CN102487263A - Controlling device - Google Patents
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- CN102487263A CN102487263A CN2011103034222A CN201110303422A CN102487263A CN 102487263 A CN102487263 A CN 102487263A CN 2011103034222 A CN2011103034222 A CN 2011103034222A CN 201110303422 A CN201110303422 A CN 201110303422A CN 102487263 A CN102487263 A CN 102487263A
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Abstract
The invention provides a controlling device used for reducing the overcompensation of the operation volume (current command or voltage command). The controlling device can be used for the controlling motor, and is provided with a control part used for generating the current command and output the same, a current limit device used for limiting the current command from the control part in the limit range and output the same, a driving part used for driving the motor correspondingly to the current command from the current limit device, a calculating part used for controlling the current command output from the controlling device by calculation and calculating the difference of the current command after the limit of the current limit device in order to calculate the saturation capacity of the current, and a feedback part used for send the compensation value corresponding to the value of the current saturation capacity to the controlling device. The feedback part is provided with a switching part corresponding to the current saturation value calculated by the calculating part, and can be used to switch into the first state or the second state. The first state is that the compensation value can be sent back to the controlling part without using the feedback part, and the second state is that the compensation value can be sent back to the controlling part by using the feedback part.
Description
Technical field
The present invention relates to a kind of control device.
Background technology
Have the minor loop (minor loop) that possesses limiter, have the control system more than or equal to 2 rank (control device) of outer loop (major loop) in the outside of this minor loop for deferent segment at controller; If producing the output of controller is that operational ton is (under the situation of the Position Control of motor; Be generally speed command, current-order and voltage instruction etc.) saturated (it is saturated to be commonly referred to operational ton), then there is the tendency become labile state (being commonly called the state of vibration or torsional oscillation) in control system.
To this situation; In patent documentation 1, put down in writing following content: the speed control unit of induction motor constitutes; With so that current deviation become zero mode utilize output (q shaft voltage composition) after digital PI current compensator compensates, and the output (instruction of q shaft voltage) that utilizes voltage limitator to limit to obtain after this output between poor; Export to the current-order corrector from subtracter; Will be with the corrected signal of this difference current corresponding instruction from the current-order corrector via 2 subtracters, feed back to digital PI current compensator as current deviation.Promptly; Utilize the voltage instruction output of digital PI current compensator and limit this voltage instruction and poor between the output voltage of the voltage limitator exported; Saturated detection the to operational ton (voltage instruction); Based on the ride gain of this difference and digital PI current compensator, current-order is revised.Thus, according to patent documentation 1, because the output of digital PI current compensator has considered that with inner quantity of state operational ton is saturated, so think and to avoid by the saturated phenomenon of torsional vibration that causes of operational ton.
Patent documentation 1: japanese kokai publication hei 11-308900 communique
Summary of the invention
In the patent documentation 1 described speed control unit, constitute and taking place under the saturated situation of voltage instruction (operational ton), necessarily will with the corresponding corrected signal of this voltage saturation amount to current-order, to digital PI current compensator feedback.Therefore, in patent documentation 1 described speed control unit, even, also carry out the saturation capacity feedback of operational ton taking place can not make control action in the speed control unit to become under the saturated situation of slight operational ton unstable and that need not compensate.Thus, produce overcompensation, compare, the tendency that exists the time generation till actual speed converges on target velocity to postpone with the situation of not carrying out the saturation capacity feedback to current-order.
The present invention is exactly In view of the foregoing and proposes, and its purpose is, obtains a kind of control device, and it can reduce operational ton overcompensation to instruction (position command, speed command or current-order) when saturated.
In order to solve above-mentioned problem, achieve the goal, 1 related control device in side of the present invention is used to control motor, it is characterized in that having: control part, it generates current-order and output; Demand limiter, it will be limited in the limited field and output from the current-order of said control part output; Drive division, it drives said motor with corresponding from the current-order of said demand limiter output; Calculating part, the difference of the current-order after it limits from the current-order of said control part output with by said demand limiter through computing, thus calculate the current saturation amount; And feedback section, its will with the corresponding offset of current saturation amount that calculates by said calculating part, to said control part feedback; Said feedback section has switching part; It is big or small corresponding with the current saturation amount that is calculated by said calculating part, the 1st state and the 2nd state is switched, wherein; The 1st state is meant not utilize feedback section that said offset is fed back to purpose to said control part; Said current saturation amount is not imported to feedback section, the 2nd state is meant to utilize said feedback section that said offset is fed back to purpose to said control part, said current saturation amount is imported to feedback section.
The effect of invention
According to the present invention; The switching part of feedback section can be less than or equal in the size of current saturation amount under the situation of threshold value; Be that operational ton is saturated under the slight situation,, switch to not with the 1st state of current saturation amount to the feedback section input so that feedback section is not fed back to purpose.Thus, can reduce overcompensation to position command or speed command and current-order.
Description of drawings
Fig. 1 is the figure of the structure of the related control device of expression execution mode 1.
Fig. 2 is the figure of the structure of the switching part in the expression execution mode 1.
Fig. 3 is the figure of the structure of the switching arbiter in the expression execution mode 1.
