CN104104304A - Motor control device - Google Patents
Motor control device Download PDFInfo
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- CN104104304A CN104104304A CN201410128528.7A CN201410128528A CN104104304A CN 104104304 A CN104104304 A CN 104104304A CN 201410128528 A CN201410128528 A CN 201410128528A CN 104104304 A CN104104304 A CN 104104304A
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- Prior art keywords
- regeneration
- motor
- threshold value
- mode
- time
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by regenerative braking
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Stopping Of Electric Motors (AREA)
- Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Provided is a motor control device capable of identifying supply voltage abnormity and regeneration abnormity. The motor control device comprises: a convertor (116) for converting a DC voltage into an AC voltage and driving a motor (118) in a power operation mode, and converting the AC voltage from the motor (118) into the DC voltage and supplying the DC voltage to a regeneration resistor (122) in a regeneration mode; a switching part (124) for connecting the regeneration resistor (122) with the convertor (116) in the case that the DC voltage exceeds a threshold value; an on-off time detection part (141) for detecting switch-on time and switch-off time of the switching part (124); and an abnormity judging part (147) which uses different threshold values in the power operation mode and the regeneration mode, wherein, in the power operation mode, the case that accumulated conduction time of the switching part (124) exceeds the threshold value of the power operation mode is judged to be supply voltage abnormity, in the regeneration mode, the case that accumulated conduction time of the switching part (124) exceeds the threshold value of the regeneration mode is judged to be regeneration abnormity.
Description
Technical field
The present invention relates to identify the motor control assembly of the abnormal and heteroplasia of supply voltage.
Background technology
General motor control assembly carries out rectification with rectifier diode to supply voltage, with the supply voltage of converter switches rectification, controls position, speed, the torque of motor.
Fig. 6 is the summary construction diagram of existing motor control assembly.Power supply 10 is connected with rectifier diode 14 via electromagnetic contactor 12.Motor 18 is connected with converter 16.Rectifier diode 14 carries out rectification to the voltage of power supply 10, and converter 16 is exported the voltage of switching and rectifying diode 14 rectifications to motor 18.
Between rectifier diode 14 and converter 16, be connected with capacitor 20, regeneration resistance 22, regenerated crystal pipe 24.Regenerated crystal pipe 24 is controlled its switch by regenerated crystal pipe driver part 30.The heteroplasia of regenerated crystal pipe 24 detects by heteroplasia detection part 40.
Motor 18 is connected with the encoder 50 that detects its rotary speed.Encoder 50 is connected with speed test section 52.The difference output torque instruction of the speed detected value that speed controlling portion 54 detects according to speed command and speed test section 52.Torque control division 56 makes converter 16 open and close based on torque instruction and controls position of rotation, speed, the torque of motor 18.
From electricity supply and demand aspect, power operational mode and electric power that the oriented motor 18 of the driving of motor 18 is supplied with electric power return to the regeneration mode coming from motor 18.When power operational mode, from power supply 10 to rectifier diode 14, converter 16, motor 18 supply with electric power.When regeneration mode, from motor 18 to converter 16, regeneration resistance 22 supply with electric power.When power operational mode, motor 18 becomes motor, and when regeneration mode, motor 18 becomes generator, and the electric power that motor 18 sends in the time of regeneration mode consumes for regeneration resistance 22.The energising control of regeneration resistance 22 is undertaken by regenerated crystal pipe driver part 30.
Fig. 7 is the figure that represents the relation of main circuit direct voltage, regenerated crystal pipe and regeneration resistance aggregate-value conduction time.As shown in the figure, the main circuit direct voltage (voltage of capacitor 20) detecting when main circuit direct voltage test section 32 reaches in the time of reference voltage 1 relatively of fiducial value comparing section 34, and regenerated crystal pipe drive division 36 is connected regenerated crystal pipe 24.And in the time that main circuit direct voltage is reduced to the reference voltage 2 being compared in fiducial value comparing section 34, regenerated crystal pipe drive division 36 turn-offs regenerated crystal pipe 24.
In the case of the little situation of capacity of regeneration resistance 22 or because of harsh operating condition regeneration frequency high, the average current that exceedes the allowable current of the resistance 22 of regenerate is fed into regeneration resistance 22, is related to the overheated of resistance 22 or burn out of regenerating.The heteroplasia of regeneration resistance 22 detects and is undertaken by heteroplasia detection part 40.
