TW201409924A - Motor control device - Google Patents

Abstract

The present invention discloses a motor control device capable of raising the interference-inhibiting performance and the positioning-stabilizing performance simultaneously, wherein a phase advancer (125) advances the phase of a speed feedback in order to compensate the phase delay of the speed feedback in a high frequency range from a motor (110). A time constant multiplier (130) is operable to have the difference between the speed instruction of the motor and the speed feedback for advancing the phase be multiplied by the time constant for restraining the influence of interference. An integrator (140) is operable to integrate the instruction which has been multiplied by the time constant through the time constant multiplier. A speed ratio augmenter (150) is operable to add the difference between the speed instruction and the speed feedback and the instruction which has been integrated by the integrator together, and then makes the summed instruction be multiplied by a speed ration gain to thereby output a torque instruction of the motor. A torque controller (160) receives the torque instruction and thereby controls the power supplied to the coil of the motor (110).

Description

Motor control unit

The present invention relates to a motor control device capable of simultaneously improving interference suppression performance and positioning stability performance.

In general, high-performance motor control devices are commonly used in order to machine workpieces with high precision. Since the processing quality and productivity are usually required for the processing of the workpiece, the control performance of the speed control system of the motor control device is also required to be improved, in particular, the interference suppression performance and the positioning stability performance are improved. Claim.

There is interference such as friction in the mechanical system. The interference will hinder the action of the motor that drives the machine tool in accordance with the instructions. For example, for the positioning of the machine tool, the positioning stabilization time may vary depending on the position due to the influence of the friction of the mechanical system.

In particular, in machining requiring high control performance, such as arc cutting, when the quadrant is switched, due to the influence of the friction of the mechanical system, a so-called quadrant protrusion may occur on the workpiece. Once the workpiece has a quadrant protrusion, the processing quality will be significantly reduced.

In general, in order to suppress the influence of interference, a method of using an interference observer for interference suppression control or a method of setting a speed integral time constant as short as possible may be employed.

When the disturbance observer is used, if the inertia of the observation unit does not match the inertia of the mechanical system, the disturbance cannot be accurately estimated. In addition, in order to differentiate the speed, it is affected by the quantization error of the encoder, etc., and the estimated interference will be easily vibrated. In order to suppress the vibration, it is only necessary to insert the filter, but once the filter is inserted, the response performance of the interference estimation will be lowered, and the interference suppression characteristic in the frequency range which is originally necessary cannot be obtained.

When the speed integral time constant is set as short as possible, the stability of the speed control system cannot be ensured due to the resonance caused by the mechanical rigidity of the machine tool, so that oscillation or overshoot occurs. ).

In order to solve these problems, in the invention described in the following Patent Document 1, the value of the speed integral time constant is set to a small value only in a very short time period of quadrant switching. Since the speed integral time constant will return to the original value after a short period of time, the occurrence of oscillation can be suppressed.

[Previous Technical Literature]
[Patent Document]
[Patent Document 1] Japanese Patent Publication No. 7-5926

[The subject to be solved by the invention]
However, in recent years, not only arc cutting but also processing of workpieces into complicated shapes has been increasing. And it also requires high processing accuracy for its processing.

When the machining is designated as arc cutting, as disclosed in Patent Document 1, the speed integral time constant can be changed in a short time only when the quadrant is switched. However, when machining a workpiece into a complex shape, it is not easy to detect the switching of the quadrant. Therefore, it is difficult to change the speed integral time constant only when necessary.

Further, in the case of applying the invention disclosed in Patent Document 1, it can be assumed that the motor operation is stopped at the portion where the quadrant is switched. In this case, since the speed integral time constant will be maintained for a short period of time, the stability of the speed control system cannot be ensured, and oscillation is caused, resulting in a decrease in machining accuracy, which also adversely affects the life of the machine tool.

In addition, the machine tool must move the processing tool of the workpiece to a predetermined location between the machining and machining of the workpiece. In order to shorten the processing time to improve productivity, the positioning speed is required.

