WO2016152074A1 - Dispositif d'attaque de moteur - Google Patents

Dispositif d'attaque de moteur Download PDF

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Publication number
WO2016152074A1
WO2016152074A1 PCT/JP2016/001419 JP2016001419W WO2016152074A1 WO 2016152074 A1 WO2016152074 A1 WO 2016152074A1 JP 2016001419 W JP2016001419 W JP 2016001419W WO 2016152074 A1 WO2016152074 A1 WO 2016152074A1
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WO
WIPO (PCT)
Prior art keywords
motor
speed
disturbance
torque
command
Prior art date
Application number
PCT/JP2016/001419
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English (en)
Japanese (ja)
Inventor
鈴木　健一
弘 藤原
Original Assignee
パナソニックＩｐマネジメント株式会社
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.)
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Publication date
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2016152074A1 publication Critical patent/WO2016152074A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • 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
    • H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load

Definitions

  • the present invention relates to a motor drive device that controls a motor using a disturbance observer.
  • Patent Document 1 discloses an auto-tuning function that corrects control parameters by estimating load characteristics in real time.
  • the auto-tuning function works effectively in devices where the load characteristics do not change significantly from the initial state.
  • load estimation by the auto tuning function may not be in time, and may not be able to be applied.
  • Patent Document 2 proposes a motor drive device that performs control that estimates load fluctuations as disturbances and cancels the estimated disturbances.
  • the motor drive device targeted by the present invention obtains a speed command for driving the motor, and controls the motor current flowing through the motor.
  • the motor drive device includes a speed control unit, a disturbance compensation unit, and a current control unit.
  • a speed deviation that is the difference between the obtained speed command and the motor speed obtained from the motor driven based on the speed command is generated.
  • the speed control unit obtains the generated speed deviation and generates a first torque command.
  • the disturbance compensation unit includes a phase compensation unit, a disturbance torque compensation unit, and a disturbance torque estimation unit.
  • the phase compensator obtains the generated first torque command and generates the second torque command with the phase advanced.
  • the disturbance torque compensator obtains the generated second torque command and the estimated disturbance torque value generated according to the motor speed, and generates the third torque command.
  • the disturbance torque estimation unit obtains the third torque command and the motor speed, and generates a disturbance torque estimated value.
  • the current control unit controls the motor current that flows to the motor in order to generate a torque output according to the third torque command.
  • FIG. 1 is a block diagram showing a motor drive device according to Embodiment 1 of the present invention.
  • FIG. 2 is a block diagram showing a disturbance compensator included in the motor drive apparatus according to Embodiment 1 of the present invention.
  • FIG. 3 is a control block diagram showing the control realized by the motor drive device according to Embodiment 1 of the present invention.
  • FIG. 4 is a control block diagram equivalent to the control block diagram shown in FIG.
  • FIG. 5 is a block diagram showing a disturbance compensator included in the motor drive apparatus according to Embodiment 2 of the present invention.
  • the motor driving apparatus can suppress the influence due to the load fluctuation by using the disturbance compensation unit.
  • the motor driving apparatus improves the stability without deteriorating the responsiveness to the speed command.
  • the conventional motor drive device has the following improvements. That is, the conventional motor drive device includes an inertia variation suppression unit and a phase compensation unit in a control circuit that performs speed feedback in order to improve the stability of the control operation.
  • the motor drive device includes a disturbance compensation unit having a phase compensation unit.
  • the phase compensation unit advances the phase of the first torque command that is an input of the disturbance compensation unit.
  • the motor drive device can obtain a phase advance effect in the open loop characteristics related to speed.
  • the motor drive apparatus in the present embodiment performs feedback control so that the actual motor speed follows the speed command. Therefore, if the motor drive device in the present embodiment is used, a speed control system in which the delay of the motor speed with respect to the speed command is small can be obtained.
  • the disturbance compensation unit used in the motor drive device according to the embodiment of the present invention further includes a current compensation unit.
  • the disturbance compensation part used for the motor drive device in the embodiment of the present invention further has a speed smoothing part.
  • the current compensator is located on the input side of the disturbance torque estimator.
  • the third torque command is input to the disturbance torque estimation unit via the current compensation unit.
  • the speed smoothing unit is located on the other input side of the disturbance torque estimating unit.
