WO2022224370A1 - モータ制御装置、モータ制御システムおよびモータ制御方法 - Google Patents
モータ制御装置、モータ制御システムおよびモータ制御方法 Download PDFInfo
- Publication number
- WO2022224370A1 WO2022224370A1 PCT/JP2021/016132 JP2021016132W WO2022224370A1 WO 2022224370 A1 WO2022224370 A1 WO 2022224370A1 JP 2021016132 W JP2021016132 W JP 2021016132W WO 2022224370 A1 WO2022224370 A1 WO 2022224370A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- vibration
- speed
- motor control
- torque command
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 29
- 238000012937 correction Methods 0.000 claims abstract description 93
- 230000007423 decrease Effects 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims description 83
- 238000012546 transfer Methods 0.000 claims description 65
- 238000001514 detection method Methods 0.000 claims description 41
- 230000010355 oscillation Effects 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 12
- 230000003247 decreasing effect Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 230000000087 stabilizing effect Effects 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 66
- 238000010586 diagram Methods 0.000 description 47
- 230000001687 destabilization Effects 0.000 description 21
- 230000006641 stabilisation Effects 0.000 description 6
- 238000011105 stabilization Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 4
- 238000007493 shaping process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
Definitions
- the present disclosure relates to a motor control device, a motor control system, and a motor control method for feedback-controlling a motor coupled to a mechanical device.
- the parameters of the feedback control system must be set according to the characteristics of the load machine connected to the motor.
- mechanical properties include the inertia and rigidity of the load machine, and it is necessary to set parameters according to these properties.
- some load machines driven by motors have mechanical characteristics that change during operation.
- the inertia applied to the motor that rotates the roll varies depending on the amount of material being wound on the roll.
- the change is large, and the inertia may change by dozens of times depending on the amount of material wound on the roll.
- the control system may become unstable in the opposite state.
- since it is necessary to grasp the characteristics of the entire change range it becomes difficult to use the automatic adjustment function when starting up the apparatus.
- Patent Document 1 in order to prevent the feedback control system from vibrating in a mechanical device whose inertia changes, inertia detection means or vibration detection means is provided, and the parameters of the feedback control system are changed based on the detection results of each means.
- a motor system is disclosed that suppresses vibration of the motor.
- the present disclosure has been made in view of the above, and an object thereof is to obtain a motor control device capable of stabilizing the operation when the load connected to the motor to be controlled changes.
- a motor control device for controlling a motor that drives a load machine, comprising: a speed detector for detecting the speed of the motor; A speed controller that generates a torque command for the motor based on the command, a correction calculator that corrects the torque command and generates a corrected torque command, and a current controller that applies current to the motor based on the torque command and the corrected torque command. , a vibration detector that detects the vibration amplitude and the vibration frequency that are generated in the motor, and a parameter setting changer that changes the parameters of the speed controller. When the vibration amplitude exceeds the threshold, the vibration detector detects the feedback control system consisting of the motor, speed detector, speed controller, correction calculator, and current controller. A correction torque command that stabilizes the transmission characteristics of the vibration frequency is calculated, and the parameter setting changer changes the parameters of the speed controller when the vibration amplitude detected by the vibration detector decreases after the transmission characteristics are stabilized. change.
- the motor control device has the effect of stabilizing the operation when the load connected to the motor to be controlled changes.
- FIG. 1 is a block diagram showing a configuration example of a motor control system realized by applying the motor control device according to the first embodiment
- FIG. 4 is a Bode diagram of a motor driven by the motor control device according to the first embodiment
- FIG. 4 is a Bode plot of an open-loop transfer function of the feedback control system of the motor control device according to the first embodiment
- 4 is a Nyquist diagram of an open-loop transfer function of the feedback control system of the motor control device according to the first embodiment
- 4 is a diagram showing an example of operation waveforms when the motor control device according to the first embodiment becomes unstable; 4 is a Bode plot of the transfer function of the correction calculator of the motor control device according to the first embodiment; 4 is a Bode plot of an open-loop transfer function of the feedback control system of the motor control device according to the first embodiment; 4 is a Nyquist diagram of an open-loop transfer function of the feedback control system of the motor control device according to the first embodiment; FIG.
- FIG. 4 is a block diagram showing a configuration example of a motor control system realized by applying the motor control device according to the second embodiment; Bode plot of an open-loop transfer function of a feedback control system of the motor control device according to the second embodiment
- FIG. 4 is a diagram showing an example of a waveform of a detected speed value of the motor in the process of decreasing the inertia of the load machine; Bode plot of an open-loop transfer function of a feedback control system of the motor control device according to the second embodiment
- FIG. 10 is a diagram showing operation waveforms when the feedback control system of the motor control device according to the second embodiment is stabilized; Bode plot of open-loop transfer function when the feedback control system of the motor control device according to the second embodiment is stabilized FIG.
- FIG. 10 is a diagram showing operation waveforms when external vibration enters the motor control device according to the second embodiment
- FIG. 11 is a block diagram showing a configuration example of a motor control system realized by applying the motor control device according to the third embodiment
- FIG. 11 is a block diagram showing a configuration example of a motor control system realized by applying the motor control device according to the fourth embodiment
- a motor control device, a motor control system, and a motor control method according to embodiments of the present disclosure will be described below in detail based on the drawings.
- FIG. 1 is a block diagram showing a configuration example of a motor control system implemented by applying a motor control device according to a first embodiment.
- a motor control system 200 includes a motor control device 100 , a motor 2 controlled by the motor control device 100 , and a load machine 1 connected to the motor 2 .
- the motor 2 receives current supply from the motor control device 100 and generates torque to drive the load machine 1 .
- the motor control device 100 includes a current controller 3, a speed controller 4, a speed detector 5, a correction calculator 6, a position controller 7, a vibration detector 8, and a parameter setting changer 9.
- the speed detector 5 is composed of a position detector 51 and a differentiation calculator 52 .
- the current controller 3 controls the current supplied to the motor 2 based on the correction torque command input from the correction calculator 6 .
- the speed controller 4 generates a torque command based on the speed command input from the position controller 7 and the speed detection value input from the speed detector 5 . Specifically, the speed controller 4 generates a torque command by performing calculations including proportional calculation and integral calculation so that the detected speed value follows the speed command.
- the position detector 51 of the speed detector 5 detects the position of the motor 2, specifically the position of the rotor whose illustration of the motor 2 is omitted.
- a differential calculator 52 of the speed detector 5 differentiates a position detection value indicating the detection result of the position of the motor 2 by the position detector 51 to calculate the speed of the motor 2 .
- the speed of the motor 2 is the rotational speed of the rotor of the motor 2 .
- the speed of the motor 2 calculated by the differential calculator 52 is output to the speed controller 4 and the vibration detector 8 as a speed detection value.
