WO2022059399A1

WO2022059399A1 - Servo dc power supply system, motor control device, and servo motor control method

Info

Publication number: WO2022059399A1
Application number: PCT/JP2021/029945
Authority: WO
Inventors: 裕幸徳崎; 昌志土井; 武男西川; 岳桐淵
Original assignee: オムロン株式会社
Priority date: 2020-09-17
Filing date: 2021-08-16
Publication date: 2022-03-24
Also published as: JP2022050079A; TW202213930A; TWI800905B

Abstract

This servo DC power supply system includes: a DC power supply; one or a plurality of motor control devices each controlling the corresponding servo motor; and a power supply path for distributing and supplying power from the DC power supply to the one or the plurality of motor control devices. The one or the plurality of motor control devices each comprise: a current control loop unit for controlling current flowing through the servo motor using a signal obtained by performing, on servo input terminal voltage input from the power supply path to the motor control devices, predetermined filter processing for attenuating the high frequency side of the servo input terminal voltage in accordance with a frequency relating to a voltage vibration within the system; and an adjustment unit for adjusting, on the basis of a predetermined parameter relating to the voltage vibration, a frequency band associated with the predetermined filter processing. This configuration suppresses the voltage vibration in the servo DC power supply system.

Description

Servo DC power supply system, motor control device, and servo motor control method

The present invention relates to a servo DC power supply system, a motor control device, and a control method for a servo motor.

In factories and the like, a system in which a plurality of motors are PWM-driven by a plurality of servo drivers arranged at remote locations (a system composed of a robot and its control device, etc.) is used. Such systems have problems such as the inability to increase switching speeds to reduce radiation noise from long cables between the motor and servo drivers, and the need for multiple cables to connect between the motor and servo drivers. There is. Place a device (hereinafter referred to as a motor control device) in which the converter is removed from the servo driver in the vicinity of each motor, and adopt a configuration in which power is supplied from one DC power supply to multiple motor control devices via a DC bus. For example, the above problem can be prevented from occurring. However, in a system adopting this configuration, the LC circuit on the DC bus side and the inverter circuit side in the motor control device may interfere with each other to oscillate the voltage of the DC bus (see, for example, Non-Patent Document 1).

Further, for example, Patent Document 1 discloses a technique for suppressing torque ripple of a motor due to vibration of a DC bus. In this technique, the AC component of the voltage of the DC bus is extracted by a high-pass filter, and the correction signal obtained by multiplying the AC component by a predetermined gain is added to the voltage command in the motor control device to control the inverter.

International Publication No. 2012/060357

The present invention has been made in view of the above problems, and provides a technique for suppressing voltage vibration in a servo DC power supply system including a motor control device that receives power from a DC power supply via a power supply path. With the goal.

The servo DC power supply system according to one aspect of the present invention is a DC power supply, one or a plurality of motor control devices for controlling corresponding servomotors, and the one or a plurality of motor control devices for power from the DC power supply. Includes a power supply path to distribute and supply to. Further, the one or more motor control devices have a detection unit that detects a servo input end voltage input to the motor control device from the power supply path and a detection unit for detecting the servo input end voltage, respectively. , The servo by a current control loop using a predetermined filtered signal that attenuates the high frequency side of the servo input end voltage according to the frequency associated with the voltage vibration in the servo DC power supply system. It includes a current control loop unit that controls the current flowing through the motor, and an adjustment unit that adjusts the frequency band associated with the predetermined filtering process based on a predetermined parameter related to the vibration of the voltage.

In the servo DC power supply system having the above configuration, in the current control by the current control loop in the motor control device, a signal obtained by performing a predetermined filter process on the servo input end voltage is used. The predetermined filtering process is a process of attenuating the high frequency side of the servo input end voltage, and the band on the high frequency side is a frequency band associated with the predetermined filtering process. For example, the predetermined filter processing includes attenuation processing by a low-pass filter having a predetermined cutoff frequency, averaging processing that exhibits a function similar to that of a low-pass filter in a certain frequency band, filter processing by a bandpass filter or a notch filter, and the like. including. The frequency band associated with the predetermined filtering process is set to be related to voltage vibrations in various parts of the system including the power supply path, the DC power supply, and the motor control device. As a result, it is possible to stabilize the transfer function even if the operating state of the servomotor is in a state where the transfer function of the entire system from the DC power supply to the motor control device becomes unstable and oscillates in the conventional technique. Therefore, the vibration of the above voltage can be suppressed. Further, since the frequency band in the filter processing is configured to be adjusted based on a predetermined parameter by the adjusting unit, the applicable range of the filtering processing is not unnecessarily expanded, and the servomotor caused by the filtering processing It is possible to suppress torque pulsation and deterioration of responsiveness in the current control loop as much as possible.

