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motor control unit

A control device and motor technology, applied in the direction of motor control, AC motor control, electric controller, etc., can solve the problems of large deviation, delay of servo motor response, etc., and achieve the effect of quadrant protrusion suppression

Active Publication Date: 2022-02-25
PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

And, due to this inversion, the polarity of the load torque of the servo motor is reversed, so the response delay of the servo motor occurs.
That is, it is considered that the deviation between the position command from the host controller and the rotational position of the servo motor at the switching of the quadrants becomes large due to this response delay

Method used

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Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0047] figure 1 It is a block diagram of a motor control system including motor control device 10 in Embodiment 1 of the present invention.

[0048] Such as figure 1 As shown, the motor control system includes: a motor 60, which drives the connected load; a motor control device 10, which controls and energizes the motor 60; and an encoder 69, which controls the position of the movable part in the motor 60. to test. As an example of this motor control system, a system mainly for industrial use controls and drives a motor 60 such as a servo motor by using a motor control device 10 called a servo amplifier or the like. In addition, in this embodiment, as a movable part of the electric motor 60, an example of the electric motor provided with the rotor which rotates and operates is mentioned and demonstrated. In addition, an example of a motor including such a rotor will be described below, but it can also be applied to a linear motor in which a movable portion moves linearly....

Embodiment approach 2

[0092] Figure 8 It is a block diagram of the motor control system including the motor control device 70 in Embodiment 2 of this invention.

[0093] and figure 1 Compared with the motor control device 10 in this embodiment, the motor control device 70 of this embodiment further includes an observer unit 71 and a second adder 72 . In addition, the compensation signal generator 13 may also be as Figure 5 In this way, the compensation signal generation unit 131 of the compensation signal smoothing unit 53 is configured. Note that detailed descriptions of the same components as those in Embodiment 1 will be omitted, and only differences will be described.

[0094] Such as Figure 8 As shown, the observer unit 71 receives the third torque command signal Tq3 to be input to the driving unit 15 and the position detection signal Pd output from the encoder 69 . Then, the observer unit 71 estimates the load torque of the electric motor 60 based on these two signals, and outputs a ...

Embodiment approach 3

[0106] Figure 12 It is a block diagram of a motor control system including the motor control device 80 in Embodiment 3 of the present invention.

[0107] and Figure 8 Compared with the motor control device 70 in the present embodiment, the motor control device 80 of this embodiment includes a compensation signal generation unit 83 further including a compensation value calculation unit 81 . In addition, the compensation signal generator 83 may also be as Figure 5 Thus, the structure of the compensation signal smoothing unit 53 is provided. Note that detailed descriptions of the same components as those in Embodiment 2 will be omitted, and only differences will be described.

[0108] Such as Figure 12 As shown, the load torque estimation signal Tqe output from the observer unit 71 and the switching timing signal Psw from the switching timing generating unit 33 are input to the compensation value calculating unit 81 . Then, the compensation value calculation unit 81 upd...

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PUM

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Abstract

The motor control device includes a control calculation unit, a compensation signal generation unit, an adder, and a drive unit. The control calculation unit generates a first torque command signal for driving the motor through calculation processing based on the detected rotational position of the motor and the position command. The compensation signal generator generates a torque compensation signal for compensating the first torque command signal. The adder adds the signal for torque compensation to the first torque command signal and outputs it as a second torque command signal. Furthermore, the drive unit generates a drive signal for energizing and driving the winding of the motor based on the second torque command signal. Then, the compensation signal generation unit generates a signal for torque compensation that switches to a torque compensation value of a predetermined value at a switching timing based on a timing when the rotation direction of the motor is reversed.

Description

technical field [0001] The present invention relates to a motor control device mainly controlling an industrial FA servo motor. Background technique [0002] As one of the applications of an industrial FA (Factory Automation: Factory Automation) servo motor, there is a processing machine including a plurality of axes. In this kind of processing machine, for example, according to the position command from the upper controller, the servo motors in two or three axes are interlocked with each other. In order to improve the machining accuracy, the accuracy of the trajectory of the interlocking motion is important. of. [0003] Figure 14 It is a diagram showing an example of the results obtained by measuring the magnitude of the trajectory deviation in the two axes of the X axis and the Y axis using a conventional motor control device, and shows the case where a circular trajectory is drawn on the two axes The accuracy of the trajectory. As shown in the figure, a phenomenon in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P29/00H02P6/08H02P23/06H02P23/10H02P23/18H02P23/12H02P23/00G05B11/01G05B19/416
CPCG05B11/011H02P23/0004H02P23/18G05B19/416G05B2219/33086H02P23/06H02P23/10H02P23/12H02P23/14H02P2205/05H02P29/00H02P6/08
Inventor 岸本宪一
Owner PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD