TW202130111A - Motor control apparatus and motor control method - Google Patents
Motor control apparatus and motor control method Download PDFInfo
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本發明有關根據力矩指令與速度限制指令來限制馬達速度並控制馬達的力矩之馬達控制裝置及控制方法。The present invention relates to a motor control device and a control method for limiting the speed of a motor and controlling the torque of the motor according to a torque command and a speed limit command.
在紙或膜等的製造中，為了防止皺褶或鬆弛等來提升品質，所以使用張力控制裝置來進行製造。在這樣的張力控制裝置的退繞用馬達的控制下，以與捲繞直徑相應之恆定的力矩來驅動退繞用馬達，讓張力保持恆定。In the production of paper, film, etc., in order to prevent wrinkles or slack and improve quality, a tension control device is used for the production. Under the control of the unwinding motor of such a tension control device, the unwinding motor is driven with a constant torque corresponding to the winding diameter to keep the tension constant.
接著，為了抑制切斷了被加工物的情況下之退繞用馬達的速度上升，實施具備了速度限制功能之力矩控制。而且，點熔接用伺服槍的情況下，用銲槍的電極部的熔接晶片包挾工件而控制馬達的力矩並加壓，在電極晶片間通電並使工件熔接。Next, in order to suppress the increase in the speed of the unwinding motor when the workpiece is cut, a torque control with a speed limit function is implemented. Furthermore, in the case of a servo gun for spot welding, the welding wafer of the electrode part of the welding gun is used to enclose the workpiece, the torque of the motor is controlled and the pressure is applied, and electricity is applied between the electrode wafers to weld the workpiece.
也在這樣的銲槍中，以位置控制或速度控制移動到與加壓對象接觸之近側為止，為了不使在切換到力矩控制時產生過大的速度而碰撞到加壓對象，實施具備了速度限制功能之力矩控制。Also in such a welding gun, the position control or speed control is used to move to the near side of the pressurized object. In order not to cause excessive speed when switching to torque control and collide with the pressurized object, a speed limit is implemented. Function torque control.
作為實施具備了這樣的速度限制功能之力矩控制的例子，是有日本特開2003-33068號專利公報。As an example of implementing torque control with such a speed limit function, there is Japanese Patent Laid-Open No. 2003-33068.
在日本特開2003-33068號專利公報中，記載有一種馬達控制裝置，乃是根據來自外部的輸入來進行馬達的控制之馬達控制裝置，具有：根據施加電壓來進行旋轉之馬達；檢測馬達的磁極位置之磁極位置感測器；根據磁極位置感測器輸出的位置訊號來演算馬達的旋轉速度之速度演算部；把來自外部的輸入變換成轉矩電流指令之變換部；根據馬達的限制旋轉速度與速度演算部所演算出的馬達的旋轉速度來補正轉矩電流指令之轉矩電流補正部；使用補正過的轉矩電流指令來演算電壓指令之向量演算部；以及根據電壓指令來作成給馬達的施加電壓之施加電壓作成部。In Japanese Patent Application Laid-Open No. 2003-33068, a motor control device is described, which is a motor control device that controls a motor based on an input from the outside, and has: a motor that rotates in response to an applied voltage; The magnetic pole position sensor of the magnetic pole position; the speed calculation part that calculates the rotation speed of the motor according to the position signal output by the magnetic pole position sensor; the conversion part that converts the input from the outside into the torque current command; rotates according to the limit of the motor The speed and speed calculation unit calculates the motor rotation speed to correct the torque current command torque current correction part; uses the corrected torque current command to calculate the voltage command vector calculation part; and according to the voltage command to create The applied voltage creating part of the applied voltage of the motor.
但是，在以轉矩電流補正部的輸出來補正這樣的力矩指令之方式中，在速度限制時有必要輸出消除力矩指令之轉矩電流補正，在力矩指令為大的情況下，是有消除訊號也變大、響應變慢、速度的過衝為大之問題，或是，在速度限制附近動作時，會有斷斷續續進行速度限制控制，反反覆覆有大的過衝而舉動變得不安定之問題，或是，只能輸入一個速度限制指令，所以只能在力矩指令的方向限制速度之問題，或是，力矩指令為0時無法定出方向的緣故所以無法限制速度之問題。However, in the method of correcting such a torque command with the output of the torque current correction unit, it is necessary to output the torque current correction to cancel the torque command when the speed is limited. When the torque command is large, there is a cancel signal. It also becomes larger, the response becomes slower, and the speed overshoot becomes large. Or, when the action is near the speed limit, the speed limit control will be intermittently performed, and there will be repeated large overshoots and the behavior becomes unstable. The problem is that only one speed limit command can be input, so the speed can only be limited in the direction of the torque command, or the speed cannot be limited because the direction cannot be determined when the torque command is 0.
作為消解前述般只能在力矩指令的方向限制速度之問題，或是，力矩指令為0時無法定出方向的緣故所以無法限制速度之問題之例子，是有國際公開 2011/145366號專利公報。As an example of solving the aforementioned problem that the speed can only be limited in the direction of the torque command, or the speed cannot be limited because the direction cannot be determined when the torque command is 0, there are international publications. Patent Bulletin No. 2011/145366.