In order to protect regeneration resistance 22, make-and-break time test section 42 detects the make-and-break time of regenerated crystal pipe 24.Accumulative total handling part 44 as shown in Figure 7, in regeneration resistance 22 current flowing in the situation that, the time that accumulative total regenerated crystal pipe 24 is connected, not current flowing in the situation that, deducts the time that regenerated crystal pipe 24 turn-offs in regeneration resistance 22.Once the aggregate-value of the time that regenerated crystal pipe 24 is connected exceedes feasible value, threshold value comparing section 46 is just judged as heteroplasia, forcibly makes converter 16 stop, and the overheated of resistance 22 or burn out prevents from regenerating.
As previously discussed, motor control assembly, as long as supply voltage is normal, just can normally detect the high situation of frequency of regeneration.But, when high, can there is following problem than normal at supply voltage.
At supply voltage than normal when high, voltage when regenerated crystal pipe driver part 30 can not be regeneration mode by its voltage identification, and regenerated crystal pipe 24 is connected.Therefore the resistance 22 that, tends to from power supply 10 to rectifier diode 14, regenerates is supplied with electric power.The aggregate-value of the time that heteroplasia detection part 40 is being connected at regenerated crystal pipe 24 exceedes the time point of feasible value, is judged as heteroplasia, via not shown host controller, electromagnetic contactor 12 is disconnected.
Like this, the heteroplasia detecting comprises that situation both sides' that supply voltage is higher than the frequency of normal high situation and regeneration is abnormal.In the motor control assembly shown in Fig. 6, can not identify that these are abnormal.
The motor control assembly of controlling servomotor is used to the production equipments such as manufacturing machine more.Therefore,, in the situation that having there is fault, will suffer large infringement if can not repair at once.Therefore, the technology that requirement detects fault sectionalization, to grasp at once the content of fault.
In the motor control assembly of Fig. 6, in order to detect respectively two abnormalities, the circuit that detects the situation that supply voltage is high need to be set in addition.But if this circuit is set, not only circuit becomes complicated, and is related to cost up.In the modern times of appealing saving resource, require special circuit is not set, detect respectively the technology of two abnormalities.
As the technology that solves unfavorable condition as above, there is the technology shown in following patent documentation 1.In technology shown in patent documentation 1, disclose a kind of Servocontrol device, its acceleration and deceleration state according to control object motor judges having or not of power supply regenerative, and motor is not in deceleration regime and power supply regenerative while carrying out, and judgement is abnormal.
In this Servocontrol device, observe motor deceleration regime, judge abnormal having or not.But, only observe the deceleration regime of motor, and do not know that motor is in regeneration mode or in power operational mode.For example, drive in the situation of vertical axis load, motor, because gravity rotates, also can become regeneration mode under certain speed sometimes.Like this, motor not also can not carry out in deceleration regime regeneration sometimes, and therefore, even if motor is not in the time that deceleration regime and power supply regenerative carry out, supply voltage also not necessarily exists abnormal.The differentiation of correct regeneration mode need to be considered speed and torque two aspects of motor.
Prior art document
Patent documentation
Patent documentation 1:(Japan) JP 2000-23480 communique
The problem that invention will solve
Conventionally the allowable current that, the detection of heteroplasia exceedes according to the aggregate-value of electric current that flows through regeneration resistance 22 resistance 22 of regenerating detects.In the case of regeneration resistance 22 capacity little, because allowable current is less, detect that the time of heteroplasia is shorter, and regeneration resistance 22 situation capacious under, detect that the time of heteroplasia will increase.
Supply voltage, than in normal high situation, transmits abnormal signal to host controller after detecting extremely, until electromagnetic contactor is cut off and needs the time, therefore needs to detect as quickly as possible supply voltage than normal high situation.
But, in existing motor control assembly, until exceed the allowable current of the resistance of regenerating, electric current just can carry out the detection of heteroplasia after flowing through regeneration resistance, and therefore, supply voltage postponed than the detection moment of normal high situation, easily cause the overheated of resistance of regenerating, fail safe existing problems.
The temperature rise of regeneration resistance when common Electric Machine Control is set to the enough low temperature of allowable temperature than regeneration resistance.In addition, be also provided with the overheated device that detects regeneration resistance, if but consider the situation that its overheated device also breaks down that detects, even also can excessively raise hardly when the Temperature Setting of regeneration resistance is abnormal, improve fail safe.In the poor country of power supply situation, the Frequent Troubles increasing due to supply voltage, even if the temperature of the resistance of therefore regenerating must be set as when abnormal also becoming hardly too high.
Summary of the invention
The present invention completes for the rough sledding of removing existing motor control assembly as above, and object is to provide a kind of motor control assembly of identifying the abnormal and heteroplasia of supply voltage.
