EP3915185A1 - Système d'entraînement et procédé servant à faire fonctionner un système d'entraînement comprenant un frein à actionnement électromagnétique - Google Patents

Système d'entraînement et procédé servant à faire fonctionner un système d'entraînement comprenant un frein à actionnement électromagnétique

Info

Publication number
EP3915185A1
EP3915185A1 EP20700964.8A EP20700964A EP3915185A1 EP 3915185 A1 EP3915185 A1 EP 3915185A1 EP 20700964 A EP20700964 A EP 20700964A EP 3915185 A1 EP3915185 A1 EP 3915185A1
Authority
EP
European Patent Office
Prior art keywords
coil
voltage
semiconductor switch
drive system
current
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.)
Pending
Application number
EP20700964.8A
Other languages
German (de)
English (en)
Inventor
Timo Hufnagel
Hans Jürgen KOLLAR
Christopher Reichert
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 EP3915185A1 publication Critical patent/EP3915185A1/fr
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/14—Mechanical
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/20—Electric or magnetic using electromagnets
    • F16D2121/22—Electric or magnetic using electromagnets for releasing a normally applied brake
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/1555—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only for the generation of a regulated current to a load whose impedance is substantially inductive
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only

Definitions

  • the invention relates to a drive system and a method for operating a
  • the invention is therefore based on the object of achieving an efficient mode of operation of the brake.
  • the object is achieved in the drive system according to the features specified in claim 1 and in the method according to the features specified in claim 12.
  • the drive system has an electromagnetically actuable brake, an electric motor, in particular a three-phase motor, and an electronic circuit, the brake having an energizable coil, in particular a brake coil, the electronic circuit having a rectifier, an upper controllable one
  • the advantage here is that the brake can be operated effectively. Because the brake is below defined due to the power supply controlled via the upper semiconductor switch
  • Conditions can be monitored for wear, because initially the voltage provided to the brake can be controlled to a voltage value.
  • rapid de-excitation of the brake is made possible by using a varistor, i.e. a component whose resistance is initially high-resistance at low voltages and then becomes low-resistance at high voltages.
  • a varistor i.e. a component whose resistance is initially high-resistance at low voltages and then becomes low-resistance at high voltages.
  • there is a component parallel to the varistor which can be implemented as a semiconductor switch and can thus be controlled in an even lower resistance range.
  • the varistor can essentially be short-circuited by means of the closed semiconductor switch.
  • the coil forms a series circuit with a shunt resistor and the upper controllable semiconductor switch, which is supplied from the DC voltage.
  • the advantage here is that the current can be detected in a simple manner.
  • the shunt resistor can be arranged at zero potential, so that the control electronics can also be arranged at zero potential and therefore no electrical isolation between the
  • the freewheeling diode forms one with the varistor
  • the component is a lower controllable one
  • the free-wheeling diode is connected to the lower potential of the direct voltage with a first connection.
  • the advantage here is that the lower semiconductor switch is protected by the free-wheeling diode. It is also between the collector and Another freewheeling diode is arranged in the emitter of the respective semiconductor switch, so that the build-up of high voltages is avoided when the semiconductor switch is switched.
  • the shunt resistor is connected to a first connection both to the lower semiconductor switch and to the upper semiconductor switch.
  • the advantage here is that the shunt resistor is connected to the zero potential and thus no galvanic decoupling between the control electronics and the
  • control electronics generate the control signal for the upper semiconductor switch and the control signal for the lower semiconductor switch and detects the DC voltage and the voltage drop across the shunt resistor
  • Divided voltage divider is detected.
  • the advantage here is that the control electronics control the operation of the brake.
  • the respective semiconductor switch is actuated when the coil is energized or de-energized. In particular, it is also a pulse width modulated
  • control electronics has a first regulator, which adjusts the voltage detected directly or in a divided manner to a coil
  • the voltage value is kept constant for a first time period, so that a diagnosis of the brake can be carried out under defined boundary conditions during this time period.
