Motor control device and method

Abstract

The invention relates to a motor control device, and provides a technology capable of adjusting control parameters between a superior system and a subordinate system. A controller (10) of a superior system (1) inputs a superior control deviation (A2) to a first controller (51), the superior control deviation (A2) being obtained by calculation based on a superior control command (A1) and a superior control response (A4), and outputs a servo control command (A3) based on a first control gain. A servo amplifier (20), which is a motor control device, has a second controller (52), a power converter (23), and a control gain estimator (27). The motor control device inputs a signal obtained on the basis of the servo control command A3 and the superior control response A4 to the second controller 52, inputs the signal output from the second controller 52 to the power converter 23, and supplies the signal output from the power converter 23 to the motor 30. A control gain estimator (27) inputs a servo control command (A3) and a superior control deviation (A2) or a superior control command (A1), and estimates a first control gain.

Description

Technical Field

[0001] The present disclosure relates to a motor control device that drives and controls a motor, and in particular to a technology such as a servo amplifier that performs servo control. Background Art

[0002] A servo amplifier (in other words, a servo driver, etc.) is a motor control device connected to a motor and has the function of performing servo control on the motor. In addition, a system or device including a motor and a servo amplifier is sometimes referred to as a servo motor, a servo motor system, etc.

[0003] There are many applications and systems that integrate servo motors. In most applications, high efficiency and high-speed response can be achieved by fitting the control parameters. However, fitting (in other words, adjusting and setting) the control parameters requires specialized knowledge and experience. In addition, even if fitting is performed by someone with specialized knowledge and experience, it may take a long time.

[0004] As an example of the prior art related to the adjustment of the control parameters of the servo motor, Japanese Patent Publication No. 2003-204689 (Patent Document 1) can be cited. In Patent Document 1, as a control device for the servo motor, the following contents are recorded: "The positioning time is also shortened in the automatic tuning", "The control gain is set accordingly according to the operation status of the servo motor, so that when the motor speed is less than a certain set speed, the position proportional gain Kp, the speed proportional gain Kv and the estimated load inertia moment J satisfy the relationship of Kp<(Kv / J) / 4", etc.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2003-204689 Summary of the invention

[0008] Technical problem to be solved by the invention

[0009] Servo amplifiers, which are motor control devices, are required to be able to more easily perform fitting and adjustment of control parameters and achieve high efficiency and high-speed response of the system.

[0010] In the prior art example shown in Patent Document 1, an example is recorded in which a servo motor system estimates and adjusts control parameters only within the system, but no method is recorded for estimating and adjusting control parameters between the servo motor system and an upper system such as an application or controller.

[0011] In the description, the servo motor system (i.e., the motor and the servo amplifier) ​​or the servo amplifier is the lower system (or lower device), and the application, controller, etc. that uses and controls the servo motor system is the upper system (or upper device). The upper system and the lower system are connected to form a whole system. In this system, the controller, etc., which is the upper system, gives instructions to the servo amplifier, which is the lower system, and the servo amplifier drives and controls the motor according to the instructions.

[0012] However, the jurisdiction of the superior system and the subordinate system is different, and there are cases where only the subordinate system can be operated. In this case, the effective range of the control parameter adjustment of the servo motor system as the subordinate system is limited to the subordinate system. In the case of adopting the method described in the prior art example, it is difficult for the servo motor system as the subordinate system to adjust the control parameters with the superior system. As an example of jurisdiction, the operator manufactures, sells, and maintains servo amplifiers. In contrast to the operator, the customer manages the superior system, such as the application, controller (such as a programmable logic controller), etc. in the manufacturing system of the factory.

[0013] In addition, there is a case where the unit system of the control parameter is different between the controller of the upper system and the servo amplifier of the lower system. In this case, it is difficult for the servo motor system as the lower system to adjust the control parameter with different unit systems. The tuning of the parameters described in the method of the prior art example is only effective when the upper system and the lower system are linked, in other words, when the upper system can also be operated, and when their unit systems are the same.

[0014] Therefore, when the upper and lower systems are under different jurisdictions and only the lower system is mainly operable, the control parameter adjustment of the servo amplifier is limited to the adjustment within the lower system, and the control parameter adjustment cannot be achieved within the range that takes the upper system into consideration. In addition, when the unit system of the upper and lower systems is inconsistent, in order to eliminate the inconsistency, there is a case where the control parameter needs to be adjusted manually, which is inefficient.

[0015] An object of the present disclosure is to provide a technology that enables adjustment of control parameters of a servo amplifier of a servo motor system, in other words, a motor control device, even between an upper system and a lower system that have different management responsibilities.

[0016] Technical means of solving problems

[0017] A representative embodiment of the present disclosure has the following structure. A motor control device of the embodiment drives and controls a motor based on a servo control instruction from a superior system, wherein the superior system has a first controller for setting a first control gain of servo control, and an superior control deviation obtained based on the operation of the superior control instruction and the superior control response is input to the first controller, and the servo control instruction obtained based on the first control gain is output, wherein the superior control response is obtained based on a signal from the motor, and the motor control device includes: a second controller for performing the servo control; a power converter that generates a signal to drive the motor; and a control gain estimator that estimates the first control gain of the first controller, the motor control device inputs a signal obtained based on the servo control instruction and the superior control response to the second controller, inputs a signal output from the second controller to the power converter, and supplies a signal output from the power converter to the motor, and the control gain estimator inputs the servo control instruction and the superior control deviation or the superior control instruction, estimates the first control gain, and outputs the estimated first control gain as a result of the estimation.

[0018] Effects of the Invention

[0019] According to a representative embodiment of the present disclosure, a servo amplifier of a servo motor system, in other words, a motor control device, can adjust control parameters even between a superior system and a subordinate system that have different management. Other problems, features, and effects are shown in the detailed embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The configuration of a system including the motor control device according to the first embodiment is shown.

[0021] Figure 2 An example of the configuration of the motor control device according to the first embodiment as a computer system is shown.

[0022] Figure 3 A configuration example of a user interface of the motor control device according to the first embodiment is shown.

[0023] Figure 4 Another configuration example of the user interface of the motor control device according to the first embodiment is shown.

[0024] Figure 5 Another configuration example of the user interface of the motor control device according to the first embodiment is shown.

[0025] Figure 6An example of screen display of a graphical user interface (GUI) of the motor control device according to the first embodiment is shown.

[0026] Figure 7 An example of a functional block configuration in the case of position control as the first control mode in the motor control device according to the first embodiment is shown.

[0027] Figure 8 An example of a functional block configuration is shown in the case of speed control as the second control mode in the motor control device according to the first embodiment (particularly, a case where the controller includes only a speed controller).

[0028] Fig. 9 An example of a functional block configuration is shown in the case of speed control as the second control mode in the motor control device according to the first embodiment (particularly, a case where the controller includes a position controller and a speed controller).

[0029] Fig.10 The following is a flow of processing related to the estimation of the control gain when the position control adopts the P control in the motor control device according to the first embodiment.

[0030] Fig.11 The following is a flow of processing related to the estimation of control gain when the position control adopts PI control in the motor control device according to the first embodiment.

[0031] Fig.12 A configuration example of a fully closed loop control as a modification of the first embodiment is shown.

[0032] Fig.13 A configuration example of sensorless control is shown as a modification of the first embodiment.

[0033] Fig.14 The configuration of a system including a motor control device according to the second embodiment is shown.

[0034] Fig.15 A processing flow regarding the estimation of the control gain when the position control adopts the P control in the motor control device according to the second embodiment is shown.

[0035] Fig.16 An example of a functional block configuration in the simulation operation mode in a modification of the second embodiment is shown. DETAILED DESCRIPTION

[0036] The following is a detailed description of the embodiments of the present disclosure with reference to the accompanying drawings. In principle, the same reference numerals are used for the same parts in the drawings, and repeated descriptions are omitted. In the drawings, in order to make the invention easier to understand, there are cases where the description of the constituent elements does not represent the actual position, size, shape, range, etc.

[0037] In terms of description, when describing the processing performed by a program, there are cases where the description is based on the program, function, processing unit, etc., but their hardware body is a processor, or a controller, device, computer, system, etc. composed of the processor, etc. The computer uses the processor to appropriately use resources such as memory and communication interface to perform processing corresponding to the program read into the memory. This realizes the specified function, processing unit, etc. The processor is composed of semiconductor devices such as CPU / MPU and GPU, etc. The processing is not limited to software program processing, and can also be implemented by a dedicated circuit. The dedicated circuit can apply FPGA, ASIC, CPLD, etc.

[0038] The program can be pre-installed as data in the target computer, or it can be distributed as data from the program source to the target computer. The program source can be a program distribution server on a communication network, or it can be a non-temporary computer-readable storage medium such as a memory card, disk, etc. The program can be composed of multiple modules. The computer system can be composed of multiple devices. The computer system can also be composed of a client-server system, a cloud computing system, an IoT system, etc. Various data and information are composed of structures such as tables and lists, but are not limited to this. Expressions such as identification information, identifiers, IDs, names, and numbers can be interchangeable.

[0039] <Implementation method 1>

[0040] use Figure 1 etc. will describe the motor control device and the like according to the first embodiment of the present disclosure.

[0041] [Overview, etc.]

