WO2020004301A1

WO2020004301A1 - Tuning system

Info

Publication number: WO2020004301A1
Application number: PCT/JP2019/024889
Authority: WO
Inventors: 汐里羽曽部; 藤田　淳; 翔太石上; 周平村瀬
Original assignee: 日本電産株式会社
Priority date: 2018-06-26
Filing date: 2019-06-24
Publication date: 2020-01-02

Abstract

This tuning system comprises a motor, an arithmetic device, and a communication module. The motor has: a rotor that has a shaft; a stator that faces the rotor in the radial direction; a housing that encloses the rotor and the stator; a circuit board that has a motor control circuit and is disposed near the housing; and a communication connector that is mounted on the circuit board. The communication module has one serial communication cable that is connected to the communication connector. The arithmetic device has: an input unit that inputs data; a display unit that displays data; a parameter selection unit that receives serial data from the motor via the communication module and selects an optimum value for a control parameter of the motor control circuit on the basis of the serial data; and a command transmission unit that transmits, to the motor, a command to change the control parameter to the optimum value.

Description

Tuning system

The present invention relates to a tuning system for tuning a servomotor.

Servo motors require different speed control and different position control for different loads depending on the device used, so it is required to appropriately adjust control parameters (gain).
Patent Literature 1 discloses, as a system configuration for tuning control parameters, a configuration including a motor, a servo amplifier (motor control device), and a personal computer equipped with an automatic adjustment function and an adjustment result management device. ing. In addition, this system transmits a cable that transmits the position detection signal of the motor to the servo amplifier, a cable that supplies drive power from the servo amplifier to the motor, and transmission of adjustment conditions from the personal computer and operating data during motor operation to the servo amplifier. A communication cable for performing the operation.

Japanese Unexamined Patent Publication: JP-A-2016-019304

The conventional system configuration requires a servo amplifier to tune the control parameters. As described above, a plurality of devices are combined to perform tuning, and many components and components of the system are required. For this reason, the system is expensive and has complicated settings.
Therefore, an object of the present invention is to provide a tuning system whose configuration is simplified and whose cost is reduced.

In order to solve the above problems, a tuning system according to one aspect of the present invention includes a motor, an arithmetic device, and a communication module that communicably connects the motor and the arithmetic device. The motor includes a rotor having a shaft, a stator radially opposed to the rotor, a housing surrounding the rotor and the stator, and a motor control circuit, and a circuit board disposed near the housing. And a communication connector mounted on the circuit board. The communication module has one serial communication cable connected to the communication connector. The arithmetic unit receives an input unit for inputting data, a display unit for displaying data, serial data from the motor via the communication module, and controls the motor control circuit based on the serial data. A parameter selection unit that selects an optimum value of the parameter; and a command transmission unit that transmits a command to change the control parameter to the optimum value to the motor.

According to one embodiment of the present invention, the configuration is simplified because the electromechanical integrated motor and the arithmetic unit for tuning the motor are communicably connected by a communication module having one serial communication cable. Thus, the tuning system can be reduced in cost.

FIG. 1 is a configuration example of a tuning system according to the first embodiment. FIG. 2 is an example of the configuration of a motor integrated with electromechanical system. FIG. 3 is a diagram illustrating a relationship between the MCU and the motor. FIG. 4 is a diagram showing a USB-UART conversion cable. FIG. 5 is a diagram showing a frame structure of a conventional packet. FIG. 6 is a diagram illustrating a frame configuration of a packet according to the present embodiment. FIG. 7 is a flowchart illustrating a serial data acquisition procedure. FIG. 8 is a flowchart illustrating a procedure for acquiring serial data and drawing a graph. FIG. 9 is an example of graph drawing. FIG. 10 is a configuration example of a tuning system according to the second embodiment. FIG. 11 is a flowchart illustrating a serial data acquisition procedure. FIG. 12 is a flowchart illustrating a procedure for acquiring serial data and drawing a graph. FIG. 13 is another configuration example of the tuning system. FIG. 14 is another configuration example of the tuning system.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Note that the scope of the present invention is not limited to the following embodiments, and can be arbitrarily changed within the technical idea of the present invention.

(First embodiment)
FIG. 1 is a configuration example of a tuning system (control parameter adjustment system) 1000A in the present embodiment.
Tuning system 1000A includes motor device 100, which is an electromechanical integrated motor, and arithmetic device 200. Further, tuning system 1000A includes a communication module that communicably connects motor device 100 and arithmetic device 200. The tuning system 1000A shown in FIG. 1 is a system that connects the motor device 100 and the arithmetic device 200 so as to be able to communicate with each other in a wired communication system. The communication module directly connects the motor device 100 and the arithmetic device 200. Communication cable 300. In the present embodiment, the communication cable 300 is a single serial communication cable. The serial communication cable is, for example, a USB-UART conversion cable.