  • the current profile can be monitored and a kinking of the current profile caused by the loose movement of the armature disk and thus caused by the associated change in inductance can thus be detected.
  • the associated current value can be used as an initial value for subsequent control.
  • the control electronics of the coil provide a voltage value by
  • a pulse width modulation ratio of the control signal for the upper semiconductor switch is determined, in particular thus the voltage is controlled.
  • the advantage here is that the voltage value is provided in a controlled manner. This enables the brake to be operated efficiently, since the wear on the brake linings can be determined and the brake can be operated accordingly.
  • control electronics have a second controller, which regulates the current detected by means of the shunt resistance to a target current, in that the second controller uses the pulse width modulation ratio of the
  • the advantage here is that current-controlled operation is made possible and thus energy-saving and thus efficient continuous operation is possible.
  • control electronics have a switching means which either activates the first or the second controller, in particular and deactivates the other.
  • control electronics have a means for determining the wear of a brake pad of a brake pad carrier of the brake, to which the course of the detected current determined by means of the shunt resistor is fed and which has a means for determining a kink in the course and the amount of current at the kink.
  • the shunt resistor is connected to the
  • Zero potential electrically connected in particular the control electronics being supplied from a supply voltage, the lower potential of which is the zero potential, in particular in such a way that the voltage dropping at the shunt resistor is fed directly to the control electronics, in particular thus without galvanic isolation, for detecting in particular the current flowing through the coil.
  • the advantage here is that galvanic decoupling can be saved.
  • the drive system has an electromagnetically actuable brake which has a coil, the voltage applied to the coil being controlled to a voltage value in a first method step, in particular by depending on a voltage detected in a divided manner , in particular between the upper potential of the DC voltage provided by a rectifier and a zero potential, a pulse width modulation ratio is determined for that pulse width modulated control signal which is fed to an upper semiconductor switch, so that the voltage applied to the coil reaches the voltage value, and that in a second following the first process step
  • Shunt resistance is detected and regulated to a setpoint, in particular by determining a pulse width modulation ratio for that pulse-width-modulated control signal which is fed to an upper semiconductor switch, so that the current flowing through the coil is regulated to the setpoint.
  • the advantage here is that a voltage value of the coil is initially provided in a controlled manner and thus a defined voltage of the coil is available, so that the current profile can be precisely determined and thus a buckling can be precisely determined.
  • the voltage provided by the rectifier is made available for a period of time (T 1) before the first method step of the coil.
  • T 1 a period of time before the first method step of the coil.
  • the coil current can be built up as quickly as possible at the beginning.
  • the course of the current flowing through the coil is detected during the first method step and the value of the current associated with a buckling or collapse of the time course of the current flowing through the coil is determined.
  • the advantage here is that it is easy to determine the kinking of the current profile when the armature disk is lifted off.
  • the current is detected by means of a shunt resistor which is arranged at the same potential, in particular zero potential, as that
  • Control or regulation executing signal electronics of the drive system is that galvanic isolation can be saved.
  • Figure 1 is a schematic circuit diagram of an inventive
  • the drive system has an electric motor M and an electromagnetically actuable brake, the one generated by the brake
  • Braking torque is fed to the rotor of the electric motor.
  • the brake has a coil with inductance L which, when energized, attracts an armature disk against the spring force generated by a spring element, so that a brake pad carrier connected to the rotor in a rotationally fixed but axially displaceable manner protrudes from one
  • the braking surface is permanently connected to the coil.
  • the armature disk is connected to the coil in a rotationally fixed but axially movable manner. When the coil is not energized, the armature disk is pressed by the spring element against the brake lining carrier, which is thus pressed onto the braking surface.
  • the braking surface is on the
  • Armature disk is arranged facing away from the brake pad carrier.
