EP1908161A1 - Entrainement et procede - Google Patents

Entrainement et procede

Info

Publication number
EP1908161A1
EP1908161A1 EP06754241A EP06754241A EP1908161A1 EP 1908161 A1 EP1908161 A1 EP 1908161A1 EP 06754241 A EP06754241 A EP 06754241A EP 06754241 A EP06754241 A EP 06754241A EP 1908161 A1 EP1908161 A1 EP 1908161A1
Authority
EP
European Patent Office
Prior art keywords
drive
drive components
frequency
excitation
speed
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.)
Ceased
Application number
EP06754241A
Other languages
German (de)
English (en)
Inventor
Michael Christ
Stephan Rhode
Petr Osipov
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.)
SEW Eurodrive GmbH and Co KG
Original Assignee
SEW Eurodrive GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SEW Eurodrive GmbH and Co KG filed Critical SEW Eurodrive GmbH and Co KG
Publication of EP1908161A1 publication Critical patent/EP1908161A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/26—Power factor control [PFC]
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/0006—Vibration-damping or noise reducing means specially adapted for gearings

Definitions

  • the invention relates to a drive and a method.
  • drives which include electric motors, which are powered by a converter and drive a transmission.
  • the invention is therefore based on the object to improve drives in vibration engineering terms.
  • the object is achieved in the drive according to the features specified in claim 1 and in the method according to the features specified in claim 13.
  • the drive comprises drive components
  • each type of excitation, in particular oscillation mode, of a drive component can be assigned a characteristic curve, in particular in the frequency-rotational speed space, wherein the speed dependence of the associated excitation frequency can be represented by means of the characteristic curve,
  • the engine being operable in a work area
  • drive components and / or the work area are selected such that the characteristics in the work area are spaced apart from each other and spaced apart by resonance frequency bands of the drive components.
  • the motors, converters and gearboxes are separately developable and constructible.
  • they can be considered elements of a Modular system and thus offer economic benefits, especially in terms of delivery time, costs and necessary storage volume.
  • Each of these drive components is independent in terms of vibration technology due to its separate design.
  • the person skilled in the art projects a drive which is suitable for solving a drive task in a system.
  • the components according to power, torque, electrical connection options can be configured together by the skilled person and combined as a drive.
  • the mechanical and electrical requirements can be met by suitable selection of the drive components.
  • Vibrations of the individual drive components in their interaction and their interaction by the expert are considered.
  • the exciter frequencies do not coincide and thus no large oscillations can be excited.
  • the energy is not transferred to a resonant system, such as a natural vibration of the drive.
  • a resonant system such as a natural vibration of the drive.
  • the drive components and / or the working area are provided such that the curves are spaced from each other in the working area, wherein the distance is greater than 10 Hz, when the number of revolutions of the electric motor is greater than 100 revolutions per minute.
  • the drive components and / or the working area are provided such that the characteristic curves in the working range of resonance frequency bands of the drive components are spaced, wherein the distance is greater than 100 Hz, when the number of revolutions of the electric motor is greater than 100 revolutions per minute.
  • the types of excitation include higher harmonics of at least one type of excitation, such as first, second, third and / or fourth harmonics, ie harmonics.
  • the advantage here is that the consideration of the fundamental and the essential harmonics is sufficient. The higher the order of the harmonics, the lower the energy input.
  • only essentials are provided as types of excitement. The advantage here is that in this way only the necessary types of excitation are taken into account.
  • Essential are those who enter an energy current in the drive, which can be greater than the dissipated, if the entry is made at a natural frequency or in an associated resonant band. In this case, the oscillation swings in such a way that dangerous or disturbing conditions can arise.
  • the drive components are selected such that the characteristics do not intersect in the work area.
  • the energy input into the drive does not add up.
  • the drive components are selected such that none of the characteristic curves in the work area cuts a resonant frequency band of the drive component.
  • the transmission ratio in particular the driving gear, is rational and not integer.
  • the advantage here is that engine excitation-type characteristics can never intersect these transmission excitation-type characteristics because motor-excitation-type characteristics are proportional to the number of poles of the engine, which is always even.
  • the work area in the inverter is considered and deposited so that critical speeds or critical speed ranges of the engine does not occur permanently, in particular less than 5 associated vibration periods.
  • the advantage here is that a ramp-up of the speed is allowed and does not lead to adverse effects, with critical speeds or critical speed ranges of the engine can occur briefly. However, if the time of occurrence is less than five, Associated with this speed oscillation periods, the resonance oscillation is too little energy supplied and thus dangerous high vibration amplitudes avoided.
  • the working range extends from standstill to the maximum speed of the motor and / or up to the rated speed of the motor.
  • the working range extends from standstill to the maximum speed of the motor and / or up to the rated speed of the motor, with such critical speeds are excluded in which an excitation frequency of at least two types of excitation is equal and / or an exciter frequency falls within a resonant frequency band.
