JP4166157B2 - Electric motor control device - Google Patents

Description

  The present invention relates to an electric motor control device that selects and uses a controller suitable for an object to be controlled.

  In a conventional motor control device, a position diagnosing unit that inputs a position deviation, diagnoses vibration during positioning, overshoot, and servo lock, a position control unit, a speed control unit, and a torque filter unit based on the response diagnosis result The current controller, the speed signal generator, the speed feedforward controller, the gain adjuster for adjusting the torque feedforward compensator, and the cycle of driving the motor again based on the adjusted gain are repeated several times. A tuning end determination unit that automatically tunes the optimum gain and ends the tuning based on a predetermined evaluation function, and automatically adjusts the parameters of each controller.

JP 2003-61377 A

  Conventional motor control devices have a function to automatically adjust the gain of the controller, but in order to control a wide variety of control targets with high performance, it is necessary to select a controller suitable for the control target. However, the controller does not have a function of automatically selecting a controller, and a controller selected and set in advance is used. For this reason, the degree of freedom such as changing the controller is restricted, and it is difficult to obtain a highly accurate control with a high degree of freedom.

  The present invention has been made in order to improve the above-described problems, and the controller used in each control unit constituting the motor control device is automatically switched, selected, and set according to the control target. It is an object of the present invention to provide a motor control device with a high degree of freedom that can control various types of control objects with high performance.

  An electric motor control device according to the present invention includes a command generation unit that generates a position command, a detector that detects a position of a control target including the electric motor and outputs a position detection signal, and a plurality of feedforwards based on a first selection signal. A feedforward control unit that switches and selects one of the controllers, inputs the position command to the selected feedforward controller, and outputs a feedforward signal; and a plurality of feedback controllers based on the second selection signal A feedback control unit that selects and selects one of the above, inputs the feedforward signal and the position detection signal to the selected feedback controller and outputs a torque command, and performs current control using the torque command as an input. A current control unit for driving the electric motor to operate the control target; and the feedforward controller And and an adjusting device for outputting the selection signal for selecting the feedback controller. Then, the adjustment device inputs a specification input unit for inputting specifications such as the mechanical structure to be controlled and control conditions, and an excitation signal for frequency characteristic identification to the feedback controller. A model identification unit that identifies a characteristic including the frequency characteristic of the controlled object based on the torque command, the position detection signal, and the input specification of the controlled object, and identifies the controlled object model based on the vibration operation And a controller selection unit that outputs the first and second selection signals based on the identified model.

  According to the present invention, the feedforward controller and the adjusting device that outputs a selection signal for selecting the feedback controller according to the specification and characteristics of the control target are provided, so that a controller suitable for the control target can be automatically selected and set. Therefore, it is possible to realize motor control with a high degree of freedom capable of controlling a wide variety of controlled objects with high performance.

Embodiment 1 FIG.
Hereinafter, an electric motor control apparatus according to Embodiment 1 of the present invention will be described.
1 is a block diagram showing an electric motor control apparatus according to Embodiment 1 of the present invention.
As shown in FIG. 1, the electric motor control device includes a command generation unit 1, a main control device 15, a control device 18 including an adjustment device 19 that performs controller selection and cane adjustment, and an electric motor 16. The main controller 15 includes a feedforward controller 2, a feedback controller 6, a nonlinear compensator 10, a current controller 14, and an excitation signal generator 24. The adjustment device 19 includes a specification input unit 20, It comprises a model identification unit 21, a controller selection unit 22, and a cane adjustment unit 23. The control object 18 is provided with a position detector 17 as a detector.

First, the configuration and operation of the main controller 15 will be described.
A position command is input from the command generator 1 to the feedforward controller 2. The feedforward control unit 2 includes a plurality of (in this case, three) feedforward controllers 4 a to 4 c, a feedforward controller input changeover switch 3, and a feedforward controller output changeover switch 5. By the selection signal from the selection unit 22, for example, the input and output are switched to the selected feedforward controller 4a. The position command input to the feedforward controller 2 is input to the feedforward controller 4a. The feedforward controller 4a receives a feedforward position command, a feedforward speed command, and a feedforward torque command as a feedforward signal. Calculated and output to the feedback control unit 6.

