform parameters ⁇ 1 and ⁇ 2 that are input and set in the waveform parameter input unit 203, thereby realizing a waveform parameter that realizes a desired response waveform.
- ⁇ 1 and ⁇ 2 can be selected visually.
- the waveform parameters ⁇ 1 and ⁇ 2 can be visually selected in this way, the degree of vibration and overshoot can be easily achieved while satisfying desired response characteristics (target response speed, ramp response specifications). Can be adjusted.
- FIG. 5 is an explanatory diagram showing an example of a response waveform displayed by the normalized waveform display unit 210 of the motor control constant calculation apparatus 200 according to Embodiment 4 of the present invention.
- the response waveform of the step response with respect to this transfer function is illustrated as a specific example of the response waveform with respect to the transfer function Gn (s').
- Each response waveform is shown.
- FIG. 5B the vicinity of the target value in the response waveform of FIG. 5A is enlarged.
- the response waveform to the transfer function G n (s ′) is displayed based on the waveform parameter acquired from the waveform parameter input unit, compared with the first to third embodiments.
- a normalized waveform display unit is further provided.
- Embodiment 5 FIG.
- the motor control constant calculation apparatus 200 according to the fifth embodiment of the present invention differs from the configuration (FIG. 1) of the motor control constant calculation apparatus 200 according to the first embodiment in the following points. That is, in addition to the configuration similar to that of motor control constant calculation apparatus 200 in the first embodiment, response waveform display section 211 and numerical analysis condition input section 212 are further included. Therefore, the following description will be focused on such differences.
- FIG. 6 is a block diagram showing the configuration of the motor control constant calculation apparatus 200 according to the fifth embodiment of the present invention.
- the response waveform display unit 211 uses the motor control constant calculated by the motor control constant calculation unit 202 and the motor load inertia J acquired from the motor load inertia input unit 206 to input a numerical value input to the numerical analysis condition input unit 212. Numerical analysis is performed under the analysis conditions, and the response waveform of the motor 10 is displayed as a simulation result.
- the numerical analysis condition input unit 212 is for inputting and setting analysis conditions. In this way, by configuring with the numerical analysis condition input unit 212, the user can freely set desired numerical analysis conditions in the response waveform display unit 211.
- the initial speed and target speed of the step response for example, the initial speed and target speed of the step response, the initial speed of the ramp response, the target speed and the target acceleration, the target speed of the constant speed response, and the amplitude of the noise to be superimposed on the motor speed signal, Phase and frequency are input.
- the simulation result obtained by the numerical analysis being executed by the response waveform display unit 211 is displayed.
- the user can immediately confirm by numerical analysis whether the desired control performance can be achieved when the motor control constant calculated by the motor control constant calculation unit 202 is set in the motor control device 100.
- the response waveform display unit 211 can be utilized in the following manner. That is, when a motor is used as a vehicle propulsion device, a resolver is generally used as a motor rotation angle detector.
- the motor 10 can be immediately operated under conditions close to the actual environment. Since it can be verified in advance, the development man-hours can be reduced.
- the numerical analysis condition input unit for inputting and setting the numerical analysis conditions and the motor calculated by the motor control constant calculation unit.
- a response waveform display unit for performing a numerical analysis under a numerical analysis condition acquired from a numerical analysis condition unit using a control constant and a motor load inertia acquired from a motor load inertia unit and displaying a response waveform of the motor; are further provided.
- Embodiment 6 The motor control constant calculation apparatus 200 according to the sixth embodiment of the present invention differs from the configuration (FIG. 1) of the motor control constant calculation apparatus 200 according to the first embodiment in the following points. That is, in addition to the same configuration as motor control constant calculation apparatus 200 in the first embodiment, motor load inertia calculation unit 213 is further included. Therefore, the following description will be focused on such differences.
- FIG. 7 is a block diagram showing a configuration of a motor control system including the motor control constant calculation device 200 according to the sixth embodiment of the present invention.