  • the advantage here is that the work area is stored in the inverter and thus the inverter only the motor drives and supplies such that the critical speed or critical speed ranges of the engine can not occur - at least not permanently.
  • the work area by means of the electronic control in the inverter can be stored and taken into account.
  • the drive angle sensors or speed sensor are connected to the rotor shaft of the motor from which the inverter can determine the speed directly and thus a check of the engine in terms of critical speeds or critical speed ranges of the engine is executable.
  • each type of excitation, in particular vibration mode, a drive component is assigned a characteristic, in particular in the frequency-speed space, wherein the speed dependence of the associated excitation frequency is represented by means of the characteristic curve,
  • the drive components and / or the working area are selected such that the characteristic curves in the work area are spaced apart from one another and from resonance frequency bands of the drive components.
  • the advantage here is that the method discloses a teaching, as the drive from a kit, so from a given amount of drive components, those who seeks to make a quiet drive after connecting them. It is essential that it is considered whether the exciter frequency of one of the drive components coincides with an excitation frequency of another drive component and / or with a resonance frequency, in particular of the other drive component.
  • the expert reads that he must pay attention to the characteristics at all. In addition, he should control the spacing of the characteristics. The expert reads clearly that the distance of the curves should be as large as possible. If characteristics meet at speed 0, it will be clear to those skilled in the art that this has nothing to do with the cause of noise.
  • the audible range of frequencies is substantially relevant to the invention. In exceptional cases, such as in very large gearboxes, the infrasound range can be essential.
  • the drive components from a
  • Modular system selected that includes several, different maximum torques associated sizes within which different variants of the drive components are provided.
  • the advantage here is that the drive can be assembled from different components according to different technical criteria.
  • the teaching of the invention is that in addition, the characteristics are observed and should be used for selecting according to the criteria mentioned in the claims. This is surprising for a person skilled in the art, as he usually searches from the existing series, so kits, those drive components that meet its technical requirements regarding the drive technology task.
  • gear with different translations in particular the driving gear stage, as variants and includes motors with different number of poles and / or number of teeth as variants as well as with simple three-phase winding and various harness winding.
  • the advantage here is that the selection of the gear is tuned to the selection of engines.
  • the drive components are selected such that the transmission ratio of the transmission, in particular the driving gear stage, is not integer, that is rational.
  • the characteristic can never coincide with a characteristic of the engine, in particular synchronous motor. Because in a synchronous motor there are excitations, which can be marked by straight lines whose slope corresponds to an integer multiple of the number of poles. In this case, therefore, the slope is always even, because the synchronous motor always has a number of pole pairs, that has an even number of poles. Due to the simple rule of selecting gearboxes with a rational transmission ratio, therefore, a low-noise drive can be provided.
  • the drive components are selected such that the number of poles and the stator tooth number of the motor have a common integer divider.
  • the advantage here is that the noise is even lower, although the cogging can be slightly increased. However, it has been found that overall a lower tendency to oscillations occurs.
  • the drive components are selected such that the transmission comprises a planetary gear stage and / or an angular gear stage and / or a spur gear stage.
  • the transmission comprises a planetary gear stage and / or an angular gear stage and / or a spur gear stage.
  • the working range comprises only rotational speeds which are present so long that such little energy occurs in the associated vibration form that the radiated sound power is provided below a predefinable critical value.
  • the work area comprises only rotational speeds, which are each provided for longer than one second.
  • the motor is a synchronous motor, in particular with a reference to permanent magnets of the rotor pole number.
  • the advantage here is that the number of poles is always even and therefore the characteristics are different from characteristics of the transmission, in particular with a rational ratio.
  • the method is carried out in a computer to which at least parameters and data relating to the drive are input.
  • a method is executable, which is connected via the Internet with another computer.
  • the processor executing the method then takes into account the data and returns the optimum type of drive components.
  • the plant configuration including the drive configuration can be executed on a computer at any location.
  • the data on the determining computer are always kept up to date. In particular, this computer can be integrated in the computer network of the manufacturer.
  • the method is carried out by the computer, with the best possible matching drive components are selected from a kit of drive components according to at least technical criteria, such as willing to put maximum torque and / or speed of the output shaft.
  • the advantage here is that in the project planning not only the necessary mechanical engineering criteria, such as connection mass and interface training, torque and speed but also environmental protection values are considered, such as vibration and noise.
  • the drive components are provided integrated in a housing.
  • the advantage here is that even when constructing the housing is carried out such that the resonance of the housing does not coincide within the work area with a determinable exciter frequency.
