JP2019054613A - Motor controller, motor device, motor control method, and lifting device - Google Patents

Abstract

To provide a motor controller for not only controlling torsional torque but also performing operation in which speed and a position are limited.SOLUTION: A motor controller 2 is connected to a motor unit 3, a torque detector 6 for detecting torsional torque made to be generated in an output shaft of the motor unit 3, and a position detector 4 for detecting a rotational position of the motor unit 3 to control the motor unit 3, including: a torque controller 20 for calculating a first control value based on a torsional torque value from the torque detector 6 according to a torque target value; a limited speed setting unit 24 for setting a limited speed value of the motor unit 3; a limited speed correction unit 25 for comparing a converted speed value with the limited speed value based on a positional value from the position detector 4 to calculate a speed correction value; and a motor control command unit 29 for calculating a current command value to be output to the motor unit 3 based on a second control value obtained by subtracting the speed correction value from a first control value.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a motor control device used for manufacturing assembly equipment in the manufacturing field, transfer equipment in the transportation field, and the like, and a motor device having the motor and the control device.

  In industrial robots used in manufacturing and assembly equipment in the manufacturing field, power assist devices used in transport equipment in the transportation field, etc., servo motors are used for movable parts such as joints. There is known a device that is smooth and improved in safety by a motor device that can connect a torque sensor to such a motor, measure the torsion torque of the output shaft of the power, and control the torsion torque of the output shaft. A method of performing torque control in the control of the motor device is disclosed. (Patent Document 1)

JP 2017-034936 A JP 2017-1000081

  For example, this motor device is used in a lifting device that lifts and lowers heavy loads. For example, a rope or a chain is wound around a winding drum, and the weight is balanced with the assistance of a motor in the vertical vertical direction and moved up and down with a slight operating force. A balance type lifting device is disclosed. (Patent Document 2)

  However, in such a balance type lifting device, in order to perform various operations, it is necessary not only to control the torsional torque of the motor to balance the weight of the cargo but also to limit the lifting speed and set the stop position. It is said that. That is, a motor device incorporated in such a device needs to perform speed and position control as needed at the same time as torsion torque control, and it has been difficult to cope with only conventional torsion torque control.

  In view of such a problem, an object of the present invention is to provide a motor control device, a motor device, and a motor control method for performing an operation with speed and position restrictions simultaneously with torsion torque control. .

In order to achieve the above object, the motor control device according to claim 1 is a motor unit;
A torque detector that detects torsion torque generated on the output shaft of the motor unit and outputs a torsion torque value;
A position detection unit that detects the rotational position of the motor unit and outputs a position value;
A motor control device that controls the motor unit electrically connected to each other,
A torque control unit that calculates a first control value based on a torsional torque value from the torque detection unit according to a torque target value;
A speed limit setting unit for setting a speed limit value that defines a range of the rotation speed of the motor unit;
Based on the speed value obtained by converting the position value acquired from the position detector to speed, when the speed value exceeds the speed limit value, the speed correction value obtained by subtracting the speed limit value from the speed value is A speed limit correction unit that calculates a speed correction value of zero when it is within the speed limit value;
A motor control command unit that calculates a current command value to be output to the motor unit based on a second control value obtained by subtracting the speed limit value from the first control value.

  According to a second aspect of the present invention, in order to achieve the above-mentioned object, the speed limit setting unit is configured to set upper and lower ends of the speed limit value according to the position value of the motor unit acquired from the position detection unit. The first speed limit value and the second speed limit value are set and output to the speed limit correction unit.

In order to achieve the above object, the motor control device according to claim 3 defines the rotation range of the motor unit by the first software limit position and the second software limit position. ,
The speed limit setting section
The rotation position of the motor unit is changed from the first position at the first predetermined distance from the first software limit position to the second position on the side where the second software limit position is located with respect to the first software limit position. In the section from the second software limit position to the second position at the second predetermined distance on the side where the first software limit position is located, the first speed limit value is set to the first speed limit value. And the second speed limit value as the second speed value,
When the rotational position of the motor unit is from the second position to the second software limit position, the first speed limit value is gradually decreased from the first speed value to the second speed limit. The speed is on the virtual line that is zero at the software limit position, the second speed limit value is the second speed value,
In the section from the third position where the rotational position of the motor part exceeds the second software limit position and is at a third predetermined distance from the second software limit position to the second software limit position, The absolute value of the first speed limit value is gradually decreased from the second speed value to be a speed on an imaginary line that becomes zero at the second software limit position, and the second speed limit value is set to the second speed limit value. Speed value,
In a section where the rotational position of the motor unit is from the first position to the first software limit position, the first speed limit value is the first speed value, and the second speed limit value is the second speed value. The absolute value is gradually reduced to a speed on the imaginary line that becomes zero at the first software limit position,
In the section from the fourth position at which the rotational position of the motor unit exceeds the first software limit position and is at a fourth predetermined distance from the first software limit position to the first software limit position, The first speed limit value is set as the first speed value, and the second speed limit value is gradually reduced from the first speed value to an absolute value that is zero at the first software limit position. It is configured to have a certain speed.

In the motor control device according to claim 4, in order to achieve the above-described object, the speed limit setting unit has the rotation position of the motor unit between the movement target position of the motor unit and the first software limit position. Time is
In the section from the first position to the fifth position at the fifth predetermined distance from the movement target position on the side where the first software limit position is located with respect to the movement target position, the rotation position of the motor unit is 1 speed limit value is the first speed value, 2 speed limit value is the second speed value,
In the section from the fifth position to the movement target position, the rotation position of the motor unit gradually decreases the absolute value of the first speed limit value from the first speed value to zero at the movement target position. The speed is on the imaginary line, the second speed limit value is the second speed value,
In the section from the sixth position at the sixth predetermined distance to the movement target position on the side where the second software limit position is located with respect to the movement target position to the movement target position, the rotation position of the motor unit is the first. The absolute value of the speed limit value is gradually decreased from the second speed value to obtain a speed on an imaginary line that becomes zero at the second software limit position, and the second speed limit value is set to the second speed value. It is configured to perform settings.