Here, in the servo DC power supply system, the predetermined parameter may be at least one of the rotation speed of the corresponding servomotor and the drive current flowing through the corresponding servomotor. In that case, the adjusting unit may adjust so that the frequency band becomes lower as the rotation speed increases, and / or adjusts so that the frequency band becomes lower as the drive current increases. When the rotation speed of the servomotor increases or the drive current increases, the electric power supplied through the power supply path increases, so that voltage vibration in the power supply path tends to occur. Therefore, by adopting the rotation speed and the drive current of the servomotor as predetermined parameters, suitable adjustment of the frequency band can be realized.

Alternatively, in the servo DC power supply system, the predetermined parameter may be the servo input end voltage. In that case, the adjusting unit may adjust the frequency band so that the larger the amplitude is, the lower the frequency band is when the vibration of the voltage is detected in the servo DC power feeding system. As a result, the vibration of the detected voltage can be reduced or eliminated. Further, when the vibration of the voltage does not converge after the frequency band is adjusted by the adjusting unit, the drive of the corresponding servomotor may be stopped. This makes it possible to accurately prevent the unexpected operation of the servo motor.

Here, in the servo DC power feeding system up to the above, the filtering process is executed by selecting one frequency band from a plurality of frequency bands, and the adjusting unit is based on the predetermined parameter. The one frequency band may be selected. The filter processing may be realized by hardware such as a resistor or a capacitor, or may be realized by software that performs predetermined signal processing (digital processing or the like).

The present invention can also be grasped from the side of the motor control device that controls the servo motor in the servo DC power supply system. That is, the present invention is a motor control device that controls a servomotor by power supplied from a DC power supply via a power supply path in a servo DC power supply system, from the power supply path to the motor control device. The detection unit that detects the input servo input end voltage and the high frequency side of the servo input end voltage according to the frequency related to the vibration of the voltage in the servo DC power supply system with respect to the servo input end voltage. Based on a current control loop unit that controls the current flowing through the servomotor by a current control loop using a signal that has been subjected to a predetermined filtering process to attenuate the voltage, and a predetermined parameter related to the vibration of the voltage. It includes an adjusting unit that adjusts the frequency band associated with a predetermined filtering process. According to the motor control device, voltage vibration in the servo DC power supply system that supplies DC power to the motor control device can be suitably suppressed.

Further, the present invention can be grasped from the aspect of the method of controlling the servomotor. That is, the present invention has a current control loop that controls the drive current flowing through the servomotor, and controls the servomotor by a motor control device in which power is supplied from the DC power supply via the power supply path in the servo DC power supply system. The step of detecting the servo input end voltage input to the motor control device from the power supply path and the voltage of the voltage in the servo DC power supply system with respect to the servo input end voltage. The servomotor is driven by a current control loop using a step of performing a predetermined filter process for attenuating the high frequency side of the servo input end voltage according to a frequency related to vibration and a signal obtained by the predetermined filter process. Includes a step to control the current flowing through it. By this method, the voltage vibration in the servo DC power feeding system can be suitably suppressed. Further, the predetermined filtering process is a process by a low-pass filter, and the cutoff frequency in the predetermined filtering process may be adjusted based on a predetermined parameter related to the vibration of the voltage. As for the predetermined parameters in the method, the rotation speed of the servomotor, the drive current, and the voltage of the power supply path can be adopted as described above. For example, when the value of such a predetermined parameter exceeds the reference value (in some cases, becomes smaller than the reference value), it means that voltage vibration is likely to occur.

It is possible to provide a technology for suppressing voltage vibration in a servo DC power supply system.

