JPH06269188A - Vibration suppressing control system for low rigidity load - Google Patents

Vibration suppressing control system for low rigidity load

Info

Publication number
JPH06269188A
JPH06269188A JP5077670A JP7767093A JPH06269188A JP H06269188 A JPH06269188 A JP H06269188A JP 5077670 A JP5077670 A JP 5077670A JP 7767093 A JP7767093 A JP 7767093A JP H06269188 A JPH06269188 A JP H06269188A
Authority
JP
Japan
Prior art keywords
formula
motor
load
observer
acceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP5077670A
Other languages
Japanese (ja)
Other versions
JP3117047B2 (en
Inventor
Koji Tomita
浩治 冨田
Hidenori Tomizaki
秀徳 富崎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to JP05077670A priority Critical patent/JP3117047B2/en
Publication of JPH06269188A publication Critical patent/JPH06269188A/en
Application granted granted Critical
Publication of JP3117047B2 publication Critical patent/JP3117047B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/206—Body oscillation speed; Body vibration frequency
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/90—Other conditions or factors
    • B60G2400/91—Frequency

Landscapes

  • Control Of Electric Motors In General (AREA)
  • Feedback Control In General (AREA)

Abstract

PURPOSE:To shorten the time required for calculation while decreasing the number of memories to be used by modifying a formula for estimating the state variables of an observer to a functional formula dependent only on a torque command when the rotational acceleration of a motor can be considered zero. CONSTITUTION:At a time of positioning where vibration is especially problematic or at the time of substantially constant speed operation, acceleration of motor domegaM/dt can be considered substantially zero and approximation can be made according to formula I. In this regard, formula II is set while taking account only of the rotational angular speed omegaL of load and the oscillatory component of a torque command TREF. Frequency omegaA is an oscillatory component being taken into account. Consequently, formula III can be derived from formulas I and II. In other words, formula III can be used for estimating an arm acceleration. Formula IV is obtained for torsional thetaS. In other words, switching is made from an observer part A to B when the rotational acceleration of motor can be considered substantially zero. Frequency omegaA is determined according to a natural frequency formula V for low rigidity load at the time of positioning and according to formula VI for steady oscillation caused by torque ripple in harmonic gear.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、産業用ロボットなどの
ようにモータに低剛性負荷を連結したサーボ制御系に適
用し、負荷振動を効果的に低減できる方式に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system which can be applied to a servo control system in which a motor is connected to a low rigidity load such as an industrial robot to effectively reduce load vibration.

【０００２】[0002]

【従来の技術】産業用ロボットなどのような低剛性負荷
をもつサーボ系においては、位置決め時、あるいは定速
運転時に負荷の振動が起こり、このことが機械全体の性
能を著しく悪化させる。このような場合、従来は、例え
ば、特開６０−２００７８８号公報、特開平１−３０４
５０１号公報等に示されるように、制御対象である低剛
性負荷を共振モデルで近似して構成したオブザーバによ
って必要な状態変数を推定し、該状態変数の推定値をト
ルク指令にフィードバックしていた。つまり、以下のと
おりである。図３は、低剛性負荷を持つサーボ系を解析
するためのモデルをブロック線図で表現したものである
（但し、物理量はモータ軸換算で記述）。また、低剛性
負荷とモータを関連づける運動方程式は、式（１）とな
る。2. Description of the Related Art In a servo system having a low rigidity load such as an industrial robot, load vibration occurs during positioning or constant speed operation, which significantly deteriorates the performance of the entire machine. In such a case, conventionally, for example, JP-A-60-200888 and JP-A-1-304 are used.
As disclosed in Japanese Patent Publication No. 501, etc., a necessary state variable is estimated by an observer configured by approximating a low-rigidity load to be controlled by a resonance model, and the estimated value of the state variable is fed back to a torque command. . That is, it is as follows. FIG. 3 is a block diagram showing a model for analyzing a servo system having a low rigidity load (however, the physical quantity is described in terms of a motor axis). The equation of motion that associates the low-rigidity load with the motor is Equation (1).

【０００３】[0003]

【数１】 [Equation 1]

【０００４】ここで、Ｋは低剛性負荷のバネ定数、ＪM
はモータの慣性、ＪL は負荷の慣性、ＴREF はトルク指
令、θM はモータ角度、θL は負荷の回転角度、ωM は
モータ角速度、ωL は負荷の回転角速度である。状態変
数としてはいろいろな選び方があるが、例えば、ωM 、
ねじれ角θs （＝θM −θL ）、ωL を選ぶと、状態方
程式は式（２）となる。Where K is the spring constant of a low rigidity load, J M
Is the inertia of the motor, J L is the inertia of the load, T REF is the torque command, θ M is the motor angle, θ L is the rotation angle of the load, ω M is the motor angular velocity, and ω L is the rotation angular velocity of the load. There are various ways to select the state variable, for example, ω M ,
When the twist angle θ s (= θ M −θ L ) and ω L are selected, the equation of state becomes equation (2).

