Motor control device

Abstract

A motor control device (1) disclosed herein, capable of setting an appropriate initial gain before the automatic adjustment of filter characteristics begins, comprises: a speed control loop (10), including a speed command generation unit (11) and a torque command generation unit (12); a signal input unit (13) that inputs a signal to the speed control loop (10); and an input / output response calculation unit (14) for calculating the gain of the speed control loop input / output signals based on the output of the speed control loop (10) when a signal is input to the speed control loop (10). Input / output response; a condition setting unit (15) that sets the conditions for determining whether to increase the gain; a condition comparison unit (16) that compares the input / output response calculated by the input / output response calculation unit (14) with the conditions set by the condition setting unit (15) to confirm whether the conditions for automatic adjustment of the start characteristic are met; and a gain setting unit (30) that increases the gain when the condition comparison unit (16) determines that the input / output response calculated by the input / output response calculation unit (14) does not meet the conditions for automatic adjustment of the start characteristic.

Description

Technical Field

[0001] This invention relates to a motor control device. Background Technology

[0002] Conventionally, in motor control devices, filters are adjusted by changing various parameters based on measurement results such as frequency response. Patent Document 1 and Patent Document 2 disclose techniques for automatically adjusting the speed control gain, which is one of the parameters. Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 2016-092935 Patent Document 2: Japanese Patent Application Publication No. 2017-192212 Summary of the Invention The problem the invention aims to solve

[0004] Even with the same parameters, the frequency response varies depending on the mechanics and also changes over time. Therefore, even with the same mechanics, the frequency response will change. Automatic adjustment of filter characteristics often starts with a low gain to avoid oscillations. However, if this initial gain is too low in automatic adjustment, depending on the mechanics, sufficient gain cannot be obtained, making it difficult to detect resonance. Furthermore, if the initial gain at the start of automatic adjustment is high, oscillations will occur if resonance is present, potentially leading to mechanical damage.

[0005] This disclosure was made in view of the above-mentioned problems, and its object is to provide a technique in a motor control device that enables the setting of an appropriate initial gain before the automatic adjustment of the filter characteristics begins. Solution for solving the problem

[0006] One aspect of the motor control device disclosed herein includes: a speed command generation unit that generates a speed command value for a motor; a torque command generation unit that generates a torque command value for the motor based on the speed command value; a speed control loop that includes the speed command generation unit and the torque command generation unit; a signal input unit that inputs a signal to the speed control loop; an input / output response calculation unit that calculates an input / output response including a gain of the input / output signal of the speed control loop based on the output of the speed control loop when the signal is input to the speed control loop; a condition setting unit that sets a condition for determining whether to increase the gain; a condition comparison unit that compares the input / output response calculated by the input / output response calculation unit with the condition set by the condition setting unit to confirm whether the condition for automatic characteristic adjustment is met; and a gain setting unit that increases the gain when the condition comparison unit determines that the input / output response calculated by the input / output response calculation unit does not meet the condition for automatic characteristic adjustment. The effects of the invention

[0007] According to this disclosure, a technique can be provided to set an appropriate initial gain in a motor control device before the automatic adjustment of the filter characteristics begins. Attached Figure Description

[0008] Figure 1 This is a block diagram illustrating the structure of a motor control device according to one embodiment of the present disclosure. Figure 2 It is a graph showing the relationship between the amplitude ratio and phase lag of the input and output at each frequency used to illustrate the second criterion. Figure 3 It is a graph showing the relationship between the amplitude ratio and phase lag of the input and output at each frequency used to illustrate the third criterion. Figure 4 This is a flowchart illustrating an example of the gain setting process of a motor control device according to an embodiment of this disclosure. Figure 5 This is a block diagram showing the structure of a modified motor control device. Detailed Implementation

[0009] The embodiments of this disclosure will now be described with reference to the accompanying drawings. Figure 1 This is a block diagram illustrating the structure of a motor control device 1 according to one embodiment of the present disclosure.

