WO2006125240A1 - Verfahren zur positions-und/oder geschwindigkeitsregelung eines linearen antriebes - Google Patents
Verfahren zur positions-und/oder geschwindigkeitsregelung eines linearen antriebes Download PDFInfo
- Publication number
- WO2006125240A1 WO2006125240A1 PCT/AT2006/000214 AT2006000214W WO2006125240A1 WO 2006125240 A1 WO2006125240 A1 WO 2006125240A1 AT 2006000214 W AT2006000214 W AT 2006000214W WO 2006125240 A1 WO2006125240 A1 WO 2006125240A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drive
- accelerometer
- control unit
- motor
- signal
- Prior art date
Links
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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/086—Commutation
- H02P25/089—Sensorless control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/098—Arrangements for reducing torque ripple
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37324—Derive position, speed from acceleration
Definitions
- the invention relates to a method for position and / or
- Speed control of a linear drive in particular a servo drive for a linear robot, wherein an electric machine is fed via a converter with a control unit and the motor position, in particular sensorless or via a position sensor, is determined.
- the invention also relates to a circuit arrangement for carrying out the method.
- a known servo drive consists of an electric motor, which is mechanically coupled to a position measuring system.
- the servo inverter with its output stage supplies the motor with energy via a cable.
- the information of the position sensor is fed back to the servo amplifier with a cable.
- This measure is called position feedback.
- the measured position is differentiated to the speed.
- the speed controller is dependent on a high quality of the position signal, since a measurement or quantization noise in the position signal amplified by the differentiation acts.
- the position controller directly processes the position signal and the position specification.
- a highly dynamic control of a servo drive thus requires a position detection with high resolution, which precludes an economic solution because it is expensive.
- Object of the present invention is therefore to provide a method of the type mentioned, on the one hand avoids the above disadvantages and with the other hand, the quality of the scheme is qualitatively increased.
- the method according to the invention is characterized in that this engine position signal and an acceleration signal generated via an accelerometer provided in the control unit and arranged on the moving part of the linear drive are mathematically calculated to a speed signal and that this speed signal is used to control the drive.
- this engine position signal and an acceleration signal generated via an accelerometer provided in the control unit and arranged on the moving part of the linear drive are mathematically calculated to a speed signal and that this speed signal is used to control the drive.
- the quality or quality of the control that eliminates the differentiation of the motor position signal by the observer. Namely it is by the accelerometer, the lower-resolution position measuring relative Inaccurate position measurement signal upgraded to a good usable speed signal.
- the sensorless determination of the motor position via the control signals of a reluctance motor, in particular stepping motor is carried out.
- This reluctance motor is provided as a drive for the carriage.
- the motor position can be determined via the control signals of the reluctance motor.
- the sensorless determination of the motor position from the available in the control unit, measured variables current and voltage and the motor position signal and the acceleration signal are charged in an observer and used to control the drive. It is advantageous that, regardless of the manner of detecting the motor position, the acceleration signal can be used for position and / or speed control.
- the motor position is measured by a position sensor and this motor position signal is offset with the acceleration signal in an observer and the
- the object of the invention is also to provide a circuit arrangement for carrying out the above-indicated method.
- Accelerometer on the moving part of the linear drive, in particular on the carriage is provided that the motor position detection sensorless on the available quantities in the control unit current and voltage or over a Position sensor takes place and that on the one hand, the engine position detection and on the other hand, the accelerometer with an observer and the output of the observer are connected to the input of the speed controller.
- cost-effective components such as the accelerometer
- the drive electronics are moved along the moving part of the drive and the acceleration sensor, the accelerometer, is integrated directly in the drive controller as a MEMS component.
- an extremely cost-effective design is given because the cost of the currently very complex detection of the rotor position can be significantly reduced with a high-resolution position measuring system, without having to sacrifice the optimum drive dynamics.
- the accelerometer is designed as a micro electro-mechanical system (MEMS) and integrated in the mitbewegten control unit.
- MEMS micro electro-mechanical system
- the accelerometer is designed as a multi-axis Micro Electro-Mechanical System (MEMS).
