JP5684035B2 - System design support device for electric equipment - Google Patents

Description

  The present invention provides a system design for designing a system of an electric device in which a plurality of devices including a device body including a moving body, an electric actuator that moves the moving body, and a control device that controls the electric actuator are combined. The present invention relates to a system design support apparatus that performs simulation using a model.

  The electric device referred to in the present invention is a composite device in which at least an apparatus main body including a moving body that is a linear moving body or a rotating body, an electric actuator that moves the moving body, and a control device that controls the electric actuator are combined. Indicates. Regardless of the appearance of such an electric device as a final product, for example, a linear body, a pump, a stirrer, a disk drive, and the like are used to control the movement of a moving body by controlling the driving of an electric actuator. A device that achieves a given purpose.

  In particular, an electric apparatus having a positioning control system basically moves an apparatus main body including a moving body and power transmission means, an electric actuator that moves the moving body, and the moving body to a target position at a predetermined speed. A command control device that gives a movement command, a detection device that detects the position of the moving body, a movement control device that compensates for the deviation of the position and speed of the moving body relative to the movement command and outputs a control amount, and a control amount A drive control device for supplying a drive current to the electric actuator. However, the command control device, the movement control device, and the drive control device may not be clearly distinguished.

  The electric actuator is mainly a motor. A moving body indicates an object that is directly moved by a motor. However, when designing a system for an electric device, an object that moves together with the moving object by the movement of the moving object may be referred to as a moving object. For example, a linear stage is not only a table that is directly moved by a motor, but also includes a load placed on the table. In addition, the stirrer is referred to as a moving body including not only a shaft that is directly rotated by a motor but also an impeller attached to the shaft.

  In order to design each of the device main body, the motor, the detection device, the command control device, the movement control device, and the drive control device that constitute the main part of the electric device, advanced expertise is required for each device. Therefore, the basic design of each device is generally performed separately by a designer who has specialized knowledge for each device.

  In the following discussion, we design components that are essential to the design of systems that affect the performance of electrical equipment, including physical components that have shapes and conceptual components such as arithmetic algorithms and control variables. Collectively called elements. A design device is called a system design model.

  There is provided a simulation apparatus that reproduces the operation of the apparatus using a system design model and collects and analyzes data of the operation result. For example, Patent Literature 1 or Patent Literature 2 typically discloses a simulation device for a motor control device. In the simulation device of the motor control device, the system design model can be simulated and the actual motor and the device main body can be actually operated using the system design model. Therefore, the designer can monitor and analyze the operation of the real motor and the device main body and tune some of the design elements before manufacturing the real control device.

  Also, a motor analysis device as disclosed in Patent Document 3 is known. In a typical motor analysis device, a system design model of a motor is simulated to obtain data on a physical phenomenon of the motor such as a magnetic field or a magnetic flux density with respect to a change in the relative position of the mover corresponding to the supplied power. be able to. Since the fluctuation thrust and the like can be calculated from the collected data, the designer can theoretically know the operation result of the motor without the actual motor. This facilitates motor design and reduces the burden on the designer.

JP 2010-51061 A JP 2006-236035 A JP 2009-176061 A

  Since the basic design of each device of an electric device is generally performed separately by a designer who has specialized knowledge for each device, when designing and manufacturing a system of an electric device newly, each device It is necessary for each designer to provide information to each other while each designer decides the specifications of the equipment and makes a basic design and adjusts or changes the design elements so that it meets the specifications required for electric equipment. There is.

  Therefore, each designer cannot design each device on the assumption that the electric devices are completed by combining all the devices constituting the main part of the electric device. Therefore, even if each device is basically designed to meet the determined specifications, when the electric devices are actually manufactured and operated by combining the devices, the electric devices are in accordance with the required specifications. It is uncertain whether it will perform.

  For this reason, in order to produce each device so that the performance of the electrical equipment is as required, each designer must make a basic design according to the specifications required in advance, It is necessary to adjust or change design elements by operating the machine body and collecting and analyzing data of operation results while repeating the trial run.

  Adjustment or change of the basic design and design elements of each device often depends on the empirical theory and sense of the designer of each device. For this reason, there are not many cases where the electric devices immediately operate as expected by combining the designed devices. In most cases, it is necessary to collect the data of the operation result in the test operation using the actual product and then analyze the data of the operation result to investigate the cause of the electric device not operating as expected.

  However, it is not easy even for a savvy designer to investigate the cause of the inability of each device to obtain the performance required by the electric equipment. Moreover, as a result of the elucidation of the cause of the failure, it may be necessary to review the basic design rather than simply adjusting the design elements. In some cases, the design of the electric motor as a whole must be changed to the extent that the entire prototype motor, equipment body, or control device as a whole must be replaced.

  In particular, electric devices that are already widely used and have a lot of operation results.For example, when redesigning an electric device system for a specific user, the installation environment of the electric device or the specifications required by the user or The actual situation is that many designers are always involved due to the difference in circumstances for each user such as the price, and the trial production and the test operation are repeatedly performed, which requires considerable labor and time.

  In the present invention, in view of the above problems, when designing a system for an electric device, each device is linked by the system design model of each device without using the actual product in all the devices constituting the main part of the electric device. The main object is to provide a system design support device that can reproduce the operation of electric equipment with high accuracy by simulating each device while it is in operation, and obtain data of operation results effective in system design And It is another object of the present invention to provide a system design support apparatus that can easily adjust or change design elements.

