Motor control device and motor control method

Abstract

To provide a motor control device and a motor control method that achieve good speed and position control while suppressing torsional vibration of a shaft even when there is an error in a parameter to be controlled etc. in a controller.SOLUTION: A controller 100A that controls a control target 200 that can be regarded as a two-inertial system includes: a PI control unit 102 that generates a torque (torque command) T so that motor speed vm matches a motor speed command vm*; an FF torque generation unit 104 that calculates an FF torque Tff based on a speed command v*; a torsional torque target value generation unit 105 that calculates an ideal torsional torque target value Ttor* when the FF torque Tff is applied to a motor; ans addition / subtraction means 123 for multiplying a deviation between the torsion torque target value Ttor* and a torsion torque actual value Ttor from the control target 200 by FB gain G, and adding the result and the FF torque Tff to an output of the PI control unit 102 to calculate a torque T.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a motor control device and a motor control method for a controlled object that can be considered a two-inertia system in which a motor and a mechanical load are coupled, and for which the torque of the motor is controlled so that the motor speed or position matches the respective commands. More specifically, the present invention relates to a technology for suppressing torsional vibrations and the like in the controlled object to obtain a desired target value response. [Background technology]

[0002] As a conventional technique of this type, for example, a motor control device shown in FIG. 9 is known. In FIG. 9, 100X is the controller, and the motor speed v m is the motor speed command v m * The IP (integral-proportional) control unit 101 is provided as a speed control unit that controls the speed so that it coincides with the actual torsional torque T tor The motor torque (torque command) T is generated by adding or subtracting this with the value obtained by multiplying this by the gain G. FIG. 10 shows an example of the configuration of the IP control unit 101. vi is the integral gain, k vp is the proportional gain. In the following, the integral gain k in the IP control unit 101 or the PI (proportional-integral) control unit 102 (described later) will be vi , proportional gain k vp is also referred to as the feedback (FB) gain of the speed control section, and the gain G for the torsional torque is also referred to as the FB gain of the torsional torque.

[0003] The control object 200 is a rotary motor 201, a shaft 202, and a mechanical load 203 (v l is the load speed), and in the corresponding transfer functions 1 / J1s, K / s, and 1 / J2s, J1 is the inertia of the motor 201, J2 is the inertia of the mechanical load 203 (total inertia J=J1+J2), K is the elastic constant of the shaft 202, and s is the Laplace operator. The conventional technique of feeding back torsional torque to a speed control system equipped with an IP control unit, a PI control unit, etc. as described above is also disclosed in Non-Patent Document 1.

[0004] As other conventional techniques, for example, the control methods described in Patent Documents 1 and 2 are known. FIG. 11 shows a motor control device corresponding to FIG. 11 of Patent Document 1. In this motor control device, a controller 100Y includes a PI (proportional-integral) control unit 102 as a speed control unit, and a first speed command v * The ideal motor speed command v of the two-inertia system is obtained by applying a filter operation to m * a speed command generating unit 103 that generates a speed command v * A filter operation is applied to the feedforward (hereinafter referred to as FF) torque T ff and an FF torque generating unit 104 as an FF circuit that generates

[0005] F in each of the generation units 103 and 104 described above FB ,F FF are the transfer functions of the filter, and these are the target value response filter F0, the resonant frequency ω of the controlled object 200 μ and anti-resonance frequency ω z Based on F FB =F0{1+(s / ω z ) 2},F FF =F0{1+(s / ω μ ) 2}, where the resonant frequency ω μ =√(K / J μ );J μ = J1J2 / J, and the anti-resonance frequency ω z =√(K / J2), and the target value response filter F0 is, for example, a filter that is used to filter the resonant frequency ω μ is given based on FIG. 12 shows an example of the configuration of the PI control unit 102.

