CN103684118B - Multiaxial motor drive device and possess this multiaxial motor drive device fiber generate device - Google Patents
Multiaxial motor drive device and possess this multiaxial motor drive device fiber generate device Download PDFInfo
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- CN103684118B CN103684118B CN201310106062.6A CN201310106062A CN103684118B CN 103684118 B CN103684118 B CN 103684118B CN 201310106062 A CN201310106062 A CN 201310106062A CN 103684118 B CN103684118 B CN 103684118B
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Abstract
The present invention provides a kind of multiaxial motor drive device and possesses the fiber generation device of this multiaxial motor drive device, and the multiaxial motor drive device that the present invention relates to possesses: multiple motors；Position detector；And a converter.Multiple motors have the instruction parts of the position of magnetic pole from outside instruction regulation.Position detector is arranged on a motor in said motor.One converter is when the above-mentioned position of magnetic pole making above-mentioned instruction parts aligns, and all of said motor is sent the same instruction driving said motor by the detection position based on above-mentioned position detector.
Description
Technical field
The present invention relates to a kind of multiaxial motor drive device and possess the fiber generation device of this multiaxial motor drive device.
Background technology
In the past, it is known that a kind of Multi-shaft drive device, it was arranged at the fiber as fibre equipment and generated in device etc., made spool and the such multiple axles of line sending axle (hereinafter referred to as " multiaxis ") carry out respectively synchronizing to drive.
Above-mentioned Multi-shaft drive device, for instance have and respectively through parts such as gears, multiaxis is connected in an axle, makes above-mentioned axle rotate with a large-scale motor, thus with above-mentioned rotation in linkage by each shaft-driven Multi-shaft drive device of multiaxis.
But, it is however generally that, fiber generates device and uses multiple axles simultaneously and in parallel to produce identical fibre.Therefore, to improve volume of production, it is necessary to increase the number of axle, in above-mentioned situation, in addition it is also necessary to correspondingly make axle increase.But, when making axle increase, it is possible to the problem that the mechanical loss caused because of distortion etc. increases occurs, or when a spool damages, the problem having to keep in repair stop all of equipment.
Then, it is contemplated that such problem, it is proposed that make how shaft-driven multiaxial motor drive device (for example, referring to Japanese Patent Laid-Open 2009-201260 publication) respectively by respective motor.
At this, each motor of above-mentioned multiaxial motor drive device being respectively mounted respective converter, each motor is driven by each converter by so-called V/F control mode etc..
But, in conventional multiaxial motor drive device, make motor be suitably carried out synchronizing to drive on this aspect have further room for improvement when starting.Such as, as it has been described above, when each motor is controlled by respective converter, can produce respectively to lead into (pullin) in each motor during starting.
Above-mentioned lead fashionable producing, if multiaxial motor drive device generates the fibre equipment of device for such as fiber, then may cause broken string because leading fashionable impact.
A kind of form of the present invention completes in view of the foregoing, its object is to a kind of multiaxial motor drive device is provided and possesses the fiber generation device of this multiaxial motor drive device, leading into multi-axis motor can be made again to be synchronized to drive uniformly when starting can either be prevented.
Summary of the invention
The multiaxial motor drive device that the present invention relates to possesses: multiple motors；Position detector；And a converter.Multiple motors have the instruction parts of the position of magnetic pole from outside instruction regulation.Position detector is arranged on a motor in described motor.One converter is when the described position of magnetic pole making described instruction parts aligns, and all of described motor is sent the same instruction driving described motor by the detection position based on described position detector.
A kind of form according to the present invention, can either prevent start time lead into, can make again multi-axis motor uniformly by synchronize drive.
Accompanying drawing explanation
Hereinafter, following detailed description of the invention read by comparison accompanying drawing, it is possible to the present invention easily carries out more complete understanding, and understands relative advantage.
Fig. 1 indicates that the ideograph of the topology example of the multiaxial motor drive device that embodiment relates to.
Fig. 2 A indicates that the ideograph of the motor of instruction parts overview.
Fig. 2 B and Fig. 2 C indicates that the ideograph of an example of instruction parts.
Fig. 3 indicates that the block diagram of the topology example of the multiaxial motor drive device that embodiment relates to.
Fig. 4 indicates that the ideograph of the process sequence of the multiaxial motor drive device that embodiment relates to.
Fig. 5 A indicates that the ideograph of the topology example of conventional Multi-shaft drive device.
Fig. 5 B indicates that the ideograph of the topology example of conventional multiaxial motor drive device.
