WO2017195578A1 - モータ制御システム - Google Patents
モータ制御システム Download PDFInfo
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- WO2017195578A1 WO2017195578A1 PCT/JP2017/016129 JP2017016129W WO2017195578A1 WO 2017195578 A1 WO2017195578 A1 WO 2017195578A1 JP 2017016129 W JP2017016129 W JP 2017016129W WO 2017195578 A1 WO2017195578 A1 WO 2017195578A1
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- Prior art keywords
- motor control
- torque
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- unit
- command
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
- H02P5/56—Speed and position comparison between the motors by electrical means
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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
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
-
- 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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41426—Feedforward of torque
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43117—Torque compensation as function of position reference, feedback of speed and position
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50216—Synchronize speed and position of several axis, spindles
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50218—Synchronize groups of axis, spindles
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50234—Synchronize two spindles, axis, electronic transmission, line shafting
Definitions
- the present invention relates to a motor control system including a plurality of motor control devices for controlling a motor attached to each shaft.
- a motor control system has been used in which a controller positioned at a higher level and a plurality of motor control devices that control motors attached to the respective shafts are connected via a communication line.
- the motor control system is used for various machine tools and robots.
- the motor control system includes a controller, an X-axis motor control device that controls an X-axis motor attached to the X-axis, and a Y-axis motor control device that controls a Y-axis motor attached to the Y-axis.
- a controller an X-axis motor control device that controls an X-axis motor attached to the X-axis
- a Y-axis motor control device that controls a Y-axis motor attached to the Y-axis.
- the characteristics of the other axis may be greatly affected. Specifically, when an X-axis motor attached to the X-axis is controlled in order to move an object located on the X-axis, there is a change in the characteristics of the mechanical system used to operate the Y-axis motor. May occur. Therefore, in controlling the Y-axis motor, the torque applied to the Y-axis motor in the Y-axis motor control device is too much or too little depending on the load position on the X-axis. Therefore, in the motor control system, a reduction in performance for suppressing vibration occurs.
- the following motor control system has been disclosed as a method for dealing with such problems.
- the motor control device of the control target axis is transmitted with information on the position information of the other axis, the load inertia of the machine, or the weight along with the position information of the own axis.
- shaft controls the motor attached to the control object axis
- This conventional motor control system has a synchronous counter.
- the synchronization counter is initialized at the timing when command data transmitted from the controller to each motor control device is received.
- the plurality of motor control devices included in the motor control system having the conventional configuration simultaneously receive command data transmitted from the controller.
- the synchronous counters all have the same count up speed. Therefore, the plurality of motor control devices reflect the received command data simultaneously to the control of each motor (for example, Patent Document 2).
- each motor control device shown in Patent Document 1 the control parameter is changed at an arbitrary timing without corresponding to the communication cycle. That is, each motor control device changes the control parameter without synchronizing with each other. Therefore, when the X axis and the Y axis are not mechanically coupled, the X axis motor control device that controls one X axis and the Y axis motor control device that controls one Y axis are configured.
- the following control is considered possible in the motor control system. That is, for example, in order to reflect changes that occur on the X axis, a Y axis motor control device that controls an object that moves on the Y axis changes control parameters without being trapped by changes that occur on the X axis. . Even if such control is performed, the conventional motor control system does not deteriorate the performance of suppressing vibration.
- a gantry mechanism As a configuration in which the X axis and the Y axis are mechanically coupled, for example, a gantry mechanism can be cited.
- a motor control system having such a gantry mechanism has, for example, a head on which an X-axis load moves, and a pair of rails that drive both ends of the head in parallel in the Y-axis direction.
- the Y axis includes a Y1 axis and a Y2 axis that are located in parallel. That is, a motor control system having a gantry mechanism has one X-axis motor control device that controls the X-axis and two Y-axis motor control devices that control the Y1 axis and the Y2 axis. Note that parallel driving is also referred to as tandem driving.
- the Y1 axis motor control device and the Y2 axis motor control device respectively The control parameter is changed at the timing.
- each control device changes the control parameter at an arbitrary timing as appropriate, the following problems may occur. That is, between each Y-axis motor control device that controls the Y1 axis and the Y2 axis, the torque required due to the position where the X-axis load exists on the head is reflected in each motor. The timing to make shifts. Therefore, twist occurs between the mechanically coupled Y1 axis and Y2 axis. Such a twist causes deterioration in the positioning accuracy of the X-axis load and the vibration suppression performance, leading to a reduction in safety and a failure.
- a plurality of motor control devices and a controller are connected via a communication line.
- the multiple motor control devices control the motors connected to each.
- the controller generates a communication signal including each operation command in order to control each motor.
- the controller transmits the generated communication signal to each of the plurality of motor control devices at a predetermined communication cycle.
- the plurality of motor control devices include two motor control devices of the first group and a motor control device of the second group.
- the first group of motor control devices each include a data transmission / reception unit, a motor control unit, a correction unit, and a synchronization unit.
- the data transmitter / receiver receives an operation command for itself among communication signals and operation information in the second group of motor control devices among the communication signals.
- the motor control unit generates a torque command signal for controlling the connected motor based on the operation command for itself.
- the correction unit generates a torque correction signal based on the operation information of the second group of motor control devices, and corrects its own torque command signal using the torque correction signal.
- the synchronization timing generation unit generates a timing signal that matches the processing timing between the first group of motor control units.
- each motor is required to be driven in synchronization.
- each motor control apparatus will drive each motor so that it may synchronize.
- the gantry mechanism when fluctuations occur due to the load characteristics of two axes that operate in parallel, depending on the position of the load on a different axis from the two axes, the occurrence of torsion between the two axes can be suppressed. . Therefore, it is possible to suppress the deterioration of the positioning accuracy and vibration suppression performance of the X-axis load based on such a twist, and it is possible to ensure safety and reduce the cause of failure.
