Motor Control Device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- MITSUBISHI ELECTRIC CORP
- Filing Date
- 2024-10-25
- Publication Date
- 2026-07-07
Smart Images
Figure 00000017_0000 
Figure 00000017_0001 
Figure 00000018_0000
Abstract
Description
[Technical field]
[0001] The present disclosure relates to a motor control device that controls the operation of a motor that drives a controlled object. [Background technology]
[0002] A motor control device is generally required to follow an operation command at high speed and with high accuracy, and to operate with high efficiency. To achieve this, a control system equipped with a motor control device needs a sensor that detects the rotor position, which indicates the rotation angle of the rotor equipped in the motor, with high accuracy. In a control system, the sensors that detect the rotor position include magnetic sensors such as Hall elements and MR (Magneto Resistive) elements, resolvers, and encoders. When the motor is a permanent magnet type motor, the rotor position is detected by obtaining two sinusoidal signals with a phase difference of 90° from each other according to the magnet position of the rotor from the output of one or more sensors arranged around the rotor, and solving an inverse trigonometric function for the two sinusoidal signals obtained to detect the rotor position.
[0003] Here, if the noise superimposed on the signal obtained from the sensor becomes large, the effect of this is directly reflected in the calculation results of rotor position detection, and the difference between the calculated rotor position and the actual rotor position becomes large, making it difficult to control the rotor position with high accuracy. One possible solution to this problem is to install a low-pass filter in the signal transmission path, but as the motor rotation speed increases, the phase delay of the signal caused by the filter becomes significant, and the rotor position generated based on the filtered signal will deviate from the actual rotor position. Therefore, even if a low-pass filter is installed, as the motor rotation speed increases, it is difficult to control the rotor position with high accuracy.
[0004] In response to the above-mentioned problems, the following Patent Document 1 discloses a control device for an AC motor that aims to improve the detection accuracy of the rotor position in a rotary magnet AC motor and reduce the influence of electrical disturbances. Specifically, the control device disclosed in Patent Document 1 includes a rotor position detection means having an output characteristic with a discontinuous point that returns to zero in one rotation of the electrical angle, a stator coil current detection means, and a control means that calculates a control output signal based on a required output, the rotor rotational position, and the coil current, and the control means includes a position corrector. The position corrector also includes a low-pass filter section that removes high-frequency components included in the original position signal of the position detection means to generate a filter output signal, a phase lag compensation section that compensates for the phase lag caused by the low-pass filter section, and a discontinuous point switching section that uses the filter output signal as a final corrected position signal at points other than the discontinuous point of the position detection means and uses the original position signal as a corrected position signal at the discontinuous point. [Prior art documents] [Patent documents]
[0005] [Patent Document 1] JP 2010-239698 A Summary of the Invention [Problem to be solved by the invention]
[0006] In Patent Document 1, high-frequency noise components included in the signal output from the sensor are removed using a low-pass filter, and the output signal of the low-pass filter is fed back to follow the input of the low-pass filter to perform phase compensation with a proportional-integral compensator. However, in the phase compensation method of Patent Document 1, if the gain of the proportional-integral compensator is increased to enhance the effect of phase compensation, the noise reduction effect by the filter process is reduced. Conversely, if the noise reduction effect is to be maintained, the gain of the proportional-integral compensator for phase compensation cannot be increased, and the effect of phase compensation cannot be enhanced. In other words, the technology of Patent Document 1 has a problem in that it is not possible to simultaneously improve the noise reduction effect by the filter process and the compensation effect of the phase lag by the phase compensation.
[0007] The present disclosure has been made in consideration of the above, and aims to provide a motor control device that can achieve both an improved noise reduction effect through filtering and an improved phase lag compensation effect through phase compensation. [Means for solving the problem]
[0008] In order to solve the above-mentioned problems and achieve the object, a motor control device according to the present disclosure is a motor control device that controls the operation of a motor that drives a controlled object, and includes a feedforward control unit, a feedback signal generation unit, and a feedback control unit. The feedforward control unit generates a model output that simulates a response of the controlled object based on an operation command for operating the controlled object, and outputs the model output to the feedback control unit. The feedback signal generation unit generates a feedback signal based on each of magnetic sensor signals output from two magnetic sensors attached to the motor in accordance with the operation of the motor controlled by the operation command, and outputs the feedback signal to the feedback control unit. The feedback control unit generates an operation amount such that the controlled object follows the operation command based on the model output and the feedback signal, and outputs the operation amount to a drive unit of the controlled object. The feedback signal generation unit includes a first filter unit, an angle calculation unit, a phase lag compensation unit, and a speed calculation unit. The first filter unit performs a filter process on each of the magnetic sensor signals. The angle calculation unit calculates the angle of a rotor provided in the motor based on the output signal of the first filter unit. The phase lag compensator outputs a compensated angle obtained by compensating for the phase lag of the angle based on the phase lag characteristics of the angle and the first filter unit, and any one of the operation command and the compensation speed for compensating for the phase lag of the angle. The speed calculator calculates the motor speed based on the compensated angle. Effect of the Invention
[0009] The motor control device according to the present disclosure has the advantage of being able to achieve both an improved noise reduction effect through filtering and an improved phase lag compensation effect through phase compensation. [Brief description of the drawings]
[0010] [Figure 1] FIG. 1 is a diagram showing a first configuration example of a control system including a motor control device according to a first embodiment; [Diagram 2] FIG. 2 is a diagram showing a configuration example of a phase lag compensation unit in the first configuration example shown in FIG. 1; [Diagram 3]FIG. 1 is a diagram showing a second configuration example of a control system including a motor control device according to a first embodiment. [Figure 4] FIG. 4 is a diagram showing a configuration example of a phase lag compensation unit in the second configuration example shown in FIG. 3; [Diagram 5] FIG. 1 is a diagram showing an example of a hardware configuration for implementing the functions of a motor control device according to a first embodiment; [Figure 6] FIG. 13 is a diagram showing another example of a hardware configuration for implementing the functions of the motor control device according to the first embodiment; [Figure 7] FIG. 11 is a diagram showing a third configuration example of a control system including a motor control device according to a second embodiment. [Figure 8] FIG. 8 is a diagram showing a configuration example of a compensation speed calculation unit in the third configuration example shown in FIG. 7. [Figure 9] FIG. 11 is a diagram showing a fourth configuration example of a control system including a motor control device according to a second embodiment. [Figure 10] FIG. 10 is a diagram showing a configuration example of a compensation speed calculation unit in the fourth configuration example shown in FIG. [Figure 11] FIG. 11 is a diagram showing a fifth configuration example of a control system including a motor control device according to a third embodiment. [Figure 12] FIG. 12 is a diagram showing a configuration example of a compensation speed calculation unit in the fifth configuration example shown in FIG. 11; [Figure 13] FIG. 13 is a diagram showing a sixth configuration example of a control system including a motor control device according to a fourth embodiment. [Figure 14] FIG. 14 is a diagram showing a configuration example of a phase lag compensation unit in the sixth configuration example shown in FIG. 13. [Figure 15] FIG. 13 is a diagram showing a seventh configuration example of a control system including a motor control device according to a fifth embodiment. [Figure 16] FIG. 16 is a diagram showing a configuration example of a phase lag compensation unit in the seventh configuration example shown in FIG. 15. [Figure 17] FIG. 13 is a diagram showing an eighth configuration example of a control system including a motor control device according to a sixth embodiment. [Figure 18] FIG. 18 is a diagram showing a configuration example of a phase lag compensation unit in the eighth configuration example shown in FIG. 17; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0011] A motor control device according to an embodiment of the present disclosure will be described in detail below with reference to the attached drawings. In this paper, a rotary motor is used as an example for description, but this is not intended to exclude application to a linear motor. In the case of a linear motor, the "rotor" can be read as a "mover," the "angle" as a "mover position," and the "rotation" as a "linear operation" or simply as "operation." In this paper, a permanent magnet motor is used as an example for description, but this is not intended to exclude application to motors other than permanent magnet motors.