Fig. 4 is the figure of the structure of the related control device of expression execution mode 1.
Fig. 5 is the figure of the structure of the related control device of expression execution mode 1.
Fig. 6 is the figure of the structure of the switching part in the expression execution mode 2.
Fig. 7 is the figure of the structure of the switching part in the expression execution mode 3.
Fig. 8 is the figure of the structure of the switching part in the expression execution mode 4.
Fig. 9 is the figure of the structure of the switching part in the expression execution mode 5.
Figure 10 is the figure of the structure of the related control device of the variation of expression execution mode 1～5.
Figure 11 is the figure of the structure of the related control device of other variation of expression execution mode 1～5.
Figure 12 is the figure that is used to explain the effect of execution mode 1～5.
Embodiment
Below, based on accompanying drawing, specify the execution mode of control device involved in the present invention.In addition, the present invention is not limited by this execution mode.
Use Fig. 1, the schematic configuration of the control device 100 that execution mode 1 is related is described.
Fig. 1 is the figure of the structure of expression control device 100.
The amplitude of the electric current that test section 80 subtend motor 112 are supplied with detects.Specifically, test section 80 has u phase current detector 111a, v phase current detector 111b, w phase current detector 111c and coordinate converter 109b.
U phase current detector 111a is to the current i of U phase
uAmplitude detect, supply with to coordinate converter 109b.V phase current detector 111b is to the current i of V phase
vAmplitude detect, supply with to coordinate converter 109b.W phase current detector 111c is to the current i of W phase
wAmplitude detect, supply with to coordinate converter 109b.
Current phasor (i in the fixed coordinate system (UVW coordinate system) when coordinate converter 109b will be by drive division 70 drive motors 112
u, i
v, i
w), be transformed to the current phasor (i in the rotating coordinate system (d-q coordinate system)
Dfb, i
Qfb).Rotating coordinate system (d-q coordinate system) has d axle intersected with each other and q axle.Usually, the d axle is represented the main flux direction of the rotor in the motor 112, and the q axle is represented the axle with d axle quadrature.Current phasor (the i of coordinate converter 109b after with conversion
Dfb, i
Qfb), be d shaft current F/B signal i
DfbAnd q shaft current F/B signal i
QfbSupply with to control part 50.
The relevant information in position of the rotor in 90 pairs of test sections and the motor 112 detects.Specifically, test section 90 has position detector 113 and differentiator 106.
The position of the rotor in 113 pairs of motor of position detector 112 is detected.Position detector 113 for example is the ENC (encoder that is connected and via axle the anglec of rotation (position of rotation) of rotor is detected with the axle of motor 112; ENCODER).Position detector 113 with testing result as position F/B signal P
FbSupply with to control part 10 and differentiator 106.Position F/B signal P
FbIt is the signal of the physical location (detected position) of the rotor in the expression motor 112.Differentiator (perhaps difference engine etc. is equivalent to the element of differentiator) 106 is to position F/B signal P
FbCarry out differential (perhaps analog differentiation) and formation speed F/B signal W
Fb, and to control part 10 supplies.Speed F/B signal W
FbIt is the signal of the actual speed (detected speed) of the rotor in the expression motor 112.
102 couples of velocity deviation e that receive from subtracter 117 of speed control
RrwCarry out proportional integral operation (controller itself does not limit especially), generate q shaft current instruction i
q * Speed control 102 is with the q shaft current instruction i that generates
q *Supply with to demand limiter 20 and calculating part 30.
Calculating part 30 is through the q shaft current instruction i of computing from control part 10 outputs
q *With by the q shaft current instruction i after demand limiter 20 restriction
q *Between difference, thereby calculate current saturation amount Δ i
qSpecifically, calculating part 30 has subtracter 104.Subtracter 104 receives q shaft current instruction i from control part 10
q *, and from demand limiter 20 reception q shaft current instruction i
q * Subtracter 104 is from q shaft current instruction i
q *In deduct q shaft current instruction i
q *Subtracter 104 with subtraction result as current saturation amount Δ i
qSupply with to feedback section 40.
The d shaft current deviation e of d shaft current controller 107a to receiving from subtracter 118a
Rrid(indicated d shaft current instruction is poor with actual d shaft current) carries out the proportional integral operation, generates d shaft voltage instruction V
d *D shaft current controller 107a is with the d shaft voltage instruction V that is generated
d *Supply with to voltage limitator 60.
The q shaft current deviation e of q shaft current controller 107b to receiving from subtracter 118b
Rriq(indicated q shaft current and actual q shaft current poor) carried out the proportional integral operation, generated q shaft voltage instruction V
q *Q shaft current controller 107b is with the q shaft voltage instruction V that is generated
q *Supply with to voltage limitator 60.
D shaft voltage limiter 108a receives d shaft voltage instruction V from control part 50
d *D shaft voltage limiter 108a is with the d shaft voltage instruction V that receives
d *Be limited in the limited field, and as d shaft voltage instruction V
d *And export.This limited field is to confirm in advance for drive motor 112 suitably and be set in the scope among the d shaft voltage limiter 108a.For example, d shaft voltage limiter 108a is at d shaft voltage instruction V
d *(operational ton) surpass limited field higher limit and under the saturated situation, with this higher limit as d shaft voltage instruction V
d *And to drive division 70 outputs, at d shaft voltage instruction V
d *(operational ton) surpass limited field lower limit and under the saturated situation, with this lower limit as d shaft voltage instruction V
d *And to drive division 70 outputs.