Since the speed integral time constant is less susceptible to interference, the mechanical system with friction will shorten the positioning stabilization time by setting the speed integral time constant to be shorter as described above. However, once the speed integral time constant is set to be short, as described above, the stability cannot be ensured due to the influence of the resonance of the mechanical system. Furthermore, the composition of the ordinary integral control will accumulate in the speed integrator due to the speed delay of the speed command. Therefore, when the positioning is performed, it takes a lot of time to reduce the value to 0, so it is impossible to Shorten the problem of positioning and setting time.

The present invention has been made to solve the problems of the above-described conventional techniques, and an object thereof is to provide a motor control device capable of simultaneously improving interference suppression performance and positioning stability performance.

[Means for solving the problem]
In order to solve the above problems, the motor control device of the present invention is for controlling the operation of a machine tool driven by a motor, and includes a phase advancer, a time constant multiplier, a speed integrator, and a speed proportional gain.

The phaser is the phase that compensates for the response delay of the control system and advances the speed feedback. The time constant multiplier is a time constant that multiplies the difference between the speed command of the motor and the speed feedback that advances the phase to suppress the influence of the disturbance. The speed integrator integrates the instructions that are multiplied by the time constant using the time constant multiplier. The speed proportional gainer adds the difference between the speed command and the speed feedback to the command integrated by the speed integrator, and multiplies the added command by the speed proportional gain to output the torque command of the motor.

[effect of the invention]
According to the motor control device of the present invention constructed as described above, the phase advance compensation generated by the phase advancer is applied only to the feedback of the integral term composed of the time constant multiplier and the speed integrator. According to this, since the time constant set in the time constant multiplier can be shortened to improve the interference suppression performance of the speed control system, high machining accuracy can be achieved even in the case of machining a workpiece having a complicated shape. Further, it is possible to suppress the inconsistency in the positioning stabilization time due to the friction of the mechanical system, and it is possible to shorten the positioning stabilization time. In addition, since the accumulation amount of the speed integrator can be almost zero, the positioning stabilization time can be shortened.

100, 200, 300. . . Motor control unit

110, 210, 310. . . motor

112, 114, 116, 212, 214, 312, 314, 316. . . Add point

115, 215, 315. . . Encoder

120, 230, 320. . . Speed calculator

125, 325. . . Phase advancer

130, 340. . . Speed integral time constant multiplier

140, 350. . . Integrator

150, 360. . . Speed proportional gainer

220. . . Position proportional gainer

240. . . Speed control department

160, 250, 370. . . Torque control unit

330. . . Speed integral compensation low pass filter

Fig. 1 is a configuration diagram of a speed control system of a motor control device according to a first embodiment.
Fig. 2 is an explanatory view for explaining the operation of the speed control system of Fig. 1.
Fig. 3 is an explanatory view for explaining a change in characteristics according to the insertion position of the phase advancer in the speed control system of Fig. 1.
Fig. 4 is an explanatory view for explaining a change in characteristics due to a difference in integration time constant in the speed control system of Fig. 1.
Fig. 5 is a configuration diagram of a motor control device of the second embodiment.
Fig. 6 is an explanatory view for explaining a change in characteristics according to the insertion position of the phase advancer in the motor control device of Fig. 5.
Fig. 7 is an explanatory view for explaining a change in characteristics according to the insertion position of the phase advancer in the motor control device of Fig. 5.
Fig. 8 is a configuration diagram of a speed control system of the motor control device of the third embodiment.

The motor control device of the present invention can set the speed integral time constant to a shorter time by applying only the phase advance compensation to the feedback of the integral term. In addition, it is also possible to suppress variations in the positioning stability time due to friction of the mechanical system to improve the positioning stability performance.

The motor control device of the present invention can suppress the influence of disturbance such as friction of the mechanical system, and can realize high machining accuracy even when the workpiece is processed into a complicated shape. Further, when the positioning is performed by the machine tool, since the influence of the friction of the mechanical system can be reduced, the positioning and setting time does not change depending on the position.

Hereinafter, embodiments of the motor control device according to the present invention will be described in the following [Embodiment 1] to [Embodiment 3].

