JPH0192814A - Servo controller - Google Patents

Abstract

PURPOSE:To make it possible to follow up an objective track at an objective speed by forming a control voltage for a motor device from an objective value, an estimation compensating value, an error compensating value, and a feedback compensating value. CONSTITUTION:A positional deviation is formed by a deviation generation device 60 from the real position and normalized position of the motor device 20, a speed deviation is formed from the real speed and normalized speed of the motor device 20 and an estimation compensating value for action force to be impressed to the motor device 20 is formed by an estimation compensating circuit 70. An error compensating value for action force is formed by an error compensating circuit 90 in accordance with the positional deviation, the speed deviation, the parameter of the motor device 20, and the error or the like of the parameter and applies to the circuit 70 to correct the estimation compensating value. Then, a feedback compensating value for the normalized position and the normalized speed determined by a normative operation circuit 40 is formed by a feedback compensating circuit 50 and a control voltage for the motor device 20 is formed by a control voltage generating means 80 from the objective value, and the feedback compensating value. Consequently, a member to be driven can be controlled.

Description

Detailed Description of the Invention (1) Purpose of the Invention [Field of Industrial Application] The present invention relates to a servo control device, and particularly relates to a servo control device that uses only the mechanical and electrical characteristics of a motor device to drive a driven member through a transmission member. The present invention relates to a servo control device that controls a motor device so that a driven member follows a target trajectory at a target speed while compensating the acting force applied to the motor device from an applied load.

[Prior Art] Conventionally, this type of servo control device has been designed to appropriately control the motor device and the transmission member according to a characteristic equation created using all the mechanical characteristics and electrical characteristics of the motor device, the transmission member, and the driven member. It has been proposed to control the driven member to follow a target trajectory at a target speed.

[Problems to be solved] However, in conventional servo control devices, motor devices,
Since it is necessary to consider all the mechanical and electrical properties of the transmission member and the driven member, (i) there are many variables to consider, which may result in the disadvantage of miniaturization and the inability to speed up the control operation; (ii) It requires a lot of effort and time to design, and (iii) It is necessary to repeat the design for each different motor component, transmission member, and driven member, making it impossible to standardize it for general use. There was also a flaw in her lack of sex.

Also, in conventional servo control devices, motor devices.

Since it has been practically impossible to completely understand all the mechanical and electrical properties of the transmission and driven components, we have had to rely on high-gain feedback control, resulting in There is a drawback that it is difficult to make the member follow a desired target trajectory at a desired target speed.

Therefore, the present invention eliminates these drawbacks and compensates for the acting force applied to the motor device from the load applied to the driven member via the transmission member using only the mechanical and electrical characteristics of the motor device. It is an object of the present invention to provide a servo control device that controls a motor device so that a drive member follows a target trajectory at a target speed.

(2) Structure of the invention [Means for solving the problem] The means for solving the problem provided by the present invention is as follows: In a servo control device that performs control to follow at a target speed, (a) setting a target position, target speed, and target acceleration of the motor device, and creating a target value using the target position, target speed, and target acceleration; a target setting circuit; (b) a standard operation circuit whose input end is connected to the output end of the target setting circuit and determines a standard position and standard speed of the motor device according to the target value; c) a deviation generation circuit that creates a position deviation from the actual position and reference position of the motor device, and a speed deviation from the actual speed and reference speed of the motor device; (d) an output terminal of the deviation generation circuit; (e) an estimation compensation circuit to which an input terminal is connected and which creates an estimated compensation value for the acting force applied to the motor device according to the position deviation and speed deviation; (e) an output terminal of the deviation generation circuit; is inserted between the output end of the estimated compensation circuit, and is inserted between the position deviation and the speed deviation, the parameters of the motor device, the error in the parameters, and the error between the estimated compensation value and the acting force. an error compensation circuit that creates an error compensation value for the acting force and supplies it to the estimated compensation circuit to correct the estimated compensation value; (f) an error compensation circuit that is determined by the reference operation circuit from the actual position and actual speed of the motor device a feedback compensation circuit that creates feedback compensation values for the reference position and reference speed; A control voltage generating circuit connected to a control input terminal of the motor device and generating a control voltage for the motor device from the target value, the estimated compensation value, the error compensation value, and the feedback compensation value. This is a servo control device with special features.

