CN105099285A - Motor driving device and control method for same - Google Patents
Motor driving device and control method for same Download PDFInfo
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- CN105099285A CN105099285A CN201510169330.8A CN201510169330A CN105099285A CN 105099285 A CN105099285 A CN 105099285A CN 201510169330 A CN201510169330 A CN 201510169330A CN 105099285 A CN105099285 A CN 105099285A
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Abstract
The invention provides a motor driving device and a control method for same to reduce excessive feeding of electrode consumption. A feeding order value (Cw) and a feedback value (Fw) are comparatively calculated by a comparison calculation circuit (41) to output a control value (Ea); a pulse period (Ps) of a pulse signal (Re) output by a rotation encoder (R1) by a period measuring circuit (42) according to rotation speed of a motor (M1); the pulse period is converted to a feedback value by a period conversion circuit (43); the pulse period and abnormal detection set time (Et1) are compared by an abnormal detection circuit (44) to output an abnormal detection signal (Erl); a control value of the comparison calculation circuit and a feeding bench value (Ms) of a bench value setting circuit (45) are selectively switched based on the abnormal detection signal by a switch (SW1); and a driving circuit (32) outputs a driving signal (Dr) driving the motor to rotate based on the control value or the bench value switched by the switch.
Description
Technical field
The present invention relates to the control method of motor drive and motor drive.
Background technology
In the past, the arc welding machine using sacrificial electrode to carry out arc welding has the feedway supplied to welding object by sacrificial electrode.Feedway has rotary encoder, and this rotary encoder exports the pulse signal corresponding with the rotating speed of the motor for feeding sacrificial electrode.The control device of arc welding machine monitors the amount of feeding of sacrificial electrode based on the pulse signal exported from feedway, and controls (such as with reference to patent documentation 1) with the rotation of mode to the motor of feedway supplied to welding object by the sacrificial electrode of the amount corresponding with welding.
At first technical literature
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2002-172464 publication
But when the exception that the fault etc. of the broken string or rotary encoder that there occurs the holding wire that transmits above-mentioned pulse signal etc. is such, motor rotates with maximum (top) speed, and welding wire is exceedingly supplied.Thus, welding wire is unnecessarily consumed or causes welding quality to reduce.
Summary of the invention
The present invention proposes to solve above-mentioned problem, its object is to the excessive feeding reducing sacrificial electrode.
The motor drive solving above-mentioned problem is contained in and carries out by sacrificial electrode the bonding machine that welds, the motor of sacrificial electrode described in feeding is driven, described motor drive has: comparison operation circuit, and it compares computing to generate controlling value to feeding command value and feeding return value; Reference value circuit, it exports feeding fiducial value; Commutation circuit, it is according to the first anomaly detection signal, optionally switches described controlling value and described feeding fiducial value and exports; Drive circuit, it exports according to the output valve of described commutation circuit the drive singal driving described motor; Period measurement circuit, the value of its result that will measure the cycle of the pulse signal corresponding with the rotation of described motor and obtain exports; Signaling conversion circuit, the output valve of described period measurement circuit is converted to described feeding return value by it; And abnormal detection circuit, the output valve of described period measurement circuit and the first benchmark decision content compare by it, and export described first anomaly detection signal according to comparative result.
According to this structure, when have selected controlling value, based on feeding command value and feeding return value, and generate the drive singal of drive motor according to feeding command value.When have selected feeding fiducial value, generate the drive singal of drive motor according to this feeding fiducial value.When there occurs pulse signal not with the exception of pulse type change, replacing controlling value and use feeding fiducial value to carry out drive motor, motor can be made thus not to be maximum (top) speed with motor, but rotate with the rotating speed corresponding with feeding fiducial value.Owing to carrying out feeding sacrificial electrode by motor, therefore by suppressing lower by the rotating speed of this motor, the excessive feeding of sacrificial electrode can be suppressed.
In above-mentioned motor drive, the output valve of described period measurement circuit and the second benchmark decision content larger than described first benchmark decision content compare by preferred described abnormal detection circuit, and the second anomaly detection signal is exported according to comparative result, described motor drive also has the second commutation circuit, this second commutation circuit is supplied to the initiating signal that the feeding that is used to indicate described sacrificial electrode starts, and according to described second anomaly detection signal switch for the described initiating signal of described comparison operation circuit supply or supply stop, the mode that described comparison operation circuit makes described motor stop stopping according to the supply of described initiating signal generates described controlling value.
According to this structure, when pulse signal does not reach the second benchmark decision content with the state continuance of pulse type change, the supply of the signal that stops, makes motor stop thus, thus the feeding of the sacrificial electrode undertaken by this motor can be made to stop.
In above-mentioned motor drive, preferred described abnormal detection circuit when generating described second anomaly detection signal in the mode making the supply of described initiating signal stop, so that the controlling value from described comparison operation circuit is generated described first anomaly detection signal to the mode that described drive circuit supplies.
According to this structure, stop according to the supply of initiating signal and the controlling value by comparison operation circuit evolving is supplied to drive circuit, making motor stop thus, thus the feeding of the sacrificial electrode undertaken by this motor can be made to stop.
In above-mentioned motor drive, preferred described period measurement circuit based on described pulse signal rising and decline and measure half period of described pulse signal, and the value of the result of this mensuration to be exported.
According to this structure, measure pulse signal from the half period till rising to decline with from the half period till dropping to rising.Therefore, it is possible to control motor according to the exception occurred after the rising of pulse signal and after declining.