In addition, the object of the invention is to, provide a kind of in the situation that supply voltage is abnormal, can make the motor control assembly of its abnormal detection high speed.
For reaching the motor control assembly of the present invention of above-mentioned purpose, there is converter, switch portion, make-and-break time test section and judging part.
Converter is alternating voltage drive motors by DC voltage conversion under power operational mode, under regeneration mode, by the AC voltage conversion from motor be direct voltage and to regeneration resistance supply with.The switch portion resistance of regenerating in the situation that direct voltage exceedes threshold value is connected with converter.Turn-on time and the opening time of make-and-break time test section sense switch portion.Judging part uses different threshold values under power operational mode and regeneration mode, under power operational mode, it is abnormal that the situation that the accumulation of switch portion exceedes the threshold value of power operational mode conduction time is judged as supply voltage, on the other hand, under regeneration mode, the situation that the accumulation of switch portion exceedes the threshold value of regeneration mode conduction time is judged as heteroplasia.
Invention effect
Under power operational mode, it is abnormal that the situation that the accumulation of switch portion exceedes the threshold value of power operational mode conduction time is judged as supply voltage, under regeneration mode, the situation that the accumulation of switch portion exceedes the threshold value of regeneration mode conduction time is judged as heteroplasia, so, can identify and detect supply voltage extremely and heteroplasia.
Brief description of the drawings
Fig. 1 is the summary construction diagram of the motor control assembly that execution mode 1 is relevant;
Fig. 2 is the chart for the judgement of power operational mode and regeneration mode;
Fig. 3 is to provide supply voltage when normal, make power operation in the situation of motor acceleration and deceleration, the figure of the action specification of regeneration mode judgement;
When being to provide regeneration mode, Fig. 4 there is the figure of the action specification that power moves, regeneration mode judges in the abnormal situation of supply voltage;
Fig. 5 is the summary construction diagram of the motor control assembly that execution mode 2 is relevant;
Fig. 6 is the summary construction diagram of existing motor control assembly;
Fig. 7 is the figure that represents the relation of main circuit direct voltage, regenerated crystal pipe and regeneration resistance aggregate-value conduction time.
Symbol description
100,200 motor control assemblies,
110,210 power supplys,
112,212 electromagnetic contactors,
114,214 rectifier diodes,
116,216 converters,
118,218 motors,
120,220 smmothing capacitors,
122,222 regeneration resistance,
124,224 regenerated crystal pipes,
130,230 regenerated crystal pipe driver parts,
132,232 main circuit direct voltage test sections,
134,234 fiducial value comparing sections,
136,236 regenerated crystal pipe drive divisions,
140,240 abnormality detection parts,
141,241 make-and-break time test sections,
142,242 accumulative total handling parts,
143,243 first threshold comparing sections,
145,245 Second Threshold comparing sections,
144,244 continuously energising test sections,
147,247 anomalous discrimination portions,
150,250 encoders,
152,252 speed test sections,
154,254 speed controlling portions,
156,256 torque control divisions,
The threshold calculations portion of the torque of use is differentiated in 248 power operation regeneration.
Embodiment
The execution mode of motor control assembly relevant the present invention is divided into ［ execution mode 1 ］ below, and ［ execution mode 2 ］ describes.
［ execution mode 1 ］
Fig. 1 is the summary construction diagram of the motor control assembly that execution mode 1 is relevant.
(structure of motor control assembly 100)
Power supply 110 is connected with rectifier diode 114 via electromagnetic contactor 112.The commercial ac power source that power supply 110 is three-phase.Electromagnetic contactor 112 is connected power supply 110 and disconnect with rectifier diode 114.Rectifier diode 114 carries out the alternating current of power supply 110 rectification and is transformed into direct current.
Motor 118 is connected with converter 116.Motor 118 is AC servo motor.Converter 116, by the direct voltage of exporting from rectifier diode 114, carries out switch motion by making to be located at inner switching transistor, is transformed into the alternating voltage (power operational mode) of assigned frequency.The alternating voltage that motor 118 utilizes converter 116 to export is rotated.On the other hand, converter 116 carries out switch motion by the alternating voltage of exporting from motor 118 by making to be located at inner switching transistor, is transformed into direct voltage (regeneration mode).