FIG. 1 is an explanatory diagram of a configuration of a servo DC power supply system according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of the configuration of the motor control device in the servo DC power feeding system. FIG. 3A is a functional block diagram of the motor control device. FIG. 3B is a detailed functional block diagram of the current control loop unit. FIG. 4 is a Bode diagram of the power supply side and the motor side in the conventional DC power supply system. FIG. 5 is a diagram for explaining the difference in the voltage change pattern of the power supply path between the servo DC power supply system and the conventional power supply system. FIG. 6 is a first flowchart of motor control by the motor control device. FIG. 7 is a second flowchart of motor control by the motor control device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

First, the outline of the servo DC power supply system according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2. Note that FIG. 1 is an explanatory diagram of the configuration of the servo DC power supply system according to the present embodiment, and FIG. 2 is an explanatory diagram of the configuration of the motor control device 10 which is a component of the servo DC power supply system.

As shown in FIG. 1, the servo DC power supply system according to the present embodiment is a system in which a DC power supply 30 and a plurality of motor control devices 10 are connected by a power supply path 35. The power supply path 35 is formed so that each of the plurality of motor control devices 10 is connected in parallel to the DC power supply 30.

Here, the DC power supply 30 is a power supply that outputs a predetermined DC voltage. FIG. 1 shows a device for converting a three-phase AC from a three-phase AC power source 50 into a DC voltage as a DC power source 30, and the DC power source 30 is a device for converting a single-phase AC to a DC voltage. You may. Further, the DC power supply 30 may be a rectifier circuit in which a diode is combined (for example, a full-wave rectifier circuit) or an AC-DC converter (for example, a power supply regeneration converter) in which a switching element is used.

The motor control device 10 is referred to as a servomotor 40 (hereinafter, also simply referred to as a motor 40) in accordance with commands (position command, speed command, etc.) from a host device (not shown in FIG. 1) such as a PLC (Programmable Logic Controller). ) Is a device (details will be described later). The power supply path 35 is a power supply path in which a plurality of power cables are combined so that the electric power from the DC power supply 30 can be distributed and supplied to each motor control device in the servo DC power supply system. A smoothing capacitor 15 is usually provided at a connection portion (between the power supply terminals of each motor control device 10) of the power supply path 35 with each motor control device 10.

As shown in FIG. 2, the motor control device 10 includes an inverter circuit 11 and a control unit 12. The inverter circuit 11 is a circuit for converting a DC voltage (corresponding to the servo input end voltage of the present application) Vb input from the power supply path 35 to the motor control device 10 into a three-phase alternating current. The inverter circuit 11 has a configuration in which a U-phase leg, a V-phase leg, and a W-phase leg are connected in parallel between the positive and negative bus wires, and the motor control device 10 has a configuration in which the inverter circuit 11 is connected. A current sensor 28 for measuring the output current of each leg is provided.

The control unit 12 is a unit that controls the inverter circuit 11 by PWM (Pulse Width Modulation) according to a command from a host device (PCL or the like). The control unit 12 is composed of a processor (microcontroller, CPU, etc.) and its peripheral circuits, and the control unit 12 includes signals from each current sensor 28 and an encoder 41 (absolute encoder and incremental encoder) attached to the motor 40. A signal or the like from the encoder) is input. The control unit 12 has a current control loop shown in FIG. 4, which will be described later, and a signal from the current sensor 28 and a signal from the encoder 41 are provided to realize servo control of the motor 40.

Hereinafter, the servo DC power supply system according to the present embodiment and the motor control device 10 incorporated therein will be described in more detail. The servo DC power supply system according to the present embodiment cuts off each motor control device 10 in order to be able to suppress voltage vibration in the system including the DC power supply 30, the power supply path 35, and the motor control device 10. This system is configured to control the current flowing through the motor 40 by a current control loop using a signal filtered by a low-pass filter configured so that the frequency can be adjusted. In the servo DC power supply system of the present embodiment, most preferably, all the motor control devices 10 included are configured to perform current control using the signal filtered by the low pass filter as described above. However, if the voltage vibration can be suppressed to an acceptable range, some of the motor control devices 10 included in the motor control devices 10 may be configured to perform the same current control. Further, instead of the filter processing by the low-pass filter, an averaging process, a filter processing by a band-pass filter, a notch filter, or the like, which exerts a function similar to that of the low-pass filter in a certain frequency band, can be adopted.

