200812217 九、發明說明： 【發明所屬之技術領域】 本么明有關於伺服馬達之控制裝置，特別有關於具有電 流控制迴路，以對在伺服馬達中所流通之電流施以回饋控 制的伺服馬達之控制裝置。 、 【先前技術】 θ伺服馬達中的永久磁鐵同步馬達，藉由永久磁鐵而產生 %磁鐵磁束，並藉由流通三相電樞電流而產生轉矩，其合 成向量與場磁鐵磁束呈正交2永久磁鐵同步馬達的系統構 w如圖8所不。其基本構造包括有：永久磁鐵同步馬達 4卜對其供應電力的電壓式PWM反向器等電力轉換器42、 決定電力轉換器42對永久磁鐵同步馬達41所供應之電壓 或所流通之電流相位的磁極位置檢測器43、以及 流控制的電流控制g 44。當執行速度控制時，附加有速 度控制器45及檢測器43,而當執行位置控制時，則附加 有位置控制器46及檢測器43。在多數情況下，共用磁極 位置檢測器、速度檢測器及位置檢測器。 習知以來，速度控制器45、位置控制器46用於切換控 制迴路的增益（例如參照專利文獻υ。專利文獻i所記載 2發明，在從速度控制迴路所輸出的轉矩指令之大小較小 柑，增加速度控制迴路的增益，而當轉矩指令之大小較大 時，則縮小速度控制迴路的增益。藉此，當轉矩指令之大 小較小時’可加快位置偏差與速度偏差的收束而提升響應 性。相對地’當轉矩指令較大時，則可防止發生機械性振 312XP/發明說明書(補件)/96-08/96114975 . 200812217 動。 【2，^:日本專利特開平5-134750號公報 L發明内容】 (發明所欲解決之問題） 迴置控制迴路、速度控制迴路、及電流控制 迴路：命产抑^、。位置控制迴路係主迴路’而以速度控制 係衍二"IL工1迴路的順序形成次迴路。因電流控制迴路 係位於表内側的迴路，因此必需袓f塑庫降社从快庄, 路。理由在於若未Μ—, ^應性佳的控制迴 佳，則對於上位迴：：：：一路之增益兩使響應性變 位坦路的迷度控制迴路與位置控制迴路，即 益仍無法提升響應性。即，藉由將作為次迴路 的^丄制迴路之響應較外㈣路的響應較為足約高 迴路5交之又角將頻次皁1路Γ交又角頻率設定為較高於其外側的 性之=角頻率）’便可達提升外側迴路的響應性與安定 电L ^工制系統由馬達的電氣系統 成，系統的狀熊變化鲈,& >锊供口。寺構 置#制哭二 。所以，不同於速度控制器與位 曰广」’一般將電流控制器的增益設定為固定值。但 彳在南響應下控制’而增加電流控制迴路的增 ^線達中流通較大電流，則因伺服馬達的參數 振Γ。电 電輕繞線電阻自阻抗L)，而導致飼服馬達 緣是’本發明之目的在於蔣 — 的響應性，且能防止飼服馬達振動的飼服馬:::：2 312XP/發明說明書(補件)/96_〇8/96114975 7 200812217 及方法。 (解決問題之手段） 為解決上述問題，申請專利範圍第1項所記載發明，係 具有對在伺服馬達中流通的電流施以回饋控制之電流控 制迴路的伺服馬達之控制裝置；纟具備#:電流檢測手段 2電流迴路增益切換手段；該電流檢測手段檢測藉由上述 電流控制迴路而回饋的伺服馬達之輸出電流值；該電流迴 =牦I切換手段在所檢測到的上述輸出電流值較小於預 設的臨限值時，增加上述電流控制迴路的增益，反之，在 戶:核測到的上述輸出電流值較大於上述預設的臨限值 0守，則縮小上述電流控制迴路的增益。 申明專利圍第2項所記載發明，在巾請專利範圍第^ 項所記載飼服馬達之控制裝置中，上述伺服馬達之 置的電流回饋控制藉由使用d—q座標 、 :=料，換手段在所檢測到的上述輸心值 '义預°又的臨限值時，在預設大小的二個交又角顧 用較大的交又角頻率，計算出上述電流控制迴路的 增加上述電流控制迴路的增益，反之，在所檢測到 的上述輸出電流值較大於上述預設用 小的交叉角頻率計算出上述電流控制迴路的增I:;， 上述電流控制迴路的增益。 给的曰亚而鈿小 申;，範圍第3項所記载的發明，在申請專利 $、所d㈣服馬達之控制 服馬達的較電隸。 上仏限值係飼 312ΧΡ/發明說明書(補件)/96-08/96114975 200812217 申請專利範圍第4項所記載的發明，在申請專利範圍第 1至3項中任一項所記載伺服馬達之控制裝置中，上述伺 服馬達之控制裝置在上述電流控制迴路的外側設有回饋 控制伺服馬達之速度的速度控制迴路，且在上述速度控制 迴路的外侧設有回饋控制伺服馬達之位置的位置控制迴 路0 申請專利範圍第5項所記載的發明，係具有對在伺服馬 達中流通的電流施以回饋控制之電流控制迴路的伺服馬 達之控制方法，包括有電流撿測步驟與電流迴路增益切換 步驟；該電流檢測步驟檢測藉由上述電流控制迴路而回饋 勺伺服馬達之輸出電流值，該電流迴路增益切換步驟，在 所檢測到的上述輸出電流值較小於預設臨限值時，增加上 =電流控制迴路的增益，反之，在所檢測到的上述輸出電 抓值車乂大於預没的i述臨限值時，雜小上述電流控 路的增益。 (發明效果） 根據申請專利範圍第1項所記載發明 迴路的響應性，且能防止伺服馬達振動。 不=中請專利範圍第2項所記載的發明，因為使用大小 個交叉角頻率計算出增益，因而可使電流控_ 路的增ϋ切換程式較為容易。 利範圍第3項所記載的發明，可在 t電流前增加增益，且當料有大於額定電 “日寸則細小增ϋ而，可提升電流控制迴路的響 312ΧΡ/發明說明書(補件)/96彻61廳 9 200812217 應性，且能確實地防止伺服馬達之振動。 古根據申請專利範圍第4項所記載的發明，因為 :控制迴路的響應性，因而亦可提升成為其上位迴路的= 度控制迴路與位置控制迴路之響應性。 ，、 制範圍第5項所記載的發明，可提升電流控 k路的#應性，且能防止伺服馬達之振動。 【實施方式】 根=下所附圖式，針對本發明的實施形態進行詳細說 …貫靶形態如圖i所示，使兩 一 步線性馬達作為伺服馬。該可動绩^以八恤㈣ 線性打動線圈式水久磁鐵同步 2 φ亚在可動子3側捲繞有u、v、w相的線圈4。藉由在 線圈4中流通三相電樞電流，而 ^ Y。 王1綠式移動的移動場 磁鐵，使可動+ 3相對於定子i而直線移動。 場錢直線移㈣可動線圈式永久磁鐵同步 、，泉性馬達，亦與磁場旋轉的旋轉場磁鐵式同步馬達相同， 使用旋轉的d-q座標系而控制d、q抽的電㈣流。 :中固定的部分與旋轉的部分均轉換為旋轉的正交座 仏’即為d-q轉換，而其座標系即為d—q座標 ^目對d軸呈前進W的相位。在永久磁鐵同步馬達的 f月况，一般以場磁鐵所產生的磁束方向作為d軸。 圖2所示係使用d_q座標系而控制伺服馬達5之 造。基本構造包财：舰馬達5、與對其供 壓式酬反向器等電力轉換器6、決定電力轉換器6= 312XP/發明說明書(補件)/96-08/96114975 ι 〇 200812217 =馬達5所施加之電塵或流通之電流相位的直線比例尺 •丨ΙΓ:?—)等磁極位置檢測器7、以及供執行電流控 二、“控制器、12、13。在執行速度控制時’附加有執 订。玄=控制的速度控制器8及速度檢測器g，在執行位置 控制時’則附加為執行該項控制的位置控制器ig及 卜速度檢測器9與位置檢測㈣共用磁極位置 °控制糸統由位置控制迴路、速度控制迴路、電 • &制沿路等二者構成。位置控制迴路為主迴路，且以 度控制迴路'電流控制迴路的順序而構成次迴路。 位置控制器i"艮據從上位控制裝置所輸出的位置指令 、，人來自位置檢測器11 @位置回饋值6» rm間之偏 差二算速度指令“。速度控制器8根據速度指令值㊉ 4來自速度檢測器9的速度回饋值H偏差，運算 推力扣令’進而運算q軸電流指彳。 巧運算作為與d軸相同方向之電流成分的d軸電流= 、，欠久磁鐵同步馬達藉由磁鐵而_立d軸之磁束，因而 通常將d軸電流指令A控制為〇。就提昇馬達力率及降低 ，在功率（apparent p。财）考量，亦可能使㊃電流朝」 軸的反方向流動。 向里旋轉益· 3才目2相轉換ig ! 4將來自電流檢測器i 5 的三相回饋電流值iu、iv、iw，根據來自相位檢測器的 相位檢測益16之電角信號0 re，轉換成d軸電流^與q 轴電流iq°d軸電流控制器12擷取d軸電流指令 軸電流id的偏差，而運算d軸電壓的指令值—軸電 312XP/發明說明書(補件)/96-08/96114975 n 200812217 :二广"軸電流指令&與Q軸電流i,的偏差， Sr//電壓的指令值VV向量旋轉器·2相3相轉換 ;上厂根據該等電屢指令〜。及電角信號“，輪出三 -S = :U、VWW。電力轉換器6根據該等電麗指 行::控制，最後控制飼服馬達5中所 達 a猎由對舰馬達5的永久磁鐵同步馬 達仏應父流電流，使伺服馬達5產生推力。 需要高速轉矩響應的控制，因而電流的 缺。® 3所示係附加有電流控制器… 的水久磁鐵同步馬達之方塊圖。該方塊圖中，d軸電流 ld q轴私流iq採用理論上較容易控制的非干涉控制法。 =久磁鐵同步馬達中具有因d、q軸間相互干涉所生的 速 ^動勢（speed electr⑽〇tive fc)rce)。