[0012] Embodiment 1 Fig. 1 is a diagram showing a first example configuration of a control system including a motor control device 1 according to a first embodiment. In Fig. 1, components of the control system are the motor control device 1, a controlled object 40, and an operation command generating unit 45. The controlled object 40 includes a voltage applicator 41, a motor 42 that operates by a drive voltage output from the voltage applicator 41, a mechanical load 43 that is driven by the motor 42, and a magnetic sensor 44 attached to the motor 42. Note that there are two magnetic sensors, but in Fig. 1, the two magnetic sensors are collectively shown as magnetic sensor 44.
[0013] The motor 42 is connected to a mechanical load 43 to be driven, and the mechanical load 43 operates in accordance with the rotation of the motor 42. The magnetic sensor 44 is a sensor that detects a rotor position indicating a rotation angle of the rotor 42a provided in the motor 42. Examples of the magnetic sensor 44 include a Hall element and an MR element. The motor 42 is controlled based on an operation command output from an operation command generating unit 45. The operation command is a command for operating the control target 40. The operation command can be specified by a parameter set by a user. The operation command generating unit 45 may be provided in a control device higher than the motor control device 1, or may be an input device equipped with a user interface. The operation command generating unit 45 may also be provided inside the motor control device 1. That is, the operation command generating unit 45 may be a component of the motor control device 1.
[0014] The motor control device 1 includes a feed forward (FF) control unit 2, a feedback (FB) control unit 3, and an FB signal generation unit 4. The FF control unit 2 generates and outputs a model output simulating the response of a control target 40 based on an operation command. The model output includes a model position, a model speed, a model torque, and the like. The FB signal generation unit 4 generates an FB signal based on each magnetic sensor signal calculated from two magnetic sensors 44 attached to the motor 42 in accordance with the operation of the motor 42, and outputs the FB signal to the FB control unit 3. In this paper, the speed and the compensated angle are exemplified as the FB signal. The FB control unit 3 generates an operation amount such that the control target 40 follows the operation command based on the model output and the FB signal, and outputs the operation amount to a voltage applicator 41, which is a drive unit of the control target 40. The voltage applicator 41 operates as a drive unit of the control target 40.
[0015] The FF control unit 2 includes a reference model unit 21. The reference model unit 21 simulates the characteristics of the controlled object 40, such as the transfer function and frequency characteristics of the controlled object 40, and calculates and outputs a model position, a model velocity, and a model torque according to the simulated characteristics of the controlled object 40. The model velocity can be obtained by the first-order differentiation of the model position. The model torque can be obtained by obtaining a model acceleration by the second-order differentiation of the model position or the first-order differentiation of the model velocity, and multiplying the model acceleration by the inertia of the moving part in the controlled object 40.
[0016] The FB control unit 3 includes a position control unit 31, a speed control unit 32, and a torque control unit 33. The position control unit 31 receives the model position from the FF control unit 2 and the compensated angle from the phase lag compensation unit 6. The position control unit 31 generates a speed command based on the model position and the compensated angle. Specifically, the position control unit 31 receives the model position and the compensated angle, and outputs a speed command so that the compensated angle follows the model position. The compensated angle is a rotor angle signal after compensation calculation generated from the magnetic sensor signal A and the magnetic sensor signal B by the FB signal generation unit 4. The position control unit 31 can be configured with a proportional compensator or the like.
[0017] The speed control unit 32 receives a speed command from the position control unit 31, a model speed from the FF control unit 2, and a speed from the speed calculation unit 9. The speed control unit 32 generates an error torque based on the model speed, the speed command, and the speed. Specifically, the speed control unit 32 receives the model speed, the speed command, and the speed, and outputs an error torque so that the speed output from the speed calculation unit 9 follows the sum of the model speed and the speed command. In other words, the speed control unit 32 generates an error torque that makes the speed output from the speed calculation unit 9 follow the sum of the model speed and the speed command. The speed control unit 32 can be configured with a proportional-integral compensator or the like.
[0018] The torque control unit 33 receives the error torque from the speed control unit 32 and the model torque from the FF control unit 2. The torque control unit 33 generates a manipulated variable based on the error torque and the model torque. Specifically, the torque control unit 33 outputs the sum of the error torque and the model torque as the manipulated variable. The torque control unit 33 can be configured with an adder or a subtractor.
[0019] The operation amount generated by the torque control unit 33 is input to a voltage applicator 41. The voltage applicator 41 generates a drive voltage for driving a motor 42 based on the operation amount and applies the drive voltage to the motor 42. The motor 42 is rotationally driven by the drive voltage.
[0020] As mentioned above, the motor 42 is equipped with a magnetic sensor 44. The magnetic sensor 44 detects the magnetic field that changes with the rotation of the rotor 42a. The magnetic sensor 44 outputs two signals consisting of a sine wave and a cosine wave that convert the rotation angle into an electrical angle. In this document, one of the detection signals may be referred to as "magnetic sensor signal A" and the other detection signal may be referred to as "magnetic sensor signal B."
[0021] The FB signal generating unit 4 includes a phase lag compensating unit 6, an angle calculating unit 7, a first filter unit 8, and a speed calculating unit 9. The first filter unit 8 includes filters 8A and 8B. The magnetic sensor signal A is input to the filter 8A, and the magnetic sensor signal B is input to the filter 8B. The filters 8A and 8B are provided for the purpose of reducing the influence of noise superimposed on the magnetic sensor signal A and the magnetic sensor signal B. The filter 8A performs filtering on the magnetic sensor signal A, and the filter 8B performs filtering on the magnetic sensor signal B. In this paper, the signal output from the filter 8A may be referred to as the "filtered magnetic sensor signal A," and the signal output from the filter 8B may be referred to as the "filtered magnetic sensor signal B." An example of the configuration of the filters 8A and 8B is a low-pass filter, and its characteristics can be expressed by the following equation (1) using the Laplace variable s.
