JPH06225565A - Inertial load measurement method for motor drive system - Google Patents
Inertial load measurement method for motor drive systemInfo
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- JPH06225565A JPH06225565A JP2986993A JP2986993A JPH06225565A JP H06225565 A JPH06225565 A JP H06225565A JP 2986993 A JP2986993 A JP 2986993A JP 2986993 A JP2986993 A JP 2986993A JP H06225565 A JPH06225565 A JP H06225565A
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- speed
- electric motor
- difference
- steady state
- load
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- Control Of Electric Motors In General (AREA)
Abstract
(57)【要約】
【構成】 ２つの異なる速度指令を電動機１の駆動装置
であるサーボコントローラ５に指令し、第１および第２
の速度指令に対する定常状態における電動機１の速度差
とサーボコントローラ５の出力トルク差の比より粘性摩
擦係数Ｒを求め、第１および第２の速度指令における停
止状態から定常状態に至るまでのサーボコントローラ５
の出力トルクの積分値の差と、第１および第２の速度指
令における停止状態から定常状態に至るまでの間の移動
距離の差と、第１および第２の速度指令の定常状態にお
ける電動機の速度差、および前記粘性摩擦係数Ｒとから
慣性負荷Ｊを求める。
【効果】 機械系のバックラッシュや静止摩擦、動摩擦
等の影響を受けず、かつ電動機の制御方式によらずに簡
単に負荷を測定できる。
(57) [Summary] [Structure] Two different speed commands are commanded to the servo controller 5 which is a drive device of the electric motor 1, and the first and second speed commands are executed.
The servo controller for obtaining the viscous friction coefficient R from the ratio of the speed difference of the electric motor 1 and the output torque difference of the servo controller 5 in the steady state with respect to the speed command, and from the stopped state to the steady state in the first and second speed commands. 5
Difference in the integrated value of the output torque, the difference in the moving distance between the stopped state and the steady state in the first and second speed commands, and the electric motor in the steady state in the first and second speed commands. An inertial load J is obtained from the speed difference and the viscous friction coefficient R. [Effect] The load can be easily measured without being affected by mechanical system backlash, static friction, dynamic friction, and the like, and without depending on the control system of the electric motor.
Description
【０００１】[0001]
【産業上の利用分野】本発明は、電動機駆動系の慣性負
荷測定方式に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inertial load measuring method for an electric motor drive system.
【０００２】[0002]
【従来の技術】電動機の慣性負荷測定方式としては幾つ
かの方法が行われていた。 （１）電動機に速度指令として正弦波を加え、正弦波の
周波数を変化させながら繰り返し運転し、その周波数応
答より慣性負荷を計算する。 （２）速度のステップ応答により、その立ち上がりの応
答時間から速度ループの時定数を求め、それより慣性負
荷を計算する。 （３）電動機の発生トルクを積分し、その値と回転速度
差との比から慣性負荷を求める（例えば、特開昭６１−
８８７８０号公報）。2. Description of the Related Art There have been several methods for measuring an inertial load of an electric motor. (1) A sine wave is added to the electric motor as a speed command, the sine wave is repeatedly operated while changing the frequency, and the inertial load is calculated from the frequency response. (2) The time constant of the speed loop is obtained from the response time of the rising of the step response of the speed, and the inertial load is calculated from the time constant. (3) The torque generated by the electric motor is integrated, and the inertial load is obtained from the ratio of the value and the rotational speed difference (see, for example, JP-A-61-161).
88780).