- MEMS Micro Electro-Mechanical System
- the use of multi-axis accelerometers can also be particularly advantageous, especially if the control unit is responsible for the control of several axes.
- the inverter and the control unit are formed with the accelerometer as a unit and are provided on the moving part of the linear drive, in particular on the carriage. This achieves an extremely compact solution.
- the invention will be explained in more detail with reference to exemplary embodiments, which are illustrated in the drawings. Show it:
- Fig. 1 shows schematically a linear drive
- Fig. 2 shows schematically the linear drive with arranged on the moving part
- Fig. 3 is a circuit diagram of a control with a position sensor
- Fig. 4 is a circuit diagram of a control with sensorless motor position detection.
- a motor 1 drives a carriage 2 of a linear robot.
- An inverter 3, preferably a servo inverter, is mounted in the vicinity of the motor 1 and is moved with the carriage 2.
- the motor 2 drives, for example via a toothed belt 14, the carriage 2.
- the inverter 3 is mounted together with the motor 1 on the carriage 2.
- the engine 1 which is designed in particular as a permanent-magnet synchronous machine, fed via the inverter 3 with a control unit 4 and determines the motor position, in particular sensorless or via a position sensor.
- the decentralized structure with a moving drive electronics makes it possible to supplement the control unit 4 of the servo amplifier with an integrated accelerometer 5, which is for example designed as a micro electro-mechanical system (MEMS) and equipped as a component on the circuit board of the control unit.
- the converter 3, optionally a power stage 6, and the control unit 4 with the accelerometer 5 are formed as a unit and provided on the moving part of the linear drive, in particular on the carriage 2.
- MEMS micro electro-mechanical system
- the control unit 4 with the accelerometer 5 are formed as a unit and provided on the moving part of the linear drive, in particular on the carriage 2.
- a position sensor 7 is provided on the motor 1.
- the engine 1 is fed via the power level 6.
- The, arranged on the moving part of the drive, drive electronics consists of a position controller 8, a downstream speed controller 9 and a current regulator 10.
- the current regulator 10 is connected to the power stage 6.
- the motor position signal generated by the position sensor 7 and an acceleration signal generated via the accelerometer 5 provided in the control unit 4 and arranged on the moving part of the linear drive are mathematically offset against a speed signal in an observer 11. This speed signal is then used in sequence to control the drive.
- a sensorless determination of the motor position takes place.
- the motor position is determined from the, available from the control unit 4, measured quantities current and voltage in a gate, the motor position detection 12, via an algorithm.
- This engine position signal and the acceleration signal of the accelerometer 5 are calculated in the observer 11 and used to control the drive.
- the sensorless determination of the motor position via the control signals of a reluctance motor, in particular a stepping motor.
- This reluctance motor is provided as a drive for the carriage.
- the motor position can be determined via the control signals of the reluctance motor.
- a mathematical, model-based method is used which generates the speed signal from the signal of the accelerometer 5 and the calculated motor position.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Linear Motors (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/914,719 US7872437B2 (en) | 2005-05-25 | 2006-05-24 | Method for position and/or speed control of a linear drive |
