Control device for a motor and calibration control device

Abstract

The control device (1) of the disclosed motor (2) moves the moving part (4) within a movement range (6) divided by two endpoints (7) in the target machine (3). The control device (1) includes a control unit (11) that performs calibration control to establish a connection between the movement position of the moving part (4) within the movement range (6) and the rotation position of the motor (2), as well as position control to move the moving part (4) to a target position within the movement range (6). In the calibration control, after the moving part (4) is brought into contact with the endpoint (7) that is farther from the initial target position that becomes the initial target position after the calibration control is completed, the moving part (4) is brought into contact with the other endpoint (7), thereby establishing a connection between the movement position of the moving part (4) within the movement range (6) and the rotation position of the motor (2).

Description

Technical Field

[0001] This application relates to a control device for a motor capable of performing calibration control, and a calibration control device for performing calibration control. Background Technology

[0002] Calibration control is implemented to maintain or improve the accuracy of control and detection of a machine (mechanical device, measuring machine, etc.). For example, Patent Document 1 discloses a technology involving a control valve used in air conditioning equipment, facilities, etc., which includes a valve core that restricts fluid flow and an actuator that actuates the valve core, and automatically performs calibration simply by giving the actuator a calibration command. It should be noted that the actuator includes a motor, a drive shaft that transmits the rotational torque of the motor, and a rotation angle detector that detects the rotation angle of the drive shaft.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 5498113 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Since calibration control is performed before the use of the target machine and before normal control, it is preferable to complete it in a short time. Furthermore, if the target machine can be brought to the target state (e.g., the start-of-use state) soon after calibration control is completed, the target machine can be used quickly, which is even more preferable. However, Patent Document 1 described above does not include such a design for completing calibration control in a short time.

[0008] Furthermore, calibration control is not a control performed only once on a single machine; it is typically performed multiple times (e.g., each time before use, and once during a specified period). Therefore, when considering the continuous use of the machine, it is desirable to have a short average time required for calibration control (the value obtained by summing the time required for each calibration control and dividing by the number of times the calibration control is performed).

[0009] The motor control device of this application was developed in view of such a problem, one of its objectives being to shorten the average time required for calibration control and to bring the target machine to the target state earlier. Another objective of the calibration control device of this application is to shorten the average time required for calibration control. It should be noted that this application is not limited to these objectives; another objective is to achieve the effects derived from the structures shown in the detailed embodiments described later, effects that cannot be obtained through conventional techniques.

[0010] Solution for solving the problem

[0011] The disclosed motor control device and calibration control device can be implemented as the following disclosed solutions (application examples), solving at least a portion of the aforementioned problems. Solutions 2 to 6 are all alternatively selectable solutions and can be omitted. None of the solutions 2 to 6 are disclosed as essential solutions or structures for this application.

[0012] Solution 1. The disclosed motor control device is a motor control device that moves a moving part within a movement range divided by two endpoints in a target machine. It includes a control unit that performs calibration control to establish a relationship between the movement position of the moving part within the movement range and the rotational position of the motor, and position control to move the moving part to a target position within the movement range. In the calibration control, after the moving part abuts against the endpoint with the longer distance from the initial target position (which becomes the initial target position after the calibration control is completed), the moving part abuts against the other endpoint, thereby establishing a relationship between the movement position of the moving part within the movement range and the rotational position of the motor.

[0013] Option 2. In Option 1 above, preferably, in the calibration control, the rotation state of the motor is obtained, and the rotation position is calculated based on the rotation state.

[0014] Option 3. In Option 1 or 2 above, preferably, in the position control, the moving member is moved to the initial target position at the highest speed that can be generated by the motor.

[0015] Option 4. In any of Options 1 to 3 above, preferably, in the calibration control, the moving member is moved towards one endpoint at a first speed, and towards the other endpoint at a second speed; in the position control, the moving member is moved towards the initial target position at a third speed. In this case, preferably, the third speed is the highest speed that can be generated by the motor, and the first speed is lower than the third speed and lower than the second speed.

[0016] Option 5. In Option 4 above, preferably, the second speed is a variable value that is equal to the first speed between the immediate preceding position of the other endpoint and the other endpoint, and equal to the third speed between the endpoint of one party and the immediate preceding position.

[0017] Option 6. In any of the above options 1 to 5, preferably, the control device receives the initial target position at the same time as or before receiving the start command of the calibration control.

[0018] Scheme 7. The disclosed calibration control device implements calibration control that establishes a connection between the movement position of a movable part and the rotational position of the motor that actuates the movable part within a movement range divided by two endpoints in the target machine. In the calibration control, after the movable part abuts against the endpoint that is farther from the target position within the initial movement range after the calibration control is completed, the movable part abuts against the other endpoint, thereby establishing a connection between the movement position of the movable part within the movement range and the rotational position of the motor.

