Servo control apparatus having function of sensorless controlled stop

Patent metadata

Field	Value
Publication number	US-9751178-B2
Application number	US-201615145994-A
Country	US
Kind code	B2
Filing date	May 4, 2016
Priority date	May 11, 2015
Publication date	Sep 5, 2017
Grant date	Sep 5, 2017

Abstract

A servo control apparatus includes a sensor unit for detecting a motor speed; an amplifier for driving a motor and feeding back a current; a magnetic pole position detector; a position controller for outputting a speed command; a speed controller for outputting a current command; a current controller for outputting a voltage command; a speed estimator for calculating an estimated speed from the voltage command; a magnetic pole position estimator for calculating an estimated magnetic pole position from the estimated speed; a sensor malfunction detector; a stop position command generator; and a first switch for switching from the position command to the stop position command, a second switch for switching from the magnetic pole position to the estimated magnetic pole position, and a third switch for switching from the detected speed to the estimated speed, when the sensor malfunction detector has detected a malfunction.

First claim

What is claimed is:

1. A servo control apparatus for controlling a servomotor installed in a machine tool or an industrial machine, comprising: a sensor unit for detecting a speed of the servomotor and outputting the speed as speed feedback; an amplifier for driving the servomotor, and feeding back a current flowing through the servomotor; a magnetic pole position detector for detecting a magnetic pole position of the servomotor; a position controller for outputting a speed command based on a position command for the servomotor and a position of the servomotor calculated from the detected speed; a speed controller for outputting a current command based on the speed command and the detected speed; a current controller for outputting a voltage command based on the current command and the detected current; a speed estimator for calculating an estimated speed based on the voltage command; a magnetic pole position estimator for calculating an estimated magnetic pole position from the estimated speed; a sensor malfunction detector for detecting a malfunction in the sensor unit; a stop position command generator for generating a stop position command to stop the servomotor; a first switch for switching from the position command to the stop position command, when the sensor malfunction detector has detected the malfunction in the sensor unit; a second switch for switching from the magnetic pole position to the estimated magnetic pole position, when the sensor malfunction detector has detected the malfunction in the sensor unit; and a third switch for switching from the speed feedback to the estimated speed, when the sensor malfunction detector has detected the malfunction in the sensor unit.

2. The servo control apparatus according to claim 1 , further comprising a phase corrector for performing a phase correction based on the estimated speed, an inductance, and a Q-phase current to improve a power factor.

3. The servo control apparatus according to claim 2 , wherein the inductance is estimated based on a speed, a current, and a voltage during a constant speed operation before detecting the malfunction.

4. The servo control apparatus according to claim 1 , wherein when voltage information outputted from the current controller is less than an established threshold, even if the sensor malfunction detector has detected the 25 malfunction, a controlled stop is not performed but switched to a stop using a dynamic brake resistor.

Assignees

• Fanuc Corp

Inventors

• Kameta Kouki
• Sonoda Naoto

Classifications

• B23Q5/10

  driven essentially by electrical means · CPC title

• G05B2219/42329

  Defective measurement, sensor failure · CPC title

• B23Q15/08

  Control or regulation of cutting velocity (B23Q15/12 takes precedence) · CPC title

• G05B19/4062 Primary

  Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference · CPC title

• B23Q5/58 Primary

  Safety devices {(protecting the operator B23Q11/0089)} · CPC title