JPH0815058A - Method for measuring load constant of motor drive system - Google Patents
Method for measuring load constant of motor drive systemInfo
- Publication number
- JPH0815058A JPH0815058A JP6150203A JP15020394A JPH0815058A JP H0815058 A JPH0815058 A JP H0815058A JP 6150203 A JP6150203 A JP 6150203A JP 15020394 A JP15020394 A JP 15020394A JP H0815058 A JPH0815058 A JP H0815058A
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- JP
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- Prior art keywords
- speed
- load
- electric motor
- steady state
- speed command
- Prior art date
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- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、電動機駆動系の負荷定
数測定方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load constant measuring method for an electric motor drive system.
【０００２】[0002]
【従来の技術】電動機の負荷定数測定方式としては、い
くつかの方法が行われていた。 （１）電動機に速度指令として正弦波を加え、正弦波の
周波数を変化させながら繰り返し運転し、その周波数応
答より慣性負荷を計算する。 （２）速度のステップ応答により、その立ち上がりの応
答時間から速度ループの時定数を求め、それより慣性負
荷を計算する（特願平４−３５５１４４号）。 （３）電動機の発生トルクを積分し、その値と回転速度
差との比から慣性負荷を求める（特公平４−１０３１９
号公報）。 （４）２回の加速処理において、電動機の発生トルク差
と回転速度差から粘性摩擦係数を求め、その値と電動機
の発生トルクの積分値の差と移動距離差と回転速度差と
から慣性負荷を求める（特願平５−２９８６９号）。2. Description of the Related Art Several methods have been used to measure load constants of electric motors. (1) A sine wave is added to the electric motor as a speed command, the sine wave is repeatedly operated while changing the frequency, and the inertial load is calculated from the frequency response. (2) The time constant of the speed loop is obtained from the response time of the rising of the speed step response, and the inertial load is calculated from the time constant (Japanese Patent Application No. 4-355144). (3) The torque generated by the electric motor is integrated, and the inertial load is obtained from the ratio of the value and the rotational speed difference (Japanese Patent Publication No. 4-10319).
Issue). (4) In the two acceleration processes, the viscous friction coefficient is obtained from the torque difference and the rotational speed difference generated by the electric motor, and the inertia load is calculated from the difference between the value and the integrated value of the torque generated by the electric motor, the moving distance difference, and the rotational speed difference. (Japanese Patent Application No. 5-29869).
【０００３】[0003]
【発明が解決しようとする課題】前記（１）の方法で
は、ＮＣ（数値制御）工作機等には電動機と負荷の間に
ボールねじ等の減速機によるバックラッシュが存在する
ため、速度指令として前記の正弦波を与えるのは機械の
減速機を破壊する等の問題がある。前記（２）の方法で
は、サーボアンプにおける電流出力の遅れや静止摩擦等
の影響により、むだ時間が生じたり、応答中における動
摩擦の影響により、速度指令に応じたトルクが出力でき
ずに立ち上がり時間が長くなる等の問題により、正確な
時定数を求めることができず、よって正確な慣性負荷を
求めることができなかった。前記（３）の方法では、一
定の加減速レートおよび回転速度変化幅で加減速を行
い、加速時および減速時における電動機発生トルクに比
例する信号の積分量の里回転速度の変化幅を演算するこ
とにより、負荷イナーシャを推定する方法を挙げている
が、加速状態から減速する際に減速機によるバックラッ
シュが生じるためトルクの積分値に誤差を生じたり、加
速時と減速時では静止摩擦による影響が異なり、静止摩
擦の大きな駆動系では正確な慣性負荷を求めることはで
きなかった。前記（４）の方法では、２つの異なる速度
で加速し、定常状態における回転速度差と駆動装置の出
力トルク差から粘性摩擦係数を演算し、その値と２回の
加速処理における駆動装置の出力トルクの積分量と移動
距離と回転速度を演算することにより負荷イナーシャを
推定しているが、この方法では２回の加速処理を行う必
要があり、できるだけ同じ条件で加速処理を行うために
は、同じ位置からしばらく時間をおいて２回目の加速処
理を行う必要がある。本発明が解決すべき課題は、電動
機駆動系において、機械系のバックラッシュや静止摩
擦、動摩擦等の影響を受けず、かつ電動機の制御方式に
よらずに簡単に負荷を測定できる電動機駆動系の慣性負
