WO2024079879A1 - モータ制御装置 - Google Patents

モータ制御装置 Download PDF

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Publication number
WO2024079879A1
WO2024079879A1 PCT/JP2022/038366 JP2022038366W WO2024079879A1 WO 2024079879 A1 WO2024079879 A1 WO 2024079879A1 JP 2022038366 W JP2022038366 W JP 2022038366W WO 2024079879 A1 WO2024079879 A1 WO 2024079879A1
Authority
WO
WIPO (PCT)
Prior art keywords
command
amplitude
measurement command
response characteristic
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/038366
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
諒 森橋
翔吾 篠田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to DE112022007581.3T priority Critical patent/DE112022007581T5/de
Priority to PCT/JP2022/038366 priority patent/WO2024079879A1/ja
Priority to JP2024551023A priority patent/JPWO2024079879A1/ja
Priority to CN202280099776.6A priority patent/CN119836744A/zh
Priority to TW112136456A priority patent/TW202416654A/zh
Publication of WO2024079879A1 publication Critical patent/WO2024079879A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • H02P23/04—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
    • 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
    • H02P23/16—Controlling the angular speed of one shaft

Definitions

  • the present invention relates to a motor control device.
  • Motor control devices that operate a motor at a target speed by feedback-controlling the current supplied to the motor are widely used. When the load on the motor changes, the response characteristics of the motor change. For this reason, it is desirable to be able to prevent resonance and appropriately control the motor speed by adjusting the parameters (settings) of the feedback loop gain, filter, etc.
  • a motor control device includes a torque command creation unit that creates a torque command to drive a motor in response to an input speed command, an operation command creation unit that creates an operation command that is the speed command to be input to the torque command creation unit in order to operate the motor, a measurement command creation unit that creates a measurement command that is the speed command to be input to the torque command creation unit in order to adjust the torque command creation unit or the torque command to drive the motor, a response characteristic calculation unit that calculates a response characteristic value that indicates the response characteristic of the speed detection value of the motor to the measurement command, and an amplitude determination unit that causes the measurement command creation unit to change the amplitude of the measurement command if the response characteristic value does not satisfy a predetermined determination condition.
  • This disclosure allows for optimization of control characteristics.
  • FIG. 1 is a block diagram showing a configuration of a motor control device according to an embodiment of the present disclosure.
  • 4 is a flowchart showing a procedure for adjusting the amplitude of a measurement command by the motor control device of FIG. 1 .
  • Figure 1 is a block diagram showing the configuration of a motor control device 1 according to one embodiment of the present disclosure.
  • the motor control device 1 controls the servo motor 3 via the servo amplifier 2.
  • the motor control device 1 inputs a torque command to the servo amplifier 2, specifying the torque required to operate the motor 3 at the target speed at that time.
  • the motor control device 1 is configured to perform feedback control that optimizes the torque command by checking the detection value of the speed detector 31, which detects the speed of the motor 3.
  • the motor control device 1 includes an operation command creation unit 11, a torque command creation unit 12, a feedback unit 13, a measurement command creation unit 14, a response characteristic calculation unit 15, an amplitude determination unit 16, and a parameter adjustment unit 17.
  • the motor control device 1 can be realized by having one or more computer devices having a memory, a processor, an input/output interface, etc. execute an appropriate control program.
  • Each component of the motor control device 1 is a classification of the function of the motor control device 1, and does not have to be clearly distinguishable in terms of physical configuration and program configuration.
  • the driving command creation unit 11 creates driving commands, which are speed commands input to the torque command creation unit to operate the motor 3.
  • the driving command creation unit 11 reads data that specifies the operation required of the motor 3, that is, the waveform of the change in the speed of the motor 3, such as an operation program written in G-code language, and continuously outputs values that indicate the rotational speed of the motor 3 when the motor 3 is operated according to the operation program.
  • the torque command creation unit 12 creates a torque command for the motor in response to the input speed command.
  • the torque command creation unit 12 may include an amplifier that amplifies the input or output, a filter that reduces specific frequency components of the input or output, etc.
  • the transfer function of the torque command creation unit 12 may be a multi-term function, and the characteristics, i.e., the transfer function, of the torque command creation unit 12 may be adjustable by modifying one or more parameters.
  • the feedback unit 13 acquires the speed detection value of the speed detector 31, processes it as necessary, and feeds it back to the torque command creation unit 12. In other words, the feedback unit 13 superimposes the speed detection value or a value obtained by processing the speed detection value on the driving command output from the driving command creation unit 11 and inputs it to the torque command creation unit 12. In a typical configuration, the speed detection value is inverted and added to the driving command.
  • the feedback unit 13 may also convert the data format, bit rate, etc. of the detection value, and may include an amplifier, a filter, etc., and the transfer function of the feedback unit 13 may also be adjustable by modifying parameters.
  • the measurement command creation unit 14 creates a measurement command for inputting an appropriate torque command to the servo amplifier 2 in order to adjust the parameters of the torque command creation unit 12 and the feedback unit 13.
  • the measurement command may be a speed command input to the torque command creation unit 12, or a torque command input directly to the servo amplifier 2.
  • the measurement command creation unit 14 in this embodiment is configured to generate a speed command to be input to the torque command creation unit 12 based on data specifying the waveform, frequency, amplitude, etc. of the measurement command.
  • the measurement command creation unit 14 may be configured integrally with the operation command creation unit 11. In other words, the measurement command creation unit 14 may be configured to create a measurement command by having the operation command creation unit 11 refer to different data.