Fig. 6 indicates that fiber generates the ideograph of the topology example of device.
Detailed description of the invention
With reference to the accompanying drawings, the multiaxial motor drive device describing present invention announcement in detail and the fiber possessing this multiaxial motor drive device generate the embodiment of device.It addition, the present invention is not limited to embodiment shown below.
Additionally, following situation about the multiaxis that the fiber generation device as fibre equipment has being driven for multiaxial motor drive device illustrates.It addition, illustrate for ease of understanding, at this, fiber is generated the multiaxis that device has, first illustrates with Fig. 6.
Fig. 6 indicates that fiber generates the ideograph of the topology example of device 600.As shown in Figure 6, fiber generation device 600 possesses the multiple fiber generating unit 601-1～601-n generating line y.Fiber generating unit 601-1～601-n is correspondingly provided with respectively one to one to spool 602-1～602-n.
It addition, containing line sending axle (diagram is omitted) in fiber generating unit 601-1～601-n, the line y that fiber generating unit 601-1～601-n is generated by above-mentioned line sending axle sends.Further, by spool 602-1～602-n line y winding that will be sent.
The multiaxial motor drive device that a kind of form of present embodiment relates to, for instance, make it synchronize Fig. 6 surrounds, using the closed curve of dotted line, the spool 602-1～602-n represented as multiaxis.But, at this, the object of synchronization can also is that all of line sending axle.Further, it is also possible to mixedly make spool and line sending axle synchronize.But, make between spool, when the axle of such same purposes synchronizes between line sending axle, load unbalanced less, and the control of higher precision can be carried out.
Additionally, following motor is synchronous induction motor, position detector is rotary transformer (Resolver).
Additionally, in each figure shown below, for the structural element etc. constituted with multiple key elements, it is possible to have only to a key element label symbol in multiple key elements, and the situation to other omitting elements symbol mark.In above-mentioned situation, a key element of label symbol is all identical with other key element.
Fig. 1 indicates that the ideograph of the structure of the multiaxial motor drive device 1 that embodiment relates to.As it is shown in figure 1, multiaxial motor drive device 1 possesses: a converter 10；Multiple motors 20；And a rotary transformer 30.
Converter 10, adjusts phase voltage, adopts V/F control mode, with same instruction, each motor 20 is carried out unified driving.
Motor 20, each of which is connected with a converter 10, accepts the instruction from converter 10 sends and is driven.
Rotary transformer 30 is only arranged on a motor in motor 20, and detection is provided with the position of magnetic pole of the motor 20 of above-mentioned rotary transformer 30.
Herein, before the detailed construction of multiaxial motor drive device 1 of the present embodiment is illustrated, in order to contrast with present embodiment, first to conventional Multi-shaft drive device and multiaxial motor drive device, Fig. 5 A and Fig. 5 B is used to illustrate.
Fig. 5 A indicates that the ideograph of the topology example of conventional Multi-shaft drive device 5.Additionally, Fig. 5 B indicates that the ideograph of the topology example of conventional multiaxial motor drive device 5 '.
As shown in Figure 5A, conventional Multi-shaft drive device 5 such as possesses: converter 10；Large-scale motor 50；And major axis 60.Additionally, be equivalent to the multiaxis AX that fiber generates the spool etc. of device, coupled with major axis 60 by gear 70 and connection parts 80 grade.
Further, major axis 60 is such as ball-screw, rotates based on by the large-scale motor 50 of the driven control of converter 10, and makes multiaxis AX and above-mentioned rotation in linkage by unified driving.
Therefore, increase the number of axle in order to improve volume of production, and make major axis 60 longer correspondingly, then because of the distortion of major axis 60 or flexure etc., and the deterioration of mechanical precision and the decline of mechanical efficiency can be caused.
Then, for instance propose the multiaxial motor drive device 5 ' shown in Fig. 5 B.As shown in Figure 5 B, multiaxial motor drive device 5 ' has and each multiaxis AX respective converter 10 being correspondingly arranged respectively and motor 20 ', and each multiaxis AX is each driven respectively through above-mentioned converter 10 and motor 20 '.
So, by respectively each multiaxis AX being driven, even if the number of axle of multiaxis AX increases, it is also difficult to the deterioration of above-mentioned mechanical precision and the decline of mechanical efficiency can be caused.
But, when so each multiaxis AX being driven respectively through converter 10 and motor 20 ', it is necessary to converter 10 that quantity is corresponding with multiaxis AX and motor 20 '.