In order to solve the above problems, the system design support device of the present invention is a combination of a plurality of devices including an electric device main body including a moving body, an electric actuator that moves the moving body, and a control device that controls the electric actuator. A system design support device for an electric device, which is a system design device that gives a significant variation factor that cannot be overlooked in each of the devices of the electric device when the electric device exhibits performance as required. As an indispensable component , a design element of a mobile control device including a plurality of voltage gains necessary to obtain at least control amount data, an amplification factor necessary to obtain drive current and applied voltage data, an applied voltage, To calculate the electromagnetic force required to determine the drive thruster design elements including frequency and substantial thrust data To obtain the design elements, detection position and detection speed data of the electric actuator including coil position, magnetic pole pitch, permanent magnet position, gap, iron core and permanent magnet material for calculating coil resistance, coil inductance and fluctuation thrust predetermine a given design element of the plurality of design elements were what system design model comprising at each device a plurality of design elements and design element of the body for calculating the reaction force and displacement required The control amount, drive current and applied voltage, substantial thrust, detection position, and detection at each input / output between the system design models by combining according to an appropriate arrangement configuration and giving it to a predetermined device among the devices organically bound by connecting sequentially output line while so as to match the operation result of the data of each device in the speed Thrust calculation means for calculating a substantial thrust successive subtracting the variation thrust of the electric actuator corresponding to the driving current; and model coupling means for forming a circuit, the command value calculating means for calculating a movement command value substantial thrust A moving amount calculating means for calculating the position and speed of the moving body based on the position command; a position command that corrects the deviation between the command position and the position of the moving body and the deviation between the command speed and the speed of the moving body based on the movement command value And a control amount calculation means for calculating a control amount according to the speed command; a drive current calculation means for calculating a drive current by a drive circuit corresponding to the control amount; and an organically coupled system design model Display means for selectively displaying operation result data and design element data calculated by the analysis means, and changing means for adjusting or changing the design elements; , Be prepared.

  In the system design support device of the present invention, the system design model of a plurality of devices constituting the main part of the electric device can be organically combined by the model combining means, so all the devices constituting the main part of the electric device It is possible to reproduce the operation of each device in a state in which are linked. Therefore, the data of the operation result of each device by simulation is closely related to each device with time change regardless of whether it is continuous or discrete. Therefore, even if each device is designed separately, the data of the operation result of each device accurately reflects the state of the system of the electric device and has high reliability.

  In particular, the analysis means synchronizes the operation of each device in a state closer to the real thing based on design elements that have a serious influence that cannot be overlooked when the electric equipment performs as required. Can be reproduced. Therefore, it is possible to obtain operation result data from which variation factors important in system design are removed in each apparatus. Therefore, the simulation of the entire electric device can be performed with a sufficiently high accuracy necessary for system design.

  Since the display means can selectively display the operation result data and design element data of each device obtained by the analysis means, the basic design of each device and the suitability of the design elements can be more easily displayed. Comprehensive discrimination is possible. In addition, the design element of each device can be adjusted or changed in the system design support device by the changing means, and the system design model can be recombined by the model combining means to simulate the electric equipment whose design has been changed again. it can. Therefore, it is possible to review the basic design of each device without an actual product, and to adjust or change design elements more accurately.

  Therefore, according to the system design support apparatus of the present invention, it is expected that the determination of the suitability of the basic design and the design elements becomes easier and the time required to elucidate the cause of the failure is further shortened. In addition, the design elements can be adjusted or changed comprehensively in the entire system of the electric device without depending on the designer of each device. Therefore, the degree of dependence on the designer of each device can be reduced to reduce the burden on the designer of each device, and overall work efficiency can be improved. As a result, the time and cost required from the design to the manufacture of the electric device can be greatly reduced.

It is a block diagram which shows an example of the system design model of the electric equipment which is a design object of a system design support apparatus. It is a block diagram which shows the structure of the system design support apparatus of embodiment.

  FIG. 1 shows an outline of a linear stage as an example of an electric device having a positioning control system. FIG. 1 shows a state in which the system design model of each apparatus constituting the main part of the linear stage is organically coupled. The system design model is a model diagram that simply represents an abstraction of the device by combining the design elements indispensable to reproduce the operation of each device that constitutes the main part of the electric equipment in the same way as the actual device. is there.

  The unit component of the system design model is a design element. Design elements are critical that cannot be overlooked in order to demonstrate the performance of the electrical equipment as required when each device is operated in a simulated manner using the system design model of each device. It is a component of each device of the electric equipment that gives various fluctuation factors. The design element can be arbitrarily given by the designer.

  Therefore, whether or not the constituent elements of each device correspond to the design elements is determined in accordance with the specifications required for the electric equipment. For example, in the system design model shown in FIG. 1, the filter or analog-digital converter of the detection circuit may not be considered only when designing the electric device system for the required positioning accuracy. It is not shown as a missing component. However, depending on the electric device, when a variation factor that cannot be overlooked with respect to the positioning accuracy required by the filter of the detection circuit or the analog-digital converter can be given as a design element to the system design model.

