CN105337558B - Electric motor system - Google Patents
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- CN105337558B CN105337558B CN201510449992.0A CN201510449992A CN105337558B CN 105337558 B CN105337558 B CN 105337558B CN 201510449992 A CN201510449992 A CN 201510449992A CN 105337558 B CN105337558 B CN 105337558B
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Abstract
A kind of electric motor system, it can be set according to the characteristic of action object thing, motor to being instructed using the rotation position of motor as input, using the rotation position of motor as the characteristic of the closed-loop system of output, and even if inertia of action object thing, motor etc. changes, also automatically the characteristic of closed-loop system can be remained necessarily.In the electric motor system, when representing closed-loop system with block diagram, closed-loop system includes summing point (18), proportional gain key element, summing point (19), integral filtering key element, motor gain key element and the motor key element being configured at successively in through path, and the differential filter key element including being configured in the second feedback network, second feedback network are connected with negative feedback mode with summing point (19).First feedback network is connected with negative feedback mode with summing point (18).In the electric motor system, motor gain key element is updated according to the gain K deduced by Adaptive Identification element (21).
Description
Technical field
The present invention relates to a kind of electric motor system including motor and control device of electric motor, wherein, above-mentioned electricity
Motivation is acted action object thing, and above-mentioned control device of electric motor is controlled to motor.
Background technology
At present, as the control device for making motor that robot acted, it is known to a kind of to control (ratio by P-PI
Example, proportional plus integral control) control device of electric motor that is controlled to motor (referring for example to patent document 1).Carrying out P-
In the control device of electric motor of PI controls, the rotation position of motor and rotary speed are fed back, and to the inclined of rotation position
Poor carry out ratio control, proportional plus integral control (PI controls) is carried out to the deviation of rotary speed.
Exist in the motor including carrying out the control device of electric motor of P-PI controls and being controlled by the control device of electric motor
In interior electric motor system, represented when by the use of block diagram using the rotation position instruction of motor as input, with the rotation of motor
When position is as the closed-loop system exported, such as shown in Figure 5.In Figure 5, Kp is position loop gain, and Kv is that speed ring increases
Benefit, Ki are storage gains.In addition, K is the torque for including fixed gain and motor towards the amplifier of motor supply electric power
Fixed value divided by robot including constant and the value i.e. gain obtained after the inertia of motor, p are and robot and motor
The related item divided by the inertia of robot and motor of viscosity after the value i.e. gain that obtains, s is Laplace operator.In addition,
ωFIt is the cut-off frequency of wave filter, rotation position is converted into rotary speed using wave filter.
Patent document 1：Japanese Patent Laid-Open 2006-244300 publications
In order to make rightly to control motor in the state of motor is stable, even if inertia of robot and motor etc.
Change, the spy of the closed-loop system shown in Fig. 5 also can be cooperatively set with the robot and the characteristic of motor controlled
Property (response characteristic that i.e. motor instructs to rotation position), and the characteristic is remained necessarily, this is ideal.Scheming
In closed-loop system shown in 5, when inertia of robot and motor etc. changes, if being suitably adjusted speed ring gain
Kv, even if then inertia of robot and motor etc. changes, perhaps the characteristic of the closed-loop system can also be remained necessarily.
However, in order to cooperatively set the characteristic itself of the closed-loop system with the robot and the characteristic of motor controlled, it is difficult to
Balance is good, automatically position loop gain Kp, speed ring gain Kv and storage gain Ki are adjusted.
The content of the invention
Therefore, technical problem of the invention is to provide a kind of electric motor system, can be according to action object thing, motor
Characteristic is to the spy using the instruction of the rotation position of motor as input, using the rotation position of motor as the closed-loop system of output
Property is set, even and if inertia of action object thing, motor etc. change, also can be automatically by the characteristic of closed-loop system
Remain certain.
