Motor control device and motor control computer program
A control device calculates a position deviation between a position of a movable member designated by a position command and a measured position of the movable member by a position detector at each sampling period, adds a disturbance signal generated from a phase signal having a predetermined period to a drive signal generated from the position deviation to which an amount of correction is added, causes a motor for driving the movable member to operate based on the drive signal to which the disturbance signal is added, calculates the amount of correction by using a dynamic characteristic compensation filter in such a way as to reduce the position deviation, and changes a configuration of the dynamic characteristic compensation filter in such a way that an evaluation value related to magnitude of the position deviation satisfies a predetermined condition.
1. A control device of a motor that drives a movable member in such a way as to cause the movable member to repeat a certain operation, comprising:
a processor configured to:
generate a phase signal having a predetermined period;
generate a disturbance signal repeated in the predetermined period, based on the phase signal;
for each predetermined sampling period, calculate a position deviation between a position of the movable member designated by a position command and a position of the movable member measured by a position detector, add an amount of correction for correcting the position deviation to the position deviation, add the disturbance signal to a drive signal for driving the motor being generated based on the position deviation to which the amount of correction is added, and cause the motor to operate based on the drive signal to which the disturbance signal is added;
calculate the amount of correction by using a dynamic characteristic compensation filter for compensating for a dynamic characteristic of a control system of the motor in such a way as to reduce the position deviation;
calculate, for each repetitive period including at least one of the predetermined periods, an evaluation value representing magnitude of the position deviation at each of the predetermined sampling periods in the repetitive period; and
change a configuration of the dynamic characteristic compensation filter in such a way that the evaluation value satisfies a predetermined condition.
2. The control device according to claim 1 , wherein
the processor is configured to
add, for each of the predetermined sampling periods, to the position deviation, correction data representing an amount of correction of a position deviation before one period in the predetermined period,
calculate correction data at the sampling period by applying a low-pass filter to the position deviation to which the correction data are added, and
calculate the amount of correction by applying the dynamic characteristic compensation filter to the correction data.
3. The control device according to claim 1 , wherein
the dynamic characteristic compensation filter is a finite impulse response filter, and
the processor is configured to change a change parameter being at least one of the number of taps of the dynamic characteristic compensation filter, a weighting factor of each order, and the number of weighting factors other than 0 among weighting factors of each of orders in such a way that the evaluation value satisfies the predetermined condition.
4. The control device according to claim 3 , wherein
the processor is configured to determine a value of the change parameter of the dynamic characteristic compensation filter in such a way that the value of the change parameter is the farthest from a value of the change parameter when the evaluation value is an allowable upper limit value that satisfies the predetermined condition.
5. The control device according to claim 3 , wherein
the processor is configured to cause a display device to display the change parameter of the dynamic characteristic compensation filter in each of the predetermined periods in a display manner in accordance with a determination result of whether or not the evaluation value in the period satisfies the predetermined condition.
6. A non-transitory recording medium that stores a motor control computer program for controlling a motor that drives a movable member in such a way as to cause the movable member to repeat a certain operation, wherein the motor control computer program causes a computer to execute:
generating a phase signal having a predetermined period;
generating a disturbance signal repeated in the predetermined period, based on the phase signal;
calculating, for each predetermined sampling period, a position deviation between a position of the movable member designated by a position command and a position of the movable member measured by a position detector, adding an amount of correction for correcting the position deviation to the position deviation, adding the disturbance signal to a drive signal for driving the motor being generated based on the position deviation to which the amount of correction is added, and causing the motor to operate based on the drive signal to which the disturbance signal is added;
calculating the amount of correction by using a dynamic characteristic compensation filter for compensating for a dynamic characteristic of a control system of the motor in such a way as to reduce the position deviation;
calculating, for each repetitive period including at least one of the predetermined periods, an evaluation value representing magnitude of the position deviation at each of the predetermined sampling periods in the repetitive period; and
changing a configuration of the dynamic characteristic compensation filter in such a way that the evaluation value satisfies a predetermined condition.
7. The control device according to claim 1 , wherein the processor is further configured, during execution of a calibration processing, to selectively
(1) at each of the predetermined sampling periods, add a disturbance value of the generated disturbance signal to a current command value represented by a current command, and output the current command to which the disturbance value has been added as the drive signal for driving the motor, or
(2) output, without changing, the received current command as the drive signal for driving the motor.
8. The control device according to claim 1 , wherein the processor is further configured, during execution of a calibration processing, to selectively
(1) at each of the predetermined sampling periods, add a disturbance value of the generated disturbance signal to a speed command value represented by a speed command, and output the speed command to which the disturbance value has been added for generating the drive signal, or
(2) output, without changing, the received speed command for generating the drive signal.
9. The control device according to claim 1 , wherein the processor is further configured, during execution of a calibration processing, at each of the predetermined sampling periods, and depending on a load on the motor, to selectively
(1) add a disturbance value of the generated disturbance signal to a speed command value represented by a speed command, and generate a current command, as the drive signal, based on the speed command to which the disturbance value has been added, or
(2) generate the current command based on the speed command without changing the speed command, add the disturbance value of the generated disturbance signal to a current command value represented by the current command, and output the current command to which the disturbance value has been added as the drive signal.
10. The control device according to claim 1 , wherein the predetermined period is shorter than the predetermined sampling period.