CN-116113892-B - Motor control device, machine system, and control method

Abstract

In an industrial machine having a motor, a command for the motor is sometimes corrected based on a feedback value from a sensor. A technique capable of appropriately performing such correction has been conventionally sought. The control device (14) is provided with a feedback acquisition unit (52) that acquires a feedback value from an industrial machine (12) that is operated by the operation of a motor (24), a correction unit (62) that corrects a command for operating the motor (24) on the basis of the feedback value, a filter unit (44) that performs a filter process that reduces the value of a predetermined frequency band for the feedback value supplied to the correction unit (62), an operation state determination unit (66) that determines whether the operation state of the industrial machine has changed, and a filter switching unit (46) that switches the frequency band of the filter process performed by the filter unit (44) from the first frequency band to the second frequency band when it is determined that the operation state has changed.

Inventors

• Da Shogo
• IKAI SATOSHI

Assignees

• 发那科株式会社

Dates

Publication Date

20260512

Application Date

20210819

Priority Date

20200824

Claims (13)

1. 1. A control device for controlling an electric motor of an industrial machine, the control device comprising: A feedback acquisition unit that acquires a feedback value from the industrial machine that is operated by the operation of the motor; a correction unit that corrects an instruction for operating the motor based on the feedback value; a filter unit that performs a filtering process of reducing a value of a predetermined frequency band on the feedback value supplied to the correction unit; an operation state determination unit that determines whether or not the operation state of the industrial machine has changed, and determines that the operation state has changed when the command or the feedback value has become larger than a predetermined threshold value, and And a filter switching unit that switches the frequency band of the filtering process performed by the filter unit from a first frequency band to a second frequency band lower than the first frequency band when the operation state determination unit determines that the operation state has changed.
2. 2. The control device according to claim 1, wherein, The command includes a torque command for the motor, The operation state determination unit determines that the operation state has changed when the torque command has become greater than the threshold value.
3. 3. The control device according to claim 1, wherein, Further comprising a distance acquisition unit that obtains a distance between the industrial machine and the workpiece based on the feedback value, The operation state determination unit determines that the operation state has changed when the distance has decreased beyond a predetermined threshold.
4. 4. The control device according to claim 1, wherein, The operation state determination unit determines that the operation state has changed when the operation mode of the industrial machine defined by the operation program has been switched.
5. 5. The control device according to any one of claims 1 to 4, wherein, The filter section performs the filtering process using the feedback value and a prescribed filter coefficient, The filter switching unit switches from the first frequency band to the second frequency band by switching from a first filter coefficient corresponding to the first frequency band to a second filter coefficient corresponding to the second frequency band.
6. 6. The control device according to any one of claims 1 to 4, wherein, The filter switching section switches stepwise from the first frequency band to the second frequency band or switches from the first frequency band to the second frequency band in such a manner that the frequency band continuously changes with time.
7. 7. The control device according to claim 5, wherein, The filter switching section switches stepwise from the first frequency band to the second frequency band or switches from the first frequency band to the second frequency band in such a manner that the frequency band continuously changes with time.
8. 8. The control device according to any one of claims 1 to 4, wherein, The filter switching unit switches the frequency band of the filtering process from the second frequency band to the first frequency band according to a predetermined condition after switching the frequency band.
9. 9. The control device according to claim 5, wherein, The filter switching unit switches the frequency band of the filtering process from the second frequency band to the first frequency band according to a predetermined condition after switching the frequency band.
10. 10. The control device according to claim 6, wherein, The filter switching unit switches the frequency band of the filtering process from the second frequency band to the first frequency band according to a predetermined condition after switching the frequency band.
11. 11. The control device according to claim 7, wherein, The filter switching unit switches the frequency band of the filtering process from the second frequency band to the first frequency band according to a predetermined condition after switching the frequency band.
12. 12. A mechanical system is provided with: the control device according to any one of claims 1 to 11, and The industrial machine includes the motor and a sensor that acquires the feedback value and supplies the feedback value to the control device.
13. 13. A control method for controlling an electric motor of an industrial machine, wherein, Acquiring a feedback value from the industrial machine operated by the operation of the motor; correcting an instruction for actuating the motor based on the feedback value; performing a filtering process of reducing a value of a prescribed frequency band on the feedback value for the correction; determining whether or not the operating state of the industrial machine has changed, and determining that the operating state has changed when the command or the feedback value has become greater than a predetermined threshold value, and When it is determined that the operation state has changed, the frequency band of the filtering process to be executed is switched from a first frequency band to a second frequency band lower than the first frequency band.

