JP2000330642A - Position controller for stage and speed controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position controller improved in a constancy of speed and in positioning time performance by estimating and compensating the disturbance of a device without changing the hardware constitution of a device. SOLUTION: A position controller includes a PID controller 33 which generates a current target value ic for a motor M from a difference between a position detection value x and a position command value xc and a disturbance observer 10. The disturbance observer is provided with a signal processing means which executes high speed arithmetic operation by a program. A signal processing means is provided with a low pass filter 11 which filters a torque command value to a motor driver 34, an input torque estimating filter 12 which estimates an estimated load input torque from a position detection value, and a function which calculates an estimated load disturbance torque from a difference between the filtered torque command value and the estimated load input torque, and which generates a compensation value for the current target value so that the disturbance torque can be offset based on the calculated estimated load disturbance torque.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position control device and a speed control device for controlling the movement and positioning of a mechanism constituted by a motor and a load, and more particularly to a drive control of a stage driven in at least one axis. It relates to a suitable position control device and speed control device.

[0002]

2. Description of the Related Art As a position control device for a stage of this type, for example, a device using a PID control method as shown in FIG. 7 or a device using a PID control and FF control method as shown in FIG. 8 is known.

In FIG. 7, in the PID control system, a position detector 31 is provided on a motor M for driving a stage which is a load L to detect the position of the stage. Position detection value x is the difference between the position command value x _c in the subtracter 32 is taken, the difference signal is input to the PID controller 33. PI
The D controller 33 gives the motor driver 34 a current target value _{ic based} on the difference signal. The motor driver 34 outputs a torque command value tau _c.

[0004] In FIG. 8, in the PID control and the FF control system, the FF controller 3 is connected in parallel with the PID controller 33.
5 is connected, and the output of the FF controller 35 is added to the output of the PID controller 33 by the adder 36. FF controller 3
5 is a multiplying the control gain predetermined for the position command value x _c so as to match the detected position value x and the position command value x _c.

[0005]

In the stage using the PID control method or the PID control and the FF control method as described above, the stage is determined by external vibrations, external cogging of the motor and disturbance due to the influence of cable tension. Performance such as speed and positioning time was deteriorated.

In order to suppress such a disturbance, a method of increasing the gain of the servo system and relatively reducing the level of the disturbance is employed. However, if you increase the gain of the servo system,
This causes a problem in the stability of the control system.

Under these circumstances, the points of actual disturbance suppression are advanced measures for preventing external vibration, measures for mounting high-performance motors and cables with little disturbance, measures for improving the precision of mechanical systems, and the like. , Was a problem in terms of cost.

[0008] Therefore, an object of the present invention is to estimate and compensate for the disturbance of the apparatus without changing the hardware configuration of the apparatus, thereby improving the performance of the constant speed and the positioning time. It is to provide a control device.

Another object of the present invention is to provide a stage speed control device having the above performance.

[0010]

SUMMARY OF THE INVENTION The present invention provides at least one
A stage position control device driven in the axial direction,
In a position control device by a feedback control system that controls a motor that is a drive source of the stage based on a position detection value and a position command value obtained from a position detector for detecting the position of the stage, the position detection value And a disturbance observer for generating a current target value for the motor based on a difference between the position command value and the position command value. The disturbance observer has signal processing means for executing high-speed computation by a program. Means for filtering a torque command value to the motor; an input torque estimation filter function for estimating an estimated load input torque from the position detection value; and the filtered torque command value and the estimated estimation. The estimated load disturbance torque is calculated from the difference with the load input torque, and the calculated estimated load is calculated. And having a function of generating a correction value for the current target value so as to cancel the disturbance torque based on a turbulent torque.

The present invention is also a speed controller for a stage driven in at least one axis direction, based on a speed detection value and a speed command value obtained from a speed detector for detecting the speed of the stage. Thus, the present invention can also be applied to a speed control device using a feedback control system that controls a motor that is a drive source of the stage.

