ENGINE CONTROL DEVICE

Abstract

A motor control device (300) includes a forward feedback controller (7) that generates a motor torque command and a motor position command, a value transmitter (4) that outputs a motor position detection value, a machine end sensor (2) that detects a target object and outputs a measured value, a signal processor (11) that calculates a position of a moving component based on the measured value and outputs a machine end position detection value, and a feedback torque command generation unit (50) that generates a feedback torque command based on the machine end position detection value, the motor position detection value, and the motor position command.If a positional relationship between the moving component and a target point cannot be detected by the motor end sensor, the feedback torque command generation unit generates the feedback torque command based on the motor position detection value and the motor position command; and if the positional relationship between the moving component and the target point can be detected by the machine end sensor, the feedback torque command generation unit generates the feedback torque command based on the motor position detection value, the machine end position detection value, the motor position command, and a signal obtained by adding a time delay to the motor position command.

Description

Technical area

[0001] The present disclosure relates to a motor control device that positions a movable component at a target point. background

[0002] An apparatus for manufacturing an electronic device or a semiconductor device must perform positioning to move a movable component included in the apparatus to a target point quickly and with high precision and stop it at that point. For example, an apparatus such as a chip mounter or a die bonding machine for mounting an electronic part or an integrated circuit (IC) chip at a target mounting position on a substrate performs positioning of the electronic part or IC chip, held at one end of a movable component, to the target mounting position on the substrate with high precision and then mounts the electronic part or IC chip on the substrate.Regarding this device, a mounting head including a suction nozzle for sucking the electronic part or IC chip corresponds to the movable component, and the movable component is moved to a predetermined area in the device by a combination of a rotary motor and a linear motion (or rectilinear motion) mechanism or a linear motor mechanism. The mounting head moves to an electronic part or IC chip supply area, sucks the electronic part or IC chip using a suction nozzle, then moves to a point above a target mounting position on a substrate and releases the electronic part or IC chip from the suction nozzle, thereby mounting the electronic part or IC chip on the substrate.

[0003] The mounting head is positioned by feedback control based on a value detected by a encoder for detecting the rotational position of the motor or the position of the linear motor used to move the mounting head. That is, no feedback control is performed by directly detecting the positional relationship between the target mounting position on the substrate and either the suction nozzle included in the mounting head or the electronic part or the like that is sucked by the suction nozzle.

[0004] In recent years, electronic parts and IC chips have become increasingly smaller, requiring more precise positioning. However, the substrate used during mounting may have a different target mounting position on the substrate from product to product due to misalignment of the substrate placement position or deformation at the substrate placement position. Accordingly, positioning based only on a design value of the substrate and a detection value signal from a encoder described above may result in a deviation between the mounting position of an electronic part or IC chip and a predetermined position on the substrate.

[0005] Furthermore, to increase productivity, it is necessary not only for a chip mounting machine and a die bonding machine to increase positioning accuracy, but also for the time from the suction to the release of an electronic part or an IC chip to be reduced. For example, the control device described in Patent Literature 1 analyzes an image obtained by imaging an area including an object to be subjected to position control and a target point, generates measurement data of a positional relationship between the object to be controlled and the target point, and performs positioning using this measurement data and a motor encoder value. The image processing for analyzing an image to obtain the measurement data requires a certain time from the acquisition of the image until the measurement data is obtained, which is a dead time and thus prevents the achievement of high-speed control.Thus, the control device described in Patent Literature 1 calculates, at a time point when measurement data and an encoder value cannot be obtained simultaneously, a latest positional deviation between the target point and the object to be controlled using data of a previously calculated positional deviation between the target point and the object to be controlled, an encoder value used to calculate this data, and a latest encoder value. List of citationsPatent literature

[0006] Patent Literature 1: Japanese Patent Application Laid-Open No. 2019-3388 Brief description of the inventionProblem to be solved by the invention

[0007] The control device described in Patent Literature 1 is capable of performing fast and accurate positioning control. However, the occurrence of a disturbance whose duration is shorter than the dead time may cause an error in the estimated value of the position deviation between a target point and the object to be controlled, thus destabilizing the feedback control system that uses the estimated value.

[0008] Furthermore, when detecting positional deviation using image processing, there is a problem of limiting the range in which the positional deviation can be detected. For example, a camera used to acquire an image must have a resolution of ten billion pixels to image an area of ​​100 mm × 100 mm, where 1 pixel corresponds to 1 μm. Accordingly, a very high-performance camera and very high-performance image processing are required. The control device described in Patent Literature 1 captures an image of a target point using a fixed camera, thereby limiting the range that needs to be imaged. However, a chip mounter must be positioned at multiple target points on a substrate, and a fixed camera hardly supports multiple target points.Therefore, a method is developed in which a camera is installed on a movable component to allow the camera to move with the movable component, thereby including multiple target points in respective imaging areas. Such a configuration prevents a target point from being included in an imaging area before the movable component comes close to the target point. This prevents control from being performed using a detection result obtained by image processing, thereby enabling control to be performed using only a detection result from an encoder when the target point is outside the imaging area. The control scheme must then be switched to control using a detection result obtained by image processing after the movable component comes close to the target point.After switching the control scheme, the detection result from the encoder may differ significantly from the detection result obtained by image processing due to the effect of dead time, and thus may cause rapid movement of the movable component when switching the control scheme.

[0009] In addition, a similar problem will also occur in a case where a relative positional relationship between the target point and the movable component is acquired using a sensor other than a camera sensor to provide control. For example, in a case of a linear scale capable of detecting a position and installed at one end of a machine, there may be a restriction on the attachment position of the scale, or it may take a long time to acquire position information depending on the type of scale, thus causing a similar problem. A similar problem also exists when using a laser distance sensor.

[0010] The present disclosure has been developed in view of the above, and an object of the present disclosure is to provide a motor control device capable of performing rapid and accurate positioning. Ways to solve the problem

[0011] To solve the problems described above and achieve the object, the present disclosure is a motor control device that drives a motor based on a position command to move a movable component to a target point specified by the position command, the motor control device comprising: a feedforward controller for generating a motor torque command and a motor position command based on the position command; a value sensor for detecting a position of the motor and outputting a motor position detection value signal representing the position; a machine end sensor for detecting a target object present in a specific area including the movable component and outputting a detection value signal representing a detection result; a signal processor for calculating a position of the movable component based on the detection value signal,wherein the target point is used as a reference and outputs a machine end position detection value signal representing a result of the calculation; a feedback torque command generation unit for generating a feedback torque command for correcting the motor torque command based on the machine end position detection value signal, the motor position detection value signal, and the motor position command; and a torque signal adder for adding the motor torque command and the feedback torque command to generate a torque command directed to the motor. When the machine end sensor is in a first state, the feedback torque command generation unit generates the feedback torque command based on the motor position detection value signal and the motor position command, and when the machine end sensor is in a second state,The feedback torque command generation unit generates the feedback torque command based on the motor position detection value signal, the machine end position detection value signal, the motor position command, and a signal obtained by adding a time delay to the motor position command. The first state is a state in which a relative positional relationship between the movable component and the target point cannot be detected by the machine end sensor. The second state is a state in which the relative positional relationship between the movable component and the target point can be detected by the machine end sensor. Effects of the invention