Q shaft voltage limiter 108b receives q shaft voltage instruction V from control part 50
q *Q shaft voltage limiter 108b is with the q shaft voltage instruction V that receives
q *Be limited in the limited field, and as q shaft voltage instruction V
q *And export.This limited field is to confirm in advance for drive motor 112 suitably and be set in the scope among the q shaft voltage limiter 108b.For example, q shaft voltage limiter 108b is at q shaft voltage instruction V
q *(operational ton) surpass limited field higher limit and under the saturated situation, with this higher limit as q shaft voltage instruction V
q *And to drive division 70 outputs, at q shaft voltage instruction V
q *(operational ton) surpass limited field lower limit and under the saturated situation, with this lower limit as q shaft voltage instruction V
q *And to drive division 70 outputs.
Below, the structure and the action of feedback section 40 are described.
Switching part 119 and the current saturation amount Δ i that calculates by calculating part 30
qBig or small corresponding, switch to the 1st state or the 2nd state.The 1st state is to be not purpose through feedback section 40 to the state of control part 10 feedback compensation values (position electric current correction amount P) to become, not with the state of current saturation amount to 105 inputs of saturation capacity F/B portion.The 2nd state is to 105 inputs of saturation capacity F/B portion, through the state of feedback section 40 to control part 10 feedback compensation values (position correction amount Δ P) with offset (current saturation amount Δ I).
That is, switching part 119 is at current saturation amount Δ i
qSize (absolute value) be less than or equal under the situation of threshold value (＞0) of regulation, feedback section 40 is switched to the 1st state, not with current saturation amount Δ i
qSupply with to saturation capacity F/B portion 105.For example, the instruction of the q shaft current before q shaft current limiter 103 i
q *Under the situation for the value in the limited field of q shaft current limiter 103, because the difference of the input and output of q shaft current limiter 103 is 0, so current saturation amount Δ i
q=0≤" threshold value of regulation ", therefore, switching part 119 switches to the 1st state with feedback section 40, not with current saturation amount Δ i
q(=0) is supplied with to saturation capacity F/B portion 105.Perhaps, for example, even the instruction of the q shaft current before the q shaft current limiter 103 i
q *Be the outer value of limited field of q shaft current limiter 103, but be under the situation of smaller value k1, current saturation amount Δ i in the difference of the input and output of q shaft current limiter 103
q=k1≤" threshold value of regulation ", therefore, switching part 119 switches to the 1st state with feedback section 40, not with current saturation amount Δ i
q(=0) is supplied with to saturation capacity F/B portion 105.
On the other hand, switching part 119 is at current saturation amount Δ i
qSize surpass under the situation of threshold value of regulation, feedback section 40 is switched to the 2nd state, with current saturation amount Δ i
qSupply with to saturation capacity F/B portion 105.For example, the instruction of the q shaft current before q shaft current limiter 103 i
q *Be the outer value of limited field of q shaft current limiter 103, and the difference of the input and output of q shaft current limiter 103 is under the situation of higher value k2, current saturation amount Δ i
q=k2＞" threshold value of regulation ", therefore, switching part 119 switches to the 2nd state with feedback section 40, with current saturation amount Δ i
q(=0) is supplied with to saturation capacity F/B portion 105.
Saturation capacity F/B portion 105 comprises gain or filter.For saturation capacity F/B portion 105, when feedback section 40 being switched to the 1st state, do not supply with incoming current saturation capacity Δ i from switching part 119 by switching part 119
q, when feedback section 40 being switched to the 2nd state, supply with incoming current saturation capacity Δ i from switching part 119 by switching part 119
q
Saturation capacity F/B portion 105 be not supplied to current saturation amount Δ i
qSituation under, do not generate and current saturation amount Δ i
qCorresponding offset (position correction amount Δ P) (still; Because saturation capacity F/B portion 105 is gain or low pass filter; When so switching part 119 is the 2nd state in the past under the situation that the saturation capacity of saturation capacity F/B portion 105 input does not discharge from saturation capacity F/B portion 105 fully; Till release finishes, continue to generate and current saturation amount Δ i
qCorresponding offset (position correction amount Δ P), and to control part 10 feedbacks).
Saturation capacity F/B portion 105 is being supplied to current saturation amount Δ i
qSituation under, via gain or filter, generate and current saturation amount Δ i
qCorresponding offset (position correction amount Δ P), and to control part 10 supplies.For example, 105 pairs of position command of saturation capacity F/B portion are revised, so that the physical location of the rotor in the motor 112 can not become unstable.
Thus, under the 1st state, offset (position correction amount Δ P) is not fed back to control part 10, under the 2nd state, offset (position correction amount Δ P) is fed back to control part 10.
Below, use Fig. 2, the structure and the action of switching part 119 are described.Fig. 2 is the figure of the structure of expression switching part 119.
Switching part 119 for example to whether with the current saturation amount Δ i that calculates
q105 inputs are switched to saturation capacity F/B portion.Specifically, switching part 119 has diverter switch 201 and switches arbiter 202.
