JPH05211791A - Method and device for controlling motor - Google Patents

Abstract

(57) [Abstract] [Purpose] In a motor control method for a wire bonder, the acceleration time in the acceleration region is shortened, the index is increased, and the production amount per unit time is increased. [Composition] In a wire bonder motor control method of accelerating and controlling a motor based on a speed command curve and stopping at a target position through deceleration control, in a accelerating region, a motor is accelerated and controlled using a speed command curve with a large speed change, In the deceleration range, a control method is used in which the motor is decelerated using a speed command curve with a small speed change.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control method and apparatus, and more particularly to a technique effectively applied to a motor control method and apparatus for controlling a tool motor or an XY table motor of a wire bonder.

[0002]

2. Description of the Related Art Motor control methods of this type include, for example, those shown in FIGS. 2 (a), (b) and 4 (a), (b), (c).

2 (a) and 2 (b) are views showing a speed command curve and an acceleration command curve of a conventional example, and FIGS. 4 (a), 4 (b),
(C) is a conventional wire bonder tool motor,
It is a figure which shows 1 cycle timing of XY table motor and a tool displacement.

That is, in this motor control method, a substantially symmetrical constant acceleration command curve or cycloid curve is used as a speed command curve in consideration of followability and acceleration performance from the acceleration range to the deceleration range, and the motor is based on this speed command curve. Is a control method for accelerating control, decelerating control, and stopping at a target position.

[0005]

However, in the conventional motor control method described above, a substantially symmetrical constant acceleration command curve or cycloid curve is used as the speed command curve in consideration of the followability and the acceleration property from the acceleration region to the deceleration region. However, since the control method is such that the motor is accelerated based on this speed command curve and is stopped at the target position through deceleration control, there is a problem that the acceleration time in the acceleration range increases.

Therefore, there is a problem that the index is lowered and the production amount per unit time is reduced.

An object of the present invention is to provide a motor control method and apparatus capable of shortening the acceleration time in the acceleration region.

Another object of the present invention is to provide a motor control method and apparatus capable of increasing the index and increasing the production amount per unit time.

The above and other objects and novel features of the present invention will be apparent from the description of the present invention and the accompanying drawings.

[0010]

[Means for Determining the Problem] Of the inventions disclosed in the present application, a brief description will be given to the outline of typical ones.
It is as follows.

The motor control apparatus according to the present invention detects the rotational position of the motor and a speed based on the rotational position detected by the position detection unit, returns the speed to the input side, and compares it with the speed of the control command. A motor control device comprising a comparison unit and a control unit that performs a corrective operation by obtaining an appropriate operation amount so that the rotation speed of the motor matches the speed of the control command, and the speed command curve of the control command is The structure has a speed command curve with a large speed change in the acceleration range and a speed command curve with a small speed change in the deceleration range.

In this case, the speed command curve in the acceleration region can be structured so as to change smoothly and non-linearly.

[0013]

When the motor is controlled, the motor is accelerated and controlled in the acceleration range by using the speed command curve with a large speed change, and the motor is decelerated and controlled in the deceleration range by using the speed command curve with a small speed change.

As a result, the acceleration time in the acceleration region can be shortened.

Therefore, by increasing the index,
The production amount per unit time can be increased.

Since the acceleration time in the acceleration range can be shortened, the deceleration time in the deceleration range can be increased.
It is possible to smooth the speed in the deceleration region and improve the followability and stability.

In this case, since the velocity command curve in the acceleration region has a structure that changes smoothly and non-linearly, it is possible to prevent vibration in the acceleration region.

[0018]

1 is a block diagram showing a motor control device according to an embodiment of the present invention, and FIGS. 3 (a) and 3 (b) are diagrams showing a speed command curve and an acceleration command curve of the control device of FIG. is there.

The motor control device in this embodiment comprises a comparison section 1, a control section 2, a drive section 3, a motor 4, a position detection section 5 and a conversion section 6, detects the rotational position of the motor 4, and detects this. It has a closed-loop control structure in which the speed is calculated based on the rotational position, returned to the input side, compared with the speed of the control command, and an appropriate operation amount is calculated so as to match them, and a correction operation is performed.

The control command is issued based on a speed command curve stored in the memory as data or a mathematical formula, and this speed command curve is composed of a speed command curve in the acceleration region and a speed command curve in the deceleration region.

In the acceleration range, even if the acceleration is set to a large value and the deviation amount between the command position and the actual position of the motor 4 becomes large,
Ignoring this, a speed command curve is used to smooth the speed so that vibration does not occur.

In the deceleration region, a speed command curve is used which can set the acceleration small and eliminate the deviation amount between the command position of the motor 4 and the actual position.

In the present embodiment, v1 is the maximum speed corresponding to the rated speed of the motor 4, a1 is the constant acceleration of the conventional motor, and a2 is the maximum acceleration of the motor of the present embodiment.
The motor 4 is structured so as to be controlled based on the speed command curve at a rated rotation speed or less.