In the motor control device according to claim 5, in order to achieve the above object, the speed limit setting unit is such that the rotational position of the motor unit is between the movement target position of the motor unit and the second software limit position. Time is
In the section from the seventh position where the rotational position of the motor unit is at the seventh predetermined distance from the movement target position on the side where the second software limit position is located relative to the movement target position, to the second position, 1 speed limit value is the first speed value, 2 speed limit value is the second speed value,
When the rotational position of the motor unit is from the seventh position to the movement target position, the first speed limit value is the first speed value, and the second speed limit value is the absolute value from the second speed value. Decrease gradually and make the speed on the imaginary line zero at the movement target position,
In the section from the eighth position at the eighth predetermined distance to the movement target position on the side where the first software limit position is located with respect to the movement target position to the movement target position, the rotation position of the motor unit is the first. The speed limit value is set as the first speed value, and the second speed limit value is set so that the absolute value is gradually decreased from the first speed value so that the speed is on the virtual line that becomes zero at the movement target position. It is configured as follows.
have.

In order to achieve the above object, the motor device according to claim 6 is a motor control device according to any one of claims 1 to 5,
A motor unit, a torque detection unit, and a position detection unit that are electrically connected to the motor control device are provided.

  A lifting device according to a seventh aspect includes the motor device according to the sixth aspect in order to achieve the above object.

In order to achieve the above object, the motor control method according to claim 8 detects torsion torque generated in the output shaft connected to the motor unit according to the input of the torque target value, and detects the torque by the torque detection unit. A first step of subtracting the output value of the torque detector from the target value to calculate a first control value;
A speed limit setting step for setting a speed limit value of the rotation speed of the motor unit;
A speed calculation step for calculating a speed value from a position value acquired from a position detection unit for detecting a rotation position of the motor unit;
A speed limit correction step that outputs a value obtained by subtracting the speed limit value from the speed value when the speed value exceeds the speed limit value, zero as a speed correction value when the speed value is within the speed limit value,
A second step of subtracting the speed correction value from the first control value to calculate a second control value, and calculating a current command value to be input to the motor unit based on the second control value;
Is included.

  In the motor control method according to claim 9, in order to achieve the above object, the speed limit value setting step forms upper and lower limits of the speed limit value according to the position value of the motor unit acquired from the position detection unit. The first speed limit value and the second speed limit value are set and output to the speed limit correction step.

In the motor control method according to claim 10, in order to achieve the above object, the motor unit has a rotation range defined by the first software limit position and the second software limit position,
The speed limit value setting step
The rotation position of the motor unit is changed from the first position at the first predetermined distance from the first software limit position to the second position on the side where the second software limit position is located with respect to the first software limit position. In the section from the second software limit position to the second position at the second predetermined distance on the side where the first software limit position is located, the first speed limit value is set to the first speed limit value. And the second speed limit value is the second speed value,
In the interval from the second position to the second software limit position, the rotation speed of the motor unit is gradually decreased from the first speed value to the second software limit position. The speed is on a virtual line that is zero at the wear limit position, and the second speed limit value is the second speed value.
In the section from the third position where the rotational position of the motor part exceeds the second software limit position and is at a third predetermined distance from the second software limit position to the second software limit position, The absolute value of the first speed limit value is gradually reduced from the second speed value to a speed on the imaginary line that becomes zero at the second software limit position, and the second speed limit value is set to the second speed value. Speed value of
In a section where the rotational position of the motor unit is from the first position to the first software limit position, the first speed limit value is the first speed value, and the second speed limit value is the second speed value. The absolute value is gradually reduced to a speed on the imaginary line that becomes zero at the first software limit position,
In the section from the fourth position at which the rotational position of the motor unit exceeds the first software limit position and is at a fourth predetermined distance from the first software limit position to the first software limit position, On the imaginary line where the first speed limit value is the first speed value and the second speed limit value is gradually reduced from the first speed value to its absolute value and becomes zero at the first software limit position. The speed is set so as to be set respectively.

In the motor control method according to claim 11, in order to achieve the above object, the speed limit value setting step includes:
When the rotational position of the motor unit is between the movement target position of the motor unit and the first software limit position,
In the section from the first position to the fifth position at the fifth predetermined distance from the movement target position on the side where the first software limit position is located with respect to the movement target position, the rotation position of the motor unit is 1 speed limit value is the first speed value and 2 speed limit value is the second speed value,
In the section from the fifth position to the movement target position, the rotation position of the motor unit gradually decreases the absolute value of the first speed limit value from the first speed value to zero at the movement target position. The speed is on the imaginary line, and the second speed limit value is the second speed value.
In the section from the sixth position at the sixth predetermined distance to the movement target position on the side where the second software limit position is located with respect to the movement target position to the movement target position, the rotation position of the motor unit is the first. The absolute value of the speed limit value is gradually decreased from the second speed value to obtain a speed on a virtual line that becomes zero at the second software limit position, and the second speed limit value is set to the second speed value. Are configured to perform each of the following settings.

In order to achieve the above object, the motor control method according to claim 12 includes a speed limit value setting step:
When the rotation position of the motor unit is between the movement target position of the motor unit and the second software limit position,
The rotation position of the motor unit is from the seventh position at the seventh predetermined distance to the movement target position on the side where the second software limit position of the movement target position is located from the movement target position to the second position. In the section, the first speed limit value is the first speed value, and the second speed limit value is the second speed value.
In a section where the rotational position of the motor unit is from the seventh position to the movement target position, the first speed limit value is the first speed value, and the second speed limit value is the absolute value from the second speed value. Is gradually reduced to a speed on the imaginary line that becomes zero at the movement target position,
In the section from the eighth position at the eighth predetermined distance to the movement target position on the side where the first software limit position is located with respect to the movement target position to the movement target position, the rotation position of the motor unit is the first. Setting the speed limit value as the first speed value and setting the second speed limit value as the speed on the imaginary line that is zero at the movement target position by gradually decreasing the absolute value from the first speed value. Configured to do.

