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Motor controller

A technology of motor control and control object, applied in the direction of motor control, AC motor control, electric controller, etc., can solve the problems of difficult and troublesome adjustment, and achieve the effect of simple adjustment

Inactive Publication Date: 2006-06-07
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, since it is cumbersome to set these parameters individually, and knowledge for setting them appropriately is required, adjustment is difficult for inexperienced people.

Method used

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Embodiment Construction

[0018] Embodiment 1

[0019] Fig. 1 is a block diagram of a motor control device according to Embodiment 1 of the present invention. The motor 1 drives the control object 3 composed of the motor 1 and the mechanical load 2 matching it by generating a torque corresponding to the torque command τr. In addition, the encoder 4 detects the motor angle θm which is the rotation angle of the motor 1 , and by differentiating the motor angle θm by the speed calculator 5 , the motor speed vm which is the rotation speed of the motor 1 is detected.

[0020] Next, the feedback calculation unit 6 inputs the speed command vr and the motor speed vm, and calculates the torque command τr through the operation described below.

[0021] Inside the feedback operation unit 6, the difference signal between the speed command vr and the motor speed vm is input to the speed proportional amplifier 7, and the speed proportional amplifier 7 outputs a signal multiplied by the speed gain Kv on its input. T...

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PUM

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Abstract

In a motor control device that drives a control object including a motor and a mechanical load according to the motor torque corresponding to the computed torque command, there is a method of simply performing adjustments corresponding to the control method and performing adjustments according to the application in a short time. Corresponding to the subject of optimal adjustment. The present invention is equipped with input position command signal or speed command signal and motor rotation signal, through the transfer function of the feedback loop from motor rotation signal to torque command, including the operation of pole or zero point, the feedback calculation unit and the response of torque command calculation The parameter input unit and the proportional parameter input unit set the gain of the feedback loop based on the response parameter, that is, the loop gain, and set the pole or zero point of the loop gain based on the response parameter and the proportional parameter, so that the value of the loop gain is divided by the inertia value of the controlled object That is, the ratio of the response frequency to the frequency corresponding to the pole or zero point of the feedback loop becomes a value set with the proportional parameter, thereby enabling easy adjustment in a short time.

Description

technical field [0001] The present invention relates to a motor control device used as a drive device for a machine tool, a semiconductor manufacturing device, various conveying devices, and the like. Background technique [0002] In the motor control device, it is necessary to generate a command through the calculation of the feedback loop of the torque command based on the motor speed or the motor angle, and it is necessary to appropriately set the loop gain, the zero frequency in the speed PI control, the filter frequency, the feedback The poles and zeros of the transfer function of the ring, etc. In addition, since it is cumbersome to set these parameters individually, and knowledge for setting them appropriately is required, adjustment is difficult for inexperienced persons. [0003] As a conventional technology to improve this point, for example, one input parameter is input from the outside, and a specific relational expression is used from the input parameter, and b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/00G05B11/36G05B13/02G05D3/12
CPCH02P27/026H02P2205/05Y10S388/906
Inventor 池田英俊
Owner MITSUBISHI ELECTRIC CORP
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