[Function] The servo control device according to the present invention creates a target value according to the target position, target speed, and target acceleration of the motor device using the target setting circuit, and controls the motor device using the reference operation circuit according to the target value. Determine the reference position and speed,
A deviation generation circuit generates a position deviation from the actual position and reference position of the motor device, and a speed deviation is generated from the actual speed and reference speed of the motor device, and an estimation compensation circuit calculates the position deviation and speed deviation. Accordingly, an estimated compensation value for the acting force applied to the motor device is created, and an error compensation circuit calculates the position deviation, the speed deviation, the parameter of the motor device, the parameter error, the estimated compensation value, and the acting force. An error compensation value for the acting force is created according to the error between and a feedback compensation value for the reference position and reference speed determined by the reference operation circuit from the actual speed, and the control voltage generating means generates a feedback compensation value for the motor device from the target value, estimated compensation value, error compensation value, and feedback compensation value. (i) The said acting force is created using only the mechanical properties and TL electrical properties of the motor device without considering the mechanical properties and electrical properties of the transmission member and the driven member at all. It is possible to control the driven member only by controlling the motor device while compensating for (
ii) It serves to realize miniaturization and high speed control operations, (iii) it serves to standardize or simplify the design, and (iv) it also serves to achieve generalization.

[Example] Next, the present invention will be specifically described by giving an actual example with reference to the accompanying drawings.

FIG. 1 is a circuit diagram showing an embodiment of a servo control device according to the present invention.

First, the configuration of an embodiment of the servo control device according to the present invention will be described in detail. In the following description, in order to simplify the explanation, position, velocity, and acceleration are only explained with respect to rotational position 2 rotational speed and rotational acceleration, respectively, but the present invention is not limited thereto, and is generally applicable to Applicable to position, velocity, and acceleration.

The servo control device of the present invention has an output end connected to a control input end 20a similar to a motor device, and is connected to an output shaft of the motor device via a transmission member (not shown) such as a gear. A target setting circuit for generating a target value τd for commanding a target operation similar to that of a motor roof corresponding to the target trajectory and target speed of a driven member (not shown) such as an articulated robot arm; and a target setting circuit. It is connected to the output terminal of the motor device, and is connected to the standard operation circuit that determines the standard operation similar to that of a motor device, and is connected to the detection terminals 20b and 20c that are similar to the motor device, and is connected to the actual position similar to that of the motor device (in this case, the actual rotational position). 0) and the actual speed (here, the actual rotational speed θ), the reference operation is determined using the standard operation circuit, that is, the reference position (here, the reference rotational position θ1) and the reference speed (here, the reference rotational speed θ,) is feedback. Compensation value? . a feedback compensation circuit that generates a signal and a detection end 20 of the motor device
b.

20c and the output end of the standard operation circuit concave, which generates the rotational position deviation e and the rotational speed deviation e; and the deviation generation circuit U, which is connected to the output end of the deviation generation circuit U and generates an estimate of the acting force f. Estimated compensation circuit U that generates compensation value i
and an input terminal is connected to the output terminal of the target setting circuit concave, the output terminal of the feedback compensation circuit U, and the output terminal of the estimation compensation circuit U, and the output terminal is connected to the control input terminal 20 of the motor device zo.
It is connected to a, and the target value is d, the feedback compensation value 10, the estimated compensation value i, and the error compensation value? It is inserted between the control voltage generation circuit that generates the control voltage U from e, the output terminal of the deviation generation circuit, the input terminal of the estimation compensation circuit board, and the input terminal of the control voltage generation circuit, and is similar to the motor device. In order to compensate for the error between the actual operation and the reference operation, an error compensation value 18 is generated for the acting force f, and the estimated compensation circuit U is made to correct the estimated compensation value i, and the control voltage is It includes an error compensation circuit for correcting U.