- the detector 20 outputs the motor speed ⁇ acquired from the motor 10 to the motor load inertia calculation unit 213 via the first communication I / F 108. Further, the motor target torque calculation unit 104 outputs the calculated target torque T ref to the motor load inertia calculation unit 213 via the first communication I / F 108.
- the motor load inertia calculation unit 213 calculates the motor load inertia J based on the motor speed ⁇ and the target torque T ref acquired via the second communication I / F 207 and outputs them to the motor load inertia input unit 206.
- Various methods are conceivable as a method of calculating the motor load inertia J by the motor load inertia calculation unit 213.
- the motor load inertia J is calculated according to the following equation (K).
- K the motor load inertia J calculated by the motor load inertia calculation unit 213 will be referred to as a motor load inertia J ′.
- the motor load inertia input unit 206 newly sets the motor load inertia J ′ input from the motor load inertia calculation unit 213, and outputs the motor load inertia J ′ to the motor control constant calculation unit 202.
- the motor load inertia input unit 206 updates the motor load inertia J that has been input and set so far, and the motor load inertia J ′ calculated by the motor load calculation unit 213 is newly set.
- the updated motor load inertia J ′ is output to the motor control constant calculation unit 202.
- the motor control constant calculation unit 202 calculates a motor control constant using the motor load inertia J ′ updated by the motor load inertia input unit 206. Therefore, even when a load change of the motor 10 occurs, the motor control constant calculation unit 202 can calculate a motor control constant corresponding to such a load change.
- the motor control constant calculation unit 202 calculates the motor control constant corresponding to the load fluctuation. As a result, the vehicle speed can be controlled under appropriate motor control constants for obtaining desired response characteristics.
- the motor load inertia calculation unit that calculates the motor load inertia based on the target speed and the target torque acquired from the motor control device.
- the motor load inertia input unit sequentially updates the motor load inertia set by input to the motor load inertia calculated by the motor load inertia calculation unit, and calculates the motor load inertia after the update by calculating the motor control constant.
- the configuration may be as follows. That is, motor control constants corresponding to a plurality of motor load inertias J are calculated in advance, associations (for example, tables) between the motor load inertias J and the motor control constants are defined in advance, and the motor control constant calculation unit 202 stores them. It may be stored in the part.
- the motor load inertia calculation unit 202 acquires the motor speed ⁇ and the target torque T ref from the motor control device 100 online, and recalculates the motor load inertia J without recalculating the motor load inertia J.
- the corresponding motor load inertia J is output to the motor load inertia input unit 206.
- the motor control constant calculation unit 202 can directly select an appropriate motor control constant corresponding to a known motor load change from the storage unit (association). That is, the motor control constant calculation unit 202 directly selects an appropriate motor control constant corresponding to the motor load inertia J acquired from the motor load inertia input unit 206 from the storage unit (association).
- the motor 10 can be controlled under the control constant. Further, by setting the motor control constant directly selected from the storage unit in the motor control device 100, it is difficult to update the value of the motor load inertia J with high accuracy due to disturbance of the motor speed signal due to sensor noise or disturbance. Even in such a situation, the motor 10 can be controlled under appropriate motor control constants.
- motor control constants corresponding to a plurality of gear ratios may be calculated in advance and stored in the storage unit of the motor control constant calculation unit 202.
- the motor control constant calculation unit 202 directly selects an appropriate motor control constant corresponding to the gear ratio known in advance from the storage unit. Therefore, even when the load changes due to the gear change, the motor speed ⁇ and the target torque T ref are acquired online from the motor control device 100 and the motor load inertia J is not recalculated, and the motor load inertia J is recalculated. The vehicle can be run.