[0010] Motor control device 1 controls motor 2 via a servo amplifier or the like. Motor control device 1 can be implemented by executing an appropriate control program using one or more computer devices having a memory, processor, input / output interface, etc. Motor 2 is, for example, a servo motor. Furthermore, the structural elements of motor control device 1 described below are derived from a classification of the functions of motor control device 1, and may not be structural elements that can be clearly distinguished in terms of physical and program structure.

[0011] The motor control device 1 includes a speed control loop 10, a signal input unit 13, an input / output response calculation unit 14, a condition setting unit 15, a condition comparison unit 16, and a reduction condition determination unit 20.

[0012] The speed control loop 10 includes a speed command generation unit 11 and a torque command generation unit 12.

[0013] The speed command generation unit 11 generates operation commands, i.e., speed command values, for operating the motor 2. Based on the required motion information for the motor 2, the speed command generation unit 11 continuously outputs values ​​representing the rotational speed of the motor 2. The motion information includes, for example, data such as motion programs described in G-code language used to determine the waveform of the speed change of the motor 2.

[0014] The torque command generation unit 12 generates the torque command value of the motor 2 based on the speed command value input from the speed command generation unit 11. The torque command generation unit 12 may also include an amplifier that amplifies the input or output, a filter that reduces specific frequency components of the input or output, etc. That is, the transfer function of the torque command generation unit 12 can also be a separate function, and the characteristics of the torque command generation unit 12, i.e., the transfer function, can be adjusted by modifying one or more parameters.

[0015] The speed control loop 10 is a feedback circuit that acquires feedback information from the motor 2 and reflects this feedback information in the torque command value. The feedback information is the detection value of a speed detector such as an encoder configured on the motor 2, or a value obtained by processing the speed detection value. For example, the speed detection value and the speed command value are added in reverse phase, and the torque command generation unit 12 generates a torque command value to be output to the motor 2 based on the speed command value obtained by this inverse addition.

[0016] The signal input unit 13 inputs a signal to the speed control loop 10. The signal input unit 13 inputs interference signals, etc., to the speed control loop 10 to make the torque command value appropriate, wherein the torque command value is used to make the motor 2 run.

[0017] The signal output from the signal input unit 13 is selected based on the response characteristic value calculated in the input / output response calculation unit 14, which will be described later. The signal output from the signal input unit 13 to the speed control loop 10 may be, for example, a periodic excitation signal such as a sine wave, rectangular wave, or triangular wave; an M-sequence signal; a pulse signal; white noise; or a PRBS (Pseudo-Random Binary Sequence) signal. In this embodiment, the signal input unit 13 inputs a sine wave signal to the torque command generation unit 12.

[0018] The signal input from the signal input unit 13 is configured to scan the frequency of the periodic measurement command, that is, to continuously change the frequency so as to calculate the response characteristic value representing the frequency response characteristic in the input / output response calculation unit 14.

[0019] The input / output response calculation unit 14 estimates the input / output response, representing the response characteristics, based on the signals input to the speed control loop 10 from the signal input unit 13 and the signals output from the speed control loop 10. The input / output response includes the gain of the input and output signals of the speed control loop.

[0020] The input / output response calculation unit 14 calculates, for example, the frequency response characteristics as the input / output response. The frequency response characteristics are obtained by inputting a sinusoidal signal while varying the frequency and calculating the amplitude ratio (dB) and phase lag for each frequency. The input / output gain (amplitude ratio) can be expressed as shown in Equation 1 below. Simply put, if the speed gain is doubled, it can be calculated that the output gain is doubled.

[0021] [Number 1]

[0022] The condition setting unit 15 sets the conditions and information required for determining the initial gain to perform automatic characteristic adjustment. Automatic characteristic adjustment is a process that optimizes the parameters (set values) of the filter in the speed control loop 10 and adjusts the final gain based on the measurement results of the frequency response. Automatic characteristic adjustment itself can use known techniques such as those disclosed in Japanese Patent Application Publication No. 2018-128734.

[0023] In the condition setting unit 15 of this embodiment, a gain increase condition for determining whether to increase the gain and a gain decrease condition for determining whether to decrease the gain are set.