該等將對 ^、 适成;專，但疋無法直接控制之。求取該速率電動勢而 =抵銷之控制’即為非干涉控制法。採行非干涉化控 :’bld、“便可藉由v，d、v、而單純控制。其中，v，d、v，q 系才曰d q軸上電樞繞線阻抗所施加之電壓，可由以增益 =數Gid(s)、Giq(s)表示的id、“電流控制器之輸出的形 式:獲得。此外，在該方塊圖中，h、“係指d、q轴之電 樞屯机，’ φ,係指電樞繞線交鏈磁束數，R係指電樞繞線電 ^ L係才日私樞繞線的自感（sel f inductance)，P(=d/dt) 係扣U分算子，％係指馬達推力，L係指馬達的負荷推力， J係指馬達的慣性矩’ “係指同步馬達的輸出轴旋轉角 速度（¾械角），ω re係指磁場的角速度（電角）。同步馬達 312XP/發明說明書(補件)/96-08/96114975 12 200812217 的輸出轴旋轉角速度（機械角）ω rra在將極對數設定為p 時’便為ω re/p。 笔彳工制採取比例積分（PI)控制。此情況下，i d、i q電 流控制器的輸出V，d、v，q如下式： [數式1] v，d=K^(Hl/TldS)(i*d-id) v，q=Kl^1 + l/Tiqs)(i*q-iq) 此時，id、iq控制系統的開迴路增益函數G〇id(s)、Gaiq(s) 在將式子簡化而選擇Tld = Tlq = wR(電氣時間常數）時，便成 為下式： [數式2] G°id(s)-l/(Ls/Kid) G°iq(s) = l/(Ls/Kiq) ’成為早純的積分要素。 其中 ’Kid'Kiq 及 Tid、T /备 4匕· . ^ W係4日1 d、1 q控制裔的增益及積 分時間，Kid=Ku、Tid=Tiq。 、 •圖4所不，攸α亥開迴路增益函數所獲得的波德 圖（Bode diagram)，交叉角頻率為下式： [數式3] 控制系統的閉迴路增益函數 ω c=Ki/L (Ki=Kid=Kiq) 當滿足數式2時，id、土 GCid(S)、G iq(S)便如下式· [數式4] GCidCs)~l / (Ls/Kid+1 ) 312XP/發明說明書(補件)/96-08/96114975 13 200812217200812217 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a control device for a servo motor, and more particularly to a servo motor having a current control loop for applying feedback control to a current flowing in a servo motor. Control device. [Prior Art] A permanent magnet synchronous motor in a θ servo motor generates a % magnet magnetic beam by a permanent magnet and generates a torque by circulating a three-phase armature current, the resultant vector of which is orthogonal to the field magnet flux 2 The system configuration of the permanent magnet synchronous motor is as shown in Fig. 8. The basic configuration includes a power converter 42 such as a permanent magnet synchronous motor 4 and a voltage type PWM inverter that supplies electric power thereto, and a voltage or a current phase of the current supplied to the permanent magnet synchronous motor 41 by the power converter 42. The magnetic pole position detector 43 and the current control g 44 of the flow control. When the speed control is executed, the speed controller 45 and the detector 43 are added, and when the position control is performed, the position controller 46 and the detector 43 are added. In most cases, the magnetic pole position detector, speed detector and position detector are shared. Conventionally, the speed controller 45 and the position controller 46 are used to switch the gain of the control circuit (for example, refer to the patent document υ. The invention described in Patent Document i, the magnitude of the torque command outputted from the speed control circuit is small. Citrus, increasing the gain of the speed control loop, and when the magnitude of the torque command is large, the gain of the speed control loop is reduced. Thereby, when the magnitude of the torque command is small, the position deviation and the speed deviation can be accelerated. The beam is responsive and relatively responsive. 'When the torque command is large, the mechanical vibration 312XP/invention manual (supplement)/96-08/96114975 . 200812217 is moved. [2,^: Japanese patent special Kaiping 5-134750L. SUMMARY OF THE INVENTION (Problems to be Solved by the Invention) The return control loop, the speed control loop, and the current control loop are: the production control loop is the main loop' and the speed control system The order of the second circuit of the second line is formed by the sequence of the current circuit. Because the current control circuit is located in the inner side of the watch, it is necessary to rebuild the library from the fast, the road. The reason is that if it is not The control is better, then for the upper return:::: the gain of the two way makes the responsiveness of the swaying control circuit and the position control loop, the