JP2013235307A - Motor control apparatus - Google Patents

Motor control apparatus Download PDF

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JP2013235307A
JP2013235307A JP2012105313A JP2012105313A JP2013235307A JP 2013235307 A JP2013235307 A JP 2013235307A JP 2012105313 A JP2012105313 A JP 2012105313A JP 2012105313 A JP2012105313 A JP 2012105313A JP 2013235307 A JP2013235307 A JP 2013235307A
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adjustment
command
vibration
signal
motor
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JP5904865B2 (en
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Hiroyuki Sekiguchi
裕幸 関口
Hidetoshi Ikeda
英俊 池田
Koichiro Ueda
浩一郎 上田
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Mitsubishi Electric Corp
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Abstract

PROBLEM TO BE SOLVED: To provide a motor control apparatus capable of properly performing adjustment of a control parameter.SOLUTION: A motor control apparatus comprises: a position control part for generating a driving force command to a motor so that a position detection signal of a motor or a machinery system connected to the motor follows a temporally varying position command signal in tracking characteristics according to a set control parameter; an adjustment command generation part for generating an adjustment position command signal in an adjustment mode in which the adjustment of a control parameter is automatically performed; a tracking characteristics adjustment part for automatically changing the control parameter so that the tracking characteristics of the position detection signal to the adjustment position command signal when the motor is driven to the adjustment position command signal and a driving force command at this time become desired characteristics in the adjustment mode; an oscillation cycle setting part for obtaining an oscillation cycle unique to a control object consisting of the motor and the machinery system; and an adjustment command determination part for determining so that a command duration time of the adjustment position command signal becomes odd times larger than the oscillation cycle.

Description

本発明は、機械、特に剛性の低い機械を駆動する電動機を制御する電動機制御装置に関するものである。   The present invention relates to a motor control device that controls a motor, particularly a motor that drives a machine having low rigidity.

位置決め駆動した時に残留振動やオーバーシュートが発生するような機械を駆動する電動機制御装置では、そのパラメータの調整方法として、ある所定の駆動パターンで制御対象を駆動させながら、その時の挙動に基づいて調整する方法がある。   In an electric motor control device that drives a machine that generates residual vibration or overshoot when positioning driving is performed, the parameter is adjusted based on the behavior at that time while driving the controlled object with a predetermined drive pattern. There is a way to do it.

第１の従来技術として、残留振動からその振動の周波数などの特性を推定し、残留振動を抑制する制振制御機能を調整する技術がある(例えば、特許文献１)。   As a first conventional technique, there is a technique for estimating a characteristic such as a frequency of the vibration from the residual vibration and adjusting a damping control function for suppressing the residual vibration (for example, Patent Document 1).

また、調整過程または調整後の電動機制御装置のパラメータを評価する方法として、ある所定の駆動パターンで駆動させたときの整定時間やオーバーシュート、残留振動などにより調整結果を評価する方法がある。第２の従来技術としては、連続的に変化する調整運転用の指令パターンを生成し、パラメータを調整する(例えば、特許文献２)。このようにすることで、位置決め時の性能に影響を与える***振周波数で十分加振できるようになる。そして、***振周波数でほとんど加振しないような特異な指令で駆動させたときのオーバーシュートや残留振動などに基づいて制御性能の評価を行い、特異的な制御パラメータの自動調整結果を得てしまうことを防ぐことができる。   Further, as a method for evaluating the parameters of the motor control device after the adjustment process or after adjustment, there is a method for evaluating the adjustment result based on settling time, overshoot, residual vibration, and the like when driven by a predetermined drive pattern. As a second prior art, a command pattern for adjustment operation that changes continuously is generated and parameters are adjusted (for example, Patent Document 2). By doing so, it is possible to sufficiently vibrate at an anti-resonance frequency that affects the performance during positioning. Then, the control performance is evaluated based on overshoot or residual vibration when driven by a specific command that hardly vibrates at the anti-resonance frequency, and the result of automatic adjustment of specific control parameters is obtained. Can be prevented.

特開２００４−５４６９号公報JP 2004-5469 A 特開２００７−１３５３４４号公報JP 2007-135344 A

しかしながら、上記従来の技術、例えば、特許文献１に代表される従来の電動機制御装置では、振動しやすい周波数の信号成分をほとんど含まないような駆動指令で制御対象を駆動させた場合、制御対象で残留振動がほとんど発生しないため、残留振動の特性を精度よく推定できず、制振制御の調整が行えないという問題があった。   However, in the conventional technique described above, for example, a conventional motor control device represented by Patent Document 1, when a control target is driven with a drive command that hardly includes a signal component having a frequency that easily oscillates, the control target is Since the residual vibration hardly occurs, there is a problem that the characteristic of the residual vibration cannot be accurately estimated and the damping control cannot be adjusted.

また、特許文献２に開示されている方法では、連続的に変化する調整運転用の指令パターンを生成し、それらの指令パターンを用いて制御対象を駆動し制御器の制御パラメータを自動調整するため、調整時間が長くなるという問題があった。   Further, in the method disclosed in Patent Document 2, a command pattern for adjustment operation that changes continuously is generated, and a control object is driven to automatically adjust a control parameter of the controller using the command pattern. There was a problem that the adjustment time was long.

本発明は、上記のような課題に鑑みてなされたものであって、位置指令に対する制御対象の位置の追従特性を決定する制御パラメータを短い時間で適正に求めることができる自動調整を行う電動機制御装置を得ることを目的とする。   The present invention has been made in view of the above-described problems, and is an electric motor control that performs automatic adjustment that can appropriately obtain a control parameter for determining a tracking characteristic of a position of a controlled object with respect to a position command in a short time. The object is to obtain a device.

