WO2022244078A1 - モータの制御装置、産業機械システム、及びモータの制御方法 - Google Patents
モータの制御装置、産業機械システム、及びモータの制御方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 65
- 238000012937 correction Methods 0.000 claims abstract description 127
- 238000004364 calculation method Methods 0.000 claims abstract description 65
- 230000007704 transition Effects 0.000 claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims description 57
- 230000008569 process Effects 0.000 claims description 52
- 230000001133 acceleration Effects 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 13
- 230000004044 response Effects 0.000 claims description 6
- 230000006870 function Effects 0.000 description 25
- 230000005489 elastic deformation Effects 0.000 description 13
- 239000013256 coordination polymer Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000005483 Hooke's law Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000004836 empirical method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41251—Servo with spring, resilient, elastic element, twist
Definitions
- the present disclosure relates to a motor control device, an industrial machine system, and a motor control method.
- a plurality of elastic elements are interposed between the motor and the driven body, and the stepwise elastic deformation of the plurality of elastic elements may affect the positioning accuracy of the driven body by the motor.
- a control device connected to a driven body via a plurality of elastic elements and controlling a motor that drives the driven body generates a command to operate the motor to accelerate a command generation unit; a correction amount calculation unit that executes a correction amount calculation process for obtaining a correction amount of a command based on an elasticity parameter representing elasticity of an elastic element; a step detection unit for detecting that the driving force has transitioned from a first step acting on the element to a second step acting on the second elastic element through the first elastic element.
- the correction amount calculation unit performs a correction amount calculation process to be executed when a shift from the first stage to the second stage is detected as a first correction based on a first elastic parameter of the first elastic element.
- the amount calculation process is switched to the second correction amount calculation process based on the second elastic parameter and the first elastic parameter of the second elastic element.
- a method of controlling a motor connected to a driven body via a plurality of elastic elements to drive the driven body comprises: a processor generating commands to operate the motor to accelerate; and performs a correction amount calculation process for obtaining a correction amount for a command based on an elastic parameter representing the elasticity of the elastic element, and the driving force generated by the motor in response to the command acts on the first elastic element. from the stage to the second stage in which the driving force acts on the second elastic element through the first elastic element, and the transition from the first stage to the second stage is detected.
- the correction amount calculation process to be executed is changed from the first correction amount calculation process based on the first elastic parameter of the first elastic element to the second elastic parameter of the first elastic element and the second elasticity of the second elastic element. and the second correction amount calculation process based on the parameters.
- the present disclosure it is possible to obtain a correction amount suitable for the stage in which the driving force of the motor acts on a plurality of elastic elements. Therefore, when the motor and the driven body are connected via a plurality of elastic elements, errors caused by the stepwise elastic deformation of the plurality of elastic elements can be canceled with high accuracy. The positioning accuracy of the driver can be improved.
- FIG. 1 is a block diagram of an industrial machine system according to one embodiment
- FIG. 2 shows a schematic diagram of the industrial machine shown in FIG. 1
- FIG. 3 shows a machine model of the industrial machine shown in FIG. 2
- the first stage in which the driving force of the motor acts on the first elastic element is shown.
- a second stage is shown in which the driving force of the motor acts on the second elastic element through the first elastic element.
- An example of time change characteristics of a command for operating a motor is shown.
- 2 is a flow chart showing an example of the operation flow of the control device shown in FIG. 1
- 2 is a block diagram showing another function of the control device shown in FIG. 1;
- FIG. 9 is a flow chart showing an example of the operation flow of the control device shown in FIG. 8;
- FIG. 1 An industrial machine system 10 according to one embodiment will be described with reference to FIGS. 1 and 2.
- FIG. The industrial machine system 10 includes an industrial machine 12 and a controller 14 .
- the industrial machine 12 is for performing predetermined work (cutting, welding, etc.) on a work, and has a motor 16, a plurality of elastic elements 18 and 20, and a driven body 22.
- the motor 16 is, for example, a servomotor as an electric motor, and rotates its output shaft 16a (FIG. 2) according to a command from the control device 14. As shown in FIG.
- the output shaft 16a of the motor 16 and the driven body 22 are mechanically connected to each other via a plurality of elastic elements 18 and 20.
- the elastic element 18 is a ball screw that extends straight along the axis A and is a member (eg, a steel member) having an elastic parameter PR1.
- k1 a spring constant
- G1 an elastic modulus G1 (including Young's modulus, rigidity modulus, Poisson's ratio, etc.).
- the elastic element 20 is, for example, inserted between the elastic element 18 and the driven body 22, and is a seal that prevents foreign matter from entering the inside of a housing (not shown) that accommodates the elastic element 18.
- a mechanism a member (eg a rubber member) having an elastic parameter PR2.
- the driven body 22 is, for example, a work table on which a work is placed, and has an engaging portion 22a that engages with the elastic element 18 as a ball screw. As the motor 16 rotates the output shaft 16a, the elastic element 18 is rotated about the axis A, and the driven body 22 is reciprocated in the direction of the axis A according to the rotation of the elastic element 18.
- the elastic element 20 as a sealing mechanism is in contact with the driven body 22 and elastically deforms as the driven body 22 reciprocates. and apply force such as frictional force.
- the motor 16 thus drives the driven body 22 via the elastic elements 18 and 20 .
- the motor 16 is provided with at least one sensor 24 (Fig. 1).
- the sensor 24 includes a rotation detection sensor (encoder, hall element, etc.) that detects the rotational position P of the output shaft 16a, a current sensor that detects the current I supplied to the motor 16, and a current sensor that detects the current I supplied to the motor 16. It has a force sensor (torque sensor) that detects the applied driving force F (torque).
- the sensor 24 detects the rotational position P, current I, and driving force F, and supplies them to the controller 14 as position feedback P, current feedback I, and force feedback F, respectively.