  • the coil To release the brake, the coil must be energized, to apply the brake, the coil must be de-energized, i.e. de-energized.
  • the de-excitation i.e. the breakdown of current flowing through the coil
  • the brake control has a rectifier 1, which is supplied from two phases of a three-phase voltage network (L1, L2).
  • the rectifier 1 thus sets one at its DC voltage connection
  • DC voltage is available, which can be designated as an intermediate circuit voltage. and has an upper potential Uz + and a lower potential Uz-
  • a series circuit is supplied from the DC voltage, which has an upper semiconductor switch T1, a lower semiconductor switch T2 and a diode D1.
  • the upper semiconductor switch T1 is between the upper potential Uz +
  • the lower semiconductor switch T2 is arranged in series with the diode D1, this series circuit being supplied between the lower potential Uz- of the direct voltage and electrical ground, that is to say zero potential.
  • the inductance L of the coil is between the lower potential Uz der
  • DC voltage and electrical ground that is to say zero potential, are supplied with existing voltage, a shunt resistor Rs being arranged in the supply line of the inductance L, the first connection of which is connected to the electrical ground, in particular zero potential, and the other connection to the inductance L.
  • a free-wheeling diode is connected in parallel to each of the two semiconductor switches (T1, T2).
  • Control electronics implemented as signal electronics, generate the control signals (3, 6) for the two semiconductor switches T1 and T2.
  • the control electronics 2 is a voltage divider, which consists of a
  • the control electronics 2 generate such a pulse-width-modulated control signal 3 for the upper half-liter switch T 1 that this one for energizing the coil of the coil
  • This voltage value is, for example, 200 volts, regardless of the direct voltage actually provided by the rectifier. So that's a
  • the course of the current detected by means of the shunt resistance is monitored. As soon as the armature disc begins to move, the There is a kink or a brief dip because the inductance of the coil changes.
  • the course can be determined as precisely as possible, in particular the current value of the kink, and from this the value of the air gap to be overcome by the armature disk, which is a measure of the abrasion of the
  • a varistor V1 is connected in parallel to the lower semiconductor switch T2. If the upper semiconductor switch T 1 is opened for de-excitation, the current of the coil is released via the varistor V1. The field generated by the coil is thus reduced and the spring element presses the armature disk onto the brake lining carrier in such a way that it is pressed against the braking surface.
  • control electronics actuate the lower semiconductor switch T2 in such a way that it closes and thus the current of the coil flows through the transistor and the magnetic field is thus reduced.
  • the lower semiconductor switch T2 can remain open to de-energize the coil or, alternatively, can be closed for faster de-energization.
  • the control electronics 2 Since the shunt resistor Rs is connected to the ground potential with its first connection, the control electronics 2 is able to detect the voltage drop across the shunt resistor without galvanic isolation, in order to determine the current flowing through the coil.
  • the upper semiconductor switch T1 As described above, the upper semiconductor switch T1
  • Control electronics 2 detected and a pulse width modulation ratio determined and a correspondingly modulated control signal is supplied to the upper semiconductor switch T1.
  • the voltage value can thus be controlled very precisely. If a variable voltage or a higher DC voltage is provided by the rectifier, the voltage value is provided in a controlled manner by means of the respectively adapted pulse width modulation ratio.
  • the current detected by means of the shunt resistor Rs is regulated to a desired value by means of a linear regulator, in particular a PI regulator, by again using the pulse width modulation ratio as the manipulated variable and thus providing a corresponding voltage to the coil.
  • the described diagnosis that is to say monitoring of the current profile
  • the current strength is carried out when the current profile kinks, that is to say the armature disk is lifted off, so that the wear on the brake can be determined.
  • the upper semiconductor switch T1 permanently closed, ie closed continuously.
  • the highest possible voltage is effective in order to cause the steepest possible current rise.
  • the period of time is so short that the kink cannot be reached in the course of the current. Then the voltage value for the first time period is described using the
  • Voltage control is provided and the current control is carried out again in the second period.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Stopping Of Electric Motors (AREA)
  • Braking Arrangements (AREA)