在國際公開2011/145366號專利公報中，記載有一種馬達控制裝置，乃是控制對驅動對象進行驅動的馬達來對驅動對象以與目標力矩對應的壓力來施壓到加壓對象之馬達控制裝置，具備： 根據馬達的速度檢測值來算出用於補償對馬達的力矩指令及力矩指令的回歸力矩之速度控制器；以及 算出與目標力矩及速度控制器所算出的回歸力矩之偏差相應之第1速度指令之回歸力矩控制器； 回歸力矩控制器係把已算出的第1速度指令限制在根據驅動對象與加壓對象的接觸速度所定出的期望的速度限制值並輸出，速度控制器係算出力矩指令來讓速度檢測值追隨上回歸力矩控制器所輸出的第1速度指令。In International Publication No. 2011/145366 Patent Publication, a motor control device is described, which is a motor control device that controls a motor that drives a driving object to apply a pressure corresponding to the target torque to the pressurized object. ,have: Calculate the speed controller used to compensate the torque command to the motor and the return torque of the torque command according to the speed detection value of the motor; and Calculate the return torque controller of the first speed command corresponding to the deviation of the target torque and the return torque calculated by the speed controller; The regressive torque controller limits the calculated first speed command to the desired speed limit value based on the contact speed of the driving object and the pressurized object and outputs it. The speed controller calculates the torque command to allow the speed detection value to follow. Return to the first speed command output by the torque controller.
在國際公開2011/145366號專利公報的手法中，可以把速度限制值設定在馬達的正旋轉側與逆旋轉側之兩方，可以與力矩指令的極性無關而限制速度的緣故，所以消解了只能在力矩指令的方向限制速度之問題，或是，力矩指令為0時無法定出方向的緣故所以無法限制速度之問題。但是，把這樣的力矩指令來與回歸力矩做比較並以回歸力矩控制器來算出速度指令來補償對馬達的力矩指令(馬達力矩指令)之方式下，沒有相當程度提高回歸力矩控制器的增益的話，是不會產生如力矩指令般的馬達力矩指令。In the method of International Publication No. 2011/145366 Patent Publication, the speed limit value can be set on both the forward rotation side and the reverse rotation side of the motor, and the speed can be limited regardless of the polarity of the torque command. The problem that the speed can be limited in the direction of the torque command, or the speed cannot be limited because the direction cannot be determined when the torque command is 0. However, the method of comparing such a torque command with the regressive torque and using the regressive torque controller to calculate the speed command to compensate for the torque command to the motor (motor torque command) does not increase the gain of the regressive torque controller to a considerable extent. , It will not generate a motor torque command like a torque command.
但是，回歸力矩控制環路，是以用比例積分控制器所構成的速度控制器、以及同樣用比例積分控制器所構成的回歸力矩控制器之2個控制器來構成，雙重進入積分要件的緣故所以控制系統容易變得不安定，提高控制增益的話會對回歸力矩產生振動。在回歸力矩產生振動的話，在馬達力矩指令也會產生振動。為此，無法提高增益來使用，是有只能輸出比力矩指令還稍微小的馬達力矩之問題。However, the regressive torque control loop is composed of two controllers consisting of a speed controller composed of a proportional integral controller and a regressive torque controller similarly composed of a proportional integral controller. The reason is that the integral element is doubled. Therefore, the control system tends to become unstable, and if the control gain is increased, the return torque will vibrate. If vibration occurs in the return torque, vibration will also occur in the motor torque command. For this reason, the gain cannot be increased for use, and there is a problem that the motor torque can only be output slightly smaller than the torque command.
特別是提高回歸力矩控制器的比例增益的話容易振動，無法提高比例增益來使用的緣故，根據控制參數，是有來自速度限制狀態的復歸無法適切動作的情況，是有調整困難、安定動作的參數範圍狹小之問題。In particular, if the proportional gain of the regressive torque controller is increased, it is easy to vibrate, and it cannot be used by increasing the proportional gain. Depending on the control parameters, there may be cases where the return from the speed limit state cannot operate properly, and it is difficult to adjust and stable operation parameters. The problem of narrow scope.
而且，速度控制器的積分器也作為回歸力矩控制器的積分器來動作的緣故，力矩指令急遽變動的情況下，速度控制器的積分器也動作，其結果，會有速度的過衝為大之問題，或是，在速度限制附近動作時，會斷斷續續進行速度限制控制，反反覆覆有大的過衝而舉動變得不安定之問題。In addition, the integrator of the speed controller also operates as the integrator of the regressive torque controller. When the torque command changes suddenly, the integrator of the speed controller also operates. As a result, the speed overshoot becomes large. The problem is that when the operation is near the speed limit, the speed limit control will be intermittently performed, and the behavior will become unstable due to repeated large overshoots.