Between rectifier diode 114 and converter 116, be connected with smmothing capacitor 120, regeneration resistance 122, regenerated crystal pipe 124.The pulsation of the direct voltage that smmothing capacitor 120 is exported rectifier diode 114 is removed, and forms the direct voltage of smoothing.Regeneration resistance 122 power converter that motor 118 sends during by the regeneration mode of motor 118 becomes heat exhaustion to fall.Regenerated crystal pipe 124 is switched on and regeneration resistance 122 and converter 116 is connected in parallel in the time of the regeneration mode of motor 118.In addition, regenerated crystal pipe 124 is also switched in the time that the voltage of power supply 110 becomes higher than common voltage.
The break-make of regenerated crystal pipe 124 is controlled by regenerated crystal pipe driver part 130.Regenerated crystal pipe driver part 130 has main circuit direct voltage test section 132, fiducial value comparing section 134, regenerated crystal pipe drive division 136.In addition, regenerated crystal pipe 124 and regenerated crystal pipe driver part 130 form switch portion.Abnormality detection parts 140 except make-and-break time test section 141 form judging part.
Main circuit direct voltage test section 132 detects the direct voltage of the outlet side (when power operational mode) of rectifier diode 114 and the outlet side (when regeneration mode) of converter 116.Reference voltage 1 and reference voltage 2 shown in fiducial value comparing section 134 storage maps 6, the direct voltage that reference voltage 1 and reference voltage 2 and main circuit direct voltage test section 132 are detected compares.As shown in Figure 6, the direct voltage that fiducial value comparing section 134 detects at main circuit direct voltage test section 132 exceedes after reference voltage 1, and output signal, until be reduced to reference voltage 2.Regenerated crystal pipe drive division 136, during fiducial value comparing section 134 output signals, connects regenerated crystal pipe 124.
Abnormal and the heteroplasia of supply voltage is detected by abnormality detection parts 140.Abnormality detection parts 140 have make-and-break time test section 141, accumulative total handling part 142, first threshold comparing section 143, switch on test section 144, Second Threshold comparing section 145, motor driving condition judging part 146, anomalous discrimination portion 147 continuously.
Make-and-break time test section 141 detects turn-on time and the opening time of regenerated crystal pipe 124.Be added and deduct opening time again turn-on time of the regenerated crystal pipe 124 that accumulative total handling part 142 detects make-and-break time test section 141, calculates the accumulation conduction time of regenerated crystal pipe 124.The accumulation conduction time of the regenerated crystal pipe 124 that first threshold comparing section 143 goes out accumulative total handling part 142 accumulative totals, under power operational mode, compare with the threshold value of power operational mode.Under regeneration mode, compare with the threshold value of regeneration mode.Being stored in the threshold value (for detection of the accumulation conduction time of the heteroplasia under regeneration mode) of the regeneration mode of first threshold comparing section 143, is overheated, stipulated time of burning out for the resistance 124 that do not cause regenerating under regeneration mode.In addition, being stored in the threshold value (for detection of the supply voltage under power operational mode abnormal accumulation conduction time) of the power operational mode of first threshold comparing section 143, is overheated, stipulated time of burning out in order not cause regeneration resistance 124 under power operational mode.The size of the threshold value of power operational mode is less than the size of the threshold value of regeneration mode.Because it is desirable to, supply voltage can earlier be detected than heteroplasia extremely.
Continuously energising test section 144 detects the continuous conduction time (times that regenerated crystal pipe 124 is connected continuously) of the regenerated crystal pipe 124 that make-and-break time test section 141 detects.The continuous conduction time of the regenerated crystal pipe 124 that Second Threshold comparing section 145 detects the test section 144 of switching on continuously and threshold value (for detection of the abnormal threshold value of when regeneration supply voltage) compare.The threshold value that is stored in Second Threshold comparing section 145 is the long time (greatly) of the turn-on time when repeatedly connecting, disconnect under regeneration mode than regenerated crystal pipe 124.Motor driving condition judging part 146 judges power operational mode and the regeneration mode of motor 118 according to the torque instruction TC of motor 118 and rotary speed ω m.In addition, motor driving condition judging part 146 is after detecting and being regeneration mode, and certain hour maintains the detection of regeneration mode.This is error detection in the frequent situation of switching such motor action of judgement in order to prevent regeneration mode and power operational mode, overvoltage of power supply.In addition, regeneration mode is to be undertaken by the detection of heavy trigger formula, while power operational mode and regeneration mode repeatedly being detected at short notice, regards regeneration mode as.In addition, the threshold value that motor driving condition judging part 146 is set in order to judge power operational mode and regeneration mode, adopts pre-determined certain value, but also can be according to the size of rotary speed ω m, makes its stage or continuity and changes.The comparative result of the power operational mode of the motor 118 that anomalous discrimination portion 147 judges according to motor driving condition judging part 146 and regeneration mode and first threshold comparing section 143, Second Threshold comparing section 145, differentiates respectively supply voltage extremely and heteroplasia both sides.