  The linear stage shown in FIG. 1 includes a stage 1, a command control device 2, a detection device 3, a movement control device (motion controller) 4, a drive control device (motor driver) 5, which constitute main parts. The linear motor 6 and a plurality of devices are combined. Among the devices, the command control device 2, the movement control device 4, and the drive control device 5 may be collectively referred to as a control device.

  The stage 1 is a device body of a linear stage that is an electric device. The table 1A is a linear moving body that can reciprocate in one horizontal axis direction. In the simulation, when there is a load on the table 1A, the load is included in the table 1A. The table 1A is placed on a base 1B that is placed horizontally on the floor. The table 1A is guided so as to move linearly by a guide device (not shown). In the stage 1A of the embodiment, an air static pressure guide is assumed.

  The detection device 3 includes a detector (sensor) provided on the stage 1 side and a detection circuit provided on the control device side. The detection device 3 is included in a main part constituting the linear stage. However, in the linear stage of the embodiment, the detection device 3 is described as being included in the stage 1 unless otherwise specified. The detector of the detection device 3 is an optical position detector. Specifically, the detector of the detection device 3 is a linear encoder 3A.

  The electric actuator that moves the table 1 </ b> A shown in FIG. 1 is a linear motor 6. A linear motor 6 in the linear stage shown in FIG. 1 is a single-sided three-phase AC synchronous motor with a core whose primary side is a mover and whose secondary side is a stator. The exciting coil 6A of the linear motor 6 is wound around an iron core provided at predetermined intervals in a comb shape along one horizontal axis direction. On the other hand, a magnet plate on which permanent magnets (not shown) are arranged is attached to the upper surface of the base 1B so as to face the exciting coil 6A with a predetermined gap.

  The control device includes a command control device 2, a movement control device 4, and a drive control device 5. Specialized knowledge is required for each of the command control device 2, the movement control device 4, and the drive control device 5. Therefore, in FIG. 1, the control device is divided into the command control device 2, the movement control device 4, and the drive control device 5 by the boundary indicated by the dotted line. However, it is not required to clearly distinguish the areas of the control devices.

  The control device drives and controls the linear motor 6 according to a movement command given by an operator who operates the electric device, and as a result, controls the movement of the table 1A. The control apparatus in the embodiment shown in FIG. 1 forms a fully closed loop servo system using the linear motor 6 as a servo motor. A method of supplying a drive current to the linear motor 6 in the control device of the embodiment is a PWM method.

  FIG. 2 is a block diagram showing a typical configuration of the system design support apparatus of the present invention. The system design support apparatus shown in FIG. 2 uses a general-purpose computer. The input device includes an operation device such as a keyboard, a reading device such as a disk drive, an external storage device such as a universal serial bus memory, a communication device such as a network adapter, and an input interface. In addition, a display device including a graphic adapter and a monitor having a liquid crystal display is juxtaposed with the computer.

  The system design support apparatus includes analysis means 10, program execution means 20, storage means 30, input means 40, display means 50, model combination means 60, and change means 70. The analysis unit 10 includes a thrust calculation unit 11, a movement amount calculation unit 12, a control amount calculation unit 13, a drive current calculation unit 14, and a command value calculation unit 15.

  The analyzing means 10, the program executing means 20, the model combining means 60, and the changing means 70 are provided, for example, in an arithmetic processing unit of a personal computer. The storage means 30 is a storage device such as a memory or a hard disk that can be specifically rewritten. The input means 40 includes not only an input device that can directly input characters and numbers such as a keyboard, but also a reading device such as a disk drive. The display means 50 is generally a monitor of a personal computer.

  Data of the system design model is input from the input unit 40 to the system design support apparatus and stored in the storage unit 30. Since the system design model is composed of a plurality of design elements, basically, design element data can be acquired from the system design model data.

  Application software (system design support software) that includes a calculation program (simulation program) for simulating electric equipment by organically combining system design models of a plurality of devices constituting the main part of the electric equipment Installed on other computers.

  In particular, in the system design support apparatus according to the embodiment, analysis software including an arithmetic program (analysis program) for analyzing the operation of each apparatus is installed in the computer in advance. The analysis program is stored in the storage means 30 in association with the simulation program. The analysis program is read and executed during the execution of the simulation program.

  Further, in the system design support apparatus according to the embodiment, when there is a specific control program for independently controlling a specific apparatus constituting the main part, the control program is stored in the storage unit 30 in advance. In the system design support apparatus according to the embodiment, specific control programs for independently controlling specific devices are a control program for controlling the command control device 2 and a control program for controlling the movement control device 4. .

  The thrust calculation means 11 of the analysis means 10 is a continuous substantial thrust obtained by reducing the fluctuation thrust (torque ripple) as a fluctuation factor of the electric actuator corresponding to the drive current supplied from the control device based on the design element of the electric actuator. Is calculated. Hereinafter, the substantial thrust output by the thrust calculation means 11 as data of the operation result of the electric actuator is simply referred to as thrust data.

  When the electric device is the linear stage shown in FIG. 1, the thrust calculation means 11 is a continuous substantial subtracting the fluctuation thrust Fr of the linear motor 6 corresponding to the drive current Ii based on the design element of the linear motor 6. The thrust Fm is calculated. The thrust Fm obtained by the thrust calculation means 11 is a thrust of a single motor generated by the linear motor 6, and is a substantially no-load thrust.