Abstract

L'invention concerne un système d'entraînement et un procédé servant à faire fonctionner un système d'entraînement, comportant un frein à actionnement électromagnétique, un moteur électrique (M) et un circuit électronique. Le frein comporte une bobine (L) pouvant être alimentée en courant, en particulier une bobine de freinage. Le circuit électronique comporte un redresseur (1), un commutateur à semi-conducteurs (T1) supérieur pouvant être commandé, une diode de roue libre (D1) et un varistor (V1). Une tension continue (UZ+, UZ-) fournie par le redresseur (1) peut être mise à disposition au moyen de la fermeture ou du pilotage modulé en largeur d'impulsion du commutateur à semi-conducteurs (T1) supérieur pouvant être commandé de la bobine (L) ; et, au moyen de l'ouverture du commutateur à semi-conducteurs (T1) supérieur pouvant être commandé, un courant commandé par la bobine lors de la désexcitation de la bobine (L) se déplace/circule librement à travers la diode de roue libre (D1) et à travers le varistor (V1) ou un composant (T2) branché en parallèle par rapport au varistor (V1).
EP20700964.8A 2019-01-21 2020-01-13 Système d'entraînement et procédé servant à faire fonctionner un système d'entraînement comprenant un frein à actionnement électromagnétique Pending EP3915185A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019000330 2019-01-21
PCT/EP2020/025010 WO2020151914A1 (fr) 2019-01-21 2020-01-13 Système d'entraînement et procédé servant à faire fonctionner un système d'entraînement comprenant un frein à actionnement électromagnétique

Publications (1)

Publication Number Publication Date
EP3915185A1 true EP3915185A1 (fr) 2021-12-01

Family

ID=69174446

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20700964.8A Pending EP3915185A1 (fr) 2019-01-21 2020-01-13 Système d'entraînement et procédé servant à faire fonctionner un système d'entraînement comprenant un frein à actionnement électromagnétique

Country Status (5)

Country Link
US (1) US11722076B2 (fr)
EP (1) EP3915185A1 (fr)
CN (1) CN113330671B (fr)
DE (1) DE102020000127A1 (fr)
WO (1) WO2020151914A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022003389B3 (de) 2022-09-14 2023-04-27 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Bestimmen eines Verschleißes von Bremsbelägen einer elektromagnetisch betätigbaren Bremse und Elektromotor mit elektromagnetisch betätigbarer Bremse und Signalelektronik zur Durchführung eines solchen Verfahrens

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6291951B1 (en) * 2000-03-21 2001-09-18 Valiant Machine & Tool Inc. Holding brake control circuit for servo-motor
JP2003130096A (ja) * 2002-09-30 2003-05-08 Sanyo Denki Co Ltd モータ用ブレーキの寿命判定方法及び装置
FI20031647A0 (fi) * 2003-11-12 2003-11-12 Kone Corp Hissin jarrun ohjauspiiri
CN100474478C (zh) * 2004-08-10 2009-04-01 三菱电机株式会社 直流电压驱动型电磁接触器的驱动电路及功率变换装置
DE202007019003U1 (de) * 2007-06-05 2010-03-04 Chr. Mayr Gmbh + Co. Kg Gleichrichter zum Speisen einer Spule
DE102007040423A1 (de) * 2007-08-25 2009-02-26 Sew-Eurodrive Gmbh & Co. Kg Verfahren zum Betreiben eines umrichtergespeisten Elektromotors, umrichtergespeister Elektromotor und Verfahren zum Betreiben einer Anlage
US7950514B1 (en) * 2009-11-06 2011-05-31 Kone Corporation Apparatus and method for variable torque braking of escalators and moving walkways
DE102010062081A1 (de) * 2010-11-29 2012-05-31 Aktiebolaget Skf Elektrischer Antrieb mit einer Bremse
DE102012008547A1 (de) * 2011-06-14 2012-12-20 Sew-Eurodrive Gmbh & Co. Kg Verfahren zum Überwachen einer elektromagnetisch betätigbaren Bremse und Vorrichtung zur Durchführung des Verfahrens
EP2747287A1 (fr) * 2012-12-18 2014-06-25 Siemens Aktiengesellschaft Circuit de freinage d'une masse se déplaçant lors de la mise hors tension d'un appareil de commutation électromécanique à charge inductive
CN108964542A (zh) * 2018-08-31 2018-12-07 东南大学 一种宽电压供电的节能型电磁制动控制器

Also Published As

Publication number Publication date
US11722076B2 (en) 2023-08-08
WO2020151914A1 (fr) 2020-07-30
US20220131484A1 (en) 2022-04-28
CN113330671B (zh) 2024-04-05
CN113330671A (zh) 2021-08-31
DE102020000127A1 (de) 2020-07-23

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