WO2018047518A1 - モータ制御装置及びこれを用いたモータ装置 - Google Patents
モータ制御装置及びこれを用いたモータ装置 Download PDFInfo
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- WO2018047518A1 WO2018047518A1 PCT/JP2017/027722 JP2017027722W WO2018047518A1 WO 2018047518 A1 WO2018047518 A1 WO 2018047518A1 JP 2017027722 W JP2017027722 W JP 2017027722W WO 2018047518 A1 WO2018047518 A1 WO 2018047518A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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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
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
Definitions
- the present invention relates to a motor control device for measuring backlash and a motor device using the same.
- the transmission mechanism that transmits power using a transmission unit such as a screw or a gear is provided with a backlash so that the gears can move freely, for example.
- the backlash is a gap between teeth when a pair of gears are engaged. Backlash increases due to wear caused by use, and may cause vibration, deterioration of accuracy, decrease in strength, failure, and the like. Accordingly, there is a need for a motor control device that can measure the backlash to determine the degree of wear of the transmission mechanism and estimate the life and deterioration of the transmission mechanism.
- Patent Document 1 acquires the rotation state of a drive shaft of a motor using a position signal from a position detector, acquires the rotation state of a load shaft on a load side using a position signal from the position detector, and drives the drive shaft.
- a motor control device that measures the backlash of a transmission mechanism based on the rotational state of the motor and the rotational state of a load shaft.
- the backlash of the transmission mechanism is estimated by measuring the power transmission accuracy of the transmission mechanism from the drive shaft to the load shaft by driving the drive shaft in the forward direction with a drive device such as a motor and then rotating in the reverse direction. To do.
- Patent Document 2 discloses a motor control device that measures the backlash of a transmission mechanism by using inputs from a position detector that detects a rotation state of a drive shaft of a motor and a torque sensor that measures torque applied to the drive shaft. Is disclosed. Specifically, the position of the drive shaft from the start of reverse rotation drive to the sudden increase in torque when the drive shaft is driven forward rotation beyond the assumed backlash magnitude and then reversely driven beyond the assumed maximum backlash. Backlash is calculated from the amount of signal change.
- the mechanical contact inside the transmission mechanism when the drive shaft is reversely driven by an angle corresponding to backlash is determined by a torque sensor.
- the present invention has been made in view of the circumstances as described above, and it is possible to measure the backlash of the transmission mechanism as long as the position signal from the position detector that detects the rotation state of the drive shaft of the motor can be acquired.
- the object is to provide a device.
- the motor control device includes a drive command generator that generates a drive command that reversely drives the motor in a direction opposite to the one direction after the motor is normally driven in one direction, and the drive command and the motor operation
- a torque command generator for generating a torque command for driving the motor based on the position signal indicating the state, a drive side transmission unit connected to the motor and a load using the signal calculated based on the position signal
- a contact detector that detects a contact between the connected load side transmission unit as a measurement completion contact and outputs the detection result as a contact signal, and between the drive side transmission unit and the load side transmission unit based on the contact signal and the position signal.
- a backlash estimator that estimates the backlash of
- the backlash of the transmission mechanism can be measured as long as the position signal from the position detector that detects the rotation state of the drive shaft of the motor can be acquired. Thereby, it can connect to the apparatus of a wider structure.
- FIGS. An embodiment of a motor control device according to the present invention will be described with reference to FIGS. It should be noted that the present invention is not limited to the following embodiments, and it goes without saying that the embodiments may be appropriately changed or combined appropriately.
- a rotary motor that generates torque as a driving force is described as an example.
- the present invention also relates to a device that generates a linear thrust as a driving force, such as a linear motor.
- the motor control device can be similarly applied.
- FIG. 1 is a block diagram for explaining a motor device according to Embodiment 1 of the present invention.
- the motor device includes a motor control device 1, a motor 2, a position detector 3 that detects a rotation state (operation state) of a drive shaft of the motor 2, and a transmission mechanism 100.
- the motor 2 is driven by being controlled by the motor control device 1.
- the transmission mechanism 100 transmits the torque of the motor 2 to the load 4, is connected to the motor 2 via the drive shaft 101, and is connected to the load 4 via the load shaft 102.
- the position detector 3 detects the rotation state of the drive shaft of the motor 2 and outputs it as a position signal Sp.
- the position detector 3 is a rotary encoder, for example.
- the position detector 3 and the motor control device 1 are configured separately, but the motor control device 1 may include the position detector 3.
- a speed sensor or an acceleration sensor may be used instead of the rotary encoder.
- the motor control device 1 includes a drive command generator 10, a torque command generator 11, a current controller 12, a contact detector 13, and a backlash estimator 14.
- the drive command generator 10 outputs a drive command Cd to the torque command generator 11.
- the torque command generator 11 first generates a torque command Ct using the position signal Sp and the drive command Cd so that the position signal Sp output from the position detector 3 follows the drive command Cd. Further, this torque command Ct is output to the current controller 12 and the contact detector 13.
- the current controller 12 outputs a current Im corresponding to the torque command Ct to the motor 2.
- the contact detector 13 detects contact in the transmission mechanism 100 using the input torque command Ct, and outputs the detection result as a contact signal Sc.
- the backlash estimator 14 estimates the backlash in the transmission mechanism 100 using the contact signal Sc and the position signal Sp.
- FIG. 2 is a diagram illustrating an internal structure of the transmission mechanism 100 of the motor device according to the first embodiment and a backlash measurement process by forward drive and reverse drive.
- FIGS. 2A, 2B, and 2C show the state of the gear before measuring the backlash, the state of the gear that is driven in the forward direction, and the state of the gear that is driven in the reverse direction, respectively.
- the counterclockwise direction indicated by the arrow (b) in the figure is the forward rotation direction
- the clockwise direction indicated by the arrow (c) is the reverse rotation direction.
- driving by the rotary motor corresponds to “forward rotation driving” and “reverse rotation driving”.
- driving by a rotary motor or linear motor corresponds to “forward driving” and “reverse driving”.
- the drive shaft 101 is a drive rotation shaft of the motor 2, and a drive side gear (drive side transmission unit) 101 a is attached to the drive shaft 101.
- the load shaft 102 is a driven rotary shaft for transmitting torque from the drive shaft 101 to the load 4 via the transmission mechanism 100.
- a load side gear (load side transmission portion) 102 a is attached to the load shaft 102.
- the torque of the motor 2 is transmitted to the load 4 by the drive side gear 101 a and the load side gear 102 a meshing with each other.
- the reduction mechanism provided with two gears is mentioned as an example as the transmission mechanism 100 of the present embodiment, a transmission mechanism having three or more gears may be used. Further, instead of the two gears, a rack and pinion, a ball screw, or the like may be used.