benefit is still unable to improve the responsiveness. That is, by using the secondary circuit The response of the circuit is better than that of the external (four) road. The response of the high-frequency circuit is 5, and the frequency is set to be higher than the outer side of the angle = angle frequency. The responsiveness of the external circuit is increased and the stability of the L ^ system is made up of the motor's electrical system, the system's morphing bear changes, &> 锊 supply. Temple configuration #制哭二. Therefore, unlike the speed controller and the position, the gain of the current controller is generally set to a fixed value. However, if the current is controlled by the south response and the increase of the current control loop is increased, a large current flows, and the parameters of the servo motor are vibrated. The electric light-wound wire resistance is self-impedance L), and the feed motor edge is the responsiveness of the invention, which is the responsiveness of the present invention, and can prevent the feeding motor from vibrating.::::2 312XP/Invention Manual (Supplement) /96_〇8/96114975 7 200812217 and method. (Means for Solving the Problem) In order to solve the above problem, the invention described in claim 1 is a control device for a servo motor having a current control circuit that applies feedback control to a current flowing through a servo motor; Current detecting means 2 current loop gain switching means; the current detecting means detects an output current value of the servo motor fed back by the current control loop; and the current return = 牦I switching means has a smaller value of the detected output current When the threshold value is preset, the gain of the current control loop is increased. Conversely, if the output current value detected by the household is greater than the preset threshold 0, the gain of the current control loop is reduced. . In the invention described in the second paragraph of the patent, in the control device of the feeding motor described in the scope of the patent application, the current feedback control of the servo motor is changed by using d-q coordinates, := material The means calculates the increase of the current control loop by using the larger cross corner frequency at the two intersection angles of the preset size when the detected threshold value of the above-mentioned heart value is determined. The gain of the current control loop, and conversely, the increase of the current control loop is calculated by the detected output current value being greater than the predetermined minimum cross angle frequency; the gain of the current control loop. The invention described in the third item of the scope, in the invention of the patent, the d (four) service motor control motor. The invention described in the fourth aspect of the patent application, the servo motor of any one of claims 1 to 3 of the patent application. In the control device, the control device for the servo motor is provided with a speed control circuit for feeding back the speed of the servo motor at the outside of the current control circuit, and a position control circuit for feeding back the position of the servo motor outside the speed control circuit. The invention described in claim 5 is a control method for a servo motor having a current control circuit for performing feedback control on a current flowing through a servo motor, comprising a current detecting step and a current loop gain switching step; The current detecting step detects an output current value of the scoop servo motor by the current control loop, and the current loop gain switching step increases when the detected output current