  Specifically, the thrust calculation means 11 first calculates the electromagnetic force Fo of the linear motor 6 that directly corresponds to the drive current Ii every predetermined time. Here, the electromagnetic force Fo means an original thrust that does not include a variation factor. The predetermined time is determined based on the repeated calculation time in the control device. Next, the fluctuation thrust Fr for every predetermined time is obtained. Then, the fluctuation thrust Fr is subtracted from the electromagnetic force Fo to obtain a thrust Fm that is substantially output by the linear motor 6 every predetermined time.

  The movement amount calculation means 12 determines the position and speed of the moving body with reduced displacement due to the vibration system of the device main body corresponding to the thrust of the electric actuator obtained by the thrust calculation means 11 based on the design element of the device main body. Calculate. Hereinafter, the movement amount calculation means 12 will be simply referred to as detection data including the position, speed, or parameter that can be converted into speed, which is output as operation result data.

  When the electric device is the linear stage shown in FIG. 1, the movement amount calculation means 12 is set to a substantial thrust Fm of the single motor of the linear motor 6 obtained by the thrust calculation means 11 based on the design element of the stage 1. The detection position Xi and the detection speed Vi of the table 1A in which the displacement δ due to the vibration system of the corresponding stage 1 is reduced are calculated.

  Specifically, the movement amount calculation means 12 first obtains the thrust Fm calculated by the thrust calculation means 11 which is the operation result data of the linear motor 6, and obtains the net thrust Fx for moving the table 1A including the mover. . The net thrust Fx is a thrust when the linear motor 6 is loaded by subtracting a reaction force Fk that opposes the thrust Fm in a direction opposite to the direction in which the thrust Fm acts from the no-load thrust Fm of the linear motor 6.

  In the linear stage shown in FIG. 1, since the bearing of the stage 1 is an aerostatic bearing, the frictional resistance can be ignored in design. Further, since the linear moving body is the table 1A, the air resistance can be ignored. Therefore, the main reaction force Fk that opposes the thrust Fm is a reaction force Fs due to the inertia of the table 1A including the mover and the load, and a reaction force Fb that the stator tries to return the table 1A.

  Next, the change in the speed of the table 1A is obtained from the change in the net thrust Fx, and the position every predetermined time is obtained. At this time, the stage 1 has a structurally unique vibration system. Therefore, a position error occurs due to the displacement δ due to the inherent vibration of the stage 1. Therefore, the displacement δ due to the vibration system of the stage 1 is obtained based on the design element of the stage 1A. Then, the detected position Xi is calculated by subtracting the displacement δ from the position corresponding to the speed change. Further, the detection position Xi is differentiated to calculate the detection speed Vi at the detection position Xi.

  In the stage 1, the base 1B is grounded via a spring element and a dashpot, and the table 1A is mounted on the bed 1B via an aerostatic bearing. Therefore, the displacement δ when the thrust is Fx can be obtained by an equation of motion by replacing each vibration mode with an equivalent mass, rigidity, and damping.

  The control amount calculation means 13 calculates a control amount according to a position command and a speed command in which a deviation between the command position and the moving body and a deviation between the command speed and the moving body are corrected based on a design element of the control device. . Hereinafter, control amount data including the corrected position command and speed command output by the control amount calculation means 13 as operation result data will be collectively referred to as control amount data.

  When the electric device is the linear stage shown in FIG. 1, the control amount calculation means 13 is based on the design element of the movement control device 4 according to the control program specific to the movement control device 4 stored in advance in the storage means 30. A control amount Hc is calculated in accordance with a movement command including a position command and a speed command in which a deviation between the command position Pi and the detected position Xi of the table 1A and a deviation of the command speed Fi and the detected speed Vi of the table 1A are corrected.

  The movement control device 4 in the linear stage of the embodiment shown in FIG. 1 detects a drive current supplied to the linear motor 6 and obtains a deviation between the current command and the detected current to correct a current error. Includes the system. Therefore, the control amount calculation means 13 obtains a deviation between the movement command (current command) including the corrected position command and speed command and the drive current obtained by the drive current calculation means 14, and gives a predetermined gain to the deviation. Find the corrected movement command. Then, the control amount calculation means 13 calculates a control amount Hc that is a control signal based on the corrected movement command.

  Therefore, the design elements of the linear stage movement control device 4 shown in FIG. 1 are mainly an arithmetic algorithm and a control variable value necessary for obtaining the control amount Hc. The control variable value in the movement control device 4 is given as a preset at the same time when the design element of the system design model is given by the designer.

  The drive current calculation unit 14 calculates a drive current obtained by reducing current oscillation (current ripple) due to the drive circuit corresponding to the control amount obtained by the control amount calculation unit 13 based on the design element of the control device. The drive current calculation unit 14 calculates an applied voltage obtained by reducing voltage oscillation (voltage ripple) due to the drive circuit corresponding to the control amount obtained by the control amount calculation unit 13 based on the design element of the control device. . The drive current calculation means 14 outputs applied current data and applied voltage data as operation result data.