  • the measurement command may be selected according to the response characteristic value calculated by the response characteristic calculation unit 15, such as a periodic vibration command in the form of a sine wave, rectangular wave, triangular wave, etc., a ramp command with a constant acceleration, an impulse command, or a command with M-sequence signal-like irregularity, but typically a sine wave signal may be used.
  • the measurement command creation unit 14 is preferably configured to sweep the frequency of the periodic measurement command, that is, to continuously change the frequency, in order to calculate a response characteristic value indicating the frequency response characteristic in the response characteristic calculation unit 15.
  • the measurement command creation unit 14 is configured to be able to change the amplitude of the measurement command according to instructions from the amplitude determination unit 16. It is preferable that the measurement command creation unit 14 sets the initial value of the amplitude of the measurement command to a sufficiently small value, and gradually increases the amplitude of the measurement command according to instructions from the amplitude determination unit 16. This makes it possible to identify an appropriate amplitude of the measurement command while suppressing response divergence with relatively simple control.
  • the response characteristic calculation unit 15 calculates a response characteristic value indicating the response characteristic of the speed detection value to a measurement command. It is preferable that the response characteristic calculation unit 15 calculates at least one of the gain and phase difference of the speed detection value to a sinusoidal measurement command as the response characteristic value for each frequency of the measurement command, that is, calculates the frequency response characteristic. By optimizing the amplitude of the measurement command based on the frequency response characteristic calculated by the response characteristic calculation unit 15, it is possible to appropriately optimize the control loop using the frequency response characteristic based on well-known technology.
  • the amplitude judgment unit 16 causes the measurement command creation unit 14 to change the amplitude of the measurement command.
  • the initial value of the amplitude of the measurement command is set to a sufficiently small value, and the amplitude judgment unit 16 is configured to increase the amplitude if the response characteristic value does not satisfy the judgment condition.
  • the judgment condition may be that the difference between the maximum and minimum gain values is equal to or less than a predetermined judgment threshold. If the amplitude of the measurement command is inappropriate, the gain in a particular frequency range may become abnormally small due to, for example, friction, or abnormally large due to, for example, mechanical resonance. For this reason, if the difference between the maximum and minimum gain values is sufficiently small, it can be determined that such an undesirable phenomenon is not occurring.
  • the judgment condition may be that the gain in a preset frequency range is equal to or greater than a preset judgment threshold.
  • the judgment condition may also be that the ratio of the gain in a preset frequency range to the gain in other frequency ranges or the entire frequency range is equal to or greater than a preset judgment threshold. For example, the frequency range in which a decrease in gain due to friction or the like occurs can often be predicted in advance. For this reason, if the ratio of the gain in a preset frequency range to the gain in other frequency ranges is sufficiently large, it can be determined that no adverse effects due to anticipated friction or the like are occurring.
  • the judgment condition may be that the gain at the beginning of the frequency sweep of the measurement command is equal to or greater than a preset judgment threshold. For example, a decrease in gain due to friction or the like is likely to occur particularly in the low frequency range. Therefore, if the gain at the beginning of the frequency sweep is sufficiently large, it can be determined that no adverse effects due to expected friction or the like are occurring.
  • the judgment condition may be that the difference in the representative value of the gain before and after changing the amplitude of the measurement command is equal to or less than a preset judgment threshold. For example, the amount of gain reduction due to friction, etc. often varies depending on the amplitude of the measurement command. For this reason, if the gain does not change significantly even when the amplitude of the measurement command is changed, it can be judged that no adverse effects due to expected friction, etc. are occurring.
  • the amplitude determination unit 16 may be configured to return the amplitude of the measurement command to the previous value when the response characteristic value reaches a preset limit value, and to reduce the amount of change in the amplitude of the measurement command when the determination condition is not satisfied.
  • a preset limit value for example when the gain or phase difference becomes too large, it is highly likely that the amount of change in the amplitude of the measurement command was too large and the optimal amplitude was exceeded. For this reason, it is preferable to return the amplitude of the measurement command to the previous value, reduce the amount of change in the amplitude, and redo the search for the optimal amplitude of the measurement command.
  • the amplitude determination unit 16 can set the amount of change in the amplitude of the measurement command to a constant value, or can set the amount of change in the amplitude of the measurement command to an increasing function, for example, a linear or quadratic function, with the current value of the amplitude as a variable. In this way, by optimizing the amount of change in the amplitude of the measurement command, the appropriate amplitude of the measurement command can be efficiently identified.
  • the amplitude determination unit 16 may adjust the amount of change in the amplitude of the measurement command according to the response characteristic value. For example, if the gain is determined to be excessively small, it is believed that the appropriate amplitude of the measurement command can be identified more efficiently by increasing the amount of change in the amplitude.
  • the amplitude judgment unit 16 may be configured to stop outputting a measurement command to the measurement command creation unit 14 if it is determined that the judgment condition is not satisfied. For example, if the amplitude judgment unit 16 can determine that the judgment condition is not satisfied midway through the sweep of the frequency of the measurement command, it may end the amplitude adjustment of the measurement command without waiting for the completion of the sweep of the frequency of the measurement command. Note that the measurement command creation unit 14 may start a measurement command for parameter adjustment of the speed control loop immediately after the amplitude adjustment is completed, without providing a stop period. Specifically, if the amplitude judgment unit 16 determines that the judgment condition is satisfied, the parameter adjustment unit 17 may start outputting a measurement command for parameter adjustment at the same time as the sweep of the frequency of the measurement command is completed.