value is smaller than a preset threshold value The gain of the current control loop, and conversely, the detected output of the above-mentioned output is greater than the pre-existing When limit miscellaneous small the gain control current path. (Effect of the Invention) According to the responsiveness of the circuit of the invention described in the first aspect of the patent application, it is possible to prevent the servo motor from vibrating. In the invention described in the second item of the patent range, since the gain is calculated using the cross-angle frequency, it is easy to switch the current control path. According to the invention described in the third item, the gain can be increased before the t current, and when the material is larger than the rated electric power, the current control circuit can be increased by 312 ΧΡ / invention specification (supplement) / 96, 61 Hall, 9 200812217, and can reliably prevent the vibration of the servo motor. According to the invention described in the fourth paragraph of the patent application, because of the responsiveness of the control circuit, it can also be upgraded to its upper loop. The responsiveness of the degree control loop and the position control loop. The invention described in the fifth aspect of the system can improve the response of the current control k-way and prevent the vibration of the servo motor. [Embodiment] Root = lower The embodiment of the present invention will be described in detail with respect to the embodiment of the present invention. As shown in Fig. i, a two-step linear motor is used as a servo horse. The movable performance is an eight-shirt (four) linearly actuated coil type water-long magnet synchronous 2 φ The coil 4 of the u, v, and w phases is wound around the side of the movable member 3. The three-phase armature current flows through the coil 4, and the Y-Y1 green-moving moving field magnet makes the movable + 3 Moves linearly with respect to the stator i. Field money linear shift (4) movable coil type permanent magnet synchronization, spring motor, also the same as the rotating field magnet synchronous motor with magnetic field rotation, using the rotating dq coordinate system to control the electric (four) flow of d, q pumping. Both the part and the rotating part are converted into a rotating orthogonal coordinate 仏', which is the dq conversion, and the coordinate system is the phase of the d-q coordinate to the d-axis which is advancing W. The f-month of the permanent magnet synchronous motor In general, the direction of the magnetic flux generated by the field magnet is generally taken as the d-axis. Figure 2 shows the construction of the servo motor 5 using the d_q coordinate system. The basic structure is included: the ship motor 5, and the pressure-receiving method Power converter, etc. 6, determine power converter 6 = 312XP / invention manual (supplement) / 96-08/96114975 ι 〇 200812217 = linear scale of the electric dust or current phase of the motor 5 applied by the motor 5 • 丨ΙΓ: ?-) equal pole position detector 7, and for the implementation of current control two, "controller, 12, 13. When the speed control is executed, 'attachment is attached. The speed controller 8 and the speed detector g, which are controlled by the controller, are added to the position controller ig and the speed detector 9 for performing the control, and the position detection (four) share the magnetic pole position. Position control loop, speed control loop, electric & system along the road and so on. The position control loop is the main loop, and the secondary loop is formed in the order of the degree control loop 'current control loop. The position controller i" according