[0006] The motor control devices according to the above-mentioned Patent Documents 1 and 2 aim to suppress shaft torsional vibration and achieve ideal target value response through the operation of the FF circuit (FF torque generating unit 104) and the speed control unit (PI control unit 102). [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent No. 3274070 (

[0093] to

[0112] , Figures 11 to 14, etc.) [Patent Document 2] Patent No. 5459604 (

[0015] to

[0024] , Figures 3 to 5, etc.) [Non-patent literature]

[0008] [Non-Patent Document 1] Yoichi Hori, "Control of a Two-Inertia System Using Resonance Ratio Control and Manabe Polynomials", Transactions of the Institute of Electrical Engineers of Japan, Vol. 114, No. 10, pp. 1038-1045, 1994 Summary of the Invention [Problem to be solved by the invention]

[0009] In the conventional technology shown in FIG. 9, if the FB gain G for torsional torque is appropriately adjusted along with the FB gain of the speed control section, it is possible to drive the motor 201 while suppressing shaft torsional vibration. However, the FB gain is influenced by the parameters of the controlled object 200, which determines the target value response of the speed and position, and the target value response cannot be set arbitrarily. 11, if the various parameters set in the PI control unit 102 are accurate, torsional vibration can be suppressed based on any desired target value response within a range that maintains good characteristics. However, if there is an error between the set values ​​and true values ​​of the parameters, the vibration suppression effect decreases. In particular, it has been difficult to perform good control for a control object 200 whose elastic constant K changes over time when used, or a control object 200 whose inertia changes depending on its posture, such as a robot arm.

[0010] Therefore, the problem to be solved by the present invention is to provide a motor control device and a motor control method that can perform good speed control and position control while suppressing vibrations of the controlled object, even when there is an error between the various parameters set in the controller and the actual values. [Means for solving the problem]

[0011] In order to solve the above problem, a motor control device according to claim 1 is a motor control device for controlling the speed of a control target that can be regarded as a two-inertia system in which a motor and a mechanical load are coupled, comprising: a speed control unit that performs control calculations to eliminate a deviation between a motor speed command based on the first speed command and the motor speed; a feedforward torque generating unit that generates a feedforward torque by filter calculation using the first speed command as an input; a torsion torque target value generating unit that generates an ideal torsion torque target value generated in accordance with the feedforward torque by filter calculation using the first speed command as an input; Equipped with The deviation between the torsional torque target value and the torsional torque equivalent value obtained from the controlled object is multiplied by a torsional torque feedback gain, and the result and the feedforward torque are added to the output of the speed control unit to generate a torque command for the controlled object.

[0012] A motor control device according to claim 2 is a motor control device for controlling the position of a controlled object that can be regarded as a two-inertia system in which a motor and a mechanical load are coupled, a position control unit that generates a motor speed command so as to eliminate a deviation between a motor position command based on the first position command and the motor position; a feedforward torque generation unit that generates a feedforward torque by filter calculation using the first position command as an input; a feedforward velocity generating unit that generates a feedforward velocity by a filter operation using the first position command as an input; a torsion torque target value generating unit that generates an ideal torsion torque target value generated in accordance with the feedforward torque by filter calculation using the first position command as an input; a speed control unit that performs control calculations to eliminate a deviation between the motor speed command to which the feedforward speed has been added and the motor speed; Equipped with The deviation between the torsional torque target value and the torsional torque equivalent value obtained from the controlled object is multiplied by a torsional torque feedback gain, and the result of this multiplication and the feedforward torque are added to the output of the speed control unit to generate a torque command for the controlled object.

[0013] A motor control device according to claim 3 is the motor control device according to claim 1, The feedforward torque, the torsional torque target value, and the motor speed command are generated by a filter operation including a target value response filter.

[0014] A motor control device according to claim 4 is the motor control device according to claim 2, The feedforward torque, the torsional torque target value, the feedforward speed, and the motor position command are generated by a filter operation including a target value response filter.

[0015] A motor control device according to claim 5 is the motor control device according to any one of claims 1 to 4, The torsion torque equivalent value is an actual torsion torque value detected from the controlled object.

[0016] A motor control device according to claim 6 is the motor control device according to any one of claims 1 to 4, The torsion torque equivalent value is a torsion torque estimated value estimated using the speed or position of the motor and the torque command.

[0017] A motor control device according to claim 7 is the motor control device according to claim 6, The torsional torque target value generating unit is characterized by having a filter equivalent to an estimation delay of the torsional torque estimated value.

[0018] A motor control device according to claim 8 is the motor control device according to any one of claims 1 to 4, The control system is characterized by having a function of calculating and setting the torsional torque feedback gain and the feedback gain in the speed control unit based on the parameters of the controlled object and a coefficient diagram method.