In the control method of motor drive solving above-mentioned problem, described motor drive is contained in and carries out by sacrificial electrode the bonding machine that welds, the motor of sacrificial electrode described in feeding is driven, in the control method of described motor drive, computing is compared to generate controlling value to feeding command value and feeding return value, according to the first anomaly detection signal, described controlling value and feeding fiducial value are selected, and generate according to the described controlling value selected or described feeding fiducial value the drive singal driving described motor, measure the cycle of the pulse signal corresponding with the rotation of described motor, it is described feeding return value by the periodic conversion of described pulse signal, the cycle of described pulse signal and the first benchmark decision content are compared, and generate described first anomaly detection signal according to comparative result.
According to this formation, when have selected controlling value, based on feeding command value and feeding return value, and generate the drive singal of drive motor according to feeding command value.When have selected feeding fiducial value, generate the drive singal of drive motor according to this feeding fiducial value.When there occurs pulse signal not with the exception of pulse type change, replacing controlling value and use feeding fiducial value to carry out drive motor, motor can be made thus not to be maximum (top) speed with motor, but rotate with the rotating speed corresponding with feeding fiducial value.Owing to carrying out feeding sacrificial electrode by motor, therefore by suppressing lower by the rotating speed of this motor, thus the excessive feeding of sacrificial electrode can be suppressed.
Invention effect
According to the present invention, the excessive feeding of sacrificial electrode can be reduced.
Accompanying drawing explanation
Fig. 1 is the sketch of arc welding machine.
Fig. 2 is the electrical diagram of motor drive circuit.
Fig. 3 is the oscillogram of the action that motor drive circuit is described.
Fig. 4 is the oscillogram of the action that motor drive circuit is described.
Fig. 5 is the oscillogram of the action that motor drive circuit is described.
Fig. 6 is the block diagram of the motor drive circuit of comparative example.
Fig. 7 is the oscillogram of the action of the motor drive circuit that comparative example is described.
Fig. 8 is the oscillogram of the action of the motor drive circuit that comparative example is described.
Embodiment
Below, an execution mode is described.
As shown in Figure 1, arc welding machine 10 has welding power supply 11, feedway 12, welding torch 13.Welding object 21 is connected with welding power supply 11.
Welding power supply 11 has control device 14.Control device 14 controls the weld power that the welding wire 15 kept in welding torch 13 from welding power supply 11 supplies.In addition, control device 14 pairs of feedwaies 12 control, and are supplied by welding wire 15 from feedway 12 to welding object 21.
Feedway 12 have for by welding wire 15 to the motor of welding object feeding and the transducer of rotation being used for detecting this motor.Such as, motor is servomotor, and transducer is installed on the rotary encoder of motor with being integrated.Rotary encoder is by the output of pulse signal in the cycle corresponding with the rotating speed of motor.Control device 14 carrys out drive motor based on pulse signal.That is, control device 14 carries out the so-called FEEDBACK CONTROL that will be controlled by the pulse signal corresponding with the circuit of this motor the drive singal of motor.
As shown in Figure 2, control device 14 has motor drive 30, and this motor drive 30 is connected with the motor M1 comprised in the feedway 12 shown in Fig. 1 and rotary encoder R1.
Motor drive 30 has electromotor control circuit 31 and drive circuit 32.Electromotor control circuit 31 is such as digital processing circuit that central operation processing unit (CPU) or CPU comprise.Electromotor control circuit 31 carries out action based on initiating signal St, and based on feeding command value Cw and from rotary encoder R1 pulse signal Re and export controlling value Ea.Controlling value Ea is converted to drive singal Dr by drive circuit 32.Drive singal Dr is the signal of the level of drive motor M1.
In the present embodiment, motor drive 30 controls drive motor M1 by pulse width modulation (PWM).Drive circuit 32 exports the drive singal Dr of the pulse duration corresponding with the value of controlling value Ea.Such as, the value of controlling value Ea is larger, and drive circuit 32 makes the pulse duration of drive singal Dr wider.The pulse duration of drive singal Dr is corresponding with the time applying driving voltage to motor M1.Therefore, the pulse duration increasing drive singal Dr can increase the power that motor M1 will be made to rotate.In addition, the pulse duration increasing drive singal Dr can make the rotary speed of motor M1 accelerate.
Electromotor control circuit 31 has comparison operation circuit 41, period measurement circuit 42, periodic conversion circuit 43, abnormal detection circuit 44, reference value circuit 45, interrupteur SW 1, SW2.
Initiating signal St supplies to comparison operation circuit 41 via interrupteur SW 2.Interrupteur SW 2 carries out on-off based on anomaly detection signal Er2 described later.
Initiating signal St is the signal of the feeding/stopping of the welding wire 15 shown in indicator diagram 1, the i.e. starting/stopping of instruction feedway 12 (motor M1).Such as, the initiating signal St of H level is corresponding with the feeding (starting of motor M1) of welding wire 15, and the initiating signal St of L level stops (stopping of motor M1) corresponding with the feeding of welding wire 15.
Interrupteur SW 2 carries out on-off based on the anomaly detection signal Er2 from abnormal detection circuit 44.Such as, interrupteur SW 2 based on L level anomaly detection signal Er2 and connect, based on H level anomaly detection signal Er2 and disconnect.When interrupteur SW 2 is connected, initiating signal St is supplied to comparison operation circuit 41, when interrupteur SW 2 disconnects, the supply of the signal St that stops.