  According to the motor control device of the first aspect of the present invention, the current speed of the motor unit is compared with the speed limit range in which the set first speed limit and the second speed limit are both end limits, and the speed limit range is set. Since the motor unit is controlled by using a correction value for canceling this when it exceeds the torsional torque control, it is possible to provide a motor control device that enables an operation with speed limitation simultaneously with the torsional torque control. .

  According to the motor control device of the second aspect of the present invention, in addition to the above effect, the speed limit value is set according to the position value of the motor unit acquired from the position detection unit. It is possible to provide a motor control device that can limit the speed corresponding to the position of the motor unit.

  According to the motor control apparatus of the third aspect of the present invention, in addition to the above effects, a motor control apparatus that smoothes the operation from deceleration to stop in the vicinity of the software limit position can be provided.

  According to the motor control device of the invention described in claim 4 or 5, in addition to the above-described effect, it is possible to provide a motor control device that smoothes the operation from deceleration to stop in the vicinity of the movement target position.

It is a lineblock diagram of a motor device concerning an embodiment of the present invention. It is a control block diagram of the motor apparatus which concerns on embodiment of this invention. It is the diagram which showed the detail of the speed limit setting by the speed limit setting part of the motor control apparatus which concerns on embodiment of this invention. It is the diagram which showed the detail of the speed limit setting corresponding to the target position movement by the speed limit setting part of the motor control apparatus which concerns on embodiment of this invention. It is the diagram which showed the detail of the speed limit setting corresponding to the target position movement by the speed limit setting part of the motor control apparatus which concerns on embodiment of this invention. It is the diagram which showed the detail of the speed correction by the speed limit correction | amendment part of the motor control apparatus which concerns on embodiment of this invention. It is a perspective view of the raising / lowering apparatus using the motor apparatus which concerns on embodiment of this invention. It is operation | movement explanatory drawing of the raising / lowering apparatus using the motor apparatus which concerns on embodiment of this invention.

Hereinafter, a motor control device and a motor device according to embodiments of the present invention will be described in detail based on the drawings. FIG. 1 is a schematic configuration diagram of a motor device according to an embodiment of the present invention.

  The motor device 1 of the present invention includes a motor unit 3, a torque detection unit 6 connected to the load side of the motor unit 3, a position detection unit 4 connected to the non-load side of the motor unit 3, and a torque detection unit 6. The motor control device 2 is electrically connected to the motor unit 3 and the position detection unit 4 through wires 8a, 8b, and 8c, respectively.

  The motor unit 3 is, for example, a servo motor to which a speed reducer 5 is attached, and a torque generated by the motor is amplified by the speed reducer 5 to a torque necessary for decelerating the rotation of the motor and driving a load. In the embodiment of the present invention, the speed reducer 5 uses a wave gear speed reducer. The wave gear reducer has a wave generator whose outer periphery is elliptical, and a large number of external teeth are formed on the outer periphery. The wave gear reducer is externally fitted to the wave generator so that the position bent in the circumferential direction is changed by the rotation of the wave generator. It consists of a flexspline that can be elastically deformed, and a circular spline that is provided on the outer peripheral side of the flexspline and has internal teeth that fit with external teeth of the flexspline. The power is extracted and transmitted to a sprocket rotating shaft that connects the flexspline as a rotational output.

  For example, the torque detector 6 is connected in series to the load side output of the motor unit 3, that is, the output of the speed reducer 5, and has a rotating shaft connected to the output shaft 7 that outputs rotation. A strain gauge is affixed to the rotating shaft, and a torsion torque due to shearing of the rotating shaft is detected and a torsion torque value is output. The torque detection unit 6 is not limited to this, and may be one that detects a reaction force applied to the motor unit 3 in a drum shape, or may be a modified one such as using a load cell. The detection of torsional torque is not limited to using a strain gauge, and may be a capacitance type or a magnetostriction type.

  A position detection unit 4 that detects the rotational position of the motor is attached to the non-load side of the motor unit 3. In this embodiment, the position detection unit 4 is an optical encoder arranged on the side opposite to the load of the motor unit 3, but even if it is provided on the output shaft 7 decelerated by the reduction gear 5, it is still provided on both. Also good. In the present embodiment, the position detection unit 4 is an encoder based on optical reflection. However, the position detection unit 4 is not limited to this, and may be a transmission type or a magnetic force.

  The motor control device 2 is electrically connected to the torque detection unit 6, the motor unit 3, and the position detection unit 4 through wires 8a, 8b, and 8c, respectively, and includes a drive circuit for the motor unit 3. The wirings 8a, 8b, and 8c may have a plurality of wirings such as an input wiring and an output wiring. In FIG. 1, each wiring 8a, 8b, 8c is shown as one line for convenience. The motor control device 2 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), other storage devices, and an input / output device.

  The basic control of the motor control device 2 is such that when a torque target value is input from command means such as the operation command unit 17 shown in FIG. 7, for example, the torsion torque generated on the output shaft 7 follows the torque target value. The motor unit 3 is controlled. In other words, the motor control device 2 outputs the current command value calculated based on the torque target value and the torque output value of the torque detection unit 6 to the motor unit 3 to drive the motor unit 3, and to set the magnitude of the torsion torque. Control. Here, outputting the current command value to the motor unit 3 means supplying a current corresponding to the current command value to the motor unit 3.