荷測定方式を提供することにある。In the method (1), since the NC (numerical control) machine tool or the like has a backlash due to a speed reducer such as a ball screw between the electric motor and the load, the speed command is issued. Providing the above-mentioned sine wave has a problem such as breaking down the reducer of the machine. In the method (2), the delay time of the current output in the servo amplifier and the effect of static friction cause dead time, and the dynamic friction during the response causes the torque corresponding to the speed command to be unable to be output and the rise time. Due to problems such as lengthening, it was not possible to obtain an accurate time constant and therefore an accurate inertial load. In the method (3), acceleration / deceleration is performed at a constant acceleration / deceleration rate and a constant rotation speed variation range, and a variation range of the rotational speed of the integral amount of the signal proportional to the motor-generated torque during acceleration and deceleration is calculated. The method of estimating the load inertia is described above.However, when decelerating from the acceleration state, backlash by the reducer causes an error in the integrated value of the torque, and the influence of static friction during acceleration and deceleration. However, it was not possible to obtain an accurate inertial load in a drive system with large static friction. In the method of (4), acceleration is performed at two different speeds, the viscous friction coefficient is calculated from the rotational speed difference in the steady state and the output torque difference of the driving device, and the value and the output of the driving device in the two acceleration processes are calculated. The load inertia is estimated by calculating the integrated amount of torque, the moving distance, and the rotation speed. However, this method requires two times of acceleration processing, and in order to perform acceleration processing under the same conditions as much as possible, It is necessary to wait a while from the same position and perform the second acceleration process. The problem to be solved by the present invention is to provide an electric motor drive system that is not affected by backlash, static friction, dynamic friction, etc. of a mechanical system and that can easily measure a load regardless of the electric motor control system. It is to provide an inertial load measurement method.
【０００４】[0004]
【課題を解決するための手段】前記課題を解決するた
め、本発明の第１の電動機駆動系の負荷定数測定方法
は、第１の速度指令に対して定常状態にある電動機の駆
動装置に前記第１の速度指令と異なる第２の速度指令を
与え、前記第１および第２の速度指令に対する定常状態
における前記電動機の速度ω1 ，ω2 と前記駆動装置の
出力トルクＴ1 ，Ｔ2 より負荷定数である粘性摩擦係数
Ｒおよびクーロン摩擦トルクＤを求め、前記第１の速度
指令に対する定常状態ω1 から前記第２の速度指令に対
する定常状態ω2 に至るまでの前記駆動装置の出力トル
クＴ1 ，Ｔ2 の積分値Ｅおよび前記電動機の速度の積分
値Ｌと、前記第１と第２の速度指令に対する定常状態に
おける前記電動機の速度差ω2 −ω1 、および前記粘性
摩擦係数Ｒと前記クーロン摩擦トルクＤから負荷定数で
ある慣性負荷Ｊを求めるものである。In order to solve the above-mentioned problems, a first method of measuring a load constant of an electric motor drive system according to the present invention is applied to an electric motor drive device in a steady state with respect to a first speed command. A second speed command different from the first speed command is given, and from the speeds ω 1 and ω 2 of the electric motor and the output torques T 1 and T 2 of the drive device in a steady state with respect to the first and second speed commands. The viscous friction coefficient R and the Coulomb friction torque D, which are load constants, are obtained, and the output torque T of the drive device from the steady state ω 1 for the first speed command to the steady state ω 2 for the second speed command. 1 , the integral value E of T 2 and the integral value L of the speed of the electric motor, the speed difference ω 2 −ω 1 of the electric motor in a steady state with respect to the first and second speed commands, and the viscous friction coefficient R. Coulomb friction The inertia load J, which is a load constant, is obtained from the torque D.