Feeding command value Cw is supplied to comparison operation circuit 41.In addition, the feeding value of feedback Fw from periodic conversion circuit 43 described later is supplied to comparison operation circuit 41.
Comparison operation circuit 41, in response to the initiating signal St of H level, carries out calculation process to feeding command value Cw and feeding value of feedback Fw and generates controlling value Ea.Comparison operation circuit 41 generates controlling value Ea to make the minimum mode of the difference of feeding command value Cw and feeding value of feedback Fw.Calculation process is such as PID arithmetic.Proportionality coefficient is Kp, and differential coefficient is Kd, and integral coefficient is Ki.
Comparison operation circuit 41 is the digital processing circuits carrying out calculation process every official hour.Comparison operation circuit 41 has the memory circuits such as register, stores each value (feeding command value Cw, feeding value of feedback Fw) of each calculation process in this memory circuit.
The controlling value Ea calculated in regulation moment (t) is set to Ea (t).Comparison operation circuit 41 stores feeding command value Cw (t) and feeding value of feedback Fw (t) in this moment (t).Comparison operation circuit 41 stores moment (t-1) in the past, the feeding command value Cw (t-1) of (t-2), Cw (t-2), feeding value of feedback Fw (t-1), Fw (t-2).
Arithmetic expression in PID arithmetic is such as following formula (1).
Ea(t)＝Kp×(e(t)-e(t-1))+Ki×e(t)
+Kd×((e(t)-e(t-1))-(e(t-1)-e(t-2)))…(1)
e(t)＝Cw(t)-Fw(t)
e(t-1)＝Cw(t-1)-Fw(t-1)
e(t-2)＝Cw(t-2)-Fw(t-2)
Comparison operation circuit 41 reads each value from memory, and calculates the value of controlling value Ea (t) according to above-mentioned formula (1).Then, comparison operation circuit 41 exports the controlling value Ea of the value calculated.Controlling value Ea supplies to interrupteur SW 1.
Interrupteur SW 1 has switched terminal Ta, Tb and common terminal Tc.Supply the controlling value Ea from comparison operation circuit 41 to switched terminal Ta, supply the feeding fiducial value Ms from reference value circuit 45 to switched terminal Tb.Common terminal Tc is connected with drive circuit 32.Common terminal Tc, based on the anomaly detection signal Er1 from abnormal detection circuit 44, is connected to switched terminal Ta with switched terminal Tb switching by interrupteur SW 1.Such as, interrupteur SW 1 based on L level anomaly detection signal Er1 and common terminal Tc is connected with switched terminal Ta.Thus, the controlling value Ea from comparison operation circuit 41 is supplied to drive circuit 32.In addition, interrupteur SW 1 based on H level anomaly detection signal Er1 and common terminal Tc is connected with switched terminal Tb.Thus, the feeding fiducial value Ms from reference value circuit 45 is supplied to drive circuit 32.
Drive circuit 32 exports the drive singal Dr of the pulse corresponding with the controlling value Ea supplied via interrupteur SW 1 or feeding fiducial value Ms.Motor M1 is rotated by drive singal Dr.Rotary encoder R1 exports the pulse signal Re in the cycle corresponding with the rotating speed of motor M1.
Period measurement circuit 42 measures the pulse period of the pulse signal Re from rotary encoder R1, and is exported by the value Ps (hereinafter referred to as pulse period Ps) of the pulse period as this measurement result.In the present embodiment, period measurement circuit 42 measures the half period of pulse signal Re.
Such as, period measurement circuit 42 has timing circuit, using by this timing circuit, the time (count value) of timing exports as pulse period Ps.Period measurement circuit 42 pulse signal Re rising and decline time produce interruption respectively.Period measurement circuit 42 keeps the count value of (hold) timing circuit based on interruption, the count value of this maintenance exported as pulse period Ps, and makes count value reset (=0).It should be noted that, period measurement circuit 42 (such as based on initiating signal St) when starting makes the count value of timing circuit reset (=0) and starts counting.
Therefore, during pulse period Ps alternately represents the H level of interval, the i.e. alternately indicating impulse signal Re of the interruption produced because of the rising of pulse signal Re and decline and during L level.
On the other hand, when pulse signal Re is fixed level (such as L level), the value of pulse period Ps continues to increase.Therefore, when pulse signal Re is fixed level, during pulse period Ps indicating impulse signal Re is fixed level.
Pulse period Ps from period measurement circuit 42 is converted to the feeding value of feedback Fw corresponding with feeding command value Cw by periodic conversion circuit 43.In the present embodiment, feeding command value Cw is the target rotational speed of motor M1.Therefore, pulse period Ps is converted to rotary speed and the feeding value of feedback Fw of motor M1 by periodic conversion circuit 43.Such as, periodic conversion circuit 43 according to the following formula (2) pulse period Ps is converted to feeding value of feedback Fw.
Fw＝1/(Px×(2×Ps))…(2)
Wherein, the Px of above-mentioned formula (2) turns around and the umber of pulse of the pulse signal Re exported by rotary encoder R1 by making motor M1 revolve.
Abnormal detection circuit 44 has the memory circuits such as register, in this memory circuit, store two abnormality detection setting-up times Et1, Et2.Abnormality detection setting-up time Et1 is set to the value (Et1 < Et2) less than abnormality detection setting-up time Et2.Such as, abnormality detection setting-up time Et1 is set to 100 ~ 150 milliseconds (ms), and abnormality detection setting-up time Et2 is set to 500 ~ 700 milliseconds (ms).