- the drive side gear 101a and the load side gear 102a may be referred to as both gears.
- the angle backlash is a maximum value of an angle at which one gear can move when one gear is fixed.
- the angle ⁇ between the dotted lines shown in FIG. 2C is the backlash. Therefore, from the state shown in FIG. 2B to the state shown in FIG. 2C, the backlash can be measured from the angle at which the drive shaft 101 rotates, that is, the amount of change in the position signal Sp.
- different types of backlash such as a normal backlash and a circumferential backlash may be used.
- the time from the state shown in FIG. 2B to the state shown in FIG. 2C is referred to as a contact required time Tc.
- the amount of change in the position signal Sp of the motor 2 during the required contact time Tc is referred to as a contact position displacement Pc.
- Contact before measurement means that both gears 101a and 102a are in the state shown in FIG. 2B in order to start measurement of backlash. More specifically, it is assumed that the drive side gear 101a and the load side gear 102a come into contact with each other by driving the drive shaft 101 in the normal direction in one direction.
- Measurement completion contact means that the state shown in FIG. 2C is reached, and is contact by reverse rotation driving. More specifically, after both the gears 101a and 102a are “contact before measurement”, the motor 2 drives the drive shaft 101 in the reverse direction in the opposite direction to the one direction so that the drive side gear 101a and the load side gear are driven. 102a is in contact.
- both gears 101a and 102a are not necessarily in mechanical contact with each other at the start of forward rotation driving. Therefore, first, the motor 2 rotates the drive shaft 101 counterclockwise by the drive command Cd in the forward direction indicated by the arrow in the figure generated by the drive command generator 10, so that the drive side gear 101a is driven forward.
- the drive command Cd includes, for example, parameters such as a position command value, a speed command value, and an acceleration command value for the motor 2.
- the two gears 101a and 102a come into contact before measurement by being driven forward.
- the backlash estimator 14 detects the reverse drive start time from the position signal Sp. For example, after the backlash estimator 14 detects the state in which the position signal Sp does not change, that is, the stop state of the motor 2 for a preset time, the backlash estimator 14 further changes the position signal Sp in the direction opposite to that immediately before the stop state of the motor 2. If detected, the detected time is set as the reverse drive start time. Instead of determining the reverse drive start time from the position signal Sp, the drive command Cd is input to the backlash estimator 14, and the backlash estimator 14 uses the drive command Cd to set the reverse drive start time. You may make it judge.
- the two gears 101a and 102a come into contact with completion of measurement as shown in FIG. 2 (c) on the surface opposite to the contact before measurement shown in FIG. 2 (b).
- This measurement completion contact is detected by the contact detector 13, and the detection result is output as a contact signal Sc.
- the contact signal Sc is represented by a voltage, for example, the non-contact state is set to a voltage of 0V, and the contact state is output as a voltage different from 0V, for example, a voltage of 2V.
- the torque command generator 11 increases the torque command Ct necessary for the position signal Sp to follow the drive command Cd in the direction in which the torque signal Ct is driven in the reverse direction (the direction corresponding to the reverse drive).
- the contact detector 13 detects an increase in the torque command Ct and detects a measurement completion contact of the transmission mechanism 100.
- the drive command Cd for forward rotation and reverse drive larger than the actual backlash of the transmission mechanism 100 is required. Therefore, the maximum backlash allowed (maximum backlash allowable amount) is determined in advance, and the drive command generator 10 generates a drive command Cd that drives the drive shaft 101 sufficiently larger than the angle corresponding to the maximum backlash allowed. May be.
- FIG. 3 is a diagram illustrating an example of a time-series waveform when the motor control device 1 according to the first embodiment is driven in reverse rotation. That is, the horizontal axis is time in (a) to (d) in the figure. On the vertical axis, (a) shows the torque command Ct, (b) shows the amount of change per unit time of the torque command Ct, (c) shows the position signal Sp, and (d) shows the contact signal Sc.
- a change amount C of the position signal Sp shown in FIG. 3C is a change amount of the position signal Sp in the required contact time Tc, and corresponds to backlash.
- the contact detector 13 detects the measurement completion contact, A contact signal Sc indicating the contact state of both gears 101 a and 102 a is output to the backlash estimator 14.
- the preset threshold value is, for example, a broken line b1 in FIG.
- the contact detector 13 determines the measurement completion contact when the torque command Ct exceeds the preset threshold value (broken line a1) in the reverse drive direction instead of the change amount per unit time of the torque command Ct. It may be assumed that it has been detected.
- the contact detector 13 detects the measurement completion contact when the torque command Ct or the change amount per unit time of the torque command Ct exceeds the preset threshold value in the direction of reverse driving.
- the threshold value for example, it may be set dynamically based on the torque command Ct. Note that the direction of reverse rotation driving (the direction corresponding to reverse rotation driving) in the torque command Ct and the change amount of the torque command Ct is a negative direction in FIGS. 3A and 3B, for example.
- T1 indicates a period during which the drive shaft 101 is driven in reverse (hereinafter referred to as “reverse drive period”).
- T2 is a non-contact state in which both gears 101a and 102a are not in contact (hereinafter referred to as “non-contact period”).
- the contact period T3 is a period of contact state in which both gears 101a and 102a are in contact (hereinafter referred to as “contact period”). In the contact period T3, the load side gear 102a rotates together with the drive side gear 101a. is doing.
- the point at which the non-contact period T2 switches to the contact period T3 is the start time of the measurement completion contact.
- the drive side gear 101a drives the load side gear 102a. Since the two gears 101a and 102a are separated after the lapse of time, the contact signal Sc indicates a non-contact state. Further, the non-contact period T2 is also the above-described required contact time Tc.
- a contact signal Sc (FIG. 3 (d)) is generated by the contact detector 13 based on the torque command Ct shown in FIGS. 3 (a) and 3 (b) or the value of the change amount of the torque command Ct.
- the backlash estimator 14 first obtains a non-contact period (required contact time Tc) T2 from the start of reverse rotation drive until the contact signal Sc rises.
- a change amount C of the position signal Sp in the time from the pre-measurement contact to the measurement completion contact (contact required time Tc) is obtained, and the backlash is estimated from the change amount C.
- the contact detector 13 may be configured to detect a measurement completion contact. This eliminates the need to set a threshold when detecting a measurement completion contact.
- the torque command generator 11 generates a torque command Ct based on the drive command Cd and the position signal Sp.
- the contact detector 13 The backlash can be estimated by detecting the measurement completion contact.