[0022]
number
[0023] In the above formula (1), f LPF1 is the cutoff frequency of the low-pass filter.
[0024] The filtered magnetic sensor signal A and the filtered magnetic sensor signal B are input to the angle calculation unit 7. The angle calculation unit 7 calculates an angle that is a rotation angle of the rotor 42a based on the filtered magnetic sensor signal A and the filtered magnetic sensor signal B.
[0025] The filtered magnetic sensor signal A and the filtered magnetic sensor signal B can be expressed as a sine wave (sin) and a cosine wave (cos), and their amplitudes are expressed as "S A " and "S B The angle of rotation of the rotor 42a is represented by "θ". A ≒S B Therefore, it can be found by calculating the arctangent of each signal as shown in the following equation (2).
[0026]
number
[0027] 2 is a diagram showing a configuration example of the phase lag compensation unit 6 in the first configuration example shown in FIG. 1. As shown in FIG. 2, the phase lag compensation unit 6 includes a compensation execution unit 61. The compensation execution unit 61 receives a model speed from the FF control unit 2 and an angle from the angle calculation unit 7. The compensation execution unit 61 generates a compensated angle that compensates for the phase lag caused by the filter processing in the first filter unit 8 based on the angle, the phase lag characteristics of the first filter unit 8, and the model speed. In the compensation execution unit 61, the model speed output from the FF control unit 2 is used as a compensation speed for compensating for the phase lag caused by the filter processing in the first filter unit 8.
[0028] Here, when the filters 8A and 8B of the first filter unit 8 are first-order low-pass filters, the phase delay characteristic is expressed as LPF1 Using this, it can be expressed as the following equation (3).
[0029]
number
[0030] In the above formula (3), ω c is the compensation speed.
[0031] Therefore, the compensated angle θ x is the angle θ and the compensation speed ω c and cutoff frequency f LPF1 Using this, it can be calculated using the following equation (4).
[0032]
number
[0033] Let us add a little more detail to the above process. First, in general, the phase delay of a low-pass filter is determined by the cutoff frequency f LPF1 Once the configuration of the filters 8A and 8B is determined, the cutoff frequency f LPF1 In the compensation execution unit 61, the cutoff frequency f LPF1 It is possible to know in advance. On the other hand, the velocity information can be calculated by differentiating the angle θ. However, differentiating the angle θ re-excites the effects of noise that were reduced by the filters 8A and 8B of the first filter unit 8. If the velocity information calculated in this way is used to compensate for the phase delay caused by the filters 8A and 8B of the first filter unit 8, the effects of noise will appear again in the compensated angle. Therefore, the model velocity is calculated using the velocity information ω c The model speed is speed information that does not include the influence of noise and that simulates the response of the control target 40 by removing the influence of noise. Therefore, by adopting such a configuration, the compensated angle θ , which compensates for the phase delay caused by the filters 8A and 8B of the first filter unit 8 while reducing the influence of noise, is used as the model speed. x The advantage is that it is possible to obtain
[0034] The compensated angle θ generated by the compensation execution unit 61 x is input to the speed calculation unit 9 and the position control unit 31 of the FB control unit 3. As described above, the position control unit 31 calculates the model position and the compensated angle θ x The speed calculation unit 9 generates a speed command based on the compensated angle θ x Specifically, the speed is calculated based on the compensated angle θ x The compensated angle θ x The signal after the differentiation process may be filtered using a low-pass filter, a moving average filter, or the like, and the filtered signal may be output as the velocity.
[0035] Noise superimposed on the magnetic sensor 44 is reduced by filtering in the first filter unit 8, but when the rotation speed of the motor 42 becomes high, the filtering causes a significant phase delay, and the rotor position generated based on the signal filtered in the first filter unit 8 deviates from the actual rotor position. For this reason, the presence of the first filter unit 8 may make it difficult to perform accurate position control. To address this issue, in phase compensation using a simple proportional-integral compensator, if the gain of the proportional-integral compensator is increased in an attempt to enhance the effect of phase compensation, the noise reduction effect of the filter is reduced. Conversely, if an attempt is made to maintain the noise reduction effect, the gain of the proportional-integral compensator for phase compensation cannot be increased, and the effect of phase compensation cannot be enhanced.
[0036] In order to solve the above-mentioned problems, the motor control device 1 according to the first configuration example has a compensation speed ω c Based on the compensated angle θ x The compensated angle θ x As shown in FIG. 1, the motor control device 1 according to the first configuration example outputs a compensated angle θ x The speed generated using is output as an FB signal to the FB control unit 3. The angle generated by the angle calculation unit 7 is converted into a compensation speed ω c If compensation is performed based on this, it is possible to improve both the noise reduction effect by the filter and the phase lag compensation effect by the phase compensation.
[0037] In addition, in FIG. 1, the model speed input to the speed control section 32 of the FB control section 3 is set as the compensation speed ω c However, it may be configured as shown in Fig. 3. Fig. 3 is a diagram showing a second configuration example of a control system including a motor control device 1A according to embodiment 1. The components of the control system according to the second configuration example are the motor control device 1A, a controlled object 40, and an operation command generation unit 45.
[0038] Comparing the configuration of the motor control device 1A shown in Fig. 3 with the configuration of the motor control device 1 shown in Fig. 1, the FB signal generation unit 4 has been replaced with an FB signal generation unit 4A. In the FB signal generation unit 4A, the phase lag compensation unit 6 has been replaced with a phase lag compensation unit 6A. In the phase lag compensation unit 6A, an operation command is input instead of a model speed. The other configurations are the same as or equivalent to the configuration in Fig. 1, and the same or equivalent components are denoted by the same reference numerals, and duplicate explanations will be omitted.
[0039] FIG. 4 is a diagram showing a configuration example of the phase lag compensation unit 6A in the second configuration example shown in FIG. 3. As shown in FIG. 4, the phase lag compensation unit 6A includes a compensation execution unit 61 and a reference model unit 62. The reference model unit 62 generates a model speed based on an operation command and outputs the model speed to the compensation execution unit 61. The reference model unit 62 can be constructed using the function of the reference model unit 21 included in the FF control unit 2, so no new design is required. Furthermore, the reference model unit 21 of the FF control unit 2 generates a model position and a model torque in addition to the model speed, but the reference model unit 62 of the phase lag compensation unit 6A only needs to generate the model speed. For this reason, the reference model unit 62 can be configured smaller than the reference model unit 21.