[0019] Invention Effects

[0020] According to the disclosed motor control device, the averaging time required for calibration control can be shortened, enabling the target machine to reach the target state earlier. Furthermore, according to the disclosed calibration control device, the averaging time required for calibration control can be shortened. Attached Figure Description

[0021] Figure 1 This is a block diagram illustrating the control device for a motor in an embodiment.

[0022] Figure 2 (A) to (D) are used to explain in Figure 1 A diagram showing the contents of the control (calibration control and position control) implemented in the control device.

[0023] Figure 3 It is used to explain in Figure 1 Example flowchart of the control (calibration control and position control) implemented in the control device.

[0024] Figure 4 This is a block diagram illustrating the calibration control device used to explain the implementation method. Detailed Implementation

[0025] The control device for the motor, as an embodiment, will be described with reference to the accompanying drawings. Furthermore, the calibration control device will also be described. The embodiments shown below are merely illustrative and are not intended to exclude various modifications or techniques not explicitly described in these embodiments. The structures of this embodiment can be implemented with various modifications without departing from their essence. Furthermore, selections and appropriate combinations can be made as needed.

[0026] [1. Structure]

[0027] like Figure 1As shown, the control device 1 in this embodiment is an electronic control unit (ECU) that controls the motor 2, and it also has the function of performing calibration control on the target machine 3. The type of target machine 3 is not particularly limited, and various types of machinery and measuring machines, such as industrial machinery, machine tools, and power machinery, can be cited. By performing calibration control before the use of the target machine 3 and before the start of normal control, the accuracy (control accuracy, detection accuracy) of the target machine 3 is maintained or improved.

[0028] The control device 1 includes a processor (central processing unit), a memory (main memory), a storage device (storage unit), and an interface device (not shown), all of which are interconnected via an internal bus. The control content implemented by the control device 1 is recorded and stored in the memory as firmware and application programs. When the program is executed, the program content is expanded in the memory space and executed by the processor.

[0029] The target machine 3 is provided with a defined movement range 6 divided by two endpoints 7, and a movable component 4 capable of moving within this movement range 6. The movable component 4 is a part or component constituting a part of the target machine 3, and is the controlled object of the target machine 3. In other words, the target machine 3 is required to accurately control the position of the movable component 4. The shape and size of the movable component 4 are not particularly limited. In addition, in this embodiment, an example of providing one movable component 4 (and movement range 6) in one target machine 3 is described, but for example, it is also possible to provide multiple movable components 4 (and movement ranges 6) in one target machine 3 and control the position of the movable component 4 individually.

[0030] The movement range 6 is the range within which the moving member 4 can reciprocate in one direction (the range extending in one direction). It can be formed by dividing a component (not shown) or provided as a recess or hole in a component (not shown). The movement range 6 can be, for example, a straight range in the vertical or horizontal direction, an arc-shaped range centered on a certain point, or a curved range. In the movement range 6, the length of the long side direction (the direction of extension) in which the moving member 4 reciprocates is longer than the length of the short side direction orthogonal to the long side direction. In addition, the length of the short side direction of the movement range 6 is set as the dimension to which the moving member 4 does not move in the short side direction.

[0031] Endpoints 7 are the two ends located along the long side of the moving range 6 (the walls, surfaces, etc. that divide the moving range 6). When the moving part 4 abuts against endpoints 7, it cannot move further in the same direction (the direction of the previous movement). The two endpoints 7 can be either fixed ends whose positions do not change, or movable ends whose positions can be slightly adjusted. Alternatively, one endpoint 7 can be a fixed end, and the other endpoint 7 can be a movable end. If both endpoints 7 are fixed ends, the length along the long side of the moving range 6 is constant (a fixed value). However, if at least one of the two endpoints 7 is a movable end, the length along the long side of the moving range 6 changes.

[0032] Motor 2 is the drive source that moves the moving part 4, and it operates by receiving power from a power source not shown in the diagram. The output of motor 2 (rotational speed and torque) is transmitted to the moving part 4 through transmission path 5. Transmission path 5 is composed of components (e.g., shafts, gears, etc.) capable of transmitting the output of motor 2 to the moving part 4, causing the moving part 4 to reciprocate. The structure of transmission path 5 is not particularly limited, but transmission path 5 at least has the function of converting the rotational motion of motor 2 into the reciprocating motion of moving part 4. Furthermore, for example, if a reduction gear is included in transmission path 5, the rotation of motor 2 is reduced (and the torque is amplified) before being transmitted to the moving part 4. Motor 2 can also be... Figure 1 It can be set up separately from object machine 3 as shown, or it can be built into object machine 3.

[0033] The motor 2 is equipped with a sensor 8 that detects parameters related to its rotational state (e.g., the number of times the motor 2 has rotated, its rotational position, rotational speed, and current value). For example, if the sensor 8 is a rotation detector such as an encoder or a rotary transformer, the sensor 8 detects the number of rotations, rotational position, and rotational speed of the motor 2. Alternatively, if the sensor 8 is an ammeter, the sensor 8 detects the current value of the motor 2 (the current flowing when the motor 2 actuates the moving part 4, a value positively correlated with the torque required for the moving part 4 to move). The sensor 8 sends the detected information to the control device 1.