【０００５】本発明の第２の電動機駆動系の負荷定数測
定方法は、前記第１の方法において、出力トルクおよび
速度の積分値から慣性負荷Ｊを求める代わりに、ある瞬
間における駆動装置の出力トルクＴから前記で求めた粘
性摩擦係数Ｒと電動機の速度ωの積と動摩擦トルクＤを
減じた値と当該瞬間における電動機の加速度ｄω／ｄｔ
の比より負荷定数である慣性負荷Ｊを求めるものであ
る。According to a second method for measuring a load constant of a motor drive system of the present invention, instead of obtaining the inertial load J from the integrated value of the output torque and the speed in the first method, the output torque of the drive device at a certain moment. A value obtained by subtracting the product of the viscous friction coefficient R and the speed ω of the motor and the dynamic friction torque D obtained from T and the acceleration dω / dt of the motor at the instant
The inertia load J, which is a load constant, is calculated from the ratio of.
【０００６】[0006]
【作用】本発明の第１の方法では、電動機を速度ω1 の
定常状態から異なる速度ω2 まで速度を変化させ、２つ
の定常状態における速度と出力トルクより負荷定数であ
る粘性摩擦係数およびクーロン摩擦トルクを求め、次に
２つの定常状態における速度差と、速度変化開始点から
速度ω2 の定常状態に至った時刻ｔまでの出力トルクお
よび速度の積分値と、先に求めた粘性摩擦係数およびク
ーロン摩擦トルクより負荷定数である慣性負荷を求める
ものである。以下に、その根拠を説明する。In the first method of the present invention, the speed of the electric motor is changed from the steady state of the speed ω 1 to the different speed ω 2 , and the viscous friction coefficient and the Coulomb which are load constants are calculated from the speed and the output torque in the two steady states. The friction torque is obtained, then the speed difference between the two steady states, the output torque and the integrated value of the speed from the speed change start point to the time t when the steady state of the speed ω 2 is reached, and the previously obtained viscous friction coefficient. In addition, the inertial load, which is a load constant, is obtained from the Coulomb friction torque. The reason for this will be described below.
【０００７】一般に、電動機の駆動系は、図２のような
ブロック図で表され、電動機軸に換算した全慣性負荷を
Ｊ、ωを角速度、電動機のトルクをＴ、負荷に要するト
ルクをＴ1 とすれば、運動方程式は式（１）で表され
る。 Ｊ（ｄω／ｄｔ）＝Ｔ−Ｔ1 （１） 電動機の負荷として角速度に比例する粘性摩擦、クーロ
ン摩擦を考えると式（１）は式（２）となる。 Ｊ（ｄω／ｄｔ）＝Ｔ−Ｄ−Ｒω （２） ここで、Ｄ、Ｒはそれぞれ負荷定数であるクーロン摩擦
トルク、粘性摩擦係数である。定常状態においては、ｄ
ω／ｄｔ＝０であるから、式（２）は式（３）となる。 Ｔ−Ｄ−Ｒω＝０ （３） ここで、２つの定常状態における出力トルクをＴ1 、Ｔ
2 、角速度をω1 、ω2 とすると、次の式（４）、
（５）で表せる。 Ｔ1 −Ｄ−Ｒω1 ＝０ （４） Ｔ2 −Ｄ−Ｒω2 ＝０ （５） したがって、式（４）、（５）より、式（６）、（７）
に示すように粘性摩擦係数Ｒとクーロン摩擦トルクＤを
求めることができる。 Ｒ＝（Ｔ1 −Ｔ2 ）／（ω1 −ω2 ） （６） Ｄ＝（Ｔ2 ω1 −Ｔ1 ω2 ）／（ω1 −ω2 ） （７） つづいて、式（２）を時刻０からｔまで積分すると次の
式（８）が得られる。Generally, a drive system of an electric motor is represented by a block diagram as shown in FIG. 2. J is the total inertia load converted to the electric motor shaft, ω is the angular velocity, T is the torque of the electric motor, and T 1 is the torque required for the load. Then, the equation of motion is expressed by equation (1). J (dω / dt) = T−T 1 (1) Considering viscous friction and Coulomb friction that are proportional to the angular velocity as the load of the motor, formula (1) becomes formula (2). J (dω / dt) = TD−Rω (2) Here, D and R are Coulomb friction torque and viscous friction coefficient, which are load constants, respectively. In steady state, d
Since ω / dt = 0, the equation (2) becomes the equation (3). T−D−Rω = 0 (3) Here, output torques in two steady states are T 1 , T
2 and the angular velocities are ω 1 and ω 2 , the following equation (4),
It can be represented by (5). T 1 −D−Rω 1 = 0 (4) T 2 −D−Rω 2 = 0 (5) Therefore, from the equations (4) and (5), the equations (6) and (7) are obtained.