[0012] A motor control device according to the present disclosure provides an advantage in terms of the ability to perform fast and accurate positioning. Short description of the drawings Fig. 1 is a block diagram illustrating an exemplary configuration of a motor control device according to a first embodiment. Fig. 2 is a diagram illustrating an example of a relationship between a movable component and an engine end sensor of the engine control device according to the first embodiment. Fig. 3 is a diagram illustrating an exemplary configuration when a laser distance meter is used as the machine end sensor of the engine control device according to the first embodiment. Fig. 4 is a diagram illustrating an exemplary configuration when a linear scale is used as the machine end sensor of the motor control device according to the first embodiment. Fig. 5 is a flowchart illustrating an example of operation of the engine control device according to the first embodiment. Fig. 6 is a diagram illustrating an example of a control circuit usable for implementing the motor control device according to the first embodiment. Fig. 7 is a block diagram illustrating an exemplary configuration of a motor control device according to a second embodiment. Fig. 8 is a block diagram illustrating an exemplary configuration of a motor control device according to a third embodiment. Fig. 9 is a block diagram illustrating an exemplary configuration of a motor control device according to a fourth embodiment. Description of embodiments

[0013] Hereinafter, a motor control device according to embodiments of the present disclosure will be described in detail with reference to the drawings. First embodiment.

[0014] Fig. 1 is a block diagram illustrating an exemplary configuration of a motor control device 300 according to a first embodiment. Fig. The motor control device 300 illustrated in Fig. 1 is a device that performs positioning control to move a movable component 1 to a target point 100, which is a position specified by a position command, by driving a motor 3 based on the position command.

[0015] In the Fig. In the motor control device 300 illustrated in FIG. 1, the movable component 1 is mechanically coupled to the motor 3 to be moved to a desired position, i.e., the target point 100, by movement of the motor 3. A machine end sensor 2 is installed so as to be capable of detecting a target object present within a specific range. The specific range includes the movable component 1. When the target point 100 is included within this specific range, the machine end sensor 2 detects the target point 100. An encoder 4 detects a position of the motor 3, generates a signal representing the position of the motor 3, and outputs this signal as a motor position detection value signal. The motor position detection value signal output from the encoder 4 is input to a position signal subtractor 6 via a detection value signal switch 5.A feedforward controller (FF controller) 7 receives a position command for moving the movable component 1 to the target point 100 and generates and outputs a motor position command and a motor torque command. The motor position command is input to the position signal subtractor 6 via a command value switcher 8. The position signal subtractor 6 calculates a difference of an output value of the detection value signal switcher 5 relative to an output value of the command value switcher 8 to generate a position error signal and inputs the position error signal to a feedback controller (FB controller) 9. The FB controller 9 calculates an FB torque command for correcting the position of the movable component 1 based on the position error signal. The FB torque command is input to a torque signal adder 10.The torque signal adder 10 adds the FB torque command to the motor torque command to correct the motor torque command, and outputs a motor torque command obtained through correction as a torque command to the motor 3. The motor 3 generates torque according to the torque command output by the torque signal adder 10, thereby moving the movable component 1.

[0016] The machine end sensor 2 outputs a signal containing information about the relative positional relationship between the movable component 1 and the target point 100 to a signal processor 11. Note that the signal output from the machine end sensor 2 contains information about the relative positional relationship between the movable component 1 and the target point 100 when the target point 100 is included in a range detectable by the machine end sensor 2, that is, when the machine end sensor 2 is in a state capable of detecting the target point 100. The signal processor 11 calculates the position of the movable component 1 with respect to the position of the target point 100 used as a reference based on the information about the relative positional relationship between the movable component 1 and the target point 100 included in the output signal from the machine end sensor 2.The signal processor 11 then generates and outputs a machine end position detection value signal including information about the calculation result. If the signal output from the machine end sensor 2 does not include information about a relative positional relationship between the movable component 1 and the target point 100, the signal processor 11 may output a machine end position detection value signal without a calculation result or may skip outputting a machine end position detection value signal. The machine end position detection value signal is input to an adder 14 via a first low-pass filter 12. The first low-pass filter 12 passes a signal having a frequency lower than or equal to a predetermined frequency. Furthermore, the motor position detection value signal output from the encoder 4 is input to the adder 14 via a first high-pass filter 13.The first high-pass filter 13 passes a signal having a frequency higher than or equal to a predetermined frequency. The adder 14, which is a first adder of the motor control device 300, adds an input signal from the first low-pass filter 12 and an input signal from the first high-pass filter 13 and outputs an addition result as a target point detection value signal. The target point detection value signal output from the adder 14 is input to the detection value signal switcher 5.

[0017] The motor position command output from the FF controller 7 is delayed by a predetermined time delay, i.e., by adding a retardation time, by a motor position command delayer 15. The delayed signal is then input to an adder 18 via a second low-pass filter 16. The second low-pass filter 16 passes a signal having a frequency lower than or equal to a predetermined frequency. Furthermore, the motor position command output from the FF controller 7 is also input to the adder 18 via a second high-pass filter 17. The second high-pass filter 17 passes a signal having a frequency higher than or equal to a predetermined frequency.Adder 18, which is a second adder of motor control device 300, adds an input signal from second low-pass filter 16 and an input signal from second high-pass filter 17 and outputs an addition result as a target point command. The target point command output from adder 18 is input to command value switch 8.

[0018] A switching determiner 19 determines, based on the motor position detection value signal output from the encoder 4, which of two signals to be input to each of the detection value signal switcher 5 and the command value switcher 8 is to be output.

[0019] It should be noted that in the motor control device 300, the detection value signal switcher 5, the position signal subtractor 6, the command value switcher 8, the FB controller 9, the first low-pass filter 12, the first high-pass filter 13, the adders 14 and 18, the motor position command delayer 15, the second low-pass filter 16, the second high-pass filter 17, and the switching determiner 19 constitute an FB torque command generation unit 50.

[0020] Next, a company in Fig. 1. The engine control device 300 includes, as shown in Fig. 2 illustrates a camera 200 as the machine end sensor 2. Fig. Fig. 2 is a diagram illustrating an example of a relationship between the movable component 1 and the engine end sensor 2 of the engine control device 300 according to the first embodiment. In Fig. 2, the arrow represents the directions of movement of the movable component 1. In the Fig. In the example illustrated in Fig. 2, the camera 200 functioning as the machine end sensor 2 is attached to the movable component 1 so as to be able to capture an image of the target point 100 when the movable component 1 comes close to the target point 100. Furthermore, a mounting nozzle 101 capable of sucking an electronic part 102 is attached to the movable component 1. A configuration may also be used in which an inspector or the like is attached instead of the mounting nozzle 101. The motor control device 300 thus positions the movable component 1 at the target point 100 and performs tasks such as releasing the sucked electronic part 102 onto the target point 100 or bringing the inspector, attached instead of the mounting nozzle 101, into contact with the target point 100 to inspect the target point 100.Such tasks require high accuracy and thus necessitate positioning of the electronic part 102 sucked by the mounting nozzle 101 (or the tester) with respect to the target point 100 with high accuracy, that is, they necessitate positioning of the movable component 1 with respect to the target point 100 with high accuracy.