[0042] like Figure 1 As shown, the system 100 as a whole is configured, for example, by connecting a controller 10 as an upper system 1 to a servo amplifier 20 (in other words, a motor control device) of a servo motor system as a lower system 2. The system 100 is, for example, a power conversion system or a manufacturing system that uses power driven by a motor to realize an action such as a manufacturing process.

[0043] The controller 10 of the host system 1 generates a host control command A1 . The controller 10 generates a servo control command A3 based on the host control command A1 , outputs and sends it to the servo amplifier 20 , and the servo amplifier 20 receives and inputs the servo control command A3 to drive and control the motor 30 .

[0044] More specifically, the controller 10 receives and inputs a response indicating the position and speed of the motor 30 as a feedback signal from the lower system 2, and uses it as the upper control response A4. The servo amplifier 20 generates and outputs a signal indicating the position and speed of the motor 30 as the upper control response A4, for example, based on an output signal output from an encoder 31 mounted on the motor 30. The controller 10 uses the operator 11 to calculate the upper control instruction A1 and the upper control response A4, thereby generating an upper control deviation A2. The controller 10 has a first controller 51 with a first control gain set, and generates and outputs a servo control instruction A3 based on the upper control deviation A2 using the first controller 51.

[0045] The servo amplifier 20 has a power converter 23 that performs power conversion for driving the motor 30 based on the servo control command A3. In addition, the servo amplifier 20 has a second controller 52 that provides a signal to the power converter 23 based on the servo control command A3. In addition, the servo amplifier 20 has a differentiator 26 that differentiates the signal from the motor 30. The operator 21 calculates the result signal A8 obtained by differentiating the signal from the motor 30 (the upper control response A4) and the servo control command A3, and the servo amplifier 20 inputs the signal A5 of the calculation result into the second controller 52. The signal A6 output from the second controller 52 is input to the power converter 23, and the signal A7 after power conversion is supplied to the motor 30.

[0046] In addition, the servo amplifier 20 has a control gain estimator 27, which estimates the first control gain of the first controller 51 based on the upper control deviation A2 and the servo control command A3. The servo amplifier 20 obtains the upper control deviation A2 or the upper control command A1. The control gain estimator 27 estimates the first control gain of the first controller 51 based on the upper control deviation A2 or the upper control command A1 and the servo control command A3, and stores and outputs a signal of the estimated control gain A10 as an estimated result.

[0047] The inventor has conceived a new mechanism for estimating the control gain in the controller 10 of the upper system 1 from the servo amplifier 20 of the lower system 2. The motor control device of the first embodiment is the servo amplifier 20 of the lower system 2, which estimates the control gain of the first controller 51 as the control parameter in the controller 10 of the upper system 1. The motor control device of the first embodiment and the user U1 can use the estimated control gain A10 to adjust the control parameter in the servo amplifier 20 or the control parameter of the entire system 100 including the upper system 1 and the lower system 2.

[0048] [System including motor control device]

[0049] Figure 1The overall configuration of a system including the motor control device according to the first embodiment is shown. Figure 1 The system 100 includes an upper system 1, a lower system 2, and a control target system 3. The upper system 1 includes a controller 10. The lower system 2 includes a servo amplifier 20, which is the motor control device of the first embodiment, and a motor 30 electrically connected to the servo amplifier 20. The control target system 3 includes a control target device 35 electrically connected to the motor 30.

[0050] Most of the controller 10 of the upper system 1 and the servo amplifier 20 of the lower system 2 are implemented by software program processing. The controller 10 can be implemented by a programmable logic controller, for example.

[0051] The control target device 35 is a driving body driven by the motor 30. The control target device 35 may be, for example, industrial equipment installed in a customer's factory. Figure 1 In the embodiment, the motor 30 is provided with an encoder 31 such as a rotary encoder as a sensor. In addition, the controlled device 35 may not be provided with a sensor such as an encoder (modification example described later).

[0052] In the first embodiment, the upper system 1 and the lower system 2 are under different jurisdictions, the upper system 1 is managed by the customer, and the lower system 2 is managed by the operator. The operator manufactures, sells, and maintains the servo amplifier 20. The operator's user U1 adjusts the control parameters of the servo amplifier 20. In principle, the operator cannot operate the controller 10 of the customer's upper system 1, etc.

[0053] The controller 10 of the host system 1 is, in other words, a host control device. The controller 10 corresponds to a control unit of the system 100 in which the servo amplifier 20 and the motor 30 are integrated, and provides a servo control command A3 to the servo amplifier 20 .

[0054] The servo amplifier 20 is a motor control device that servo-controls the motor 30 based on a servo control command A3 from the controller 10 , and corresponds to a power conversion device that converts electric power supplied from commercial power (not shown) into electric power supplied to the motor 30 .

[0055] The motor 30 may be any motor of any specific type and structure as long as the speed thereof can be adjusted by the servo amplifier 20 which is a power conversion device. For example, an induction motor, a PM motor, a linear motor, etc. may be applied.

[0056] The servo amplifier 20 and the motor 30 have structures corresponding to each other. The servo amplifier 20 has control parameter settings corresponding to the structure of the motor 30. The control parameters set inside the servo amplifier 20 are parameters required for driving and controlling the motor 30.

[0057] In addition, the business operator may provide the customer with only the servo amplifier 20 as a product, or may provide the customer with a product in which the servo amplifier 20 and the motor 30 are integrally formed as a servo amplifier system.

[0058] Figure 1 The lower system 2 in the system 100 is equivalent to a motor control system with a semi-closed loop control structure. The semi-closed loop control structure obtains a signal ( Figure 1 The upper control response A4 in the structure is a structure that controls the motor 30 by receiving a signal from the control target device 35 instead of the motor 30. Figure 1 The semi-closed loop control structure shown can be similarly applied to a full-closed loop control structure as described in a modified example to be described later.

[0059] in addition, Figure 1 In the embodiment, a three-phase AC configuration is used between the servo amplifier 20 and the motor 30 for power conversion. However, when feedback control is used as control of the motor 30, the power conversion is not limited to the three-phase AC configuration.

[0060] Specifically, the controller 10 may have a position control function (described later). Figure 7 ) and with speed control function (described later Figure 8 and Fig. 9 The servo amplifier 20 has a function capable of coping with any of the above situations.

[0061] The system 100 including the servo amplifier 20 includes a user interface 40. The user interface 40 has a function of monitoring a predetermined object and object information (at least the upper control deviation A2 and the estimated control gain A10) of the system 100. In addition, the user interface 40 has a function of enabling the setting of the control gain estimator 27 based on the operation of the user U1.

[0062] The user interface 40 is an interface for the user U1 who uses the servo amplifier 20. The user U1 is, for example, a person in the business who performs maintenance and management of the servo amplifier 20, and in particular, a person who fits and adjusts the control parameters of the servo amplifier 20 according to the customer's controller 10 and the entire system 100.

[0063] The controller 10 includes a calculation unit 11 and a first controller 51 as a feedback controller. The controller 10 includes a processor, a memory, a communication interface device, etc. (not shown), and the calculation unit 11 and the first controller 51 are realized by program processing executed by the processor.

[0064] like Figure 1 As shown, the servo amplifier 20 in the first embodiment is roughly configured to include a control gain estimator 27 in addition to the motor control system, namely, the arithmetic unit 21, the second controller 52, and the power converter 23. The control gain estimator 27 is a part having the function of estimating the control gain set in the first controller 51 of the controller 10 of the host system 1.

[0065] right Figure 1 The controller 10 generates an upper control instruction A1. The upper control instruction A1 is, for example, an instruction for positioning the motor 30 in the position control of the motor 30.

[0066] The controller 10 inputs the upper control response A4 from the servo amplifier 20. The upper control response A4 is a response signal indicating the current position, speed, etc. of the motor 30 obtained based on the signal from the encoder 31. The controller 10 uses the operator 11 to perform operations on the upper control instruction A1 and the upper control response A4. For example, the operator 11 performs operations to add the upper control response A4 indicated by the input of "-" (negative) to the upper control instruction A1 indicated by the input of "+" (positive) in the figure, and outputs the upper control deviation A2 as the operation result. The upper control deviation A2 is a signal indicating an error in feedback control.

[0067] The controller 10 inputs the upper control deviation A2 as an input value through the first controller 51, and outputs the servo control instruction A3 as an output value. The upper control deviation A2 is multiplied by the control gain (in other words, the feedback gain) of the first controller 51, thereby generating the servo control instruction A3. The servo control instruction A3 output from the first controller 51 of the controller 10 is sent to the servo amplifier 20 and input into the servo amplifier 20. Figure 1 In the embodiment, the servo control command A3 is output from the output terminal N3 of the controller 10 and is input to the input terminal N6 of the servo amplifier 20 .

[0068] The servo amplifier 20 inputs the servo control instruction A3 received from the controller 10. The servo amplifier 20 obtains the result signal A8 obtained by differentiating the superior control response A4 by the differentiator 26. The servo amplifier 20 uses the operator 21 to operate the servo control instruction A3 and the signal A8, and uses the operation result signal A5 as the instruction input to the second controller 52. The operator 21 performs an operation, adds the signal A8 represented by the input "-" (negative) to the servo control instruction A3 represented by the input "+" (positive) in the figure, and outputs the signal A5 as the operation result. The second controller 52 outputs the controlled result signal A6 based on the input of the signal A5. The power converter 23 generates and outputs the three-phase AC signal A7 for driving the motor 30 based on the signal A6 and the supplied electric power. The motor 30 is driven based on the signal A7.