- the sensor 24 may detect the acceleration ⁇ of the output shaft 16a (or the driven body 22) and supply the detected value as the acceleration feedback ⁇ to the control device 14, or the position feedback P may be differentiated by second-order time differentiation. may be supplied to the control device 14.
- the control device 14 controls the industrial machine 12 (specifically, the motor 16).
- controller 14 is a computer having processor 30 , memory 32 , and I/O interface 34 .
- the processor 30 has a CPU, GPU, or the like, and is communicatively connected to a memory 32 and an I/O interface 34 via a bus 36 .
- the processor 30 communicates with the memory 32 and the I/O interface 34 and performs arithmetic processing for implementing a command correction function, which will be described later.
- the memory 32 has RAM, ROM, or the like, and temporarily or permanently stores various data used in arithmetic processing for the command correction function executed by the processor 30 and various data generated during the arithmetic processing. memorize.
- the I/O interface 34 has, for example, an Ethernet (registered trademark) port, a USB port, an optical fiber connector, or an HDMI (registered trademark) terminal, and exchanges data with external devices under commands from the processor 30. Communicate by wire or wirelessly.
- the processor 30 generates a command CM for driving the motor 16 to accelerate.
- This command CM has, for example, a position command CMp, a speed command CMv, and a torque command CM ⁇ .
- the position command CMp defines the target position of the driven body 22 (that is, the output shaft 16a of the motor 16)
- the speed command CMv defines the speed V of the motor 16 (or the driven body 22)
- the torque command CM ⁇ defines the driving force F (torque) of the motor 16 .
- the command CM may have an acceleration command CM ⁇ that defines the acceleration ⁇ of the output shaft 16a of the motor 16 (or the driven body 22) instead of the torque command CM ⁇ .
- the processor 30 functions as the command generator 40 (FIG. 1) that generates the command CM.
- the motor 16 generates a driving force F (torque) that rotationally drives the output shaft 16a according to the command CM.
- the driving force F generated by the motor 16 acts on the elastic element 18 and then on the elastic element 20 to drive the driven body 22 .
- the elastic elements 18 and 20 can be regarded as springs that are slightly elastically deformed under the action of the driving force F.
- FIG. 3 A schematic mechanical system model of the industrial machine 12 is shown in FIG.
- the industrial machine 12 can be schematically represented as a mechanical system model in which elastic elements 18 and 20 as springs are interposed between the motor 16 and the driven body 22 .
- a backlash element BL1 exists between the elastic element 18 and the elastic element 20 in the mechanical system model of the industrial machine 12 .
- the backlash element BL1 on the mechanical system model represents the backlash between the output shaft 16a and the elastic element 18 and the backlash between the elastic element 18 and the driven body 22 (engaging portion 22a).
- a backlash element BL2 exists between the elastic element 18 and the elastic element 20.
- FIG. A backlash element BL2 on the mechanical system model represents the backlash between the elastic element 20 and the driven body 22 .
- the processor 30 generates a command CM for accelerating the motor 16 after reversing the direction of operation of the motor 16 (that is, the direction of rotation of the output shaft 16a) from one side to the other. Assume that the moving direction of the driven body 22 is reversed from right to left, and the driven body 22 is accelerated leftward. In this case, the motor 16 generates a driving force F (torque) according to the command CM.
- the driving force F first acts on the elastic element 18, and the backlash element BL1 causes the driving force F to act on the elastic element 18 and elastically deform the elastic element 18.
- a minute time lag TL1 occurs until the spring of the element 18 is extended).
- the time lag TL1 elapses after the driving force F acts on the elastic element 18 (that is, when the backlash element BL1 is eliminated), as shown in FIG. 18 begins to elastically deform (that is, the spring expands).
- a minute time lag TL2 occurs between the elastic deformation of the elastic element 18 and the elastic deformation of the elastic element 20 by the driving force F (that is, the spring of the elastic element 20 is stretched). It will be.
- the time lag TL2 elapses after the elastic deformation of the elastic element 18 (that is, when the backlash element BL2 is eliminated), as shown in FIG. It begins to deform elastically. Then, the driven body 22 begins to move leftward while receiving the force (stress, frictional force) from the elastic element 20 .
- stage ST1 (FIG. 4) in which the driving force F generated by the motor 16 acts on the elastic element 18 to elastically deform the elastic element 18.
- the backlash The driving force F does not substantially act on the elastic element 20 due to the influence of the element BL2. That is, at this stage ST1, it can be assumed that only the spring of the elastic element 18 exists in the mechanical model of the industrial machine 12, and therefore only the elastic parameter PR1 needs to be considered.
- stage ST1 the driving force F acts on the elastic element 20 through the elastic element 18 to elastically deform the elastic element 20, thereby shifting to stage ST2 (FIG. 5).
- stage ST2 since the driving force F acts on the elastic elements 18 and 20, it can be assumed that a combined spring of the elastic elements 18 and 20 exists in the mechanical model of the industrial machine 12. , the elastic parameters PR1 and PR2 should be taken into account.
- the driven body 22 is driven by the driving force F through a plurality of steps ST1 and ST2 in which the driving force F acts on the plurality of elastic elements 18 and 20 step by step.
- the motor 16 When the motor 16 generates the driving force F according to the command CM, the elastic elements 18 and 20 are elastically deformed step by step. and the actual position of the driven body 22 (specifically, the rotational position of the motor 16).
- the processor 30 executes correction amount calculation processing CP for obtaining a correction amount ⁇ for correcting the command CM based on the elastic parameters PR of the elastic elements 18 and 20 . Therefore, in the present embodiment, the processor 30 functions as the correction amount calculator 42 (FIG. 1) that executes the correction amount calculation process CP. The details of the correction amount calculation process CP will be described later.
- An example of the time change characteristic of is shown in FIG.
