EP1403161A1 - Verfahren zum Erfassen und Steuern des Drehmoments eines Drehstrommotors und Vorrichtung zur Durchführung des Verfahrens - Google Patents

Verfahren zum Erfassen und Steuern des Drehmoments eines Drehstrommotors und Vorrichtung zur Durchführung des Verfahrens Download PDF

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Publication number
EP1403161A1
EP1403161A1 EP20030021611 EP03021611A EP1403161A1 EP 1403161 A1 EP1403161 A1 EP 1403161A1 EP 20030021611 EP20030021611 EP 20030021611 EP 03021611 A EP03021611 A EP 03021611A EP 1403161 A1 EP1403161 A1 EP 1403161A1
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EP
European Patent Office
Prior art keywords
torque
motor
detection device
phase
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20030021611
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English (en)
French (fr)
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EP1403161B1 (de
Inventor
Narciso Balbo
Luca Balbo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eei Equipaggiamenti Elettronici Industriali Srl
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Eei Equipaggiamenti Elettronici Industriali Srl
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Publication date
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Publication of EP1403161A1 publication Critical patent/EP1403161A1/de
Application granted granted Critical
Publication of EP1403161B1 publication Critical patent/EP1403161B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
    • B61B12/10—Cable traction drives

Definitions

  • the present invention relates to a method of detecting and controlling the torque of a three-phase motor and a device adapted to carry out the method.
  • the method is particularly adapted to be used in systems where it is necessary to monitor the instantaneous value of the torque delivered by the motor.
  • actuators with variable speed motors are used wherein, for safety reasons, it is necessary to use a system of detecting the torque physically and functionally separated from the circuits controlling operation of said motor.
  • a typical application of actuators with variable speed motors consists of cableways for passenger transportation.
  • strict regulations require to monitor separately the instantaneous value of the delivered torque relative to the value detected by the motor actuating device.
  • Cableways are known where traction is carried out by direct current motors whose shaft transfers mechanically the motion to a traction sheave driving the cable.
  • the torque value is taken separately by measuring the direct current feeding the motor at the armature which is proportional to the value of the torque delivered by said motor.
  • Both torque values detected as above described are transmitted to two monitoring devices causing the equipment to stop by intervention on the motor actuation and the brakes if said values exceed predetermined threshold values.
  • the first drawback consists in that the direct current motors require rather heavy maintenance in view of the provision of sliding members requiring a frequent cleaning for a correct operation.
  • Another drawback consists of the reactive power and current irregularities produced by the converters used to feed the direct current motor.
  • a further drawback consists in that the direct current motors have high rated speeds.
  • actuators comprising three-phase motors either of 'synchronous or asynchronous kind with variable frequency, allows to overcome the above-mentioned drawbacks.
  • the synchronous or asynchronous three-phase motors require a reduced maintenance and have a greater reliability relative to the direct current motors.
  • the synchronous or asynchronous motors with high number of poles fed at variable frequency may be used at considerably lower speed in comparison with the direct current motors.
  • a first object of the invention is to provide a method of measuring and controlling the torque of a three-phase motor in equipments where the detection of the torque separated from the circuits controlling the actuation of said motor is required.
  • Another object of the invention is to provide a control device carrying out such a method thus allowing to use alternate current motors in the equipments where it is installed.
  • said method is carried out by a control device of the motor torque wherein the first detection is effected at the actuation unit according to known methods, and the second detection is effected downstream the actuation and upstream the motor terminals, through a torque detection device wherein the acquired voltage and current signals are numerically processed to supply an output signal of a value proportional to the torque delivered by the motor.
  • the device of the invention provides that said torque detection device is connected to an alarm-signalling device providing to send an interrupt command to the motor actuation when the torque value exceeds some predetermined limits or when the torque variation gradient exceeds the inputted limit.
  • a comparator device is also provided, comparing the two torque signals outgoing from the actuation and said torque signalling device. Such a comparator device is electrically connected to the alarm-signalling device.