The motor device 100 includes a rotor having a shaft, a stator radially facing the rotor, and a housing surrounding the rotor and the stator. In addition, the motor device 100 has a circuit board arranged near the housing. This circuit board has a motor control circuit that controls driving of the motor. A communication connector is mounted on the circuit board. The communication cable 300 has one end connected to a communication connector mounted on a circuit board of the motor device 100, and the other end connected to the arithmetic device 200. As described above, the communication cable 300 directly connects the communication connector and the arithmetic device 200.
Further, the motor device 100 has a magnetic sensor and a current sensor mounted on a circuit board, and the motor device 100 alone can acquire motor information including power information, rotor position information, rotation speed information, and torque information. . For example, the current sensor can acquire information on a current value flowing through the coil. In addition, the motor device 100 can acquire voltage value information applied by the inverter.
As described above, the motor device 100 includes the motor control circuit, the sensor capable of detecting the motor information, and the communication function (communication connector). Therefore, the motor device 100 can perform motor control and data transmission / reception by itself.

FIG. 2 is a configuration example of the motor device 100.
As shown in FIG. 2, the motor device 100 includes a motor 121, a Hall element 122, a differential amplifier 123, a position detector 124, a memory 125, a position command generator 126, and a controller 127. , A PWM control unit 128, and an inverter 129. The differential amplifier 123, the position detector 124, the memory 125, the position command generator 126, the controller 127, the PWM controller 128, and the inverter 129 are included in the motor control circuit. Thus, the motor device 100 has a structure in which the motor 121 and the motor control circuit are integrated.

The motor 121 is, for example, a three-phase brushless motor, and is supplied with driving power by a motor control circuit.
The output of the Hall element 122, which is a magnetic sensor, is amplified by the differential amplifier 123 and input to the position detection unit 124. The position detector 124 detects rotor position information (position detection value) based on the detection result of the magnetic sensor. The position detection unit 124 can also acquire the learning value from the memory 125 and detect the position information of the rotor.
Position command generator 126 outputs a position command value for motor 121. Here, the position command value may be a command value received from the arithmetic device 200 or a command value received from a host device (not shown) different from the arithmetic device 200.

The controller 127 has a position controller, a speed controller, and a current controller for controlling the driving of the motor 121.
Based on the difference xerr between the position command value output by the position command generator 126 and the position detection value output by the position detector 124, the position controller obtains a position proportional gain or a position feed forward gain which is a parameter of the position controller. The velocity command value is output using (position FF gain).
The speed controller outputs a current command value based on a speed command value, a speed detection value, and speed proportional gain, speed integral gain, and speed feedforward gain (speed FF gain) that are parameters of the speed controller. . Here, the detected speed value is rotation speed information of the rotor detected based on the detection result of the magnetic sensor.
The current controller outputs a voltage command value vref based on the current command value.
The PWM control unit 128 generates a PWM signal (UH, VH, WH, UL, VL, WL) based on the voltage command value vref. Then, based on the generated PWM signal, the PWM control unit 128 performs on / off control of a switching element included in the inverter 129, and supplies driving power to the motor 121.

The motor device 100 has the communication connector as described above. The communication connector can include an Rx pin, a Tx pin, a 3.3V pin, and an SGND pin. These Rx pin, Tx pin, 3.3V pin, and SGND pin can be connected to a communication cable (USB-UART conversion cable) 300.
Further, by inputting an input pulse signal (STMP) or a motor rotation direction (CW_CCW) to the position command generator 126 of the motor control circuit, the motor can be driven by the pulse signal.

FIG. 3 is a diagram showing a relationship between the MCU 130 and the motor 121 included in the motor device 100. As shown in FIG. 3, the drive of the motor 121 is detected by the Hall element 122, amplified by the differential amplifier 123, and converted into a digital signal by an A / D converter (ADC) in the MCU 130. Then, a PWM signal for driving the motor is generated in the MCU 130, and the generated PWM signal is output to the inverter 129 to drive the motor 121.

Returning to FIG. 1, the arithmetic device 200 includes an input unit 201 for inputting data and a display unit 202 for displaying data. The arithmetic device 200 can be, for example, a personal computer (PC). The input unit 201 includes a pointing device such as a keyboard and a mouse, and is operable by a user to operate a GUI (Graphical User Interface). The display unit 202 includes a monitor such as a liquid crystal display, and displays the GUI. In addition, the display unit 202 can display the processing result of the arithmetic device 200 as an image, characters, or the like.
The arithmetic unit 200 selects, from the motor device 100, a data receiving unit that receives serial data to be described later via a communication module (communication cable 300), and selects an optimum value of a control parameter of the motor control circuit based on the serial data. And a parameter selection unit for performing the parameter selection. In addition, the arithmetic device 200 includes a command transmission unit that transmits to the motor device 100 a command to change the control parameter of the motor control circuit to the optimum value. When the command is transmitted to the motor device 100 by the command transmitting unit, the control parameters of the motor control circuit are changed to the optimal values determined in the arithmetic device 200, and the controller 127 in FIG. Operate.

FIG. 4 is a diagram showing a USB-UART conversion cable as the communication cable 300. The communication cable 300 has a USB connection terminal 310 at one end and a UART connection terminal 320 at the other end where a USB-UART conversion driver is arranged. The USB connection terminal 310 is connected to a USB terminal of the arithmetic device 200, and the UART connection terminal 320 is connected to a communication connector of a circuit board of the motor device 100.
The communication cable 300 may have a buffer capable of storing serial data. In this case, a buffer of, for example, 1 kByte is mounted on the USB connection terminal 310. Since the communication cable 300 has a buffer, a data string of UART communication can be temporarily stored in the communication cable 300, and data can be transmitted and received in packet units.

