TWI735223B - Motor control device, notch filter adjustment device, and notch filter adjustment method - Google Patents
Motor control device, notch filter adjustment device, and notch filter adjustment method Download PDFInfo
- Publication number
- TWI735223B TWI735223B TW109115020A TW109115020A TWI735223B TW I735223 B TWI735223 B TW I735223B TW 109115020 A TW109115020 A TW 109115020A TW 109115020 A TW109115020 A TW 109115020A TW I735223 B TWI735223 B TW I735223B
- Authority
- TW
- Taiwan
- Prior art keywords
- resonance
- aforementioned
- vibration
- value
- frequency
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
一種馬達控制裝置,具有:控制器,其係控制包含馬達的控制對象;振動抽出部,其係抽出起因於控制對象之1個以上的共振特性而重疊到控制系統的響應之1個以上的振動成分;逐次頻率推定部,其係在振動成分中,逐次推定某1個振動成分的頻率,將其輸出作為振動頻率推定值序列;以及共振數推定部,其係根據振動頻率推定值序列,把成為重疊到控制系統的響應之振動的產生原因之共振特性的數目,輸出作為共振數推定值序列,並且,設置與共振數推定值序列的值對應的個數之陷波濾波器;控制器的輸出透過陷波濾波器給予到電流控制器而控制馬達。A motor control device includes: a controller that controls a control object including a motor; and a vibration extraction unit that extracts one or more vibrations caused by the resonance characteristics of one or more controlled objects and superimposed on the response of the control system Component; the successive frequency estimation unit, which is in the vibration component, successively estimates the frequency of a certain vibration component, and uses its output as the vibration frequency estimation value sequence; and the resonance number estimation unit, which is based on the vibration frequency estimation value sequence, The number of resonance characteristics that become the cause of vibration that overlaps the response of the control system is output as the resonance number estimation value sequence, and the number of notch filters corresponding to the value of the resonance number estimation value sequence is set; the controller's The output is given to the current controller through the notch filter to control the motor.
Description
本發明有關馬達控制。The present invention relates to motor control.
最近幾年,在FA方面,是期望縮短馬達控制系統的導入時間、及提升馬達控制系統的最佳調整所致之產距時間縮短所致之生產力。馬達控制系統的調整要件之一為抑制機械系統的共振的控制手段的參數,不透過人為在短時間且最佳地進行自動調整的技術成為對上述的需求之一個解決方案。In recent years, in terms of FA, it is expected to shorten the introduction time of the motor control system and increase the productivity due to the shortened production interval time caused by the optimal adjustment of the motor control system. One of the adjustment requirements of the motor control system is the parameter of the control means that suppresses the resonance of the mechanical system. A technology that does not artificially adjust automatically in a short time and optimally becomes a solution to the above-mentioned demand.
一般,是有機械系統的共振特性為原因而無法提升回饋控制器(以下,有簡寫為FB控制器的情況)的增益之情況,在迴避該情況的目的下使陷波濾波器介於FB控制器後段,來抵銷共振特性。但是,陷波濾波器的過濾器參數,是有必要對共振特性適切設定。Generally, it is because the resonance characteristics of the mechanical system cannot increase the gain of the feedback controller (hereinafter, abbreviated as FB controller). In order to avoid this situation, the notch filter is placed in the FB control. The rear section of the device to offset the resonance characteristics. However, the filter parameters of the notch filter must be appropriately set for the resonance characteristics.
而且,是有機械系統的共振特性存在有複數個的情況,其中對妨礙FB控制器的增益上升之全部使陷波濾波器適用是有必要。In addition, there may be multiple resonance characteristics of the mechanical system, and it is necessary to apply a notch filter to all of the obstacles to the increase in the gain of the FB controller.
因此,抑制上述的機械系統的共振之控制手段的自動調整,係根據介於FB控制器後段的陷波濾波器的數目與所介於之各陷波濾波器的過濾器參數的最佳化而構成。Therefore, the automatic adjustment of the control means to suppress the resonance of the mechanical system mentioned above is based on the optimization of the filter parameters of the notch filters between the number of notch filters in the back stage of the FB controller and the intervening notch filters. constitute.
作為進行這樣的自動調整之手段,提案有專利文獻1、2。
[先前技術文獻]
[專利文獻]As a means of performing such automatic adjustment,
[專利文獻1] 日本特開2009-296746號專利公報 [專利文獻2] 日本特開2006-288124號專利公報[Patent Document 1] Japanese Patent Application Publication No. 2009-296746 [Patent Document 2] Japanese Patent Application Publication No. 2006-288124
在專利文獻1中,提案有為了可以抑制2個共振特性而在FB控制器系統內設置串聯成2段之陷波濾波器,使用將其並聯配置到FB控制系統之適應陷波濾波器而即時進行自動調整的方法。尚且,在把設置在FB控制器系統內的陷波濾波器區別為適應陷波濾波器之目的下,以下,把設置在FB控制器系統內的陷波濾波器稱為實陷波濾波器。In
具體方面,對於用編碼器觀測出的馬達轉速而並聯設定帶域寬度相異之2個帶通濾波器(以下,是有簡寫成BPF之情況)並適用,對各BPF的輸出使各個適應陷波濾波器動作,藉此,同時推定起因於2個共振特性之馬達轉速的振動成分的頻率,以適用到各實陷波濾波器的中心頻率的方式在短時間內達成自動調整之方法。Specifically, for the motor speed observed by the encoder, two band-pass filters with different band widths are set in parallel (hereinafter, abbreviated as BPF) and applied, and the output of each BPF is adapted to each trap. The wave filter operates, thereby simultaneously estimating the frequency of the vibration component due to the two resonance characteristics of the motor rotation speed, and achieving an automatic adjustment method in a short time by applying the center frequency of each real notch filter.
而且,在專利文獻2中,提案有把以共振抑制為目的設定在FB控制器系統內之複數個實陷波濾波器,適合到因長年劣化而變化的共振特性,為此,自動再調整實陷波濾波器之方法。
Moreover, in
具體方面,乃是設置對用編碼器觀測出的馬達轉速推定振動的頻率之手段,用本手段推定出的振動的頻率判斷為起因於因長年劣化而變化的共振特性之振動的頻率,從已經設定了複數個實陷波濾波器之中,比較已推定的振動的頻率與各實陷波濾波器的陷波頻率,來適切認定應修正的實陷波濾波器,藉此,來自動抑制起因於因長年劣化而變化的共振特性之共振現象的方法。 Specifically, it is to provide a means to estimate the frequency of the vibration from the motor rotation speed observed by the encoder. The frequency of the vibration estimated by this means is judged to be the frequency of the vibration caused by the resonance characteristic that changes due to the deterioration over the years. A plurality of real notch filters are set, and the estimated vibration frequency is compared with the notch frequency of each real notch filter to appropriately identify the real notch filter that should be corrected, thereby automatically suppressing the cause A method based on the resonance phenomenon of the resonance characteristics that change due to long-term deterioration.
在專利文獻1中,相對於2個共振特性而2個BPF的帶域寬度,若是為了起因於各共振特性的振動成分通過各BPF而不適切設定的話,是無法期待預期的效果。例如,在2個共振特性的共振頻率相近之2個BPF中的1個BPF抽出了起因於2個共振特性的振動的情況下,變成用一個適應陷波濾波器推定2個共振特性,產生推定誤差,無法期待預期的效果。而且,是有對共振特性的BPF的帶域寬度的適切設定不容易之課題。
In
更進一步,在共振特性的數目為3個以上的情況下,是有必要設置BPF合於共振特性的數目,而且各BPF的帶域寬度的適切設計不容易。而且,有必要事前掌 握控制對象機械的共振特性的數目,是有這部分調整費事之課題。 Furthermore, when the number of resonance characteristics is 3 or more, it is necessary to set the number of BPFs suitable for the resonance characteristics, and it is not easy to appropriately design the band width of each BPF. Moreover, it is necessary to slap beforehand To grasp the number of resonance characteristics of the controlled machine is an issue that requires troublesome adjustments.
在專利文獻2中也同樣,是有比要事前掌握控制對象機械的共振特性的數目,而且,是有無法對應2個共振特性同時時間劣化的情況之課題。
Also in
更進一步,在介隔有實陷波濾波器的狀態下共振特性已變化的情況下,受到介隔的實陷波濾波器的影響,重疊到馬達轉速的振動的頻率未必與特性已變化的共振頻率一致,而且,也在FB控制器的設定增益下重疊到馬達轉速的振動的頻率未必與特性已變化的共振頻率一致,是有實陷波濾波器的調整不順的情況之課題。 Furthermore, when the resonance characteristics have changed with the real notch filter interposed, the frequency of the vibration superimposed on the motor rotation speed may not necessarily resonate with the changed characteristics due to the influence of the intervening real notch filter. The frequency is the same, and the frequency of the vibration superimposed on the motor rotation speed under the set gain of the FB controller does not necessarily coincide with the resonant frequency whose characteristics have changed. This is a problem that the adjustment of the real notch filter may not be smooth.
本發明的目的,係不用事前調查設在FB控制系統內的實陷波濾波器的數目、及實陷波濾波器的陷波頻率,而高精度、即時地抑制起因於機械系統的1個以上的共振特性而產生的控制系統的響應的振動。 The purpose of the present invention is to eliminate the need to investigate the number of real notch filters installed in the FB control system and the notch frequency of the real notch filters in advance, and to suppress more than one attributable to the mechanical system with high accuracy and real time. The vibration of the control system’s response due to its resonance characteristics.
本發明之較佳一例,係一種馬達控制裝置,具有:回饋控制器,其係控制包含馬達的控制對象;振動抽出部,其係抽出起因於前述控制對象之1個以上的共振特性而重疊到控制系統的響應之1個以上的振動成分;逐次頻率推定部,其係在前述振動成分中,逐次推定某1個前述振動成分的頻率,將其輸出作為振動頻率推定 值序列;以及共振數推定部,其係根據前述振動頻率推定值序列,把成為重疊到前述控制系統的響應之振動的產生原因之共振特性的數目,輸出作為共振數推定值序列,並且,設置與前述共振數推定值序列的值對應的個數之實陷波濾波器;前述回饋控制器的輸出透過前述實陷波濾波器給予到電流控制器而控制馬達。 A preferred example of the present invention is a motor control device having: a feedback controller that controls a control object including a motor; and a vibration extraction section that extracts the resonance characteristics of one or more control objects caused by the aforementioned control object and superimposes them on One or more vibration components of the response of the control system; the successive frequency estimating unit, which successively estimates the frequency of a certain one of the aforementioned vibration components among the aforementioned vibration components, and uses its output as the vibration frequency estimation Value sequence; and the resonance number estimating unit, which based on the aforementioned vibration frequency estimation value sequence, outputs the number of resonance characteristics that are the cause of vibration superimposed on the response of the control system as a resonance number estimation value sequence, and sets The number of real notch filters corresponding to the value of the estimated resonance number sequence; the output of the feedback controller is given to the current controller through the real notch filter to control the motor.
本發明之較佳的另一例,係一種實陷波濾波器調整方法,其中,抽出起因於控制對象之1個以上的共振特性而重疊到控制系統的響應之1個以上的振動成分,在前述振動成分中,逐次推定某1個前述振動成分的頻率,將其作為振動頻率推定值序列;根據前述振動頻率推定值序列,把成為重疊到前述控制系統的響應之振動的產生原因之共振特性的數目,輸出作為共振數推定值序列,並且,把與前述共振數推定值序列的值對應的個數之實陷波濾波器串聯設置在前述控制系統的回饋控制器後段。 Another preferable example of the present invention is a real notch filter adjustment method, in which one or more vibration components caused by the resonance characteristics of one or more control objects and superimposed on the response of the control system are extracted. Among the vibration components, the frequency of a certain one of the aforementioned vibration components is successively estimated as the vibration frequency estimation value sequence; based on the aforementioned vibration frequency estimation value sequence, the resonance characteristics that become the cause of vibration superimposed on the response of the control system The number is output as the resonance number estimation value sequence, and the number of real notch filters corresponding to the value of the resonance number estimation value sequence are arranged in series in the back stage of the feedback controller of the control system.