to the position command output from the upper control device, the deviation from the position detector 11 @ position feedback value 6» rm two speed command ". The speed controller 8 according to the speed command value ten 4 The speed feedback value H from the speed detector 9 is deviated, and the thrust deceleration command is operated to calculate the q-axis current index. The d-axis current is calculated as the current component in the same direction as the d-axis =, and the magnet synchronous motor is delayed. The magnet and the magnetic flux of the d-axis, so the d-axis current command A is usually controlled to 〇. In order to increase the motor force rate and decrease, in the power (apparent p), it is also possible to make the four currents in the opposite direction of the axis. flow. Inward rotation y · 3 only 2 phase conversion ig ! 4 will be from the current detector i 5 three-phase feedback current values iu, iv, iw, according to the phase detector from the phase detector benefit 16 electrical angle signal 0 re, Converted to d-axis current ^ and q-axis current iq ° d-axis current controller 12 draws the d-axis current command axis current id deviation, and calculates the d-axis voltage command value - shaft 312XP / invention manual (supplement) / 96-08/96114975 n 200812217 : The deviation of the two-wide "axis current command & and Q-axis current i, Sr / / voltage command value VV vector rotator · 2-phase 3-phase conversion; the factory according to the same Repeat orders ~. And the electrical angle signal ", turn out three-S =: U, VWW. The power converter 6 according to the electric ray:: control, and finally control the feeding motor 5 to achieve a permanent by the ship motor 5 The magnet synchronous motor 仏 父 父 父 父 父 父 父 父 父 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服 伺服In the block diagram, the d-axis current ld q-axis private stream iq adopts a theoretically easy-to-control non-interference control method. = The long-magnet synchronous motor has a velocity potential due to mutual interference between the d and q axes. Electr(10)〇tive fc)rce). These will be suitable for ^, suitable; but can not be directly controlled. Finding the rate of electromotive force = = control of offset 'is non-interference control method. Adopt non-interfering Control: 'bld, 'can be controlled by v, d, v, and simply. Where v, d, v, q are the voltages applied to the armature winding impedance on the dq axis, which can be expressed by the gain = number Gid(s), Giq(s), and the output of the current controller. Form: Obtained. In addition, in the block diagram, h, “refers to the armature of the d and q axes, 'φ, refers to the number of magnetic fluxes in the armature winding, and R refers to the armature winding. L is the self-inductance (sel f inductance) of the private-wrap winding, P(=d/dt) is the U-divide operator, % is the motor thrust, L is the load thrust of the motor, and J is the motor "Inertia moment" means the angular velocity of the output shaft of the synchronous motor (3⁄4), and ω re is the angular velocity of the magnetic field (electrical angle). Synchronous motor 312XP / invention manual (supplement) / 96-08/96114975 12 200812217 The output shaft rotation angular velocity (mechanical angle) ω rra is ω re/p when the pole pair is set to p. The pen-working system adopts proportional integral (PI) control. In this case, the output of the id, iq current controller V, d, v, q are as follows: [Expression 1] v, d = K^(Hl/TldS)(i*d-id) v, q=Kl^1 + l/Tiqs)(i*q- Iq) At this time, the open loop gain function of the id, iq control system G〇 Id(s), Gaiq(s) When the formula is simplified and Tld = Tlq = wR (electric time constant) is selected, it becomes the following formula: [Expression 2] G°id(s)-l/(Ls/ Kid) G°iq(s) = l/(Ls/Kiq) 'Become an early pure integral element. 