【０００５】[0005]

【数２】 [Equation 2]

【０００６】この系において最小次元オブザーバを構成
すると、式（３）となる。When the minimum dimension observer is constructed in this system, the equation (3) is obtained.

【０００７】[0007]

【数３】 [Equation 3]

【０００８】ここで、Ｚは内部変数、ωL 、θS は
ωL 、θS の推定値、Ｆ、Ｇ、Ｌ、Ｊはオブザーバの設
計時に決める極とＫ、ＪM 、ＪL で決定される定数行列
である。低剛性負荷を制振するためには、図４で示した
ように、式（２）で推定した状態変数（ωL 、θs ）に
適当な係数（Ｋ１、Ｋ２）をかけトルクにフィードバッ
クする方法がとられていた。Here, Z is an internal variable, ω L and θ S are estimated values of ω L and θ S , and F, G, L, and J are determined by K, J M , and J L and poles determined when the observer is designed. Is a constant matrix. In order to suppress the low rigidity load, as shown in FIG. 4, the state variables (ω L , θ s ) estimated by the equation (2) are multiplied by appropriate coefficients (K1, K2) and fed back to the torque. The method was taken.

【０００９】[0009]

【発明が解決しようとする課題】現在では、サーボ系が
ソフトウェアー化され、計算時間と使用メモリ数をでき
るだけ少なくすることが必須技術となっている。ところ
が、従来技術では、式（３）のオブザーバの計算に時間
がかかり、また、行列Ｆ、Ｇ、Ｌ、Ｊを記憶する必要が
あり、簡単に効果のあがる方法で制振することができな
かった。本発明は、このような点に鑑みてなされたもの
であり、低剛性負荷の状態推定にトルク指令だけを使い
計算時間を短縮し、かつ使用メモリ数を少なくする方式
を提供することを目的とする。At present, it has become an essential technique to reduce the calculation time and the number of memories used as much as possible by converting the servo system into software. However, in the conventional technique, it takes a long time to calculate the observer of the equation (3), and it is necessary to store the matrices F, G, L, and J, so that it is not possible to easily suppress the vibration by a method that is effective. It was The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a method for reducing the calculation time by using only a torque command for state estimation of a low rigidity load and reducing the number of memories used. To do.

【００１０】[0010]

【課題を解決するための手段】上記課題を解決するた
め、本発明は、概念図１に示すように、モータの回転加
速度が殆ど０とみなせる場合、前記オブザーバによる状
態変数の推定式をトルク指令にのみに依存する関数式に
変更することを特徴とするものである。In order to solve the above-mentioned problems, according to the present invention, as shown in the conceptual diagram 1, when the rotational acceleration of the motor can be regarded as almost 0, the estimation formula of the state variable by the observer is a torque command. It is characterized by changing to a functional expression that depends only on.

【００１１】[0011]

【作用】低剛性負荷の状態推定にトルク指令だけを使こ
とにしたので、オブザーバの計算に時間がかからず、か
つ使用メモリ数を少なくすることができるので、簡単に
効果があがる制振制御が実現できる。[Operation] Since only the torque command is used for estimating the state of the low rigidity load, it does not take much time to calculate the observer and the number of memories used can be reduced. Can be realized.

【００１２】[0012]

【実施例】以下、本発明の実施例を説明する。図３、式
（１）で示した系において、振動が特に問題となる位置
決め時、あるいはほぼ一定速動作時はモータ加速度ｄω
M ／ｄｔが殆ど０とみなせるので、式（１）は式（４）EXAMPLES Examples of the present invention will be described below. In the system shown in FIG. 3 and the equation (1), the motor acceleration dω is set at the time of positioning where vibration is a particular problem, or at a substantially constant speed operation.
Since M / dt can be regarded as almost 0, the formula (1) is expressed by the formula (4).

【００１３】[0013]

【数４】 [Equation 4]

【００１４】と近似可能となる。ここで、ωL 、ＴREF
の振動成分だけに注目し、式（５）とおく。ここでωA
は注目した振動成分の振動数である。すると、式
（４）、式（５） Ｔref ＝ＴO ・ｓｉｎ（ωA ・ｔ＋α） …（５） より式（６）Can be approximated by Where ω L and T REF
Paying attention only to the vibration component of, the expression (5) is set. Where ω A
Is the frequency of the vibration component of interest. Then, equation (4), equation (5) T ref = T O · sin (ω A · t + α) ... (5) from the equation (6)

【００１５】[0015]

【数５】 [Equation 5]

【００１６】が得られる。従って、アーム加速度の推定
値として式（６）を用いればよいことになる。また、ね
じれ角θs に関しては、式（１）第２式と式（４）より
式（７）Is obtained. Therefore, the equation (6) may be used as the estimated value of the arm acceleration. Regarding the twist angle θ s , the formula (1), the second formula, and the formula (4) are used to calculate the formula (7).