- the position command CMp shown in FIG. 6 indicates that the operating direction of the motor 16 (or the driven body 22) is reversed at time t0.
- the degree of change D of the torque command CM ⁇ with respect to time t is relatively steep during the period from time t0 to t1, and becomes relatively moderate during the period after time t1.
- the period from time t0 to t1 corresponds to stage ST1 described above, while the period after time t1 corresponds to stage ST2 described above.
- the driving force F generated by the motor 16 in response to the command CM is highly correlated with the torque command CM ⁇ , force feedback F, acceleration feedback ⁇ (or acceleration command CM ⁇ ), and current feedback I. Therefore, the torque command CM ⁇ , the force feedback F, the acceleration feedback ⁇ , the acceleration command CM ⁇ , and the current feedback I can be regarded as a force parameter FP indicating the driving force F. Therefore, the time change characteristics of the force feedback F, the acceleration ⁇ , the acceleration command CM ⁇ , and the current feedback I are similar to the time change characteristics of the torque command CM ⁇ (in other words, the driving force F) shown in FIG.
- the processor 30 detects the transition from stage ST1 to stage ST2 in order to execute different correction amount calculation processes CP1 and CP2 in stages ST1 and ST2 while the motor 16 is running. Specifically, the processor 30 acquires the degree D of change in the force parameter FP (torque command CM ⁇ , acceleration command CM ⁇ , force feedback F, acceleration ⁇ , acceleration feedback ⁇ , or current feedback I), and obtains the degree of change Based on D, the transition from stage ST1 to stage ST2 is detected.
- the force parameter FP torque command CM ⁇ , acceleration command CM ⁇ , force feedback F, acceleration ⁇ , acceleration feedback ⁇ , or current feedback I
- Tc for example, 50 [msec]
- the processor 30 may obtain the above-mentioned difference D10 as the degree D of change in the acceleration feedback ⁇ .
- the processor 30 calculates the degree of change D (D1 to D10) of the force parameter FP (specifically, the torque command CM ⁇ , the acceleration command CM ⁇ , the force feedback F, the current feedback I, or the acceleration feedback ⁇ ). It functions as a change acquisition unit 44 (FIG. 1) that acquires.
- the processor 30 determines whether the acquired degree of change D exceeds a predetermined reference D th . For example, when the slope D1 of the torque command CM ⁇ is acquired as the degree of change D, the processor 30 determines that when the slope D1 decreases by exceeding a predetermined reference value D th1 (D1 ⁇ D th1 ), the degree of change D is It is determined that the reference Dth has been exceeded.
- This reference value D th1 is, for example, a value between the gradient D1_1 of the torque command CM ⁇ at stage ST1 shown in FIG. 6 and the gradient D1_2 of the torque command CM ⁇ at stage ST2 ( D1_2 ⁇ D th1 ⁇ D1 _1 ). It should be understood that the processor 30 can also determine whether or not the other degrees of change D2 to D10 have exceeded the reference Dth in a similar manner.
- the processor 30 determines that the degree of change D has exceeded the reference Dth , it detects that the stage ST1 has shifted to the stage ST2 (in other words, the timing of time t1). Thus, in this embodiment, it functions as the stage detector 46 (FIG. 1) that detects that the stage ST1 has shifted to the stage ST2.
- the processor 30 changes the correction amount calculation process CP to be executed from the correction amount calculation process CP1 based on the elasticity parameter PR1 of the elastic element 18 to the elastic parameter PR1 and the correction amount calculation process CP2 based on the elastic parameter PR2 of the elastic element 20.
- the processor 30 functions as the correction amount calculation unit 42, and in step ST1 (period of time t0 to t1 in FIG. 6), executes the correction amount calculation process CP1, and performs the correction amount calculation process CP1.
- the correction amount ⁇ 1 for the elastic element 18 is obtained using the spring constant k1 as the elastic parameter PR1 of the elastic element 18 and the force parameter FP described above.
- the processor 30 calculates the correction amount ⁇ 1 by substituting the spring constant k1 and the most recently acquired torque command CM ⁇ into the following equation (1) in the correction amount calculation process CP1.
- ⁇ 1 CM ⁇ /k1 (1)
- This formula (1) is the so-called Hooke's law, and the correction amount calculation process CP1 according to the present embodiment is based on a mechanical model in which the elastic element 18 is simulated as one spring as shown in FIGS. ing.
- the spring constant k1 is predetermined as a proportional coefficient between the force (torque) applied to the elastic element 18 by the motor 16 in the industrial machine 12 and the amount of elastic deformation of the elastic element 18 in the direction of the axis A due to the force. stored in
- the correction amount ⁇ 1 obtained from the above equation (1) is for canceling the error ⁇ 1 caused by the elastic deformation of the elastic element 18 in step ST1 (FIG. 4).
- the processor 30 obtains the correction amount ⁇ 1 for the elastic element 18 by executing the correction amount calculation process CP1 in step ST1.
- the processor 30 corrects the command CM with the obtained correction amount ⁇ 1. Specifically, since the correction amount ⁇ 1 is a parameter of the same dimension as the rotational position P of the motor 16 (or the position of the driven member 22), the processor 30 can apply the correction amount ⁇ 1 to the position command CMp. , to correct the position command CMp. For example, the processor 30 may correct the position command CMp by adding the correction amount ⁇ 1 to the position command CMp (CMp+ ⁇ 1). Alternatively, the correction amount ⁇ 1 may be converted into the rotational position of the output shaft 16a of the motor 16, and the converted correction amount ⁇ 1 may be added to the position command CMp.
- processor 30 functions as correction amount calculation section 42 and executes correction amount calculation processing CP2.
- the processor 30 first acquires the torque command CM ⁇ 1 (FIG. 6) at the time when the transition from the stage ST1 to the stage ST2 is detected (time t1 in FIG. 6).