[0040] In order to solve the above-mentioned problems, the motor control device 1A according to the second configuration example generates a compensation speed based on an operation command, and the generated compensation speed ω c Based on the compensated angle θ x The compensated angle θ x is output as an FB signal to the FB control unit 3. In addition, as shown in FIG. x The speed generated using the filter is output as an FB signal to the FB control unit 3. Therefore, similar to the motor control device 1 according to the first configuration example, it is possible to improve both the noise reduction effect by the filter and the phase lag compensation effect by the phase compensation.
[0041] As described above, the motor control device according to the first embodiment is a motor control device that controls the operation of a motor that drives a controlled object, and includes an FF control unit, an FB signal generation unit, and an FB control unit. The FF control unit generates a model output that simulates a response of the controlled object based on an operation command for operating the controlled object, and outputs the model output to the FB control unit. The FB signal generation unit generates an FB signal based on each of magnetic sensor signals calculated from two magnetic sensors attached to the motor according to the operation of the motor controlled by the operation command, and outputs the FB signal to the FB control unit. The FB control unit generates an operation amount such that the controlled object follows the operation command based on the model output and the FB signal, and outputs the operation amount to a drive unit of the controlled object. The FB signal generation unit includes a first filter unit, an angle calculation unit, a phase lag compensation unit, and a speed calculation unit. The first filter unit performs a filter process on each of the magnetic sensor signals. The angle calculation unit calculates the angle of a rotor provided in the motor based on the output signal of the first filter unit. The phase lag compensation unit outputs a compensated angle in which the phase lag of the angle is compensated based on the angle, the phase lag characteristics of the first filter unit, and any one of the operation command and the compensation speed for compensating for the phase lag of the angle. The speed calculation unit calculates the motor speed based on the compensated angle. According to the motor control device of the first embodiment, the speed generated using the compensated angle is output to the FB control unit as an FB signal. If the angle generated by the angle calculation unit is compensated based on the compensation speed that does not include noise, it is possible to obtain an effect of improving both the noise reduction effect by the filter processing and the phase lag compensation effect by the phase compensation.
[0042] In the motor control device according to the first embodiment, the phase lag compensation unit may generate a compensated angle using a model speed included in the model output generated by the FF control unit, or may generate a compensation speed based on an operation command. The model speed and the operation command do not contain noise. Therefore, phase lag compensation can be performed using a signal that does not contain noise, and the compensated angle thus generated has the advantage of being able to compensate for the phase lag caused by the first filter unit while maintaining the noise reduction effect of the first filter unit.
[0043] At the end of the first embodiment, the hardware configuration for realizing the functions of the motor control devices 1, 1A described above will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a diagram showing an example of a hardware configuration for realizing the functions of the motor control devices 1, 1A according to the first embodiment. Fig. 6 is a diagram showing another example of a hardware configuration for realizing the functions of the motor control devices 1, 1A according to the first embodiment.
[0044] When realizing some or all of the functions of the motor control device 1, 1A according to embodiment 1, the configuration can include a processor 201 that performs calculations, a memory 202 that stores programs read by the processor 201, and an interface 204 that transmits and receives signals, as shown in FIG. 5.
[0045] The processor 201 is an example of a computing means. The processor 201 may be a computing means called a microprocessor, a microcomputer, a CPU (Central Processing Unit), or a DSP (Digital Signal Processor). Examples of the memory 202 include a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (registered trademark) (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD (Digital Versatile Disc).
[0046] The memory 202 stores a program for executing the functions of the motor control devices 1, 1A according to the first embodiment. The processor 201 receives and transmits necessary information via the interface 204, executes the program stored in the memory 202, and refers to the table stored in the memory 202, thereby performing the above-mentioned processing. The calculation results by the processor 201 can be stored in the memory 202. Information on the filter characteristics of the filters 8A, 8B can also be stored in the memory 202.
[0047] 6 may be used to realize part of the functions of the motor control device 1, 1A according to the first embodiment. The processing circuit 203 may be a single circuit, a composite circuit, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these. Information input to the processing circuit 203 and information output from the processing circuit 203 may be exchanged via an interface 204.
[0048] It should be noted that some of the processes in the motor control devices 1, 1A may be performed by the processing circuit 203, and the processes that are not performed by the processing circuit 203 may be performed by the processor 201 and the memory 202.
[0049] Embodiment 2 7 is a diagram showing a third configuration example of a control system including a motor control device 1B according to embodiment 2. The components of the control system according to the third configuration example are a motor control device 1B, a controlled object 40, and an operation command generation unit 45.
[0050] Comparing the configuration of the motor control device 1B shown in FIG. 7 with the configuration of the motor control device 1 shown in FIG. 1, the FB signal generation unit 4 is replaced with an FB signal generation unit 4B. A compensation speed calculation unit 5 is added to the FB signal generation unit 4B. An angle is input to the compensation speed calculation unit 5 from an angle calculation unit 7. The compensation speed calculation unit 5 generates a compensation speed based on the angle and outputs it to a phase lag compensation unit 6. The other configurations are the same or equivalent to the configuration in FIG. 1, and the same or equivalent components are denoted by the same reference numerals, and duplicate explanations will be omitted.
[0051] Fig. 8 is a diagram showing a configuration example of the compensation speed calculation unit 5 in the third configuration example shown in Fig. 7. As shown in Fig. 8, the compensation speed calculation unit 5 includes a differentiator 51 and a second filter 52. The differentiator 51 generates an angle differential signal by differentiating the angle. The second filter 52 performs filtering to reduce the influence of noise components amplified by the differential processing, and outputs the filtered signal as the compensation speed.
[0052] An example of the configuration of the second filter 52 is a low-pass filter, and the characteristics thereof can be expressed by the following equation (5) using a Laplace variable s.
[0053]
number
[0054] In the above formula (5), f LPF2 is the cutoff frequency of the low-pass filter.
[0055] The compensation speed generated by the compensation speed calculation unit 5 is input to the phase lag compensation unit 6. The operation of the phase lag compensation unit 6 is similar to that in the first embodiment, and a description thereof will be omitted here.
[0056] 7 shows a configuration in which a compensation speed is generated and output using the angle output from angle calculation unit 7, but it may be configured as shown in FIG. 9. FIG. 9 is a diagram showing a fourth configuration example of a control system including a motor control device 1B according to embodiment 2. The components of the control system according to the fourth configuration example are a motor control device 1C, a controlled object 40, and an operation command generation unit 45.
