JP2013255330A - Control system for electric motor - Google Patents

Control system for electric motor Download PDF

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JP2013255330A
JP2013255330A JP2012128908A JP2012128908A JP2013255330A JP 2013255330 A JP2013255330 A JP 2013255330A JP 2012128908 A JP2012128908 A JP 2012128908A JP 2012128908 A JP2012128908 A JP 2012128908A JP 2013255330 A JP2013255330 A JP 2013255330A
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JP5977589B2 (en
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Masahiro Maeda
将宏 前田
Akiyoshi Satake
明喜 佐竹
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Okuma Corp
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Okuma Machinery Works Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a control system that can detect abnormality of a control device further accurately when controlling an electric motor using a plurality of control devices.SOLUTION: A control system for electric motor having a main winding and one or more sub windings includes a main control device connected to the main winding, one or more sub control devices connected to the sub windings, and an abnormality detection unit which detects abnormality. The main control device and the sub control devices each calculate, as an error value, a difference between a command value and a detected value of one of a d-axis current value, a q-axis current value, a d-axis voltage value, and a q-axis voltage value. The abnormality detection unit calculates, as an error value, the ratio of an absolute value of the error value calculated by the main control device and an absolute value of the error value calculated by the sub control device, and determines that abnormality occurs when the error ratio is not within a predefined range.

Description

本発明は、工作機械に利用される電動機の制御システムに係り、主軸などの駆動に利用される電動機で、特に、大容量が求められる電動機の制御システムに関するものである。   The present invention relates to an electric motor control system used for a machine tool, and particularly to an electric motor used for driving a main shaft and the like, and more particularly to an electric motor control system requiring a large capacity.

大型の工作機械の主軸等を駆動するために大容量の電動機が求められている。その一方で、こうした大容量の電動機に適用される大容量の制御装置や電源などを新規開発するには、費用がかかるが、需要が少ないことから、開発費用の償却が困難であった。そこで、従来から、代替手段として、小容量の制御装置を複数並列に接続して、所望の大容量の電動機を駆動する制御システムが採用されている。   A large-capacity electric motor is required to drive the spindle of a large machine tool. On the other hand, it is expensive to newly develop a large-capacity control device or power supply that is applied to such a large-capacity electric motor. However, since the demand is small, it is difficult to amortize development costs. Therefore, conventionally, a control system that drives a desired large-capacity electric motor by connecting a plurality of small-capacity control devices in parallel has been adopted as an alternative means.

複数制御装置を用いるシステムとしては、複数の制御装置が出力する電流の和を単一の巻線を具備する電動機に供給するシステムと、複数の制御装置が出力する各々の電流を複数巻線を具備する電動機の各々の巻線へ供給するシステムとがある。しかし、こうした方法は、複数の制御装置で電動機を駆動するため、制御装置のいずれかに故障が生じたり、人為的な過失により設定される電動機の制御定数に誤りがあるなどの異常が生じたりした場合、所望の出力が得られず、工作機械の場合、加工精度が得られない。また、巻線のいずれかにレイヤショートなどの異常が発生した場合、所望の出力が得られず、加工精度が得られないばかりか、場合により電動機が焼損することもあり得る。   As a system using a plurality of control devices, a system for supplying a sum of currents output from a plurality of control devices to an electric motor having a single winding, and a plurality of windings for each current output from the plurality of control devices. There is a system that supplies power to each winding of an electric motor. However, since such a method drives a motor with a plurality of control devices, a malfunction may occur in any of the control devices, or an abnormality such as an error in the control constant of the motor set due to human error may occur. In this case, a desired output cannot be obtained, and in the case of a machine tool, machining accuracy cannot be obtained. Further, when an abnormality such as a layer short circuit occurs in any of the windings, a desired output cannot be obtained and processing accuracy cannot be obtained, and in some cases, the motor may be burned out.