Hereinafter, the functional configuration of the motor control device 10 and its operation will be described with reference to FIGS. 3A and 3B, taking as an example the case where the command input from the host device is a position command. FIG. 3A shows a control loop for servo-controlling the motor 40 included in the motor control device 10, and FIG. 3B shows a detailed example of the current control loop unit constituting the control loop. When the motor 40 is controlled according to the position command, the motor control device 10 operates as a device including the

subtractors

21 and 23, the position controller 22, the speed controller 24, the current control loop unit 20, the speed detector 29, and the like. ..

The subtractor 21 in the motor control device 10 is a unit that calculates the position deviation by subtracting the position detected by the encoder 41 (hereinafter referred to as the detection position) from the position command. The position controller 22 is a unit that calculates a speed command by multiplying the position deviation by a predetermined position proportional gain. The speed detector 29 is a unit that calculates a speed (hereinafter referred to as a detection speed) by differentiating the detection position. The subtractor 23 is a unit that calculates the speed deviation by subtracting the detected speed from the speed command. The speed controller 24 is a unit that calculates a current command by PI (proportional integration) calculation based on the speed deviation.

Further, the current control loop unit 20 is a unit in which the current control loop shown in FIG. 3B is formed so that the current flowing through the motor 40 is feedback-controlled so that the current according to the current command flows through the motor 40. As shown in the figure, the current control loop unit 20 includes a subtractor 25, a current controller 27, and a current sensor 28. The subtractor 25 is a unit that calculates the current deviation by subtracting the current detected by the current sensor 28 from the current command. The current controller 27 is a unit including the inverter circuit 11 to which the current control loop shown in FIG. 3B is formed. Further, a signal (hereinafter referred to as “processed signal”) obtained by performing a predetermined low-pass filter processing by the low-pass filter 26 with respect to the input voltage Vb to the motor control device 10 is input to the current controller 27. Then, the inverter circuit 11 is controlled so that the current according to the current command flows through the motor 40.

Here, the low-pass filter 26 is a digital filter configured so that its cutoff frequency can be adjusted. In the servo DC power supply system according to the present embodiment, the cutoff frequency of the low pass filter 26 corresponding to the current control loop unit 20 of each motor control device 10 is the vibration of the voltage in the system, for example, the power supply path 35. The value is set according to the frequency associated with the vibration of the voltage of. The frequency related to the vibration of the voltage may include not only the frequency of the vibration itself but also the frequency that causes the oscillation of the voltage of the power supply path 35 or a frequency in the vicinity thereof. In the current control loop unit 20, current control is performed according to the control loop shown in FIG. 3B using the processed signal that has passed through the low-pass filter 26. Specifically, the ratio of the output signal of the subtractor 25 to the processed signal is used.

Here, consider a form in which the current control loop unit 20 does not use the processed signal, that is, a conventional servo DC power supply system. FIG. 4 shows a board diagram on the power supply side and the motor side in the conventional servo DC power supply system. In such a conventional servo DC power supply system, when the transmission function that integrates the transmission function on the power supply path 35 side and the transmission function on the motor control device 10 side becomes unstable, that is, it is schematically shown in FIG. As described above, when the gain on the power supply path 35 side (“power supply side”) has a frequency range higher than the gain on the motor control device 10 side (“motor side”), the voltage of the power supply path 35 can oscillate. ..

Based on this point, in the servo DC power supply system using the processed signal, the cutoff frequency of the low-pass filter 26 is adjusted so that the gain on the power supply side is lower than the lower limit frequency in the frequency range exceeding the gain on the motor side. Is preferable. If the current flowing through the motor 40 is controlled by the current control loop shown in FIG. 3B using the low-pass filter 26 whose cutoff frequency is adjusted in this way, the gain on the power supply side can be set on the motor side at any frequency. It is possible not to exceed the gain. At this time, the motor control device 10 detects the voltage Vb input to the motor control device 10 from the power supply path 35, performs low-pass filter processing on the voltage Vb by the low-pass filter 26, and performs the processed signal. Is used to control the current flowing through the motor 40 by the current control loop. As a result, as shown in FIG. 5, the motor control device 10 preferably performs voltage oscillation even under power supply conditions (in other words, operating conditions of the motor 40) such that voltage oscillation occurs in the conventional form. It becomes possible to suppress it.