[0057] Comparing the configuration of the motor control device 1C shown in Fig. 9 with the configuration of the motor control device 1B shown in Fig. 7, the FB signal generation unit 4B has been replaced with an FB signal generation unit 4C. In the FB signal generation unit 4C, the compensation speed calculation unit 5 has been replaced with a compensation speed calculation unit 5A. In the compensation speed calculation unit 5A, a motion command is input instead of an angle. The other configurations are the same as or equivalent to the configuration in Fig. 7, and the same or equivalent components are denoted by the same reference numerals, and duplicated explanations will be omitted.
[0058] Fig. 10 is a diagram showing a configuration example of the compensation speed calculation unit 5A in the fourth configuration example shown in Fig. 9. As shown in Fig. 10, the compensation speed calculation unit 5A includes a reference model unit 53. The reference model unit 53 generates a model speed based on an operation command, and outputs the generated model speed to the phase lag compensation unit 6 as a compensation speed. The subsequent operations are the same as those in Fig. 7. Note that the reference model unit 53 only needs to be able to generate a model speed, and therefore may have a configuration equivalent to that of the reference model unit 62 of the phase lag compensation unit 6A.
[0059] As described above, in the motor control device according to the second embodiment, the FB signal generating unit further includes a compensation speed calculation unit that calculates a compensation speed based on the angle calculated by the angle calculation unit, in addition to the configuration of the motor control device according to the first embodiment. The compensation speed calculation unit can be configured to include a differentiator that performs differentiation processing of the angle and outputs an angle differential signal, and a second filter that performs filtering processing on the angle differential signal, and the output of the second filter is set as the compensation speed. Alternatively, the compensation speed calculation unit may be configured to include a reference model unit that simulates the characteristics of the controlled object, and the reference model unit may be configured to output a model speed that simulates the response of the controlled object by removing the influence of noise based on the operation command, and the model speed is set as the compensation speed. According to the motor control device according to the second embodiment, as in the motor control device according to the first embodiment, it is possible to obtain an effect of improving both the noise reduction effect by filtering and the compensation effect of phase lag by phase compensation.
[0060] Embodiment 3 11 is a diagram showing a fifth exemplary configuration of a control system including a motor control device 1D according to embodiment 3. The components of the control system according to the fifth exemplary configuration are the motor control device 1D, a controlled object 40, and an operation command generation unit 45.
[0061] Comparing the configuration of the motor control device 1D shown in Fig. 11 with the configuration of the motor control device 1B shown in Fig. 7, the FB signal generation unit 4B has been replaced with an FB signal generation unit 4D. In the FB signal generation unit 4D, the compensation speed calculation unit 5 has been replaced with a compensation speed calculation unit 5B. The input signal to and the output signal from the compensation speed calculation unit 5B are the same as in Fig. 7, but the internal configuration is different. The other configurations are the same as or equivalent to the configuration in Fig. 7, and the same or equivalent components are denoted by the same reference numerals, and duplicate explanations will be omitted.
[0062] Fig. 12 is a diagram showing an example of the configuration of the compensation speed calculation unit 5B in the fifth example configuration shown in Fig. 11. As shown in Fig. 12, the compensation speed calculation unit 5B includes a differentiator 54, a phase synchronization compensator 55, a third filter 56, and an integrator 57.
[0063] In the compensation speed calculation unit 5B, the filtered speed output from the third filter 56 is set as a compensation speed and output to the outside of the compensation speed calculation unit 5B. That is, the third filter 56 generates a compensation speed for compensating for the phase delay of the angle, which is used in the phase delay compensation unit 6. The output of the third filter 56 is also input to the integrator 57. The integrator 57 performs integration processing on the filtered speed and outputs the signal after integration to the difference calculator 54 as a filtered angle. The difference calculator 54 generates a difference between the angle and the filtered angle as a deviation and outputs it to the phase synchronization compensator 55. The phase synchronization compensator 55 outputs a phase synchronization compensator output signal, which has been subjected to phase synchronization compensation for the deviation, to the third filter 56 so that the filtered angle follows the angle. As described above, the output of the third filter 56 is output to the outside of the compensation speed calculation unit 5B as a compensation speed. In this way, a compensation speed with reduced noise effects can be obtained. Moreover, the phase delay caused by the third filter 56 used in the process of calculating the compensation speed is compensated for by the phase synchronous compensator 55. The subsequent operations are the same as those in FIG.
[0064] The configuration and operation of the compensation speed calculation unit 5B will be explained in more detail below. An example of the configuration of the phase synchronization compensator 55 is a proportional integral compensator. The phase synchronization compensator 55, which is a proportional integral compensator, performs proportional integral compensation on the deviation output from the differentiator 54, and converges the deviation to zero. Then, the third filter 56 outputs a post-filter speed in which the influence of noise is reduced for the phase synchronization compensator output signal output from the phase synchronization compensator 55. An example of the configuration of the third filter 56 is a notch filter, and its characteristics can be expressed by the following equation (6) using the Laplace variable s.
[0065]
number
[0066] In the above formula (6), ζ is a parameter that determines the notch width, d is a parameter that determines the notch depth, and ω n is a parameter that determines the center frequency of the notch.
[0067] The motor 42 may generate noise that depends on the rotation speed. This noise may be caused by misalignment of the installation position of the magnetic sensor 44, variations in magnetization of the magnet in the rotor 42a, harmonic noise superimposed on the rotating magnetic field of the rotor 42a, etc., and may generate noise with frequency components that are integer multiples of the rotation speed frequency (=speed [r / min] / 60 [Hz]). For this type of noise, the center frequency ω n If the central frequency ω of the notch filter is changed according to the rotation speed of the motor 42, it becomes possible to remove noise components whose frequency varies depending on the rotation speed from the calculated compensation speed. Note that the rotation speed of the motor 42 varies according to the operation command, and if the operation command is changed, the model output output from the FF control unit 2 also varies, and the speed calculated by the speed calculation unit 9 also varies. Therefore, the central frequency ω of the notch filter n The change in the speed can be implemented based on the motion command, the model output, or the speed calculated by the speed calculation unit 9. By performing such control, it is possible to reduce the influence of noise whose frequency varies depending on the rotation speed of the motor 42.
[0068] As described above, in the motor control device according to the third embodiment, the FB signal generating unit further includes a compensation speed calculation unit that calculates a compensation speed based on the angle calculated by the angle calculation unit. The compensation speed calculation unit includes a third filter, an integrator, a differentiator, and a phase synchronization compensator. The third filter generates a compensation speed used in the phase lag compensation unit. The integrator performs integration processing on the output of the third filter and generates a signal after the integration processing as a filtered angle. The differentiator generates a difference between the angle and the filtered angle as a deviation. The phase synchronization compensator performs phase synchronization compensation on the deviation so that the filtered angle follows the angle, and outputs the signal after the implementation to the third filter. According to the motor control device according to the third embodiment, the compensation speed calculation unit includes a differentiator, a phase synchronization compensator, a third filter, and an integrator. The action of the phase synchronous compensator and the third filter generates a filtered speed in which the effect of noise dependent on the motor rotation speed is further reduced, and the generated filtered speed is used as a compensation speed. By using the compensation speed thus generated to compensate for the phase delay caused by the filters 8A and 8B of the first filter unit 8, it is possible to achieve both a further improvement in the noise reduction effect by the filter processing and an improvement in the compensation effect for the phase delay by the phase compensation, compared to the motor control devices according to the first and second embodiments.