この問題に対し、特許文献１では、複数の制御装置で単一の巻線を具備する電動機を駆動することを対象とし、各制御装置における実電流と、各制御装置の実電流の平均値とを比較することで、各制御装置の出力電流の不均衡を検出することを可能としている。   With respect to this problem, Patent Document 1 is intended for driving an electric motor having a single winding by a plurality of control devices, and the actual current in each control device and the average value of the actual current in each control device are as follows. By comparing these, it is possible to detect an imbalance in the output current of each control device.

特開平９−１１４５０４号公報JP-A-9-114504

しかし、この特許文献１の技術では、不均衡の検出は可能となるが、複数ある制御装置のうち、どの制御装置において異常が発生しているかの検出は行うことが出来ない。例えば、２つの制御装置で電動機を駆動する構成では、双方の制御装置における実電流と、各制御装置の実電流の平均値との差の絶対値は同一となり、どちらの制御装置で異常が発生しているかの判別が出来ない。   However, with the technique of Patent Document 1, it is possible to detect an imbalance, but it is not possible to detect which control device among a plurality of control devices has an abnormality. For example, in a configuration in which an electric motor is driven by two control devices, the absolute value of the difference between the actual current of both control devices and the average value of the actual current of each control device is the same, and an abnormality occurs in which control device. I can't tell if I'm doing it.

そこで、本発明は、前述した制御装置の故障、電動機制御定数の不一致、巻線の異常を検出し、さらに複数ある制御装置のうち、どの制御装置において異常が発生しているかの検出を可能とする、電動機の制御システムを提供することを目的とする。   Therefore, the present invention can detect the failure of the control device, the mismatch of the motor control constant, the abnormality of the winding, and the detection of which control device among the plurality of control devices is abnormal. An object of the present invention is to provide an electric motor control system.

本発明の電動機の制御システムは、主巻線および一以上の副巻線を備えた電動機の制御装置であって、前記主巻線に電流を印加するべく、前記主巻線に接続された主制御装置であって、ｄ軸電流値、ｑ軸電流値、ｄ軸電圧値、ｑ軸電圧値のいずれか一つの値について、指令値と検出値との差を誤差値として算出する主制御装置と、前記副巻線に電流を印加するべく、前記副巻線に接続された一以上の副制御装置であって、ｄ軸電流値、ｑ軸電流値、ｄ軸電圧値、ｑ軸電圧値のいずれか一つの値について、指令値と検出値との差を誤差値として算出する一以上の副制御装置と、前記主制御装置で算出された誤差値の絶対値と、前記副制御装置で算出された誤差値の絶対値との比を誤差比として算出し、前記誤差比が予め規定された範囲外の時に、異常発生と判断する異常検出部と、を備えることを特徴とする。   An electric motor control system according to the present invention is a motor control device including a main winding and one or more sub windings, and is connected to a main winding connected to the main winding to apply a current to the main winding. A control device for calculating a difference between a command value and a detected value as an error value for any one of a d-axis current value, a q-axis current value, a d-axis voltage value, and a q-axis voltage value One or more sub-control devices connected to the sub-winding to apply a current to the sub-winding, the d-axis current value, the q-axis current value, the d-axis voltage value, the q-axis voltage value One or more sub-control devices that calculate the difference between the command value and the detected value as an error value, the absolute value of the error value calculated by the main control device, and the sub-control device The ratio of the calculated error value to the absolute value is calculated as an error ratio, and when the error ratio is outside the predetermined range An abnormality detection unit for determining that an abnormality occurs, characterized in that it comprises a.

好適な態様では、前記異常検出部は、前記主制御装置と副制御装置のうち、前記誤差値の絶対値が大きい制御装置において異常が発生していると判断する。   In a preferred aspect, the abnormality detection unit determines that an abnormality has occurred in a control device having a large absolute value of the error value among the main control device and the sub control device.

本発明によれば、複数巻線を具備する電動機を、複数の駆動装置で並列駆動する場合に、駆動装置の故障や、設定される電動機の制御定数の不一致、巻線の異常を検出し、さらに複数ある制御装置のうち、どの制御装置において異常が発生しているかを検出することができる。   According to the present invention, when a motor having a plurality of windings is driven in parallel by a plurality of driving devices, the failure of the driving device, the mismatch of the control constants of the set motor, and the winding abnormality are detected, Furthermore, it is possible to detect which control device has an abnormality among a plurality of control devices.