For motor devices, the actual characteristic function, ie, the actual dynamic characteristic equation, is generally defined by the parameters, ie, the acting force f and the actual rotational speed θ.
, the actual rotational acceleration i, the actual rotational position θ, the constant back electromotive force aa, and the transfer characteristic c8 can be expressed as θ = -aθ+c”u+f.For this reason, in a motor device or similar, the input terminal is connected to the output terminal of the servo control device. (that is, the control input terminal 20a) is connected to the amplifier 21 with an input gain c1 which multiplies the control voltage U given from the servo control device M by 01 and outputs it as c"u, and the output terminal of the amplifier 21 has a an adder 22 to which an input terminal is connected to receive c''u, another ten input terminals are connected to a driven member to apply acting force f, and outputs actual rotational acceleration i from an output terminal; The input terminal is connected to the output terminal of the adder 22, and the operator S-' is calculated for the actual rotational acceleration i (i.e., the actual rotational acceleration itt
An integrator 23 is connected to the output end of the integrator 23, which outputs the actual rotational speed θ, and calculates the operator s-1 for the actual rotational speed θ (i.e., the actual rotational speed Another integrator 24 that integrates θ and outputs the actual rotational position θ
The input terminal is connected to the output terminal of the integrator 23, and operator a is calculated for only the actual rotational speed (i.e., the actual rotational speed θ
(multiply by a), outputs aδ, and supplies it to one input terminal of the adder 22. Here, in the case of motor equipment d, the amplifier 21 for the control voltage U is smaller than the temporal change in the actual rotational position θ (i.e., the actual rotational speed θ) and the temporal change in the actual rotational speed θ (i.e., the actual rotational acceleration i).
Since the transfer characteristic (i.e., input gain) c'' of c'' has a large change over time, its transfer characteristic c1 is considered to be constant. Also, the back electromotive force constant a and the transfer characteristic C'' are the coefficients of the actual rotational acceleration i. This is the value divided by the inertia rate equivalent to that of a motor device to make it 1.

The target setting circuit ear includes first to third output terminals 31a,
From 31b and 31c, the motor equipment N! corresponds to the target trajectory and target speed of the driven member, respectively. ! ! a target setting device 31 that outputs a target rotational position θd, a target rotational speed δ4, and a target rotational acceleration id; and an amplifier 32 connected to the first output terminal 3Ia that multiplies the target rotational position θd by 8 and outputs it as λ1θ6. , an amplifier 33 connected to the second output terminal 31b and which doubles the target rotational speed δ6 and outputs it as input 2θ6; a third output terminal 31c and the amplifier 3;
Three manual input terminals are respectively connected to the output terminal of 2.33, and the target rotational acceleration id, the target rotational position θd multiplied by λ8 (i.e. λ1θd), the target rotational speed 13d multiplied by λ2 (i.e. λ2δd), and and an adder 34 which adds the values to each other and outputs a target value of d τd80,000, middle input, θ6+ input, θ6. Here λ8.
Input 2 is a coefficient for determining the time required for the motor device 20 to reach the target rotational position θ6°, the target rotational speed, and the target rotational acceleration dd, and may be appropriately set as desired.

In the standard operation circuit, the manual input terminal is connected to the output terminal for the target setting circuit, that is, the output terminal of the adder 34, and the target value τ
6 is input to the adder 41, and the output terminal of the adder 41 is connected to the reference rotational acceleration i.

an integrator 4 that calculates the operator s−1 (that is, integrates the standard rotational acceleration i) and outputs the standard rotational speed σ,
2 and a standard rotational speed δ, which is inserted between the output terminal of the integrator 42 and one input terminal of the adder 41.

is multiplied by λ2 and given to the adder 41 as λ2δ, and the target value is 6
The amplifier 43 is connected to the output terminal of the integrator 42 and the operator S~1 is connected to the output terminal of the integrator 42 to subtract the value from
(i.e., integrates the standard rotational speed θ) and outputs the standard rotational position θ, and is inserted between the output terminal of the integrator 44 and the other input terminal of the adder 41. The other amplifier 45 multiplies the standard rotational position θ by λ1 and gives it to the adder 41, which subtracts the target value from 6.
It encompasses. Therefore, the standard operation circuit is the standard characteristic function, that is, the standard dynamic characteristic equation -a, = -λ2θ, - person, θ yo + 6. Therefore, θ, = 06 2 - person 2 (θ1 - θd) - λ1 (θ, - 〇-), which determines the standard operation similar to that of a motor device, that is, the desired operation characteristics.

The feedback compensation circuit is similar to the detection terminal 2 of a motor device.
0b, and the actual rotational position θ is λ.