根據本發明,是可以不用事前調查實陷波濾波器的數目、及實陷波濾波器的陷波頻率,而高精度、即時地抑制起因於機械系統的1個以上的共振特性而產生的 控制系統的響應的振動。 According to the present invention, it is possible to suppress the resonance characteristics of one or more mechanical systems caused by the resonance characteristics of the mechanical system with high accuracy and real time without investigating the number of actual notch filters and the notch frequency of the actual notch filters in advance. Control the vibration of the response of the system.
以下,有關實施例,一邊參閱圖面一邊說明。尚且,於各圖中,對具有共通的功能之構成要件賦予相同的編號,省略其說明。而且,以下,是有把「回饋」簡寫成「FB」,把「陷波濾波器」簡寫成「NF」,把「低通濾波器」簡寫成「LPF」,把「高通濾波器」簡寫成「HPF」,把「帶通濾波器」簡寫成「BPF」的情況。 [實施例1]Hereinafter, the embodiments will be described with reference to the drawings. In addition, in each figure, the same number is attached|subjected to the structural element which has a common function, and the description is abbreviate|omitted. Moreover, in the following, "feedback" is abbreviated as "FB", "notch filter" is abbreviated as "NF", "low-pass filter" is abbreviated as "LPF", and "high-pass filter" is abbreviated as "HPF", abbreviate "Band Pass Filter" as "BPF". [Example 1]
圖1是表示把實施例1的自動調整部2,適用到一般的馬達的FB控制系統之際的構成之圖。在不包含自動調整部2之一般的馬達的FB控制系統中,FB控制器13的操作量被供給到馬達14,經由馬達14的輸出y控制控制對象機械15。Fig. 1 is a diagram showing a configuration when the
輸出y為馬達轉速[rpm],使用感測器(例如編碼器)計測該輸出,用加減法運算器16算出與轉速指令r的偏差,FB控制器13處理該偏差作為速度偏差。尚且,在馬達14的前段設置用於驅動馬達14的裝置(逆變器等)或控制馬達14的電流的控制器,在圖1簡略表示這些。The output y is the motor rotation speed [rpm]. The output is measured using a sensor (for example, an encoder). The addition and
FB控制系統中,作為抑制起因於控制對象機械15的共振特性之振動或振盪的手段,一般使用陷波濾波器。具體方面,對於共振特性的共振頻率,為了使陷波濾波器的陷波頻率一致,把陷波濾波器設在FB控制器後段為佳。經此,陷波濾波器的零點抵銷共振特性的共振極,FB控制器13可以控制無共振特性的激勵之控制對象機械15(以下,把以共振抑制為目的設在FB控制迴路內的陷波濾波器稱為實陷波濾波器)。In the FB control system, a notch filter is generally used as a means to suppress vibration or oscillation caused by the resonance characteristic of the
用波德圖表示表現在從馬達力矩到馬達轉速的傳遞特性之1個共振特性、以及將其用1個實陷波濾波器來抵銷的樣子,為圖16。了解到用陷波濾波器的陷波(谷)抵銷共振特性的波峰。The Bode diagram shows a resonance characteristic that is expressed in the transfer characteristic from the motor torque to the motor rotation speed, and the state of canceling it with a real notch filter, as shown in Fig. 16. It is understood that the notch (valley) of the notch filter is used to offset the peak of the resonance characteristic.
假定控制對象機械15的共振特性存在複數個,但是,實陷波濾波器係僅為對於FB控制系統的期望的響應特性的實現成為障礙的控制對象機械15的共振特性的數目,是可以設置在FB控制器後段。以設置實陷波濾波器的方式,可以減低起因於FB控制系統中的共振特性的安定餘裕的減少,可以提升FB控制增益,可以圖求FB控制系統的高響應化(實現期望的響應特性)。It is assumed that there are a plurality of resonance characteristics of the
自動調整部2係配合必要在FB控制器的後段設置實陷波濾波器1~實陷波濾波器n,藉此,抑制FB控制系統中的控制對象機械15的最大n個的共振的影響。自動調整部2係成為即時、高速、自動地調整實陷波濾波器的必要個數、以及各實陷波濾波器的陷波頻率之陷波濾波器調整裝置的構成。The
自動調整部2係利用逐次頻率推定部3、共振數推定部4、共振編號判斷部5、振動抽出部6、振動檢測部7、開關8、切換開關9、及n個的實陷波濾波器所構成。尚且,自動調整部2是以用微電腦等的數位演算器來執行為前提。The
振動抽出部6乃是把來自馬達的輸出y作為輸入,從y抽出振動成分,輸出振動成分yd(t)者。尚且,yd(t)係配合數位演算器的規定的演算週期Ts,輸出yd(0)、yd(Ts)、yd(2Ts),…者。The
自動調整部2係以使設定在實陷波濾波器的陷波頻率與共振頻率一致為目的的緣故,所以希望從輸出y儘可能僅抽出因共振起因所產生的振動成分。作為其中一例,舉出利用HPF或BPF。在去除檢測輸出y的感測器的雜音之觀點下考慮到利用LPF,在從輸出y去除控制響應也就是恆常成分,僅抽出振動成分的觀點下考慮到利用HPF。The
滿足兩觀點的過濾器為LPF+HPF=BPF。這些過濾器係配合作為共振起因的振動而欲抽出的頻率帶域,來設計遮斷頻率者為佳。例如,在把自動調整部2所致之實陷波濾波器的設定頻率範圍決定為100[Hz]以上的情況下,把HPF的遮斷頻率設定成100[Hz]等。The filter that satisfies the two viewpoints is LPF+HPF=BPF. These filters are preferably designed to cut off frequencies in accordance with the frequency band to be extracted from the vibration that is the cause of resonance. For example, when the set frequency range of the real notch filter by the
振動檢測部7係把振動抽出部6的輸出也就是yd(t)作為輸入,在從yd(t)可以確認產生顯著持續的振動的情況下,擔任輸出把其產生持續時間帶作為1,除此以外的時間帶作為0之振動檢測旗標訊號之任務。The
自動調整部2的初始狀態乃是實陷波濾波器連1個都尚未設置在FB控制器後段的狀態,於初始狀態下,在振動檢測部7未檢測振動的狀態下,振動檢測部7把控制開關17使得實陷波濾波器成為連1個都尚未設置在FB控制器的後段的狀態之訊號,輸出到開關17。在1個以上的實陷波濾波器設置在FB控制器後段的狀況下,振動檢測部7切換開關17使得實陷波濾波器成為有效。尚且,開關17的切換也可以由共振數推定部4擔任。The initial state of the
開關8係把振動檢測部7的輸出也就是振動檢測旗標訊號以及yd(t)作為輸入,動作成振動檢測旗標訊號為1時輸出yd(t),振動檢測旗標訊號為0時輸出0。The
逐次頻率推定部3係把開關8的輸出作為輸入,輸出振動頻率推定值序列a(k)[Hz]。The successive
逐次頻率推定部3係僅在開關8的輸出為非零時,即時(週期Ts)推定yd(t)的振動的頻率,在推定完畢時輸出a(k),k=0、1、…。亦即,要注意一點的是,振動頻率推定值序列a(k)並不是在每個規定演算週期Ts輸出(更新),而是僅在頻率推定已經完畢的情況下輸出(更新)。The successive
要注意一點的是,逐次頻率推定部3係僅在被振動檢測部7判斷為產生顯著持續的振動的情況下推定yd(t)的振動的頻率,而且,yd(t)的振動的頻率被限制在用振動抽出部6欲抽出作為共振起因的振動之頻率帶域的緣故,振動頻率推定值序列a(k)[Hz]係yd(t)為非持續的振動波形,並非作為振動並不顯著的情況下的振動的推定值。One thing to note is that the successive
亦即,振動抽出部6及振動檢測部7,係為了不把例如衝擊干擾所致之FB控制系統的響應之非持續的振動等作為逐次頻率推定部3的推定對象,擔負對要推定的振動給予限制之任務。That is, the
從對上述的振動抽出部6及振動檢測部7所致之yd(t)的限制,yd(t)乃是假定存在複數個控制對象機械15的共振特性中,在FB控制系統中得到期望的響應特性而重疊了成為障礙的共振特性的數分的振動成分之振動。From the restriction on yd(t) caused by the
假設yd(t)為經由n種的振動成分的重疊所構成的情況下,逐次頻率推定部3係在n種的振動成分中,著眼於1個振動成分j,推定振動成分j的頻率,輸出作為a(k)。Assuming that yd(t) is constructed by superimposing n types of vibration components, the successive
j的選擇方針之一,乃是n種的振動成分中,振幅(功率)為最大的振動。以下,在本實施例中,逐次頻率推定部3係從yd(t)的n種的振動成分中,推定振幅(功率)為最大的振動的頻率,輸出作為a(k)。One of the selection guidelines of j is the vibration with the largest amplitude (power) among the n types of vibration components. Hereinafter, in the present embodiment, the successive
共振數推定部4係擔任根據振動頻率推定值序列a(k),假定存在複數個控制對象機械15的共振特性中,在FB控制系統中得到期望的響應特性而推定成為障礙的共振特性的數目,輸出共振數推定值序列N(k),把與N(k)的值對應的個數的實陷波濾波器1~n設定在FB控制系統的後段之任務。The resonance
共振編號判斷部5係把振動頻率推定值序列a(k)以及共振數推定值序列N(k)作為輸入,輸出應設定a(k)的實陷波濾波器的編號。The resonance
切換開關9,係進行切換,使得配合從共振編號判斷部5得到的實陷波濾波器的編號,而可以設定到應設定a(k)的實陷波濾波器。經此,被切換開關9選擇出的實陷波濾波器的陷波頻率被更新到a(k)。The
上述的共振數推定部4、共振編號判斷部5及切換開關9的處理,係在每次更新振動頻率推定值序列a(k)時反復實施。如前述般更新振動頻率推定值序列a(k)的情況下,被限制在產生共振起因之顯著持續的振動時。為此,在產生連1個實陷波濾波器也沒有介於FB控制系統內之共振起因的顯著持續的振動的情況、或是,在陷波頻率具有a(k)的(進行第k次的更新之際的)實陷波濾波器尚未抵銷共振特性的情況下,振動頻率推定值序列a(k)係反復持續更新。接著,逐次把a(k)設定到實陷波濾波器。亦即,這樣的反復處理,係持續到實陷波濾波器充分抵銷共振特性為止。The above-described processing of the resonance
把這樣的反復處理的處理流程20表示在圖2。The
振動檢測部7,係算出表示確認產生持續的振動的持續時間帶之振動檢測旗標,僅在振動檢測旗標為1的情況下逐次頻率推定部3進行yd(t)的頻率的推定。The
在逐次頻率推定部3尚無法結束振動頻率推定值序列a(k)的推定的情況下,持續推定連續yd(t)的頻率。When the successive
在判斷逐次頻率推定部3結束了振動頻率推定值序列a(k)的推定的情況下,把振動頻率推定值序列a(k)透過共振數推定部4、共振編號判斷部5、及切換開關9適用到實陷波濾波器,振動檢測部7係算出表示在適用實陷波濾波器後確認產生持續的振動的持續時間帶之振動檢測旗標。When it is judged that the successive
在振動檢測旗標不為1的情況下,結束本處理。If the vibration detection flag is not 1, the processing ends.