- a method for determining that the torque command Ct or the amount of change per unit time of the torque command Ct is the maximum a method in which a maximum value is defined in advance, or a torque command Ct that is the largest in the reverse drive period TI or A method of maximizing the value of change per unit time of the torque command Ct can be mentioned.
- FIG. 4 is a diagram showing an example of a time-series waveform when the acceleration command value in the drive command Cd is constant.
- the horizontal axis represents time.
- the drive command generator 10 gives a drive command Cd so that the acceleration of the motor 2 becomes constant during reverse rotation drive for a preset time Ta.
- FIG. 5 is a diagram showing an example of a time-series waveform when the speed command value in the drive command Cd is constant.
- the horizontal axis represents time.
- the torque command Ct shows the position signal Sp
- the contact signal Sc shows the contact signal Sc.
- the torque command Ct becomes a substantially constant value except for the time point when the measurement completion contact is made by the drive command Cd that makes the speed command value constant. Therefore, by using such a drive command Cd, as shown in FIG.
- T1, T2, and T3 in FIG. 5D are a reverse drive period, a non-contact period, and a contact period, respectively, as in FIG. 3D.
- FIG. FIG. 6 is a block diagram for explaining a motor apparatus according to Embodiment 2 of the present invention.
- the present embodiment is different from the first embodiment in that the contact detector 13a detects the measurement completion contact using the position signal Sp instead of the torque command Ct.
- the contact detector 13a detects the measurement completion contact inside the transmission mechanism 100 by using the acceleration of the motor 2 obtained from the position signal Sp indicating the rotation state of the motor 2.
- the contact detector 13a derives the speed, acceleration, and jerk of the motor 2 by differentiating the position signal Sp once, twice, and three times with respect to time, respectively.
- the difference in discrete time may be taken.
- a high-pass filter may be applied to the position signal Sp before performing differentiation or difference in discrete time. Thereby, the fluctuation component of the position signal Sp can be made clearer.
- the contact detector 13a detects the measurement completion contact in the transmission mechanism 100 using the acceleration at the time of reverse rotation driving, and outputs the detection result as a contact signal Sc.
- FIG. 7 is a diagram illustrating an example of a time-series waveform when the motor control device according to the second embodiment is driven in reverse rotation.
- (a) is the acceleration calculated from the position signal Sp
- (b) is the jerk that is the amount of change of acceleration per unit time
- (c) is the position signal Sp
- (d) is the contact.
- Signal Sc is shown.
- the contact detector 13a makes a measurement completion contact when the acceleration exceeds a preset threshold value (for example, a broken line a2 in FIG. 7A) in a direction for normal rotation driving (direction corresponding to normal rotation driving). Is detected. This is because the acceleration of the drive side gear 101a temporarily decreases (or increases) when both the gears 101a and 102a come into contact with each other. Moreover, the contact detector 13a may detect the measurement completion contact when the jerk exceeds the broken line b2 shown in FIG. As a method for determining the threshold value, for example, the threshold value may be dynamically set based on the torque command Ct. Note that the direction of forward rotation in acceleration and jerk (direction corresponding to forward rotation) is a positive direction in FIGS. 7A and 7B, for example.
- the acceleration is maximum (or minimum), that is, peak A2 shown in FIG. 7A, or the jerk is maximum (or minimum), that is, peak B2 shown in FIG. 7B.
- the measurement completion contact may be detected. This eliminates the need to set a threshold value.
- the torque command generator 11 does not necessarily have to generate the torque command Ct based on the drive command Cd and the position signal Sp, and a configuration in which the torque command Ct is generated based only on the drive command Cd is also conceivable.
- the contact detector 13a detects the mechanical contact between the two gears 101a and 102a using the acceleration or jerk calculated using the position signal Sp. That is, the contact detector 13a detects a contact between the drive side gear 101a connected to the motor 2 and the load side gear 102a as a measurement completion contact using a signal calculated based on the position signal Sp, and detects the detection result. Output as a contact signal Sc.
- the backlash estimator 14 estimates the backlash between the drive side gear 101a and the load side gear 102a based on the contact signal Sc and the position signal Sp. Therefore, in this embodiment, the backlash can be measured as long as the position signal Sp is obtained as information obtained from the sensor. Thereby, it can connect to the apparatus of a wider structure.
- FIG. FIG. 8 is a block diagram for explaining a motor apparatus according to Embodiment 3 of the present invention.
- the present embodiment is different from the first embodiment in that the contact detector 13b detects the measurement completion contact using the position signal Sp in addition to the torque command Ct.
- the first term on the right side shows the torque for the inertia used to actually accelerate the motor 2.
- Jm and Ac represent the moment of inertia of the rotor of the motor 2 and the acceleration obtained by the position detector 3, respectively.
- the acceleration obtained by the position detector 3 is also called an acceleration signal.
- the second term on the right side is the torque command Ct generated by the torque command generator 11.
- the torque of the transmission mechanism 100 calculated by taking the difference between the torque command Ct and the inertia torque, that is, the extracted disturbance De is used.
- FIG. 9 is a diagram illustrating an example of a time-series waveform when the motor control device according to the third embodiment is driven in reverse rotation.
- (a) shows the extracted disturbance De
- (b) shows the amount of change per unit time of the extracted disturbance De
- (c) shows the position signal Sp
- (d) shows the contact signal Sc. Show.
- the position signal Sp changes by an angle corresponding to backlash
- both the gears 101a and 102a come into contact with completion of measurement, and the extraction disturbance De increases rapidly. Thereby, the time differential value of the extraction disturbance De also increases rapidly.
- the contact detector 13b of the present embodiment is configured so that the extraction disturbance De exceeds the preset threshold indicated by the broken line a3 in FIG. 9A in the direction of normal rotation or the time differentiation of the extraction disturbance De. Assume that the measurement completion contact is detected when the value exceeds a preset threshold value indicated by a broken line b3 in FIG. Note that the forward driving direction (the direction corresponding to the forward driving) in the extraction disturbance De is a positive direction in FIGS. 9A and 9B, for example.
- the contact detector 13b may detect the measurement completion contact. This eliminates the need to set a threshold value.
- the contact detector 13b has a direction in which the extraction disturbance De calculated by the position signal Sp and the torque command Ct or the time differential value of the extraction disturbance De corresponds to the reverse drive with a preset threshold value.
- the backlash can be estimated by determining that the measurement completion contact is detected when the value exceeds or reaches the maximum. Therefore, the torque command generator 11 does not necessarily have to generate the torque command Ct based on the drive command Cd and the position signal Sp, and a configuration in which the torque command Ct is generated based only on the drive command Cd is also conceivable.
