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Motor controlling device

A technology of motor control and motor, which is applied in the direction of program control, control system, digital control, etc., and can solve problems such as difficult and stable control and low rigidity

Active Publication Date: 2013-07-03
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] On the other hand, if the above-mentioned low-pass filter is used, there is a problem that it is difficult to perform stable control when the driven mechanical system has low rigidity and greater inertia than the motor.

Method used

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Experimental program
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Effect test

Embodiment approach 1

[0027] figure 1 It is a block diagram showing the overall configuration of the motor control device according to Embodiment 1 of the present invention. The motor control device 101 sets the speed command vr as a motion command input from the outside, the motion (speed) vm of the motor 1 detected using a motion detector (not shown) such as an encoder, and an external input. The response parameter Pr of the motor 1 is used to make the motor 1 generate torque (driving force) τm in such a way that the motion of the motor 1 follows the motion command. In addition, the motor 1 drives the mechanical system 3 constituted by the motor 1 and the mechanical load 2 combined with the motor 1 by generating the torque τm. Hereinafter, the motor 1 is referred to as a rotary motor and a term of a rotary system such as torque is used, but the motor 1 is not particularly limited to a rotary type, and may be a linear motor that generates thrust (driving force).

[0028] The motor control device...

Embodiment approach 2

[0097] In Embodiment 1, the feedback filter 104 has a second-order configuration, but a motor control device that can achieve similar effects can be realized even if it is simpler to use a single-order configuration. Figure 6 It is a block diagram of the motor control device of Embodiment 2. In addition, the configuration of the motor control device 201 of the second embodiment is the same as that of the first embodiment except for the control constant setting unit 205 and the control calculation unit 202 . The same reference numerals are assigned to the same components as those in Embodiment 1, and description thereof will be omitted.

[0098] The control calculation unit 202 includes an amplification compensation unit 103 and a feedback filter 204 . The feedback filter 204 is configured by changing the secondary feedback filter 104 in the first embodiment to a primary filter. The control constant setting unit 205 is different from the control constant setting unit 105 in ...

Embodiment approach 3

[0124] Figure 9 It is a block diagram showing the configuration of a motor control device according to Embodiment 3 of the present invention. In addition, the configuration of the motor control device 301 of the third embodiment is the same as that of the first embodiment except for the control constant setting unit 305 and the control calculation unit 302 . The same reference numerals are assigned to the same components as those in Embodiment 1, and description thereof will be omitted.

[0125] In Embodiment 1, the feedback filter 104 in the control calculation unit 102 outputs the torque command τr with the output of the amplification compensation unit 103 as input. In contrast, in the third embodiment, the feedback filter 104 in the control calculation unit 302 The filter 304 receives the detection speed vb as an input, and outputs the filter speed vbf as an intermediate variable in the control computing unit 302 .

[0126] The control calculation unit 302 includes an am...

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Abstract

In order to realize as high speed and highly precise control as possible against mechanical systems with many characteristics, a motor controlling device has a filter characteristic in which, a frequency response gain is approximately 1 when a frequency is equal to or less than a filter cutoff frequency, the frequency response gain is lowered with the increase of the frequency between a filter cutoff frequency (omega fL) and a filter upper limit frequency (omega fH) that is larger than the filter cutoff frequency (omega fL), and the frequency response gain is almost constant when the frequency is equal to or more than the filter upper limit frequency (omega fH). The motor controlling device includes a feedback filter that performs calculation to cause the filter characteristic to act on a feedback transmission function. A control constant setting unit sets a speed gain (Kv) and at least one of the filter cutoff frequency (omega fL) and the filter upper limit frequency (omega fH) so that a ratio of the filter upper limit frequency (omega fH) to the filter cutoff frequency (omega fL) becomes small with respect to the increase of the speed gain (Kv).

Description

technical field [0001] The present invention relates to a motor control device for controlling the speed and position of a motor. Background technique [0002] In the motor control device that controls the speed and position of the motor, speed PI (proportional integral) control and control using a filter to form a feedback loop are generally performed, but it needs to be set according to the characteristics of the mechanical system to be driven. Control constants for determining their characteristics are desired to be set and adjusted as easily as possible to realize high-speed and high-precision control. [0003] In response to such a demand, for example, Patent Document 1 discloses a technique related to a motor control device including a speed control unit that performs PI control, and a torque filter that generally uses a low-pass filter widely. Various control constants for setting the characteristics of these respective parts are set by specific relational expression...

Claims

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Application Information

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IPC IPC(8): H02P29/00
CPCG05B11/42G05B2219/41152G05B19/19Y10S388/91Y10S388/902G05B6/02
Inventor 池田英俊关口裕幸五十岚裕司佐野修也磯田隆司
Owner MITSUBISHI ELECTRIC CORP
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