Additionally, when making all of motor 20 ' be synchronously performed unified driving, for instance need to carry out unit or the program etc. of Synchronization Control as sync control device 90.Therefore, multiaxial motor drive device 5 ' as shown in Figure 5 B, there is the problem that cost increases.
If additionally, respectively each motor 20 ' is controlled, then produce respectively when motor 20 ' starts different lead into probability bigger.Therefore, the Synchronization Control not only existing sync control device 90 processes the problem complicated, and when multiaxial motor drive device 5 ' is for fibre equipment, there is also the problem being easily caused broken string because leading fashionable impact.
Return the explanation of Fig. 1.At this, in the multiaxial motor drive device 1 that embodiment relates to, by a converter 10, all of motor 20 is carried out unified driving control.Accordingly, first multiaxial motor drive device 1 can be constituted with low cost.
Additionally, in order to make all of motor 20 be synchronously performed unified starting, make the axle 21 (that is, internal rotor) of all of motor 20 by the position of magnetic pole alignment of regulation in advance at prestart.
At this, in FIG, it is schematically indicated situation during from the end on observation motor 20 of axle 21.Additionally, in FIG, further show schematically the axle 21 of all of motor 20 as an example, by the state of position of magnetic pole (position during with clock pointer position for the 9) uniform alignment of the regulation shown in arrow 101.
It addition, motor 20 has instruction parts, indicate the position of magnetic pole of above-mentioned regulation from outside.At this, the details to above-mentioned instruction parts, use Fig. 2 A～Fig. 2 C illustrates.
Fig. 2 A indicates that the ideograph of the motor 20 of instruction parts overview.Additionally, Fig. 2 B indicate that an example of instruction parts ideograph (one of), Fig. 2 C indicates that the ideograph (two) of an example of instruction parts.Situation at this, when Fig. 2 B and Fig. 2 C schematically illustrates from the observation motor 20 of direction A shown in Fig. 2 A.
As shown in Figure 2 A, motor 20 has axle 21.Instruction parts are such as containing markedness portion 22, and its mark is drawn in the end of the anti-load side of above-mentioned axle 21 etc. and is set.By making axle 21 rotate towards the direction of double-head arrow 201, mark portion 22 can towards any direction.
Additionally, as shown in Figure 2 B, in the end of the anti-load side of motor 20, for instance portray at a prescribed interval and be provided with scale portion 23, it constitutes instruction parts together with mark portion 22.By the assigned position that mark portion 22 is adjusted to this scale portion 23, it is possible to make the axle 21 (that is, rotor) of motor 20 align with the position of magnetic pole of regulation.
But at this, it is stipulated that position of magnetic pole, be difficult to produce during for starting to lead into position, for instance the prespecified position etc. attracted each other most for rotor magnetic pole and magnetic pole of the stator.
Additionally, the instruction parts (that is, mark portion 22 and scale portion 23) shown in Fig. 2 B are only an example, do not limit the instruction shape of parts, configuration and structure etc. with this.
Therefore, as shown in Figure 2 C, also mark portion 22 can not be drawn at axle 21 subscript, also instruction parts can be constituted by being included in the breach 24 portrayed on axle 21 and set.
Additionally, constitute also by Hall element being contained in instruction parts, the signal from above-mentioned Hall element is extracted outside as sine wave, makes position of magnetic pole align based on above-mentioned sine wave.But, in above-mentioned situation, above-mentioned scale portion 23 also can be allocated based on the sine wave from above-mentioned Hall element.
Return the explanation of Fig. 1.And, in the multiaxial motor drive device 1 that embodiment relates to, only a motor in motor 20 arranges rotary transformer 30, and based on the position of magnetic pole of the motor 20 detected by above-mentioned rotary transformer 30, converter 10 all of motor 20 is sent same instruction.
It is to say, the position of magnetic pole obtained for a motor 20 is considered as the position of magnetic pole of all of motor 20 by converter 10, and by processing uniformly, make all of motor synchronous by prespecified position of magnetic pole alignment.
Accordingly, can either prevent start time lead into, can make again motor 20 uniformly carry out synchronize drive.But, for motor 20, relative to induction conductivity less costly and firm in structure, it is preferred to also further contemplate the synchronous induction motor (so-called: ISM (InductionSynchronousMotor)) of the sliding action of induction conductivity.
Then, the mainly internal structure to converter 10, use Fig. 3 to illustrate.Fig. 3 indicates that the block diagram of the topology example of the multiaxial motor drive device 1 that embodiment relates to.