【００１７】[0017]

【数６】 [Equation 6]

【００１８】が得られるのでこれを用いればよい。以上
をブロック線図で表したのが図２である。すなわち、モ
ータの回転加速度が殆ど０とみなせる場合、図４のオブ
ザーバ部Ａから図２のオブザーバ部Ｂに切り替えるので
ある（オブザーバ部以外は図２と図４は同一である）。
式（５）で用いているωA は、振動の原因によって適当
なものを利用する。例えば、位置決め時では、低剛性負
荷の固有振動数式（８）Since it is possible to use, this can be used. FIG. 2 shows the above in a block diagram. That is, when the rotational acceleration of the motor can be considered to be almost 0, the observer unit A of FIG. 4 is switched to the observer unit B of FIG. 2 (other than the observer unit, FIGS. 2 and 4 are the same).
As ω A used in Expression (5), an appropriate value is used depending on the cause of vibration. For example, at the time of positioning, a natural vibration equation (8) with a low rigidity load

【００１９】[0019]

【数７】 [Equation 7]

【００２０】を利用する。また、ハーモニックギアのト
ルクリップルが原因の定常振動では、（９）ととるとよ
い（ハーモニックギアでは、トルクリップルがモータ軸
１回転に２回出るからである）。 ωA ＝２・ωM …（９）Is utilized. Further, in the steady vibration caused by the torque ripple of the harmonic gear, it is preferable to use (9) (because in the harmonic gear, the torque ripple appears twice per one rotation of the motor shaft). ω A = 2 · ω M (9)

【００２１】[0021]

【発明の効果】以上述べたように、本発明のよれば、低
剛性負荷をもつサーボ系に関し、該負荷振動を低減する
ために用いられたオブザーバ計算において、トルク指令
だけを使うことにしたので、計算時間が短くなり、かつ
メモリー容量も少なくすることができ、振動を効率的に
低減することができるという効果がある。As described above, according to the present invention, regarding the servo system having a low rigidity load, only the torque command is used in the observer calculation used for reducing the load vibration. The calculation time can be shortened, the memory capacity can be reduced, and vibration can be effectively reduced.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明の概念を表すブロック線図FIG. 1 is a block diagram showing the concept of the present invention.

【図２】本発明の実施図を表すブロック線図FIG. 2 is a block diagram showing an embodiment of the present invention.

【図３】低剛性負荷をもつサーボ系を表すブロック線図FIG. 3 is a block diagram showing a servo system having a low rigidity load.

【図４】オブザーバを制振制御に用いるときのサーボ系
の構成例を示すブロック線図FIG. 4 is a block diagram showing a configuration example of a servo system when an observer is used for vibration suppression control.

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】 モータに低剛性負荷を連結したサーボ制
御系であって、前記低剛性負荷を共振モデルで近似して
構成したオブザーバによって状態変数を推定し、その状
態変数をトルク指令にフィードバックすることによって
低剛性負荷の振動を低減する制御方式において、 モータの回転加速度が殆ど０とみなせる場合、前記オブ
ザーバによる状態変数の推定式をトルク指令にのみに依
存する関数式に変更することを特徴とする低剛性負荷の
制振制御方式。1. A servo control system in which a low-rigidity load is connected to a motor, wherein a state variable is estimated by an observer configured by approximating the low-rigidity load with a resonance model, and the state variable is fed back to a torque command. Therefore, in the control method for reducing the vibration of the low rigidity load, when the rotational acceleration of the motor can be regarded as almost 0, the estimation formula of the state variable by the observer is changed to a functional formula that depends only on the torque command. Vibration control method with low rigidity load.
JP05077670A 1993-03-10 1993-03-10 Low rigidity load vibration suppression control method Expired - Fee Related JP3117047B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP05077670A JP3117047B2 (en) 1993-03-10 1993-03-10 Low rigidity load vibration suppression control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP05077670A JP3117047B2 (en) 1993-03-10 1993-03-10 Low rigidity load vibration suppression control method

Publications (2)

Publication Number Publication Date
JPH06269188A true JPH06269188A (en) 1994-09-22
JP3117047B2 JP3117047B2 (en) 2000-12-11

Family

ID=13640323

Family Applications (1)

Application Number Title Priority Date Filing Date
JP05077670A Expired - Fee Related JP3117047B2 (en) 1993-03-10 1993-03-10 Low rigidity load vibration suppression control method

Country Status (1)

Country Link
JP (1) JP3117047B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3348435A1 (en) * 2017-01-16 2018-07-18 Siemens Aktiengesellschaft Method for monitoring an electric device in a power transmission of an electric vehicle and control unit operating according to this method
JP2018152990A (en) * 2017-03-13 2018-09-27 ファナック株式会社 Servo motor controller and servo motor control system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3348435A1 (en) * 2017-01-16 2018-07-18 Siemens Aktiengesellschaft Method for monitoring an electric device in a power transmission of an electric vehicle and control unit operating according to this method
JP2018152990A (en) * 2017-03-13 2018-09-27 ファナック株式会社 Servo motor controller and servo motor control system
US10452049B2 (en) 2017-03-13 2019-10-22 Fanuc Corporation Servomotor control device, and servomotor control system

Also Published As

Publication number Publication date
JP3117047B2 (en) 2000-12-11

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