[0069] The feedback signal fed back from the motor 30 to the controller 10 and the servo amplifier 20 is generated using the encoder 31 of the motor 30 and the differentiator 26. The differentiator 26 corresponds to a speed detector. Figure 1 In the example, the upper control response A4 is output from the output terminal N7 of the servo amplifier 20 and is input from the input terminal N8 of the controller 10 .

[0070] The control gain estimator 27 inputs the servo control instruction A3 and Figure 1 In the example of , the superior control deviation A2 or the superior control instruction A1 is input. The control gain estimator 27 performs calculations, for example, to estimate the control gain of the first controller 51 based on the superior control deviation A2 and the servo control instruction A3, and outputs an estimated control gain A10 as a signal of the estimated control gain as a result of the calculation. For the purpose of explanation, the estimated control gain is referred to as the estimated control gain. The control gain estimator 27 stores the estimated control gain A10 in a memory resource within the servo amplifier 20.

[0071] In addition, the user interface 40 monitors the estimated control gain A10 obtained by the control gain estimator 27. For example, Figure 3 The application 41 obtains the estimated control gain A10 output from the control gain estimator 27 and stores it in the memory resource of the computer 42 .

[0072] In addition, the user interface 40 may also monitor the upper control deviation A2 or the upper control instruction A1 of the controller 10. Figure 3 The application 41 can obtain the upper control deviation A2 from the output terminal N2 of the controller 10. In addition, the user interface 40 (for example, the application 41) can send the upper control deviation A2 obtained by monitoring to the control gain estimator 27. Alternatively, the user interface 40 can obtain the upper control deviation A2 obtained by the control gain estimator 27 from the control gain estimator 27.

[0073] [Computer system of servo amplifier]

[0074] Figure 2 2 shows a configuration example of a computer system of the servo amplifier 20. The servo amplifier 20 includes a processor 201, a memory 202, a communication interface device 203, a bus 204, and the like. Figure 1 The power converter 23 is implemented by program processing and circuits, and the other parts are implemented by program processing.

[0075] The processor 201 executes processing corresponding to the control program 221 of the memory 202, in other words, software program processing and calculation processing. Figure 1 The arithmetic unit 21, the second controller 52 and the control gain estimator 27 in the servo amplifier 20 (excluding the circuit of the power converter 23) are configured as execution modules in the servo amplifier 20 by executing the program processing.

[0076] The memory 202 stores a control program 221, setting information 222, and processing data 223. The control program 221 is a computer program that executes a predetermined process in order to realize a predetermined function of the servo amplifier 20. The setting information 222 is setting information about the control program 221 and setting information about control parameters (e.g., control gain of a speed controller) of the servo amplifier 20. The processing data 223 is data and information that the processor 201 appropriately uses in processing.

[0077] The communication interface device 203 is a part that realizes a communication interface with the controller 10 , a communication interface with the user interface 40 , and the like.

[0078] The servo amplifier 20 in the first embodiment includes programs for each function ( Figure 2 The control program 221 in the servo amplifier 20 executes the processing of the program corresponding to the selected function. In addition, each program can be pre-installed in the servo amplifier 20, or can be appropriately read from the outside of the servo amplifier 20, such as from an external storage medium and an external server device.

[0079] [Feedback control method (servo control)]

[0080] exist Figure 1 In the system 100, the servo control method and feedback control method in the motor control system including the first controller 51 of the controller 10 and the second controller 52 of the servo amplifier 20 are preset. The servo control method here refers to the category and type of control such as the usual position control and speed control, and the feedback control method is the method such as P control and PI control (described later).

[0081] Regarding the estimation of the control gain in the control gain estimator 27, the feedback control method of the first controller 51 or the like is a prerequisite for the estimation. In the example of the first embodiment, the feedback control method (control mode described later) is selected and set in advance by the user U1 using the user interface 40. The application 41 of the user interface 40 (described later) Figure 3 ) also has the function of setting the feedback control method. Correspondingly, the control gain estimator 27 has the function of estimating the control gain of the first controller 51 in the set feedback control method.

[0082] [User Interface]

[0083] Figure 3 4 shows a configuration example of the user interface 40. In the example of the first embodiment, the application 41 of the servo amplifier 20 is provided as the user interface 40. The application 41 is an application program that provides a graphical user interface (GUI) and the like to the user U1 who uses the servo amplifier 20, in other words, a servo amplifier application. The application 41 is built in and installed in a computer 42 such as a PC connected to the servo amplifier 20, for example. The application 41 is equivalent to an application program that implements a GUI that has a function of setting control parameters for the servo amplifier 20.

[0084] Application 41 composition Figure 3 The user interface 40 provides a screen with a GUI based on the operation of the user U1, and has the function of setting and monitoring the control gain estimator 27 through the screen, and the function of inputting an estimating execution instruction, etc. The user U1 can use the GUI screen (described later) provided by the application 41 to Figure 6 ) to perform various instructions and setting operations.

[0085] The application 41 of the user interface 40 has a function of monitoring the signal of the upper control deviation A2 of the controller 10, and a function of outputting / monitoring the estimated control gain A10 of the control gain estimator 27 of the servo amplifier 20. In addition, the application 41 of the user interface 40 has a function of being able to display and confirm various parameter values ​​related to the servo amplifier 20 and the motor 30. Furthermore, the application 41 of the user interface 40 more preferably has a function of monitoring the control state, abnormality, etc. of the motor 30, for example, a function of monitoring the signal such as the upper control response A4.

[0086] Figure 3 In the configuration example, there is a computer 42 composed of a PC, etc., and the computer 42 includes a processor 301, a memory 302, a communication interface device 303, an input / output interface device 304, a bus 305, etc. The processor 301 executes processing corresponding to the control program 321 of the memory 302. Thus, the application 41 is realized. The application 41 runs as an execution module.

[0087] The memory 302 stores a control program 321, setting information 322, screen data 323, and the like. The control program 321 is a computer program that performs a predetermined process in order to make the computer 42 perform a predetermined function, and includes a program of the application 41. The setting information 322 is setting information and user setting information about the control program 321. The screen data 323 is data and information of a GUI screen, etc., provided by the application 41 to the user U1.

[0088] The communication interface device 303 is a part that realizes the communication interface with the servo amplifier 20 and the communication interface with the controller 10 in the case of communication with the controller 10. An input device 306 and an output device 307 are connected from the outside to the input / output interface device 304. The input device 306 is, for example, a keyboard, a mouse, a microphone, etc. The output device 307 is, for example, a display, a printer, a speaker, etc. In addition, the input / output device may be built into the computer 42.

[0089] Figure 3 The computer 42 is connected to the servo amplifier 20 through communication, and can be configured close to or remotely. In addition, the computer 42 can also be connected to the client terminal device used by the user U1 through communication. That is, the user interface 40 can be configured as a client server system between the server, i.e., the computer 42, and the client terminal device of the user U1, with the computer 42 as the server device. In this case, the user U1 operates the client terminal device to access the server, i.e., the computer 42, and uses the application 41 of the computer 42. The server, i.e., the computer 42, generates the screen of the application 41 and sends the screen data, etc. (such as a web page) to the client terminal device. The client terminal device displays the GUI screen on the display based on the received screen data, etc.

[0090] Alternatively, you can also use Figure 3 The application 41 is integrated into the servo amplifier 20.

[0091] Figure 4 40 shows another example of the structure of the user interface 40. Figure 4 As shown in the example of FIG. 4 , the user interface 40 can be realized by a dedicated digital operator 43 attached to or built into the servo amplifier 20. The digital operator 43 is provided as an input / output interface and an operation interface of the servo amplifier 20, and has an operation panel, operation buttons, etc. The digital operator 43 has, for example, a liquid crystal display screen, buttons, LED lights, etc. In addition, the digital operator 43 can also have a touch panel, etc. Figure 4 In the example of FIG. 4 , the functions of the user interface 40 are realized in the digital operator 43. The digital interface 43 and Figure 1 , Figure 2The constituent elements of the servo amplifier 20 are connected.

[0092] The digital operator 43 can display GUI and information on a liquid crystal display screen or a touch panel screen. For example, monitoring values ​​such as the upper control deviation A2 and output information such as the estimated control gain A10 are displayed on the screen of the digital operator 43, and the user U1 can view and confirm such information.

[0093] Figure 5 40 shows another example of the structure of the user interface 40. Figure 5 As shown in the example of FIG. 1 , the controller 10 of the host system 1 may be provided with an externally connected or built-in user interface 40 . Figure 5 In the example of FIG. 4 , there is a computer 44 connected to the controller 10 of the upper system 1 from the outside via a communication network 45. The communication network 45 may be a LAN or a WAN. An application 46 is installed in the computer 44 managed by an operator or a customer. The structure of the computer 44 is similar to Figure 3 The computer 42 can also be implemented by a PC, etc., and has a processor 441, a memory 442, a communication interface device 443, etc., and detailed illustration is omitted. Figure 5 In the example of FIG. 4 , the application 46 of the computer 44 communicates with the controller 10 and monitors information from the controller 10 , such as the superior control deviation A2 .

[0094] Furthermore, the controller 10 may acquire information, for example, the estimated control gain A10 , from the servo amplifier 20 through communication and transmit the information to the computer 44 .

[0095] As another configuration example of the user interface 40 , a similar application may be installed in a computer that is connected to both the controller 10 and the servo amplifier 20 through communication.