上述した課題を解決し、目的を達成するために、本発明は、時間的に変化する位置指令信号に対して、設定した制御パラメータに応じた追従特性で電動機または電動機に連結された機械系の位置検出信号が追従するように、当該電動機への駆動力指令を生成する位置制御部と、前記制御パラメータの調整を自動的に行う調整モードにおいて調整用位置指令信号を生成する調整用指令生成部と、前記調整モードにおいて、前記調整用位置指令信号に対して前記電動機を駆動したときの前記調整用位置指令信号に対する当該位置検出信号の追従特性と、その時の前記駆動力指令が、所望の特性となるように前記制御パラメータを自動的に変更する追従特性調整部と、前記電動機及び前記機械系で構成される制御対象に固有の振動周期を求める振動周期設定部と、前記調整用位置指令信号の指令継続時間が前記振動周期の奇数倍となるよう決定する調整用指令決定部と、を備えることを特徴とする。   In order to solve the above-described problems and achieve the object, the present invention provides an electric motor or a mechanical system connected to the electric motor with a tracking characteristic according to a set control parameter with respect to a position command signal that changes with time. A position control unit that generates a driving force command to the electric motor so that the position detection signal follows, and an adjustment command generation unit that generates an adjustment position command signal in an adjustment mode that automatically adjusts the control parameter In the adjustment mode, the tracking characteristic of the position detection signal with respect to the adjustment position command signal when the motor is driven with respect to the adjustment position command signal, and the driving force command at that time include desired characteristics. A follow-up characteristic adjusting unit that automatically changes the control parameter so that the vibration is obtained, and a vibration for obtaining a vibration period specific to a control target configured by the electric motor and the mechanical system. A period setting unit, the command duration of the adjustment position command signal, characterized in that the and a adjustment command determination unit that determines to be an odd multiple of the oscillation period.

この発明によれば、制御対象で発生する振動を励起するような調整用位置指令信号で位置決め駆動することにより、位置決め時に制御対象の振動が大きく励起し、その時の位置検出信号や駆動力指令の波形から指令に対する制御対象の追従特性を評価し、適正な制御パラメータの調整を行うことができるという効果を奏する。   According to the present invention, by positioning and driving with an adjustment position command signal that excites vibration generated in the controlled object, the vibration of the controlled object is greatly excited during positioning, and the position detection signal and driving force command at that time are It is possible to evaluate the follow-up characteristic of the controlled object with respect to the command from the waveform and adjust the appropriate control parameter.

図１は、本発明の電動機制御装置の実施の形態１の構成を示すブロック図である。FIG. 1 is a block diagram showing the configuration of the first embodiment of the motor control device of the present invention. 図２は、本発明の電動機制御装置の実施の形態１の自動調整モード時の動作を説明するフローチャートである。FIG. 2 is a flowchart for explaining the operation in the automatic adjustment mode of the first embodiment of the motor control device of the present invention. 図３は、本発明の電動機制御装置の実施の形態２の構成を示すブロック図である。FIG. 3 is a block diagram showing the configuration of the second embodiment of the motor control device of the present invention. 図４は、本発明の電動機制御装置の実施の形態２の自動調整モード時の動作を説明するフローチャートである。FIG. 4 is a flowchart for explaining the operation in the automatic adjustment mode of the second embodiment of the motor control device of the present invention. 図５は、本発明の電動機制御装置の自動調整モード時の調整用位置指令信号の効果を説明するグラフである。FIG. 5 is a graph for explaining the effect of the adjustment position command signal in the automatic adjustment mode of the motor control device of the present invention. 図６は、本発明の電動機制御装置の自動調整モード時の調整用位置指令信号の効果を説明するグラフである。FIG. 6 is a graph for explaining the effect of the adjustment position command signal in the automatic adjustment mode of the motor control device of the present invention. 図７は、本発明の電動機制御装置の自動調整モード時の調整用位置指令信号の効果を説明するグラフである。FIG. 7 is a graph for explaining the effect of the adjustment position command signal in the automatic adjustment mode of the motor control device of the present invention.

以下に、本発明にかかる電動機制御装置の実施の形態を図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。   Embodiments of an electric motor control device according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

実施の形態１．
以下、本発明の実施の形態１による電動機制御装置について図１を用いて説明する。図１は、本発明の実施の形態１による電動機制御装置を適用した機械駆動システムを示すブロック図である。 Embodiment 1 FIG.
Hereinafter, an electric motor control apparatus according to Embodiment 1 of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing a mechanical drive system to which an electric motor control apparatus according to Embodiment 1 of the present invention is applied.

図１に示すように、制御対象４の電動機４ａや機械系４ｂの位置が、時間的に変化する位置指令信号に対して追従するように、位置制御部２は入力された位置指令信号と制御対象４の検出器４ｃが出力した位置検出信号Ｘに応じて比例や積分等の演算に基づいて計算した駆動力指令Ｆ*をスイッチ１２を通過して電力変換器３に出力する。電力変換器３は駆動力指令Ｆ*に応じた駆動力を電動機４ａに供給し、電動機４ａは駆動力をトルクや推力に変換して機械系４ｂを駆動させ、検出器４ｃは電動機４ａの位置を検出し位置検出信号Ｘとして出力する。 As shown in FIG. 1, the position control unit 2 controls the position command signal and the input position command signal so that the position of the electric motor 4a or the mechanical system 4b of the control target 4 follows the position command signal that changes with time. A driving force command F * calculated based on a calculation such as proportionality or integration in accordance with the position detection signal X output from the detector 4 c of the target 4 passes through the switch 12 and is output to the power converter 3. The power converter 3 supplies a driving force corresponding to the driving force command F * to the electric motor 4a, the electric motor 4a converts the driving force into torque or thrust to drive the mechanical system 4b, and the detector 4c is the position of the electric motor 4a. Is detected and output as a position detection signal X.

位置制御部２は、その制御パラメータにより位置指令信号に対する制御対象４の電動機４ａや機械系４ｂの位置の追従性が決まり、この制御パラメータの調整を自動的に行う自動調整モードにおいて、調整用指令生成部１は調整用位置指令信号Ｘ*を位置制御部２に出力する。 The position control unit 2 determines the followability of the position of the electric motor 4a or the mechanical system 4b of the controlled object 4 with respect to the position command signal according to the control parameter, and in the automatic adjustment mode in which the control parameter is automatically adjusted, the adjustment command The generation unit 1 outputs an adjustment position command signal X * to the position control unit 2.