The UART connection terminal 320 is divided into ten cables. Of the ten pins of the UART connection terminal 320, the VCC pin is set to the 3.3V pin of the motor device 100, and the TxD pin is set to the Rx of the motor device 100. The pin, the RxD pin is connected to the Tx pin of the motor device 100, and the GND pin is connected to GND of the motor device 100. This allows transmission and reception of serial data between the motor device 100 and the arithmetic device 200 via the communication cable 300, which is a USB-UART conversion cable.
For example, when the user inputs a command for instructing connection between the arithmetic device 200 and the communication cable 300 from the GUI displayed on the display unit 202 of the arithmetic device 200, the arithmetic device 200 uses the USB-UART conversion cable. The connection between the arithmetic unit 200 and the communication cable 300 can be performed by using a driver for this. Here, it is assumed that the driver is incorporated in the arithmetic device 200.

Further, for example, when the user inputs the driving conditions of the motor and the like from the GUI displayed on the display unit 202 of the arithmetic device 200 and inputs a command to instruct the transmission of the motor information, the arithmetic device 200 Transmits a motor information transmission request command. As described above, the arithmetic device 200 includes the command transmission unit that transmits the motor information transmission request command to the motor device 100. Upon receiving the transmission request command transmitted from the arithmetic device 200, the motor device 100 drives the motor in response to the command, detects the motor information, and sends the motor information to the arithmetic device 200 via the communication cable 300. Serial data including motor information can be transmitted. Here, the motor information may include at least one of position information, rotation speed information, and torque information of the rotor.
That is, the motor control circuit of the motor device 100 detects the motor information including at least one of the power information, the rotor position information, the rotation speed information, and the torque information based on the detection result of the sensor at the time of driving the motor. It has a part. Further, the motor control circuit includes a motor information transmission unit that transmits serial data including motor information to the arithmetic device 200 via the communication cable 300.

Further, the motor control circuit (motor information transmitting unit) of the motor device 100 can continuously transmit serial data in response to one transmission request command. As described above, during serial data transmission, the motor device 100 can continuously transmit serial data without performing communication using the master-slave method. That is, the arithmetic device 200 does not need to transmit an ACK frame every time serial data is acquired. Therefore, high-speed transmission and reception of serial data between the motor device 100 and the arithmetic device 200 is possible.
Note that the serial data is generated in the MCU 130 of FIG. The data string of the UART generated in the MCU 130 is output from the GPIO pin and transmitted to the arithmetic device 200 via the communication cable (USB-UART conversion cable) 300.

Here, the serial data is data in which a plurality of pieces of motor information acquired in each control cycle (for example, 140 μs) of the motor control circuit are sequentially connected in the order of acquisition. Thereby, the arithmetic unit 200 can acquire motor information (position, speed, torque, etc.) for each motor control cycle. The type of the motor information acquired by the arithmetic device 200 can be selected by the user from the GUI.
When the serial data obtained from the motor device 100 is serial data including motor information necessary for tuning, the arithmetic device 200 selects an optimum value of a control parameter of the motor control circuit based on the obtained motor information. Can be.

The arithmetic device 200 has a display unit 202. If the serial data acquired from the motor device 100 is serial data including motor information necessary for confirming the operation of the motor, the acquired motor information is graphed. It can be displayed on the display unit 202. Thus, after the tuning of the motor is executed, the user can easily confirm whether the tuning has been correctly performed.
Further, the user can instruct fine adjustment of the control parameters from the GUI based on the information displayed on the display unit 202. In this case, the arithmetic device 200 transmits a command to the motor device 100 to change the control parameter adjusted by the user to an optimal value.

Hereinafter, a data communication method between the motor device 100 and the arithmetic device 200 will be specifically described.
The motor control cycle is more than ten μs, and in order to draw a real-time graph of the motor information, it is necessary to acquire the motor information for each of the above-described motor control cycles. However, conventionally, in the case of an architecture in which serial communication can be performed with one signal line, serial data cannot be acquired within a latency time (for example, 2 ms or less) due to a communication protocol. In addition, RS232C (UART communication), which is an architecture in which serial communication can be performed with a single signal line, has been performed in a master-slave system that can confirm that data has been normally received. As a result, a delay (time lag) corresponding to the communication time has occurred in acquiring the serial data.

FIGS. 5A and 5B are diagrams showing a frame structure of a packet when serial data is transmitted by one conventional signal line. Here, FIG. 5A shows a case in which one type of motor information is transmitted, and FIG. 5B shows a case in which a plurality of types (X types) of motor information are transmitted.
The conventional serial data 610 includes a header section 611, a data section 612, and a CRC (Cyclic Redundancy Check) section 613. The header stores communication standards, address information, and the like as motor identification information. The data section stores motor information (SERISL DATA1) indicating the state of the motor and information (Time1) on the acquisition time of the motor information. The CRC section 613 stores a checksum value. Note that the checksum value may be arranged in the header section 611 in some cases.