Abnormal detection circuit 44 compares from the pulse period Ps of period measurement circuit 42 and abnormality detection setting-up time Et2, and is exported by the anomaly detection signal Er2 corresponding with comparative result.In addition, abnormal detection circuit 44 compares from the pulse period Ps of period measurement circuit 42 and abnormality detection setting-up time Et1, and is exported by the anomaly detection signal Er1 corresponding with comparative result.
Such as, anomaly detection signal Er1, Er2 of L level are exported by initial setting by abnormal detection circuit 44.Interrupteur SW 2 is connected according to the anomaly detection signal Er2 of L level.Via the interrupteur SW 2 after connection, initiating signal St is supplied to comparison operation circuit 41.Interrupteur SW 1 makes common terminal Tc be connected with switched terminal Ta according to the anomaly detection signal Er1 of L level.Thus, the controlling value Ea from comparison operation circuit 41 is supplied to drive circuit 32 via interrupteur SW 1.The drive singal Dr corresponding with controlling value Ea exports by drive circuit 32.Motor M1 rotates according to drive singal Dr.
Pulse period Ps than abnormality detection setting-up time Et1 large and be abnormality detection below setting-up time Et2 time (Et1 < Ps≤Et2), abnormal detection circuit 44 exports the anomaly detection signal Er1 of H level.Now, abnormal detection circuit 44 exports the anomaly detection signal Er2 of L level.
Interrupteur SW 2 makes on-state continue by the anomaly detection signal Er2 of L level.Interrupteur SW 1 makes common terminal Tc be connected with switched terminal Tb by the anomaly detection signal Er1 of H level.Thus, the feeding fiducial value Ms from reference value circuit 45 is supplied to drive circuit 32 via interrupteur SW 1.The drive singal Dr corresponding with feeding fiducial value Ms exports by drive circuit 32.Motor M1 rotates according to drive singal Dr.
Further, when pulse period Ps larger than abnormality detection setting-up time Et2 (Et2 < Ps), the anomaly detection signal Er1 of the anomaly detection signal Er2 of H level and L level such as exports by abnormal detection circuit 44.Interrupteur SW 2 disconnects according to the anomaly detection signal Er2 of H level.Thus, to stop the supply of signal St to comparing computing circuit 41.Interrupteur SW 1 makes common terminal Tc be connected with switched terminal Ta according to the anomaly detection signal Er1 of L level.Thus, the controlling value Ea from comparison operation circuit 41 is supplied to drive circuit 32 via interrupteur SW 1.
By the disconnection of interrupteur SW 2, become and do not supply initiating signal St to comparison operation circuit 41, therefore comparison operation circuit 41 generates controlling value Ea in the mode making motor M1 and stop.Interrupteur SW 1 based on L level anomaly detection signal Er1 and common terminal Tc is connected with switched terminal Ta.Thus, controlling value Ea is supplied to drive circuit 32, motor M1 is stopped.Therefore, when pulse signal Re does not exceed abnormality detection setting-up time Et2 with the no pulse state of pulse type change, motor M1 is stopped.Thus, the supply of welding wire 15 stops.
Above-mentioned abnormality detection setting-up time Et2 is that encoder is abnormal makes the feeding of welding wire 15 stop and the time of setting in order to detect.The abnormality detection setting-up time Et1 less than abnormality detection setting-up time Et2 be when encoder exception or encoder may abnormal in order to limit the feeding of welding wire and time of setting.
Encoder is abnormal comprises abnormal, such as rotary encoder R1 the fault relevant to rotary encoder R1, broken string (rotary encoder R1 or the distribution etc. between motor M1 and motor drive 30).As mentioned above, pulse period Ps represents the half period of this pulse signal Re when pulse signal Re changes with pulse type, when pulse signal Re be fixed level reach more than the imaginary cycle (half period) time, during representing this fixed level (from the last time reset elapsed time).
When there is not encoder exception, pulse signal Re changes with pulse type according to the rotation of motor M1.Therefore, the feeding value of feedback Fw calculated by above-mentioned formula (2) is changed according to the rotating speed of motor M1.Further, based on the controlling value Ea calculated according to feeding value of feedback Fw, control to make the rotation of the feeding value of feedback Fw mode consistent with feeding command value Cw to motor M1.
On the other hand, when there occurs encoder exception, pulse signal Re becomes fixed level.When the pulse signal Re of fixed level, the feeding value of feedback Fw generated by periodic conversion circuit 43 is roughly " 0 ".The feeding value of feedback Fw that comparison operation circuit 41 is roughly " 0 " based on this value calculates controlling value Ea.Based on this controlling value Ea, motor M1 is driven feeding welding wire 15 with maximum (top) speed.Therefore, the welding wire 15 that meeting feeding is excessive when there occurs encoder and being abnormal.The unnecessary consumption or welding quality that cause welding wire reduce by the oversupply of such welding wire 15.
When pulse period Ps becomes larger than abnormality detection setting-up time Et1, abnormal detection circuit 44 exports the anomaly detection signal Er1 of H level.
Interrupteur SW 1 makes common terminal Tc be connected with switched terminal Tb in response to the anomaly detection signal Er1 of H level.Thus, the feeding fiducial value Ms that reference value circuit 45 exports is supplied to drive circuit 32 via interrupteur SW 1.Drive circuit 32 exports the drive singal Dr of the pulse duration corresponding with this feeding fiducial value Ms based on feeding fiducial value Ms.Therefore, the rotating speed of motor M1 becomes the value corresponding with feeding fiducial value Ms.Feeding welding wire 15 is carried out by the rotation of this motor M1.