  The feedback controller 6 includes a plurality (six in this case) of feedback controllers 8 a to 8 f, a feedback controller input changeover switch 7, and a feedback controller output changeover switch 9, from the controller selection unit 22 in the adjustment device 19. In response to the selection signal, for example, input and output are switched to the selected feedback controller 8b. The feedback control unit 6 includes a feedforward position command, a feedforward speed command, and a feedforward torque command output from the feedforward control unit 2, a nonlinear compensation torque output from the nonlinear compensation unit 10, and an output from the position detector 17. The position detection signal and the vibration signal output from the vibration signal generator 24 are input. These signals input to the feedback control unit 6 are input to the feedback controller 8b, and a compensated torque command is calculated and output to the current control unit 14 in the feedback controller 8b.

  The nonlinear compensator 10 includes a plurality (three in this case) of nonlinear compensators 12 a to 12 c, a nonlinear compensator input changeover switch 11, and a nonlinear compensator output changeover switch 13, and includes a controller selection unit 22 in the adjustment device 19. For example, the input and output are switched to the selected non-linear compensator 12b. In some cases, the selection signal may be switched to a state where the nonlinear compensators 12a to 12c are not connected. The non-linear compensator 10 receives an external compensation torque given from the command generator 1, a feedforward position command outputted from the feedforward controller 2, and a position detection signal outputted from the position detector 17. These signals input to the nonlinear compensator 10 are input to the nonlinear compensator 12b. The nonlinear compensator 12b calculates a nonlinear compensation torque and outputs it to the feedback controller 6.

The current controller 14 receives the compensated torque command output from the feedback control unit 6 and drives the motor 16 based on the compensated torque command to operate the control target 18 including the motor 16. Then, a position detection signal from the detector 17 provided in the control target 18 is output to the feedback control unit 6 and the nonlinear compensation unit 10.
In the feedforward control unit 2, the feedback control unit 6, and the nonlinear compensation unit 10, first, for example, the feedforward controller 4a, the feedback controller 8a, and the nonlinear compensator 12a are initially set and operated, and the adjustment device 19 Then, switching to a desired device is performed by a selection signal determined using model identification described later.

Next, the configuration and operation of the adjusting device 19 will be described.
In the specification input unit 20, a specification including all or part of the control purpose, the mechanical structure, the transmission mechanism, the constraint condition, and the detector of the control target 18 is input. FIG. 2 shows the configuration of the specification input unit 20. The control purpose is selected and input from positioning given only the start point and end point, trajectory control that always needs to follow the command value, speed control that keeps the speed of the belt conveyor or printing machine constant, and others. The mechanical structure is selected from a linear motion such as an XY table, a link mechanism such as a robot, a belt conveyor, a drum such as a printing machine, and others. For the transmission mechanism, one or more of ball screws, gears, belts, directs such as linear motors and direct drive motors, and the like are selected. The detector is selected only from the load side encoder, linear scale, pressure sensor, and motor. For the constraint conditions, the maximum acceleration, maximum speed, allowable error, and allowable overshoot amount are input as numerical values.

  In the model identification unit 21, a command signal for designating an excitation frequency range and amplitude is output to the excitation signal generation unit 24 in the main controller 15, and the excitation signal is output from the excitation signal generation unit 24 to the feedback control unit 6. give. Thus, the compensated torque command output from the feedback control unit 6 and the position detection signal output from the position detector 17 during the vibration operation are input to the model identification unit 21, and the model identification unit 21 controls the frequency of the control target 18. The characteristic is calculated, and the calculated frequency characteristic is applied to the closest reference model of rigid body, two inertia, or three inertia. Further, the model identification unit 21 causes the command generation unit 1 to generate a position command in a typical operation based on the input specification, and operates the main controller 15, and the compensated torque command and the position detection signal at that time are Entered. Inertia is calculated from the compensated torque command and position detection signal during high acceleration motion, and disturbance characteristics are calculated from the compensated torque command and position detection signal during low acceleration motion. As described above, the model identification unit 21 identifies a model of the control target 18 including specifications, frequency characteristics, reference models, inertia, and disturbance characteristics.

