JP2001346388A - Drive controller for rotating machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the number of registers or memories for dead time, and to reduce the cost of a controller by changing a sampling period when a rotating machine rotates at a high rotational speed, from when it rotates at a low rotational speed. SOLUTION: This is a controller which controls the rotation of the rotating machine, on the basis of the deviation of a measured value of a rotational angle position or rotational speed of the rotating electric machine from its command value, and is provided with a repeat control means 18A which corrects a value for giving the command value, and an adaptation computing means 19A which calculates each parameter value so as to adaptively change each parameter value to be used for processing in the control means 18A. The controller is formed so as to change a computation period for the dead time by the control means 18A by the command value for the rotational speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for a rotary machine (rotary machine) that receives a disturbance synchronized with rotation, and more particularly to a drive control apparatus such as a rotary press and a sheet-fed printing press that receives a disturbance depending on a rotational angle position. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary machine drive control device suitable for performing precise position control in a printing machine.

[0002]

2. Description of the Related Art For example, a rotary press is generally provided with a "rotor".
A large number of cylinders (barrels), also referred to as "cylinders", are provided. In order to operate these cylinders synchronously, it has long been practiced to use a long shaft and gears for mechanical synchronization. On the other hand, in recent years, especially in Europe and the United States, a motor is attached to each cylinder, and a command value of an angular position or a rotation speed called a virtual master signal is given to each motor, and each motor is individually controlled so as to follow the virtual master signal. 2. Description of the Related Art Shaftless rotary presses have been developed which are electrically synchronized by performing position control or speed control.

[0003] One motor of a conventional shaftless rotary press drive control device will be described below with reference to FIG. As shown in FIG. 4, a drive motor 1 is connected to a cylinder 2 via a speed reducer, a coupling, and the like (not shown) to rotate the cylinder 2. The motor 1 has a rotation angle position (hereinafter, also simply referred to as a position) x of a motor shaft.
Is provided, and outputs a measured value x 'of the position x. A block indicated by a dashed line in the figure is a control device (controller) 10E. The control device 10E, the motor 1, and the rotary encoder 3 constitute a semi-closed position control system.

The control unit 10E includes subtracters 11a, 11
b, PID computing units 12 and 14, rotational angular velocity computing unit 13, and torque amplifier 15. This control device 10
In E, a command value of the position x (virtual master signal) x ^*
Is sent from a higher-level general control device (not shown) by communication or the like, and the subtractor 11a subtracts the measured value x ′ of the position x from the position command value x ^* to obtain the position (motor shaft rotation angle position). The control deviation e1 (= x ^* -x ') is calculated.

The control deviation e1 is calculated by the PID calculator 12 as P
The ID calculation is performed, and the result is output as a command value y ^* of the rotational angular velocity. On the other hand, the rotational angular velocity calculator 13 divides the difference between the control values of the measured value x ′ of the rotary encoder 3 in one control cycle and outputs the result as the measured actual rotational angular velocity y ′ of the motor shaft. In the subtractor 11b, the rotational angular velocity command value y
The actual rotational angular velocity measurement value y 'is subtracted from ^*, and the control deviation e2 (= y ^* -y') of the rotational angular velocity is calculated.

The speed control deviation e2 is calculated by the PID calculator 14
Is subjected to PID calculation, and is output as a current command value i ^* of the motor 1. The torque amplifier 5 controls the voltage applied to the winding of the motor 1 so that the motor current becomes equal to the current command value i ^* . As a result, the motor 1 generates a torque corresponding to the motor current and rotationally drives the cylinder 2 via a speed reducer / coupling (not shown).

[0007]

By the way, in a rotary press, a requirement for a position control deviation for maintaining print quality is, for example, ± 0.5 [mrad] in a full speed range of about 200 [rpm] to 1000 [rpm]. It's getting tougher: On the other hand, a mechanism for mounting a plate cylinder and a blanket is incorporated in a plate cylinder and a blanket cylinder of a rotary press, respectively. In such a case, since a plate clamping device for the plate cylinder and a blanket winding device for the blanket cylinder are built in, a part of the cylinder is grooved, and the groove portion is called a gap.