【０００３】[0003]
【発明が解決しようとする課題】前記（１）の方法で
は、ＮＣ工作機等には電動機と負荷の間にボールねじ等
の減速機によるバックラッシュが存在するため、速度指
令として前記の正弦波を与えるのは機械の減速機を破壊
する等の問題がある。また前記（２）の方法では、サー
ボアンプにおける電流出力の遅れや静止摩擦などの影響
により、無駄時間が生じたり、応答中における動摩擦の
影響により速度指令に応じたトルクが出力できずに立ち
上がり時間が長くなる等の問題により、正確な時定数を
求めることができず、よって正確な慣性負荷を求めるこ
とができなかった。また前記（３）の方法では、駆動系
に慣性負荷以外の一定負荷がかかっている場合、トルク
積分値に慣性負荷以外の負荷トルクの積分値が含まれる
ことになり純粋に慣性負荷を駆動するのに要した電動機
のトルクの積分値が使用されないため慣性負荷の計算値
に多大な誤差を含むことになる。さらに前記（３）の方
法では、一定の加減速レート及び回転速度変化幅で加減
速を行い、加速時および減速時における電動機発生トル
クに比例する信号の積分量の差と回転速度の変化幅を演
算することにより、負荷イナーシャを推定する方法を上
げているが、加速時と減速時では静止摩擦および動摩擦
による影響が異なるため、静止摩擦および動摩擦の大き
な駆動系では同様に正確な慣性負荷を求めることはでき
なかった。本発明の目的は、電動機駆動系において、機
械系のバックラッシュや静止摩擦、動摩擦等の影響を受
けず、かつ電動機の制御方式によらずに簡単に負荷を測
定できる電動機駆動系の慣性負荷測定方式を提供するこ
とにある。In the method (1), since the NC machine tool or the like has a backlash due to a speed reducer such as a ball screw between the electric motor and the load, the sine wave is used as the speed command. There are problems such as breaking the speed reducer of the machine. In the above method (2), a dead time is generated due to the delay of the current output in the servo amplifier and static friction, and the torque corresponding to the speed command cannot be output due to the influence of dynamic friction during response. Due to problems such as lengthening, it was not possible to obtain an accurate time constant and therefore an accurate inertial load. Further, in the above method (3), when a constant load other than the inertial load is applied to the drive system, the torque integral value includes the integral value of the load torque other than the inertial load, so that the inertial load is driven purely. Since the integral value of the torque of the electric motor required for is not used, the calculated value of the inertial load includes a large error. Further, in the above method (3), acceleration / deceleration is performed at a constant acceleration / deceleration rate and a constant rotation speed variation range, and the difference in the integral amount of the signal proportional to the motor-generated torque during acceleration and deceleration and the variation range of the rotation speed are calculated. Although the method of estimating the load inertia by calculation is being used, the effects of static friction and dynamic friction are different during acceleration and deceleration, so the same accurate inertial load is obtained for drive systems with large static friction and dynamic friction. I couldn't do that. An object of the present invention is to measure an inertial load of an electric motor drive system that is not affected by backlash, static friction, dynamic friction, etc. of a mechanical system in a motor drive system and that can easily measure a load without depending on a control system of the electric motor. To provide a method.
【０００４】[0004]
【課題を解決するための手段】以上の目的を達成するた
め、本発明は、２つの異なる速度指令を電動機の駆動装
置に指令し、第１および第２の速度指令に対する定常状
態における前記電動機の速度差と前記駆動装置の出力ト
ルク差の比より粘性摩擦係数を求め、前記第１および第
２の速度指令における停止状態から定常状態に至るまで
の前記駆動装置の出力トルクの積分値の差と、前記第１
および第２の速度指令における停止状態から定常状態に
至るまでの間の移動距離の差と、前記第１および第２の
速度指令の定常状態における電動機の速度差、および前
記粘性摩擦係数とから慣性負荷を求めるものである。In order to achieve the above object, the present invention commands two different speed commands to a drive device of an electric motor, so that the motor can be operated in a steady state with respect to the first and second speed commands. The viscous friction coefficient is obtained from the ratio of the speed difference and the output torque difference of the drive device, and the difference between the integrated value of the output torque of the drive device from the stopped state to the steady state in the first and second speed commands is calculated. , The first
In addition, the inertia from the difference in the moving distance from the stopped state to the steady state in the second speed command, the speed difference of the electric motor in the steady state of the first and second speed commands, and the viscous friction coefficient. It seeks a load.
【０００５】[0005]
【作用】本発明は、電動機を２回異なる速度まで加速さ
せ、２つの定常状態中の時刻ｔにおける速度差と出力ト
ルク差の比より粘性摩擦係数を求め、次に２つの定常状
態中の時刻ｔにおける速度差と、加速開始点からの時刻
ｔまでの移動距離の差と、加速開始点から時刻ｔまでの
出力トルクの積分値の差と先に求めた粘性摩擦係数より
慣性負荷を求めるものである。以下にその根拠を説明す
る。一般に、電動機の駆動系は、図２のようなブロック
図で表され、電動機の負荷として角速度に比例する粘性
摩擦、静止摩擦および動摩擦、そして慣性負荷を考え
る。電動機出力トルクと負荷の力の釣合は、次の数式１
で表される。According to the present invention, the electric motor is accelerated twice to different speeds, the viscous friction coefficient is obtained from the ratio of the speed difference and the output torque difference at the time t during the two steady states, and then the time during the two steady states is calculated. An inertial load is calculated from the difference in speed at t, the difference in the moving distance from the acceleration start point to time t, the difference in the integrated value of the output torque from the acceleration start point to time t, and the viscous friction coefficient previously obtained. Is. The basis for this will be described below. Generally, a drive system of an electric motor is represented by a block diagram as shown in FIG. 2, and considers viscous friction, static friction and dynamic friction proportional to angular velocity, and inertial load as the load of the electric motor. The balance between the motor output torque and the load force is calculated by the following mathematical formula 1.