An amplifier 51 that outputs the multiplied λ1θ, another amplifier 52 connected to the other detection terminal 20c of the motor device and outputting the actual rotational speed, and a manual input terminal connected to the output terminals of the amplifiers 51 and 52, respectively. and λ10 and (in, -a)
0 to each other to obtain a feedback compensation value for the standard operation, that is, the standard position (here, the standard rotational position θ,) and the standard speed (here, the standard rotational position Ξ) determined by the standard operation circuit. .

The deviation generation circuit has a manual input terminal connected to the detection terminal 20b, which is similar to a motor device, and one input terminal connected to the output terminal of the integrator 44 of the standard operation circuit. The difference between the positions θ, that is, the rotational position deviation e=
A manual input terminal is connected to an adder 61 that outputs (θ-θ,), a detection terminal 20c similar to a motor device, and one input terminal is connected to an output terminal of an integrator 42 of a standard operation circuit. It also includes another adder 62 that outputs the actual rotational speed deviation ↓=(δ−δ,).

The estimated compensation circuit has an input terminal connected to the output terminal of the deviation generating circuit U, that is, the output terminal of the adder 61, and calculates an operator (S+ru)- for the rotational position a deviation e=(θ-θ,). 1 (i.e., integrate the rotational position deviation e=(θ−θ,))
an amplifier 72 whose input terminal is connected to the output terminal of the filter 71 and outputs the output of the filter 71 multiplied by 1; and another output terminal similar to that of the deviation generating circuit, that is, an adder The input terminal is connected to the output terminal of the device 62, and the operator (
s + JL)-' (i.e. rotational speed deviation e=
Another filter 73 that integrates (θ−θ,) and outputs
and another amplifier 74 whose input terminal is connected to the output terminal of the filter 73 and which outputs the output of the filter 73 as (λ, -) times, and whose input terminal is connected to the output terminal of the error compensation circuit. A filter 71A is connected to the filter 71A which calculates the operator (s+IL)-' for the error compensation value ie for the acting force f (that is, integrates the error compensation value 1e) and outputs the result, and first to third ten input terminals. are connected to other output terminals of the deviation generating circuit, that is, the output terminal of the adder 62 and the output terminal of the amplifiers 72 and 74, respectively, and are connected to one input terminal or the output terminal of the filter 71A. An adder 75 calculates and outputs the estimated compensation value j for the acting force f, and the input end is connected to the output end of the adder 75, By the operation (i.e. differentiation) of operator (s+IL), (f-?
) and a differential amplifier 76 whose input terminal is connected to the output terminal of the differential amplifier 76.
When the sign of the output (f-?) of the differential amplifier 76 is positive, it outputs the mosquito loquat blade 1111 t l□yo of the acting force f, and when the sign of the output (f-?) of the differential amplifier 76 is negative Maximum absolute value of differential of acting force f + ? There is a relay circuit 77 that outputs +, , with a negative sign (the output at this time is indicated as 191°, Sign), and the output terminal of the relay circuit 77 is connected to the output terminal of the relay circuit 77, and the other terminal is An adder whose ten input terminals are connected to the other output terminal of the error compensation circuit concave, and which adds together the output I j I waax Sign of the relay circuit 77 and the switching value g output from the error compensation circuits and outputs the result. 77A, an input terminal is connected to the output terminal of the adder 77A, and another input terminal is connected to the output terminal of the deviation generating circuit, that is, the output terminal of the adder 61, and the rotational position deviation e
Adder 77A when = (θ - θ) is equal to or greater than the threshold value 5KOU
A proportional saturation circuit 78 outputs the output as it is and makes the output of the adder 77A proportional to the rotational position deviation e=(θ-θ,) when the rotational position deviation e=(θ-〇,) is less than the threshold value 5KOU. The input terminal is connected to the output terminal of the proportional saturation circuit 78, and the proportional saturation circuit 78 calculates an operator S-1 (that is, integrates the output of the proportional saturation circuit 78) and outputs it as an estimated compensation value 1. and an integrator 79.