<First adjustment method>
By performing the current control by the current control loop unit 20 using the processed signal by the low-pass filter 26 in this way, the voltage oscillation of the power supply path 35 can be suitably suppressed, but on the other hand, the pulsation of the motor 40 occurs. It will be easier. Therefore, an adjustment method of the low-pass filter 26, which is a digital filter, for achieving both suppression of voltage oscillation and suppression of pulsation of the motor 40 will be described with reference to the flowchart shown in FIG. The adjustment method is repeatedly realized at predetermined intervals by executing a predetermined control program in the control unit 12 of the motor control device 10.

First, in S101, the operating state of the motor 40 is acquired. The operating state is a parameter related to the electric power supplied to the motor 40, and for example, the rotation speed and the drive current of the motor 40 can be exemplified. The rotation speed of the motor 40 can be calculated based on the signal from the encoder 41, and the drive current can be acquired based on the signal from the current sensor 28. Next, in S102, it is determined whether or not the operation of the motor 40 belongs to the high-speed operation region based on the operation state of the motor 40 acquired in S101. In the high-speed operation region, the electric power supplied from the DC power supply 30 to the motor control device 10 via the power supply path 35 becomes relatively large, so that voltage oscillation of the power supply path 35 is likely to occur. It is the range of operating conditions. For example, when the rotation speed of the motor 40 exceeds a predetermined rotation speed, or when the drive current of the motor 40 exceeds a predetermined drive current, the operating state of the motor 40 belongs to the high-speed operation region. It can be determined that there is. If an affirmative determination is made in S102, the process proceeds to S103, and if a negative determination is made, the process proceeds to S104.

In S103, the cutoff frequency of the low-pass filter 26 is adjusted in order to suppress the voltage oscillation of the power supply path 35 as described above. Specifically, the cutoff frequency is adjusted to be lower as the rotation speed of the motor 40 is higher, and / or the cutoff frequency is adjusted to be lower as the drive current of the motor 40 is larger. That is, the cutoff frequency is adjusted to be lower as the electric power supplied through the electric power supply path 35 becomes larger. By such adjustment, the voltage oscillation of the power supply path 35 is suitably suppressed. On the other hand, in S104, the low-pass filter processing by the low-pass filter 26 is bypassed. That is, the operation of the low-pass filter 26, which is a digital filter, is turned off, and the signal from the subtractor 25 is directly input to the current controller 27. As another method of S104, when an appropriate frequency is already set for the cutoff frequency of the low-pass filter 26 (for example, when the processing of S103 is performed before), the bypass of the low-pass filter processing is performed. Alternatively, the low-pass filter processing by the low-pass filter 26 may be performed.

As described above, according to the adjustment method shown in FIG. 6, the suppression of voltage oscillation by the low-pass filter 26 is substantially limited to the time when the operating state of the motor 40 belongs to the high-speed operating region. Therefore, it is possible to suitably suppress the voltage oscillation of the power supply path 35 while minimizing the generation of torque pulsation caused by the low-pass filter 26. Further, since the cutoff frequency of the low-pass filter 26 is adjusted based on the operating state of the motor 40, it becomes easy to prevent voltage oscillation.

Further, the low-pass filter 26 is configured so that its cutoff frequency can be appropriately adjusted according to the rotation speed and the drive current of the motor 40. Instead of such a form, the low-pass filter 26 is configured in advance. It may be configured so that one of a plurality of frequencies can be selected as the cutoff frequency. Then, based on the rotation speed and drive current of the motor 40, one frequency is selected as the cutoff frequency from the plurality of frequencies and switched to it, thereby suitably suppressing the voltage oscillation of the power supply path 35. be able to. Further, the low-pass filter 26 may be a filter configured by hardware such as a resistance element or a capacitor instead of the form of the digital filter. In such a case, the cutoff frequency can be switched by including a plurality of combinations of resistance elements and capacitors corresponding to a plurality of cutoff frequencies in the low-pass filter 26 in advance and selecting one of the combinations. It can be realized.

<Second adjustment method>
Next, a second adjustment method of the low-pass filter 26, which is a digital filter, for achieving both suppression of voltage oscillation and suppression of pulsation of the motor 40 will be described with reference to the flowchart shown in FIG. 7. The adjustment method is repeatedly realized at predetermined intervals by executing a predetermined control program in the control unit 12 of the motor control device 10.