It is represented by.
【０００６】[0006]
【数１】 [Equation 1]
【０００７】ここで、Ｔは電動機の出力トルク、Ｄは静
止摩擦および動摩擦トルク、Ｒは粘性摩擦係数、Ｊは慣
性負荷、ωは角速度である。ただし、電動機自身の慣性
はＪに含まれるものとする。定常状態においては、d ω
/dt=0 であるから数式１は次の数式２となる。Here, T is the output torque of the electric motor, D is the static friction and dynamic friction torque, R is the viscous friction coefficient, J is the inertial load, and ω is the angular velocity. However, the inertia of the electric motor itself is included in J. In the steady state, d ω
Since / dt = 0, Expression 1 becomes Expression 2 below.
【０００８】[0008]
【数２】 [Equation 2]
【０００９】ここで、２つの定常状態における入力トル
クをＴ1 、Ｔ2 、角速度をω1 、ω2 とすると、二つの
定常状態は、次の数式３、数式４となる。Here, assuming that the input torques in the two steady states are T 1 and T 2 and the angular velocities are ω 1 and ω 2 , the two steady states are the following equations 3 and 4, respectively.
【００１０】[0010]
【数３】 [Equation 3]
【００１１】[0011]
【数４】 [Equation 4]
【００１２】従って、数式３、数式４より、数式５に示
すように粘性摩擦係数Ｒを求めることができる。Therefore, the viscous friction coefficient R can be obtained from Equations 3 and 4 as shown in Equation 5.
【００１３】[0013]
【数５】 [Equation 5]
【００１４】つづいて、数式１を時刻０からｔまで積分
すると次の数式６が得られる。Then, the following expression 6 is obtained by integrating expression 1 from time 0 to t.
【００１５】[0015]
【数６】 [Equation 6]
【００１６】ここで、図３に示すように、定常状態中の
時刻ｔにおける角速度ω1 、ω2 、時刻０からｔまでの
移動距離Ｌ1 、Ｌ2 および時刻０からｔまでの出力トル
クの積分値Ｅ1 、Ｅ2 が測定されたとすると、次の数式
７、数式８が成り立つ。Here, as shown in FIG. 3, the angular velocities ω 1 and ω 2 at the time t in the steady state, the moving distances L 1 and L 2 from the time 0 to t, and the output torque from the time 0 to t. Assuming that the integrated values E 1 and E 2 are measured, the following formulas 7 and 8 are established.
【００１７】[0017]
【数７】 [Equation 7]
【００１８】[0018]
【数８】 [Equation 8]
【００１９】したがって、２つの定常状態において、数
式６は次の数式９、数式１０となる。Therefore, in the two steady states, the equation 6 becomes the following equations 9 and 10.
【００２０】[0020]
【数９】 [Equation 9]
【００２１】[0021]
【数１０】 [Equation 10]
【００２２】摩擦トルクは一般に速度に依存しないた
め、数式９、数式１０よりＤの積分値を消去し、Ｊを求
めれば、次の数式１１となる。Since the friction torque generally does not depend on the speed, if the integral value of D is deleted from Equations 9 and 10 and J is obtained, the following Equation 11 is obtained.
【００２３】[0023]
【数１１】 [Equation 11]
【００２４】従って、すでに求めたＲと測定値ω1 、ω
2 、Ｌ1 、Ｌ2 、Ｅ1 、Ｅ2 より慣性負荷Ｊは求められ
る。Therefore, R already obtained and the measured values ω 1 , ω
The inertial load J is obtained from 2 , L 1 , L 2 , E 1 , and E 2 .
