CN-114946120-B - Motor control device

CN114946120BCN 114946120 BCN114946120 BCN 114946120BCN-114946120-B

Abstract

A motor control device capable of receiving a speed command from a higher-level system control device having a position controller includes a position command estimator for calculating an estimated value of the position command based on the speed command and a motor shaft position response, and a speed command generator for generating an actual speed command for preventing vibration of an end of a machine connected to the motor based on the estimated value, and outputting the actual speed command from the speed command generator to the speed controller.

Inventors

Song Yuanman
TOBARI KAZUAKI
TAKANO YURI
UEI YUSUKE
YANADA TETSUO
OHKI Takanori

Assignees

株式会社日立产机系统

Dates

Publication Date: 20260508
Application Date: 20201204
Priority Date: 20200204

Claims (12)

1. A motor control device capable of receiving a speed command from a higher-level system control device having a position controller, comprising: A position command estimator for calculating an estimated value of a position command based on the speed command and a motor shaft position response, and A speed command generator for generating an actual speed command for preventing vibration of an end of a machine connected to the motor based on the estimated value, The actual speed command is output from the speed command generator to a speed controller.
2. The motor control device according to claim 1, wherein: the speed command generator includes: A vibration frequency component extractor for extracting a frequency component for exciting an end vibration of the machine, and And an actual position controller that receives a position command that does not include a frequency component that excites end vibration of the machine to generate the actual speed command.
3. A motor control device capable of receiving a speed command from a higher-level system control device having a position controller, comprising: A position command estimator for calculating an estimated value of a position command based on the speed command and a motor shaft position response; A parallel vibration damping controller for extracting a frequency component contained in the speed command and exciting end vibration of a machine connected to the motor based on the estimated value and outputting the extracted frequency component, and An adder-subtractor subtracting the output of the parallel vibration damping controller from the speed command, The output of the adder-subtractor is taken as an actual speed command and as a command of a speed controller.
4. A motor control apparatus in accordance with claim 3, wherein: The parallel vibration damping controller calculates an inversion component of the vibration component of the end portion based on the estimated value and the motor shaft position response, and outputs the inversion component to the adder-subtractor.
5. A motor control apparatus in accordance with claim 3, wherein: the position instruction estimator includes: an estimation filter for inputting the speed command, the characteristic of which is identical to the inverse characteristic of the position controller, and And an adder that adds an output of the estimation filter to the motor shaft position response.
6. A motor control apparatus in accordance with claim 3, wherein: The parallel vibration damping controller includes: A vibration excitation component extraction filter for extracting the frequency component contained in the speed command, which excites vibration of the machine end, from the estimated value without a phase delay, and A unit converter for converting the unit of the frequency component extracted by the vibration excitation component extraction filter into a velocity dimension, And taking the output of the unit converter as the output of the parallel vibration damping controller.
7. The motor control device according to claim 4, wherein: The parallel vibration damping controller includes: Specifying a canonical response model for the position command to be vibration-free, required response; a mechanical end vibration characteristic model that represents a transmission characteristic from the motor shaft to the mechanical end; a third adder-subtractor and A unit scaler for converting a unit of an inputted signal into a speed dimension, Removing, with the third adder-subtractor, a signal obtained by processing the motor shaft position response with the mechanical-end vibration characteristic model from a signal obtained by processing the output of the position command estimator with the canonical response model, And a signal obtained by processing the output signal of the third adder-subtractor by the unit converter is used as the inverse component of the vibration component of the end portion and is used as the output of the parallel vibration damping controller.
8. A motor control apparatus in accordance with claim 3, wherein: the position command estimator outputs the estimated value of the signal obtained by mapping the position command with a predetermined filter, the estimated value being an estimated object of the signal obtained by mapping the position command with a predetermined filter.
9. A motor control apparatus in accordance with claim 3, wherein: The parallel vibration damping controller outputs an extraction signal obtained by extracting the frequency component of the excitation mechanical end vibration included in the speed command, The parallel vibration reduction controller comprises a vibration reduction controller, With a fourth adder-subtractor, a scalar adjustment gain and a differentiator, Subtracting the extracted signal from the estimated value of the position command with the fourth adder-subtractor, processing the output signal of the fourth adder-subtractor with the adjustment gain and the differentiator to obtain a feedforward control signal, outputting the feedforward control signal, And adding the feedforward control signal to the speed command by using a fifth adder-subtractor, removing the extraction signal from the speed command by using the fifth adder-subtractor, and taking the output of the fifth adder-subtractor as the actual speed command.
10. A motor control apparatus in accordance with claim 3, wherein: The parallel vibration damping controller includes: a vibration excitation component extractor that extracts the frequency component included in the speed command and exciting the end vibration of the machine; Specifying a canonical response model for the position command to be vibration-free, required response; a mechanical end vibration characteristic model representing a transfer characteristic from a motor shaft to the end portion; a third adder-subtractor and A unit scaler for converting a unit of an inputted signal into a speed dimension, Removing, with the third adder-subtractor, a signal obtained by processing the motor shaft position response with the mechanical-end vibration characteristic model from a signal obtained by processing the output of the position command estimator with the canonical response model, Outputting a signal obtained by processing the output signal of the third adder-subtractor by the unit converter as an inverted component of the vibration component of the end portion, And removing the signal obtained by extracting the frequency component exciting the end vibration included in the speed command by a sixth adder-subtractor, and removing the inverted component from the speed command by the sixth adder-subtractor, and taking the output of the sixth adder-subtractor as the actual speed command.
11. The motor control device according to claim 8, wherein: the position command estimator includes the prescribed filter and an adder, Adding a signal processed by the prescribed filter to the motor shaft position response to the speed command with the adder, Taking the output signal of the adder as the output of the position command estimator, The parallel vibration damping controller extracts the frequency component exciting the end vibration of the machine from the output of the position command estimator and uses the frequency component as an output signal.
12. A motor control device capable of receiving a speed command from a higher-level system control device having a position controller, comprising: a position command estimator for calculating an estimated value of a position command based on the speed command and a motor shaft position response from the motor; A parallel vibration damping controller for extracting a frequency component of end vibration of the excitation machine included in the speed command based on the estimated value of the position command and outputting a signal obtained by processing the extracted frequency component with a predetermined filter, and The adder is used for adding the data to the data, Adding the motor shaft position response to the output of the parallel vibration damping controller with the adder, And taking the output signal of the adder as an actual motor shaft position response, and outputting the actual motor shaft position response to the position controller.