- the correction calculator 6 When the vibration amplitude and frequency detected by the vibration detector 8 satisfy predetermined conditions, the correction calculator 6 performs a correction calculation on the torque command input from the speed controller 4, and outputs a correction torque command. Generate. The correction calculator 6 outputs the input torque command as a correction torque command when the vibration amplitude and frequency do not satisfy the determined conditions.
- the position controller 7 generates a speed command by performing calculations including proportional calculation so that the position detection value of the motor 2 detected by the position detector 51 follows the position command input from the outside.
- the vibration detector 8 detects the amplitude and frequency of vibration included in the waveform of the speed detection value output by the speed detector 5, and corrects the vibration amplitude, which is the detected amplitude, and the vibration frequency, which is the detected frequency. It outputs to the calculator 6 and the parameter setting changer 9 .
- a parameter setting changer 9 changes the parameters of the speed controller 4 and the position controller 7 based on the vibration amplitude and frequency detected by the vibration detector 8 .
- this motor control device 100 is to allow the load machine 1 and the motor 2 to operate in accordance with a position command.
- the position controller 7 performs calculations including proportional calculations to calculate the speed command so that the position detection value indicating the position of the motor 2 detected by the position detector 51 follows the position command. .
- the calculation of the position controller 7 is represented by the equation (1) using the proportional calculation coefficient Kp.
- the speed controller 4 performs calculations including proportional calculation and integral calculation so that the speed detection value of the motor 2 calculated by the differential calculator 52 of the speed detector 5 follows the speed command output by the position controller 7. to calculate the torque command.
- the calculation for the speed controller 4 to calculate the torque command is represented by Equation (2) using the proportional calculation coefficient Kv and the integral calculation coefficient Ki. Note that s in Equation (2) is the Laplace operator, and 1/s represents integral calculation.
- the torque command output by the speed controller 4 is converted into a corrected torque command by the correction calculator 6, and the current controller 3 supplies the motor 2 with a current having a value corresponding to the corrected torque command. is generated and rotated.
- the motor control device 100 is composed of the position controller 7, the speed controller 4, the correction calculator 6, the current controller 3, the position detector 51, the speed detector 5, the motor 2 and the load machine 1.
- FB feedback
- the load machine 1 and the motor 2 realize operations that follow the position command.
- the FB control system having the configuration described above is often used when the motor 2 controls the position and speed. Must be set to have appropriate properties.
- the characteristics of the FB control system can be adjusted by the characteristics of the position controller 7 and the speed controller 4, and the coefficients of proportional calculation and integral calculation executed by these controllers are parameters.
- the motor 2 drives the load machine 1 whose inertia changes.
- the load machine 1 is a roll part of a roll-to-roll device that processes a sheet material while unwinding and winding it from a roll
- the amount of material wound on the roll determines the number of rolls.
- the inertia that is, the inertia of the load machine 1 changes.
- Roll-to-roll devices have a large change in inertia, and the amount of material wound on the roll can change the inertia by a factor of tens of times.
- FIG. 2 is a Bode diagram of the motor 2 driven by the motor control device 100 according to the first embodiment.
- the Bode diagram in FIG. 2 shows the transfer characteristics from the current input to the motor 2 to the speed detection value of the motor 2 when the inertia of the load machine 1 is 5, 31, and 250 times the motor inertia.
- FIG. 3 is a Bode diagram of the open-loop transfer function of the FB control system of the motor control device 100 according to the first embodiment.
- the Bode diagram of FIG. 3 is obtained by setting the parameters of the position controller 7 and the speed controller 4 for the load machine 1 in the initial state in which the inertia is five times the motor inertia ratio, and without changing the parameter settings. , shows the open-loop transfer function of the FB control system when the inertia of the load machine 1 increases.
- the resonance characteristic near 180 Hz is suppressed by the notch filter, there is almost no influence due to changes in the inertia of the load machine 1, and there is no relationship with the present embodiment, so detailed description will be omitted.
- FIG. 3 is a Bode diagram of the open-loop transfer function of the FB control system of the motor control device 100 according to the first embodiment.
- the Bode diagram of FIG. 3 is obtained by setting the parameters of the position controller 7 and the speed controller 4 for the load machine 1 in
- 4 is a Nyquist diagram of the open-loop transfer function of the FB control system of the motor control device 100 according to the first embodiment. 3 and 4 that the FB control system reaches its stability limit when the inertia of the load machine 1 increases to 31 times the motor inertia ratio.
- FIG. 5 is a diagram showing an example of an operation waveform when the motor control device 100 according to the first embodiment becomes unstable, and shows an example of the waveform of the speed detection value in the process in which the inertia of the load machine 1 increases.
- the speed detection values shown in FIG. 5 indicate that the inertia of the load machine 1 becomes 31 times the motor inertia at 3 seconds, and oscillation of 7.5 Hz occurs due to destabilization.
- a high-pass filter is used to remove the component of the velocity waveform following the velocity command.
- the vibration detector 8 calculates the amplitude and frequency of vibration contained in the waveform of the speed detection value output by the speed detector 5.
- the vibration shown in FIG. 5 occurs, it is calculated that the amplitude is 0.5 r/min and the frequency is 7.5 Hz at 6.5 seconds.
- the correction calculator 6 performs a correction calculation for temporarily stabilizing the FB control system characteristics near the vibration frequency for the torque command, and corrects the torque command.
- a corrected torque command is generated which is the torque command obtained by the correction.
- the correction calculator 6 performs correction calculation using the transfer function h(s) shown in Equation (3) to calculate the correction torque.
- FIG. 6 is a Bode diagram of the transfer function of the correction calculator 6 of the motor control device 100 according to the first embodiment.
- the Bode diagram of the open-loop transfer function of the FB control system when the correction operation is performed by the correction calculator 6 is shown in FIG. 7, and the Nyquist diagram is shown in FIG. stabilize.
- FIG. 7 is a Bode diagram of the open-loop transfer function of the FB control system of the motor control device 100 according to the first embodiment.
- FIG. 8 is a Nyquist diagram of the open-loop transfer function of the FB control system of the motor control device 100 according to the first embodiment.
- FIG. 9 is a diagram showing operation waveforms when the FB control system of the motor control device 100 according to the first embodiment is stabilized. Based on this, the parameter setting changer 9 changes the coefficient of the proportional calculation of the position controller 7, i.e., if the vibration amplitude decreases after reaching the above-mentioned threshold value of 0.5 r/min. Kp and the integral calculation coefficient Ki of the speed controller 4 are changed to stabilize the FB control system.
- FIG. 10 shows a Bode diagram of the open-loop transfer function of the FB control system showing this state, and FIG. 11 shows a Nyquist diagram thereof.