For the command of the vibration signal and the calculation of the frequency characteristic by the model identification unit 21, first, the vibration is specified by specifying a small amplitude in a wide frequency range, and the correlation between the speed calculated from the position detection signal and the compensated torque command The value is calculated and the frequency characteristic is identified by gradually increasing the amplitude until the correlation value becomes sufficiently large. Next, based on the identification result in a wide frequency range, a narrow frequency range in the vicinity of the resonance frequency and the anti-resonance frequency is designated, and the frequency characteristics are identified again with an excitation signal having a sufficient amplitude with high resolution. In this way, the identification operation is repeated to accurately identify the resonance frequency and the anti-resonance frequency.
When the control target 18 is an XY table or a link mechanism, the frequency characteristics are identified by changing the position of the XY table and the posture of the link mechanism in several ways, and the amount of variation due to the position and posture is measured. In addition, when the load fluctuates due to the mounting of a workpiece or the like, the frequency characteristics are identified in a state where the workpiece is mounted and in a state where the workpiece is not mounted, thereby grasping the variation amount.

The frequency characteristic identified by the model identification unit 21 is transferred to the controller selection unit 22 and also to the command generation unit 1, and the command generation unit 1 adjusts the acceleration / deceleration time based on the model frequency characteristic. Also, by adjusting the number of stages of the moving average filter, a speed command pattern that does not include the resonance frequency of the controlled object 18 is generated, converted into a position command, and output.
The controller selection unit 22 receives the specifications, frequency characteristics, reference model, inertia, and disturbance characteristics output from the model identification unit 21, and based on them, feedforward controllers 4a to 4c, feedback controllers 8a to 8f, And a selection signal for selecting each of the nonlinear compensators 12a to 12c.

  In the gain adjustment unit 23, the feedforward controllers 4a to 4c, the feedback controllers 8a to 8f, the nonlinear compensators 12a to 12c, and the current controller that are selected based on the selection signal output from the controller selection unit 22 The gain of the torque filter included in is adjusted. In this gain adjustment, first, an initial gain is set based on specifications, frequency characteristics, reference models, inertia, and disturbance characteristics. Next, a control operation using the initial gain is executed, and the compensated torque command output from the feedback control unit 6 and the position detection signal output from the position detector 17 are input to the gain adjustment unit 23 to confirm the operation. Do. If unacceptable overshoot or vibration is recognized, the gain is adjusted by repeating the gain change and operation check to set the final gain.

Next, details of the feedforward control unit 2 in the main controller 15 will be described.
The feedforward control unit 2 selects one of the feedforward controllers 4 a to 4 c according to a selection signal from the control unit selection unit 22 in the adjustment device 19. This selection is a reference output from the model identification unit 21. Depending on the model, the feedforward controllers 4a to 4c for the rigid body, the two-inertia, and the three-inertia model are selected. FIG. 3 is a block diagram illustrating details of the feedforward control unit 2. Note that s represents a Laplace operator.
The feedforward controller 4a is a rigid body model feedforward controller, and a position feedforward command θr and a position feedforward command θr obtained by passing a position command through a fourth-order low-pass filter including a target response frequency ω ₀ The differentiated speed feedforward command ωr and the speed feedforward command ωr differentiated and multiplied by the model inertia Jm identified from the controlled object 18 are used as the torque feedforward command τr, and the feedforward signal (position feedforward command θr , Speed feed forward command ωr, torque feed forward command τr).