EP06741013A EP1891729A1 (de) | 2005-05-25 | 2006-05-24 | Verfahren zur positions-und/oder geschwindigkeitsregelung eines linearen antriebes |
JP2008512645A JP2008543250A (ja) | 2005-05-25 | 2006-05-24 | リニア駆動装置の位置制御方法及び/又は速度制御方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA897/2005 | 2005-05-25 | ||
AT0089705A AT503865B1 (de) | 2005-05-25 | 2005-05-25 | Verfahren zur positons- und/oder geschwindigkeitsregelung eines linearen antriebes |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006125240A1 true WO2006125240A1 (de) | 2006-11-30 |
Family
ID=36791321
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AT2006/000214 WO2006125240A1 (de) | 2005-05-25 | 2006-05-24 | Verfahren zur positions-und/oder geschwindigkeitsregelung eines linearen antriebes |
Country Status (6)
Country | Link |
---|---|
US (1) | US7872437B2 (de) |
EP (1) | EP1891729A1 (de) |
JP (1) | JP2008543250A (de) |
CN (1) | CN100583622C (de) |
AT (1) | AT503865B1 (de) |
WO (1) | WO2006125240A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012110190B4 (de) * | 2012-10-25 | 2015-03-26 | Mis-Robotics Gmbh | Manuell betätigte Robotersteuerung und Verfahren zum Steuern eines Robotersystems |
DE102018216327A1 (de) * | 2018-09-25 | 2020-03-26 | Robert Bosch Gmbh | Verfahren zum Betreiben einer elektrischen Antriebseinheit, vorzugsweise zum Verstellen eines Bauteils im Kraftfahrzeug, sowie eine Antriebseinheit zum Ausführen des Verfahrens |
EP4220330A1 (de) * | 2022-02-01 | 2023-08-02 | Siemens Aktiengesellschaft | Automatisiert geführtes fahrzeug |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2219154A1 (de) * | 1971-04-19 | 1972-11-09 | Rohr Corp., Chula Vista, Calif. (V.StA.) | Magnetische Schwebe- und Antriebseinrichtung |
EP0661543A1 (de) * | 1993-12-29 | 1995-07-05 | BOEHRINGER, Andreas, Prof. Dr.-Ing.habil. | Gebersystem zur Ermittlung wenigstens einer der drei Grössen Drehbeschleunigung, Winkelgeschwindigkeit oder Winkellage eines rotierenden Bauteils |
JPH10170303A (ja) * | 1996-12-10 | 1998-06-26 | Toyo Commun Equip Co Ltd | 加速度センサを用いた速度・距離計測器 |
DE19851003A1 (de) * | 1998-11-05 | 2000-05-11 | Andreas Boehringer | Einrichtung und Verfahren zur Gewinnung eines dynamisch hochwertigen, teilweise synthetisierten Signals für die Beschleunigung des Läufers eines Antriebs |
WO2004081583A1 (en) * | 2003-03-14 | 2004-09-23 | European Technology For Business Limited | Mems accelerometers |
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US4975856A (en) * | 1986-02-18 | 1990-12-04 | Robotics Research Corporation | Motion controller for redundant or nonredundant linkages |
US5155423A (en) * | 1986-02-18 | 1992-10-13 | Robotics Research Corporation | Industrial robot with servo |
US4821594A (en) * | 1988-06-10 | 1989-04-18 | Mark E. Rosheim | Robot joints |
US5339012A (en) | 1990-07-13 | 1994-08-16 | Elin Energieanwendung Gmbh | Method and circuit arrangement for sensor-less detection of the rotational angle of a damper-less synchronous machine, preferably excited by a permanent magnet, and supplied by a rectifier |
GB9026736D0 (en) * | 1990-12-08 | 1991-01-30 | Vickers Systems Ltd | Sliding mode control system |
JPH0614592A (ja) * | 1992-06-23 | 1994-01-21 | Fanuc Ltd | Acサーボモータの加速度制御方式 |
US5250880A (en) * | 1992-10-22 | 1993-10-05 | Ford Motor Company | Linear motor control system and method |
US5416397A (en) * | 1993-10-04 | 1995-05-16 | Ford Motor Company | Linear motor control system and method of use |
US5912541C1 (en) * | 1994-11-30 | 2002-06-11 | Animatics Corp | Integrated servo motor and controller |