加振信号生成部６は、制御対象４の周波数特性同定用の加振信号としてＭ系列波形の信号を生成し、スイッチ１２をｂ)側に切り替えることでＭ系列波形を駆動力指令Ｆ*として電動機４ａを駆動できる。機械特性演算部５は、Ｍ系列波形を駆動力指令Ｆ*として電動機４ａを駆動させたときの駆動力指令Ｆ*や位置検出信号Ｘから、即ち、加振信号で制御対象４を駆動した時の制御対象４の位置の値に相当する動作検出信号と加振信号に基づいて、制御対象４の機械特性（周波数特性）を演算する。 The excitation signal generator 6 generates an M-sequence waveform signal as an excitation signal for identifying the frequency characteristic of the controlled object 4, and switches the switch 12 to the b) side so that the M-sequence waveform is used as the driving force command F *. The electric motor 4a can be driven. The mechanical characteristic calculation unit 5 uses the driving force command F * when the motor 4a is driven using the M-sequence waveform as the driving force command F * and the position detection signal X, that is, when the control object 4 is driven by the vibration signal. The mechanical characteristic (frequency characteristic) of the control target 4 is calculated based on the motion detection signal corresponding to the position value of the control target 4 and the vibration signal.

振動周期設定部７は、機械特性演算部５が演算した制御対象４の機械特性（周波数特性）から整定に影響するような低い周波数の***振特性を抽出し、その***振特性の周波数から求めた制御対象４に固有の振動周期を記憶する。   The vibration period setting unit 7 extracts a low-frequency anti-resonance characteristic that affects settling from the mechanical characteristic (frequency characteristic) of the controlled object 4 calculated by the mechanical characteristic calculation unit 5, and obtains the frequency from the anti-resonance characteristic. The vibration period unique to the control object 4 is stored.

調整用指令決定部８は、振動周期設定部７に記憶された振動周期の奇数倍が指令継続時間となるように、調整用指令生成部１が出力する調整用位置指令信号Ｘ*の形状を決定する。調整用位置指令信号Ｘ*は、設定された最大加減速度で加速と減速を行い、加速時間と減速時間が等しく、加速時間と減速時間の和が指令継続時間となる速度三角パターンであり、調整用位置指令信号Ｘ*の最大速度と移動距離が、設定された許容最大速度と許容移動範囲を超える場合は、速度三角パターンで最大速度と移動距離が許容範囲内となるように加減速度を制限する。 The adjustment command determination unit 8 changes the shape of the adjustment position command signal X * output from the adjustment command generation unit 1 so that an odd multiple of the vibration cycle stored in the vibration cycle setting unit 7 becomes the command duration. decide. The adjustment position command signal X * is a speed triangle pattern that accelerates and decelerates at the set maximum acceleration / deceleration, the acceleration time and the deceleration time are equal, and the sum of the acceleration time and deceleration time becomes the command duration. When the maximum speed and movement distance of the position command signal X * exceeds the set allowable maximum speed and allowable movement range, the acceleration / deceleration is limited by the speed triangle pattern so that the maximum speed and movement distance are within the allowable range. To do.

追従特性調整部９は、自動調整モードにおいて、調整用指令生成部１が生成した調整用位置指令信号Ｘ*で電動機４ａを駆動したときの駆動力指令Ｆ*や位置検出信号Ｘに応じて、制御対象４の電動機４ａの位置が、調整用位置指令信号Ｘ*に対して所望の追従特性となるように位置制御部２の制御パラメータを自動的に調整する。 In the automatic adjustment mode, the follow-up characteristic adjusting unit 9 responds to the driving force command F * and the position detection signal X when the motor 4a is driven by the adjustment position command signal X * generated by the adjustment command generation unit 1. The control parameter of the position control unit 2 is automatically adjusted so that the position of the electric motor 4a of the controlled object 4 has a desired follow-up characteristic with respect to the adjustment position command signal X * .

次に、本発明の実施の形態１にかかる電動機制御装置の自動調整モード時の動作について説明する。図２は、実施の形態１にかかる電動機制御装置による自動調整モード時の動作を示すフローチャートである。このフローチャートに従い、図１の機械駆動システムの各部の動作を以下に説明する。   Next, the operation in the automatic adjustment mode of the motor control device according to the first embodiment of the present invention will be described. FIG. 2 is a flowchart illustrating the operation in the automatic adjustment mode by the motor control device according to the first embodiment. The operation of each part of the mechanical drive system of FIG. 1 will be described below according to this flowchart.

まず、追従特性調整部９に機械駆動システムの目標整定時間と位置決め時の許容整定幅・駆動力の最大値といった目標追従特性、また調整用指令決定部８に調整用位置指令信号Ｘ*の最大加減速度、許容最高速度、許容移動範囲といった駆動条件をそれぞれ設定する(図２：ステップＳ００１)。 First, the following characteristic adjusting unit 9 sets the target following characteristic such as the target settling time of the mechanical drive system, the allowable settling width at the time of positioning, and the maximum value of the driving force, and the adjustment command determining unit 8 sets the maximum of the adjustment position command signal X * . Driving conditions such as acceleration / deceleration, allowable maximum speed, and allowable movement range are set (FIG. 2: Step S001).

次に、機械特性演算部５は、スイッチ１２をｂ)側に切り替えて、加振信号生成部６で生成した信号に基づく駆動力指令Ｆ*で電動機４ａを駆動したときの駆動力指令Ｆ*と位置検出信号Ｘから、制御対象４の機械特性を演算する(ステップＳ００２)。 Next, the mechanical characteristic calculation unit 5 switches the switch 12 to the b) side, and the driving force command F * when the motor 4a is driven by the driving force command F * based on the signal generated by the vibration signal generation unit 6 is used . From the position detection signal X, the mechanical characteristics of the controlled object 4 are calculated (step S002).