- 10 is a Bode diagram of the open-loop transfer function when the FB control system of the motor control device 100 according to the first embodiment is stabilized, and
- FIG. 11 shows the FB control of the motor control device 100 according to the first embodiment.
- FIG. 4 is a Nyquist plot of the open loop transfer function when the system is stabilized;
- the stabilization obtained by the correction calculation using the transfer function of the above equation (3) cannot obtain a large stability margin, it can be used for temporarily stabilizing the FB control system. It is unsuitable for the purpose of obtaining stable stabilization. If the inertia of the load machine 1 further increases in a state in which only stabilization is performed by changing the transfer function of the correction calculator 6, the FB control system will become unstable again with a slight increase.
- FIG. 12 is a diagram showing operation waveforms when external vibration is applied to the motor control device 100 according to the first embodiment.
- the operation waveforms in FIG. 12 show the operation when a disturbance of 7.5 Hz occurs.
- a disturbance is input at 3 seconds, and the vibration detector 8 calculates a vibration amplitude of 0.8 r/min and a frequency of 7.5 Hz from the speed detection value.
- the correction calculator 6 starts correction calculation using the transfer function of the above equation (3), but there is no change in the vibration amplitude. is not destabilized. Therefore, parameter setting changer 9 does not change the parameter settings of position controller 7 and speed controller 4 .
- FIG. 13 is a flowchart showing an example of the operation of suppressing vibration of the motor 2 by the motor control device 100 according to the first embodiment.
- the motor control device 100 determines whether or not the motor 2 vibrates according to the flowchart of FIG. is destabilization of the FB control system, the parameter settings of the position controller 7 and the speed controller 4 are changed.
- the motor control device 100 which is controlling the motor 2, compares the vibration amplitude of the speed of the motor 2 with a threshold value (step S1), and if the vibration amplitude is equal to or less than the threshold value (step S1: No), step Repeat S1. If the vibration amplitude is greater than the threshold (step S1: Yes), the motor control device 100 changes the transfer function h(s) of the correction calculator 6 (step S2). Specifically, the correction calculator 6 changes the transfer function h(s) used in the correction calculation of the torque command to that shown in the above equation (3). The motor control device 100 then checks whether the vibration amplitude of the speed of the motor 2 has decreased (step S3).
- step S3 No
- the transfer function used for correction calculation by the correction calculator 6 is The frequency is changed to change the characteristics of the FB control system. Then, the cause of the vibration generated when the inertia of the load machine 1 increases from the initial state is determined from the subsequent change in the vibration amplitude. Further, when the cause of vibration is destabilization of the FB control system, the parameter setting changer 9 changes the parameters of the position controller 7 and the speed controller 4 to suppress large-amplitude oscillation.
- the parameter setting changer 9 does not change the parameters of the position controller 7 and the speed controller 4, that is, does not change the characteristics of the FB control system. do.
- the motor control system 200 includes the load machine 1, the motor 2 that drives the load machine 1, the speed detector 5 that detects the speed of the motor 2, the speed of the motor 2 and the speed command.
- a speed controller 4 that generates a torque command for the motor 2 based on the speed controller 4
- a correction calculator 6 that corrects the torque command and generates a corrected torque command, and a current that flows through the motor 2 based on the torque command and the corrected torque command It comprises a controller 3 , a vibration detector 8 for detecting vibration amplitude and vibration frequency generated in the motor 2 , and a parameter setting changer 9 for changing parameters of the speed controller 4 .
- the motor control method executed by the motor control device 100 detects the position of the motor 2 that drives the load machine 1, and calculates the speed command based on the position of the motor 2 and the position command through calculation including proportional calculation. , detects the speed of the motor 2, generates a torque command for the motor 2 by calculation including proportional calculation and integral calculation based on the speed of the motor 2 and the speed command, corrects the torque command, and corrects the corrected torque command is generated, current is passed through the motor 2 based on the torque command and the corrected torque command, the vibration amplitude and vibration frequency of the vibration occurring in the motor 2 are detected, and the vibration amplitude becomes larger than the threshold value FB control system that repeats the detection of the position of the motor 2, the generation of the speed command, the detection of the speed of the motor 2, the generation of the torque command, the generation of the correction torque command, and the application of current to the motor 2.
- the vibration detector 8 of the motor control device 100 calculates the amplitude and frequency of vibration from the waveform of the detected speed value.
- the amplitude and frequency of vibration may be calculated from the command and the waveform of the current.
- Kp and Ki should be changed to values smaller than the vibration frequency.
- the destabilization of the FB control system can be suppressed by making the coefficients Kp and Ki smaller than 1/2 times the vibration frequency ⁇ 2 ⁇ .
- the coefficients Kp and Ki before the change may be changed to values smaller than the coefficients Kp and Ki before the change, such as by multiplying the coefficients Kp and Ki before the change by 1/4. It is possible to suppress destabilization of the FB control system.
- the position controller 7 generates the speed command according to the equation (1)
- the speed controller 4 generates the torque command according to the equation (2).
- Other configurations are possible.
- a speed IP control system may be used, or a differential calculator may be added. In that case, the parameters may be changed based on the detected vibration frequency so that the characteristics change as shown in FIGS.
- the correction calculator 6 changes the characteristics of the FB control system using the transfer function h(s) of Equation (3).
- a low-pass filter is set to change the characteristics of the feedback control system
- a phase lead compensator is used to change the characteristics of the feedback control system.
- a method of changing the characteristics of the FB control system by adding it to the command may be applied. A similar function can be achieved by applying these methods.
- the configuration for changing the characteristics of the FB control system may be realized by a dedicated processing circuit, or may be realized by a general-purpose processor that executes a program.
- dedicated processing circuits are ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), or circuits combining these.
- ASICs Application Specific Integrated Circuits
- FPGAs Field Programmable Gate Arrays
- FIG. 14 is a diagram illustrating an example of hardware that implements the motor control device 100 according to the first embodiment.
- the processor 101 is a CPU (Central Processing Unit, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)), system LSI (Large Scale Integration), or the like.
- the memory 102 is RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory), or the like.
- the memory 102 stores programs describing the functions of the position controller 7 , speed controller 4 , correction calculator 6 , vibration detector 8 and parameter setting changer 9 .
- Processor 101 operates as position controller 7 , speed controller 4 , correction calculator 6 , vibration detector 8 and parameter setting changer 9 by executing programs stored in memory 102 .
- the position controller 7, the speed controller 4, the correction calculator 6, the vibration detector 8, and the parameter setting changer 9 may be realized by dedicated processing circuits, and the rest may be realized by the control circuit shown in FIG. .
- the speed detector 5 of the motor control device 100 is realized by an encoder.