本発明による誘導電動機の制御システムの一実施形態を示すブロック図である。It is a block diagram which shows one Embodiment of the control system of the induction motor by this invention. 本発明による同期電動機の制御システムの一実施形態を示すブロック図である。1 is a block diagram showing an embodiment of a synchronous motor control system according to the present invention. FIG. 本発明による、主制御装置と副制御装置間の通信形態を示す図である。It is a figure which shows the communication form between the main controller and a sub controller by this invention. 本発明における異常検出方法を示すフローチャートである。It is a flowchart which shows the abnormality detection method in this invention. 本発明における異常検出方法を示すフローチャートである。It is a flowchart which shows the abnormality detection method in this invention.

以下、図面を参照して本発明の好適な実施例を例示的に詳しく説明する。但しこの実施例に記載されている構成部品の寸法、材質、形状、その相対的配置等は特に特定的な記載がない限りは、この発明の範囲をそれに限定する趣旨ではなく、単なる説明例に過ぎない。   Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention unless otherwise specified, but are merely illustrative examples. Not too much.

図１は、本発明の一実施形態である誘導電動機の制御システムを示すブロック図である。主制御装置１において、ｄ−ｑ軸電流指令生成部３、位相速度生成部４は、図示されない上位制御装置から入力されるトルク指令ＳＴＣに基づき、ｑ軸電流指令ＳＩＱＣ、ｄ軸電流指令ＳＩＤＣ、位相速度ＳＯＭＣを演算する。   FIG. 1 is a block diagram showing an induction motor control system according to an embodiment of the present invention. In the main controller 1, the dq axis current command generation unit 3 and the phase velocity generation unit 4 are based on a torque command STC input from a host controller (not shown), q axis current command SIQC, d axis current command SIDC, The phase velocity SOMC is calculated.

ＳＩＱＣ、ＳＩＤＣ、ＳＯＭＣは主制御装置１から副制御装置２へ伝送され、主制御装置１では、この伝送にかかる時間を補償するため、遅延器５，６で遅延処理を行い、主制御装置１、副制御装置２間の指令タイミングの同期をとる。   SIQC, SIDC, and SOMC are transmitted from the main control device 1 to the sub-control device 2, and the main control device 1 performs delay processing in the delay units 5 and 6 to compensate for the time required for this transmission. The command timing between the sub-control devices 2 is synchronized.

ＳＯＭＣは、３相／２相変換部１１ａ，１１ｂ、２相／３相変換部１０ａ，１０ｂへ接続される。Ｕ相電流検出センサ１３ａ，１３ｂで検出されるＵ相電流検出値ＳＩＤＵｍ，ＳＩＤＵｓ、Ｖ相電流検出センサ１４ａ，１４ｂで検出されるＶ相電流検出値ＳＩＤＶｍ，ＳＩＤＶｓは、３相／２相変換部１１ａ，１１ｂへ接続され、ｄ軸／ｑ軸電流検出値を演算する。電圧誤差検出部９ａ，９ｂは、減算器７ａ，７ｂ，８ａ，８ｂにおいて演算したｄ軸／ｑ軸電流指令とｄ軸／ｑ軸電流検出値の差から、ｄ軸電圧誤差ΔＶＤｍ，ΔＶＤｓ、ｑ軸電圧誤差ΔＶＱｍ，ΔＶＱｓを演算する。   The SOMC is connected to the three-phase / two-phase converters 11a and 11b and the two-phase / three-phase converters 10a and 10b. The U-phase current detection values SIDUm and SIDUs detected by the U-phase current detection sensors 13a and 13b, and the V-phase current detection values SIDVm and SITVs detected by the V-phase current detection sensors 14a and 14b are three-phase / two-phase conversion units. 11a and 11b are connected to calculate the d-axis / q-axis current detection value. The voltage error detectors 9a and 9b detect the d-axis voltage errors ΔVDm, ΔVDs, q based on the difference between the d-axis / q-axis current command and the d-axis / q-axis current detection value calculated by the subtractors 7a, 7b, 8a, 8b. The shaft voltage errors ΔVQm and ΔVQs are calculated.

