MOTOR CONTROL DEVICE

• US 20160327932A1
• Filed: 11/26/2014
• Published: 11/10/2016
• Est. Priority Date: 01/23/2014
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: SHINOHARA, Nobuhiro, SEKIGUCHI, Hiroyuki, IKEDA, Hidetoshi, FUJITA, Tomoya, NAGAOKA, Kotaro
• Granted Patent: US 9,772,619 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G05B 11/01 electric
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/41095 References, calibration positions to adapt gain of servo
• CPC Class Codes: H02P 5/46 for speed regulation of two or more dynamo-electric motors in relation to one another

Abstract

A motor control device includes: an X-axis detector; a Y-axis detector; a trajectory command generator that outputs a first position command and a second position command; an X-axis response correction unit that outputs a corrected position command; an X-axis position control unit that generates a first torque command; a Y-axis position control unit that generates a second torque command; a Y-axis measuring instrument that detects second machine end displacement; a Y-axis zero-point estimation unit that extracts characteristics of a zero point of a transfer function on the basis of the second torque command and the machine end displacement or on the basis of the second position command and the machine end displacement; and a response-correction-parameter determination unit that sets a response correction filter by using the characteristics of the zero point.

Claims

1. A motor control device that controls a first motor coupled to a first load machine in a first control target and that controls a second motor coupled to a second load machine in a second control target, the motor control device comprising:

a first detector to detect a position of the first motor;

a second detector to detect a position of the second motor;

a trajectory command generator to output a first position command that is a position command for the first control target and a second position command that is a position command for the second control target;

a first response corrector to carry out a calculation to apply a first response correction filter to the first position command from the trajectory command generator so as to output a corrected first position command;

a first position controller to receive the corrected first position command from the first response corrector and a position detected by the first detector so as to generate a first torque command such that the position detected by the first detector matches the corrected first position command;

a second position controller to receive the second position command from the trajectory command generator and a position detected by the second detector so as to generate a second torque command such that the position detected by the second detector matches the second position command;

a measuring instrument of the second load machine that detects machine end displacement of the second load machine in the second control target;

a zero-point estimator of the second control target that extracts information of a polynomial expression of a transfer function representing characteristics of a zero point of a transfer function from the second torque command to the machine end displacement of the second load machine, as characteristics of the zero point of the second control target, on the basis of the second torque command and the machine end displacement of the second control target detected by the measuring instrument of the second load machine or on the basis of the second position command and the machine end displacement of the second control target detected by the measuring instrument of the second load machine; and

a response-correction-parameter determiner to set the first response correction filter of the first response corrector by using the information of the polynomial expression of the transfer function representing the characteristics of the zero point of the second control target extracted by the zero-point estimator of the second control target, wherein

the first torque command generated by the first position control unit is input to the first motor, and

the second torque command generated by the second position control unit is input to the second motor.

2. The motor control device according to claim 1, further comprising:

a second response corrector

to carry out a calculation to apply a second response correction filter to the second position command and

to output a corrected second position command to the second-position control unit;

a measuring instrument of the first load machine that detects machine-end displacement of the first load machine in the first control target; and

a zero-point estimator of the first control target

to extract information of a polynomial expression of a transfer function representing characteristics of a zero point of a transfer function from the first torque command to the machine-end displacement of the first control target, as characteristics of the zero point of the first control target, on the basis of the first torque command and the first machine-end displacement of the first load machine detected by the measuring instrument of the first load machine or on the basis of the first position command and the first machine-end displacement of the first load machine detected by the measuring instrument of the first load machine, wherein

the response-correction-parameter determiner sets the second response-correction filter of the second response corrector by using the information of the polynomial expression of the transfer function representing the characteristics of the zero point of the first control target extracted by the zero-point estimator of the first control target.

3. The motor control device according to claim 2, further comprising:

a first-axis excitation-signal generator to generate a first excitation signal to be applied to the first torque command for system identification; and

a second-axis excitation-signal generator to generate a second excitation signal to be applied to the second torque command for system identification, wherein

the zero-point estimator of the first control target identifies a transfer function from the first excitation signal to the first machine end displacement by an input signal on the basis of the first excitation signal generated by the first-axis excitation-signal generator and on the basis of the machine end displacement of the first load machine so as to extract the information of the polynomial expression of the transfer function representing characteristics of the zero point of the first control target, and

the zero-point estimator of the second control target identifies a transfer function from the second excitation signal to the machine end displacement of the second load machine on the basis of an input signal on the basis of the second excitation signal generated by the second-axis excitation-signal generator and on the basis of the machine end displacement of the second load machine so as to extract the information of the polynomial expression of the transfer function representing the characteristics of the zero point of the second control target.

