JP2016197996A - Motor control device capable of taking measures against power failure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor control device, capable of easily performing control to take measures against power failure at the blackout of an AC power supply when driving a motor.SOLUTION: A power failure detector unit 11a of an AC-DC converter device 11 detects power failure of a three-phase AC power supply 1 when a motor 3 is driven, to generate a power failure detection signal according to power failure detection. A transmitter unit 11b of the AC-DC converter device 11 transmits the power failure detection signal by using an electric cable, radio or an optical fiber. A receiver unit 12a of a DC-AC converter device 12 receives the power failure detection signal transmitted from the transmitter unit 11b.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a motor control device capable of taking countermeasures against a power failure in the event of a power failure of an AC power supply during driving of a motor.

  Conventionally, as a motor control device that can take measures against power failure when the AC power supply is interrupted when the motor is driven, it detects a power failure of the AC power supply when the motor is driven, and generates a power failure detection signal according to the detection of the power failure There has been proposed a motor control device that includes a power failure detection unit that performs control and a control unit that controls the motor to stop the motor in response to detection of a power failure (for example, Patent Documents 1 to 4). In this case, internal wiring is arranged between the output line of the AC power supply and the power failure detection unit.

  In addition, as a motor control device that can take measures against power failure when the AC power supply is interrupted when the motor is driven, it detects a power failure of the AC power supply when the motor is driven, and generates a power failure detection signal according to the detection of the power failure There has been proposed a motor control device that includes a power failure detection unit that performs and a control unit that controls the motor to evacuate a driven body driven by the motor in response to the detection of the power failure (for example, patent document) 5-7). Also in this case, internal wiring is arranged between the output line of the AC power supply and the power failure detection unit.

  Furthermore, as a motor control device that can take measures against power failure when the AC power supply is interrupted when the motor is driven, it detects a power failure of the AC power supply when the motor is driven, and generates a power failure detection signal in response to the detection of the power failure A motor control device has been proposed that includes a power failure detection unit that performs power supply and a power supply unit that supplies power to a DC link unit that accumulates power for driving the motor in response to detection of a power failure (for example, Patent Document 8). Also in this case, internal wiring is arranged between the output line of the AC power supply and the power failure detection unit.

JP 2011-101474 A JP 2011-209936 A Japanese Patent No. 3472433 Japanese Patent No. 3616759 Japanese Patent Laid-Open No. 10-271866 Japanese Patent No. 3369346 Japanese Patent No. 4154679 Japanese Patent No. 3541121

  When controlling a plurality of motors in order to either stop the motor or retract the driven body driven by the motor in the event of a power failure of the AC power supply when driving the motor, a plurality corresponding to each of the plurality of motors Each of the DC-AC converters is composed of individual devices. Therefore, it is necessary to provide a power failure detection unit and a control unit for each DC / AC converter, that is, to use a plurality of power failure detection units and control units respectively corresponding to the plurality of DC / AC conversion devices.

  The timing at which a plurality of power outage detection units detect a power outage may be different from each other due to variations in the parts constituting the power outage detection unit. In addition, the timing at which a plurality of power failure detection units detect a power failure may be different from each other due to the influence of a voltage drop in the internal wiring arranged between the output line of the AC power supply and the power failure detection unit. Furthermore, the timing at which a plurality of power outage detection units detect a power outage may differ from each other due to the difference in the instantaneous power outage tolerance of the device in which the power outage detection unit is installed.

  Therefore, in order to prevent adverse effects caused by different timings for detecting power outages of the plurality of power outage detection units from affecting the control of the motor, in order to take measures against power outages in the event of AC power outages when driving the motor There is an inconvenience that the control to be performed becomes complicated.

  In addition to the motor control for stopping either the motor or evacuating the driven body driven by the motor in the event of a power failure of the AC power supply during motor driving, power is supplied to the DC link unit. When performing, it is necessary to use both the power failure detection part with respect to a control part, and the power failure detection part with respect to an electric power supply part.

  The timing at which the power failure detection unit for the control unit detects a power failure may be different from the timing at which the power failure detection unit for the power supply unit detects a power failure due to variations in components constituting the power failure detection unit. Moreover, the timing at which the power failure detection unit for the control unit detects a power failure may differ from the timing at which the power failure detection unit for the power supply unit detects a power failure due to the difference in the instantaneous power failure tolerance of the device in which the power failure detection unit is installed.