有關本揭示的實施方式之馬達控制裝置，係根據力矩指令與速度限制指令來限制速度並控制馬達的力矩；其特徵為：前述馬達控制裝置具有：檢測前述馬達的速度之速度檢測部、以及根據前述力矩指令算出基於力矩指令之速度指令並輸出在基於前述力矩指令之速度指令加上了限制之馬達速度指令之速度限制部；前述速度限制部具備：從前述力矩指令算出基於前述力矩指令之速度指令之速度指令算出部、以及在基於前述力矩指令之速度指令加上基於前述速度限制指令之速度限制並輸出前述馬達速度指令之速度限制器；基於前述力矩指令之速度指令算出部具備：根據前述力矩指令來算出速度偏差之速度偏差算出器、以及在前述速度偏差加上前述速度並輸出基於前述力矩指令之速度指令之加法器。 在下列詳細說明中，為了解釋目的，會提到許多特定細節以便提供所揭示之實施態樣的深入理解。然而，應明白的是，可在未有這些特定細節下實施一或多個實施態樣。在其他不同的情況中，眾所公知的結構及裝置係示意性地示出以簡化圖式。The motor control device according to the embodiment of the present disclosure limits the speed and controls the torque of the motor based on the torque command and the speed limit command; The aforementioned torque command calculates the speed command based on the torque command and outputs it to the speed limit part of the motor speed command limited to the speed command based on the aforementioned torque command; the aforementioned speed limit part is equipped with: calculates the speed based on the aforementioned torque command from the aforementioned torque command The commanded speed command calculation unit and the speed command based on the aforementioned torque command plus the speed limit based on the aforementioned speed limit command and output the aforementioned motor speed command; the speed command calculation unit based on the aforementioned torque command has: according to the aforementioned A speed deviation calculator that calculates the speed deviation by a torque command, and an adder that adds the aforementioned speed to the aforementioned speed deviation and outputs a speed command based on the aforementioned torque command. In the following detailed description, for explanatory purposes, many specific details are mentioned in order to provide an in-depth understanding of the disclosed implementation modes. However, it should be understood that one or more implementation aspects can be implemented without these specific details. In other different situations, well-known structures and devices are schematically shown to simplify the drawings.
本發明乃是為了消解前述問題點而為之創作，其目的在於提供一種馬達的控制裝置及馬達的控制方法，其係容易進行控制參數的調整，無關於力矩指令的極性或馬達的旋轉方向而可以限制力矩控制中的速度，在速度限制時的過衝為小且沒有速度限制的情況下可以輸出如力矩指令的馬達力矩。The present invention was created to solve the aforementioned problems, and its purpose is to provide a motor control device and a motor control method, which are easy to adjust the control parameters, regardless of the polarity of the torque command or the rotation direction of the motor. The speed in the torque control can be limited, and the motor torque such as the torque command can be output when the overshoot at the speed limit is small and there is no speed limit.
本發明乃是如下的馬達控制裝置。The present invention is the following motor control device.
一種馬達控制裝置，係根據力矩指令與速度限制指令來限制速度並控制馬達的力矩；其特徵為：前述馬達控制裝置具有：檢測前述馬達的速度之速度檢測部、以及根據前述力矩指令算出基於力矩指令之速度指令並輸出在基於前述力矩指令之速度指令加上了限制之馬達速度指令之速度限制部；前述速度限制部具備：從前述力矩指令算出基於前述力矩指令之速度指令之速度指令算出部、以及在基於前述力矩指令之速度指令加上基於前述速度限制指令之速度限制並輸出前述馬達速度指令之速度限制器；基於前述力矩指令之速度指令算出部具備：根據前述力矩指令來算出速度偏差之速度偏差算出器、以及在前述速度偏差加上前述速度並輸出基於前述力矩指令之速度指令之加法器。A motor control device that limits the speed and controls the torque of the motor based on a torque command and a speed limit command; the feature is that the motor control device has: a speed detection unit that detects the speed of the motor, and calculates the torque based on the torque command The commanded speed command is output to the speed limit part of the motor speed command based on the aforementioned torque command plus the limited motor speed command; the aforementioned speed limit part has: a speed command calculation part that calculates the speed command based on the aforementioned torque command from the aforementioned torque command , And a speed limiter that adds the speed limit based on the aforementioned speed limit command to the speed command based on the aforementioned torque command and outputs the aforementioned motor speed command; the speed command calculation unit based on the aforementioned torque command is equipped with: calculates the speed deviation based on the aforementioned torque command The speed deviation calculator, and the adder that adds the speed to the speed deviation and outputs the speed command based on the torque command.
而且，本發明也是如下的馬達控制方法。Furthermore, the present invention is also the following motor control method.
一種馬達控制方法，係根據力矩指令與速度限制指令來限制速度並控制馬達的力矩；其特徵為：根據前述力矩指令來算出速度偏差；在前述速度偏差加上前述馬達的前述速度，藉此，輸出基於力矩指令之速度指令；在基於前述力矩指令之速度指令加上基於前述速度限制指令之速度限制而輸出馬達速度指令。A motor control method that limits the speed and controls the torque of the motor according to the torque command and the speed limit command; the characteristic is: calculate the speed deviation according to the aforementioned torque command; add the aforementioned speed of the aforementioned motor to the aforementioned speed deviation, thereby, Output the speed command based on the torque command; add the speed command based on the aforementioned torque command and the speed limit based on the aforementioned speed limit command to output the motor speed command.