[0008] The rotary press rotates with the plate cylinder and the blanket cylinder in contact with each other, but this gap portion becomes non-contact (non-printing area). For this reason, the motor 1 that drives the cylinder (body) 2 receives a large load torque fluctuation in this gap. Since this load torque fluctuation is caused by the gap, it is a periodic disturbance synchronized with the rotation of the cylinder (body). Even if there is such a large load torque fluctuation, it is necessary to increase the proportional gain of the position control system in order to satisfy the strict control specifications for the control deviation as described above. However, when the eigenvalue of the mechanical system is low, the proportional gain cannot be increased,
For this reason, there is a problem that the specification for the control deviation cannot be sufficiently satisfied.

Therefore, the present applicant has devised a shaftless rotary press drive control device as shown in FIG. FIG. 5 is a block diagram showing one motor, and in FIG. 5, the same reference numerals as in FIG. As shown in FIG. 5, this rotating machine drive control device is different from that of the prior art (see FIG. 4).
It has a configuration in which a repetition controller (repetition control means) 18C, an adaptive operation unit (adaptive operation means) 19C, a differentiator 20, an adder 11d, samplers 22a and 22b, and an encoder input interface 23 are added.

That is, the control device (controller) 10C
Have subtractors 11a and 11b and PID calculators 12 and 1
4. In addition to the rotational angular velocity calculator 13 and the torque amplifier 15, a repetition controller 18, an adaptive calculator 19, a differentiator 20, an adder 11d, samplers 22a and 22b, and an encoder input interface 23 are provided. The control device 10C, the motor 1, and the rotary encoder 3 constitute a semi-closed position control system that drives the cylinder 2 to rotate.

The repetition controller 18 includes a stabilizing compensator (compensating means) 18a, a band-limited dead time element (dead time calculating means) 18b, and an adder 11c. Also, the samplers 22a and 22b are:
Switching is performed every predetermined sampling period Ts, and the continuous amount is converted into a discrete value. In other words, at each sampling period Ts, the sampler 22a sends a command value (virtual master signal) x ^* of the position x as data from a higher-level general control device through communication or the like, and inputs the command value to the differentiator 20 and the subtractor 11a. , The sampler 22b sends the measured value x ′ of the rotary encoder 3 as data via the interface 23 and inputs it to the rotational angular velocity calculator 13 and the subtractor 11a.

In the subtractor 11a, the position command value x
^The position measurement value x 'is subtracted from ^* to obtain the position control deviation e1.
(= X ^* −x ′) is calculated. The control deviation e1 is repeatedly input to the controller 18, added to the output e12 of the band-limited dead time element 18b, and added to e11 (= e
1 + e12) and input to the band-limited dead time element 18b. The output e12 of the band-limited dead time element 18b is input to the stabilization compensator 18a, subjected to arithmetic processing, and output as e13.

The parameter value calculated by the adaptive calculator 19C is used for the processing of the band-limited dead time element 18b and the stabilizing compensator 18a.
In 9C, the differential value calculated by the differentiator 20 is used.
That is, the command value of the position x (virtual master signal) x ^*
Is taken into the differentiator 20, where it is time-differentiated,
This differential value (ie, the speed command value) yt is calculated by the adaptive arithmetic unit 1
9A. The adaptive computing unit 19C then controls the band-limited dead time element 18b according to the speed command value yt.
Is calculated and output using a predetermined function or table using the characteristic parameter value and the parameter value of the stabilizing compensator 18a. An operation is performed using the parameter values output from 19C. Here, the band-limited dead time element 18b is actually realized by connecting the low-pass filter F and the dead time element in series.

The size L of the dead time of the dead time element is a rotation period or a disturbance period itself or a value corrected and calculated as a function thereof. By the way, the dead time element is constituted by a ring buffer or a shift register inside the control device. When the dead time is set to L [sec], the number N of the ring buffer or the shift register becomes L.
/ Ts [pieces]. L becomes large at low speed rotation, but the sampling period T
When s is small, the number N of the shift registers becomes very large. Therefore, there is a problem that the hardware of the control device becomes expensive.