電力変換器１２ａ，１２ｂは、２相／３相変換部１０ａ，１０ｂにおいて電圧誤差を２相／３相変換した値を用いて３相交流に変換した電力により、電動機１６を駆動する。異常検出部１９は、主制御装置１、副制御装置２それぞれより、ｄ軸電圧誤差ΔＶＤｍ，ΔＶＤｓを入力とし、図４にて後述する手順にて、異常発生の有無の判断、および、複数ある制御装置のうち、どの制御装置において異常が発生しているかを検出する。   The power converters 12a and 12b drive the electric motor 16 with the electric power converted into the three-phase alternating current using the value obtained by converting the voltage error into the two-phase / three-phase in the two-phase / three-phase converters 10a, 10b. The abnormality detection unit 19 receives the d-axis voltage errors ΔVDm and ΔVDs from the main control device 1 and the sub-control device 2, respectively, and determines whether or not an abnormality has occurred in the procedure described later with reference to FIG. It is detected which control device among the control devices has an abnormality.

なお、図１では、異常検出部１９へｄ軸電圧誤差ΔＶＤｍ，ΔＶＤｓを入力しているが、ｑ軸電圧誤差ΔＶＱｍ，ΔＶＱｓ、ｄ軸電流誤差、ｑ軸電流誤差を入力としてもよい。また、図１では、副制御装置２が異常検出部１９を備えているが、主制御装置１が異常検出部１９を備えていても良い。   In FIG. 1, the d-axis voltage errors ΔVDm and ΔVDs are input to the abnormality detection unit 19, but the q-axis voltage errors ΔVQm and ΔVQs, the d-axis current error, and the q-axis current error may be input. In FIG. 1, the sub control device 2 includes the abnormality detection unit 19, but the main control device 1 may include the abnormality detection unit 19.

図２は、本発明の一実施形態である同期電動機の制御システムを示すブロック図である。なお、図２は図１に示す誘導電動機の制御システムと同じ構成要素は同一符号で示してあり、その説明は重複するので省略する。   FIG. 2 is a block diagram showing a synchronous motor control system according to an embodiment of the present invention. In FIG. 2, the same components as those in the induction motor control system shown in FIG.

電動機１６には、これのロータの位置を検出する位置検出器１７が設けられている。図示されない上位制御装置から入力されるトルク指令ＳＴＣと、位置検出器１７が検出した位置検出値ＳＭＰＤと、Ｕ相電流センサ１３ａ，１３ｂが検出したＵ相電流検出値ＳＩＤＵｍ，ＳＩＤＵｓと、Ｖ相電流検出センサ１４ａ，１４ｂが検出したＶ相電流検出値ＳＩＤＶｍ，ＳＩＤＶｓとに基づいて電動機１６が制御される。   The electric motor 16 is provided with a position detector 17 for detecting the position of the rotor. Torque command STC input from a host controller (not shown), position detection value SMPD detected by the position detector 17, U-phase current detection values SIDUm and SIDUs detected by the U-phase current sensors 13a and 13b, and V-phase current The electric motor 16 is controlled based on the V-phase current detection values SIDVm and SIDVs detected by the detection sensors 14a and 14b.

ＳＭＰＤは主制御装置１から副制御装置２へ伝送され、主制御装置１では、この伝送にかかる時間を補償するため、遅延器１８で遅延処理を行い、主制御装置１、副制御装置２間のＳＭＰＤタイミングの同期をとる。   The SMPD is transmitted from the main control device 1 to the sub control device 2. In the main control device 1, in order to compensate for the time required for this transmission, delay processing is performed by the delay unit 18, and between the main control device 1 and the sub control device 2. The SMPD timing is synchronized.