Encoder 150 is installed on motor 118, on encoder 150, is connected with speed test section 152.Speed test section 152 is connected with speed controlling portion 154, and speed controlling portion 154 is connected with torque control division 156.Torque control division 156 is connected with converter 116.
Encoder 150 detects the position of rotation of motor 118.The position of rotation of the motor 118 that speed test section 152 detects according to encoder 150, the rotary speed ω m of detection motor 118.Speed controlling portion 154, according to the deviation of speed command and rotary speed ω m, is exported torque instruction TC.The torque instruction TC that the rotary speed ω m that speed test section 152 detects and speed controlling portion 154 are exported, is also output to motor driving condition judging part 146.The torque instruction TC that torque controller 156 is exported based on speed controlling portion 154 and control the electric current of motor 118, generates pwm signal, to converter 116 these pwm signals of output.Converter 116 based on pwm signal and the transistor of switch inside, is supplied with the voltage of assigned frequency to motor 116.
(action of motor control assembly 100)
First, speed controlling portion 154 is exported torque instruction TC according to the deviation of speed command and rotary speed ω m.Torque control division 156 input torque instruction TC and control the electric current of motor 118, generate pwm signal and export to converter 116.The pwm signal that converter 116 is exported according to torque control division 156 is supplied with the voltage of assigned frequency to motor 118.Motor 118 outputs and the corresponding torque of electric power of supplying with.
The output voltage (when power operational mode) of rectifier diode 114 and the output voltage (when regeneration mode) of converter 116, detected by main circuit direct voltage test section 132.If the threshold value of the voltage ratio fiducial value comparing section 134 detecting is large, 136 of regenerated crystal pipe drive divisions are connected regenerated crystal pipe 124.The optical coupler that is connected in parallel on regenerated crystal pipe 124, detects the energising of regeneration resistance 122.
Add up the turn-on time during accumulative total handling part 142 is connected regenerated crystal pipe 124, deducts the opening time of off period from the accumulated time of turn-on time.Energising test section 144 detects the time during regenerated crystal pipe 124 is connected continuously, as continuous turn-on time.Accumulative total handling part 142 and energising test section 144 are continuously set, and are for can be abnormal with heteroplasia separate detection supply voltage when the regeneration.The threshold value of the abnormal power operational mode of the threshold value of the regeneration mode of heteroplasia when first threshold comparing section 143 stores for detection of regeneration mode and the supply voltage during for detection of power operational mode.In addition, the abnormal threshold value of supply voltage when Second Threshold comparing section 145 stores for detection of regeneration mode.Even if the Threshold that first threshold comparing section 143 is stored is the suitable value that heteroplasia or supply voltage have occurred extremely also can protect regeneration resistance 122.In first threshold comparing section 143, store for example 0.5 second as the threshold value of regeneration mode, store for example 0.01 second as the threshold value of power operational mode.The threshold value that Second Threshold comparing section 145 is stored is the threshold value in order to detect abnormity of power supply voltage when the regeneration mode, the long time of the turn-on time while being set as repeatedly connecting, disconnecting under regeneration mode than regenerated crystal pipe 124.This is supply voltage abnormal (overvoltage) and heteroplasia when identifying regeneration mode.
The torque instruction TC that the rotary speed ω m that motor driving condition judging part 146 input speed test sections 152 are exported and speed controlling portion 154 are exported.Motor driving condition judging part 146 is considered the velocity fluctuation that the loss of motor 118 or the quantized error of encoder 150 cause, according to rotary speed ω m and torque instruction TC, as shown in Figure 2, uses threshold value ω A, TCA to judge power operational mode and regeneration mode.
As shown in Figure 2, in the value of rotary speed ω m and torque instruction TC
ω m≤ω A and TC≤-TCA or
In the situation of ω m≤-ω A and TC≤TCA, be judged as regeneration mode,
The value of rotary speed ω m and torque instruction TC is above-mentioned situation in addition, is judged as power operational mode.