[0021] As examples of another configuration, the engine control device 300 may also be as shown in the Fig. 3 and Fig. 4. The engine control device 300, which has a Fig. 3, includes a laser distance meter 201 installed at a position fixed relative to the target point 100 to thereby enable measurement of the position of the movable component 1 relative to the target point 100. In the Fig. 3, the laser distance meter 201 corresponds to the one shown in Fig. 1 illustrated machine end sensor 2. In addition, the engine control device 300 includes a Fig. 4, a reading unit 202 of a linear scale and a scale unit 203 of the linear scale. The reading unit 202 is attached to the movable component 1, and the scale unit 203 is installed at a position that is fixed relative to the target point 100, thereby enabling measurement of the position of the movable component 1 relative to the target point 100. In the Fig. 4, the reading unit 202 and the scale unit 203 of the linear scale together correspond to the Fig. 1 illustrated machine end sensor 2.

[0022] The motor 3 is a drive source of the movable component 1. The motor 3 generates a torque according to the motor torque command output from the FF controller 7 to move the movable component 1. The FF controller 7 calculates an ideal torque to be output by the motor 3 through a calculation corresponding to a second-order differential of the position command, where the position command is a command signal for moving the movable component 1 to the target point 100. The FF controller 7 then outputs the result of the calculation as the motor torque command. That is, the movable component 1 is moved to the target point 100 based on the position command. However, it should be noted that even if the motor 3 generates a torque according to the motor torque command, friction and / or other disturbance causes the motor position, that is,The position of the movable component 1 has a following error with respect to the position specified by the position command. Accordingly, the encoder 4 detects the position of the motor 3 and outputs the detected position as the motor position detection value signal. The FF controller 7 calculates an ideal position to be reached by the motor 3 based on the position command and outputs the calculation result as the motor position command. The position signal subtractor 6 calculates the position error signal, which is a difference of the motor position detection value signal relative to this motor position command and represents an error between the position of the movable component 1 and the target point 100. The position error signal is then input to the FB controller 9.The FB controller 9 calculates the FB torque command to cause the position error signal to be reduced to zero, and the motor 3 generates torque in response to this FB torque command. That is, the motor 3 generates torque according to a torque command generated by adding the motor torque command calculated by the FF controller 7 and the FB torque command calculated by the FB controller 9. The addition is performed by the torque signal adder 10. The motor 3 thus moves the movable component 1 to follow the position command.

[0023] In this regard, if the motor 3 is caused to generate torque only according to the position command and the motor position detection value signal output from the encoder 4, a situation such as a deformation of the machine or a position deviation of the target point 100 will result in an error between the movable component 1 and the target point 100. Thus, the machine end sensor 2 in the motor control device 300 detects a relative positional relationship between the target point 100 and the movable component 1 and outputs the detection result as a measurement value signal. The signal processor 11 calculates the position of the movable component 1 relative to the position of the target point 100 based on the measurement value signal output from the machine end sensor 2 and outputs the calculation result as the machine end position detection value signal. This processing will be described below with reference to Fig. 2, Fig. 3 and Fig. 4, which illustrate examples of a configuration of the machine end sensor 2 included in the engine control device 300.

[0024] If components including the machine end sensor 2 and the moving component 1 are arranged as shown in Fig. 2, the camera 200 captures an image of the target point 100 and sends the image as the measurement value signal to the signal processor 11. The signal processor 11 detects the position of the target point 100 based on the image input as the measurement value signal, calculates the position of the electronic part 102 using the target point 100 as a reference, and outputs the calculation result as the machine end position detection value signal. Note that the relationship between the electronic part 102 and the movable component 1 is fixed, so the signal processor 11 can generate and output a machine end position detection value signal representing the position of the movable component 1 using the target point 100 as a reference.In this case, the value of the position command input to the FF controller 7 is a value generated by considering the positional relationship between the movable component 1 and the electronic part 102 sucked by the mounting nozzle 101 provided on the movable component 1. For simplicity, the following description assumes that the machine end position detection value signal represents the position of the movable component 1.

[0025] If components including the machine end sensor 2 and the moving component 1 are arranged as shown in Fig. 3, the laser distance meter 201 measures the position of the movable component 1 at a position fixed relative to the target point 100, and sends a signal representing the result of this measurement to the signal processor 11 as the measured value signal. The signal processor 11 calculates the position of the movable component 1 using the target point 100 as a reference based on the position of the movable component 1 obtained by the measurement, and outputs the result of the calculation as the machine end position detection value signal.

[0026] If components including the machine end sensor 2 and the moving component 1 are arranged as shown in Fig. 4, the reading unit 202 of a linear scale attached to the movable component 1 further alternatively reads the scale unit 203 of the linear scale installed at a position fixed with respect to the target point 100 to measure the position of the movable component 1, and the reading unit 202 sends the result of this measurement to the signal processor 11 as the measured value signal. The signal processor 11 calculates the position of the movable component 1 using the target point 100 as a reference based on the position of the movable component 1 obtained by the measurement, and outputs the result of the calculation as the machine end position detection value signal.

[0027] It should be noted that, although the present embodiment assumes that the machine end sensor 2 and the signal processor 11 are separate components, the machine end sensor 2 and the signal processor 11 may be a single integrated component. For example, the machine end sensor 2 may be configured to include the signal processor 11. That is, the machine end sensor 2 may be configured to calculate the position of the movable component 1 using the target point 100 as a reference and output the machine end position detection value signal.

[0028] Moving the motor to reduce or eliminate the error caused between the movable component 1 and the target point 100 using the machine end position detection value signal calculated as described above can reduce or eliminate the error caused between the movable component 1 and the target point 100. However, due to a long time required to transmit the measurement result performed by the machine end sensor 2 to the signal processor 11 and a long time required for the signal processor 11 to perform signal processing and output the machine end position detection value signal, that is, due to a long dead time, performing fast-response FB control using only the machine end position detection value signal destabilizes the FB control system.

[0029] To address this problem, the motor control device 300 extracts only low-frequency components of the machine end position detection value signal using the first low-pass filter 12, which passes a signal having a frequency lower than or equal to a predetermined frequency, and extracts only high-frequency components from the motor position detection value signal using the first high-pass filter 13, which passes a signal having a frequency higher than or equal to a predetermined frequency. The motor control device 300 then uses the resulting signals in FB control. The low-frequency components of the machine end position detection value signal and the high-frequency components of the motor position detection value signal are added by the adder 14, and the resulting signal is output as the target point detection value signal.If the error between the moving component 1 and the target point 100 does not vary in an oscillatory manner, such an error is represented by a low-frequency component, and information about it thus remains in the low-frequency components of the machine end position detection value signal. Furthermore, dead time has only a minor effect on the FB control at low frequencies, which can reduce or prevent destabilization of the FB control. Furthermore, the use of the high-frequency components of the motor position detection value signal in the FB control enables fast-response FB control.