- the current controller 3 is implemented by an electronic circuit that outputs a current value corresponding to the correction torque command input from the correction calculator 6 .
- FIG. 15 is a block diagram showing a configuration example of a motor control system 200a realized by applying the motor control device 100a according to the second embodiment.
- a motor control device 100a shown in FIG. 15 includes a parameter setting changer 9a for changing the parameters of the speed controller 4 instead of the parameter setting changer 9 of the motor control device 100 according to the first embodiment shown in FIG. .
- Other components with the same reference numerals are the same as those in FIG. 1, so descriptions thereof will be omitted.
- the motor control device 100a like the motor control device 100 according to the first embodiment, is intended to cause the load machine 1 and the motor 2 to operate following the position command. , operates in the same manner as the motor control device 100 .
- the parameter setting changer 9a is composed of the position controller 7, the speed controller 4, the speed detector 5, the correction calculator 6, the current controller 3, the motor 2, and the load machine 1.
- the FB control system is unstable. When it is determined that the vibration has occurred, the parameters of the speed controller 4 are changed based on the vibration amplitude and frequency calculated by the vibration detector 8 .
- FIG. 16 is a Bode diagram of the open-loop transfer function of the FB control system of the motor control device 100a according to the second embodiment.
- the Bode diagram of FIG. 16 shows that the parameters of the position controller 7 and the speed controller 4 are set for the load machine 1 in the initial state, and when the inertia of the load machine 1 decreases without changing the settings. shows the open-loop transfer function of the FB control system of .
- the inertia of the load machine 1 decreases to approximately 5.5 times the motor inertia ratio, the FB control system reaches its stability limit.
- FIG. 17 is a diagram showing an example of the waveform of the speed detection value of the motor 2 in the process of decreasing the inertia of the load machine 1.
- the speed detection values shown in FIG. 17 indicate that the inertia of the load machine 1 is 5.5 times the motor inertia at 7 seconds, and 52 Hz oscillation occurs due to destabilization.
- a high-pass filter is used to remove the component of the velocity waveform following the velocity command.
- Vibration detector 8 calculates the amplitude and frequency of vibration occurring in the speed detection value, as in the first embodiment. 17 occurs in the speed detection value, the vibration detector 8 calculates that the vibration amplitude is 0.5 r/min and the frequency is 52 Hz at 8 seconds. When 0.5 r/min is set as the amplitude threshold for detecting the occurrence of vibration, the correction calculator 6 determines that the vibration occurs at 8 seconds, and temporarily adjusts the FB near the vibration frequency. A correction operation is performed to stabilize the control system characteristics, and a correction torque command is generated for the torque command. Specifically, the correction calculator 6 calculates the correction torque command by calculation using the transfer function h(s) of Equation (3).
- the Bode diagram of the open-loop transfer function of the FB control system when the correction calculator 6 performs the correction calculation using the transfer function h(s) of Equation (3) is as shown in FIG.
- the correction calculation stabilizes the FB control system.
- FIG. 18 is a Bode diagram of the open-loop transfer function of the FB control system of the motor control device 100a according to the second embodiment. When the FB control system is stabilized, the oscillation is suppressed and the vibration amplitude is reduced as shown in FIG. FIG.
- FIG. 19 is a diagram showing operation waveforms when the FB control system of the motor control device 100a according to the second embodiment is stabilized. Since the oscillation amplitude decreased due to the stabilization of the FB control system, it can be determined that the oscillation was caused by the instability of the FB control system. Based on this determination, the parameter setting changer 9a changes the proportional calculation coefficient Kv of the speed controller 4 to stabilize the FB control system.
- the post-change coefficient Kv is, for example, a value obtained by multiplying the value of the pre-change coefficient Kv by 1/2.
- FIG. 20 shows a Bode diagram of the open-loop transfer function of the FB control system in this case.
- FIG. 20 is a Bode diagram of the open loop transfer function when the feedback control system of the motor control device 100a according to the second embodiment is stabilized.
- FIG. 21 is a diagram showing operation waveforms when external vibration is applied to the motor control device 100a according to the second embodiment.
- FIG. 21 shows the waveform of the speed detection value when a disturbance of 52 Hz occurs.
- a disturbance is input at 3 seconds, and the vibration detector 8 calculates a vibration amplitude of 0.5 r/min and a frequency of 52 Hz from the speed detection value.
- the correction calculator 6 starts correction calculation using the transfer function of the above equation (3), but there is no change in the vibration amplitude, and from this result, the occurrence of vibration is not destabilization of the FB control system. and discriminate.
- the transfer function used for correction calculation by the correction calculator 6 is The frequency is changed to change the characteristics of the FB control system. Then, the cause of the vibration generated when the inertia of the load machine 1 is reduced from the initial state is determined from the subsequent change in the vibration amplitude. Further, when the cause of vibration is destabilization of the FB control system, the parameter setting changer 9a changes the parameters of the speed controller 4 to suppress large-amplitude oscillation. If the cause is not destabilization of the FB control system, the parameter setting changer 9a does not change the parameters of the speed controller 4, that is, the characteristics of the FB control system.
- the parameter setting of the speed controller 4 can be changed only when the FB control system becomes unstable and the motor 2 vibrates as the inertia of the load machine 1 decreases.
- it is possible to prevent the control from becoming unstable by changing the parameters of the speed controller 4 when a temporary vibration occurs due to a disturbance, thereby stabilizing the operation of the motor control system 200a. can be realized.
- the motor control device 100a includes a parameter setting changer 9a for changing the parameters of the speed controller 4 instead of the parameter setting changer 9 of the motor control device 100 according to the first embodiment.
- Other components are the same.
- the motor control method executed by the motor control device 100a detects the position of the motor 2 that drives the load machine 1, and calculates the speed command based on the position of the motor 2 and the position command through calculation including proportional calculation. , detects the speed of the motor 2, generates a torque command for the motor 2 by calculation including proportional calculation and integral calculation based on the speed of the motor 2 and the speed command, corrects the torque command, and corrects the corrected torque command is generated, current is passed through the motor 2 based on the torque command and the corrected torque command, the vibration amplitude and vibration frequency of the vibration occurring in the motor 2 are detected, and the vibration amplitude becomes larger than the threshold value FB control that repeats the detection of the position of the motor 2, the generation of the speed command, the detection of the speed of the motor 2, the generation of the torque command, the generation of the correction torque command, and the current flow to the motor 2.
- the vibration amplitude becomes larger than the threshold value FB control that repeats the detection of the position of the motor 2, the generation of the speed command, the detection of the
- the vibration detector 8 of the motor control device 100a calculates the amplitude and frequency of vibration from the waveform of the detected speed value.
- the amplitude and frequency of vibration may be calculated from the command and the waveform of the current.