[0024] Furthermore, in the condition setting unit 15, a minimum gain for determining whether the initial gain has reached the minimum gain and a maximum gain for determining whether the initial gain has reached the maximum gain are set. The minimum gain and maximum gain are preset by the operator using the motor control device 1, for example, or based on parameters preset in the motor control device 1. The maximum gain can also be set based on the value obtained by multiplying the load inertia I by the inertia I of the motor rotor.

[0025] The initial gain is set relatively low. The gain increase is performed without meeting the automatic adjustment condition of the filtering function of the initial speed control loop 10. The automatic adjustment condition is not met if the input / output response matches the gain increase condition.

[0026] Regarding the gain increase condition in this embodiment, multiple criteria (thresholds) are set for determining whether to increase the gain. Next, the first determination criterion, the second determination criterion, and the third determination criterion included in these multiple criteria will be described.

[0027] The first criterion is that the maximum gain of the input / output response is greater than or equal to a first threshold set by the condition setting unit 15. The first threshold is, for example, set to 5 dB or more. If the maximum gain of the input / output response is greater than or equal to the first threshold, no increase in gain is performed.

[0028] The second criterion is that the frequency at which the input / output response is 0dB is above the second threshold set by the condition setting unit 15.

[0029] Figure 2 It is a graph showing the relationship between the amplitude ratio and phase lag of the input and output at each frequency used to illustrate the second criterion. Figure 2 The upper graph shows the relationship between frequency and input / output gain (amplitude ratio [dB]), and the lower graph shows the relationship between frequency and phase lag. Figure 2 In this example, the second criterion is set to an input / output response of 0dB or higher up to 30Hz. In this case, the input / output response is below 0dB up to 30Hz, therefore the second criterion is not met, leaving room to increase the gain.

[0030] The third criterion is that the proportion (probability) of the input / output response calculated by the input / output response calculation unit 14 up to the set value of the frequency set by the condition setting unit 15 having a gain of 0dB or more is greater than or equal to the third threshold set by the condition setting unit 15.

[0031] Figure 3 This is a graph showing the relationship between the amplitude ratio and phase lag of the input and output at various frequencies used to illustrate the third criterion. Figure 3In this example, the frequency value is set to 50Hz, and the judgment range includes 0Hz to 50Hz. The third threshold is set to above 50%. In this case, the proportion of values ​​above 0dB in the judgment range is significantly less than 50%, therefore the third judgment criterion is not met, and there is room to increase the gain.

[0032] In this embodiment, if the input / output response calculated by the input / output response calculation unit 14 does not satisfy all of the above-mentioned first to third determination criteria, the gain increase condition is met. Conversely, even if any one of the first to third determination criteria is satisfied, the gain increase condition is not met.

[0033] Furthermore, once the initial gain has reached its maximum, it cannot be increased further. Therefore, the condition for increasing the initial gain is that the gain increase condition is met and the initial gain has not reached its maximum. In this example, the condition for increasing the gain is met if any one of the first, second, or third decision criteria is met and the initial gain has not reached its maximum.

[0034] Next, the gain reduction conditions will be explained. In this embodiment, multiple gain reduction conditions are set, including a first gain reduction condition, a second gain reduction condition, and a third gain reduction condition. Each gain reduction condition will be explained.

[0035] The first gain reduction condition is an oscillation condition used to determine whether oscillation occurs when a signal from the signal input unit 13 is input. There are no particular limitations on the method of setting the oscillation condition; for example, it can be arbitrarily set by the operator or set based on the rated current of the motor, the maximum current of the amplifier, etc.

[0036] The second gain reduction condition is the gain margin condition, which serves as an indicator of stability. Stability here refers to a state where oscillations do not occur. The gain margin condition is determined based on the gain with a phase lag of 180 degrees in the open-loop characteristic. The lower the gain in this case, the better. There are no particular limitations on how the gain margin condition is set; it can be set through calculations, Nyquist plots, Bode plots, etc.