As described above, conventionally, the acquisition of serial data is performed by the master-slave method, and the serial data is transmitted at each sampling. Therefore, real-time graph drawing cannot be performed using the motor information acquired for each motor control cycle. In addition, since there is a time lag during communication, it is necessary to include information about the acquisition time of serial data in the frame, and the data length is long.
In the case of an architecture in which communication can be performed using a plurality of signal lines, for example, data can be acquired at intervals of 100 μm. However, in this case, since a plurality of signal lines are required, the system configuration becomes complicated.

On the other hand, in the present embodiment, as described above, the motor control circuit of the motor device 100 converts the plurality of pieces of motor information acquired for each control cycle of the motor control circuit into serial data that is sequentially connected in the order of acquisition. The data is transmitted to the arithmetic device 200. Accordingly, the arithmetic unit 200 can perform real-time graph drawing using the motor information acquired for each motor control cycle based on the received serial data.

FIG. 6 is a diagram illustrating a frame configuration of a packet in serial data transmission according to the present embodiment.
As shown in FIG. 6, the serial data 620 in the present embodiment includes a header section 621 and a data section 622. The header 621 stores communication standards, address information, and the like as motor identification information. The data section 622 stores a plurality of types of motor information indicating the state of the motor. Specifically, the data stored in the data unit 622 is motor information acquired in each motor control cycle in the motor control device (motor control circuit) and sequentially connected in the acquired order. Here, MOTOR DATA (x + n) indicates the x-th type of motor information acquired in the n-th sampling.

The data stored in the data section 622 can be represented by the following equation.
SamplingAppend (CreateMotorDatas (X), 1, N) ……… (1)
In the above equation (1), CreateMotorDatas (X) is a function for acquiring and returning X types of motor information (MOTOR DATA), and SamplingAppend (MotorDatas, i, N) is for acquiring the first argument MotorDatas. This function is repeated from the i-th argument to the N-th argument and connected in order.
As described above, the serial data 620 does not include information on the acquisition time of the motor information, but includes data in which a plurality of types (X types) of motor information obtained a plurality of times (N times) in each control cycle are sequentially superimposed.

As described above, in the present embodiment, the motor device 100 samples a plurality of types of motor information a plurality of times, and collectively transmits the information to the arithmetic device 200 using one signal line. That is, the motor device 100 obtains a plurality of types of motor information indicating the state of the motor for each control cycle of the motor control circuit, and generates serial data in which the obtained plurality of types of motor information are sequentially connected in the order in which they were obtained. It has a data generation unit and a data transmission unit that transmits the generated serial data to the arithmetic device 200 via a communication module.
At this time, since the sampling cycle of the motor information is equal to the control cycle of the motor control circuit and is constant, it is not necessary to include information on the acquisition time of the motor information in the frame. Therefore, the data length can be reduced accordingly. In addition, since the communication capacity can be reduced by that amount, data communication can be performed at higher speed.

However, in the present embodiment, the number of motor information linked to the data section 622 is limited. This is because the number of data that can be transmitted is limited by the communication speed and the size of the buffer temporarily stored during data transmission and reception. The number of consecutive data is mainly governed by the communication speed, but when the buffer size is 5 kByte or less, the number of consecutive data is governed by the buffer size.
Here, the maximum communication speed of the UART communication is 6 Mbps (6 MBaudRate).
For example, when the buffer size is 1 kByte and the latency time is 2 ms, the number of motor information to be linked is 428 at the maximum. In the present embodiment, data is transmitted and received when the buffer size reaches 80% of the buffer size.

FIG. 7 is a flowchart illustrating a procedure when the arithmetic device 200 acquires serial data necessary for tuning from the motor device 100.
The process illustrated in FIG. 7 is started at a timing when a user inputs a command for instructing connection between the motor device 100 and the arithmetic device 200 from the GUI displayed on the display unit 202 of the arithmetic device 200.
First, in step S1, the arithmetic device 200 sets the communication cable 300, which is a USB-UART conversion cable. In this cable setting, the arithmetic device 200 sets the latency time of the UART communication to the shortest time (for example, 2 ms), and connects the communication port of the arithmetic device 200 to the communication cable 300.

Next, in step S2, the arithmetic device 200 determines whether the connection with the USB-UART conversion cable has been normally performed. When it is determined that the connection has not been made, the process proceeds to step S15, and when it is determined that the connection has been normally made, the process proceeds to step S3.
In step S3, the arithmetic device 200 determines the data reception time. Here, the reception time can be determined, for example, based on the driving conditions of the motor specified by the user from the GUI.
In step S4, the arithmetic unit 200 calculates the data length of the serial data to be received (the number of received motor information) based on the reception time determined in step S3.

In step S5, the arithmetic unit 200 generates an array for storing serial data in an internal memory or the like.
In step S6, the arithmetic unit 200 purges the buffer of the USB-UART conversion cable. By purging the buffer in this way, it is possible to prevent the arithmetic device 200 from receiving past data remaining in the buffer and executing erroneous processing.
In step S7, the arithmetic device 200 transmits a motor information transmission request command (data output ON command) to the motor device 100 via the USB-UART conversion cable. Then, the motor device 100 receives the data output ON command, and continuously transmits serial data via the USB-UART conversion cable.