  • the motor speed is input to the disturbance torque estimation unit via the speed smoothing unit.
  • the motor drive device in the present embodiment can further improve the accuracy of the estimated disturbance torque value output by the disturbance torque estimation unit.
  • FIG. 1 is a block diagram showing a motor drive device according to Embodiment 1 of the present invention.
  • FIG. 2 is a block diagram showing a disturbance compensator included in the motor drive apparatus according to Embodiment 1 of the present invention.
  • FIG. 3 is a control block diagram showing the control realized by the motor drive apparatus according to Embodiment 1 of the present invention.
  • FIG. 4 is a control block diagram equivalent to the control block diagram shown in FIG.
  • the motor drive device 101 obtains a speed command ⁇ * for driving the motor 102 and controls the motor current Im passed through the motor 102.
  • the motor drive device 101 includes a speed control unit 14, a disturbance compensation unit 16, and a current control unit 18.
  • the motor drive device 101 generates a speed deviation ⁇ that is a difference between the obtained speed command ⁇ * and the motor speed ⁇ obtained from the motor 102 driven based on the speed command ⁇ * .
  • the speed control unit 14 obtains the generated speed deviation ⁇ and generates the first torque command CT1.
  • the disturbance compensation unit 16 includes a phase compensation unit 161, a disturbance torque compensation unit 163, and a disturbance torque estimation unit 162.
  • the phase compensation unit 161 obtains the generated first torque command CT1 and generates the second torque command CT2 whose phase has been advanced.
  • the disturbance torque compensator 163 obtains the generated second torque command CT2 and the estimated disturbance torque value ⁇ lhat generated according to the motor speed ⁇ , and generates the third torque command ⁇ m.
  • the disturbance torque estimating unit 162 obtains the third torque command ⁇ m and the motor speed ⁇ , and generates a disturbance torque estimated value ⁇ lhat.
  • the current control unit 18 controls the motor current Im flowing through the motor 102 in order to generate a torque output according to the third torque command ⁇ m.
  • the phase compensation unit 161 is composed of a primary lead lag filter.
  • the first torque command CT1 is a command value that makes the speed deviation ⁇ smaller. Specifically, the first torque command CT1 is controlled so that the speed deviation ⁇ converges to zero.
  • the third torque command ⁇ m is a command value that cancels the disturbance torque ⁇ l.
  • the motor driving device 101 drives the motor 102 by controlling the motor current Im flowing through the motor 102.
  • the position detection unit 103 detects the angle of the motor 102 and feeds back the detected angle of the motor 102 to the motor driving device 101.
  • the position detection unit 103 can be realized by an encoder, for example.
  • the speed command ⁇ * is transmitted from the host device as a result of position control. Alternatively, the speed command ⁇ * is transmitted through the external I / F. The speed command ⁇ * is generated by internal command calculation.
  • the speed detector 19 calculates the motor speed ⁇ from the angle information of the position detector 103.
  • the motor speed ⁇ can be calculated, for example, by dividing the difference in angle information by the calculation cycle for each calculation cycle.
  • the motor drive device 101 inputs a speed deviation ⁇ , which is a difference between the speed command ⁇ * and the motor speed ⁇ , to the speed control unit 14 and calculates a first torque command CT1.
  • the speed control unit 14 controls the speed deviation ⁇ to be zero.
  • the speed control unit 14 is configured by PI control or the like.
  • the disturbance compensator 16 generates a third torque command ⁇ m from the input first torque command CT1 and motor speed ⁇ . Details will be described later.
  • the current control unit 18 controls the motor current Im flowing through the motor 102 so that the motor 102 outputs a torque according to the third torque command ⁇ m to drive the load.
  • the phase compensator 161 performs phase advance compensation on the first torque command CT1, and generates a second torque command CT2.
  • the phase compensation unit 161 can be realized by a lead lag filter of an appropriate order.
  • the disturbance torque estimation unit 162 outputs a disturbance torque estimated value ⁇ lhat from the third torque command ⁇ m and the motor speed ⁇ .
  • the disturbance torque estimation unit 162 is generally called a disturbance observer.
  • Various implementation methods have been proposed for the disturbance torque estimation unit 162, and any of them can be implemented.
  • the disturbance torque compensator 163 uses a disturbance torque estimation value ⁇ lhat that is an output of the disturbance torque estimator 162 and a second torque command CT2 that is an output of the phase compensator 161 to generate a third torque command that is used for actual motor current control. ⁇ m is generated. Normally, the disturbance torque compensation unit 163 adds the disturbance torque estimated value ⁇ lhat and the second torque command CT2 as they are so as to cancel the disturbance torque ⁇ l.
  • the speed control unit 14 is proportional control.
  • the current control unit 18 ignores it as being sufficiently faster than the speed control response.
