Position control apparatus for motor
First Claim
1. An electric motor position control apparatus comprising:
- a position/speed calculation section for calculating speed of an electric motor from a detection position of said electric motor or for calculating a position of said electric motor from a detection speed of said electric motor, a position control section for making said detection position follow a position command value, a speed control section for making said detection speed follow a speed command value depending on the output of said position control section;
an electric motor drive section for driving said electric motor on the basis of a torque command value depending on the output of said speed control section, and a control parameter adjustment section having a plurality of sets of control parameters including at least the proportional gain of said position control section and the proportional gain of said speed control section, wherein set selection and the measurement operation of the response state of said electric motor to a position command at the time when said electric motor is controlled by using the control parameters of the selected set are carried out sequentially, and the control parameters of one set are set depending on the result of the measured response.
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Accused Products
Abstract
An electric motor position control apparatus in accordance with the present invention has a plurality of sets of control parameters including at least the proportional gain of a position control section and the proportional gain of a speed control section beforehand, wherein set selection and the measurement of the response state of an electric motor to a position command at the time when the electric motor is controlled by using the control parameters of the selected set are carried out sequentially, one preferable set is selected depending on the measured response state, the control parameters of the selected set are set, and the control parameters are changed as a set.
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Citations
33 Claims
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1. An electric motor position control apparatus comprising:
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a position/speed calculation section for calculating speed of an electric motor from a detection position of said electric motor or for calculating a position of said electric motor from a detection speed of said electric motor, a position control section for making said detection position follow a position command value, a speed control section for making said detection speed follow a speed command value depending on the output of said position control section;
an electric motor drive section for driving said electric motor on the basis of a torque command value depending on the output of said speed control section, and a control parameter adjustment section having a plurality of sets of control parameters including at least the proportional gain of said position control section and the proportional gain of said speed control section, wherein set selection and the measurement operation of the response state of said electric motor to a position command at the time when said electric motor is controlled by using the control parameters of the selected set are carried out sequentially, and the control parameters of one set are set depending on the result of the measured response. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 18, 19, 20, 21, 23, 25, 27, 29, 31)
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12. An electric motor position control apparatus comprising:
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a position/speed calculation section for calculating speed of an electric motor from a detection position of said electric motor or for calculating a position of said electric motor from a detection speed of said electric motor, a position control section for making said detection position follow a position command value, a speed control section for making said detection speed follow a speed command value depending on the output of said position control section;
an electric motor drive section for driving said electric motor on the basis of a torque command value depending on the output of said speed control section, and a control parameter adjustment section having a plurality of sets of control parameters including at least the proportional gain of said position control section and the proportional gain of said speed control section, wherein said control parameter adjustment section is configured so that;
when set selection and the measurement operation of the response state of said electric motor by controlling said electric motor by using the control parameters of the selected set are carried out sequentially, among the detection of a vibration component having a predetermined frequency or more and included in the detection position or the detection speed of said electric motor, the detection of a vibration component having a predetermined frequency or more and included in a torque command input to said electric motor drive section and the detection of the error between the position command value and the detection position after the end of the position command, the measurement operation including at least one vibration component detection is carried out sequentially; and
in the measured response result,(1) condition (1) wherein the period in which the amplitude of said vibration component has said first predetermined value or more is less than said first predetermined time, in the period from the start of a position command to the start of the next command;
(2) condition (2) wherein the period in which the amplitude of said vibration component has said first predetermined value or more is less than a second predetermined time shorter than said first predetermined time, in the period from the start of a position command to the start of the next command; and
(3) condition (3) wherein the number of times the error between the position command value and the detection position intersects a preset positioning tolerance is less than a predetermined first number of times, in the period from the end time of a position command to the start of the next command;
one of sets satisfying one or more of said three conditions, including at least the condition (1), is selected;
when it is detected that the period in which the amplitude of said vibration component has said first predetermined value or more is said first predetermined time or more, in the period from the start of a position command to the start of the next command, while said electric motor is controlled a third predetermined number of times from the time when the control parameters of the selected set are set, among the sets satisfying one or more of said three conditions, including at least the condition (1) and excluding the present set, a set having the highest proportional gain of said speed control section is selected newly, and the control parameters of the newly selected set are set. - View Dependent Claims (22, 24, 26, 28, 30, 32)