In addition, ω A considers the quantized error of encoder 150 and determine, and make motor 118 no-load running time, power operation regeneration judges and can not tremble.In addition, TCA considers the loss of motor 118 and determines, the value when regenerated electric power of setting motor 118 is equal with motor loss.In addition, once it is to become regeneration mode that regeneration mode detects, just detect as reproduced state in the regular hour, adopt again heavy trigger formula, the mechanical system forming under many inertia or occur back and forth because controlling the vibration of the torque that do not cause at that time of parameter the pattern of power operation, regeneration, detect as regeneration mode, prevent the error detection of overvoltage of power supply.
Fig. 3 is power supply source voltage when normal, makes the figure of the action specification of power operation in the situation of motor acceleration and deceleration, regeneration mode judgement.Fig. 4 is for making figure in the situation of motor acceleration and deceleration, that the action specification of power operation in the abnormal situation of supply voltage, regeneration mode judgement occurs when regeneration mode.
When supply voltage is normal, rotary speed ω m is along with the time changes as the velocity chart of the topmost of Fig. 3, and torque instruction TC is along with the time changes as the torque instruction chart under its velocity chart.Now, the judgement of power operation, regeneration mode motor driving condition judging part 146 as shown in Figure 1, differentiates chart according to the power operation/regeneration of the foot of Fig. 3 and carries out.
In the time that motor 118 enters regeneration mode, regenerated crystal pipe 124 is connected, and as shown in the chart of the regeneration resistor current of Fig. 3, in regeneration resistance 122, flows through the regenerative current of supplying with from converter 116.Now, as shown in the chart of the main circuit direct voltage of Fig. 3, the change of main circuit direct voltage.
Under regeneration mode, while exceeding the threshold value of regeneration mode, export heteroplasia from anomalous discrimination portion 147 conduction time of regeneration resistance 122.
Rotary speed ω m is along with the time changes as the velocity chart of the topmost of Fig. 4, and torque instruction TC is along with the time changes as the torque instruction chart under its velocity chart.The judgement of now, power operation, regeneration mode motor driving condition judging part 146 is as shown in Figure 1 differentiated chart according to the power operation/regeneration of the foot of Fig. 4 and is carried out.
When supply voltage occurs extremely, higher than common supply voltage, even motor 118 under power operational mode, regenerated crystal pipe 124 is also connected, regeneration resistance 122 in current flowing.Accumulative total handling part 142 detects the time of current flowing in regeneration resistance 122.The threshold value that exceedes power operational mode in the accumulated time of this regenerated crystal pipe 124, abnormal from anomalous discrimination portion 147 output supply voltages.Because the threshold value in this situation is very little value, therefore can promptly detect supply voltage abnormal, prevent the damage of part.
In the time that motor 118 enters regeneration mode, regenerated crystal pipe 124 is connected, and as shown in the chart of the regeneration resistor current of Fig. 4, in regeneration resistance 122, flows through the regenerative current of supplying with from converter 116.Now, as shown in the chart of the main circuit direct voltage of Fig. 4, the change of main circuit direct voltage.
In regeneration mode, as shown in Figure 4, as while there is temporary transient supply voltage abnormal (0.7 second), the continuous conduction time of regeneration resistance 122, will exceed threshold value, therefore detect abnormal from anomalous discrimination portion 147 output voltages.
Conventionally, the resistance value of regeneration resistance 122 is set as absorbing the resistance value of the maximum output of motor 118, and therefore, comprising of regeneration resistance 122 as shown in the chart of the regeneration resistor current of Fig. 3, becomes the small time at continuous conduction time once.On the other hand, in regeneration mode, in the situation that supply voltage rises, except the regenerated electric power of motor 118, power also flows through regeneration resistance 122, and therefore, as shown in the chart of the regeneration resistor current of Fig. 4, regeneration resistance 122 is switched on continuously.
In regeneration mode, in the case of forming the continuous energising of regeneration resistance 122, carry out electric voltage exception detection.The threshold value that detects energising is continuously the value less than the threshold value that detects heteroplasia in regeneration mode, and, be set as than continuous conduction time of the long value of regeneration resistance 122 once.
As previously discussed; by judging that motor 118 is power operational mode or regeneration mode; and the aggregate-value that uses the conduction time of regeneration resistance 122 to detect be the abnormal or heteroplasia of supply voltage, can identify respectively that the frequency of regeneration is excessive or supply voltage is high.In addition, in regeneration mode, according to the continuous energising that whether produces regeneration resistance 122, also supply voltage can be detected abnormal.In addition, also can substitute torque instruction, by detecting torque or inferring torque, judge power operation regeneration mode.
［ execution mode 2 ］
The summary construction diagram of the motor control assembly of the execution mode 2 of Fig. 5.Motor control assembly 200 is for the main shaft drives of induction machine.