有關這樣的反復處理的必要性,使用表示一共振時的收斂平面之概念圖也就是圖3進行說明。在FB控制系統中,因為共振特性起因產生的響應的振動成分yd(t)的頻率ωv係未必與共振特性的共振頻率ωm一致。特別是,在設定提高了FB控制增益的情況或是共振頻率高的情況、或者是介於FB控制迴路內的延遲時間長的情況下,兩者的異化ωm-ωv係容易變得更顯著。The necessity of such repeated processing will be explained using FIG. 3 which is a conceptual diagram showing a convergent plane at the time of resonance. In the FB control system, the frequency ωv of the vibration component yd(t) of the response due to the resonance characteristic does not necessarily coincide with the resonance frequency ωm of the resonance characteristic. In particular, when the FB control gain is increased, the resonance frequency is high, or the delay time in the FB control loop is long, the ωm-ωv system of the two tends to become more significant.
因此,逐次頻率推定部3係正確推定yd(t)的頻率並輸出a(k)(=ωv),即便ωv作為陷波頻率(圖15的f2)適用到實陷波濾波器,也未必限制在帶有a(k)(=ωv)的實陷波濾波器可以抵銷共振特性。Therefore, the successive
更進一步,在ωm≠a(k)(=ωv)的實陷波濾波器設定到FB控制系統內之際觀測之共振特性起因產生的響應的振動成分yd(t)的頻率不一定一直是ωv。在假設在變化成ωv1的狀況下已執行了逐次頻率推定部3的情況下,逐次頻率推定部3係作為ωv1的推定值得到了a(k),但是,其ωm≠a(k)(=ωv1)的情況也是假定的。Furthermore, when the real notch filter of ωm≠a(k)(=ωv) is set in the FB control system, the frequency of the vibration component yd(t) of the response due to the resonance characteristics observed is not always ωv . Assuming that the successive
亦即,在把所得到的a(k)(=ωv1)設定到了實陷波濾波器的情況下,果然,不一定可以抵銷共振特性。因此產生很多進行如處理流程20表示般的反復處理的動機。為了經由反復處理讓實陷波濾波器可以抵銷共振特性,以進行反復處理的方式,a(k)收斂到ωm,一定保證a(k)=ωm。That is, in the case where the obtained a(k) (=ωv1) is set to the real notch filter, as expected, it is not always possible to cancel the resonance characteristics. Therefore, there are many motivations to perform repeated processing as shown in the
現在,考慮到用1個實陷波濾波器(圖15)抵銷1個共振特性的情況(圖16)。共振特性的傳遞特性RAR(s)、陷波濾波器的傳遞特性Nch(s)係表現如下。Now, consider the case where one real notch filter (Figure 15) cancels one resonance characteristic (Figure 16). The transfer characteristic RAR(s) of the resonance characteristic and the transfer characteristic Nch(s) of the notch filter are expressed as follows.
但是,ωa、ωm、ζa、ζm分別是***振頻率[rad/s]、共振頻率[rad/s]、***振衰減係數、共振衰減係數。而且,ωn、D、W分別是陷波頻率[rad/s]、陷波深度、陷波寬度。However, ωa, ωm, ζa, and ζm are anti-resonance frequency [rad/s], resonance frequency [rad/s], anti-resonance attenuation coefficient, and resonance attenuation coefficient, respectively. Furthermore, ωn, D, and W are notch frequency [rad/s], notch depth, and notch width, respectively.
逐次頻率推定部3可以正確推定振動成分yd(t)的頻率ωv,a(k)=ωv。以處理流程20的反復處理,a(k)可以收斂到共振頻率ωm,亦即,式子(3)及式子(4)成立,期望成為d(k)具有式子(5)般的性質之收斂點列。The successive
現在,把帶有a(k)(=ωv)的實陷波濾波器設定1個在FB控制器後段之際的振動成分yd(t)的頻率記述為ωva。此時,在滿足式子(5)方面,a(k)與ωva的關係為例如圖3的CP1~CP3般者為佳。Now, let the real notch filter with a(k) (=ωv) set a frequency of the vibration component yd(t) in the latter stage of the FB controller as ωva. At this time, in terms of satisfying the expression (5), it is preferable that the relationship between a(k) and ωva is, for example, CP1 to CP3 in FIG. 3.
亦即,與a(k)相對之ωva的關係乃是成為通過交點座標(ωva,a(k))=(ωm,ωm),而且不進入到斜線部分的平面(以下,將其稱為收斂平面)。也在CP1~CP3之任意的收斂平面經由反復處理,其ωm=ωva=a(k)。That is, the relation of ωva relative to a(k) is to pass through the intersection point coordinates (ωva, a(k))=(ωm, ωm) and do not enter the plane of the oblique line (hereinafter referred to as convergence flat). Also through repeated processing on any convergent plane of CP1 to CP3, its ωm=ωva=a(k).
以收斂平面為平的程度之較少的反復次數可以收斂到ωm。在CP4般的收斂平面的情況下,經由反復處理是未必可以保證收斂到ωm,但是,在平面形狀或a(k)的初始值之下也有可以收斂的情況。It is possible to converge to ωm with a small number of repetitions to the extent that the convergence plane is flat. In the case of a convergent plane like CP4, it may not be guaranteed to converge to ωm through repeated processing. However, it may be possible to converge below the initial value of the plane shape or a(k).
收斂平面乃是根據FB控制器的增益、FB控制迴路內的延遲、共振頻率、共振衰減係數、陷波寬度、陷波深度而變化之複雜的函數,反復處理所致之a(k)的收斂性之解析的保證為困難。因此,反復處理所致之收斂性之解析的方法係限於掌握概略的現象,確認收斂平面是否滿足式子(4)~(5)係決定得到數值的方法的支援。The convergence plane is a complex function that changes according to the gain of the FB controller, the delay in the FB control loop, the resonance frequency, the resonance attenuation coefficient, the width of the notch, and the depth of the notch. The convergence of a(k) caused by repeated processing The guarantee of sexual analysis is difficult. Therefore, the method of analyzing convergence caused by repeated processing is limited to grasping a rough phenomenon, and confirming whether the convergence plane satisfies the equations (4) to (5) is supported by the method of determining the value obtained.
如以下般定義I、E、Et。Define I, E, and Et as follows.
式子(6)中,I、E分別為用陷波濾波器抵銷共振特性之際的理想響應項及抵銷誤差項。從I的定義,E的分母為具有共振極之共振特性,分子成為具有實陷波濾波器的零點之實陷波濾波器分子的緣故,E=1時,實陷波濾波器的零點完全抵銷了共振極。In equation (6), I and E are the ideal response term and the offset error term when the notch filter is used to cancel the resonance characteristics. From the definition of I, the denominator of E is the resonance characteristic with the resonant pole, and the numerator becomes the real notch filter numerator with the zero point of the real notch filter. When E=1, the zero point of the real notch filter is completely offset. Pin the resonant pole.
另一方面,要注意的是,I不包含共振極,但是包含陷波頻率ωn的緣故,在陷波頻率的變化(調整),特性發生變化這一點。為了有效進行抵銷誤差項E的預測,定義式子(8)的抵銷餘差項Et。On the other hand, it should be noted that I does not include the resonant pole, but does include the notch frequency ωn. As the notch frequency changes (adjustment), the characteristics change. In order to effectively predict the offset error term E, the offset remaining error term Et of equation (8) is defined.
若Et=0,從式子(6),成為僅理想響應項I,變成可以完全抵銷共振特性。尚且,決定陷波深度D=1的話,式子(2)成為Nch(s)=1的緣故,在D=1的情況下,式子(6)~(8)係表現不包含實陷波濾波器。因此,在進行反復處理前之也在把實陷波濾波器設置在FB控制器後段之前決定D=1,藉此,可以在式子(6)~(8)統一解析。If Et=0, from equation (6), it becomes only the ideal response term I, which can completely cancel the resonance characteristics. Moreover, if the notch depth D=1 is determined, the equation (2) becomes Nch(s)=1. In the case of D=1, the expressions (6)~(8) do not include the actual notch. filter. Therefore, before the iterative process, D=1 is also determined before the real notch filter is installed in the back stage of the FB controller, so that equations (6) to (8) can be analyzed in a unified manner.
在達成Et=0方面,從式子(8)為以下者為佳。In terms of achieving Et=0, the following formula (8) is better.
從Et的定義,在假設DW=ζm的情況下, |ωn-ωm|單調減少的話,Et也達成單調Et→0。From the definition of Et, assuming DW=ζm, If |ωn-ωm| decreases monotonously, Et also achieves monotonic Et→0.
現在,把Z(s)作為FB控制迴路內之Nch(s)與RAR(s)以外的要件,亦即作為FB控制器的傳遞函數FB(s)、控制對象機械的慣量特性J(s)、以及介於FB控制迴路內的延遲特性D(s)的積,予以如下。Now, take Z(s) as an element other than Nch(s) and RAR(s) in the FB control loop, that is, as the transfer function FB(s) of the FB controller, and the inertia characteristic J(s) of the controlled machine , And the product of the delay characteristic D(s) in the FB control loop is given as follows.
此時,FB控制系統的閉迴路傳遞特性(圖17中的r→y的傳遞特性)書寫成如下。At this time, the closed-loop transmission characteristic of the FB control system (the transmission characteristic of r→y in FIG. 17) is written as follows.
Et=0的話,y1消失,FB控制系統的響應成為僅有理想響應y0(=Z(s)I(ωn)/(1+Z(s)I(ωn)))。應著眼的是式子(11)的第2項。Et的分母DE(s)乃是具有共振極的共振特性。因此,式子(11)的第2項係以積的形式包含Et的緣故,式子(11)的第2項具有共振極。如此的話,y1應包含共振頻率ωm的振動成分。If Et=0, y1 disappears, and the response of the FB control system becomes only the ideal response y0 (=Z(s)I(ωn)/(1+Z(s)I(ωn))). What should be paid attention to is the second term of equation (11). The denominator DE(s) of Et has the resonance characteristic of the resonant pole. Therefore, the second term of equation (11) contains Et in the form of a product, and the second term of equation (11) has a resonance pole. In this case, y1 should contain the vibration component of the resonance frequency ωm.
但是,如前述般,從y=y0+y1僅抽出共振起因的振動成分之yd(t)的振動的頻率係未必與共振頻率ωm一致。其係以把式子(11)的第2項解析成如下的方式而可以被掌握。However, as described above, the frequency system of the vibration of yd(t), which extracts only the vibration component due to resonance from y=y0+y1, does not necessarily coincide with the resonance frequency ωm. It can be grasped by analysing the second term of equation (11) into the following way.
式子(12)中,Et的分母DE(s)被分子NC(s)的DE(s)抵銷,y1係在共振頻率ωm不振動,y1係意味DC(s)之根(極)中在共振起因的根(極)的頻率振動。此為yd(t)的頻率不與共振頻率一致的理由。In formula (12), the denominator DE(s) of Et is offset by the DE(s) of the numerator NC(s), y1 does not vibrate at the resonance frequency ωm, and y1 means the root (pole) of DC(s) Vibrate at the frequency of the root (pole) of the resonance cause. This is the reason why the frequency of yd(t) does not coincide with the resonance frequency.
接著,說明yd(t)的頻率接近共振頻率的理由。 y0為閉迴路系統中的理想響應。但是,如式子(11)般,y0的傳遞特性的分母乃是也與y1共通在分母所具有之DC(s),亦即,y1也意味著包含DC(s)的根(極)之中以共振起因的根(極)的頻率來振動的成分,一看就不視為理想響應。Next, the reason why the frequency of yd(t) is close to the resonance frequency will be explained. y0 is the ideal response in a closed loop system. However, as in equation (11), the denominator of the transfer characteristic of y0 is the same as y1 in the denominator of DC(s), that is, y1 also means the root (pole) that contains DC(s) The components that vibrate at the root (pole) frequency of the resonance cause are not regarded as ideal responses at first glance.