[0034] On the input side of the control device 1, in addition to the sensor 8, a power switch 9 and an input device 10 are also connected. The power switch 9 is a switch used to turn the power to or off the power supply of the machine 3. For example, it can be a physical switch, a button, or a touch panel device. When the operator of the machine 3 turns the power switch 9 on, the power supply to the machine 3 is connected; when the operator turns the power switch 9 off, the power supply to the machine 3 is disconnected. When the power switch 9 is turned on or off, it sends a signal (on signal or off signal) corresponding to the operation to the control device 1.

[0035] The input device 10 is a device that accepts input operations from the operator, such as a keyboard, physical buttons, or a touch panel. The input operation includes at least the input of the target position of the moving member 4. The target position can be, for example, a numerical value (+10, -5, etc.) corresponding to the distance from a reference position (zero point) set within the movement range 6, or it can be set by moving a block (slider) corresponding to the moving member 4 on a bar corresponding to the movement range 6. Alternatively, the target position can be indirectly input by setting or switching the state of the target machine 3 instead of direct input. When the target position is input, the input device 10 sends the target position to the control device 1.

[0036] The input operations described above may include an operation to start calibration control (start operation). When the start operation is input, the input device 10 sends a signal corresponding to the operation (hereinafter referred to as the "start command") to the control device 1. It should be noted that the start operation may also be included in the target position input operation described above. That is, it is also possible that when the target position input operation is performed on the input device 10, the start operation is also performed, so that the input device 10 sends the calibration control start command and the target position to the control device 1 simultaneously.

[0037] A motor 2 is connected to the output side of control device 1. It should be noted that control device 1 can be configured as follows: Figure 1 It can be set up separately from the target machine 3 as shown, or it can be built into the target machine 3. At least a control unit 11 is provided in the control device 1. The functional elements of the control unit 11 can be implemented by electronic circuits (hardware), or they can be set as functional elements programmed as software. It should be noted that, in addition to the control unit 1, other functional elements may also be provided in the control device 1. In this case, some of the multiple functional elements may be set as hardware, and others as software.

[0038] The control unit 11 performs calibration control that establishes a connection between the moving position of the movable member 4 within the moving range 6 and the rotational position of the motor 2, as well as position control that moves the movable member 4 to a target position within the moving range 6. It should be noted that in this embodiment, a single control unit 11 is used to perform both calibration control and position control, but the two control units can also be separate. For example, the control device 1 may include a first control unit for performing calibration control and a second control unit for performing position control.

[0039] The control device 1 receives detection information (detection signal) from the sensor 8, an on / off signal from the on / off switch 9, and a start command and target position from the input device 10. These receptions can be performed by the control unit 11, or they can be implemented within a functional element (e.g., a receiving unit) provided in the control device 1. When a start command is received in the control device 1, the control unit 11 begins calibration control. It should be noted that the control device 1 receives the initial target position Pi simultaneously with or before receiving the start command. Therefore, the control unit 11 can immediately begin calibration control in response to the start command.

[0040] In calibration control, after the moving member 4 is brought into contact with the endpoint 7 that is farther from the initial target position Pi, which becomes the initial target position after calibration control is completed, the moving member 4 is brought into contact with the other endpoint 7, thereby establishing a connection between the moving position of the moving member 4 within the movement range 6 and the rotational position of the motor 2. Hereinafter, when distinguishing between the two endpoints 7, the former endpoint 7 is referred to as the first endpoint 7F, and the latter endpoint 7 is referred to as the second endpoint 7N. It should be noted that the control unit 11 can calculate the distance between the initial target position Pi and each endpoint 7, and determine the one with the longer distance as the first endpoint 7F (far endpoint), and the one with the shorter distance as the second endpoint 7N (near endpoint).

[0041] The following example illustrates calibration control. Figure 2 As shown in (A) to (C), when the initial target position Pi is at the position indicated by the hollow arrow in the diagram within the movement range 6, the control unit 11 controls the motor 2 to move the moving member 4 (circled in black in the diagram) towards the first endpoint 7F, which is farther from the initial target position Pi (left side in the diagram). It should be noted that the control device 1 (control unit 11) does not know the position of the moving member 4 at the time it receives the start command. Therefore, as... Figure 2 As shown in (A) to (C), the moving part 4 is located near the center of the movement range 6, or near the first endpoint 7F, or near the second endpoint 7N. However, regardless of where the moving part 4 is located (independent of the position of the moving part 4), once the initial target position Pi is determined, the direction of the movement of the moving part 4 is determined. It should be noted that in Figure 2 The initial target position Pi in (A) to (C) is the same. In addition, L1 in the figure represents the moving distance of the moving part 4 to the first endpoint 7F.

