WO2023276198A1 - モータ制御装置 - Google Patents
モータ制御装置 Download PDFInfo
- Publication number
- WO2023276198A1 WO2023276198A1 PCT/JP2021/046102 JP2021046102W WO2023276198A1 WO 2023276198 A1 WO2023276198 A1 WO 2023276198A1 JP 2021046102 W JP2021046102 W JP 2021046102W WO 2023276198 A1 WO2023276198 A1 WO 2023276198A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- controller
- control device
- command
- speed
- output
- Prior art date
Links
- 238000013016 damping Methods 0.000 claims abstract description 92
- 230000004044 response Effects 0.000 claims abstract description 61
- 239000000284 extract Substances 0.000 claims abstract description 5
- 230000005284 excitation Effects 0.000 claims description 19
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 230000001629 suppression Effects 0.000 description 6
- 230000003111 delayed effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000003623 enhancer Substances 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004904 shortening 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/18—Controlling the angular speed together with angular position or phase
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
Definitions
- the present invention relates to a motor control device.
- the machine end When driving a controlled machine with a semi-closed configuration motor control system, If the rigidity of the machine is low, the end of the machine (hereinafter referred to as the machine end) vibrates at a low frequency of several Hz to 100 Hz due to the resonance and anti-resonance characteristics of the machine, and the desired response characteristics cannot be achieved. Sometimes.
- Vibration suppression control is generally achieved by processing a control command, and a known method is to remove frequency components that excite machine end vibrations from the control command.
- JP-A-2003-200000 discloses a method for suppressing vibrations at the end of a machine even when the resonance/anti-resonance characteristics of the machine change by switching between two damping filters in response to a position command.
- a notch filter is mentioned as an example of a vibration filter.
- damping control can be achieved by processing the position command using a notch filter or the like.
- the host system control device that generates the position command includes the position controller, and the servo motor control device takes charge of the speed control system, which is a minor loop.
- Patent Document 1 the damping filter 3, the filter switching means 9, and the command direction detecting means 4, which contribute to damping control, are configured to realize damping control by the host system control device in FIG. Therefore, in Patent Literature 1, damping control is not realized within the servo motor control device responsible for the speed control system.
- the present invention relates to a motor control system having a semi-closed configuration, in which a host system control device includes a position controller, and vibration suppression control is realized in a motor control device responsible for a speed control system. It is an object of the present invention to provide a motor control device capable of improving the response delay of a motor.
- the present invention provides a motor control device included in a position control system that controls the position of a machine end connected to a motor,
- the motor control device receiving a first speed command from a host system control device; incorporated in the position control system so as to output a position response of the motor shaft to the host system control device; a speed controller; and a damping controller in the speed control system
- the damping controller in the speed control system is a position command estimator that calculates an estimated value of the position command based on the first speed command and the position response of the motor shaft; a parallel damping controller that extracts a frequency component that excites vibration of the machine end contained in the first speed command based on the estimated value of the position command and outputs the extracted frequency component; a phase adjuster that improves a response delay caused by the parallel damping controller; a first unity converter that converts the output of the phase adjuster to the dimension of velocity; and a computing unit,
- the calculator is The output of the parallel damping controller is subtracted from the first speed command to remove the frequency
- the response delay peculiar to damping control can be improved and the positioning time can be shortened when damping control is realized in the motor control device that is responsible for the speed control system.
- FIG. 2 is a diagram showing a first basic configuration of Example 1; The figure which shows the structure which consists of a host system control apparatus and a servomotor control apparatus.
- FIG. 2 is a diagram for explaining a configuration that is a premise of the first embodiment;
- FIG. 4 is a diagram showing frequency characteristics of a vibration excitation component extractor;
- FIG. 4 is a diagram showing frequency characteristics of a phase adjuster;
- FIG. 4 is a diagram showing frequency characteristics at the machine end;
- FIG. FIG. 10 is a diagram for explaining a configuration that is a premise of the second embodiment;
- FIG. 13 is a diagram showing the effect of damping control in the configuration of FIG. 12;
- FIG. 13B is a partially enlarged view of FIG. 13A.
- FIG. 3 shows a technique for realizing damping control within the servo motor control device 301 without processing the position command.
- the servo motor control device 301 of FIG. 3 has a position command estimator 9, a parallel damping controller 10, a speed controller 20, a position/speed calculator 21, a current control system 207 and an adder/subtractor 304.
- the feature is that the speed command 303 obtained from the control device 201 is processed.