When feeding command value Cw is larger value, such as, set the feeding fiducial value Ms of reference value circuit 45 according to feeding command value Cw.As mentioned above, when there occurs encoder exception, motor M1 rotates with maximum (top) speed.This maximum (top) speed is larger than feeding command value Cw.Further, export the anomaly detection signal Er1 of H level until abnormal detection circuit 44 till, motor M1 rotates with this maximum (top) speed.Therefore, according to making motor M1 set feeding fiducial value Ms in the mode that the rotating speed corresponding with feeding command value Cw carries out rotating.Thus, the amount of feeding of the welding wire 15 after abnormality detection setting-up time Et1 becomes and the amount of encoder abnormal phase with degree does not occur.In addition, by making above-mentioned abnormality detection setting-up time Et1 be little value, motor M1 shortens during carrying out rotating with maximum (top) speed thus, thus the amount of feeding of welding wire 15 tails off.
When feeding command value Cw is smaller value, imagination for the high capacity of the feeding of welding wire 15 situation and set feeding fiducial value Ms.When feeding command value Cw is smaller value, if set feeding fiducial value Ms according to feeding command value Cw, then feeding fiducial value Ms also diminishes.When the feeding fiducial value Ms of setting like this, motor M1 non rotating (situation of such as high capacity), thus can not obtain with the pulse signal Re of pulse type change.Therefore, feeding value of feedback Fw roughly becomes " 0 ", therefore is judged to be that encoder is abnormal.
Such as, the feedway 12 shown in Fig. 1 is connected with welding torch 13 via single-line type power cable.Single-line type power cable is such as provided with the wire-feeding pipe for guiding welding wire 15 at center, be provided with the flexible pipe for flowing through gas in its periphery.Further, the wire for supplying weld power is coated with in the periphery of this flexible pipe, the covering and most peripheral is insulated.
Therefore, welding wire 15 and the inner circumferential sliding contact of single-line type power cable and carried to welding torch 13 by from feedway 12.Thus, because of the dregs of welding wire 15 such as wiped off by power cable, the resistance (load) of the feeding to welding wire 15 is produced.Further, according to the rate of curving of power cable and material, the thickness of welding wire 15, resistance (load) is produced when the feeding of welding wire 15.
Such load is the main cause of the rotation hindering motor M1.Further, in high-load situations, this, motor M1 is the state being difficult to rotate.When motor M1 non rotating, cannot obtain with the pulse signal Re of pulse type change, therefore feeding value of feedback Fw roughly becomes " 0 ".In this case, be judged to be that encoder is abnormal.That is, even if holding wire etc. do not have fault, if no pulse state continuance abnormality detection more than setting-up time Et2, then also erroneous judgement is decided to be encoder extremely.
In such a state, by supplying the wide drive singal Dr of pulse duration from drive circuit 32, motor M1 can be made to rotate.Even if according to the mode also making motor M1 rotate for such high capacity to set feeding fiducial value Ms.Further, so under high load, above-mentioned abnormality detection setting-up time Et2 is set in the mode of the rotation that can be confirmed motor M1 by feeding fiducial value Ms.In other words, even if for high capacity, also in the mode making motor M1 rotate to abnormality detection setting-up time Et2 to set feeding fiducial value Ms.
Then, the action (effect) of above-mentioned motor drive 30 is described.
First, action when illustrating normal.
Set feeding command value Cw as shown in Figure 3.Motor drive 30 shown in Fig. 2 is output drive signal Dr based on feeding command value Cw and feeding value of feedback Fw.By this drive singal Dr, motor M1 rotates, the pulse signal Re of production burst shape.The periodic conversion of pulse signal Re is feeding value of feedback Fw by motor drive 30.
Feeding command value Cw be just endowed step-like after, feeding value of feedback Fw is " 0 ".Feeding value of feedback Fw rises along with the rotation of motor M1.Further, motor drive 30 controls drive singal Dr to make the feeding value of feedback Fw mode consistent with feeding command value Cw.The motor M1 being undertaken rotating by this drive singal Dr is utilized to carry out feeding welding wire 15.
Then, the situation of encoder exception is described.
As an example, illustrate when arc welding machine 10 starts to be the situation of encoder exception.In this case, pulse period Ps represents the elapsed time from the starting of arc welding machine 10.
Set feeding command value Cw as shown in Figure 4.Motor drive 30 shown in Fig. 2 is output drive signal Dr based on feeding command value Cw and feeding value of feedback Fw.
When encoder exception, the pulse signal Re in the input terminal of the period measurement circuit 42 shown in Fig. 2 is fixed level.Therefore, as shown in Figure 4, feeding value of feedback Fw becomes the state of maintenance " 0 ".Motor drive 30 improves controlling value Ea, to make feeding value of feedback Fw consistent with feeding command value Cw.Thus, motor M1 becomes maximum (top) speed.Feeding welding wire 15 is carried out with the speed Ws corresponding with the rotation of this motor M1.It should be noted that, the solid line Wc shown in the hypomere of Fig. 4 represents the feed speed of the welding wire 15 when motor M1 being rotated by feeding command value Cw.
When pulse period Ps becomes abnormality detection more than setting-up time Et1 (moment T1), the anomaly detection signal Er1 that motor drive 30 shown in Fig. 2 generates H level carrys out control switch SW1, is supplied by the feeding fiducial value Ms from reference value circuit 45 to drive circuit 32.Drive circuit 32 generates the drive singal Dr corresponding with feeding fiducial value Ms.Feeding fiducial value Ms sets according to feeding command value Cw.Thus, the feed speed Ws step-down of welding wire 15.