At this, Fig. 3 illustrate only structural element necessary when present embodiment illustrates, and eliminates the record to general structure key element.Additionally, for using Fig. 1 motor 20 illustrated and rotary transformer 30, description is omitted.
As it is shown on figure 3, the converter 10 of multiaxial motor drive device 1 that embodiment relates to possesses control parts 11 and memory unit 12.Control parts 11 entirety of converter 10 is controlled.Memory unit 12 is the storage devices such as nonvolatile memory, and positional information 12a is stored.
Additionally, control parts 11 to include position acquisition parts 11a, command value deciding part 11b and same instruction unit 11c.
Position acquisition parts 11a obtains the position of magnetic pole of specific motor 20 that detected, that be provided with rotary transformer 30 by rotary transformer 30.Additionally, the position of magnetic pole of acquisition is stored to memory unit 12 by position acquisition parts 11a as positional information 12a
Command value deciding part 11b based on the positional information 12a being stored in memory unit 12, determine to be applicable to all of motor 20, do not produce to lead into best instruction value (such as: voltage-phase).In other words, the command value of decision can make because of when starting lead into and motor 20 anglec of rotation that produces is zero, say, that directly can come into operation from detection position.
At this, even if now contain the deviation of the origin position of motor 20 and rotary transformer 30 in positional information 12a, the command value that command value deciding part 11b determines also is the value after adding above-mentioned deviation.That is, in advance by all of motor 20 of regulation position of magnetic pole alignment, it is considered to be respectively provided with same deviation.
Further, the command value determined is notified by command value deciding part 11b to same instruction unit 11c.Same instruction unit 11c uses from the above-mentioned command value deciding part 11b command value received, and all of motor 20 is sent same instruction.Accordingly, all of motor 20 synchronizes to come into operation uniformly.
But, all of motor 20, by the state of regulation position of magnetic pole alignment, as long as be able to ensure that before being sent same instruction by converter 10, and is not limited to before or after rotary transformer 30 detects position of magnetic pole.Then, Fig. 4 is used to illustrate this point.
Fig. 4 indicates that the ideograph of the process sequence of the multiaxial motor drive device 1 that embodiment relates to.
Follow explanation so far, as shown in Figure 4, in multiaxial motor drive device 1, first the position of magnetic pole irising out all of motor 20 represented with dotted line 401 is alignd.
Then, the position of magnetic pole of the rotary transformer 30 particular motor 20 to being provided with above-mentioned rotary transformer 30 detects, and is handed over to converter 10 (with reference to arrow 402 in figure).
Further, converter 10 determines command value based on the detection position of the rotary transformer 30 received, and uses above-mentioned command value to send same instruction (with reference to arrow 403 in figure) to all of motor 20.
At this, as above-mentioned variation, also first position detection can be carried out by rotary transformer 30.Specifically, first detected by the position of magnetic pole of the rotary transformer 30 particular motor 20 to being provided with above-mentioned rotary transformer 30, and detection position is handed over to converter 10 (with reference to arrow 402 in figure).
Now, the detection position of acquisition can be stored by converter 10 as described above as positional information 12a.Or, the detection position that also can detect based on rotary transformer 30, the origin position of motor 20 with rotary transformer 30 is alignd.After being alignd by origin position, the detection position after the alignment of above-mentioned origin position is stored by converter 10 as positional information 12a.
Further, in these cases, then the position of magnetic pole of all of motor 20 represented with dotted line 401 is alignd.According to this method, it is also possible to the position of magnetic pole making all of motor 20 is consistent with the positional information 12a that converter 10 stores.
And, in figure shown in arrow 403, converter 10 determines command value in the same manner as described above, and sends same instruction to all of motor 20.Accordingly, all of motor 20 can either prevent from leading into, can carry out uniformly again synchronizing to drive.
As it has been described above, the multiaxial motor drive device that a kind of form of present embodiment relates to possesses multiple motor；Position detector；And a converter.Multiple motors have the instruction parts of the position of magnetic pole from outside instruction regulation.Position detector is located on a motor in said motor.One converter is when the above-mentioned position of magnetic pole making above-mentioned instruction parts aligns, and all of said motor is sent the same instruction driving said motor by the detection position based on above-mentioned position detector.
Therefore, according to the multiaxial motor drive device that a kind of form of present embodiment relates to, can either prevent when starting lead into, multi-axis motor can be made again to carry out uniformly synchronizing to drive.