'Kid'Kiq and Tid, T /4匕· . ^ W system 4 days 1 d, 1 q control The gain and integration time of the genius, Kid=Ku, Tid=Tiq. · • Figure 4, the Bode diagram obtained by the 亥α Haikai loop gain function, the cross angle frequency is as follows: 3] Closed-loop gain function of the control system ω c=Ki/L (Ki=Kid=Kiq) When the formula 2 is satisfied, id, soil GCid(S), G iq(S) are as follows: [Expression 4 ] GCidCs)~l / (Ls/Kid+1) 312XP/Invention Manual (supplement)/96-08/96114975 13 200812217
Gciq(s) = l/ (Ls/Kiq+1 ) 圖5所示係從閉迴路心函數所獲得的波Gciq(s) = l/ (Ls/Kiq+1) Figure 5 shows the wave obtained from the closed-loop cardiac function.
㈣時的增益並無關於Kld、Klq，而為議，穩 Y 當電流控制採取PU允击|0士 , u + 為0〇 休取Η匕制知，如上述，積分時間I、 -配合電氣時間常數（L/R)。且，在為提升反應性考量，[數 式3]所讀交又角頻率仏求得之增益（Kid、q最好_ 能地提兩。藉由將次迴路的交又角頻率設定為較高於並他 迴路的交叉角頻率，可提升外側迴路的響應性與安定性。 但是，若將電流控制迴路的增益設定為較高值而在馬達中 f通較大電流，便可能導致馬達之振動。所以，本實施形 態中，對藉由電流控制迴路而回饋的祠服馬達輸出之電流 值設定有臨限值，而切換電流控制迴路之增益。 ' 圖、6所示係藉由伺服馬達之控制裝置的處理器所執行 的電流控制程式流程圖。在該電流控制程式中，控制裝置 的處理器（相當於中請專利範圍帛i項所記載的電流迴路 增显切換手段），首先判斷由電流控制迴路所回饋的飼服 馬達之輸出電流值是否達預設臨限值以上（S1)。其中，臨 限值設定為伺服馬達的額定電流值，即產生額定推力的電 流值。將臨限值數據預先記憶於控制裝置的記憶體_。此 外’所謂「飼服馬達的輸出電流值」係指從圖2所示向量 旋轉器·3相2相轉換器14回饋的q轴電流“值。所以， 申請專利範圍第1項所記载的電流檢測手段，便由向量旋 轉态· 3相2相轉換器14、電流檢測器15、及相位檢測 器1 6構成。 312XP/發明說明書(補件)/96-08/96114975 14 200812217 其次，控制裝置的處理器在所檢測到 於：設睹限值時，從預設的大小二個交叉角頻率二 =選用較大的交叉角鮮ωε1，並計算出電流控制迴路 的增…增加電流控制迴路的增益⑽。反之，在所檢 測到的輸出電流值較大於預設臨限值時，則選用較小的交 又角頻率ωε2，並計算出電流控制迴路的增益，而縮小電 流控制迴路的增益（S3)。 較大的交又角頻率ω cl(例如2000rad/s)設定成在飼服 曰’流通額定電流時’不會使词服馬達振動之範圍内的 最大值較小的父叉角頻率ω <：2(例如i〇〇〇ra(j/s)則設定 為在伺服馬達令流通超過額定電流的最大電流時，不會使 伺，馬達振動之範圍内的最大值。在控制裝置的記憶體中 ，憶有大小二個交叉角頻率θα。根據該等大小二個 父叉角頻率ω C1、ω c2，使用[數式1 ]計算增益Ki。 其次，控制裝置的處理器根據增益Kid、Kiq、積分時間 Tid、Tiq、d軸電流指令、q軸電流指令A、及所回饋 的d轴電流id、q轴電流iq之偏差，使用[數式π計算出 ν d(-d軸電壓的指令值v*d)、及v，軸電壓的指令值 v*q)(S4) 〇 另外，控制裝置的處理器在執行電流控制迴路之處理 時，亦同時執行速度控制迴路及位置控制迴路的處理。速 度控制系統與電流控制系統相同，將偏差設定為〇而使用 PI控制。若將電流控制系統的交叉角頻率ω c設定為較速 度控制系統的交又角頻率ω sc高出數倍以上，在角頻率ω 312ΧΡ/發明說明書(補件)/96·〇8/96114975 15 200812217 SC附近’便可將電流控制系統的閉迴路增益函數視為「丨」， 可忽視電流控制系統的特性對速度控制系統所造成的影 響。位置控制系統中，為防止位置的步階響應 response)產生超越量（〇versh〇〇t)而使用p控制。若將速 度m统的又叉角頻率ω se設定為較位置控制系統的交 叉角頻率…高出數倍以上，在角頻率為ωΡ的附近，便可 將速度控㈣、㈣閉迴路增益函數視為「丨」，心視速度 控制系統特性對位置控制系統所造成的影響。 μ丄所记载的電流控制法，可切換兩在截至達額定 電流之前增加增益，且在超過額定電流時縮小增益。圖7 所不係增益切換的概念圖。該圖7中，飼服馬達的輸出電 := 遺時間之經過而成比例上升。圖中虛線係指振動的電 &值（例如額定電流值）。當飼服馬達的輸出電流值較小於 =電流值（例如額定電流值）時，因為伺服馬達並無振動 :出因而使用較大之交叉角頻率心(例如2_rad/s) 计才出增盈，以可提升電流控制迴路的響應性。反之，合 =馬達的輸出電流值超過㈣之電流值時，若繼續設^ 為增加增益，則伺服馬達的電流振幅便隨之增加， 服馬達振動。所以，修正改為使用較小的 =刚議)計算出增益，並將增益切換為較小车二 響應：:達==動:=_-路 發明並不僅褐限於上述實施形態，在不變更本 日的㈣内可作各種變更。例如上述實施形態_， 312观/發明說明書(補件)/96-08/96114975 16 200812217 使用可動、線圈式永久磁鐵同步線性馬達為㈣明伺服馬 達但疋本發明的伺服馬達之控制裝置亦可適用於旋轉型 永久磁鐵同步馬達、感應馬達。 本說明書以2006年4月28日所提出申請的日本專利特 願2006 124954為基礎。其内容全部均涵蓋於本荦中。 【圖式簡單說明】 圖1為可動線圈式永久磁鐵同步線性馬達的立體示意 圖。 圖2為使用d q座標系的永久磁鐵同步馬達控制之整體 構造圖。 圖3為附加電流控制器的永久磁鐵同步馬達方塊圖。 圖4為從開迴路增益函數所獲得的波德圖。 圖5為從閉迴路增益函數所獲得的波德圖。 圖6為電流控制程式的流程圖。 圖7為增益切換的概念圖。 圖8為永久磁鐵同步馬達的系統構造圖。 【主要元件符號說明】 1 定子 2 永久磁鐵 3 可動子 4 線圈 5 伺服馬達 6、42 電力轉換器 7 ' 43 檢測器 312XP/發明麵書(補件)/%-〇8/96114975 17 200812217 8、45 速度控制器 9 速度檢測器 10、46 位置控制器 11 位置檢測器 12 電流控制器（d轴電流控制器） 13 電流控制器（q轴電流控制器） 14 向量旋轉器·： 3相2相轉換器 15 電流檢測器 16 相位檢測器 17 向量旋轉器·： 2相3相轉換器 41 永久磁鐵同步馬達 44 電流控制器 312XP/發明說明書(補件)/96-08/96114975 18(4) The gain of the time is not related to Kld, Klq, but for the discussion, steady Y When the current control adopts the PU to allow the |0, u + is 0 〇 Η匕 ,, as above, the integration time I, - with the electric Time constant (L/R). Moreover, in order to improve the reactivity considerations, the gain of the angular frequency 仏 读 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( Higher than the cross angle frequency of the loop, the responsiveness and stability of the outer loop can be improved. However, if the gain of the current control loop is set to a higher value and a larger current flows in the motor, the motor may be caused. Therefore, in the present embodiment, the current value of the output of the servo motor fed back by the current control circuit is set to a threshold value, and the gain of the current control circuit is switched. 