  • the method also provides a step of detecting the motor speed through a bidirectional incremental encoder keyed to said motor allowing to obtain also a speed control.
  • the alternate current motor 1 is connected to a three-phase line U, V, W supplied by an actuator 2 generally consisting of an inverter supplying as output a three-phase voltage with variable frequency.
  • the actuator 2 comprises also known calculation means of the torque supplied at any time to the motor 1 using for the calculation the voltage and current parameters of the three-phases U, V and W.
  • the four voltages V 0 , V 1 , V 2 , V 3 are generally indicated as first inputs 8.
  • the currents of the two phases U and W are detected through Hall effect current transducers adapted to detect correctly and with galvanic insulation currents with variable frequency in a wide field, from the continuous component up to high frequency components.
  • the load resistors of the transducers are installed on tags, with an ohmic value adequate for the correct operation of the transducer and each board.
  • the board is adapted to supply stabilised voltages at +15 Vcc and -15 Vcc generally required to feed the transducers.
  • the two current transducers 21 and 22 with their load resistors may be considered equivalent to two shunts series connected to the two phases, with signal terminals:
  • the two transducers connected to the phases U and W supply the current signals I 0 , I 1 , I 2 , I 3 generally indicated as second inputs 9 which are applied to the corresponding inputs of the board 4 (G130) as shown in Fig. 2.
  • the entire sequency of acquiring the instantaneous values of current and voltage and therefore of processing and emitting the consequent instantaneous torque value is effected every 113 microseconds, that is approximately 9000 times per second. This allows to obtain significant indirect values, although a high speed of detecting the instantaneous value of the torque and other quantities is maintained.
  • the analogue signals of current and voltage are required in 10 bits numerical values plus the sign, therefore with a resolution of about 1/1000 of their full scale value and most part of the calculations are carried out on 16 bits codified internal numerical values.
  • the voltage and current analogue signals are processed by electronic analogue circuits with operational amplifiers in the following way.
  • Va is positive for a voltage V greater than voltage W.
  • the direction of the rotational vector Va of the signal Va is taken as axis X reference for the phase equivalent circuit of the motor used for the calculations.
  • vX is positive for voltage U greater than voltage V
  • the rotational vector vX is oriented 120° anti-clockwise relative to Va.
  • the detected line voltages consist of high frequency components, that will be removed by suitable filters, and sinusoidal components "useful" at the motor-feeding frequency.
  • the "useful" components of three line voltages have a sinusoidal development, keep an identical module and the regular phase displacement of 120° to each other.
  • the same hypotheses are used for the motor alternate currents, with the assumption that in every instant it behaves in the same way on the three phases.
  • the useful sinusoidal component of the signal Vb is in phase quadrature relative to the useful sinusoidal component of the signal Va.
  • Board terminal l 0 connected to terminal +U of the current transducer at phase U.
  • Board terminal l 1 connected to terminal -U of the current transducer at phase U.
  • Board terminal l 2 connected to terminal +W of the current transducer at phase W.
  • Board terminal l 3 connected to terminal -W of the current transducer at phase W.
  • iY is positive when the current of phase W entering the motor is positive (from motor to source).
  • the rotational vector iY would be oriented 60° anti-clockwise relative to axis X.
  • the signal lb is in quadrature relative to the signal la.
  • the torque detection device 4 is fed by a microprocessor 10 of the type DSP for the numerical processing, receiving directly on 4 inputs the 4 voltage analogue signals and on other 4 inputs the signals with sign-inverted voltage.
  • the microprocessor DSP provides to carry out the routines for calculating the various quantities according to the stored programme, using the main relations indicated below.
  • the calculation method substantially uses a simplified model of the asynchronous motor shown in Figure 3, consisting of a single-phase circuit with the following elements:
  • RS, LS, R iron are calculation constants; they are obtained starting from values of some main parameters of the motor that are programmed at the start and kept in a board-permanent memory.
  • V RMS ( V ⁇ 2 + V ⁇ 2 )
  • lA and lB are alternate quantities that may be represented with two vectors orthogonal to each other, rotating with a speed proportional to the pulsation WEL_ ⁇ making one revolution in one period. From these two alternate quantities two continuous quantities may be obtained, that is the active component I_ ATT of the current (in phase with the feeding voltage V) and the reactive component I_ REA (in quadrature with voltage V).