  • the characteristics of the motor 102, the position detection unit 103, and the speed detection unit 19 that are located on the path from the third torque command ⁇ m to the detection of the motor speed ⁇ are collectively set to 1 / (J ⁇ s).
  • a disturbance observer is configured using Jn ⁇ s, which is the inverse model of 1 / (J ⁇ s), and is set as a disturbance torque estimation unit 162.
  • the speed closed loop characteristic becomes unstable. Therefore, in order not to impair the stability of the speed closed loop characteristic, the stability can be recovered by adding the phase compensation unit 161 having the inverse characteristic of the equivalent primary lag-lead filter 166 to the control block. If the phase compensation unit 161 is configured with the maximum value ⁇ max of the ratio ⁇ between the inertia true value and the inertia nominal value, the characteristic combined with the equivalent primary lag lead filter 166 always leads in phase regardless of the value of the ratio ⁇ . Therefore, it is optimal to configure the phase compensation unit 161 with the maximum value ⁇ max of the ratio ⁇ between the inertia true value and the inertia nominal value.
  • the phase compensation unit 161 has a second or higher equivalent characteristic depending on the configuration of the disturbance compensation unit 16 and the filter order. Therefore, the phase compensation unit 161 may change the order in accordance with the inverse characteristic.
  • the primary lead lag filter increases the gain in the high frequency range. Therefore, the primary lead lag filter can be combined with a filter for reducing the gain in a high frequency region where phase advance compensation is not required.
  • FIG. 5 is a block diagram showing a disturbance compensator included in the motor drive apparatus according to Embodiment 2 of the present invention.
  • the motor drive apparatus according to Embodiment 2 of the present invention has the following configuration.
  • the disturbance compensation unit 16a further includes a current compensation unit 164.
  • the current compensator 164 outputs a current control characteristic Cm, which is control information for controlling the motor current (Im) supplied to the motor (102) by the current controller (18) in accordance with the third torque command ⁇ m, It is added to the torque command ⁇ m.
  • the current control characteristic Cm can be realized by a transfer function.
  • the disturbance compensation unit 16a further includes a speed smoothing unit 165.
  • the speed smoothing unit 165 smoothes the motor speed ⁇ obtained by the disturbance torque estimating unit 162.
  • the current compensator 164 has the same control characteristics as the current controller 18 shown in FIG.
  • the disturbance compensator 16a can more accurately reproduce the actually generated motor torque ⁇ m. Therefore, the disturbance compensation unit 16a can improve the accuracy of the disturbance torque estimated value ⁇ lhat.
  • the speed smoothing unit 165 can reduce high frequency noise.
  • a low-pass filter can be used for the speed smoothing unit 165.
  • a filter having a cutoff frequency of about 10 times the time constant of the differential calculation performed by the disturbance torque estimation unit 162 can be used.
  • the speed smoothing unit 165 can use a moving average filter.
  • the motor drive device of the present invention can suppress the influence of load fluctuations by using the disturbance compensation unit.
  • the motor driving device of the present invention can ensure stability without deteriorating responsiveness to the speed command.
  • the motor drive device of the present invention is useful in applications where load characteristics change, such as articulated robots, take-out robots, and loaders / unloaders.
  • the motor driving device of the present invention can stabilize the operation of the motor even when the load characteristics are not known. Therefore, the motor drive device of the present invention can also be used as an initial setting when adjusting equipment.
  • the motor targeted by the motor drive device of the present invention is not limited to a rotary motor.
  • the effect can be used by replacing the unit of the rotation system with the unit of the linear motion system.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un dispositif d'attaque de moteur (101) qui, suite à l'acquisition d'une instruction de vitesse destinée à commander un moteur (102), commande un courant de moteur circulant vers le moteur (102). Le dispositif d'attaque de moteur (101) est pourvu d'une unité de commande de vitesse (14), d'une unité de compensation de perturbation (16) et d'une unité de commande de courant (18). L'unité de compensation de perturbation (16) comporte une partie de compensation de phase, une partie de compensation de couple perturbateur et une partie d'estimation de couple perturbateur. Suite à l'acquisition d'une première instruction de couple générée, la partie de compensation de phase génère une deuxième instruction de couple dont la phase est avancée. Suite à l'acquisition de la deuxième instruction de couple générée et d'une valeur d'estimation de couple perturbateur, qui est générée en fonction d'une vitesse du moteur, la partie de compensation de couple perturbateur génère une troisième instruction de couple. Suite à l'acquisition de la troisième instruction de couple et de la vitesse du moteur, la partie d'estimation de couple perturbateur génère une valeur d'estimation de couple perturbateur.
PCT/JP2016/001419 2015-03-23 2016-03-14 Dispositif d'attaque de moteur WO2016152074A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015059013 2015-03-23
JP2015-059013 2015-03-23