In step S8, the arithmetic unit 200 receives the serial data transmitted from the motor device 100 via the USB-UART conversion cable, and determines in step S9 whether the serial data has been normally received. If the arithmetic unit 200 determines that serial data cannot be received, the process proceeds to step S15, and if it determines that serial data has been successfully received, the process proceeds to step S10.
In step S10, the arithmetic unit 200 waits for a predetermined time (for example, 10 ms), and proceeds to step S11.
In step S11, the arithmetic device 200 determines whether the data transmission process has been interrupted. For example, when the user inputs a command to interrupt the process from the GUI displayed on the display unit 202 of the arithmetic device 200, the arithmetic device 200 determines that the data transmission process has been interrupted. When the arithmetic device 200 determines that the data transmission process has been interrupted, the process proceeds to step S15, and when it determines that the data transmission process has not been interrupted, the process proceeds to step S12.

In step S12, the arithmetic unit 200 divides and holds the received serial data for each type of motor information and for each control cycle (sampling cycle). Specifically, the arithmetic unit 200 stores the data divided into the array generated in step S5.
In step S13, the arithmetic unit 200 adds the received serial data to the serial data received so far.
In step S14, the arithmetic unit 200 determines whether the serial data has been received for the reception time determined in step S3. If the arithmetic unit 200 determines that serial data has not been received for the reception time, the process returns to step S8. If it determines that serial data has been received for the reception time, it determines that reception has been completed. To step S15.
In step S15, the arithmetic unit 200 closes the communication port and ends the processing in FIG.

FIG. 8 is a flowchart illustrating a procedure when the arithmetic device 200 performs the graph drawing based on the serial data acquired from the motor device 100.
The process shown in FIG. 8 is started at the timing when the user inputs a command for confirming the operation of the motor from the GUI displayed on the display unit 202 of the arithmetic device 200. In FIG. 8, steps for performing the same processing as in FIG. 7 are denoted by the same step numbers as in FIG. 7, and the following description will focus on the different parts of the processing.

In step S21, the arithmetic device 200 displays a screen for drawing a graph on the display unit 202, and proceeds to step S22. In step S22, the arithmetic device 200 reproduces an event that interrupts real-time graph drawing.
If the connection between the arithmetic unit 200 and the USB-UART conversion cable is normally performed, in step S23, the arithmetic unit 200 generates an array for storing serial data in an internal memory or the like. At this time, the arithmetic unit 200 sets the array for storing the serial data to a sufficient size.

If the received serial data is divided and stored for each type of motor information and for each control cycle, in step S24, the arithmetic unit 200 displays the state of the motor on the display unit 202 using the stored data. Let it. Specifically, the arithmetic device 200 uses the held data to set the horizontal axis as the acquisition time of the motor information Time and the vertical axis as the motor information (for example, rotation speed information Speed) as shown in FIG. The state of the motor is graphed and displayed on the display unit 202. At this time, as shown in FIG. 8, if the response value is displayed so as to be superimposed on the command value, the user can easily confirm whether or not the tuning has been correctly performed.

In step S25, the arithmetic unit 200 determines whether or not to end the graph drawing. If it is determined that the graph drawing is not to be ended, the process returns to step S8. If it is determined that the graph drawing has been ended, the processing proceeds to step S15. Move to For example, when a motor stop event process occurs, it is determined that real-time graph drawing is to be ended.
In the process shown in FIG. 8, a case has been described in which data is acquired and a graph is updated until an event process of a motor stop occurs. However, a data reception time is determined in advance, and when the reception time elapses. The graph drawing may be ended.

As described above, the data communication method in the motor device 100 includes the steps of acquiring a plurality of types of motor information indicating the state of the motor for each motor control cycle in the motor control device (motor control circuit); Generating the serial data in which the motor information is sequentially arranged in the order of acquisition, and transmitting the generated serial data. Here, the motor information includes position information and rotation speed information of a rotor included in the motor.
As described above, the motor device 100 can collectively transmit a plurality of types of motor information sampled a plurality of times for each motor control cycle. Can be observed and analyzed.

Further, since the sampling period is constant, there is no need to transmit the acquisition time of the motor information. Therefore, in the step of generating serial data in the motor device 100, serial data can be generated by sequentially connecting the motor information obtained a plurality of times in each control cycle without including information on the acquisition time of the motor information. As described above, since the acquisition time information is not included in the serial data, the data length of the serial data can be reduced, and the motor information can be transmitted at higher speed.
Further, the data communication method in motor device 100 further includes a step of receiving a transmission request command for motor information. In the step of transmitting serial data, serial data is continuously transmitted in response to one transmission request command. can do. As described above, since the motor device 100 does not communicate in the master-slave system and continuously transmits serial data, the arithmetic device 200 as the receiving device can acquire high-speed serial data.