Then, when pulse period Ps becomes abnormality detection more than setting-up time Et2 (moment T2), the motor drive 30 shown in Fig. 2 generates the anomaly detection signal Er2 of H level and interrupteur SW 2 is disconnected.Further, the anomaly detection signal Er1 that motor drive 30 generates L level carrys out control switch SW1, is supplied by the controlling value Ea from comparison operation circuit 41 to drive circuit 32.Drive circuit 32 generates the drive singal Dr corresponding with controlling value Ea.Now, due to the disconnection of interrupteur SW 2, initiating signal St stops, and therefore comparison operation circuit 41 generates controlling value Ea in the mode making motor M1 and stop.Therefore, the drive singal Dr of pulse type stops, and motor M1 stops.The supply of welding wire 15 stops thus.
It should be noted that, when there occurs encoder exception in the use of arc welding machine 10, the rotating speed of motor M1 rises from the rotating speed corresponding with feeding command value Cw to maximum (top) speed.Afterwards, when pulse period Ps becomes abnormality detection more than setting-up time Et1, reduce to the rotating speed corresponding with feeding fiducial value Ms.Welding wire 15 is by with the speed Ws feeding corresponding with the rotation of motor M1.Further, when pulse period Ps becomes abnormality detection more than setting-up time Et2, motor M1 is stopped.The supply of welding wire 15 stops thus.
Then, action when high capacity, low feeding command value Cw is described.
Set feeding command value Cw as shown in Figure 5.Motor drive 30 shown in Fig. 2 is output drive signal Dr based on feeding command value Cw and feeding value of feedback Fw.
In high-load situations, this, motor M1 is difficult to rotate.Therefore, the pulse signal Re of not production burst shape, thus feeding value of feedback Fw becomes the state of maintenance " 0 ".Motor drive 30 improves controlling value Ea, to make feeding value of feedback Fw consistent with feeding command value Cw.Thus, the pulse duration of drive singal Dr broadens.
When pulse period Ps becomes abnormality detection more than setting-up time Et1 (moment T1), the anomaly detection signal Er1 that motor drive 30 shown in Fig. 2 generates H level carrys out control switch SW1, thus is supplied to drive circuit 32 by the feeding fiducial value Ms from reference value circuit 45.Drive circuit 32 generates the drive singal Dr corresponding with feeding fiducial value Ms.In this case, feeding fiducial value Ms is set to: even if also make motor M1 rotate till abnormality detection setting-up time Et2 for high capacity.
When by drive singal Dr, motor M1 rotates, the pulse signal Re of production burst shape.By the cycle of this pulse signal Re, feeding value of feedback Fw rises.Further, the anomaly detection signal Er1 being generated L level by pulse period Ps carrys out control switch SW1, is supplied by the controlling value Ea from comparison operation circuit 41 to drive circuit 32.Therefore, generating the drive singal Dr corresponding with controlling value Ea makes motor M1 rotate.Therefore, elapsed time the supply from initiating signal St becomes the moment T2 of abnormality detection setting-up time Et2, pulse period Ps is large unlike abnormality detection setting-up time Et2, is not therefore judged to be that encoder is abnormal, and makes the rotation of motor M1 continue to supply welding wire 15.
Then, the comparative example relative with present embodiment is described.
It should be noted that, in the explanation of comparative example, to the component identical with present embodiment, use identical symbol.
In the motor drive 30 of the comparative example shown in Fig. 6, the controlling value Ea from comparison operation circuit 41 supplies directly to drive circuit 32.Pulse period Ps and abnormality detection setting-up time Eta compares and output abnormality detection signal Era by abnormal detection circuit 44a.Abnormality detection setting-up time Eta is such as equal with the abnormality detection setting-up time Et2 of above-mentioned execution mode.Interrupteur SW a carries out on-off based on anomaly detection signal Era.
As shown in Figure 7, in a comparative example, when there occurs encoder exception, until during pulse period Ps becomes the moment T21 larger than abnormality detection setting-up time Eta, make motor M1 rotate with maximum (top) speed by drive singal Dr.With the speed Ws feeding welding wire 15 corresponding with the rotation of this motor M1.
On the other hand, in the present embodiment, the abnormality detection setting-up time Et1 less than abnormality detection setting-up time Et2 and pulse period Ps is compared, according to comparative result, generates drive singal Dr based on the feeding fiducial value Ms from reference value circuit 45.Thus, the rotating speed of motor M1 is suppressed to lower than maximum (top) speed.Therefore, welding wire 15 shortens during carrying out feeding by the motor M1 of maximum (top) speed, inhibits the amount of feeding of welding wire 15.
It should be noted that, in a comparative example, consider the situation setting less by abnormality detection setting-up time Eta.Such as, make abnormality detection setting-up time Eta equal with the abnormality detection setting-up time Et1 of present embodiment.When setting like this, can shorten during motor M1 carries out rotating with maximum (top) speed.But in such setting, error detection increases.
Such as, as shown in Figure 8, when high capacity, little feeding command value Cw, motor M1 is difficult to rotate.In this case, the no pulse state continuance of pulse signal Re.Afterwards, the pulse signal Re of production burst shape by the rotation of motor M1, feeding value of feedback Fw rises.But, when the abnormality detection setting-up time Eta set according to the mode shortened during motor M1 carries out rotating with maximum (top) speed, become the moment T22 larger than abnormality detection setting-up time Eta at pulse period Ps, there is the situation that motor M1 not yet rotates.In this case, in a comparative example, although the holding wire of pulse signal Re etc. are not abnormal, also there is the error detection being judged to be encoder exception.Due to this error detection, motor M1 is stopped.
