JPH10201277A - Torque control device - Google Patents

Abstract

(57) [Problem] To provide a torque control device capable of reducing a load on a host controller and freely generating a subtle vibration torque. The present invention provides a first multiplier that amplifies a rotational position detected by an encoder and generates a spring torque.
A second multiplier 6 for amplifying the speed detected by the speed detector 4 to generate a viscous torque, a subtractor 7 for subtracting a spring torque and a viscous torque from an external torque command value, and a vibration for generating a vibration torque. A torque generating unit 8; a frequency setting unit 9 for setting a vibration frequency and a vibration amplitude of the vibration torque generating unit 8; an amplitude setting unit 10; an adder 11 for adding the vibration torque to the output of the subtractor 7; A third multiplier 12 for multiplying the output of the motor 11 by the motor magnetic pole value detected by the magnetic pole detector 3, a current amplifier 13 for supplying a current corresponding to the current value output from the third multiplier 12 to the motor 1, , Is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a torque generation system for a torque control device used in amusement equipment.

[0002]

2. Description of the Related Art In an amusement machine or the like, a method of calculating a torque command corresponding to the torque and inputting the same to a torque control device to obtain a torque is used in order to obtain a realistic bodily torque. As such a torque control device,
Examples include a mechanical damper and a torque control motor. Hereinafter, a conventional torque control device will be described with reference to the drawings.

FIG. 4 is a block diagram of a conventional torque control device using AC servo (conventional example 1). In FIG.
23 is a magnetic pole detector, 24 is a multiplier for multiplying a torque command and magnetic pole data, 25 is a current amplifier for supplying a current to the motor, 26 is an encoder for detecting the rotational position of the motor, 2
7, a motor; and 28, an external torque command input unit.

In the torque control device of the first conventional example shown in FIG. 4, a torque command input from a host controller (not shown) to an external torque command input unit 28 and a phase of a current obtained from a magnetic pole detector 23 are set. Is multiplied by a multiplier 24, and u
Generate a vw-phase current command. Further, a current corresponding to the torque command is generated by supplying a current to the motor 27 according to the current command by the current amplifier 25. At this time, the positional relationship between the torque command and the device to be controlled is represented by a transfer characteristic = 1 / (Js2) where J is the inertia.

[0005] Here, s is a Laplace operator. Also,
FIG. 5 is a configuration diagram of a torque control device (conventional example 2) using a conventional mechanical damper, in which 29 is a spring, 30 is a damper, and 31 is a mechanism.

In the torque control device of the second conventional example shown in FIG. 5, the mass M of the mechanism 31, the spring coefficient K of the spring 29,
From the viscosity coefficient u of the damper 30, the positional relationship of the controlled device with respect to the input torque is represented by a transfer characteristic = (1 / M) / (s
2 + u / Ms + k / M).

FIG. 6 is a block diagram of a conventional torque control device (conventional example 3), wherein 32 is a cylinder and 33 is an air input unit. In the torque control device of the third conventional example shown in FIG. 6, the air pressure in the cylinder 32 is controlled by injecting air from the air input unit 33 to control the output torque.

[0008]

However, the above-mentioned conventional torque control device has the following problems.

1) In the first conventional example, a torque corresponding to a torque command can be output. However, when simultaneously simulating dynamic characteristics of a machine, a host controller calculates a complicated torque command such as a spring torque or a viscous torque. Is required, and a high-performance and high-cost host controller capable of high-speed operation is required.

2) In the second conventional example, a passive torque can be generated in response to an external force, but the torque cannot be generated according to the torque command. There is a problem that the parts need to be replaced and the torque cannot be changed online.

3) The third conventional example has a problem that there is a torque that cannot generate high-frequency vibrations or the like due to control by air pressure.

[0012] In view of such a problem, the present applicant proposed a torque control device for simulating the dynamic characteristics of a machine in Japanese Patent Application No. 08-098217. There is a problem in that the burden increases, and it is not possible to generate a vibration torque that requires generation of a delicate torque command, for example, a bodily sensation torque in which vibration of a road surface is transmitted to a steering wheel in a driving game.

An object of the present invention is to solve the above-mentioned conventional problems, and an object of the present invention is to provide a torque control device which can reduce a load on a host controller and can freely generate a subtle vibration torque.