- ⁇ 1′ ⁇ /k1 (2)
- This equation (2) also indicates Hooke's law as in the above-described equation (1), and this correction amount ⁇ 1′ is the error ⁇ 1 is for canceling out
- This significance of using the difference ⁇ instead of the torque command CM ⁇ to obtain the correction amount ⁇ 1′ will be described below.
- stage ST1 (FIG. 4) shifts to stage ST2 (FIG. 5)
- the driving force F generated by the motor 16 is affected by the frictional force (resistance on the equivalent circuit) at the backlash elements BL1 and BL2.
- the force for elastically deforming the elastic elements 18 and 20 (that is, stretching the spring) in step ST2 is reduced below the driving force F.
- FIG. therefore, by approximating the force for elastically deforming the elastic elements 18 and 20 in step ST2 with the difference ⁇ described above, the amount of elastic deformation (in other words, correction amount) of the elastic elements 18 and 20 in step ST2 is can be evaluated more accurately.
- the processor 30 substitutes the spring constant k2 as the elastic parameter PR2 of the elastic element 20 and the most recently acquired difference ⁇ into the following equation (3) to obtain the correction amount Find ⁇ 2.
- ⁇ 2 ⁇ /k2 (3)
- This equation (3) also indicates Hooke's law as in the above-described equation (2), and the correction amount calculation processing CP2 according to the present embodiment is based on a mechanical model in which the elastic element 20 is assumed to be one spring. ing.
- the spring constant k2 is predetermined as a proportional coefficient between the force (torque) applied to the elastic element 20 by the motor 16 in the industrial machine 12 and the amount of elastic deformation of the elastic element 20 in the direction of the axis A due to the force. stored in The correction amount ⁇ 2 is for canceling the error ⁇ 2 caused by the elastic deformation of the elastic element 20 in step ST2 (FIG. 5).
- This correction amount ⁇ 3 is for canceling the error ⁇ 3 caused by the elastic deformation of the combined spring of the elastic elements 18 and 20 in step ST2.
- the processor 30 uses the combined spring constant ks of the elastic elements 18 and 20 and the torque commands CM ⁇ 1 and CM ⁇ as the force parameter FP to perform correction on the elastic elements 18 and 20. Determine the quantity ⁇ 3.
- 1/ks 1/k1+1/k2 (4)
- the processor 30 acquires the difference ⁇ between the most recently acquired torque command CM ⁇ and the torque command CM ⁇ 1, and substitutes the difference ⁇ and the resultant spring constant ks into the following equation (5) to obtain the elastic element 18 and 20, the correction amount ⁇ 3 is obtained.
- This formula (5) also indicates Hooke's law, and is based on a mechanical model in which the elastic elements 18 and 20 are simulated as one composite spring.
- the processor 30 obtains the correction amount ⁇ 3 for the elastic elements 18 and 20 by executing the correction amount calculation process CP2 in step ST2. Then, in step ST2, the processor 30 corrects the position command CMp by applying (for example, adding) the calculated correction amount ⁇ 3 to the position command CMp in the same manner as in step ST1.
- the processor 30 functions as the correction amount calculation unit 42, executes the correction amount calculation process CP1 based on the elastic parameter PR1 (spring constant k1) in step ST1,
- the correction amount calculation process CP1 is switched to the correction amount calculation process CP2 based on the elastic parameters PR1 (spring constant k1) and PR2 (spring constant k2).
- the processor 30 corrects the position command CMp with the obtained correction amounts ⁇ 1 and ⁇ 3 in steps ST1 and ST2, respectively.
- FIG. 7 starts when the processor 30 receives an operation start command from an operator, a host controller, or an operation program.
- the processor 30 starts an operation to generate a command CM to the motor 16 according to the operation program.
- the motor 16 drives the driven body 22 according to the command CM, thereby causing the industrial machine 12 to perform predetermined work on the work.
- the processor 30 determines whether there is a command CM to drive the motor 16 to accelerate.
- this command CM is a command for accelerating the motor 16 after reversing the operating direction of the motor 16 .
- this command CM may be a command for rapidly accelerating the motor 16 in a stopped state (or in a low speed operating state).
- the driving force F acts stepwise on the plurality of elastic elements 18 and 20 as shown in FIGS. A plurality of stages ST1 and ST2 will occur in sequence.
- the processor 30 can recognize whether or not there is a command CM for accelerating the motor 16 (for example, reversing and accelerating). If the processor 30 determines YES, it proceeds to step S3, and if it determines NO, it proceeds to step S7.
- the motor 16 starts accelerating from the time when it is determined YES in step S2 (corresponding to time t0 in FIG. 6), and the state of the industrial machine 12 thereby shifts to step ST1.
- step S3 the processor 30 starts the correction amount calculation process CP1. Specifically, the processor 30 uses the elastic parameter PR1 (spring constant k1) and the force parameter FP (torque command CM ⁇ ) of the elastic element 18 to determine the correction amount ⁇ 1 for the elastic element 18 by the method described above. The processor 30 then corrects the command CM with the obtained correction amount ⁇ 1. A series of operations of calculating the correction amount ⁇ 1 and correcting the command CM are repeatedly executed during step ST1, for example, at a control period tc (or an integral multiple of the control period tc).
- the processor 30 starts the operation of acquiring the degree D of change of the force parameter FP with respect to time t. Specifically, the processor 30 repeatedly obtains, for example, the slope D1 of the torque command CM ⁇ as the degree of change D at the control period tc (or an integral multiple of the control period tc) using the method described above.
- step S5 the processor 30 determines whether or not the most recently acquired degree of change D exceeds a predetermined reference Dth . For example, when the slope D1 is obtained in step S4, the processor 30 determines whether the slope D1 has decreased beyond the reference value D th1 . If the processor 30 determines YES, it proceeds to step S6, and if it determines NO, it loops step S5. At the time when YES is determined in step S5 (corresponding to time t1 in FIG. 6), the state of the industrial machine 12 can be considered to have transitioned from stage ST1 to stage ST2.