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Abstract
Description
特許文献1に記載の従来技術では、モータ速度信号のノイズを低減するLPFを無視して、速度ループゲインを決定する。したがって、決定した速度ループゲインを用いて、最終的にLPFを挿入してモータを制御した場合には、実際上、決定時に与えた目標応答周波数ωfよりも速度応答性が劣化する。すなわち、決定した速度ループゲインは、必ずしも適切なモータ制御定数とはいえないという問題がある。
図1は、本発明の実施の形態1におけるモータ制御定数計算装置200を含むモータ制御システムの全体構成を示すブロック図である。
本発明の実施の形態2におけるモータ制御定数計算装置200は、先の実施の形態1におけるモータ制御定数計算装置200の構成(図1)と比べて以下の点が異なる。すなわち、先の実施の形態1におけるモータ制御定数計算装置200と同様の構成に加えて、ランプ応答仕様入力部208をさらに有する。そこで、このような相違点を中心に、以下に説明する。
本発明の実施の形態3におけるモータ制御定数計算装置200は、先の実施の形態1におけるモータ制御定数計算装置200の構成(図1)と比べて以下の点が異なる。すなわち、先の実施の形態1におけるモータ制御定数計算装置200と比べて、目標応答時定数入力部201の代わりにフィルタ時定数入力部209を有し、フィルタ時定数計算部202aの代わりに目標応答時定数計算部202cを有する。そこで、このような相違点を中心に、以下に説明する。
本発明の実施の形態4におけるモータ制御定数計算装置200は、先の実施の形態1におけるモータ制御定数計算装置200の構成(図1)と比べて以下の点が異なる。すなわち、先の実施の形態1におけるモータ制御定数計算装置200と同様の構成に加えて、正規化波形表示部210をさらに有する。そこで、このような相違点を中心に、以下に説明する。
本発明の実施の形態5におけるモータ制御定数計算装置200は、先の実施の形態1におけるモータ制御定数計算装置200の構成(図1)と比べて以下の点が異なる。すなわち、先の実施の形態1におけるモータ制御定数計算装置200と同様の構成に加えて、応答波形表示部211および数値解析条件入力部212をさらに有する。そこで、このような相違点を中心に、以下に説明する。
本発明の実施の形態6におけるモータ制御定数計算装置200は、先の実施の形態1におけるモータ制御定数計算装置200の構成(図1)と比べて以下の点が異なる。すなわち、先の実施の形態1におけるモータ制御定数計算装置200と同様の構成に加えて、モータ負荷慣性計算部213をさらに有する。そこで、このような相違点を中心に、以下に説明する。
Claims (9)
- モータに対する速度指令として、目標速度を発生させる目標速度指令発生部と、
前記目標速度指令発生部から入力された前記目標速度の信号波形をフィルタリング処理する第1LPFと、
前記モータから検出されるモータ速度の信号波形のノイズを低減する第2LPFと、
前記第1LPFを通過した前記目標速度と前記第2LPFを通過した前記モータ速度との偏差を計算する速度偏差計算部と、
前記偏差に基づいて前記モータが発生する目標トルクを計算するモータ目標トルク計算部と、
前記目標トルクに基づいて前記モータに印加する電圧を計算して前記モータに出力するモータ印加電圧計算部と、
を備えたモータ制御装置に対して、前記モータが所望の応答特性を得るためのモータ制御定数を計算するモータ制御定数計算装置であって、
前記所望の応答特性となるように応答速度を規定する目標応答時定数を入力して設定するための目標応答時定数入力部と、
前記所望の応答特性となるように応答波形を規定する波形パラメータを入力して設定するための波形パラメータ入力部と、
前記モータのモータ負荷慣性を入力して設定するためのモータ負荷慣性入力部と、
前記波形パラメータ入力部から取得した前記波形パラメータに基づいて、正規化時定数を計算する正規化時定数計算部と、
前記目標応答時定数入力部から取得した前記目標応答時定数と、前記波形パラメータ入力部から取得した前記波形パラメータと、前記正規化時定数計算部から取得した前記正規化時定数と、前記モータ負荷慣性入力部から取得した前記モータ負荷慣性とに基づいて、前記第1LPF、前記第2LPFおよび前記モータ目標トルク計算部に対して設定するためのモータ制御定数として、フィルタ時定数、比例ゲインおよび積分ゲインを計算するモータ制御定数計算部と、