Next, the operation of this embodiment will be described.

FIGS. 5A, 5B and 5C are diagrams showing the tool motor of the wire bonder, the XY table motor and one cycle timing of the tool displacement in this embodiment.

In controlling the motor 4, if the motor 4 is controlled using the speed command curve described above, as shown in FIG. 3 (a), the speed is remarkably large in the acceleration region in the first half, but its change is gentle. In the latter half of the deceleration range, the speed becomes small and smooth.

Therefore, in the acceleration region in the first half, the speed curve is steep, so followability cannot be obtained. However, in the deceleration range in the latter half, the followability and stability are improved, and the actual position follows the command position immediately before the command stop, and the deviation disappears, and a stable stop can be obtained.

Regarding the moving time, in FIG. 3 (a), the area surrounded by the speed command curve indicates the moving distance s2. Since this moving distance s2 is equal to the moving distance s1 of the conventional example, the maximum speed of the motor 4 is The traveling time t2 can be made shorter than the traveling time t1 of the conventional example without increasing it.

When such a motor control device is applied to the tool motor of the wire bonder and the XY table motor 4, the tool lowering operation to the 1st bond surface, the tool rising from the 2nd bond surface to the torch discharge height, the 2nd after the 2nd bonding. X from bond point to 1st bond point
The speed command curve described above is used to move the Y table.

As a result, the acceleration time in the acceleration region can be shortened.

Therefore, one cycle time is shortened,
That is, the index can be increased and the production amount per unit time can be increased.

Further, since the deceleration time in the deceleration region can be increased by shortening the acceleration time in the acceleration region, the speed in the deceleration region can be made smooth, and the followability and stability can be improved.

In this case, since the speed command curve in the acceleration region has a structure that changes smoothly and non-linearly, it is possible to prevent vibration in the acceleration region.

Although the invention made by the present inventor has been specifically described based on the embodiments, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the invention. Needless to say.

For example, in the above embodiment, the case of the closed loop type motor control method has been described, but the present invention is not limited to this, and a step motor may be used as a motor, and the present invention may be applied to an open loop type motor control method.

In the above description, the invention mainly made by the present inventor has been described with respect to the motor control method of the wire bonder which is the field of application which is the background of the invention. However, the motor control method of a stepper, a machine tool or a robot is described. Can also be applied.

[0037]

The effects obtained by the typical ones of the inventions disclosed in the present application will be briefly described as follows.
It is as follows.

(1) In the acceleration region, the motor is accelerated and controlled by using the speed command curve having a large speed change, and in the deceleration region, the motor is decelerated and controlled by using the speed command curve having a small speed change. Since the device is used, the acceleration time in the acceleration region can be shortened.

(2) Due to the effect of (1), the index can be increased and the production amount per unit time can be increased.

(3) Due to the effect of the above (1), the deceleration time in the deceleration region can be increased, so that the speed in the deceleration region can be made smooth and the followability and stability can be improved.

(4) In the case of the above (1), since the speed command curve in the acceleration region has a structure that changes smoothly and non-linearly, it is possible to prevent vibration in the acceleration region.

[Brief description of drawings]

FIG. 1 is a block diagram showing a motor control device according to an embodiment of the present invention.

2A and 2B are diagrams showing a speed command curve and an acceleration command curve of a conventional example.

3 (a) and 3 (b) are diagrams showing a speed command curve and an acceleration command curve of the motor control device of FIG.

4 (a), (b) and (c) are diagrams showing one cycle timing of a tool motor, an XY table motor and a tool displacement of a wire bonder in a conventional example.

5 (a), (b) and (c) are diagrams showing the tool motor of the wire bonder, the XY table motor and one cycle timing of tool displacement in the present embodiment.

[Explanation of symbols]

 1 comparison unit 2 control unit 3 drive unit 4 motor 5 position detection unit 6 conversion unit v1 maximum speed corresponding to the rated rotation speed of the motor a1 constant acceleration of the motor of the conventional example a2 maximum acceleration of the motor of this embodiment S1 of the conventional example Moving distance S2 Moving distance of this embodiment T1 Moving time of conventional example T2 Moving time of this embodiment

Claims (3)

[Claims] 1. A motor control method for accelerating a motor on the basis of a speed command curve, stopping the motor at a target position through deceleration control, and accelerating the motor using a speed command curve with a large speed change in an acceleration range. In the deceleration region, the motor control method is characterized by decelerating the motor using a speed command curve with a small speed change. 2. A position detection unit for detecting a rotation position of a motor, a comparison unit for obtaining a speed based on the rotation position detected by the position detection unit, returning the speed to the input side, and comparing the speed with a control command, and a control command. Is a motor control device including a control unit for performing a correction control of the motor by obtaining an appropriate operation amount so that the rotation speed of the motor matches the rotation speed of the motor. A motor control device comprising a speed command curve having a large speed change and a speed command curve having a small speed change in a deceleration region. 3. The speed command curve in the acceleration range changes smoothly and non-linearly.
The described motor control device.