In this case, a PI for generating a current target value for the motor based on a difference between the speed detection value and the speed command value.
It includes a D controller and a disturbance observer. The disturbance observer has signal processing means for executing a high-speed operation by a program. The signal processing means estimates a load input torque from the speed detection value and a filter function for filtering a torque command value to the motor. An input torque estimating filter function to calculate an estimated load disturbance torque by a difference between the filtered torque command value and the estimated estimated load input torque, and a disturbance torque based on the calculated estimated load disturbance torque. And a function of generating a correction value for the current target value so as to cancel out.

In addition, an FF controller for multiplying the position or speed command value by a predetermined control gain may be connected in parallel with the PID controller.

Preferably, the motor is a linear motor.

[0015]

According to the present invention, the disturbance itself can be estimated at the acceleration level by adding a disturbance observer control program, and the disturbance can be essentially canceled by subtracting this from the command value. Therefore, the same effect can be expected even with a general-purpose component or a general mounting method, and high performance in constant speed and the like can be realized. Moreover, the disturbance observer itself is a computer control program, which is advantageous in terms of cost. A position or velocity control device using such a disturbance observer control method is particularly suitable for a high-performance precision stage.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A high performance precision stage mechanism to which the present invention is applied will be described with reference to FIG.
Various types of precision stages are conceivable. Normally, an X-Y stage is formed by stacking an X-axis stage and a Y-axis stage so as to be orthogonal to each other. It is illustrated and described. Of course, the present invention
The present invention is also applicable to a stage mechanism having three axes or two axes, or three or more axes.

The precision stage mechanism has a drive system by a linear motor 21 and a guide system by a slide guide 22 mounted on a base made of aluminum, cast iron, granite, or the like. Is placed. In the drive train,
Instead of a linear motor that directly achieves linear motion, a method of converting rotary motion into linear motion using a rotary motor and a ball screw may be adopted. The guide system is roughly classified into a contact ball / roller bearing system and an air static pressure bearing (air slider) system, which are generally used. In a high-precision product, an air static pressure bearing is advantageous.

When considering the disturbance observer of the present invention to be described later, it is necessary for each part to have high mechanical rigidity, and a precision stage mechanism of a direct drive configuration using a linear motor using a hydrostatic bearing system is expected to have the highest effect. it can.

The detection of the position of the movable stage 23 is performed by a linear encoder 24. In this type of linear motor, a relative position is calculated by attaching a detector to a movable portion, fixing a linear scale to a guide portion (fixed portion), and counting the number of pulses corresponding to a moving distance. Of course, the same function can be realized with a laser interferometer other than the linear encoder, for example.

As the control unit 20, a high-speed processor such as a DSP (digital signal processor) is used. The control unit 20 has a PID controller as described with reference to FIGS. 7 and 8, or a PID controller and an FF controller, and an analog output port for providing a calculation result to a motor driver.
This is realized by a general-purpose servo control board having an input port for receiving a detection signal from the linear encoder 21.

The present invention is realized by adding a disturbance observer control program to such a general-purpose servo control board.

Referring to FIG. 1, a first embodiment in which the present invention is applied to a position control device based on the PID control method will be described. The control unit 20 shown in FIG. 6 includes a PID controller 33 and a disturbance observer 10. PID controller 33
Applies proportional (P), integral (I), and derivative (D) processing to the deviation (x _c −x) so that the position command value x _c and the position detection value x coincide with each other. _Is calculated.

The disturbance observer 10 subtracts the difference between the torque command value τ _c to the motor driver 34 filtered by the low-pass filter 11 and the estimated load input torque estimated from the position detection value x by the input torque estimation filter 12. The current value corresponding to the estimated load disturbance torque is calculated in the motor torque constant inverse model 14 based on the difference calculated by the calculator 13 and the obtained difference. Then, the current value corresponding to the estimated load disturbance torque is calculated by the subtractor 15 as the current target value _ic.
By subtracting from, corrects the current target value i _c so as to cancel the disturbance torque, it calculates a current command value i _r to the motor driver 34. Although the current command value _ic is given to the motor driver 34, the low-pass filter 1
Obtaining a torque command value tau _c by multiplying the constant K _t to 1, the current command value i _c.