[0014]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides an encoder for detecting a rotational position of a motor, a magnetic pole detector for detecting a motor magnetic pole from the encoder, and a motor speed for detecting the motor speed from the encoder. A speed detector, a first multiplier that amplifies the rotational position detected by the encoder to generate a spring torque, a second multiplier that amplifies the speed detected by the speed detector to generate a viscous torque, A subtractor that generates a first torque command value by subtracting a spring torque and a viscous torque from a torque command value, a vibration torque generating unit that generates a vibration torque, a frequency setting unit that sets a vibration frequency of the vibration torque generating unit, An amplitude setting section for setting a vibration amplitude of the vibration torque generating section, an adder for adding the vibration torque to the first torque command value to generate a final torque command value, and a final torque A third multiplier for multiplying the motor magnetic pole value detected by the magnetic pole detector with the current value, and a current amplifier for supplying a current corresponding to the current value output from the third multiplier to the motor. Become.

With this configuration, in addition to the spring torque and the viscous torque, a vibration torque can be generated in the torque control device, and this can be added to the torque command value from the host controller. A large vibration torque can be freely generated.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention is an encoder for detecting a rotational position of a motor, a magnetic pole detector for detecting a motor magnetic pole from the encoder, and a speed for detecting a motor speed from the encoder. A detector, a first multiplier for amplifying a rotational position detected by an encoder to generate a spring torque, a second multiplier for amplifying a speed detected by a speed detector to generate a viscous torque, and an external torque Subtract the spring torque and viscous torque from the command value,
A subtractor that generates a torque command value, a vibration torque generating unit that generates a vibration torque, a frequency setting unit that sets a vibration frequency of the vibration torque generating unit, and an amplitude setting unit that sets a vibration amplitude of the vibration torque generating unit. An adder for adding a vibration torque to the first torque command value to generate a final torque command value, a third multiplier for multiplying the final torque command value by the motor magnetic pole value detected by the magnetic pole detector, and a third multiplier A current amplifier that supplies a current corresponding to the current value output from the heater to the motor;
In addition to the spring torque and the viscous torque, a vibration torque is generated in the torque control device,
By being able to add to the torque command value from the Holt controller, it is possible to reduce the load on the host controller and to freely generate a subtle vibration torque.

According to a second aspect of the present invention, there is provided an AC servomotor having an encoder and capable of detecting a rotational position,
A magnetic pole detector for detecting a motor magnetic pole from the encoder, a speed detector for detecting a speed, a first amplifier for amplifying a position detected by the encoder to generate a speed command, and the speed detector based on the speed command Subtractor for subtracting the speed detection value detected by the above, a second amplifier for amplifying the subtraction result to generate a first torque command, a vibration torque generating unit for generating a vibration torque command, and an external torque command setting unit An adder that adds the vibration torque to the first torque command to generate a final torque command, a vibration frequency setting unit that sets a vibration frequency and a vibration amplitude of the vibration torque generation unit, and a vibration amplitude setting unit A gain setting unit for setting a gain in the first multiplier and the second multiplier; and a current supplied to the motor coil as a current command, which is a product of the torque command value and the motor magnetic pole detection value. Are those with a pump according to claim 1
Has the same function as.

According to a third aspect of the present invention, in the first aspect of the invention, setting and changing in the frequency setting section, the amplitude setting section, and the two gain setting sections can be performed online from outside. It is possible to change the frequency and amplitude of the vibration torque and the spring force / viscous force according to the state of the perceived torque,
It has the function of generating more realistic vibration torque, spring force and viscous force.

A specific example of the embodiment of the present invention will be described below with reference to the drawings. (Embodiment 1) FIG. 1 is a configuration diagram of a torque control device according to a first embodiment of the present invention. In FIG. 1, 1
Is a motor, 2 is an encoder that detects the rotational position of the motor 1, 3 is a magnetic pole detector that detects the motor magnetic pole from the encoder 2, 4 is a speed detector that detects the speed of the motor 1 from the encoder 2, 5 is an encoder 2 A first multiplier that amplifies the detected rotational position to generate a spring torque, 6 is a second multiplier that amplifies the speed detected by the speed detector 4 to generate a viscous torque, and 7 is an external torque command value A subtractor that generates a first torque command value by subtracting a spring torque and a viscous torque, 8 is a vibration torque generator that generates a vibration torque, 9 is a frequency setting unit that sets the vibration frequency of the vibration torque generator 8, and 10 is An amplitude setting unit for setting the vibration amplitude of the vibration torque generating unit 8; an adder 11 for adding the vibration torque to the first torque command value to generate a final torque command value; A third multiplier that multiplies the motor magnetic pole value detected by the magnetic pole detector 3, 13 is a current amplifier that supplies a current corresponding to a current command value output from the third multiplier 12 to the motor, and 14 is an external torque command. An external torque command input unit for inputting a value, 15 is a gain setting unit of the first multiplier 5, and 16 is a gain setting unit of the second multiplier 6.