Although a dead time element can be realized by software using a DSP, the amount of high-speed memory must be considerably increased even in this case, and the amount of memory may be insufficient with a standard DSP board. there were. The present invention
It was created in view of the above-mentioned problem. By changing the sampling period between a low rotation speed and a high rotation speed, the number of dead time memories or registers can be reduced, and the cost of the control device can be reduced. It is an object of the present invention to provide a rotating machine drive control device capable of realizing the following.

[0016]

According to a first aspect of the present invention, there is provided a rotating machine drive control device according to the first aspect of the present invention, wherein the rotation of the rotating machine is controlled by a rotation angle position or a rotation speed command value and the rotating machine. A control device for controlling based on a deviation from a measured value of the rotation angle position or the rotation speed of the rotation control device, wherein a repetition control means for correcting a value giving the command value, and a parameter value used for processing in the repetition control means. An adaptive calculating means for calculating the parameter value so as to adaptively change according to the rotation speed of the rotating machine, wherein the cycle of calculating the dead time by the repetition control means is changed by the command value of the rotation speed. It is characterized by.

The repetition control means includes a low-pass filter for performing a filtering process on a value giving the command value, a dead time calculation means for calculating a dead time based on an output value from the low-pass filter, A sampling unit that outputs the dead time calculated by the calculating unit at a set cycle; and a compensating unit that guarantees the dead time output from the sampling unit. The command value is calculated based on an output from the compensating unit. It is preferable to correct the given value.

Further, the adaptive operation means includes a parameter value relating to a cutoff frequency in the low-pass filter, a parameter value relating to the magnitude of the dead time in the dead time calculation means, a sampling period in the sampling means, and processing for the pre-compensation means. Preferably, the parameter values used are calculated so as to be adaptively changed according to the rotation speed of the rotating machine.

Further, the adaptive operation means may calculate the above parameter value based on a command value of the rotation speed of the rotating machine (claim 3), and the above-mentioned parameter value may be calculated based on the actual rotation speed of the rotating machine. May be calculated (claim 4).

[0020]

Embodiments of the present invention will be described below with reference to the drawings. First, a first embodiment of the present invention will be described. FIG. 1 is a block diagram showing a rotary machine drive control device as a first embodiment of the present invention. FIG.
5, the same reference numerals as those in FIG. 5 denote the same parts, and a part of the already described parts will not be described.

As shown in FIG. 1, the rotary machine drive control device according to the present embodiment has substantially the same configuration as that of the technology of the invention process (see FIG. 5) of the present invention. That is, the control device (controller) 10A of the present embodiment includes the subtractor 11a,
11b, PID calculators 12, 14, rotation angular velocity calculator 1
3, in addition to the torque amplifier 15, a repetition controller (repetition control means) 18A, an adaptive operation unit 19A, a differentiator 20, an adder 11d, samplers 22a and 22b, and an encoder input interface 23 are provided. The control device 10A, the motor 1, and the rotary encoder 3 constitute a semi-closed position control system that drives the cylinder 2 to rotate. The repetition controller 18 includes a stabilization compensator (compensation means).
18a, a dead time element (also referred to as dead time calculation means, dead time logic) 18d and an adder 11c.

In the case of the rotating machine drive control device of this embodiment,
The repetition controller 18A and the adaptive operation unit 19A are different from those of the technique of the invention process (see FIG. 5) of the present invention. That is, in the repetition controller (repetition control unit) 18A of the present embodiment, a low-pass filter 18c and a sampler (sampling period is Ts) 22c as a sampling unit are added to those of the above-described technique (see FIG. 5). Time element (dead time calculation means) 18d
Is changed, and when the low-pass filter 18c and the dead time element 18d are combined, the function corresponds to the dead time element 18d of the above-described technique (see FIG. 5). The function of the adaptive arithmetic unit 19A is also changed.

Then, a command value (virtual master signal) x ^* of the position x is sent to the control device 10A from a higher-level general control device (not shown) by communication or the like, and is sent through the sampler 22a for each sampling period Ts. At the subtractor 11a, at each sampling period Ts,
The measured value x 'of the position x is subtracted from the position command value x ^* , and the position control deviation e1 (= x ^* -x') is calculated.