FIG. 2 is a block diagram of the control device shown in FIG.
Shown in The operation of the disturbance observer 10 will be described with reference to FIG. Of the codes written in the box in FIG.
1, 12, and 33 indicate the transfer functions of the corresponding components shown in FIG. 1, 16 is the torque constant of the motor M, and 17 is the mechanism of the mechanism including the motor M and the load L. The transfer function 18 is the reciprocal of the torque constant of the motor M.

The low-pass filter 11 filters the torque command value τ _c to the motor driver 34 in a disturbance suppression frequency band to calculate an estimated torque command value eτ _c . The input torque estimating filter 12 calculates the input torque (τ _c + τ _d ) from the position detection value x based on the inverse model of the transfer function 16 from the input torque to the position of the mechanism including the motor M and the load L.
Is obtained (eτ _c + eτ _d ). The input torque estimation filter 12 also has the same filter characteristics as the low-pass filter 11, and calculates an input torque estimation value (eτ _c + eτ _d ) only in the disturbance suppression frequency band.

Further, in the motor torque constant inverse model 14, the torque command estimated value eτ _c and the input torque estimated value (e
calculating a disturbance torque estimated value Itau _d by τ _c + eτ _d) the difference between the eτ _d. Calculated disturbance torque estimated value eτ _d
Multiplied by the reciprocal 18 of the torque constant of the motor M, the calculated current correction value ei _d. In the subtractor 15, the current target value i
subtracting the current correction value ei _d from _c, the current command value i _r to the motor driver 34.

FIG. 3 is a diagram showing a second embodiment in which the present invention is applied to a position control device based on the PID control and the FF control system. An FF controller 35 is added to the configuration of FIG. . FF controller 35 multiplies the control gain with respect to the position command value x _c so as to match the detected position value x and the position command value x _c, added to the output from the PID controller 33 by the adder 36, a motor driver Current target value _ic to 34
Is calculated. The operation of the other components is the same as in the first embodiment described with reference to FIGS.

Specifically, FIG. 4 shows an example in which the present invention is applied to a static pressure bearing (air slider) type + precision stage mechanism of a linear motor, and the effect on constant speed is measured.
FIG. 4 shows a tracking error fluctuation at a constant speed. By adding the disturbance observer 10, it is possible to reduce error fluctuation. It is considered that the disturbance factors are mainly caused by fluctuations in the thrust ripple and the tension of the cable system caused by the non-uniformity of the magnetic circuit of the linear motor (the same applies to a general rotary motor). These are generally always present when considering ordinary products, and the number of cases in which problems have occurred with the recent increase in the precision of devices has increased. The present invention is effective for such a problem.

FIG. 5 shows an example in which the present invention is applied to a precision stage mechanism of a static pressure bearing (air slider) type + linear motor and the effect on the positioning characteristics is measured. FIG. 5 shows the position deviation at the time of the step movement of 150 mm.
In the control that does not include the disturbance observer 10, there is residual vibration caused by the surface plate (base) vibration at the time of positioning. However, the addition of the disturbance observer 10 makes it possible to effectively suppress the residual vibration. Usually, the XY stage mechanism is fixed on a surface plate which has been vibrated to remove floor vibrations, and residual vibrations during positioning generally always exist. This is a problem.
The present invention is also effective for this problem.

Although the present invention has been described as applied to a precision stage mechanism, the present invention can be widely applied to a speed control system and a position control system of a device for moving and positioning an object. That is, when the present invention is applied to the speed control method, the position command value becomes a speed command value and the position detector 3
Instead of 1, a speed detector is used. Then, the input torque estimation filter 12 estimates the load input torque from the speed detected by the speed detector based on an inverse model of a transfer function from the input torque to the speed of the mechanism including the motor M and the load L.