[Embodiment 1]
[Composition of motor control device]
Fig. 1 is a configuration diagram of a speed control system of a motor control device according to a first embodiment. As shown in the figure, the motor control device 100 according to the first embodiment includes a phase advancer 125, a speed integral time constant multiplier 130, an integrator 140, a speed proportional gainer 150, and a torque control unit 160.

The phase advancer 125 is a component that only sets the phase of the speed feedback calculated by the speed calculator 120 in advance. For example, the phase of the speed feedback is advanced only for a time equivalent to the delay of the speed control system. The transfer function of the phase advancer 125 is preferably set to (1 + ST2) / (1 + ST1). However, the magnitude relationship between T1 and T2 in this case is T1 < T2.

Further, the speed calculator 120 is fed back at a calculated speed based on the rotational position of the motor 110 detected by the encoder 115.

The speed integral time constant multiplier 130 is an instruction obtained by subtracting the speed feedback from the speed command of the motor 110 from the speed command of the motor 110 by the phase advancer 125, multiplied by "1/set The value of the speed integral time constant.

The integrator 140 is a command obtained by multiplying the result of the "1/set speed integral time constant" by the speed integral time constant multiplier 130.

The speed proportional gainer 150 is an instruction obtained by subtracting the speed feedback from the speed command from the speed command and the command obtained by the integrator 140, and adds the result at the addition point 116. The command is multiplied by the set speed proportional gain and outputs the torque command of the motor 110.

The torque control unit 160 is an input torque command to control the electric power supplied to the coil of the motor 110.

[Operation of motor control device]
The speed feedback calculated by the speed calculator 120 will be output to the phaser 125. The phase advancer 125 can advance the phase of the input speed feedback by a certain angle. Thereby, the phase delay of the speed feedback can be compensated.

On the other hand, the speed feedback will be output to the addition point 112. Add point 112 subtracts the speed feedback from the speed command. Therefore, the self-addition point 112 will output the difference between the rotational speed of the target of the motor 110 and the current rotational speed of the motor 110.

The speed command will be output to the addition point 114. The addition point 114 then subtracts the speed feedback from which the phase is advanced by the phaser 125 based on the speed command. Therefore, the self-addition point 114 will output a difference between the rotational speed set as the target of the motor 110 and the current rotational speed of the motor 110 for compensating for the phase delay of the high frequency range and the phase being advanced.

The command output from the addendum 114 multiplies the value of "1/set speed integral time constant" by the speed integral time constant multiplier 130, and the resulting command is integrated in the integrator 140.

The integrated instruction will be output to the addition point 116. At the addition point 116, the integrated instruction is added to the instruction output by the addition point 112. The command that the added points 116 have been added may be multiplied by the speed proportional gainer 150 by the value of the set speed proportional gain. The result will be output from the speed proportional gainer 150 as a torque command.

The motor 110 can control the torque of the motor 110 through the torque control unit 160 in accordance with the torque command output from the speed proportional gainer 150 to rotate the motor 110. Therefore, the motor 110 will rotate in accordance with the rotational speed indicated by the speed command.

Fig. 2 is an explanatory view for explaining the operation of the speed control system of Fig. 1. More specifically, it is a graph showing the difference in frequency characteristics of the speed control system from the speed command of the motor 110 to the rotational speed of the motor 110 due to the difference in the magnitude of the integral time constant.

When the time of the speed integral time constant set in the speed integral time constant multiplier 130 is long, as shown in the graph, no peak is generated in the gain of the speed response. However, when the time of the speed integral time constant set in the speed integral time constant multiplier 130 is short, as shown in the graph, there is a peak generation near 100-300 Hz (the integration time constant is set to be short and the integral is integrated) Comparison between cases with longer time constants).

Fig. 3 is an explanatory view for explaining a change in characteristics according to the insertion position of the phase advancer 125 in the speed control system of Fig. 1. More specifically, it is a graph showing the difference in frequency characteristics of the speed control system from the speed command of the motor 110 until the rotational speed of the motor 110 is reached due to the difference in the insertion position of the phase advancer.