続いて、振動周期設定部７は、機械特性演算部５が演算した制御対象４の機械特性から整定に影響するような低い周波数の***振特性を抽出し、その周波数から計算した制御対象４に固有の振動周期を記憶する。そして、調整用指令決定部８は、振動周期設定部７に記憶された振動周期の奇数倍を指令継続時間と設定する。この条件のもと調整用指令決定部８は、設定された最大加減速度、許容最高速度、許容移動範囲を超えない範囲で、最大の加減速度で加速と減速を行い、加速時間と減速時間が等しく、加速時間と減速時間の和が指令継続時間となる速度三角パターンとなる調整用位置指令信号Ｘ*を決定し、調整用指令生成部１に設定する(ステップＳ００３)。 Subsequently, the vibration cycle setting unit 7 extracts a low-frequency anti-resonance characteristic that affects the settling from the mechanical characteristics of the control target 4 calculated by the mechanical characteristic calculation unit 5, and the control target 4 calculated from the frequency is extracted. Stores the unique vibration period. Then, the adjustment command determination unit 8 sets an odd multiple of the vibration cycle stored in the vibration cycle setting unit 7 as the command duration. Under this condition, the adjustment command determination unit 8 performs acceleration and deceleration at the maximum acceleration / deceleration within a range not exceeding the set maximum acceleration / deceleration, allowable maximum speed, and allowable movement range. Equally, an adjustment position command signal X * that is a speed triangular pattern in which the sum of the acceleration time and the deceleration time becomes the command continuation time is determined and set in the adjustment command generator 1 (step S003).

続いて、調整用指令生成部１は、設定された調整用位置指令信号Ｘ*を出力し、電動機４ａを駆動する(ステップＳ００４)。なお、このときスイッチ１２はａ)側に切り替えてある。 Subsequently, the adjustment command generation unit 1 outputs the set adjustment position command signal X * to drive the electric motor 4a (step S004). At this time, the switch 12 is switched to the a) side.

そして、追従特性調整部９は、調整用位置指令信号Ｘ*で駆動したときの駆動力指令Ｆ*と位置検出信号Ｘを取得する(ステップＳ００５)。 Then, the tracking characteristic adjusting unit 9 acquires the driving force command F * and the position detection signal X when driven by the adjustment position command signal X * (step S005).

追従特性調整部９は、取得した駆動力指令Ｆ*と位置検出信号Ｘから、位置決め時の残留振動やオーバーシュートが整定幅内に収まっているか、駆動力が最大値以下に収まっているか、整定時間を満たしているか等の位置決め駆動時の特性を評価し、目標追従特性を満たしているか否かを判定する(ステップＳ００６)。目標追従特性を満たしていれば(ステップＳ００６：Ｙｅｓ)、自動調整モードを終了する。一方、目標追従特性を満たしていない場合(ステップＳ００６：Ｎｏ)は、所望の追従特性となるように位置制御部２の制御パラメータを以下のような指針で自動的に調整する(ステップＳ００７)。 The follow-up characteristic adjusting unit 9 determines whether the residual vibration or overshoot during positioning is within the settling range, the driving force is within the maximum value, or not from the acquired driving force command F * and the position detection signal X. The characteristics at the time of positioning driving, such as whether the time is satisfied, are evaluated, and it is determined whether the target following characteristics are satisfied (step S006). If the target tracking characteristic is satisfied (step S006: Yes), the automatic adjustment mode is terminated. On the other hand, when the target tracking characteristic is not satisfied (step S006: No), the control parameters of the position control unit 2 are automatically adjusted with the following guidelines so as to obtain the desired tracking characteristic (step S007).

１．残留振動やオーバーシュートが整定幅を超えたり、駆動力が最大値以上の場合は応答性を下げるように制御パラメータを調整する。
２．整定時間の目標を満たしていない場合は、残留振動やオーバーシュート、駆動力の制約を満たす限りにおいて応答性を上げるように制御パラメータを調整する。 1. If the residual vibration or overshoot exceeds the settling range, or if the driving force is greater than the maximum value, adjust the control parameters to reduce the responsiveness.
2. When the settling time target is not satisfied, the control parameter is adjusted so as to increase the response as long as the residual vibration, overshoot, and driving force are satisfied.

ステップＳ００７の後は、ステップＳ００４に戻り、そこからのフローを繰り返す。   After step S007, the process returns to step S004, and the flow from there is repeated.

図５、図６、および図７に、振動周期０.０４８[ｓ]で振動する制御対象を、同じ加減速度の速度三角パターンとなる速度指令で駆動した時の位置偏差信号(位置指令信号Ｘ*−位置検出信号Ｘ)の波形（各図の下の図）を速度指令の波形（各図の上の図）と共に示す。図５は指令継続時間が振動周期の１倍である０.０４８[ｓ]の場合を示し、図６は指令継続時間が振動周期の１.５倍である０.０７２[ｓ]の場合を示し、図７は指令継続時間が振動周期の２倍である０.０９６[ｓ]の場合を示している。指令継続時間が振動周期の奇数倍である図５では振動が大きく励起している。すなわち、調整用位置指令信号Ｘ*が値を持つ期間である指令継続時間を制御対象４に固有な振動周期の奇数倍とすることにより制御対象４に固有の振動を効率的に励起することが可能となる。 5, 6, and 7, a position deviation signal (position command signal X) when a control target that vibrates at a vibration cycle of 0.048 [s] is driven by a speed command that is a speed triangular pattern having the same acceleration / deceleration speed. * —The position detection signal X) waveform (the lower diagram in each figure) is shown together with the velocity command waveform (the upper diagram in each figure). FIG. 5 shows a case where the command duration is 0.048 [s], which is one time of the vibration cycle, and FIG. 6 shows a case where the command duration is 0.052 [s], which is 1.5 times the vibration cycle. FIG. 7 shows a case where the command duration is 0.096 [s] which is twice the vibration period. In FIG. 5 where the command duration is an odd multiple of the vibration period, the vibration is greatly excited. That is, the vibration unique to the control target 4 can be efficiently excited by setting the command continuation time during which the adjustment position command signal X * has a value to an odd multiple of the vibration period specific to the control target 4. It becomes possible.

以上で説明したように、本発明の実施の形態１による電動機制御装置は、その自動調整モード時において、制御対象４の***振特性から計算した振動周期の奇数倍が指令継続時間となる速度三角パターンの調整用位置指令信号Ｘ*で電動機４ａを駆動させるため、***振特性の影響で発生する制御対象４の振動を励起することになる。 As described above, in the motor control device according to Embodiment 1 of the present invention, in the automatic adjustment mode, a speed triangle in which an odd multiple of the vibration period calculated from the anti-resonance characteristics of the controlled object 4 is the command duration. Since the motor 4a is driven by the pattern adjustment position command signal X * , the vibration of the controlled object 4 generated by the influence of the anti-resonance characteristic is excited.