As shown in, the viscous friction coefficient R and the Coulomb friction torque D can be obtained. R = (T 1 −T 2 ) / (ω 1 −ω 2 ) (6) D = (T 2 ω 1 −T 1 ω 2 ) / (ω 1 −ω 2 ) (7) Then, the expression (2 ) Is integrated from time 0 to t, the following equation (8) is obtained.
【数１】 ここで定常状態中における角速度ω1 、ω2 、時刻０か
らｔまでの出力トルクの積分値Ｅ、時刻０からｔまでの
角速度の積分値Ｌ（図３（ａ）の斜線の部分の面積）が
測定されたとすると次の式（９）、（１０）が成り立
つ。[Equation 1] Here, the angular velocities ω 1 and ω 2 in the steady state, the integrated value E of the output torque from time 0 to t, and the integrated value L of the angular velocity from time 0 to t (the area of the shaded portion in FIG. 3A) Then, the following equations (9) and (10) are established.
【数２】 これより、式（８）は式（１１）と表すことができる
（図３（ｂ）参照）。 Ｊ（ω2 −ω1)＝Ｅ−Ｄｔ−ＲＬ （１１） 式（１１）よりＪを求めれば、次の式（１２）が得られ
る。 Ｊ＝（Ｅ−Ｄｔ−ＲＬ）／（ω2 −ω1) （１２） 従って、すでに求めたＲ、Ｄと測定値ω1 、ω2 、Ｌ、
Ｅより、負荷定数である慣性負荷Ｊは求められることに
なる。[Equation 2] From this, Expression (8) can be expressed as Expression (11) (see FIG. 3B). J (ω 2 −ω 1 ) = E−Dt−RL (11) If J is obtained from the equation (11), the following equation (12) is obtained. J = (E-Dt-RL) / (ω 2 −ω 1 ) (12) Therefore, R and D already obtained and the measured values ω 1 , ω 2 , L,
From E, the inertial load J which is a load constant can be obtained.
【０００８】本発明の第２の方法では、式（６），
（７）によって粘性摩擦係数Ｒとクーロン摩擦トルクＤ
を求めるところまでは同じであるが、慣性負荷Ｊを式
（２）によって求めるようにしている。すなわち、式
（２）を変形すると、 Ｊ＝（Ｔ−Ｄ−Ｒω）／（ｄω／ｄｔ） （１３） になるため、ある瞬間における出力トルクＴと、角速度
ωと、加速度ｄω／ｄｔ＝Ａにより、すでに求めた粘性
摩擦係数Ｒとクーロン摩擦トルクＤを用いて慣性負荷Ｊ
を求めるものである。In the second method of the present invention, equations (6),
According to (7), viscous friction coefficient R and Coulomb friction torque D
Although it is the same up to the point of obtaining, the inertial load J is obtained by the equation (2). That is, when the equation (2) is transformed, J = (T−D−Rω) / (dω / dt) (13), so that the output torque T, the angular velocity ω, and the acceleration dω / dt = A at a certain moment. By using the viscous friction coefficient R and the Coulomb friction torque D already obtained,
Is to seek.