Below, use Fig. 3, the structure and the action of switching arbiter 202 are described.Fig. 3 is the figure that the structure of arbiter 202 is switched in expression.
Set point setting apparatus 204 is based on the information relevant with Control Parameter (for example, the motor constant of motor 112 or control frequency band etc.), sets set point K and supplies with to comparator 203.For example, set point setting apparatus 204 also can be set set point K and storage in storage part (not shown) in advance based on the information relevant with Control Parameter, reads set point K from storage part as required, supplies with to comparator 203.Perhaps, set point setting apparatus 204 also can receive the information relevant with Control Parameter at any time, based on the Control Parameter that receives, sets set point K at any time, and supplies with to comparator 203.The detailed content of the setting action of the set point K of set point setting apparatus 204, narration in the back.
Multiplication and division calculator 205 receives q shaft current instruction i from control part 10
q *, and from demand limiter 20 reception q shaft current instruction i
q *Multiplication and division calculator 205 makes q shaft current instruction i
q *Divided by q shaft current instruction i
q *Multiplication and division calculator 205 is with the current saturation degree h=(i of result of division as the instruction of q shaft current
q *)/(i
q *) supply with to comparator 203.
In addition, whether the current saturation degree h that judges the instruction of q shaft current is to judge current saturation amount Δ i more than or equal to set point K
qSize (absolute value) whether be less than or equal to the example of concrete grammar of the threshold value of regulation.That is, the current saturation degree h of q shaft current instruction is more than or equal to set point K, with the current saturation amount Δ i in the above-mentioned explanation
qSize (absolute value) to be less than or equal to the threshold value of regulation corresponding.In addition, the current saturation degree h of q shaft current instruction is less than set point K, with the current saturation amount Δ i in the above-mentioned explanation
qSize (absolute value) to surpass the threshold value of regulation corresponding.
Below, use Fig. 4 and Fig. 5, the setting action of the setting value K that switches the setting value generating unit 204 in the arbiter 202 is described.Below for simply, suppose that the Current Control frequency band is fully high, actual current is fully followed Current Control instruction, and current control system is handled as 1.Fig. 4, Fig. 5 represent the structure of control device 100 is simplified on function and the structure of the motor position control system that illustrates.In addition, in Fig. 4, Fig. 5, for the purpose of simplifying the description, and to q shaft current instruction i
q *, i
q *Convert, be expressed as acceleration instruction a respectively
*, a
*, with current saturation amount Δ i
qBe expressed as acceleration saturation capacity Δ a.
In motor position control system shown in Figure 4, subtracter 301 is from position command P
*In deduct physical location Pfb, with position deviation to positioner 302 output.Positioner 302 receiving position deviations are with speed command W
*To subtracter 303 outputs.Subtracter 303 is from speed command W
*In deduct actual speed Wfb, with velocity deviation to speed control 304 output.Speed control 304 inbound pacing deviations, degree of will speed up instruction a
* To acceleration restrictor 305 and subtracter 307 outputs.Acceleration restrictor 305 receives acceleration instruction a
*, will be with the higher limit a of the limited field shown in following formula 1, formula 2, set
LimitAcceleration instruction a after the restriction
*, motor model 306 after simplifying and subtracter 307 outputs.
a
*=sgn (a
*) * a
Limit, Δ a=(a
*)-(a
*) (| a
*|＞a
LimitSituation) ... Formula 1
a
*=a
*, Δ a=0 (| a
*|≤a
LimitSituation) ... Formula 2
If in the motor position control system shown in Figure 4 from position command P
*Transfer function to physical location Pfb derives, and then becomes:
P
Fb/ (P
*)=(W
Pc2* W
Sc2)/(s
2+ W
Sc2* s+W
Pc2* W
Sc2) ... Formula 3
In the transfer function of formula 3, do not comprise the notion of acceleration restrictor 305.Therefore, use the ratio (a of the input and output of acceleration restrictor 305
*)/(a
*); With it as acceleration saturation h (do not have during h=1 saturated, it is saturated that 0＜h＜1 o'clock exists), through this acceleration saturation h is handled (with the saturated reduction of regarding gain as) as gain; Thereby shown in following formula 4～formula 6, replace acceleration restrictor 305.
0＜h=(a
*)/(a
*)≤1 ... Formula 4
a
*=h * (a
*), Δ a=(a
*)-(a
*)=(1-h) * (a
*), h＜1 (| a
*|＞a
LimitSituation) ... Formula 5
a
*=a
*, Δ a=0, h=1 (| a
*|≤a
LimitSituation) ... Formula 6
Promptly; In the motor position control system of Fig. 4; Degree of will speed up limiter 305 is replaced into the key element 308 corresponding with acceleration saturation h; And subtracter 307 is replaced into and from 1, deducts the corresponding key element 309 of the resulting value of current saturation degree h, obtain motor position control system as shown in Figure 5.
