Motor drive device

Patent metadata

Field	Value
Publication number	US-9423786-B2
Application number	US-201414782596-A
Country	US
Kind code	B2
Filing date	Apr 9, 2014
Priority date	Apr 10, 2013
Publication date	Aug 23, 2016
Grant date	Aug 23, 2016

Abstract

A motor drive device ( 2 ) of the present invention includes a command response setting unit ( 22 ), a position and speed controller ( 23 ), a load characteristic compensator ( 24 ), a servo adjuster ( 6 ), a command response setting function ( 221 ), a stiffness setting function ( 231 ), an evaluation indicator measuring function ( 27 ), and a storage ( 28 ). The servo adjuster ( 6 ) stores a plurality of command response indicators ( 61 ) and a plurality of stiffness indicators ( 62 ). The servo adjuster ( 6 ) also generates an evaluation indicator measuring pattern ( 63 ) by a combination of each command response indicator ( 61 ) and each stiffness indicator ( 62 ). A motor ( 3 ) is driven in accordance with the generated evaluation indicator measuring pattern ( 63 ) while the command response indicators ( 61 ) and the stiffness indicators ( 62 ) are sequentially changed.

First claim

The invention claimed is:

1. A motor drive device that drives a motor, the motor drive device comprising:
a command response setting unit that receives a position command, performs filter processing of removing a specific frequency band, and transmits a result of the filter processing as a post-filter position command;
a position and speed controller that receives the post-filter position command and motor positional information transmitted from an encoder, generates a torque command such that a deviation between the post-filter position command and the motor positional information becomes zero, and transmits the generated torque command;
a load characteristic compensator that receives the torque command, multiplies the torque command by inertia estimated values of the motor and a load applied to the motor, adds a friction torque estimated value of the load, generates a post-compensation torque command to drive the motor, and transmits the generated post-compensation torque command;
a servo adjuster that stores a plurality of command response indicators and a plurality of stiffness indicators, and generates an evaluation indicator measuring pattern by a combination of each of the command response indicators and each of the stiffness indicators;
a command response setting function that automatically sets a filter characteristic of the command response setting unit in accordance with the command response indicator constituting the evaluation indicator measuring pattern, the command response indicator being transmitted from the servo adjuster;
a stiffness setting function that automatically sets a parameter of the position and speed controller in accordance with the stiffness indicator constituting the evaluation indicator measuring pattern, the stiffness indicator being transmitted from the servo adjuster;
an evaluation indicator measuring function that automatically measures an evaluation indicator derived from at least one of the position command, the motor positional information, and the post-compensation torque command; and
a storage in which a result measured by the evaluation indicator measuring function is stored,
wherein the motor is driven in accordance with the generated evaluation indicator measuring pattern while the command response indicators and the stiffness indicators are sequentially changed.

2. The motor drive device according to claim 1 , wherein at least one of a positioning settling time, an overshoot amount, a vibration level, and a number of positioning completion output signal changing times is used as the evaluation indicator.

3. The motor drive device according to claim 1 , wherein, before the motor is driven in accordance with the generated evaluation indicator measuring pattern while the command response indicators and the stiffness indicators are sequentially changed,
a first friction compensation measuring pattern is determined in the evaluation indicator measuring pattern by a combination of the command response indicator in which a time constant is minimized and the stiffness indicator corresponding to the command response indicator in which the time constant is minimized, and
using the command response setting function and the stiffness setting function, the motor is driven while the stiffness indicators are sequentially changed, a positioning indicator is measured and stored in each combination, and a friction compensation value such that the positioning indicator becomes the best in each first friction compensation measuring pattern is searched and stored.

4. The motor drive device according to claim 3 , wherein at least one of a positioning settling time, an overshoot amount, and a number of positioning completion output signal changing times is used as the positioning indicator.

5. The motor drive device according to claim 3 , wherein the friction compensation value is increased or decreased to perform the search such that the positioning indicator becomes the best.

6. The motor drive device according to claim 1 , wherein, before the motor is driven in accordance with the generated evaluation indicator measuring pattern while the command response indicators and the stiffness indicators are sequentially changed,
a second friction compensation measuring pattern is determined in the evaluation indicator measuring pattern by a combination of the stiffness indicator in which responsiveness is the lowest and the command response indicator corresponding to the stiffness indicator in which the responsiveness is the lowest, and
using the command response setting function and the stiffness setting function, the motor is driven while the command response indicators are sequentially changed, a positioning indicator is measured and stored in each combination, and a friction compensation value such that the positioning indicator becomes the best in each second friction compensation measuring pattern is searched and stored.

7. The motor drive device according to claim 6 , wherein at least one of a positioning settling time, an overshoot amount, and a number of positioning completion output signal changing times is used as the positioning indicator.

8. The motor drive device according to claim 6 , wherein the friction compensation value is increased or decreased to perform the search such that the positioning indicator becomes the best.

9. The motor drive device according to claim 1 , wherein, before the motor is driven in accordance with the generated evaluation indicator measuring pattern while the command response indicators and the stiffness indicators are sequentially changed,
a third friction compensation measuring pattern is determined in the evaluation indicator measuring pattern by a combination of the command response indicator in which a time constant is minimized and the stiffness indicator in which responsiveness is the lowest, and
using the command response setting function and the stiffness setting function, the motor is driven to measure and store a positioning indicator, and a friction compensation value such that the positioning indicator becomes the best in the third friction compensation measuring pattern is searched and stored.

10. The motor drive device according to claim 9 , wherein at least one of a positioning settling time, an overshoot amount, and a number of positioning completion output signal changing times is used as the positioning indicator.

11. The motor drive device according to claim 9 , wherein the friction compensation value is increased or decreased to perform the search such that the positioning indicator becomes the best.

12. The motor drive device according to claim 1 , wherein, before the motor is driven in accordance with the generated evaluation indicator measuring pattern while the command response indicators and the stiffness indicators are sequentially changed,
a vibration control measuring pattern is determined in the evaluation indicator measuring pattern by a combination of the stiffness indicator in which responsiveness is the highest and the command response indicator corresponding to the stiffness indicator in which the responsiveness is the highest, and
using the command response setting function and the stiffness setting function, the motor is driven to measure and store a positioning indicator, and a vibration control frequency and a depth setting value such that the positioning indicator becomes the best in the vibration control measuring pattern are searched and stored.

13. The motor drive device according to claim 12 , wherein at least one of a positioning settling time, a vibration level, and a vibration frequency is used as the positioning indicator.

Assignees

• Panasonic Ip Man Co Ltd

Inventors

• Imada Yu-Suke
• Suzuki Kenichi
• Nishizono Masaru
• Fujiwara Hiroshi

Classifications

• G05D3/20

  using a digital comparing device · CPC title

• G05B19/416

  characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence) · CPC title

• G05B13/0265

  the criterion being a learning criterion · CPC title

• H02P6/00

  Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor (vector control H02P21/00) · CPC title

• G05B19/404 Primary

  characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) · CPC title