4. The motor control device according to claim 3, further comprising:

a first machine-characteristics analyzer to obtain first frequency characteristics of the first control target on the basis of the input signal on the basis of the first excitation signal and on the basis of the machine end displacement of the first load machine;

a second machine-characteristics analyzer to obtain second frequency characteristics of the second control target on the basis of the input signal on the basis of the second excitation signal and on the basis of the machine end displacement of the second load machine; and

an automatic-adjustment determiner

to search for presence of antiresonant characteristics of the first control target and the second control target respectively on the basis of the first frequency characteristics obtained by the first machine-characteristics analyzer and the second frequency characteristics obtained by the second machine-characteristics analyzer, and

to determine whether to operate the zero-point estimator of the first control target and the zero-point estimator of the second control target, wherein

at a time of setting the first response-correction filter and the second response-correction filter,

when the automatic-adjustment determiner operates the zero-point estimator of the first control target, the response-correction-parameter determiner sets the second response-correction filter also by using the antiresonant characteristics of the first control target, and

when the automatic-adjustment determiner operates the second-axis zero-point estimator, the response-correction-parameter determiner sets the first response-correction filter also by using the antiresonant characteristics of the second control target.

5. A motor control device that controls a first motor coupled to a first load machine in a first control target and that controls a second motor coupled to a second load machine in a second control target, the motor control device comprising:

a first detector to detect a position of the first motor;

a second detector to detect a position of the second motor;

a trajectory command generator to output a first position command that is a position command for the first control target and a second position command that is a position command for the second control target;

a first response corrector to carry out a calculation to apply a first response-correction filter to the first position command from the trajectory command generator so as to output a corrected first position command;

a first position controller to receive the corrected first position command from the first response corrector and the position detected by the first detector so as to generate a first torque command such that the position detected by the first detector matches the corrected first position command;

a second response corrector to carry out a calculation to apply a second response-correction filter to the second position command from the trajectory command generator so as to output a corrected second position command;

a second position controller to receive the corrected second position command from the second response corrector and the position detected by the second detector so as to generate a second torque command such that the position detected by the second detector matches the corrected second position command;

a measuring instrument of the first load machine that detects machine end displacement of the first load machine in the first control target;

a measuring instrument of the second load machine that detects machine end displacement of the second load machine in the second control target;

a frequency-response display unit that displays frequency characteristics on the basis of the first torque command and machine end displacement of the first load machine detected by the measuring instrument of the first load machine or on the basis of the first position command and the first machine end displacement of the first load machine detected by the measuring instrument of the first load machine, and on the basis of the second torque command and the machine end displacement of the second load machine detected by the measuring instrument of the second load machine or on the basis of the second position command and the machine end displacement of the second load machine detected by the measuring instrument of the second load machine;

a first monitor of the frequency-response display unit

to calculate first frequency characteristics from the first torque command to the first machine end displacement of the first load machine on the basis of the first torque command and the first machine end displacement of the first load machine or on the basis of the first position command and the machine end displacement of the first load machine, and

to display the first frequency characteristics and frequency characteristics of a first simplified model in which the first frequency characteristics are expressed simply by a transfer function;

a second monitor of the frequency-response display unit

to calculate second frequency characteristics from the second torque command to the second machine end displacement of the second load machine on the basis of the second torque command and the machine end displacement of the second load machine or on the basis of the second position command and the machine end displacement of the second load machine, and

to display the second frequency characteristics and frequency characteristics of a second simplified model in which the second frequency characteristics are expressed simply by a transfer function;

a user input device of the frequency-response display unit that performs setting change in a graphical form of the frequency characteristics of the first simplified model displayed on the first monitor of the frequency-response display unit and the frequency characteristics of the second simplified model displayed on the second monitor of the frequency-response display unit; and

a response-correction-parameter determiner to set the first response-correction filter of the first-response corrector and the second response-correction filter of the second-response corrector, by using information of the transfer function of the first simplified model acquired by the first monitor of the frequency-response display unit and information of the transfer function of the second simplified model acquired by the second monitor of the frequency-response display unit.

6. The motor control device according to claim 5, further comprising:

a first-axis excitation-signal generator to generate a first excitation signal to be applied to the first torque command for system identification; and

a second-axis excitation-signal generator to generate a second excitation signal to be applied to the second torque command for system identification, wherein

the first monitor

calculates the first frequency characteristics on the basis of the first torque command at a time of application of the first excitation signal by the first-axis excitation-signal generator and on the basis of the first machine end displacement of the first load machine, and

displays the first frequency characteristics and frequency characteristics of the first simplified model in which the first frequency characteristics are expressed simply by a transfer function, and

the second monitor

calculates the second frequency characteristics on the basis of the second torque command at a time of application of the second excitation signal by the second-axis excitation-signal generator and on the basis of the machine end displacement of the second load machine, and

displays the second frequency characteristics and the frequency characteristics of the second simplified model in which the second frequency characteristics are expressed simply by a transfer function.