- the parallel damping controller 10 comprises a vibration excitation component extractor and a unit converter, and excites the vibration of the machine end 204 from the position command estimated value 13 obtained from the position command estimator 9.
- a frequency component is extracted by a vibration excitation component extractor, converted into a unit of speed by a unit converter, and the vibration excitation component is removed from the speed command 303, thereby suppressing machine-end vibration.
- the vibration excitation component extractor in the parallel damping controller 10 corresponds to a line enhancer (LE) as a filter that can extract the frequency component that excites machine end vibration from the position command estimator 9 without a phase delay.
- L line enhancer
- W is the extraction width
- L is the parameter responsible for the extraction power level
- ⁇ n is the extraction frequency [rad/s].
- s is a Laplacian operator (hereinafter s means a Laplacian operator).
- the vertical axis in the upper part of FIG. 4 is Magnitude (amplitude of frequency to be extracted), and the horizontal axis is Frequency (frequency of waveform to be extracted).
- the vertical axis in the lower part of FIG. 4 is Phase (phase of frequency to be extracted), and the horizontal axis is Frequency (frequency of waveform to be extracted).
- a phase delay occurs in a frequency band of ⁇ n or less, and while vibration of the machine end can be suppressed, sufficient response characteristics cannot be obtained, and the positioning time cannot be sufficiently shortened in some cases.
- feedback may be abbreviated as "FB” and “feedforward” as "FF".
- FIG. 1 shows the configuration of the damping controller 15 in the speed control system of this embodiment.
- a phase adjuster 1, an adder/subtractor 3, an adder/subtractor 17, and a unit converter 12 are added.
- This embodiment is based on the assumption that the motor control system is composed of a host system control device 201 and a servomotor control device 301 as shown in FIG.
- a servo motor control device 301 of this embodiment is included in a position control system that controls the position of a machine end connected to a motor.
- a host system control device 201 generates a position command 24, includes a position controller 22, receives a motor shaft position response 23 from a servo motor control device 301, and performs position control based on the position command 24 and the motor shaft position response 23.
- a speed command 14 is generated by the device 22 and output to the servo motor control device 301 .
- the position command 24 may be given from the outside of the host system control device 201 from another host device or the like.
- a servo motor control device 301 of this embodiment includes a speed controller 20 responsible for a speed control system, a current control system 207, a position/speed calculator 21, and a damping controller 15 in the speed control system.
- a speed command 14 is received from 201 to control the speed of the motor.
- the position of the shaft is calculated, and this is used as the position response 23 of the motor shaft.
- the servo motor control device 301 has a CPU (Central Processing Unit). Position command estimator 9, parallel damping controller 10, damping controller 302 in speed control system including processing units such as adder/subtractor 304, speed controller 20, position/speed calculator 21, current control system 207 For example, the processing of each processing unit is executed by the CPU reading out the program and executing the program. Hardware such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array) can also configure all or part of each processing unit.
- the host system control device 201 has a CPU, and the CPU executes a program corresponding to the position controller 22 .
- the position controller 22 of the host system control device 201 does not include damping control, the damping control is realized inside the servo motor control device 301, and the response delay peculiar to the damping control is improved.
- the vibration suppression controller 15 in the speed control system is the vibration suppression controller of this embodiment for achieving it.
- Damping control is realized by processing the speed command 14 .
- S1 Ascertaining/estimating position command
- S2 Extracting frequency components that excite machine end vibration from the ascertaining/estimating position command
- S3 Generating a speed command that does not include the frequency component extracted in S2, and generating a speed command for the speed controller
- Step S1 is realized by the position command estimator 9.
- FIG. An example of the implementation means is the following formula.
- the position command estimator 9 adds the signal obtained by processing the first speed command 14 with the estimation filter and the position response 23 of the motor shaft in the third adder/subtractor according to the equation (2) to obtain the position command. Output as an estimate.
- Fp is an estimation filter that matches the inverse characteristics of the position controller 22.
- the position controller 22 is a P controller
- Fp is the inverse characteristic of the P controller, that is, the inverse of the P gain.
- Step S2 is realized by the vibrational excitation component extractor 11.
- the vibrational excitation component extractor 11 is a line enhancer (LE) as a filter, and the line enhancer has the function of equation (1) already described.
- Step S3 is implemented by the unit converter 12 and the adder/subtractor 16.