In addition, in order to solve the above-mentioned technical problem, electric motor system of the invention includes：Acted action object thing
Motor；And the control device of electric motor being controlled to motor, it is characterised in that represented when with block diagram with electronic
Machine rotation position instruction as input, using the rotation position of motor as export closed-loop system when, closed-loop system includes
Proportional gain key element, integral filtering key element, motor gain key element, motor key element and differential filter key element will as transmission
Element, and including through path of the input unit from closed-loop system towards output section and the output section from closed-loop system towards input side
The first feedback network and the second feedback network, in through path, be configured with the first phase successively on the direction of transfer of signal
Add some points, proportional gain key element, the second summing point, integral filtering key element, motor gain key element and motor key element, rotation position
The summing point of instruction input first, the first feedback network are connected with negative feedback mode with the first summing point, and the second feedback network is with negative
Feedback system is connected with the second summing point, and differential filter key element is configured in the second feedback network, when will include towards electronic
Fixed value divided by action object thing and electricity including the fixed gain of the amplifier of machine supply electric power and the torque constant of motor
The inertia of motivation and the value i.e. gain that obtains is set to K, by action object thing and the sticky related item of motor divided by action
The inertia of object and motor and the value i.e. gain that obtains is set to p, and when Laplace operator is set into s, has and be used for root
The transmission function of the expected characteristics of the closed-loop system of motor is rightly controlled to wish transmission function by m according to action object thing0/
(s2+m1s+m0) regulation, proportional gain key element is m0, integral filtering key element is by (s2+q1s+q0)/(s2+a1S) transmission represented
Function, motor gain key element are 1/K, and motor key element is by K/ (s2+ ps) transmission function that represents, differential filter key element is
By (b2s2+b1s)/(s2+q1s+q0) represent transmission function, a1、b1、b2Meet following relation,
a1=q1+m1-p
b1=q0m1
b2=(q1-p)(m1-p)+q0
Control device of electric motor includes Adaptive Identification element, and the Adaptive Identification element is according to towards the defeated of motor key element
Enter and the output from motor key element deduces gain K, control device of electric motor deduces according to by Adaptive Identification element
Gain K motor gain key element is updated so that the characteristic of closed-loop system is with wishing that transmission function is consistent.
In the present invention, it is electronic for example, Adaptive Identification element gradually performs gain K presumption with specific time interval
Machine control device is according to the gain K deduced by Adaptive Identification element with specific time interval gradually to motor gain key element
It is updated.
In the electric motor system of the present invention, when by the use of block diagram represent using the instruction of the rotation position of motor as input,
During using the rotation position of motor as the closed-loop system of output, closed-loop system is formed as described above.In addition, in the present invention,
According to the input towards motor key element and the output from motor key element, gain K is deduced using Adaptive Identification element, and
And motor gain key element is updated according to the gain K deduced by Adaptive Identification element, will accordingly, it is capable to offset inertia
Element.In addition, in the present invention, motor gain key element is updated according to the gain K deduced by Adaptive Identification element,
So that the characteristic of closed-loop system is with wishing that transmission function is consistent.Therefore, in the present invention, can be according to action object thing, electronic
The characteristic of the property settings closed-loop system of machine, even and if inertia of action object thing, motor etc. change, also can be automatic
Ground makes the transmission function of closed-loop system with wishing that transmission function is consistent.Therefore, in the present invention, can be according to action object thing, electricity
The characteristic of the property settings closed-loop system of motivation, even and if inertia of action object thing, motor etc. change, also can from
Dynamic ground remains the characteristic of closed-loop system necessarily.
In the present invention, it may be desirable to, Adaptive Identification element is according to the input towards motor key element and from electricity
The output of motivation key element deduces gain p (the gain p) i.e. including the composition related to viscosity.According to said structure,
, also can be according to the gain p deduced using integral filtering key element and differential filter key element as appropriate even if then gain p value increase
Transmission function.
As described above, the present invention electric motor system in, can according to action object thing, motor characteristic to electronic
The rotation position instruction of machine is set as input, using the rotation position of motor as the characteristic of the closed-loop system of output,
And even if inertia of action object thing, motor etc. changes, also automatically the characteristic of closed-loop system can be remained necessarily.
Brief description of the drawings
Fig. 1 is the block diagram of the schematic construction for the electric motor system for representing embodiment of the present invention.