[0096] [GUI screen display example]

[0097] Figure 6 The application 41 (eg Figure 3 ) is an example of a GUI screen displayed to the user U1. Figure 6 The screen is configured and provided in the form of, for example, a Web page, but is not limited to this. Figure 6 In the example of the screen, there are items 601, 602, 603, button 604, item 605, 606, button 607, item 608, 609. In item 601, "mode" can be selected as one of the control modes. Here, "mode" is equivalent to the function of embodiment 1 and the function of embodiment 2 described later. In this example, "mode = 1" is selected.

[0098] Item 602 allows selection of one of position control and speed control (described later). Item 603 allows selection of control gain of the estimation target (described later). For example, when the user U1 operates the cursor as shown in the figure, a list box is displayed by pulling down item 603, and P control and PI control are displayed as options in the list box, from which selection and input can be made. Button 604 is an estimation start button, which allows input of an instruction to execute control gain estimation in a specified manner, control, and control gain.

[0099] Items 605 and 606 are items for displaying the estimated results of the control gain obtained by the control gain estimator 27 (i.e., the estimated control gain A10). The estimated P gain is displayed in item 605, and the estimated I gain (described later) is displayed in item 606. In addition, button 607 is a button for switching to a screen for setting and adjusting the control parameters of the servo amplifier 20. For example, when the user U1 sees the control gain estimation result and wants to adjust the control parameters, he presses button 607, and can confirm and adjust the control parameters of the servo amplifier 20 (such as the control gain of the speed controller) on the screen that is not shown.

[0100] Items 608 and 609 are items for displaying the monitoring values ​​of the monitoring function, with the value of the servo control command A3 being displayed in item 608 and the value of the upper control deviation A2 being displayed in item 609. The display of the monitoring values ​​may directly display the values ​​at each time point or may display a time series graph or the like.

[0101] [Monitoring function of the upper control deviation A2]

[0102] Regarding the function of monitoring the upper control deviation A2, as a first implementation example, the servo amplifier 20 automatically monitors the upper control deviation A2 and stores it only in the memory resource, and a structure that does not output the monitoring value to the user U1 can be adopted. Figure 1 In the example, the upper control deviation A2 flowing through the node before inputting the first controller 51 on the output side of the arithmetic unit 11 of the controller 10 is output from the output terminal N2, the signal of the upper control deviation A2 is input to the input terminal N5 of the servo amplifier 20, and the signal of the upper control deviation A2 is input to the control gain estimator 27. The control gain estimator 27 (the entity in the implementation is Figure 2 The processor 201 of the embodiment temporarily stores the signal of the superior control deviation A2 in the memory resource ( Figure 2 The data is stored in the memory 202) and then used for inference calculation.

[0103] As a second implementation example, the monitoring value of the superior control deviation A2 may be output to the user U1. Figure 3The application 41 of the user interface 40 monitors the signal of the upper control deviation A2 of the controller 10 through the output terminal N2. The application 41 of the user interface 40 can send the signal of the upper control deviation A2 obtained by monitoring to the control gain estimator 27 of the servo amplifier 20. The control gain estimator 27 receives and inputs the signal of the upper control deviation A2 for estimation operation. In addition, the application 41 of the user interface 40 displays the value of the signal of the upper control deviation A2 obtained by monitoring on the GUI screen ( Figure 6 )superior.

[0104] [Control gain estimator input information]

[0105] The information input to the control gain estimator 27, in other words, a signal or a parameter value, is basically two pieces of information, namely, the servo control command A3 and the upper-level control deviation A2. Figure 1 In the embodiment, the servo control command A3 is directly obtained as an output from the controller 10. For example, the servo control command A3 output from the output terminal N3 of the controller 10 is input from the input terminal N6 of the servo amplifier 20, and the input servo control command A3 is input to the control gain estimator 27. As described above, the upper control deviation A2 is obtained by, for example, inputting the output from the output terminal N2 of the controller 10 from the input terminal N5. Alternatively, as described above, the upper control deviation A2 may also be obtained through monitoring of the user interface 40.

[0106] As a modified example of the input to the control gain estimator 27, the following method may be adopted. In the modified example, the upper control instruction A1 is used instead of the upper control deviation A2 as one of the information monitored and inputted from the controller 10 by the servo amplifier 20 or the user interface 40. For example, the servo amplifier 20 inputs and obtains the upper control instruction A1 outputted from the output terminal N1 of the controller 10 from the input terminal N4. For example, the control gain estimator 27 inputs the upper control instruction A1 inputted from the input terminal N4 and stores it in the memory resource. Alternatively, similarly to the case of the upper control deviation A2, the upper control instruction A1 may be temporarily monitored and obtained from the controller 10 by the application 41 of the user interface 40, and the upper control instruction A1 may be sent to the servo amplifier 20, and the upper control instruction A1 may be obtained by the control gain estimator 27.

[0107] On the other hand, the upper control response A4 is also obtained as an output from the encoder 31 of the motor 30 in the servo amplifier 20. The control gain estimator 27 obtains the signal of the upper control response A4. The servo amplifier 20, in particular, the control gain estimator 27 performs calculations (the same calculations as the calculation unit 11) on the obtained upper control instruction A1 and the upper control response A4, and can obtain the same value as the above-mentioned control deviation A2 (referred to as the upper control deviation calculated value for the purpose of explanation). Then, the control gain estimator 27 can use the upper control deviation calculated value and the servo control instruction A3 as two items as inputs to perform the control gain estimation calculation in the same manner.

[0108] Figure 1 , a configuration example in which both the upper control deviation A2 and the upper control instruction A1 can be output and input between the controller 10 and the servo amplifier 20 is illustrated, but as described above, only one of them may be output and input. Figure 1 The communication 48 between the controller 10 and the servo amplifier 20 is shown as communication via input / output terminals (output terminal N3, input terminal N6, etc.), including communication connected by a communication cable, but the present invention is not limited to this. Figure 1 The input and output terminals of various signals can also be gathered into a smaller number of terminals as communication terminals corresponding to the communication interface.

[0109] [Servo control]

[0110] Next, regarding the servo control in the servo amplifier 20 of the motor control device of the first embodiment, examples of using P control and PI control for position control will be described in sequence. Figure 7 ), the first controller 51 is equivalent to a position controller, and the control gain in the position control is set. The control gain estimation method described below is used in the case of speed control (described later). Figure 8 The same can be applied in the following cases.

[0111] [Position control and speed control]

[0112] In the first embodiment, position control and speed control are used in a broad sense. Position control in a broad sense refers to the control of the position, speed, and current of the motor 30. Speed ​​control in a broad sense refers to the control of the speed and current of the motor 30. In other words, in the first embodiment, regarding the servo control of the motor 30 by the controller 10 and the servo amplifier 20, there are two cases, wherein in the first case, the controller 10 has a position control function in a narrow sense (position controller), and the servo amplifier 20 has a speed control function (speed controller) and a current control function (described later). Figure 7), in the second case, the controller 10 has a narrow speed control (speed controller) function, and the servo amplifier 20 has a current control function. Furthermore, in the second case, there is a case where the controller 10 only has a speed control (speed controller) function (described later). Figure 8 ), the controller 10 has a position control (position controller) function and a speed control (speed controller) function (described later) Fig. 9 ) These two types can be either one. They depend on the structure of the upper system 1. Figure 7 and Fig. 9 Equivalent to generalized position control, Figure 8 Equivalent to generalized speed control.

[0113] In the first embodiment, the servo amplifier 20 has a function of being able to select a control content from position control and speed control to be used as the control content of the controller 10. This function is implemented by, for example, the application 41 ( Figure 3 ) is implemented. In the first embodiment, the servo amplifier 20 and the user interface 40 have a first control mode corresponding to position control and a second control mode corresponding to speed control as control modes. The user U1 can select and set the first control mode corresponding to position control and the second control mode corresponding to speed control through the GUI screen ( Figure 6 Item 602). In other words, these control modes are modes for selecting the control contents and controllers (position controller and speed controller) of the controller 10. The first control mode corresponding to the position control is when the controller 10 has the position control ( Figure 7 The second control mode corresponding to the speed control is a mode in which the controller 10 has the speed control ( Figure 8 and Fig. 9 Mode to be applied when the speed controller 51B) function is in operation.

[0114] In the first embodiment, the servo amplifier 20 switches and executes the program processing corresponding to the control mode that is instructed and set. Figure 1 In the structure of , the structure of the execution module becomes, for example Figure 7 A position control structure (corresponding to the first case where the controller 10 has the position controller 51A, the servo amplifier 20 has the speed controller 52B), or for example Figure 8 The speed control structure (corresponding to the second case where the controller 10 has only the speed controller 51B, the servo amplifier 20 has the current controller 52C).

[0115] [P control and PI control]

[0116] In the first embodiment, P control and PI control are used as feedback control methods in the servo control of the motor 30 by the controller 10 and the servo amplifier 20 .

[0117] P control is proportional control (P: abbreviation of Proportion) in PID control, which is a control that performs an operation proportional to the error. Figure 1 The difference between the superior control instruction A1 and the superior control response A4 is the superior control deviation A2. The operation is an operation in which the error is multiplied by the control gain of the first controller 51 and the result is used as the operation amount.