In the case where the phase is inserted into the instruction of the integral term and the feedback bother, when at a frequency higher than the cutoff frequency of the phase advancer 125, as shown in the graph of Fig. 3, the gain of the speed response will be Increase. Once the mechanical frequency element is present in the frequency band where the gain is increased, mechanical resonance will be excited. In addition, it will be difficult to sufficiently suppress the generation of peaks. However, in the motor control device 100 according to the first embodiment, in the case where only the phase advance is inserted only in the feedback of the integral term, even if the frequency is higher than the cutoff frequency of the phase advancer 125, the gain of the speed response is also Will not increase. Therefore, the resonance can be suppressed and the peak can be suppressed.

Fig. 4 is an explanatory view for explaining a change in characteristics due to a difference in integration time constant in the speed control system of Fig. 1. More specifically, it is a graph showing the difference in frequency characteristics of the speed control system from the disturbance until the rotation speed of the motor 110 due to the difference in the magnitude of the integration time constant.

When the time of the speed integral time constant set in the speed integral time constant multiplier 130 is long and interference occurs, as shown in the graph, the gain for interference is high in the frequency range of 100 Hz or less. Therefore, it is susceptible to interference. On the other hand, for example, in the motor control device 100 of the first embodiment, when the time of the speed integral time constant set in the speed integral time constant multiplier 130 is short, as shown in the graph, the frequency range is 100 Hz or less. The gain on interference will be lower. Therefore, it is difficult to be affected by the disturbance, and the characteristic that the influence of the disturbance can be largely suppressed is formed (the case where the integration time constant is long and the integration time constant are set to be short, and the comparison between the cases in which the present invention is applied).

In the first embodiment, the phase advance is applied to the speed feedback, and only the phase advance compensation is applied to the feedback of the integral term. Accordingly, in the motor control device 100 of the first embodiment, as shown in FIG. 3, when the frequency is higher than the cutoff frequency of the phase advancer 125, the gain of the speed response does not increase and does not cause resonance. Can suppress peaks. Further, in the motor control device 100 according to the first embodiment, as shown in FIG. 4, since the integration time constant can be shortened, the influence of interference can be suppressed.

According to the motor control device 100 of the first embodiment, the time constant set in the integral time constant multiplier 130 can be shortened to improve the interference suppression performance of the speed control system even in the case of processing a workpiece having a complicated shape. Underneath, high machining accuracy can still be achieved. Further, it is possible to suppress fluctuations in the positioning stabilization time due to friction of the mechanical system, and it is possible to shorten the positioning stabilization time.

In addition, it is also possible to configure the speed proportional gainers to be respectively set in the integral system and the proportional system.

[Embodiment 2]
[Composition of motor control device]
Fig. 5 is a configuration diagram of a motor control device of the second embodiment. As shown in the figure, the motor control device 200 of the second embodiment includes a position proportional gain unit 220, a speed calculator 230, a speed control unit 240, and a torque control unit 250.

The position proportional gainer 220 is a positional deviation obtained by subtracting the result of the position feedback output from the encoder 215 from the position command in the addition point 212, multiplying the proportional gain KP, and outputting the speed command.

The speed calculator 230 can input the position feedback output by the encoder 215 to calculate the speed feedback.

The speed control unit 240 has the same configuration as the speed control system (the phase advancer 125, the speed integral time constant multiplier 130, the integrator 140, and the speed proportional gain unit 150) of the motor control device 100 shown in Fig. 1 . Further, in the case of the second embodiment, the phase advancer 125 holds a time advance corresponding to the delay of the speed control system. The speed control unit 240 inputs a command obtained by subtracting the result of the speed feedback from the speed command in the addition point 214, and outputs a torque command.

The torque control unit 250 can input a torque command to control the electric power supplied to the coil of the motor 210. The motor 210 can rotate the motor 210 in accordance with the voltage output from the torque control unit 250. Since the voltage output from the torque control unit 250 is generated in accordance with the positional deviation, the motor 210 will stop at a position coincident with the position command (target position).