[0031]

According to the present invention, a position control device capable of improving the performance of constant speed and positioning time by estimating and compensating for the disturbance of the device without changing the hardware configuration of the device. And a speed control device.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a position control system when the present invention is applied to a PID control method.

FIG. 2 is a block diagram of FIG. 1;

FIG. 3 is a block diagram showing a configuration of a position control system when the present invention is applied to PID control and FF control.

FIG. 4 is a diagram showing an example in which the present invention is applied to a precision stage mechanism of a static pressure bearing system and a linear motor, and an effect on constant speed is measured.

FIG. 5 is a diagram illustrating an example in which the present invention is applied to a precision stage mechanism of a hydrostatic bearing type and a linear motor, and an effect on positioning characteristics is measured.

FIG. 6 is a diagram showing a stage mechanism to which the present invention is applied with respect to one axis.

FIG. 7 is a block diagram showing a configuration of a position control system according to a conventional PID control method.

FIG. 8 is a block diagram showing a configuration of a position control system based on a conventional PID control and FF control system.

[Explanation of symbols]

 Reference Signs List 10 disturbance observer 11 low-pass filter 12 input torque estimation filter 13, 15, 32 subtractor 14 motor torque constant inverse model

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Yoshiyuki Tomita 63-30 Yuyogaoka, Hiratsuka-shi, Kanagawa F-term in Hiratsuka Works of Sumitomo Heavy Industries, Ltd. 5H004 GA07 GB15 HA07 HA08 HA09 HB07 HB14 JB02 JB22 KB02 KB04 KB06 KB32 KB38 LA12 MA12 5H303 AA01 AA04 AA20 BB01 BB06 BB11 CC07 CC08 DD04 EE03 EE07 FF06 GG13 HH01 HH07 JJ02 JJ04 KK02 KK03 KK04 KK11 KK17 KK19 KK28 LL03 MM05

Claims (6)

[Claims] 1. A position control device for a stage driven in at least one axis direction, wherein the stage is controlled based on a position detection value and a position command value obtained from a position detector for detecting a position of the stage. A position control device by a feedback control system that controls a motor that is a driving source of the motor, including a PID controller and a disturbance observer that generates a current target value of the motor based on a difference between the position detection value and the position command value, The disturbance observer has signal processing means for executing a high-speed operation by a program, and the signal processing means estimates a load input torque based on the position detection value and a filter function for filtering a torque command value to the motor. Input torque estimating filter function to perform the filtering, the filtered torque command value and the estimated estimated load input. A function of calculating an estimated load disturbance torque based on a difference from the force torque and generating a correction value for the current target value so as to cancel the disturbance torque based on the calculated estimated load disturbance torque. Stage position control device. 2. The position control device according to claim 1, wherein
A stage position control device, wherein an FF controller for multiplying the position command value by a predetermined control gain is connected in parallel with the PID controller. 3. The position control device for a stage according to claim 1, wherein the motor is a linear motor. 4. A speed controller for a stage driven in at least one axis direction, wherein the stage is controlled based on a speed detection value and a speed command value obtained from a speed detector for detecting a speed of the stage. A speed control device based on a feedback control system that controls a motor that is a driving source of the motor, including a PID controller and a disturbance observer that generate a current target value of the motor based on a difference between the speed detection value and the speed command value, The disturbance observer has signal processing means for executing a high-speed operation by a program. The signal processing means estimates a load input torque from the speed detection value and a filter function for filtering a torque command value to the motor. Input torque estimating filter function to perform the filtering, the filtered torque command value and the estimated estimated load input. A function of calculating an estimated load disturbance torque based on a difference from the force torque and generating a correction value for the current target value so as to cancel the disturbance torque based on the calculated estimated load disturbance torque. Stage speed controller. 5. The speed control device according to claim 4, wherein
A speed controller for a stage, wherein an FF controller for multiplying the speed command value by a predetermined control gain is connected in parallel with the PID controller. 6. The speed control device according to claim 4, wherein the motor is a linear motor.