Further, the data communication method in the arithmetic device 200 includes a step of receiving serial data in which a plurality of types of motor information indicating a state of the motor acquired for each motor control cycle in the motor control device (motor control circuit) are sequentially connected. And a step of dividing the received serial data for each type of motor information and for each control cycle and holding the divided data, and a step of displaying the state of the motor on the display unit using the held data.
Thereby, the arithmetic unit 200 can observe and analyze the motor status with high resolution based on the received serial data, and can display the state of the motor on the display unit. Therefore, the user can appropriately grasp the state of the motor.

Further, in the step of displaying on the display unit of the arithmetic device 200, using the stored data, the horizontal axis is the acquisition time of the motor information and the vertical axis is the motor information, and the state of the motor is graphed and displayed on the display unit. be able to. As described above, since the arithmetic unit 200 can display the state of the motor on the display unit using the waveform, the user can easily and appropriately grasp the state of the motor and appropriately evaluate the motor. Therefore, the burden on the user during motor evaluation can be reduced, and the convenience can be improved.
Here, the serial data does not include information on the acquisition time of the motor information, and may be data in which the motor information acquired a plurality of times in each control cycle is sequentially connected. Since the sampling period is constant, the arithmetic unit 200 can appropriately grasp the acquisition time of the motor information even if the acquisition time information of the motor information is not included in the serial data. Therefore, the arithmetic unit 200 can appropriately display the state of the motor on the display unit.

Further, the data communication method in the arithmetic device 200 further includes a step of transmitting a transmission request command for motor information. In the step of receiving serial data, the serial data is continuously transmitted in response to one transmission request command. To receive. As described above, since the arithmetic unit 200 does not communicate in the master-slave system and continuously receives serial data, high-speed acquisition of serial data is possible.

As described above, the data communication method according to the present embodiment can appropriately observe a plurality of types of motor information indicating the state of the motor in the motor control cycle (on the order of tens of μs).
Therefore, when the data communication system to which the data communication method according to the present embodiment is applied is a tuning system, the control parameter adjustment accuracy can be improved.
The data communication system to which the data communication method according to the present embodiment is applied may be a system for monitoring the state of a motor, a system for evaluating the state of a motor, or the like, and is not limited to a tuning system.

In addition, the tuning system 1000A according to the present embodiment includes a motor device 100 that is an electromechanical integrated motor, an arithmetic device 200 including an input unit and a display unit, and a communication module that communicably connects the motor device 100 and the arithmetic device 200. , Is provided. Here, the communication module has one serial communication cable (communication cable) 300 connected to a communication connector mounted on a circuit board of the motor device 100.
As described above, the tuning system 1000A can perform motor tuning with a simple system configuration in which the electromechanical integrated motor 100 and the arithmetic device 200 are communicably connected by the communication module having one serial communication cable 300. it can.

The conventional tuning system does not directly connect the input device and the motor, but is a system in which a plurality of devices are combined, so that the setting is expensive and complicated. On the other hand, in the present embodiment, the motor is directly connected to the arithmetic unit having the input unit and the display unit and the motor, so that the motor can be tuned inexpensively and without complicated settings. .
In addition, the tuning system 1000A according to the present embodiment communicably connects the electromechanical integrated motor 100 and the arithmetic device 200 with a communication module having one serial communication cable 300. Thus, since a plurality of signal lines are not required, a simple system configuration can be achieved.

In the tuning system 1000A according to the present embodiment, the communication connector and the arithmetic unit 200 are directly connected by one serial communication cable. In this way, by using the wired communication method, communication between the electromechanical integrated motor 100 and the arithmetic device 200 can be performed with a simpler configuration. Here, the serial communication cable may be a USB-UART conversion cable. Thus, serial communication can be appropriately performed between the electromechanical integrated motor 100 and the arithmetic device 200.
Further, the serial communication cable can include a buffer capable of storing serial data. Therefore, data can be temporarily stored in the cable, and data can be transmitted and received in packet units. Here, the arithmetic device 200 has a driver for using the cable. Thus, data transmission and reception in packet units through the cable can be appropriately performed.

As described above, the tuning system 1000 according to the present embodiment can acquire a plurality of types of motor information for each motor control cycle and tune the motor with a simple configuration. As described above, the tuning system 1000 according to the present embodiment is a system with a simplified configuration, so that cost reduction can be realized.

(Second embodiment)
Next, a second embodiment of the present invention will be described.
In the above-described first embodiment, the tuning system in which the motor device 100 and the arithmetic device 200 are communicably connected to each other in a wired communication system has been described. In the second embodiment, a tuning system will be described in which the motor device 100 and the arithmetic device 200 are communicably connected by a wireless communication method.

FIG. 10 is a configuration example of a tuning system 1000B in which the motor device 100 and the arithmetic device 200 are communicably connected by a wireless communication method. In the tuning system 1000B, the communication module that communicably connects the motor device 100 and the arithmetic device 200 includes a communication cable 300 and a wireless module (wireless communication module) 400.
Here, the wireless communication standard may be Bluetooth (registered trademark), or a wireless LAN or Wi-Fi compliant with the IEEE 802.11 series standard. Note that the wireless communication standard is not limited to the above.

The motor device 100 is the same as the above-described motor device 100 included in the tuning system 1000A. The arithmetic device 200 is different from the arithmetic device 200 included in the tuning system 1000A in that the arithmetic device 200 has a wireless communication function. The communication cable 300 is the same as the communication cable 300 provided in the tuning system 1000A. However, the communication cable 300 differs in that the communication connector of the motor device 100 and the wireless module 400 are directly connected.