[0037] The third gain reduction condition is the phase margin condition, which serves as an indicator of stability. Stability here refers to a state where oscillations do not occur. The phase margin condition is determined based on the phase when the gain is 0 dB in the open-loop characteristic. Ideally, the phase in this case should be close to 0. There are no particular limitations on how the phase margin condition is set; it can be set through calculations, Nyquist plots, Bode plots, etc.

[0038] Furthermore, if the initial gain has reached its minimum, it cannot be further reduced. Therefore, the condition for reducing the initial gain is that the gain reduction condition is met and the initial gain has not reached its minimum. In this example, the condition for reducing the gain is met if at least one of the first to third judgment criteria is met and the initial gain has not reached its minimum.

[0039] The conditions for increasing and decreasing gain have been explained above. When the initial gain becomes appropriate through gain increase, gain decrease, etc., this gain becomes the gain during automatic characteristic adjustment. In this embodiment, the termination condition (gain determination) for gain change is that the gain increase condition is not met, the maximum gain has been reached even though the gain increase condition is met, or the minimum gain has been reached even though the gain decrease condition is met.

[0040] Next, the condition comparison unit 16 will be explained. The condition comparison unit 16 compares the input / output response calculated by the input / output response calculation unit 14 with the conditions set by the condition setting unit 15 to confirm whether the initial gain value meets the conditions for automatic characteristic adjustment.

[0041] The condition comparison unit 16 determines whether the input / output response calculated by the input / output response calculation unit 14 satisfies the gain increase condition set by the condition setting unit 15. Based on the determination result, the condition comparison unit 16 outputs a signal to the gain setting unit 30 to determine the gain.

[0042] The gain reduction determination unit 20 determines whether the conditions for reducing gain are met. The gain reduction determination unit 20 in this embodiment has an oscillation determination unit 21 and a control characteristic determination unit 22, which are functional units for determining the conditions for reducing gain (first gain reduction condition to third gain reduction condition).

[0043] The oscillation determination unit 21 determines whether oscillation occurs when a signal from the signal input unit 13 is input based on the first gain reduction condition (oscillation condition).

[0044] The control characteristic determination unit 22 determines whether the input-output response calculated by the input-output response calculation unit 14 satisfies the gain margin condition or the phase margin condition based on the second gain reduction condition (gain margin condition) and the third gain reduction condition (phase margin condition).

[0045] The gain setting unit 30 changes the gain before automatic characteristic adjustment begins, based on the input / output response calculated by the input / output response calculation unit 14 and various preset conditions. The gain setting unit 30 of this embodiment includes a gain increasing unit 31 that increases the initial gain based on the input / output response and various conditions, and a gain decreasing unit 32 that decreases the gain.

[0046] The increase and decrease of gain can be changed linearly, logarithmically, exponentially, or calculated based on inertia I. When calculating based on inertia I, the value can be obtained by multiplying the default value adjusted in motor unit 2 by "load inertia I / motor rotor inertia I". Furthermore, the increase and decrease of gain can be performed with preset target values. When a target value is set, the increase or decrease of gain can be performed in stages, such as (target value - current value) / 4. Moreover, the method for increasing or decreasing gain can be changed midway. For example, in... Figure 2 In cases where the gain increase is capped by a response greater than 0dB up to 30Hz, as in the example where the gain is increased only when the response is greater than 0dB up to 30Hz, the frequency that deviates most from 0dB up to 30Hz can be selected, and the gain can be chosen to compensate for that deviation. Alternatively, the gain can be selected by increasing the average gain up to 30Hz. Thus, various methods can be used to increase and decrease the gain.

[0047] Next, refer to Figure 4 This section explains the setting and processing of the initial gain value in the automatic characteristic adjustment. Figure 4 This is a flowchart illustrating an example of the gain setting process of a motor control device 1 according to an embodiment of the present disclosure.

[0048] In step S1, the signal input unit 13 outputs interference signals and other signals to the torque command generation unit 12.

[0049] In step S2, the torque command generation unit 12 outputs a torque command value obtained by converting the speed command value based on the signal from the signal input unit 13. The torque command value generated by the torque command generation unit 12 is output to the motor 2 and also to the input / output response calculation unit 14.