- the unit of the output of the vibration excitation component extractor 11 is converted from the position to the velocity by the unit converter 12 and removed from the velocity command 14 by the adder/subtractor 16. By doing so, it is possible to realize the speed command 8 that does not include frequency components that excite machine end vibration.
- An example of the unit converter 12 is the position controller 22 included in the host control device 201 .
- the position controller 22 plays a role of generating a speed command based on the position command 24 and the deviation between the position command 24 and the position response 23 of the motor shaft. Therefore, the damping controller 15 in the speed control system can play the role of the unit converter 12 .
- LE in equation (1) of the vibration excitation component extractor 11 can extract the frequency component that excites machine end vibration from the position command estimated value 13 without phase delay.
- the LE has the feature of advancing the phase in a band lower than the frequency ⁇ n [rad/s] to be extracted (however, the maximum amount of phase advance is ⁇ /2 [rad/s]).
- the sine wave Sc(t ) is a sine wave of frequency ⁇ whose phase is always delayed with respect to the sine wave of frequency ⁇ . Note that the amount of phase delay tends to increase when ⁇ is large.
- the sine wave Sc(t ) is a sine wave of frequency ⁇ whose phase always leads with respect to the sine wave of frequency ⁇ .
- This embodiment uses the principles of formulas (6) to (8) to improve the response delay specific to damping control.
- Equation (1) is adopted in the parallel damping controller 10 of FIG. Therefore, due to the characteristics of the LE, frequency components lower than the frequency ⁇ n (assumed to be ⁇ L) are advanced by the LE. Since the frequency component of the frequency ⁇ L whose phase is advanced by the LE with respect to the frequency component of the frequency ⁇ L of the velocity command 14 is subtracted by the adder/subtractor 16, from the principles of the equations (3) to (5), the adder/subtractor 16 The frequency component of frequency ⁇ L in output 8 always lags the same frequency component of speed command 14 . Especially when ⁇ L is close to ⁇ n, the gain is high (that is, ⁇ is large) due to the characteristics of LE. Therefore, when ⁇ L is closer to ⁇ n, the phase delay amount becomes more pronounced.
- This embodiment uses the phase adjuster 1, the adder/subtractor 3, the unit converter 12, and the adder/subtractor 17 in FIG.
- the output 2 of the adder/subtractor 3 is a position command (estimated value) from which the frequency that excites the machine end vibration is removed from the property of the vibration excitation component extractor 11. However, the frequency component lower than the frequency ⁇ n is output 8 , the phase is delayed from position command estimated value 5 (position command estimated value 13).
- the phase adjuster advances the frequency component delayed due to the vibration excitation component extractor 11 , converts the unit from position to velocity with the unit converter 12 , and then adds it to the output 8 with the adder/subtractor 17 .
- the phase delay of the output 8 which has a phase delay in frequency components lower than ⁇ n due to the vibration excitation component extractor 11, can be advanced.
- the response delay peculiar to damping control can be improved.
- the speed command 18 (hereinafter referred to as the actual speed command 18) is obtained by improving the speed command delay.
- the actual speed command 18 is the speed command of the speed controller 20, Since the output 2 does not contain a frequency component that excites machine end vibration, the actual speed command 18 obtained by adding the output 7 of the unit converter 12 to the output 8 by the adder/subtractor 17 is , Note that the speed command has a damping effect that does not excite machine-end vibration.
- phase adjuster 1 is a first-order high-pass filter (HPF) shown below.
- ⁇ h is the cutoff frequency [rad/s] and h (>1) is the adjustment gain.
- the vertical axis in the upper part of FIG. 5 is Magnitude (amplitude of frequency in HPF), and the horizontal axis is Frequency (frequency of waveform in HPF).
- the vertical axis in the lower part of FIG. 5 is Phase (frequency phase in HPF), and the horizontal axis is Frequency (waveform frequency in HPF).
- the phase advances by ⁇ /4 [rad/s] at the frequency ⁇ h, and the phase advances by ⁇ /2 [rad/s] at the maximum in the band lower than the frequency ⁇ h.
- the gain it has a characteristic that the gain increases by 20 ⁇ log10(h) in the high frequency range.
- ⁇ a is the machine end vibration frequency [rad/s]
- ⁇ a is the damping coefficient
- the vertical axis in the upper part of FIG. 6 is Magnitude (amplitude of frequency in AR), and the horizontal axis is Frequency (frequency of waveform in AR).
- the vertical axis in the lower part of FIG. 6 is Phase (frequency phase in AR), and the horizontal axis is Frequency (waveform frequency in AR).