  • the two values represent the module of two vectors orthogonal to each other, non-rotating, whose vectorial sum is the vector I of the stator current.
  • the phase equivalent circuit provides for a resistance RS and an inductance LS series connected.
  • RS and LS are programmed at start, kept in a board permanent memory, and then suitably normalized and limited to avoid use of excessive values.
  • the "useful" voltage vector VF results therefore phase displaced for an angle DE relative to the feeding voltage vector V.
  • stator current I up to now divided into the active component in phase with the feeding voltage (I_ ATT on the axis of vector V), and reactive component in quadrature (I_ REA orthogonal to V) may be divided in a similar way into two components in phase and quadrature with the "useful" voltage represented by the vector VF:
  • the components Iq and Id are calculated starting from the components I_ ATT and I_ REA and the phase angle DE between VF and V.
  • This torque value is then normalized and expressed with the value C%, as a percentage of the motor rated torque C nom , that the system calculates starting from the programmed motor plate parameters: rated mechanical power and rated speed.
  • C% 100 ⁇ TORQUE / Cnom
  • the signal relating to the torque value 5 is also sent to other devices not shown in Fig. 1, such as display and control devices.
  • the torque signal 3 coming from actuator 2 and the torque signal 5 coming out from torque detection device 4 are inputted into the comparator device 6 just comparing the two signals to detect which is their deviation.
  • the comparator device If the deviation of the values of the torque signals 3, 5 exceeds a predetermined limit, the comparator device emits a signal 60 reaching the alarm- signalling device 61 which in turn emits a signal 610 reaching and blocking actuator 2.
  • the torque detection device 4 is also provided with means monitoring their maximum driving or breaking steady-state torque and the maximum torque gradient.
  • the board As to monitoring the maximum driving or breaking steady-state torque, the board emits the alarm, taking from +24 V to 0 V the voltage of the output terminal 17 dedicated to this function, if the instantaneous value of the (driving or breaking) torque exceeds a programmed threshold value kept in a board permanent memory.
  • the board emits another alarm signal when the torque undergoes a too intense and rapid variation. More particularly, in the case of the embodiment, the alarm is emitted through the signal 18 when the difference between the torque instant value and the value recorded one second before exceeds a threshold value inputted by a dedicated parameter.
  • the alarm is stored and remains active up to a manual reset command, transmitted to a board ON/OFF input.
  • the monitoring operations of maximum torque and maximum gradient undergo the automatic testing procedure at start.
  • the board replaces the measured torque value with a fixed value, programmed through a stored parameter.
  • the width of such a value and the rapid torque variation cause the monitoring intervention and emission of alarms, that will be checked by external circuits.
  • the torque monitoring procedure may undergo a manual test; in this case the operator may select at will a torque value through the man - machine interface connected to the board through the input 16 and check the behaviour of the monitoring routines of the board at the selected torque value.
  • the invention provides also for monitoring the maximum speed which is actuated through collection of signals 11 coming from an encoder 7 coupled to the motor 1.
  • the board 4 If the speed value detected by the encoder exceeds a programmed threshold value, the board 4 emits a signal 19 which is received by the alarm-signalling device 61 causing the motor-locking-effect by blocking the actuator 2.
  • the used encoder is of the incremental and bi-directional type.
  • the torque detection and controlling device comprises also display and data input means, indicated by numeral 15, comprising for instance a computer connected to the torque detection device 4 through a serial bi-directional communication line 16, for example of the type RS485.
  • the device 4 is also provided with an output 12 emitting a signal proportional to the motor speed and connected to a speed analogue indicator 14.
  • An analogue indicator of the calculated torque indicated with numeral 13 is also provided.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Electric Motors In General (AREA)
EP03021611A 2002-09-26 2003-09-25 Verfahren zum Erfassen und Steuern des Drehmoments eines Drehstrommotors und Vorrichtung zur Durchführung des Verfahrens Expired - Lifetime EP1403161B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITVI20020205 2002-09-26
IT000205A ITVI20020205A1 (it) 2002-09-26 2002-09-26 Metodo di rilevamento e controllo della coppia di un motore trifase e dispositivo atto a realizzare tale metodo.