ＳＭＰＤは、３相／２相変換部１１ａ，１１ｂ、２相／３相変換部１０ａ，１０ｂへ接続される。Ｕ相電流検出値ＳＩＤＵｍ，ＳＩＤＵｓ、Ｖ相電流検出値ＳＩＤＶｍ，ＳＩＤＶｓは、３相／２相変換部１１ａ，１１ｂへ接続され、ｄ軸／ｑ軸電流検出値が演算される。電圧誤差検出部９ａ，９ｂは、減算器７ａ，７ｂ，８ａ，８ｂにおいて演算したｄ軸／ｑ軸電流指令値と、ｄ軸／ｑ軸電流検出値との差からｄ軸電圧誤差ΔＶＤｍ，ΔＶＤｓ、ｑ軸電圧誤差ΔＶＱｍ，ΔＶＱｓを演算する。   The SMPD is connected to the three-phase / two-phase converters 11a and 11b and the two-phase / three-phase converters 10a and 10b. The U-phase current detection values SIDUm and SIDUs and the V-phase current detection values SIdvm and SITVs are connected to the three-phase / two-phase conversion units 11a and 11b, and the d-axis / q-axis current detection values are calculated. The voltage error detectors 9a and 9b detect the d-axis voltage errors ΔVDm and ΔVDs from the difference between the d-axis / q-axis current command value calculated by the subtracters 7a, 7b, 8a, and 8b and the detected d-axis / q-axis current value. Q-axis voltage errors ΔVQm and ΔVQs are calculated.

電力変換器１２ａ，１２ｂは、２相／３相変換部１０ａ，１０ｂにおいて電圧誤差を２相／３相変換した値を用いて３相交流に変換した電力により、電動機１６を駆動する。異常検出部１９は、主制御装置１、副制御装置２それぞれにより、ｄ軸電圧誤差ΔＶＤｍ，ΔＶＤｓを入力とし、図４を参照して後述する手順にて、異常発生の有無の判断、および、複数ある制御装置のうち、どの制御装置において異常が発生しているかを検出する。   The power converters 12a and 12b drive the electric motor 16 with the electric power converted into the three-phase alternating current using the value obtained by converting the voltage error into the two-phase / three-phase in the two-phase / three-phase converters 10a, 10b. The abnormality detection unit 19 receives the d-axis voltage errors ΔVDm and ΔVDs by the main control device 1 and the sub control device 2, respectively, and determines whether or not an abnormality has occurred in the procedure described later with reference to FIG. Among the plurality of control devices, it is detected which control device has an abnormality.

なお、図２では、異常検出部１９へｄ軸電圧誤差ΔＶＤｍ，ΔＶＤｓを入力しているが、ｑ軸電圧誤差ΔＶＱｍ，ΔＶＱｓ、ｑ軸電流誤差、ｄ軸電流誤差を入力としても良い。また、図２では、副制御装置２が異常検出部１９を備えているが、主制御装置１が異常検出部１９を備えていても良い。   In FIG. 2, the d-axis voltage errors ΔVDm and ΔVDs are input to the abnormality detection unit 19, but the q-axis voltage errors ΔVQm and ΔVQs, the q-axis current error, and the d-axis current error may be input. In FIG. 2, the sub control device 2 includes the abnormality detection unit 19, but the main control device 1 may include the abnormality detection unit 19.

図３（ａ）、図３（ｂ）は、主制御装置１と副制御装置２間の通信形態を示す図である。図３（ａ）において、２組の巻線を具備する電動機３１は主制御装置３４と副制御装置３６で駆動される。制御装置にはそれぞれ、電源装置３３，３５が接続される。   FIG. 3A and FIG. 3B are diagrams illustrating a communication form between the main control device 1 and the sub control device 2. In FIG. 3A, the electric motor 31 having two sets of windings is driven by a main controller 34 and a sub controller 36. Power supply devices 33 and 35 are connected to the control devices, respectively.