The control deviation e1 is repeatedly input to the controller 18, added to the output e12 of the dead time element 18d to obtain e11 (= e1 + e12), filtered by the low-pass filter 18c to e11d,
The input is input to the dead time element 18d. The output e12h processed by the dead time element 18d is input to the sampler 22c, and is output as e12 to the stabilizing compensator 1.
After being inputted to 8a and subjected to arithmetic processing, it is outputted as e13.

The processing of the dead time element 18d and the stabilizing compensator 18a uses the parameter values calculated by the adaptive computing unit 19A. The adaptive computing unit 19A uses the differential value calculated by the differentiator 20. Used. That is, the command value (virtual master signal) x ^* of the position x is differentiated by the differentiator 20.
, And is differentiated with respect to time. The differentiated value (that is, the command value of the speed) yt is input to the adaptive calculator 19A. The adaptive computing unit 19A uses a predetermined function or table in accordance with the speed command value yt to obtain a parameter value relating to the cutoff frequency in the low-pass filter 18c and a characteristic parameter value (dead time value) in the dead time element 18d. Parameter value regarding the size L of the sample), the sampling period T in the sampler 22c.
sr and the parameter value of the stabilizing compensator 18a are calculated and output.
Filtering is performed using the parameter values output from A, and the sampler 22c performs sampling at the cycle output from the adaptive operation unit 19A. The dead time element 18a and the stabilizing compensator 18a perform calculations using the parameter values output from the adaptive calculator 19A.

In this manner, the controller 1
8 of the repetitive controller output from
Is added to the control deviation e1 in an adder 11d, and the added value is subjected to a PID calculation in a PID calculator 12, and thereafter the same processing as in the prior art is performed. That is, the PID calculator 12 performs the PID calculation,
While being output as the command value y ^* of the rotational angular velocity, the rotational angular velocity calculator 13 divides the difference between one control cycle of the measured value x ′ of the rotary encoder 3 by the control cycle to obtain the actual rotation of the motor shaft. The measured angular velocity y 'is output as a measured angular velocity y', and the subtractor 11b subtracts the measured actual rotational angular velocity y 'from the rotational angular velocity command value y ^* to obtain a control deviation e2 of the rotational angular velocity.
(= Y ^* −y ′) is calculated.

The speed control deviation e2 is subjected to PID calculation by the PID calculator 14, and is output as a current command value i ^* of the motor 1. The torque amplifier 5 controls the voltage applied to the winding of the motor 1 so that the motor current becomes equal to the current command value i ^* . As a result, the motor 1 generates a torque corresponding to the motor current and rotationally drives the cylinder 2 via a speed reducer / coupling (not shown).

The configuration and operation of the repetition controller 18 are described in, for example, the document "Repetition control" (Nakano, Inoue, Yamamoto, Hara, Society of Instrument and Control Engineers, Corona 1989).
Is widely known as a constant-period disturbance reduction technique. The processing by the low-pass filter 18c is represented by the following equation (1).
It is represented by e11d (z) / e11 (z) = F (z) (1) Here, z is a z-conversion operator, and if S is a Laplace operator, z = e ^TsS (2) .

When F is the first-order lag element of the time constant T, F (z) = {(1-a) z ^-1 } / (1-az ^-1 ) (3) Here, a = exp (−T _S / T) (4)

Assuming that the sampling period in the dead time logic is Tsr, the number N ₁ of delay elements z ₁ ^-1 required to realize the dead time L is as follows. N ₁ = L / Tsr (5) where z ₁ = e ^TsrS (6)

The value of the dead time L is a period of the periodic disturbance or a value corrected and calculated based on the period. As a correction method, L ₀ is set as a disturbance period, and the low-pass filter 18 c
Is a first-order lag element of the time constant T, it is preferable that L = L ₀ {1- (1 / 2π) tan ^-1 (2πT / L ₀ )} (7) "A Design Method for Corrective Repetitive Control Systems with Dead Time Correction", Sugimoto and Washida, Transactions of the Society of Instrument and Control Engineers, Vol. 34, No. 7, 761/768 (1998)].

Although the stabilizing compensator 18a has various forms, the following formula is considered here for the sake of simplicity. e13 (z) / e12 (z ) = G S = g S ··· (8) where g _S is the gain of the stabilization compensator. This gain g _S needs to be changed when the rotation speed of the motor changes. The adaptive operation unit 19A performs the following operation. In the following equation (9), f _L is a function for obtaining _L from y _t . L = f _L (y _t ) (9) Here, f _L is a function for obtaining _L from y _t .