  When the electric device is the linear stage shown in FIG. 1, the drive current calculation unit 14 is caused by a drive circuit corresponding to the control amount Hc obtained by the control amount calculation unit 13 based on the design element of the drive control device 5. The drive current Ii is calculated by subtracting the current ripple Ir. Further, the drive current calculation means 14 calculates the applied voltage Ei obtained by reducing the voltage ripple Er caused by the drive circuit corresponding to the control amount Hc obtained by the control amount calculation means 13 based on the design element of the drive control device 5. To do.

  The system design model of the drive control device 5 includes information on the output method of the drive current in the drive control device 5 depending on the configuration of the drive circuit formed by combining the design elements. In particular, when an inverter circuit is provided, information on the control method of the inverter circuit is included in the system design model. In the system design model of the drive control device 5 for the linear stage shown in FIG. 1, information on a control method for supplying the drive current Ii in the PWM method is provided.

The main design elements for obtaining the drive current Ii and drive voltage (applied voltage) Ei, which are data of the operation result of the PWM drive control device 5 shown in FIG. 1, are the power supply voltage Ei and the PWM switching frequency Qc. And dead time Dc, current ripple Ir, and voltage ripple Er. However, when the drive current calculation unit 14 according to the embodiment calculates the drive current Ii and the applied voltage Ei, the feedback data provided from the thrust calculation unit 11 is used as a parameter for obtaining the drive current Ii and the applied voltage Ei. ing.

  The command value calculation means 15 calculates a command position and a command speed. The method for calculating the command position and the command speed depends on the control program unique to the command control device 2. For example, the command value calculation means 15 calculates the command position Pi and the command speed Fi corresponding to the target position and set speed given by the operator through the input means 40 of the system design support apparatus.

  When the position and speed are given by a predetermined movement program, the command value calculation means 15 decodes the movement program stored in the storage means 30 in accordance with the control program of the command control device 2, and the command position Pi and the command speed Fi. Is calculated. The movement program indicates an instruction to move the moving object described in a unique format that can be decoded by the command control device 2. For example, when the command control device 2 is a numerical control device of a machine tool, the movement program is a numerical control program (machining program). Movement commands such as the command position Pi and the command speed Vi that are calculated and output by the command control device 2 are collectively referred to as movement command data.

  The program execution means 20 activates and executes a simulation program when an operator of the system design support apparatus gives an instruction to start simulation. The program execution means 20 causes the analysis means 10 to execute a simulation of the electric device based on the system design model data of a plurality of devices that constitute the main part of the electric device according to the simulation program. The program execution unit 20 may cause the analysis unit to execute an analysis program as necessary when the analysis unit 10 reproduces the operation of each device.

  The storage means 30 stores data necessary for the system design support apparatus. Specifically, the storage means 30 is obtained by a simulation program and an analysis program for operating the system design support apparatus, a control program specific to a specific apparatus, a movement program, design element data, and an operation of the analysis means 10. And data of the operation results of each device to be stored.

  In the case of the linear stage shown in FIG. 1, the operation result data stored by the storage means 30 is specifically the thrust data of the linear motor 6, the detection data of the stage 1, and the movement command data of the command control device 2. The control amount data of the movement control device 4, the drive current data and the applied voltage data of the drive control device 5.

  The input means 40 gives necessary data to the system design support apparatus. Specifically, the input unit 40 is a unit that provides the system design support device with a system control model data including a design element, a unique control program for operating each system design model device, and a movement program. Note that a simulation program and an analysis program for operating the system design support apparatus are installed in the arithmetic device in advance through the input means 40.

  The display means 50 displays a system design model of at least a plurality of devices including an apparatus main body, an electric actuator that moves the moving body, and a control device that controls the electric actuator in an organically coupled state. For example, as shown in FIG. 1, the display means 50 includes a stage 1 including a table 1 </ b> A constituting a main part of the linear stage, a linear motor 6, a command control device 2, a movement control device 4, and a drive control device 5. A system design model of a plurality of devices with a control device including the control device is displayed on a monitor display in an organically coupled state.

  In addition, the display unit 50 comprehensively and selectively displays operation result data and design element data of each device obtained by the calculation by the analysis unit 10 in a comprehensive manner. For example, the display unit 50 displays the graph of the operation result data or the data of the design element that changes with time on the system design model that is already displayed in an organically coupled state.

  The model coupling means 60 organically couples the system design models of the devices that constitute the main part of the electric device. The model combining unit 60 separately acquires system design model data of each device input from the input unit 40 and stored in the storage unit 30. Alternatively, the model combining unit 60 acquires system design model data generated on the system design support apparatus and stored in the storage unit 30. The system design models of a plurality of devices are connected by input / output lines.

  When the data types of the operation results input / output between the design models of the input devices do not match, the model combining means 60 has no input / output lines of the system design model of each device through the display means 50. The system design model of each device is displayed on the display in the state of being adjacent. When a new system design model is generated by the changing unit 70 or a design element is changed, the model combining unit 60 combines the system design models of the respective devices again.

  The changing means 70 helps to create a system design model on the system design support apparatus. When design element data is given through the input means 40 by the operator of the system support design apparatus, the changing means 70 generates a system design model by combining the given design elements according to a predetermined arrangement configuration.