Feedforward controller 4b is a feedforward controller for two-inertia model, and fourth-order low-pass filter including a target response frequency omega ₀ a position command, the anti-resonance frequency ωz of the identified model, the viscosity coefficient c position feedforward command θr what passed through the secondary filter containing the position feedforward command θr velocity feedforward command ωr the a differentiated, and fourth-order low-pass filter including a target response frequency omega ₀ a position command, identified A feedforward signal is output as a torque feedforward command τr, which is obtained by second-order differentiation of the model passed through the secondary filter including the resonance frequency ωp and the viscosity coefficient c and multiplied by the model inertia Jm.
The feedforward controller 4c is a feedforward controller for a three-inertia model, and includes a 6th order filter including a position command as a target response frequency ω ₀ , a model resonance frequency ωp ₂ , a viscosity coefficient c ₂ , and an anti-model response. Resonance frequency ωz, passed through secondary filter including viscosity coefficient c, position feedforward command θr, differentiated position feedforward command θr, velocity feedforward command ωr, target response frequency ω ₀ , model resonance frequency What passed through the 6th order filter including ωp ₂ and the viscosity coefficient c ₂ and the second order filter including the resonance frequency ωp and the viscosity coefficient c of the other model and multiplied by the model inertia Jm Is output as a torque feedforward command τr.

Next, details of the feedback control unit 6 in the main controller 15 will be described.
The feedback control unit 6 selects one feedback controller 8a to 8f based on a selection signal from the control unit selection unit 22 in the adjustment device 19. The feedback controller 6 includes feedback controllers 8a, 8b, and 8c when the detector (position detector 17) is only a motor encoder, and the detector is a motor encoder and a detector such as a load-side linear scale. The case feedback controllers 8d, 8e, 8f are provided.

FIG. 4 is a block diagram illustrating details of the feedback control unit 6. When the detector is only a motor encoder and a disturbance other than gravity and friction is applied, the feedback controller 8b having a disturbance suppressing function is selected. When the detector is only a motor encoder and the model can be approximated to two inertias, and the model resonance frequency and the model anti-resonance frequency are at a certain ratio, the feedback controller 8c including the disturbance observer is selected. The Otherwise, if the detector is only a motor encoder, the feedback controller 8a is selected.
When there is a detector on the load side and there is only one mechanical resonance between the motor 16 and the load, the feedback controller 8f that performs state feedback is selected. When there are a plurality of mechanical resonances between the motor 16 and the load, the feedback controller 8e uses the motor side position detection value passed through the high pass filter and the load side position detection value passed through the low pass filter for position feedback. Is selected. In addition, when there is a detector on the load side, the feedback controller 8d is selected.

The control calculation in the feedback controller 8a will be described below.
A speed command is generated by adding a position proportional gain Kp to a value obtained by subtracting the motor side position detection value θm from the position feedforward command θr. A speed error signal is generated by adding the speed feedforward command ωr to the speed feedforward gain FFv and adding the differential value of the motor side position detection value θm to the speed command. The torque command is calculated by adding the speed error gain Kv integrated to the speed error signal and the speed error signal integrated value adding the speed proportional gain Kv and the speed integral gain Ki. The torque command obtained by adding the torque feedforward command τr and the nonlinear compensation torque τc output from the nonlinear compensation unit 10 is output as the compensated torque command τ *.

The feedback controller 8b is obtained by changing the torque command calculation of the feedback controller 8a. A low-pass filter with a time constant ωd is added to the sum of the speed error signal integrated with the speed proportional gain Kv and the integrated value of the speed error signal with the speed proportional gain Kv and the speed integral gain Ki integrated. those obtained by adding a material obtained by integrating the second speed proportional gain Kv ₂ to a torque command to that through. Other parts are the same as those of the feedback controller 8a.
The feedback controller 8c is obtained by adding a disturbance observer to the feedback controller 8a. Subtracts those from compensated torque command tau * by integrating the electric motor side inertia J _M in second order differential value of the motor-side position detection value .theta.m, the time constant Omegaq, through a low-pass filter gain Ko calculates the estimated disturbance. A torque command plus a torque feedforward command τr, a nonlinear compensation torque τc, and an estimated disturbance is output as a compensated torque command τ *. Other parts are the same as those of the feedback controller 8a.