- the motor control device 100a sets the coefficient Kv of the proportional calculation of the speed controller 4 to 1 of the coefficient Kv before the change when determining that the cause of the vibration is the instability of the FB control system.
- it is set to /2 times, it is not limited to 1/2 times, and the coefficient Kv may be changed to a value smaller than the coefficient Kv before change. For example, if the coefficient Kv is made smaller than 1/ ⁇ 2 times the value before change, it is possible to suppress destabilization of the FB control system.
- the position controller 7 generates the speed command according to the formula (1)
- the speed controller 4 generates the torque command according to the formula (2).
- Other configurations are possible.
- a speed IP control system may be used, or a differential calculator may be added. In that case, the parameters may be changed based on the detected vibration frequency so that the characteristics change as shown in FIG.
- the correction calculator 6 changes the characteristics of the FB control system using the transfer function h(s) of Equation (3).
- a low-pass filter is set to change the characteristics of the feedback control system
- a phase lead compensator is used to change the characteristics of the feedback control system
- a waveform obtained by shaping the speed detection value as shown in equation (4) is used as a torque command.
- a similar function can be achieved by applying these methods.
- FIG. 22 is a block diagram showing a configuration example of a motor control system 200b realized by applying the motor control device 100b according to the third embodiment.
- a motor control device 100b shown in FIG. 22 adds a characteristic change direction storage unit 10 to the motor control device 100 according to the first embodiment shown in FIG.
- a parameter setting changer 9 b is provided in place of the setting changer 9 .
- Other components with the same reference numerals are the same as those in FIG. 1, so descriptions thereof will be omitted.
- the purpose of the motor control device 100b is to operate the load machine 1 and the motor 2 in accordance with the position command, similarly to the motor control device 100 according to the first embodiment and the motor control device 100a according to the second embodiment. 1 operate in the same manner as the motor control device 100 according to the first embodiment.
- the characteristic change direction storage unit 10 stores information on the direction of increase or decrease when the inertia of the load machine 1 changes from the initial state, that is, information on whether the inertia is increasing or decreasing.
- the vibration detector 8a filters the speed detection value input from the speed detector 5 in accordance with the direction of increase or decrease of the inertia of the load machine 1 stored in the characteristic change direction storage unit 10, and then detects vibration. Perform amplitude and frequency calculations. For example, when the inertia of the load machine 1 increases, the vibration generated when the FB control system becomes unstable is calculated from the proportional calculation coefficient Kp of the position controller 7 and the integral calculation coefficient Ki of the speed controller 4. Occurs at a frequency close to the desired frequency. Therefore, by using a band-pass filter or a high-pass filter that passes this frequency band, it is possible to extract and process the vibration component related to the destabilization.
- the vibration generated when the FB control system becomes unstable has a frequency close to the frequency obtained from the proportional calculation coefficient Kv of the speed controller 4, or at the initial state It occurs at a frequency close to the limit characteristic frequency obtained when the FB control system is adjusted. Therefore, by using a band-pass filter or a high-pass filter that passes this frequency band, it is possible to extract and process the vibration component related to the destabilization. That is, the vibration detector 8a filters the speed detection value input from the speed detector 5 according to the direction of increase or decrease of the inertia of the load machine 1, and uses the speed detection value after the filtering to detect vibration. Calculate the amplitude and frequency of
- a parameter setting changer 9b is an FB composed of a position controller 7, a speed controller 4, a position detector 51, a speed detector 5, a correction calculator 6, a current controller 3, a motor 2, and a load machine 1.
- the parameters of the position controller 7 or the speed controller 4 are changed according to the direction of increase or decrease of the inertia of the load machine 1 stored in the characteristic change direction storage unit 10 .
- the parameter setting changer 9b changes the amplitude and frequency of vibration calculated by the vibration detector 8a, similarly to the parameter setting changer 9 of the motor control device 100 according to the first embodiment. , the proportional calculation coefficient of the position controller 7 and the integral calculation coefficient of the speed controller 4 are changed.
- the parameter setting changer 9b changes the amplitude of the vibration calculated by the vibration detector 8a, similarly to the parameter setting changer 9a of the motor control device 100a according to the second embodiment. and the frequency, the coefficient of the proportional calculation of the speed controller 4 is changed.
- step S4 of FIG. 13 the parameters of both the position controller 7 and the speed controller 4 or Adjust the parameters of
- the transfer function used for the correction calculation by the correction calculator 6 is changed to that of the detected vibration.
- the frequency is changed to change the characteristics of the FB control system. Then, the cause of the vibration is determined from the change state of the vibration amplitude after that.
- the parameter setting changer 9b changes the proportional calculation coefficient of the position controller 7 and the integral calculation coefficient of the speed controller 4, or the speed controller 4 change the coefficient of the proportional calculation of .
- the cause of the vibration is not destabilization of the FB control system, it is possible not to change the characteristics of the FB control system. That is, it is possible to prevent the control from becoming unstable due to changing the parameters of the position controller 7 and the speed controller 4 when a temporary vibration occurs due to a disturbance. can stabilize the operation of
- the motor control device 100b has a characteristic change direction storage unit 10 added to the motor control device 100 according to the first embodiment, and has a vibration detector 8a instead of the vibration detector 8. Instead of the parameter setting changer 9, a parameter setting changer 9b is provided. Other components are the same as those of the motor control device 100 .
- the motor control method executed by the motor control device 100b detects the position of the motor 2 that drives the load machine 1, and calculates the speed command based on the position of the motor 2 and the position command through calculation including proportional calculation. , detects the speed of the motor 2, generates a torque command for the motor 2 by calculation including proportional calculation and integral calculation based on the speed of the motor 2 and the speed command, corrects the torque command, and corrects the corrected torque command , current is supplied to the motor 2 based on the torque command and the correction torque command, the direction of change in the inertia of the load machine 1 driven by the motor 2 is stored, and the direction of change in the inertia of the stored load machine 1 is changed to Accordingly, the filter processing for the drive waveform based on the position, speed or torque of the motor 2 is changed, and the vibration amplitude and vibration frequency of the vibration occurring in the motor 2 are detected from the drive waveform after filter processing, When the vibration amplitude of the vibration generated in the motor 2 becomes larger than the threshold
- the transmission characteristics at the vibration frequency generated in the motor 2 are stabilized, and after the transmission characteristics are stabilized, the vibration amplitude is If the inertia of the load machine 1 decreases or the inertia of the load machine 1 increases, the proportional calculation coefficient included in the calculation for generating the speed command and the integral calculation coefficient included in the calculation for generating the torque command are changed. , when the inertia of the load machine 1 decreases, the proportional calculation coefficient included in the calculation for generating the torque command is changed.