For g _S , simulation or experiment is performed in advance to create a table relating to the optimal combination of y _t −g _S or a function based on the table. I do. g _S = f _gS (y _t ) (10) Here, f _gS is a function for _obtaining g _S from y _t .

Similarly, the time constant T of the first-order lag element is given by T = f _T (y _t ) (11) By changing the parameters of the low-pass filter, the dead time logic, and the stabilization compensator according to the rotation speed by the calculation of Expressions (9) to (10), repetitive control can function effectively even when the rotation speed changes. In addition, the effect of disturbance synchronized with the rotation speed can be reduced.

A simple example will be described below in which the number of memories or shift registers for dead time can be reduced by changing the sampling period Tsr of the repetitive controller according to the rotation speed. The control range is from 200 rpm to 1000 rpm, and precise position control must be performed during this period.
Up to 600 rpm, the coarse sampling period Tsr =
Tsr = Ts when T _{1 is} 600 rpm or more. The sampling period is switched at 600 rpm. Assuming that Ts is 500 μs, the number of dead time memories (shift registers) when sampling at Tsr = Ts from 200 rpm is 600. However, when the sampling period Tsr is low speed, the number of dead time memories (shift registers) is 2 Ts. Shift register) 300
It can be reduced to individual.

Further, it will be described how to change the sampling period in the dead time. A case in which a ring buffer is implemented by software to simplify the description will be described. _Let T ₁ = 2T _S L / Ts = 8 L / Tsr = 4.

FIG. 2 shows a ring buffer for realizing dead time. In FIG. 2, reference numerals 1 to 8 denote memories constituting a ring buffer. Time shall flow as shown in the figure. In addition, the time point is represented by a number in parentheses. From (A) T ₁ when changing to Ts (during acceleration) to (1) point shown in FIG. 2 the output from the buffer for each T ₁ = 2Ts, and was performed and stores this in the buffer. It is assumed to start changing to Ts sampling period from T ₁ from (1) time.

1. (1) At the time point, the value one cycle before (the value of the buffer 5) is output as e12h, and the new data (the output e11d of the filter F) is stored in the buffer 1. Hereinafter, the buffer n (n = 1 to 8) is referred to as Bn. It is assumed that the output of the dead time logic holds the previous value until it is updated next. That is, it is assumed that it has a hold function. Thereafter, the time transition of the ring buffer is Ts
Perform each time.

2. (2) At time point, the new data is stored in B2. 3. At the time (3), the value of the previous cycle (the value of B6) is output,
The new data is stored in B3. 4. (4) At time point, new data is stored in B4. 5. At the time (5), the value one cycle before (the value of B7) is output, and B
5 stores the new data.

6. (6) At time point, the new data is stored in B6. 7. At the time (7), the value (B8 value) one cycle before is output,
The new data is stored in B7. 8. (8) At time point, new data is stored in B8. 9. (9) At time point, after outputting the data of B1, new data is stored in B1. Thereafter, output and storage of new data are performed every T _S. Further, the time transition of the ring buffer is kept at every T _S.

10. At (10), after outputting the data of B2, the new data is stored in B2. Hereinafter, similarly, after outputting the data of Bn, the new data is stored in Bn. In this way, it is possible to change the Ts sampling period Tsr from T _1.

[0042] (B) from Ts to the time when (during deceleration) (1) to change to T ₁ and was going output from the buffer for each Ts, and stores this in the buffer. Then, it is assumed that the change from the sampling period Tsr = Ts to T ₁ = 2Ts is started from the point (1). 1. (1) When the time comes, the data in buffer 1 is changed to e1
2 and output new data (output e11 of filter F).
d) is stored in buffer 1. Hereinafter, buffer n (n = 1 to
8) is described as Bn. The time transition of the ring buffer is performed every Ts.

2. (2) At time point, the data of B2 is output. 3. At the time (3), the data of B3 is output and the new data is
2 is stored. 4. (4) At time point, the data of B4 is output. 5. (5) At time point, the data of B5 is output, and the new data is stored in B3. 6. (6) At time point, the data of B6 is output.