- AR has a characteristic that the phase is delayed and the gain is attenuated in the higher region than ⁇ a. Therefore, in the HPF, ⁇ h and h are defined as ⁇ h( ⁇ a, ⁇ a) and h( ⁇ a, ⁇ a) as functions of AR, and ⁇ h( ⁇ a, ⁇ a)> ⁇ a to actively advance the phase in the high frequency range, and h By setting ( ⁇ a, ⁇ a)>2 and positively increasing the gain in the high frequency range, the effect of improving the response delay associated with AR characteristics in addition to the response delay peculiar to damping control can be expected.
- the filter parameters of the phase adjuster are set based on the machine end vibration characteristics (vibration frequency and vibration damping coefficient).
- a host system control device includes a position controller and means for realizing damping control in a motor servo control device responsible for a speed control system.
- FIG. 7 shows the configuration of the damping controller 71 in the speed control system of this embodiment, in which an FF controller 72, an adder/subtractor 73, and an adder/subtractor 79 are added to the first embodiment. is the difference. Descriptions of the same contents as in the first embodiment are omitted.
- FIG. 8 shows the configuration of the damping controller 81 in the speed control system, which is the premise of this embodiment.
- the FF controller 85 is provided for the purpose of improving response characteristics when the position controller 22 of the host system control device does not include an FF controller.
- the FF controller 85 is intended to improve the response delay of the FB loop caused by the FB controller included in the position controller 22, and is not introduced to improve the response delay peculiar to damping control. .
- the FF controller 72 in this embodiment has the same role as the FF controller 85 in FIG. be.
- the FF controller in the position control system can be simply configured by the product of the scalar gain and the differentiator s.
- the position controller may be provided with an FF controller as shown in FIG.
- FIG. 9 is a diagram showing a specific configuration of a two-degree-of-freedom controller with a general FF controller.
- the input 94 of the FF controller is the position command.
- a controlled object response 96 is a controlled object response such as the output from the position/velocity calculator 21 in FIG.
- the input to the FB controller 92 is the difference between the position command 94 and the controlled object response 96 .
- the output 97 of the position controller is the velocity command. Therefore, the FF controller 93 has the property that the input can be the unit of position and the output can be the unit of velocity.
- the FB controller 92 in FIG. 9 is often a P controller, so the FB controller 92 may simply have a scalar gain (denoted as ⁇ p). Note that the position controller 22 of FIG. 7 is also a P controller with a gain ⁇ p at this time.
- the FF controller 103 When configuring the model matching two-degree-of-freedom control 100 with a position controller, it is sufficient to provide the FF controller 103 as shown in FIG.
- the FF controller 103 and the reference model 101 are represented by FFM and M, respectively, and the following equations may be obtained.
- ⁇ f is a parameter that defines desired response characteristics, and is generally designed as ⁇ p ⁇ f.
- the FF controller 72 in FIG. 7 can adopt the FF controller 93 in FIG. Furthermore, the FF controller 72 can also be the FF controller in the model matching two-degree-of-freedom control 100 of FIG. However, in that case, the FF controller 72 does not directly use the FF controller 103 of FIG. 10 but uses the following equation. This is the FF controller 93 when the block configuration of FIG. 10 is transformed into the form of FIG.
- the FF controller 72 in FIG. 7 is interpreted as the product of the high-pass filter HPFF and the position controller 22 when model matching two-degree-of-freedom control is employed. Furthermore, it can be interpreted as the product of the high-pass filter HPF F and the unit converter 12 .
- the cutoff frequency is ⁇ f
- the filter parameters of the feedforward controller are set based on the machine end vibration characteristics (vibration frequency and vibration damping coefficient).
- the FF controller 72 when adopting the FF controller 72 configured by equation (13), in the configuration of FIG. It can be seen that the FF controller 72 provides a speed command 76 with improved predetermined phase characteristics due to similar phase lead characteristics. Since this phase advance characteristic plays a role of the FF controller of the position control system, it does not improve the response delay peculiar to the damping control, but the FB caused by the FB controller included in the position controller 22. It plays the role of improving the response delay of the loop.
- the reason why the input 74 of the FF controller is obtained by adding the input 2 and the output 6 of the phase adjuster 1 by the adder/subtractor 73 is that the output 77 of the FF controller 72 excites machine end vibration. This is because the output 77 receiving the same phase adjustment result as the speed command 78 receiving the phase adjustment result of the phase adjuster 1 should act on the speed command 78 via the adder/subtractor 79 .