[0042] When the moving part 4 comes into contact with the first endpoint 7F, it cannot move further in the same direction (leftward in the figure). In other words, the control unit 11 determines that the moving part 4 has come into contact with the first endpoint 7F at the point when it detects that the moving part 4 has stopped (becomes unable to move). During the control of the motor 2 (in the process of moving the moving part 4 toward the first endpoint 7F), the control unit 11 determines whether the moving part 4 has stopped based on the information received by the control device 1 from the sensor 8.

[0043] For example, if the motor 2 is running but the rotational speed is 0 or the rotational speed does not change, the control unit 11 can determine that the moving member 4 has stopped. In addition, for example, if the current value of the motor 2 increases sharply when it is running, the control unit 11 can determine that the movement of the moving member 4 is blocked by the end point 7 (i.e., the moving member 4 has stopped) since this means that the rotational resistance has increased sharply.

[0044] After determining that the moving part 4 has abutted the first endpoint 7F, the control unit 11 stores the position of the abutment time of the moving part 4 (i.e., the position of the first endpoint 7F) as the origin (0% position, zero point). That is, in the calibration control, the first endpoint 7F is initially set as the origin and the coordinate position is reset. After storing the origin, the control unit 11 immediately reverses the movement direction of the moving part 4. That is, the control unit 11 controls the motor 2 to move the moving part 4 from the first endpoint 7F toward the second endpoint 7N (right side in the figure). It should be noted that in Figure 2 In diagrams (A) to (C), the arrows representing the movement direction (trajectory) of the moving component 4 are staggered vertically for ease of understanding, but in reality, the moving component 4 moves back and forth at the same position (e.g., the same vertical position). Additionally, L2 in the diagram represents the distance the moving component 4 travels from the first endpoint 7F to the second endpoint 7N. This travel distance L2 is related to the distance D between the two endpoints 7 (referring to the length of the long side of the movement range 6). Figure 2 (A) are roughly equal.

[0045] In controlling the motor 2 (during the movement of the moving member 4 toward the second endpoint 7N), the control unit 11, similarly as described above, determines whether the moving member 4 has stopped based on information received from the sensor 8. After determining that the moving member 4 has stopped (i.e., has come into contact with the second endpoint 7N), the control unit 11 establishes a connection between the position of the point of contact of the moving member 4 (the moving position, i.e., the position of the second endpoint 7N) and the rotational position of the motor 2 from the start of the movement of the moving member 4 (the point of departure from the first endpoint 7F) to the point of contact with the second endpoint 7N. Here, "rotational position" refers to the angle of the rotation axis of the motor 2 relative to a certain position (angle). It should be noted that, depending on the length of the movement range 6, the number of rotations of the motor 2 may sometimes be several revolutions, but in this case, the "rotational position" becomes the number of revolutions × 360° + angle. Furthermore, if the number of rotations of the motor 2 is less than one revolution, the "rotational position" becomes an angle less than 360° (e.g., 180°). At the point where this connection is established, calibration control is completed.

[0046] It should be noted that in calibration control, the rotational position of motor 2 can also be obtained directly from sensor 8. The rotational state (rotational speed or number of rotations) of motor 2 can be obtained, and the rotational position of motor 2 can be calculated based on this. For example, if sensor 8 detects the number of times motor 2 has rotated (number of rotations), a pre-set mathematical formula can be used, setting this number as the independent variable to calculate the rotational position of motor 2. The number of rotations can also be detected in such a way that the rotation angle is 360° for one revolution and 180° for 0.5 revolutions, and the rotational position can be calculated based on the rotation angle. Furthermore, for example, if sensor 8 detects the speed of motor 2 during rotation (rotational speed), a pre-set mathematical formula and mapping can be used, setting the rotational speed and the time from the start of movement of moving member 4 to the contact time as independent variables to calculate the rotational position of motor 2.

[0047] Next, the position control will be explained. After calibration control is completed, the control unit 11 controls the motor 2 to move the moving member 4, which is located at the second endpoint 7N, to the initial target position Pi. At this point in time, the control device 1 (control unit 11) knows the movement range 6 (i.e., the origin of the movement range 6 (0% position, the position of the first endpoint 7F) and the 100% position (the position of the second endpoint 7N)) and the movement position of the moving member 4 within the movement range 6. Therefore, the control unit 11 controls the motor 2 to achieve the rotational position required for the moving member 4 to move from the second endpoint 7N to the initial target position Pi. In other words, the drive amount required for the moving member 4 to move from the second endpoint 7N to the initial target position Pi is output to the motor 2. Thus, the moving member 4 can be accurately moved to the initial target position Pi. It should be noted that L3 in the figure represents the movement distance of the moving member 4 from the second endpoint 7N to the initial target position Pi.

[0048] Figure 2 (D) is in relation to Figure 2 Examples of cases where the initial target position Pi exists at different positions (A) to (C). Figure 2 In (D), the initial target position Pi is located on the left side of the diagram, therefore the first endpoint 7F is located on the right side of the diagram. Additionally, in Figure 2 In the example shown in (D), the point that the moving part 4 is farther from the first endpoint 7F than the initial target position Pi is also consistent with... Figure 2 The examples shown in (A) and (B) are different. In other words, Figure 2 (A) and (B) are examples where the moving part 4 is closer to the first endpoint 7F than the initial target position Pi. Figure 2 (C) and (D) are examples of moving part 4 being farther from the first endpoint 7F than the initial target position Pi.