【０００９】[0009]
【実施例】以下、本発明の具体的実施例を図に基づいて
説明する。図１は第１実施例の構成図である。図中１は
電動機、２は電動機１に加わる負荷、３は電動機１の回
転量および回転速度を検出するパルスジェネレータ、４
は位置指令を出力する上位のコントローラ、５は上位コ
ントローラ４からの位置指令とパルスジェネレータ３か
らのフィードバックパルスから電動機１に駆動電流を出
力するサーボコントローラである。まず、初めに上位コ
ントローラ４は速度ω1 が一定になるような速度指令を
サーボコントローラ５に出力する。サーボコントローラ
５は速度指令とフィードバックパルスをもとにトルクに
比例した駆動電流を計算し、電動機１に出力する。上位
コントローラ４はサーボコントローラ５を通して返され
る速度ω1 が定常状態になったら、速度ω1 とトルクＴ
1 を測定し、一時記憶バッファ４１に記憶する。速度が
ω1 の定常状態から、上位コントローラ４は速度ω2 が
一定になるような速度指令をサーボコントローラ５に出
力し、サーボコントローラ５から返される速度ω2 とト
ルクＴ2 を測定し、かつそれぞれを速度ω2 の定常状態
になるまでの時間ｔについて積算し、一時記憶バッファ
４１に記憶する。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of the first embodiment. In the figure, 1 is an electric motor, 2 is a load applied to the electric motor 1, 3 is a pulse generator that detects the amount of rotation and the rotational speed of the electric motor 1, and 4 is a pulse generator.
Is a higher-level controller that outputs a position command, and 5 is a servo controller that outputs a drive current to the electric motor 1 from the position command from the higher-level controller 4 and the feedback pulse from the pulse generator 3. First, the host controller 4 first outputs a speed command to the servo controller 5 so that the speed ω 1 becomes constant. The servo controller 5 calculates a drive current proportional to the torque based on the speed command and the feedback pulse, and outputs it to the electric motor 1. When the speed ω 1 returned via the servo controller 5 reaches a steady state, the host controller 4 determines the speed ω 1 and the torque T
1 is measured and stored in the temporary storage buffer 41. From the steady state where the speed is ω 1, the host controller 4 outputs a speed command to the servo controller 5 so that the speed ω 2 becomes constant, measures the speed ω 2 and the torque T 2 returned from the servo controller 5, and Each of them is integrated for the time t until the steady state of the speed ω 2 and stored in the temporary storage buffer 41.
【００１０】以上の処理から、一時記憶バッファ４１に
記憶されたデータはトルクＴ1 、Ｔ2 、速度ω1 、
ω2 、そして加速開始点から時刻ｔまでの出力トルクお
よび速度の積算値をそれぞれＥ、Ｌとして、前記の式
（６）、（７）に代入し、粘性摩擦係数Ｒとクーロン摩
擦トルクＤを計算し、次に式（１２）に基づいて演算器
４４から慣性負荷Ｊを計算して出力する。出力トルクの
積算値Ｅは、サーボコントローラ５内部の電流アンプに
電流指令を書き込む周期ごとに、電流指令に変換する前
のトルク指令値を時刻０からｔまでの間、積算し、上位
コントローラ４の一時記憶バッファ４１に保存すること
により得る。また、速度の積算値Ｌは、パルスジェネレ
ータ３からのフィードバックデータの検出周期ごとに速
度フィードバック値を時刻０からｔの間積算し、上位コ
ントローラ４の一時記憶バッファ４１に保存することに
より得る。From the above processing, the data stored in the temporary storage buffer 41 are torque T 1 , T 2 , speed ω 1 ,
ω 2 , and the integrated values of the output torque and the speed from the acceleration start point to time t are respectively substituted into Eqs. (6) and (7), and the viscous friction coefficient R and the Coulomb friction torque D are substituted. Then, the inertial load J is calculated and output from the computing unit 44 based on the equation (12). The integrated value E of the output torque is obtained by accumulating the torque command value before conversion into the current command for each cycle of writing the current command to the current amplifier in the servo controller 5 from time 0 to t, and the integrated value E of the host controller 4 is obtained. It is obtained by storing it in the temporary storage buffer 41. Further, the integrated value L of speeds is obtained by accumulating the speed feedback values for each detection cycle of the feedback data from the pulse generator 3 from time 0 to t, and storing the result in the temporary storage buffer 41 of the host controller 4.