Fig. 2 is as input and with motor in the electric motor system shown in Fig. 1 using the rotation position instruction of motor
Rotation position as output when closed-loop system block diagram.
Fig. 3 is the transmission for the transmission function to the closed-loop system shown in Fig. 2 and the expected characteristics with closed-loop system
Function wishes the equal figure illustrated of transmission function.
Fig. 4 is the block diagram for the differential filter key element for representing another embodiment of the present invention.
Fig. 5 is as input and with electronic in the electric motor system of prior art using the rotation position instruction of motor
The block diagram of closed-loop system when the rotation position of machine is as output.
(symbol description)
1 electric motor system
2 action object things
3 motor
4 control device of electric motor
8 closed-loop systems
9 proportional gain key elements
10 integral filtering key elements
11 motor gain key elements
12 motor key elements
13 differential filter key elements
15 through paths
16 first feedback networks
17 second feedback networks
18 first summing points
19 second summing points
21 Adaptive Identification elements
Embodiment
Hereinafter, embodiments of the present invention are illustrated referring to the drawings.
(structure of electric motor system)
Fig. 1 is the block diagram of the schematic construction for the electric motor system 1 for representing embodiment of the present invention.Fig. 2 is shown in Fig. 1
Using the rotation position instruction of motor 3 as input and using the rotation position of motor 3 as during output in electric motor system 1
Closed-loop system 8 block diagram.
The electric motor system 1 of present embodiment includes：Make the motor 3 that action object thing 2 is acted；And to electronic
The control device of electric motor 4 that machine 3 is controlled.Motor 3 is AC servomotor or DC servo-motor, such as is made
Make the object 2 i.e. arm of industrial robot to be acted.In addition, motor 3 includes being used to enter the rotation position of motor 3
Testing agency's (encoder) 5 of row detection.The output signal of testing agency 5 is input to control device of electric motor 4.In motor
In system 1, when representing closed-loop system 8 with block diagram, just as shown in Figure 2, wherein, above-mentioned closed-loop system 8 is with motor 3
Rotation position instruction as input, and using the rotation position of motor 3 as export.In addition, in the present embodiment, it is electronic
The electromotor control circuit of machine control device 4 is analog circuit (circuit of continuous time class), but electromotor control circuit both may be used
, can also be by software sharing to be digital circuit (circuit of discrete time class).
As shown in Fig. 2 closed-loop system 8 include proportional gain key element 9, integral filtering key element 10, motor gain key element 11,
Motor key element 12 and differential filter key element 13 are as transmission key element.In addition, closed-loop system 8 is by the input unit from closed-loop system 8
Towards the through path 15 of output section and from the output section of closed-loop system 8 towards the first feedback network (the first feedback of input side
Path) 16 and second feedback network (the second feedback path) 17 form.
In through path 15, on the direction of transfer of signal, the first phase of input rotation position instruction is configured with successively
Add some points 18, proportional gain key element 9, the second summing point 19, integral filtering key element 10, motor gain key element 11 and motor key element
12.First feedback network 16 is connected with negative feedback mode with the first summing point 18.Second feedback network 17 with negative feedback mode with
Second summing point 19 connects.In addition, differential filter key element 13 is configured in the second feedback network 17.
When Laplace operator is set into s, has and be used to rightly control closing for motor 3 according to action object thing 2
The transmission function of the expected characteristics of loop system 8 wishes transmission function by m0/(s2+m1s+m0) regulation.This wishes transmission function example
If deformed as follows.
m0/(s2+m1s+m0)=ω1ω2/(s+ω1)(s+ω2)
Herein, ω1、ω2Frequency (cut-off frequency) is off, meets following relation.
m0=ω1ω2, m1=ω1+ω2
In addition, pass through the property settings ω according to action object thing 2 and motor 31、ω2, desired control can be obtained and rung
Answer characteristic.