但是,y0與y1相異的是,在y0的傳遞特性分子存在共振特性DE(s)。亦即,可以說明的是,DC(s)的根(極)之中共振起因的根(極)被共振特性DE(s)概略抵銷,在y0幾乎不會產生影響。此乃是意味著yd(t)的振動的頻率(DC(s)的根(極)之中,共振起因的根(極)的頻率)接近共振頻率(DE(s)的共振極)。However, the difference between y0 and y1 is that there is a resonance characteristic DE(s) in the transfer characteristic molecule of y0. In other words, it can be explained that among the roots (poles) of DC(s), the roots (poles) of the resonance cause are roughly offset by the resonance characteristic DE(s), and there is almost no effect at y0. This means that the frequency of the vibration of yd(t) (the frequency of the root (pole) of the resonance cause among the roots (poles) of DC(s)) is close to the resonance frequency (the resonance pole of DE(s)).
這是意味著也在D=1(不存在陷波濾波器的情況)可以說是共通,亦即,即便是有某種程度上的差,在不介隔有陷波濾波器的情況下的yd(t)的頻率也接近共振頻率。This means that D=1 (when there is no notch filter) can be said to be common, that is, even if there is a certain degree of difference, regardless of the case of a notch filter The frequency of yd(t) is also close to the resonance frequency.
而且,Et趨近於0時,y0係理想化為大致不包含共振起因的振動。而且,『DC(s)的根(極)之中共振起因的根(極)大致與共振特性DE(s)的共振極一致』的緣故,y1的傳遞特性中在抵銷了Et分母的共振特性DE(s)的NC(s)所包含的DE(s)係大致被DC(s)抵銷,其結果,共振特性DE(s)殘留在y1的傳遞特性。In addition, when Et approaches 0, the y0 system is idealized as a vibration that substantially does not include the cause of resonance. Moreover, "the roots (poles) of the resonance cause among the roots (poles) of DC(s) are roughly the same as the resonance poles of the resonance characteristics DE(s)." The transfer characteristics of y1 cancel out the resonance of the Et denominator. The DE(s) contained in the NC(s) of the characteristic DE(s) is roughly offset by the DC(s). As a result, the resonance characteristic DE(s) remains in the transfer characteristic of y1.
這是意味著Et趨近或是一致於0的話,y0不包含共振起因的振動,y1以共振頻率振動。亦即,與FB控制系統的響應重疊的共振起因的振動的頻率成為共振頻率ωm。This means that if Et approaches or coincides with 0, y0 does not include the vibration caused by resonance, and y1 vibrates at the resonance frequency. That is, the frequency of the resonance-induced vibration superimposed on the response of the FB control system becomes the resonance frequency ωm.
因此,若Et=0,收斂平面的交點座標成為(ωm,ωm)。尚且,在Et=0的情況下,從式子(11),y1=0,亦即,FB控制系統的響應係y=y0。因此,在收斂平面的交點座標(ωm,ωm)附近下的FB控制系統的響應y的共振起因的振動的振幅可以說是微小。Therefore, if Et=0, the intersection coordinates of the convergence plane become (ωm, ωm). Furthermore, in the case of Et=0, from equation (11), y1=0, that is, the response system of the FB control system is y=y0. Therefore, the amplitude of the vibration caused by the resonance of the response y of the FB control system in the vicinity of the intersection coordinates (ωm, ωm) of the convergence plane can be said to be small.
從式子(11)及式子(12),使Et趨近或是一致於0,藉此,共振起因的振動的頻率與共振頻率一致,振幅微小化。亦即,掌握到可以去除共振起因的振動,在前述的反復處理下可以實現其目的。換言之,針對共振衰減特性ζm適切設定陷波寬度W與陷波深度D,使陷波頻率ωn趨近於共振頻率ωm的話,是可以掌握到可以實現其目的。而且,也可以掌握到收斂平面的交點座標成為(ωm,ωm)。From the equations (11) and (12), the Et approaches or coincides with 0, whereby the frequency of the vibration caused by the resonance coincides with the resonance frequency, and the amplitude is miniaturized. That is, it is understood that the vibration caused by the resonance can be removed, and its purpose can be achieved under the repeated processing described above. In other words, if the notch width W and the notch depth D are appropriately set for the resonance attenuation characteristic ζm, and the notch frequency ωn approaches the resonance frequency ωm, it can be grasped that the purpose can be achieved. Furthermore, it is also possible to grasp that the coordinates of the intersection point of the convergent plane become (ωm, ωm).
但是,如圖3般構成的收斂平面並不是嚴謹表示,亦即,並不是嚴謹表示反復處理的收斂性。However, the convergence plane constructed as shown in Fig. 3 is not a rigorous expression, that is, it is not a rigorous expression of the convergence of repeated processing.
為此,數值描繪出一共振時的收斂平面是圖4。圖4乃是共振頻率為1894[Hz]的情況。尚且,FB控制增益或延遲的設定係在沒有實陷波濾波器下做出FB控制系統振盪的設定,實陷波濾波器的陷波寬度W、陷波深度D係在陷波頻率與共振頻率一致的情況下,作為FB控制系統安定化且沒有振盪的值。For this reason, the convergent plane that numerically depicts a resonance is shown in Fig. 4. Figure 4 shows the case where the resonance frequency is 1894 [Hz]. Moreover, the setting of FB control gain or delay is to make the setting of FB control system oscillation without real notch filter. The notch width W and notch depth D of the real notch filter are based on the notch frequency and resonance frequency. In the case of coincidence, it is a value that stabilizes the FB control system and does not oscillate.
從圖4在該數值例中了解到,收斂平面不進入圖3的斜線部分,成為通過交點座標(ωm,ωm)之以反復處理可以使陷波頻率與共振頻率一致的狀態。尚且,例如,在陷波寬度為極端狹小的情況等,是有收斂平面進入到圖3的斜線部分的情況。From the numerical example in Fig. 4, it is understood that the convergence plane does not enter the oblique line part of Fig. 3, and it is in a state where the notch frequency can be aligned with the resonance frequency through repeated processing of the intersection coordinates (ωm, ωm). Furthermore, for example, in a case where the notch width is extremely narrow, etc., there is a case where the convergent plane enters the oblique line portion of FIG. 3.
因此,在實陷波濾波器的寬度或深度為不適切的情況下,即便進行反復處理也不一定說是可以使陷波頻率與共振頻率一致,但是,若是收斂實陷波濾波器的設定值為適切等的條件的話,在多數的情況下,可以經由以反復處理可以使陷波頻率與共振頻率一致的數值的方法來確認。Therefore, when the width or depth of the actual notch filter is not suitable, even if the processing is repeated, it does not necessarily mean that the notch frequency can be aligned with the resonance frequency. However, if the set value of the actual notch filter is converged If it is suitable for the conditions, in most cases, it can be confirmed by repeated processing to make the notch frequency coincide with the resonance frequency.
在圖4的數值例中,實陷波濾波器介於約900~2000[Hz]時,FB控制系統安定化。此乃是在因為共振起因而FB控制系統振盪的情況下,把實陷波濾波器設定成比共振頻率低,藉此,在實陷波濾波器的陷波頻率以上的頻率帶域之相位前進特性使FB控制系統的共振頻率周邊的安定餘裕回復的緣故,這是因為共振頻率≧陷波頻率容易對FB控制系統的安定化有貢獻。In the numerical example in Fig. 4, when the actual notch filter is between approximately 900 and 2000 [Hz], the FB control system is stabilized. This is because when the FB control system oscillates due to resonance, the real notch filter is set to be lower than the resonance frequency, so that the phase advances in the frequency band above the notch frequency of the real notch filter. The characteristic restores the stability margin around the resonance frequency of the FB control system. This is because the resonance frequency ≧ notch frequency easily contributes to the stability of the FB control system.
這是意味著,在反復處理的過程即便a(k)≠共振頻率,共振頻率≧a(k)的話,是可以期待共振抑制的效果,表示即便a(k)=共振頻率不成立也可以得到概略的共振抑制效果。This means that even if a(k)≠resonance frequency and resonance frequency ≧a(k) in the process of repeated processing, the effect of resonance suppression can be expected. It means that even if a(k)=resonance frequency is not established, the generalization can be obtained. The resonance suppression effect.
至此,說明了有關共振特性為1個,用1個實陷波濾波器來抵銷該共振特性的情況,但是,共振特性為n個,用n個實陷波濾波器來抵銷這些共振特性的情況也可以使用上述的式子(6)~(12)的解析的方法、及數值的方法來說明。So far, it has been explained that there is one resonance characteristic and one real notch filter is used to cancel the resonance characteristic. However, there are n resonance characteristics and n real notch filters are used to cancel these resonance characteristics. The case can also be explained using the analysis method of the above-mentioned equations (6) to (12) and the numerical method.
為了簡單化說明,說明n=2的情況。共振特性的傳遞特性RAR(s)、陷波濾波器的傳遞特性Nch(s)係表現如下。In order to simplify the description, the case where n=2 is explained. The transfer characteristic RAR(s) of the resonance characteristic and the transfer characteristic Nch(s) of the notch filter are expressed as follows.
與n=1的情況同樣,定義以下。As in the case of n=1, the following is defined.
但是,I1、Et1、I2、Et2分別為第1共振的理想響應項、抵銷餘差項、第2共振的理想響應項及抵銷餘差項。尚且,以決定Dp(p=1,2)=1的方式,在沒有實陷波濾波器Nchp(s,ωmp)(p=1,2)的狀況也是可以表現。However, I1, Et1, I2, and Et2 are the ideal response term of the first resonance, the offsetting residual term, the ideal response of the second resonance, and the offsetting residual term, respectively. Moreover, the method of determining Dp(p=1, 2)=1 can also be expressed in the situation where there is no real notch filter Nchp(s, ωmp)(p=1, 2).
從式子(16)~(21)可以得到下式,可以明確表現Nch1(s,ωn1)・RAR1(s,ωm1)的抵銷誤差、Nch2(s,ωn2)・RAR2(s,ωnm2)的抵銷誤差、及這些抵銷誤差的相互影響。From equations (16) to (21), the following equations can be obtained, which can clearly express the offset error of Nch1(s,ωn1)・RAR1(s,ωm1), Nch2(s,ωn2)・RAR2(s,ωnm2) Offset errors and the mutual influence of these offset errors.
在達成Et1=Et2=0方面,從式子(18)及(21)為以下者為佳。In terms of achieving Et1=Et2=0, the following formulas (18) and (21) are better.
從Etp(p=1,2)的定義,在假設DpWp=ζmp的情況下,|ωnp-ωmp|單調減少的話,Etp也達成單調Etp→0。From the definition of Etp(p=1, 2), assuming that DpWp=ζmp, if |ωnp-ωmp| decreases monotonously, Etp also achieves monotonic Etp→0.
現在,把Z(s)作為FB控制迴路內之Nch1(s)、RAR1(s)、Nch2(s)、RAR2(s)以外的要件,予以式子(10)。Now, take Z(s) as an element other than Nch1(s), RAR1(s), Nch2(s), and RAR2(s) in the FB control loop, and give equation (10).
此時,FB控制系統的閉迴路傳遞特性(圖18中的r→y的傳遞特性)書寫成如下。At this time, the closed-loop transmission characteristic of the FB control system (the transmission characteristic of r→y in FIG. 18) is written as follows.
與FB控制系統的響應重疊之共振起因的振動的2種頻率不與共振頻率ωm1及ωm2一致,也在2共振的情況下,y1、y2、y12予以與式子(11)同形,這是因為與前述的n=1的情況為相同理由。The two frequencies of the vibration caused by the resonance overlapping with the response of the FB control system do not coincide with the resonance frequencies ωm1 and ωm2. Also in the case of 2 resonance, y1, y2, and y12 are given the same shape as equation (11). This is because It is the same reason as the aforementioned case of n=1.
而且,在描繪出了收斂平面的情況下,也一定通過交點座標(wm1,wm1)及交點座標(wm2,wm2),這是因為與前述的n=1的情況為相同理由。In addition, when the convergent plane is drawn, the intersection coordinates (wm1, wm1) and the intersection coordinates (wm2, wm2) must be passed. This is because the reason is the same as the aforementioned case of n=1.