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13. An electric motor position control apparatus comprising:
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a position/speed calculation section for calculating speed of an electric motor from a detection position of said electric motor or for calculating a position of said electric motor from a detection speed of said electric motor, a position control section for making said detection position follow a position command value, a speed control section for making said detection speed follow a speed command value depending on the output of said position control section;
an electric motor drive section for driving said electric motor on the basis of a torque command value depending on the output of said speed control section, and a control parameter adjustment section having a plurality of sets of control parameters including at least the proportional gain of said position control section and the proportional gain of said speed control section, wherein said control parameter adjustment section is configured so that;
when set selection and the measurement operation of the response state of said electric motor by controlling said electric motor by using the control parameters of the selected set are carried out sequentially, among the detection of a vibration component having a predetermined frequency or more and included in the detection position or the detection speed of said electric motor, the detection of a vibration component having a predetermined frequency or more and included in a torque command input to said electric motor drive section and the detection of the error between the position command value and the detection position after the end of the position command, the measurement operation including at least one vibration component detection is carried out sequentially; and
in the measured response result,(1) condition (1) wherein the period in which the amplitude of said vibration component has said first predetermined value or more is less than the first predetermined time, in the period from the start of a position command to the start of the next command;
(2) condition (2) wherein the period in which the amplitude of said vibration component has said first predetermined value or more is less than a second predetermined time shorter than said first predetermined time, in the period from the start of a position command to the start of the next command; and
(3) condition (3) wherein the number of times the error between the position command value and the detection position intersects a preset positioning tolerance is less than a predetermined first number of times, in the period from the end time of a position command to the start of the next command;
one of sets satisfying one or more of said three conditions, including at least the condition (1), is selected, and the control parameters of the selected set are set, next, at least the proportional gain of said speed control section among the control parameters having been set at present is fixed, and the remaining control parameters are changed, whereby the parameters other than the fixed parameter are set depending on the response state of said electric motor to the position command at the time when said electric motor is controlled. - View Dependent Claims (14, 15, 16)
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17. An electric motor position control apparatus comprising:
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a position/speed calculation section for calculating speed of an electric motor from a detection position of said electric motor or for calculating a position of said electric motor from a detection speed of said electric motor, a position control section for making said detection position follow a position command value, a speed control section for making said detection speed follow a speed command value depending on the output of said position control section;
an electric motor drive section for driving said electric motor on the basis of a torque command value depending on the output of said speed control section, and a control parameter adjustment section wherein a target value of a time until the error between said detection position and said position command value enters a preset positioning tolerance after the end of said position command is set externally, wherein said control parameter adjustment section is configured so that, in set selection and the measurement operation of the response state of said electric motor by using the control parameters of the selected set, when the time until the error between said detection position and said position command value enters said positioning tolerance after the end of said position command becomes not more than said target value having been set externally, the set selection is stopped, and the control parameters at that time are set.
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33. An electric motor position control apparatus comprising:
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a position/speed calculation section for calculating the speed of an electric motor from the detection position of said electric motor or for calculating the position of said electric motor from the detection speed of said electric motor, a position control section for making said detection position follow a position command value, a speed control section for making said detection speed follow a speed command value depending on the output of said position control section;
an electric motor drive section for driving said electric motor on the basis of a torque command value depending on the output of said speed control section, an inertia estimation section for estimating the total inertia of said electric motor and a load driven by said electric motor on the basis of the acceleration calculated from said detection speed and said torque command value, an inertia estimation temporary-stop judgment section for stopping the inertia estimation/calculation of said inertia estimation section for a predetermined time since when it is detected that the amplitude of a vibration component having a predetermined frequency or more and included in the detection position or the detection speed of said electric motor or the amplitude of a vibration component having a predetermined frequency or more and included in the torque command to be input to the electric motor drive section has a predetermined value or more, and a control parameter adjustment section having a plurality of sets of control parameters including at least the proportional gain of said position control section and the proportional gain of said speed control section, wherein a set is selected and the response state of said electric motor to a position command at the time when said electric motor is controlled by using the control parameters of the selected set, and the control parameters of one set are set depending on this response state.
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Specification