そのため、制御対象４の***振特性による振動をほとんど励起しないような位置指令信号で電動機４ａを駆動させたために、機械駆動システムの追従特性の正確な評価ができず、特異な条件で位置制御部２の制御パラメータを調整してしまうといったことを避けることができる。すなわち、制御対象４の固有の振動を励起する位置指令信号で電動機４ａを駆動させることで、機械駆動システムの追従特性を正確に評価でき、位置制御部２の制御パラメータを適正な値とする調整が行える。   Therefore, since the motor 4a is driven with a position command signal that hardly excites vibration due to the anti-resonance characteristics of the controlled object 4, the follow-up characteristics of the mechanical drive system cannot be accurately evaluated, and the position control unit under special conditions It is possible to avoid adjusting the second control parameter. That is, by driving the motor 4a with a position command signal that excites the inherent vibration of the controlled object 4, the tracking characteristics of the mechanical drive system can be accurately evaluated, and the control parameter of the position control unit 2 is adjusted to an appropriate value. Can be done.

なお、本実施の形態においては、加振信号生成部６はＭ系列波形の信号を生成しているとして説明したが、これに限定されず、様々な周波数成分を含んだ信号であれば掃引波形といった波形を生成するようにしても構わない。   In the present embodiment, the excitation signal generation unit 6 has been described as generating an M-sequence waveform signal. However, the present invention is not limited to this, and a sweep waveform can be used as long as the signal includes various frequency components. Such a waveform may be generated.

また、本実施の形態においては、電動機４ａの位置を検出する検出器４ｃが出力する位置検出信号Ｘに基づいて、機械特性演算部５は制御対象４の機械特性（周波数特性）を演算していたが、機械系４ｂの位置に関する検出器や、電動機４ａの速度に関する検出器や、機械系４ｂの速度に関する検出器や、電動機４ａの加速度に関する検出器や、機械系４ｂの加速度に関する検出器などを備え、その検出器の出力、つまり制御対象４の位置または速度もしくは加速度の値に相当する動作検出信号に基づいて、制御対象４の機械特性（周波数特性）を演算してもよい。   In the present embodiment, the mechanical characteristic calculation unit 5 calculates the mechanical characteristic (frequency characteristic) of the control target 4 based on the position detection signal X output from the detector 4c that detects the position of the electric motor 4a. However, a detector related to the position of the mechanical system 4b, a detector related to the speed of the electric motor 4a, a detector related to the speed of the mechanical system 4b, a detector related to the acceleration of the electric motor 4a, a detector related to the acceleration of the mechanical system 4b, etc. And the mechanical characteristic (frequency characteristic) of the control target 4 may be calculated based on the output of the detector, that is, the motion detection signal corresponding to the position or speed or acceleration value of the control target 4.

実施の形態２．
以下、本発明の実施の形態２による電動機制御装置について図３を用いて説明する。図３は、本発明の実施の形態２による電動機制御装置を適用した機械駆動システムを示すブロック図である。 Embodiment 2. FIG.
Hereinafter, an electric motor control apparatus according to Embodiment 2 of the present invention will be described with reference to FIG. FIG. 3 is a block diagram showing a mechanical drive system to which the electric motor control apparatus according to Embodiment 2 of the present invention is applied.

図３に示すように、実施の形態２は、実施の形態１から加振信号生成部６、スイッチ１２を省略し、機械特性演算部５が振動特性推定部１１に置き換わった構成となっている。また位置制御部２の機能にも変更がある。その他、実施の形態１の図１と同じ符号のブロックは同等の機能を有するため、説明を省略する。   As shown in FIG. 3, the second embodiment has a configuration in which the vibration signal generation unit 6 and the switch 12 are omitted from the first embodiment, and the mechanical characteristic calculation unit 5 is replaced with a vibration characteristic estimation unit 11. . There is also a change in the function of the position control unit 2. In addition, since the block of the same code | symbol as FIG. 1 of Embodiment 1 has an equivalent function, description is abbreviate | omitted.

位置制御部２は、設定された制振周波数に対する制振制御の演算を行うフィードフォワード制御部２ａ(以降ではＦＦ制御部２ａとする)とフィードバック制御部２ｂ(以降ではＦＢ制御部２ｂとする)を備え、ＦＦ制御部２ａは位置指令に対して設定された制振周波数の信号成分を小さくするような演算を行ったフィードフォワード信号Ｘr*(以降ではＦＦ信号Ｘr*とする)をＦＢ制御部２ｂに出力する。ＦＢ制御部２ｂは、制御対象４の電動機４ａや機械系４ｂの位置が、位置指令信号に対して制振制御を行った上で追従するように、ＦＦ信号Ｘr*と検出器４ｃが出力した位置検出信号Ｘに応じて比例や積分等の演算に基づいて計算した駆動力指令Ｆ*を電力変換器３に出力する。 The position control unit 2 includes a feedforward control unit 2a (hereinafter referred to as an FF control unit 2a) and a feedback control unit 2b (hereinafter referred to as an FB control unit 2b) that perform a vibration suppression control operation on a set vibration suppression frequency. The FF control unit 2a uses the feedforward signal Xr * (hereinafter referred to as the FF signal Xr * ) obtained by performing an operation to reduce the signal component of the damping frequency set for the position command as the FB control unit. Output to 2b. The FB control unit 2b outputs the FF signal Xr * and the detector 4c so that the positions of the electric motor 4a and the mechanical system 4b of the controlled object 4 follow the position command signal after performing vibration suppression control. A driving force command F * calculated based on a calculation such as proportionality or integration in accordance with the position detection signal X is output to the power converter 3.

位置制御部２は、その制御パラメータによりＦＦ制御部２ａとＦＢ制御部２ｂの応答特性が変化し、位置指令信号に対する制御対象４の電動機４ａや機械系４ｂの位置の追従性が決まる。   In the position control unit 2, the response characteristics of the FF control unit 2a and the FB control unit 2b change depending on the control parameter, and the followability of the position of the electric motor 4a or the mechanical system 4b of the controlled object 4 with respect to the position command signal is determined.