[0019] A motor control method according to claim 9 is a speed control method for a motor in a controlled object that can be regarded as a two-inertia system in which the motor and a mechanical load are coupled, comprising: generating a torque command by performing a control calculation so as to eliminate a deviation between a motor speed command based on the first speed command and the motor speed; generating a feedforward torque by a filter operation using the first speed command as an input; generating an ideal torsional torque target value generated in accordance with the feedforward torque by a filter operation using the first speed command as an input; The deviation between the torsional torque target value and the torsional torque equivalent value obtained from the controlled object is multiplied by a torsional torque feedback gain, and the result of this multiplication and the feedforward torque are added to the torque command to generate a torque command for the controlled object.

[0020] A motor control method according to claim 10 is a method for controlling the position of a motor in a controlled object that can be regarded as a two-inertia system in which a motor and a mechanical load are coupled, comprising: generating a motor speed command so as to eliminate a deviation between a motor position command based on the first position command and the motor position; generating a feedforward torque by a filter operation using the first position command as an input; generating a feedforward velocity by a filter operation using the first position command as an input; generating an ideal torsional torque target value generated in accordance with the feedforward torque by a filter operation using the first position command as an input; generating a torque command by performing a control calculation so as to eliminate a deviation between the motor speed command to which the feedforward speed has been added and the motor speed; The deviation between the torsional torque target value and the torsional torque equivalent value obtained from the controlled object is multiplied by a torsional torque feedback gain, and the result of this multiplication and the feedforward torque are added to the torque command to generate a torque command for the controlled object. [Effects of the Invention]

[0021] According to the present invention, even if various parameters such as the elastic constant set in the controller and the FB gain of the speed control section have errors, it is possible to perform good speed control or position control while suppressing vibration of the controlled object. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a block diagram of a motor control device according to a first embodiment of the present invention. [Figure 2] FIG. 4 is a block diagram of a motor control device according to a second embodiment of the present invention. [Figure 3] FIG. 10 is a block diagram of a motor control device according to a third embodiment of the present invention. [Figure 4] FIG. 10 is a block diagram of a motor control device according to a fourth embodiment of the present invention. [Figure 5]FIG. 10 is a diagram showing the results of a simulation for Conventional Examples 1 and 2. [Figure 6] FIG. 10 is a diagram showing the results of a simulation for the second embodiment of the present invention. [Figure 7] FIG. 10 is a diagram showing the results of a simulation for Conventional Example 2 and the second embodiment of the present invention. [Figure 8] FIG. 10 is a diagram showing the results of a simulation for Conventional Example 2 and the second embodiment of the present invention. [Figure 9] FIG. 1 is a block diagram showing a conventional motor control device. [Figure 10] 10 is a block diagram showing an example of the configuration of an IP control unit 101 in FIG. 9. FIG. [Figure 11] FIG. 1 is a block diagram of a motor control device corresponding to the invention described in Patent Document 1. [Figure 12] 12 is a block diagram showing an example of the configuration of a PI control unit 102 in FIG. 11. DETAILED DESCRIPTION OF THE INVENTION

[0023] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a block diagram of a motor control device according to a first embodiment of the present invention. In Fig. 1, reference numeral 200 denotes a control object consisting of a motor 201, a shaft 202, and a mechanical load 203, as described above, and reference numerals 204 and 205 denote adding and subtracting means. tor is input to the controller 100A.

[0024] The controller 100A is realized by a processing unit including a CPU, a memory, etc., and a predetermined program. This also applies to the controllers 100B, 100C, and 100D of second to fourth embodiments described later. In the controller 100A, a first speed command v input from the outside is * is the filter F FB The ideal motor speed command v is calculated by the speed command generation unit 103. m* This motor speed command v m * is input to the addition / subtraction means 121 to calculate the motor speed v m The PI control section 102 as a speed control section performs proportional and integral calculations to eliminate the deviation, and the output is input to the addition / subtraction means 123. The configuration of the PI control unit 102 is the same as that shown in FIG. 12, for example.

[0025] Also, as in FIG. 11, the first speed command v * The FF torque generation unit 104 receives the input of the FF torque T ff is generated and input to the addition / subtraction means 123. Furthermore, in this embodiment, the first speed command v * is input to the torsion torque target value generating unit 105 and filtered by the filter F K The calculation is performed using (s), and the FF torque T ff The ideal torsional torque target value T tor * is generated and input to the addition / subtraction means 122. The addition / subtraction means 122 calculates the torsional torque target value T tor * and the actual torsional torque value T detected from the controlled object 200. tor The deviation between the input signal and the output signal is calculated, and the deviation is multiplied by the FB gain G, and the result is input to the adding / subtracting means 123. The FB gain G is the FB gain (proportional gain k vp , integral gain k vi ) are set to values ​​that quickly damp the shaft torsional vibration. vp ,k vi The method for calculating ) will be described later.