  Next, the motor control device 2 and the motor control method according to the embodiment of the present invention will be described with reference to a control block diagram shown in FIG. FIG. 2 schematically shows a control configuration of the motor control device 2 and elements connected to the motor control device 2 and controlled by the motor control device 2. The motor control device 2 may be realized by hardware using an LSI or the like, or may be realized by software using a computer program.

  The motor control device 2 includes a torque control unit 20, a speed limit setting unit 24, a speed calculator 30, a speed limit correction unit 25, and a motor control command unit 29.

For example, a torque target value τ _ref output based on a command from the operation command unit 17 shown in FIG. 7 is input to the torque control unit 20, and an output value τ _s is input from the torque detection unit 6. Has been. The operation command unit 17 includes input means such as buttons, a keyboard, and a dial, for example, and is configured to be able to input a value of torsion torque to be generated on the output shaft 7 via the input means. The operation command unit 17 outputs the input value as the torque target value τ _ref . Of course, the torque target value τ _ref stored in advance in the storage unit of the motor control device 2 by the operation command unit 17 may be read by the command of the operation command unit 17 and used.

The torque target value τ _ref and the output value τ _s are input to the subtractor 21. Subtractor 21 subtracts the output value tau _s from the torque target value tau _ref, and outputs the deviation of the output value tau _s and torque target value tau _ref. Differential output of the output value tau _s and torque target value tau _ref is a proportional gain K ₁ is multiplied by a multiplier 22 having a proportional gain K _1. The multiplier 22 outputs the multiplication result as the first control value p _1. The first step is to output the _first control value p ₁ from the torque target value τ _ref and the output value τ _s .

On the other hand, the motor controller 2 is in a position to get the position value r _c is the rotational position information of the motor unit 3, which is output from the detection unit 4, an input speed limit setting unit 24 of this. Speed limit setting unit 24 there can be used a position value r _c for speed limit setting, and outputs the first speed limit value v _L1 and the second speed limit value v _L2 of the motor unit 3. The first speed limit value v _L1 and the second speed limit value v _L2 are upper and lower limit values that define the range of the rotational speed of the motor unit 3. The upper and lower ends of the speed limit value of the rotation speed of the motor unit 3 are set in the speed limit value setting step.

Then, the first speed limit value v _L1 and the second speed limit value v _L2 output from the speed limit value setting step are input to the speed limit correction unit 25. On the other hand, the position position value r _c of the motor portion 3 output from the detector 4 is converted into the rotational speed by a speed calculator 30, the input to the speed calculator 30 the speed value v _c is the speed limit correcting unit 25 output from the Is done. The speed calculation by the speed calculator 30 is a speed calculation step.

A velocity value v _c outputted from the speed calculator 30, and performs the operation defined by comparing the set speed limit value by limiting the speed setting unit 24, the speed correction value from the speed limit correcting unit 25 v _a is output. Is a limiting speed correction step for outputting a speed correction value v _a at this speed limit correcting unit 25.

A first control value p ₁ outputted from the torque control unit 20, and the speed correction value v _a output from the speed limit correcting section 25 is input to the subtractor 23 of the motor control command unit 29. Subtractor 23, a speed correction value v _a is subtracted from the first control value p _1, and outputs a deviation between the first control value p ₁ and the speed correction value v _a.

Differential output of the first control value p ₁ and the speed correction value v _a is the proportional gain K ₂ is multiplied by a multiplier 26 having a proportional gain K _2. The multiplier 26 outputs the multiplication result as the second control value p _2.

The second control value p ₂ and the output from the disturbance compensator 27 are input to the adder 28. Motor control command unit 29 adds the output from the disturbance compensator 27 to the second control value p ₂ by the adder 28, and outputs a current command value i _q to the motor unit 3. Therefore, the motor control command unit 29 includes a subtracter 23, a multiplier 26, a disturbance compensator 27, and an adder 28. Note to output the current command value i _q to the first control value p ₁ and the speed correction value v based and _a is the second step.

The disturbance compensator 27 calculates an estimated value of disturbance torque of the motor unit 3 based on the current command value _iq to the motor unit 3 and the response value of the position of the motor unit 3 detected by the position detection unit 4. ing. The disturbance compensator 27 may estimate the disturbance torque based on the current command value _iq and the speed response value of the motor unit 3.

  Next, the details of the speed limit setting method by the speed limit setting unit 24 will be described with reference to FIG. FIG. 3 shows the relationship between the software limit that defines the rotation range of the motor unit 3 and the speed limit, with the rotation position of the output shaft 7 as the horizontal axis and the speed limit as the vertical axis.

Rotation of the output shaft 7, the first software limit position from the _{r SL1} second software limit position _{r SL2} positioned with the first hardware limit position _{r HL1} inside the second hardware limit position _{r HL2} The range up to is in principle movable. Note that the speed when moving from the first software limit position r _SL1 side to the second software limit position r _SL2 direction is _defined as the forward speed, and conversely, the first software limit position r _SL2 side from the first software limit position r _SL2 side Software limit position r The speed when moving in the _SL1 direction is expressed as a negative speed.

And the position of the first software limit position from the _{r SL1} first predetermined distance d1 second software limit position _{r SL2} side as first position _{r 1,} and from the first software limit position _{r SL1} A position on the first hardware limit position _rHL1 side by the fourth predetermined distance d4, that is, a position outside the first software limit position _rSL1 is represented as a _fourth position r4. Whereas the position of the two software limit position _{r SL2} by a second predetermined distance d2 first software limit position _{r SL1} side and a second position _{r 2,} also from the second software limit position _{r SL2} A position on the second hardware limit position _rHL2 side by the third predetermined distance d3, that is, a position outside the second software limit position _rSL2 is represented as a _third position r3.