[0118] PI control is a proportional integral control that combines P control in PID control with I control (I: Integral). I control is a control that performs error integration operation. The operation is an operation in which the error (upper control deviation A2) is integrated and multiplied by the control gain to obtain the result as the operation amount.

[0119] [First control mode: position control]

[0120] Figure 7 Indicated in Figure 1 Based on the structure, as the first control mode, the controller 10 has a functional module structure in the case of a position control function. In addition, Figure 7 Omitted Figure 1 30 , encoder 31 , controlled device 35 , user interface 40 , etc. are shown in FIG. Figure 7 In the case where the position control of the motor 30 is performed by the controller 10 of the upper system 1, the first controller 51 is configured as a position controller 51A. The servo amplifier 20 of the lower system 2 performs the speed and current control after the position control in the overall position control (control of position, speed and current). Therefore, in the servo amplifier 20, the second controller 52 is configured as a speed controller 52B. The power converter 23 includes current control. In addition, the current control adopts the general vector control.

[0121] Figure 7 In the embodiment, the overall position control mainly includes two elements, namely, the position controller 51A and the speed control system (including the speed controller 52B), and these elements are controlled sequentially.

[0122] In the controller 10, based on the control deviation A2 obtained from the upper control command A1 and the upper control response A4, the servo control command A3, which is the result of position control by the position controller 52A, is output and input to the servo amplifier 20. In the servo amplifier 20, the upper control response A4 obtained based on the signal from the encoder 31 of the motor 30 is differentiated by the differentiator 26 to obtain the differentiated result signal A8. In the servo amplifier 20, the servo control command A3 and the signal A8 are calculated by the operator 21, and the calculated result signal A5 is input to the speed controller 52B. In the speed controller 52B, the calculation including speed control and torque conversion is performed based on the signal A5 to obtain the calculated result signal A12 (current command value).

[0123] In the first control mode, the control gain estimator 27 inputs the servo control command A3 and the upper control deviation A2, estimates the P gain of the position controller 51A, and stores and outputs it as the estimated P gain (estimated control gain A10).

[0124] [Second control mode: speed control]

[0125] Figure 8 A first example of a functional block configuration in which the controller 10 has speed control as the second control mode is shown. Figure 8 , as a first example of the second control mode, a control structure in the case where the controller 10 does not include a position controller and the controller 10 has only a speed control (speed controller 51B) function is shown.

[0126] In addition, if Fig. 9 As shown in FIG. 1 , as a second example, the second control mode also has a case where the controller 10 has a position / speed control system (position controller 51A and speed controller 51B). In this second example, the first controller 51 is a speed controller 51B, and the second controller 52 is a current controller 52C of the current control system 80. Figure 8 situation and Fig. 9 The case is essentially the same, so the following mainly uses Figure 8 Provide explanation.

[0127] The gain estimation in the second control mode is the estimation of the gain of the speed controller 51B of the controller 10. As a controller structure below speed control, there are two elements, namely, the speed controller 51B and the current control system 80. The current control system 80 includes the operator 22, the current controller 52C, and the power converter 23. The current control system 80 has a current control loop, which is composed of general vector control and performs operations such as orthogonal coordinate transformation and two-phase three-phase transformation. Figure 8Only the loop is shown in the figure, and the orthogonal coordinate transformation and two-phase three-phase transformation and other processing are omitted. In the second control mode, the first controller 51 in the controller 10 is shown as a speed controller 51B. In the second control mode, the servo amplifier 20 is configured as a current control system 80 for current control. The second controller 52 is shown as a current controller 52C.

[0128] In the servo amplifier 20, the signal A4a from the encoder 31 of the motor 30 is differentiated by the differentiator 26 (26C) in the controller 10 to become the signal A4b indicating the position and speed of the motor 30, and the signal A4b is input to the arithmetic unit 11 of the controller 10 as the upper control response. The arithmetic unit 11 calculates the upper control instruction A21 and the signal A4b, and as the calculation result, the signal A22 equivalent to the upper control deviation is input to the speed controller 51B. The speed controller 51B performs the speed control calculation based on the signal A22 and outputs it as the servo control instruction A11.

[0129] In the servo amplifier 20, the servo control command A11 is input to the current control system 80. The servo control command A11 is equivalent to the current command value. In the current control system 80, the operator 22 operates the signal A11 and the signal A7b, generates the operation result signal A12, and inputs it to the current controller 52C. In the current controller 52C, the result signal A13 after the current control based on the signal A12 is obtained, and is input to the power converter 23. The current controller 52C includes a torque conversion, and the signal A7b output by the power converter 23 is equivalent to the current response value after the three-phase / two-phase conversion.

[0130] In the second control mode, the control gain estimator 27 receives a signal A22 corresponding to the upper control deviation of the preceding stage of the speed controller 51B and a signal A11 (servo control command) of the speed control result of the speed controller 51B. The control gain estimator 27 estimates the control gain of the speed controller 51B using the signal A22 and the signal A11.

[0131] in addition, Figure 8 In the embodiment, the signal A22 and the signal A11 are input to the control gain estimator 27 , but the present invention is not limited to this. The user interface 40 may be used, for example, to monitor the signal A21 and send the signal A21 obtained by monitoring to the control gain estimator 27 .

[0132] In the second control mode, the control gain estimator 27 receives the signal A22 and the signal A11 as input, estimates the control gain of the speed controller 51B, and stores and outputs the estimated control gain A10.

[0133] in addition, Fig. 9In the controller 10, from the input side, the operator 11A, the position controller 51A, the operator 11B, and the speed controller 51B are provided. The operator 11A operates the upper control instruction A21 and the upper control response A4a to obtain the upper control deviation A22. The position controller 51A inputs the upper control deviation A22, and outputs the result signal A23 obtained by the position control operation. The operator 11B operates the output signal A23 of the position controller 51A and the result signal A4b obtained by the differentiator 26 (26C), and obtains the signal A24. The speed controller 51B inputs the signal A24, and outputs the result signal after the speed control operation as the servo control instruction A11. The control gain estimator 27 inputs the signal A24 and the servo control instruction A11, and estimates the control gain of the speed controller 51B.

[0134] [Processing flow in case of P control]

[0135] The case of P control among position control will be described. Figure 7 The first controller 51 is a position controller 51A and adopts P control. The control gain estimator 27 obtains the value from the memory resource (e.g. Figure 2 The memory 202) reads the servo control instruction A3 and the upper control deviation A2, and performs calculation processing for estimating the control gain of the first controller 51.

[0136] User U1 uses the application 41 of the user interface 40 to Figure 6 In the GUI screen shown, the first control mode, i.e., position control (item 602), is selected, and P gain is selected as the control gain of the estimated object corresponding to the feedback control method (item 603). Then, the control gain estimator 27 estimates the position controller 51A ( Figure 7 )’s P gain processing.

[0137] Fig.10 FIG. 2 is an example of a processing flow of the control gain estimator 27 , which shows a processing flow in the case where a P gain is estimated, calculated, and derived when the position control adopts P control. Fig.10 The processing flow of the control gain estimator 27 (entity is Figure 2 An example of a part of the processing actions that can be performed by the processor 201) includes steps S11 to S15.

[0138] In step S11, the control selection function of the servo amplifier 20 (a part of the application 41 of the user interface 40) is used, for example, based on the operation of the user U1. Figure 6 Select position control on the GUI screen and select P control to instruct and input the start of the estimation process (button 604).

[0139] In step S12, the controller 10 generates and inputs the upper control instruction A1, and obtains the upper control deviation A2 as the calculation result of the upper control instruction A1 and the upper control response A4 (here, the position response). The upper control instruction A1 is equivalent to the position instruction value. The upper control response A4 is equivalent to the position response value. The upper control deviation A2 is equivalent to the position deviation value.

[0140] The controller 10 uses the position controller 51A to output a servo control command A3 based on the upper control deviation A2. The servo control command A3 corresponds to the speed control command. The position controller 51A multiplies the position deviation value by the P gain to generate a speed command value.

[0141] In step S13, the control gain estimator 27 of the servo amplifier 20 obtains and inputs the upper control deviation A2 (position deviation value) and the servo control command A3 (speed command value) from the controller 10, and stores them in the memory resource. Figure 1 Similarly, the information can be acquired by monitoring through the user interface 40, and can also be output to the user U1.

[0142] In step S14, the control gain estimator 27 estimates the P gain of the position controller 51A by dividing the servo control command A3 (speed command value) by the upper control deviation A2 (position deviation value), and stores and outputs the estimated P gain as the estimated control gain A10. In other words, the estimated P gain is obtained based on a ratio value such as the calculation formula [speed command value] / [position deviation value].

[0143] After that, the servo amplifier 20 and the user U1 can use the estimated P gain arbitrarily. In particular, the user U1 can use the GUI screen ( Figure 6 ) to confirm the estimated P gain (item 605), and the control parameters in the servo amplifier 20 can be adjusted using the estimated P gain (button 607). For example, the estimated P gain can be used to adjust the control parameters in the servo amplifier 20. Figure 7 The speed controller 52B and the current control parameters are set to appropriate values. Even if the user U1 does not know the actual P gain of the position controller 51A in the controller 10 of the host system 1, the user U1 can appropriately adjust the control parameters of the servo amplifier 20 by using the estimated P gain.