【００１１】図４は本発明の第２実施例の構成を示すブ
ロック図である。図１に示す第１実施例との相違点は、
上位コントローラ４内の一時記憶バッファ４１内に、時
々刻々ｔ0 ，ｔ1 ，・・・の出力トルクＴ0 ，Ｔ1 ，・
・・、角速度ω0 ，ω1 ，・・・、角加速度Ａ0 ，
Ａ1 ，・・・を格納するテーブルを設けたことである。
すなわち、上位コントローラ４は、運転中、定期的にサ
ーボコントローラ５より出力トルクＴi 、位置フィード
バックθi を取り込む。そして位置フィードバックθi
から角速度ωi 、角加速度Ａi を差分等の周知の方法で
求め、出力トルクiと共に状態値として一時記憶バッフ
ァ４１に記憶する。次に、上位コントローラ４は一時記
憶バッファ４１中のデータより式（１３）を用いて負荷
定数のうち慣性モーメントＪを計算する。この演算のフ
ローチャートを図５に示す。なお、式（１３）におい
て、Ａ＝０の場合、解が求まらないが、この場合には、
慣性モーメントＪが求まらない状態値のうち最新の２組
より（６），（７）式を用いて粘性摩擦係数Ｒとクーロ
ン摩擦トルクＤを再計算することが可能である。負荷定
数計算を、データを変えて繰り返し、平均化などの周知
の統計的手法を用いることによって負荷定数測定精度が
向上し、かつ動的な負荷変動も測定可能となる。測定さ
れた負荷定数は、サーボコントローラのチューニング等
に利用することができる。FIG. 4 is a block diagram showing the configuration of the second embodiment of the present invention. The difference from the first embodiment shown in FIG. 1 is that
In the temporary storage buffer 41 in the host controller 4, the output torques T 0 , T 1 , ... Of t 0 , t 1 , ...
.., angular velocities ω 0 , ω 1 , ..., Angular acceleration A 0 ,
That is, a table for storing A 1 , ... Is provided.
That is, the host controller 4 periodically takes in the output torque T i and the position feedback θ i from the servo controller 5 during operation. And position feedback θ i
From the above, the angular velocity ω i and the angular acceleration A i are obtained by a known method such as a difference, and are stored in the temporary storage buffer 41 as a state value together with the output torque i . Next, the host controller 4 calculates the moment of inertia J of the load constants using the equation (13) from the data in the temporary storage buffer 41. A flowchart of this calculation is shown in FIG. In equation (13), when A = 0, no solution is obtained, but in this case,
It is possible to recalculate the viscous friction coefficient R and the Coulomb friction torque D using the equations (6) and (7) from the latest two sets of the state values for which the inertia moment J cannot be obtained. The load constant measurement accuracy is improved and dynamic load fluctuations can be measured by repeating the load constant calculation by changing the data and using a well-known statistical method such as averaging. The measured load constant can be used for tuning the servo controller or the like.
【００１２】[0012]
【発明の効果】以上説明したように、本発明では、電動
機において、機械系のバックラッシュや静止摩擦、動摩
擦等の影響を受けず、かつ電動機の制御方式によらずに
簡単に負荷を測定できることになる。As described above, according to the present invention, the load of the electric motor can be easily measured without being affected by backlash, static friction, dynamic friction, etc. of the mechanical system and regardless of the control system of the electric motor. become.