Setting of the speed limit by the speed limit setting unit 24 is performed as follows. The section from the first position _{r 1} to a second position _{r 2,} the first speed limit value _{v L1} a first velocity value _{v 1} for example, the second speed limit value _{v L2,} for example a second it is a speed value _{v 2.} The first speed value v ₁ and the second speed value v ₂ may be set with the same absolute value or may be set with different values. In this section, the first speed limit value v _L1 is a positive speed limit, and the second speed limit value v _L2 is a negative speed limit.

The section from the second position _{r 2} also to the second software limit position _{r SL2,} first speed limit value _{v L1,} the first velocity value _{v 1} from the first velocity value _v absolute value of ₁ a speed of a virtual line becomes zero at a gradually reduced so by the second software limit position r _SL2, the second speed limit value v _L2 is the second velocity value v _2. This virtual line is a linear straight line in the present embodiment, but is not limited to this, and may be a quadratic or higher curve or the like. In this section, the first speed limit value v _L1 is a positive speed limit, and the second speed limit value v _L2 is a negative speed limit.

The section from the third position _{r 3} to the second software limit position _{r SL2,} first speed limit value _{v L1} is the absolute value of the second velocity value _{v 2} from the second speed value _{v 2} in the second software limit position r _SL2 is gradually reduced to a speed of a virtual line becomes zero, the second speed limit value v _L2 is the second velocity value v _2. This virtual line is a linear straight line in the present embodiment, but is not limited to this, and may be a quadratic or higher curve or the like. In this section, the first speed limit value v _L1 is a negative speed limit, and the second speed limit value v _L2 is also a negative speed limit.

The section from the first position _{r 1} to the first software limit position _{r SL1,} the first speed limit value _{v L1} a first velocity value _{v 1,} second speed limit value _{v L2} is a 2 velocity value v ₂ gradually decreases the absolute value of the second velocity value v ₂ in the first software limit position r _SL1 is the speed of a virtual line becomes zero. This virtual line is a linear straight line in the present embodiment, but is not limited to this, and may be a quadratic or higher curve or the like. In this section, the first speed limit value v _L1 is a positive speed limit, and the second speed limit value v _L2 is a negative speed limit.

The section from the fourth position _{r 4} to the first software limit position _{r SL1,} the first speed limit value _{v L1} a first velocity value _{v 1,} second speed limit value _{v L2} is a at first software limit position r _SL1 gradually decreases the absolute value of the first velocity value v ₁ from 1 velocity value v ₁ is the speed of a virtual line becomes zero. This virtual line is a linear straight line in the present embodiment, but is not limited to this, and may be a quadratic or higher curve or the like. In this section, the first speed limit value v _L1 is the forward speed limit, and the second speed limit value v _L2 is also the forward speed limit.

Therefore the speed limit setting unit 24 is input with the position value r _c of the motor output from the position detection unit 4, and outputs the first speed limit value v _L1 and the second speed limit value v _L2 at that time. For example, when the position of the motor section 3 is _{r a,} the first speed limit value _v L1 = _{v 1,} a second speed limit value _v L2 _{= v 21,} when the position of the motor section 3 is _{r b} is The first speed limit value v _L1 = v ₂₂ and the second speed limit value v _L2 = v ₂ .

  Next, details of the speed limit setting method by the speed limit setting unit 24 when the movement target position is set will be described with reference to FIGS. 4 and 5.

The movement target position is set at an arbitrary position between the first software limit position _rSL1 and the second software limit position _rSL2, and for example, the motor unit 3 according to a command from the operation command unit 17 shown in FIG. Moves from the current position to the target position. The operation command unit 17 has input means such as a button, a keyboard, and a dial, and is configured as command means for moving the movement target position for moving the motor unit 3 to the set movement target position together with the input means. FIG. 4 shows the relationship between the software limit that defines the rotation range of the motor unit 3 and the movement target position and the speed limit, with the rotational position of the output shaft 7 as the horizontal axis and the speed limit as the vertical axis. current position value r _c is indicative of when there a movement target position r _TP1 an intermediate position of the first software limit position r _SL1.

The position of the movement target position _{r TP1} first only five predetermined distance d5 first software limit position _{r SL1} side is located _{r 5} of the fifth and the movement target position _{r TP1} only sixth predetermined distance d6 second The software limit position r on the _SL2 side is represented as a _sixth position r6. Positional relationship between the first software limit position r _SL1 of the first position r ₁ and the fourth position r ₄ are the same as those shown in FIG.

The section from the first position _{r 1} to the position _{r 5} of the fifth, the first speed limit value _{v L1} a first velocity value _{v 1} for example, the second speed limit value _{v L2,} for example a second it is a speed value _{v 2.} The first speed value v ₁ and the second speed value v ₂ may be set with the same absolute value or may be set with different values. In this section, the first speed limit value v _L1 is a positive speed limit, and the second speed limit value v _L2 is a negative speed limit.

The section from the position r ₅ of the fifth to the movement target position r _TP1, a first speed limit value v _L1 gradually decreases the absolute value of the first velocity value v ₁ from the first speed value v ₁ The second speed limit value v _L2 is the second speed value v _2, which is the speed on the virtual line that becomes zero at the movement target position r _TP1 . This virtual line is a linear straight line in the present embodiment, but is not limited to this, and may be a quadratic or higher curve or the like. In this section, the first speed limit value v _L1 is a positive speed limit, and the second speed limit value v _L2 is a negative speed limit.

The position _{r 6} of the sixth, the interval up to the movement target position _{r TP1,} the first speed limit value _{v L1} gradually decreases the absolute value of the second velocity value _{v 2} from the second speed value _{v 2} The second speed limit value v _L2 is the second speed value v _2, which is the speed on the virtual line that becomes zero at the movement target position r _TP1 . This virtual line is a linear straight line in the present embodiment, but is not limited to this, and may be a quadratic or higher curve or the like. In this section, the first speed limit value v _L1 is a negative speed limit, and the second speed limit value v _L2 is also a negative speed limit.