[0049] As described above, at the time when the control device 1 receives the start command, the position of the moving part 4 is unknown, but at least the positional relationship between the moving part 4 and the initial target position Pi is any one of a to c below.

[0050] a: Moving part 4 is closer to the first endpoint 7F than the initial target position Pi.

[0051] b: The moving part 4 is 7F further away from the first endpoint than the initial target position Pi.

[0052] c: The position of the moving part 4 is the same as the initial target position Pi.

[0053] The calibration control implemented in case a above, such as using Figure 2As stated in (A) and (B) above. In this case, the moving part 4 does not pass the initial target position Pi during the period until it reaches the first endpoint 7F. That is, the total moving distance L (=L1+L2+L3) of the moving part 4 from the start time of calibration control to the arrival at the initial target position Pi is shorter than the distance of one round trip in the moving range 6.

[0054] Therefore, in this case, compared to the case where the movement of the moving member 4 is reversed in the aforementioned direction (i.e., the moving member 4 moves towards the endpoint 7, which is shorter in distance from the initial target position Pi, hereinafter referred to as the "movement of the first comparative example"), the total moving distance L of the moving member 4 is shorter. That is, calibration control can be completed in a short time, and the target machine 3 can reach the target state earlier.

[0055] On the other hand, in the calibration control implemented under case b above, such as Figure 2 As shown in (C) and (D), the moving part 4 passes the initial target position Pi during the period until it reaches the first endpoint 7F. That is, the total moving distance L of the moving part 4 is longer than the distance of one reciprocating motion within the moving range 6. In this case, the total moving distance L of the moving part 4 is longer than the operation of the first comparative example, but the moving distance L3 of the moving part 4 after the calibration control is completed is shorter than the operation of the first comparative example. Therefore, it is possible to bring the target machine 3 to the target state earlier after the calibration control is completed.

[0056] Furthermore, based on simulations conducted by the inventors, it was determined that, under multiple calibration controls, when averaged, the total movement distance L of the moving member 4 in this embodiment is shorter compared to the case where the moving member 4 initially moves in a predetermined direction (e.g., the left direction in the figure) (hereinafter referred to as the "second comparative example operation"). This is believed to be because, under the calibration control of this embodiment, condition a is the most probable of the three conditions a to c described above.

[0057] In detail, under the calibration control of this embodiment, the distance between the initial target position Pi and the first endpoint 7F is longer than the distance between the initial target position Pi and the second endpoint 7N. Therefore, even if the initial position of the moving member 4 is random, the probability that its position is between the initial target position Pi and the first endpoint 7F is higher than the probability that its position is between the initial target position Pi and the second endpoint 7N. In other words, according to the calibration control of this embodiment, the situation described above (a) is likely to occur, and on average, the total moving distance L of the moving member 4 is considered to be shorter than the operation of the second comparative example. Moreover, in the calibration control of this embodiment, the situation described above (a) is likely to occur, and therefore, on average, the total moving distance L of the moving member 4 is considered to be shorter than the operation of the first comparative example.

[0058] It should be noted that while situation c above is possible, its probability is extremely low compared to situations a and b above. Therefore, on average, situation c above is not a problem even if it is disregarded. Furthermore, the initial target position Pi may also be the center of the movement range 6. In this case, the distances from the initial target position Pi to each endpoint 7 are equal, so the control unit 11, limited by this situation, can control the motor 2 to move the moving member 4 in a predetermined direction.

[0059] In this embodiment, the control device 1 also changes the rotational speed of the motor 2 by changing the speed of the moving member 4. For example, after calibration control is completed, the relationship between the moving position of the moving member 4 within the moving range 6 and the rotational position of the motor 2 is clear. Therefore, in position control, the moving member 4 can be moved towards the initial target position Pi at the highest speed that can be generated by the motor 2. Thus, in Figure 2 Minimize the time required to move the distance L3 indicated by the dashed arrows in (A) to (D).

[0060] It should be noted that the maximum speed mentioned here is not limited to the maximum speed achievable by motor 2. From the viewpoint of suppressing damage caused by excessive load on the components of motor 2 (e.g., damage to the bearing supporting the rotating shaft of motor 2, or peeling off of bonded magnets), motor 2 is sometimes driven at a speed lower than its maximum achievable speed. These viewpoints can also be taken into account in order to minimize the time required to move the distance L3. Even when the control unit 11 controls motor 2 to be driven at a speed lower than its maximum achievable speed, it is possible to achieve the maximum speed achievable by motor 2. Therefore, it is possible to suppress defects in motor 2 while minimizing the time required to move the distance L3.