- FIG. 1 is a configuration diagram of a motor control system according to Embodiment 1 of the present invention.
- FIG. 2 is a block diagram of a first group of motor control devices of the motor control system.
- FIG. 3 is a block diagram showing a detailed configuration of a main part of the motor control system.
- FIG. 4 is a configuration diagram for explaining an operation of controlling the gantry mechanism in the motor control system.
- FIG. 5 is a timing chart of the motor control system.
- FIG. 6 is a configuration diagram of the motor control system according to the second embodiment of the present invention.
- FIG. 7 is a configuration diagram of a motor control system according to Embodiment 3 of the present invention.
- FIG. 8 is a block diagram of a first group of motor control devices of the motor control system.
- FIG. 9 is a block diagram showing a detailed configuration of a main part of the motor control system.
- FIG. 1 is a configuration diagram of a motor control system according to Embodiment 1 of the present invention.
- the motor control system 100 includes one control target mechanism 33, a plurality of motors 30, a plurality of motor control devices 10, one motor control device 20, and one And a controller 80.
- the controller 80 and each of the motor control devices 10 and 20 are communicatively connected via a communication line 81.
- the control object mechanism 33 used as the object of control of the motor 30 is a structure which has a some axis
- This motor device is compatible. In such a motor device, the motor 30 is driven and controlled in accordance with commands from the motor control devices 10 and 20, and the load of one shaft moves on the shaft.
- a motor control system 100 that controls the control target mechanism 33 that is the gantry mechanism described above is cited.
- the control target mechanism 33 is configured by two axes that are the X axis and the Y axis as the parent axes of the plurality of axes, and the Y axis is further the Y1 axis and the Y2 axis as the child axes below the parent axis.
- An example of a system composed of two axes is shown. That is, the present embodiment can be applied to a system configured with a plurality of parent shafts, and one of the parent shafts further including a plurality of child shafts.
- the motor control system 100 includes a pair as a first group, that is, two motor control devices 10 and one motor as a second group. And a control device 20.
- the first group of motor control devices 10 controls the two-axis motor 30 that is a pair of the Y1 axis and the Y2 axis, with the Y axis that is the parent axis as the first group.
- the second group of motor control devices 20 controls one X-axis motor 30.
- the Y1 axis motor 30 is connected to the first motor control device 10 of the first group, and the second motor control device 10 of the first group. Are connected to the Y2 axis motor 30, and the X-axis motor 30 is connected to the second group of motor control devices 20.
- the control target mechanism 33 having a gantry structure includes two rails 34, a head 35 disposed so as to straddle between both rails 34, and a load 36 mounted on the head 35.
- the two rails 34 are arranged in parallel with each other in association with the Y1 axis and the Y2 axis, respectively.
- the head 35 is disposed so that both end portions thereof are mounted on the rails 34 and are movable in the Y-axis direction.
- the load 36 is mounted on the head 35 so as to be movable in the X-axis direction.
- the first motor control device 10 controls the motor 30 to control the position of one end of the head 35 disposed on the Y1 axis.
- the second motor control device 10 controls the motor 30 to control the position of the other end portion of the head 35 disposed on the Y2 axis.
- both sides of the head 35 on which the load 36 is mounted move on the rail 34 at the same speed while maintaining the same position in the Y-axis direction. That is, as a result, the head 35 serving as the load of the Y1 axis and the load of the Y2 axis moves on the Y axis constituted by the rails 34.
- the X-axis motor 30 connected to the second group of motor control devices 20 controls the position so that the X-axis load 36 moves on the head 35 in the X-axis direction.
- a controller 80 connected to the motor control device 10, 20 is connected.
- Specific communication methods in this communication connection include, for example, serial communication standards such as RS232C / 485, data communication corresponding to the USB (Universal Serial Bus) standard, or communication specifications dedicated to the FA network.
- RTEX (Realtime Express) or EtherCAT communication may be used.
- control parameters include control gains and setting values related to filter characteristics.
- the controller 80 sends various information including operation commands to the motor control devices 10 and 20 so that the motor 30 performs a desired movement operation, Various information is received from the motor control devices 10 and 20.
- a reference cycle for sending an operation command is set. That is, the controller 80 sends out a command signal including an operation command such as a position command and a speed command for each communication cycle as the reference cycle. Further, each of the motor control devices 10 and 20 controls the operation of the motor 30 based on the received command signal. Further, each of the motor control devices 10 and 20 transmits a reply signal including operation information such as an operation state to the controller 80 every communication cycle. Although details will be described below, the controller 80 further transmits a communication timing signal St for each communication cycle. In FIG.
- a signal transmitted every communication cycle including the command signal, the return signal, and the communication timing signal St via the communication line 81 is illustrated as a communication signal Cm.
- FIG. 2 is a block diagram showing a detailed configuration of the first group of motor control devices 10 of the motor control system 100 according to the present embodiment.
- FIG. 3 is a block diagram showing a detailed configuration of a main part of the motor control device 10 including a more detailed configuration of the motor control unit 14.
- the motor control device 10 includes a communication processing unit 12, a control parameter setting unit 13, a motor control unit 14, a drive unit 15, a synchronization timing generation unit 16, and a torque correction unit 17. I have.
- the communication processing unit 12 is communicatively connected to the communication line 81, receives various types of information including control parameters and operation commands from the controller 80, and performs motor control on the controller 80. Various information in the apparatus 10 is transmitted.
- the communication processing unit 12 receives a group of data, which are control parameters, from the controller 80 and transmits them to the control parameter setting unit 13 at the time of initial setting for starting up the system, for example.
- control parameters include a torque correction reference value Cor in the present embodiment, along with various gains and filter constants.
- the controller 80 transmits information including an operation command as a command signal with the communication signal Cm every communication cycle, and the communication processing unit 12 receives the information.
- the motion information of the other axis that is the position information of the load 36 in the X-axis direction is also notified as the motion command.