【００２５】[0025]
【実施例】以下、本発明の具体的実施例を図に基づいて
説明する。図１は実施例の構成図である。１は電動機、
２は電動機１に加わる負荷、３は電動機１の回転量およ
び回転速度を検出するパルスジェネレータ、４は位置指
令を出力する上位コントローラ、５は上位コントローラ
４からの位置指令とパルスジェネレータ３からのフィー
ドバックパルスから電動機１に駆動電流を出力するサー
ボコントローラである。まず初めに、上位コントローラ
４は速度がω1 一定になるような等加速度の速度指令を
サーボコントローラ５に出力する。サーボコントローラ
５は速度指令とフィードバックパルスをもとに、トルク
に比例した駆動電流を計算し電動機１に出力する。上位
コントローラ４はサーボコントローラ５を通して返され
る速度ω1 とトルクＴ1 を測定し、かつそれぞれを一定
時間ｔについて積算して、一時記憶バッファ４１に記憶
する。同じ静止摩擦等の条件が得られるよう、ある程度
の時間をおいてから同様にして、上位コントローラ４は
速度がω2 一定になるような等加速度の速度指令をサー
ボコントローラ５に出力し、サーボコントローラ５から
返される速度ω2 とトルクＴを2 測定し、かつ、それぞ
れを一定時間ｔについて積算して一時記憶バッファ４１
に記憶する。以上の処理から、一時記憶バッファ４１に
記憶されたデータは、トルクＴ1 、Ｔ2 、速度ω1 、ω
2 、そしてそれぞれの積算値を出力トルクの積分値Ｅ
1 、Ｅ2 、移動距離Ｌ1 、Ｌ2 として、最初に上位コン
トローラ４の演算器４２により前記の数式５に代入して
粘性摩擦係数Ｒを計算し、つぎに数式１１により演算器
４３から慣性負荷Ｊを計算して出力する。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of the embodiment. 1 is an electric motor
Reference numeral 2 is a load applied to the electric motor 1, 3 is a pulse generator that detects the amount of rotation and rotational speed of the electric motor 1, 4 is a host controller that outputs a position command, and 5 is a position command from the host controller 4 and feedback from the pulse generator 3. It is a servo controller that outputs a drive current from a pulse to the electric motor 1. First, the host controller 4 outputs to the servo controller 5 a speed command for uniform acceleration so that the speed is constant at ω 1 . The servo controller 5 calculates a drive current proportional to the torque based on the speed command and the feedback pulse, and outputs it to the electric motor 1. The host controller 4 measures the speed ω 1 and the torque T 1 returned through the servo controller 5, and integrates them for a fixed time t, and stores them in the temporary storage buffer 41. In order to obtain the same conditions such as static friction, after a certain amount of time, the host controller 4 similarly outputs a speed command of constant acceleration to the servo controller 5 so that the speed is constant at ω 2 , and the servo controller 5 The speed ω 2 and the torque T returned from 5 are measured twice , and they are integrated for a certain time t to temporarily store the buffer 41.
Remember. From the above processing, the data stored in the temporary storage buffer 41 is the torque T 1 , T 2 , the speed ω 1 , ω
2 , and the integrated value of each is the integrated value E of the output torque
1 , E 2 and movement distances L 1 and L 2 are first substituted into the above equation 5 by the computing unit 42 of the host controller 4 to calculate the viscous friction coefficient R, and then from the computing unit 43 from the inertial unit according to Equation 11. Calculate and output the load J.
【００２６】[0026]
【発明の効果】以上説明したように本発明では、電動機
の運転中の２つの定常状態中のある時刻における速度、
トルクを測定し、その積分値を求めることによって、慣
性負荷を求めているので、機械系のバックラッシュや静
止摩擦、動摩擦等の影響を受けず、かつ電動機の制御方
式によらずに簡単に負荷を測定できる効果がある。As described above, according to the present invention, the speed at a certain time during two steady states during operation of the electric motor,
Since the inertial load is obtained by measuring the torque and calculating the integral value, the load is not affected by backlash, static friction, dynamic friction, etc. of the mechanical system, and the load can be easily applied regardless of the motor control method. There is an effect that can be measured.
【図１】本発明の実施例を示す構成図。FIG. 1 is a configuration diagram showing an embodiment of the present invention.
【図２】電動機の出力トルクと負荷トルクの釣合を示す
ブロック線図FIG. 2 is a block diagram showing a balance between output torque and load torque of an electric motor.
【図３】負荷イナーシャの測定方法の原理を示す説明
図。FIG. 3 is an explanatory diagram showing the principle of a load inertia measuring method.