[0026] The addition / subtraction means 123 calculates the torsional torque target value T tor * and the actual torsional torque value T tor The deviation between the FB gain G and the output of the PI control unit 102 is multiplied by the FF torque T ffand are added together, and the result of the addition is given to the controlled object 200 as the torque (torque command) T of the motor 201.

[0027] As described above, in this embodiment, the FF torque T ff The ideal torsional torque target value T when tor * and the actual torsional torque value T tor The deviation from the torque T is multiplied by G and fed back to control the motor 201. tor =T tor * The FB output of the torsional torque, which is proportional to the deviation between the two, becomes zero, and the FF torque T ff Therefore, the FF control by the torque converter and the FB control of the torsion torque can be controlled so as not to interfere with each other. In addition, the set values ​​of the elastic constant K and the like in the controller 100A are slightly different from the true values, and as a result, the resonant frequency ω μ and anti-resonance frequency ω z Even if a setting error occurs in the torsional torque target value T tor * and the actual torsional torque value T tor The FB control system for the torsional torque works to reflect the deviation from the torque T in order to suppress shaft torsional vibration, thereby reducing the effects of parameter setting errors.

[0028] Next, FIG. 2 is a block diagram of a motor control device according to a second embodiment of the present invention. This embodiment embodies the filters in the speed command generating section 103, the FF torque generating section 104, and the torsion torque target value generating section 105 in FIG.

[0029] In the speed command generating unit 113 in the controller 100B shown in FIG. 2, the filter F in the speed command generating unit 103 in FIG. FB 11, the target value response filter F0 and the anti-resonance frequency ω z Based on and F FB=F0{1+(s / ω z ) 2 As described above, the target value response filter F0 is set to, for example, the resonant frequency ω μ is given based on In the FF torque generating unit 114 of FIG. 2, the filter F in the FF torque generating unit 104 of FIG. FF , as in Figure 11, FF =F0{1+(s / ω μ ) 2} and set it as follows. Here, the resonant frequency ω μ =√(K / J μ ), anti-resonant frequency ω z =√(K / J2), and J μ =(J1J2) / J.

[0030] Furthermore, in the torsion torque target value generating unit 115 of FIG. 2, the filter F in the torsion torque target value generating unit 105 of FIG. K (s) to F K (s) = J2sF0, and the torsional torque target value T tor * =J2sF0v * Generate. As described above, the torsional torque target value T tor * The reason why it can be generated is as follows:

[0031] In the configuration of FIG. 2, the first speed command v * and the target response filter F0, the motor speed v for torque T m and load speed v l is expressed as in Equation 1.

number

number

[0032] If the motor 201 is ideally controlled, v m * =v m ,T tor * =T tor Therefore, the torque T is the FF torque T ff is equal to T ff is the speed command v * is the output of the FF torque generating unit 114 to which is input, so Equation 3 is obtained. [Number 3] T=T ff =JsF0{1+(s / ω μ ) 2}v * =(J1+J2)sF0{1+(s / ω μ ) 2}v * Substituting this formula 3 into formula 2, we obtain formula 4. [Number 4] T tor =J2sF0v * Therefore, the filter in the torsional torque target value generating unit 115 is set to J2sF0, and the output T tor The torsional torque target value T tor * This would be a good idea.

[0033] Next, the FB gain (proportional gain k vp , integral gain k vi ) and how to set the FB gain G of the torsional torque. These FB gains can be set using the method (so-called Manabe's coefficient diagram method) disclosed in "6. Design of a speed controller using Manabe polynomials" in the aforementioned Non-Patent Document 1.