The feedback controller 8d generates a speed command by adding a position proportional gain Kp to a value obtained by subtracting the load-side position detection value θl from the position feedforward command θr. A speed error signal is generated by adding the speed feedforward command ωr to the speed feedforward gain FFv and adding the differential value of the motor side position detection value θm to the speed command. Other parts are the same as those of the feedback controller 8a.
From the position feedforward command θr, the feedback controller 8e is configured such that the load side position detection value θl is passed through a low-pass filter with a time constant ωL and the motor side position detection value θm is passed through a high-pass filter with a time constant ωL. A speed command is generated by adding the position proportional gain Kp to the value obtained by subtracting the added value. Other parts are the same as those of the feedback controller 8a.
The feedback controller 8f calculates the twist amount by subtracting the motor side position detection value θm from the load side position detection value θl. The sum of the twist position gain Ksp and the twist value derivative plus the twist speed gain Ksv added to the twist amount, the speed proportional gain Kv added to the speed error signal, and the speed The torque command is calculated by adding the integrated value of the error signal to the sum of the speed proportional gain Kv and the speed integral gain Ki. Other parts are the same as those of the feedback controller 8a.

Next, details of the nonlinear compensator 10 in the main controller 15 will be described.
Based on a selection signal from the control unit selection unit 22 in the adjustment device 19, the nonlinear compensation unit 10 selects one nonlinear compensator 12a to 12c or a state in which nothing is connected.
The non-linear compensator 10 includes a non-linear compensator 12a for friction compensation, a non-linear compensator 12b for gravity compensation, and a non-linear compensator 12c for external input. Based on the identification result of the disturbance characteristic of the controlled object 18, the nonlinear compensator 12 a is selected when the friction whose sign changes according to the moving direction of the electric motor 16 is acting. Further, when the gravity acts, the nonlinear compensator 12b is selected. When the inertia varies due to the mounting / non-mounting of the workpiece, or when the inertia varies depending on the state of the link mechanism, and the external compensation torque is applied from the command generator 1, the nonlinear compensator 12c is selected. If there is no disturbance, disconnect is selected.

FIG. 5 is a block diagram illustrating details of the nonlinear compensation unit 10.
The non-linear compensator 12a receives the position feedforward command θr or the motor side position detection value θm as the position signal θ, and determines the sign of the differential value of the position signal θ by the code determination function sign (·). The friction compensation gain frc is added to the sign signal of 1 or −1 and output as a nonlinear compensation torque τc. The sign discrimination function sign (•) outputs 0 when the initial output is 0 and the input is positive, -1 when the input is negative, and the same value as before when the input is 0 Function.
The nonlinear compensator 12b always outputs a constant gravity compensation torque Grv as the nonlinear compensation torque τc.
The nonlinear compensator 12c outputs the external compensation torque τo input from the outside as it is as the nonlinear compensation torque τc.

As described above, in this embodiment, the control device 2 automatically selects the structures of the feedforward controllers 4a to 4c, the feedback controllers 8a to 8f, and the nonlinear compensators 12a to 12c by the adjusting device 19. , 6, and 10 can be automatically switched and set according to the control object 18, and motor control with a high degree of freedom that can control a wide variety of control objects 18 with high performance. realizable.
Further, since a part of the specification input unit 20 is a selective input, the specification information related to the control target 18 can be input with a simple operation, and the operability is good and automation can be promoted.
Further, the model identification unit 21 increases the amplitude while confirming the degree of correlation between the speed calculated from the position detection signal and the compensated torque command, and repeatedly performs a high-resolution model identification operation with a limited measurement frequency band. Therefore, the frequency characteristic of the controlled object 18 can be identified with high accuracy.
Moreover, since the frequency characteristic identified by the model identification unit 21 is transferred to the command generation unit 1 and a command is generated based on the frequency characteristic identified by the command generation unit 1, it is possible to suppress the vibration of the controlled object 18. The control object 18 can be operated at high speed and high accuracy.

Furthermore, since the adjustment device 19 automatically adjusts the gains used in the controllers and current controllers 14 used in the control units 2, 6, and 10, the controller selection and the gain used in each controller are adjusted. Both adjustments can be set automatically, and motor control with a high degree of freedom and a high degree of freedom can be obtained with further automation.
Furthermore, since the gain adjustment unit 23 performs the fine adjustment of the gain while checking the operation after setting the initial value of the control system gain based on the identified model, an error is included in the identified model. Even in this case, an appropriate gain can be set.