[0030] Another problem with using the machine end sensor 2 as a sensor for use in positioning control is the limitation regarding the range that allows measurement of the relative positional relationship between the target point 100 and the movable component 1. When the target point 100 or the movable component 1 moves into the range that allows measurement of the relative positional relationship, the machine end sensor 2 outputs a measured value signal including information about the relative positional relationship between the target point 100 and the movable component 1, thereby enabling the signal processor 11 to calculate the position of the movable component 1 using the position of the target point 100 as a reference.Thus, control is performed using the motor position detection value signal until the machine end sensor 2 can measure the relative positional relationship between the target point 100 and the movable component 1. When the relative positional relationship between the target point 100 and the movable component 1 becomes obtainable, control is switched to control using the target point detection value signal. Specifically, the detection value signal switch 5 in the motor control device 300 switches the signal for use in the FB control.The switching determiner 19 makes a switching determination, that is, determines whether the machine end sensor 2 can obtain the relative positional relationship between the target point 100 and the movable component 1 based on the motor position detection value signal, and instructs the detection value signal switcher 5 to switch the signal based on the result of the determination. That is, the switching determiner 19 calculates the position of the movable component 1 based on the motor position detection value signal. When the switching determiner 19 determines that the movable component 1 has come sufficiently close to the target point 100 for the machine end sensor 2 to obtain the relative positional relationship between the target point 100 and the movable component 1, the switching determiner 19 instructs the detection value signal switcher 5 to switch to output the target point detection value signal.

[0031] When the switching determiner 19 determines that the movable component 1 has come sufficiently close to the target point 100 for the machine end sensor 2 to acquire the relative positional relationship between the target point 100 and the movable component 1, and the detection value signal switcher 5 switches the signal after receiving an instruction from the switching determiner 19, the signal input to the position signal subtractor 6 is switched from the motor position detection value signal to the target point detection value signal. At this time, there is a possibility that the position error signal input to the FB controller 9 may change rapidly, causing the FB torque command output from the FB controller 9 to change significantly. A significant change in the FB torque command may exert an impact on the movable component 1 and must be reduced or prevented accordingly.For this purpose, the motor control device 300 changes the motor position command, which is another input to the position signal subtractor 6, using the command value switch 8. This operation will be described below. The motor control device 300 causes the motor position command delayer 15 to add to the motor position command a delay equivalent to the dead time from the measurement performed by the machine end sensor 2 until the signal processor 11 outputs the machine end position detection value signal. The motor control device 300 then extracts only low-frequency components of the delayed motor position command using the second low-pass filter 16, which passes a signal having a frequency lower than or equal to a predetermined frequency.The frequency in this operation is the same frequency as the frequency used by the first low-pass filter 12, and the signal in which the low-frequency components of the motor position command are delayed by the motor position command delayer 15 corresponds to a command signal associated with the low-frequency components of the machine end position detection value signal. Furthermore, the motor control device 300 extracts only high-frequency components of the motor position command using the second high-pass filter 17, which passes a signal having a frequency higher than or equal to a predetermined frequency.The frequency in this operation is the same frequency as the frequency used by the first high-pass filter 13, and the signal containing the high-frequency components of the motor position command corresponds to a command signal associated with the high-frequency components of the motor position detection value signal. The two signals output by the second low-pass filter 16 and the second high-pass filter 17 are then added together by the adder 18, and the resulting signal is output to the command value switch 8 as the target point command. This signal corresponds to a command signal associated with the target point detection value signal.Moreover, simultaneously with the switching of the signal performed by the detection value signal switcher 5, the command value switcher 8 switches the signal from the motor position command to the target point command according to the determination made by the switching determiner 19 and outputs the target point command.

[0032] That is, when the switching determiner 19 determines that the movable component 1 has come sufficiently close to the target point 100 for the machine end sensor 2 to acquire the relative positional relationship between the target point 100 and the movable component 1, the switching determiner 19 instructs the detection value signal switcher 5 and the command value switcher 8 to switch the signal to be output. Upon receiving the instruction from the switching determiner 19, the detection value signal switcher 5 changes the internal setting to output the target point detection value signal input from the adder 14. Upon receiving the instruction from the switching determiner 19, the command value switcher 8 changes the internal setting to output the target point command input from the adder 18.

[0033] The switching determiner 19 operates as described above to switch the signal output from the detection value signal switcher 5 and the signal output from the command value switcher 8. This causes the position signal subtractor 6 to calculate an error of the motor position detection value signal relative to the motor position command and inputs the position error signal, which is the result of the calculation, to the FB controller 9 when the relative positional relationship between the target point 100 and the movable component 1 is not measurable by the machine end sensor 2, that is, when the distance from the target point 100 to the movable component 1 is greater than a predetermined value.Otherwise, when the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2, the position signal subtractor 6 calculates an error of the target point detection value signal relative to the target point command and inputs the position error signal, which is the result of the calculation, to the FB controller 9. The FB controller 9 calculates the FB torque command for correcting the position of the movable component 1 based on the position error signal input from the position signal subtractor 6.

[0034] The above operation of the engine control device 300 is shown in a flowchart in Fig. 5. It should be noted that Fig. 5 is a flowchart illustrating an example of operation of the engine control device 300 according to the first embodiment.

[0035] The motor control device 300 first determines whether position detection can be performed using the machine end sensor 2, that is, whether the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2 (step S11). This determination is made by the switching determiner 19 based on the motor position detection value signal representing the position of the motor 3 detected by the encoder 4.

[0036] If the relative positional relationship between the movable component 1 and the target point 100 cannot be measured by the machine end sensor 2 (step S11: No), the motor control device 300 generates a position error signal representing an error between the position of the movable component 1 and the target point 100 based on the motor position detection value signal (step S12). If the relative positional relationship between the target point 100 and the movable component 1 can be measured by the machine end sensor 2 (step S11: Yes), the motor control device 300 generates the position error signal based on the motor position detection value signal and the machine end position detection value signal representing the position of the movable component 1, using the target point 100 as a reference (step S13).

[0037] After generating the position error signal by performing step S12 or step S13, the motor control device 300 corrects the motor torque command for the motor 3 based on the position error signal and generates a torque command for controlling the motor 3 (step S14).

[0038] The motor control device 300 repeats the operations at steps S11 to S14 to bring the movable component 1 close to the target point 100.

[0039] As described above, in the motor control device 300 according to the present embodiment, before the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2, the FB controller 9 calculates the FB torque command for correcting the position of the movable component 1 using the motor position detection value signal representing the position of the motor 3 detected by the encoder 4, while after the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2, the FB controller 9 calculates the FB torque using the target point detection value signal calculated using the machine end position detection value signal and the motor position detection value signal, the machine end position detection value signal representing the position of the movable component 1.The target point 100 is used as a reference, which is detected based on the measurement signal representing the result of a measurement performed by the machine end sensor 2. This enables control to be performed to reduce the error between the movable component 1 and the target point 100 to zero. Simultaneously with the switching between the motor position detection value signal and the target point detection value signal, the motor position command and the target point command for use in the FB control are also switched from one to the other. This enables a rapid change in the input to the FB controller 9 to be reduced or prevented, and enablesthat the occurrence of a significant change in the FB torque command upon signal switching is prevented. According to the motor control device 300 according to the present embodiment, fast and accurate positioning can be provided even when the motor control device 300 is configured to use a sensor that has a long dead time in position detection or has a limitation in the detection range as the machine end sensor 2 to detect a position deviation between the movable component 1 and the target point 100.

