JPH09285183A - Torque control device - Google Patents

Abstract

(57) An object of the present invention is to reduce the load on the host controller and generate realistic torque in a torque control device used as a drive source of a sensible game in the amusement field and the like. SOLUTION: An encoder 4 for detecting a rotational position of a motor, a speed detector 12 for detecting a speed, an amplifier for amplifying a position detected by the encoder 4 to generate a spring torque, and a detector for detecting the speed by the speed detector 12. An amplifier that amplifies the detected speed value to generate a viscous torque, and a subtractor that calculates the viscous torque and spring torque from an external torque command to generate a torque command are provided. The torque command from the controller is added and output.

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.

[0002]

2. Description of the Related Art Conventionally, as a torque control device used for generating bodily sensation torque in amusement equipment and the like,
A mechanical damper and a torque control motor are used.

In order to obtain a realistic sensible torque in an amusement machine or the like, a torque command corresponding thereto is calculated and input to a torque control device to obtain the torque.

A conventional torque control device will be described below. FIG. 3 is a configuration diagram of a first example of a conventional torque control device. In FIG. 3, 1 is a magnetic pole detector, 2 is a multiplier that multiplies a torque command and magnetic pole data, 3 is a current amplifier that supplies a current to a motor, 4 is an encoder that detects a rotational position,
Reference numeral 5 is a motor, and 6 is an external torque command input unit.

FIG. 4 is a block diagram of a second example of a conventional torque control device, in which 7 is a spring, 8 is a damper, and 9 is a mechanical mass.

FIG. 5 is a block diagram of a third example of a conventional torque control device, in which 10 is a cylinder and 11 is an air input section.

The operation of the torque control device configured as described above will be described below. In the first example shown in FIG. 3, the torque command input from the host controller to the external torque command input unit 6 and the current phase obtained from the magnetic pole detector 1 are multiplied by the multiplier 2 to generate a uvw-phase current command. Further, the current corresponding to the current command is supplied to the motor by the current amplifier 3 to generate the torque corresponding to the torque command. At this time, the relationship between the torque command and the position of the control target device is expressed by the following equation when the inertia is J. It becomes like.

[0008]

[Equation 1]

In the second example shown in FIG. 4, the mass M of the mechanism 9
From the spring coefficient K of the spring 7 and the viscosity coefficient u of the damper 8, the relationship between the input torque and the position of the device to be controlled is as follows.

[0010]

[Equation 2]

In the third example shown in FIG. 5, the air pressure in the cylinder 10 is controlled by injecting air from the air input section 11 to control the output torque.

[0012]

However, the above-mentioned conventional configuration has a problem in generating a delicate sensible torque. First, in the first example, the torque corresponding to the torque command can be output. However, when simultaneously simulating the high-frequency vibration command and the dynamic characteristics of the machine, the host controller calculates complicated torque commands such as spring torque and viscous torque. Therefore, there is a problem that high performance that enables high-speed calculation and high cost are indispensable conditions and difficult to realize. Further, in the second example, it is possible to generate a passive torque with respect to an external force, but it is not possible to generate a torque according to the torque command.
Furthermore, there is a problem in that it is necessary to replace parts in order to adjust the torque, and the torque cannot be changed online. Further, the third example has a problem that there is a torque that cannot be generated by high-frequency vibration or the like due to control by air pressure.

It is an object of the present invention to reduce the load on the host controller in such a torque control device and freely generate the sensible torque.

[0014]

In the torque control device of the present invention, in order to solve the above problems, 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 are provided. A speed detector that detects the speed, an amplifier that amplifies the position detected by the encoder to generate a spring torque, an amplifier that amplifies the speed detection value detected by the speed detector to generate a viscous torque, and an external torque command A subtractor that subtracts the viscous torque and the spring torque from each other to generate a torque command, and a current amplifier that supplies a product of the torque command value and the motor magnetic pole detection value to the motor coil as a current command are provided. It is generated internally and is added to the torque command from the host controller and output.

According to the present invention, a spring torque and a viscous torque are internally generated, and these are added to the torque command from the host controller, whereby the load on the host controller can be reduced and a realistic torque can be generated. Torque control device is obtained.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention comprises 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 detector for detecting a speed. , A multiplier that amplifies the position command value and the position detection value from the encoder to generate a spring torque, a multiplier that amplifies the speed detected by the speed detector to generate a viscous torque command, and a torque from the host controller A subtractor that subtracts the viscous torque and the spring torque from the command to generate a total torque command, and a current amplifier that supplies the product of the total torque command value and the motor magnetic pole detection value to the motor coil as a current command. Is a torque control device that generates spring torque and viscous torque inside the torque control device and adds them to the torque command from the host controller. Has the effect that output.