- the contact detector 13b of the present embodiment detects the measurement completion contact based on the extracted disturbance De calculated by the torque command Ct and the position signal Sp. Therefore, even when using a motor device having a slow response speed to the torque command Ct, there is no delay in contact detection compared to using only the torque command Ct. Therefore, a decrease in backlash measurement accuracy can be suppressed.
- the contact detector 13b calculates the extraction disturbance De based on the acceleration calculated using the position signal Sp and the torque command Ct, and the drive side gear 101a connected to the motor 2 and the load side A contact with the gear 102a is detected as a measurement completion contact, and the detection result is output as a contact signal Sc.
- the backlash estimator 14 estimates the backlash between the drive side gear 101a and the load side gear 102a based on the contact signal Sc and the position signal Sp. Therefore, in this embodiment, the backlash can be measured as long as the position signal Sp is obtained as information obtained from the sensor.
- the motor control device of the present embodiment can accurately measure the backlash even if the motor control device has a slow response speed to the torque command Ct, and the drive command Cd Even when the command value by fluctuates greatly, it is possible to stably measure the backlash.
- FIG. FIG. 10 is a block diagram for explaining a motor apparatus according to Embodiment 4 of the present invention.
- the current detector 15 detects the current Im as a current signal Sim.
- the motor control apparatus according to the present embodiment is different from the first embodiment in that the motor control apparatus includes a contact detector 13c that detects a measurement completion contact using the current signal Sim instead of the position signal Sp.
- FIG. 11 is a diagram illustrating an example of a time-series waveform when the motor control device according to the fourth embodiment of the present invention is driven in reverse rotation. That is, the horizontal axis is time in (a) to (d) in the figure. On the vertical axis, (a) shows the current signal Sim, (b) shows the time differential value of the current signal Sim, (c) shows the position signal Sp, and (d) shows the contact signal Sc.
- the contact detector 13c of the present embodiment detects a measurement completion contact inside the transmission mechanism 100 from the current signal Sim.
- the position signal Sp changes by an angle corresponding to backlash
- both gears 101a and 102a come into contact with each other.
- This contact increases the moment of inertia that the motor 2 drives, so that the torque for driving the motor 2 becomes larger than in the non-contact state. Therefore, the current Im supplied to the motor 2 also increases abruptly.
- the current value of the current signal Sim increases (or decreases), and the time differential value of the current signal Sim also increases (or decreases).
- the current signal Sim also temporarily increases and a peak A4 appears.
- the time differential value indicating the change in the current signal Sim also temporarily increases (or decreases), and a peak B4 appears.
- a broken line a4 is a preset threshold value.
- a time differential value of the current signal Sim may be used.
- a broken line b4 in FIG. 11B is a preset threshold value. Note that the direction in which the current signal Sim and the time differential value of the current signal Sim are driven in the reverse direction (the direction corresponding to the reverse drive) is a negative direction in FIGS. 11A and 11B, for example.
- the measurement completion contact may be performed when the peak B4 shown in FIG. This eliminates the need to set a threshold value.
- the torque command generator 11 generates a torque command Ct based on the drive command Cd and the position signal Sp. Further, the current controller 12 supplies the current Im to the motor 2 based on the torque command Ct, and the current detector 15 detects the current signal Sim. As a result, when the current signal Sim or the amount of change per unit time of the current signal Sim exceeds a preset threshold value in the direction corresponding to the reverse rotation or becomes maximum, the contact detector 13c is The backlash can be estimated by detecting the measurement completion contact.
- the motor control device of the present embodiment has the effects of the first embodiment.
- FIG. FIG. 12 is a block diagram illustrating a motor device according to Embodiment 5 of the present invention.
- the contact detector 13d according to the present embodiment is different from the fourth embodiment in that the measurement completion contact is detected using the position signal Sp in addition to the current signal Sim.
- the contact detector 13d calculates an extraction disturbance De including disturbances such as mechanical contact generated inside the transmission mechanism 100.
- the measurement completion contact is detected using the extraction disturbance De, and the detection result is output as the contact signal Sc.
- Equation (2) the first term on the right side is the torque for the inertia used to actually accelerate the motor 2 in the same manner as the first term on the right side of Equation (1).
- the second term on the right side of Equation (2) is the total torque generated in the motor 2 calculated from the current signal Sim.
- Kt is a torque constant indicating the relationship between the current signal Sim corresponding to the current Im supplied to the motor 2 and the generated torque.
- the torque used to drive the transmission mechanism 100 can be derived by taking the difference between the total torque in the motor 2 and the torque for inertia as shown in Expression (2).
- the contact detector 13d detects the measurement completion contact using the torque derived from the current signal Sim instead of the torque command Ct. Therefore, the influence of the responsiveness of the torque command generator 11 and the current controller 12 can be reduced, and the disturbance due to the measurement completion contact inside the transmission mechanism 100 can be accurately calculated.
- the measurement completion contact may be detected when the extraction disturbance De or the amount of change of the extraction disturbance De per unit time exceeds a threshold value.
- the measurement completion contact may be detected when the extraction disturbance De or the amount of change in the extraction disturbance De is maximum (or minimum). This eliminates the need to set a threshold value.
- the contact detector 13d has a direction in which the extraction disturbance De calculated by the position signal Sp and the current signal Sim or the time differential value of the extraction disturbance De corresponds to the reverse drive with a preset threshold value.
- the backlash can be estimated by determining that the measurement completion contact is detected when the value exceeds or reaches the maximum. Therefore, the torque command generator 11 does not necessarily have to generate the torque command Ct based on the drive command Cd and the position signal Sp, and a configuration in which the torque command Ct is generated based only on the drive command Cd is also conceivable.
- the contact detector 13c of the fourth embodiment uses the current signal Sim for contact determination, and the response to the position signal Sp of the torque command generator 11 or the response to the torque command Ct of the current controller 12 is low. In some cases, there is a delay in contact detection, and the backlash measurement accuracy is lowered. Further, the contact detector 13a of the second embodiment uses the acceleration of the position signal Sp for contact determination, and when the acceleration command value of the drive command Cd is greatly changed, the contact may be erroneously detected. is there. In the present embodiment, since both the position signal Sp and the current signal Sim are used, it is possible to reduce contact detection delay or contact detection error.
- the contact detector 13d calculates the extraction disturbance De based on the acceleration calculated using the position signal Sp and the current signal Sim, and the drive side gear 101a and the load side gear connected to the motor 2.
- the contact with 102a is detected as a measurement completion contact, and the detection result is output as a contact signal Sc.
- the backlash estimator 14 estimates the backlash between the drive side gear 101a and the load side gear 102a based on the contact signal Sc and the position signal Sp. Therefore, in this embodiment, the backlash can be measured as long as the position signal Sp is obtained as information obtained from the sensor.