[0061] Furthermore, for example, in calibration control, the moving member 4 is moved towards the first endpoint 7F at a first speed V1, and then towards the second endpoint 7N at a second speed V2. In position control, the moving member 4 is moved towards the initial target position Pi at a third speed V3. In this case, the third speed V3 could be the highest speed mentioned above (V1 < V3 and V2 ≤ V3), and the first speed V1 could be lower than the third speed V3 and lower than the second speed V2 (V1 < V3 and V1 ≤ V2). The first speed V1 is a low speed that has no effect on either the moving member 4 or the first endpoint 7F when the moving member 4 contacts the first endpoint 7F. With the speed relationship described above, not only is the time required for the movement distance L3 minimized, but collisions between the moving member 4 and the first endpoint 7F can also be avoided by carefully performing the initial movement of the moving member 4.

[0062] It should be noted that in this case, the second speed V2 is not a constant value and can be a variable value. For example, between the position immediately preceding the second endpoint 7N and the second endpoint 7N (i.e., just before contacting the second endpoint 7N), if the second speed V2 is equal to the first speed V1 (V2≈V1), then a collision between the moving member 4 and the second endpoint 7N can be avoided. Furthermore, in this case, between the position immediately preceding the first endpoint 7F and the second endpoint 7N (i.e., when there is a considerable distance until contact with the second endpoint 7N), if the second speed V2 is equal to the third speed V3 (V2≈V3), then the time required to move the moving distance L2 is shortened.

[0063] However, the movement distance L2 is approximately equal to the distance D between the two endpoints 7. Therefore, when both endpoints 7 are fixed and the distance D is pre-stored in the control device 1, the control unit 11 can determine the movement position of the moving member 4 within the movement range 6 and the movement range 6 (the positions of the two endpoints 7) simply by having the moving member 4 abut against the first endpoint 7F and storing the origin. However, to clarify the relationship between the movement position of the moving member 4 and the rotation position of the motor 2, it is preferable to have the moving member 4 abut against the second endpoint 7N after abutting against the first endpoint 7F. Furthermore, by having the moving member 4 abut against both endpoints 7, it is also possible to confirm, for example, whether there are any defects or malfunctions at either endpoint 7, or whether there are any defects or malfunctions in the transmission path 5 (e.g., gears).

[0064] Furthermore, even without pre-storing the distance D in the control device 1, the movement position of the moving member 4 can be linked to the rotational position of the motor 2 by implementing the calibration control of this embodiment. Additionally, if at least one of the two endpoints 7 is a moving end, the distance D can vary, but even in this case, the movement position of the moving member 4 can be linked to the rotational position of the motor 2 by implementing the calibration control of this embodiment. It should be noted that even if endpoint 7 is a moving end, endpoint 7 should not be able to move freely, but only within a specified range from a certain reference position; therefore, the distance from the initial target position Pi can be calculated.

[0065] [2. Flowchart]

[0066] Figure 3This is a flowchart illustrating the calibration control and position control implemented by control device 1. This flowchart can begin in control device 1 after receiving an on / off signal from switch 9. It should be noted that S in the diagram represents the starting point (Start) of a series of processes, and E represents the ending point (End) of a series of processes. S1~S10 in the diagram represent the reference numerals for each process. Y in the diagram represents the path when the decision condition is affirmative ("Yes" route), and N represents the path when the decision condition is negative ("No" route).

[0067] Steps S1 to S9 are calibration control. In step S1, the initial target position Pi sent from the input device 10 is received, followed by step S2, where a start command sent from the input device 10 is received. It should be noted that steps S1 and S2 can also be performed simultaneously. In step S3, the distance from the initial target position Pi to each endpoint 7 is calculated, followed by step S4, where the moving member 4 is controlled to move towards the endpoint 7 (first endpoint 7F) with the longer calculated distance. In step S4, the rotational speed of the motor 2 is suppressed to a low level by making the speed of the moving member 4 equal to the aforementioned first speed V1. Furthermore, in step S4, detection by the sensor 8 continues, and the detected information is repeatedly sent from the sensor 8 to the control device 1 at a predetermined period.

[0068] In step S5, it is determined whether the moving part 4 abuts against the first endpoint 7F. If the moving part 4 does not abut, step S5 is repeated, and the movement of the moving part 4 (controlled by the motor 2) continues. After it is determined that the moving part 4 abuts against the first endpoint 7F, the process proceeds from step S5 to step S6, and the position of the abutment time of the moving part 4 is stored as the origin.

[0069] In step S7, the motor 2 is controlled to move the movable member 4 toward the second endpoint 7N. At the beginning of step S7, the rotation direction of the motor 2 is reversed, and the rotation speed of the motor 2 is increased so that the speed of the movable member 4 becomes the second speed V2 described above. In step S7, similar to step S4, the detection performed by the sensor 8 continues, and the detected information is repeatedly sent from the sensor 8 to the control device 1 at a predetermined period. Furthermore, in step S7, after the movable member 4 moves to the immediate preceding position of the second endpoint 7N, the rotation speed of the motor 2 is reduced so that the speed of the movable member 4 becomes the first speed V1 described above. It should be noted that whether the immediate preceding position has been reached can be determined based on the number of rotations, rotation position, or rotation speed of the motor 2 since the time point from the departure of the first endpoint 7F, as well as the time.