For this point, in the present embodiment, pulse period Ps and abnormality detection setting-up time Et2 is compared judge that encoder is abnormal.Therefore, in the present embodiment, error detection as described above can be suppressed.
As described above, according to the present embodiment, following effect is played.
(1) comparison operation circuit 41 couples of feeding command value Cw and feeding value of feedback Fw compare computing and export controlling value Ea.Period measurement circuit 42 measures the pulse period Ps of the pulse signal Re exported from rotary encoder R1 according to the rotating speed of motor M1.Pulse period Ps is converted to feeding value of feedback Fw by periodic conversion circuit 43.
Pulse period Ps and abnormality detection setting-up time Et1 compares by abnormal detection circuit 44, carrys out output abnormality detection signal Er1.Interrupteur SW 1, based on anomaly detection signal Er1, optionally switches the controlling value Ea from comparison operation the circuit 41 and feeding fiducial value Ms from reference value circuit 45.Drive circuit 32, according to the controlling value Ea be switched to by interrupteur SW 1 or feeding fiducial value Ms, exports the drive singal Dr for making motor M1 rotate.
When there occurs the pulse signal Re in period measurement circuit 42 not with the exception of pulse type change, by the drive singal Dr generated according to the feeding fiducial value Ms be optionally switched to by anomaly detection signal Er1, motor M1 is rotated.By the setting of feeding fiducial value Ms, motor M1 can be made to rotate with the rotating speed lower than maximum (top) speed.Its result, owing to carrying out feeding welding wire 15 by motor M1, therefore can suppress the excessive feeding of welding wire 15 by suppressing the rotating speed of motor M1.
(2) comparison operation circuit 41 is based on the supply of initiating signal St, exports the controlling value Ea corresponding with feeding command value Cw and feeding value of feedback Fw.Further, the mode that comparison operation circuit 41 makes motor M1 stop stopping according to the supply of initiating signal St exports controlling value Ea.Generate drive singal Dr by this controlling value Ea, make motor M1 stop thus, thus the feeding of the welding wire 15 undertaken by this motor M1 can be made to stop.
(3) period measurement circuit 42 pulse signal Re rising and decline time produce interruption respectively, measure the cycle (half period) of pulse signal Re.That is, period measurement circuit 42 measure pulse signal Re from the half period till rising to decline and pulse signal Re from the half period till dropping to rising.Therefore, pulse signal Re represents the elapsed time from rising or declining.Therefore, even if when there occurs encoder exception under any one level in the H level and L level of such as pulse signal Re, the elapsed time from this encoder is abnormal can both be measured.Further, based on this elapsed time, the control of the rotating speed of motor M1 and the stopping of motor M1 can reliably be carried out.
It should be noted that, above-mentioned execution mode can also be implemented by following form.
For above-mentioned execution mode, abnormal detection circuit 44 also can when pulse period Ps be abnormality detection more than setting-up time Et2 (Ps >=Et2), output example is as the anomaly detection signal Er2 of H level, when pulse period Ps less than abnormality detection setting-up time Et2 (Ps < Et2), output example is as the anomaly detection signal Er2 of L level.Equally, abnormal detection circuit 44 also can when pulse period Ps be abnormality detection more than setting-up time Et1 (Ps >=Et1), output example is as the anomaly detection signal Er1 of H level, when pulse period Ps less than abnormality detection setting-up time Et1 (Ps < Et1), output example is as the anomaly detection signal Er1 of L level.
It should be noted that, also can make more different relative to pulse period Ps of abnormality detection setting-up time Et1, Et2.Such as, when pulse period Ps is abnormality detection more than setting-up time Et2 (Ps >=Et2), output example is as the anomaly detection signal Er2 of H level, when pulse period Ps larger than abnormality detection setting-up time Et1 (Ps > Et1), output example is as the anomaly detection signal Er1 of H level.
In the above-described embodiment, period measurement circuit 42 also can based on interrupt signal, measure pulse signal Re from the half period till rising to decline with from either party half period till dropping to rising.
For above-mentioned execution mode, in period measurement circuit 42, also can measure the one-period of pulse signal Re based on either party in the interruption corresponding with rising and the interruption corresponding with decline.In this case, pulse period Ps is converted to feeding value of feedback Fw according to the determination period of period measurement circuit 42 by the periodic conversion circuit 43 shown in Fig. 2.So also can obtain the effect same with above-mentioned execution mode.
In the above-described embodiment, abnormality detection setting-up time Et1, Et2 can also be changed.Such as, by wired or wireless mode, the arc welding machine 10 shown in input unit with the Fig. 1 such as keyboard is connected, and sets abnormality detection setting-up time Et1, Et2 by this input unit.Such as, abnormality detection setting-up time Et1 is made to be the minimum value (such as " 0 ") of the value of the scope that can set.In this case, export the anomaly detection signal Er1 of H level when the starting of arc welding machine 10, motor M1 is driven with the rotating speed corresponding with feeding fiducial value Ms.Therefore, motor M1 can not rotate with maximum (top) speed.Further, such as, by setting feeding fiducial value Ms according to feeding command value Cw, thus can with the speed feeding welding wire 15 corresponding with feeding fiducial value Ms (=feeding command value Cw).And, by abnormality detection setting-up time Et2 being set as the maximum of the scope that can set, thus can continue to carry out arc welding process till abnormality detection setting-up time Et2.