【図１】 本発明の第１実施例を示すブロック図であ
る。FIG. 1 is a block diagram showing a first embodiment of the present invention.
【図２】 電動機の出力トルクと負荷トルクの釣合いを
示すブロック図である。FIG. 2 is a block diagram showing a balance between output torque and load torque of an electric motor.
【図３】 負荷定数測定方法の原理を示す説明図であ
る。FIG. 3 is an explanatory diagram showing the principle of a load constant measuring method.
【図４】 本発明の第２実施例を示すブロック図であ
る。FIG. 4 is a block diagram showing a second embodiment of the present invention.
【図５】 第２実施例における演算のフローチャートで
ある。FIG. 5 is a flowchart of calculation in the second embodiment.
１ 電動機、２ 負荷、３ パルスジェネレータ、４
上位コントローラ、５サーボコントローラ1 electric motor, 2 load, 3 pulse generator, 4
Upper controller, 5 servo controller
Claims (2)
電動機の駆動装置に前記第１の速度指令と異なる第２の
速度指令を与え、前記第１および第２の速度指令に対す
る定常状態における前記電動機の速度ω1 ，ω2 と前記
駆動装置の出力トルクＴ1 ，Ｔ2 より負荷定数である粘
性摩擦係数Ｒおよびクーロン摩擦トルクＤを求め、前記
第１の速度指令に対する定常状態ω1 から前記第２の速
度指令に対する定常状態ω2 に至るまでの前記駆動装置
の出力トルクＴ1 ，Ｔ2 の積分値Ｅおよび前記電動機の
速度の積分値Ｌと、前記第１と第２の速度指令に対する
定常状態における前記電動機の速度差ω2 −ω1 、およ
び前記粘性摩擦係数Ｒと前記クーロン摩擦トルクＤから
負荷定数である慣性負荷Ｊを求めることを特徴とする電
動機駆動系の負荷定数測定方法。1. A steady state for the first and second speed commands, wherein a second speed command different from the first speed command is given to a drive device of an electric motor in a steady state for the first speed command. In the steady state ω 1 for the first speed command, the viscous friction coefficient R and the Coulomb friction torque D, which are load constants, are obtained from the motor speeds ω 1 and ω 2 and the output torques T 1 and T 2 of the drive device. To the steady state ω 2 in response to the second speed command, the integrated value E of the output torques T 1 and T 2 of the drive device and the integrated value L of the speed of the electric motor, and the first and second speeds. the speed difference omega 2 - [omega] 1 of the motor, and the load constant measurement of the motor drive system, characterized in that determining the said viscous friction coefficient R is the load constant from the Coulomb friction torque D inertial load J in the steady state with respect to the command Law.
電動機の駆動装置に前記第１の速度指令と異なる第２の
速度指令を与え、前記第１および第２の速度指令に対す
る定常状態における前記電動機の速度ω1 ，ω2 と前記
駆動装置の出力トルクＴ1 ，Ｔ2 より負荷定数である粘
性摩擦係数Ｒおよびクーロン摩擦トルクＤを求め、かつ
ある瞬間における駆動装置の出力トルクＴから前記で求
めた粘性摩擦係数Ｒと電動機の速度ωの積と動摩擦トル
クＤを減じた値と当該瞬間における電動機の加速度ｄω
／ｄｔの比より負荷定数である慣性負荷Ｊを求めること
を特徴とする電動機駆動系の負荷定数測定方法。2. A steady state for the first and second speed commands is given to a drive device for an electric motor in a steady state for the first speed command, the second speed command being different from the first speed command. From the speeds ω 1 and ω 2 of the electric motor and the output torques T 1 and T 2 of the drive device, the viscous friction coefficient R and the Coulomb friction torque D, which are load constants, are obtained, and from the output torque T of the drive device at a certain moment, A value obtained by subtracting the product of the viscous friction coefficient R obtained above and the speed ω of the motor and the dynamic friction torque D, and the acceleration dω of the motor at that moment
A method for measuring a load constant of an electric motor drive system, characterized in that an inertial load J which is a load constant is obtained from a ratio of / dt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15020394A JP3479922B2 (en) | 1994-06-30 | 1994-06-30 | Load constant measurement method for motor drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15020394A JP3479922B2 (en) | 1994-06-30 | 1994-06-30 | Load constant measurement method for motor drive system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0815058A true JPH0815058A (en) | 1996-01-19 |