以下,為了方便,對於Nch1(s)・RAR1(s)及Nch2(s)・RAR2(s)把任意其中一方作為x,另一方作為y,書寫成Nchx(s)・RARx(s)及Nchy(s)・RARy(s)。Hereinafter, for convenience, for Nch1(s)・RAR1(s) and Nch2(s)・RAR2(s), use one of them as x and the other as y, written as Nchx(s)・RARx(s) and Nchy (s)・RARy(s).
在圖1表示的構成下實施了反復處理之際,若滿足以下的條件的話,經由反復處理可以達成2個共振特性的抑制。When the repeated processing is performed in the configuration shown in FIG. 1, if the following conditions are satisfied, two resonance characteristics can be suppressed through the repeated processing.
C1:於反復的各次中,實陷波濾波器Nchx係把使逐次頻率推定部3推定出的振動產生的共振特性RARx,往更可以抵銷的方向做更新・設定
C2:於反復的各次中,對於使逐次頻率推定部3推定出的振動產生的共振特性RARx之另一方的共振特性RARy,不讓設定好的實陷波濾波器Nchy的共振抑制效果減少・無效化
關於條件C2,在更新了其中一方的實陷波濾波器Nchx的情況下,另一方的共振特性RARy與實陷波濾波器Nchy的物理特性本身沒有變化的緣故,若以開迴路來看,另一側RARy・Nchy的共振抑制・抵銷效果不會減少。C1: In each iteration, the real notch filter Nchx is to update and set the resonance characteristic RARx generated by the vibration estimated by the successive
但是,在以閉迴路來看的情況下,以其中一方的實陷波濾波器的更新也在另一側產生某些影響的緣故,未必保證條件C2成立。However, in the case of a closed loop, since the update of the real notch filter on one side also has some influence on the other side, it is not necessarily guaranteed that the condition C2 is satisfied.
但是,根據式子(25),更新其中一方的實陷波濾波器Nchx並提高共振抵銷・抑制效果(亦即讓Etx趨近於0)的話,相互影響項也就是Etxy也趨近於0,共通在y0~y12之全部的分母所包含的抵銷餘差部分(1+Etx+Ety+ Etxy)的影響減少的緣故,y0趨近於理想響應,也於yx、yxy中減少抵銷誤差的影響。因此,以滿足其中一方的實陷波濾波器Nchx的C1之更新,並非顯著減少另一方y的共振抵銷・抑制效果。However, according to equation (25), if one of the real notch filters Nchx is updated and the resonance cancellation and suppression effect is improved (that is, Etx approaches 0), the interaction term, Etxy, also approaches 0. , Because the effect of the offsetting residual part (1+Etx+Ety+Etxy) included in all the denominators of y0 to y12 is reduced, y0 approaches the ideal response, which also reduces the offset error in yx and yxy Influence. Therefore, in order to satisfy the update of C1 of the real notch filter Nchx of one of them, it does not significantly reduce the resonance cancellation and suppression effect of the other y.
特別是,在以滿足其中一方的實陷波濾波器Nchx的C1之更新成為Etx≒0的情況下,yx、yxy大致為0的緣故,不會有以另一方的實陷波濾波器Nchy的之後的更新降低x側的共振抵銷・抑制效果。In particular, when the update of C1 to satisfy one of the real notch filters Nchx becomes Etx≒0, because yx and yxy are approximately 0, there is no need to use the other real notch filter Nchy. Subsequent updates reduce the resonance offset and suppression effect on the x side.
這是意味著Etx及Ety趨近於0,滿足條件C2,成為有利於收斂的狀況。而且,Etx或者是Ety趨近於0,趨近於1共振(n=1)的情況,於反復處理中滿足條件C1。This means that Etx and Ety are close to 0, and the condition C2 is satisfied, which is conducive to convergence. Moreover, when Etx or Ety approaches 0 and approaches 1 resonance (n=1), the condition C1 is satisfied during repeated processing.
n=2以上的收斂性之嚴謹的證明為困難的緣故,在收斂平面的解析方面援以數值的方法的支援。It is difficult to prove the rigorous convergence of n=2 or more, and it is supported by numerical methods in the analysis of the convergence plane.
對於共振頻率1894.7[Hz]的RAR1、及共振頻率3132.0[Hz]的RAR2,構成圖1表示般的FB控制系統,描繪出使2個實陷波濾波器Nch1及Nch2從陷波頻率1100[Hz]滑動到3900[Hz]為止之際的收斂平面。For RAR1 with a resonance frequency of 1894.7 [Hz] and RAR2 with a resonance frequency of 3132.0 [Hz], the FB control system as shown in Fig. 1 is constructed, and two real notch filters Nch1 and Nch2 are drawn from the notch frequency 1100 [Hz]. ] The convergence plane when sliding to 3900 [Hz].
但是,實陷波濾波器為2個的緣故,定義域成為2維,收斂平面成為3維平面。而且,共振特性為2種的緣故,對於各共振特性存在各個收斂平面。為了容易決定3維平面中的評量,在使其中一方的實陷波濾波器Nchy固定的狀態下使另一方的實陷波濾波器Nchx滑動,描繪2維的收斂平面,重疊使Nchy固定在各處的情況下的收斂平面並作圖,藉此,進行評量。However, because there are two real notch filters, the domain of definition becomes two-dimensional, and the convergent plane becomes a three-dimensional plane. Furthermore, because there are two types of resonance characteristics, there are respective convergent planes for each resonance characteristic. In order to easily determine the evaluation in the 3D plane, slide the real notch filter Nchx of the other side while fixing the real notch filter Nchy of one side to draw the 2D convergence plane, and overlap so that Nchy is fixed at Convergence planes in various situations are plotted and evaluated by this.
尚且,也一併評量不存在已固定的Nchy(亦即Nchy=1)的情況。圖5乃是用這樣的方法作圖出第1共振1894.7[Hz]的收斂平面者,圖6乃是作圖出第2共振3132.0 [Hz]的收斂平面者。Moreover, it is also evaluated that there is no fixed Nchy (that is, Nchy=1). Fig. 5 shows the convergent plane of the first resonance 1894.7 [Hz] using this method, and Fig. 6 shows the convergent plane of the second resonance 3132.0 [Hz].
從圖5及圖6,也在固定側陷波濾波器Nchy介於任意的頻率的情況下,或者是也在不介於的情況下,於第1共振及第2共振中,確認收斂平面滿足式子(3)~(5)。因此,以反復處理可以抑制2共振。From Figures 5 and 6, also when the fixed side notch filter Nchy is between an arbitrary frequency, or when it is not between, in the first resonance and the second resonance, it is confirmed that the convergence plane satisfies Formulas (3)~(5). Therefore, 2 resonances can be suppressed by repeated processing.
在固定側陷波濾波器Nchy位置到第x共振附近的情況(例如,在第2共振介隔有固定側陷波濾波器Nchy的情況)下,收斂平面傾向平坦化。When the position of the fixed-side notch filter Nchy is near the x-th resonance (for example, in the case where the fixed-side notch filter Nchy is interposed between the second resonance), the convergence plane tends to be flat.
此乃是意味著,在以陷波濾波器Nchy更抵銷了共振特性x的情況下,表示出另一方的陷波濾波器Nchx的介入頻率即便為任意者抵銷能力也維持高的狀態,亦即即便是2共振,用陷波濾波器更抵銷另一方的共振特性,更進一步在完全被抵銷的情況下,共振抑制問題可以轉移到1共振的情況。其係不與式子(25)的解釋矛盾。This means that when the resonance characteristic x is more canceled by the notch filter Nchy, it indicates that the intervention frequency of the other notch filter Nchx maintains a high state even if the canceling ability is any one. That is to say, even if it is 2 resonance, the resonance characteristic of the other is more canceled by the notch filter, and furthermore, when it is completely cancelled, the resonance suppression problem can be transferred to the case of 1 resonance. Its system does not contradict the explanation of formula (25).
與n=1的情況同樣,在實陷波濾波器的寬度或深度不為適切的情況下,進行反復處理也未必可以使陷波頻率與共振頻率一致,但是,收斂實陷波濾波器的設定值為適切等的條件的話,在多數的情況下,經由數值的方法可以確認收斂平面滿足式子(3)~(5)。Similar to the case of n=1, when the width or depth of the actual notch filter is not appropriate, repeated processing may not necessarily make the notch frequency coincide with the resonance frequency, but it will converge to the setting of the actual notch filter. If the value is suitable and other conditions, in most cases, it can be confirmed that the convergence plane satisfies the equations (3) to (5) through numerical methods.
因此,也在2共振的情況下,經由反復處理可以抑制2個共振。在至此為止的說明中,逐次頻率推定部3所輸出的序列a(k)係以可以正確推定振動yd(t)的(振幅(功率)最大的振動成分的)頻率為前提。Therefore, even in the case of two resonances, two resonances can be suppressed through repeated processing. In the description so far, the sequence a(k) output by the successive
把用以實現其之逐次頻率推定部3表示於圖7。逐次頻率推定部3係利用逐次頻率推定器71、收斂判定器72、及AND處理73所構成。
逐次頻率推定器71係把振動yd(t)的時間t時點下的振動yd(t)的頻率的推定值輸出作為逐次頻率推定值序列a(t)。The successive
收斂判定器72係把a(t)作為輸入,在判斷出逐次頻率推定值序列a(t)收斂到恆定值的時序k(k=0、1、2、…)下,輸出收斂判定脈衝Pls(k)k(k=0、1、2、…)。The
AND處理73係把a(t)與Pls(k)作為輸入,根據Pls(k)輸出逐次頻率推定部3的輸出也就是推定值序列a(k) (k=0、1、2、…)。
逐次頻率推定器71例如是適應陷波濾波器、適應性單頻訊號提昇器或非線性推定器(正弦波配適器)等之可以即時推定頻率的逐次推定器。在逐次頻率推定器71採用了簡單的構成的離散IIR(Lattice)型的適應陷波濾波器(1段)的情況下的處理的區塊構成表示於圖8。接著,以下表示逐次頻率推定器71的適應演算法。The AND
<離散IIR陷波濾波器81><Discrete
<適應調整器82><
<單位轉換器83><
尚且,x、e、及aL分別是意味著內部狀態量、推定誤差、及陷波頻率之變數。而且,μ、λ、rL、及σx2分別是更新步驟調整係數、遺忘係數、陷波寬度係數、及x的離勢,全都是正的值。而且,單位轉換器83乃是把aL(t)的單位轉換成[Hz],輸出作為a(t)的處理。Furthermore, x, e, and aL are variables that mean internal state quantity, estimated error, and notch frequency, respectively. Furthermore, μ, λ, rL, and σx2 are the update step adjustment coefficient, the forgetting coefficient, the notch width coefficient, and the deviation of x, all of which are positive values. Furthermore, the
式子(26)~(30)所致之振動yd(t)的逐次頻率推定值序列a(t),係在若yd(t)為重疊了複數個頻率成分之振動波形的情況下,處於複數個振動成分中的振幅(功率)為最大且優先推定對持續的振動成分之頻率的傾向(尚且,在各振動成分的振幅(功率)比趨近於1的情況下,傾向容易推定具有與初始值a(0)相依且趨近於a(0)的頻率之振動成分)。The successive frequency estimation value sequence a(t) of the vibration yd(t) caused by equations (26)~(30), if yd(t) is a vibration waveform with multiple frequency components superimposed, it is The amplitude (power) of a plurality of vibration components is the largest and the tendency to the frequency of the continuous vibration component is estimated with priority (Moreover, when the amplitude (power) ratio of each vibration component approaches 1, the tendency is easy to estimate The initial value a(0) is dependent and close to the vibration component of the frequency of a(0)).