[Operation of motor control device]
Fig. 6 and Fig. 7 are explanatory views for explaining changes in characteristics according to the insertion position of the phase advancer in the motor control device 200 of Fig. 5. Specifically, Fig. 6 shows the positioning and stability characteristics in the case where the phase inverting device 125 is inserted into both the command and the feedback of the speed integrator (the speed integral time constant multiplier 130 and the integrator 140 of Fig. 1). Simulation results. In addition, Fig. 7 shows a simulation result of the positioning stability characteristic when the phase advancer 125 is inserted only in the feedback of the speed integrator (the speed integral time constant multiplier 130 and the integrator 140 of Fig. 1).

First, a description will be given of a case where the phase integrator is inserted into the command of the speed integrator (the speed integral time constant multiplier 130 and the integrator 140 in Fig. 1) and the feedback.

As shown in Fig. 6, the position command (differential value) is a trapezoidal command that increases with time and then decreases with time when a certain size is reached. The position feedback is subtracted from the position command at the addition point 212 to output a positional deviation. Since the positional deviation is the difference between the target position (position command) and the current position (position feedback), when the position does not match the target position, it will not become 0, and the position deviation will be as shown in Fig. 6.

The position proportional gainer 220 will output a speed command as shown in FIG. The speed command will be trapezoidal in the same way as the position command. Further, the speed feedback output by the speed calculator 230 is also trapezoidal in the same manner as the speed command.

On the other hand, the output of the speed integrator (speed integral time constant multiplier 130, integrator 140 of Fig. 1) will output as shown in Fig. 6 when the speed command is increased and decreased. The size of the signal. This is because of the accumulated amount generated in the speed integrator. Accordingly, the convergence of the positional deviation will take time until the time until the position decision is completed will be extended.

As described above, in the case where the phase integrator 125 is inserted into both the command and the feedback of the speed integrator (the speed integral time constant multiplier 130 and the integrator 140 of Fig. 1), there is a stock in the speed integrator. It will take time until the accumulation amount is discharged, and the response of the speed control unit 240 is delayed. Therefore, because of this delay in response, the settling time of the positioning will be extended.

Next, a description will be given of a case where the phase injector 125 is inserted only in the feedback of the speed integrator (the speed integral time constant multiplier 130 and the integrator 140 in Fig. 1). This is the case where the speed control unit 240 includes the speed control system of Fig. 1 .

In Fig. 7, the position command (differential value) is the same as Fig. 6. The position feedback is subtracted from the position command at the addition point 212 to output a positional deviation. Since the position deviation is the difference between the target position (position command) and the current position (position feedback), the current position does not become 0 when the position does not coincide with the target position, and the position deviation is as shown in Fig. 7.

The position proportional gainer 220 will output a speed command as shown in FIG. The speed command will be trapezoidal in the same way as the position command. Further, the speed feedback output by the speed calculator 230 is also trapezoidal in the same manner as the speed command. The speed command and speed feedback will be the same as in Figure 6.

On the other hand, the output of the speed integrator (speed integral time constant multiplier 130, integrator 140 of Fig. 1) will output as shown in Fig. 7 when the speed command is increased and decreased. A signal that is almost zero. This is because only the phaser 125 is inserted into the feedback of the speed integrator. By merely inputting the phase advancer 125 to the feedback of the speed integrator, since the input speed feedback is advanced as much as the time delay corresponding to the delay of the speed control system, no accumulation amount will be generated in the speed integrator. Thereby, the convergence of the positional deviation will be completed early, and the time for the completion of the position determination will also become shorter.

As described above, in the case where the phase injector 125 is inserted only in the feedback of the speed integrator (the speed integral time constant multiplier 130 and the integrator 140 of Fig. 1), since the accumulated amount of the speed integrator becomes almost zero, The time for the accumulation of the discharge speed integrator is almost zero, and the positioning stability performance can be improved.

In the second embodiment, the speed control system of the first embodiment is used as it is, and the motor control device 200 that performs position control is configured. Therefore, in the motor control device according to the second embodiment, even at a frequency higher than the cutoff frequency of the phase advancer 125, the gain of the speed response does not increase, resonance does not occur, and the peak value can be suppressed. According to the motor control device 200 of the second embodiment, the integral time constant can be shortened, and the influence of interference can be suppressed. The motor control device 200 according to the second embodiment can suppress the fluctuation of the positioning stabilization time due to the friction of the mechanical system to improve the positioning stability performance. In addition, since the accumulation amount of the speed integrator can be almost zero, the positioning stabilization time can be shortened.