- step S6 the processor 30 switches from the correction amount calculation process CP1 to the correction amount calculation process CP2.
- the processor 30 uses the method described above to determine the elastic parameters PR1 and PR2 (spring constants k1, k2, or composite spring constant ks) of the elastic elements 18 and 20 and the force parameter FP (torque command CM ⁇ , torque
- the correction amount ⁇ 3 is obtained using the command CM ⁇ 1 ).
- the processor 30 then corrects the command CM with the obtained correction amount ⁇ 3.
- a series of operations of calculating the correction amount ⁇ 3 and correcting the command CM are repeatedly performed during step ST2, for example, at the control period tc (or an integer multiple of the control period tc).
- step S7 the processor 30 determines whether or not an operation end command has been received from the operator, upper controller, or operation program. If the processor 30 determines YES, it ends the flow shown in FIG. 7, and if it determines NO, it returns to step S2.
- the step detection unit 46 detects that the step ST1 has shifted to the step ST2, and the correction amount calculation unit 42 detects that the step ST1 has shifted to the step ST2. Furthermore, the correction amount calculation process CP to be executed is switched from the correction amount calculation process CP1 based on the elasticity parameter PR1 to the correction amount calculation process CP2 based on the elasticity parameters PR1 and PR2.
- the processor 30 calculates the elastic parameters PR1 and PR2 used to obtain the correction amount ⁇ according to the steps ST1 and ST2 in which the driving force F generated by the motor 16 acts on the plurality of elastic elements 18 and 20 in sequence. is switching. According to this configuration, the correction amounts ⁇ 1 and ⁇ 3 suitable for each stage ST1 and ST2 can be obtained.
- the error ⁇ caused by the stepwise elastic deformation of the elastic elements 18 and 20 can be calculated with higher precision. , the positioning accuracy of the driven body 22 by the motor 16 can be greatly improved.
- the change acquisition unit 44 acquires the degree of change D (D1 to D10) of the force parameter FP with respect to time t, and the step detection unit 46 determines that the acquired degree of change D is the reference D th , it is detected that the stage ST1 has shifted to the stage ST2.
- the transition from stage ST1 to stage ST2 is conspicuously expressed as a change in the force parameter FP (for example, FIG. 6). And it can be detected in real time.
- the change acquiring unit 44 uses the gradient D1 of the force parameter D (for example, the torque command CM ⁇ , the acceleration command CM ⁇ , the force feedback F, the current feedback I, or the acceleration feedback ⁇ ) as the degree of change D. , D3, D5, D7 or D9. According to this configuration, the transition from stage ST1 to stage ST2 can be detected with higher accuracy.
- D1 of the force parameter D for example, the torque command CM ⁇ , the acceleration command CM ⁇ , the force feedback F, the current feedback I, or the acceleration feedback ⁇
- the command generator 40 reverses the operating direction of the motor 16 (that is, the driven body 22) (at time t0 in FIG. 6), and then generates a command CM for accelerating the motor 16. , thereby causing the state of the industrial machine 12 to transition from stage ST1 to stage ST2.
- stage ST1 to stage ST2 the transition from stage ST1 to stage ST2 described with reference to FIGS. Appears in That is, when the motor 16 is reversed, the error ⁇ ( ⁇ 1, ⁇ 2, ⁇ 3) is significantly generated. According to this embodiment, the error ⁇ that occurs when the motor 16 is reversed can be effectively canceled, and as a result, the positioning accuracy when the motor 16 is reversed can be effectively improved.
- processor 30 may substitute the most recently obtained torque command CM ⁇ in place of the difference ⁇ in equations (2), (3) and (5) above.
- the processor 30 corrects the torque command CM ⁇ so as to remove the influence of the inertia of the elastic element 18 and the like, and substitutes it into the equation (1) to obtain the correction amount ⁇ 1 you may ask. Further, regarding the above equations (2), (3) and (5), the processor 30 corrects the torque command CM ⁇ so as to remove the influence of the inertia of the elastic elements 18 and 20, etc., and then corrects the equation ( The correction amount ⁇ 3 may be obtained by substituting in 2) and (3) or equation (5).
- processor 30 may substitute a value obtained by multiplying the acceleration feedback ⁇ by the mass m1 of the elastic element 18: ⁇ m1 instead of the torque command CM ⁇ in the above equation (1).
- processor 30 applies mass m1 of elastic element 18 and elastic A value obtained by multiplying the sum of the masses m2 of the elements 20: (m1+m2) ⁇ may be substituted.
- the industrial machine 12 is approximated as a machine model in which two springs (elastic elements 18 and 20) are connected in series as shown in FIGS.
- a case of obtaining the correction amount ⁇ from the equations (1) to (5) has been described.
- the above equations (1) to (5) are only examples, and the industrial machine 12 is approximated as a more complex machine model using, for example, the elastic moduli G1 and G2 as the elastic parameters PR1 and PR2. It is also possible to obtain the correction amount ⁇ based on a theoretical formula representing a mechanical model.
- FIG. 8 the processor 30 functions as an operation amount acquisition section 48 instead of the change acquisition section 44 described above.
- the functions of the control device 14 according to this embodiment will be described below with reference to FIG. In the flow shown in FIG. 9, the same step numbers are assigned to the same processes as those in the flow of FIG. 7, and overlapping explanations are omitted.
- step S4' the processor 30 starts the process of acquiring the operation amount MA of the motor 16 from the time when YES was determined in step S2 (time t0 in FIG. 6).
- the time (time t0) when YES is determined in step S2 is the time when the motor 16 starts operating in accordance with the command CM for accelerating the motor 16 after reversing.