  The above embodiment can also be applied to a current control device that does not include the nonlinear compensation unit 10. In this case, when there is no disturbance and the disturbance is not considered in the control by the feedback control unit 6, the model identification unit 21 It is not necessary to identify the disturbance characteristics of the controlled object 18.

Embodiment 2. FIG.
In the first embodiment, each of the feedforward control unit 2, the feedback control unit 6, and the nonlinear compensation unit 10 includes a plurality of device configurations, an input changeover switch, and an output changeover switch. Although the input and output are switched to the selected device by the selection signal from the unit 22, the feedforward control unit 2, the feedback control unit 6, and the nonlinear compensation unit 10 can select and switch a plurality of parameters, respectively. The same control can be realized by configuring with equipment.
FIG. 6 is a block diagram showing an electric motor control apparatus according to Embodiment 2 of the present invention.
As shown in the figure, in the main controller 15a, the feedforward control unit 2a is composed of a feedforward controller 4d, the feedback control unit 6a is composed of a feedback controller 8g, and the nonlinear compensator 10a is composed of a nonlinear compensator 12d. Constitute. Other parts are the same as those shown in the first embodiment. In this embodiment, the feedforward control unit 2a, the feedback control unit 6a, and the non-linear compensation unit 10a are each configured as one physical circuit configuration by switching between a plurality of parameters (gains). Realize multiple device functions.

FIG. 7 is a block diagram showing the configuration of the feedforward controller 4d. Here, Tp ₂ (= 1 / ωp ₂ ) and Tp (= 1 / ωp) are the resonance periods of the controlled object 18, Tz (= 1 / ωz) is the antiresonant period of the controlled object 18, and c and c ₂ are the viscosity. It is a coefficient. When the control target 18 can be approximated to the rigid body, the feedforward controller 4d by the _{c 2 = 0, Tp = 0} , Tz = 0, c = 0 , the feed-forward 4a shown in the first embodiment Has the same function. When the controlled object 18 can be approximated to two inertias, by setting c ₂ = 0, the feedforward controller 4d has the same function as the feedforward 4b shown in the first embodiment. When the control target 18 can approximate three inertias, the feedforward controller 4d has the same function as the feedforward 4c shown in the first embodiment by appropriately setting all parameters.
As described above, the feedforward controller 4d has the functions of the three feedforward controllers 4a to 4c by switching and selecting a plurality of parameters (gains). This switching is performed by the controller selection in the adjustment device 19. This is performed by a selection signal from the unit 22.

FIG. 8 is a block diagram showing the configuration of the feedback controller 8g. Here, TL (= 1 / ωL) is a time constant of the position detection value filter, and KL is a position detector switching gain. Further, the position proportional gain Kp, the speed proportional gain Kv, the speed integral gain Ki, and the speed feed forward gain FFv are used in common.
In order for the feedback controller 8g to be a controller equivalent to the feedback controller 8a shown in the first embodiment, the position detector switching gain KL = 1, the time constant TL of the position detection value filter is arbitrary, The second speed proportional gain Kv ₂ = 0, the time constant ωd is arbitrary, the disturbance observer gain Ko = 0, the time constant ωq is arbitrary, the torsion position gain Ksp = 0, and the torsional speed gain Ksv = 0.
In order for the feedback controller 8g to be a controller equivalent to the feedback controller 8b shown in the first embodiment, the position detector switching gain KL = 1, the time constant TL of the position detection value filter is arbitrary, disturbance observer gain Ko = 0, the time constant ωq optionally twisted position gain Ksp = 0, sets the speed gain Ksv = 0 twisting, may be set to appropriate values in the second speed proportional gain Kv ₂ and time constant ωd .