這是意味著在a(t)作為a(k)適用到實陷波濾波器且抑制共振的情況下,採用上述適應陷波濾波器到逐次頻率推定器71時,傾向振幅(功率)最大的共振被優先抑制。This means that when a(t) is applied as a(k) to the real notch filter and resonance is suppressed, when the adaptive notch filter is applied to the
收斂判定器72係考慮有各式各樣的實現方法,但是,以下表示簡單的構成的其中一例。Various implementation methods are considered for the
<收斂判定器72>
以下式定義差值過程。<
以下算出收斂判定器的輸出Pls(k)。 i) 差值過程ε(t)在指定時間Te以內連一次都沒超過差值閾值Tε,而且,指定時間Te內的a(t)的最初的值與最後的值的差(斜率)的絕對值為斜率閾值Tεd以內時,判斷為收斂,把其時序設定為k,把收斂判定脈衝Pls(k)設定為1。 ii)差值過程ε(t)在指定時間Te以內起碼超過差值閾值Tε一次,或者是收斂判定脈衝產生後,一直到經過指定時間Ted為止,收斂判定脈衝為0。The output Pls(k) of the convergence determiner is calculated as follows. i) The difference process ε(t) does not exceed the difference threshold Tε even once within the specified time Te, and the absolute value of the difference (slope) between the initial value and the final value of a(t) within the specified time Te When the value is within the slope threshold Tεd, it is judged to be converged, the timing is set to k, and the convergence judgment pulse Pls(k) is set to 1. ii) The difference process ε(t) exceeds the difference threshold Tε at least once within the specified time Te, or after the convergence determination pulse is generated, until the specified time Ted elapses, the convergence determination pulse is zero.
以簡單的斜率演算方法、及設置斜率閾值的方式,在經常性a(t)微幅持續增加的情況下、或者是微幅持續減少的情況下,不做出收斂判定。With a simple slope calculation method and a method of setting the slope threshold, when a(t) is constantly increasing slightly, or when a(t) continues to decrease, no convergence judgment is made.
經此,a(k)成為適應演算法的收斂完畢時之可以信賴的推定值,可以期待振動yd(t)的頻率為正確的推定值。With this, a(k) becomes a reliable estimated value when the convergence of the adaptive algorithm is completed, and the frequency of vibration yd(t) can be expected to be a correct estimated value.
以得到這樣的a(k)的方式,基於前述的反復處理之複數個共振特性的共振頻率的推定遂為可能。In order to obtain such a(k), it is possible to estimate the resonance frequency based on the multiple resonance characteristics of the aforementioned repeated processing.
以這樣的a(k)為前提,在共振特性的數目為最大2(n=1、2)的情況下的共振數推定部4的動作表示於圖9。共振數推定部4係根據a(k),從a(k)逐次推定共振數,輸出共振數推定值序列N(k)。On the premise of such a(k), the operation of the resonance
圖9中,在n=1(第1共振為F1[Hz])的情況下,於形成如圖4表示般的收斂平面的情況,用實線表示進行了反復處理之際的a(k);在n=2(第1共振為F1[Hz],第2共振為F2[Hz])的情況下,於形成如圖5及圖6般的收斂平面的情況,用虛線表示進行了反復處理之際的a(k)。In Fig. 9, in the case of n=1 (the first resonance is F1[Hz]), in the case where a convergent plane as shown in Fig. 4 is formed, a(k) when repeated processing is performed is indicated by a solid line ; In the case of n=2 (the first resonance is F1[Hz], the second resonance is F2[Hz]), in the case of forming a convergent plane as shown in Figures 5 and 6, the dashed lines indicate repeated processing On the occasion of a(k).
但是,n=2的情況,在此,實陷波濾波器1是作為用於抑制第1共振者,實陷波濾波器2是作為用於抑制第2共振者,a(k)係可以正確掌握任一的共振特性的頻率推定值,暫定為可以適用到適切的實陷波濾波器。However, in the case of n=2, here, the
n=1的情況,初始k=0下的推定值a(0)乃是把第1共振作為對象之推定值,但是,經由FB控制F1≠a(0),進行了1次的反復處理之a(1)根據圖4的收斂平面,可以期待|F1-a(0)|>|F1-a(1)|。根據圖4,應是|F1-a(k)|→F1=a(k)(k→∞),滿足式子(5)的情況下一錠是|a(k-1)-a(k-2)|>|a(k)-a(k-1)|。In the case of n=1, the estimated value a(0) at the initial k=0 is the estimated value for the first resonance. However, through the FB control F1≠a(0), it is the result of one iteration of the process. a(1) According to the convergence plane of Fig. 4, one can expect |F1-a(0)|>|F1-a(1)|. According to Figure 4, it should be |F1-a(k)|→F1=a(k)(k→∞), and the next spindle is |a(k-1)-a(k -2)|>|a(k)-a(k-1)|.
另一方面,n=2的情況,假設如圖9般k=0、1,作為抑制第1共振F1發揮了某種程度的抑制效果時,比起第1共振第2共振的振動(功率)更顯著,假定在k=2可以得到以第2共振為對象之a(k)。On the other hand, in the case of n=2, assuming k=0 and 1, as shown in Fig. 9, when a certain degree of suppression effect is exerted to suppress the first resonance F1, the vibration (power) of the second resonance is compared with that of the first resonance. More significantly, assuming that k=2, a(k) can be obtained for the second resonance.
該情況下,不為|F1-a(0)|>|F1-a(1)|,為|F1-a(0)|<|F1-a(1)|,不為|a(k-1)-a(k-2)|>|a(k)-a(k-1)|,為|a(k-1)-a(k-2)|<|a(k)-a(k-1)|之傾向。In this case, not |F1-a(0)|>|F1-a(1)|, but |F1-a(0)|<|F1-a(1)|, not |a(k- 1)-a(k-2)|>|a(k)-a(k-1)|, which is |a(k-1)-a(k-2)|<|a(k)-a( k-1)|The tendency.
因此,著眼於n=1、n=2的情況下的a(k)的舉動的話,用以下的簡單的演算法可以推定共振數。亦即,在從逐次頻率推定部3得到的a(k)之此次值與前次值的差的絕對值超過了規定的閾值的情況下,可以推定共振數為2,除此以外為1。Therefore, focusing on the behavior of a(k) in the case of n=1 and n=2, the following simple algorithm can be used to estimate the number of resonances. That is, when the absolute value of the difference between the current value of a(k) obtained from the successive
<共振數推定部4(最大2共振(n=1、2)的情況)><Resonance number estimation unit 4 (maximum 2 resonance (n=1, 2) case)>
但是,Tr、N(k)分別是共振數閾值[Hz]及共振數推定值序列。而且,要注意的是,逐次頻率推定部3係在k≧0動作,在振動檢測部7未檢測到振動之自動調整部2為初始狀態的情況下,作為k=-1,共振數為N(-1)=0,亦即,成為實陷波濾波器連1個都沒有設置在控制器後段に的狀態。However, Tr and N(k) are the resonance number threshold value [Hz] and the resonance number estimation value sequence, respectively. Also, it should be noted that the successive
而且,N(k)為2時,為前述的暫定,也就是
使『實陷波濾波器1作為用於抑制第1共振者,實陷波濾波器2作為用於抑制第2共振者,a(k)可以正確掌握任一的共振特性的頻率推定值,可以適用到適切的實陷波濾波器』成立之適用a(k)的實陷波濾波器的選擇手段也就是共振編號判斷部5係可以用下述的簡單的演算法來實現。Moreover, when N(k) is 2, it is the aforementioned tentative determination, that is
"
<共振編號判斷部5(最大2共振(n=1、2)的情況)> 用以下的Ln(k)決定適用a(k)的實陷波濾波器的編號。<Resonance number judging section 5 (maximum 2 resonance (n=1, 2) case)> Use the following Ln(k) to determine the number of the real notch filter to which a(k) is applied.
但是,an1、an2分別是在k時點下的實陷波濾波器1的陷波頻率[Hz]、及在k時點下的實陷波濾波器2的陷波頻率[Hz]的陷波濾波器。However, an1 and an2 are the notch frequency of the
至此,說明了有關共振數為最大2(n=1、2)的情況下的共振數推定部4及共振編號判斷部5,但是,共振數為3個以上的情況下也擴張共振數推定部4,可以是圖10表示的共振數推定部111。以下表示共振數推定部111的演算法。So far, the resonance
圖10為表示適用在與圖1同樣之一般的馬達的FB控制系統之實施例1的變形例之圖。有關與圖1相同的構成部分,省略說明。Fig. 10 is a diagram showing a modification of the first embodiment of the FB control system applied to the same general motor as in Fig. 1. The description of the same components as in FIG. 1 will be omitted.
<共振數推定部111(n共振對應的情況)> ELSE 超過%共振數閾值的情況 IF a(k)被包含在Rng(1)~Rng(N(k-1))之中 任意一個的Rng(j)的情況 <Resonance Number Estimation Unit 111 (In the case of n resonance)> ELSE exceeds the% resonance number threshold When IF a(k) is included in Rng(j) of any one of Rng(1) to Rng(N(k-1))
但是,Rng(i)為第i個共振頻寬,為具有規定的頻寬[Wmin(i)、Wmax(i))(亦即,Wmin(i)≦Rng(i)<Wmax(i))者。作為其中一例,在予以了a(k-1)時,Rng(i)係使用成為Tr>2×WrN之WrN,作為Rng(i)=[a(k-1)-WrN,a(k-1)+WrN)而予以。However, Rng(i) is the i-th resonance bandwidth, which has a specified bandwidth [Wmin(i), Wmax(i)) (that is, Wmin(i)≦Rng(i)<Wmax(i)) By. As an example, when a(k-1) is given, Rng(i) uses WrN which becomes Tr>2×WrN, as Rng(i)=[a(k-1)-WrN, a(k- 1) +WrN).
rN(k)為共振頻寬編號,乃是分配到各Rng,用於識別Rng的編號。共振數推定部111係把N(k)作為共振數推定值序列而輸出,把共振頻寬編號rN(k),輸出作為適用a(k)的實陷波濾波器的編號Ln(k)。rN(k) is the resonance bandwidth number, which is the number assigned to each Rng to identify the Rng. The resonance
上述演算法乃是在a(k)超過了共振數閾值Tr的情況下,把共振頻寬及共振頻寬編號分配到a(k-1),僅在a(k)不屬於任一個已經被分配有共振頻寬編號的共振頻寬Rng時,使共振數增加+1之演算法。共振數推定部111的舉動表示於圖11。The above algorithm is to assign the resonance bandwidth and the resonance bandwidth number to a(k-1) when a(k) exceeds the resonance number threshold Tr. Only when a(k) does not belong to any one has been When assigning the resonance bandwidth Rng with the resonance bandwidth number, the algorithm to increase the resonance number by +1. The behavior of the resonance
圖11的事例,乃是存在第1~第4共振,共振數為4個,各共振頻率為550、1000、2000、4000[Hz]之際的結果。每當超過共振數閾值,共振頻寬Rng被分配到a(k-1),僅在a(k)不屬於任一個現有的共振頻寬Rng的情況下,使共振數增加+1,最終可以掌握共振數推定值N(k)成為真值4。The example in FIG. 11 is the result when there are 1st to 4th resonances, the number of resonances is 4, and the respective resonance frequencies are 550, 1000, 2000, and 4000 [Hz]. Whenever the resonance number threshold is exceeded, the resonance bandwidth Rng is assigned to a(k-1). Only when a(k) does not belong to any existing resonance bandwidth Rng, the resonance number is increased by +1, and finally it can be It is grasped that the estimated value of resonance number N(k) becomes the true value of 4.