  An adverse effect may be exerted on the control of the motor because the timing at which the power failure detection unit for the control unit detects a power failure differs from the timing at which the power failure detection unit for the power supply unit detects a power failure. For example, although the power failure detection unit for the control unit detects the power failure, the power failure detection unit for the power supply unit does not detect the power failure. In this case, it is impossible to stop the motor or to retract the driven body driven by the motor in the event of a power failure of the AC power supply when the motor is driven.

  Therefore, in order to prevent the adverse effect of the power failure detection unit for the control unit from being detected when the power failure detection unit for the power supply unit is different from the timing for detecting the power failure, the motor control is not performed. There is an inconvenience that the control to be taken in order to take a power outage countermeasure in the event of a power outage of the AC power source in the system becomes complicated. And since the said control becomes further complicated as the apparatus which has a power failure detection part increases, expansion of apparatuses, such as a power failure countermeasure apparatus, becomes difficult.

  An object of the present invention is to provide a motor control device capable of simplifying the control to be taken for taking a power outage countermeasure in the event of a power outage of an AC power source during driving of the motor, and capable of easily expanding the power outage countermeasure. Is to provide.

  A motor control device according to one aspect of the present invention is a motor control device used in a machine tool or an industrial robot that is connected to an AC power source and controls at least one motor to drive a driven body. A motor control device in which at least one motor is controlled in order to stop at least one of the motor and evacuate a driven body driven by the motor in the event of a power failure of the AC power source at the time, comprising a converter and a DC link unit A first device including an AC / DC converter that converts AC to DC, and a DC / AC converter connected to the first device, and a control unit thereof. And a second device that converts the alternating current into a direct current by a direct current alternating current converter controlled by the control unit and outputs the alternating current to the motor. The first device includes an alternating current power source when the motor is driven. A power failure detection unit that detects a power failure and generates a power failure detection signal according to the detection of the power failure, and a transmission unit that transmits the power failure detection signal are provided, and the second device receives the power failure detection signal transmitted from the transmission unit. A receiving unit for receiving and sending to the control unit is provided so that the control unit can either stop the motor or retract the driven body driven by the motor in response to the input of the power failure detection signal. It is characterized by being.

  Further, the motor control device has another second device, and the other second device has a power failure detection signal receiving unit, and when the AC power supply fails, the other second device takes measures against power failure. It is characterized by being.

  A motor control device according to another aspect of the present invention is a motor control device used in a machine tool or an industrial robot that is connected to an AC power source and controls at least one motor to drive a driven body. A motor control device in which at least one motor is controlled in order to stop at least one of the motor and evacuate a driven body driven by the motor in the event of a power failure of the AC power source at the time, comprising a converter and a DC link unit And a DC / AC converter connected to the AC / DC converter and its controller, and the DC / AC converter converts the DC from the DC link to AC. A first device that outputs to the motor and a second device that is connected to the first device and has a power countermeasure device. A power failure detection unit that detects a power failure of the AC power supply and generates a power failure detection signal in response to the detection of the power failure, and a transmission unit that transmits the power failure detection signal, and the control unit in the first device has a transmission unit There is a function to receive the power failure detection signal transmitted from the controller, and the control unit can either stop the motor or retract the driven body driven by the motor in response to the input of the power failure detection signal. The second device is provided with a receiving unit that receives the power failure detection signal transmitted from the transmitting unit and sends it to the power countermeasure device. The power countermeasure device drives the motor in response to the input of the power failure detection signal. As a power measure at the time of a power failure of the AC power supply at the time, regenerative power consumption control for controlling to consume regenerative power generated when the motor decelerates, and power for controlling power supply to the control power supply unit or the DC link unit Supply It is characterized by being adapted to take your of at least one.

  Further, the motor control device includes another second device, and each of the other second devices includes a power failure detection signal receiving unit, and when the AC power supply fails, the other second device is provided. The power failure process is performed in all of the devices.