[0144] [Processing flow in case of PI control]

[0145] This section explains the PI control in position control. Figure 7 The first controller 51 is a position controller 51A and adopts an example of PI control. The user U1 uses the application 41 of the user interface 40 in the example Figure 6 In the screen shown, the first control mode, i.e., position control, is selected (item 602), and PI gain is selected as the control gain of the estimation object corresponding to the feedback control method (item 603). In addition, PI gain includes P gain and I gain. The control gain estimator 27 estimates the PI gain. Figure 7 2 shows the case of a P gain and an estimated P gain. In the case of PI control, a PI gain (P gain and I gain) is set in the position controller 51A, and the control gain estimator 27 estimates the PI gain (P gain and I gain).

[0146] Fig.11 FIG. 2 is an example of a processing flow of the control gain estimator 27 , and shows a processing flow in the case where the PI gain is estimated, calculated, and derived when the position control adopts the PI control. Fig.11 The process flow shows the control gain estimator 27 (the entity is Figure 2 An example of a part of the processing actions that can be performed by the processor 201) includes steps S21 to S28.

[0147] In step S21, the PI control is selected in the position control by using the control selection function of the servo amplifier 20, and an instruction is input to start the execution of the estimation process.

[0148] In step S22, the controller 10 obtains the position deviation value as the upper control deviation A2 based on the position command value as the upper control command A1 and the position response value as the upper control response A4, as described above. Based on the position deviation value, the controller 10 uses the position controller 51A to output the speed command value as the servo control command value A3. The servo amplifier 20 inputs and obtains the position deviation value as the upper control deviation A2 and the speed command value as the servo control command value A3 from the controller 10, and stores them in the memory resource. In step S22, in particular, at the initial timing and cycle (set as T = [0]), the control gain estimator 27 inputs and stores the upper control deviation [0] (= position deviation value [0]) and the servo control command [0] (= speed command value [0]). The above timing and cycle are time units in feedback control.

[0149] In step S23, the control gain estimator 27 inputs and stores the upper control deviation [1] (=position deviation value [1]) and servo control command [1] (=speed command value [1]) updated in the next cycle (set as T=[1]).

[0150] In the loop of step S24 and step S25, the control gain estimator 27 similarly inputs and stores the upper control deviation (= position deviation value) and servo control command (= speed command value) in each cycle (set as T = [2], ..., [n]). Step S25 is the end condition of the loop, and it is determined whether the upper control deviation [n] in the last cycle (T = [n]) is the same as the initial upper control deviation [0]. When the condition of step S25 is satisfied ("yes"), the process proceeds to step S26.

[0151] The mechanism for storing the upper control deviation and the servo control command in the memory resource is not limited in detail, and the upper control deviation and the servo control command may be stored in the RAM in the servo amplifier 20, for example.

[0152] In addition, Expression 2 described later shows an example of the relationship between the position deviation value and the speed command value acquired until step S25.

[0153] Next, in step S26, the control gain estimator 27 applies the control deviations [0] to [n] and the servo control commands [1] to [n] stored until step S24 to equation 3, which is described later, to estimate the I gain (C in equation 3). i ).

[0154] In step S27, the control gain estimator 27 applies the estimated I gain obtained in step S26 to equation 4 described later, using the superior control deviation [1] and the servo control command [1], thereby estimating the P gain (Cp in equation 3).

[0155] In step S28, the servo amplifier 20 stores the estimated P gain and the estimated I gain obtained above in the memory resource as the estimated control gain A10 and outputs the same. The servo amplifier 20 displays the estimated P gain and the estimated I gain through the GUI screen ( Figure 6 ) displays the estimated P gain and the estimated I gain to the user U1 (items 605, 606).

[0156] In the estimation of the control gain by the control gain estimator 27, the time point for starting the estimation process may be when the servo control action of the system 100 including the servo amplifier 20 starts, or during the action. In either case, the estimation can be performed based on the same calculation formula and other mechanisms.

[0157] [Calculation formula for estimating control gain]

[0158] The following is a calculation formula for estimating the control gain in the case of PI control. The following formulas 1 to 4 are calculation formulas for estimating the PI gain. Formula 1 represents the position deviation value (P err ) and speed command value (v *). Formula 2 shows the relationship between each period (T = [1], etc.) based on Formula 1. Formula 3 shows the I gain (C i ) is calculated. Formula 4 represents the calculation formula for calculating the P gain (Cp).

[0159] Formula 1:

[0160] (θ * -θ)=P err :θ=0

[0161] P err C p +P err C i +C iout z -1 =v *

[0162] Formula 2:

[0163]

[0164] Formula 3:

[0165]

[0166] Formula 4:

[0167]

[0168] I Gain (C i ) is obtained based on the position deviation value and the speed command value. In Formula 2, assume that the previous value is 0 and input the appropriate P in the first cycle (T = [1]). err1 Thus, the following equation 5 is obtained. err1 =P errn When [1]-[n] is calculated, equation 3 becomes equation 6. By saving the input value P errm And the output value v n , it is possible to derive the I gain (C i ). Derived I gain (C i ) and then, by replacing C i Substituting into [1], we can derive the P gain (C p ). The PI gain can be estimated as described above.

[0169] Formula 5:

[0170]

[0171] Formula 6:

[0172]

[0173] [Use of estimated control gain]

[0174] The information of the estimated control gain A10 obtained by the first embodiment can be used arbitrarily. The use examples are as follows. The first example is to use the estimated control gain for Figure 1 The user U1 can use the estimated control gain to set and adjust the control gain of the first controller 51 of the controller 10. In addition, the user U1 can use the estimated control gain to set and adjust the control gain of the second controller 52 (for example, the speed controller 52B) of the servo amplifier 20.

[0175] The second example is to use the estimated control gain for other control. An example of other control is vibration reduction control of the electric motor 30 .

[0176] [Effects of Embodiment 1, etc.]

[0177] As described above, according to the first embodiment, regarding the servo amplifier 20, the control parameter adjustment can be realized also between the upper system 1 and the lower system 2 which have different jurisdictions. According to the first embodiment, the servo amplifier 20 of the lower system 2 can estimate the control gain of the first controller 51 of the controller 10 of the upper system 1. As a result, the servo amplifier 20 or the user U1 can use the estimated control gain A10 to adjust the control parameters of the system 100 including the servo amplifier 20 more easily than before, and can adjust to a more appropriate control parameter than before. As a result of the adjustment, the system 100 including the servo amplifier 20 can easily achieve high efficiency and high-speed response. In addition, according to the first embodiment, since the control gain can be estimated, even when the unit system of the control parameter is different between the controller 10 of the upper system 1 and the servo amplifier 20 of the lower system 2, the adjustment of the control parameter can be assisted, and the workload of manual adjustment can be reduced.

[0178] As described above, Embodiment 1 describes a new mechanism for estimating the control gain in the controller 10 of the upper system 1 from the servo amplifier 20 of the lower system 2. Conventionally, it was difficult or troublesome to refer to information such as the control gain in the controller 10 of the upper system 1 from the lower system 2. However, according to Embodiment 1, the control gain in the controller 10 of the upper system 1 can be estimated by the servo amplifier 20 of the lower system 2. In addition, when the control parameters of the servo amplifier 20 (for example, the control gain of the second control unit 52) ​​are set by the servo amplifier 20 of the lower system 2, it was difficult to adjust the appropriate control parameters to match the upper system 1 side because the control gain of the first control unit 51 of the controller 10 was not known. According to Embodiment 1, the estimated control gain can be used to adjust the appropriate control parameters to match the upper system 1 side.

[0179] [Variation: Fully closed-loop control structure]

[0180] Fig.12 In the embodiment, a case of a full-closed-loop control structure is shown as a variation of embodiment 1. In the case of a full-closed-loop control structure, the servo amplifier 20 obtains an output signal A36 output from an external encoder 36 provided in a control object device 35 of the control object system 3. The servo amplifier 20 has a synthesizer 1101. The synthesizer 1101 synthesizes the output signal A31 from the encoder 31 of the motor 30 and the output signal A36 from the external encoder 36, and outputs the synthesized signal as an upper-level control response A4. The synthesized signal is obtained, for example, by calculating the position response of the motor 30 and the position response of the control object device 35. The controller 10 inputs the synthesized upper-level control response A4f as a feedback signal, and generates an upper-level control deviation A2 in the same manner as described above. The control gain estimator 27 uses the servo control instruction A3 and, for example, the upper-level control deviation A2 to estimate the control gain of the first controller 51 in the same manner as described above. Fig.12 The modified examples shown can also achieve the same effects as those of the first embodiment.

[0181] [Variation: Sensorless control]

[0182] Figure 1 Embodiment 1 shows a case where the motor 30 is provided with an encoder 31 and has an encoder control structure. However, the present invention is not limited to this, and as a modified example, a structure in which the motor 30 is not provided with an encoder 31, that is, a so-called sensorless control structure may be adopted. Fig.13 The following is a case of a sensorless control structure as a variation of Implementation 1. In this structure, neither the motor 30 nor the controlled object device 35 is provided with an encoder. In this structure, the servo amplifier 20 has a sensorless controller 1201 in addition to the above-mentioned components. The sensorless controller 1201 calculates the position response of the motor 30, and outputs a signal representing the calculation result, i.e., the position response, as an upper-level control response A4g. The controller 10 inputs the upper-level control response A4g as a feedback signal, and generates an upper-level control deviation A2 in the same manner as described above. In the servo amplifier 20, the upper-level control response A4g is differentiated by the differentiator 26 to generate a result signal A8 obtained by differentiation, and the calculation result signal A5 of the servo control instruction A3 and the signal A8 is input to the second controller 52. The control gain estimator 27 uses the servo control instruction A3 and, for example, the upper-level control deviation A2 to calculate the control gain of the first controller 51 in the same manner as described above. Fig.13 The modified examples shown can also achieve the same effects as those of the first embodiment.