振動特性推定部１１は、位置検出信号Ｘに生じている制御対象４の振動特性を最小二乗法などの同定手法を用いて推定する機能を有し、推定結果に基づいてＦＦ制御部２ａの制振周波数の設定を行う。制御対象４の振動特性は、位置の他に、速度または加速度に基づいて推定してもよい。また、振動周期設定部７は、推定した振動特性から求めた振動周期を記憶する。   The vibration characteristic estimation unit 11 has a function of estimating the vibration characteristic of the control target 4 generated in the position detection signal X using an identification method such as a least square method, and controls the FF control unit 2a based on the estimation result. Set the vibration frequency. The vibration characteristics of the control target 4 may be estimated based on speed or acceleration in addition to the position. The vibration period setting unit 7 stores a vibration period obtained from the estimated vibration characteristics.

次に、本発明の実施の形態２にかかる電動機制御装置の自動調整モード時の動作について説明する。図４は、実施の形態２にかかる電動機制御装置による自動調整モード時の動作を示すフローチャートである。このフローチャートに従い、図３の機械駆動システムの各部の動作を以下に説明する。   Next, the operation in the automatic adjustment mode of the motor control device according to the second embodiment of the present invention will be described. FIG. 4 is a flowchart illustrating the operation in the automatic adjustment mode by the motor control device according to the second embodiment. The operation of each part of the mechanical drive system of FIG. 3 will be described below according to this flowchart.

まず、追従特性調整部９に機械駆動システムの目標整定時間と位置決め時の許容整定幅・駆動力の最大値といった目標追従特性、また調整用指令決定部８に調整用位置指令信号Ｘ*の最大加減速度、許容最高速度、許容移動範囲といった駆動条件をそれぞれ設定する(図４：ステップＳ１０１)。 First, the following characteristic adjusting unit 9 sets the target following characteristic such as the target settling time of the mechanical drive system, the allowable settling width at the time of positioning, and the maximum value of the driving force, and the adjustment command determining unit 8 sets the maximum of the adjustment position command signal X * . Driving conditions such as acceleration / deceleration, allowable maximum speed, and allowable movement range are set (FIG. 4: Step S101).

次に、調整用指令生成部１は適当な調整用位置指令信号Ｘ*を出力し、電動機４ａを駆動する(ステップＳ１０２)。 Next, the adjustment command generator 1 outputs an appropriate adjustment position command signal X * to drive the electric motor 4a (step S102).

振動特性推定部１１は、位置検出信号Ｘを取得し(ステップＳ１０３)、振動特性の推定を行う(ステップＳ１０４)。   The vibration characteristic estimation unit 11 acquires the position detection signal X (step S103) and estimates the vibration characteristic (step S104).

続いて、振動周期設定部７は、振動特性推定部１１が推定した振動特性から制御対象４に固有の振動周期を計算し記憶する。そして、調整用指令決定部８は、振動周期設定部７に記憶された振動周期の奇数倍を指令継続時間と設定する。この条件のもと調整用指令決定部８は、設定された最大加減速度、許容最高速度、許容移動範囲を超えない範囲で、最大の加減速度で加速と減速を行い、加速時間と減速時間が等しく、加速時間と減速時間の和が指令継続時間となる速度三角パターンとなる調整用位置指令信号Ｘ*を決定し、調整用指令生成部１に設定する(ステップＳ１０５)。 Subsequently, the vibration cycle setting unit 7 calculates and stores a vibration cycle unique to the control object 4 from the vibration characteristics estimated by the vibration characteristic estimation unit 11. Then, the adjustment command determination unit 8 sets an odd multiple of the vibration cycle stored in the vibration cycle setting unit 7 as the command duration. Under this condition, the adjustment command determination unit 8 performs acceleration and deceleration at the maximum acceleration / deceleration within a range not exceeding the set maximum acceleration / deceleration, allowable maximum speed, and allowable movement range. Equally, an adjustment position command signal X * that is a speed triangular pattern in which the sum of the acceleration time and the deceleration time becomes the command continuation time is determined and set in the adjustment command generator 1 (step S105).

続いて、振動特性の推定が収束しているか否かを確認する(ステップＳ１０６)。収束していない場合(ステップＳ１０６：Ｎｏ)は、調整用指令生成部１は調整用位置指令信号Ｘ*を生成し、位置制御部２および電力変換器３を介して電動機４ａを駆動し(ステップＳ１０７)、ステップＳ１０３からのフローを繰り返す。収束している場合(ステップＳ１０６：Ｙｅｓ)は、所望の追従特性を得られるように位置制御部２の制御パラメータを調整するフロー(ステップＳ１０８以降)に進む。ステップＳ１０６の収束の判定は、例えば今回と前回の振動特性の推定結果の差について閾値判定する等といった方法で行えばよい。 Subsequently, it is confirmed whether or not the estimation of the vibration characteristic has converged (step S106). If not converged (step S106: No), the adjustment command generation unit 1 generates an adjustment position command signal X * and drives the motor 4a via the position control unit 2 and the power converter 3 (step S106). (S107), the flow from step S103 is repeated. When it has converged (step S106: Yes), the flow proceeds to a flow (after step S108) for adjusting the control parameter of the position control unit 2 so as to obtain a desired tracking characteristic. The determination of convergence in step S106 may be performed, for example, by a method of determining a threshold value for the difference between the current and previous vibration characteristic estimation results.

ＦＦ制御部２ａの調整フローでは、まず推定した振動特性からＦＦ制御部２ａに制振周波数を設定する(ステップＳ１０８)。   In the adjustment flow of the FF control unit 2a, first, a damping frequency is set in the FF control unit 2a from the estimated vibration characteristics (step S108).

続いて、調整用指令生成部１は、設定された調整用位置指令信号Ｘ*を出力し、電動機４ａを駆動する(ステップＳ１０９)。 Subsequently, the adjustment command generator 1 outputs the set adjustment position command signal X * to drive the electric motor 4a (step S109).

そして、追従特性調整部９は、調整用位置指令信号Ｘ*で駆動したときの駆動力指令Ｆ*と位置検出信号Ｘを取得する(ステップＳ１１０)。 Then, the tracking characteristic adjusting unit 9 acquires the driving force command F * and the position detection signal X when driven by the adjustment position command signal X * (step S110).