[Embodiment 3]
[Composition of motor control device]
Fig. 8 is a configuration diagram of a speed control system of the motor control device of the third embodiment. As shown in the figure, the motor control device 300 of the third embodiment has a phase advancer 325, a speed integral compensation low pass filter 330, a speed integral time constant multiplier 340, an integrator 350, a speed proportional gainer 360, and a torque control unit. 370.

The motor control device 300 according to the third embodiment differs from the motor control device 100 according to the first embodiment only in that it has the speed integral compensation low-pass filter 330, and the other configurations are the same. In the speed control unit 240 of the motor control device 200 according to the second embodiment, the speed control system of the motor control device 300 of the third embodiment can be applied.

Further, the respective functions of the phase advancer 325, the speed integral time constant multiplier 340, the integrator 350, the speed proportional gainer 360, and the torque control unit 370 are multiplied with the phase advancer 125 of the first embodiment and the speed integral time constant. The respective functions of the controller 130, the integrator 140, the speed proportional gainer 150, and the torque control unit 160 are the same.

The speed integral compensation low pass filter 330 is inserted to improve the followability with respect to the speed command. Specifically, it is set to set the difference when the time corresponding to the delay of the speed control system cannot be set as the phase advance. By inserting the speed integral compensation low-pass filter 330, the speed integral command of the speed integral time constant multiplier 340 and the speed feedback after the phase advancement rise almost simultaneously, and the product of the integrator 350 when the speed command changes can be reduced. Stock.

[Operation of motor control device]
Based on the current rotational position of the motor 310 detected by the encoder 315, the speed feedback calculated by the speed calculator 320 will be output to the phase advancer 325. In the speed feedback in this case, the detection error of the encoder 315 will be included. The phase advancer 325 can advance the phase of the input speed feedback by a certain angle.

On the other hand, the speed feedback will be output to the addition point 312 where the speed feedback is subtracted from the speed command. From the addition point 312, the difference between the speed of the target of the motor 310 and the current speed of the motor 310 will be output.

The speed command will be output to the speed integral compensation low pass filter 330, using the speed integral compensation low pass filter 330 in the time equivalent to the delay of the speed control system, depending on the amount of delay that the phase advancer 325 cannot advance the phase, the delay speed instruction. When the phase advancer reduces the gain in the high frequency range and reduces the response of the speed control system, a sufficient phase advance cannot be set. The speed command after the time has been delayed will be output to the addition point 314. At summing point 314, the speed command from the time delay is subtracted from the speed feedback by phase advancer 325. From the addition point 314, the difference between the speed of the target of the motor 310 which is delayed as time and the speed of the motor 310 whose phase is advanced to compensate the phase delay will be output.

The command output from the addition point 314 multiplies the value of the "1/set speed integral time constant" by the speed integral time constant multiplier 340, and the resulting command is further executed in the integrator 350. integral.

The integrated instruction will be output to the addition point 316. At summing point 316, the integrated instruction is added to the instruction output by addition point 312. The command that has been added at the addition point 316 can be multiplied by the value of the set speed proportional gain by the speed proportional gainer 360. The result will be output from the speed proportional gainer 360 as a torque command.

The motor 310 can rotate the motor 310 through the torque control unit 370 in accordance with the torque command output by the speed proportional gainer 360. The rotational speed of the motor 310 coincides with the rotational speed of the speed command. Therefore, the motor 310 will rotate in accordance with the rotational speed indicated by the speed command.

In the motor control device 300 of the third embodiment, the speed integral compensation low-pass filter 330 is inserted only into the speed command system, and the phase advancer is inserted in the speed feedback to make the phase usable speed which cannot be advanced by the phase advancer 325. The integral compensation low pass filter 330 is delayed. It is possible to reduce the amount of accumulation of the integrator 350 when the speed command is changed, and it is possible to improve the followability with respect to the speed command. Accordingly, the interference suppression performance and the positioning stability performance of the speed control system can be improved.