[0040] It should be noted that in the present embodiment, it has been described that the switching determiner 19 determines whether the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2 based on the motor position detection value signal, but this determination may be made using the position command, the motor position command, or the machine end position detection value signal.

[0041] Furthermore, in the present embodiment, the switching determiner 19 has been described as determining whether the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2, and then switching the signal output by each of the detection value signal switch 5 and the command value switch 8. However, the switching may be performed at any time when the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2.For example, the switching determiner 19 may compare the motor position detection value signal, the position command, the motor position command, or the machine end position detection value signal with a preset threshold value and then determine that switching is to be effected when the distance from the movable component 1 to the target point 100 reaches a predetermined value.

[0042] Furthermore, the first low-pass filter 12 and the second low-pass filter 16 are desirably configured to use the same frequency to pass the signals, but may be configured to use different frequencies. Similarly, the first high-pass filter 13 and the second high-pass filter 17 are desirably configured to use the same frequency to pass the signals, but may be configured to use different frequencies.

[0043] Next, a hardware configuration of the motor control device 300 will be described. As described above, the motor control device 300 is configured with an appropriate combination of operation circuits such as an adder and a subtractor, filter circuits such as a high-pass filter and a low-pass filter, a switch, a delay, a value encoder, a camera, a laser distance meter, and / or the like. Furthermore, the FF controller 7, the FB controller 9, the signal processor 11, and the switching determiner 19 are configured by a dedicated processing circuit or by a general-purpose processor executing a program. Examples of the dedicated processing circuit include an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and a combination thereof.Alternatively, when the FF controller 7, the FB controller 9, the signal processor 11, and the switching determiner 19 are configured by a general-purpose processor, for example, a control circuit consisting of a processor 91 and a memory 92 shown in FIG. Fig. 6 are illustrated. Fig. 6 is a diagram illustrating an example of a control circuit usable for implementing the motor control device 300 according to the first embodiment. The processor 91 is a central processing unit (CPU) (also known as a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a digital signal processor (DSP)), a system large-scale integration (system LSI), or the like. The memory 92 is a random access memory (RAM), a read-only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM) (registered trademark), or the like.The memory 92 stores a program describing the functionality of each of the FF controller 7, the FB controller 9, the signal processor 11, and the switching determiner 19. The processor 91 executes a program stored in the memory 92 so as to operate as the FF controller 7, the FB controller 9, the signal processor 11, and the switching determiner 19. It should be noted that the FF controller 7, the FB controller 9, the signal processor 11, and the switching determiner 19 may be partially implemented in a dedicated processing circuit, such as an ASIC, and the remainder thereof in the manner shown in FIG. Fig. 6 illustrated control circuit can be implemented. Second embodiment.

[0044] Fig. 7 is a block diagram illustrating an exemplary configuration of a motor control device 300a according to a second embodiment.

[0045] The Fig. The motor control device 300a illustrated in Figure 7 includes a processing block for generating the position error signal to be an input signal to the FB controller 9. This processing block is configured differently than the corresponding processing block of the motor control device 300 according to the first embodiment shown in Fig. 1. Specifically, the motor control device 300a is configured to include a position signal subtractor 6a, a first low-pass filter 12a, a first high-pass filter 13a, an adder 14a, a second low-pass filter 16a, a second high-pass filter 17a, an adder 18a, a switching determiner 19a, a first switch 20, and a second switch 21 instead of the detection value signal switch 5, the position signal subtractor 6, the command value switch 8, the first low-pass filter 12, the first high-pass filter 13, the adder 14, the second low-pass filter 16, the second high-pass filter 17, the adder 18, and the switching determiner 19 of the motor control device 300. Other components indicated by an identical reference numeral are similar to the corresponding components of Fig. 1 and therefore no description of it is given.

[0046] It should be noted that in the motor control device 300a, the position signal subtractor 6a, the FB controller 9, the first low-pass filter 12a, the first high-pass filter 13a, the adders 14a and 18a, the motor position command delayer 15, the second low-pass filter 16a, the second high-pass filter 17a, the switching determiner 19a, the first switch 20, and the second switch 21 constitute an FB torque command generation unit 50a.

[0047] Next, a company in Fig. 7 is described. The first switch 20 receives the motor position detection value signal and the machine end position detection value signal. The first switch 20 outputs a signal of these two input signals. The first low-pass filter 12a passes a signal of the output of the first switch 20 having a frequency lower than or equal to a predetermined frequency, thereby inputting the passed signal to the adder 14a. The first high-pass filter 13a passes a signal of the motor position detection value signal having a frequency higher than or equal to a predetermined frequency, thereby inputting the passed signal to the adder 14a. The adder 14a adds the two input signals to generate and output an FB position detection value signal.The switching determiner 19a determines, based on the motor position detection value signal, which of the motor position detection value signal and the machine end position detection value signal is to be output from the first switch 20. In this regard, the first low-pass filter 12a and the first high-pass filter 13a are configured to cause the result of adding the motor position detection value signal that has passed the first low-pass filter 12a and the motor position detection value signal that has passed the first high-pass filter 13a to be identical to the motor position detection value signal just output from the encoder 4 when the first switch 20 outputs the motor position detection value signal.This allows the adder 14a to output the motor position detection value signal as the FB position detection value signal when the relative positional relationship between the target point 100 and the movable component 1 is not measurable by the machine end sensor 2, and to output a signal corresponding to the target point detection value signal described in the first embodiment as the FB position detection value signal when the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2.

[0048] The second switch 21 receives the motor position command and the delayed motor position command output from the motor position command delayer 15. The second switch 21 outputs a signal of these two input signals. The second low-pass filter 16a passes a signal of the output of the second switch 21 having a frequency lower than or equal to a predetermined frequency, thereby inputting the passed signal to the adder 18a. The second high-pass filter 17a passes a motor position command signal having a frequency higher than or equal to a predetermined frequency, thereby inputting the passed signal to the adder 18a. The adder 18a adds the two input signals to generate and output an FF position command.The switching determiner 19a provides control for switching the signal to be output by the second switch 21 based on the motor position detection value signal at the same time as the switching timing of the signal to be output by the first switch 20, as described above. Specifically, the switching determiner 19a controls the first switch 20 and the second switch 21 to cause the output of the second switch 21 to switch from the motor position command to the delayed motor position command at the same time as the output of the first switch 20 switches from the motor position detection value signal to the machine end position detection value signal.In this regard, the second low-pass filter 16a and the second high-pass filter 17a are configured to cause the result of adding the motor position detection value signal that has passed the second low-pass filter 16a and the motor position command that has passed the second high-pass filter 17a to be identical to the motor position command just output from the FF controller 7 when the second changeover switch 21 outputs the motor position command.This allows the adder 18a to output the motor position command as the FF position command when the relative positional relationship between the target point 100 and the movable component 1 is not measurable by the machine end sensor 2, and to output a signal corresponding to the target point command described in the first embodiment as the FF position command when the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2.