[0034] According to Manabe's coefficient diagram method, when speed control is performed on a two-inertia system as shown in FIG. 2, if the characteristic equation (denominator of the closed-loop transfer function) of the speed control system including the PI control unit 102 is expressed as in Equation 5, each coefficient a0 to a nBy determining the above, good characteristics can be obtained.

number

number

[0035] In FIG. 2, Equation 7 holds true for the controlled object 200, and Equation 8 is obtained by Laplace transforming Equation 7.

number

number

[0036] From Equation 8, v m ,v l Equation 9, T tor These formulas 9 and 10 are substantially the same as the above-mentioned formulas 1 and 2, respectively.

number

number

[0037] On the other hand, in FIG. 2, the first speed command v * = 0, the torque T can be expressed as in Equation 11 using Equations 9 and 10.

number

[0038] From this formula 11, formula 12 is obtained.

number

number

number

number

[0039] Applying Equation 15 to Equation 5 above, we get a4=q, a3=k vp , a2=X, a1=k vp ω z 2 , a0=k vp k vi ω z 2 Therefore, by substituting these relationships into Equation 6, Equation 16 is obtained.

number

number

[0040] Furthermore, based on the following formulas 18 and 19, the FB gain G of the torsional torque can be determined by formula 20. As described above, in formula 19, J μ =(J1J2) / J.

number

number

number

[0041] In this way, the FB gain (proportional gain k vp , integral gain k vi ) and the FB gain G of the torsional torque are determined. As described above, a motor control device having a function of calculating and automatically setting the FB gain in a speed control section such as the PI control section 102 and the FB gain G of the torsional torque corresponds to the invention defined in claim 8.

[0042] Next, a third embodiment of the present invention will be described with reference to FIG. 3A is a block diagram of a motor control device according to a third embodiment. In the controller 100C of this embodiment, the actual torsional torque value T tor Instead of this, the torsion torque estimation unit 106 calculates the torsion torque estimated value T tor ^ is calculated, and the torsional torque estimate T tor ^ is input to the addition / subtraction means 122 to obtain the torsional torque target value T tor * Calculate the deviation from

[0043] The torsion torque estimation unit 106 calculates the torque T and the motor speed v as shown in FIG. m Based on the torsional torque estimate T tor 3(b) is a filter equivalent to the delay that occurs when estimating the torsion torque, and the filter F1 is added to the torsion torque target value generating section 115a in the controller 100C. The basic operation of this embodiment is to calculate the actual torsional torque T tor Instead of the torsional torque estimate T tor Since this is the same as the second embodiment except for the use of ^, a description will be omitted to avoid duplication.

[0044] Next, a fourth embodiment of the present invention will be described with reference to FIG. The first to third embodiments described above are examples in which the present invention is applied to motor speed control, but the fourth embodiment is an example in which the present invention is applied to motor position control.

[0045] In the controller 100D of FIG. 4, the first position command θ * is an ideal motor position command θ m * and the motor position θ m The deviation from the motor position command θ m * and motor position θ m The deviation from the constant k p is multiplied and converted into a motor speed command, and then input to the addition / subtraction means 121, and the motor speed v m and FF speed v described below ff and the result is input to the PI control unit 102. Here, the motor speed v m is the motor position θ output from the controlled object 200A. m is obtained by differentiating it with the differentiation means 125.

[0046] In addition, the first position command θ * is input to the FF torque generating unit 134 and the FF torque T ff is calculated and input to the torsion torque target value generating unit 135 to obtain the torsion torque target value T tor * is calculated and input to the FF speed generating unit 136 to generate the FF speed v ff is calculated. Torsional torque target value T tor * and the actual torsional torque value T detected from the controlled object 200A. tor The deviation between the FF torque T and the FF torque T is calculated by the adding / subtracting means 122, and the deviation is multiplied by the gain G. ff The output of the addition / subtraction means 123 is input together with the output of the PI control unit 102. The output of the addition / subtraction means 123 is given as torque T to the controlled object 200A. In the controlled object 200A, 202A denotes an axis, and 206 and 207 denote integrating means.

[0047] The basic operation of this embodiment is the same as that of the second embodiment except for the purpose of controlling the position of the motor, so a description will be omitted to avoid duplication. Note that the position control in this embodiment includes not only control of the rotational position of the rotary motor, but also position control when the position of a mechanical load including an elastically deforming part is moved linearly by a linear motor. In FIG. 4, the controller 100D receives the actual torsional torque value T tor Enter the desired torsional torque T tor * The deviation between the torque T and the motor position θ is calculated in the same manner as in the third embodiment shown in FIG. m or motor speed v m and the torsional torque estimate T based on tor ^ is calculated, and the torsional torque estimate T tor ^ and the torsional torque target value T tor * In this case, a filter F1 equivalent to the delay that occurs when estimating the torsion torque may be added to the torsion torque target value generation unit 135.