- the processor 30 obtains the position feedback P0 from the sensor 24 at the beginning of step S4' (that is, at time t0 when step S2 determined YES). Thereafter, processor 30 repeatedly obtains position feedback Pn from sensor 24 during stage ST1, eg, at control period ts.
- the processor 30 calculates the motor position from the time t0 based on the difference between the acquired position feedback Pn and the position feedback P0 acquired at the start time t0 of step S4'. 16 motion quantities MA n are obtained.
- This movement amount MAn may be, for example, the rotation angle of the output shaft 16a of the motor 16, or may be the movement distance in the direction of the axis A converted from the rotation angle.
- the processor 30 functions as an operation amount acquiring section 48 that acquires the operation amount MAn of the motor 16 from time t0.
- step S5′ the processor 30 determines whether or not the most recently acquired motion amount MA n has reached a predetermined threshold value MA th (MA n ⁇ MA th ).
- MA th rotational angle or movement distance
- the driving force F acts on the elastic element 20 through the elastic element 18 from time t0 when the motor 16 starts to drive the driven body 22 leftward.
- the operation amount MA th (rotational angle) of the motor 16 up to the time t1 when the spring of the elastic element 20 begins to expand can be obtained in advance through experiments or the like.
- the timing (time t1) at which stage ST1 transitions to stage ST2 can be detected. .
- the processor 30 functions as the stage detection unit 46, and determines whether or not the most recently acquired motion amount MA n has reached the threshold value MA th (MA n ⁇ MA th ). On the other hand, if NO is determined, step S5' is looped. When the determination in step S5' is YES, the state of the industrial machine 12 can be considered to have transitioned from stage ST1 to stage ST2. After determining YES in step S5′, processor 30 executes steps S6 and S7 described above.
- the stage detection unit 46 moves from stage ST1 to stage ST2 when the amount of motion MA n acquired by the amount of motion acquiring unit 48 reaches the predetermined threshold value MA th . to detect
- the degree of change D changes greatly at time t1.
- the amount of change in the degree of change D (inclination) is small.
- the degree of change D makes it difficult to detect the transition from stage ST1 to stage ST2.
- the shift from stage ST1 to stage ST2 can be detected from the operation amount MAn of the motor 16 . Therefore, even if the speed V (speed command CMv), torque command CM ⁇ , or acceleration command CM ⁇ is small, the transition from stage ST1 to stage ST2 can be reliably detected.
- the processor 30 may execute step S3 after executing step S4′.
- FIG. Controller 14 ′ is applicable to industrial machine system 10 and controls industrial machine 12 in place of controller 14 described above.
- the control device 14 ′ differs from the control device 14 described above in that it further has a timer 38 .
- a clock unit 38 is connected to the processor 30 via the bus 36 and clocks the elapsed time from an arbitrary time according to instructions from the processor 30 .
- the processor 30 functions as an elapsed time acquisition section 50 instead of the change acquisition section 44 or the movement amount acquisition section 48 described above.
- the functions of the control device 14' according to this embodiment will be described below with reference to FIG. In the flow shown in FIG. 11, the same step numbers are given to the same processes as in the flow of FIG. 7, and overlapping explanations are omitted.
- step S4′′ the processor 30 starts counting the elapsed time te from the time (time t0) when it is determined YES in step S2. , a command is sent to the clock unit 38, and the clock unit 38 starts clocking the elapsed time te from the time t0 according to the command.
- step S5′′ the processor 30 determines whether or not the elapsed time te measured by the timer 38 has reached a predetermined threshold value t th (te ⁇ t th ).
- the time t th from stage ST1 to stage ST2 until time t1 corresponds to the command CM (position command CMp, speed command CMv, torque command CM ⁇ , etc.) supplied to the motor 16 during stage ST1. ), in other words, this time t th (duration of step ST1) can be obtained in advance, for example by using empirical methods, if the command CM is known.
- the memory 32 pre-stores a data table TA in which the command CM and the time t th are stored in association with each other, and the processor 30 controls the motor 16 during step ST1 from the command statement defined in the operating program OP.
- the time t th can be obtained by obtaining the supplied command CM and searching the data table TA for the time t th corresponding to the command CM.
- the timing (time t1) at which the stage ST1 shifts to the stage ST2 can be detected.
- the processor 30 functions as a stage detection unit 46 and determines whether or not the elapsed time te has reached the threshold value t th (te ⁇ t th ). If so, step S5′′ is looped. When the determination is YES in step S5′′, the state of the industrial machine 12 can be considered to have transitioned from stage ST1 to stage ST2. After determining YES in step S5′′, processor 30 executes steps S6 and S7 described above.
- the stage detector 46 detects that the stage ST1 has shifted to the stage ST2 when the elapsed time te reaches the predetermined threshold value tth . According to this configuration, even if the speed V (speed command CMv), torque command CM ⁇ , or acceleration command CM ⁇ of the motor 16 in step ST1 is small, the transition from step ST1 to step ST2 can be reliably detected. Note that the processor 30 may execute step S3 after executing step S4′′.
- the degree of change D is effective for detecting the transition from stage ST1 to stage ST2.
- the velocity V (velocity command CMv), torque command CM ⁇ , or acceleration command CM ⁇ is relatively large, the degree of change D is effective for detecting the transition from stage ST1 to stage ST2.
- the velocity V (velocity command CMv), torque command CM ⁇ , or acceleration command CM ⁇ is relatively small, in order to detect the transition from stage ST1 to stage ST2, the operation amount MA or the elapsed time te is becomes valid.
- the processor 30 determines the parameters used by the step detector 46 to detect the transition from step ST1 to step ST2 as the degree of change D and the amount of movement MA ( or elapsed time te).
- the processor 30 determines the parameters used by the step detector 46 to detect the transition from step ST1 to step ST2 as the degree of change D and the amount of movement MA ( or elapsed time te).