The control voltage generation circuit has two manual input terminals, each connected to the output terminal of the estimated compensation value and the output terminal of the error compensation circuit, and outputs an error compensation value for the estimated compensation value. an adder 81 which adds and outputs 8, and a manual input terminal connected to the output terminal of the target setting circuit, that is, the output terminal of the adder 34, and the output terminal of the feedback compensation circuit, that is, the adder 53.
One input terminal is connected to the output terminal of the adder 81, and the other input terminal is connected to the output terminal of the adder 81. An adder 82 that outputs 0d - (in, -a) θ-person, θ-1-?8, and an input terminal connected to the output terminal of the adder 82 and an output terminal that controls the motor control. The output U! of the adder 82 is connected to the input terminal 20a, and the output U! of the adder 82 is connected to the input terminal 20a.
-1 times the control voltage u = c 11-1 u II.

The input terminal of the error compensation circuit concave is connected to the output terminal of the deviation generating circuit, that is, the output terminal of the adder 61, and the rotational position deviation e is set to 0 for the rotational position deviation e=(θ-01).
An amplifier 91 that calculates an operator ψ, which is a parameter that determines the speed required to converge to , and outputs 'fe=9(θ-θ,), and a manual input terminal connected to the output terminal of the amplifier 91, The other manual input terminal is connected to the output terminal of the deviation generating circuit, that is, the output terminal of the adder 62, and the switching &ig g=e+! An adder 92 that outputs e=(θ-θ-)+f (0-θ, )゛ and an input end connected to the output end of the adder 92 calculate the error between the acting force f and the estimated compensation value i. Two different outputs (referred to as binary output) depending on the sign and the sign of the switching value g! . Two input terminals are connected to the binary generation circuit 93 which outputs the rotational position n deviation e= A multiplier 94 outputs the multiplication value ge=g (θ-θ,) of (θ-θ,) and the switching value g, and an input terminal is connected to the output terminal of the multiplier 94, and the multiplier value ge= Two different outputs (called binary outputs) depending on the sign or negative of g CO-θ, )! ,
Two input terminals are respectively connected to the binary generation circuit 95 which outputs , and the output terminals of the deviation generating circuit, that is, the output terminal of the adder 6z and the output terminal of the adder 92, so that the rotation speed deviation e=( A multiplier 96 outputs the multiplier value ge=g (θ-θ, ) of 0-θ, ) and the switching value g, and the input end is connected to the output end of the multiplier 96, and the multiplier value ge=g Two different outputs (called binary outputs) depending on the positive/negative of C0-M, )! 2
Two input terminals are respectively connected to a binary generation circuit 97 that outputs the rotational position deviation e, and an output terminal similar to that of the deviation generation circuit, that is, the output terminal of the adder 61 and the output terminal of the binary generation circuit 95. = Multiply value of (θ-θ,) and binary output □ 'P+e='? Two input terminals are connected to the multiplier 98 that outputs □ (θ-θ, ), the output terminal of the deviation generation circuit mark, that is, the output terminal of the adder 62, and the output terminal of the binary generation circuit 97. Binary output of cage rotation speed deviation e=(θ-0,)! 2 and a multiplier 99 that outputs the multiplication value 'l'2e='I', (0-θ,), and the output terminal of the binary generation circuit 93 and the multiplier 98.9.
Three manual input terminals are connected to each output terminal of 9! . +! □e 10 cities 2e = ψ. Ten! 1 (θ−01) + ! An adder 100 that calculates and outputs 2 (θ−θ,), and two input terminals connected to the output terminal of the adder 100 and the output terminal of the adder 92, respectively, and whose output terminal calculates and outputs the estimated compensation value. The input terminal of the filter 71A and the adder 81 which is equivalent to the control voltage generation circuit.
When the switching value g=e+'IP e is less than the predetermined threshold, the output of the adder 100 is output as is, and when the switching value g=e+'IP e is less than the predetermined threshold, the adder 100 Switch the output as it is to the value g=
Proportional saturation circuit 101 that adjusts and outputs proportional to e+ψe
Binary output that includes! . , middle school 8th. ! 2 is the estimated compensation value by the estimated compensation circuit H by setting it to a value larger than the value calculated based on the maximum value of the rotational position deviation e and the rotational speed deviation 2. The function is to converge the difference <f-j> between and the acting force f to zero.

In addition, the operation of an embodiment of the servo control device according to the present invention will be described in detail.