A motor control device according to another aspect of the present invention is a motor control device used in a machine tool or an industrial robot that is connected to an AC power source and controls at least one motor to drive a driven body. A motor control device in which at least one motor is controlled in order to perform at least one of stopping the motor and retracting the driven body driven by the motor in the event of a power failure of the AC power source at the time,
A first device comprising an AC / DC converter comprising a converter and a DC link unit for converting AC to DC;
A motor connected to the first device, having a DC / AC converter, its controller and power countermeasure device, converting DC from the DC link unit to AC by a DC / AC converter controlled by the controller A second device for outputting to
The first device includes a power failure detection unit that detects a power failure of the AC power supply during driving of the motor, generates a power failure detection signal according to the detection of the power failure, and a transmission unit that transmits the power failure detection signal.
The second device is provided with a receiving unit that receives the power failure detection signal transmitted from the transmitting unit and sends it to the control unit and the power countermeasure device.
In response to the input of the power failure detection signal, the control unit can either stop the motor or retract the driven body driven by the motor.
In response to the input of the power failure detection signal, the power countermeasure device is a regenerative power consumption control that controls to consume the regenerative power generated when the motor is decelerated as a power measure in the event of a power failure of the AC power supply during driving of the motor, and Further, at least one of power supply control for controlling power supply to the control power supply unit or the DC link unit is provided.

  Further, the motor control device has another second device, and each of the other second devices is provided with a power failure detection signal receiver, and in all other second devices at the time of power failure of the AC power supply. A power failure process is performed.

  Furthermore, the types of other functional devices and the number of connected devices may be selected according to the type of power failure countermeasures when the motor is driven and the power and energy required at that time. The transmission unit may transmit the power failure detection signal to the reception unit using an electric wire, radio, or an optical fiber.

  According to the present invention, instead of providing a plurality of power failure detection units, a first power failure detection unit is provided in the first device, and a power failure detection signal generated by one power failure detection unit is transmitted using an electric wire, radio, optical fiber, or the like. It can be transmitted to the second device. As a result, even if there are a plurality of second devices, there is no adverse effect caused by different timings for detecting a power failure, and it is possible to easily take a power failure countermeasure for an AC power source when driving a motor. The control to be taken can be simplified. In addition, since a single power failure detection signal can be used to take measures against power failure of the AC power supply when the motor is driven, the power failure countermeasure device can be easily expanded. Furthermore, according to the present invention, it is possible to reduce the number of man-hours and the number of parts for power failure countermeasures, and it is also a cost countermeasure.

It is a figure which shows the system which has the motor control apparatus of the 1st Embodiment of this invention. It is a figure which shows the system which has the motor control apparatus of the 2nd Embodiment of this invention. It is a figure which shows the regenerative power consumption control part shown in FIG. 2 in detail. It is a figure which shows the electric power supply control part shown in FIG. 2 in detail. It is a figure which shows the other electric power supply control part shown in FIG. 2 in detail. It is a figure which shows the modification of the electric power supply control part shown in FIG. 2 in detail. It is a figure which shows the modification of the other electric power supply control part shown in FIG. 2 in detail. It is a figure which shows the modification of the other electric power supply control part shown in FIG. 2 in detail. It is a figure which shows the system which has the motor control apparatus of the 3rd Embodiment of this invention. It is a figure which shows the system which has a motor control apparatus of the 4th Embodiment of this invention.

An embodiment of a motor control device according to the present invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals.
FIG. 1 is a diagram showing a system having a motor control device according to a first embodiment of the present invention. The system shown in FIG. 1 is used in a machine tool. The system shown in FIG. 1 includes a three-phase AC power source 1 as an AC power source, voltage detectors 2U, 2V, 2W, a motor 3, a driven body 4, a motor control device 5, a host control device 6, Is provided.

  The voltage detectors 2U, 2V, and 2W are provided on the output line of the three-phase AC power source 1 to detect the three-phase U-phase voltage, V-phase voltage, and W-phase voltage. The motor 3 drives a gravitational axis servomotor that drives the main axis of the machine tool in the direction of the gravitational axis (Z-axis direction) by a feed screw mechanism such as a ball screw / nut mechanism, and a tool attached to the main axis of the machine tool. A spindle motor, a horizontal axis servo motor or the like that drives a table of a machine tool to which a workpiece is attached in a horizontal axis direction (for example, the X axis direction) by a feed screw mechanism such as a ball screw / nut mechanism.

  The driven body 4 is, for example, a spindle of a machine tool when the motor 3 is a gravitational axis servomotor, and is a tool when the motor 3 is a spindle motor, and the motor 3 is a horizontal axis servomotor. Is a machine tool table.