- an X-axis position command Pcx that is a position command indicating a position commanded to the motor control device 20 that controls the X-axis is notified. .
- the motor control device 10 that is the first group receives the position command Pc as the first position command in the communication processing unit 12 as an operation command for itself in the communication signal Cm. At the same time, the motor control device 10 receives the X-axis position command Pcx as the second position command as operation information in the second group of motor control devices 20 in the communication signal Cm.
- the position command Pc is notified to the motor control unit 14, and the motor control unit 14 executes position control so as to follow the position command Pc. Further, the X-axis position command Pcx is notified to the torque correction unit 17, and a corrected torque command is generated by the torque correction unit 17.
- the position command Pc as the operation command and the X-axis position command Pcx as the operation information will be described as an example. In addition to these, other information and data may be notified as information.
- the communication processing unit 12 is notified of various information from each unit in the motor control device 10.
- the motor control unit 14 notifies the communication processing unit 12 of detected position information Pdy that is position information of the motor on the Y axis detected by the motor control unit 14. Then, the communication processing unit 12 notifies the controller 80 of the detected position information Pdy as a return signal with the communication signal Cm.
- the communication timing signal St included in the communication signal Cm is transmitted from the controller 80 every communication cycle.
- the communication processing unit 12 detects this communication timing signal St and notifies the synchronization timing generation unit 16 of it.
- the position command Pc or the like is a signal that becomes data
- the communication timing signal St is a pulse signal for indicating a periodic timing. That is, although details will be described below, in this embodiment, the communication timing signal St is used as a synchronization signal, and the synchronization timing generation unit 16 generates a clock signal Ck synchronized with the cycle of the communication timing signal St. is doing.
- the communication processing unit 12 includes a communication interface (hereinafter, appropriately referred to as a communication I / F) 22 and a data transmission / reception unit 23 as shown in FIG.
- the communication I / F 22 is a modulator / demodulator based on communication specifications in communication connection with the controller 80.
- the communication I / F 22 transfers the demodulated data to the data transmission / reception unit 23, modulates the data from the data transmission / reception unit 23 based on the communication specifications, and transmits the modulated data to the controller 80.
- the communication I / F 22 extracts the communication timing signal St included in the communication signal Cm and supplies it to the synchronization timing generation unit 16.
- the data transmitter / receiver 23 temporarily holds data that is modulated / demodulated by the communication I / F 22.
- the control parameter setting unit 13 receives a control parameter group Prm composed of a group of data from the communication processing unit 12 at the time of system startup, for example.
- the control parameter setting unit 13 includes, for example, a control parameter memory 132 and a parameter processing unit 133.
- the control parameter setting unit 13 stores the received control parameter group Prm in the control parameter memory 132, and sets the stored control parameter in a predetermined function unit by the processing of the parameter processing unit 133. That is, for example, as shown in FIG. 3, the gains Kvff, Kpp, Ktff, constants, and the like included in the control parameter group Prm are set in the function unit of control and processing in the motor control unit 14. Furthermore, in the present embodiment, the torque correction reference value Cor included in the control parameter group Prm is set in the torque correction unit 17.
- the synchronization timing generation unit 16 generates the clock signal Ck synchronized with the cycle of the communication timing signal St as described above, and further generates the PWM carrier signal Sc from the clock signal Ck. .
- such synchronization timing generation is performed so that the first motor control device 10 corresponding to the Y1 axis and the second motor control device 10 corresponding to the Y2 axis are processed in synchronization.
- the portion 16 is provided. That is, the first and second motor control devices 10 are each processed based on the timing of the communication timing signal St.
- the synchronization timing generation unit 16 generates a timing signal that matches the processing timing between the motor control devices 10 of the first group.
- the synchronization timing generator 16 includes a clock generator 62, a frequency division counter 63, a phase comparator 64, and a PWM carrier generator 65 as shown in FIG. .
- the clock generator 62, the frequency dividing counter 63, and the phase comparator 64 constitute a so-called PLL (Phase Locked Loop) circuit.
- the clock generation unit 62 generates a clock signal Ck having a clock frequency corresponding to the control signal Dp.
- the frequency division counter 63 generates a pulse signal Pfs obtained by dividing the clock signal Ck.
- the frequency division ratio of the frequency division counter 63 is set so that the cycle of the pulse signal Pfs is substantially the same as the cycle of the communication timing signal St.
- the phase comparator 64 compares the phases of the pulse signal Pfs and the communication timing signal St, and generates a control signal Dp based on the comparison.
- the control signal Dp is supplied to the clock generation unit 62.
- the clock signal Ck is locked to the communication timing signal St, and the clock signal Ck is synchronized with the communication timing signal St.
- the clock signal Ck is used for digital processing in the motor control device 10.
- the PWM carrier generation unit 65 is supplied with a carrier generation pulse from the frequency division counter 63.
- the carrier generation pulse is a signal having a duty of 50% obtained by dividing the clock signal Ck synchronized with the communication timing signal St by a predetermined division ratio.
- the PWM carrier generation unit 65 generates a PWM carrier signal Sc that is a triangular wave by integrating such a carrier generation pulse by, for example, an integration circuit.
- the PWM carrier signal Sc is supplied to the drive unit 15 and used to generate a drive voltage Vd using PWM (pulse width modulation).
- the carrier generation pulse is supplied to the motor control unit 14 as the servo activation timing signal Sst, and the cycle of the carrier generation pulse is used as a reference cycle for control in the motor control unit 14.
- FIG. 2 shows an example in which the motor 30 is a UVW-phase three-phase drive brushless motor. That is, the motor 30 is configured to include a stator having windings 31 corresponding to each phase and a rotor holding a permanent magnet. The winding 31 is energized by applying a driving voltage Vd whose phase is shifted by 120 degrees to each winding 31 of the stator, and a current flows through the winding 31 to rotate the rotor. Then, the position of the corresponding shaft connected to the rotor is controlled according to the rotation of the rotor.