を備えたモータ制御定数計算装置。 - 請求項1に記載のモータ制御定数計算装置において、
前記モータが所望のランプ応答特性となるようにランプ応答仕様として、ランプ応答の目標加速度と、前記目標加速度に対する定常偏差の許容値とを入力して設定するためのランプ応答仕様入力部をさらに備え、
前記モータ制御定数計算部は、
前記ランプ応答仕様入力部から取得した前記ランプ応答仕様にも基づくように前記モータ制御定数を計算する
モータ制御定数計算装置。 - モータに対する速度指令として、目標速度を発生させる目標速度指令発生部と、
前記目標速度指令発生部から入力された前記目標速度の信号波形をフィルタリング処理する第1LPFと、
前記モータから検出されるモータ速度の信号波形のノイズを低減する第2LPFと、
前記第1LPFを通過した前記目標速度と前記第2LPFを通過した前記モータ速度との偏差を計算する速度偏差計算部と、
前記偏差に基づいて前記モータが発生する目標トルクを計算するモータ目標トルク計算部と、
前記目標トルクに基づいて前記モータに印加する電圧を計算して前記モータに出力するモータ印加電圧計算部と、
を備えたモータ制御装置に対して、前記モータが所望の応答特性を得るためのモータ制御定数を計算するモータ制御定数計算装置であって、
前記所望の応答特性となるように前記第1LPFおよび前記第2LPFにおけるフィルタ時定数を入力して設定するためのフィルタ時定数入力部と、
前記所望の応答特性となるように応答波形を規定する波形パラメータを入力して設定するための波形パラメータ入力部と、
前記モータのモータ負荷慣性を入力して設定するためのモータ負荷慣性入力部と、
前記波形パラメータ入力部から取得した前記波形パラメータに基づいて、正規化時定数を計算する正規化時定数計算部と、
前記フィルタ時定数入力部から取得した前記フィルタ時定数と、前記波形パラメータ入力部から取得した前記波形パラメータと、前記正規化時定数計算部から取得した前記正規化時定数と、前記モータ負荷慣性入力部から取得した前記モータ負荷慣性とに基づいて、前記第1LPF、前記第2LPFおよび前記モータ目標トルク計算部に対して設定するためのモータ制御定数として、比例ゲインおよび積分ゲインを計算するモータ制御定数計算部と、
を備えたモータ制御定数計算装置。 - 請求項1から5のいずれか1項に記載のモータ制御定数計算装置において、
前記波形パラメータ入力部から取得した前記波形パラメータに基づいて、前記目標速度から前記モータ速度に至るまでの伝達関数の時間軸を正規化した伝達関数に対する応答波形を表示する正規化波形表示部をさらに備える
モータ制御定数計算装置。 - 請求項1から6のいずれか1項に記載のモータ制御定数計算装置において、
数値解析条件を入力して設定するための数値解析条件入力部と、
前記モータ制御定数計算部が計算した前記モータ制御定数と、前記モータ負荷慣性部から取得した前記モータ負荷慣性とを用いて、前記数値解析条件部から取得した前記数値解析条件の下で数値解析を実行し、前記モータの応答波形を表示する応答波形表示部と、
をさらに備えるモータ制御定数計算装置。 - 請求項1から7のいずれか1項に記載のモータ制御定数計算装置において、
前記モータ制御装置から取得した前記目標速度および前記目標トルクに基づいて、前記モータ負荷慣性を計算するモータ負荷慣性計算部をさらに備え、
前記モータ負荷慣性入力部は、
入力して設定されている前記モータ負荷慣性を、前記モータ負荷慣性計算部が計算した前記モータ負荷慣性に逐次更新するとともに、更新後の前記モータ負荷慣性を前記モータ制御定数計算部に出力する
モータ制御定数計算装置。 - 請求項1から7のいずれか1項に記載のモータ制御定数計算装置において、
前記モータ制御定数計算部は、
あらかじめ計算しておいた、複数のモータ負荷慣性に対応するモータ制御定数を記憶する記憶部を有し、
事前にわかっているモータ負荷変動に対応した適切なモータ制御定数を前記記憶部の中から直接選択する
モータ制御定数計算装置。
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