| JP3479922B2 JP3479922B2 (en) | 2003-12-15 |
Family
ID=15491782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15020394A Expired - Fee Related JP3479922B2 (en) | 1994-06-30 | 1994-06-30 | Load constant measurement method for motor drive system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3479922B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996037039A1 (en) * | 1995-05-17 | 1996-11-21 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| JP2005172788A (en) * | 2003-11-21 | 2005-06-30 | Yaskawa Electric Corp | Estimation method for moment of inertia of motor load |
| US7147299B2 (en) | 1999-09-28 | 2006-12-12 | Seiko Epson Corporation | Control unit and method for controlling motor for use in printer, and storage medium storing control program |
| DE102010036500A1 (en) | 2009-08-28 | 2011-03-03 | Fanuc Ltd | A control device for an electric motor having a function for simultaneously determining inertia and friction |
| JP2014027742A (en) * | 2012-07-25 | 2014-02-06 | Toshiba Schneider Inverter Corp | Motor control device |
| CN109612615A (en) * | 2018-12-24 | 2019-04-12 | 人本集团有限公司 | The test device of automobile hub bearing load friction torque |
| CN112464400A (en) * | 2020-11-20 | 2021-03-09 | 南京工程学院 | Method for calculating torque and rotating speed characteristics of radial standing wave type ultrasonic motor based on coulomb friction and viscous friction |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020114626A1 (en) * | 2018-12-06 | 2020-06-11 | Sew-Eurodrive Gmbh & Co. Kg | Method for operating a drive train and drive train |
-
1994
- 1994-06-30 JP JP15020394A patent/JP3479922B2/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996037039A1 (en) * | 1995-05-17 | 1996-11-21 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| US6037736A (en) * | 1995-05-17 | 2000-03-14 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| US7147299B2 (en) | 1999-09-28 | 2006-12-12 | Seiko Epson Corporation | Control unit and method for controlling motor for use in printer, and storage medium storing control program |
| JP2005172788A (en) * | 2003-11-21 | 2005-06-30 | Yaskawa Electric Corp | Estimation method for moment of inertia of motor load |
| DE102010036500A1 (en) | 2009-08-28 | 2011-03-03 | Fanuc Ltd | A control device for an electric motor having a function for simultaneously determining inertia and friction |
| US8232758B2 (en) | 2009-08-28 | 2012-07-31 | Fanuc Ltd | Controller of electric motor having function of estimating inertia and friction simultaneously |
| DE102010036500B4 (en) * | 2009-08-28 | 2017-10-05 | Fanuc Ltd | A control device for an electric motor having a function for simultaneously determining inertia and friction |
| JP2014027742A (en) * | 2012-07-25 | 2014-02-06 | Toshiba Schneider Inverter Corp | Motor control device |
| CN109612615A (en) * | 2018-12-24 | 2019-04-12 | 人本集团有限公司 | The test device of automobile hub bearing load friction torque |
| CN112464400A (en) * | 2020-11-20 | 2021-03-09 | 南京工程学院 | Method for calculating torque and rotating speed characteristics of radial standing wave type ultrasonic motor based on coulomb friction and viscous friction |
| CN112464400B (en) * | 2020-11-20 | 2024-02-13 | 南京工程学院 | Calculation method of torque and rotation speed characteristics of radial standing wave type ultrasonic motor based on coulomb friction and viscous friction |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3479922B2 (en) | 2003-12-15 |
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