[0048] Next, a simulation performed to confirm the effects of the present invention will be described with reference to FIGS. The motor control device with the configuration of FIG. 9 is referred to as Conventional Example 1, the motor control device with the configuration of FIG. 11 is referred to as Conventional Example 2, and the motor control device according to the second embodiment shown in FIG. 2 is referred to as the present invention. The motor speed v when the motor is driven under the following conditions is calculated. m and load speed v l The time variation of was simulated. Control target 200: J1=5×10 -4 [kgm 2 ], J2 = 1 × 10 -4 [kgm 2 ],K=5.0[Nm / rad], (In this case, ω z =223.6[rad / s],ω μ =244.9[rad / s]) FB gain of PI control (conventional example 2, present invention) and IP control (conventional example 1): k vp =527.0[rad / s],k vi =63.3[rad / s] Target value response filter F0 during FF control (conventional example 2, this invention): F0={ω f / (s+ω f )} 3 ;ω f =1.8ω μ (=440.9[rad / s]) (Note that, as will be described later, in Figure 7, f =1.0ω μ In Fig. 8, ω f =2.0ω μ It was decided.) Torsional torque FB gain G (conventional example 1, present invention): G = 10.0 In addition, the motor speed command v in Fig. m * , the first speed command v in FIG. 2 and FIG. 11 * is a step function with a magnitude of 1.

[0049] First, Fig. 5(a) and (b) show the results of the conventional example 1 and conventional example 2, in which there is no error between the set value and the actual value of the elastic constant K of the controlled object 200 in the controller, when the actual value of K is 110% of the set value, and when the actual value of K is 90% of the set value. m (solid line) and load speed v l The graph shows the change over time in the (dashed line). In the conventional example 1 in Fig. 5(a), even when the error of K is ±10%, the load speed v l is the motor speed v m It is clear that the shaft torsional vibration is suppressed. However, Conventional Example 1 does not have an FF control system and cannot control the rise speed independently of the FB gain, so v m ,v l It takes a relatively long time for the voltage Vcc to reach a predetermined value. In addition, in Conventional Example 2 in FIG. 5(b), the rise speed is improved compared to Conventional Example 1 in both cases where there is no error in K and where there is a ±10% error in K. However, when there is an error in K, the load speed v l is vibrating strongly, making it difficult to suppress the shaft torsional vibration.

[0050] In contrast, FIG. 6 shows the motor speed v when the motor is driven under the same conditions as above, using the motor control device according to the second embodiment of the present invention shown in FIG. m (solid line) and load speed v l (dashed line) is shown. According to FIG. 6, as with Conventional Example 2 in FIG. 5(b), the rise speed can be improved by FF control independently of the FB gain, and axial torsional vibration can be suppressed even when there is an error in K.

[0051] 7 and 8 show the results of the conventional example 2 and the second embodiment of the present invention, respectively. f =1.0ω μ (Fig. 7), ω f =2.0ω μ (Fig. 8) is an example of setting the motor speed v when the motor is driven under the same conditions as above. m (solid line) and load speed v l (dashed line) are shown. Comparing the present invention shown in Figs. 7(b) and 8(b) with the conventional example 2 shown in Figs. 7(a) and 8(a), the present invention shows that even if there is an error of ±10[%] in K, the load speed v l is the motor speed v m This is almost identical to the figure shown in Figure 6, indicating that shaft torsional vibration is suppressed.

[0052] The present invention can be applied to the speed control or position control of a rotary motor or a linear motor that drives a mechanical load that includes an elastically deformable part. Furthermore, when a mechanical load including an elastically deforming portion is driven by a linear motor, the elastic force generated in the elastically deforming portion can be regarded as the "torsion torque" in each embodiment and applied. [Explanation of symbols]

[0053] 100A, 100B, 100C, 100D: Controller 102: PI control unit 103,113: Speed ​​command generation section 104, 114: FF torque generating section 105, 115, 115a: Torsional torque target value generation unit 106: Torsion torque estimation unit 121,122,123,124: Addition and subtraction means 125: Differential means 133:Position command generation section 134: FF torque generating unit 135: Torsional torque target value generation unit 136:FF speed generation section 137: Integral means 200, 200A: Control target 201: Motor 202,202A: Axis 203: Mechanical load 204,205: Addition and subtraction means 206,207: Integral means