這樣的本發明的馬達控制裝置及馬達控制方法的實施的樣態，係可以如申請專利範圍的附屬項所表示般實施種種的樣態，有關這些或其他的詳細及優點，係在用於實施後述的發明之型態的項目中詳細說明。The implementation of the motor control device and the motor control method of the present invention can be implemented in various ways as indicated in the appended items of the patent application. The details and advantages of these and other are used for implementation. The detailed description will be given in the item of the type of invention described later.
經由前述構成，在本發明中，以進行從速度控制迴路下的馬達速度指令來算出馬達力矩指令之計算的反算之方法，用力矩指令來算出基於力矩指令之速度指令，進行速度限制並求出馬達速度指令，根據馬達速度指令來對馬達進行速度控制之簡單的構成，藉此，實現力矩控制中的速度限制。為此，可以實現一種馬達的控制裝置，其係特別的參數的調整為非必要，無關於力矩指令的極性或馬達的旋轉方向而可以限制速度，在速度限制時的過衝為小且沒有速度限制的情況下，可以輸出如力矩指令般的馬達力矩。Through the foregoing structure, in the present invention, the inverse calculation method of calculating the motor torque command from the motor speed command under the speed control loop is performed, and the torque command is used to calculate the speed command based on the torque command, and the speed limit is performed to obtain It is a simple structure to output the motor speed command and control the speed of the motor according to the motor speed command, thereby realizing the speed limit in the torque control. For this reason, it is possible to realize a motor control device. The adjustment of special parameters is unnecessary. The speed can be limited regardless of the polarity of the torque command or the rotation direction of the motor. The overshoot at the speed limit is small and there is no speed. Under limited conditions, the motor torque can be output as a torque command.
以下，根據圖面詳細說明有關本發明的馬達控制裝置及方法的實施的樣態。尚且，無論經由如何該實施的樣態的說明都不是用來限定本發明的範圍，只要是在屬於與申請專利範圍的各請求項相關的發明的技術的範圍下，任何的樣態也被本發明的範圍包含。Hereinafter, the implementation of the motor control device and method of the present invention will be described in detail based on the drawings. Moreover, no matter how the description of the implementation is not used to limit the scope of the present invention, as long as it belongs to the scope of the invention related to each claim in the scope of the patent application, any aspect is also covered by the present invention. The scope of the invention includes.
於圖1，表示馬達控制裝置及方法的其中一樣態。Figure 1 shows one of the states of the motor control device and method.
控制本發明的馬達M的馬達力矩T之馬達控制裝置A係概略來說，是利用用於求出馬達速度S的編碼器EN、微分器Dif、速度偏差算出器1、加法器2、減法器3、速度限制器4、速度控制器5、馬達力矩控制器6等所構成。The motor control device A for controlling the motor torque T of the motor M of the present invention generally uses an encoder EN, a differentiator Dif, a
在此，用於求出馬達速度S的編碼器EN與微分器Dif，係以這兩者構成檢測馬達速度S的速度檢測部B。尚且，速度檢測部B的構成要件係並非僅利用編碼器EN與微分器Dif來構成，只要是可以檢測速度的話，是可以任意構成。Here, the encoder EN and the differentiator Dif used to obtain the motor speed S constitute a speed detection unit B that detects the motor speed S. In addition, the component system of the speed detection unit B is not only constituted by the encoder EN and the differentiator Dif, but can be constituted arbitrarily as long as the speed can be detected.
而且，速度偏差算出器1與加法器2係構成基於力矩指令之速度指令算出部C，所述之基於力矩指令之速度指令算出部C與速度限制器4係構成速度限制部D。Furthermore, the
在如此構成的馬達控制裝置A，用於控制馬達M的馬達力矩T的力矩指令Tc、以及用於限制馬達M的馬達速度S的速度限制指令Suc，係從外部來給予，在期望的力矩與恆定的速度限制之下，進行馬達M的運轉。In the motor control device A configured in this way, the torque command Tc for controlling the motor torque T of the motor M and the speed limit command Suc for limiting the motor speed S of the motor M are given from the outside. Under the constant speed limit, the motor M is operated.