１ 電動機 ２ 負荷 ３ パルスジェネレータ ４ 上位コントローラ ５ サーボコントローラ 1 Electric motor 2 Load 3 Pulse generator 4 Host controller 5 Servo controller
Claims (1)
置に指令し、第１および第２の速度指令に対する定常状
態における前記電動機の速度差と前記駆動装置の出力ト
ルク差の比より粘性摩擦係数を求め、前記第１および第
２の速度指令における停止状態から定常状態に至るまで
の前記駆動装置の出力トルクの積分値の差と、前記第１
および第２の速度指令における停止状態から定常状態に
至るまでの間の移動距離の差と、前記第１および第２の
速度指令の定常状態における電動機の速度差、および前
記粘性摩擦係数とから慣性負荷を求めることを特徴とす
る電動機駆動系の慣性負荷測定方式。1. A viscous friction coefficient based on a ratio of a speed difference of the electric motor and an output torque difference of the driving device in a steady state with respect to a first speed command and a second speed command. And the difference between the integrated value of the output torque of the drive device from the stopped state to the steady state in the first and second speed commands, and the first
In addition, the inertia from the difference in the moving distance from the stopped state to the steady state in the second speed command, the speed difference of the electric motor in the steady state of the first and second speed commands, and the viscous friction coefficient. Inertial load measurement method for electric motor drive systems, which is characterized by determining the load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2986993A JP3230616B2 (en) | 1993-01-25 | 1993-01-25 | Inertial load measurement method for motor drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2986993A JP3230616B2 (en) | 1993-01-25 | 1993-01-25 | Inertial load measurement method for motor drive system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06225565A true JPH06225565A (en) | 1994-08-12 |
| JP3230616B2 JP3230616B2 (en) | 2001-11-19 |
Family
ID=12287983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2986993A Expired - Fee Related JP3230616B2 (en) | 1993-01-25 | 1993-01-25 | Inertial load measurement method for motor drive system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3230616B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996037039A1 (en) * | 1995-05-17 | 1996-11-21 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| CN101950000A (en) * | 2010-08-14 | 2011-01-19 | 潮州市汇能电机有限公司 | Dragging device for large and medium hydro-generator attribute test |
| JP2015007956A (en) * | 2013-06-25 | 2015-01-15 | ラインストリーム テクノロジーズＬｉｎｅｓｔｒｅａｍ Ｔｅｃｈｎｏｌｏｇｉｅｓ | How to automatically set the controller bandwidth |
| JP2015170208A (en) * | 2014-03-07 | 2015-09-28 | 国立大学法人 東京大学 | Control device, control method and control program |
| CN105182236A (en) * | 2015-09-18 | 2015-12-23 | 卓越（苏州）自动化设备有限公司 | Device for detecting the performance of a wiper motor of passenger vehicle |
| CN106125675A (en) * | 2016-08-04 | 2016-11-16 | 上海宇航系统工程研究所 | A kind of single shaft high-precision servo control system device for adjusting and measuring |
| CN113096504A (en) * | 2021-04-22 | 2021-07-09 | 杭州电子科技大学 | Simulation experiment circuit of speed control system |
| CN113985835A (en) * | 2021-09-14 | 2022-01-28 | 北京无线电测量研究所 | Method for estimating mechanical characteristic parameters of large-antenna radar servo system |
-
1993
- 1993-01-25 JP JP2986993A patent/JP3230616B2/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996037039A1 (en) * | 1995-05-17 | 1996-11-21 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| US6037736A (en) * | 1995-05-17 | 2000-03-14 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| CN101950000A (en) * | 2010-08-14 | 2011-01-19 | 潮州市汇能电机有限公司 | Dragging device for large and medium hydro-generator attribute test |
| CN101950000B (en) | 2010-08-14 | 2012-11-14 | 潮州市汇能电机有限公司 | Dragging device for large and medium hydro-generator attribute test |
| JP2015007956A (en) * | 2013-06-25 | 2015-01-15 | ラインストリーム テクノロジーズＬｉｎｅｓｔｒｅａｍ Ｔｅｃｈｎｏｌｏｇｉｅｓ | How to automatically set the controller bandwidth |
| JP2015170208A (en) * | 2014-03-07 | 2015-09-28 | 国立大学法人 東京大学 | Control device, control method and control program |
| CN105182236A (en) * | 2015-09-18 | 2015-12-23 | 卓越（苏州）自动化设备有限公司 | Device for detecting the performance of a wiper motor of passenger vehicle |
| CN106125675A (en) * | 2016-08-04 | 2016-11-16 | 上海宇航系统工程研究所 | A kind of single shaft high-precision servo control system device for adjusting and measuring |
| CN113096504A (en) * | 2021-04-22 | 2021-07-09 | 杭州电子科技大学 | Simulation experiment circuit of speed control system |
| CN113096504B (en) * | 2021-04-22 | 2022-06-24 | 杭州电子科技大学 | Simulation experiment circuit of speed control system |
| CN113985835A (en) * | 2021-09-14 | 2022-01-28 | 北京无线电测量研究所 | Method for estimating mechanical characteristic parameters of large-antenna radar servo system |
| CN113985835B (en) * | 2021-09-14 | 2023-09-29 | 北京无线电测量研究所 | A method for estimating mechanical characteristics parameters of large antenna radar servo system |
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