'Fig. 6 shows the servo motor. A current control program flow chart executed by a processor of the control device. In the current control program, the processor of the control device (corresponding to the current loop display switching means described in the patent scope 帛i item) first determines Whether the output current value of the feeding motor fed back by the current control loop is above a preset threshold (S1), wherein the threshold value is set to the rated current value of the servo motor, that is, the current generating the rated thrust The threshold data is stored in advance in the memory of the control device. Further, the term "the output current value of the feeding motor" refers to the q-axis fed back from the vector rotator 3-phase 2-phase converter 14 shown in Fig. 2. The current "value. Therefore, the current detecting means described in the first aspect of the patent application is composed of a vector rotating state, a three-phase two-phase converter 14, a current detector 15, and a phase detector 16. 312XP/invention Specification (supplement)/96-08/96114975 14 200812217 Secondly, the processor of the control device selects a larger cross angle from the preset size and two cross angle frequencies when detecting the set limit value. Fresh ωε1, and calculate the increase of the current control loop... increase the gain of the current control loop (10). Conversely, when the detected output current value is larger than the preset threshold, the smaller cross corner frequency ωε2 is selected. And calculate the gain of the current control loop, and reduce the gain of the current control loop (S3). The larger cross-angle frequency ω cl (for example, 2000 rad / s) is set to not make the feeding service 'current rated current' Word within the range of motor vibration The parental cross corner frequency ω <:2 with a small maximum value (for example, i〇〇〇ra(j/s) is set to prevent the servo motor from vibrating when the servo motor causes the maximum current exceeding the rated current to flow. The maximum value in the range. In the memory of the control device, the two cross-angle frequencies θα are recalled. According to the two parental cross-angle frequencies ω C1 and ω c2 , the gain Ki is calculated using [Equation 1]. Next, the processor of the control device uses the [Digital Formula] based on the deviations of the gains Kid, Kiq, the integration time Tid, Tiq, the d-axis current command, the q-axis current command A, and the d-axis current id and the q-axis current iq fed back. π calculates ν d (the command value v*d of the -d axis voltage) and v, the command value of the axis voltage v*q) (S4) 〇 In addition, when the processor of the control device performs the processing of the current control loop, The processing of the speed control loop and the position control loop is also performed at the same time. The speed control system is the same as the current control system, with the deviation set to 〇 and PI control. If the cross-angle frequency ω c of the current control system is set to be several times higher than the cross-corner frequency ω sc of the speed control system, at the angular frequency ω 312 ΧΡ / invention manual (supplement) / 96 · 〇 8 / 96114975 15 200812217 near SC can be regarded as "丨" in the closed-loop gain function of the current control