According to a second aspect of the present invention, the gain of the two amplifiers can be changed online from the outside, and the torque control device according to the first aspect is used. It has an effect of generating a realistic sensible torque by changing it accordingly.

Embodiments of the present invention will be described below with reference to FIGS. 1 and 2. FIG. 1 shows the configuration of a torque control device according to an embodiment of the present invention. In FIG. 1, 5 is a motor, 4 is an encoder for detecting the rotational position of the motor, 1 is a magnetic pole detector for detecting the magnetic poles of the motor, 12 is a speed detector for detecting the speed, and 13 is a position amplification to generate a spring torque. Multiplier, 14 is a multiplier that amplifies the speed detection value to generate viscous torque, and 15 is a multiplier 13
, A gain setting unit 16 of the multiplier 14,
Is an external torque command input unit, 17 is a subtractor that subtracts the viscous torque and spring torque from the external torque command to generate a total torque command, and 2 is a multiplication that calculates the current command by multiplying the total torque command value and the motor magnetic pole detection value. The device 3 is a current amplifier for supplying a current to the motor coil.

The operation of the torque control device of the present invention constructed as above will be described below.

In FIG. 1, when an external torque command is input from the host controller to the external torque command input unit 6 while the motor is stationary, the spring torque is the output of the subtractor 17 because the viscous torque is zero. The 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 1 are multiplied by the multiplier 2 to generate a uvw-phase current command, and the current amplifier 3 supplies a current to the motor in accordance with the current command to generate the total torque. Generates torque corresponding to the command.
Next, when the motor 5 rotates, the position detected by the encoder 4 is amplified by the multiplier 13 and fed back to the subtractor 17 as spring torque. On the other hand, the speed detected by the speed detector 12 is amplified by the multiplier 14 and fed back to the subtractor 17 as viscous torque.
The fed-back spring torque and viscous torque are subtracted from the external torque command by the subtractor 17 to become a total torque command, and similarly generate torque. Also, when the motor 5 is rotated by an external force, the spring torque and the viscous torque are fed back, and the torque is generated similarly. In this way, the motor 5 is driven by adding the spring torque and the viscous torque to the external torque command or the external torque. The spring torque and the viscous torque can be adjusted by changing the gains of the gain setting units 15 and 16 online.

Here, the dynamic characteristics of the system will be described in detail. FIG. 2 is a block diagram showing the dynamic characteristics of the torque control device of the present invention. In FIG. 2, p is the gain of the multiplier 18, v is the gain of the multiplier 19, J is the inertia, 17
Is a subtractor. If this block diagram is replaced with a transfer function, it has the same dynamic characteristics as the mechanical damper as shown in the following equation, and by changing the gains v and p of the multipliers 18 and 19, the same effect as replacing the mechanical damper parts can be obtained. can get.

[0022]

(Equation 3)

[0023]

As described above, the torque control device of the present invention includes an encoder for detecting the rotational position of the motor, a magnetic pole detector for detecting the motor magnetic pole from the encoder, a speed detector for detecting the speed, An amplifier that amplifies the position detected by the encoder to generate a spring torque, an amplifier that amplifies the speed detection value detected by the speed detector to generate a viscous torque, and subtracts the viscous torque and the spring torque from an external torque command. By providing a subtractor that generates a torque command and a current amplifier that supplies the product of the torque command value and the motor magnetic pole detection value to the motor coil as a current command, the burden on the host controller is reduced and a realistic torque is obtained. It becomes a torque control device that can be generated.

[Brief description of drawings]

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

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

FIG. 3 is a configuration diagram of a first example of a conventional torque control device.

FIG. 4 is a configuration diagram of a second example of a conventional torque control device.

FIG. 5 is a configuration diagram of a third example of a conventional torque control device.

[Explanation of Codes] 1 Magnetic pole detector 2 Multiplier 3 Current amplifier 4 Encoder 5 Motor 6 External torque command input section 7 Spring 8 Damper 9 Mechanical mass 10 Cylinder 11 Air input section 12 Speed detector 13 Multiplier 14 Multiplier 15 Gain Setting unit 16 Gain setting unit 17 Subtractor 18 Multiplier gain 19 Multiplier gain

Claims (2)

[Claims] 1. A motor for generating torque, an encoder for detecting a rotational position of the motor, a magnetic pole detector for detecting a magnetic pole of the motor from the encoder, and a speed detector for detecting a speed from the encoder. A first that amplifies the position detected by the encoder to generate a spring torque
Amplifier, a second amplifier that amplifies the speed detection value detected by the speed detector to generate a viscous torque, and a torque command value obtained by subtracting the viscous torque value and the spring torque value from the external torque command value. And a current amplifier that supplies the product of the torque command value and the motor magnetic pole detection value as a current command value to the motor coil. 2. The adjusting means for varying the amplification factors of the first amplifier and the second amplifier is provided.
The described torque control device.