[0183] <Implementation method 2>

[0184] use Fig.14 The motor control device according to Embodiment 2 is described below. The basic structure of Embodiment 2 is the same as that of Embodiment 1, and the components of Embodiment 2 that are different from those of Embodiment 1 are mainly described below.

[0185] The main components of the second embodiment that are different from the first embodiment are as follows. In the second embodiment, the upper control instruction A1 (for example, the position control instruction) in the controller 10 is intentionally set to 0 (zero), and the servo amplifier 20 arbitrarily operates the upper control response A4. The upper control instruction A1 set to zero is called the upper control instruction A1c. The upper control response A4 after the operation is called the operated upper control response A4c. In other words, the upper control instruction A1 set to zero is a signal whose value in time series is always zero (or OFF signal). In addition, the zero value can also be changed to a fixed value such as a predetermined reference value or offset value.

[0186] In the second embodiment, an example will be described in which, when P control in position control is performed in a semi-closed loop control structure as in the first embodiment, the control gain of the first controller 51 of the controller 10 is estimated.

[0187] [System including motor control device]

[0188] Fig.14 The configuration of a system 100 including a servo amplifier 20 which is a motor control device according to the second embodiment is shown. Fig.14 In the structure of the embodiment, in addition to the same components as those in the first embodiment, an upper-level response operator 28 is provided in the servo amplifier 20.

[0189] The upper-level response operator 28 is a portion that performs processing for arbitrarily operating a value of the upper-level control response A4 , which is a signal output from the encoder 31 of the motor 30 , to generate an operated upper-level control response A4 c and output it to the controller 10 .

[0190] In the second embodiment, there is a predetermined control mode in which the value of the upper control instruction A1 is set to zero and the upper control response A4 is arbitrarily operated. The user U1 can use the application 41 of the user interface 40 through the GUI screen ( Figure 6 Item 601) selects the control mode ("mode = 2"). If the function in implementation mode 1 is "mode = 1", the control mode in implementation mode 2 can be set to "mode = 2". The name of the control mode of "mode = 2" can be arbitrarily determined, such as "zero instruction mode", "response operation mode", etc.

[0191] In the control mode of implementation mode 2, first, the value of the upper control instruction A1 is set to zero. There are various means for setting the value of the upper control instruction A1 to zero, for example, the following means can be applied. A request can be made from the servo amplifier 20 or the application 41 of the user interface 40 to the controller 10 to set the value of the upper control instruction A1 to zero. The controller 10 accepts the request and sets the upper control instruction A1 to zero. The system 100 may have such an information processing mechanism. Alternatively, the user U1 of the operator may request the administrator of the controller 10 of the upper system 1 to set the value of the upper control instruction A1 to zero. The administrator accepts the request and performs an operation to set the value of the upper control instruction A1 to zero on the controller 10. This can also be achieved by manual operation.

[0192] In this control mode, the same command as the command input from the servo amplifier 20 to the motor 30 is input to the upper-level response operator 28. For example, the servo amplifier 20 inputs the output signal A6 of the speed controller 52B as the second controller 52 to the upper-level response operator 28. The upper-level response operator 28 operates the upper-level control response A4, which is the output of the motor 30, based on the signal A6, and outputs it as the operated upper-level control response A4c.

[0193] Any operation performed by the upper response operator 28 may be predetermined by program processing, or may be predetermined by instructions or settings issued by the user U1 via the application 41 of the user interface 40. In addition, the application 41 of the user interface 40 may monitor the operation status of the upper control response A4c in the upper response operator 28.

[0194] The upper-level response operator 28 generates an operation upper-level control response A4c obtained by any operation within a possible range. In addition, the actual upper-level control response A4 from the electric motor 30 is used for the function and control mode in the first embodiment.

[0195] In the servo amplifier 20 , the upper control response A4 c can be manipulated to obtain a value equivalent to the output signal A8 of the differentiator 26 .

[0196] The controller 10 inputs the operation superior control response A4c, and the operator 11 operates the superior control instruction A1c set to zero and the operation superior control response A4c, and outputs the superior control deviation A2c as the operation result. The first controller 51, such as the position controller 51A, outputs the servo control instruction A3 based on the superior control deviation A2c. The servo amplifier 20 inputs the servo control instruction A3, and the differentiator 26 outputs the result signal A8 obtained by differentiating the operation superior control instruction A4c. The operator 21 operates the servo control instruction A3 and the signal A8, and outputs the operation result signal A5. The second controller 52, such as the speed controller 52B, outputs the signal A6 based on the signal A5. The signal A6 is input to the superior response operator 28.

[0197] On the other hand, in addition to the servo control command A3, the operation upper control response A4c is input to the control gain estimator 27 and stored in the memory resource. In the second embodiment, the control gain estimator 27 does not need to input and obtain the upper control deviation A2. This is because the operation upper control response A4c corresponds to the content of the upper control deviation A2. The control gain estimator 27 uses the operation upper control response A4c and the servo control command A3 to estimate the control gain of the first controller 51 of the controller 10, and stores and outputs the estimated control gain A10. Therefore, in the second embodiment, the servo amplifier 20 can estimate the control gain of the first controller 51 without monitoring and obtaining the upper control deviation A2 from the controller 10.

[0198] [Processing Flow of Implementation Method 2]

[0199] Fig.15 An example of a processing flow for estimating a control gain by the control gain estimator 27 in the above-mentioned control mode in the second embodiment is shown. This example shows an example of estimating a P gain in the case of P control in position control.

[0200] First, in step S31, the control mode of "mode=2" is selected, and, for example, P control among position control is selected, and the start of the estimation process execution is input.

[0201] In step S32 , the servo amplifier 20 (or the user U1 ) sets the upper control command A1 of the controller 10 , that is, the position control command value, to 0 (zero).

[0202] In step S33 , the servo amplifier 20 generates, sets, and outputs an manipulated upper control response A4 c as a value after arbitrarily manipulating the upper control response A4 (eg, position response) based on the signal A6 using the upper response operator 28 .

[0203] In step S34, the controller 10 uses the operator 11 to calculate the upper control instruction A1 set to zero and the operation upper control response A4c and outputs the upper control deviation A2, and uses the first controller 51, i.e., the position controller 51A, to output the servo control instruction A3 according to the upper control deviation A2. The control gain estimator 27 of the servo amplifier 20 inputs the operation upper control response A4c and the servo control instruction A3 and stores them in the memory resource.

[0204] In step S35, the control gain estimator 27 compares the servo control command A3 and the operation upper control response A4c successively. The control gain estimator 27 calculates the estimated P gain based on the magnification of the operation upper control response A4c and the servo control command A3 obtained by comparison. The magnification is the division operation [value of A4c] / [value of A3]. The magnification or ratio is obtained as the estimated P gain.

[0205] In step S36 , the servo amplifier 20 stores and outputs the estimated P gain.

[0206] [Effects of Embodiment 2, etc.]

[0207] According to the second embodiment, the control gain of the controller 10 of the upper system 1 can be estimated by the servo amplifier 20 only by operating the upper control response A4 arbitrarily. On the side of the controller 10 of the upper system 1, only the value of the upper control instruction A1 is set to zero, and no other operation or work is required. Therefore, the workload required for estimating the control gain can be reduced.

[0208] In addition, in Embodiment 2, a case where the function of the control mode of "mode=2" is added to the function of Embodiment 1 is described, but the present invention is not limited to this, and a mode in which only the function of the control mode is realized may be used.

[0209] [Variation: Simulation operation mode]

[0210] Regarding any operation of the superior control response A4 in the above-mentioned second embodiment, for example, it is conceivable to perform an operation corresponding to the simulated operation of the motor 30. In a modified example of the second embodiment, a simulated operation module (in other words, a simulated motor unit) is provided in the servo amplifier 20, and processing corresponding to such simulated operation of the motor 30 is performed. The simulated operation module is a part that simulates the input and output of the motor 30, and is a part that can obtain the simulated output of the motor 30 (in other words, a simulated superior control response). The simulated operation module is implemented by calculation and program processing of the processor of the servo amplifier 20. In the modified example, as one of the control modes, there is a mode for performing simulated operation of the motor 30 (for example, described as a "simulated operation mode").

[0211] Fig.16An example of a functional block configuration in the simulation operation mode in a modification of the second embodiment is shown. Fig.16 The example of FIG. 1 shows the case of P control in position control. The first controller 51 of the controller 10 is configured as a position controller 51A, and the second controller 52 of the servo amplifier 20 is configured as a speed controller 52B.

[0212] The servo amplifier 20 includes a monitor 1501 and a simulation operation module 1502. The monitor 1501 monitors the upper control deviation A2 and the output servo control command A3 in the controller 10. For example, the upper control deviation A2 output from the output terminal N2 of the controller 10 is input from the input terminal N5 and input to the monitor 1501. In addition, the servo control command A3 output from the output terminal N3 of the controller 10 is input from the input terminal N6 and input to the monitor 1501. The monitor 1501 stores the upper control deviation A2 and the servo control command A3 obtained by monitoring in a memory resource and provides them to the control gain estimator 27. The control gain estimator 27 uses the upper control deviation A2 and the servo control command A3 obtained by monitoring to estimate the control gain of the first controller 51 of the controller 10, for example, the control gain of the position controller 51A, and stores and outputs the estimated control gain A10.

