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Motor controller and motor control system

A control device and control system technology, applied in the direction of motor control, motor generator control, AC motor control, etc., can solve problems such as unsuitable resonance characteristics

Active Publication Date: 2008-09-10
HITACHI IND EQUIP SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the technology of Patent Document 1 is not suitable for automatically setting the control parameters considering the resonance characteristics of the mechanical system or setting the control parameters of the vibration control controller (vibration damper) described later.
[0012] On the other hand, the technology of Patent Document 2 not only recognizes the rigid body characteristics of the mechanical system, but also recognizes the resonance characteristics, but because white noise needs to be applied, the use conditions are limited to offline ()offline) adjustment

Method used

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  • Motor controller and motor control system
  • Motor controller and motor control system
  • Motor controller and motor control system

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no. 1 Embodiment approach

[0070] Using the block diagram of FIG. 4, a motor control system which is an embodiment of the present invention will be described. FIG. 4 shows an embodiment in which the optimal speed controller gain and position controller gain can be set according to the mechanical characteristics of the load that varies from time to time through the automatic tuning process even in the normal operating state of the device. Hereinafter, this embodiment will be described in detail.

[0071] In FIG. 4, the motor control system 200 includes: a motor 1; a load 2 driven by the motor 1; a connecting shaft 3 that connects the motor 1 and the load 2; a power converter 4 that drives the motor 1; Shaft, output the position detection value θ of the rotating shaft of the motor 1 M The position detector 27; the current detector 6 that detects the current flowing through the motor 1; and the motor control device 100.

[0072] The motor control device 100 includes: a speed calculator 5; a current controller ...

no. 2 Embodiment approach

[0152] The first embodiment adopts the q-axis current command Iq * To calculate the motor torque value τ input to the auto-tuning unit 11 M , The torque current detection value Iq can also be used for calculation.

[0153] In FIG. 10, the motor control system 210 of the second embodiment includes a motor control device 110, the motor control device 110, and the torque current detection value Iq is multiplied by the torque constant corresponding to the motor 1 through the amplifier 240, To calculate the motor torque value τ M .

no. 3 Embodiment approach

[0155] Next, the third embodiment of the present invention will be described using FIG. 11. In contrast to the first embodiment, the motor control device 120 of the third embodiment has a structure in which the vibration damping controller 16 is inserted between the position command generator 17, the position controller 14, and the subtractor. In other words, the damping controller 16 and the subtractor 15 are provided between the position command generator 17 and the position controller 14.

[0156] The damping controller 16 has the motor position detection value θ M As input signal, output load position estimated value θ L The load position estimator 23 of ^ provides its transfer characteristics by equation (39).

[0157] θ L ^=θ M ·(2ζ a ^ω a ^·s+ω a ^) / (s 2 +2ζ a ^ω a ^s+ω a ^ 2 )·······················(39)

[0158] The subtractor 24 receives the vibration control input command value θ from the position command generator 17 M ** Subtract the estimated load position θ L ^, cal...

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Abstract

A motor control system (200) includes a motor (1) connected to a load (2) through a connecting shaft (3), an electric power converter (4) for driving the motor, and a motor controller (100) for controlling the electric power converter according to a target command value and a motor current that flows in the motor; the motor controller has an auto tuner (11) that receives a motor torque value and motor rotational speed of the motor as input signals and automatically adjusts control parameters used in the control; the auto tuner handles a machine system including the motor, connecting shaft, and load as a rigid-body model and a resonant model that are connected in series, the auto tuner having a parameter identifying means for separately identifying parameters constituting the rigid-body model and parameters constituting the resonant model. Both rigid-body characteristics and resonant characteristics of a controlled target can thereby be identified online with a small amount of calculation.

Description

Technical field [0001] The present invention relates to a motor control device and a motor control system that control a motor connected to a load. Background technique [0002] Industrial machinery (semiconductor manufacturing equipment, machine tools, injection molding machines) use multiple motors, and it is particularly desirable to identify (identify) mechanical system parameters during online operation to improve control performance. [0003] In the motor control device, the rigid body parameters such as the total moment of inertia of the machine, the coefficient of viscous friction, and the stable disturbance torque are recognized in actual operation, and the recognized results are used for the control of the position controller, speed controller, etc. Technology in automatic setting of parameters (Patent Document 1). In the technique of Patent Document 1, the time-series data of each motor torque value, acceleration, and motor rotation speed are used during forward rotati...

Claims

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Application Information

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IPC IPC(8): H02P21/05H02P29/00H02P27/06H02P21/00H02P21/13H02P21/14H02P23/07H02P23/14H02P23/16H02P23/18H02P27/08
CPCH02P23/14B25J9/1653G05B2219/42155G05B2219/39223G05B2219/41367G05B19/19
Inventor 名仓宽和大桥敬典高野裕理
Owner HITACHI IND EQUIP SYST CO LTD
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