  • the type of transmission and the design of the motor, in particular its number of poles and the like, can be fixed even before the construction of the housing.
  • the characteristics of the excitation frequencies, which are caused by teeth engagement frequency, Poliere and the like can be determined.
  • the housing is so stiff executable that even when constructing, for example, with a FEM method, so finite element method, a modal analysis is executable. In this way, then the rigidity of the housing in some areas or in total can be improved until the natural vibration is outside the range of the known exciter frequencies.
  • FIG. 1 shows a first drive according to the invention.
  • the transmission 1 is driven by the electric motor 2 and powered by the inverter 3. Although the output at the output shaft 4 speed should make a high power transferable. Overall, however, the drive should be made as quiet as possible.
  • the speed-dependent and speed-independent exciter frequencies of the respective drive component are determined.
  • the associated speed-dependent and speed-independent exciter frequencies of the respective drive component are determined.
  • the associated speed-dependent and speed-independent exciter frequencies of the respective drive component are determined.
  • a frequency band around these frequencies is taken into account in each case instead of the frequencies.
  • a resonance frequency band is taken into account instead of the resonance frequency.
  • the meshing frequency is determined as an excitation frequency by the number of teeth multiplied by the speed of the motor of the pinion connected to the rotor shaft of the motor.
  • the meshing frequency is determined by the relative speed of the sun. The other gear stages bring in further exciter frequencies. The number of poles of the motor multiplied by the rotational frequency of the rotor results as a further excitation frequency, the exciting motor frequency.
  • the inverter is operated with a pulse width modulation frequency that is independent of the speed of the motor, that is constant.
  • a pulse width modulation frequency that is independent of the speed of the motor, that is constant.
  • the excitation frequencies are calculable.
  • the drive is then projected low and then has a low noise, when the lines of the exciter frequencies are not close.
  • the first four harmonics are particularly important. Even higher harmonics can usually be neglected. The same applies to the subharmonics.
  • the number of poles of the motor and pulse width modulation frequencies of the inverter are chosen such that there is no overlap of the line. Mathematically, this can be expressed by the inequality conditions
  • the working range covers all speeds from standstill to the rated speed of the motor or an even higher maximum permissible speed.
  • the working area may also include those speeds which are used during operation, in particular permanently.
  • the work area defined in this case covers only these two speeds.
  • all intermediate speeds are also counted to the working area.
  • Another advantageous working range is the range of those speeds that are used permanently.
  • the aforementioned natural frequencies Fres can be moved to higher areas if the housing parts are stiffened accordingly.
  • the stiffening can already be provided in the construction with FEM methods.
  • the drive is made compact, so gear, motor and inverter in a housing.
  • the excitation frequencies act on the same object.
  • FIG. 2 shows the fundamental frequency and the first, second and third harmonics. Accordingly, the characteristics 22 of the speed-dependent transmission exciter frequency are shown.
  • the fundamental frequency of the meshing frequency of the driving step is the same.
  • the first, second and third harmonic are shown because they contribute significantly.
  • the pulse width modulation frequency of the inverter a turn speed-dependent, introduced via the motor excitation frequency 23 introduced.
  • the fundamental frequency is 4kHz or 16kHz.
  • the other excitation frequencies are arranged around this excitation frequency with a frequency spacing, which is due to the structure of the engine.
  • Essential parameters are the number of poles and the number of teeth of the stator and the parameters of the rotor. In a synchronous motor, for example, the number of permanent magnets is essential.
  • a motor resonance 24 which lies in a speed-independent frequency band.
  • the characteristics of the motor excitation frequencies, transmission excitation frequencies and the frequency caused by the inverter, introduced via the motor exciter frequencies are identical to the characteristics of the motor excitation frequencies, transmission excitation frequencies and the frequency caused by the inverter, introduced via the motor exciter frequencies.
  • the resonant frequency band is understood to be that frequency band which is arranged around the respective natural frequency, that is to say the resonant frequency, of a drive component or one of its subcomponents.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention concerne un entraînement et un procédé de conception d'un entraînement comportant des composants d'entraînement. Les composants d'entraînement comportent au moins une transmission et un moteur électrique entraînant la transmission, alimenté par un convertisseur. Une caractéristique, notamment dans la plage de fréquence/régime, est affectée à chaque mode d'excitation, notamment au mode d'oscillation. La caractéristique sert à représenter la dépendance du régime de la fréquence d'excitation correspondante, le moteur étant exploité dans une plage de travail. Les composants d'entraînement et/ou la plage de travail sont choisis de telle manière que les caractéristiques de la plage de travail sont différentes les unes des autres et différentes des bandes de fréquence de résonance des composants d'entraînement.
EP06754241A 2005-07-15 2006-06-09 Entrainement et procede Ceased EP1908161A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005033761A DE102005033761A1 (de) 2005-07-15 2005-07-15 Antrieb und Verfahren
PCT/EP2006/005513 WO2007009531A1 (fr) 2005-07-15 2006-06-09 Entrainement et procede