If with in the motor position control system as shown in Figure 5 from position command P
*Transfer function to physical location Pfb derives, and then becomes:
P
Fb/ (P
*)=(W
Pc2* W
Sc2* h)/(s
2+ W
Sc2* h * s+W
Pc2* W
Sc2* h) ... Formula 7
In the transfer function of formula 7, comprise the notion of acceleration restrictor 305, promptly acceleration saturation h becomes the transfer function of having considered that acceleration is saturated.If general expression according to formula 7 and 2 rank vibrational systems
P
Fb/ (P
*)=ω
n 2/ (s
2+ 2 * ζ
I* ω
n+ ω
n 2) ... Formula 8
Parameter ζ to the stability of expression motor position control system
IDerive, then become:
ζ
I=√ (W
Sc2* h/ (4 * W
Pc2)) ... Formula 9
H=4 * ζ
I 2* W
Pc2/ W
Sc2Formula 10
The right of formula 10 is made as set point K.That is, obtain:
K=4 * ζ
I 2* W
Pc2/ W
Sc2Formula 11
And, be assumed at acceleration saturation h than the parameter ζ that has comprised the expression extent of vibration
IUnder the little situation of the set point K of (being generally attenuation coefficient), produce the control unstable (torsional oscillation) of motor position control system.
In addition; Setting action to set point setting apparatus 204 (with reference to Fig. 3) is illustrated; Promptly; Through according to positioner 302, speed control 304, acceleration saturation h (key element 308 corresponding) with it and the motor model 306 after simplifying obtain transfer function, thereby set the set point K of formula 11, but certainly as long as operating speed controller, acceleration controller, acceleration (impact; Jerk) saturation and simplify after motor model etc., obtain transfer function, just can set the set point identical thus with the set point K of formula 11.
In addition, certainly according to positioner, speed control, current saturation degree and normally used motor model, set the set point identical with set point K.In addition, certainly according to speed control, current controller, voltage saturation degree, normally used motor model, set the set point identical with set point K.
Consider that hypothesis control device 100 does not have the situation of feedback section 40 here.In the case; When having taken place to produce the operational ton saturated (current-order is saturated) of the such severe of torsional oscillation; Owing to can't compensate the control action of control device 100 to suppress torsional oscillation; So shown in Figure 12 (a), produce the torsional oscillation of (solid line is represented) physical location in the vibration that kind significantly up and down of (dotted line is represented) position command, the position stability time T 1 that makes physical location converge on position command becomes very long.
To this situation, in execution mode 1, control device 100 has feedback section 40.The switching part 119 of feedback section 40 is at current saturation amount Δ i
qSize surpass under the situation of threshold value, promptly operational ton is saturated is under the situation of severe, feedback section 40 is switched to the 2nd state that feeds back.The saturation capacity F/B portion 105 of feedback section 40 will with the current saturation amount Δ i that calculates by calculating part 30
qCorresponding offset (position correction amount Δ P) is to control part 10 feedbacks.Thus; When having taken place to produce the operational ton saturated (current-order is saturated) of the such severe of torsional oscillation, can compensate the control action of control device 100 to suppress torsional oscillation, therefore; Shown in Figure 12 (e); Torsional oscillation is inhibited, and compares with position stability time T 1, can shorten the position stability time T 3 that makes (solid line is represented) physical location converge on (dotted line is represented) position command.
Perhaps, consider that the feedback section 40 of supposing control device 100 does not have the situation of switching part 119.In the case; When having taken place to produce the operational ton saturated (current-order is saturated) of the such severe of torsional oscillation; Owing to can compensate the control action of control device 100 to suppress torsional oscillation, so shown in Figure 12 (c), torsional oscillation is inhibited; Compare with position stability time T 1, can shorten the position stability time T 2 that (solid line is represented) physical location converges on (dotted line is represented) position command.But; Saturated at the slight operational ton that has taken place to make control system become the ten minutes instability and need not compensate; When promptly having taken place to produce the so slight operational ton of torsional oscillation saturated (current-order is saturated), also in order to suppress torsional oscillation by saturation capacity F/B portion 105 will with the current saturation amount Δ i that calculates by calculating part 30
qCorresponding offset (position correction amount Δ P) is to control part 10 feedbacks.Thus, the overcompensation of current-order taking place, shown in Figure 12 (d), and does not carry out current saturation amount Δ i
qThe situation of feedback under position stability time T 4 (with reference to Figure 12 (b).Though with vibration but still convergence) to compare, the tendency of delay takes place in the position stability time T 5 that exists (solid line is represented) physical location to converge on (dotted line is represented) position command.
To this situation, in execution mode 1, the feedback section 40 of control device 100 has switching part 119.The switching part 119 of feedback section 40 is at current saturation amount Δ i
qSize be less than or equal under the situation of threshold value, promptly operational ton is saturated is under the slight situation, feedback section 40 to be switched to the 1st state that does not carry out feeding back.The saturation capacity F/B portion 105 of feedback section 40 does not feed back offset (position correction amount Δ P) to control part 10.(still; Because saturation capacity F/B portion 105 is gain or low pass filter; So under the situation that the saturation capacity that saturation capacity F/B portion 105 imports does not discharge from saturation capacity F/B portion 105 fully, till release finishes, continue to generate and current saturation amount Δ i when switching part 119 is the 2nd state in the past
qCorresponding offset (position correction amount Δ P), and to control part 10 feedbacks).