從外部給予的期望的力矩指令Tc被輸入到速度偏差算出器1，算出基於力矩指令Tc之速度偏差Sd1並輸出。The desired torque command Tc given from the outside is input to the
在基於力矩指令Tc之速度偏差Sd1，從速度檢測部B輸出的馬達速度S係在加法器2中被加法運算，輸出基於力矩指令之速度指令Sc。基於該力矩指令之速度指令Sc被輸入到速度限制器4，在此根據從外部所給予的期望的速度限制指令Suc進行速度限制，算出馬達速度指令Smc。根據該馬達速度指令Smc，對馬達M進行速度控制。In the speed deviation Sd1 based on the torque command Tc, the motor speed S output from the speed detection unit B is added in the adder 2, and the speed command Sc based on the torque command is output. The speed command Sc based on the torque command is input to the
具體方面，把附在馬達M的編碼器EN所發出的位置訊號用微分器Dif來微分，而求出馬達速度S。把在減法器3減掉馬達速度指令Smc與馬達速度S並輸出的速度偏差Sd2訊號，輸入到速度控制器5，速度控制器5算出馬達力矩指令Tmc。根據馬達力矩指令Tmc，經由馬達力矩控制器6從馬達M輸出如馬達力矩指令Tmc般的馬達力矩T。構成速度控制迴路，使得經由從馬達M輸出的馬達力矩T而旋轉的位置被編碼器EN檢測到，且與馬達速度指令Smc一致。Specifically, the position signal from the encoder EN attached to the motor M is differentiated by the differentiator Dif to obtain the motor speed S. The speed deviation Sd2 signal output by subtracting the motor speed command Smc and the motor speed S from the subtractor 3 is input to the
用比例控制器構成速度控制器5，將其增益作為G時，速度控制迴路的演算係根據以下式子(1)、(2)來進行。When the
馬達速度指令Smc-馬達速度S=速度偏差Sd2···(1) 速度偏差Sd2×比例控制器的增益G=馬達力矩指令Tmc···(2)Motor speed command Smc-motor speed S=speed deviation Sd2···(1) Speed deviation Sd2×gain of proportional controller G=motor torque command Tmc···(2)
經由兩式子，可以從馬達力矩指令Tmc如下述般反算求出馬達速度指令Smc。Using the two equations, the motor speed command Smc can be back-calculated from the motor torque command Tmc as follows.
速度偏差Sd2=馬達力矩指令Tmc/比例控制器的增益G···(3) 馬達速度指令Smc=速度偏差Sd2+馬達速度S···(4)Speed deviation Sd2=motor torque command Tmc/proportional controller gain G···(3) Motor speed command Smc=speed deviation Sd2+motor speed S···(4)
在本發明中，對從外部所給予的力矩指令Tc，使用下列式子(5)、(6)的關係，首先，算出基於力矩指令之速度指令Sc。In the present invention, the following equations (5) and (6) are used for the torque command Tc given from the outside, and first, the speed command Sc based on the torque command is calculated.
基於力矩指令之速度偏差Sd1=力矩指令Tc/G···(5) 基於力矩指令之速度指令Sc=基於力矩指令之速度偏差Sd1+馬達速度S···(6)Speed deviation based on torque command Sd1=torque command Tc/G···(5) Speed command based on torque command Sc = speed deviation based on torque command Sd1 + motor speed S···(6)
接著，對於已求出之基於力矩指令的速度指令Sc，在速度限制器4中根據速度限制指令Suc進行速度限制，求出馬達速度指令Smc。Next, for the speed command Sc based on the torque command that has been obtained, the
根據該馬達速度指令Smc進行馬達的速度控制的話，If the motor speed control is performed according to the motor speed command Smc,
馬達力矩指令Tmc=速度偏差Sd2×G =(馬達速度指令Smc-馬達速度S)×GMotor torque command Tmc=speed deviation Sd2×G =(motor speed command Smc-motor speed S)×G
在此，在無關於速度限制，亦即，基於力矩指令之速度指令Sc比速度限制指令Suc還小的情況下，馬達速度指令Smc=基於力矩指令之速度指令Sc的緣故，成為：Here, without regard to the speed limit, that is, when the speed command Sc based on the torque command is smaller than the speed limit command Suc, the motor speed command Smc = the speed command Sc based on the torque command becomes:
馬達力矩指令Tmc=(基於力矩指令之速度指令Sc-馬達速度S)×G ={(基於力矩指令之速度偏差Sd1+馬達速度S)- 馬達速度S}×G =(基於力矩指令之速度偏差Sd1)×G =力矩指令Tc/G×G =力矩指令TcMotor torque command Tmc=(speed command based on torque command Sc-motor speed S)×G ={(Speed deviation based on torque command Sd1+motor speed S)- Motor speed S}×G =(Speed deviation Sd1 based on torque command)×G = Torque command Tc/G×G = Torque command Tc
馬達力矩指令Tmc係與力矩指令Tc一致，根據該馬達力矩指令Tmc對馬達M做力矩控制，從馬達M輸出如馬達力矩指令Tmc，亦即力矩指令Tc般的馬達力矩T。The motor torque command Tmc is consistent with the torque command Tc. The motor M is torque controlled according to the motor torque command Tmc, and the motor M is output from the motor M such as the motor torque command Tmc, that is, the motor torque T like the torque command Tc.
在有速度限制的情況下，亦即，在基於力矩指令之速度指令Sc為速度限制指令Suc以上的情況下，馬達速度指令Smc成為速度限制指令Suc，進行基於速度限制指令Suc之馬達M的速度控制。僅在基於力矩指令之速度偏差Sd1加上馬達速度S而進行速度限制的緣故，在速度控制迴路的上位沒有用於實現速度限制之力矩控制環路，構成控制迴路之特別的控制參數係沒有必要。In the case of a speed limit, that is, when the speed command Sc based on the torque command is higher than the speed limit command Suc, the motor speed command Smc becomes the speed limit command Suc, and the speed of the motor M based on the speed limit command Suc is performed. control. The speed limit is only based on the speed deviation Sd1 of the torque command plus the motor speed S. There is no torque control loop used to realize the speed limit in the upper position of the speed control loop, and the special control parameter system that constitutes the control loop is unnecessary. .