- the host system controller includes the position controller
- the motor controller includes means for realizing damping control in the motor servo controller responsible for the speed control system.
- Equation (13) defines a desired response characteristic in the FF control, and ⁇ p is the control gain of the position controller 22. Therefore, the parameters included in equation (13) are uniquely determined, and the machine end vibration response characteristic AR It is designed independently of However, hf in equation (13) may be regarded as an adjustment gain, and ⁇ p of hf may be adjusted.
- the motor control device assumes application to a cascade position FB control system 1100 for an AC servomotor composed of a host system control device and a servomotor control device, as shown in FIG.
- FIG. 12 is a diagram showing a cascade position FB control system 1200 for an AC servomotor according to the third embodiment.
- FIG. 12 shows a case in which the damping controller 15 within the speed control system shown in FIG. 1 is applied to FIG. Descriptions of the same contents as in the first embodiment are omitted.
- the cascaded position FB control system for the AC servomotor of FIG. A first coordinate converter 134 for coordinate conversion to a 3-phase coordinate system, a second coordinate converter 1310 for coordinate conversion from a 3-phase coordinate system to a dq coordinate system, and a PWM output for inputting a 3-phase voltage command and outputting a PWM pulse.
- the damping controller 15 in the velocity control system receives the position response of the motor shaft calculated by the position/velocity calculator 1311 from the output of the encoder 139 and the position operation amount from the position controller 1315 . It outputs a motor shaft position response and outputs a speed command to the speed controller 132 .
- the current control system is approximately 1 (the operation amount of the speed controller is 1) directly to the machine part (rotor)). Therefore, the controlled object of the speed controller 132 is the mechanical part (rotor) of the motor and the machine 1313 coupled to the rotor of the motor, which corresponds to the controlled object of the speed controller 20 in FIG.
- the speed control system is approximately regarded as 1 in the position control system.
- the damping controller 15 in the speed control system is located in the preceding stage in the speed control system, processes the speed command output from the host system control device, and generates a command for the speed controller 132 .
- the controlled object can be regarded as a two-inertia system in which the machine 1313 and the rotor of the motor are coupled by a spring damper.
- the controlled object has frequency characteristics including a set of resonance and anti-resonance characteristics.
- each inertia of the machine 1313 is coupled by a spring damper, and one of them is elastically coupled to the rotor of the motor, each inertia of the machine 1313 is coupled by a spring damper. It can be regarded as a three-inertia system, and has frequency characteristics including two sets of resonance and anti-resonance characteristics.
- the machine 1313 has low rigidity and has resonance/anti-resonance characteristics in a low range of several Hz to 100 Hz.
- FIG. 11 in a state in which the damping controller 15 in the speed control system is not included. If the control gain of the position controller is increased, the position command to the motor shaft position response of the motor 137 is controlled with high response, and the vibration caused by the resonance/anti-resonance characteristics of the machine 1313 is suppressed, the rigidity of the machine 1313 increases. Being low, the end of the machine 1313 becomes vibratory.
- FIGS. 13A and 13B are diagrams for explaining the effect of damping control of the AC servomotor control system shown in FIG. 12.
- FIG. The configuration of FIG. 12 can improve the response delay as well as the sufficient damping effect, as shown in FIGS. 13A and 13B.
- the vertical axis is Mech.angle (machine end position response) and the horizontal axis is Times (time).
- the position response of the machine end indicates the position to which the machine end, which is the end of the machine connected to the motor, moves as the motor rotates, and corresponds to the rotation angle (rad) of the motor.
- FIG. 13B is an enlarged view of part of FIG. 13A. As shown in FIGS. 13A and 13B, compared to "without damping control" 1402 and “with damping control, without phase adjustment” 1403, "with damping control, with phase adjustment” indicated by the solid line of this embodiment ' 1404 shows that the response performance to the 'position command' 1401 is high.
- the host system control device includes a position controller and means for realizing damping control within the motor servo control device responsible for the speed control system. Also, it is possible to provide a motor control device equipped with means for improving the response delay peculiar to damping control with a simple process.
- the damping controller 15 in the speed control system of the first embodiment is applied to the cascade position FB control system 1100 of the AC servomotor.
- the vibration controller 71 may be applied to the cascaded position FB control system 1100 of the AC servomotor.