  Further, the changing means 70 converts the design drawing or design model data given from the outside to the system design support apparatus into a format that can be analyzed by the system design support apparatus and records it in the storage means 30. The changing means 70 extracts a plurality of design data necessary for system design from the given design drawing or design model data, converts it into data of the system design support device, and each converted design element is determined in advance. A system design model is generated by combining according to the arrangement configuration. In addition, when the operator gives a predetermined design element to a predetermined device so that the operation result data matches between the design models, an input / output line appears between the design models and the design models are coupled to each other. Can do.

  The changing means 70 changes the design elements of the system design model of each device constituting the main part of the electric device according to the operator's request according to the command of the operator of the system design support device. The changing unit 70 causes the display unit 50 to change the color of the design element to be changed. At the same time, the changing unit 70 outputs the changed design element to the model combining unit 60. When the design element is changed by the changing unit 70 and the model combining unit 60 regenerates the system design model, the display unit 50 displays the combined system design model.

  The changing means 70 adjusts the variable value of the design element of the system design model of each device constituting the main part of the electric device according to the operator's request according to the command of the operator of the system design support device. The changing means 70 causes the display means 50 to change the color of the design element to be adjusted. The display means 50 displays the adjusted variable value when the design element is adjusted by the changing means 70.

  Next, the operation of the system design support apparatus of the present invention will be described using FIG. 1 and FIG. Data of a system design model including design elements of a plurality of apparatuses constituting the main part of the linear stage is stored in the storage stage 30 in advance. In addition, a control program specific to a specific device is stored in the storage unit 30 in association with the data of the system design model of the specific device. Further, the moving program is stored in the storage unit 30.

  When the design drawing or design model of the computer-aided design system is given from the outside, the changing unit 70 analyzes the data of the design drawing or the design model and generates a system design model for the system design support device. Alternatively, the changing means 70 assists the operator in generating a system design model. The generated system design model is stored in the storage unit 30 and displayed on the display of the monitor by the display unit 50.

  The model combining means 60 organically combines the system design models of the respective devices by connecting the outputs and inputs of the system design models of the plurality of devices with lines. The operator of the system design support apparatus checks the connection state of the system design model by looking at the display. When the system design models are not organically combined, the operator adds or changes design elements by the changing means 70 so that the design models can be combined.

  When the operator gives an instruction for starting the simulation of the electric device to the system design support apparatus through the input means 40, the program execution means 20 reads the simulation program from the storage means 30 and starts it. The system design support apparatus operates the analysis unit 10 in a process according to the simulation program.

  According to the simulation program, the analysis means 10 operates the command value calculation means 15. The command value calculation means 15 starts a unique control program of the command control device 2 stored in advance in the storage means 30. Then, the operation of the command control device 2 is reproduced according to a specific control program.

  First, the command calculation means 15 reads and decodes the movement command program stored in the storage means 30. Next, the movement direction and movement amount of the table 1A are calculated from the decoded data of the movement command program. Then, the command speed Fi corresponding to each command position Pi is sequentially calculated from the target position. The command speed Fi at this time is an actual speed per unit time calculated from the position, the unit time, and the set acceleration.

  When the command position Pi and the command speed Fi are calculated, the analysis unit 10 operates the control amount calculation unit 13. The control amount calculation unit 13 activates a unique control program of the movement control device 4 stored in advance in the storage unit 30 to reproduce the operation of the movement control device 4. The controlled variable calculating means 13 executes a calculation based on a calculation algorithm represented by a system design model and a variable value according to a specific control program.

  The control amount calculation means 13 subtracts the command position Pi given from the command value calculation means 15 by the detection position Xi given from the movement amount calculation device 12, and obtains a deviation between the command position Pi and the detection position Xi. A position command corrected by giving a position gain previously given as a design element to the deviation is obtained. When the command position Pi is first given before the table 1A starts moving, the detection position Xi is not changed. Therefore, the deviation is the maximum and it is not necessary to theoretically correct the command position Pi.

  Next, the control amount calculation means 13 subtracts the command speed Fi given from the command value calculation means 15 by the detection speed Vi given from the movement amount calculation device 12, and obtains the deviation between the command speed Fi and the detection speed Vi. A speed command corrected by giving a speed gain previously given as a design element to the deviation is obtained. When the command speed Fi is first given before the table 1A starts moving, the detected speed Vi is zero. Therefore, the deviation is the maximum, and it is not necessary to theoretically correct the command speed Vi.

  Then, the control amount calculation means 13 compares the current command (movement command) including the position command and the speed command with the drive current Ii to obtain the deviation. Then, a corrected current command is obtained by applying a predetermined gain to the deviation, and a control amount Hc that is a control signal is calculated. When the current command is first given before the table 1A starts moving, the drive current Ii has not been output yet. Therefore, the deviation is the maximum and there is no need to theoretically correct the current command.

  From the above, the design elements of the movement control device 4 necessary for obtaining the control amount Hc that is the data of the operation result of the linear stage movement control device 4 shown in FIG. A plurality of voltage gains including speed gain and feedback gain or feed forward gain. Moreover, the variable value of the design element in the movement control device 4 is given as a set value in advance by the designer and is included in the design model data.