[0050] In step S3, the input / output response calculation unit 14 estimates the input / output response based on the signals input from the signal input unit 13 to the torque command generation unit 12 and the signals output from the torque command generation unit 12.

[0051] In step S4, the gain reduction condition determination unit 20 performs oscillation determination by the oscillation determination unit 21 and control characteristic determination by the control characteristic determination unit 22 based on the estimated input and output response, and determines whether the gain reduction condition is met.

[0052] If all of the above-mentioned oscillation conditions (first gain reduction condition), gain margin conditions (second gain reduction condition), and phase margin conditions (third gain reduction condition) are not met, the process proceeds to step S5 (step S4; "No").

[0053] In step S5, the condition comparison unit 16 determines whether the gain increase condition is met based on the estimated input-output response. If all of the first to third determination criteria described above are not met, the condition comparison unit 16 of this embodiment determines that the gain increase condition is met.

[0054] If the input / output response satisfies at least one of the first, second, and third determination criteria described above, it does not match the gain increase condition, and therefore the process proceeds to step S8 (step S5; "No"). In step S8, the gain setting unit 30 considers that an appropriate initial gain value is not required to increase the gain and sets the gain to a gain that is automatically adjusted for characteristics.

[0055] On the other hand, in the processing of step S5, if the input and output response does not meet all the conditions of the first determination criterion, the second determination criterion, and the third determination criterion, it matches the gain increase condition, so the processing proceeds to step S6 (step S5; "Yes").

[0056] In step S6, the condition setting unit 15 determines whether the maximum gain has been reached. If the maximum gain has been reached, the process proceeds to step S8 (step S6; "No"). In step S8, the gain setting unit 30 cannot further increase the gain, so it sets the current initial gain value to the gain for automatic characteristic adjustment.

[0057] On the other hand, if the maximum gain is not reached in step S6, the process proceeds to step S7 (step S6; "No"). In step S7, the gain setting unit 30 performs a process of increasing the initial gain value through the gain increasing unit 31. After the process in step S7, the process returns to step S3, and the process after step S3 is repeated based on the increased initial gain value.

[0058] Furthermore, in the process of step S4 above, if it is determined that any one of the following conditions is met: oscillation condition (first gain reduction condition), gain margin condition (second gain reduction condition), and phase margin condition (third gain reduction condition), it matches the gain reduction condition, and therefore the process proceeds to step S9 (step S4; "Yes").

[0059] In step S9, the condition setting unit 15 determines whether the minimum gain has been reached. If the minimum gain has been reached, the process proceeds to step S8 (step S9; "Yes"). In step S8, the gain setting unit 30 cannot further reduce the gain, so it sets the current initial gain value to the gain for automatic characteristic adjustment.

[0060] On the other hand, if the minimum gain is not reached in step S9, the process proceeds to step S10 (step S9; "No"). In step S10, the gain setting unit 30 performs a process that reduces the initial gain value by the gain reduction unit 32. After the process in step S10, the process returns to step S3, and the process after step S3 is repeated based on the reduced initial gain value.

[0061] Thus, in this embodiment, the gain is increased in stages as long as the gain increase condition is met, searching for the optimal initial gain. The purpose of this gain search is not to find the final value of the gain, but simply to increase the gain to a level that allows for filter adjustment in response to resonance.

[0062] The motor control device 1 of this embodiment described above includes: a speed command generation unit 11, which generates a speed command value for a motor 2; a torque command generation unit 12, which generates a torque command value for a motor 2 based on the speed command value; a speed control loop 10, which includes the speed command generation unit 11 and the torque command generation unit 12; a signal input unit 13, which inputs a signal to the speed control loop 10; an input / output response calculation unit 14, which calculates an input / output response including the gain of the speed control loop input / output signal based on the output of the speed control loop 10 when a signal is input to the speed control loop 10; a condition setting unit 15, which sets a condition for determining whether to increase the gain; a condition comparison unit 16, which compares the input / output response calculated by the input / output response calculation unit 14 with the condition set by the condition setting unit 15 to confirm whether the condition for automatic characteristic adjustment is met; and a gain setting unit 30, which increases the gain when the condition comparison unit 16 determines that the input / output response calculated by the input / output response calculation unit 14 does not meet the condition for automatic characteristic adjustment.