[0070] Next, in step S8, it is determined whether the moving part 4 abuts against the second endpoint 7N. If the moving part 4 does not abut, step S8 is repeated, and the movement of the moving part 4 (controlled by the motor 2) continues. After determining that the moving part 4 abuts against the second endpoint 7N, the process moves from step S8 to step S9, where the calibration control is completed by establishing a connection between the moving position of the moving part 4 (the position at the abutment time point) and the rotation position of the motor 2.

[0071] After calibration control is completed, proceed to step S10 to implement position control. That is, in step S10, control motor 2 to move the moving member 4 toward the initial target position Pi. In this step S10, set the rotational speed of motor 2 to the maximum so that the speed of the moving member 4 is the aforementioned third speed V3. And, after the moving member 4 is at the initial target position Pi, this flowchart ends.

[0072] [3. Functions and Effects]

[0073] (1) The control device 1 described above controls the motor 2, which moves the moving part 4 within the movement range 6 divided by two endpoints 7 in the target machine 3. The control device 1 is provided with a control unit 11, which performs calibration control and position control. In this calibration control, after the moving part 4 abuts against the endpoint 7 (first endpoint 7F) that is farther from the initial target position Pi, the moving part 4 abuts against the other endpoint 7 (second endpoint 7N), thereby establishing a connection between the movement position of the moving part 4 within the movement range 6 and the rotation position of the motor 2. As a result, the distance (movement distance L3) that the moving part 4 moves to the initial target position Pi after the calibration control is completed can be shortened. Therefore, according to the control device 1 described above, compared with the operation of the first comparative example described above, the time required for the moving part 4 to move to the initial target position Pi from the completion of the calibration control can be shortened.

[0074] Furthermore, according to the aforementioned control device 1, the position of the moving part 4, which calibrates the start time point (the time point at which the start command is received), is as follows: Figure 2 As shown in (A) and (B), the probability of the initial target position Pi being between the first endpoint 7F and the first endpoint is relatively high. Therefore, according to the control device 1 described above, the total moving distance L of the moving member 4 is more easily shortened compared to the actions of the first comparative example and the second comparative example. Therefore, it is possible to shorten the time (total time) required for the moving member 4 to move to the initial target position Pi from the calibration control start time point.

[0075] That is, according to the control device 1 described above, the average time required for calibration control (the value obtained by summing the time required for each calibration control and dividing by the number of times the calibration control is performed) can be shortened, and the target machine 3 can be made to reach the target state earlier.

[0076] Furthermore, in calibration control, by making the moving part 4 abut not only at one end point 7, but at both end points 7, it is possible to confirm whether both end points 7 are normal (whether there are no defects at either end point 7). In addition, by abutting only one end point 7, there is a possibility that defects or malfunctions such as broken teeth or missing gears in the transmission path 5 (e.g., gears) may not be detected, but by abutting both end points 7, it is possible to detect certain defects or malfunctions.

[0077] (2) Alternatively, in the calibration control described above, the rotational state of motor 2 can be obtained, and the rotational position of motor 2 can be calculated based on the rotational state. In this case, calibration control can be implemented with a simple structure.

[0078] (3) In addition, in the above position control, when the moving part 4 moves to the initial target position Pi at the highest speed that can be generated by the motor 2, the time required for the moving part 4 to move to the initial target position Pi from the completion of the calibration control can be further shortened.

[0079] (4) If, in the above-described calibration control, after moving the moving part 4 to the first endpoint 7F at a first speed V1, the moving part 4 moves from the first endpoint 7F to the second endpoint 7N at a second speed V2 (V2≥V1), and in the position control, the moving part 4 moves towards the initial target position Pi at a third speed V3 (maximum speed), then the average time can be further shortened, and appropriate calibration control can be implemented. For example, if the position of the moving part 4 is unknown at the start of the calibration control, but if the first speed V1 is a low speed that has no effect on both the moving part 4 and the first endpoint 7F, then the moving part 4 will not collide with the first endpoint 7F, thus suppressing damage to both. In addition, if the third speed V3 is the maximum speed, then the time required for the moving part 4 to move to the initial target position Pi after the calibration control is completed can be shortened.

[0080] (5) Furthermore, if the aforementioned second speed V2 is a variable value that is equal to the first speed V1 between the immediate preceding position of the second endpoint 7N and the immediate preceding position, and equal to the third speed V3 (maximum speed) from the first endpoint 7F to the immediate preceding position, then it is possible to reduce the time required for the moving member 4 to move from the first endpoint 7F to the second endpoint 7N while avoiding collisions between the moving member 4 and the second endpoint 7N. Therefore, it is possible to implement appropriate calibration control while reducing the average time required for calibration control.