In order for the feedback controller 8g to be equivalent to the feedback controller 8c shown in the first embodiment, the position detector switching gain KL = 1, the time constant TL of the position detection value filter is arbitrary, The two-speed proportional gain Kv ₂ = 0, the time constant ωd is arbitrary, the torsion position gain Ksp = 0, the torsional speed gain Ksv = 0, and appropriate values may be set for the disturbance observer gain Ko and the time constant ωq.
In order for the feedback controller 8g to be a controller equivalent to the feedback controller 8d shown in the first embodiment, the position detector switching gain KL = 0, the position detection value filter time constant TL = 0, The second speed proportional gain Kv ₂ = 0, the time constant ωd is arbitrary, the disturbance observer gain Ko = 0, the time constant ωq is arbitrary, the torsion position gain Ksp = 0, and the torsional speed gain Ksv = 0.
In order for the feedback controller 8g to be a controller equivalent to the feedback controller 8e shown in the first embodiment, the position detector switching gain KL = 0, the second speed proportional gain Kv ₂ = 0, and the time constant ωd is arbitrary, disturbance observer gain Ko = 0, time constant ωq is arbitrary, torsional position gain Ksp = 0, torsional speed gain Ksv = 0, and set an appropriate value for the time constant TL of the position detection value filter That's fine.

In order for the feedback controller 8g to be a controller equivalent to the feedback controller 8f shown in the first embodiment, the position detector switching gain KL = 0, the position detection value filter time constant TL = 0, The second speed proportional gain Kv ₂ = 0, the time constant ωd is arbitrary, the disturbance observer gain Ko = 0, the time constant ωq is arbitrarily set, and appropriate values are set for the twist position gain Ksp and the twist speed gain Ksv. .
As described above, the feedback controller 8g has the functions of the six feedback controllers 8a to 8f by switching and selecting a plurality of parameters (gains). This switching is performed by the controller selection unit 22 in the adjustment device 19. Is performed by a selection signal from

  FIG. 9 is a block diagram showing the configuration of the nonlinear compensator 12d. Here, Kθ is a gain for switching the position signal for determining the moving direction, and Kτ is a gain for switching the external compensation torque. If no nonlinear compensation is added, Kθ may be set arbitrarily, Kτ = 0, Frc = 0, and Grv = 0.

In order for the non-linear compensator 12d to be a non-linear compensator equivalent to the non-linear compensator 12a shown in the first embodiment, when the signal for moving direction determination is the position feedforward command θr, Kθ = 1. When the signal for determining the moving direction is the motor position detection signal θm, Kθ = 0 is set, other gains are Kτ = 0, Grv = 0, and an appropriate value may be set for Frc.
In order for the nonlinear compensator 12d to be a nonlinear compensator equivalent to the nonlinear compensator 12b shown in the first embodiment, Kθ is arbitrary, Kτ = 0, Frc = 0, and an appropriate value is set for Grv. do it.
In order for the nonlinear compensator 12d to be a nonlinear compensator equivalent to the nonlinear compensator 12c shown in the first embodiment, Kθ may be arbitrarily set, Kτ = 1, Frc = 0, and Grv = 0.
As described above, the nonlinear compensator 12 d has the functions of the three nonlinear compensators 12 a to 12 c by switching and selecting a plurality of parameters (gains). This switching is performed by the controller selection unit 22 in the adjustment device 19. Is performed by a selection signal from

  As described above, the feedforward control unit 2a, the feedback control unit 6a, and the nonlinear compensation unit 10a are configured by one device that can switch and select a plurality of parameters, respectively, thereby realizing the same control as in the first embodiment. The same effects as those of the first embodiment can be obtained, and the apparatus configuration is simplified. In addition, an arithmetic processing unit (not shown) in the motor control device can reduce the memory capacity.

It is a block diagram which shows the structure of the electric motor control apparatus by Embodiment 1 of this invention. It is a figure which shows the structure of the specification input part by Embodiment 1 of this invention. It is a block diagram which shows the structure of the feedforward control part by Embodiment 1 of this invention. It is a block diagram which shows the structure of the feedback control part by Embodiment 1 of this invention. It is a block diagram which shows the structure of the nonlinear compensation part by Embodiment 1 of this invention. It is a block diagram which shows the structure of the electric motor control apparatus by Embodiment 2 of this invention. It is a block diagram which shows the structure of the feedforward controller by Embodiment 2 of this invention. It is a block diagram which shows the structure of the feedback controller by Embodiment 2 of this invention. It is a block diagram which shows the structure of the nonlinear compensator by Embodiment 2 of this invention.