Also in the third embodiment, similarly to the first embodiment, the phase advance is applied to the speed feedback, and only the phase advance compensation is applied to the feedback of the integral term. Accordingly, in the motor control device 300 of the third embodiment, as shown in FIG. 3, when the frequency is higher than the cutoff frequency of the phase advancer 325, the gain of the speed response does not increase and does not cause resonance. Can suppress peaks. Further, in the motor control device 300 of the third embodiment, as shown in FIG. 4, since the integration time constant can be shortened, the influence of interference can be suppressed. Furthermore, since the speed integral compensation low-pass filter 330 is provided, the setting of the low-pass filter 330 can be compensated by the speed integral even when the time corresponding to the delay of the speed control system cannot be set using only the phase-input unit 325. To compensate for the difference.

Therefore, in the motor control device 300 according to the third embodiment, as in the first embodiment, the time constant set in the integral time constant multiplier 340 can be shortened to improve the interference suppression performance of the speed control system even when processing In the case of workpieces with complex shapes, high machining accuracy can still be achieved. Further, it is possible to suppress fluctuations in the positioning stabilization time due to friction of the mechanical system, and it is possible to shorten the positioning stabilization time. In addition, since the accumulation amount of the speed integrator can be almost zero, the positioning stabilization time can be shortened.

As described above, according to the motor control device of the first to third embodiments, the speed integral time constant can be suppressed not only by the switching of the quadrant but also by the constant amount, and the influence of the disturbance such as the friction of the mechanical system can be suppressed, even if the complexity is complicated. In the case of shape processing, high machining accuracy can still be achieved. In addition, the positioning in the machine tool is not affected by the friction, but can suppress the variation of the stability time and improve the positioning stability performance. In addition, since the accumulation amount of the speed integrator can be almost zero, the positioning stabilization time can be shortened.

100. . . Motor control unit

110. . . motor

112, 114, 116. . . Add point

115. . . Encoder

120. . . Speed calculator

125. . . Phase advancer

130. . . Speed time constant multiplier

140. . . Integrator

150. . . Speed proportional gainer

160. . . Torque control unit

Claims (1)

A motor control device comprising:
a phase injector that advances the phase of a speed feedback from the motor;
a time constant multiplier that multiplies a difference between a speed command of the motor and a speed feedback that advances the phase by a time constant;
a speed integrator that integrates the instruction after the time constant multiplier is multiplied by the time constant; and a speed proportional gainer that integrates the difference between the speed command and the speed feedback The subsequent commands are added, and the added command is multiplied by the speed proportional gain, and the torque command of the motor is output.
2. A motor control device comprising:
a phase injector that advances the phase of a speed feedback from the motor;
a speed integral compensation low pass filter for delaying the speed command to improve the follower of a speed command relative to the motor;
a time constant multiplier that multiplies the difference between the speed command after the low-pass filter is compensated by the speed integral and the speed feedback that advances the phase by a time constant;
a speed integrator that integrates the instruction after the time constant multiplier is multiplied by the time constant; and a speed proportional gainer that integrates the difference between the speed command and the speed feedback The subsequent commands are added, and the added command is multiplied by the speed proportional gain, and the torque command of the motor is output.
3. The motor control device according to claim 2, wherein the speed integral compensating low-pass filter cannot set the phase changer to be equivalent to a delay of the speed control system of the motor control device. In the case of advanced time, the speed command is delayed to compensate for the difference.
4. The motor control device according to any one of claims 1 to 3, further comprising:
a position proportional gainer multiplying a difference between a position command of the motor and a position feedback from an encoder detecting a rotational position of the motor by a proportional gain, and outputting a speed command; and a torque control unit according to the speed The torque command output by the proportional gainer controls the power supplied to the coil of the motor.
5. The motor control device according to any one of claims 1 to 3, wherein the phase advanceer is fed back by the speed to compensate for a delay of the speed control system of the motor control device. .