[0213] In addition, in this modification, in the simulation operation mode which is one of the control modes, the response output (superior control response A4) from the motor 30 is not used, but the simulation operation module 1502 is used to perform control based on the simulation operation of the motor 30. The simulation operation module 1502 is implemented by simulating the operation of the motor 20 by the processor.

[0214] The simulation operation module 1502 inputs the output signal A6 of the second controller 52, such as the speed controller 52A, obtained based on the servo control instruction A3, and based on the calculation of the simulated operation of the motor 30, generates and outputs a simulated superior control response A4 (referred to as a simulated superior control response A4d) as an output simulating the response output (superior control response A4) from the motor 30.

[0215] The controller 10 inputs the simulated superior control response A4d, and the operator 11 operates the superior control instruction A1 and the simulated superior control response A4d to generate a simulated superior control deviation A2 (referred to as the simulated superior control deviation A2d) as the operation result. The first controller 51, such as the position controller 51A, outputs a simulated servo control instruction A3 (referred to as the simulated servo control instruction A3d) based on the simulated superior control deviation A2d.

[0216] On the other hand, the servo amplifier 20 generates a result signal A8 obtained by differentiating the simulated superior control response A4d using the differentiator 26, and uses the operator 21 to calculate the simulated servo control instruction A3d and the signal A8 to obtain a calculation result signal A5. The second controller 52, such as the speed controller 52B, outputs a result signal A6 after speed control based on the signal A5. Thereafter, the simulated operation of the motor 30 and the corresponding servo control are performed in the same manner through the simulated operation module 1502 according to the timing.

[0217] In the simulation operation mode, the motor 30 does not need to be actually driven. Therefore, the signal A7 does not need to be actually supplied to the motor 30. For example, the servo amplifier 20 turns off the signal A7 in program processing, or turns off a switch in processing after the calculation unit 22.

[0218] In the above-mentioned simulation operation, the control gain estimator 27 estimates the control gain of the first controller 51, for example, the control gain of the position controller 51A. Fig.16 Although the user interface 40 is not shown, the application 41 of the user interface 40 can output monitoring values, estimated control gain A10, etc. to the user U1 as described above. The application 41 of the user interface 40 can also be used to set the simulation operation module 1502 and output the status.

[0219] According to this modification, the control gain of the controller 10 can be estimated based on the simulated operation of the motor 30 without driving the motor 30 .

[0220] In addition, you can also use Fig.14 The upper response operator 28 of the second embodiment is built-in Fig.16 In this case, the upper-level response operator 28 generates an upper-level control response A4c based on the simulated operation of the simulated operation module 1502.

[0221] <Other Modifications>

[0222] Other modifications can be described as follows. Figure 1 User interface 40, Figure 3 The application 41 may be built into the servo amplifier 20, or may be partially built into the upper system 10. For example, the operator may obtain the customer's permission and install a monitoring program for monitoring information and signals (such as the upper control deviation A2 and the upper control instruction A1) in the controller 10. The monitoring program functions as a monitor through the processing of the processor. The monitor monitors, for example, the signal of the upper control deviation A2 and sends it to the servo amplifier 20 or the application 41. As a result, the servo amplifier 20 or the application 41 can monitor and obtain, for example, the signal of the upper control deviation A2.

[0223] The embodiments of the present disclosure are described in detail above, but are not limited to the above embodiments, and various changes can be made without departing from the main purpose. In addition to the necessary components, each embodiment can add, delete, replace, etc. components. In the absence of special limitations, each component can be single or multiple. It is also possible to combine the embodiments.

[0224] Description of Reference Numerals

[0225] 1...upper-level system, 2...lower-level system, 3...controlled object system, 10...controller, 11...arithmetic unit, 20...servo amplifier, 21...arithmetic unit, 23...power converter, 26...differentiator, 27...control gain estimator, 30...motor, 31...encoder, 35...controlled object device, 40...user interface, 51...first controller, 52...second controller, U1...user, A1...upper-level control instruction, A2...upper-level control deviation, A3...servo control instruction, A4...upper-level control response, A10...estimated control gain.

Claims

1. A motor control device, which drives and controls a motor based on a servo control instruction from a superior system, characterized in that: The superior system has a first controller for setting a first control gain of servo control, and an superior control deviation obtained based on an operation of an superior control command and an superior control response is input to the first controller, and the servo control command obtained based on the first control gain is output, wherein the superior control response is obtained based on a signal from the motor, The motor control device comprises: A second controller, which is used to perform the servo control; a power converter that generates a signal to drive the electric motor; and a control gain estimator for estimating the first control gain of the first controller, The motor control device inputs a signal obtained based on the servo control command and the upper control response to the second controller, inputs a signal output from the second controller to the power converter, and supplies a signal output from the power converter to the motor. The control gain estimator inputs the servo control command and the upper control deviation or the upper control command, estimates the first control gain, and outputs the estimated first control gain as a result of the estimation.

2. The motor control device according to claim 1, characterized in that: As a user interface, there is an application implemented by a computer connected to or built into the motor control device, The application outputs the estimated first control gain to a user.

3. The motor control device according to claim 1, characterized in that: As a user interface, there is an application implemented by a computer connected to or built into the motor control device, The application monitors the upper control deviation or the upper control instruction from the upper system, and outputs the monitored upper control deviation or the upper control instruction to a user.

4. The motor control device according to claim 1, characterized in that: Regarding the servo control, there are cases where the upper-level system has position control and cases where the upper-level system has speed control. As a user interface, there is an application implemented by a computer connected to or built into the motor control device, The application selects and sets the position control and the speed control as the servo control based on the operation of the user, The control gain estimator estimates the first control gain corresponding to the selected servo control.

5. The motor control device according to claim 1, characterized in that: The feedback control method of the servo control includes P control (proportional control) and PI control (proportional integral control). As a user interface, there is an application implemented by a computer connected to or built into the motor control device, The application selects and sets the P control and the PI control as the feedback control method of the servo control based on the operation of the user, The control gain estimator estimates the first control gain corresponding to the selected servo control.

6. The motor control device according to claim 1, characterized in that: The servo control is a situation where the upper level system has position control, The first controller is a position controller, The second controller is a speed controller.

7. The motor control device according to claim 1, characterized in that: The servo control is a case where the upper system has speed control, The first controller is a speed controller, The second controller is a current controller.

8. The motor control device according to claim 1, characterized in that: The feedback control method of the servo control is P control (proportional control), In the control gain estimator, as a process corresponding to the P control, a P gain is estimated as the first control gain based on a ratio obtained by dividing a value of the servo control instruction by a value of the upper control deviation.

9. The motor control device according to claim 1, characterized in that: The feedback control method of the servo control is PI control (proportional integral control), In the control gain estimator, as processing corresponding to the PI control, the following is executed: The servo control instruction and the upper control deviation are saved in each cycle and compared successively. The servo control command and the upper control deviation are continuously stored until the value of the upper control deviation in the current cycle becomes equal to the upper control deviation in the initial cycle, Based on the servo control command and the upper control deviation until the period in which they become equal, an I gain constituting the first control gain is estimated, Based on the estimated I gain, a P gain constituting the first control gain is estimated.

10. The motor control device according to claim 1, characterized in that: Make the value of the superior control instruction zero, having an upper-level response operator for operating the upper-level control response, The upper-level response operator generates an upper-level control response after operation based on the signal output from the second controller instead of the upper-level control response, and outputs it to the upper-level system as an operation upper-level control response, The upper level system outputs the servo control instruction based on the operation upper level control response, The control gain estimator estimates the first control gain based on the servo control command and the manipulated higher-level control response.

11. The motor control device according to claim 1, characterized in that: A simulation operation module is provided, which calculates a simulation operation of the input and output of the motor. The simulation operation module generates an upper-level control response based on the simulation operation instead of the upper-level control response based on the signal output from the second controller, and outputs the upper-level control response as a simulated upper-level control response to the upper-level system. The upper-level system outputs the servo control instruction according to the simulated upper-level control deviation based on the simulated upper-level control response, The control gain estimator estimates the first control gain based on the servo control command and the simulated higher-level control deviation.

12. A motor control method executed by a motor control device, wherein the motor control device drives and controls a motor based on a servo control instruction from a superior system, characterized in that: The superior system has a first controller for setting a first control gain of servo control, and an superior control deviation obtained based on an operation of an superior control command and an superior control response is input to the first controller, and the servo control command obtained based on the first control gain is output, wherein the superior control response is obtained based on a signal from the motor, The motor control device comprises: A second controller, which is used to perform the servo control; a power converter that generates a signal to drive the electric motor; and a control gain estimator for estimating the first control gain of the first controller, The motor control method comprises: A first step, wherein the motor control device inputs a signal obtained based on the servo control instruction and the superior control response to the second controller, inputs a signal output from the second controller to the power converter, and supplies a signal output from the power converter to the motor; and In the second step, the control gain estimator inputs the servo control instruction and the superior control deviation or the superior control instruction, estimates the first control gain, and outputs the estimated first control gain as the estimated result.

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