  • the parameter adjustment unit 17 improves the control characteristics of the motor 3 by the motor control device 1 by having the measurement command creation unit 14 output a measurement command for the amplitude optimized by the amplitude determination unit 16, checking the speed detection value of the speed detector 31, the response characteristic value calculated by the response characteristic calculation unit 15, etc., and adjusting at least one of the parameters of the torque command creation unit 12 and the feedback unit 13. Such adjustment of the control characteristics can be performed based on well-known techniques. By using a measurement command for the amplitude optimized by the amplitude determination unit 16, it is possible to ensure appropriate adjustment of the control characteristics.
  • FIG. 2 shows the procedure for adjusting the amplitude of a measurement command by the motor control device 1.
  • the amplitude adjustment of a measurement command includes an amplitude initialization process (step S1), a response characteristic measurement process (step S2), a limit value confirmation process (step S3), a change amount correction process (step S4), an amplitude return process (step S5), an amplitude determination process (step S6), and an amplitude change process (step S7).
  • step S1 the amplitude of the measurement command from the measurement command creation unit 14 is set to an initial value.
  • the measurement command creation unit 14 outputs a measurement command
  • the response characteristic calculation unit 15 calculates the response characteristic value.
  • step S3 it is confirmed whether the response characteristic value has reached the limit value. If the response characteristic value is within the limit value, the process proceeds to step S4, and if the response characteristic value is not within the limit value, the process proceeds to step S6.
  • step S4 the settings are changed to reduce the amount of change in the amplitude of the measurement command by the amplitude determination unit 16.
  • step S5 the amplitude of the measurement command from the measurement command creation unit 14 is returned to the previous amplitude, that is, the amplitude before the previous execution of step S6.
  • this amplitude return process is executed, the process returns to step S2 and starts over from measuring the response characteristic value.
  • the amplitude determination unit 16 evaluates the response characteristic value and determines whether or not the amplitude of the measurement command needs to be changed. If it is determined that the amplitude of the measurement command needs to be changed, the process proceeds to step S7, and if it is determined that the amplitude of the measurement command does not need to be changed, the measurement command creation unit 14 stops outputting the measurement command, and the amplitude adjustment process ends.
  • step S7 the amplitude of the measurement command of the measurement command creation unit 14 is changed, and then the process returns to step S2 to start over from measuring the response characteristic value.
  • the parameter adjustment unit 17 uses a measurement command to automatically adjust the well-known control parameters.
  • the motor control device 1 that performs amplitude adjustment optimizes the amplitude of the measurement command used to automatically adjust the control parameters, so that the control characteristics can be reliably optimized to match the motor 3 and its load.
  • the motor control device (1) includes a torque command creation unit (12) that creates a torque command for driving the motor in response to an input speed command, an operation command creation unit (11) that creates an operation command which is a speed command input to the torque command creation unit (12) to operate the motor, a measurement command creation unit (14) that creates a measurement command which is the speed command input to the torque command creation unit (12) for adjusting the torque command creation unit (12) or a torque command for driving the motor, a response characteristic calculation unit (15) that calculates a response characteristic value that indicates the response characteristic of the speed detection value to the measurement command, and an amplitude determination unit (16) that causes the measurement command creation unit (14) to change the amplitude of the measurement command if the response characteristic value does not satisfy a predetermined determination condition.
  • the measurement command may be a sinusoidal command whose frequency is swept, and the response characteristic calculation unit may calculate at least one of a gain and a phase difference of the speed detection value with respect to the measurement command as the response characteristic value for each frequency of the measurement command.
  • the judgment condition may be that the difference between the maximum and minimum gain values is equal to or less than a preset judgment threshold value.
  • the judgment condition may be that the gain in a predetermined frequency range is equal to or greater than a predetermined judgment threshold.
  • the judgment condition may be that the ratio of the gain in a preset frequency range to the gain in another frequency range or to the entire frequency range is equal to or greater than a preset judgment threshold value.
  • the judgment condition may be that the gain at the beginning of the sweep of the frequency of the measurement command is equal to or greater than a preset judgment threshold value.
  • the judgment condition may be that the difference between the representative value of the gain before and after changing the amplitude of the measurement command is equal to or smaller than a preset judgment threshold value.
  • the amplitude determination unit (16) may return the amplitude of the measurement command to a previous value, and may reduce the amount of change in the amplitude of the measurement command when the determination condition is not satisfied.
  • the amplitude determination unit (16) may set the amount of change in the amplitude of the measurement command to a constant value or to a value of an increasing function with the current value of the amplitude as a variable.
  • the amplitude determination unit (16) may adjust the amount of change in the amplitude of the measurement command in accordance with the response characteristic value.
  • the motor control device may be configured to perform open-loop control without feedback to the torque command creation unit when operating the motor according to the operating program.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
PCT/JP2022/038366 2022-10-14 2022-10-14 モータ制御装置 Ceased WO2024079879A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE112022007581.3T DE112022007581T5 (de) 2022-10-14 2022-10-14 Motorsteuer- bzw. -regelvorrichtung
PCT/JP2022/038366 WO2024079879A1 (ja) 2022-10-14 2022-10-14 モータ制御装置
JP2024551023A JPWO2024079879A1 (https=) 2022-10-14 2022-10-14
CN202280099776.6A CN119836744A (zh) 2022-10-14 2022-10-14 马达控制装置
TW112136456A TW202416654A (zh) 2022-10-14 2023-09-23 馬達控制裝置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/038366 WO2024079879A1 (ja) 2022-10-14 2022-10-14 モータ制御装置