[0049] The position signal subtractor 6a calculates a difference of the FB position detection value signal relative to the FF position command to generate the position error signal and inputs the position error signal to the FB controller 9. The FB controller 9 calculates the FB torque command for correcting the position of the movable component 1 based on the position error signal.

[0050] As described above, in the motor control device 300a according to the present embodiment, before the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2, the FB controller 9 calculates the FB torque command for correcting the position of the movable component 1 using the FB position detection value signal corresponding to the motor position detection value signal representing the position of the motor 3 detected by the encoder 4, while after the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2, the FB controller 9 calculates the FB torque command using the FB position detection value signal corresponding to the target point detection value signal described in the first embodiment.which is calculable from the machine end position detection value signal and the motor position detection value signal. This enables control to be performed to reduce the error between the movable component 1 and the target point 100 to zero. Furthermore, the switching determiner 19a controls the first switch 20 and the second switch 21 to cause the signal to be output from the adder 14a as the FB position detection value signal to be switched simultaneously with the timing of the switching of the signal to be output from the adder 18a as the FF position command. This enables a rapid change in the input to the FB controller 9 to be reduced or prevented, and enables the occurrence of a significant change in the FB torque command upon signal switching to be prevented, resulting inthat stable positioning control is provided. Furthermore, passing the output of the first switch 20 through the first low-pass filter 12a and passing the output of the second switch 21 through the second low-pass filter 16a allows a rapid change in value that may be caused by signal switching to be reduced or prevented, thus enabling stable positioning control.

[0051] It should be noted that in the present embodiment, it has been described that the switching determiner 19a determines whether the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2 based on the motor position detection value signal, but this determination may be made using the position command, the motor position command, or the machine end position detection value signal.

[0052] Furthermore, the switching determiner 19a has been described as determining whether the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2, and then switching the signal output by each of the first switch 20 and the second switch 21. However, the switching may be performed at any time when the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2. For example, the switching determiner 19a may compare the motor position detection value signal, the position command, the motor position command, or the machine end position detection value signal with a preset threshold value and then determine that switching is to be effected when the distance from the movable component 1 to the target point 100 reaches a predetermined value.

[0053] Furthermore, the first low-pass filter 12a and the second low-pass filter 16a are desirably configured to use the same frequency to pass the signals, but may be configured to use different frequencies. Similarly, the first high-pass filter 13a and the second high-pass filter 17a are desirably configured to use the same frequency to pass the signals, but may be configured to use different frequencies. Third embodiment.

[0054] Fig. 8 is a block diagram illustrating an exemplary configuration of a motor control device 300b according to a third embodiment.

[0055] The Fig. The motor control device 300b illustrated in Figure 8 includes a processing block for generating the position error signal to be an input signal to the FB controller 9. This processing block is configured differently than the corresponding processing block of the motor control device 300a according to the second embodiment shown in Fig. 7. Specifically, the motor control device 300b is configured to include a second low-pass filter 16b, a switching determiner 19b, and a switch 20b instead of the second low-pass filter 16a, the switching determiner 19a, and the first switch 20 of the motor control device 300a; additionally include a motor position detection value delayer 22; and not include the second switch 21. Other components indicated by an identical reference numeral are similar to the corresponding components of Fig. 7 and therefore no description of it is given.

[0056] It should be noted that in the motor control device 300b, the position signal subtractor 6a, the FB controller 9, the first low-pass filter 12a, the first high-pass filter 13a, the adders 14a and 18a, the motor position command delayer 15, the second low-pass filter 16b, the second high-pass filter 17a, the switching determiner 19b, the switcher 20b, and the motor position detection value delayer 22 constitute an FB torque command generation unit 50b.

[0057] Next, a company in Fig. 8 is described. The motor position detection value delayer 22 adds a predetermined time delay to the motor position detection value signal input from the encoder 4 and outputs the resulting signal to the changeover switch 20b. The motor position detection value delayer 22 adds to the motor position detection value signal a time delay based on a dead time corresponding to the time required from the measurement performed by the machine end sensor 2 until the signal processor 11 outputs the machine end position detection value signal, thereby allowing the motor position detection value signal to include a dead time equivalent to the dead time of the machine end position detection value signal.The first low-pass filter 12a passes a signal of the output of the changeover switch 20b having a frequency lower than or equal to a predetermined frequency, thereby inputting the passed signal to the adder 14a. The first high-pass filter 13a passes a signal of the motor position detection value signal having a frequency higher than or equal to a predetermined frequency, thereby inputting the passed signal to the adder 14a. The adder 14a adds the two input signals to generate and output the FB position detection value signal. The changeover determiner 19b determines, based on the motor position detection value signal, which of the motor position detection value signal, delayed by adding the time delay by the motor position detection value delayer 22, and the machine end position detection value signal from the changeover switch 20b is to be output.

[0058] The second low-pass filter 16b passes a motor position command signal delayed by adding a time delay by the motor position command delayer 15, which has a frequency lower than or equal to a predetermined frequency, and thereby inputs the passed signal to the adder 18a. The second high-pass filter 17a passes a motor position command signal having a frequency higher than or equal to a predetermined frequency, and thereby inputs the passed signal to the adder 18a. The adder 18a adds the two input signals to generate and output the FF position command.

[0059] The position signal subtractor 6a calculates a difference of the FB position detection value signal relative to the FF position command to generate the position error signal and inputs the position error signal to the FB controller 9. The FB controller 9 calculates the FB torque command for correcting the position of the movable component 1 based on the position error signal.

[0060] In this operation, the value of the signal that has passed the first low-pass filter 12a and the value of the signal that has passed the second low-pass filter 16b each include the dead time or a time delay equal to the dead time. This allows control to be performed to cause high-frequency components of the FF position command to be followed by high-frequency components of the motor position detection value signal, and low-frequency components of the FF position command to be followed by low-frequency components of the delayed motor position detection value signal or the machine end position detection value signal.The switching determiner 19b switches the setting of the switch 20b such that a value calculated only from the motor position detection value signal is output from the adder 14a as the FB position detection value signal when the relative positional relationship between the target point 100 and the movable component 1 is not measurable by the machine end sensor 2, and a value calculated from both the motor position detection value signal and the machine end position detection value signal is output from the adder 14a as the FB position detection value signal when the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2. This enables the motor control device 300b to perform control to reduce the error between the movable component 1 and the target point 100 to zero.