Publications (1)

Publication Number Publication Date
EP1908161A1 true EP1908161A1 (fr) 2008-04-09

Family

ID=37023095

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06754241A Ceased EP1908161A1 (fr) 2005-07-15 2006-06-09 Entrainement et procede

Country Status (3)

Country Link
EP (1) EP1908161A1 (fr)
DE (1) DE102005033761A1 (fr)
WO (1) WO2007009531A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19942205A1 (de) * 1999-09-03 2001-03-15 Sew Eurodrive Gmbh & Co Steuerverfahren für einen Umrichter zur feldorientierten Regelung eines Elektromotors und Umrichter
TWI257758B (en) * 2000-09-14 2006-07-01 Sumitomo Heavy Industries Series of motors with speed reducers
US6914399B2 (en) * 2002-07-09 2005-07-05 Delphi Technologies Active deadtime control for improved torque ripple performance in electric machines
JP3927467B2 (ja) * 2002-08-08 2007-06-06 トヨタ自動車株式会社 Ｅｐｓ機能付きステアリングシステム
DE10254080B4 (de) * 2002-10-30 2022-02-24 Sew-Eurodrive Gmbh & Co Kg Verfahren zur Datenspeicherung und Vorrichtung
JP2005099185A (ja) * 2003-09-22 2005-04-14 Fuji Xerox Co Ltd 画像形成装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2007009531A1 *

Also Published As

Publication number Publication date
WO2007009531A1 (fr) 2007-01-25
DE102005033761A1 (de) 2007-01-25

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