図３（ｂ）においては、３組の巻線を具備する電動機３２は主制御装置３４と副制御装置３６，３８で駆動される。制御装置にはそれぞれ、電源装置３３，３５，３７が接続される。制御装置間は、バス接続されるＬｉｎｋ１、もしくは、シリアル接続されるＬｉｎｋ２、もしくは、その双方において、主制御装置で演算される電流指令、回転子速度、通信周期毎の回転子位相角を副制御装置へ送信し、また、主制御装置と副制御装置各々で演算したｄ軸／ｑ軸電圧誤差、ｄ軸／ｑ軸電流誤差とを相互通信する。   In FIG. 3B, the motor 32 having three sets of windings is driven by the main control device 34 and the sub-control devices 36 and 38. Power supply devices 33, 35, and 37 are connected to the control devices, respectively. Between the control devices, the current command calculated by the main control device, the rotor speed, and the rotor phase angle for each communication cycle are sub-controlled in the bus-connected Link 1 or serial-connected Link 2 or both. The data is transmitted to the apparatus, and the d-axis / q-axis voltage error and the d-axis / q-axis current error calculated by the main control apparatus and the sub-control apparatus are mutually communicated.

次に、制御装置の故障、電動機制御定数の不一致、巻線の異常を検出する方法について説明する。図４、図５は、図１、図２に示すような主制御装置と１つの副制御装置とを具備するシステムにおける異常検出方法の一実施形態を示すフローチャートである。以下、各ステップに従って説明する。   Next, a description will be given of a method for detecting a failure of the control device, a mismatch of the motor control constants, and a winding abnormality. 4 and 5 are flowcharts showing an embodiment of an abnormality detection method in a system including the main controller and one sub-controller as shown in FIGS. Hereinafter, it demonstrates according to each step.

上述の異常検出処理は、主制御装置１と副制御装置２のどちらが行っても良い。図４は副制御装置２が異常検出処理を行う場合を示す。   Either the main control device 1 or the sub-control device 2 may perform the above-described abnormality detection processing. FIG. 4 shows a case where the sub control device 2 performs an abnormality detection process.

副制御装置２は、主制御装置１からｄ軸電圧誤差ΔＶＤｍを受信する（ステップ４１）。受信したΔＶＤｍと、副制御装置自身のｄ軸電圧誤差ΔＶＤｓの絶対値の大小を比較する（ステップ４２）。   The sub control device 2 receives the d-axis voltage error ΔVDm from the main control device 1 (step 41). The received ΔVDm is compared with the magnitude of the absolute value of the d-axis voltage error ΔVDs of the sub-control device itself (step 42).

電圧誤差の絶対値が大きい方を、小さい方の値で除した値を電圧誤差比として算出する（ステップ４３，４４）。算出した電圧誤差比と、あらかじめ定めた電圧誤差閾値とを比較する（ステップ４５，４６）。この電圧誤差閾値は、正常運転時の電圧誤差の状態を観察しながら実験的に定める値である。   A value obtained by dividing the larger absolute value of the voltage error by the smaller value is calculated as the voltage error ratio (steps 43 and 44). The calculated voltage error ratio is compared with a predetermined voltage error threshold (steps 45 and 46). This voltage error threshold is a value determined experimentally while observing the state of voltage error during normal operation.

ステップ４５，４６で電圧誤差が電圧誤差閾値を超えた場合に、上位制御装置へ、ステップ４３，４４で算出した電圧誤差比と、電圧誤差の絶対値が大きいとステップ４２で判断された制御装置側にて異常が発生していることを知らせることができる。上位制御装置は、ステップ４７，４８で通知された電圧誤差比から、場合によっては電動機の駆動を停止する処理を行う。なお、図４では異常検出にｄ軸電圧誤差を用いているが、ｑ軸電圧誤差、ｄ軸電流誤差、ｑ軸電流誤差を用いてもよい。   When the voltage error exceeds the voltage error threshold value in steps 45 and 46, the control device determined in step 42 that the voltage error ratio calculated in steps 43 and 44 and the absolute value of the voltage error are large. It is possible to inform that an abnormality has occurred on the side. From the voltage error ratio notified in steps 47 and 48, the host controller performs processing for stopping the driving of the electric motor in some cases. Although the d-axis voltage error is used for abnormality detection in FIG. 4, a q-axis voltage error, a d-axis current error, and a q-axis current error may be used.