- the motor control device of the present embodiment has a high accuracy because the contact detector 13d detects the measurement completion contact using both the position signal Sp and the current signal Sim in addition to the effects of the fourth embodiment. And backlash can be measured easily.
- FIG. 13 is a block diagram illustrating a motor device according to Embodiment 6 of the present invention.
- the motor control apparatus of the present embodiment has a drive command generator 10a and a backlash estimator 14a instead of the drive command generator 10 and the backlash estimator 14 shown in FIG. Is different.
- the motor control device according to the present embodiment is configured such that backlash can be measured even when an external force Fd is applied to the load 4 and the load shaft 102 connected thereto.
- the drive command generator 10a generates a drive command Cd for performing a plurality of test drives described later. Although the details will be described later, the backlash estimator 14a estimates the backlash in consideration of the position of the load shaft 102 that changes according to the external force Fd.
- step S1 the drive command generator 10a determines the direction of forward rotation and reverse rotation, the number of repetitions (number of times of test drive), acceleration, the amount of rotation of the drive shaft 101 during forward rotation and reverse rotation, and the like. Are obtained from a storage unit (not shown). In addition, you may acquire setting conditions via an external input terminal instead of acquiring from a memory
- FIG. 15 is a diagram illustrating a direction in which the load shaft 102 of the transmission mechanism 100 of the motor control device according to the sixth embodiment of the present invention rotates in response to the external force Fd and a driving direction at the time of backlash measurement.
- the rotation direction of the load shaft 102 by the external force Fd is set in advance
- the driving in the direction that prevents the rotation of the load shaft 102 is set as the forward rotation driving
- the driving in the reverse direction of the forward driving is the reverse driving. Is set.
- FIG. 16 is a diagram showing an example of a time-series waveform when the motor control device according to the sixth embodiment of the present invention generates a drive command Cd for performing test drive a plurality of times.
- the vertical axis indicates a position command value, a speed command value, and an acceleration command value.
- the drive command Cd is generated so that the test drive including the forward drive and the reverse drive is performed three times.
- periods corresponding to three test drives are described as a test drive period Td1, a test drive period Td2, and a test drive period Td3, respectively.
- the required contact times in the test drive periods Td1, Td2, and Td3 are Tc1, Tc2, and Tc3, respectively.
- the contact position displacements corresponding to the contact required times Tc1, Tc2, and Tc3 are Pc1, Pc2, and Pc3, respectively.
- drive commands Cd are generated so that parameters such as acceleration command values are different from each other.
- the double-dotted arrow and the solid arrow indicate the forward drive period and the reverse drive period, respectively.
- the acceleration command value in the reverse drive period increases in the order of the test drive period Td1, the test drive period Td2, and the test drive period Td3.
- the contact required time shown to Fig.16 (a) is shortened in order of Tc1, Tc2, and Tc3.
- FIG. 17 is a diagram illustrating an internal structure of the transmission mechanism 100 of the motor device according to the sixth embodiment and a backlash measurement process.
- step S2 the gears 101a and 102a are brought into contact with each other, that is, before measurement, inside the transmission mechanism 100 by the forward rotation of the motor 2.
- step S3 first, by reverse rotation driving of the motor 2, as shown by a solid line in FIG. 17B, the surface opposite to the tooth surface that was in contact with the gears 101a and 102a at the time of the pre-measurement contact.
- the contact detector 13 detects a measurement completion contact and outputs a contact signal Sc.
- the position of the load side gear 102a is influenced by the external force Fd, and is rotated from the position at the start of reverse rotation indicated by the dotted line in FIG. 17B to the position indicated by the solid line after the required contact time Tc.
- step S4 the backlash estimator 14a compares the number of times of repetition set in step S1 with the number of times of measurement completion contact detection, and determines whether or not the number of times of measurement completion contact detection has reached the number of repetitions. If the number of detections of measurement completion contact is smaller than the number of repetitions (NO), steps S2 to S3 are repeated again in a test drive different from the previous time. On the other hand, if the number of detections of measurement completion contact is greater than or equal to the number of repetitions (YES), the process proceeds to step S5.
- step S5 the load shaft position is estimated.
- step S5 first, the load shaft position and the estimated load shaft position will be described.
- the load shaft position in the present embodiment will be described with reference to FIG.
- the load shaft position is based on the rotational position of the drive shaft 101 at the start of reverse rotation driving, and the rotational position of the load shaft 102 is converted into the rotational angle of the drive shaft 101 using the reduction ratio between the two gears 101a and 102a. It is a representation.
- the load shaft position is an angle formed by the line segment Oa (solid line) and the line segment Ob (dotted line), and is a rotation angle corresponding to the backlash B.
- the line segment Oa solid line
- a line segment Ob dotted line
- the load shaft position is an angle formed by the line segment Ob (dotted line) and the line segment Ob (dotted line), and is a rotation angle corresponding to the backlash B.
- the line segment Oa solid line
- a line segment Ob (dotted line) is a load shaft position at the start of reverse rotation driving.
- the load axis position is an angle formed by the line segment Oa (solid line) and the line segment Ob1 (solid line), and the line Ob ( It can be seen that the dotted line) moves to the line segment O-b1 (solid line), and the load shaft position increases as the load shaft 102 rotates. Since the line segment Oa (solid line) is the reference rotational position, it does not change from the start of reverse rotation driving. When both gears 101a and 102a are in contact as shown in FIG. 17B, the load shaft position corresponds to the contact position displacement Pc.
- FIG. 18 is a diagram for explaining the estimated load shaft position Ple (t) according to the sixth embodiment of the present invention.
- the estimated load axis position Ple (t) is an estimate of the load axis position at an arbitrary time t. However, the time t indicates the time from the reverse drive start time.
- FIG. 18A shows the load axis position on the vertical axis and the time from the start of reverse rotation drive on the horizontal axis.
- FIG. 18B shows the amount of change in the position signal Sp on the drive shaft 101 from the start of reverse rotation driving.
- the double-headed arrow in the figure indicates the size of the backlash B derived by the method described later.
- 18 (a) and 18 (b) plot the relationship between the contact position displacement Pc and the required contact time Tc when the number of repetitions is 3 in (Step S1).
- each plot is a plot of the contact position displacement Pc and the required contact time Tc corresponding to the test drive periods Td1 to Td3 shown in FIG. 16, which are denoted as Pl1 to Pl3, respectively.
- Pl1 is (Tc1, Pc1).
- step S5 the backlash estimator 14a uses the set Pl1 to Pl3 of the contact position displacement Pc and the required contact time Tc corresponding to each of the test drive periods Td1 to Td3 to estimate the load axis position Ple (t ).