- the vibration detector 8a of the motor control device 100b calculates the amplitude and frequency of vibration from the waveform of the detected speed value.
- the amplitude and frequency of vibration may be calculated from the command and the waveform of the current.
- the position controller 7 generates the speed command according to the formula (1)
- the speed controller 4 generates the torque command according to the formula (2).
- Other configurations are possible.
- a speed IP control system may be used, or a differential calculator may be added. In that case, the parameters may be changed based on the detected vibration frequency so that the characteristics change as shown in FIGS.
- the correction calculator 6 uses the transfer function h(s) of Equation (3) to change the characteristics of the FB control system.
- a low-pass filter is set to change the characteristics of the feedback control system
- a phase lead compensator is used to change the characteristics of the feedback control system
- a waveform obtained by shaping the speed detection value as shown in equation (4) is used as a torque command. may be applied to change the characteristics of the FB control system.
- a similar function can be achieved by applying these methods.
- FIG. 23 is a block diagram showing a configuration example of a motor control system 200c realized by applying the motor control device 100c according to the fourth embodiment.
- a motor control device 100c shown in FIG. 23 eliminates the position controller 7 from the motor control device 100b according to the third embodiment shown in FIG. 22, and further includes a parameter setting changer 9c instead of the parameter setting changer 9b. Configuration.
- Other components with the same reference numerals are the same as those in FIG. 22, so descriptions thereof will be omitted.
- the purpose of the motor control device 100c is for the load machine 1 and the motor 2 to operate following a speed command input from the outside. It operates in the same manner as the control device 100b.
- the vibration detector 8a filters the speed detection value input from the speed detector 5 in accordance with the direction of increase or decrease of the inertia of the load machine 1 stored in the characteristic change direction storage unit 10, and then detects vibration. Perform amplitude and frequency calculations. For example, when the inertia of the load machine 1 increases, the vibration generated when the FB control system becomes unstable occurs at a frequency close to the frequency obtained from the integral calculation coefficient of the speed controller 4 . Therefore, by using a band-pass filter or a high-pass filter that passes this frequency band, it is possible to extract and process the vibration component related to the destabilization.
- the vibration generated when the FB control system becomes unstable will have a frequency close to the frequency obtained from the proportional calculation coefficient of the speed controller 4, or the FB in the initial state. It occurs at a frequency close to the limit characteristic frequency obtained when the control system is adjusted. Therefore, by using a band-pass filter or a high-pass filter that passes this frequency band, it is possible to extract and process the vibration component related to the destabilization.
- the parameter setting changer 9c has determined that the FB control system composed of the speed controller 4, the speed detector 5, the correction calculator 6, the current controller 3, the motor 2 and the load machine 1 has become unstable. At this time, the parameters of the speed controller 4 are changed according to the direction of increase or decrease of the inertia of the load machine 1 stored in the characteristic change direction storage unit 10 . When the inertia of the load machine 1 increases, the parameter setting changer 9c changes the integral calculation coefficient of the speed controller 4 based on the vibration amplitude and frequency calculated by the vibration detector 8a.
- the parameter setting changer 9c changes the amplitude of the vibration calculated by the vibration detector 8a, similarly to the parameter setting changer 9a of the motor control device 100a according to the second embodiment. and the frequency, the coefficient of the proportional calculation of the speed controller 4 is changed.
- the operation of the motor control device 100c to suppress the oscillation of the motor 2 can be shown in the flowchart of FIG. 13, similarly to the operation of the motor control device 100 according to the first embodiment to suppress the oscillation of the motor 2.
- the parameters of the speed controller 4 are adjusted in step S4 of FIG.
- the transfer function used for correction calculation by the correction calculator 6 is set to The frequency is changed to change the characteristics of the FB control system. Then, the cause of the vibration is determined from the change state of the vibration amplitude after that. Further, when the cause of the vibration is destabilization of the FB control system due to changes in the characteristics of the load machine 1, the direction in which the characteristics of the load machine 1 change, which is stored in the characteristic change direction storage unit 10, that is, the load machine A parameter setting changer 9c changes the integral calculation coefficient or the proportional calculation coefficient of the speed controller 4 according to the direction of increase or decrease when the inertia of 1 changes from the initial state.
- the motor control device 100c eliminates the position controller 7 from the motor control device 100b according to the third embodiment, and further includes a parameter setting changer 9c instead of the parameter setting changer 9b. .
- Other components are the same as those of the motor control device 100b.
- the motor control method executed by the motor control device 100c detects the speed of the motor 2 that drives the load machine 1, and performs proportional calculation and integral calculation based on the speed of the motor 2 and the speed command. generates a torque command for the motor 2 by an operation including
- the direction of increase/decrease in the inertia of the load machine 1 is stored, and according to the stored direction of increase/decrease in the inertia of the load machine 1, the filter processing for the drive waveform based on the position, speed or torque of the motor 2 is changed, and the drive after the filter processing is performed.
- the vibration amplitude and vibration frequency of the vibration occurring in the motor 2 are detected from the waveform, and when the vibration amplitude of the vibration occurring in the motor 2 exceeds a threshold value, the speed of the motor 2 is reduced.
- the transmission characteristics at the vibration frequency generated in the motor 2 are stabilized, and the transmission characteristics are improved. If the vibration amplitude decreases after stabilization, if the inertia of the load machine 1 increases, change the integral calculation coefficient included in the calculation for generating the torque command, and if the inertia of the load machine 1 decreases changes the proportional calculation coefficient included in the calculation when generating the torque command.
- the vibration detector 8a of the motor control device 100c calculates the amplitude and frequency of vibration from the waveform of the speed detection value. may be calculated.
- the speed controller 4 is configured to generate a torque command according to equation (2), but another configuration may be used.
- a speed IP control system may be used, or a differential calculator may be added.
- the parameters may be changed based on the detected vibration frequency so that the characteristics change as shown in FIGS.
- the correction calculator 6 uses the transfer function h(s) of Equation (3) to change the characteristics of the FB control system.
- a low-pass filter is set to change the characteristics of the feedback control system
- a phase lead compensator is used to change the characteristics of the feedback control system
- a waveform obtained by shaping the speed detection value as shown in equation (4) is used as a torque command. may be applied to change the characteristics of the FB control system.
- a similar function can be achieved by applying these methods.