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WO2016152074A1 true WO2016152074A1 (fr) 2016-09-29

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019012799A1 (fr) * 2017-07-11 2019-01-17 日立オートモティブシステムズ株式会社 Dispositif de commande de moteur électrique et dispositif de frein électrique
WO2019123573A1 (fr) * 2017-12-20 2019-06-27 三菱電機株式会社 Dispositif de commande de moteur électrique

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06333325A (ja) * 1993-05-24 1994-12-02 Fujitsu Ltd ディスク装置
JP2008289218A (ja) * 2007-05-15 2008-11-27 Yaskawa Electric Corp モータ制御装置とその制御方法
JP2013055751A (ja) * 2011-09-01 2013-03-21 Yaskawa Electric Corp 電動機制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06333325A (ja) * 1993-05-24 1994-12-02 Fujitsu Ltd ディスク装置
JP2008289218A (ja) * 2007-05-15 2008-11-27 Yaskawa Electric Corp モータ制御装置とその制御方法
JP2013055751A (ja) * 2011-09-01 2013-03-21 Yaskawa Electric Corp 電動機制御装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019012799A1 (fr) * 2017-07-11 2019-01-17 日立オートモティブシステムズ株式会社 Dispositif de commande de moteur électrique et dispositif de frein électrique
JP2019017232A (ja) * 2017-07-11 2019-01-31 日立オートモティブシステムズ株式会社 電動機の制御装置及び電動ブレーキ装置
WO2019123573A1 (fr) * 2017-12-20 2019-06-27 三菱電機株式会社 Dispositif de commande de moteur électrique
CN111684708A (zh) * 2017-12-20 2020-09-18 三菱电机株式会社 电动机的控制装置
CN111684708B (zh) * 2017-12-20 2023-04-28 三菱电机株式会社 电动机的控制装置

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