Explanation of symbols

1 command generation unit, 2, 2a feedforward control unit,
4a to 4d feedforward controller, 6, 6a feedback control unit,
8a to 8g feedback controller, 10, 10a nonlinear compensation unit,
12a to 12d nonlinear compensator, 3, 7, 11 input selector switch,
5, 9, 13 Output selector switch, 14 Current control unit, 15, 15a Main control device,
16 motors, 17 detectors, 18 controlled objects, 19 adjusting devices, 20 specification input units,
21 Model identification unit, 22 Controller selection unit, 23 Gain selection unit,
24 Excitation signal generator.

Claims (8)

A command generation unit that generates a position command, a detector that detects the position of a control target including an electric motor and outputs a position detection signal, and one of a plurality of feedforward controllers is switched by a first selection signal A feedforward control unit that inputs the position command to the selected feedforward controller and outputs a feedforward signal, and selects one of a plurality of feedback controllers by a second selection signal. A feedback control unit that inputs the feedforward signal and the position detection signal to the selected feedback controller and outputs a torque command; and a current control that receives the torque command as an input to drive the motor to control the control target A current control unit for operating the feed forward controller and the feedback controller. An adjusting device that outputs the selection signal to be selected, the adjusting device inputting a specification such as a mechanical structure to be controlled, a control condition, and the like, and an excitation signal for frequency characteristic identification as the feedback Based on the vibration signal, the torque command at the time of the vibration operation, the position detection signal, and the input specification of the control target, the characteristics including the frequency characteristics of the control target are identified. An electric motor control apparatus comprising: a model identification unit that identifies the model to be controlled; and a controller selection unit that outputs the first and second selection signals based on the identified model. . One of a plurality of nonlinear compensators is switched and selected by the third selection signal, and one or more of the given external compensation torque, the feedforward signal and the position detection signal are selected. A non-linear compensator that inputs to the non-linear compensator and outputs a non-linear compensation torque to the feedback control unit; and the model identification unit identifies a disturbance characteristic together with the frequency characteristic of the controlled object to identify the model, and the controller The motor control apparatus according to claim 1, wherein the selection unit outputs the third selection signal together with the first and second selection signals based on the model. The plurality of feedforward controllers, the plurality of feedback controllers, or the plurality of nonlinear compensators are each configured by one device that can switch and select a plurality of parameters, and the parameters are switched by the selection signals. 3. The motor control device according to claim 1, wherein switching selection of the plurality of feedforward controllers, the plurality of feedback controllers, or the plurality of nonlinear compensators is performed. The feedforward controller selected based on one or more of the model of the controlled object identified by the model identifying unit, the specification of the controlled object, the torque command, and the position detection signal, The motor control device according to any one of claims 1 to 3, further comprising a gain adjustment unit that adjusts a gain used in one or more of the feedback controller, the nonlinear compensator, and the current control unit. . The gain adjustment unit calculates an initial gain based on the model identified by the model identification unit and the input specification of the control target, and the torque command and the position by control using the calculated gain 5. The motor control apparatus according to claim 4, wherein gain adjustment used in each of the controllers (or control units) is determined by repeating gain adjustment for recalculating the gain based on a detection signal. The motor control device according to claim 1, wherein the specification input unit includes means for selecting and inputting the specification of the control target to be input from options prepared in advance. The model identification unit initially identifies the frequency characteristics of the control target by gradually increasing the amplitude from a small amplitude in a wide frequency band and inputting the excitation signal for frequency identification to the feedback controller. Narrow the frequency band to include the resonance frequency and anti-resonance frequency by the obtained frequency characteristic, repeat the identification operation to input the excitation signal to the feedback controller with high resolution and identify the frequency characteristic again The motor control device according to claim 1, wherein a frequency characteristic serving as the model is identified. The motor control device according to claim 1, wherein the command generation unit inputs the model identified by the model identification unit, and generates the position command based on the model. .

Images