system, and the influence of the characteristics of the current control system on the speed control system can be ignored. In the position control system, the p control is used to prevent the position response (position versive response) from generating a transcendental amount (〇versh〇〇t). If the cross-angle frequency ω se of the speed m system is set to be several times higher than the cross-angle frequency of the position control system, the speed control (four) and (four) closed-loop gain function can be regarded as the angular frequency is near ωΡ. For "丨", the impact of the speed control system characteristics on the position control system. The current control method described in μ丄 can switch between two gains before reaching the rated current and reduce the gain when the rated current is exceeded. Figure 7 is not a conceptual diagram of gain switching. In Fig. 7, the output of the feeding motor: = the proportion of the elapsed time increases. The dotted line in the figure refers to the electrical & value of the vibration (for example, the rated current value). When the output current value of the feeding motor is smaller than the = current value (for example, the rated current value), since the servo motor does not vibrate: it is increased by using a large cross-angle frequency center (for example, 2 rad/s). In order to improve the responsiveness of the current control loop. On the other hand, if the output current value of the motor exceeds the current value of (4), if the gain is continued, the current amplitude of the servo motor will increase and the motor will vibrate. Therefore, the correction is changed to use a smaller = just discussed) to calculate the gain, and the gain is switched to a smaller car two response:: up == move: =_- road invention is not limited to the above embodiment, not changed Various changes can be made in (4) today. For example, the above embodiment _, 312 view / invention manual (supplement) / 96-08/96114975 16 200812217 using a movable, coil type permanent magnet synchronous linear motor as (four) clear servo motor, but the control device of the servo motor of the present invention may also Suitable for rotary permanent magnet synchronous motors and induction motors. The present specification is based on Japanese Patent Application No. 2006 124954, filed on Apr. 28, 2006. Its contents are all covered in this section. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing a synchronous coil type permanent magnet synchronous linear motor. Fig. 2 is a view showing the overall configuration of a permanent magnet synchronous motor control using a d q coordinate system. Figure 3 is a block diagram of a permanent magnet synchronous motor with an additional current controller. Figure 4 is a Bode diagram obtained from the open loop gain function. Figure 5 is a Bode diagram obtained from a closed loop gain function. Figure 6 is a flow chart of the current control program. Figure 7 is a conceptual diagram of gain switching. Fig. 8 is a system configuration diagram of a permanent magnet synchronous motor. [Main component symbol description] 1 Stator 2 Permanent magnet 3 Movable 4 Coil 5 Servo motor 6, 42 Power converter 7 ' 43 Detector 312XP / Invention book (supplement) /%-〇8/96114975 17 200812217 8. 45 Speed controller 9 Speed detector 10, 46 Position controller 11 Position detector 12 Current controller (d-axis current controller) 13 Current controller (q-axis current controller) 14 Vector rotator ·: 3-phase 2-phase Converter 15 Current Detector 16 Phase Detector 17 Vector Rotator ·: 2-Phase 3-Phase Converter 41 Permanent Magnet Synchronous Motor 44 Current Controller 312XP/Invention Manual (Supplement)/96-08/96114975 18