尚且，速度限制指令Suc係可以用一個輸入來限制CW(順時針旋轉方向)側與CCW(逆時針旋轉方向)側之兩方，也可以設置2個速度限制指令來獨立限制CW側與CCW側。Moreover, the speed limit command Suc can use one input to limit both the CW (clockwise rotation direction) side and the CCW (counterclockwise rotation direction) side, or two speed limit commands can be set to independently limit the CW side and the CCW side. .
而且，速度限制指令Suc也可以根據規定的閾值、規定的表格值、規定的函數值等，來決定出馬達速度S的上限。該情況下，所謂「規定的」，當然包含可以任意決定者，更進一步，也包含可以在馬達控制裝置A等的製造時、試驗時、出貨時、使用時等任一的時間點中任意設定者。Furthermore, the speed limit command Suc may also determine the upper limit of the motor speed S based on a predetermined threshold value, a predetermined table value, a predetermined function value, and the like. In this case, the "prescribed" naturally includes those that can be determined arbitrarily, and further, it also includes those that can be arbitrarily determined at any point in time such as the manufacture, testing, shipment, and use of the motor control device A, etc. Setter.
如以上般，在本發明中，經由從速度控制系統下的馬達速度指令Smc算出馬達力矩指令Tmc之計算的反算，用力矩指令Tc來算出基於力矩指令之速度指令Sc，進行速度限制並求出馬達速度指令Smc，用馬達速度指令Smc來算出馬達力矩指令Tmc。As described above, in the present invention, the motor torque command Tmc is calculated from the motor speed command Smc under the speed control system through the inverse calculation, and the torque command Tc is used to calculate the speed command Sc based on the torque command. Get the motor speed command Smc, and use the motor speed command Smc to calculate the motor torque command Tmc.
而且，也在速度控制器5的增益G為低的情況下，在尚未有速度限制時算出如力矩指令Tc般的馬達力矩指令Tmc，不會受到速度控制器5的比例控制器的增益G的影響。速度控制器5的增益G係在通常的運轉狀態下對馬達M進行速度控制時，為了讓速度環路安定根據慣例來調整即可。Moreover, even when the gain G of the
於圖2，表示馬達控制裝置及方法的別的樣態。Fig. 2 shows another aspect of the motor control device and method.
於該樣態下，圖1所示之馬達控制裝置及方法中，在馬達M或連接於此的軸或捲繞裝置等的機械系統產生共振等規定的情況下，是可以把陷波濾波器NF或低通濾波器LPF等的過濾器設置在速度控制器5的輸出側。在該情況下，對力矩指令Tc之響應下降到追加了低通濾波器LPF等的過濾器之份額。其餘的構成係與前述之一的樣態相同。In this situation, in the motor control device and method shown in FIG. 1, when the motor M, the shaft connected to it, or the mechanical system such as the winding device resonates, it is possible to set the notch filter A filter such as NF or low-pass filter LPF is provided on the output side of the
在比例控制器構成速度控制器5的情況下，沒有過衝。於馬達M所致之張力控制中被加工物被切斷的情況等，僅有退繞部的旋轉摩擦的緣故，負載力矩為小，在用比例控制所限制的馬達速度所產生的誤差只有一點點。In the case where the proportional controller constitutes the
以上，揭示了2個樣態，但是，根據本發明的用途，具有負載的負載力矩Tb為大，對於速度限制指令Suc，是有產生了負載力矩Tb除以速度控制的增益G份的速度誤差。Two aspects are disclosed above. However, according to the application of the present invention, the load torque Tb with a load is large, and for the speed limit command Suc, there is a speed error of the load torque Tb divided by the gain G of the speed control. .
於該情況下，用比例積分控制器構成速度控制器5，在沒有速度限制的情況下作為比例控制器使其動作，在有速度限制的情況下，讓積分控制器為有效。在有速度限制的情況下，係經由積分控制器，抑制負載力矩Tb的影響。但是，從積分控制器輸出的值係僅輸出補償負載力矩Tb份的值的緣故，積分控制器的補償量為一點點，馬達速度的過衝係一點點。In this case, the
而且，在負載力矩Tb為大且進行再生動作的情況下，於再生中有了速度限制時把比例積分控制器的積分控制器關閉。雖然產生速度誤差，但是產生了防止在再生中積分控制器反覆斷斷續續所產生的馬達力矩T的脈動的之作用。In addition, when the load torque Tb is large and the regeneration operation is performed, the integral controller of the proportional integral controller is turned off when there is a speed limit during regeneration. Although the speed error is generated, it has the effect of preventing the pulsation of the motor torque T generated by the integral controller repeatedly and intermittently during the regeneration.