- the external force Fd applied to the load shaft 102 has the same magnitude during the test drive periods Td1 to Td3, and the load shaft 102 driven with the external force Fd is in the test drive period Td1. Driven at the same acceleration at Td3.
- the estimated load shaft position Ple (t) is approximated by an approximate function composed of a quadratic polynomial shown in Expression (3).
- Ple (t) Ka ⁇ t2 + Kb Formula (3)
- Ka and Kb are coefficients relating to the acceleration of the load shaft 102 due to the external force Fd, and approximate coefficients representing the load shaft position at the start of the reverse rotation drive, that is, the backlash B shown in FIG. .
- the values of Ka and Kb are derived by using a plurality of data sets including the required contact time Tc and the contact position displacement Pc.
- the approximation function may be of any order and number of terms as long as it is suitable for approximating the position of the load shaft 102 that is moved by the external force Fd in addition to the expression (3).
- an approximate function using a logarithm, an exponent, a trigonometric function, or the like may be used.
- the least square method As a method for deriving the approximation coefficients Ka and Kb, for example, the least square method is used. In the least square method, the approximation coefficient is determined so that the sum of squares of the residuals between the set of the required contact time Tc and the contact position displacement Pc and the estimated load shaft position Ple (t) is minimized. Needless to say, a method other than the method of least squares may be used as a method for deriving the approximation coefficient. Needless to say, the magnitude of the external force Fd may be variable.
- the drive command Cd is generated a plurality of times so that the acceleration at the time of reverse rotation (step S3) is different each time.
- a plurality of drive commands Cd are used.
- a configuration in which an average value is calculated from the data set of the contact required time Tc and the contact position displacement Pc is also conceivable. In this case, the influence of the external force Fd changing with time can be averaged, and variations in the backlash measurement results can be suppressed.
- a configuration is also conceivable in which an abnormal value is removed from a data set of a plurality of required contact times Tc and a contact position displacement Pc by using a plurality of drive commands Cd at the same acceleration.
- a configuration for removing the abnormal value as in the case where the acceleration is different every time, for example, when there is a data set in which the standard residual with the approximate function is equal to or greater than a preset value, a configuration for removing the data set is included. Can be mentioned. In this case, the influence of the external force Fd changing instantaneously can be removed, and variations in the backlash measurement results can be suppressed.
- the measurement completion contact is detected during reverse rotation driving (step S3).
- the reverse rotation driving and the measurement completion contact detection are not necessarily performed simultaneously.
- the time-series waveform data obtained in steps S2 and S3 are recorded in advance in a storage unit (not shown) for all test drives, and then stored in the storage unit. Detection of measurement completion contact in each test drive may be collectively performed by the contact detector 13 after step S4 using the recorded time-series waveform data.
- step S6 the backlash estimator 14a estimates the backlash of the transmission mechanism 100 using the estimated load shaft position Ple (t).
- FIG. 18A shows an example of the estimated load shaft position Ple (t) estimated from the three sets of contact position displacement Pc and the required contact time Tc.
- Kb which is the absolute value of Kb, corresponds to the estimated backlash B.
- FIG. 18B three dotted lines indicate the amount of change in the position signal Sp in each of the test drive periods Td1 to Td3.
- the round plot shown in FIG. 18B is the contact position displacement Pc, that is, the backlash B, which is the amount of change in the position signal Sp from the start of reverse rotation driving to the measurement completion contact when there is no external force Fd.
- the position of the load shaft 102 does not change.
- the position corresponding to the backlash B indicated by the broken line in the figure is equal to the contact position displacement Pc. Therefore, it is plotted as a round shape shown in FIG.
- the contact position displacement Pc changes (increases) by the amount of change (increase) in the rotation amount.
- the contact position displacement Pc becomes the smallest.
- the plot Pl3 is arranged on the left side and the upper side most in FIG.
- the required contact time Tc1 is the longest, and the load shaft 102 rotates most by the external force Fd.
- the contact position displacement Pc becomes the largest.
- the plot Pl1 is arranged on the rightmost side and the lower side.
- the backlash estimator 14a derives the estimated load shaft position Ple (t) and estimates the backlash.
- the motor control device of the present embodiment can transmit the transmission mechanism 100 by the test drive including the forward rotation drive and the reverse rotation drive a plurality of times even in an environment where the external force Fd is applied to the load shaft 102.
- the backlash can be easily measured with high accuracy.
- FIG. FIG. 19 is a block diagram for explaining a motor device according to Embodiment 7 of the present invention.
- the direction of the external force Fd is set in advance.
- the torque command Ct is used to determine the direction of the external force Fd applied to the load shaft 102, and a drive direction determiner 16 that newly outputs the drive direction Dd during forward rotation and reverse rotation is different. . Moreover, it is different in that it has a drive command generator 10b that generates a drive command Cd so that the acceleration is different for each reverse drive according to the drive direction Dd instead of the drive command generator 10a.
- a drive command generator 10b that generates a drive command Cd so that the acceleration is different for each reverse drive according to the drive direction Dd instead of the drive command generator 10a.
- the direction of the external force Fd applied to the load shaft 102 is determined by the drive direction determiner 16 in step S1 of FIG.
- the drive command generator 10b performs control to stop the drive side gear 101a, and the drive direction determiner 16 determines the direction of the external force Fd using the torque command generated with both the gears 101a and 102a in contact with each other. Further, the driving direction Dd is determined.
- the drive command Cd is generated by the drive command generator 10b so that the position signal Sp does not change, that is, the drive side gear 101a does not rotate.
- the gears 101a and 102a are not in contact with each other, it is not necessary to apply torque to the driving gear 101a. Therefore, if the influence of friction applied to the driving shaft 101 is ignored, the torque command Ct is zero. After that, in a state where both the gears 101a and 102a are in contact with each other after a certain period of time, the load side gear 102a tries to rotate the drive side gear 101a by the external force Fd.
- the drive-side gear 101a since the drive-side gear 101a is controlled so as to be stationary, the drive-side gear 101a tries to rotate so as to cancel the force applied from the load-side gear 102a by the torque command Ct. Therefore, the direction of the external force Fd and the drive direction Dd of the forward rotation drive can be estimated using the rotation direction of the drive side gear 101a corresponding to the torque command Ct.
- the drive-side gear 101a is reciprocated by reverse rotation drive and forward rotation drive, and the torque command Ct at the time of forward rotation drive and at the time of reverse rotation drive is compared, so that the drive direction Dd may be determined.
- the drive direction determiner 16 may determine the drive direction Dd from the current Im of the motor 2 instead of the torque command Ct.