[0061] As described above, in the motor control device 300b according to the present embodiment, before the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2, the FB controller 9 calculates the FB torque command for correcting the position of the movable component 1 using the motor position detection value signal representing the position of the motor 3 detected by the encoder 4, while after the relative positional relationship between the target point 100 and the movable component 1 becomes measurable by the machine end sensor 2, the FB controller 9 calculates the FB torque command using the FB position detection value signal calculated from the machine end position detection value signal and the motor position detection value signal.This allows control to be performed to reduce the error between the movable component 1 and the target point 100 to zero. Furthermore, eliminating the switching of the FF position command regardless of the value of the FB position detection value signal can simplify the control system. Furthermore, adding a time delay equivalent to the dead time included in the machine end position detection value signal to the motor position detection value signal to be input to the switch 20b and allowing the output of the switch 20b to pass through the first low-pass filter 12a reduces or prevents a rapid change in value that may be caused by the switching of the output signal performed by the switch 20b, thus enabling stable positioning control to be provided.

[0062] It should be noted that in the present embodiment, it has been described that the switching determiner 19b determines whether the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2 based on the motor position detection value signal, but this determination may be made using the position command, the motor position command, or the machine end position detection value signal.

[0063] Furthermore, the switching determiner 19b has been described as determining whether the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2, and then switching the signal output by the switch 20b. However, the switching may be performed at any time when the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2. For example, the switching determiner 19b may compare the motor position detection value signal, the position command, the motor position command, or the machine end position detection value signal with a preset threshold value and then determine that switching is to be effected when the distance from the movable component 1 to the target point 100 reaches a predetermined value.

[0064] Furthermore, the first low-pass filter 12a and the second low-pass filter 16b are desirably configured to use the same frequency to pass the signals, but may be configured to use different frequencies. Similarly, the first high-pass filter 13a and the second high-pass filter 17a are desirably configured to use the same frequency to pass the signals, but may be configured to use different frequencies. Fourth embodiment.

[0065] Fig. 9 is a block diagram illustrating an exemplary configuration of a motor control device 300c according to a fourth embodiment.

[0066] The Fig. The motor control device 300c illustrated in Figure 9 includes a processing block for generating the position error signal to be an input signal to the FB controller 9. This processing block is configured differently than the corresponding processing block of the motor control device 300b according to the third embodiment shown in Fig. 8. Specifically, the motor control device 300c is configured to include a position signal subtractor 6c, a first low-pass filter 12c, an adder 14c, and an adder 18c instead of the position signal subtractor 6a, the first low-pass filter 12a, the adder 14a, and the adder 18a of the motor control device 300b, and does not include the changeover switch 20b, the changeover determiner 19b, or the motor position detection value delayer 22. Other components indicated by an identical reference numeral are similar to the corresponding components of Fig. 8 and therefore no description of it is given.

[0067] It should be noted that in the motor control device 300c, the position signal subtractor 6c, the FB controller 9, the first low-pass filter 12c, the first high-pass filter 13a, the adders 14c and 18c, the motor position command delayers 15, the second low-pass filter 16b, and the second high-pass filter 17a constitute an FB torque command generation unit 50c.

[0068] Next, a company in Fig.9 is described. The first low-pass filter 12c passes a signal of the machine end position detection value signal having a frequency lower than or equal to a predetermined frequency, thereby inputting the passed signal to the adder 14c. The first high-pass filter 13a passes a signal of the motor position detection value signal having a frequency higher than or equal to a predetermined frequency, thereby inputting the passed signal to the adder 14c. The adder 14c adds the two input signals to generate and output the target point detection value signal.

[0069] The second low-pass filter 16b passes a signal of the motor position command delayed by adding a time delay by the motor position command delayer 15, which has a frequency lower than or equal to a predetermined frequency, and thereby inputs the passed signal to the adder 18c. The second high-pass filter 17a passes a signal of the motor position command having a frequency higher than or equal to a predetermined frequency, and thereby inputs the passed signal to the adder 18c. The adder 18c adds the two input signals to generate and output the target point command.

[0070] The position signal subtractor 6c calculates a difference of the target point detection value signal relative to the target point command to generate the position error signal and inputs the position error signal to the FB controller 9. The FB controller 9 calculates the FB torque command for correcting the position of the movable component 1 based on the position error signal.

[0071] In this operation, the machine end position detection value signal that has passed the first low-pass filter 12c includes the dead time, and the motor position command that has passed the second low-pass filter 16b is delayed by a time delay having a length equal to the dead time included in the machine end position detection value signal. Thus, the FB controller 9 calculates the FB torque command to cause high-frequency components of the target point command to be followed by high-frequency components of the motor position detection value signal, and low-frequency components of the target point command to be followed by low-frequency components of the machine end position detection value signal. This enables control to be performed to reduce the error between the movable component 1 and the target point 100 to zero.

[0072] As described above, in the motor control device 300c according to the present embodiment, the FB controller 9 calculates the FB torque command using the target point detection value signal calculated based on the machine end position detection value signal and the motor position detection value signal. The machine end position detection value signal represents the position of the movable component 1 using the target point 100 as a reference and is based on the measurement value signal output by the machine end sensor 2. This enables control to be performed to reduce the error between the movable component 1 and the target point 100 to zero. This configuration is a configuration useful when the relative positional relationship between the target point 100 and the movable component 1 is measurable by the machine end sensor 2.Eliminating the switching of the values ​​used in calculation between the signal used in FB control and the signal used in FF control can simplify the control system. Furthermore, not switching the signals used in calculation reduces or prevents the rapid change in value that can occur during signal switching, thus enabling stable positioning control.

[0073] It should be noted that the first low-pass filter 12c and the second low-pass filter 16b are desirably configured to use a same frequency to pass the signals, but may be configured to use different frequencies.

[0074] The configurations described in the above embodiments are merely examples. These configurations may be combined with other known techniques, and configurations of different embodiments may be combined with each other. Furthermore, some of such configurations may be omitted and / or modified without deviating from their essence. List of reference symbols

[0075] 1 moving component; 2 machine end sensor; 3 motor; 4 encoder; 5 detection value signal switch; 6, 6a, 6c position signal subtractor; 7 FF controller; 8 command value switch; 9 FB controller; 10 torque signal adder; 11 signal processor; 12, 12a, 12c first low-pass filter; 13, 13a first high-pass filter; 14, 14a, 14c, 18, 18a, 18c adder; 15 motor position command delay filter; 16, 16a, 16b second low-pass filter; 17, 17a second high-pass filter; 19, 19a, 19b switching determiner; 20 first changeover switch; 20b changeover switch; 21 second changeover switch; 22 motor position detection value delay filter; 50, 50a, 50b, 50c FB torque command generation unit; 100 target point; 101 mounting nozzle; 102 electronic part; 200 camera; 201 laser distance meter; 202 reading unit; 203 scale unit; 300, 300a, 300b, 300c motor control device. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2019-3388

[0006]