Thus; When having taken place not produce the so slight operational ton of torsional oscillation saturated (current-order is saturated); Can reduce overcompensation to position command; Therefore shown in Figure 12 (f), compare, can shorten the position stability time T 6 that (solid line is represented) physical location converges on (dotted line is represented) position command with position stability time T 5.In addition, this position stability time T 5 with do not carry out current saturation amount Δ i
qThe situation of feedback under position stability time T 4 (with reference to Figure 12 (b)) equalization.
In addition, in execution mode 1, switching part 119 has diverter switch 201 and switches arbiter 202.Diverter switch 201 becomes not to the 105 input saturation capacity Δ i of saturation capacity F/B portion so that feedback section 40 is not fed back to purpose and breaks off
qThe 1st state so that feedback section 40 is fed back to purpose and closure, become input saturation capacity Δ i to saturation capacity F/B portion 105
qThe 2nd state.Switch arbiter 202 and current saturation amount Δ i
qSize corresponding with Control Parameter; The control action of control device 100 instability that whether becomes is judged; Under the control action that is judged as control device 100 can not become unsettled situation; Diverter switch 201 is broken off, under the control action that is judged as control device 100 becomes unsettled situation, make diverter switch 201 closures.Thus; Under the situation of the instability (not producing torsional oscillation) that can not become at the control action of control device 100; Make feedback section 40 become the 1st state, under the control action of control device 100 becomes the situation of unstable (generation torsional oscillation), make feedback section 40 become the 2nd state.
Below, the control device 100i that execution mode 2 is related is described.Below, be that the center describes with difference with execution mode 1.
Switching part 119i has the arbiter of switching 202i.Switching arbiter 202i has limiter 207i and removes zero preventer 206i.
That is, switch arbiter 202i to inputing to the q shaft current instruction i that switches arbiter 202i
q *, apply the limiter 207i that q shaft current limiter 103 is simulated, utilize multiplication and division calculator 205 to derive the input and output ratio of this limiter 207i, thereby obtain current saturation degree h.
But, at q shaft current instruction i
q *Be under 0 the situation, when utilizing 205 pairs of current saturation degree of multiplication and division calculator h to calculate, because denominator is 0, calculated value becomes infinity, thus become infinity for fear of the calculated value of multiplication and division calculator 205, and to q shaft current instruction i
q *, utilize except that zero preventer 206i removes zero to prevent.Then, implemented to remove zero q shaft current instruction I after preventing with utilize removing zero preventer 206i
q *, supply with to limiter 207i and multiplication and division calculator 205.
In addition, prevent, for example can consider value and q shaft current instruction i atomic a small amount of for removing zero
q *The method of addition.Perhaps, also exist in q shaft current instruction i
q *Be the input and output ratio of limiter 207i not to be carried out Calculation Method under 0 the situation.In the case; For example removing zero preventer 206i also can control multiplication and division calculator 205; So that this multiplication and division calculator 205 does not calculate the input and output ratio of limiter 207i, supply with to comparator 203 but for example incite somebody to action the current saturation degree h that just calculate before this.
In execution mode 2, owing in switching arbiter 202i, utilize limiter 207i simulation ground to generate the q shaft current instruction i that is equivalent to by after demand limiter 20 restrictions in inside
q *Current-order, be used for receiving q shaft currents instruction i so can omit from demand limiter 20
q *Structure (for example, control cycle (sampling period) in control part 10 and feedback section 40 under the condition of different, the Data Receiving/transmission in the interval that control cycle is different and distribution etc.).
In addition, owing to can the limited field (higher limit, lower limit) of limiter 207i being independent of demand limiter 20 and setting, so can improve the flexibility of the action (design) of switching arbiter 202i.
Below, the control device 100j that execution mode 3 is related is described.Below, be that the center describes with difference with execution mode 2.
Switching part 119j has the arbiter of switching 202j.Switch arbiter 202j and have absolute value setting apparatus 208j, lower limiter 209j and limits value setting apparatus 210j.
Promptly; Under the absolute value of the higher limit in the limited field of q shaft current limiter 103 situation identical with the absolute value of lower limit; If be set at the lower limit of lower limiter 209j and the limits value of limits value setting apparatus 210j identical with the higher limit of q shaft current limiter 103; Then can utilize multiplication and division calculator 205, make the output (limits value) of limits value setting apparatus 210j, divided by instruct i with respect to the q shaft current
q *And utilize absolute value setting apparatus 208j to take absolute value and utilize the value after lower limiter 209j applies restriction, thereby obtain current saturation degree h.
Specifically, if q shaft current instruction i
q *Absolute value be less than or equal to the lower limit of lower limiter 209j, q shaft current instruction i then
q *Absolute value through the higher limit that lower limiter 209j is fixed on q shaft current limiter 103, therefore, equate that with the value of limits value setting apparatus 210j the current saturation degree h that is calculated by multiplication and division calculator 205 becomes 1.
Under the situation of absolute value greater than the lower limit of lower limiter 209j of q shaft current instruction, make the output of limits value setting apparatus 210j, divided by the q shaft current instruction i bigger than the output of limits value setting apparatus 210j
q *Absolute value, current saturation degree h is less than 1.
