DE102009024737A1 - Data detection station for detection of engine relevant variables of speed-dependent electric motor, particularly servo motor, has detection unit for measuring engine relevant variables to control one electric motor - Google Patents

Abstract

The data detection station (6) has a detection unit (3) for measuring engine relevant variables (S0), particularly actual position, speed or commutation values. An electric motor (2) is controlled according to the engine relevant variables. The data detection station is realized in a self adjustable manner based on the detection unit. Independent claims are also included for the following: (1) a control circuit for evaluation of engine relevant variables of an electric motor, particularly a servo motor; (2) a drive unit; and (3) a method for parameterization of an engine system.

Description

The The present invention relates to a data acquisition station for acquisition of engine-relevant sizes of a Electric motor, in particular position, speed and / or commutation actual values, and in particular a servomotor, wherein the motor-relevant variables with a detection means are measured and for controlling the electric motor are provided. The present invention further relates to a Control circuit with a data acquisition station according to the invention, a drive unit for the electric motor, an engine system with the electric motor, as well as a Method for parameterizing the motor system.

A Speed and / or rotation angle detection is particularly for speed-controlled motors, For example servomotors, needed. The adjustability of the speed of the motor requires a Drive on which the engine is operated and the one with fixed Frequency available standing supply network side of the speed-dependent controlled Engine side decoupled.

In Manufacturing technology are conventional servomotors with a used variable speed. These require a very good dynamic, with the speed change accomplished can be to the servomotors as components of motion controls for elements to use a work machine whose position is changed time-dependent got to. Relevant for such motion controls, and in particular for the accuracy of the motion controls, is therefore not only the speed of the drive motor, but before everything also his angular position. The more accurate the speed and / or the Angular position of the servomotor can be determined, the more accurate the position of the drive motor adjustable working machine be set.

Around the current speed and / or the current angle of rotation of an engine to be able to determine Speed and / or rotary encoders are used. These will for example, according to their measured value, theirs Measuring method or its interface classified. Depending on, which physical measurand an encoder to disposal If you make a distinction, for example, commutation, speed sensor and Lagegeber, whereby in relation to the positioners continue between Incremental encoders, absolute value encoders, single-turn or multi-turn encoders a distinction is made. In terms of the measuring methods used to acquire the information is, is between the detection by voltage induction, evaluation magnetic fields, evaluation of the light intensity (ie optical encoders) or combinations of these methods. After all can be the interface of the encoder for analog continuous, for example for tachogenerators, analog discrete-time, for example in the case a resolver as encoder, digital continuous, for example with pulse encoders (TTL / HTL encoders) or digital discrete-time signals dependent on from a transmission protocol pronounced be.

Around not for every needed Motor size one to use other donors, be as many as possible required Signals detected by a single encoder. This has the consequence that Such encoders can be constructed very complex and several for the measured variables Data signals available put. Furthermore The donors differ in particular with regard to their accuracy significantly different from each other. For example, resolvers are very robust and have a comparatively long life, while optical Sensors are much more accurate than resolvers.

Farther become conventional Used encoders equipped with or without electronics are and therefore an at least first evaluation of the measured Data available or donors are used with a defined Interface, such as a serial interface equipped are to a normalized data transfer to enable or it will become conventional Resolver used, which are passive components and only one Deliver impedance.

Therefore When commissioning a servo device, the encoder used must be open the servo device be matched. This setting is conventionally manual, what often Wrong settings and a delayed Commissioning has.

task The present invention is therefore an apparatus as well a method available too which simplifies commissioning of the engine system is.

The object is achieved with a data acquisition station for detecting motor-relevant variables of a speed-dependent operable electric motor, in particular position, speed and / or Kommutierungsistwerten, and in particular a servo motor, wherein the motor-relevant variables are measured with a detection means and are provided for controlling the electric motor, the data detectors sungsstation is provided in accordance with the detection means itself parameterizable. A manual parameterization during commissioning of the electric motor is therefore no longer required, so that the incorrect settings caused by the manual parameterization are avoided and it can no longer be delayed during commissioning.