- the processor 30 of the control device 14' includes a command generation unit 40, a correction amount calculation unit 42, a change acquisition unit 44, a step detection unit 46, an operation amount acquisition unit 48, and It functions as the elapsed time acquisition unit 50 and executes the flow shown in FIG.
- the same step numbers are assigned to the same processes as those in the flows of FIGS. 7 and 9, and overlapping explanations are omitted.
- step S11 the processor 30 determines whether the degree of change D is effective as a parameter for detecting transition from stage ST1 to stage ST2. As an example, the processor 30 determines whether or not the most recently acquired speed feedback V, speed command CMv, torque command CM ⁇ , or acceleration command CM ⁇ is equal to or greater than a predetermined threshold value ⁇ .
- the processor 30 determines that the degree of change D is valid (that is, YES), and proceeds to step S4. , if the determination is NO, the process proceeds to step S4'.
- step S11 If the determination in step S11 is YES, the processor 30 functions as the change acquisition unit 44 and executes steps S4 and S5 described above, thereby detecting transition from stage ST1 to stage ST2 based on the degree of change D. do. On the other hand, if the determination in step S11 is NO, the processor 30 functions as the operation amount acquisition unit 48 and executes the above-described steps S4' and S5', thereby shifting from stage ST1 to stage ST2 based on the operation amount MA. Detect transitions in
- the processor 30 determines whether or not the degree of change D is valid, and uses the determination result to detect the transition from stage ST1 to stage ST2.
- the parameter is switched between the degree of change D and the amount of motion MA. According to this configuration, if the degree of change D is effective, the processor 30 can detect the transition from stage ST1 to stage ST2 with high accuracy by monitoring the degree of change D. If D is not valid, the transition from stage ST1 to stage ST2 can be reliably detected by monitoring the amount of motion MA.
- step S11 determines NO
- the processor 30 functions as the elapsed time acquisition unit 50 instead of steps S4′ and S5′ to perform steps S4′′ and S5′′ described above. and detect the transition from stage ST1 to stage ST2 based on the elapsed time te.
- An elastic parameter acquisition process may be performed to obtain the spring constant k2).
- the processor 30 operates the motor 16 according to the command CM0 for reversing the operating direction of the motor 16 and then accelerating the motor 16, thereby causing the moving direction of the driven body 22 to is reversed, the driven body 22 is accelerated.
- Spring constants k1 and k2 can be obtained based on the torque command CM ⁇ or force feedback F1 at this time and the position feedback P, respectively.
- step S2 instead of determining whether there is a command CM for acceleration, the processor 30 determines whether the operating direction of the motor 16 has reversed based on the position feedback P, for example.
- the industrial machine 12 also has a sensor 24' for obtaining the position P of the driven body 22, and the processor 30 may obtain the position P of the driven body 22 from the sensor 24' as the position feedback P. good.
- the processor 30 may obtain the load torque applied to the motor 16 instead of the current feedback I. This load torque also constitutes the force parameter FP mentioned above.
- the processor 30 corrects the position command CMp with the correction amount ⁇ 3.
- the present invention is not limited to this, and the processor 30 may correct the speed command CMv with the obtained correction amount ⁇ .
- the industrial machine 12 has the motor 16 and the elastic element 18 (ball screw) for driving the driven body 22 in one axis (axis A) direction is described.
- the industrial machine 12 may be configured to drive the driven body 22 in directions of two axes orthogonal to each other.
- the industrial machine 12 includes a motor 16A and an elastic element 18A that drive a driven body 22 in the direction of a first axis (eg, axis A), and an elastic actuator interposed between the driven body 22 and the elastic element 18A.
- the processor 30 executes the process of detecting the transition from the stage ST1 to the stage ST2 and the process of switching the correction amount calculation process CP for each of the motors 16A and 16B by the method described above.
- the driving force F generated by the motor 16 is first The elastic element, the second elastic element, . . . the nth elastic element, the n+1th elastic element, .
- the state of the industrial machine 12 sequentially shifts to the first stage ST1, the second stage ST2, . . . the nth stage STn, the n+1th stage STn+1, .
- the processor 30 functions as the stage detection unit 46, and according to the method described above, the driving force F generated by the motor 16 in response to the command CM is detected by the nth elastic element (specifically, the first elastic element, the second from the nth stage STn acting on the nth elastic element) to the n+1th stage STn+1 where the driving force F acts on the n+1th elastic element through the nth elastic element Detect transitions.
- the processor 30 When detecting the transition from the n-th stage STn to the n+1-th stage STn+1, the processor 30 functions as the correction amount calculation unit 42, and performs the correction amount calculation processing CP by the above-described method to the n-th elastic An elastic parameter PRn+1 and an elastic parameter PRn (specifically is switched to the (n+1)th correction amount calculation process CPn+1 based on the elastic parameters PR1, PR2, . . . PRn, PRn+1).
- the processor 30 calculates the combined spring constant of the first elastic element, the second elastic element, . . . Ks is obtained from equation (6) below.
- the processor 30 substitutes the most recently obtained difference ⁇ and the combined spring constant ks obtained from the equation (6) into the above equation (5) to obtain the first elastic element, the second elastic element, . . , the correction amount ⁇ 3 for the (n ⁇ 1)-th elastic element and the n-th elastic element can be obtained. It should be understood that the processor 30 can obtain the correction amount ⁇ 3 in the same manner in the (n+1)th correction amount calculation process CPn+1 as well.
- the motor 16 may be a linear motor.
- the elastic element 18 may be an armature propelled by the field element of the motor 16 .