[0063] This prevents oscillations during automatic characteristic adjustment and improves the accuracy of characteristics acquired during such adjustment. Furthermore, it avoids situations where resonance cannot be determined due to insufficient gain.

[0064] Furthermore, if the maximum gain of the input / output response calculated by the input / output response calculation unit 14 is greater than or equal to the value (first threshold) set by the condition setting unit 15, the condition comparison unit 16 of this embodiment will determine the gain or reduce the gain. This prevents oscillations during automatic characteristic adjustment caused by a sudden increase in gain.

[0065] Furthermore, if the frequency at which the input / output response calculated by the input / output response calculation unit 14 is 0dB is greater than or equal to the value (second threshold) set by the condition setting unit 15, the condition comparison unit 16 of this embodiment will determine the gain or decrease the gain. Thus, the gain can be increased to a level where resonance can be determined.

[0066] Furthermore, if the proportion of the input / output response calculated by the input / output response calculation unit 14 up to the frequency value set by the condition setting unit 15 where the gain is 0 dB or more is greater than or equal to the value set by the condition setting unit 15 (the third threshold), the condition comparison unit 16 of this embodiment will determine the gain or reduce the gain. Thus, the gain can be increased to a level where resonance can be determined.

[0067] In addition, an oscillation determination unit 21 is provided, which determines whether oscillation occurs when a signal is input from the signal input unit 13 of this embodiment. This allows for more reliable determination of the generation of oscillation during automatic characteristic adjustment.

[0068] Furthermore, if the oscillation determination unit 21 of this embodiment determines that oscillation has occurred, the gain is determined or the gain is reduced. This allows for more reliable prevention of oscillation during automatic characteristic adjustment.

[0069] In addition, a control characteristic determination unit 22 is provided, which determines whether the input / output response calculated by the input / output response calculation unit 14 of this embodiment satisfies the gain margin or phase margin set by the condition setting unit 15. Thus, before automatic characteristic adjustment, since the gain margin or phase margin is not satisfied, it is possible to determine whether the stability is high or low.

[0070] Furthermore, in this embodiment, if the gain margin or phase margin is not satisfied in the control characteristic determination unit 22, the gain is determined or the gain is reduced. Therefore, since the gain margin or phase margin is not satisfied, it is possible to avoid the occurrence of automatic characteristic adjustment under low stability conditions.

[0071] Furthermore, if the gain of the input / output response calculated by the input / output response calculation unit 14 in this embodiment is the maximum gain set by the condition setting unit 15, the gain is determined. This prevents the gain from exceeding the maximum gain preset in the conditions.

[0072] Furthermore, the motor control device 1a of this embodiment also includes a speed detection unit 17, which detects the speed of the motor 2 driven based on the torque command value. Therefore, the detection result of the speed detection unit 17 can be used to calculate the input / output response, and based on the calculated input / output response, it can be determined whether the initial gain meets the conditions for automatic adjustment of the start characteristics.

[0073] The motor control device 1 according to one embodiment of the present disclosure has been described above, but the structure of the motor control device 1 can be appropriately modified. Next, the structure of a modified motor control device 1 will be described. Furthermore, in the following description, the same reference numerals are sometimes used for structures that are common or the same as those in the above embodiment, and the description is omitted.

[0074] Figure 5 This is a block diagram showing the structure of a modified motor control device 1a. (See diagram for example.) Figure 5 As shown, the modified motor control device 1a includes a speed detection unit 17 in the speed control loop 10.

[0075] In a modified example, the signal input unit 13 inputs the signal required to generate a speed command value to the speed command generation unit 11 of the speed control loop 10. The speed command generation unit 11 generates a speed command value based on the signal input from the signal input unit 13 and outputs it to the torque command generation unit 12. The torque command generation unit 12 outputs the torque command value input from the speed command generation unit 11. The torque command value is output to the motor 2 via a servo amplifier (not shown) or the like, and the motor 2 is driven based on the torque command value.