In the target setting circuit concave, the target setting device 31 sets a target rotational position θ6 of the motor device corresponding to the target trajectory and target speed of the driven member (not shown). Target rotational speed δaS
and target rotational acceleration θ, and set the target rotational position 0 and target rotational speed 'fJd to amplifiers 32 and 33.
The target rotational position θd is multiplied by λ1 and 2 by the adder 34, and the target rotational speed θ is multiplied by λ2.
6 and the target rotational acceleration θd are added together to obtain the target value τ6.
Calculate and output as τd=θd10, θ6+in, Od.

The output for the target setting circuit, that is, the target value τ4, is input to the reference operation circuit as well as the reference rotational position 0. and the standard rotational speed θ multiplied by λ2 by the amplifier 43.
, are added by the adder 41. This results in
A standard characteristic function, that is, a standard dynamic characteristic equation similar to that of a motor device corresponding to the target trajectory and target speed of a driven member (not shown) is provided.

θ, = −λ2 θ9 − λ, θ5 + τ4 Therefore θ, -06 =-person, (θ, -〇d) One person, (0,-Od) It is formed as follows. Here, the standard rotational speed θ.

is formed by integrating the output of the adder 41, that is, the reference rotational acceleration 0°, by the integrator 42.

Further, the standard rotational position θ is formed by integrating the output of the integrator 42, that is, the standard rotational speed δ, by the integrator 41.

The output for the target setting circuit, that is, the standard rotational position θ1 and the standard rotational speed θ, which are created in accordance with the target value τd and similar to the standard operating circuit, are obtained by adders 61 and 62, which are similar to the deviation generating circuit, respectively.
is given to Adders 61 and 62 calculate the difference between the actual rotational position θ and actual rotational speed given from the detection terminals 20b and 20c of the motor equipment fi 20, and the reference rotational position θ and reference rotational speed θ1, respectively. The rotational position deviation e=(θ−〇,) and the rotational speed deviation e=(
f)-0,).

Rotational position deviation e=(
θ-θ, )j5 and rotational speed deviation e=(θ-2r,) are input to the estimation compensation circuit 4.

The rotational position deviation e=(θ-01) is calculated (i.e., integrated) by the operator (s + JL)-' by the filter 71, and then multiplied by λ1 by the amplifier 72 and applied to the input terminal of the adder 75. It is being Rotational speed deviation 2 = (a-i-)
is directly applied to the other 10 input terminal of the adder 75, and is also given to the operator (s + JL)−” by the filter 73.
is calculated (that is, integrated), and then the amplifier 74 calculates (input t
p) Multiplied and applied to the other input terminal of the adder 75.

In the adder 75 of the estimation compensation circuit U, the operator (s
+JL)-' is the calculated (i.e., integrated) error compensation value? . and the outputs of the adder 62Σ and the amplifiers 72.74 are added to each other, and the following is created: =(θ-θ,) 1 . Here, as is clear from the above description, the standard operating circuit has a standard characteristic function, ie, a standard dynamic characteristic equation, represented by 6 where θ, = -λ2θ1-person, θ1+. Also, the motor device mows the output u'' of the adder 82.
But, U・=τd−? ,-? −? .

:τd−(λt　−a)　fJ−λ, o−? −? .

After being multiplied by c'-1, the control voltage U is applied to the control input terminal 20.
Since it is applied to a, θ=-aθ+c"u+f =-aθ+u" +f Therefore, θ=-aθ+τ, -(λ2-a)θ-in, θ-? +1-? .

=−λ20−person, θ+τd f+f fe has a real characteristic function, that is, a real dynamic characteristic equation. Therefore, θ-0. Knee λ2 (θ−θ,) −?1 λ1 (θ−θ,) −? +1-? e is established. Now, if we calculate the operator (S + 1) on both sides of this equation and use the relationship = θ - θ, -□ (θ - θ, ) S + , we can find the following. In turn, this is required. As a result, the output of adder 75 is:

It is expressed as and output. The output of the adder 75 is calculated (i.e., differentiated) by the operator (S+) by the differential amplifier 76, and then the result is <1-? ) to the relay circuit 77. In short, filters 71.71A, 73
, amplifiers 72, 74, adder 75 and differential amplifier 76, the acting force f is <1 without being measured at all.
−? ) is created and given to the relay circuit 77.

In the relay circuit 77 of the estimation compensation circuit U, I f I wax Si
gn is output. That is, in the relay circuit 77.