- DC motor control In addition to AC servomotor control, DC motor control also employs a cascade control configuration using speed/position controllers. By interposing it, damping of the machine end can be achieved within the speed control system.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Vehicle Body Suspensions (AREA)
- Power Steering Mechanism (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
機械の剛性が低い場合には、機械の共振・反共振特性が原因で機械の端部(以降機械端と記述する)が数Hz~100Hzの低周波数で振動し、所望の応答特性を実現できない場合がある。
前記モータ制御装置は、
上位系制御装置から第1の速度指令を受取り、
前記上位系制御装置に対してモータ軸の位置応答を出力するよう前記位置制御系に組込まれ、
速度制御器と、
速度制御系内制振制御器とを有し、
前記速度制御系内制振制御器は、
前記第1の速度指令と前記モータ軸の位置応答とに基づいて位置指令の推定値を算出する位置指令推定器と、
前記位置指令の推定値に基づき前記第1の速度指令に含まれる前記機械端の振動を励起する周波数成分を抽出し、抽出した前記周波数成分を出力する並列型制振制御器と、
前記並列型制振制御器に起因して発生する応答遅れを改善する位相調整器と、
前記位相調整器の出力を速度の次元に変換する第1の単位変換器と、
演算器とを有し、
前記演算器は、
前記第1の速度指令から前記並列型制振制御器の出力を減算して前記機械端の振動を励起する前記周波数成分を前記第1の速度指令から除去し、第2の速度指令として出力し、
前記第1の単位変換器の出力と前記第2の速度指令とに基づいて前記速度制御系内制振制御器の出力としての第1の実速度指令を出力し、
前記第1の実速度指令を前記速度制御器の指令とするモータ制御装置である。
S1:位置指令の把握・推定
S2:把握・推定した位置指令から機械端振動を励起する周波数成分を抽出
S3:S2で抽出した周波数成分を含まない速度指令を生成し、速度制御器の速度指令とする
ステップS1は位置指令推定器9で実現される。
その実現手段の一例は、次式である。位置指令推定器9は、式(2)に従い、第1の速度指令14を推定フィルタで処理した信号と、モータ軸の位置応答23とを、第3の加減算器で加算したものを位置指令の推定値として出力する。
したがってωLがωnに近い場合の方が、位相遅れ量は顕著となる。
なお、出力2には機械端の振動を励起する周波数成分を含まれないため、出力8に対して、単位変換器12の出力7を加減算器17で加算して得られた実速度指令18は、やはり機械端の振動を励起することのない、制振効果のある速度指令になっている点に注意する。
なお機械端の振動周波数をLEで抽出するにはωa=ωnとすればよい。
フィードフォワード制御器のフィルタパラメータは、機械端の振動特性(振動の周波数及び振動の減衰係数)に基づいて設定される。
Claims (12)
- モータに接続された機械端を位置制御する位置制御系に含まれるモータ制御装置であって、
前記モータ制御装置は、
上位系制御装置から第1の速度指令を受取り、
前記上位系制御装置に対してモータ軸の位置応答を出力するよう前記位置制御系に組込まれ、
速度制御器と、
速度制御系内制振制御器とを有し、
前記速度制御系内制振制御器は、
前記第1の速度指令と前記モータ軸の位置応答とに基づいて位置指令の推定値を算出する位置指令推定器と、
前記位置指令の推定値に基づき前記第1の速度指令に含まれる前記機械端の振動を励起する周波数成分を抽出し、抽出した前記周波数成分を出力する並列型制振制御器と、
前記並列型制振制御器に起因して発生する応答遅れを改善する位相調整器と、
前記位相調整器の出力を速度の次元に変換する第1の単位変換器と、
演算器とを有し、
前記演算器は、
前記第1の速度指令から前記並列型制振制御器の出力を減算して前記機械端の振動を励起する前記周波数成分を前記第1の速度指令から除去し、第2の速度指令として出力し、
前記第1の単位変換器の出力と前記第2の速度指令とに基づいて前記速度制御系内制振制御器の出力としての第1の実速度指令を出力し、
前記第1の実速度指令を前記速度制御器の指令とするモータ制御装置。 - 請求項1に記載のモータ制御装置において、
前記演算器は、
前記第1の速度指令から前記並列型制振制御器の出力を減算する第1の加減算器と、
前記第1の単位変換器の出力と前記第2の速度指令とを加算する第2の加減算器とを有するモータ制御装置。 - 請求項1に記載のモータ制御装置において、
前記位置指令推定器は、
前記上位系制御装置に含まれる位置制御器の逆特性に一致する推定フィルタと第3の加減算器とを有し、
前記第1の速度指令を前記推定フィルタで処理した信号と、前記モータ軸の位置応答とを前記第3の加減算器で加算したものを前記位置指令の推定値として出力するモータ制御装置。 - 請求項1に記載のモータ制御装置において、
前記並列型制振制御器は、
前記位置指令の推定値から前記第1の速度指令に含まれる前記機械端の振動を励起する周波数成分を位相遅れなく抽出する振動励起成分抽出器と、
前記振動励起成分抽出器で抽出された振動励起成分信号の単位を速度の次元に変換する第2の単位変換器とを有し、
前記第2の単位変換器の出力を前記並列型制振制御器の出力とし、
前記演算器は、
前記振動励起成分抽出器の入力と出力の差分を演算し、
前記位相調整器は、
前記差分を入力し、位相の調整をして前記第1の単位変換器に出力するモータ制御装置。 - 請求項4に記載のモータ制御装置において、
前記演算器は、