Abstract
Description
図1は、実施の形態1にかかるモータ制御装置を適用して実現されるモータ制御システムの構成例を示すブロック図である。
図15は、実施の形態2にかかるモータ制御装置100aを適用して実現されるモータ制御システム200aの構成例を示すブロック図である。図15に示すモータ制御装置100aは、図1に示す実施の形態1にかかるモータ制御装置100のパラメータ設定変更器9に代えて、速度制御器4のパラメータを変更するパラメータ設定変更器9aを備える。その他の同一符号の構成要素については、図1と同様であるため、説明を省略する。
図22は、実施の形態3にかかるモータ制御装置100bを適用して実現されるモータ制御システム200bの構成例を示すブロック図である。図22に示すモータ制御装置100bは、図1に示す実施の形態1にかかるモータ制御装置100に、特性変化方向記憶部10を追加し、振動検出器8に代えて振動検出器8aを、パラメータ設定変更器9に代えてパラメータ設定変更器9bを備える。その他の同一符号の構成要素については、図1と同様であるため、説明を省略する。
図23は、実施の形態4にかかるモータ制御装置100cを適用して実現されるモータ制御システム200cの構成例を示すブロック図である。図23に示すモータ制御装置100cは、図22に示す実施の形態3にかかるモータ制御装置100bから位置制御器7を削除し、さらに、パラメータ設定変更器9bに代えてパラメータ設定変更器9cを備える構成である。その他の同一符号の構成要素については、図22と同様であるため、説明を省略する。
Claims (13)
- 負荷機械を駆動するモータを制御するモータ制御装置であって、
前記モータの速度を検出する速度検出器と、
前記モータの速度および速度指令に基づいて前記モータに対するトルク指令を生成する速度制御器と、
前記トルク指令を補正して補正トルク指令を生成する補正演算器と、
前記トルク指令および補正トルク指令に基づいて前記モータに電流を流す電流制御器と、
前記モータで発生している振動の振幅である振動振幅と前記振動の周波数である振動周波数とを検出する振動検出器と、
前記速度制御器のパラメータを変更するパラメータ設定変更器と、
を備え、
前記補正演算器は、前記振動振幅がしきい値よりも大きくなった場合に、前記モータ、前記速度検出器、前記速度制御器、前記補正演算器および前記電流制御器で構成されるフィードバック制御系について、前記振動検出器が検出した前記振動周波数の伝達特性を安定化させる補正トルク指令を計算し、
前記パラメータ設定変更器は、前記伝達特性を安定化させた後に前記振動検出器が検出する前記振動振幅が減少した場合、前記速度制御器のパラメータを変更する、
ことを特徴とするモータ制御装置。 - 前記負荷機械のイナーシャが変化する際の増減方向を記憶する特性変化方向記憶部、
を備え、
前記速度制御器は、比例計算および積分計算を含む演算により前記トルク指令を生成し、
前記パラメータ設定変更器は、前記特性変化方向記憶部が記憶している前記増減方向が増加方向の場合は前記積分計算の係数を変更し、前記増減方向が減少方向の場合は前記比例計算の係数を変更する、
ことを特徴とする請求項1に記載のモータ制御装置。 - 前記パラメータ設定変更器は、前記増減方向が増加方向の場合、前記速度制御器の積分計算の係数を、変更前の値よりも小さい値、または、前記振動周波数よりも小さい値に変更する、
ことを特徴とする請求項2に記載のモータ制御装置。 - 前記パラメータ設定変更器は、前記増減方向が減少方向の場合、前記速度制御器の比例計算の係数を変更前の値よりも小さい値に変更する、
ことを特徴とする請求項2または3に記載のモータ制御装置。 - 前記振動検出器は、前記モータの位置、速度またはトルクに基づく駆動波形に対して、前記特性変化方向記憶部が記憶している前記増減方向が増加方向の場合と減少方向の場合とで異なるフィルタ処理を実行し、フィルタ処理後の前記駆動波形から前記振動振幅および前記振動周波数を検出する、
ことを特徴とする請求項2から4のいずれか一つに記載のモータ制御装置。 - 前記モータの位置を検出する位置検出器と、
前記モータの位置および位置指令に基づいて、比例計算を含む演算により前記速度指令を生成する位置制御器と、
を備え、
前記パラメータ設定変更器は、前記増減方向が増加方向の場合、前記位置制御器の前記比例計算の係数を変更前の値よりも小さい値、または、前記振動周波数よりも小さい値に変更する、
ことを特徴とする請求項2から5のいずれか一つに記載のモータ制御装置。 - 請求項1から6のいずれか一つに記載のモータ制御装置と、
前記モータ制御装置により制御される前記モータと、
前記モータにより駆動される前記負荷機械と、
を備えることを特徴とするモータ制御システム。 - 負荷機械を駆動するモータを制御するモータ制御装置が実行するモータ制御方法であって、
前記モータの速度を検出する第1ステップと、
前記モータの速度および速度指令に基づいて前記モータに対するトルク指令を出力する第2ステップと、
前記トルク指令を補正して補正トルク指令を生成する第3ステップと、
前記トルク指令および補正トルク指令に基づいて前記モータに電流を流す第4ステップと、
前記モータで発生している振動の振幅である振動振幅と前記振動の周波数である振動周波数とを検出する第5ステップと、
前記振動振幅がしきい値よりも大きくなった場合に、前記モータの速度の検出と、前記トルク指令の生成と、前記補正トルク指令の生成と、前記モータに電流を流すこととを繰り返すフィードバック制御系において、前記振動周波数における伝達特性を安定化させる第6ステップと、
前記伝達特性を安定化させた後に前記振動振幅が減少した場合、前記トルク指令を生成する演算のパラメータを変更する第7ステップと、
を含むことを特徴とするモータ制御方法。 - 前記第2ステップでは、比例計算および積分計算を含む演算により前記トルク指令を生成し、
前記第7ステップでは、前記負荷機械のイナーシャが増加する場合は前記積分計算の係数を変更し、前記負荷機械のイナーシャが減少する場合は前記比例計算の係数を変更する、
ことを特徴とする請求項8に記載のモータ制御方法。 - 前記第7ステップでは、前記イナーシャが増加する場合、前記積分計算の係数を変更前の値よりも小さい値、または、前記振動周波数よりも小さい値に変更する、
ことを特徴とする請求項9に記載のモータ制御方法。 - 前記第7ステップでは、前記イナーシャが減少する場合、前記比例計算の係数を変更前の値よりも小さい値に変更する、
ことを特徴とする請求項9または10に記載のモータ制御方法。 - 前記第5ステップでは、前記モータの位置、速度またはトルクに基づく駆動波形に対して、前記イナーシャが増加する場合と前記イナーシャが減少する場合とで異なるフィルタ処理を実行し、フィルタ処理後の駆動波形から前記振動振幅および前記振動周波数を検出する、
ことを特徴とする請求項9から11のいずれか一つに記載のモータ制御方法。 - 前記モータの位置を検出する第8ステップと、
前記モータの位置および位置指令に基づいて、比例計算を含む演算により前記速度指令を生成する第9ステップと、
前記イナーシャが増加する場合は、前記第9ステップの前記比例計算の係数を変更前の値よりも小さい値、または、前記振動周波数よりも小さい値に変更する第10ステップと、
を含むことを特徴とする請求項9から12のいずれか一つに記載のモータ制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2021/016132 WO2022224370A1 (ja) | 2021-04-21 | 2021-04-21 | モータ制御装置、モータ制御システムおよびモータ制御方法 |
CN202180094761.6A CN117083792A (zh) | 2021-04-21 | 2021-04-21 | 电动机控制装置、电动机控制系统及电动机控制方法 |
KR1020237034365A KR20230154976A (ko) | 2021-04-21 | 2021-04-21 | 모터 제어 장치, 모터 제어 시스템 및 모터 제어 방법 |
JP2021551961A JP7008885B1 (ja) | 2021-04-21 | 2021-04-21 | モータ制御装置、モータ制御システムおよびモータ制御方法 |
TW111113204A TWI808712B (zh) | 2021-04-21 | 2022-04-07 | 馬達控制裝置、馬達控制系統及馬達控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2021/016132 WO2022224370A1 (ja) | 2021-04-21 | 2021-04-21 | モータ制御装置、モータ制御システムおよびモータ制御方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022224370A1 true WO2022224370A1 (ja) | 2022-10-27 |