The Data collection station preferably comprises a data entry and output unit used to receive and transmit data and / or data Control signals is provided, wherein the data and / or control signals, the engine-relevant Sizes and / or detecting means dependent Contain data and are dependent on the detection means. By analysis of It is therefore possible to detect data and / or control signals in which Classifications the present detection means is to be classified, or the analysis allows the distinction of the detection means from other means of detection.

• • nach ihrer Messgröße, nämlich beispielsweise (a1) Kommutierungsgeber, (a2) Drehzahlgeber und (a3) Lagegeber,
• • nach ihrem Messverfahren, nämlich (b1) Erfassung mittels Spannungsinduktion, (b2) Auswertung magnetischer Felder, (b3) Auswertung der Lichtintensität oder (b4) Kombinationen dieser Verfahren,
• • nach ihrer Schnittstelle, nämlich Ausgestaltung für (c1) analog kontinuierliche, (c2) analog zeitdiskrete, (c3) digital kontinuierliche oder (c4) digital zeitdiskrete Signale,
• • nach dem (d1) Vorhandensein oder dem (d2) Fehlen einer Elektronik des Gebers,
• • nach dem (e1) Vorhandensein oder dem (e2) Fehlen einer definierten Schnittstelle wie beispielsweise einer seriellen Schnittstellen,
• • danach, ob der Geber ein (f1) aktives oder ein (f2) passives Bauteil ist
• • danach, ob bei Lagegebern eine (g1) absolute oder (g2) inkrementelle Lageinformation geliefert wird, und/oder
• • ob der Widerstand, die Impedanz und/oder die Stromaufnahme erfasst wird.

For the purposes of the present invention, it is provided to distinguish detection means according to the following classes:

• • according to their measured variable, namely for example (a1) commutation transmitter, (a2) speed sensor and (a3) position sensor,
• According to their measurement method, namely (b1) detection by means of voltage induction, (b2) evaluation of magnetic fields, (b3) evaluation of the light intensity or (b4) combinations of these methods,
• According to their interface, namely configuration for (c1) analog continuous, (c2) analog time discrete, (c3) digital continuous or (c4) digital time discrete signals,
• • after (d1) presence or (d2) lack of encoder electronics
• • after the (e1) presence or (e2) lack of a defined interface such as a serial interface,
• • whether the encoder is an (f1) active or a (f2) passive component
• • according to whether a (g1) absolute or (g2) incremental position information is supplied to position encoders, and / or
• • whether the resistance, the impedance and / or the current consumption is detected.

• • Resolver, die insbesondere die folgende Ausprägung aufweisen beziehungsweise in die o. g. Klassifizierungen a1, a3, b1, c1, c2, d2, e2, f2 und g1 eingeordnet werden können,
• • TTL-Inkrementalgeber (TTL: Transistor-Transistor-Logic), die insbesondere die folgende Ausprägung aufweisen a1, a3, b3, b2, c3, d1, e1, f1 und g2,
• • HTL-Inkrementalgeber (HTL: High Threshold-Logic), die insbesondere die folgende Ausprägung aufweisen a1, a3, b3, b2, c3, d1, e1, f1 und g2,
• • Sin-Cos-Inkrementalgeber, die insbesondere die folgende Ausprägung aufweisen a1, a3, b2, b3, c1, d1, e1, e2, f1, g1 und g2,
• • Absolutwertgeber Hiperface (Hiperface: High Performance Interface, bidirektionale digitale Standard-Schnittstelle der Firma Sick-Stegmann), die insbesondere die folgende Ausprägung aufweisen a1, a3, b2, b3, b4, c1, c4, d1, e1, e2, f1 und g1,
• • Absolutwertgeber EnDat 2.1 (EnDat: bidirektionale digitale Standard-Schnittstelle der Firma Heidenhain), die insbesondere die folgende Ausprägung aufweisen a1, a3, b2, b3, b4, c1, c4, d1, e1, e2, f1 und g1,
• • Absolutwertgeber EnDat 2.2, die insbesondere die folgende Ausprägung aufweisen a3, b2, b3, b4, c4, d1, e1, e2, f1 und g1.

