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motor system

A motor and closed-loop system technology, applied in the field of motor systems, can solve problems such as characteristic response characteristic changes, motor control, etc.

Active Publication Date: 2018-06-26
SANKYO SEIKI MFG CO LTD
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, when only the integral gain Ki is reduced, the balance of the position loop gain Kp, the velocity loop gain Kv, and the integral gain Ki collapses, Figure 5 The characteristics of the closed-loop system shown (that is, the response characteristics of the motor to the rotational position command) change
In addition, when the characteristics of the closed-loop system fluctuate, it may be difficult to properly control the motor while stabilizing the motor

Method used

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other Embodiment approach

[0082] The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited thereto, and various modifications can be made without changing the concept of the present invention.

[0083] In the above-mentioned embodiment, the motor control device 4 uses the inertia pair q estimated by the adaptive identification element 21 to 0 and q 1 Make adjustments. In addition, for example, the motor control device 4 may also include a vibration detection element that detects the vibration magnitude of the moving object 2 and / or the motor 3, and based on the detection result detected by the vibration detection element, q 0 and q 1 Make adjustments. In this case, when the magnitude of the vibration detected by the vibration detection element becomes larger, the motor control device 4 decreases q 0 and q 1 .

[0084] Even in this case, even if the object 2 and the motor 3 vibrate when the inertia of the object 2 and the motor 3 increases,...

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Abstract

A motor system is capable of inhibiting vibration of a motor and the like and keeping characteristics of a closed-loop system using a rotation position instruction of the motor as input and the rotation position of the motor as output even when inertia of the motor and the like is increased and vibration is generated. When the closed-loop system using the rotation position instruction of the motor as input and the rotation position of the motor as output is expressed by a block diagram, the closed-loop system successively comprises a summing point (18), a proportional gain element, a summing point (19), an integral filtering element, a motor gain element and a motor gain which are arranged on a forward path, and a differential filtering element disposed on a second feedback path, wherein the second feedback path is connected with the summing point (19) in a negative feedback mode. A first feedback path is connected with the summing point (18) in a negative feedback mode. In the motor system, q0 and q1 are adjusted according to a detection result of an inertia detection element for detecting the inertia of the motor and the like.

Description

technical field [0001] The present invention relates to a motor system including a motor and a motor control device, wherein the motor moves an object to be moved, and the motor control device controls the motor. Background technique [0002] Conventionally, a motor control device that controls a motor by P-PI control (proportional, proportional-integral control) is known as a control device for a motor that operates a robot (for example, refer to Patent Document 1). In a motor control device that performs P-PI control, the rotational position and rotational speed of the motor are fed back, and a deviation in the rotational position is proportionally controlled, and a deviation in the rotational speed is proportional-integral controlled (PI control). [0003] In a motor system including a motor control device for P-PI control and a motor controlled by the motor control device, a block diagram represents a closed-loop system that takes the motor rotation position command as i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
Inventor 桃泽义秋伊藤彰启
Owner SANKYO SEIKI MFG CO LTD