Claims

[1] A motor control device that drives a motor based on a position command to move a movable component to a target point specified by the position command, the motor control device comprising: a feedforward controller to generate a motor torque command and a motor position command based on the position command; a value sensor for detecting a position of the motor and outputting a motor position detection value signal representing the position; a machine end sensor for detecting a target object present in a specific area including the movable component and outputting a measurement signal representing a detection result; a signal processor for calculating a position of the movable component based on the measurement value signal using the target point as a reference, and outputting a machine end position detection value signal representing a result of the calculation; a feedback torque command generation unit for generating a feedback torque command for correcting the motor torque command based on the machine end position detection value signal, the motor position detection value signal, and the motor position command; and a torque signal adder for adding the motor torque command and the feedback torque command to generate a torque command directed to the motor, wherein when the machine end sensor is in a first state, the feedback torque command generation unit generates the feedback torque command based on the motor position detection value signal and the motor position command, and when the machine end sensor is in a second state, the feedback torque command generation unit generates the feedback torque command based on the motor position detection value signal, the machine end position detection value signal, the motor position command, and a signal obtained by adding a time delay to the motor position command, wherein the first state is a state in which a relative positional relationship between the movable component and the target point is not detectable by the machine end sensor, wherein the second state is a state,in which the relative positional relationship between the movable component and the target point can be detected by the machine end sensor. [2] Engine control device according to claim 1, wherein the feedback torque command generation unit includes: a first low-pass filter for passing a signal component of the machine end position detection value signal having a frequency lower than or equal to a predetermined frequency, a first high-pass filter for passing a signal component of the motor position detection value signal having a frequency higher than or equal to a predetermined frequency, a first adder for adding an output of the first low-pass filter and an output of the first high-pass filter, a motor position command delayer for adding the time delay to the motor position command and outputting a resulting signal, a second low-pass filter for passing a signal component of the resultant signal output by the motor position command delay circuit having a frequency lower than or equal to a predetermined frequency, a second high-pass filter for passing a signal component of the motor position command having a frequency higher than or equal to a predetermined frequency, a second adder for adding an output of the second low-pass filter and an output of the second high-pass filter, a detection value signal switch for receiving the motor position detection value signal and a signal output from the first adder, for outputting the motor position detection value signal when the machine end sensor is in the first state, and for outputting the signal input from the first adder when the machine end sensor is in the second state, a command value switch for receiving the motor position command and a signal output from the second adder, for outputting the motor position command when the machine end sensor is in the first state, and for outputting the signal input from the second adder when the machine end sensor is in the second state, and a feedback controller for calculating the feedback torque command based on a difference between an output of the detection value signal switcher and an output of the command value switcher. [3] Engine control device according to claim 2, comprising: a switching determiner for determining whether the machine end sensor is in the first state or the second state based on the motor position detection value signal, the machine end position detection value signal, the position command, or the motor position command, and for controlling the detection value signal switcher and the command value switcher based on a result of the determination. [4] The engine control device according to claim 1, wherein the feedback torque command generation unit includes: a first switch for receiving the motor position detection value signal and the machine end position detection value signal for outputting the motor position detection value signal when the machine end sensor is in the first state, and for outputting the machine end position detection value signal when the machine end sensor is in the second state, a first low-pass filter for passing a signal component of a signal output from the first switch having a frequency lower than or equal to a predetermined frequency, a first high-pass filter for passing a signal component of the motor position detection value signal having a frequency higher than or equal to a predetermined frequency, a first adder for adding an output of the first low-pass filter and an output of the first high-pass filter, a motor position command delayer for adding the time delay to the motor position command and outputting a resulting signal, a second switch for receiving the motor position command and a signal output from the motor position command delayer, for outputting the motor position command when the machine end sensor is in the first state, and for outputting the signal input from the motor position command delayer when the machine end sensor is in the second state, a second low-pass filter for passing a signal component of a signal output from the second switch having a frequency lower than or equal to a predetermined frequency, a second high-pass filter for passing a signal component of the motor position command having a frequency higher than or equal to a predetermined frequency, a second adder for adding an output of the second low-pass filter and an output of the second high-pass filter, and a feedback controller for calculating the feedback torque command based on a difference between an output of the first adder and an output of the second adder. [5] Engine control device according to claim 4, comprising: a switching determiner for determining whether the machine end sensor is in the first state or the second state based on the motor position detection value signal, the machine end position detection value signal, the position command, or the motor position command, and for controlling the first switch and the second switch based on a result of the determination. [6] The engine control device according to claim 1, wherein the feedback torque command generation unit includes: a motor position detection value delayer for adding a time delay to the motor position detection value signal and outputting a resultant signal, a switch for receiving a signal output from the motor position detection value delayer and the machine end position detection value signal, for outputting the signal input from the motor position detection value delayer when the machine end sensor is in the first state, and for outputting the machine end position detection value signal when the machine end sensor is in the second state, a first low-pass filter for passing a signal component of a signal output from the switch having a frequency lower than or equal to a predetermined frequency, a first high-pass filter for passing a signal component of the motor position detection value signal having a frequency higher than or equal to a predetermined frequency, a first adder for adding an output of the first low-pass filter and an output of the first high-pass filter, a motor position command delayer for adding the time delay to the motor position command and outputting a resulting signal, a second low-pass filter for passing a signal component of the resultant signal output by the motor position command delay circuit having a frequency lower than or equal to a predetermined frequency, a second high-pass filter for passing a signal component of the motor position command having a frequency higher than or equal to a predetermined frequency, a second adder for adding an output of the second low-pass filter and an output of the second high-pass filter, and a feedback controller for calculating the feedback torque command based on a difference between an output of the first adder and an output of the second adder. [7] Engine control device according to claim 6, comprising: a switching determiner for determining whether the machine end sensor is in the first state or the second state based on the motor position detection value signal, the machine end position detection value signal, the position command, or the motor position command, and for controlling the switch based on a result of the determination. [8] The engine control device according to claim 1, wherein the feedback torque command generation unit includes: a first low-pass filter for passing a signal component of the machine end position detection value signal having a frequency lower than or equal to a predetermined frequency, a first high-pass filter for passing a signal component of the motor position detection value signal having a frequency higher than or equal to a predetermined frequency, a first adder for adding an output of the first low-pass filter and an output of the first high-pass filter, a motor position command delayer for adding the time delay to the motor position command and outputting a resulting signal, a second low-pass filter for passing a signal component of the resultant signal output by the motor position command delay circuit having a frequency lower than or equal to a predetermined frequency, a second high-pass filter for passing a signal component of the motor position command having a frequency higher than or equal to a predetermined frequency, a second adder for adding an output of the second low-pass filter and an output of the second high-pass filter, and a feedback controller for calculating the feedback torque command based on a difference between an output of the first adder and an output of the second adder. [9] The motor control device according to claim 6 or 7, wherein the time delay added to the motor position detection value signal by the motor position detection value delayer is a time equivalent to a dead time, the dead time being a total of a time required from the time the machine end sensor detects the target object located in the specific area to the time the machine end sensor outputs the measurement value signal and a time required from the time the signal processor receives the measurement value signal to the time the signal processor outputs the machine end position detection value signal. [10] The motor control device according to any one of claims 2 to 9, wherein the time delay added to the motor position command by the motor position detection value delayer is a time equivalent to a dead time, the dead time being a total of a time required from the time the machine end sensor detects the target object located in the specific area to the time the machine end sensor outputs the measurement value signal and a time required from the time the signal processor receives the measurement value signal to the time the signal processor outputs the machine end position detection value signal.

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