AU7017396A (en) * | 1995-09-08 | 1997-03-27 | Ross-Hime Designs, Inc. | Robotic manipulator |
US5887268A (en) * | 1995-10-31 | 1999-03-23 | Honda Giken Kogyo Kabushiki Kaisha | Automatically driven motor vehicle |
US5847535A (en) * | 1996-01-31 | 1998-12-08 | Parker-Hannifin Corporation | Active electronic damping for step motor |
JP3700106B2 (ja) * | 1998-03-23 | 2005-09-28 | 三菱電機株式会社 | センサレス・スイッチドリラクタンスモータの駆動回路 |
US6137255A (en) * | 1999-07-30 | 2000-10-24 | Otis Elevator Company | Apparatus and method of controlling a linear motor door operator |
US6473713B1 (en) * | 1999-09-20 | 2002-10-29 | American Gnc Corporation | Processing method for motion measurement |
JP2001209402A (ja) * | 2000-01-26 | 2001-08-03 | Fujitsu Ltd | 制御装置 |
JP3551911B2 (ja) * | 2000-10-20 | 2004-08-11 | ダイキン工業株式会社 | ブラシレスdcモータ制御方法およびその装置 |
FI110454B (fi) * | 2001-06-20 | 2003-01-31 | Fastems Oy Ab | Menetelmä kuorman punnitsemiseksi ja kuormituksen valvomiseksi |
JPWO2003071672A1 (ja) * | 2002-02-25 | 2005-06-16 | ダイキン工業株式会社 | 電動機制御方法およびその装置 |
US7117067B2 (en) * | 2002-04-16 | 2006-10-03 | Irobot Corporation | System and methods for adaptive control of robotic devices |
AU2003233599A1 (en) * | 2002-05-17 | 2003-12-02 | Anthony Salerno Jr. | Linear electric servo motor actuated screw thread tapper |
JP4405189B2 (ja) * | 2003-06-27 | 2010-01-27 | 株式会社エーシーティー・エルエスアイ | 3軸加速度センサ |
EP1638865A4 (de) * | 2003-06-30 | 2010-04-07 | Progressive Tool & Ind Co | Ein regelschleifensystem, ein system mit nicht direktem antrieb oder ein reibantriebssystem verwendende vorrichtung zur genauen transportpositionierung mit codierer zur absoluten positionierung |
US7187142B2 (en) * | 2005-05-25 | 2007-03-06 | Rockwell Automation Technologies, Inc. | Motor drive with velocity noise filter |
-
2005
- 2005-05-25 AT AT0089705A patent/AT503865B1/de not_active IP Right Cessation
-
2006
- 2006-05-24 JP JP2008512645A patent/JP2008543250A/ja active Pending
- 2006-05-24 US US11/914,719 patent/US7872437B2/en not_active Expired - Fee Related
- 2006-05-24 CN CN200680017962A patent/CN100583622C/zh not_active Expired - Fee Related
- 2006-05-24 WO PCT/AT2006/000214 patent/WO2006125240A1/de not_active Application Discontinuation
- 2006-05-24 EP EP06741013A patent/EP1891729A1/de not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2219154A1 (de) * | 1971-04-19 | 1972-11-09 | Rohr Corp., Chula Vista, Calif. (V.StA.) | Magnetische Schwebe- und Antriebseinrichtung |
EP0661543A1 (de) * | 1993-12-29 | 1995-07-05 | BOEHRINGER, Andreas, Prof. Dr.-Ing.habil. | Gebersystem zur Ermittlung wenigstens einer der drei Grössen Drehbeschleunigung, Winkelgeschwindigkeit oder Winkellage eines rotierenden Bauteils |
JPH10170303A (ja) * | 1996-12-10 | 1998-06-26 | Toyo Commun Equip Co Ltd | 加速度センサを用いた速度・距離計測器 |
DE19851003A1 (de) * | 1998-11-05 | 2000-05-11 | Andreas Boehringer | Einrichtung und Verfahren zur Gewinnung eines dynamisch hochwertigen, teilweise synthetisierten Signals für die Beschleunigung des Läufers eines Antriebs |
WO2004081583A1 (en) * | 2003-03-14 | 2004-09-23 | European Technology For Business Limited | Mems accelerometers |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 1998, no. 11 30 September 1998 (1998-09-30) * |
Also Published As
Publication number | Publication date |
---|---|
US7872437B2 (en) | 2011-01-18 |
CN101185237A (zh) | 2008-05-21 |
CN100583622C (zh) | 2010-01-20 |
JP2008543250A (ja) | 2008-11-27 |
AT503865B1 (de) | 2008-06-15 |
US20080150468A1 (en) | 2008-06-26 |
AT503865A1 (de) | 2008-01-15 |
EP1891729A1 (de) | 2008-02-27 |
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