The wireless module 400 can wirelessly communicate with the arithmetic device 200, and the communication cable 300 connects the communication connector of the motor device 100 to the wireless module 400. Note that the configuration of the communication cable 300 is the same as the above-described communication cable 300 included in the tuning system 1000A.
Further, the wireless module 400 has a buffer capable of storing serial data. The function of the buffer is the same as the buffer of the communication cable 300.

{Furthermore, the frame configuration of the packet in the serial data transmission is the same as the frame configuration shown in FIG. 6 described above. In some cases, a CRC section storing a checksum value may be arranged after the data section 622.

FIG. 11 is a flowchart illustrating a procedure when the arithmetic device 200 acquires serial data necessary for tuning from the motor device 100.
The process illustrated in FIG. 11 is started at a timing when a user inputs a command for instructing connection between the motor device 100 and the arithmetic device 200 from the GUI displayed on the display unit 202 of the arithmetic device 200. Note that the process illustrated in FIG. 11 illustrates a process executed by the arithmetic device 200 and a process executed by the wireless module 400.
First, in step S31, the arithmetic device 200 sets the wireless module 400. In setting the communication cable 300, which is a USB-UART conversion cable, the arithmetic unit 200 sets the latency time of the UART communication to the shortest time (for example, 2 ms), and connects the communication port of the wireless module 400 to the communication cable 300. Connecting.

Next, in step S32, the arithmetic device 200 determines whether or not the connection with the wireless module 400 has been normally performed. If it is determined that the connection has not been made, the process proceeds to step S51, and if it is determined that the connection has been made normally, the process proceeds to step S33.
In step S33, the arithmetic device 200 determines the data reception time. Here, the reception time can be determined, for example, based on the driving conditions of the motor specified by the user from the GUI.
In step S34, the arithmetic unit 200 calculates the data length of the received serial data (the number of received motor information) based on the reception time determined in step S33.

In step S35, the arithmetic device 200 generates an array for storing serial data in an internal memory or the like.
In step S36, the arithmetic unit 200 purges the buffer of the USB-UART conversion cable. By purging the buffer in this way, it is possible to prevent the arithmetic device 200 from receiving past data remaining in the buffer and executing erroneous processing.
In step S37, the arithmetic unit 200 transmits a motor information transmission request command (data output ON command) to the wireless module 400 by wireless communication. In step S38, the wireless module 400 receives the transmission request command from the arithmetic device 200, and transmits the received transmission request command to the motor device 100 via the USB-UART conversion cable. Then, the motor device 100 receives the data output ON command, and continuously transmits serial data via the USB-UART conversion cable.

In step S39, the wireless module 400 receives the serial data transmitted from the motor device 100 via the USB-UART conversion cable, and determines in step S40 whether the serial data has been normally received. If the wireless module 400 determines that serial data cannot be received, the process proceeds to step S51, and if it determines that serial data has been successfully received, the process proceeds to step S41.
In step S41, the wireless module 400 waits for a predetermined time (for example, 10 ms), and proceeds to step S42.
In step S42, the wireless module 400 transmits the serial data received from the motor device 100 to the arithmetic device 200 by wireless communication.

In step S43, the arithmetic device 200 receives the serial data from the wireless module 400, and divides and holds the received serial data for each type of motor information and for each control cycle (sampling cycle). Specifically, the arithmetic device 200 stores the data divided into the array generated in step S35.
In step S44, the arithmetic unit 200 adds the received serial data to the serial data received so far.
In step S45, the arithmetic device 200 determines whether the serial data has been received for the reception time determined in step S33. If the arithmetic device 200 determines that serial data has not been received for the reception time, the process returns to step S39. If it determines that serial data has been received for the reception time, it determines that reception has been completed. Then, the process proceeds to step S46.

In step S46, the arithmetic device 200 transmits a motor information transmission stop command (data output OFF command) to the wireless module 400 by wireless communication. In step S47, the wireless module 400 receives the transmission stop command from the arithmetic device 200, and transmits the received transmission stop command to the motor device 100 via the USB-UART conversion cable. Then, in step S48, the wireless module 400 receives a response signal (ACK / NAK) to the transmission stop command from the motor device 100.
In step S49, the arithmetic device 200 purges the buffer of the wireless module 400, and determines in step S50 whether the purging of the buffer of the wireless module 400 has been performed normally. Then, when the arithmetic device 200 determines that the purging has not been performed, the process returns to step S49, and when the arithmetic device 200 determines that the purging has been performed, the process proceeds to step S51. In step S51, the arithmetic device 200 closes the communication port and ends the processing in FIG.

FIG. 12 is a flowchart illustrating a procedure when the arithmetic device 200 performs the graph drawing based on the serial data acquired from the motor device 100.
The process illustrated in FIG. 12 is started at a timing when the user inputs a command for instructing the operation check of the motor from the GUI displayed on the display unit 202 of the arithmetic device 200. In FIG. 12, steps for performing the same processing as in FIG. 11 are denoted by the same step numbers as in FIG. 11, and the following description will focus on the different parts of the processing.