[0069] In the motor control device according to the third embodiment, a notch filter can be used as the third filter. In this case, it is desirable to change the center frequency of the notch filter successively based on the motion command, the model output generated based on the motion command, or the speed calculated by the speed calculation unit. By implementing such control, it is possible to reduce the influence of noise whose frequency varies depending on the rotation speed of the motor.
[0070] Embodiment 4 13 is a diagram showing a sixth configuration example of a control system including a motor control device 1E according to embodiment 4. The components of the control system according to the sixth configuration example are the motor control device 1E, a controlled object 40, and an operation command generation unit 45.
[0071] Comparing the configuration of the motor control device 1E shown in Fig. 13 with the configuration of the motor control device 1B shown in Fig. 7, the FB signal generating unit 4B has been replaced with an FB signal generating unit 4E. In the FB signal generating unit 4E, the phase lag compensation unit 6 has been replaced with a phase lag compensation unit 6B. The input signal to the phase lag compensation unit 6B and the output signal from the phase lag compensation unit 6B are the same as in Fig. 7, but the internal configuration is different. The other configurations are the same as or equivalent to the configuration in Fig. 7, and the same or equivalent components are denoted with the same reference numerals, and duplicate explanations will be omitted.
[0072] Fig. 14 is a diagram showing an example of the configuration of the phase lag compensation unit 6B in the sixth example configuration shown in Fig. 13. As shown in Fig. 14, the phase lag compensation unit 6B includes a differentiator 64, a phase synchronization compensator 65, a third filter 66, an integrator 67, and a compensation execution unit 61A.
[0073] In the phase lag compensation unit 6B, the integrator 67 integrates the filtered velocity output from the third filter 66 to generate a filtered angle. The differentiator 64 generates a deviation, which is the difference between the angle calculated by the angle calculation unit 7 and the filtered angle output from the integrator 67. The phase synchronization compensator 65 performs phase synchronization compensation on the deviation so that the filtered angle follows the angle. The third filter 66 performs filtering on the phase synchronization compensator output signal output from the phase synchronization compensator 65, and outputs the filtered signal to the integrator 67 as the filtered velocity. The compensation execution unit 61A receives the filtered angle from the integrator 67 and the compensation velocity from the compensation velocity calculation unit 5. The compensation execution unit 61A generates a compensated angle by compensating for the phase lag caused by the filtering process in the first filter unit 8 and the phase lag caused by the filtering process in the third filter 66, based on the phase lag characteristic of the first filter unit 8, the compensation speed output from the compensation speed calculation unit 5, and the filtered angle. The subsequent operations are the same as those in FIG. 7.
[0074] The configuration and operation of the phase lag compensation unit 6B will be supplemented below. An example of the configuration of the phase lag compensator 65 is a proportional integral compensator. The phase lag compensator 65, which is a proportional integral compensator, performs proportional integral compensation on the deviation output from the difference calculator 64, and converges the deviation to zero. Then, the third filter 66 outputs a filtered speed with reduced noise effects for the phase lag compensator output signal output from the phase lag compensator 65. An example of the configuration of the third filter 66 can be a notch filter, similar to the third filter 56 described in the third embodiment, and its characteristics can be expressed by the above formula (6). Note that the difference calculator 64, the phase lag compensator 65, the third filter 66, and the integrator 67 in the phase lag compensation unit 6B may have the same configuration as the difference calculator 54, the phase lag compensator 55, the third filter 56, and the integrator 57 in the compensation speed calculation unit 5B described in the third embodiment.
[0075] As described above, in the motor control device according to the fourth embodiment, in the configuration of the motor control device according to the first embodiment, the phase lag compensation unit includes an integrator, a differentiator, a phase synchronous compensator, a third filter, and a compensation execution unit. The integrator integrates the filtered speed to generate a filtered angle. The differentiator generates a difference between the angle calculated by the angle calculation unit and the filtered angle as a deviation. The phase synchronous compensator performs phase synchronous compensation on the deviation so that the filtered angle follows the angle. The third filter performs filtering on the output signal of the phase synchronous compensator, and outputs the filtered signal to the integrator as the filtered speed. The compensation execution unit generates a compensated angle based on the phase lag characteristic of the first filter unit, the compensation speed output from the compensation speed calculation unit, and the filtered angle. According to the motor control device according to the fourth embodiment, the phase lag compensation unit includes a differentiator, a phase synchronous compensator, a third filter, an integrator, and a compensation execution unit. The differentiator, phase synchronous compensator, third filter, integrator, and compensation execution unit act to generate a filtered angle and a filtered speed with further reduced effects of noise. This makes it possible to achieve both a further improvement in the noise reduction effect achieved by the filter processing and an improvement in the phase lag compensation effect achieved by the phase compensation, compared to the motor control devices according to the first and second embodiments.
[0076] Embodiment 5. 15 is a diagram showing a seventh exemplary configuration of a control system including a motor control device 1F according to embodiment 5. The components of the control system according to the seventh exemplary configuration are the motor control device 1F, a controlled object 40, and an operation command generation unit 45.
[0077] Comparing the configuration of the motor control device 1F shown in FIG. 15 with the configuration of the motor control device 1 shown in FIG. 1, the FB signal generating unit 4 is replaced with an FB signal generating unit 4F. In the FB signal generating unit 4F, the phase lag compensation unit 6 is replaced with a phase lag compensation unit 6C. As in FIG. 1, the input signal to the phase lag compensation unit 6C is an angle, and the output signal from the phase lag compensation unit 6C is a compensated angle. The differences are that the compensation speed is not input from the outside but is generated internally, and in the internal configuration. The other configurations are the same or equivalent to the configuration in FIG. 1, and the same or equivalent components are denoted with the same reference numerals, and duplicated explanations will be omitted.
[0078] Fig. 16 is a diagram showing a configuration example of a phase lag compensation unit 6C in the seventh configuration example shown in Fig. 15. As shown in Fig. 16, the phase lag compensation unit 6C includes a differentiator 64, a phase synchronization compensator 65, a third filter 66, an integrator 67, and a compensation execution unit 61A, similar to the phase lag compensation unit 6B shown in Fig. 14.