In S201, the voltage of the power supply path 35 is detected. The detection is performed by a voltage sensor (not shown). Next, in S202, it is determined whether or not voltage oscillation occurs in the power supply path 35 based on the detected voltage. Specifically, it can be determined that voltage oscillation has occurred when the rate of change in the amplitude of voltage oscillation exceeds a predetermined value. If an affirmative determination is made in S202, the process proceeds to S203, and if a negative determination is made, the process proceeds to S204.

In S203, the cutoff frequency of the low-pass filter 26 is adjusted in order to eliminate the voltage oscillation of the power supply path 35 as described above. Specifically, the cutoff frequency is adjusted to be lower as the voltage oscillation detected in S202 is larger. For example, the cutoff frequency may be adjusted to be lower as the amplitude of the voltage vibration is larger. By such adjustment, the voltage oscillation of the power supply path 35 is reduced. However, depending on the state of power supply to the motor control device 10, it may not be possible to sufficiently eliminate the voltage oscillation that has already occurred. Therefore, after the processing of S203, it is determined in S205 whether or not the oscillation has converged. The determination can also be made based on the rate of change of the amplitude of the voltage vibration. If an affirmative determination is made in S205, it means that the voltage oscillation has converged through the adjustment of the cutoff frequency in S203, so that the adjustment process of FIG. 7 ends as it is. On the other hand, if a negative determination is made in S205, it means that the voltage oscillation did not converge even after the cutoff frequency was adjusted in S203. In that case, the process proceeds to S206, and the driving of the motor 40 is stopped. As a result, the runaway of the motor 40 can be accurately avoided.

If a negative determination is made in S202 and the process proceeds to S204, the low-pass filter process by the low-pass filter 26 is bypassed as in S104. That is, the operation of the low-pass filter 26, which is a digital filter, is turned off, and the signal from the subtractor 25 is directly input to the current controller 27. As another method of S204, when an appropriate frequency is already set for the cutoff frequency of the low-pass filter 26 (for example, when the processing of S203 has been performed before), the bypass of the low-pass filter processing is performed. Alternatively, the low-pass filter processing by the low-pass filter 26 may be performed.

As described above, according to the adjustment method shown in FIG. 7, the suppression of voltage oscillation by the low-pass filter 26 is limited to the time when voltage oscillation (vibration) actually occurs. Therefore, it is possible to suitably suppress the voltage oscillation of the power supply path 35 while minimizing the generation of torque pulsation caused by the low-pass filter 26. Further, if the voltage oscillation cannot be sufficiently eliminated by the low-pass filter 26, the motor 40 is stopped, so that the user's safety is preferably maintained.

<Appendix 1>
DC power supply (30) and
One or more motor control devices (10) that control the corresponding servomotors (40), respectively.
A power supply path (35) that distributes and supplies power from the DC power supply (30) to the one or more motor control devices (10).
Servo DC power supply system including
Each of the one or more motor control devices (10)
A detection unit that detects the servo input end voltage (Vb) input from the power supply path (35) to the motor control device (10), and
A predetermined filter process was performed on the servo input end voltage (Vb) to attenuate the high frequency side of the servo input end voltage according to the frequency related to the vibration of the voltage in the servo DC power supply system. A current control loop unit (20) that controls the current flowing through the servomotor by a current control loop using a signal, and a current control loop unit (20).
An adjusting unit (12) that adjusts the frequency band associated with the predetermined filtering process based on the predetermined parameters related to the vibration of the voltage.
Servo DC power supply system.

<Appendix 2>
A motor control device (10) that controls a servomotor (40) by electric power supplied from a DC power supply (30) via a power supply path (35) in a servo DC power supply system.
A detection unit that detects the servo input end voltage (Vb) input from the power supply path (35) to the motor control device (10), and
A predetermined filter process was performed on the servo input end voltage (Vb) to attenuate the high frequency side of the servo input end voltage according to the frequency related to the vibration of the voltage in the servo DC power supply system. A current control loop unit (20) that controls the current flowing through the servomotor by a current control loop using a signal, and a current control loop unit (20).
An adjusting unit (12) that adjusts the frequency band associated with the predetermined filtering process based on the predetermined parameters related to the vibration of the voltage.
The motor control device (10).