And the section from the first position r ₁ to the first software limit position r _SL1, the section from the fourth position r ₄ to the first software limit position r _SL1 near software limit position described above It is the same as setting.

FIG. 5 shows the relationship between the software limit that defines the rotation range of the motor unit 3 and the movement target position and the speed limit, with the rotational position of the output shaft 7 as the horizontal axis and the speed limit as the vertical axis. current position value r _c is indicative of when there a movement target position r _TP2 an intermediate position of the second software limit position r _SL2.

The position of the movement target position _{r TP2} seventh predetermined distance d7 only second software limit position _{r SL2} side by the position _{r 7} of the seventh, also by a predetermined distance d8 eighth from the movement target position _{r TP2} first The software limit position r on the _SL1 side is represented as an _eighth position r8. The positional relationship between the second position r ₂ and the third position r ₃ with the second software limit position r _SL2 is the same as that shown in FIG.

In the section from the position _{r 7} of the seventh to the second position _{r 2,} the first speed limit value _{v L1} a first velocity value _{v 1} for example, the second speed limit value _{v L2,} for example a second it is a speed value _{v 2.} The first speed value v ₁ and the second speed value v ₂ may be set with the same absolute value or may be set with different values. In this section, the first speed limit value v _L1 is a positive speed limit, and the second speed limit value v _L2 is a negative speed limit.

And the section from the second position r ₂ to the second software limit position r _SL2, and the section from the third position r ₃ to the second software limit position r _SL2, near Software limit position described above It is the same as the setting of.

The section up to the movement target position _{r TP2} from the position _{r 7} of the seventh, the first speed limit value _{v L1} a first velocity value _{v 1,} the second speed limit value _{v L2} second velocity value v the absolute value of the second velocity value v ₂ from ₂ gradually decreases the speed of the virtual line becomes zero at the movement target position r _TP2. This virtual line is a linear straight line in the present embodiment, but is not limited to this, and may be a quadratic or higher curve or the like. In this section, the first speed limit value v _L1 is a positive speed limit, and the second speed limit value v _L2 is a negative speed limit.

The section from the position _{r 8} of the eighth to the movement target position _{r TP2,} the first speed limit value _{v L1} a first velocity value _{v 1,} second speed limit value _{v L2,} the first speed value v at ₁ from the first speed value v ₁ for the absolute value of the gradually decreasing the movement target position r _TP2 is the speed of a virtual line becomes zero. This virtual line is a linear straight line in the present embodiment, but is not limited to this, and may be a quadratic or higher curve or the like. In this section, the first speed limit value v _L1 is the forward speed limit, and the second speed limit value v _L2 is also the forward speed limit.

The first predetermined distance d1 to the eighth predetermined distance d8 are determined in consideration of the weight of the load driven by the motor device. For example, when the load moves horizontally, the first predetermined distance d1 = the second predetermined distance d2 = the fifth predetermined distance d5 = the sixth predetermined distance d6 = the seventh predetermined distance d7 = the eighth predetermined distance d8. However, different values may be set. In addition, when the second software limit position _rSL2 is in the vertically upward direction of the first software limit position _rSL1 , the fifth predetermined distance d5 may be set smaller than the first predetermined distance d1. . Since the fourth predetermined distance d4 is an overrun region on the software located between the first software limit position _rSL1 and the first hardware limit position _rHL1 , it is compared with the first predetermined distance d1. May be set smaller. Since the third predetermined distance d3 is also an overrun region on the software between the second software limit position _rSL2 and the second hardware limit position _rHL2 , it is compared with the second predetermined distance d2. May be set smaller.

In the speed limit setting unit 24 configured as described above, when the motor unit 3 approaches a predetermined distance near the target position or the software limit position, the speed is reduced and the speed becomes zero at the target position or the software limit position. The first speed limit value v _L1 and the second speed limit value v _L2 are output to the speed limit correction unit 25. Accordingly, the movement when the output shaft 7 and the load connected to the output shaft 7 are stopped becomes smooth, and the overrun in the load having a large inertial force can be reduced.

  FIG. 6 is a diagram showing details of speed correction by the speed limit correction unit 25 of the motor device control apparatus according to the embodiment of the present invention. Details of the correction method by the speed limit correction unit 25 using FIG. explain.

Figure 6 shows the speed correction value v _a of outputting current speed acquired on the horizontal axis and the vertical axis at a speed limit correcting unit 25. Speed limit correcting unit 25, on the other hand were obtained from the speed limit setting unit 24 and the first speed limit value v _L1 and the second speed limit value v _L2, the current speed value v _c from the speed calculator 30 while at the same time obtained has a function of outputting a speed correction value v _a to correct this when the speed value v _c exceeds the speed limit. The speed limit is determined by the first speed limit value v _L1 and the second speed limit value v _L2 depending on the direction. Speed correction value v _a within the range between the first limit velocity value v _L1 of the second speed limit value v _L2 is zero. When the speed exceeds this range, the speed limit correction unit 25 outputs _a speed correction value va for correction in order to cancel the speed excess. The motor control command unit 29 performs control using this, and a motor control device that controls the speed together with the torque control can be realized.

  FIG. 7 is a perspective view of the lifting device 10 using the motor device 1 according to the embodiment of the present invention. The elevating device 10 includes a main body 11 covered with a cover, and a locking member 14 that hangs and locks the cargo handling object 40 at a position extending downward from the main body 11 along the link chain 15. The operation command unit 17 moves up and down together with the locking member 14. The lifting device 10 is provided with a hanging hook 16 on the main body 11 and can be used by being hung on a structure such as a beam of a building or a movable device provided on a rail movable in the horizontal direction.

A control unit 12 that controls the entire lifting device 10 is housed in the main body unit 11 including the motor control device 2. The control unit 12 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), other storage devices, and an input / output device. The control unit 12 is electrically connected to the operation command unit 17 and the like by a spiral cord 13. Various operations commands, torque target value τ _ref, and movement target values are input by an administrator or worker handling the lifting device 10 operating the operation command unit 17, and the control unit 12 is based on this. Control of the motor unit 3 is performed.