図５は主制御装置１が異常検出処理を行う場合を示す。主制御装置１は、副制御装置２からｄ軸電圧誤差ΔＶＤｓを受信する（ステップ５１）。受信したΔＶＤｓと、主制御装置１自身のｄ軸電圧誤差ΔＶＤｍの絶対値の大小を比較する（ステップ５２）。   FIG. 5 shows a case where main controller 1 performs an abnormality detection process. Main controller 1 receives d-axis voltage error ΔVDs from sub-controller 2 (step 51). The received ΔVDs is compared with the absolute value of the d-axis voltage error ΔVDm of the main controller 1 itself (step 52).

電圧誤差の絶対値が大きい方を、小さい方の値で除し、電圧誤差比を算出する（ステップ５３，５４）。算出した電圧誤差比と、あらかじめ定めた電圧誤差閾値とを比較する（ステップ５５，５６）。この電圧誤差閾値は、正常運転時の電圧誤差の状態を観察しながら実験的に定める値である。   The voltage error ratio is calculated by dividing the larger voltage error absolute value by the smaller value (steps 53 and 54). The calculated voltage error ratio is compared with a predetermined voltage error threshold (steps 55 and 56). This voltage error threshold is a value determined experimentally while observing the state of voltage error during normal operation.

ステップ５５，５６で電圧誤差が電圧誤差閾値を超えた場合に、上位制御装置へ、ステップ５３，５４で算出した電圧誤差比と、電圧誤差の絶対値が大きいとステップ５２で判断された制御装置側にて異常が発生していることを知らせることができる。上位制御装置は、ステップ５７，５８で通知された電圧誤差比から、場合によっては電動機の駆動を停止する処理を行う。なお、図５では異常検出にｄ軸電圧誤差を用いているが、ｑ軸電圧誤差、ｄ軸電流誤差、ｑ軸電流誤差を用いてもよい。   When the voltage error exceeds the voltage error threshold value in steps 55 and 56, the control device determined in step 52 that the voltage error ratio calculated in steps 53 and 54 and the absolute value of the voltage error are large. It is possible to inform that an abnormality has occurred on the side. From the voltage error ratio notified in steps 57 and 58, the host controller performs processing for stopping the driving of the electric motor in some cases. In FIG. 5, the d-axis voltage error is used for abnormality detection, but a q-axis voltage error, a d-axis current error, and a q-axis current error may be used.

また、図３（ｂ）に示すような複数の副制御装置を具備するシステムの場合には、図４に示す異常検出処理を複数の副制御装置それぞれにおいて行う。各副制御装置は、図４のステップ４５，４６で電圧誤差が電圧誤差式位置を超えた場合には、ステップ４２で電圧誤差比の絶対値が大きいと判断された制御装置側にて異常が発生していること、および、ステップ４３また４４で算出した電圧誤差比、を上位制御装置へ知らせる。上位制御装置は、ステップ４７，４８で通知される情報から、主制御装置、もしくは、複数ある副制御装置のうち、異常を通知してきた副制御装置において、異常が発生していると判断する。さらに、上位制御装置は、ステップ４７，４８で通知された電圧誤差比から、場合によっては、電動機の駆動を停止する処理を行う。なお、前述したとおり、図４では異常検出にｄ軸電圧誤差を用いているが、ｑ軸電圧誤差、ｄ軸電流誤差、ｑ軸電流誤差を用いてもよい。   In the case of a system having a plurality of sub-control devices as shown in FIG. 3B, the abnormality detection process shown in FIG. 4 is performed in each of the plurality of sub-control devices. When the voltage error exceeds the voltage error expression position in steps 45 and 46 in FIG. 4, each sub-control device has an abnormality on the control device side determined that the absolute value of the voltage error ratio is large in step 42. The host controller is notified of the occurrence and the voltage error ratio calculated in step 43 or 44. From the information notified in steps 47 and 48, the host control device determines that an abnormality has occurred in the main control device or the sub-control device that has notified the abnormality among the plurality of sub-control devices. Further, the host control device performs a process of stopping the driving of the electric motor depending on the case from the voltage error ratio notified in steps 47 and 48. As described above, the d-axis voltage error is used for abnormality detection in FIG. 4, but a q-axis voltage error, a d-axis current error, and a q-axis current error may be used.

