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1. (WO2017203987) PARAMETER IDENTIFICATION DEVICE, MOTOR CONTROL SYSTEM, PARAMETER IDENTIFICATION METHOD, AND PROGRAM
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Pub. No.: WO/2017/203987 International Application No.: PCT/JP2017/017827
Publication Date: 30.11.2017 International Filing Date: 11.05.2017
IPC:
G05B 23/02 (2006.01) ,G05B 11/32 (2006.01) ,G05B 19/19 (2006.01) ,H02P 21/14 (2016.01)
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
23
Testing or monitoring of control systems or parts thereof
02
Electric testing or monitoring
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
11
Automatic controllers
01
electric
32
with inputs from more than one sensing element; with outputs to more than one correcting element
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
19
characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
H ELECTRICITY
02
GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
P
CONTROL OR REGULATION OF ELECTRIC MOTORS, GENERATORS, OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS OR REACTORS OR CHOKE COILS
21
Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
14
Estimation or adaptation of machine parameters, e.g. rotor time constant, flux, speed, current or voltage
Applicants:
三菱重工業株式会社 MITSUBISHI HEAVY INDUSTRIES, LTD. [JP/JP]; 東京都港区港南二丁目16番5号 16-5, Konan 2-chome, Minato-ku, Tokyo 1088215, JP
Inventors:
加藤 義樹 KATO Yoshiki; JP
粟屋 伊智郎 AWAYA Ichiro; JP
望月 慶佑 MOCHIZUKI Keisuke; JP
法山 敬一 NORIYAMA Keiichi; JP
倉本 博久 KURAMOTO Hirohisa; JP
Agent:
森 隆一郎 MORI Ryuichirou; JP
志賀 正武 SHIGA Masatake; JP
高橋 詔男 TAKAHASHI Norio; JP
山崎 哲男 YAMASAKI Tetsuo; JP
松沼 泰史 MATSUNUMA Yasushi; JP
Priority Data:
2016-10448125.05.2016JP
Title (EN) PARAMETER IDENTIFICATION DEVICE, MOTOR CONTROL SYSTEM, PARAMETER IDENTIFICATION METHOD, AND PROGRAM
(FR) DISPOSITIF D'IDENTIFICATION DE PARAMÈTRES, SYSTÈME DE COMMANDE DE MOTEUR, PROCÉDÉ D'IDENTIFICATION DE PARAMÈTRES ET PROGRAMME
(JA) パラメータ同定装置、モータ制御システム、パラメータ同定方法及びプログラム
Abstract:
(EN) A parameter identification device (12) is provided with: a data acquisition unit (120) for acquiring a torque τ relating to a motor, actual-measurement data of the angle θ(M) and angular velocity ω(M) of the motor, and actual-measurement data of the angle θ(L) and angular velocity ω(L) of a load; a phase plane diagram generator (121) for generating a plurality of phase plane diagrams on the basis of each type of acquired actual measurement data; and a parameter identification unit for identifying, on the basis of the generated plurality of phase plane diagrams, model parameters (τ(fM0), τ(fL0), (BL0), (KR0)) indicating the friction of the motor, the friction of the load, the rigidity of a connecting member, and the dead-zone width of the connecting member.
(FR) L'invention concerne un dispositif d'identification de paramètres (12) qui comporte : une unité d'acquisition de données (120) pour acquérir un couple τ relatif à un moteur, des données de mesure réelle de l'angle θ(M) et de la vitesse angulaire ω(M) du moteur, et des données de mesure réelle de l'angle θ(L) et la vitesse angulaire ω(L) d'une charge ; un générateur de diagramme de plan de phase (121) pour générer une pluralité de diagrammes de plan de phase sur la base de chaque type de données de mesure réelle acquises ; et une unité d'identification de paramètre pour identifier, sur la base de la pluralité de diagrammes de plan de phase générés, des paramètres de modèle (τ(fM0), τ(fL0), (BL0), (KR0)) indiquant le frottement du moteur, le frottement de la charge, la rigidité d'un élément de liaison et la largeur de zone morte de l'élément de liaison.
(JA) パラメータ同定装置(12)は、モータに対するトルクτと、モータの角度θ(M)及び角速度ω(M)の実測データと、負荷の角度θ(L)及び角速度ω(L)の実測データと、を取得するデータ取得部(120)と、取得された各種実測データに基づいて複数の位相面図を生成する位相面図生成部(121)と、生成された複数の位相面図に基づいて、モータの摩擦、負荷の摩擦、連結部材の剛性、及び、連結部材の不感帯幅を示すモデルパラメータ(τ(fM0)、τ(fL0)、(BL)、(KR0))を同定するパラメータ同定部と、を備える。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)