7. At the time (7), the data of B7 is output,
The new data is stored in B4. 8. (8) At time point, the data of B8 is output. 9. (9) At time point, after outputting the data of B1, new data is stored in B5. Hereinafter, the time transition of the ring buffer is assumed to be every Tsr. Also, output and storage in a buffer are performed for each Tsr.

10. At time (10), after outputting the data of B2, the new data is stored in B6. Thereafter, similarly, after outputting the data of Bn, the new data is stored in B (n + 4). However, B (n + 4) indicates a buffer four ahead of Bn. In this way, it is possible to change T ₁ sampling period Tsr from Ts.

The procedure for changing the sampling period in the dead time of the rotating machine drive control device according to the first embodiment of the present invention has been described by a simple example, but the same configuration can be applied to a general case. . In this way, the number of shift registers or the number of high-speed memories can be reduced by increasing the sampling period of the dead time in the low-speed rotation region and decreasing the sampling period of the dead time in the high-speed rotation region. The cost of the device can be reduced.

Of course, by applying the repetitive control by the repetitive controller 18, the gain at the disturbance torque frequency can be made substantially large and the control deviation can be made small. By changing the parameter value of the repetitive control, there is also an advantage that the control deviation can be reduced in a wide rotation speed range.

Conventionally, when the eigenvalue of the mechanical system is low, the proportional gain cannot be increased, and therefore, the specification for the control deviation cannot be sufficiently satisfied. By doing so, the control deviation can be reduced even if the eigenvalue of the mechanical system is low, and the specifications for the control deviation can be sufficiently satisfied.

If the rotary machine drive control device is provided for each motor so as to constitute a shaftless rotary press drive control device, the requirement for position control deviation for quality maintenance, that is, the high precision of each motor Synchronization can be sufficiently achieved, and print quality can be maintained. Of course, in printing machines such as sheet-fed printing presses other than rotary presses, and in rotating machines that are subject to disturbances depending on the rotation angle position, the requirements for position control deviation for quality maintenance can be sufficiently satisfied. As a result, the quality of products manufactured using the rotating machine can be sufficiently ensured.

Next, a second embodiment of the present invention will be described. FIG. 3 is a block diagram showing a rotary machine drive control device according to a second embodiment of the present invention. 3, the same reference numerals as those in FIGS. 1 and 5 denote the same components. In this embodiment, a control device (controller) 10B has the same configuration as that of the first embodiment except that the input signal used in the adaptive operation unit 19B is different from that of the first embodiment.

That is, the adaptive computing unit 19A of the first embodiment
Then, according to the speed command value yt obtained from the differentiator 20, the parameter value relating to the cut-off frequency in the low-pass filter 18c, the characteristic parameter value of the dead time element 18d, the sampling period Tsr in the sampling means 22c and the stabilization compensator 18a Although the parameter value is calculated, in the adaptive calculator 19B of the present embodiment, the measured rotational angular velocity (actual rotational angular velocity) y of the motor shaft calculated from the measured value x ′ of the rotary encoder 3 by the rotational angular velocity calculator 13 y , And a parameter value relating to a cutoff frequency in the low-pass filter 18c, a characteristic parameter value of the dead time element 18d, and a sampling period Tsr in the sampling means 22c in accordance with the actual rotational angular velocity y '.
And the parameter value of the stabilizing compensator 18a is calculated.

Since the rotating machine drive control device according to the second embodiment of the present invention is configured as described above, the formula (3) [or the formula (4)] and the formulas (5) and (6) are used. Using the actual rotational angular velocity y 'for the calculation of the dead time element 18d
By changing each parameter value of the stabilizing compensator 18a according to the rotation speed, the same operation and effect as in the first embodiment can be obtained.

It should be noted that the present invention is not limited to the above embodiment, but can be implemented in various modifications without departing from the spirit of the present invention. For example, the present invention can be widely applied not only to a printing machine such as a rotary press but also to a rotary machine which receives disturbance synchronized with rotation. Further, in the above embodiment, in response to the request for the control deviation of the rotational angle position,
Although the control is performed by applying the repetitive control for the deviation e11 of the rotational angle position, if there is a request for the control deviation of the rotational speed, the control may be performed by applying the repetitive control for the deviation of the rotational speed. Conceivable.