- Vd driving voltage
- the motor 30 is equipped with a position sensor 32 for detecting the rotational position of the rotor.
- the position sensor 32 outputs a position sensor signal Pd corresponding to the rotational position of the rotor, and notifies the motor control unit 14 of the position sensor signal Pd.
- the load is linearly position controlled by the motor 30 that rotates as described above.
- a linear motor that directly performs linear position control with respect to the load is described. Good.
- the motor control unit 14 controls the position, speed and torque of the motor 30.
- the driving unit 15 drives the winding 31 of the motor 30 to energize.
- the motor control unit 14 In order to execute such control, the motor control unit 14, as shown in FIG. 2, a position detection unit 42, a position control unit 43, a speed control unit 44, a torque feed forward (hereinafter referred to as torque FF) processing unit. 45 and a torque control unit 46.
- the control parameter setting unit 13 sets gains and constants included in the control parameter group Prm.
- the position command Pc in the Y-axis direction is notified to the motor control unit 14 from the data transmitting / receiving unit 23 of the communication processing unit 12 for each communication cycle.
- the position sensor signal Pd is notified from the position sensor 32 to the position detection unit 42, and the position detection unit 42 generates detection position information Pdy in the Y-axis direction. This detected position information Pdy is also notified to the communication processing unit 12, and further notified to the controller 80 as one piece of information of a reply signal.
- the motor control unit 14 moves so that the load position in the Y-axis direction follows the position command Pc from the controller 80 by feedback control using the detected position information Pdy based on the position sensor signal Pd. The operation is controlled.
- the position control unit 43 uses the subtractor 432 to determine the position deviation which is the difference between the position command Pc and the detected position information Pdy. dP is calculated. Further, the position proportional unit 433 performs calculations such as multiplying the position deviation dP by the position gain Kpp. Further, FIG. 3 shows an example in which the position control unit 43 further includes a speed feed forward (hereinafter referred to as speed FF) unit 434.
- the speed FF unit 434 performs a calculation such as multiplying the position command Pc by a speed FF gain Kvff along with a differential calculation. In the example of FIG.
- the position control unit 43 outputs a value obtained by adding the output of the speed FF unit 434 to the output of the position proportional unit 433 by the adder 435 as the speed command Vc.
- the speed command Vc is notified to the speed control unit 44 as a speed command.
- the speed detector 442 detects the speed and outputs it as a detected speed Vdy.
- the speed detection unit 442 detects the speed by, for example, differentiating the detected position information Pdy.
- the subtractor 443 calculates a speed deviation dV that is a difference between the supplied speed command Vc and the detected speed Vdy.
- the speed proportional unit 444 performs a proportional operation such as multiplying the speed deviation dV by the speed gain Kvp.
- the speed integration unit 445 performs integration on the speed deviation dV, and further multiplies the integration gain Kvi.
- the adder 446 adds the output of the speed proportional unit 444 and the output of the speed integration unit 445, thereby calculating the drive torque amount based on the speed calculation.
- the drive torque amount calculated by the speed control unit 44 is output as a torque command Tr based on the speed calculation.
- the motor control unit 14 includes an example including a torque FF processing unit 45 and a torque control unit 46.
- the torque FF processing unit 45 includes a torque FF unit 452 as shown in FIG.
- the torque FF unit 452 performs first-order differentiation and second-order differentiation processing on the position command Pc, further performs an operation of multiplying the differential value by the torque FF gain Ktff, and outputs it as a torque FF value Trf.
- the torque control unit 46 is supplied with the torque command Tr from the speed control unit 44 and the torque FF value Trf from the torque FF processing unit 45.
- the torque control unit 46 adds the torque command Tr and the torque FF value Trf by the adder 462.
- the value obtained by adding the torque FF value Trf to the torque command Tr based on the speed calculation as described above is set as a reference drive torque amount for operating the motor 30, and the torque command Tc. Is output as
- the torque command Tc obtained by the processing of the motor control unit 14 as described above is further corrected, and the motor 30 in the first group is driven based on the corrected torque command Tcc. It is characterized by that.
- a torque correction unit 17 is provided in the present embodiment.
- the torque correction unit 17 includes a correction amount calculation unit 72 and an adder 76.
- the correction amount calculation unit 72 is notified of the torque correction reference value Cor included in the control parameter group Prm from the control parameter setting unit 13. Further, the correction amount calculation unit 72 is notified from the communication processing unit 12 of an X-axis position command Pcx that is a position command to the motor control device 20 that controls the X-axis.
- the correction amount calculation unit 72 calculates a torque correction value Cot, which is a correction amount for the torque command Tc, based on the torque correction reference value Cor and the X-axis position command Pcx. That is, the torque correction value Cot is added to the torque command Tc supplied to the torque correction unit 17 by the adder 76, and the torque correction unit 17 outputs the addition result as a corrected torque command Tcc.
- the correction amount calculation unit 72 includes a correction amount table 73 and a multiplier 74 as shown in FIGS. 2 and 3 in order to calculate the torque correction value Cot.
- the correction amount table 73 is a conversion table that converts the X-axis position command Pcx into a correction ratio. That is, when the X-axis position command Pcx is supplied to the correction amount table 73, the correction ratio Rc is output from the correction amount table 73.
- the multiplier 74 obtains a torque correction value Cot by multiplying the torque correction reference value Cor by this correction ratio Rc.
- the table is set so as to have the following correction ratio Rc based on the X-axis position command Pcx. That is, in the control target mechanism 33 having the gantry structure, the table is set so that the correction ratio Rc increases as the load 36 approaches the rail 34 of the gantry structure. In other words, the correction ratio Rc is increased as the X-axis position command Pcx is closer to the rail 34 of itself. As a result, the torque command Tc is corrected so that the amount of torque increases as the load 36 approaches the rail 34, thereby balancing the driving force between the Y1 axis and the Y2 axis. In other words, the unbalance due to the position of the load 36 in the X-axis direction is corrected so that the driving force increases as the load 36 is closer to the rail 34.