<f-? > is positive, the maximum absolute value of the differential j of the acting force f + i + , , , is output, and (1-?
) is negative, the maximum absolute value 1f of the differential of the acting force f
1. □ is output with a negative sign attached. In other words, in order to cause i to converge to the acting force f faster than the differential of the acting force f, the sign of <t-B is determined, and the sign is set to the maximum absolute value Iff of the differential of the acting force f. It is attached and output.

The output +i+,...Sign of the relay circuit 77 is given to an adder 77A, added to the switching value g given from the error compensation circuit, and given to the proportional saturation circuit 78 as g+I f I waaxsign. There is.

In the proportional saturation circuit 78, when the rotational position deviation e=(θ-01) given from the deviation generation circuit is equal to or greater than the threshold value 5KOIJ, it is output as is, and the rotational position deviation e=(θ-0
, ) is less than the threshold value 5KOII, it is adjusted within the proportional saturation circuit 78 in proportion to the rotational position deviation e=(θ-θ, ) and then output. The output of the proportional saturation circuit 78 is operated (ie, integrated) by an operator s - r in an integrator 79 . As a result, 1 is converged to the acting force f faster than the differential molecule of the acting force f, and is outputted from the integrator 79 and ultimately from the estimated compensation circuit as an estimated compensation value for the acting force f.

In the motor device, the output of the adder 22, that is, the actual rotational acceleration l, is integrated by the integrator 23, and outputted from the detection end 20c as the actual rotational speed δ.

The actual rotational speed θ is integrated by the integrator 24 and output as the actual rotational position θ from the detection end 20b, and is multiplied by 8 by the amplifier 25 and given to one input terminal of the adder X base 22. ing.

The actual rotational position θ and actual rotational speed θ outputted from the detection terminals 20b and 2 (LC) of the motor device 120 are multiplied by λ ) After being multiplied, adder 5
3, respectively. In the adder 53, the actual rotational position θ multiplied by input and the actual rotational speed θ multiplied by (input, -a) are added to each other, and the reference operation, that is, the reference position (in this case, the reference position) determined by the reference operation circuit property, is Feedback compensation value i for rotational position θ, ) and reference speed (here reference rotational speed δ,). The output is closed.

In the control voltage generation circuit string, d is the target value output from the target setting circuit, the estimated compensation value i output from the estimated compensation circuit, and the error compensation value j output from the error compensation value register.
1 and the feedback compensation value output from the feedback compensation circuit ? .

A control voltage U for the motor unit N is generated from this. That is, in the adder 81, the estimated compensation value 1 outputted from the estimated compensation circuit U and the error compensation value are added together and then provided to the adder 82. Adder 82
Then, the target value τd is input to the 10 input terminal, and 2
Estimated compensation value j and error compensation @? , the sum (?+?,) and the feedback compensation value?
. is input, and c"u=τa f-fo-f- is generated. The output c"u of the adder 82 is multiplied by c*-1 in the multiplier 83, and then the control voltage U It is outputted to a control input terminal 20a similar to that of a motor device.

In the motor device mowing, the control voltage U applied to the control input terminal 20a is multiplied by 01 by the amplifier 21, and then the adder 2
It is given to the input terminal of 2. In the adder 22, the acting force f is applied to the other 10 input terminals, and the actual rotational speed θ multiplied by 8 is applied to the - input terminal.

As is clear from the above, depending on the error between the actual operation of the motor device and the standard operation of the standard operation circuit, the parameters of the motor device, the parameter errors, and the error between the acting force f and the estimated compensation value 1, etc. In addition to the estimated compensation by the estimated compensation circuit, error compensation by the error compensation circuit is added and the estimated compensation is corrected. The motor device is sufficiently adjusted so that the actual operation of the motor device can accurately follow a predetermined target operation, and the motor device is suitably controlled according to the actual operation characteristic function, that is, the actual operation characteristic equation. has been done.

Note that in the above description, the switching value g is a straight line (i.e. e +
'l' e) or the present invention is described as
The curve is not limited to this, and may be a general curve.