- the motor control device of the present embodiment may be configured to include any one of the contact detectors 13a, 13b, 13c, and 13d instead of the contact detector 13, and in those cases as well, Backlash can be measured.
- the motor control device of the present embodiment automatically determines the drive direction of the drive command Cd and reduces backlash even when the external force Fd is applied to the load shaft 102 in addition to the effects of the first embodiment. There is an effect that it can be measured.
- FIG. FIG. 20 is a block diagram for explaining a motor apparatus according to Embodiment 8 of the present invention.
- the contact detector 13e detects the measurement completion contact inside the transmission mechanism 100 within a range in which the position signal Sp indicating the rotation state of the motor 2 is determined by a preset minimum detection position and maximum detection position. This is different from the first embodiment.
- FIG. 21 is a diagram showing an example of a time-series waveform at the time of reverse rotation driving of the motor control device according to the eighth embodiment.
- the contact detector 13 determines contact during reverse rotation regardless of the position of the motor 2 indicated by the position signal Sp.
- the torque command Ct and the amount of change per unit time of the torque command Ct have a peak X13 shown in FIG. 21 (a) or a peak Y13 shown in FIG. You may have.
- the amount of change per unit time of the torque command Ct may have a peak Z13 shown in FIG. 21B due to an undesired contact between the two gears 101a and 102a when the motor 2 decelerates. Therefore, in the first embodiment, the contact detector 13 may erroneously detect contact by the peak X13, the peak Y13, or the peak Z13, and the backlash estimation accuracy may deteriorate.
- the contact detector 13e of the present embodiment is configured so that the position of the motor 2 indicated by the position signal Sp exceeds the preset minimum detection position S13 in the reverse drive direction, and then sets the preset maximum detection position L13 in the reverse drive direction. Detect contact in the period until it is exceeded. That is, contact is detected in a period T13 shown in FIG. 21D, and a contact signal Sc indicating measurement completion contact is generated.
- the torque command Ct is driven in the direction in which the predetermined threshold value a1 indicated by the broken line is driven in reverse (direction corresponding to reverse drive).
- the time differential value of the torque command Ct may be used, and the threshold value of the broken line b1 may be used instead of using the threshold value a1.
- the torque command Ct is maximum (or minimum), that is, the peak A13 shown in FIG. 21A, or the time differential value of the torque command Ct is maximum (or minimum).
- the measurement completion contact may be performed when the peak B13 shown in FIG. This eliminates the need to set a threshold value.
- the minimum detection position is desirably set to a value sufficiently smaller than the assumed backlash, and can be determined from the influence of friction on the torque command Ct and the standard processing accuracy when the transmission mechanism 100 is manufactured.
- the maximum detection position is desirably set to a value sufficiently larger than the assumed backlash, and an appropriate value can be selected from the motor position at which deceleration is started, the number of gear teeth, the shape, and the like.
- the torque command Ct and the torque command Ct are detected as in the contact detector 13b in the third embodiment.
- the measurement completion contact is detected using the position signal Sp
- the measurement completion contact is detected using the current signal Sim as in the contact detector 13c of the fourth embodiment
- the contact detector of the fifth embodiment Similarly to the present embodiment, when the measurement completion contact is detected using the current signal Sim and the position signal Sp as in 13d, the range in which the contact detector of each embodiment is determined by the minimum detection position and the maximum detection position. Thus, it is possible to detect the measurement completion contact inside the transmission mechanism 100.
- the drive command generator 10a generates a drive command Cd for performing the test drive a plurality of times instead of the drive command generator 10, and the backlash estimator 14a is replaced with the backlash estimator 14.
- the measurement completion contact inside the transmission mechanism 100 can be detected within the range determined by the minimum detection position and the maximum detection position by the contact detector 13 as in the present embodiment. .