In the above-described embodiment, by the rotary encoder R1 be connected with motor M1, generate the pulse signal Re corresponding with the rotating speed of this motor M1.Motor M1 is used for feeding welding wire 15, and the cycle from the pulse signal Re of rotary encoder R1 is corresponding with the feed speed of the welding wire 15 by motor M1 feeding.Therefore, such as also rotary encoder R1 can be connected with guiding the roller of welding wire 15 the pulse signal Re generating the cycle corresponding with the feed speed of welding wire 15.
In the above-described embodiment, by the rotary encoder R1 be connected with motor M1, generate the pulse signal Re corresponding with the rotating speed of this motor M1.Also can replace rotary encoder R and generate the pulse signal corresponding with the rotating speed of motor M1 by the rotation sensor employing Hall element etc.
Symbol description
10 arc welding machines
11 welding power supplys
12 feedwaies
15 welding wires (sacrificial electrode)
41 comparison operation circuit
42 period measurement circuit
43 periodic conversion circuit
44 abnormal detection circuits
45 reference value circuit
M1 motor
R1 rotary encoder (rotation sensor)
SW1, SW2 switch (commutation circuit)
Dr drive singal
Ea controlling value
Cw feeding command value
Ms feeding fiducial value
Fw feeding value of feedback (feeding return value)
The Ps pulse period
Re pulse signal
Er1 anomaly detection signal (the first anomaly detection signal)
Er2 anomaly detection signal (the second anomaly detection signal)
Et1 abnormality detection setting-up time (the first abnormality decision value)
Et2 abnormality detection setting-up time (the second abnormality decision value).
Claims (5)
1. a motor drive, it is contained in and carries out by sacrificial electrode the bonding machine that welds, and drive the motor of sacrificial electrode described in feeding, the feature of described motor drive is to have:
Comparison operation circuit, it compares computing to generate controlling value to feeding command value and feeding return value;
Reference value circuit, it exports feeding fiducial value;
Commutation circuit, it is according to the first anomaly detection signal, optionally switches described controlling value and described feeding fiducial value and exports;
Drive circuit, it exports according to the output valve of described commutation circuit the drive singal driving described motor;
Period measurement circuit, the value of its result that will measure the cycle of the pulse signal corresponding with the rotation of described motor and obtain exports;
Signaling conversion circuit, the output valve of described period measurement circuit is converted to described feeding return value by it; And
Abnormal detection circuit, the output valve of described period measurement circuit and the first benchmark decision content compare by it, and export described first anomaly detection signal according to comparative result.
2. motor drive according to claim 1, is characterized in that,
The output valve of described period measurement circuit and the second benchmark decision content larger than described first benchmark decision content compare by described abnormal detection circuit, and export the second anomaly detection signal according to comparative result,
Described motor drive also has the second commutation circuit, this second commutation circuit is supplied to the initiating signal that the feeding that is used to indicate described sacrificial electrode starts, and according to described second anomaly detection signal switch for the described initiating signal of described comparison operation circuit supply or supply stop
The mode that described comparison operation circuit makes described motor stop stopping according to the supply of described initiating signal generates described controlling value.
3. motor drive according to claim 2, is characterized in that,
Described abnormal detection circuit when generating described second anomaly detection signal in the mode making the supply of described initiating signal stop, so that the controlling value from described comparison operation circuit is generated described first anomaly detection signal to the mode that described drive circuit supplies.
4. the motor drive according to any one of claims 1 to 3, is characterized in that,
Described period measurement circuit based on described pulse signal rising and decline and measure half period of described pulse signal, and the value of the result of this mensuration to be exported.
5. a control method for motor drive, this motor drive is contained in and carries out by sacrificial electrode the bonding machine that welds, and drive the motor of sacrificial electrode described in feeding, the feature of the control method of described motor drive is,
Computing is compared to generate controlling value to feeding command value and feeding return value,
According to the first anomaly detection signal, described controlling value and feeding fiducial value are selected, and generate according to the described controlling value selected or described feeding fiducial value the drive singal driving described motor,
Measure the cycle of the pulse signal corresponding with the rotation of described motor,
Be described feeding return value by the periodic conversion of described pulse signal,
The cycle of described pulse signal and the first benchmark decision content are compared, and generates described first anomaly detection signal according to comparative result.
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| JP2014-096908 | 2014-05-08 | ||
| JP2014096908A JP6307343B2 (en) | 2014-05-08 | 2014-05-08 | Motor driving device and control method of motor driving device |
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| CN110168452A (en) * | 2017-02-21 | 2019-08-23 | 欧姆龙株式会社 | Controller for motor |
| CN111164893A (en) * | 2018-04-03 | 2020-05-15 | 富士电机株式会社 | Drive circuit, drive method, and semiconductor system |
| CN111795199A (en) * | 2020-07-17 | 2020-10-20 | 苏州英诺威视图像有限公司 | Electromagnetic valve operation monitoring system and method and automatic sorting equipment |
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| JP2015213931A (en) | 2015-12-03 |
| CN105099285B (en) | 2019-03-01 |
| JP6307343B2 (en) | 2018-04-04 |
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Address after: Tian Chuan District in Osaka City, Japan yodo 2 chome 1 No. 11 Patentee after: DAIHEN Corp. Address before: Tian Chuan District in Osaka City, Japan yodo 2 chome 1 No. 11 Patentee before: DAIHEN Corp. |
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