前記第1の速度指令から前記並列型制振制御器の出力を減算する第1の加減算器と、
前記第1の単位変換器の出力と前記第2の速度指令とを加算する第2の加減算器と、
前記振動励起成分抽出器の入力から出力を減じる第4の加減算器とを有するモータ制御装置。 - 請求項1に記載のモータ制御装置において、
前記速度制御系内制振制御器は、
前記上位系制御装置に含まれる位置制御器のフィードバック制御にかかる応答遅れを改善するためのフィードフォワード制御器を有し、
前記演算器は、
前記位相調整器の入力と出力とを演算し、
当該演算の結果を前記フィードフォワード制御器は入力し、
前記フィードフォワード制御器の出力と前記第1の実速度指令とから第2の実速度指令を演算し、
前記第2の実速度指令を前記速度制御系内制振制御器の出力とするモータ制御装置。 - 請求項6に記載のモータ制御装置において、
前記演算器は、
前記位相調整器の入力と出力とを加算する第5の加減算器と、
前記フィードフォワード制御器の出力と前記第1の実速度指令とを加算する第6の加減算器とを有するモータ制御装置。 - 請求項1に記載のモータ制御装置において、
前記位相調整器は、ハイパスフィルタであるモータ制御装置。 - 請求項6に記載のモータ制御装置において、
前記フィードフォワード制御器は、
ハイパスフィルタであることを特徴とするモータ制御装置。 - 請求項1に記載のモータ制御装置において、
前記位相調整器のフィルタパラメータは、前記機械端の振動特性に基づいて設定されるモータ制御装置。 - 請求項6に記載のモータ制御装置において、
前記フィードフォワード制御器のフィルタパラメータは、前記機械端の振動特性に基づいて設定されるモータ制御装置。 - 請求項1に記載のモータ制御装置において、
前記上位系制御装置は、
前記位置制御系に組み込まれ位置制御器を含み、前記位置指令を生成し、
前記位置制御器は、前記位置指令と前記モータ制御装置から受け取った前記モータ軸の位置応答とから、前記第1の速度指令を生成するモータ制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/271,542 US20240072704A1 (en) | 2021-06-29 | 2021-12-14 | Motor Control Device |
KR1020237027357A KR20230128382A (ko) | 2021-06-29 | 2021-12-14 | 모터 제어 장치 |
CN202180093590.5A CN116941177A (zh) | 2021-06-29 | 2021-12-14 | 电机控制装置 |
DE112021006188.7T DE112021006188T5 (de) | 2021-06-29 | 2021-12-14 | Motorsteuervorrichtung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021-107666 | 2021-06-29 | ||
JP2021107666A JP2023005630A (ja) | 2021-06-29 | 2021-06-29 | モータ制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023276198A1 true WO2023276198A1 (ja) | 2023-01-05 |
Family
ID=84691101
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2021/046102 WO2023276198A1 (ja) | 2021-06-29 | 2021-12-14 | モータ制御装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20240072704A1 (ja) |
JP (1) | JP2023005630A (ja) |
KR (1) | KR20230128382A (ja) |
CN (1) | CN116941177A (ja) |
DE (1) | DE112021006188T5 (ja) |
TW (1) | TWI809610B (ja) |
WO (1) | WO2023276198A1 (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10210781A (ja) * | 1997-01-24 | 1998-08-07 | Yaskawa Electric Corp | モータ制御装置 |
JP2008228360A (ja) * | 2007-03-08 | 2008-09-25 | Hitachi Industrial Equipment Systems Co Ltd | モータ制御装置、及びモータ制御システム |
JP2019133494A (ja) * | 2018-02-01 | 2019-08-08 | オムロン株式会社 | 設定支援装置及び設定支援プログラム |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4003741B2 (ja) | 2003-12-04 | 2007-11-07 | 松下電器産業株式会社 | モータ制御装置 |
CN105375850B (zh) * | 2015-12-24 | 2017-11-28 | 南京埃斯顿自动控制技术有限公司 | 一种电机振动抑制的控制方法 |
JP7277260B2 (ja) * | 2019-06-03 | 2023-05-18 | ファナック株式会社 | 振動を抑制するモータ制御装置及び産業機械 |
-
2021
- 2021-06-29 JP JP2021107666A patent/JP2023005630A/ja active Pending
- 2021-12-14 WO PCT/JP2021/046102 patent/WO2023276198A1/ja active Application Filing