  When the control amount Hc is calculated, the analysis unit 10 operates the drive current calculation unit 14. The drive current calculation unit 14 causes the drive control device 5 to perform a simulated operation based on data regarding design elements of the drive control device 5. The drive current calculation means 14 obtains, as a PWM signal, the drive current Ii and the applied voltage Ei corresponding to the control amount Hc given from the control amount calculation means 13 by a calculation algorithm according to the design element using the circuit element according to the design element as a parameter. At this time, the drive current calculation unit 14 corrects the drive current Ii and the applied voltage Ei with feedback data of the coil resistance Ri, the coil inductance Li, and the noise Ni given from the thrust calculation unit 11.

  As a result, an applied voltage Ei having a pulse width determined by the frequency Qc that varies with the voltage ripple Er and a continuous drive current Ii that varies with the current ripple Ir are obtained. Accordingly, the drive current Ii calculated by the drive current calculation means 14 is reduced in the current ripple Ir caused by the drive circuit which is a fluctuation factor. Further, the applied voltage Ei is reduced by the voltage ripple Er caused by the drive circuit which is a fluctuation factor.

  From the above, the design elements of the drive control device 5 necessary for obtaining the drive current Ii and the applied voltage Ei, which are data of the operation results of the linear scale drive control device 5 shown in FIG. Amplification factor), applied voltage (power supply voltage) Ei, frequency Pc, dead time Dc, voltage ripple Er, and current ripple Ir.

  When the drive current Ii is calculated, the analysis unit 10 operates the thrust calculation unit 11. Initially, the thrust calculation means 11 calculates | requires the electromagnetic force Fo of the linear motor 6 directly corresponding to the drive current Ii. Since the linear motor 6 is a one-sided three-phase AC synchronous motor with a core, the electromagnetic force Fo of the linear motor 6 is transferred from the drive control device 5 to an electric circuit of the motor including each star-connected three-phase exciting coil 6A. When the applied voltage Ei is input and the drive current Ii is supplied, the coil resistance is calculated as Ri and the coil inductance is calculated as Li.

  Next, the thrust calculating means 11 calculates the thrust Fm of the linear motor 6 by subtracting the fluctuation thrust Fr of the linear motor 6 from the electromagnetic force Fo that directly corresponds to the drive current Ii. The fluctuation thrust Fr of the linear motor 6 that is a one-sided three-phase AC synchronous motor with a core is mainly a fluctuation thrust (cogging torque) Fc caused by cogging and a fluctuation thrust (eddy current ripple) Fe caused by eddy current. Therefore, the thrust calculation means 11 subtracts the cogging torque Fc and the eddy current ripple Fe from the electromagnetic force Fo.

  In the system design support apparatus of the embodiment, the data of the cogging torque Fc and the eddy current ripple Fe are design elements that can be directly acquired from the data of the system design model of the linear motor 6. When the fluctuation thrust Fr cannot be obtained directly from the system design model, the thrust calculation means 11 executes the analysis program stored in the storage means 30 to simulate the linear motor 6 using the system design model. Then, the fluctuation thrust Fr is obtained by analyzing data of a physical phenomenon obtained by reproducing the operation of the linear motor 6.

  From the above, the direct design elements of the linear motor 6 necessary for obtaining the substantial thrust Fm that is the data of the operation result of the linear motor 6 of the linear stage shown in FIG. 1 are the electromagnetic force Fo and the fluctuation thrust. Fr. Indirect design elements include coil resistance Ri and coil inductance Li for obtaining electromagnetic force Fo, and coil position, magnetic pole pitch, permanent magnet position, gap, iron core and permanent magnet material for obtaining variable thrust Fr. is there.

  The thrust calculation means 11 selectively outputs the coil resistance Ri, the coil inductance Li, and the noise Ni, which are design elements, to the display means 40 as parameters necessary for the calculation in the other calculation means of the analysis means 10 and the storage means. 30 is stored cumulatively.

  When the thrust Fm of the linear motor 6 is calculated, the analysis unit 10 operates the movement amount calculation unit 12. The movement amount calculation means 12 calculates the change in the net thrust Fx when a load is applied from the change in the single thrust Fm of the linear motor 6 when there is no load first. In the case of the linear stage shown in FIG. 1, the movement amount calculation means 12 obtains the net thrust Fx by subtracting the reaction force Fk from the thrust Fm of the motor alone of the linear motor 6.

  In the linear stage shown in FIG. 1, since the frictional resistance in the aerostatic bearing and the air resistance applied to the table 1A can be ignored, the main force that opposes the thrust Fm of the linear motor 6 in the opposite direction is movable. The reaction force Fs due to the inertia of the table 1A including the child and the load and the reaction force Fb that the stator tries to return the table 1A. Therefore, the net thrust Fx is obtained by subtracting the reaction force Fs and the reaction force Fb from the thrust Fm of the single motor of the linear motor 6.

  The reaction force Fs can be obtained from the force with which the mass Ms acts in the vertical direction from the center of gravity Gs of the table 1A with gravitational acceleration. Further, the reaction force Fb can be obtained from the force with which the mass Mb acts by the gravitational acceleration in the vertical direction from the center of gravity Gb of the base 1B.

  Next, the movement amount calculation means 12 obtains the position of the table 1A by obtaining the speed of the table 1A every predetermined time at the time of the net thrust Fx. Since the control device controls the table 1A to move with the acceleration and speed determined by the thrust and mass, the speed of the table 1A for each predetermined time is given the net thrust Fx, mass Ms, and set acceleration when the set acceleration is given. And can be determined by A movement amount during a predetermined time is obtained from the speed and time, and a position for every predetermined time is obtained from the movement amount.