(formation of motor control assembly 200)
Motor control assembly 100 shown in structure and Fig. 1 of motor control assembly 200 is roughly the same.Threshold calculations portion 248 this point of unique torque that just possesses power operation regeneration differentiation use, and the difference of execution mode 1 motor control assembly 100.
Fig. 5's, except power supply 210, electromagnetic contactor 212, rectifier diode 214, converter 216, motor 218, smmothing capacitor 220, regeneration resistance 222, regenerated crystal pipe 224, regenerated crystal pipe driver part 230, abnormality detection parts 240 beyond the threshold value calculating section 248 of the torque of power operation regeneration differentiation use, encoder 250, speed test section 252, speed controlling portion 254, torque control division 256, with Fig. 1's, power supply 110, electromagnetic contactor 112, rectifier diode 114, converter 116, motor 118, smmothing capacitor 120, regeneration resistance 122, regenerated crystal pipe 124, regenerated crystal pipe driver part 130, abnormality detection parts 140, encoder 150, speed test section 152, speed controlling portion 154, torque control division 156 is identical.
(action of motor control assembly 200)
In the main shaft drives of induction machine, adopt with rotary speed more than substrate rotary speed, make the inversely proportional weak excitation control weakening of magnetic flux and rotary speed.Therefore, motor control assembly 200 is provided with weak excitation division in torque control division 256, in the time exceeding substrate velocity, makes the rotary speed of torque instruction and motor reduce inversely proportionally.
In high-speed range, the regenerated electric power of motor 218 and the value that motor loses consistent torque TC, diminish along with the rising of rotary speed.In motor control assembly 200, threshold value and rotary speed are reduced inversely proportionally, carry out the power operation of motor 218, the judgement of regeneration mode based on its threshold value.In addition, not only make magnetic flux and motor rotary speed inversely proportional, and make after itself and the proportional increase of motor speed, situation proportional to rotary speed, similarly, make after the proportional increase of threshold value and rotary speed, then make it and rotary speed is inversely proportional reduces.The action of other of motor control assembly 200 and motor control assembly 100 are identical.
In addition, be not only induction machine, use the main shaft drives of ipm motor or reluctance motor, think too and can apply the present embodiment.
As previously discussed, in the present invention, using torque instruction and motor speed to differentiate motor is power operational mode or regeneration mode, can also consider the "on" position of regeneration resistance, detects respectively supply voltage extremely and heteroplasia.Therefore, special circuit needn't be added, compared to the prior art, overvoltage of power supply can be earlier detected, even under the poor environment of power supply situation, the fail safe that also can improve motor control assembly.In addition, in the time having there is warning, can identify whether power supply exists extremely, whether regeneration frequency exist extremely, the reparation that can promptly report to the police while generation.
Claims (11)
1. a motor control assembly, is characterized in that, has:
Converter, it is alternating voltage and drive motors is that direct voltage is supplied to regeneration resistance by the AC voltage conversion from described motor under regeneration mode by DC voltage conversion under power operational mode;
Switch portion, it is connected described regeneration resistance in the situation that described direct voltage exceedes threshold value with described converter;
Make-and-break time test section, it detects turn-on time and the opening time of described switch portion;
Judging part, it uses different threshold values under power operational mode and regeneration mode, under described power operational mode, the situation that exceedes the threshold value of power operational mode conduction time in the accumulation of described switch portion judge into supply voltage abnormal, and under described regeneration mode, the situation that exceedes the threshold value of regeneration mode in the accumulation of described switch portion conduction time judges as heteroplasia.
2. motor control assembly as claimed in claim 1, is characterized in that,
Described judging part has:
Accumulative total handling part, be added the turn-on time of its described switch portion that described make-and-break time test section is detected, then deduct the opening time of described switch portion, the accumulation conduction time of calculating described switch portion;
First threshold comparing section, it compares described accumulation conduction time and the threshold value of described power operational mode and the threshold value of described regeneration mode;
Anomalous discrimination portion, it exceedes the threshold value of described power operational mode in described accumulation conduction time, differentiates for supply voltage extremely, exceedes the threshold value of described regeneration mode conduction time in described accumulation, differentiates for heteroplasia.
3. motor control assembly as claimed in claim 1, is characterized in that,
Described judging part exceedes threshold value the continuous conduction time of described switch portion under described regeneration mode, is judged as supply voltage abnormal.