[0076] The speed detection unit 17 detects the speed of the motor 2 driven based on the torque command value. The speed detection unit 17 outputs the speed information fed back from the motor 2 to the input / output response calculation unit 14.

[0077] The input / output response calculation unit 14 acquires the input signal input from the signal input unit 13 to the speed command generation unit 11 and the output signal output from the speed detection unit 17. Based on the acquired input and output signals, the input / output response calculation unit 14 estimates and calculates the input / output response. The input / output response calculation unit 14 outputs the calculated input / output response to the reduction condition determination unit 20. Furthermore, the subsequent processing and structure are the same as in the above embodiment, therefore detailed descriptions are omitted.

[0078] According to the structure of the modified motor control device 1a, the gain for automatic characteristic adjustment can also be appropriately set in the same way as the motor control device 1 of the same embodiment described above.

[0079] Furthermore, in the above embodiments, the first determination criterion, the second determination criterion, and the third determination criterion are conditions used to determine whether to increase the gain, but they can also be conditions used to decrease the gain. Additionally, there can be only one determination criterion set as the gain increase condition, and there can also be only one gain decrease condition. In this way, the conditions and criteria used to increase or decrease the gain can be appropriately changed.

[0080] Regarding the above-described embodiments, the following notes are further disclosed. (Postscript 1) The motor control device (1, 1a) includes: The speed command production unit (11) produces the speed command value for the motor (2); The torque command generation unit (12) generates the torque command value of the motor (2) based on the speed command value; The speed control loop (10) includes the speed command generation unit (11) and the torque command generation unit (12); The signal input unit (13) inputs a signal to the speed control loop; The input / output response calculation unit (14) is used to calculate the input / output response including the gain of the input / output signal of the speed control loop based on the output of the speed control loop (10) when the signal is input to the speed control loop (10); The condition setting unit (15) sets the conditions for determining whether to increase the gain; The condition comparison unit (16) compares the input / output response calculated by the input / output response calculation unit (14) with the conditions set by the condition setting unit (15) to confirm whether the conditions for starting automatic characteristic adjustment are met; and The gain setting unit (30) increases the gain when the condition comparison unit (16) determines that the input-output response calculated by the input-output response calculation unit (14) does not meet the conditions for automatic adjustment of the start characteristic.

[0081] (Postscript 2) In the aforementioned motor control devices (1, 1a), it is also possible that... If the maximum gain of the input / output response calculated by the input / output response calculation unit (14) is greater than or equal to the value set by the condition setting unit (15), the condition comparison unit (16) determines the gain or reduces the gain.

[0082] (Note 3) In the aforementioned motor control devices (1, 1a), it is also possible that... If the maximum gain of the input / output response calculated by the input / output response calculation unit (14) is greater than or equal to the value set by the condition setting unit (15), the condition comparison unit (16) determines the gain or reduces the gain.

[0083] (Postscript 4) In the aforementioned motor control devices (1, 1a), it is also possible that... If the proportion of the input / output response calculated by the input / output response calculation unit up to the frequency value set by the condition setting unit (15) that is 0 dB or more is greater than or equal to the value set by the condition setting unit (15), the condition comparison unit (16) determines the gain or reduces the gain.

[0084] (Note 5) In the aforementioned motor control devices (1, 1a), it is also possible that... It also includes an oscillation determination unit (21), which determines whether an oscillation occurs when the signal is input by the signal input unit (13).

[0085] (Note 6) In the aforementioned motor control devices (1, 1a), it is also possible that... If the oscillation determination unit (21) determines that an oscillation has occurred, the gain is determined or the gain is reduced.

[0086] (Note 7) In the aforementioned motor control devices (1, 1a), it is also possible that... It also includes a control characteristic determination unit (22), which determines whether the input-output response calculated by the input-output response calculation unit (14) satisfies the gain margin or phase margin set by the condition setting unit (15).