  With the above configuration, when the operator hangs the cargo handling article 40 on the locking member 14, the link chain 15 is pulled by the weight of the cargo handling article 40, so that the locking member 14, the link chain 15, and the link chain 15 are wound. Torque is generated in the torque detector 6 via a load sheave (not shown) and the output shaft 7. The motor control device 2 calculates the torque signal detected by the torque detection unit 6 and the position signal detected by the position detection unit 4 to control the motor unit 3.

FIG. 8 is an operation explanatory view of the lifting device 10 using the motor device according to the embodiment of the present invention. FIG. 8A shows a lower limit position when the cargo handling object 40 is suspended by the locking member 14 and is in a balanced state, that is, the second software limit position _rSL2 , and FIG. 8C shows the upper limit position. In other words, the first software limit position _rSL1 is shown, and at this time, it can move within the range W. Then, the movement target position r _TP exists at an intermediate position between the first software limit position r _SL1 and the second software limit position r _SL2 (FIG. 8B). Therefore, by using the above-described motor device 1 in such a lifting device 10, the movement target position command from the operation command unit 17 while controlling the torque applied to the torque detection section 6 to a predetermined value to the movement target position r _TP When the moving operation is performed, it is possible to control the ascending / descending speed and smoothly decelerate immediately before the movement target position _rTP .

  As mentioned above, although this invention was demonstrated based on preferable embodiment, this invention is not limited to embodiment mentioned above, A various change is possible in the range which does not deviate from the summary.

  As an application example of the present invention, the present invention can be applied to an industrial robot, a carriage, an electric lifting device mounted on a movable vehicle, and the like.

1: Motor device 2: Motor control device 3: Motor unit 4: Position detection unit 5: Reducer 6: Torque detection unit 7: Output shafts 8a, 8b, 8c: Wiring 10: Lifting device 11: Main unit 12: Control unit 13: Spiral cord 14: Locking member 15: Link chain 16: Hanging hook 17: Operation command unit 20: Torque control unit 21: Subtractor 22: Multiplier 23: Subtractor 24: Speed limit setting unit 25: Limit Speed correction unit 26: multiplier 27: disturbance compensator 28: adder 29: motor control command unit 30: speed calculator 40: cargo handling

Claims (12)