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WO2024079879A1 true WO2024079879A1 (ja) 2024-04-18

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JP (1) JPWO2024079879A1 (https=)
CN (1) CN119836744A (https=)
DE (1) DE112022007581T5 (https=)
TW (1) TW202416654A (https=)
WO (1) WO2024079879A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025239244A1 (ja) * 2024-05-13 2025-11-20 川崎重工業株式会社 モータ制御システム、ロボットシステム、および、モータ制御方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06261572A (ja) * 1993-03-09 1994-09-16 Hitachi Ltd トルク供給機のトルク制御装置
JP2009038942A (ja) * 2007-08-03 2009-02-19 Yaskawa Electric Corp 負荷イナーシャ同定方法及びサーボモータ制御装置
JP2015115981A (ja) * 2013-12-09 2015-06-22 キヤノン株式会社 回転制御装置及び画像形成装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06261572A (ja) * 1993-03-09 1994-09-16 Hitachi Ltd トルク供給機のトルク制御装置
JP2009038942A (ja) * 2007-08-03 2009-02-19 Yaskawa Electric Corp 負荷イナーシャ同定方法及びサーボモータ制御装置
JP2015115981A (ja) * 2013-12-09 2015-06-22 キヤノン株式会社 回転制御装置及び画像形成装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025239244A1 (ja) * 2024-05-13 2025-11-20 川崎重工業株式会社 モータ制御システム、ロボットシステム、および、モータ制御方法

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TW202416654A (zh) 2024-04-16
JPWO2024079879A1 (https=) 2024-04-18
CN119836744A (zh) 2025-04-15
DE112022007581T5 (de) 2025-05-08

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