Claims

1. A motor control device for controlling the speed of a control target that can be regarded as a two-inertia system in which a motor and a mechanical load are coupled, a speed control unit that performs control calculations to eliminate a deviation between a motor speed command based on the first speed command and the motor speed; a feedforward torque generating unit that generates a feedforward torque by filter calculation using the first speed command as an input; a torsion torque target value generating unit that generates an ideal torsion torque target value generated in accordance with the feedforward torque by filter calculation using the first speed command as an input; Equipped with a torque command for the controlled object by adding the result of multiplying a deviation between the torsional torque target value and a torsional torque equivalent value obtained from the controlled object by a torsional torque feedback gain to an output of the speed control unit and the feedforward torque.

2. A motor control device for controlling the position of a control object that can be regarded as a two-inertia system in which a motor and a mechanical load are coupled, a position control unit that generates a motor speed command so as to eliminate a deviation between a motor position command based on the first position command and the motor position; a feedforward torque generating unit that generates a feedforward torque by filter calculation using the first position command as an input; a feedforward velocity generating unit that generates a feedforward velocity by filter calculation using the first position command as an input; a torsion torque target value generating unit that generates an ideal torsion torque target value generated in accordance with the feedforward torque by filter calculation using the first position command as an input; a speed control unit that performs control calculations to eliminate a deviation between the motor speed command to which the feedforward speed has been added and the motor speed; Equipped with a torsional torque feedback gain is multiplied by a deviation between the torsional torque target value and a torsional torque equivalent value obtained from the controlled object, and the result of this multiplication and the feedforward torque are added to an output of the speed control unit to generate a torque command for the controlled object.

3. 2. The motor control device according to claim 1, A motor control device, characterized in that the feedforward torque, the torsional torque target value, and the motor speed command are generated by filter calculations including a target value response filter.

4. 3. The motor control device according to claim 2, A motor control device, characterized in that the feedforward torque, the torsional torque target value, the feedforward speed, and the motor position command are generated by filter calculations including a target value response filter.

5. The motor control device according to any one of claims 1 to 4, 10. A motor control device, wherein the torsional torque equivalent value is an actual torsional torque value detected from the controlled object.

6. The motor control device according to any one of claims 1 to 4, 10. A motor control device, wherein the torsion torque equivalent value is a torsion torque estimated value estimated using the speed or position of the motor and the torque command.

7. 7. The motor control device according to claim 6, 10. A motor control device, wherein the torsional torque target value generating unit has a filter equivalent to an estimation delay of the torsional torque estimated value.

8. The motor control device according to any one of claims 1 to 4, a torsional torque feedback gain and a feedback gain in the speed control unit, based on the parameters of the controlled object and a coefficient diagram method;

9. A speed control method for a motor in a controlled object that can be regarded as a two-inertia system in which the motor and a mechanical load are coupled, comprising: generating a torque command by performing a control calculation so as to eliminate a deviation between a motor speed command based on the first speed command and the motor speed; generating a feedforward torque by a filter operation using the first speed command as an input; generating an ideal torsional torque target value generated in accordance with the feedforward torque by a filter operation using the first speed command as an input; a torsional torque feedback gain is multiplied by a deviation between the torsional torque target value and a torsional torque equivalent value obtained from the controlled object, and the result of this multiplication and the feedforward torque are added to the torque command to generate a torque command for the controlled object.

10. A method for controlling a position of a motor in a controlled object that can be regarded as a two-inertia system in which the motor and a mechanical load are coupled, comprising: generating a motor speed command so as to eliminate a deviation between a motor position command based on the first position command and the motor position; generating a feedforward torque by a filter operation using the first position command as an input; generating a feedforward velocity by a filter operation using the first position command as an input; generating an ideal torsional torque target value generated in response to the feedforward torque by a filter operation using the first position command as an input; generating a torque command by performing a control calculation so as to eliminate a deviation between the motor speed command to which the feedforward speed has been added and the motor speed; a torsional torque feedback gain is multiplied by a deviation between the torsional torque target value and a torsional torque equivalent value obtained from the controlled object, and the result of this multiplication and the feedforward torque are added to the torque command to generate a torque command for the controlled object.

Images