- 2021-12-14 US US18/271,542 patent/US20240072704A1/en active Pending
- 2021-12-14 CN CN202180093590.5A patent/CN116941177A/zh active Pending
- 2021-12-14 DE DE112021006188.7T patent/DE112021006188T5/de active Pending
- 2021-12-14 KR KR1020237027357A patent/KR20230128382A/ko unknown
- 2021-12-20 TW TW110147697A patent/TWI809610B/zh active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10210781A (ja) * | 1997-01-24 | 1998-08-07 | Yaskawa Electric Corp | モータ制御装置 |
JP2008228360A (ja) * | 2007-03-08 | 2008-09-25 | Hitachi Industrial Equipment Systems Co Ltd | モータ制御装置、及びモータ制御システム |
JP2019133494A (ja) * | 2018-02-01 | 2019-08-08 | オムロン株式会社 | 設定支援装置及び設定支援プログラム |
Also Published As
Publication number | Publication date |
---|---|
JP2023005630A (ja) | 2023-01-18 |
TWI809610B (zh) | 2023-07-21 |
KR20230128382A (ko) | 2023-09-04 |
US20240072704A1 (en) | 2024-02-29 |
TW202301793A (zh) | 2023-01-01 |
DE112021006188T5 (de) | 2023-09-14 |
CN116941177A (zh) | 2023-10-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5273575B2 (ja) | 電動機制御装置 | |
JP3813637B2 (ja) | 交流電動機の制御装置 | |
US10985684B2 (en) | Motor control device | |
JPH0630578A (ja) | 電動機の位置制御装置 | |
JP5652678B2 (ja) | 電動機制御装置 | |
JP6491497B2 (ja) | モータ制御装置 | |
JP4294344B2 (ja) | 電動機の制御方法及び制御装置 | |
JP5088413B2 (ja) | 電動機の脈動抑制装置 | |
US10558176B2 (en) | Feedback control system with periodic disturbance suppression and resonance/disturbance suppression using μ-synthesis | |
WO2023276198A1 (ja) | モータ制御装置 | |
JP7178561B2 (ja) | 電動機の制御装置 | |
JP7312684B2 (ja) | モータ制御装置、およびその自動調整方法 | |
JP6735452B2 (ja) | モータ制御装置 | |
JP3818237B2 (ja) | 同期電動機の制御装置 | |
JP7261755B2 (ja) | モータ制御装置 | |
US11101760B2 (en) | Electric motor control device | |
JP6640659B2 (ja) | 電力変換器の制御装置、電力変換システム、圧縮機駆動システム、フライホイール発電システム、及び、電力変換器の制御方法 | |
WO2023171122A1 (ja) | モータ制御装置、およびその自動調整方法 | |
JP6259221B2 (ja) | モータ制御装置 | |
JPH10323071A (ja) | 2慣性共振系速度制御の2次直列補償器の係数決定方 法 | |
JP2004201383A (ja) | モータ速度制御方法および装置 | |
JP5402649B2 (ja) | ノッチフィルタとそれを備えたモータ制御装置 | |
JP5805016B2 (ja) | モータ制御装置 | |
JP2017147704A (ja) | 位置指令制御装置およびバンド除去フィルタ |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21948500 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18271542 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112021006188 Country of ref document: DE |
|
ENP | Entry into the national phase |
Ref document number: 20237027357 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180093590.5 Country of ref document: CN Ref document number: 1020237027357 Country of ref document: KR |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21948500 Country of ref document: EP Kind code of ref document: A1 |