But, although in the above-described embodiment, the situation during multiaxis that multiaxial motor drive device driving fiber generation device is had is illustrated, but, the classification of the machinery with multiaxis is not limited with this.Such as, could be applicable to automatic weaving loom.
Additionally, in the above-described embodiment, it is illustrated for the situation that position detector is rotary transformer, but is also not limited to this.
Claims (8)
1. a multiaxial motor drive device, it is characterised in that possess:
Multiple motors, have the instruction parts of position of magnetic pole from outside instruction regulation, the position that the position of magnetic pole of described regulation is rotor magnetic pole and magnetic pole of the stator attracts each other most；
Position detector, is arranged on a specific motor in described motor；And
One converter, wherein
Described converter is when the described position of magnetic pole making described instruction parts aligns, and all of described motor is sent the same instruction driving described motor by the detection position based on described position detector.
2. multiaxial motor drive device as claimed in claim 1, it is characterised in that:
Described converter sends described same instruction, so that being zero by the anglec of rotation into caused described motor of leading when starting.
3. multiaxial motor drive device as claimed in claim 1, it is characterised in that:
Described converter is after the described position of magnetic pole of all of described motor is based on described instruction member align, and the detection position based on described position detector sends described same instruction.
4. multiaxial motor drive device as claimed in claim 1, it is characterised in that:
Described converter is based on the detection position of described position detector, after making described specific motor align with the origin position of this position detector, described position of magnetic pole is sent described same instruction based on all of motor of the described instruction member align of described particular motor.
5. multiaxial motor drive device as claimed in claim 1, it is characterised in that:
Described position detector is rotary transformer,
Described motor is synchronous induction motor.
6. a fiber generates device, it is characterised in that:
Possesses the multiaxial motor drive device described in claim 1.
7. multiaxial motor drive device as claimed in claim 1, it is characterised in that:
Described multiaxial motor drive device is applied to fiber and generates device.
8. multiaxial motor drive device as claimed in claim 7, it is characterised in that:
The plurality of motor drives spool or line sending axle respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310106062.6A CN103684118B (en) | 2012-08-31 | 2013-03-28 | Multiaxial motor drive device and possess this multiaxial motor drive device fiber generate device |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012204430594 | 2012-08-31 | ||
| CN201220443059.4 | 2012-08-31 | ||
| CN201220443059 | 2012-08-31 | ||
| CN201310106062.6A CN103684118B (en) | 2012-08-31 | 2013-03-28 | Multiaxial motor drive device and possess this multiaxial motor drive device fiber generate device |
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| Publication Number | Publication Date |
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| CN103684118A CN103684118A (en) | 2014-03-26 |
| CN103684118B true CN103684118B (en) | 2016-07-06 |
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| CN201310106062.6A Active CN103684118B (en) | 2012-08-31 | 2013-03-28 | Multiaxial motor drive device and possess this multiaxial motor drive device fiber generate device |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3900589A1 (en) * | 1988-11-30 | 1990-05-31 | Heidolph Elektro Gmbh & Co Kg | Arrangement for synchronization of the rotation speeds of at least two electronically commutated DC motors |
| CN101179250A (en) * | 2006-11-07 | 2008-05-14 | 株式会社上村工业 | Control method of non-sensor permenant-magnetic synchronous motor |
| CN102318180A (en) * | 2007-10-31 | 2012-01-11 | Thk株式会社 | Multi-spindle movement driver control method, multi-spindle movement driver, and multi-spindle drive control system having the same |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4066228B2 (en) * | 2001-10-05 | 2008-03-26 | 富士電機機器制御株式会社 | Synchronous operation device |
| JP2009201260A (en) * | 2008-02-21 | 2009-09-03 | Sumitomo Heavy Ind Ltd | Multi-shaft motor drive device |
-
2013
- 2013-03-28 CN CN201310106062.6A patent/CN103684118B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3900589A1 (en) * | 1988-11-30 | 1990-05-31 | Heidolph Elektro Gmbh & Co Kg | Arrangement for synchronization of the rotation speeds of at least two electronically commutated DC motors |
| CN101179250A (en) * | 2006-11-07 | 2008-05-14 | 株式会社上村工业 | Control method of non-sensor permenant-magnetic synchronous motor |
| CN102318180A (en) * | 2007-10-31 | 2012-01-11 | Thk株式会社 | Multi-spindle movement driver control method, multi-spindle movement driver, and multi-spindle drive control system having the same |
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