- the drive unit 15 generates a drive voltage Vd based on the torque command Tcc supplied from the torque correction unit 17.
- the drive unit 15 includes a drive waveform generation unit 52, a PWM processing unit 53, and an inverter 54 as shown in FIG. 2 in order to generate the drive voltage Vd.
- the torque command Tcc is notified to the drive waveform generator 52.
- the drive waveform generator 52 generates a signal having a waveform corresponding to the magnitude of the torque command Tcc. More specifically, for example, when the winding 31 of each phase of the motor 30 is sine-wave driven, the drive waveform generation unit 52 generates a sine wave waveform with an amplitude corresponding to the magnitude of the torque command Tcc for each phase. Then, the drive waveform signal Dr is supplied to the PWM processing unit 53.
- the PWM processing unit 53 is supplied with the drive waveform signal Dr from the PWM processing unit 53 and the PWM carrier signal Sc from the PWM carrier generation unit 65 of the synchronization timing generation unit 16.
- the PWM processing unit 53 performs pulse width modulation (PWM) by comparing the amplitudes of the triangular wave PWM carrier signal Sc and the drive waveform signal Dr.
- PWM pulse width modulation
- the PWM processing unit 53 generates a PWM signal Dp composed of a pulse train having a pulse width or a duty ratio corresponding to the level of the drive waveform signal Dr for each phase.
- the inverter 54 receives the PWM signal Dp of each phase from the PWM processing unit 53, generates the drive voltage Vd, and applies it to each winding 31 of the motor 30.
- Inverter 54 includes a switching element and a power conversion element such as a diode.
- the inverter 54 uses a switching element to generate a drive voltage Vd by switching, that is, turning on / off the voltage supplied from the power supply in accordance with the PWM signal Dp.
- the motor control device 10 applies the drive voltage Vd generated in this way to the winding 31 of the motor 30 so that the winding 31 is energized, and the motor 30 outputs a torque corresponding to the torque command Tcc.
- the motor controller 10 of the first group By such control and drive by the motor controller 10 of the first group, one end of the head 35 moves on the rail 34 in the Y-axis direction so as to follow the position command Pc from the controller 80.
- the first motor control device 10 and the second motor control device 10 in the first group are position-controlled by the controller 80 with the same position command Pc, whereby both ends of the head 35 on which the load 36 is mounted. However, it moves at the same speed on the rail 34 while maintaining the same position in the Y-axis direction.
- both the motor control devices 10 execute processing in synchronization with the communication timing signal St from the controller 80. For this reason, processing is executed in synchronism with each other between both motor control devices.
- the motor control device 20 includes a communication processing unit 12, a control parameter setting unit 13, a motor control unit 14, and a drive unit 15, as with the motor control device 10, and further includes a timing.
- a generation unit 162 is provided.
- the timing generation unit 162 is the same as the synchronization timing generation unit 16 except that it does not have a function of synchronizing the communication timing signal St from the controller 80. That is, the timing generator 162 generates a free-running clock signal Ck and a PWM carrier signal Sc.
- the motor control device 20 may also be configured to generate the clock signal Ck and the like synchronized with the cycle of the communication timing signal St, similarly to the motor control device 10, using the synchronization timing generation unit 16. In short, in the present embodiment, it is an essential requirement that the first motor control device 10 and the second motor control device 10 are synchronized as described above.
- the motor control device 20 is notified from the controller 80 of the X-axis position command Pcx included in the communication signal Cm.
- the X-axis position command Pcx is a position command in the X-axis direction of the load 36 mounted on the head 35.
- the motor control unit 14 of the motor control device 20 generates a torque command Tc so that the position of the load 36 according to the X-axis position command Pcx is obtained.
- the drive unit 15 of the motor control device 20 applies a drive voltage Vd corresponding to the torque command Tc to the winding 31 of the motor 30. In this way, position control for the load 36 is executed.
- the detected position information Pdx generated based on the position sensor signal Pd in the motor control device 20 is notified from the communication processing unit 12 to the controller 80 as one piece of information of a reply signal.
- FIG. 4 is a configuration diagram for explaining an operation of controlling the gantry mechanism in the motor control system 100 according to the present embodiment.
- the X axis is defined as the left-right direction in the figure.
- the head 35 is graduated from the position 0 located on the left side on the X-axis to the position 10 located on the right side.
- Position 5 is the central portion of the head 35.
- the corrected torque command Tcc1 for the Y1 axis and the corrected torque command Tcc2 for the Y2 axis are both torque commands Tc without correction.
- the corrected torque command Tcc1 for the Y1 axis is incremented by +1, and the corrected torque command Tcc1 for the Y2 axis is decremented by -1.
- the corrected torque command Tcc1 for the Y1 axis is (Tc + 5), and the corrected torque command Tcc2 for the Y2 axis is (Tc-5).
- the head 35 moves smoothly without causing a twist between the Y1 axis and the Y2 axis.
- the X-axis load 36 and the head 35 that is the Y-axis load are appropriately moved according to instructions from the controller 80. Therefore, for example, the following control is performed in order for both motor control devices 10 to move the head 35 more smoothly.
- the controller 80 transmits the latest position command Pcx of the X-axis load 36 to the motor control device 10 in addition to the position command Pc to itself.
- the motor control system 100 uses the torque correction unit 17 to calculate the corrected torque commands Tcc1 and Tcc2 so as to satisfy Table 1.
- the corrected torque commands Tcc1 and Tcc2 are values that always move the head 35 on which the X-axis load 36 is mounted smoothly.
- this motor control system 100 is used for the control target mechanism 33 that is a gantry mechanism, it is possible to suppress the occurrence of twist due to the position of the X-axis load 36.