(3) Effects of the Invention As is clear from the above description, the servo control device according to the present invention controls a motor device connected to a driven member via a transmission member so that the driven member follows a target trajectory at a target speed. A servo-controlled W device that controls, in particular: (a) target setting for setting a target position, target speed, and target acceleration of the motor device, and creating a target value using the target position, target speed, and target acceleration; (b) a reference operation circuit whose input end is connected to the output end of the target setting circuit and which determines a reference position and reference speed of the motor device according to the target value; (c) a deviation generation circuit that creates a position deviation from an actual position and a reference position of the motor device, and creates a speed deviation from an actual speed and a reference speed of the motor device;

(d) an estimated compensation circuit whose input end is connected to the output end of the deviation generation circuit, and which creates an estimated compensation value for the acting force applied to the motor device according to the position deviation and speed deviation; (e) is inserted between the output end of the deviation generation circuit and the input end of the estimated compensation circuit, and interacts with the position deviation and speed deviation, the parameter of the motor device, the parameter error, and the estimated compensation value. Cf) an error compensation circuit that creates an error compensation value for the acting force according to the error between the applied force and the error compensation circuit that corrects the estimated compensation value; and Cf) the actual position and actual speed of the motor device. (g) a feedback compensation circuit for creating a feedback compensation value for the reference position and reference speed set in the reference operation circuit from the above; a control voltage whose input terminal is connected to an output terminal or a control input terminal of the motor device, and which creates a control voltage for the motor device from the target value, the estimated compensation value, the error compensation value, and the feedback compensation value; (i) Regardless of the characteristics of the transmission member and the driven member, the motor device and the driven member can be controlled using only the mechanical and electrical characteristics of the motor device; Furthermore, (ii) it has the effect of achieving smaller size and faster control operation, and (iii) it has the effect of standardizing or simplifying the design, reducing the labor and time required for design. In addition, (iv) it has the effect of achieving generalization.

[Brief explanation of the drawing]

FIG. 1 is a circuit diagram showing an embodiment of a servo control device according to the present invention. 10・・・・・・・・・・・・・・・・・・ Servo control device 20・・・・・・・・・・・・・・・・・・
・Motor device 20a・・・・・・・・・・・・・・・
Control input terminals 20b, 20c......Detection terminal 21......Amplifier 22...... ......Adder 23
．． 24・・・・・・・・・・・・Integrator 25...
.........Amplifier 30...
・・・・・・・・・・・・・・・Target setting circuit 31...
・・・・・・・・・・・・・・・・Goal setting device 31a,
~, 31c... Output end 32.33...
......Amplifier 34...
・・・・・・・・・For adder・・・・・・・・・・・・
....... Normative operation circuit 41 ......
・・・・・・・・・Adder 42.44・・・・・・・・・
・・・・・・Integrator 43.45・・・・・・・・・・・・
・・・Amplifier ・・・・・・・・・・・・・・・・・・
・Feedback compensation circuit

Claims (1)

[Scope of Claims] A servo control device that controls a motor device connected to a driven member via a transmission member so that the driven member follows a target trajectory at a target speed, comprising: (a) a motor device connected to a driven member through a transmission member; a target setting circuit that sets a target position, target speed, and target acceleration and creates a target value using the target position, target speed, and target acceleration; (b) an input terminal is connected to an output terminal of the target setting circuit; (c) a reference operation circuit that is connected to the motor device and determines a reference position and a reference speed of the motor device according to the target value; a deviation generation circuit that creates a speed deviation from the actual speed and reference speed of the device; (d) an input end is connected to the output end of the deviation generation circuit; (e) an estimated compensation circuit that is inserted between an output end of the deviation generating circuit and an output end of the estimated compensation circuit, and that creates an estimated compensation value for the acting force applied to the An error compensation value for the acting force is created according to the deviation, a parameter of the motor device, an error in the parameter, and an error between the estimated compensation value and the acting force, and is given to the estimated compensation circuit to calculate the estimated compensation value. (f) a feedback compensation circuit that creates feedback compensation values for the reference position and reference speed determined by the reference operation circuit from the actual position and actual speed of the motor device; (g) the The input terminals are connected to the output terminals of the target setting circuit, the estimated compensation circuit, the error compensation circuit, and the feedback compensation circuit, and the output terminals are connected to the control input terminal of the motor device, and the target value and the estimated compensation value are connected to each other. A servo control device comprising: a control voltage generation circuit that generates a control voltage for the motor device from an error compensation value and a feedback compensation value.