１，３４ 主制御装置、２，３６，３８ 副制御装置、３ ｄ−ｑ軸電流指令生成部、４ 位相速度生成部、５，６，１８ 遅延器、７ａ，７ｂ，８ａ，８ｂ 減算器、９ａ，９ｂ 電圧誤差検出部、１０ａ，１０ｂ ２相／３相変換部、１１ａ，１１ｂ ３相／２相変換部、１２ａ，１２ｂ 電力変換器、１３ａ，１３ｂ Ｕ相電流検出センサ、１４ａ，１４ｂ Ｖ相電流検出センサ、１５ ロータ速度演算部、１６ 電動機、１７ 位置検出器、１９ 異常検出部、３１ ２組の巻線を具備する電動機、３２ ３組の巻線を具備する電動機、３３，３５，３７ 電源装置。   1, 34 Main controller, 2, 36, 38 Sub controller, 3 dq axis current command generator, 4 phase velocity generator, 5, 6, 18 delay unit, 7a, 7b, 8a, 8b subtractor, 9a, 9b Voltage error detection unit, 10a, 10b 2 phase / 3 phase conversion unit, 11a, 11b 3 phase / 2 phase conversion unit, 12a, 12b Power converter, 13a, 13b U phase current detection sensor, 14a, 14b V Phase current detection sensor, 15 rotor speed calculation unit, 16 electric motor, 17 position detector, 19 abnormality detection unit, 31 electric motor provided with two sets of windings, 32 electric motor provided with 3 sets of windings, 33, 35, 37 Power supply.

Claims (2)

主巻線および一以上の副巻線を備えた電動機の制御システムであって、
前記主巻線に電流を印加するべく、前記主巻線に接続された主制御装置であって、ｄ軸電流値、ｑ軸電流値、ｄ軸電圧値、ｑ軸電圧値のいずれか一つの値について、指令値と検出値との差を誤差値として算出する主制御装置と、
前記副巻線に電流を印加するべく、前記副巻線に接続された一以上の副制御装置であって、ｄ軸電流値、ｑ軸電流値、ｄ軸電圧値、ｑ軸電圧値のいずれか一つの値について、指令値と検出値との差を誤差値として算出する一以上の副制御装置と、
前記主制御装置で算出された誤差値の絶対値と、前記副制御装置で算出された誤差値の絶対値との比を誤差比として算出し、前記誤差比が予め規定された範囲外の時に、異常発生と判断する異常検出部と、
を備えることを特徴とする電動機の制御システム。 A control system for an electric motor having a main winding and one or more sub windings,
A main control device connected to the main winding for applying a current to the main winding, wherein one of a d-axis current value, a q-axis current value, a d-axis voltage value, and a q-axis voltage value For the value, a main controller that calculates the difference between the command value and the detected value as an error value;
One or more sub-control devices connected to the sub-winding to apply a current to the sub-winding, and any one of a d-axis current value, a q-axis current value, a d-axis voltage value, and a q-axis voltage value One or more sub-control devices for calculating the difference between the command value and the detected value as an error value for one value;
A ratio between the absolute value of the error value calculated by the main control device and the absolute value of the error value calculated by the sub control device is calculated as an error ratio, and when the error ratio is outside a predetermined range. An abnormality detection unit that determines that an abnormality has occurred;
An electric motor control system comprising: 請求項１に記載の電動機の制御システムであって、
前記異常検出部は、前記主制御装置と副制御装置のうち、前記誤差値の絶対値が大きい制御装置において異常が発生していると判断する、ことを特徴とする電動機の制御システム。 The motor control system according to claim 1,
The motor control system according to claim 1, wherein the abnormality detection unit determines that an abnormality has occurred in a control device having a large absolute value of the error value among the main control device and the sub-control device.
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