With the data acquisition station according to the invention, at least acquisition means of the following classifications or expression are preferably to be distinguished:

• Resolvers, which in particular have the following characteristics or can be classified into the abovementioned classifications a1, a3, b1, c1, c2, d2, e2, f2 and g1,
• TTL incremental encoders (TTL: transistor-transistor-logic), which in particular have the following characteristics a1, a3, b3, b2, c3, d1, e1, f1 and g2,
• HTL incremental encoders (HTL: High Threshold Logic), which in particular have the following characteristics a1, a3, b3, b2, c3, d1, e1, f1 and g2,
• Sin-cosine incremental encoders, which in particular have the following characteristics a1, a3, b2, b3, c1, d1, e1, e2, f1, g1 and g2,
• Absolute value encoder Hiperface (Hiperface: high performance interface, bidirectional digital standard interface of the company Sick-Stegmann), which in particular have the following characteristics a1, a3, b2, b3, b4, c1, c4, d1, e1, e2, f1 and g1,
• Absolute value encoder EnDat 2.1 (EnDat: bidirectional digital standard interface from Heidenhain), which in particular have the following characteristics a1, a3, b2, b3, b4, c1, c4, d1, e1, e2, f1 and g1,
• Absolute value encoder EnDat 2.2, which in particular has the following characteristics a3, b2, b3, b4, c4, d1, e1, e2, f1 and g1.

in the The present sense is an expression of a detection means doing a classification or a combination of classifications in the above sense.

To the Detecting and evaluating the data and / or control signals includes the data acquisition station prefers a processing unit. In this case, the processing unit with the data input and output unit is electrical connected so that with it the currents and / or voltages of the Data and / or control signals can be detected. Through the analysis the streams and / or voltages of the data and / or control signals, for example by comparison with standard currents and / or voltages it is possible to classify the detection means according to the aforementioned characteristics.

In order to store the data and / or control signals, and / or data for generating the control signals, the data acquisition station preferably comprises a memory unit. In particular, the abovementioned characteristic of the detection means is retained in the memory unit, so that the memory unit is preferably provided for storing data which is dependent on the detection means. Also preferred are white Tere detection agent-dependent data recorded in the memory unit. Further preferably, the memory unit is also provided for storing the motor-relevant variables. Furthermore, the storage unit can also be used to store other data concerning, for example, the data collection station itself.

In a preferred embodiment the processing unit comprises a computing and control unit. The computing and control unit is for controlling the data and / or Signal flow provided, for example, to output the control signals to the data input and output unit, to analyze the data and Control signals, and / or for selection or generation the control signals as a function of Detection means. The computing and control unit is for example a processor-controlled unit. But it can also be called electrical Circuit, in particular integrated circuit, for example as ASIC (Application Specific Integrated Circuit) be formed.

Farther Preferably, the data acquisition station comprises a user interface. For example, the user interface can be used for manual and output of data dependent data, and / or for manually entering the data for generating the control signals, and / or to output the motor-relevant variables.

Prefers the data collection station comprises at least a second data entry and output unit, in particular for the connection of the data acquisition station is provided to a control circuit, wherein the control circuit is provided for evaluating the engine-relevant variables.

The data input and output unit requires at least the following connections: signal Use for the individual detection means resolver incremental Absolute encoders TTL HTL Sin-Cos hiperface EnDat 2.1 EnDat 2.2 analog output Supply rotor winding care care care care care care Analog input A Cos winding Lane A Lane A Track Cos Track Cos Track Cos Analog input B Sin-winding Lane B Lane B Track Sin Track Sin Track Sin Digital input Lane Z Lane Z Lane Z parameter channel parameter channel parameter channel

The Task is still solved with a control circuit for the evaluation of motor-relevant variables, in particular Position, speed and / or commutation actual values, of an electric motor, in particular a servomotor, is provided, wherein the control circuit a data acquisition station according to the invention for detecting the engine-relevant variables from the detection means. Such a control circuit is preferably still for regulation a control circuit of an electric motor in dependence on the engine-relevant Sizes provided.