4. motor control assembly as claimed in claim 3, is characterized in that,
Described judging part has:
Continuously conduction time test section, its detection detects from described make-and-break time test section the continuous conduction time that the on-state of described switch portion starts,
Second Threshold comparing section, it compares described continuous conduction time and described threshold value, and
Anomalous discrimination portion, it is under described regeneration mode, exceed described threshold value described continuous conduction time in the situation that, differentiate for supply voltage abnormal.
5. motor control assembly as claimed in claim 1, is characterized in that,
The size of the threshold value of described power operational mode is less than the size of the threshold value of described regeneration mode.
6. motor control assembly as claimed in claim 3, is characterized in that,
The turn-on time once that the threshold value of more described continuous conduction time is greater than described switch portion when repeatedly connecting, disconnect under described regeneration mode.
7. motor control assembly as claimed in claim 1, is characterized in that,
Also have motor driving condition judging part, this motor driving condition judging part uses torque instruction and the rotary speed of described motor, detects described power operational mode and described regeneration mode.
8. motor control assembly as claimed in claim 7, is characterized in that,
Described motor driving condition judging part, after detecting and being described regeneration mode, maintains the testing result of regeneration mode at certain hour.
9. motor control assembly as claimed in claim 8, is characterized in that,
Described motor driving condition judging part, in the time repeatedly detecting power operational mode and regeneration mode, differentiates for regeneration mode.
10. motor control assembly as claimed in claim 7, is characterized in that,
According to the rotary speed of described motor, make to judge the threshold stage of power operational mode and regeneration mode or continuity for described motor driving condition judging part and change.
11. motor control assemblies as claimed in claim 1, is characterized in that,
Described switch portion has:
Detect described direct voltage main circuit direct voltage test section,
Fiducial value comparing section that the direct voltage detecting and fiducial value are compared,
Regenerated crystal pipe that described regeneration resistance is connected with described converter,
The described direct voltage detecting exceedes in the situation of fiducial value connects described regenerated crystal pipe, makes the regenerated crystal pipe drive division of described regeneration resistance energising.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013081350A JP5658785B2 (en) | 2013-04-09 | 2013-04-09 | Motor control device |
| JP2013-081350 | 2013-04-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104104304A true CN104104304A (en) | 2014-10-15 |
| CN104104304B CN104104304B (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410128528.7A Expired - Fee Related CN104104304B (en) | 2013-04-09 | 2014-04-01 | Motor control assembly |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5658785B2 (en) |
| KR (1) | KR101883334B1 (en) |
| CN (1) | CN104104304B (en) |
| TW (1) | TWI597931B (en) |
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| CN108462426A (en) * | 2017-02-20 | 2018-08-28 | 株式会社安川电机 | Motor control assembly and motor control method |
| CN110460254A (en) * | 2018-05-07 | 2019-11-15 | 株式会社电装 | Control circuit for electric power converter |
| CN111049459A (en) * | 2019-12-31 | 2020-04-21 | 哈尔滨工业大学 | Braking method of air conditioner driving device of permanent magnet synchronous motor without electrolytic capacitor |
| CN112975936A (en) * | 2019-12-13 | 2021-06-18 | 精工爱普生株式会社 | Motor drive system and robot |
| CN113411033A (en) * | 2021-07-15 | 2021-09-17 | 中冶赛迪工程技术股份有限公司 | Method for judging input overvoltage of load with motor of frequency converter |
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| JP6973336B2 (en) * | 2018-09-11 | 2021-11-24 | 株式会社明電舎 | Power element diagnostic device |
| JP2020046955A (en) * | 2018-09-19 | 2020-03-26 | 株式会社東芝 | AC input device |
| TWI777544B (en) * | 2020-11-02 | 2022-09-11 | 立錡科技股份有限公司 | Brushless dc electric (bldc) motor driver circuit |
| US11843344B2 (en) | 2020-11-02 | 2023-12-12 | Richtek Technology Corporatiion | Brushless DC electric (BLDC) motor driver circuit |
| JP7350120B1 (en) * | 2022-03-22 | 2023-09-25 | 日立建機株式会社 | electric work machine |
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| CN113411033A (en) * | 2021-07-15 | 2021-09-17 | 中冶赛迪工程技术股份有限公司 | Method for judging input overvoltage of load with motor of frequency converter |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI597931B (en) | 2017-09-01 |
| KR20140122179A (en) | 2014-10-17 |
| CN104104304B (en) | 2018-01-19 |
| JP5658785B2 (en) | 2015-01-28 |
| TW201509112A (en) | 2015-03-01 |
| JP2014204633A (en) | 2014-10-27 |
| KR101883334B1 (en) | 2018-07-30 |
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