[0079] The difference between the compensation execution unit 61A shown in Fig. 14 and the compensation execution unit 61A shown in Fig. 16 is that the compensation speed is input from the compensation speed calculation unit 5 in the former, whereas the compensation speed generated inside the phase lag compensation unit 6C is input in the latter. Note that other operations in the phase lag compensation unit 6C are the same as those in the phase lag compensation unit 6B, and therefore description thereof will be omitted here.
[0080] As described above, in the motor control device according to the fifth embodiment, in the configuration of the motor control device according to the first embodiment, the phase lag compensation unit includes a third filter, an integrator, a differentiator, a phase synchronous compensator, and a compensation execution unit. The third filter generates a compensation speed. The integrator performs integration processing on the output of the third filter, and outputs the resultant signal as a filtered angle. The differentiator generates a difference between the angle and the filtered angle as a deviation. The phase synchronous compensator performs phase synchronous compensation on the deviation so that the filtered angle follows the angle, and outputs the resultant signal to the third filter. The compensation execution unit uses the output of the third filter as a compensation speed, and generates a compensated angle based on the phase lag characteristic of the first filter unit, the compensation speed, and the filtered angle. According to the motor control device according to the fifth embodiment, the phase lag compensation unit includes a third filter, an integrator, a differentiator, a phase synchronous compensator, and a compensation execution unit. The actions of the third filter, integrator, differentiator, phase synchronous compensator, and compensation execution unit generate a filtered angle and a filtered speed with further reduced effects of noise. This makes it possible to achieve both a further improvement in the noise reduction effect achieved by the filter processing and an improvement in the phase lag compensation effect achieved by the phase compensation, compared to the motor control devices of the first and second embodiments. In addition, the motor control device of the fifth embodiment has the advantage of being able to omit the compensation speed calculation unit and therefore be configured more compactly than the motor control device of the fourth embodiment.
[0081] Embodiment 6 17 is a diagram showing an eighth configuration example of a control system including a motor control device 1G according to embodiment 6. The components of the control system according to the eighth configuration example are a motor control device 1G, a controlled object 40, and an operation command generation unit 45.
[0082] Comparing the configuration of the motor control device 1G shown in Fig. 17 with the configuration of the motor control device 1F shown in Fig. 15, the FB signal generating unit 4F has been replaced with an FB signal generating unit 4G. In the FB signal generating unit 4G, the phase lag compensation unit 6C has been replaced with a phase lag compensation unit 6D. An operation command is input to the phase lag compensation unit 6D. The other configurations are the same as or equivalent to the configuration in Fig. 15, and the same or equivalent components are denoted by the same reference numerals, and duplicated explanations will be omitted.
[0083] Fig. 18 is a diagram showing a configuration example of a phase lag compensation unit 6D in the eighth configuration example shown in Fig. 17. As shown in Fig. 18, the phase lag compensation unit 6D includes a differentiator 64, a phase synchronization compensator 65, a third filter 66, and an integrator 67, similar to the phase lag compensation unit 6C shown in Fig. 16. In addition, in the phase lag compensation unit 6D, the compensation execution unit 61A is replaced with a compensation execution unit 61B. In addition, the phase lag compensation unit 6D further includes a reference model unit 68.
[0084] In the phase lag compensation unit 6D shown in Figure 18, the operations of the differentiator 64, phase synchronization compensator 65, third filter 66 and integrator 67 are the same as the operations of the corresponding parts in the phase lag compensation unit 6C shown in Figure 16, and so their explanations are omitted here.
[0085] The reference model unit 68 generates a model torque based on the operation command and outputs it to the compensation execution unit 61B. The reference model unit 68 can be constructed using the function of the reference model unit 21 provided in the FF control unit 2, so no new design is required. The reference model unit 21 of the FF control unit 2 generates a model position and a model velocity in addition to the model torque, but the reference model unit 68 of the phase lag compensation unit 6D only needs to generate a model torque. For this reason, the reference model unit 68 can be configured smaller than the reference model unit 21. Note that a model position or a model velocity may be input to the compensation execution unit 61B instead of the model torque.
[0086] The compensation execution section 61A of the phase lag compensation section 6C according to the fifth embodiment shown in Fig. 16 generates a compensated angle based on the phase lag characteristic, the compensation speed, and the filtered angle of the first filter section 8. In contrast, the compensation execution section 61B of the phase lag compensation section 6D according to the sixth embodiment shown in Fig. 18 generates a compensated angle using the transfer characteristic from the angle of the phase lag compensation section 6D to the filtered angle, and the model torque, in addition to the phase lag characteristic, the compensation speed, and the filtered angle of the first filter section 8. The reason for this is as follows.
[0087] In the compensation execution section 61B of the phase lag compensation section 6D according to the sixth embodiment, the phase lag caused by the filtering process in the first filter section 8 and the phase lag caused by the filtering process in the third filter 66 are compensated for. However, for the phase lag caused by the filtering process in the third filter 66, a deviation occurs depending on the shape of the motion command. For example, when a proportional-integral compensator is used for the phase synchronization compensator 65, if the shape of the motion command is a ramp shape in the dimension of the speed of the motion command, the deviation does not become zero, and the steady-state deviation a / K i Here, a is the acceleration of the motion command, and K i is the integral gain of the proportional-integral compensator. In such a case, compensation can be performed using the information of the operation command. Specifically, the compensation formula shown in the following formula (7) is used.
[0088]
number
[0089] In the above formula (7), θ x is the compensated angle output by the compensation execution unit 61B, θ f2 is the filtered angle, which is the output of the integrator 67, and ω c is the compensation speed which is the output of the third filter 66, f LPF1 is the cutoff frequency when the first filter unit 8 is a low-pass filter. Note that the integral gain K ican be known in advance if the set value of the proportional-integral compensator is determined in advance. The acceleration a of the motion command can be obtained by dividing the inertia of the movable part in the controlled object 40 by the model torque.
[0090] As described above, in the motor control device according to the sixth embodiment, in the configuration of the motor control device according to the first embodiment, the phase lag compensation unit includes a third filter, an integrator, a differentiator, a phase synchronous compensator, a reference model unit, and a compensation execution unit. The third filter generates a compensation speed. The integrator performs integration processing on the output of the third filter, and outputs the signal after the integration as a filtered angle. The differentiator generates a difference between the angle and the filtered angle as a deviation. The phase synchronous compensator performs phase synchronous compensation on the deviation so that the filtered angle follows the angle, and outputs the signal after the implementation to the third filter. The reference model unit generates a model torque based on the operation command. The compensation execution unit uses the output of the third filter as a compensation speed, and generates a compensated angle based on the phase lag characteristic of the first filter unit, the compensation speed, the filtered angle, and the model torque. According to the motor control device according to the sixth embodiment, the phase lag compensation unit is provided with a third filter, an integrator, a differentiator, a phase synchronous compensator, and a compensation execution unit. The action of the third filter, the integrator, the differentiator, the phase synchronous compensator, and the compensation execution unit generates a filtered angle and a filtered speed with further reduced noise effects. As a result, compared to the motor control devices according to the first and second embodiments, it is possible to achieve both a further improvement in the noise reduction effect by the filter processing and an improvement in the phase lag compensation effect by the phase compensation. In addition, the motor control device according to the sixth embodiment has an advantage that it can be configured more compactly than the motor control device according to the fourth embodiment, since the compensation speed calculation unit can be omitted. In addition, the motor control device according to the sixth embodiment includes a reference model unit, and the compensation execution unit further generates a compensated angle using the model torque generated by the reference model unit, so that it has an effect of suppressing a steady-state deviation that may occur due to the shape of the motion command.