In addition, work as turn by the fixed gain including the amplifier (not shown) towards the supply electric power of motor 3 and motor 3
Fixed value divided by the inertia of action object thing 2 and motor 3 including square constant and the value i.e. gain that obtains is set to K, will with it is dynamic
The value made the sticky related item divided by the inertia of action object thing 2 and motor 3 of object 2 and motor 3 and obtained increases
When benefit is set to p, proportional gain key element 9 is m0, integral filtering key element 10 is by (s2+q1s+q0)/(s2+a1S) the transmission letter represented
Number, motor gain key element 11 is 1/K, and motor key element 12 is by K/ (s2+ ps) represent transmission function, differential filter key element
13 be by (b2s2+b1s)/(s2+q1s+q0) represent transmission function.In addition, a1、b1、b2Meet following relation.
a1=q1+m1- p formulas (1)
b1=q0m1Formula (2)
b2=(q1-p)(m1-p)+q0Formula (3)
In addition, q0、q1It is the value arbitrarily set for appropriate control action object 2 and motor 3.
Control device of electric motor 4 includes Adaptive Identification element 21, and the Adaptive Identification element 21 is wanted according to towards motor
Plain 12 input and the output from motor key element 12 deduce gain K.Adaptive Identification element 21 is according to least square method
Gain K is deduced Deng discrimination method.In addition, Adaptive Identification element 21 gradually performs gain K presumption with specific time interval.
Control device of electric motor 4 is updated according to the gain K deduced by Adaptive Identification element 21 to motor gain key element 11.
That is, control device of electric motor 4 is according to the gain K gradually deduced with specific time interval by Adaptive Identification element 21, with rule
Fix time to be spaced and gradually motor gain key element 11 is updated.In addition, control device of electric motor 4 is according to by Adaptive Identification
The gain K that element 21 deduces is updated to motor gain key element 11, so as to make the characteristic of closed-loop system 8 as described later
(i.e. the transmission function of closed-loop system 8) is with wishing that transmission function is consistent.
In addition, Adaptive Identification element 21 is according to the input towards motor key element 12 and the output from motor key element 12
Deduce gain p.Adaptive Identification element 21 deduces gain p using discrimination methods such as least square methods, and with the stipulated time
Interval gradually performs gain p presumption.Control device of electric motor 4 is according to p pairs of the gain deduced by Adaptive Identification element 21
Integral filtering key element 10 and differential filter key element 13 are updated.That is, control device of electric motor 4 is according to by Adaptive Identification element
The 21 gain p deduced with specific time interval, gradually will to integral filtering key element 10 and differential filter with specific time interval
Element 13 is updated.
(main efficacy results of present embodiment)
As described above, in the present embodiment, when representing closed-loop system 8 with block diagram, closed-loop system 8 is as shown in Figure 2
Form like that.In addition, in the present embodiment, according to the input towards motor key element 12 and from the defeated of motor key element 12
Go out, gain K is deduced using Adaptive Identification element 21, and according to K pairs of the gain deduced by Adaptive Identification element 21
Motor gain key element 11 is updated, so as to offset inertia key element.That is, by by the denominator K of motor gain key element 11 and
The molecule K of motor key element 12 is offset, and closed-loop system 8 can be formed as to the system not influenceed by K.
Therefore, in the present embodiment, can be according to action object thing 2, the spy of the property settings closed-loop system 8 of motor 3
Property, even and if inertia of action object thing 2, motor 3 etc. change, also can automatically make the transmission letter of closed-loop system 8
Number is with wishing that transmission function is consistent.When even if inertia that action object thing 2, motor 3 are illustrated using Fig. 3 etc. etc. is become
It is dynamic when also can automatically make the transmission function of closed-loop system 8 with wishing that transmission function is consistent, first, such as Fig. 3 (A)~Fig. 3 (D) institute
Show, the closed-loop system 8 shown in Fig. 2 can carry out equivalence transformation successively.In addition, the denominator of Fig. 3 (D) transmission function can be deformed into
s4+(a1+p)s3+(a1p+b2)s2+b1s+m0(s2+q1s+q0), when above-mentioned formula (1)~(3) are substituted into, the progress of denominator after deformation is whole
During reason, just it is changed into s2(s2+q1s+q0)+m1s(s2+q1s+q0)+m0(s2+q1s+q0), Fig. 3 (D) transmission function is transmitted with wishing
Function m0/(s2+m1s+m0) consistent.