於圖3及圖4，表示馬達控制及其方法之複數個樣態的速度變化的模擬，而且，於圖5，表示補正力矩指令的方式的作動例的速度變化之模擬結果。縱軸表示速度的大小，橫軸表示時間的經過。為全都相同的速度限制指令Suc下的圖表。Fig. 3 and Fig. 4 show the simulation results of the speed change in a plurality of modes of motor control and its method, and Fig. 5 shows the simulation result of the speed change of the operation example of the method of correcting the torque command. The vertical axis represents the magnitude of the speed, and the horizontal axis represents the passage of time. It is the chart under Suc which is all the same speed limit command.
在圖3，於馬達控制及其方法的其中一樣態中，表示在時間T為0≦T≦0.25時，沒有負載力矩的情況的結果。在該時間範圍下，展現出如速度限制指令Suc的設定般限制了速度的樣子。而且，於0.25≦T的範圍內，表示具有了負載力矩的情況的結果。在該時間範圍下，如後述般，對於速度限制指令Suc產生了負載力矩Tb除以速度控制的增益G份的速度誤差。在該例，終歸到底是其中一例，揭示出29.4min-1 的誤差。於動力時，限制低到僅所述之誤差的份，於再生時，限制高到僅所述之誤差的份。In Fig. 3, in one of the states of the motor control and its method, the result of the case where there is no load torque when the time T is 0≦T≦0.25. In this time range, the speed limit appears as if the speed limit command Suc is set. In addition, in the range of 0.25≦T, it shows the result of the case where the load moment is present. In this time range, as described later, a speed error of the load torque Tb divided by the gain G of the speed control is generated for the speed limit command Suc. In this case, it is one of them after all, revealing an error of 29.4 min -1. In power, the limit is as low as only the stated error, and during regeneration, the limit is as high as only the stated error.
跨一個圖到圖5，與前述馬達控制及方法之比較的緣故，揭示出補正日本特開2003-33068號專利公報的力矩指令的方式的作動例。表示在時間T為0≦T≦0.25時，沒有負載力矩的情況的結果。而且，於0.25≦T的範圍內，表示具有了負載力矩的情況的結果。也在任一動力時，在速度上升時，產生290min-1 、265min-1 等大的過衝，而且，在再生時力矩指令為0的話，產生了沒有速度的限制的狀況。過衝為大的話，是因為輸出僅消除力矩指令的大小之來自速度環路的力矩指令而速度被限制之計畫，存在一直到給出大的消除力矩指令為止的時間延遲。From one figure to FIG. 5, for the sake of comparison with the aforementioned motor control and method, an example of the operation of the method of correcting the torque command in Japanese Patent Laid-Open No. 2003-33068 is disclosed. Shows the result of the case where there is no load moment when the time T is 0≦T≦0.25. In addition, in the range of 0.25≦T, it shows the result of the case where the load moment is present. Also at any power, when the speed rises, large overshoots such as 290 min -1 and 265 min -1 are generated, and if the torque command is 0 during regeneration, there is no speed limit. If the overshoot is large, it is because the output only cancels the torque command from the speed loop and the speed is limited. There is a time delay until a large cancel torque command is given.
於圖4，表示馬達控制及其方法的另一樣態的速度變化的模擬結果。該樣態係表示構成速度控制器進行比例積分控制(PI控制)，是可以在還沒有到速度限制值的情況下作為比例控制(P控制)使其作動的緣故，在到達了速度限制的情況下，讓積分控制器有效而進行速度比例積分控制(PI控制)之的作動例。表示在時間T為0≦T≦0.25時，沒有負載力矩的情況的結果。在該時間範圍內，在沒有速度限制時，積分控制器作動，不進行力矩的消除的緣故，所以限於30min-1 的過衝。而且，於0.25≦T的範圍內，表示具有了負載力矩的情況的結果。也在該時間範圍內在有了速度限制時因為積分控制器動作而產生過衝，但是與圖5表示之補正力矩指令的方式的作動例相比，過衝的量是相當較少的。Fig. 4 shows the simulation result of the speed change of another aspect of motor control and its method. This aspect indicates that the speed controller is configured to perform proportional integral control (PI control). It can be operated as a proportional control (P control) when the speed limit is not reached. When the speed limit is reached Next, let the integral controller be effective and perform the operation example of the speed proportional integral control (PI control). Shows the result of the case where there is no load moment when the time T is 0≦T≦0.25. In this time range, when there is no speed limit, the integral controller is activated and the torque is not eliminated, so it is limited to an overshoot of 30 min -1. In addition, in the range of 0.25≦T, it shows the result of the case where the load moment is present. Also within this time range, when there is a speed limit, overshoot occurs due to the action of the integral controller. However, the amount of overshoot is relatively small compared to the example of the operation of the method of correcting the torque command shown in FIG. 5.
如以上所述，在本發明的樣態下，全都可以實現一種馬達的控制裝置，其係特別的參數的調整為非必要，無關於力矩指令的極性或馬達的旋轉方向而可以限制速度，在速度限制時的過衝為小且沒有速度限制的情況下，可以輸出如力矩指令般的馬達力矩。As mentioned above, in the aspect of the present invention, all can realize a motor control device, which is not necessary to adjust special parameters, and can limit the speed regardless of the polarity of the torque command or the rotation direction of the motor. When the overshoot at the speed limit is small and there is no speed limit, the motor torque can be output like a torque command.