<Appendix 3>
A motor control device (10) having a current control loop that controls a drive current flowing through a servomotor (40), and power is supplied from a DC power supply (30) to a power supply path (35) in a servo DC power supply system. It is a method of controlling the servomotor (40) by
A step of detecting a servo input end voltage (Vb) input from the power supply path (35) to the motor control device (10), and
With respect to the servo input end voltage (Vb), a predetermined filter process for attenuating the high frequency side of the servo input end voltage according to the frequency related to the vibration of the voltage in the servo DC power feeding system is performed. ,
A step of controlling the current flowing through the servomotor (40) by a current control loop using the signal obtained by the predetermined filter processing, and a step of controlling the current flowing through the servomotor (40).
Servo motor control methods, including.

10 Motor control device 11 Inverter circuit 12 Control unit 15 Smoothing capacitor 20 Current

control loop unit

21, 23,25 Subtractor 22 Position controller 24 Speed controller 26 Low pass filter 27 Current control unit 28 Current sensor 29 Speed detector 30 DC power supply 35 Power supply path 40 Servo motor 41 Encoder 50 Three-phase AC power supply

Claims

DC power supply and
One or more motor control devices that control the corresponding servomotors, respectively,
A power supply path that distributes and supplies power from the DC power supply to the one or more motor control devices, and
Servo DC power supply system including
The one or more motor control devices are each
A detector that detects the servo input terminal voltage input to the motor control device from the power supply path, and
A signal subjected to a predetermined filter process for attenuating the high frequency side of the servo input end voltage according to the frequency related to the vibration of the voltage in the servo DC power supply system is used for the servo input end voltage. The current control loop unit that controls the current flowing through the servo motor by the current control loop,
An adjusting unit that adjusts the frequency band associated with the predetermined filtering process based on the predetermined parameters related to the vibration of the voltage.
Servo DC power supply system.
The predetermined parameter is at least one of the rotation speed of the corresponding servomotor and the drive current flowing through the corresponding servomotor.
The adjusting unit adjusts so that the frequency band becomes lower as the rotation speed increases, and / or adjusts so that the frequency band becomes lower as the drive current increases.
The servo DC power supply system according to claim 1.
The predetermined parameter is the servo input end voltage.
When the vibration of the voltage is detected in the servo DC power feeding system, the adjusting unit adjusts so that the larger the amplitude, the lower the frequency band.
The servo DC power supply system according to claim 1.
When the vibration of the voltage does not converge after the frequency band is adjusted by the adjusting unit, the drive of the corresponding servomotor is stopped.
The servo DC power supply system according to claim 3.
The predetermined filtering process is executed by selecting one frequency band from a plurality of frequency bands.
The adjusting unit selects the one frequency band based on the predetermined parameter.
The servo DC power supply system according to any one of claims 1 to 4.
The predetermined filter processing is a processing by a low-pass filter.
The adjusting unit adjusts the cutoff frequency of the low-pass filter based on the predetermined parameter.
The servo DC power supply system according to any one of claims 1 to 5.
A motor control device that controls a servomotor by means of electric power supplied from a DC power supply via a power supply path in a servo DC power supply system.
A detector that detects the servo input terminal voltage input to the motor control device from the power supply path, and
A signal subjected to a predetermined filter process for attenuating the high frequency side of the servo input end voltage according to the frequency related to the vibration of the voltage in the servo DC power supply system is used for the servo input end voltage. The current control loop unit that controls the current flowing through the servo motor by the current control loop,
An adjusting unit that adjusts the frequency band associated with the predetermined filtering process based on the predetermined parameters related to the vibration of the voltage.
A motor control unit.
It is a method of controlling a servomotor by a motor control device having a current control loop that controls a drive current flowing through the servomotor and supplying power from a DC power supply via a power supply path in a servo DC power supply system.
The step of detecting the servo input end voltage input to the motor control device from the power supply path, and
A step of performing a predetermined filter process to attenuate the high frequency side of the servo input end voltage according to the frequency related to the vibration of the voltage in the servo DC power supply system with respect to the servo input end voltage.
A step of controlling the current flowing through the servomotor by a current control loop using the signal obtained by the predetermined filter processing, and a step of controlling the current flowing through the servomotor.
Servo motor control methods, including.
The predetermined filter processing is a processing by a low-pass filter.
The cutoff frequency in the predetermined filtering process is adjusted based on the predetermined parameters associated with the vibration of the voltage.
The servomotor control method according to claim 8.