So, in the present embodiment, can according to action object thing 2, motor 3 characteristic to the characteristic of closed-loop system 8
Set, even and if inertia of action object thing 2, motor 3 etc. change, also can automatically make closed-loop system 8
Transmission function is with wishing that transmission function is consistent, therefore, even if inertia of action object thing 2, motor 3 etc. changes, also can
Automatically the characteristic of closed-loop system 8 is remained necessarily.In addition, in the present embodiment, Adaptive Identification element 21 deduces
Gain p, therefore, also can be according to the gain p deduced by integral filtering key element 10 and differential filter even if gain p value is larger
Key element 13 is as appropriate transmission function.
(other embodiment)
Above-mentioned embodiment is one of the preferred embodiment of the present invention, but is not limited to this, can also not changed
Various modifications implementation is carried out in the scope of the inventive concept.
In the above-described embodiment, differential filter key element 13 is transmitted key element by one and formed, but differential filter key element 13
It can be made up of more than two transmission key elements.For example, differential filter key element 13 also can be as shown in Figure 4 two transmit key element 13a,
13b is formed.Similarly, in the above-described embodiment, integral filtering key element 10 is transmitted key element by one and formed, but integral filtering will
Element 10 can be also made up of more than two transmission key elements.In addition, in the above-described embodiment, Adaptive Identification element 21 deduces
Gain p, but in the case of gain p is less, Adaptive Identification element 12 can not also deduce gain p.
Claims (4)
1. a kind of electric motor system, including：The motor for being acted action object thing；And the motor is controlled
The control device of electric motor of system, it is characterised in that
Represented when by the use of block diagram using the rotation position instruction of the motor as input, with the rotation position work of the motor
For output closed-loop system when, the closed-loop system include proportional gain key element, integral filtering key element, motor gain key element,
Motor key element and differential filter key element are as transmitting key element, and including from the input unit of the closed-loop system towards output section
Through path and from the output section of the closed-loop system towards the first feedback network of input side and the second feedback network,
In the through path, be configured with successively on the direction of transfer of signal the first summing point, the proportional gain key element,
Second summing point, the integral filtering key element, the motor gain key element and the motor key element, the rotation position refer to
Order inputs first summing point,
First feedback network is connected with negative feedback mode with first summing point,
Second feedback network is connected with negative feedback mode with second summing point, and the differential filter key element configures
In second feedback network,
When by including the fixed gain of the amplifier towards the motor supply electric power and the torque constant of the motor
Fixed value divided by the inertia of the action object thing and the motor and the value i.e. gain that obtains is set to K, will with it is described dynamic
Make the sticky related item divided by the inertia of the action object thing and the motor of object and the motor and obtain
Value be that gain is set to p, and when Laplace operator is set into s,
Expected characteristics with the closed-loop system for rightly controlling the motor according to the action object thing
Transmission function wishes transmission function by m0/(s2+m1s+m0)=ω1ω2/(s+ω1)(s+ω2) regulation,
Herein, ω1、ω2Frequency is off, meets following relation,
m0=ω1ω2, m1=ω1+ω2,
The proportional gain key element is m0,
The integral filtering key element is by (s2+q1s+q0)/(s2+a1S) transmission function represented,
The motor gain key element is 1/K,
The motor key element is by K/ (s2+ ps) represent transmission function,
The differential filter key element is by (b2s2+b1s)/(s2+q1s+q0) represent transmission function,
a1、b1、b2Meet following relation,
a1=q1+m1-p
b1=q0m1
b2=(q1-p)(m1-p)+q0
In addition, q0、q1It is the value in order to appropriately control the action object thing and the motor and arbitrarily set,
The control device of electric motor includes Adaptive Identification element, and the Adaptive Identification element is according to towards the motor key element
Input and output from the motor key element deduce the gain K, the control device of electric motor is according to by described
The gain K that Adaptive Identification element deduces is updated to the motor gain key element, so that the closed loop system
The characteristic of system wishes that transmission function is consistent with described.