[0091] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or the embodiments may be combined with each other. Also, parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]
[0092] 1, 1A, 1B, 1C, 1D, 1E, 1F, 1G motor control device, 2 FF control unit, 3 FB control unit, 4, 4A, 4B, 4C, 4D, 4E, 4F, 4G FB signal generation unit, 5, 5A, 5B compensation speed calculation unit, 6, 6A, 6B, 6C, 6D phase lag compensation unit, 7 angle calculation unit, 8 first filter unit, 8A, 8B filter, 9 speed calculation unit, 21, 53, 62, 68 reference model unit, 31 position control unit, 32 speed control unit, 33 torque control unit, 40 controlled object, 41 voltage application unit, 42 motor, 42a rotor, 43 mechanical load, 44 magnetic sensor, 45 operation command generation unit, 51 differentiator, 52 second filter, 54, 64 difference unit, 55, 65 phase synchronous compensator, 56, 66 Third filter, 57, 67 integrator, 61, 61A, 61B compensation execution unit, 201 processor, 202 memory, 203 processing circuit, 204 interface.
Claims
1. A motor control device that controls the operation of a motor that drives a controlled object, A feedforward control unit generates and outputs a model output that simulates the response of the controlled object based on an operation command for operating the controlled object, A feedback signal generation unit generates a feedback signal based on the magnetic sensor signals output from two magnetic sensors attached to the motor, in accordance with the operation of the motor controlled by the aforementioned operation command. A feedback control unit generates an operation variable that causes the controlled object to follow the operation command based on the model output and the feedback signal, and outputs it to the drive unit of the controlled object. Equipped with, The feedback signal generation unit includes a first filter unit that performs filtering on each of the magnetic sensor signals, An angle calculation unit that calculates the angle of the rotor provided in the motor based on the output signal of the first filter unit, A phase delay compensation unit outputs a compensated angle with the phase delay of the angle compensated based on one of the angle and the phase delay characteristics of the first filter unit, and the model output of the feedforward control unit and the compensation speed generated internally in the feedback signal generation unit to compensate for the phase delay of the angle. A speed calculation unit that calculates the speed of the motor based on the compensated angle, A motor control device characterized by comprising:
2. The aforementioned phase lag compensation unit, A third filter that generates the compensation speed, An integrator that performs integration on the output of the third filter and outputs the resulting signal as the filtered angle, A differencer that generates the difference between the aforementioned angle and the angle after filtering as a deviation, A phase-synchronous compensator performs phase-synchronous compensation on the deviation so that the angle after filtering follows the angle, and outputs the resulting signal to the third filter. A compensation execution unit that uses the output of the third filter as the compensation speed and generates the compensated angle based on the phase delay characteristics of the first filter unit, the compensation speed, and the angle after filtering, The motor control device according to claim 1, characterized by comprising:
3. The aforementioned phase lag compensation unit, A third filter that generates the compensation speed, An integrator that performs integration on the output of the third filter and outputs the resulting signal as the filtered angle, A differencer that generates the difference between the aforementioned angle and the angle after filtering as a deviation, A phase-synchronous compensator performs phase-synchronous compensation on the deviation so that the angle after filtering follows the angle, and outputs the resulting signal to the third filter. A reference model unit that generates a model torque based on the aforementioned operation command, A compensation execution unit that uses the output of the third filter as the compensation speed and generates the compensated angle based on the phase delay characteristics of the first filter unit, the compensation speed, the angle after filtering, the model torque, and the transfer characteristics from the angle to the angle after filtering, The motor control device according to claim 2, characterized by comprising:
4. The phase delay compensation unit generates the compensation speed based on the operation command, and generates the post-compensated angle based on the generated compensation speed, the angle, and the phase delay characteristics of the first filter unit, and outputs it to the speed calculation unit and the feedback control unit. The motor control device according to claim 1.
5. The aforementioned phase lag compensation unit, A reference model unit that generates a model speed based on the aforementioned operation command, A compensation execution unit that uses the model speed as the compensation speed and generates the compensated angle based on the angle, the phase delay characteristics of the first filter unit, and the compensation speed, The motor control device according to claim 4, characterized by comprising:
6. The feedback signal generation unit further comprises a compensation speed calculation unit, The aforementioned compensation speed calculation unit is: A third filter that generates the compensation speed used in the phase lag compensation unit, An integrator that performs integration on the output of the third filter and generates the resulting signal as the filtered angle, A differencer that generates the difference between the aforementioned angle and the angle after filtering as a deviation, A phase-synchronous compensator performs phase-synchronous compensation on the deviation so that the angle after filtering follows the angle, and outputs the resulting signal to the third filter. The motor control device according to claim 1, characterized by comprising:
7. The feedback signal generation unit further comprises a compensation speed calculation unit that calculates the compensation speed based on the angle calculated by the angle calculation unit, The aforementioned phase lag compensation unit, An integrator that generates the filtered angle by integrating the filtered velocity, A differencer generates a deviation from the difference between the angle calculated by the angle calculation unit and the angle after filtering, A phase-synchronous compensator that performs phase-synchronous compensation for the deviation so that the angle after filtering follows the angle, A third filter performs filtering on the output signal of the phase-synchronous compensator and outputs the resulting signal to the integrator as the filtered speed, A compensation execution unit generates the compensated angle based on the phase delay characteristics of the first filter unit, the compensation speed output from the compensation speed calculation unit, and the angle after filtering. The motor control device according to claim 1, characterized by comprising:
8. The feedback signal generation unit further comprises a compensation speed calculation unit, The compensation speed calculation unit includes a reference model unit that simulates the characteristics of the controlled object, The reference model unit outputs a model output that simulates the response of the controlled object, excluding the effects of noise, based on the operation command, and uses the model output as the compensation speed. The motor control device according to claim 1.
9. The third filter is a notch filter, and the center frequency of the notch filter is sequentially changed based on the operation command, the model output generated based on the operation command, or the speed calculated by the speed calculation unit. The motor control device according to claim 2, 3, 6, or 7.