Family
ID=80629666
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2021/016132 WO2022224370A1 (ja) | 2021-04-21 | 2021-04-21 | モータ制御装置、モータ制御システムおよびモータ制御方法 |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP7008885B1 (ja) |
KR (1) | KR20230154976A (ja) |
CN (1) | CN117083792A (ja) |
TW (1) | TWI808712B (ja) |
WO (1) | WO2022224370A1 (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05122970A (ja) * | 1991-10-29 | 1993-05-18 | Hitachi Ltd | モータ速度制御装置 |
JPH0668554A (ja) * | 1992-08-17 | 1994-03-11 | Sharp Corp | 磁気記録再生装置におけるテープ走行制御方法及び装置 |
WO2006129612A1 (ja) * | 2005-05-31 | 2006-12-07 | Mitsubishi Electric Corporation | 電動機制御装置 |
CN110502043A (zh) * | 2018-05-18 | 2019-11-26 | 伊顿公司 | 幅材卷绕机张力控制系统中的动态性能和主动阻尼方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8129066B2 (en) | 2005-10-07 | 2012-03-06 | Seiko Instruments Inc. | Fuel cell exhibiting enhanced hydrogen distribution density |
JP5877733B2 (ja) * | 2012-02-28 | 2016-03-08 | カルソニックカンセイ株式会社 | 電動モータの制御装置 |
US9778624B2 (en) * | 2013-04-18 | 2017-10-03 | Mitsubishi Electric Corporation | Motor control device |
JP6353731B2 (ja) | 2014-08-04 | 2018-07-04 | 日本電産サンキョー株式会社 | モータシステム |
JP6751615B2 (ja) * | 2016-07-20 | 2020-09-09 | 日本電産サンキョー株式会社 | モータシステム |
JP7178327B2 (ja) * | 2019-06-14 | 2022-11-25 | 株式会社日立産機システム | ノッチフィルタ調整装置、およびそれを備えたモータ制御装置 |
-
2021
- 2021-04-21 WO PCT/JP2021/016132 patent/WO2022224370A1/ja active Application Filing
- 2021-04-21 JP JP2021551961A patent/JP7008885B1/ja active Active
- 2021-04-21 KR KR1020237034365A patent/KR20230154976A/ko unknown
- 2021-04-21 CN CN202180094761.6A patent/CN117083792A/zh active Pending
-
2022
- 2022-04-07 TW TW111113204A patent/TWI808712B/zh active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05122970A (ja) * | 1991-10-29 | 1993-05-18 | Hitachi Ltd | モータ速度制御装置 |
JPH0668554A (ja) * | 1992-08-17 | 1994-03-11 | Sharp Corp | 磁気記録再生装置におけるテープ走行制御方法及び装置 |
WO2006129612A1 (ja) * | 2005-05-31 | 2006-12-07 | Mitsubishi Electric Corporation | 電動機制御装置 |
CN110502043A (zh) * | 2018-05-18 | 2019-11-26 | 伊顿公司 | 幅材卷绕机张力控制系统中的动态性能和主动阻尼方法 |
Also Published As
Publication number | Publication date |
---|---|
KR20230154976A (ko) | 2023-11-09 |
TW202243386A (zh) | 2022-11-01 |
JP7008885B1 (ja) | 2022-01-25 |
JPWO2022224370A1 (ja) | 2022-10-27 |
CN117083792A (zh) | 2023-11-17 |
TWI808712B (zh) | 2023-07-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107645267B (zh) | 电动机系统 | |
JP4879173B2 (ja) | 電動機制御装置 | |
JP4577107B2 (ja) | 機械位置制御装置 | |
US10985684B2 (en) | Motor control device | |
JP6353731B2 (ja) | モータシステム | |
JP3900219B2 (ja) | 電動機速度制御装置および同装置のゲイン設定方法 | |
JP5989694B2 (ja) | 制御装置、制御方法及び制御プログラム | |
JP6604157B2 (ja) | 多慣性共振システムにおける共振抑制制御装置 | |
JP2005085074A (ja) | 位置制御装置 | |
WO2022224370A1 (ja) | モータ制御装置、モータ制御システムおよびモータ制御方法 | |
JP5441944B2 (ja) | モータ制御装置 | |
JP2004007955A (ja) | 電動機の位置制御装置 | |
JP5271853B2 (ja) | フィードバック制御装置とフィードバック制御方法 | |
JP2011036061A (ja) | モータ制御装置及びモータ制御システム | |
JP5017984B2 (ja) | サーボ制御装置とその速度追従制御方法 | |
JP2014007900A (ja) | モータ制御装置 | |
JP4452367B2 (ja) | 位置制御装置 | |
JP4752298B2 (ja) | モータ制御装置およびその制御方法 | |
WO2016152074A1 (ja) | モータ駆動装置 | |
JP2005223960A (ja) | 電動機の制御装置 | |
JP3975537B2 (ja) | 制御装置と制御方法 | |
JP4025971B2 (ja) | 電動機制御装置およびそのゲイン設定方法 | |
JP2008289218A (ja) | モータ制御装置とその制御方法 | |
JP4784826B2 (ja) | システム同定装置およびそれを備えたモータ制御装置 | |
JP5084196B2 (ja) | 電動機制御装置および電動機制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2021551961 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21937866 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180094761.6 Country of ref document: CN |
|
ENP | Entry into the national phase |
Ref document number: 20237034365 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020237034365 Country of ref document: KR |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21937866 Country of ref document: EP Kind code of ref document: A1 |