- the X-axis load 36 that moves on the head 35 is located on the scale of position 8 on the X-axis. Therefore, the torque correction value Cot reflected on the Y1 axis is -3. On the other hand, the torque correction value Cot reflected on the Y2 axis is +3.
- the torque correction unit 17 reflects the calculated torque correction value Cot in the torque command Tc generated by the motor control unit 14. Therefore, the torque correction unit 17 derives the corrected torque command Tcc.
- the corrected torque command Tcc is notified to the drive unit 15.
- the corrected torque command Tcc adds the calculated torque correction value Cot to the torque command Tc generated by the motor control unit 14.
- the corrected torque command Tcc for the Y1 axis is (Tc-3).
- the drive unit 15 Based on the torque command Tcc corrected in this way, the drive unit 15 generates a drive voltage Vd for driving the motor 30.
- the generated drive voltage Vd is output to the winding 31 of the motor 30 in accordance with the servo activation timing signal Sst.
- the motor 30 is driven according to the supplied drive voltage Vd.
- FIG. 5 is a timing chart of the motor control system 100 in the present embodiment.
- the motor control device 10 is appropriately controlled based on the own axis position command Pc included in the communication signal Cm transmitted from the controller 80. At this time, a position command Pcx for moving the X-axis load 36 is also transmitted from the controller 80 to the motor control device 10.
- each of the motor control devices 10 operates in synchronization with the movement generated in the X-axis load 36 being reflected.
- the upper stage shows the timing of the pulses generated by the synchronization timing generator 16 together with the communication signal Cm. Moreover, the timing regarding the 1st motor control apparatus 10 corresponding to a Y1 axis
- the motor control device 10 transmits detected position information Pdy, which is current position information, to the controller 80 via the communication line 81 for the motors 30 attached to the respective shafts. That is, the detected position information Pdy is included in the transmission data in the communication signal Cm as shown in the enlarged portion in FIG. 5, and is transmitted to the controller 80 in the order of the Y1 axis and the Y2 axis.
- the controller 80 sends out a pulsed communication timing signal St shown in FIG.
- the communication processing unit 12 of the motor control device 10 extracts the communication timing signal St from the communication signal Cm and transmits it to the synchronization timing generation unit 16.
- the communication processing unit 12 transmits the communication timing signal St to the synchronization timing generation unit 16 so that the timing of motor driving executed by the motor control device 10 is the same in consideration of the following points. That is, the points to consider include the frame length, the frame order, the bit rate, the node connection order, and the like of the signal received via the communication line 81.
- the synchronization timing generation unit 16 includes a PLL circuit having the clock generation unit 62, the frequency division counter 63, and the phase comparator 64 as described above. Using this PLL circuit, the synchronization timing generator 16 generates a falling edge of the communication timing signal St and a falling edge of the divided pulse Pfs output from the frequency dividing counter 63, as shown in FIG. The frequency and phase of the clock signal Ck of the clock generator 62 are controlled so that the phases match. As a result, a clock signal Ck and a divided pulse P6fs synchronized with the communication timing signal St are generated.
- a servo activation timing signal Sst that is a pulse delayed by a predetermined timing is generated from the divided pulse P6fs synchronized with the communication timing signal St. Further, the PWM carrier signal Sc is generated based on the timing of the servo activation timing signal Sst.
- the servo activation timing signal Sst and the PWM carrier signal Sc generated in this way are also synchronized with the communication timing signal St.
- the synchronization timing generation unit 16 synchronizes the phase of the PWM carrier signal or the like with the communication timing signal St in order to achieve the next purpose.
- the clock signal Ck is adjusted. That is, the purpose of reaching is to output the servo activation timing signal Sst having a preset cycle at a time delayed by a predetermined timing after the synchronization timing generation unit 16 receives the communication timing signal St.
- the preset cycle is 1 / n times the communication cycle (n is an integer).
- the PWM carrier signal Sc is a triangular wave used for pulse width modulation of a drive waveform corresponding to the magnitude of the torque command Tcc. That is, the servo activation timing signal Sst synchronized with the PWM carrier signal Sc can be said to be a trigger for adjusting the drive voltage Vd supplied to the motor 30. Therefore, the control process performed in each motor control device 10 based on the timing of the servo activation timing signal Sst is executed in accordance with the cycle of the PWM carrier signal Sc. As described above, in the motor control device 10, the timing of supplying current to the motor 30 and the timing of the control processing executed in the motor control device 10 are synchronized with the communication timing signal St by the synchronization timing generation unit 16. It has been adjusted.
- the communication cycle is set to 0.6 ms (600 ⁇ s) in advance. Further, one cycle of the PWM carrier signal Sc and the servo activation timing signal Sst is set to 1/6 of the communication cycle.
- the divided pulse signal Pfs having one period of 0.6 ms can be generated by setting the frequency dividing ratio of the frequency dividing counter 63 to 600. Further, by setting the frequency dividing ratio of the frequency dividing counter 63 to 100, it is possible to generate the frequency-divided pulse signal P6fs having the same period of 0.1 ms (100 ⁇ s) as the servo activation timing signal Sst.
- FIG. 5 shows an example of a phase relationship in which the servo start timing signal Sst is output when the PWM carrier signal is zero.
- FIG. 5 shows an example in which the servo activation timing signal Sst is output 10 ⁇ s after the falling timing of the communication timing signal St.
- the PWM carrier signal Sc or the like is adjusted by the synchronization timing generator 16 so as to be synchronized with the communication timing signal St.
- the synchronization timing generator 16 As a result of such adjustment, at the timing of the servo activation timing signal Sst, each motor control device 10 executes the processes of the motor control unit 14, the torque correction unit 17 and the drive unit 15 at the same timing.
- the torque correction unit 17 calculates a torque correction value Cot according to the X-axis position command Pcx.
- the calculated torque correction value Cot is added to the own-axis torque command Tc generated by the motor control unit 14. Accordingly, the corrected torque command Tcc is calculated.