[0054]

As described in detail above, according to the rotating machine drive control device of the present invention, in a rotating machine (rotating machine), a disturbance torque is applied by applying a method called repetitive control. The control deviation is reduced by increasing the gain in frequency substantially, and the control deviation is adaptively changed by changing the parameter value of the control in response to a change in the rotation speed, so that the control deviation can be reduced over a wide rotation speed range. By reducing the size, the rotation accuracy of the rotating machine can be increased, and the quality of products manufactured using the rotating machine can be sufficiently ensured. In this case, the number of memories or registers for dead time can be reduced, and the cost of the control device can be reduced. Therefore, in the case of a printing machine such as a rotary press, the synchronization of each rotary machine can be performed with high accuracy, and print quality can be maintained.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a rotating machine drive control device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a ring buffer for realizing dead time in the rotating machine drive control device according to the first embodiment of the present invention.

FIG. 3 is a block diagram illustrating a rotating machine drive control device according to a second embodiment of the present invention.

FIG. 4 is a block diagram showing a conventional rotary machine drive control device.

FIG. 5 is a block diagram showing a rotary machine drive control device proposed in the process of devising the present invention.

[Explanation of symbols]

Reference Signs List 1 motor 2 cylinder 3 rotary encoder 10A to 10D control device (controller) 11a, 11b subtractor 11c, 11d adder 12, 14 PID calculator 13 rotation angular velocity calculator 15 torque amplifier 18 repetition controller (repetition control means) 18a stabilization Compensator (compensating means) 18b Dead time element with band limitation (dead time calculating means) 18c Low-pass filter 18d Dead time element (dead time calculating means) 19A, 19B Adaptive calculator (adaptive calculating means) 20 Differentiator 21 Pre-compensation (Pre-compensation means) 22a, 22b, 22c Sampler (Sampling means)

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) G05D 3/12 305 B41F 33/14 Z F term (reference) 2C250 EA04 EA43 EB50 5H004 GA05 GA16 GB15 HA07 HB07 KA36 KB02 KB04 KB06 KB08 KC53 KC55 MA12 5H303 AA30 BB01 BB06 BB14 CC06 DD01 EE03 FF06 HH05 JJ02 KK02 KK03 KK04 KK12 KK14 KK17 KK24 KK25 KK36 5H550 AA04 BB08 DD01 GG01 GG03 JJ02 JJ26 JJ23 JJ23 JJ23 JJ23 JJ23 JJ23 JJ23 JJ23 JJ22 JJ22

Claims (5)

[Claims] 1. A control device for controlling the rotation of a rotating machine based on a deviation between a command value of a rotating angle position or a rotating speed of the rotating machine and a measured value of the rotating angle position or a rotating speed of the rotating machine. An iterative control means for correcting a value giving the command value; and an adaptive control means for calculating the parameter value so as to adaptively change a parameter value used for processing in the iterative control means in accordance with the rotation speed of the rotating machine. A rotating machine drive control device comprising: a calculating means; and changing a cycle of calculating the dead time by the repetition control means according to the command value of the rotational speed. 2. The repetition control means includes: a low-pass filter for performing a filtering process on a value giving the command value; a dead time calculation means for calculating a dead time based on an output value from the low-pass filter; A sampling unit that outputs the dead time calculated by the calculating unit at a set cycle; and a compensating unit that guarantees the dead time output from the sampling unit. The command value is calculated based on an output from the compensating unit. The rotating machine drive control device according to claim 1, wherein the given value is corrected. 3. The adaptive operation means includes a parameter value relating to a cut-off frequency in the low-pass filter, a parameter value relating to the magnitude of a dead time in the dead time calculation means, a sampling period in the sampling means, and a processing in the pre-compensation means. 3. The rotating machine drive control device according to claim 2, wherein the parameter value to be used is calculated so as to be adaptively changed according to the rotation speed of the rotating machine. 4. The rotating device according to claim 1, wherein said adaptive computing means calculates said parameter value based on a command value of a rotating speed of said rotating machine. Machine drive control device. 5. The rotating machine drive according to claim 1, wherein said adaptive computing means calculates said parameter value based on an actual rotating speed of said rotating machine. Control device.