In step S61, the arithmetic device 200 displays a screen for drawing a graph on the display unit 202, and proceeds to step S62. In step S62, the arithmetic device 200 reproduces an event for interrupting real-time graph drawing.
If the connection between the arithmetic device 200 and the wireless module 400 is normally performed, in step S63, the arithmetic device 200 generates an array for storing serial data in an internal memory or the like. At this time, the arithmetic unit 200 sets the array for storing the serial data to a sufficient size.

After the received serial data is divided and stored for each type of motor information and for each control cycle, the arithmetic unit 200 displays the state of the motor on the display unit 202 using the stored data in step S64. Display. Specifically, as shown in FIG. 8 described above, the arithmetic device 200 uses the stored data to obtain the motor information acquisition time Time on the horizontal axis and the motor information (for example, rotation speed information Speed) on the vertical axis. The state of the motor is graphed and displayed on the display unit 202. At this time, as shown in FIG. 8, if the response value is displayed so as to be superimposed on the command value, the user can easily confirm whether or not the tuning has been correctly performed.
In step S65, the arithmetic device 200 determines whether or not the graph drawing has been completed. If it is determined that the graph drawing has not been completed, the process returns to step S39. If it is determined that the graph drawing has been completed, Move to step S46.

As described above, the tuning system 1000B according to the present embodiment connects the motor device 100, which is an electromechanical integrated motor, the arithmetic device 200 including the input unit and the display unit, and the motor device 100 and the arithmetic device 200 so that they can communicate with each other. And a communication module. Here, the communication module is capable of wireless communication with one serial communication cable (communication cable) 300 connecting the communication connector mounted on the circuit board of the motor device 100 and the wireless communication module 400, and the arithmetic unit 200. And a wireless communication module 400.

As described above, similarly to the above-described tuning system 1000A, the tuning system 1000B can perform data transmission and reception between the electromechanical integrated motor 100 and the arithmetic unit 200 with a simple system configuration, and can tune the motor.
Further, the tuning system 1000B can transmit and receive data between the electromechanical integrated motor 100 and the arithmetic device 200 by wireless communication. Therefore, the arithmetic unit 200 can acquire motor information from the motor device 100 by remote control and perform motor tuning. Further, since the state of the motor can be observed by remote control, the convenience can be improved as compared with the wired communication method.

(Modification)
In each of the above embodiments, the pulse generator 500 is connected to the motor device 100 as in a control parameter adjustment system (tuning system) 1000C shown in FIG. 12 and a control parameter adjustment system (tuning system) 1000D shown in FIG. It may be connected. In this case, the input pulse signal (STMP) and the motor rotation direction (CW_CCW) are input from the pulse generator 500 to the MCU 130 shown in FIG.
0 means that the motor can be driven by a pulse signal.

The components described in this specification can be combined or replaced as appropriate without departing from the scope of the present invention. For example, the magnetic sensor may be an encoder. Further, the encoder may be a magnetic type or an optical type.

# 100: motor device (mechanical integrated motor), 121: motor, 200: arithmetic unit, 201: input unit, 202: display unit, 300: communication cable, 400: wireless communication module

Claims

Motor and
An arithmetic unit;
A communication module that communicably connects the motor and the arithmetic device,
The motor is
A rotor having a shaft;
A stator radially facing the rotor,
A housing surrounding the rotor and the stator;
Having a motor control circuit, a circuit board disposed near the housing,
A communication connector mounted on the circuit board,
The communication module,
Having one serial communication cable connected to the communication connector,
The arithmetic device,
An input unit for inputting data,
A display for displaying data,
From the motor, receiving serial data via the communication module, based on the serial data, a parameter selection unit that selects an optimal value of the control parameters of the motor control circuit,
A tuning system, comprising: a command transmission unit that transmits a command to change the control parameter to the optimum value to the motor.
The tuning system according to claim 1, wherein the serial communication cable directly connects the communication connector and the processing device.
The communication module further includes a wireless communication module capable of wireless communication with the arithmetic device,
The tuning system according to claim 1, wherein the serial communication cable connects the communication connector and the wireless communication module.
(4) The tuning system according to any one of (1) to (3), wherein the serial communication cable is a USB-UART conversion cable.
The tuning system according to any one of claims 1 to 4, wherein the serial communication cable has a buffer capable of storing serial data.
The motor is
Further comprising a sensor mounted on the circuit board,
The motor control circuit,
A motor information detecting unit that detects motor information including at least one of power information, rotor position information, rotation speed information, and torque information based on a detection result of the sensor;
The motor device according to claim 1, further comprising: a motor information transmitting unit configured to transmit the serial data including the motor information to the arithmetic device via the communication module. The tuning system described.
The arithmetic device,
For the motor, further comprising a command transmission unit that transmits a transmission request command of the motor information,
The motor information transmission unit,
The tuning system according to claim 6, wherein the serial data is transmitted continuously for one transmission request command.
8. The tuning system according to claim 6, wherein the serial data is data obtained by sequentially connecting a plurality of pieces of motor information acquired in each control cycle of the motor control circuit in the order of acquisition. 9.