上述演算法乃是彙整共振數推定部4與共振編號判斷部5而一般化者。換言之,共振數推定部4與共振編號判斷部5係在共振數為最大2的情況下使上述演算法特化,簡單化處理者。The above algorithm is generalized by integrating the resonance
在此,說明有關共振數推定部4的動作。
在起因於控制對象之1個以上的共振特性而振動重疊到FB控制系統的響應的情況下,共振數推定部4係把共振數推定值的初始值設定成1,更進一步,把共振頻寬編號的初始值設定成1(步驟1)。Here, the operation of the resonance
在從逐次頻率推定部3得到的振動頻率推定值序列的此次值與前次值的差的絕對值超過了規定的閾值(共振數閾值)的情況下,對前次值分派附帶有共振頻寬編號之共振頻寬(步驟2)。When the absolute value of the difference between the current value of the vibration frequency estimation value sequence obtained from the successive
共振頻寬係以前次值為中心值,決定出以對中心值加上正的特定的值之後的值作為上限、以對中心值減去正的特定的值之後的值為下限之頻率領域(步驟3)。The resonance bandwidth is the center value of the previous value. The upper limit is determined by adding a positive specific value to the center value, and the lower limit is determined by subtracting the positive specific value from the center value ( Step 3).
在進入到已經設定了此次值之1個以上的共振頻寬之任意1個的情況下,不使共振數推定值,而且把共振頻寬編號更新成連結到包含此次值的共振頻寬之共振頻寬編號(步驟4)。In the case of entering any one of more than one resonance bandwidth that has been set this value, the estimated value of the resonance number is not used, and the resonance bandwidth number is updated to be linked to the resonance bandwidth that includes the current value The resonance bandwidth number (step 4).
在不進入到已經設定了此次值之1個以上的共振頻寬的情況下,或者是尚未設定1個以上的共振頻寬的情況下,使共振數推定值增加1,更進一步,把共振頻寬編號設定到已增加1的共振數推定值(步驟5)。In the case where one or more resonance bandwidths of the current value have not been entered, or when one or more resonance bandwidths have not been set, the estimated value of the resonance number is increased by 1, and furthermore, the resonance is increased. The bandwidth number is set to the estimated value of the resonance number that has been increased by 1 (step 5).
在從逐次頻率推定部3得到的振動頻率推定值序列的此次值與前次值的差的絕對值不超過規定的閾值(共振數閾值)的情況下,不使共振數推定值變化,而且不使前述共振頻寬編號變化(步驟6)。If the absolute value of the difference between the current value and the previous value of the vibration frequency estimation value sequence obtained from the successive
以每得到此次值就逐次反覆從前述步驟2到前述步驟6的方式來推定共振數,輸出作為共振數推定值序列。The resonance number is estimated by repeating from the
共振頻寬編號,係作為適用設置1個以上在控制器的後段之陷波濾波器的編號,把逐次推定的結果的此次值,適用到共振頻寬編號的陷波濾波器。The resonance bandwidth number is used as the number for applying more than one notch filter in the back stage of the controller, and the current value of the result of successive estimation is applied to the notch filter of the resonance bandwidth number.
把執行了圖1表示的自動調整部2之際之共振抑制的狀況表示在圖12。尚且,共振數為2,第1共振頻率1000[Hz],第2共振頻率2000[Hz],振動yd(t)係如圖12般,在同時間帶觀測到起因於第1共振及第2共振之重疊了2種振動(yd1(t)及yd2(t))的振動的情況下的共振抑制的狀況。The situation of resonance suppression when the
對振動yd(t)之逐次頻率推定部3的頻率的推定值,係經常性(以振幅(功率)最大的成分為優先)只得到1個,但是,以伴隨共振數推定部4與共振編號判斷部5的方式,在持續產生2共振的狀況下,在短時間內,可以即時精確抑制2共振。The estimated value of the frequency of the successive
當然,也在2共振非同時產生的情況下,或是各共振顯著持續產生的情況下,也可以在短時間內,即時抑制各共振。而且,在以振動抽出部6、振動檢測部7篩選出應抑制的振動(共振特性)後,以逐次頻率推定器71推定振動yd(t)的頻率,而且以收斂判定器72得到提高了作為振動yd(t)的頻率的推定值的信賴度之a(k),作為此構成,可以得到高精度・高度可靠的共振抑制。Of course, also in the case where the two resonances are not simultaneously generated, or when each resonance is continuously generated significantly, it is also possible to immediately suppress each resonance in a short period of time. Moreover, after the vibration (resonance characteristics) to be suppressed is filtered out by the
根據本實施例,可以提供一種陷波濾波器調整裝置、及具備具備其之馬達控制裝置,該陷波濾波器調整裝置係,沒有必要事前調查以抑制機械系統的1個以上的共振特性之目的設置在FB控制系統內的實陷波濾波器的數目、及實陷波濾波器的陷波頻率,而且也在同時產生了2個以上的共振特性的情況下,自動高精度・即時地推定・調整,可以即時抑制機械系統之1個以上的共振特性。According to this embodiment, it is possible to provide a notch filter adjustment device and a motor control device equipped with the same. The notch filter adjustment device is intended to suppress one or more resonance characteristics of the mechanical system without the need for prior investigation The number of real notch filters installed in the FB control system, and the notch frequency of the real notch filter, and also when two or more resonance characteristics occur at the same time, it is automatically and accurately estimated immediately. Adjustment can instantly suppress the resonance characteristics of more than one mechanical system.
尚且,在本實施例中,自動調整部2把馬達轉速y作為輸入,但是,從容易抽出振動成分的觀點來看,也可以把自動調整部2的輸入,作為圖1的加減法運算器16的輸出也就是馬達轉速偏差。而且,從同觀點來看,也可以使用FB控制器13的輸出。Furthermore, in the present embodiment, the
而且,可以配合a(k)所致之實陷波濾波器的陷波頻率的更新,也更新陷波寬度W、陷波深度D。Moreover, the notch width W and the notch depth D can also be updated in accordance with the update of the notch frequency of the real notch filter caused by a(k).
從更穩健性抑制共振特性的觀點來看,陷波寬度W設定成較寬,陷波深度設定成較深者為佳。但是,在a(k)為低的頻率的情況下,把陷波寬度設定成較廣,或者是把陷波深度設定成較深的話,在陷波濾波器的特性上,由陷波頻率在中音域變成是FB控制系統的相位延遲增加的傾向,使得FB控制系統的安定餘裕減少,視情況會有FB控制系統振盪的疑慮。為此,期望配合a(k)來設定陷波寬度W、陷波深度D者。因此,例如,陷波寬度W、陷波深度D係可以如陷波寬度W(a(k))、陷波深度D(a(k))般作為a(k)的函數、或者是MAP,分派適切的值。From the viewpoint of more robust suppression of resonance characteristics, it is better to set the notch width W to be wider, and to set the notch depth to be deeper. However, when a(k) is a low frequency, the notch width is set to be wide, or the notch depth is set to be deep, the characteristics of the notch filter are determined by the notch frequency. The mid-range becomes a tendency for the phase delay of the FB control system to increase, which reduces the stability margin of the FB control system. Depending on the situation, there is a concern that the FB control system will oscillate. For this reason, it is desirable to set the notch width W and the notch depth D according to a(k). Therefore, for example, the notch width W and the notch depth D can be a function of a(k) or MAP as the notch width W(a(k)) and the notch depth D(a(k)). Assign the appropriate value.
而且,陷波寬度W、陷波深度D也可以設置觀測並調整a(k)與振動yd(t)的振幅之結構。例如,在a(k)沒有持續的變化,但是振動yd(t)的振幅持續為大的情況下,做加寬陷波寬度W,或者是加深陷波深度D等的調整。Moreover, the notch width W and notch depth D can also be configured to observe and adjust the amplitude of a(k) and vibration yd(t). For example, when a(k) does not change continuously, but the amplitude of vibration yd(t) continues to be large, adjustments such as widening the notch width W or deepening the notch depth D are made.
而且,共振數閾值Tr也可以作為配合a(k)而變化者。亦即為Tr(a(k))。只要是假定欲自動調整的機械系統而決定適切的函數、MAP即可。In addition, the resonance number threshold Tr may be changed according to a(k). That is, Tr(a(k)). It is sufficient to determine an appropriate function, MAP, assuming the mechanical system to be automatically adjusted.
而且,共振頻寬Rng也可以作為配合a(k-1)而變化者。亦即是Rng(a(k-1))。只要是假定欲自動調整的機械系統而決定適切的函數、MAP即可。In addition, the resonance bandwidth Rng may be changed as a (k-1). That is, Rng(a(k-1)). It is sufficient to determine an appropriate function, MAP, assuming the mechanical system to be automatically adjusted.
而且,共振數推定部111也可以設置上限在要推定的共振數。而且,也可以設置限制在欲抑制的共振頻率的範圍。例如,在做出了欲抑制Amin[Hz]~Amax[Hz]的範圍的情況下,根據a(t),也可以在進行收斂判定的收斂判定器72,追加「Amin≦a(t)≦Amax」作為輸出收斂判定脈衝的條件。Furthermore, the resonance
而且,也可以把在振動抽出部6抽出的頻率帶域限制在Amin[Hz]~Amax[Hz]。Furthermore, the frequency band extracted by the
而且,自動調整部2也可以作為根據FB控制器13的FB增益來調整動作的ON/OFF或共振數閾值等的自動調整部2的參數者。機械系統之複數個共振特性中,FB控制系統應考慮・抑制的共振特性的數目係與FB增益相依。In addition, the
而且,由同樣的理由,自動調整部2也可以設置配合共振數推定值或振動抑制的狀況來調整FB控制器13的FB增益之結構。Furthermore, for the same reason, the
而且,實陷波濾波器也可以是不為予以式子(2)、(14)、(15)的形式者。式子(2)、(14)、(15)為連續系統,安裝時係有必要離散化,但是,以一般的各種z轉換(ZOH、Tustin轉換、整合z轉換)離散化這些的過濾器,係不限於成為與離散IIR陷波濾波器81的式子(26)、(27)相同的構造。因此,例如也可以照原樣採用離散IIR陷波濾波器81作為實陷波濾波器。Furthermore, the real notch filter may be in a form other than the expressions (2), (14), and (15). Equations (2), (14), and (15) are continuous systems, and it is necessary to discretize them during installation. However, these filters are discretized by various general z-transforms (ZOH, Tustin transformation, and integrated z-transform). The system is not limited to having the same structure as the equations (26) and (27) of the discrete
而且,自動調整部2也可以另外設置重製實陷波濾波器的結構。例如,要抑制的共振特性的數目為n=2,實陷波濾波器的利用可能上限數為2的情況下,於共振數推定部4與共振編號判斷部5中,因為任何的誤差要因,1個實陷波濾波器Nchx被設定到極度遠離第1共振及第2共振中任意一個之不正確的頻率之情況下,可以產生僅用另一方的實陷波濾波器Nchy一定抑制第1共振與第2共振的狀況。設置檢測這樣的情況,並斷開・重置已被固定化的實陷波濾波器Nchx的結構係對於自動調整部2的穩健性化是有效的。
[實施例2]Furthermore, the
實施例2乃是把實施例1適用在馬達控制裝置之例,為適用到圖13表示的AC伺服馬達的串接(cascade)B控制系統中的速度控制系統之實施例。圖13所示的控制系統具備:加減法運算器1312、速度控制器132、電流控制器133、從d-q座標系統座標轉換到3相座標系統之第1座標轉換器134、從3相座標系統座標轉換到d-q座標系統之第2座標轉換器1310、輸入3相電壓指令而輸出PWM脈衝之PWM輸出器135、逆變器(電力轉換器)136、電流檢測器138、位置・速度算出部1311、計測馬達的轉速之編碼器139、馬達137、被馬達驅動之機械1313。The second embodiment is an example of applying the first embodiment to the motor control device, and is an embodiment of the speed control system applied to the cascade B control system of the AC servo motor shown in FIG. 13. The control system shown in FIG. 13 includes: an addition and
表示把圖1所示的自動調整部2適用到圖13的實施例2的是圖14。自動調整部1401係把從編碼器139的輸出用位置・速度算出部1311算出的馬達速度(馬達轉速)處理作為輸入。速度控制器132的輸出透過實陷波濾波器給予到電流控制器133而控制馬達137。Fig. 14 shows the application of the
電流控制器133控制馬達的電路部分,在該控制週期比速度控制器132還快的前提下於速度控制系統中,電流控制系統被視為近似於1(速度控制器的操作量直達馬達的機械部分(轉子))。因此,速度控制器132的控制對象,乃是被結合到馬達的機械部分(轉子)與馬達轉子之機械1313,其相當於圖1中的FB控制器的控制對象;該速度控制器輸入加減法運算器1312的輸出,該加減法運算器算出位置・速度算出部1311的輸出與轉速指令的偏差。The
機械1313的慣性數為1,機械1313與馬達轉子被視為彈性結合的情況下,控制對象係可以視為用彈簧・阻尼器結合機械1313與馬達轉子之2慣性系統,控制對象成為具有包含1組的共振・***振特性之頻率特性者。The inertia number of the
而且,機械1313的慣性數為2,各慣性係用彈簧・阻尼器結合,其中一方被視為對馬達轉子彈性結合的情況下,控制對象係可以視為用彈簧・阻尼器結合各慣性之3慣性系統,成為具有包含2組的共振・***振特性之頻率特性者。Moreover, the number of inertia of the
如在實施例1所示般,自動調整部2係沒有必要事前調查共振數,即便是2共振、或者是其以上者,是可以自動抑制共振。因此,也於本實施例中,自動調整部2係沒有必要事前調查共振數,可以在速度控制器132的後段自動設定・調整適切的數目之內含適切的陷波頻率之實陷波濾波器。As shown in Example 1, the
因此,根據本實施例,也對於圖13表示的AC伺服馬達的串接FB控制系統中的速度控制系統,適用自動調整部2,沒有必要事前調查設置在速度控制系統內的實陷波濾波器的數目、及實陷波濾波器的陷波頻率,而且,即便是在同時產生2個以上的共振特性的情況下,可以高精度・即時自動推定・調整,即時抑制機械系統之1個以上的共振特性。而且,可以提供具備這樣的自動調整部2的AC伺服馬達之具備串接B控制系統的馬達控制裝置。Therefore, according to this embodiment, the
上述的實施例,係除了馬達控制裝置以外,也可以適用在例如半導體檢查裝置、電動車的主馬達控制裝置、電動動力轉向等。The above-mentioned embodiments can be applied to, for example, semiconductor inspection devices, main motor control devices of electric vehicles, electric power steering, etc., in addition to motor control devices.
