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motor control unit

A motor control and speed control technology, applied in motor control, single motor speed/torque control, control system, etc., can solve the problems of lack of traceability, difficulty in improving the cut-off frequency of the torque filter, etc. sexual effect

Active Publication Date: 2019-08-13
SANYO DENKI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, in the motor control device described in Japanese Patent Laid-Open Publication No. 2003-84839, it is difficult to increase the cutoff frequency of the torque filter when the rigidity of the mechanical system is low.
Therefore, even if speed feed-forward correction and torque feed-forward correction are performed, sufficient tracking performance cannot be obtained

Method used

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Experimental program
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Embodiment approach 1

[0040]

[0041] figure 1 It is a block diagram of the motor control device of Embodiment 1. The motor control device 100 of the present embodiment includes a differentiator 110 , a torque feedforward unit 112 , a speed control unit 114 , a torque command filter 116 , a torque control unit 118 , and a speed calculation unit 120 .

[0042] The feedforward system of the motor control device 100 includes a differentiator 110 and a torque feedforward unit 112 . The differentiator 110 differentiates the speed command input to the motor control device 100 . The torque feedforward unit 112 calculates (generates) a torque command (first torque command) of the feedforward system based on the differentiated speed command.

[0043] In this way, the first torque command for the feedforward system is directly calculated from the speed command. Therefore, the first torque command does not contain mechanical resonance and quantization fluctuations of the encoder.

[0044] The speed cont...

Embodiment approach 2

[0058]

[0059] image 3 It is a block diagram of the motor control device of Embodiment 2. The motor control device 200 of the present embodiment includes a differentiator 222 (first differentiator), a speed feedforward unit 224 , and a position control unit 226 in addition to the same components as the motor control device 100 of the first embodiment.

[0060] The differentiator 210 (second differentiator), the torque feedforward unit 212, the speed control unit 214, the torque command filter 216, the torque control unit 218, and the speed calculation unit 220 of the motor control device 200 of the present embodiment are respectively Differentiator 110 , torque feedforward unit 112 , speed control unit 114 , torque command filter 116 , torque control unit 118 , and speed calculation unit 120 have substantially the same functions as those of motor control device 100 according to Embodiment 1. In addition, the torque feedforward in this embodiment is calculated from the spe...

Embodiment approach 3

[0080]

[0081] Figure 5It is a block diagram of the motor control device of Embodiment 3. The motor control device 300 of the present embodiment has substantially the same configuration as the motor control device 100 of the first embodiment except that the feedforward system is constituted by the mode controller 370 . The speed control unit 314, the torque command filter 316, the torque control unit 318, and the speed calculation unit 320 of the motor control device 300 according to the present embodiment respectively have a The torque command filter 116, the torque control unit 118, and the speed calculation unit 120 have substantially the same functions.

[0082] Here, the motor control device 300 of the present embodiment employed in a speed control device using a mode controller will be described. The mode controller 370 constitutes a speed control system obtained by modeling the motor control device 100 , the motor 140 , the machine 150 , and the encoder 160 accord...

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Abstract

The invention provides motor controller capable of improving instruction traceability; the motor controller (100) comprises the following elements: a differentiator differentialing externally inputted speed instruction; a torque feedforward portion (112) used for generating a first torque indication for the feedforward system according to the differential speed instruction; a speed control portion (114) used for generating a second torque indication according to deviation between the externally inputted speed indication and the speed feedback; a torque indication filter (116) used for preventing machinery resonance and encoder quantization wave of the second torque indication; an addition operation point used for carrying out addition operation for the first torque indication and the second torque indication outputted from the torque indication filter (116), thus generating a third torque indication; a torque control portion (118) using the third torque indication to control the motor motions.

Description

technical field [0001] The invention relates to a motor control device with high traceability to commands. Background technique [0002] In order to improve the productivity of machining, it is necessary to increase the speed of machining and improve the quality of machining for machines equipped with motors controlled by motor control devices (such as working machines and robots). In order to achieve high-speed processing and improve processing quality, it is necessary to improve the traceability of the motor control device to instructions. [0003] Japanese Patent Laid-Open Publication No. Hei 3-15911 describes a control method for improving followability to commands. In the control method, position feedforward correction and velocity feedforward correction are performed on the position control system and the speed control system. These corrections improve the traceability of commands. [0004] Actual machinery has low-rigidity parts (such as connectors and ball screws)...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P6/06H02P6/16H02P29/00
CPCH02P21/0003
Inventor 井出勇治北原通生山﨑悟史
Owner SANYO DENKI CO LTD
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