A motor section;
A torque detection unit that detects a torsion torque generated on the output shaft of the motor unit and outputs a torsion torque value;
A position detection unit that detects a rotational position of the motor unit and outputs a position value;
A motor control device for controlling the motor unit electrically connected to each other,
A torque control unit that calculates a first control value based on the torsional torque value from the torque detection unit according to a torque target value;
A speed limit setting unit that sets a speed limit value that defines a range of the rotation speed of the motor unit;
Based on a speed value obtained by converting the position value acquired from the position detection unit into a speed, a speed correction obtained by subtracting the speed limit value from the speed value when the speed value exceeds the speed limit value A speed limit correction unit that calculates a speed correction value of zero when the speed value is within the speed limit value;
A motor control command unit that calculates a current command value to be output to the motor unit based on a second control value obtained by subtracting the speed limit value from the first control value; apparatus.   The speed limit setting unit sets a first speed limit value and a second speed limit value that form upper and lower ends of the speed limit value according to the position value of the motor unit acquired from the position detection unit, and The motor control device according to claim 1, wherein the motor control device outputs to a speed limit correction unit. The motor control device defines a rotation range of the motor unit by a first software limit position and a second software limit position;
The speed limit setting unit is
The rotation position of the motor unit is a first predetermined distance from the first software limit position on the side where the second software limit position is located with respect to the first software limit position. In a section from a position to a second position at a second predetermined distance from the second software limit position on the side where the first software limit position is located with respect to the second software limit position, The first speed limit value is a first speed value, the second speed limit value is a second speed value,
In the interval from the second position to the second software limit position, the rotational speed of the motor unit gradually increases the first speed limit value and the absolute value from the first speed value. Decrease to be the speed on the imaginary line that becomes zero at the second software limit position, the second speed limit value as the second speed value,
The rotation position of the motor unit exceeds the second software limit position and the second software limit position from the third position at a third predetermined distance from the second software limit position. In the interval up to, the first speed limit value is a speed on an imaginary line that becomes zero at the second software limit position by gradually decreasing the absolute value from the second speed value, The second speed limit value is the second speed value,
In the section from the first position to the first software limit position, the rotation speed of the motor unit is set to the first speed value as the first speed value, and the second speed limit value. The absolute value from the second speed value is gradually reduced to a speed on the imaginary line that becomes zero at the first software limit position,
The rotation position of the motor unit exceeds the first software limit position, and the first software limit position from a fourth position that is a fourth predetermined distance from the first software limit position. In the interval up to, the first speed limit value is set as the first speed value, and the second speed limit value is gradually decreased from the first speed value to the first software value. The motor control device according to claim 2, wherein the speed is on a virtual line that is zero at the limit position. The speed limit setting unit is configured such that when the rotational position of the motor unit is between the movement target position of the motor unit and the first software limit position,
The fifth position at which the rotational position of the motor unit is located at a fifth predetermined distance from the movement target position on the side where the first software limit position is located from the first position to the movement target position. In the interval up to, the first speed limit value is the first speed value, the second speed limit value is the second speed value,
In the section from the fifth position to the movement target position, the rotation position of the motor unit gradually decreases the absolute value of the first speed limit value from the first speed value and moves the motor unit. The speed is on a virtual line that is zero at the target position, the second speed limit value is the second speed value,
The rotation position of the motor unit is from a sixth position that is a sixth predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position, to the movement target position. In this section, the first speed limit value is gradually reduced from the second speed value to the speed on the imaginary line that becomes zero at the second software limit position, The motor control device according to claim 3, wherein a setting is made so that a speed limit value is the second speed value. The speed limit setting unit is configured such that when the rotational position of the motor unit is between the movement target position of the motor unit and the second software limit position,
The rotation position of the motor unit is a second position from a seventh position that is a seventh predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position. In the interval up to, the first speed limit value is the first speed value, the second speed limit value is the second speed value,
In a section where the rotational position of the motor unit is from the seventh position to the movement target position, the first speed limit value is set as the first speed value, and the second speed limit value is set as the second speed value. The absolute value is gradually decreased from the speed value of the speed to a speed on the imaginary line that becomes zero at the movement target position,
The rotation position of the motor unit is from an eighth position at an eighth predetermined distance to the movement target position on the side where the first software limit position is located from the movement target position to the movement target position. In this section, the first speed limit value is the first speed value, and the second speed limit value is gradually reduced from the first speed value to zero at the movement target position. The motor control device according to claim 3, wherein setting is performed so that the speed is on a virtual line. A motor control device according to any one of claims 1 to 5;
A motor device comprising: the motor unit, the torque detection unit, and the position detection unit that are electrically connected to the motor control device, respectively.   A lifting device comprising the motor device according to claim 6. A torsion torque generated on an output shaft connected to the motor unit in response to an input of a torque target value is detected by a torque detection unit, and an output value of the torque detection unit is subtracted from the torque target value to obtain a first control value A first step of calculating
A speed limit setting step for setting a speed limit value of the rotation speed of the motor unit;
A speed calculation step of calculating a speed value from a position value acquired from a position detection unit that detects a rotational position of the motor unit;
Speed limit correction step of outputting the value obtained by subtracting the speed limit value from the speed value when the speed value exceeds the speed limit value, and zero as the speed correction value when the speed value is within the speed limit value. When,
A second step of calculating a current command value to be input to the motor unit based on the second control value by subtracting the speed correction value from the first control value to calculate a second control value. When,
A motor control method comprising:   The speed limit value setting step sets a first speed limit value and a second speed limit value that form upper and lower ends of the speed limit value according to the position value of the motor unit acquired from the position detection unit. The motor control method according to claim 8, wherein the motor is output to the speed limit correction step. The motor unit has a rotation range defined by a first software limit position and a second software limit position,
The speed limit value setting step includes:
The rotation position of the motor unit is a first predetermined distance from the first software limit position on the side where the second software limit position is located with respect to the first software limit position. In a section from a position to a second position at a second predetermined distance from the second software limit position on the side where the first software limit position is located with respect to the second software limit position, The first speed limit value is a first speed value and the second speed limit value is a second speed value;
In the interval from the second position to the second software limit position, the first speed limit value is gradually decreased from the first speed value to the absolute value of the rotation position of the motor unit. Let the speed be on the imaginary line that becomes zero at the second software limit position, and the second speed limit value is the second speed value,
The rotation position of the motor unit exceeds the second software limit position and the second software limit position from the third position at a third predetermined distance from the second software limit position. In the section up to, the first speed limit value is set to a speed on an imaginary line that becomes zero at the second software limit position by gradually decreasing the absolute value from the second speed value, and The second speed limit value is the second speed value,
In a section from the first position to the first software limit position, the rotation speed of the motor unit is set to the first speed value as the first speed value, and the second speed limit. The absolute value is gradually decreased from the second speed value to a speed on a virtual line that becomes zero at the first software limit position,
The rotation position of the motor unit exceeds the first software limit position, and the first software limit position from a fourth position that is a fourth predetermined distance from the first software limit position. In the interval up to, the first speed limit value is set as the first speed value, and the second speed limit value is gradually decreased from the first speed value to the first soft speed value. The motor control method according to claim 9, wherein setting is performed so that the speed is on a virtual line that becomes zero at the wear limit position. The speed limit value setting step includes:
When the rotational position of the motor unit is between the movement target position of the motor unit and the first software limit position,
The fifth position at which the rotational position of the motor unit is located at a fifth predetermined distance from the movement target position on the side where the first software limit position is located from the first position to the movement target position. In the interval up to, the first speed limit value is the first speed value, and the second speed limit value is the second speed value.
In the section from the fifth position to the movement target position, the rotation position of the motor unit gradually decreases the absolute value of the first speed limit value from the first speed value and moves the motor unit. The speed is on a virtual line that is zero at the target position, and the second speed limit value is the second speed value.
The rotation position of the motor unit is from a sixth position that is a sixth predetermined distance from the movement target position on the side where the second software limit position is located with respect to the movement target position, to the movement target position. In the section, the first speed limit value is gradually reduced from the second speed value to an absolute value that is zero on the second software limit position, and the first speed limit value is the first speed limit value. The motor control method according to claim 10, wherein setting is performed such that two speed limit values are set as the second speed value. The speed limit value setting step includes:
When the rotational position of the motor unit is between the movement target position of the motor unit and the second software limit position,
From the seventh position where the rotational position of the motor unit is at a seventh predetermined distance from the movement target position on the side where the second software limit position of the movement target position is located with respect to the movement target position. In the section to the second position, the first speed limit value is the first speed value, and the second speed limit value is the second speed value.
In a section where the rotational position of the motor unit is from the seventh position to the movement target position, the first speed limit value is set as the first speed value, and the second speed limit value is set as the first speed value. The absolute value is gradually decreased from the speed value of 2 to a speed on the imaginary line that becomes zero at the movement target position,
The rotation position of the motor unit is from an eighth position at an eighth predetermined distance to the movement target position on the side where the first software limit position is located from the movement target position to the movement target position. In this section, the first speed limit value is set to the first speed value, and the second speed limit value is gradually reduced from the first speed value to zero at the movement target position. The motor control method according to claim 10, wherein setting is performed so that the speed is on an imaginary line.

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