Description

Motor control device, machine system, and control method Technical Field The present disclosure relates to a control device, a mechanical system, and a control method of an electric motor. Background A control device for an electric motor is known (for example, patent document 1). Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2011-123646 Disclosure of Invention Problems to be solved by the invention In an industrial machine having a motor, a command for the motor is sometimes corrected based on a feedback value from a sensor. Conventionally, a technique capable of appropriately performing such correction has been sought. Solution for solving the problem In one embodiment of the present disclosure, a control device for controlling an electric motor of an industrial machine includes a feedback acquisition unit that acquires a feedback value from the industrial machine that is operated by an operation of the electric motor, a correction unit that corrects a command for operating the electric motor based on the feedback value, a filter unit that performs a filter process for reducing a value of a predetermined frequency band for the feedback value supplied to the correction unit, an operation state determination unit that determines whether an operation state of the industrial machine has changed, and a filter switching unit that switches a frequency band of the filter process performed by the filter unit from a first frequency band to a second frequency band when the operation state determination unit determines that the operation state has changed. In another aspect of the present disclosure, a method for controlling an electric motor of an industrial machine acquires a feedback value from the industrial machine that is operated by an operation of the electric motor, corrects an instruction for operating the electric motor based on the feedback value, performs a filter process for reducing a value of a predetermined frequency band on the corrected feedback value, determines whether an operation state of the industrial machine has changed, and switches a frequency band of the performed filter process from a first frequency band to a second frequency band when it is determined that the operation state has changed. ADVANTAGEOUS EFFECTS OF INVENTION According to the present disclosure, according to the present embodiment, the correction by the correction unit can be appropriately performed by switching the frequency band of the filtering process performed by the filter unit according to the operation state of the industrial machine. Drawings Fig. 1 is a block diagram of a machine system according to an embodiment. Fig. 2 is a diagram of an industrial machine according to an embodiment. Fig. 3 is a block diagram showing an example of a control flow of the motor in the machine system shown in fig. 1. Fig. 4 shows the frequency characteristic of the filtering process. Fig. 5 shows frequency characteristics of noise components caused by a change in the operation state of the industrial machine. Fig. 6 shows the frequency characteristic of the filtering process. Fig. 7 shows the frequency characteristic of the filtering process. Fig. 8 is a flowchart showing an example of a filter control flow of the mechanical system shown in fig. 1. Fig. 9 is a block diagram showing another example of a control flow of the motor in the mechanical system shown in fig. 1. Fig. 10 is a block diagram showing another example of a control flow of the motor in the mechanical system shown in fig. 1. Fig. 11 is a block diagram showing another example of a control flow of the motor in the mechanical system shown in fig. 1. Fig. 12 is a block diagram of a mechanical system according to another embodiment. Fig. 13 is a diagram of an industrial machine according to another embodiment. Fig. 14 is a block diagram showing an example of a control flow of the motor in the machine system shown in fig. 12. Fig. 15 is a block diagram of a machine system according to yet another embodiment. Fig. 16 is a diagram of an industrial machine according to still another embodiment. Fig. 17 is a block diagram showing an example of a control flow of the motor in the mechanical system shown in fig. 15. Fig. 18 is a block diagram of a machine system according to yet another embodiment. Fig. 19 is a diagram of an industrial machine according to still another embodiment. Fig. 20 is a block diagram showing an example of a control flow of the motor in the mechanical system shown in fig. 18. Detailed Description Embodiments of the present disclosure are described in detail below based on the drawings. In the various embodiments described below, the same reference numerals are given to the same elements, and overlapping description is omitted. First, a machine system 10 according to an embodiment is described with reference to fig. 1 and 2. Machine system 10 includes an industrial machine 12 and a control device 14 for