追従特性調整部９は、取得した駆動力指令Ｆ*と位置検出信号Ｘから、位置決め時の残留振動やオーバーシュートが整定幅内に収まっているか、駆動力が最大値以下に収まっているか、整定時間を満たしているか等の位置決め駆動時の特性を評価し、目標追従特性を満たしているか否かを判定する(ステップＳ１１１)。目標追従特性を満たしていれば(ステップＳ１１１：Ｙｅｓ)、自動調整モードを終了する。一方、駆動条件を満たしていない場合を含め目標追従特性を満たしていない場合(ステップＳ１１１：Ｎｏ)は、所望の追従特性となるように位置制御部２の制御パラメータを以下のような指針で自動的に調整する(ステップＳ１１２)。 The follow-up characteristic adjusting unit 9 determines whether the residual vibration or overshoot during positioning is within the settling range, the driving force is within the maximum value, or not from the acquired driving force command F * and the position detection signal X. The characteristics during positioning driving, such as whether the time is satisfied, are evaluated, and it is determined whether the target following characteristics are satisfied (step S111). If the target tracking characteristic is satisfied (step S111: Yes), the automatic adjustment mode is terminated. On the other hand, when the target tracking characteristics are not satisfied including the case where the drive conditions are not satisfied (step S111: No), the control parameters of the position control unit 2 are automatically set with the following guidelines so that the desired tracking characteristics are obtained. (Step S112).

１．残留振動やオーバーシュートが整定幅を超えたり、駆動力が最大値以上の場合は応答性を下げるように制御パラメータを調整する。
２．整定時間の目標を満たしていない場合は、残留振動やオーバーシュート、駆動力の制約を満たす限りにおいて応答性を上げるように制御パラメータを調整する。 1. If the residual vibration or overshoot exceeds the settling range, or if the driving force is greater than the maximum value, adjust the control parameters to reduce the responsiveness.
2. When the settling time target is not satisfied, the control parameter is adjusted so as to increase the response as long as the residual vibration, overshoot, and driving force are satisfied.

ステップＳ１１２の後は、ステップＳ１０９に戻り、そこからのフローを繰り返す。   After step S112, the process returns to step S109, and the flow from there is repeated.

以上で説明したように、本発明の実施の形態２による電動機制御装置は、その自動調整モード時において、制御対象４の振動特性から計算した振動周期の奇数倍が指令継続時間となる速度三角パターンの調整用位置指令信号Ｘ*で電動機４ａを駆動させるため、制御対象４で発生する固有の振動を励起することになる。 As described above, in the motor control device according to the second embodiment of the present invention, in the automatic adjustment mode, the speed triangular pattern in which an odd multiple of the vibration period calculated from the vibration characteristic of the controlled object 4 is the command duration. Since the adjustment position command signal X * is used to drive the motor 4a, the inherent vibration generated in the controlled object 4 is excited.

そのため、制御対象４で発生する固有の振動をほとんど励起しないような位置指令信号で電動機４ａを駆動させたために、機械駆動システムの追従特性の正確な評価ができず、特異な条件で位置制御部２の制御パラメータを調整してしまうといったことを避けることができる。すなわち、制御対象４の固有の振動を励起する位置指令信号で電動機４ａを駆動させることで、機械駆動システムの追従特性を正確に評価でき、位置制御部２の制御パラメータを適正な値とする調整が行える。   Therefore, since the motor 4a is driven by a position command signal that hardly excites the inherent vibration generated in the controlled object 4, the follow-up characteristics of the mechanical drive system cannot be accurately evaluated, and the position control unit under special conditions It is possible to avoid adjusting the second control parameter. That is, by driving the motor 4a with a position command signal that excites the inherent vibration of the controlled object 4, the tracking characteristics of the mechanical drive system can be accurately evaluated, and the control parameter of the position control unit 2 is adjusted to an appropriate value. Can be done.

なお、本実施の形態においては、振動特性の推定が収束してから、位置制御部２の制御パラメータの調整を行なっているが、振動特性の推定と制御パラメータの調整を同時に行なうようにしても構わない。   In this embodiment, the control parameter of the position control unit 2 is adjusted after the estimation of the vibration characteristic has converged. However, the estimation of the vibration characteristic and the adjustment of the control parameter may be performed simultaneously. I do not care.

また、本実施の形態においては、電動機４ａの位置を検出する検出器４ｃが出力する位置検出信号Ｘに基づいて、振動特性推定部１１は制御対象４の機械特性（周波数特性）を演算していたが、機械系４ｂの位置に関する検出器や、電動機４ａの速度に関する検出器や、機械系４ｂの速度に関する検出器や、電動機４ａの加速度に関する検出器や、機械系４ｂの加速度に関する検出器などを備え、その検出器の出力、つまり制御対象４の位置または速度もしくは加速度の値に相当する動作検出信号に基づいて、制御対象４の機械特性（周波数特性）を演算してもよい。   In the present embodiment, the vibration characteristic estimation unit 11 calculates the mechanical characteristic (frequency characteristic) of the control target 4 based on the position detection signal X output from the detector 4c that detects the position of the electric motor 4a. However, a detector related to the position of the mechanical system 4b, a detector related to the speed of the electric motor 4a, a detector related to the speed of the mechanical system 4b, a detector related to the acceleration of the electric motor 4a, a detector related to the acceleration of the mechanical system 4b, etc. And the mechanical characteristic (frequency characteristic) of the control target 4 may be calculated based on the output of the detector, that is, the motion detection signal corresponding to the position or speed or acceleration value of the control target 4.

さらに、本願発明は上記実施の形態に限定されるものではなく、実施段階ではその要旨を逸脱しない範囲で種々に変形することが可能である。また、上記実施の形態には種々の段階の発明が含まれており、開示される複数の構成要件における適宜な組み合わせにより種々の発明が抽出されうる。例えば、上記実施の形態に示される全構成要件からいくつかの構成要件が削除されても、発明が解決しようとする課題の欄で述べた課題が解決でき、発明の効果の欄で述べられている効果が得られる場合には、この構成要件が削除された構成が発明として抽出されうる。更に、異なる実施の形態にわたる構成要素を適宜組み合わせてもよい。   Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention in the implementation stage. Further, the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent requirements. For example, even if some constituent requirements are deleted from all the constituent requirements shown in the above embodiment, the problem described in the column of the problem to be solved by the invention can be solved, and is described in the column of the effect of the invention. In the case where a certain effect can be obtained, a configuration from which this configuration requirement is deleted can be extracted as an invention. Furthermore, the constituent elements over different embodiments may be appropriately combined.