2:自動調整部
3:逐次頻率推定部
4:共振數推定部
5:共振編號判斷部
6:振動抽出部
7:振動檢測部
8:開關
9:切換開關
10~12:實陷波濾波器1~n
13:FB控制器
14:馬達
15:控制對象機械2: Automatic adjustment part
3: Successive frequency estimation section
4: Resonance number estimation section
5: Resonance number judgment section
6: Vibration extraction part
7: Vibration detection department
8: switch
9:
[圖1]為表示適用到一般的馬達的FB控制系統的實施例1之圖。 Fig. 1 is a diagram showing the first embodiment of the FB control system applied to a general motor.
[圖2]為實施例1的反復處理的處理流程。 [Fig. 2] is the processing flow of the repeated processing in the first embodiment.
[圖3]為表示一共振時的收斂平面之概念圖。 [Figure 3] is a conceptual diagram showing a convergent plane at resonance.
[圖4]為數值描繪出一共振時的收斂平面之圖。 [Figure 4] is a graph that numerically plots a convergent plane at resonance.
[圖5]為作圖出第1共振的收斂平面之圖。 [Fig. 5] A diagram showing the convergence plane of the first resonance.
[圖6]為作圖出第2共振的收斂平面之圖。 [Fig. 6] A diagram showing the convergence plane of the second resonance.
[圖7]為表示逐次頻率推定部之圖。 [Fig. 7] A diagram showing the successive frequency estimation unit.
[圖8]為逐次頻率推定器的方塊圖。 [Figure 8] is a block diagram of the successive frequency estimator.
[圖9]為表示共振數推定部的動作之圖。 [Fig. 9] A diagram showing the operation of the resonance number estimation unit.
[圖10]為表示圖1的變形例之圖。 [Fig. 10] is a diagram showing a modification of Fig. 1.
[圖11]為表示共振數推定部的舉動之圖。 [Fig. 11] A diagram showing the behavior of the resonance number estimation unit.
[圖12]為表示執行了自動調整部之際的共振抑制的狀況之圖。 [Fig. 12] A diagram showing the situation of resonance suppression when the automatic adjustment unit is executed.
[圖13]為表示AC伺服馬達的速度控制系統之圖。 [Figure 13] is a diagram showing the speed control system of the AC servo motor.
[圖14]為表示實施例2之圖。 [Fig. 14] A diagram showing Example 2. [Fig.
[圖15]為表示用1個實陷波濾波器抵銷1個共振特性之圖。 [Fig. 15] is a graph showing the cancellation of 1 resonance characteristic with 1 real notch filter.
[圖16]為用波德圖來看頻率特性之圖。 [Figure 16] is a graph to look at the frequency characteristics using a Bode diagram.
[圖17]為表示FB控制系統的閉迴路傳遞特性(其之1)之圖。[Fig. 17] A diagram showing the closed-loop transmission characteristics (part 1) of the FB control system.
[圖18] 為表示FB控制系統的閉迴路傳遞特性(其之2)之圖。[Figure 18] A diagram showing the closed-loop transmission characteristics (Part 2) of the FB control system.
2:自動調整部 2: Automatic adjustment part
3:逐次頻率推定部 3: Successive frequency estimation section
4:共振數推定部 4: Resonance number estimation section
5:共振編號判斷部 5: Resonance number judgment section
6:振動抽出部 6: Vibration extraction part
7:振動檢測部 7: Vibration detection department
8:開關 8: switch
9:切換開關 9: Toggle switch
10~12:實陷波濾波器1~n
10~12:
13:FB控制器 13: FB controller
14:馬達 14: Motor
15:控制對象機械 15: Controlled machinery
16:加減法運算器 16: Addition and subtraction operator
17:開關 17: switch
Claims (14)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019111097A JP7178327B2 (en) | 2019-06-14 | 2019-06-14 | NOTCH FILTER ADJUSTMENT DEVICE AND MOTOR CONTROL DEVICE INCLUDING THE SAME |
JP2019-111097 | 2019-06-14 |
Publications (2)
Publication Number | Publication Date |
---|---|
TW202046625A TW202046625A (en) | 2020-12-16 |
TWI735223B true TWI735223B (en) | 2021-08-01 |
Family
ID=73781721
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW109115020A TWI735223B (en) | 2019-06-14 | 2020-05-06 | Motor control device, notch filter adjustment device, and notch filter adjustment method |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP7178327B2 (en) |
CN (1) | CN113557479B (en) |
DE (1) | DE112019006707T5 (en) |
TW (1) | TWI735223B (en) |
WO (1) | WO2020250469A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7390267B2 (en) | 2020-09-07 | 2023-12-01 | 株式会社日立産機システム | motor control device |
TWI762221B (en) * | 2021-02-26 | 2022-04-21 | 中國鋼鐵股份有限公司 | Detection method for rotation speed |
JP7008885B1 (en) * | 2021-04-21 | 2022-01-25 | 三菱電機株式会社 | Motor control device, motor control system and motor control method |
CN113775323A (en) * | 2021-10-21 | 2021-12-10 | 中国石油大学(华东) | Self-adaptive pulsating hydraulic fracturing technology based on frequency spectrum resonance |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW200623603A (en) * | 2004-07-13 | 2006-07-01 | Yaskawa Denki Seisakusho Kk | Motor controller |
CN105007059A (en) * | 2015-07-24 | 2015-10-28 | 太原理工大学 | Current control notch filter capable of restraining electromechanical coupled vibration |
WO2017208701A1 (en) * | 2016-05-31 | 2017-12-07 | 三菱電機株式会社 | Motor control device |
CN109863692A (en) * | 2016-09-29 | 2019-06-07 | 松下知识产权经营株式会社 | Control device of electric motor and method of motor control |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4524123B2 (en) | 2004-02-24 | 2010-08-11 | パナソニック株式会社 | Control parameter calculation method for motor control device |
JP4717488B2 (en) | 2005-04-01 | 2011-07-06 | 三菱電機株式会社 | Motor control device |
JP4340299B2 (en) * | 2007-03-08 | 2009-10-07 | 株式会社日立産機システム | Motor control device and motor control system |
JP2008312339A (en) * | 2007-06-14 | 2008-12-25 | Panasonic Corp | Controller for motors |
JP5332321B2 (en) | 2008-06-04 | 2013-11-06 | パナソニック株式会社 | Motor control device |
JP2012108610A (en) * | 2010-11-15 | 2012-06-07 | Sumitomo Heavy Ind Ltd | Resonance suppression device and resonance suppression method |
US9075400B2 (en) * | 2010-12-20 | 2015-07-07 | Mitsubishi Electric Corporation | Motor control device |
JP5757842B2 (en) * | 2011-10-19 | 2015-08-05 | 住友重機械工業株式会社 | Resonance suppression device and resonance suppression method |
JP7346014B2 (en) * | 2018-07-25 | 2023-09-19 | 株式会社日立産機システム | Automatic adjustment method of feedback control system and feedback control device |
-
2019
- 2019-06-14 JP JP2019111097A patent/JP7178327B2/en active Active
- 2019-12-27 DE DE112019006707.9T patent/DE112019006707T5/en active Granted
- 2019-12-27 CN CN201980093852.0A patent/CN113557479B/en active Active
- 2019-12-27 WO PCT/JP2019/051443 patent/WO2020250469A1/en active Application Filing
-
2020
- 2020-05-06 TW TW109115020A patent/TWI735223B/en active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW200623603A (en) * | 2004-07-13 | 2006-07-01 | Yaskawa Denki Seisakusho Kk | Motor controller |
CN105007059A (en) * | 2015-07-24 | 2015-10-28 | 太原理工大学 | Current control notch filter capable of restraining electromechanical coupled vibration |
WO2017208701A1 (en) * | 2016-05-31 | 2017-12-07 | 三菱電機株式会社 | Motor control device |
CN109863692A (en) * | 2016-09-29 | 2019-06-07 | 松下知识产权经营株式会社 | Control device of electric motor and method of motor control |
Also Published As
Publication number | Publication date |
---|---|
WO2020250469A1 (en) | 2020-12-17 |
TW202046625A (en) | 2020-12-16 |
JP2020204823A (en) | 2020-12-24 |
JP7178327B2 (en) | 2022-11-25 |
DE112019006707T5 (en) | 2021-10-28 |
CN113557479A (en) | 2021-10-26 |
CN113557479B (en) | 2024-02-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
TWI735223B (en) | Motor control device, notch filter adjustment device, and notch filter adjustment method | |
JP6044647B2 (en) | Dynamometer control device and inertia moment estimation method using the same | |
JP5757842B2 (en) | Resonance suppression device and resonance suppression method | |
JP6073454B2 (en) | Active vibration noise control device | |
CN109474222B (en) | Variable load servo system vibration suppression method and system based on notch filter | |
JP4294344B2 (en) | Electric motor control method and control apparatus | |
US11777427B2 (en) | Motor control device and automatic adjustment method for same | |
JP5469949B2 (en) | Electric machine control device | |
JP2009048462A (en) | Mechanical resonance frequency compensation apparatus | |
CN109995286B (en) | PI parameter optimization design method for speed loop of asynchronous motor | |
JP2008199759A (en) | Machine-model estimating device, and machine-model estimating method | |
JP5256704B2 (en) | Moment of inertia estimation device | |
KR20160118665A (en) | Apparatus for detecting and suppressing resonance in servo system and method thereof | |
JP6827565B2 (en) | Electric motor control device | |
TWI809610B (en) | motor control unit | |
TWI833538B (en) | Motor control device and automatic adjustment method thereof | |
WO2021157178A1 (en) | Motor control device | |
JP2003227854A (en) | Frequency estimation device and frequency estimation method | |
JP2004023970A (en) | Variable speed gear |