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Motor control apparatus

A control device and motor technology, which is applied in motor control, non-electric variable control, mechanical oscillation control, etc., can solve the problems of large phase delay, inability to fully improve the gain of the control system, and inability to fully suppress oscillation, etc. The effect of resonance

Active Publication Date: 2013-02-06
PANASONIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0013] However, as in Patent Document 1, the notch depth is not an optimum value in the first notch filter 15 whose notch depth is fixed, so there is a problem that the vibration is unnecessarily suppressed excessively depending on the control object, so that the phase The delay becomes large, and the control system gain cannot be sufficiently increased
[0014] In addition, as in Patent Document 2, in the notch filter 15b with a fixed notch frequency, there is a concern that mechanical characteristics may vary, change over time, or deviate between the fixed notch frequency and the resonance frequency. Oscillations caused by mechanical resonance, etc. cannot be sufficiently suppressed

Method used

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Embodiment approach 1

[0033] figure 1 It is a block diagram showing the configuration of the motor control device 10 according to Embodiment 1 of the present invention.

[0034] Such as figure 1 As shown, the motor control device 10 according to Embodiment 1 of the present invention is connected to a motor 11 and a speed detector 13 . A load 12 is connected to the motor 11 . Also, the speed detector 13 measures the rotational speed of a movable element (not shown) arranged in the motor 11, and outputs a state detection signal indicating a speed amount corresponding to the rotational speed, that is, a speed detection signal Vd. On the other hand, an instruction speed signal Vr is notified to the motor control device 10 in order to instruct the rotation speed of the movable element. The motor control device 10 includes, as a control system that performs feedback control, a speed control system that performs feedback control such that the rotational operation of the movable element follows a comm...

Embodiment approach 2

[0067] In Embodiment 1, a configuration example in which the set value cn2 is gradually decreased has been described. On the other hand, in Embodiment 2, it is set as the structure which further includes the process which makes setting value cn2 gradually larger. That is, the motor control device 10 according to the present embodiment is, for example, configured to select one of the changing operation of gradually increasing the set value cn2 and the changing operation of gradually decreasing the set value cn2 in accordance with the change of the control system gain. One.

[0068] Here, first, frequency characteristics of a control system including mechanical resonance and the like will be described. Image 6 It is a graph showing the gain characteristic of the transfer function of the speed detection signal Vd with respect to the command speed signal Vr. exist Image 6 In , an example is shown in which the frequency ωn is the resonance frequency and the mechanical resonanc...

Embodiment approach 3

[0074] Figure 9 It is a flowchart showing the characteristic setting processing of the first notch filter 15 according to Embodiment 3 of the present invention. In this embodiment, for example, the following structure is set: Figure 7 In the case of increasing the control system gain in this way, the change amount of the set value cn2 is calculated by calculation.

[0075] which is, Figure 9 The shown processing has a structure in which the change amount of the set value cn2 is calculated and set in accordance with the change amount of the control system gain in the second and subsequent change operations of the set value cn2 . That is, when the control system gain is amplified by Kv, the set value cn2 is calculated so that the notch depth Dn is deeper than the current value by Kv.

[0076] use Figure 9 The flow charts illustrate specific actions. When the control judging section 21 judges in step S101 that there is no vibration component, it confirms in step S131 whe...

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Abstract

A motor control apparatus is provided with a first notch filter arranged within a feedback control system; a vibration extraction filter for outputting a signal (x1) containing vibration components therein; a second notch filter into which the signal (x1) is inputted; a notch control unit for changing the notch-center frequency on the basis of the signal (x1) and a second notch-filter output signal (x2); a notch-depth control unit for changing the notch depth of the first notch filter on the basis of the signal (x1); and a control evaluation unit for carrying out a control so that either the notch control unit or the notch-depth control unit will function.

Description

technical field [0001] The present invention relates to a motor control device for controlling motions such as speed and position of a motor and a load driven by the motor, and more particularly to a motor control device with a function of suppressing mechanical resonance generated during driving. Background technique [0002] Conventionally, as such a motor control device, a device such as that described in Patent Document 1 exists. Figure 10 It is a block diagram showing the configuration of a motor control device described in Patent Document 1. FIG. [0003] Figure 10 The shown conventional motor control device 50 is connected to the motor 11 and the speed detector 13 . A load 12 is connected to the motor 11 . In addition, the speed detector 13 detects the rotation speed of the electric motor 11, and outputs a speed detection signal Vd indicating the detected rotation speed. [0004] The motor control device 50 has a speed control system that makes the speed detection...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P29/00G05D19/02
CPCG05D19/02H02P29/00H02P29/0038H02P29/50
Inventor 藤原弘田泽彻
Owner PANASONIC CORP
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