In a preferred embodiment the storage unit of the data collection station is also for storage provided by drive-relevant data, and / or the computational and Control unit is also preferred for controlling or regulating provided the control circuit of the electric motor.

The Task is still solved with a drive unit which is a control circuit according to the invention and an actuating circuit, wherein at the actuating circuit a Electric motor dependent on speed is operable. The actuating circuit preferably comprises an inverter, in the conventional Way is formed.

The object is further achieved with a motor system with a speed-dependent operable electric motor, in particular a servo motor, and a drive unit according to the invention. In a preferred embodiment, the electric motor comprises the detection unit, or the detection unit is connected in a further preferred embodiment of the electric motor. With the detection unit who measured the motor-relevant magnitudes of the electric motor, and transmitted in the form of data signals, and optionally with the aid of control signals to the data acquisition station. Motor-relevant variables are in particular the rotational speed, the angular position and / or commutation values of the electric motor.

• • das Motorsystem eingeschaltet wird,
• • die Daten- und/oder Steuersignale von der Verarbeitungseinheit erfasst und ausgewertet werden, so dass das Erfassungsmittel erkannt wird, und
• • in Abhängigkeit vom Erfassungsmittel erfassungsmittelabhängige Daten in der Speichereinheit gespeichert werden.

The object is further achieved with a method for parameterizing an engine system with a data acquisition station according to the invention, wherein

• The engine system is switched on,
• • the data and / or control signals are detected and evaluated by the processing unit, so that the detection means is recognized, and
• • Depending on the detection means, detection means-dependent data are stored in the memory unit.

Preferably will be further data dependent on data, in particular by Sending the control signals and receiving the data and / or control signals, detected with the processing unit and in the storage unit saved. Likewise preferred are further detection means-dependent data detected by manual input to the user interface.

By the other means of detection dependent Data becomes the embodiment of the detection means preferably characterized in detail. It can be provided, such further detection means-dependent data through targeted communication, d. H. by sending and receiving of data and / or control signals from the data acquisition station to the detection means and back, to ask about the means of detection. Additionally or alternatively also a manual entry of such data acquisition-dependent data be provided, in particular for the case that a new type of detection means is used whose characterizing data is in the data collection station and in particular not yet stored in the memory unit.

• • bei Inkrementalgebern und Absolutwertgebern die Strichzahl,
• • bei Absolutwertgebern weiterhin die Anzahl der absoluten Umdrehungen, die aktuelle Position sowie der Poloradlageabgleich, und
• • bei Resolvern die Polpaarzahl beziehungsweise Speed, der Widerstand und die Impedanz.

Such detection means dependent data provided by communication with the detection means are, for example:

• • For incremental encoders and absolute value encoders, the number of lines,
• • for absolute value encoders, the number of absolute revolutions, the current position and the polar bearing alignment, and
• • For resolvers, the number of pole pairs or speed, the resistance and the impedance.

in the The invention will be described below with reference to figures. The Figures are merely exemplary and limit the inventive idea not a.

1 shows an engine system with a data acquisition station according to the invention,

2 shows a section of an engine system with a data acquisition station according to the invention.

1 shows an engine system 1 with a data acquisition station according to the invention 6 , The engine system 1 includes a speed-dependent operable electric motor 2 , As power supply 7 for the engine system 1 is a three-phase three-voltage network, which is indicated by the line chokes L ₁ , L ₂ , L ₃ , provided.

The electric motor 2 is at a drive unit 8th operated, which is an actuator 4 with a conventional inverter (not shown here) and a control circuit 5 includes. As a controlled variable of the electric motor 2 supplied current I _i measured and the control circuit 5 fed. The control circuit 5 in turn puts the actuator 4 Manipulated variables R _i available, with the help of the actuator 4 is switched.