The operation of the torque control device according to the present embodiment having the above configuration will be described below. In FIG.
When an external torque command value is input from a host controller (not shown) to the external torque command input unit 14 while the motor 1 is stationary, the output of the subtracter 7 is zero because the spring torque and the viscous torque are zero. Is the final torque command value that matches the external torque command value. Next, the final torque command value and the motor magnetic pole value detected by the magnetic pole detector 3 are multiplied by a third multiplier 12 to generate a uvw-phase current command value.
, A torque corresponding to the final torque command value is generated in the motor 1.

Next, when the motor 1 rotates, the rotational position of the motor 1 detected by the encoder 2 is changed by the first multiplier 5.
And is fed back to the subtractor 7 as a spring torque. The speed of the motor 1 detected by the speed detector 4 is amplified by the second multiplier 6 and fed back to the subtractor 7 as a viscous torque. The fed-back spring torque and viscous torque are subtracted from the external torque command value by the subtractor 7 to become a first torque command value, after which the motor 1 generates torque in the same manner as described above. Further, even when the motor 1 is rotated by an external force, the spring torque and the viscous torque are fed back to the subtractor 7, and the torque is generated similarly. In this way, the motor 1 is driven by applying the spring torque and the viscous torque to the external torque command value or the torque due to the external force.

Further, when the frequency and the amplitude are respectively set in the frequency setting section 9 and the amplitude setting section 10 from the host computer, they are multiplied by the vibration torque generating section 8 to generate a vibration torque command. The generated vibration torque is
The adder 11 adds the first torque command value generated from the above-described spring torque, viscous torque, and external torque command value to obtain a final torque command value. In response to this, the current is supplied to the motor 1 by the current amplifier 13. Then, the motor 1 vibrates and transmits the bodily sensation torque to the amusement device. At this time, the vibration torque can be adjusted by changing the values of the frequency setting unit 9 and the amplitude setting unit 10 online. Further, the spring force / viscous force can be changed by changing the values of the gain setting units 15 and 16.

(Embodiment 2) FIG. 2 is a configuration diagram of a torque control device according to a second embodiment of the present invention. In FIG. 2, 1 is a motor, 2 is an encoder that detects the rotational position of the motor 1, 3 is a magnetic pole detector that detects the motor magnetic pole from the encoder, 4 is a speed detector that detects the motor speed from the encoder 2, and 34 is A first amplifier for amplifying the position detected by the encoder to generate a speed command; a subtractor for subtracting a speed detection value detected by the speed detector from the speed command; and a first amplifier for amplifying the result of the subtraction. A second amplifier that generates one torque command, 8 is a vibration torque generating unit that generates a vibration torque command, 14 is an external torque command setting unit, and 37 is a final torque command that adds the vibration torque to the first torque command. Adders for generating torque commands, 9, 10
Is a vibration frequency setting unit that sets the vibration frequency and vibration amplitude of the vibration torque generation unit, 38 and 39 are gain setting units that set gains in the first multiplier and the second multiplier, and 13 is a torque command value. It is a current amplifier that supplies the product of the motor magnetic pole detection value to the motor coil as a current command.

In FIG. 2, when an external torque command is input from the host controller to the external torque command input unit 14 while the motor is stationary, the output of the adder 37 is obtained because the first torque command is zero. The total torque command is a total torque command that matches the external torque command. Next, the total torque command and the current phase obtained from the magnetic pole detector 3 are multiplied by the third multiplier 12 to generate a uvw-phase current command, and the current is supplied to the motor by the current amplifier 13 according to the current command. When a torque corresponding to the torque command is generated, and then the motor 1 rotates, the position detected by the encoder 2 is amplified by the multiplier 34 and input to the subtractor 35 as a speed command. On the other hand, the speed detected by the speed detector 4 is also input to the subtractor 35, and the output of the subtracter is amplified by the multiplier 36 and the first torque command having the spring force and the viscous force to return to the rest position is applied. Becomes
Further, the external torque command and the first torque command are added by the adder 37 to become a total torque command, and a torque is similarly generated. Also, when the motor 1 is rotated by an external force, a torque is generated to return to the rest position. In this way, the motor 1 is driven by adding a spring torque and a viscous torque to the external torque command or the external torque.

Next, when the values are set in the frequency setting section 9 and the vibration amplitude setting section 10 by the host controller, the values are multiplied by the vibration torque generating section 8 to generate a vibration torque command, and the generated vibration torque is added. The device 37 adds the first torque command to a total torque command to similarly supply a current to the motor, so that the motor vibrates and transmits a bodily sensation torque to the amusement device.