上述之各樣態係全都表示本發明的其中一樣態，並非限定本發明本身根據這些樣態所示出的具體的構成。本發明的範圍係包含根據申請專利範圍記載的事項，其所屬技術領域中具有通常知識者假定得到之全部。 為繪示及描述之目的，已呈現上述詳細說明。可依上述教示有許多修飾及變體。並非意欲窮盡本文中所述之發明標的物或將本文中所述之發明標的限制在所揭示之特定精確形式。雖然該發明標的已對特定結構特徵及/或方法行為之用語而描述，但應了解的是，後附申請專利範圍所界定之發明標的並不必然被限定在上述之特定特徵或行為。相反地，上述之特定特徵及行為係揭示作為實施後附之申請專利範圍的實施例形式。The above-mentioned various aspects all represent one aspect of the present invention, and do not limit the specific configuration of the present invention itself based on these aspects. The scope of the present invention includes all the matters described according to the scope of the patent application, and all that can be assumed by those with ordinary knowledge in the technical field to which it belongs. For the purpose of illustration and description, the above detailed description has been presented. There are many modifications and variations based on the above teachings. It is not intended to exhaust the subject matter of the invention described herein or to limit the subject matter of the invention described herein to the specific precise form disclosed. Although the subject matter of the invention has been described in terms of specific structural features and/or methodological behaviors, it should be understood that the subject matter of the invention defined in the scope of the attached patent application is not necessarily limited to the specific features or behaviors mentioned above. On the contrary, the above-mentioned specific features and behaviors are disclosed as embodiments of the scope of the attached patent application.
1:速度偏差算出器 2:加法器 3:減法器 4:速度限制器 5:速度控制器 6:馬達力矩控制器 A:馬達控制裝置 B:速度檢測部 C:速度指令算出部 D:速度限制部 M:馬達1: Speed deviation calculator 2: adder 3: subtractor 4: Speed limiter 5: Speed controller 6: Motor torque controller A: Motor control device B: Speed detection department C: Speed command calculation unit D: Speed limit department M: Motor
[圖1]圖1為表示馬達控制裝置及方法的其中一樣態之方塊圖。 [圖2]圖2為表示馬達控制裝置及方法之另一樣態之方塊圖。 [圖3]圖3為表示馬達控制裝置及方法的其中一樣態(速度比例控制)的速度變化模擬結果之圖表。 [圖4]圖4為表示馬達控制及其方法的另一樣態(速度比例積分控制)的速度變化的模擬結果之圖表。 [圖5]圖5為表示補正力矩指令的方式的作動例的速度變化的模擬結果之圖表。[Fig. 1] Fig. 1 is a block diagram showing one aspect of the motor control device and method. [Fig. 2] Fig. 2 is a block diagram showing another aspect of the motor control device and method. [Fig. 3] Fig. 3 is a graph showing the speed variation simulation result of one state (speed proportional control) of the motor control device and method. [Fig. 4] Fig. 4 is a graph showing the simulation result of the speed change of another aspect of motor control and its method (speed proportional integral control). [Fig. 5] Fig. 5 is a graph showing a simulation result of a speed change in an operation example of a method of correcting a torque command.
1:速度偏差算出器 1: Speed deviation calculator
2:加法器 2: adder
3:減法器 3: subtractor
4:速度限制器 4: Speed limiter
5:速度控制器 5: Speed controller
6:馬達力矩控制器 6: Motor torque controller
A:馬達控制裝置 A: Motor control device
B:速度檢測部 B: Speed detection department
C:速度指令算出部 C: Speed command calculation unit
D:速度限制部 D: Speed limit department
S:馬達速度 S: Motor speed
Sc:基於力矩指令之速度指令 Sc: Speed command based on torque command
Sd1:基於力矩指令之速度偏差 Sd1: Speed deviation based on torque command
Sd2:速度偏差 Sd2: Speed deviation
Suc:速度限制指令 Suc: Speed limit command
Smc:馬達速度指令 Smc: motor speed command
T:馬達力矩 T: Motor torque
Tc:力矩指令 Tc: Torque command
Tmc:馬達力矩指令 Tmc: motor torque command
Claims (8)
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019238211 | 2019-12-27 | ||
| JP2019-238211 | 2019-12-27 | ||
| JP2020-179897 | 2020-10-27 | ||
| JP2020179897A JP2021108532A (en) | 2019-12-27 | 2020-10-27 | Motor control device and motor control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW202130111A true TW202130111A (en) | 2021-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW109144615A TW202130111A (en) | 2019-12-27 | 2020-12-17 | Motor control apparatus and motor control method |
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| Country | Link |
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| JP (1) | JP2021108532A (en) |
| TW (1) | TW202130111A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPWO2023276541A1 (en) | 2021-06-30 | 2023-01-05 |
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- 2020-10-27 JP JP2020179897A patent/JP2021108532A/en active Pending
- 2020-12-17 TW TW109144615A patent/TW202130111A/en unknown
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| JP2021108532A (en) | 2021-07-29 |
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