To the electric motor 2 is a detection means 3 for measuring motor-relevant variables So connected, which in the embodiment shown here, a speed sensor 31 as well as a position encoder 32 includes. The motor-relevant quantities S ₀ are determined by means of the detection means 3 measured and processed so that they in the form of data and / or control signals D16, D26, S16, S26 to a data acquisition station according to the invention 6 are transferable. The data collection station 6 is in the embodiment shown here a part of the control circuit 5 , In principle, however, it can also be designed as a separate electrical assembly.

To the engine system 1 completely parameterizing, it depends on the detection means 3 possibly required, data-dependent data E0 from the detection means 3 by means of communication between the detection means 3 and the data collection station 6 to ask. It is envisaged that the data collection station 6 Control signals S13, S23 provides, with which the detection means dependent data E0 (s. 2 ) of the detection means 3 can be requested. As part of the communication answers the detection means 3 the requests by data and / or control signals D16, D26, S16, S26. In principle, however, it is also possible for such acquisition-agent-dependent data E0 to be at a user interface 66 (S. 2 ) manually. The user interface 66 can be part of the data collection station 6 or the control circuit 5 be.

2 shows a section of an engine system 1 with a data acquisition station according to the invention 6 , The data collection station 6 includes a data input and output unit 61 for receiving data and / or control signals D16, D26, S16, S26 of a detection means 3 and for sending control signals S13, S23 to the detection means 3 , The data signals D13, D23 of the detection means include, in particular, motor-relevant variables S0 and data on the detection means E0.

Furthermore, the data collection station includes 9 a processing unit 63 in which the data and / or control signals D16, D26, S16, S26 are evaluated, and / or by means of which optionally control signals S13, S23 are generated. Furthermore, the processing unit 63 for controlling the data flow of the data acquisition station 6 intended. The data flow is integrated by arrows 61 . 62 . 63 . 65 . 66 the data collection station 6 indicated. For this, the processing unit includes 63 a computing and control unit 64 For example, a controller, a processor or a particular integrated circuit.

Based on the analysis of the data and / or control signals D16, D26, S16, S26 from the detection means 3 and in particular based on the analysis of currents and / or voltages of the data signals D16, D26 is the expression of the detection means 3 recognizable. The analysis can be done, for example, using a linked list implemented in software and / or firmware.

The information, which expression the detection means 3 has, as the detection means dependent date E0 in a memory unit 62 the data collection station 6 stored, so it is for the operation of the engine system 1 (S. 1 ) permanently.

Unless the detection means 3 a bi-directional communication permits, and / or detection means-dependent data E0 not already in particular in the memory unit 62 may be present by means of control signals S13, S23 from the detection means 3 be requested. Additionally or alternatively, a manual input of such detection means-dependent data E0 at a user interface 66 , which are part of the data collection station here 6 is possible. Also, this detection means dependent data E0 are preferably in the memory unit 62 saved.

To the motor-relevant quantities S0 optionally in processed form S0 'outside the data acquisition station 6 to process further, here is a second data input and output unit 65 provided, the transmission of the engine-relevant variables S0 and / or further, in particular detection means-dependent data E0 in particular to the control circuit 5 allows.

Embodiments are conceivable in which a computing and control unit 64 and / or a processing unit 63 and / or a storage unit 62 for the data collection station 6 and the control circuit 5 are provided separately.

However, it is also possible for the data collection station 6 and the control circuit 5 only a common computing and control unit 64 , Processing unit 63 and / or storage unit 62 is provided, wherein the memory unit 62 then especially intended for the storage of drive-relevant data, and wherein the processing unit 63 then also for the processing of the control and manipulated variables R _i , I _{i of} the actuator 4 of the electric motor 2 is provided.