- the motor control device of the present embodiment can measure the backlash of the transmission mechanism 100 without erroneously detecting contact even when there are many disturbances such as the influence of friction and deceleration. As a result, the backlash can be measured with high accuracy using an apparatus having a wider configuration.
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Abstract
Description
図1は、本発明の実施の形態1に係るモータ装置を説明するためのブロック図である。モータ装置は、モータ制御装置1、モータ2、モータ2の駆動軸の回転状態(動作状態)を検出する位置検出器3、及び伝達機構100を有する。
図6は、本発明の実施の形態2に係るモータ装置を説明するためのブロック図である。本実施の形態では、接触検出器13aがトルク指令Ctの代わりに位置信号Spを用いて測定完了接触を検出する点が実施の形態1と異なる。
図8は、本発明の実施の形態3に係るモータ装置を説明するためのブロック図である。本実施の形態では、接触検出器13bがトルク指令Ctに加えて位置信号Spを用いて測定完了接触を検出する点が実施の形態1と異なる。
De=Jm・Ac-Ct・・・式(1)
図10は、本発明の実施の形態4に係るモータ装置を説明するためのブロック図である。電流検出器15は、電流Imを電流信号Simとして検出する。本実施の形態のモータ制御装置は、位置信号Spの代わりに電流信号Simを用いて測定完了接触を検出する接触検出器13cを有する点が実施の形態1とは異なる。
図12は、本発明の実施の形態5に係るモータ装置を説明するブロック図である。本実施の形態の接触検出器13dは、電流信号Simに加えて位置信号Spを用いて測定完了接触を検出する点が実施の形態4とは異なる。
De=Jm・Ac-Kt・Sim・・・(2)
図13は、本発明の実施の形態6に係るモータ装置を説明するブロック図である。本実施の形態のモータ制御装置は、図13に示すように、図1に示した駆動指令生成器10およびバックラッシ推定器14の代わりに、それぞれ駆動指令生成器10aおよびバックラッシ推定器14aを有する点が異なる。本実施の形態のモータ制御装置は、負荷4及びこれに連結した負荷軸102に外部から外力Fdが加わる場合でもバックラッシを計測可能とする構成である。
Ple(t)=Ka・t2+Kb ・・・式(3)
図19は、本発明の実施の形態7に係るモータ装置を説明するためのブロック図である。実施の形態6では、予め外力Fdの方向が設定されていた。一方で本実施の形態では外力Fdが任意の方向に働くものとする。
図20は、本発明の実施の形態8に係るモータ装置を説明するためのブロック図である。本実施の形態では、モータ2の回転状況を示す位置信号Spがあらかじめ設定された最小検出位置と最大検出位置とで決まる範囲で、接触検出器13eが伝達機構100の内部の測定完了接触を検出する点が実施の形態1と異なる。
Claims (17)
- モータを一方向に正駆動させた後に前記一方向とは反対の方向に前記モータを逆駆動させる駆動指令を生成する駆動指令生成器と、
前記駆動指令と前記モータの動作状態を示す位置信号とに基づいて、前記モータを駆動するためのトルク指令を生成するトルク指令生成器と、
前記位置信号に基づいて算出した信号を用いて、前記モータに接続する駆動側伝達部と負荷に接続する負荷側伝達部との間の接触を測定完了接触として検出し、検出結果を接触信号として出力する接触検出器と、
前記接触信号及び前記位置信号に基づき、前記駆動側伝達部及び負荷側伝達部間のバックラッシを推定するバックラッシ推定器と
を備えることを特徴とするモータ制御装置。 - 前記接触検出器は、前記位置信号から求めた加速度又は前記加速度の単位時間当たりの変化量が予め設定されたしきい値を、前記正駆動に対応する方向に超えた場合に、前記測定完了接触を検出したとすることを特徴とする請求項1に記載のモータ制御装置。
- 前記接触検出器は、前記位置信号を用いて加速度信号を算出し、前記加速度信号及び前記トルク指令に基づき抽出外乱を算出し、前記抽出外乱を用いて前記測定完了接触を検出することを特徴とする請求項1に記載のモータ制御装置。
- 前記接触検出器は、前記位置信号を用いて加速度信号を算出し、前記加速度信号及び前記モータに供給される電流に対応する電流信号に基づき抽出外乱を算出し、前記抽出外乱を用いて前記測定完了接触を検出することを特徴とする請求項1に記載のモータ制御装置。
- 前記トルク指令生成器は、前記駆動指令及び前記位置信号に基づいて、前記トルク指令を生成することを特徴とする請求項1に記載のモータ制御装置。
- 前記接触検出器は、前記トルク指令又は前記トルク指令の単位時間当たりの変化量が予め設定されたしきい値を、前記逆駆動に対応する方向に超えた場合に、前記測定完了接触を検出したとすることを特徴とする請求項5に記載のモータ制御装置。
- 前記接触検出器は、前記モータに供給される電流に対応する電流信号又は前記電流信号の単位時間当たりの変化量が予め設定されたしきい値を、前記逆駆動に対応する方向に超えた場合に、前記測定完了接触を検出したとすることを特徴とする請求項5に記載のモータ制御装置。
- 前記トルク指令に基づき、前記駆動指令の正駆動の方向を決定する駆動方向決定器をさらに備える
ことを特徴とする請求項5に記載のモータ制御装置。 - 前記モータに供給される電流に対応する電流信号に基づき、前記駆動指令の正駆動の方向を決定する駆動方向決定器をさらに備える
ことを特徴とする請求項5に記載のモータ制御装置。 - 前記駆動指令生成器は、予め定められた最大バックラッシ許容量以上に前記逆駆動させる前記駆動指令を生成する
ことを特徴とする請求項1に記載のモータ制御装置。 - 前記駆動指令生成器は、前記逆駆動する際の前記モータの加速度又は速度が予め設定された時間だけ一定となる前記駆動指令を生成する
ことを特徴とする請求項1に記載のモータ制御装置。 - 前記接触検出器は、前記位置信号が予め設定された最小検出位置と最大検出位置とで決まる範囲で、前記測定完了接触を検出する
ことを特徴とする請求項1に記載のモータ制御装置。 - 前記バックラッシ推定器は、前記逆駆動の開始から前記測定完了接触までの時間である接触所要時間の前記位置信号の変化量を、接触位置変位として算出することで、前記バックラッシを推定する
ことを特徴とする請求項1に記載のモータ制御装置。 - 前記駆動指令生成器は、前記正駆動及び前記逆駆動からなる試験駆動を前記モータに対して複数回行わせる前記駆動指令を生成することを特徴とする請求項13に記載のモータ制御装置。
- 前記逆駆動の加速度の大きさが複数回の前記試験駆動で互いに異なることを特徴とする請求項14に記載のモータ制御装置。
- 前記バックラッシ推定器は、複数回の前記試験駆動の各々に対応する前記接触所要時間及び前記接触位置変位を用いて、前記バックラッシを推定することを特徴とする請求項14に記載のモータ制御装置。
- モータと、
前記モータの動作状態を位置信号として出力する位置検出器と、
前記モータを一方向に正駆動させた後に前記一方向とは反対の方向に前記モータを逆駆動させる駆動指令を生成する駆動指令生成器と、
前記駆動指令と前記位置信号とに基づいて、前記モータを駆動するためのトルク指令を生成するトルク指令生成器と、
前記位置信号に基づいて算出した信号を用いて、前記モータに接続する駆動側伝達部と負荷に接続する負荷側伝達部との間の接触を測定完了接触として検出し、検出結果を接触信号として出力する接触検出器と、
前記接触信号及び前記位置信号に基づき、前記駆動側伝達部及び負荷側伝達部間のバックラッシを推定するバックラッシ推定器と
を備えることを特徴とするモータ装置。
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JP2019173789A (ja) * | 2018-03-27 | 2019-10-10 | 日本ギア工業株式会社 | 電動弁駆動装置の摩耗検出方法 |
JP2021081773A (ja) * | 2019-11-14 | 2021-05-27 | 株式会社日立製作所 | 診断装置、モータ駆動装置および診断方法 |
JPWO2021260921A1 (ja) * | 2020-06-26 | 2021-12-30 |
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CN111516695B (zh) * | 2020-03-23 | 2021-10-26 | 浙江吉利汽车研究院有限公司 | 一种车辆输出扭矩的控制方法、装置及存储介质 |
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JP2019173789A (ja) * | 2018-03-27 | 2019-10-10 | 日本ギア工業株式会社 | 電動弁駆動装置の摩耗検出方法 |
JP2021081773A (ja) * | 2019-11-14 | 2021-05-27 | 株式会社日立製作所 | 診断装置、モータ駆動装置および診断方法 |
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WO2021260921A1 (ja) * | 2020-06-26 | 2021-12-30 | 三菱電機株式会社 | バックラッシ量測定装置、学習済みの学習モデル生成装置、学習用データ生成装置、バックラッシ量測定方法、学習済みの学習モデル生成方法、学習用データ生成方法、バックラッシ量測定プログラム、学習済みの学習モデル生成プログラム、及び学習用データ生成プログラム |
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TW201812271A (zh) | 2018-04-01 |
TWI660162B (zh) | 2019-05-21 |
JPWO2018047518A1 (ja) | 2018-09-06 |
JP6479256B2 (ja) | 2019-03-06 |
KR20180094075A (ko) | 2018-08-22 |
CN109642851B (zh) | 2021-03-02 |
KR102056051B1 (ko) | 2019-12-16 |
CN109642851A (zh) | 2019-04-16 |
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