以上のように、本発明にかかる電動機制御装置は、制御対象を駆動する電動機制御装置に有用であり、特に、初期立上時において調整を行うことが必要とされる制御対象を駆動する電動機制御装置に適している。   As described above, the electric motor control device according to the present invention is useful for an electric motor control device that drives a controlled object, and in particular, an electric motor control that drives a controlled object that needs to be adjusted during initial startup. Suitable for equipment.

１ 調整用指令生成部
２ 位置制御部
２ａ ＦＦ制御部
２ｂ ＦＢ制御部
３ 電力変換器
４ 制御対象
４ａ 電動機
４ｂ 機械系
４ｃ 検出器
５ 機械特性演算部
６ 加振信号生成部
７ 振動周期設定部
８ 調整用指令決定部
９ 追従特性調整部
１１ 振動特性推定部
１２ スイッチ
Ｓ００１〜Ｓ１１２ ステップ DESCRIPTION OF SYMBOLS 1 Adjustment command generation part 2 Position control part 2a FF control part 2b FB control part 3 Power converter 4 Control object 4a Electric motor 4b Mechanical system 4c Detector 5 Mechanical characteristic calculation part 6 Excitation signal generation part 7 Vibration period setting part 8 Command determining unit for adjustment 9 Tracking characteristic adjusting unit 11 Vibration characteristic estimating unit 12 Switch S001 to S112 Steps

Claims (5)

時間的に変化する位置指令信号に対して、設定した制御パラメータに応じた追従特性で電動機または電動機に連結された機械系の位置検出信号が追従するように、当該電動機への駆動力指令を生成する位置制御部と、
前記制御パラメータの調整を自動的に行う調整モードにおいて調整用位置指令信号を生成する調整用指令生成部と、
前記調整モードにおいて、前記調整用位置指令信号に対して前記電動機を駆動したときの前記調整用位置指令信号に対する当該位置検出信号の追従特性と、その時の前記駆動力指令が、所望の特性となるように前記制御パラメータを自動的に変更する追従特性調整部と、
前記電動機及び前記機械系で構成される制御対象に固有の振動周期を求める振動周期設定部と、
前記調整用位置指令信号の指令継続時間が前記振動周期の奇数倍となるよう決定する調整用指令決定部と、
を備えることを特徴とする電動機制御装置。 Generates a driving force command for the motor so that the position detection signal of the motor or the mechanical system connected to the motor follows the position command signal that changes over time with a tracking characteristic according to the set control parameter. A position control unit,
An adjustment command generator for generating an adjustment position command signal in an adjustment mode for automatically adjusting the control parameters;
In the adjustment mode, the following characteristics of the position detection signal with respect to the adjustment position command signal when the motor is driven with respect to the adjustment position command signal, and the driving force command at that time are desired characteristics. A follow-up characteristic adjusting unit that automatically changes the control parameter,
A vibration period setting unit for obtaining a vibration period unique to a control object configured by the electric motor and the mechanical system;
An adjustment command determination unit for determining the command duration of the adjustment position command signal to be an odd multiple of the vibration period;
An electric motor control device comprising: 調整用指令決定部は、前記指令継続時間が、前記調整用位置指令信号による加速時間と、前記加速時間と時間が等しい前記調整用位置指令信号による減速時間とからなるように前記調整用指令生成部に設定する
ことを特徴とする請求項１に記載の電動機制御装置。 The adjustment command determination unit generates the adjustment command so that the command continuation time includes an acceleration time based on the adjustment position command signal and a deceleration time based on the adjustment position command signal whose time is equal to the acceleration time. The electric motor control device according to claim 1, wherein the electric motor control device is set in a unit. 周波数特性同定用の加振信号を生成する加振信号生成部と、
前記加振信号で前記電動機を駆動した時の前記電動機または前記機械系の位置または速度と前記加振信号とに基づいて、前記制御対象の周波数特性を求める機械特性演算部と、 をさらに備え、
前記振動周期設定部は、前記周波数特性の***振特性から前記振動周期を求める
ことを特徴とする請求項１または２に記載の電動機制御装置。 An excitation signal generator for generating an excitation signal for frequency characteristic identification;
A mechanical characteristic calculator that obtains a frequency characteristic of the control object based on the position or speed of the electric motor or the mechanical system when the electric motor is driven by the vibration signal and the vibration signal; and
The motor control device according to claim 1, wherein the vibration period setting unit obtains the vibration period from an anti-resonance characteristic of the frequency characteristic. 前記加振信号は、Ｍ系列波形の信号である
ことを特徴とする請求項３に記載の電動機制御装置。 The motor control device according to claim 3, wherein the excitation signal is an M-sequence waveform signal. 前記電動機または前記機械系の位置、速度または加速度に基づいて、前記制御対象の振動特性を逐次的に推定する振動特性推定部と、
をさらに備え、
前記振動周期設定部は、推定された前記振動特性から前記振動周期を逐次求め、
前記調整用指令決定部は、逐次求められた前記振動周期に基づいて、前記指令継続時間を逐次決定し、
前記調整用指令生成部は、逐次決定された前記指令継続時間に基づいて、前記調整用位置指令信号を生成する
ことを特徴とする請求項１または２に記載の電動機制御装置。 A vibration characteristic estimation unit that sequentially estimates vibration characteristics of the control target based on the position, speed, or acceleration of the electric motor or the mechanical system;
Further comprising
The vibration period setting unit sequentially obtains the vibration period from the estimated vibration characteristics,
The adjustment command determination unit sequentially determines the command duration based on the vibration cycle obtained sequentially,
The electric motor control device according to claim 1, wherein the adjustment command generation unit generates the adjustment position command signal based on the command duration time sequentially determined.
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