- the corrected torque command Tcc thus obtained is transmitted from the torque correction unit 17 to the drive unit 15 at the timing of the servo start timing signal Sst of the next cycle.
- the drive unit 15 generates a drive voltage Vd to be supplied to the motor 30 in accordance with the corrected torque command Tcc.
- the drive voltage Vd is supplied from the drive unit 15 to the motor 30 in accordance with the timing of the servo start timing signal Sst generated thereafter.
- the instruction content instructed to each motor control device 10 is as follows. Are reflected in the motor 30 synchronously. That is, the command content instructed to each motor control device 10 is executed at each timing at which the servo activation timing signal Sst is output. In other words, by synchronizing one unit of the control signal transmitted from the controller 80 to each motor control device 10 and the cycle of the servo activation timing signal Sst, the control signal received by each motor control device 10 is It can be executed at the same timing.
- the latest position command Pcx of the X-axis load 36 is reflected in the drive voltage Vd supplied from the motor control device 10 to the motor 30. Therefore, even if the motor control system 100 in the present embodiment is used for the gantry mechanism, the twist due to the position of the X-axis load 36 does not occur.
- the motor control system 100 can perform positioning smoothly according to the load characteristics generated in each of the motor control devices 10 and 20.
- FIG. 6 is a block diagram of the motor control system 102 according to the second embodiment of the present invention.
- FIG. 6 the same components as those of the motor control system 100 according to the first embodiment are denoted by the same reference numerals, and description thereof is incorporated.
- the motor control system 102 shown in FIG. 6 supplies the detected position information Pdx indicating the detected position on the X axis to the torque correction unit 17. This configuration is different from that of the first embodiment.
- the communication signal Cm includes data transmitted from the motor control device 10 and data transmitted from the motor control device 20. These data include detection position information Pdy of the motor control device 10 and detection position information Pdx of the motor control device 20. Therefore, the motor control device 10 that is the first group extracts detection position information Pdx included in the communication signal Cm for each communication cycle as operation information in the motor control device 20 of the second group. In the motor control device 10, the detected position information Pdx on the X axis is supplied from the communication processing unit 12 to the torque correction unit 17.
- the detected position information Pdx corresponds to the actual position of the X-axis load 36, similarly to the X-axis position command Pcx.
- the torque correction value Cot can also be obtained by using the detected position information Pdx instead of the X-axis position command Pcx as the position in Table 1.
- FIG. 7 is a block diagram of the motor control system 103 according to the third embodiment of the present invention.
- the motor control system 103 shown in FIG. 7 includes an FF gain correction unit 18 in the motor control device 10 instead of the torque correction unit 17. .
- the torque FF gain reference value Ktfr is supplied to the FF gain correction unit 18 from the communication processing unit 12 together with the X-axis position command Pcx.
- the torque FF gain Ktff is supplied from the FF gain correction unit 18 to the torque FF processing unit 45 of the motor control unit 14.
- the torque FF gain Ktff is supplied as one of the control parameters, for example, at the time of initial setting, whereas in the present embodiment, the FF gain correction unit 18 performs the torque FF gain Ktff. Is calculated.
- the FF gain correction unit 18 calculates the torque FF gain Ktff based on the X-axis position command Pcx and the torque FF gain reference value Ktfr supplied from the communication processing unit 12 for each communication cycle.
- the present embodiment is not configured to correct the torque command as in the first embodiment, the torque command Tc generated by the motor control unit 14 is supplied to the drive unit 15.
- an FF gain correction unit 18 having a correction amount calculation unit 82 is provided as shown in FIG.
- the correction amount calculation unit 82 includes an X-axis position command Pcx that is a position command for the motor control device 20 that controls the X-axis and a torque FF gain in the torque FF unit 452 for each communication cycle from the communication processing unit 12. Torque FF gain reference value Ktfr to be used as a reference value is notified.
- the correction amount calculator 82 calculates the torque FF gain Ktff based on the torque FF gain reference value Ktfr and the X-axis position command Pcx.
- the correction amount calculation unit 82 includes a correction amount table 83 and a multiplier 74 as shown in FIGS. 8 and 9 in order to calculate the torque FF gain Ktff.
- the correction amount table 83 is a conversion table that converts the X-axis position command Pcx into a correction ratio. That is, when the X-axis position command Pcx is supplied to the correction amount table 83, the correction ratio Rc is output from the correction amount table 83.
- the multiplier 74 obtains the torque FF gain Ktff by multiplying the torque FF gain reference value Ktfr by this correction ratio Rc.
- the table is set so as to have the following correction ratio Rc based on the X-axis position command Pcx. That is, in the control target mechanism 33 having the gantry structure, the table is set so that the correction ratio Rc increases as the load 36 approaches the rail 34 of the gantry structure. In other words, the correction ratio Rc is increased as the X-axis position command Pcx is closer to the rail 34 of itself.
- the torque command Tr is corrected so that the torque amount by the torque FF, that is, the torque FF value Trf output from the torque FF unit 452 becomes larger as the load 36 is closer to the rail 34 of the load 36, and the Y1 axis and Y2
- the driving force is balanced with the shaft.
- the unbalance due to the position of the load 36 in the X-axis direction is corrected so that the driving force increases as the load 36 is closer to the rail 34.
- the imbalance due to the position of the load 36 can be corrected. It is possible to suppress twisting between the shafts.
- the detected position information Pdx may be used in this embodiment instead of the X-axis position command Pcx.
- the motor control system of the present invention is useful for controlling a motor control system including a plurality of motor control devices that control a motor attached to each shaft.