2. electric motor system as claimed in claim 1, it is characterised in that
The Adaptive Identification element gradually performs the presumption of the gain K with specific time interval,
The control device of electric motor is according to the gain K deduced by the Adaptive Identification element with specific time interval
Gradually the motor gain key element is updated.
3. electric motor system as claimed in claim 2, it is characterised in that
The Adaptive Identification element pushes away according to the input towards the motor key element and the output from the motor key element
Make the gain p.
4. electric motor system as claimed in claim 1, it is characterised in that
The Adaptive Identification element pushes away according to the input towards the motor key element and the output from the motor key element
Make the gain p.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2014158481A JP6453576B2 (en) | 2014-08-04 | 2014-08-04 | Motor system |
| JP2014-158481 | 2014-08-04 |
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| CN105337558A CN105337558A (en) | 2016-02-17 |
| CN105337558B true CN105337558B (en) | 2018-01-12 |
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| JP (1) | JP6453576B2 (en) |
| KR (1) | KR102470722B1 (en) |
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| JP6621356B2 (en) * | 2016-03-29 | 2019-12-18 | 日立ジョンソンコントロールズ空調株式会社 | Power conversion device, motor drive device, and refrigeration equipment using the same |
| JP6930868B2 (en) | 2017-06-28 | 2021-09-01 | 日本電産サンキョー株式会社 | Servo control device, servo control method and system |
| CN110647041B (en) * | 2019-10-11 | 2022-03-04 | 大连海事大学 | Unmanned ship model full-coefficient accurate identification method |
| US11724390B2 (en) | 2021-03-29 | 2023-08-15 | Samsung Electronics Co., Ltd. | Systems and methods for automated preloading of actuators |
| US11712804B2 (en) | 2021-03-29 | 2023-08-01 | Samsung Electronics Co., Ltd. | Systems and methods for adaptive robotic motion control |
| US11731279B2 (en) * | 2021-04-13 | 2023-08-22 | Samsung Electronics Co., Ltd. | Systems and methods for automated tuning of robotics systems |
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| CN1275216A (en) * | 1998-04-24 | 2000-11-29 | 株式会社日立制作所 | Controller and control method |
| CN202663351U (en) * | 2012-06-15 | 2013-01-09 | 河海大学常州校区 | Servo motor rotational speed control system based on fuzzy self-adaptive proportional-integral-derivative (PID) controllers |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0888990A (en) * | 1994-09-14 | 1996-04-02 | Nec Corp | Position controller for motor |
| JP3541857B2 (en) * | 1995-01-17 | 2004-07-14 | 株式会社安川電機 | Overshootless auto tuning method |
| JPH1165608A (en) * | 1997-08-20 | 1999-03-09 | Mitsubishi Heavy Ind Ltd | Auto-tuning servo device |
| EP1184766B1 (en) * | 1999-06-04 | 2003-11-19 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Position controller for motor |
| JP3716187B2 (en) * | 2001-03-29 | 2005-11-16 | 三菱重工業株式会社 | Inverter control system and inverter control method |
| JP2006244300A (en) | 2005-03-04 | 2006-09-14 | Toyota Motor Corp | Control device |
| JP5440874B2 (en) * | 2010-09-30 | 2014-03-12 | アイシン・エィ・ダブリュ株式会社 | Control device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1275216A (en) * | 1998-04-24 | 2000-11-29 | 株式会社日立制作所 | Controller and control method |
| CN202663351U (en) * | 2012-06-15 | 2013-01-09 | 河海大学常州校区 | Servo motor rotational speed control system based on fuzzy self-adaptive proportional-integral-derivative (PID) controllers |
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| KR102470722B1 (en) | 2022-11-24 |
| JP6453576B2 (en) | 2019-01-16 |
| JP2016035677A (en) | 2016-03-17 |
| KR20160016707A (en) | 2016-02-15 |
| CN105337558A (en) | 2016-02-17 |
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