[0081] (6) In the control device 1 described above, when the initial target position Pi is received at the same time as or before the start command of calibration control is received, calibration control can be started at the same time as the start command is received, so that the target machine 3 can be in the target state earlier.

[0082] [4. Others]

[0083] The aforementioned control device 1 performs calibration control and position control, but it can also be used as follows: Figure 4 As shown, the above-described control content is applied to the device for implementing calibration control (hereinafter referred to as "calibration control device 20"). That is, the calibration control device 20 can implement calibration control that establishes a connection between the moving position of the moving member 4 and the rotational position of the motor 2 that actuates the moving member 4 within the moving range 6 divided by the two endpoints 7 in the target machine 3.

[0084] Even in this case, during calibration control, after the moving member 4 abuts against the end point 7 of the target position (i.e., the initial target position Pi) within the initial movement range 6 after calibration control is completed, which is farther away, the moving member 4 abuts against the other end point 7, thereby establishing a connection between the movement position of the moving member 4 within the movement range 6 and the rotation position of the motor 2. With such a calibration control device 20, the average time required for calibration control (the value obtained by summing the times required for each calibration control and dividing by the number of calibration control operations) can be shortened, similar to the embodiment described above.

[0085] It should be noted that the calibration control device 20 also incorporates a processor (central processing unit), memory (main memory), storage device (storage unit), interface device, etc. (not shown), and these components are interconnected via an internal bus. The control content implemented by the calibration control device 20 can be recorded and stored in the memory as firmware or application programs. During program execution, the program content is expanded in the memory space and executed by the processor.

[0086] The structure and control content of the control device 1 described above are just one example and are not limited to the above content. For example, if the control device 1 accurately grasps the distance D, the second speed V2 may not be set as a variable value, but may be kept constant at the third speed V3 (maximum speed). It should be noted that the moving speed of the moving part 4 (the rotational speed of the motor 2) may also not be changed, but may be kept constant in the total moving distance L (V1=V2=V3).

[0087] Industrial applicability

[0088] This application can be applied to the manufacturing industry of motors using application control devices, calibration control devices that use motors for calibration control, and the manufacturing industry of machines for which calibration control is performed.

[0089] Explanation of reference numerals in the attached figures

[0090] 1. Control device

[0091] 2 motors

[0092] 3. Object Machine

[0093] 4 Moving parts

[0094] 5. Transmission Path

[0095] 6. Movement range

[0096] 7 endpoints

[0097] 7F First endpoint (one side's endpoint)

[0098] 7N Second endpoint (the other endpoint)

[0099] 8 sensors

[0100] 9. Turn on / off switch

[0101] 10 Input Devices

[0102] 11 Control Department

[0103] 20 Calibration Control Device

[0104] Distance between D endpoints

[0105] L Total travel distance of the moving part

[0106] The distance traveled from L1 to the first endpoint

[0107] L2 is the distance traveled from the first endpoint to the second endpoint.

[0108] L3: Distance traveled from the second endpoint to the initial target position

[0109] Pi's initial target location.

Claims

1. A control device for a motor, which controls the movement of a moving part within a movement range defined by two endpoints in a machine. The control device for the motor is characterized in that... The motor control device includes a control unit that performs calibration control to establish a relationship between the movement position of the moving member within the movement range and the rotational position of the motor, and position control to move the moving member to a target position within the movement range. In the calibration control, after the moving part is brought into contact with the endpoint that is longer than the initial target position that becomes the initial target position after the calibration control is completed, the moving part is brought into contact with the other endpoint, thereby establishing a connection between the moving position of the moving part within the moving range and the rotational position of the motor.

2. The motor control device according to claim 1, characterized in that, In the calibration control, the rotational state of the motor is obtained, and the rotational position is calculated based on the rotational state.

3. The motor control device according to claim 1 or 2, characterized in that, In the position control, the moving part is moved toward the initial target position at the highest speed that can be generated by the motor.

4. The motor control device according to claim 1 or 2, characterized in that, In the calibration control, the moving member is moved towards one end point at a first speed, and the moving member is moved towards the other end point at a second speed. In the position control, the moving member is moved toward the initial target position at a third speed, and The third speed is the highest speed that the motor can produce. The first speed is lower than the third speed and is below the second speed.

5. The motor control device according to claim 4, characterized in that, The second speed is a variable value that is equal to the first speed between the immediate preceding position of the other endpoint and the other endpoint, and equal to the third speed between the endpoint of one side and the immediate preceding position.

6. The motor control device according to claim 1 or 2, characterized in that, The initial target position is received simultaneously with or before the start command of the calibration control.

7. A calibration control device, which implements calibration control within a movement range divided by two endpoints in a machine by establishing a relationship between the movement position of a moving part and the rotational position of a motor that actuates the moving part. The calibration control device is characterized in that... In the calibration control, after the moving part is brought to abut against the end point of the target position within the initial movement range after the calibration control is completed, which is farther away, the moving part is brought to abut against the other end point, thereby establishing a connection between the movement position of the moving part within the movement range and the rotation position of the motor.

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