Description

Motor control device Technical Field The present invention relates to a motor control device. Background In a motor control system having a semi-closed structure for controlling a machine to be controlled, when the rigidity of the machine mounted on the motor is low, in general, the end of the machine vibrates due to resonance or antiresonance characteristics of the machine, and thus the required response characteristics cannot be achieved. In the FA field, the response of the control system is to be improved in order to improve the tact time. However, in the motor control system having the semi-closed structure, when the rigidity of the machine is low, it is difficult to improve the response of the control system because the end of the machine vibrates at a low frequency of several Hz to 100Hz, positioning takes time, and the like. In such a case, vibration damping control is generally used. When the motor control system is a position control system, vibration damping control is generally performed by processing a position command. Specifically, the low-pass filter and the notch filter are operated for the position command, and the frequency component that excites the vibration of the machine end is removed from the position command, thereby achieving vibration reduction of the machine end. Patent document 1 discloses a notch filter as an example of a vibration damping filter that can damp vibration at an end portion of a machine even when resonance/antiresonance characteristics of the machine change by using 2 vibration damping filters for position command switching. Prior art literature Patent literature Patent document 1 Japanese patent laid-open No. 2005-1683225 Disclosure of Invention Problems to be solved by the invention As shown in fig. 15, in the motor control system having a semi-closed structure in the FA field, there is a case where a higher-level system control device for generating a position command has a position controller and a device structure in which a servo motor control device is responsible for a speed control system as a small loop, for industrial reasons such as replacement of a machine. Further, vibration damping control may not be realized by the position controller due to maintenance performance, specifications of each device, and the like, and vibration damping control may be realized in a servo motor control device that is responsible for a speed control system that is a small loop. In patent document 1, the vibration damping filter 3, the filter switching means 9, and the command direction detecting means 4, which participate in vibration damping control, are configured to realize vibration damping control by the upper system control device in fig. 15. Therefore, patent document 1 does not realize vibration damping control in a servo motor control device in charge of a speed control system. The present invention provides a motor control device which does not process a position command for vibration reduction of an end part of a machine in a superior system control device, but realizes vibration reduction control in a motor servo control device in charge of a speed control system. Means for solving the problems In a preferred embodiment of the present invention, a motor control device capable of receiving a speed command from a higher-level system control device having a position controller includes a position command estimator for calculating an estimated value of a position command based on the speed command and a motor shaft position response, and a speed command generator for generating an actual speed command for preventing vibration of an end of a machine connected to the motor based on the estimated value, wherein the actual speed command is output to the speed controller from the speed command generator. Effects of the invention According to the present invention, vibration control can be realized in the motor servo control device in charge of the speed control system without processing a position command for vibration reduction of the machine end in the upper system control device. Drawings Fig. 1 is a diagram showing a first basic structure of embodiment 1. Fig. 2 is a diagram showing a second basic structure of embodiment 1. Fig. 3 is a diagram showing a specific structure of fig. 1. Fig. 4 is a diagram showing frequency characteristics of the vibration excitation component extractor. Fig. 5 is a diagram showing a structure of FF-type vibration damping control corresponding to fig. 2. Fig. 6 is a diagram showing a configuration including an FF controller corresponding to fig. 2. Fig. 7 is a diagram showing a specific structure of the FF controller of fig. 6. Fig. 8 is a diagram showing a configuration in a case where FB-type vibration damping control is executed. Fig. 9 is a diagram showing a specific configuration of the parallel vibration damping controller of fig. 8. Fig. 10 is a block diagram of a case where a predetermined filter is provided. Fig. 11 is a bloc