  The motor control device 5 includes an AC / DC converter 11 as a first device and a DC / AC converter 12 as a second device. The AC / DC converter 11 includes a power failure detection unit 11a, a transmission unit 11b, a converter 11c, and a DC link unit 11d. The DC / AC converter 12 includes a receiving unit 12a, a control unit 12b, and an inverter 12c.

  The power failure detection unit 11a detects the power failure of the three-phase AC power source 1 when the motor 3 is driven by monitoring the voltage of the three-phase AC power source 1 and the voltage of the DC link unit 11d, and detects the power failure according to the detection of the power failure. Generate a signal. For this purpose, the power failure detection unit 11a rectifies the three-phase U-phase voltage, V-phase voltage, and W-phase voltage detected by the voltage detectors 2U, 2V, and 2W provided on the output line of the three-phase AC power source 1. The rectifier circuit (not shown) having a plurality of (six in the case of three-phase AC) rectifier diodes is compared with the level of the output signal from the rectifier circuit and the reference level, and the level of the output signal is the reference level And a comparator (not shown) that generates a power failure detection signal when the power is lower. The power failure detection unit 11a includes a voltage detection unit (not shown) that detects the voltage of the DC link unit 11d, a calculation unit (not shown) that calculates a decrease amount of the detected voltage per unit time, and a calculation. It further has another comparator (not shown) that compares the reduced amount with a predetermined reference amount and generates a power failure detection signal when the reduced amount is larger than the reference amount.

  The transmission part 11b is comprised by the input-output port, for example, and transmits a power failure detection signal to the receiving part 12a using an electric wire, radio | wireless, or an optical fiber. The converter 11c is composed of, for example, a plurality of (six in the case of three-phase AC) rectifier diodes, and converts AC power supplied from the three-phase AC power source 1 into DC power. The DC link unit 11d is constituted by, for example, a smoothing capacitor, and is connected in parallel to the converter 11c in order to smooth the voltage rectified by the rectifier diode of the converter 11c. Thereby, the motor 3 is driven by the electric power stored in the DC link unit 11d.

  The receiving unit 12a is configured by, for example, an input / output port, and receives a power failure detection signal transmitted by the transmitting unit 11b. The control unit 12b is configured to detect a current value of each of the three-phase U-phase current, V-phase current, and W-phase current detected by a current detector (not shown) provided on the output line of the inverter 12c, a position detector (FIG. (Not shown), the position of the motor 3, the speed of the motor 3 determined based on the position of the motor 3, the position command value input from the host controller 6 and the speed command value determined based on the position command value Based on the above, a PWM signal for driving the motor 3 is generated, and the generated PWM signal is output to the inverter 12c.

  The inverter 12c includes, for example, a plurality of (six in the case of three-phase alternating current) rectifier diodes and transistors connected in parallel to the rectifier diodes, and is connected in parallel to the DC link unit 11d. The DC power converted by the converter 12c is converted into AC power for driving the motor 3 by performing on / off operation of the transistor based on the PWM signal.

  As described above, the motor control device 5 controls the motor 3 driven by the electric power stored in the DC link unit 11d connected to the three-phase AC power source 1 via the converter 11c. In the present embodiment, the control unit 12b responds to the reception of the power failure detection signal from the reception unit 12a so that the motor 3 is stopped or the driven body 4 driven by the motor 3 is retracted. 3 is controlled. That is, the motor control device 5 detects a power failure of the three-phase AC power source 1 when the motor 3 is driven, and stops the motor 3 and retracts the driven body 4 driven by the motor 3 in response to the detection of the power failure. The motor 3 is controlled to perform either one.

  The host controller 6 is constituted by a CNC (numerical controller) or the like, and inputs a position command value to the controller 12b in order to control the motor controller 5.

  The power failure detection unit 11a and the transmission unit 11b are realized by a first processor (not shown) including an input / output port, a serial communication circuit, an A / D converter, a comparator, and the like, and are stored in a memory (not shown). The power failure of the three-phase AC power source 1 is detected according to the detected power failure detection program.

  The receiving unit 12a and the control unit 12b are realized by a second processor (not shown) including an input / output port, a serial communication circuit, an A / D converter, a comparator, and the like, and are stored in a memory (not shown). The motor 3 is controlled according to the motor control program.