  Subsequently, the movement amount calculation means 12 obtains the displacement δ when the net thrust Fx is present. The stage 1 of the linear stage in FIG. 1 has a vibration system unique to the structure. Therefore, a position error occurs due to the displacement δ due to vibration. In the stage 1, the base 1B is grounded via a spring element and a dashpot, and the table 1A is mounted on the bed 1B via an aerostatic bearing. Therefore, the displacement δ when the thrust is Fx can be obtained by an equation of motion by replacing each vibration mode with an equivalent mass, rigidity, and damping.

  Then, the movement amount calculation means 12 subtracts the displacement δ from the position calculated from the movement amount to obtain the detection position Xi of the table 1A when the substantial thrust Fm and the net thrust Fx of the linear motor are obtained. Further, the detection position Xi is differentiated to obtain the detection position Vi of the table 1A.

  From the above, the direct design elements of the stage 1 necessary for obtaining the detection position Xi and the detection speed Vi, which are data of the operation result of the stage 1 of the linear stage shown in FIG. Fx and displacement δ due to vibration. In addition, indirect design elements are added to obtain the mass Ms and the center of gravity Gs of the table 1A and the mass Mb and the center of gravity Gb of the base 1B and the displacement δ necessary for calculating the reaction force Fk for obtaining the net thrust Fx. These are the required rigidity Ks of the table 1A, the mass Mb of the base 1B, the damping constant Cb, and the rigidity Kb.

  As described above, the analysis unit 10 repeats a series of operations from the command value calculation unit 15 to the movement amount calculation unit 12 until there is no new movement command data calculated by the command value calculation unit 15, and the linear stage The theoretical operation result data of each apparatus and necessary design element data are collected and recorded in the storage means 30. Since the system design model of each device is simulated in an organically coupled closed circuit, the operation of the entire linear stage is reproduced with high accuracy.

  The system of the embodiment is not necessarily the same configuration as the design support apparatus of the embodiment described above, as long as the effects of the present invention can be obtained without departing from the technical idea of the present invention. The design support apparatus can be modified and implemented.

  The system design support apparatus of the present invention is not limited to the linear stage typically shown in FIG. 1, but at least an apparatus main body including a moving body, an electric actuator that moves the moving body, and a control device that controls the electric actuator; It is useful for the design of a system of an electric device which is a composite device of a plurality of devices formed by combining. In particular, it is useful for designing a system of an electric device having a positioning control system in which it is difficult to design a comprehensive system.

  The system design support device of the present invention is applied to the design of an electric device that is a combination of a device main body including a moving body, an electric actuator that moves the moving body, and a control device that controls the electric actuator. The system design support apparatus of the present invention helps system design of a wide range of electric devices such as linear stages, pumps, agitators, and disk drives, and contributes to the development of various electric devices.

1 Stage (equipment main unit)
1A Table (moving body)
1B Base 2 Command control device 3 Detection device 3A Linear encoder (detector)
4 Movement control device (motion controller)
5 Drive control device (motor driver)
6 Linear motor (electric actuator)
DESCRIPTION OF SYMBOLS 10 Analysis means 20 Program execution means 30 Storage means 40 Input means 50 Display means 60 Model coupling means 70 Change means

Claims (1)

A system design support device for an electric device in which a plurality of devices including an electric device main body including a moving body, an electric actuator that moves the moving body, and a control device that controls the electric actuator are combined . In order to obtain at least control amount data as a component that is indispensable in system design that gives a significant variation factor that cannot be overlooked when the electric equipment performs in accordance with the required specifications in each device. Design element of mobile control device including multiple voltage gains necessary for driving, design factor of drive control device including amplification factor, applied voltage and frequency necessary to obtain drive current and applied voltage data and substantial thrust Coil resistance, coil inductance, and fluctuation thrust to calculate the electromagnetic force required to obtain the data of To calculate the reaction force and displacement necessary to obtain the design element, detection position and detection speed data of the electric actuator including coil position, magnetic pole pitch, permanent magnet position, gap, iron core and permanent magnet material combination according to appropriate arrangements are previously determined predetermined design elements of the system design model if the plurality of design elements of the plurality of comprising design elements each device and design element of the body for Data of operation results of each device such as control amount, drive current and applied voltage, substantial thrust, detection position and detection speed at each input / output between the system design models given to a predetermined device among the devices and model coupling means for forming a closed circuit that is organically bound by connecting sequentially output line while allowing match, Starring a movement command value Command value calculating means for calculating; thrust calculating means for calculating a continuous substantial thrust obtained by subtracting the fluctuation thrust of the electric actuator corresponding to the drive current; the position and speed of the moving body based on the substantial thrust A movement amount calculation means for calculating; a position command obtained by correcting a deviation between a command position and the position of the moving body and a deviation between a command speed and a speed of the moving body based on the movement command value; Control means calculating means; driving means calculating means for calculating a drive current by a drive circuit corresponding to the control quantity; and displaying and analyzing the system design model in an organically coupled state. Display means for selectively displaying the data of the operation result calculated by the above and the data of the design element, and changing means for adjusting or changing the design element System design support device for electric equipment.

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