Publications (2)

Publication Number Publication Date
EP1403161A1 true EP1403161A1 (de) 2004-03-31
EP1403161B1 EP1403161B1 (de) 2006-08-16

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EP03021611A Expired - Lifetime EP1403161B1 (de) 2002-09-26 2003-09-25 Verfahren zum Erfassen und Steuern des Drehmoments eines Drehstrommotors und Vorrichtung zur Durchführung des Verfahrens

Country Status (4)

Country Link
EP (1) EP1403161B1 (de)
AT (1) ATE336411T1 (de)
DE (1) DE60307565D1 (de)
IT (1) ITVI20020205A1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008055012A1 (de) * 2008-12-19 2010-06-24 BSH Bosch und Siemens Hausgeräte GmbH Verfahren zur Überwachung einer Ansteuereinrichtung eines 3-strängigen Elektromotors und/oder des Elektromotors
CN103303362A (zh) * 2012-03-15 2013-09-18 株式会社捷太格特 车辆用转向控制装置
DE102007014545B4 (de) * 2006-04-25 2018-09-27 Heidelberger Druckmaschinen Ag Verfahren zum Steuern eines Antriebes einer drucktechnischen Maschine und Anordnung zur Durchführung des Verfahrens
CN109029548A (zh) * 2018-04-24 2018-12-18 天津大学 一种实时精确反馈运行电流和输出力矩的舵机系统及方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1165008A (en) * 1966-11-08 1969-09-24 British Iron Steel Research Speed Control Arrangement for Electric Motors.
US3789280A (en) * 1970-11-12 1974-01-29 Westinghouse Canada Ltd Multicable drum hoisting system
US4912377A (en) * 1987-05-27 1990-03-27 Pomagalski, S.A. Device for driving several cables of a transportation installation operating in synchronism and method for the automatic regulation of the synchronous drive of these cables
DE4229554A1 (de) * 1992-09-04 1994-03-10 Friedhelm Prof Dr Ing Milde Meßprinzip zur Erfassung des Drehmoments von Asynchronmotoren mit elektrischen Meßgrößen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1165008A (en) * 1966-11-08 1969-09-24 British Iron Steel Research Speed Control Arrangement for Electric Motors.
US3789280A (en) * 1970-11-12 1974-01-29 Westinghouse Canada Ltd Multicable drum hoisting system
US4912377A (en) * 1987-05-27 1990-03-27 Pomagalski, S.A. Device for driving several cables of a transportation installation operating in synchronism and method for the automatic regulation of the synchronous drive of these cables
DE4229554A1 (de) * 1992-09-04 1994-03-10 Friedhelm Prof Dr Ing Milde Meßprinzip zur Erfassung des Drehmoments von Asynchronmotoren mit elektrischen Meßgrößen

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007014545B4 (de) * 2006-04-25 2018-09-27 Heidelberger Druckmaschinen Ag Verfahren zum Steuern eines Antriebes einer drucktechnischen Maschine und Anordnung zur Durchführung des Verfahrens
DE102008055012A1 (de) * 2008-12-19 2010-06-24 BSH Bosch und Siemens Hausgeräte GmbH Verfahren zur Überwachung einer Ansteuereinrichtung eines 3-strängigen Elektromotors und/oder des Elektromotors
US8791715B2 (en) 2008-12-19 2014-07-29 Bsh Bosch Und Siemens Hausgeraete Gmbh Method for monitoring a controller of a three-phase electric motor and/or the electric motor
CN103303362A (zh) * 2012-03-15 2013-09-18 株式会社捷太格特 车辆用转向控制装置
CN103303362B (zh) * 2012-03-15 2016-10-05 株式会社捷太格特 车辆用转向控制装置
CN109029548A (zh) * 2018-04-24 2018-12-18 天津大学 一种实时精确反馈运行电流和输出力矩的舵机系统及方法

Also Published As

Publication number Publication date
DE60307565D1 (de) 2006-09-28
ATE336411T1 (de) 2006-09-15
EP1403161B1 (de) 2006-08-16
ITVI20020205A1 (it) 2004-03-27

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