[0087] (Postscript 8) In the aforementioned motor control devices (1, 1a), it is also possible that... If the gain margin or the phase margin is not satisfied in the control characteristic determination unit (22), the gain is determined or the gain is reduced.

[0088] (Note 9) In the aforementioned motor control devices (1, 1a), it is also possible that... If the gain of the input / output response calculated by the input / output response calculation unit (14) is the maximum gain set by the condition setting unit (15), the gain is determined.

[0089] (Postscript 10) In the motor control device (1) described above, it is also possible that... It also includes a speed detection unit (17) that detects the speed of the motor driven based on the torque command value.

[0090] The present disclosure has been described in detail above, but it is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit of the present disclosure or from the spirit of the present disclosure derived from the claims and their equivalents. Furthermore, these embodiments can also be implemented in combination. For example, in the embodiments described above, the order of each action and the order of each process are shown as examples, but are not limited to these. Similarly, the use of numerical values ​​or formulas in the description of the above embodiments is also relevant. Explanation of reference numerals in the attached figures

[0091] 1.1a Motor control device 2 motors 10 Speed ​​control loop 11 Speed ​​Command Production Department 12 Torque Command Production Department 13 Signal Input Section 14 Input / Output Response Calculation Unit 15 Condition Setting Section 16. Conditional Comparison Section 17 Speed ​​Detection Department 21 Oscillation Detection Unit 22 Control Determination and Decision Unit 30 Gain Setting Section

Claims

1. A motor control device, comprising: The speed command production department generates the speed command values ​​for the motor. The torque command generation unit generates the torque command value of the motor based on the speed command value; A speed control loop, comprising the speed command generation unit and the torque command generation unit; The signal input unit inputs a signal to the speed control loop; An input-output response calculation unit is used to calculate an input-output response including the gain of the input-output signal of the speed control loop based on the output of the speed control loop when the signal is input to the speed control loop; A condition setting unit sets conditions for determining whether to increase the gain; The condition comparison unit compares the input / output response calculated by the input / output response calculation unit with the conditions set by the condition setting unit to confirm whether the conditions for starting automatic characteristic adjustment are met. as well as The gain setting unit increases the gain when the condition comparison unit determines that the input / output response calculated by the input / output response calculation unit does not meet the conditions for automatic adjustment of the start characteristic.

2. The motor control device according to claim 1, wherein, If the maximum gain of the input / output response calculated by the input / output response calculation unit is greater than or equal to the value set by the condition setting unit, the condition comparison unit determines the gain or reduces the gain.

3. The motor control device according to claim 1 or 2, wherein, If the frequency at which the input / output response calculated by the input / output response calculation unit is 0dB is greater than or equal to the value set by the condition setting unit, the condition comparison unit determines the gain or reduces the gain.

4. The motor control device according to any one of claims 1 to 3, wherein, If the proportion of the input / output response calculated by the input / output response calculation unit up to the frequency value set by the condition setting unit that is 0 dB or more is greater than or equal to the value set by the condition setting unit, the condition comparison unit determines the gain or reduces the gain.

5. The motor control device according to any one of claims 1 to 4, wherein, It also includes an oscillation determination unit, which determines whether oscillation occurs when the signal is input by the signal input unit.

6. The motor control device according to claim 5, wherein, If the oscillation determination unit determines that an oscillation has occurred, the gain is determined or the gain is reduced.

7. The motor control device according to any one of claims 1 to 6, wherein, It also includes a control characteristic determination unit, which determines whether the input-output response calculated by the input-output response calculation unit satisfies the gain margin or phase margin set by the condition setting unit.

8. The motor control device according to claim 7, wherein, If the gain margin or the phase margin is not satisfied in the control characteristic determination unit, the gain is determined or the gain is reduced.

9. The motor control device according to any one of claims 1 to 8, wherein, If the gain of the input / output response calculated by the input / output response calculation unit is the maximum gain set by the condition setting unit, the gain is determined.

10. The motor control device according to any one of claims 1 to 9, wherein, It also includes a speed detection unit that detects the speed of the motor driven based on the torque command value.

Images