In execution mode 3, through in switching arbiter 202j, make the output of limits value setting apparatus 210j, divided by instruct i with respect to the q shaft current
q *And utilize absolute value setting apparatus 208j to take absolute value and apply the value after the restriction, thereby obtain current saturation degree h by lower limiter 209j.Thus, need not remove zero and prevent function, therefore, needn't be provided with and remove zero preventer 206i (with reference to Fig. 6), just can avoid the calculated value of multiplication and division calculator 205 to become infinitely-great situation.
In addition, set owing to can the limits value of the lower limit of lower limiter 209j and limits value setting apparatus 210j being independent of demand limiter 20, so can improve the flexibility of the action (design) of switching arbiter 202j.
Below, the control device 100k that execution mode 4 is related is described.Below, be that the center describes with difference with execution mode 3.
Switching part 119k has the arbiter of switching 202k.Switch arbiter 202k and have absolute value setting apparatus 211k and adder 212k.
That is, under the identical situation of the absolute value of the upper lower limit value of q shaft current limiter 103, through according to current saturation amount Δ i
qInfer current-order with the absolute value of the upper lower limit value of setting in the q shaft current limiter 103, thereby even do not use current-order, also can be according to current saturation amount Δ i
qCalculate current saturation degree h.
Specifically, the limits value of limits value setting apparatus 210j is set at, identical with the absolute value of the upper lower limit value of setting in the q shaft current limiter 103.Thus, q shaft current instruction i
q *Can make current saturation amount Δ i through utilizing adder 212k with respect to the q axle
qValue after taking absolute value by absolute value setting apparatus 211k, with output (limits value) addition of limits value setting apparatus 210j, thereby infer.
In addition,, make the output (limits value) of limits value setting apparatus 210j,, thereby can obtain current saturation degree h divided by the q shaft current instruction of inferring out by adder 212k through utilizing multiplication and division calculator 205.Current saturation amount Δ i at the q axle
qBe that current saturation degree h becomes 1 under 0 the situation.
In execution mode 3, in switching arbiter 202k, can make current saturation amount Δ i through utilizing adder 212k with respect to the q axle
qValue after taking absolute value by absolute value setting apparatus 211k, with output (limits value) addition of limits value setting apparatus 210j, thereby infer q shaft current instruction i
q *Thus, can omit and be used for receiving q shaft currents instruction i from control part 10
q *Structure (for example, control cycle (sampling period) in control part 10 and feedback section 40 under the condition of different, the Data Receiving/transmission in the interval that control cycle is different and distribution etc.).
In addition,, remove zero preventer 206i (with reference to Fig. 6), just can avoid the calculated value of multiplication and division calculator 205 to become infinitely-great situation so needn't be provided with owing to, also need not remove zero and prevent function through execution mode 4.
Below, the control device 100p that execution mode 5 is related is described.Below, be that the center describes with difference with execution mode 4.
Switching part 119p has the arbiter of switching 202p.Switch arbiter 202p and do not have set point setting apparatus 204, multiplication and division calculator 205 and adder 212k.
That is, compare, adopt to judge whether more simply the current saturation amount that calculates is imported the method for switching to the saturation capacity F/B portion that comprises gain or filter 105 with execution mode 4.In switching arbiter 202p, utilize comparator 203p, to respect to current saturation amount Δ i
qValue after taking absolute value by absolute value setting apparatus 211k, compare with the limits value of setting by limits value setting apparatus 210j (threshold value of regulation＞0).
In execution mode 5, in switching arbiter 202p, through with current saturation amount Δ i
qAnd limits value (threshold value of regulation) compares, thereby whether the control action of judging control device 100p simply becomes unstable (generation torsional oscillation).Thus, needn't carry out computing, the control action that just can judge control device 100p simply whether become unstable (generation torsional oscillation) to current saturation degree h.Its result in switching arbiter 202p, can omit and is used for structure that current saturation degree h is carried out computing, therefore, can the mounting structure that switch arbiter 202p be simplified.
In addition, in execution mode 1～execution mode 5, carry out the whether switching of feedback compensation value, but also can carry out the whether switching of feedback compensation value according to the size of voltage saturation amount according to the size of current saturation amount.For example, shown in figure 10, in control device 100q, also can replace feedback section 40 and have feedback section 40q, and have calculating part 30q.
That is, calculating part 30q is through the q shaft voltage instruction V of computing from control part 50 outputs
q *With by the q shaft voltage instruction V after voltage limitator 60 restriction
q *Difference, thereby calculating voltage saturation capacity Δ V
qAnd supply with to feedback section 40q.Specifically, calculating part 30 has subtracter 104q.Subtracter 104q receives q shaft voltage instruction V from control part 50
q *, and from voltage limitator 60 reception q shaft voltage instruction V
q *Subtracter 104q is from q shaft voltage instruction V
q *In deduct q shaft voltage instruction V
q *Subtracter 104 with subtraction result as voltage saturation amount Δ V
qAnd supply with to feedback section 40q.
Whether feedback section 40q will judge to control part 10 feedbacks with the corresponding offset of voltage saturation amount that is calculated by calculating part, and having or not of feedback switched.