The vibration torque can be adjusted by changing the values of the frequency setting section 9 and the amplitude setting section 10 online.

Next, an example of use of the torque control device according to the present embodiment in an amusement device will be described with reference to FIG. FIG. 3 is a configuration diagram of a driving game machine using the torque control device of the present embodiment. 3, reference numeral 17 denotes a handle of a driving game machine, 18 denotes a motor of the torque control device according to the present embodiment, 19 denotes a drive board of the torque control device according to the present embodiment, 20 denotes a host controller, 21 denotes a communication line, 22 Is a gear. 1 through a communication line from the host controller 20.
When a predetermined value is sent to the drive board 19 on which the frequency setting unit 9, the amplitude setting unit 10, the gain setting units 15 and 16, the external torque command input unit 14, and the like are mounted as shown in FIG. A vibration torque is generated in addition to the external torque command value. This vibration torque is transmitted to the handle 17 via the gear, and when the handle 17 is gripped, a realistic vibration as if driving is obtained.

[0028]

As described above, according to the present invention, the burden on the host computer in the amusement game machine can be reduced, and a realistic vibration torque can be generated. The excellent effect that it can improve is obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a torque control device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a torque control device according to a second embodiment of the present invention.

FIG. 3 is a configuration diagram of a driving game machine using the torque control device of the present embodiment.

FIG. 4 is a configuration diagram of a torque control device (conventional example 1) using a conventional AC servo.

FIG. 5 is a configuration diagram of a torque control device (conventional example 2) using a conventional mechanical damper.

FIG. 6 is a configuration diagram of a conventional torque control device (conventional example 3).

[Explanation of symbols]

 1,27 Motor 2,26 Encoder 3,23 Magnetic pole detector 4 Speed detector 5 First multiplier 6 Second multiplier 7,35 Subtractor 8 Vibration torque generator 9 Frequency setting unit 10 Amplitude setting unit 11,37 Addition Unit 12 Third multiplier 13, 25 Current amplifier 14, 28 External torque command input unit 15, 16, 38, 39 Gain setting unit 17 Handle of driving game machine 18 Motor of torque control device in the present embodiment 19 Drive board of tokle control device in form 20 Host controller 21 Communication line 22 Gear 24, 34, 36 Multiplier 29 Spring 30 Damper 31 Mechanism 32 Cylinder 33 Air input unit

Claims (3)

[Claims] An A having an encoder and capable of detecting a rotational position
C servo motor, a magnetic pole detector for detecting a motor magnetic pole from the encoder, a speed detector for detecting the speed of the motor from the encoder, and amplifying the rotational position detected by the encoder to generate a spring torque command A first multiplier, a gain setting unit that sets a gain for the first multiplier, a second multiplier that amplifies the speed detected by the speed detector to generate a viscous torque command,
A gain setting unit that sets a gain in the second multiplier; a subtractor that subtracts the spring torque command and the viscous torque command from an external torque command value to generate a first torque command value; and generates a vibration torque command. A vibration torque generating section, a frequency setting section for setting a vibration frequency of the vibration torque generating section, a gain setting section for setting a gain in the first and second multipliers, and setting a vibration amplitude of the vibration torque generating section. An amplitude setting unit, an adder that adds the vibration torque to the first torque command value to generate a final torque command value, and a second unit that multiplies the final torque command value by a motor magnetic pole value detected by the magnetic pole detector. A torque control device comprising: a third multiplier; and a current amplifier that supplies a current corresponding to a current value output from the third multiplier to the motor. 2. An A having an encoder and capable of detecting a rotational position
A servomotor, a magnetic pole detector for detecting a motor magnetic pole from the encoder, a speed detector for detecting speed, a first amplifier for amplifying a position detected by the encoder to generate a speed command, and the speed command A subtractor that subtracts a speed detection value detected by the speed detector from the second amplifier that amplifies the subtraction result and generates a first torque command, and a vibration torque generation unit that generates a vibration torque command, An external torque command setting unit, an adder that adds the vibration torque to the first torque command to generate a final torque command, and a vibration frequency setting unit that sets a vibration frequency and a vibration amplitude of the vibration torque generation unit A vibration amplitude setting unit, a gain setting unit for setting gains in the first multiplier and the second multiplier, and a motor controller that sets a product of the torque command value and the motor magnetic pole detection value as a current command. Torque control apparatus characterized by comprising a current amplifier which supplies to Le. 3. The apparatus according to claim 1, wherein the setting and the change in the two gain setting units, the frequency setting unit, and the amplitude setting unit can be performed online from outside.
3. The torque control device according to 1.