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Abstract
Description
β1=CMτ/k1 ・・・(1)
β1’=Δτ/k1 ・・・(2)
β2=Δτ/k2 ・・・(3)
1/ks=1/k1+1/k2 ・・・(4)
β3=Δτ/ks=Δτ(1/k1+1/k2) ・・・(5)
1/ks=Σ(1/kn)=1/k1+1/k2・・・+1/kn ・・・(6)
12 産業機械
14,14’ 制御装置
16 モータ
18,20 弾性要素
22 被駆動体
30 プロセッサ
40 指令生成部
42 補正量演算部
44 変化取得部
46 段階検出部
48 動作量取得部
50 経過時間取得部
Claims (13)
- 複数の弾性要素を介して被駆動体に接続され、該被駆動体を駆動するモータを制御する制御装置であって、
前記モータを加速するように動作させるための指令を生成する指令生成部と、
前記弾性要素の弾性を表す弾性パラメータに基づいて前記指令の補正量を求める補正量演算処理を実行する補正量演算部と、
前記指令に応じて前記モータが発生した駆動力が第1の前記弾性要素に作用する第1の段階から、該駆動力が該第1の弾性要素を通して第2の前記弾性要素に作用する第2の段階へ移行したことを検出する段階検出部と、を備え、
前記補正量演算部は、前記第1の段階から前記第2の段階への移行が検出されたときに、実行する前記補正量演算処理を、前記第1の弾性要素の第1の前記弾性パラメータに基づく第1の前記補正量演算処理から、前記第2の弾性要素の第2の前記弾性パラメータと前記第1の弾性パラメータとに基づく第2の前記補正量演算処理へ切り換える、制御装置。 - 前記駆動力を示す力パラメータの時間に対する変化の度合いを取得する変化取得部をさらに備え、
前記段階検出部は、前記変化取得部が取得した前記変化の度合いが予め定めた基準を超えたときに、前記第1の段階から前記第2の段階へ移行したことを検出する、請求項1に記載の制御装置。 - 前記力パラメータは、前記指令、又は該指令に応じて前記モータを動作させているときに供給されるフィードバックを有し、
前記指令は、前記駆動力を規定するトルク指令、又は前記モータの加速度を規定する加速度指令を有し、
前記フィードバックは、前記駆動力に対応する力フィードバック、前記加速度に対応する加速度フィードバック、又は前記モータに供給される電流を示す電流フィードバックを有する、請求項2に記載の制御装置。 - 前記変化取得部は、前記変化の度合いとして、前記力パラメータの傾きを取得する、請求項2又は3に記載の制御装置。
- 前記モータが前記指令に従って動作を開始した時点からの該モータの動作量を取得する動作量取得部をさらに備え、
前記段階検出部は、前記動作量が予め定めた閾値に達したときに、前記第1の段階から前記第2の段階へ移行したことを検出する、請求項1に記載の制御装置。 - 前記モータが前記指令に従って動作を開始した時点からの経過時間を取得する経過時間取得部をさらに備え、
前記段階検出部は、前記経過時間が予め定めた閾値に達したときに、前記第1の段階から前記第2の段階へ移行したことを検出する、請求項1に記載の制御装置。 - 前記指令生成部は、前記モータの動作方向を反転させた後に該モータを加速するための前記指令を生成する、請求項1~6のいずれか1項に記載の制御装置。
- 前記弾性パラメータは、前記弾性要素のバネ定数を有し、
前記補正量演算部は、前記第1の補正量演算処理において、前記第1の弾性要素の第1の前記バネ定数と、前記駆動力を示す力パラメータとを用いて、前記第1の弾性要素に関する第1の前記補正量を求める、請求項1~7のいずれか1項に記載の制御装置。 - 前記補正量演算部は、前記第2の補正量演算処理において、
前記第1の補正量を求めるとともに、前記第2の弾性要素の第2の前記バネ定数と前記力パラメータとを用いて、前記第2の弾性要素に関する第2の前記補正量を求め、
前記第1の補正量と前記第2の補正量との和を、前記第1の弾性要素及び前記第2の弾性要素に関する第3の前記補正量として求める、請求項8に記載の制御装置。 - 前記補正量演算部は、前記第2の補正量演算処理において、前記第1の弾性要素の第1の前記バネ定数と前記第2の弾性要素の第2の前記バネ定数との合成バネ定数と、前記力パラメータと、を用いて、前記第1の弾性要素及び前記第2の弾性要素に関する第2の前記補正量を求める、請求項8に記載の制御装置。
- 前記指令は、前記被駆動体の位置を規定する位置指令を有し、
前記補正量演算部は、前記位置指令を補正するための前記補正量を求める、請求項1~10のいずれか1項に記載の制御装置。 - 被駆動体と、
複数の弾性要素を介して前記被駆動体に接続され、該被駆動体を駆動するモータと、
請求項1~11のいずれか1項に記載の制御装置と、を備える、産業機械システム。 - 複数の弾性要素を介して被駆動体に接続され、該被駆動体を駆動するモータを制御する方法であって、
プロセッサが、
前記モータを加速するように動作させるための指令を生成し、
前記弾性要素の弾性を表す弾性パラメータに基づいて前記指令の補正量を求める補正量演算処理を実行し、
前記指令に応じて前記モータが発生した駆動力が第1の前記弾性要素に作用する第1の段階から、該駆動力が該第1の弾性要素を通して第2の前記弾性要素に作用する第2の段階へ移行したことを検出し、
前記第1の段階から前記第2の段階への移行を検出したときに、実行する前記補正量演算処理を、前記第1の弾性要素の第1の前記弾性パラメータに基づく第1の前記補正量演算処理から、前記第2の弾性要素の第2の前記弾性パラメータと前記第1の弾性パラメータとに基づく第2の前記補正量演算処理へ切り換える、方法。
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JP2018139044A (ja) * | 2017-02-24 | 2018-09-06 | ファナック株式会社 | サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム |
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JP2018139044A (ja) * | 2017-02-24 | 2018-09-06 | ファナック株式会社 | サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム |
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