1

engine system

2

Electric motor, in particular servomotor

3

detection means

31

Tachometer

32

position encoder

4

adjusting circuit

5

control circuit

6

Data acquisition station

61

data input and output unit

62

storage unit

63

processing unit

64

Rake- and control unit

65

Second Data input and output unit

7

Mains power supply

L ₁ , L ₂ , L ₃

Line reactors

8th

drive unit

S0, S0 '

enginerelevant size

S16 S26

Control signal from the speed sensor 31 or from the positioner 32 to the data collection station 6

D16, D26

Data signal from the speed sensor 31 or from the positioner 32 to the data collection station 6

S13 S23

Control signal from the data acquisition station 6 to the tachometer 31 or to the position provider 32

I _i

Current signal, controlled variable of the control circuit 5

R _i

Manipulated variables for regulating the actuator 4

Claims (14)

Data collection station ( 6 ) for detecting motor-relevant variables (S0) of a speed-dependent operable electric motor ( 2 ), in particular position, rotational speed and / or Kommutierungsistwerten, and in particular a servomotor, wherein the motor-relevant variables (S0) with a detection means ( 3 ) and for controlling the electric motor ( 2 ), characterized in that the data acquisition station ( 6 ) depending on the detection means ( 3 ) is itself parameterized provided. Data collection station ( 6 ) according to claim 1, characterized in that it comprises a data input and output unit ( 61 ) provided for receiving and transmitting data and / or control signals (D16, D26, S13, S23, S16, S26), the data and / or control signals (D16, D26, S13, S23, S16, S26) include the motor-relevant quantities (S0) and / or data (E0) dependent on the data acquisition, and the detection means (E0) 3 ) are dependent. Data collection station ( 6 ) according to one of the preceding claims, characterized in that it comprises a processing unit ( 63 ) for detecting and evaluating the data and / or control signals (D16, D26, S13, S23, S16, S26). Data collection station ( 6 ) according to one of the preceding claims, characterized in that it comprises a memory unit ( 62 ), which is provided for storing the data and / or control signals (D16, D26, S13, S23, S16, S26), and / or for storing data for generating the control signals (S13, S23, S16, S26). Data collection station ( 6 ) according to one of the preceding claims, characterized in that the memory unit ( 62 ) is further provided for storing the motor-relevant quantities (S0) and / or data dependent on the detection means (E0). Data collection station ( 6 ) according to one of the preceding claims, characterized in that the processing unit ( 63 ) a computing and control unit ( 64 ). Data collection station ( 6 ) according to one of the preceding claims, characterized in that it has a user interface ( 66 ) for manual operation of the data acquisition station ( 6 ). Control circuit ( 5 ), for the evaluation of motor-relevant quantities (S0), in particular position, speed and / or Kommutierungsistwerte, an electric motor ( 2 ), in particular a servomotor, is provided, wherein the control circuit ( 5 ) a data collection station ( 6 ) according to one of the preceding claims for detecting the motor-relevant quantities (S0) from the detection means ( 3 ). Control circuit ( 5 ) according to claim 1, characterized in that the memory unit ( 62 ) is provided for storing drive-relevant data, and / or that the computing and control unit ( 64 ) for controlling the actuating circuit ( 4 ) of the electric motor ( 2 ) is provided. Drive unit ( 8th ), which is a control circuit ( 5 ) according to one of claims 8 or 9 and an actuating circuit ( 4 ), wherein the electric motor ( 2 ) on the control circuit ( 4 ) is operable. Engine system ( 1 ) with a speed-dependent operable electric motor ( 2 ), in particular a servomotor, and a drive unit ( 8th ) according to claim 10. Engine system ( 1 ) according to claim 11, characterized in that the electric motor ( 2 ) the registration unit ( 3 ) or that the registration unit ( 3 ) on the electric motor ( 2 ) connected. Method for parameterizing an engine system ( 1 ) with a data collection station ( 3 ) according to any one of claims 1-7, characterized in that the engine system ( 1 ) is switched on, the data and / or control signals (D16, D26, S13, S23, S16, S26) from the processing unit ( 63 ) and evaluated so that the detection means ( 3 ), and depending on the detection means ( 3 ) detection means dependent data (E0) in the memory unit ( 62 ) get saved. A method according to claim 13, characterized in that further detection means dependent data (E0), in particular by sending the control signals (S13, S23, S16, S26) and receiving the data and / or control signals (D16, D26, S13, S23, S16, S26) with the processing unit ( 63 ) and in the memory unit ( 62 ) get saved.