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Abstract
Description
図1は、本発明の実施の形態1におけるモータ制御システムの構成図である。
図6は、本発明の実施の形態2におけるモータ制御システム102のブロック図である。
図7は、本発明の実施の形態3におけるモータ制御システム103のブロック図である。
12 通信処理部
13 制御パラメータ設定部
14 モータ制御部
15 駆動部
16 同期タイミング生成部
17 トルク補正部
18 FFゲイン補正部
23 データ送受信部
30 モータ
31 巻線
32 位置センサ
33 制御対象機構
34 レール
35 ヘッド
36 負荷
42 位置検出部
43 位置制御部
44 速度制御部
45 トルクFF処理部
46 トルク制御部
50 デューティ
52 駆動波形生成部
53 PWM処理部
54 インバータ
62 クロック生成部
63 分周カウンタ
64 位相比較器
65 PWMキャリア生成部
72,82 補正量算出部
73,83 補正量テーブル
74 乗算器
76,435,446,462 加算器
80 コントローラ
81 通信線
100,102,103 モータ制御システム
132 制御パラメータメモリ
133 パラメータ処理部
162 タイミング生成部
432,443 減算器
433 位置比例部
434 速度FF部
442 速度検出部
444 速度比例部
445 速度積分部
452 トルクFF部
Claims (6)
- モータをそれぞれ制御する複数のモータ制御装置と、それぞれの前記モータを制御するためのそれぞれの動作指令を含む通信信号を生成し、生成した通信信号を前記複数のモータ制御装置のそれぞれに対して、所定の通信周期で送信するコントローラと、を、通信線を介して通信接続するモータ制御システムであって、
前記複数のモータ制御装置は、第1グループの2つのモータ制御装置と、第2グループのモータ制御装置とを含み、
前記第1グループのモータ制御装置のそれぞれは、
前記通信信号のうち自らに対する動作指令と、前記通信信号のうち前記第2グループのモータ制御装置における動作情報とを受信するデータ送受信部と、
前記動作指令に基づいて、前記モータを制御するためのトルク指令信号を生成するモータ制御部と、
前記動作情報に基づいてトルク補正信号を生成し、前記トルク補正信号を用いて、前記トルク指令信号を補正する補正部と、
前記第1グループの前記モータ制御部間の処理タイミングを合わせるようなタイミング信号を生成する同期タイミング生成部と、を備えるモータ制御システム。 - 前記同期タイミング生成部は、前記通信周期に同期する前記タイミング信号を生成し、前記タイミング信号に基づき、前記モータ制御部が処理を実行する、請求項1に記載のモータ制御システム。
- 前記動作指令は、自らの前記モータを駆動するために位置を指令する位置指令であり、
前記動作情報は、前記第2グループのモータ制御装置に対しての位置を指令する位置指令と、前記第2グループのモータ制御装置において検出した位置を示す位置情報とのいずれかである、請求項1に記載のモータ制御システム。 - 前記動作指令は、自らの前記モータを駆動するために位置を指令する位置指令であり、
前記モータ制御部は、前記位置指令に対してトルクフィードフォワードゲインを利用してトルクフィードフォワード処理を行うトルクフィードフォワード処理部を有し、
前記補正部は、前記動作情報に基づいて、前記トルクフィードフォワードゲインを変更し、前記トルクフィードフォワード処理部の出力を、前記トルク補正信号とする、請求項1に記載のモータ制御システム。 - 前記動作情報は、前記第2グループのモータ制御装置に対しての位置を指令する位置指令と、前記第2グループのモータ制御装置において検出した位置を示す位置情報とのいずれかである、請求項4に記載のモータ制御システム。
- 前記複数のモータ制御装置が制御するそれぞれの前記モータは、ガントリ機構を成す負荷を位置制御する、請求項1から5のいずれか一項に記載のモータ制御システム。
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JP2018516928A JP6937470B2 (ja) | 2016-05-10 | 2017-04-24 | モータ制御システム |
KR1020187031905A KR102522241B1 (ko) | 2016-05-10 | 2017-04-24 | 모터 제어 시스템 |
CN201780027308.7A CN109074102B (zh) | 2016-05-10 | 2017-04-24 | 电动机控制系统 |
ES17795939T ES2936406T3 (es) | 2016-05-10 | 2017-04-24 | Sistema de control de motores |
US16/091,545 US11003154B2 (en) | 2016-05-10 | 2017-04-24 | Motor control system |
KR1020227036640A KR20220150403A (ko) | 2016-05-10 | 2017-04-24 | 모터 제어 시스템 |
EP17795939.2A EP3457247B1 (en) | 2016-05-10 | 2017-04-24 | Motor control system |
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- 2017-04-24 JP JP2018516928A patent/JP6937470B2/ja active Active
- 2017-04-24 CN CN201780027308.7A patent/CN109074102B/zh active Active
- 2017-04-24 US US16/091,545 patent/US11003154B2/en active Active
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7080446B1 (ja) * | 2020-12-17 | 2022-06-06 | 株式会社安川電機 | 多軸制御調整装置、多軸制御調整システム、多軸制御調整方法 |
US11809154B2 (en) | 2020-12-17 | 2023-11-07 | Kabushiki Kaisha Yaskawa Denki | Multi-axis control adjustment apparatus, multi-axis control adjustment system, and multi-axis control adjustment method |
CN114448293A (zh) * | 2022-04-06 | 2022-05-06 | 中汽创智科技有限公司 | 电机同步控制方法、系统、车辆及存储介质 |
Also Published As
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EP3457247B1 (en) | 2023-01-04 |
ES2936406T3 (es) | 2023-03-16 |
EP3457247A4 (en) | 2019-05-01 |
CN109074102A (zh) | 2018-12-21 |
CN109074102B (zh) | 2022-08-02 |
KR20190005852A (ko) | 2019-01-16 |
KR102522241B1 (ko) | 2023-04-14 |
KR20220054460A (ko) | 2022-05-02 |
JPWO2017195578A1 (ja) | 2019-03-14 |
US11003154B2 (en) | 2021-05-11 |
KR20220150403A (ko) | 2022-11-10 |
US20190121313A1 (en) | 2019-04-25 |
EP3457247A1 (en) | 2019-03-20 |
JP6937470B2 (ja) | 2021-09-22 |
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