That is, the switching part 119 of feedback section 40q and the voltage saturation amount Δ V that calculates by calculating part 30q
qBig or small corresponding; The 1st state and the 2nd state are switched; Wherein, the 1st state is purpose not utilize feedback section 40q to control part 10 feedback compensation values, the voltage saturation amount is not imported to saturation capacity F/B portion 105; The 2nd state is purpose to utilize feedback section 40q to control part 10 feedback compensation values, and the voltage saturation amount is imported to saturation capacity F/B portion 105.Saturation capacity F/B portion 105 under the 1st state, not will with voltage saturation amount Δ V
qCorresponding position correction amount Δ P is to control part 10 feedbacks, under the 2nd state, will with voltage saturation amount Δ V
qCorresponding position correction amount Δ P is to control part 10 feedbacks.
Utilize this structure, when having taken place to produce the operational ton saturated (voltage instruction is saturated) of the such severe of torsional oscillation, can the control action of control device 100q be compensated, to suppress torsional oscillation.In addition, when having taken place not produce the so slight operational ton of torsional oscillation saturated (voltage instruction is saturated), can reduce overcompensation to position command.
Perhaps, also can and shown in above-mentioned variation, whether carry out the scheme combination of the switching of feedback compensation value with the big or small corresponding of voltage saturation amount with the scheme of carrying out the whether switching of feedback compensation value with the big or small corresponding of current saturation amount shown in enforcement mode 1～execution mode 5.For example, shown in figure 11, control device 100r also can have feedback section 40q except feedback section 40, and has calculating part 30q and adder 125r.Adder 125r makes by the position correction amount Δ P of feedback section 40 feedbacks and the position correction amount Δ P addition of being fed back by feedback section 40q, and supplies with to subtracter 115.
As noted above, in the present invention, theme is to use the switching part that switches to the saturation capacity F/B portion input operation saturation capacity that comprises gain or filter whether, and the negative feedback target of the output of saturation capacity F/B portion does not limit especially.
Industrial applicibility
As noted above, control device involved in the present invention is applicable to be controlled motor.
Claims (4)
1. control device, it is used to control motor,
It is characterized in that having:
Control part, it generates current-order and output;
Demand limiter, it will be limited in the limited field and output from the current-order of said control part output;
Drive division, it drives said motor with corresponding from the current-order of said demand limiter output;
Calculating part, the difference of the current-order after it limits from the current-order of said control part output with by said demand limiter through computing, thus calculate the current saturation amount; And
Feedback section, its will with the corresponding offset of current saturation amount that calculates by said calculating part, to said control part feedback,
Said feedback section has switching part; It is big or small corresponding with the current saturation amount that is calculated by said calculating part; The 1st state and the 2nd state are switched; Wherein, the 1st state is meant and does not utilize said feedback section that said offset is fed back to said control part that the 2nd state is meant and utilizes said feedback section that said offset is fed back to said control part.
2. control device according to claim 1 is characterized in that,
Said switching part has:
Switch, its disconnection then makes said feedback section become said the 1st state, and closure then makes said feedback section become said the 2nd state; And
Judegment part; It is according to the size and the Control Parameter of said current saturation amount; The control action of the said control device instability that whether becomes is judged, under the control action that is judged as said control device can not become unsettled situation, said switch is broken off; Under the control action that is judged as said control device becomes unsettled situation, make said switch closure.
3. control device, it is used to control motor,
It is characterized in that having:
Control part, its formation voltage instruction and output;
Voltage limitator, it will be limited in the limited field and output from the voltage instruction of said control part output;
Drive division, it drives said motor with corresponding from the voltage instruction of said voltage limitator output;
Calculating part, the difference of the voltage instruction after it limits from the voltage instruction of said control part output with by said voltage limitator through computing, thereby calculating voltage saturation capacity; And
Feedback section, its will with the corresponding offset of voltage saturation amount that calculates by said calculating part, to said control part feedback,
Said feedback section has switching part; It is big or small corresponding with the voltage saturation amount that is calculated by said calculating part; The 1st state and the 2nd state are switched; Wherein, the 1st state is meant and does not utilize said feedback section to feed back said offset to said control part that the 2nd state is meant and utilizes said feedback section to feed back said offset to said control part.
4. control device according to claim 3 is characterized in that,
Said switching part has:
Switch, its disconnection then makes said feedback section become said the 1st state, and closure then makes said feedback section become said the 2nd state; And
Judegment part; It is according to the size and the Control Parameter of said voltage saturation amount; The control action of the said control device instability that whether becomes is judged, under the control action that is judged as said control device can not become unsettled situation, said switch is broken off; Under the control action that is judged as said control device becomes unsettled situation, make said switch closure.
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| JP2010270674A JP5143217B2 (en) | 2010-12-03 | 2010-12-03 | Control device |
| JP2010-270674 | 2010-12-03 |
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| CN104065312A (en) * | 2013-03-19 | 2014-09-24 | 发那科株式会社 | Motor Control System That Detects Voltage Saturation |
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| CN117075482B (en) * | 2023-10-13 | 2024-01-05 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
Also Published As
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| JP5143217B2 (en) | 2013-02-13 |
| JP2012120412A (en) | 2012-06-21 |
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