  According to the present embodiment, it is not necessary to provide a power failure detection unit for each of the AC / DC converter 11 and the DC / AC converter 12 configured as individual devices. That is, instead of providing a plurality of power failure detection units, one power failure detection unit 11a is provided, the power failure detection signal generated by the power failure detection unit 11a is transmitted from the transmission unit 11b to the reception unit 12a, and the control unit 12b is connected to the reception unit 12a. In response to receiving the power failure detection signal, a power failure countermeasure is taken in the event of a power failure of the three-phase AC power source 1 when the motor 3 is driven.

  In this way, the detection of the power failure of the three-phase AC power source 1 is performed on the AC / DC converter 11 side, and the power failure detection signal is transmitted from the transmitter 11b of the AC / DC converter 11 to the DC / AC converter 12 using an electric wire, radio or optical fiber. Control to perform power failure countermeasures so that the adverse effects caused by the different timings at which a plurality of power failure detection units detect a power failure are not exerted on the control of the motor 3. There is no need to Therefore, it is possible to simplify the control performed to take measures against power failure when the three-phase AC power source 1 is powered down when the motor 3 is driven. Moreover, the system shown in FIG. 1 can be simplified by providing one power failure detection unit 11a instead of providing a plurality of power failure detection units.

  FIG. 2 is a diagram showing a system having a motor control device according to the second embodiment of the present invention. The system shown in FIG. 2 includes a three-phase AC power source 1, voltage detectors 2U, 2V, 2W, a motor 3, a driven body 4, a motor control device 15, and a host control device 6.

  The motor control device 15 includes an AC / DC converter 11, a DC / AC converter 12 ', and a power countermeasure device 13 as a second device. The DC / AC converter 12 'includes a control unit 12b having a reception function and an inverter 12c. The power countermeasure device 13 includes a receiving unit 13a, a regenerative power consumption control unit 13b, a power supply control unit 13b ′, and a power supply control unit 13b ″. In the present embodiment, the AC / DC converter 11 and A device 14 as a first device is configured by the DC / AC converter 12 ′ connected thereto.

  In the present embodiment, the motor control device 15 detects a power failure of the three-phase AC power supply 1 when the motor 3 is driven, and the driven body driven by the motor 3 is stopped and the motor 3 is stopped according to the detection of the power failure. In addition to controlling the motor 3 so as to perform any one of the evacuation of 4, power measures are taken in the event of a power failure of the three-phase AC power source 1 when the motor 3 is driven.

  For this purpose, the transmission unit 11b transmits a power failure detection signal to the reception unit 13a using an electric wire, radio or optical fiber, and the power countermeasure device 13 responds to the reception of the power failure detection signal of the reception unit 13a. Measures for electric power in the event of a power failure of the three-phase AC power source 1 at the time of driving 3.

  The receiving unit 13a is configured by, for example, an input / output port, and receives the power failure detection signal transmitted by the transmitting unit 11b as described above. The regenerative power consumption control unit 13b controls to consume the regenerative power generated when the motor 3 is decelerated in response to the reception of the power failure detection signal of the receiving unit 13a. FIG. 3 is a diagram showing in detail the regenerative power consumption control unit shown in FIG. As shown in FIG. 3, the regenerative power consumption control unit 13b is connected in parallel to the DC link unit 11d, and includes an NPN transistor (IGBT) 21a that is a reflux transistor, a controller 21b, and a regenerative resistor 21c.

  The controller 21b turns on the NPN transistor 21a in response to the reception of the power failure detection signal from the receiving unit 13a. The regenerative resistor 21c consumes the regenerative energy generated when the motor 3 is decelerated when the NPN transistor 21a is in the ON state. In the present embodiment, a diode 21d is connected in parallel to the NPN transistor 21a, and a diode 21e is connected in parallel to the regenerative resistor 21c.

  The power supply control unit 13b 'controls the power supply in response to the reception of the power failure detection signal from the reception unit 13a. More specifically, the power supply control unit 13b ′ responds to the reception of the power failure detection signal from the receiving unit 13a, and the power necessary for driving the motor 3 to retract the driven body 4 driven by the motor 3. Is supplied to the DC link unit 11d. FIG. 4 is a diagram showing in detail the power supply control unit shown in FIG. As shown in FIG. 4, the power supply control unit 13b 'is connected in parallel to the DC link unit 11d and includes a DC / DC converter 22a, a controller 22b, and a capacitor 22c.

  The controller 22b includes a switch (not shown) included in the DC / DC converter 22a so as to supply a part of the power stored in the DC link unit 11d to the capacitor 22c while the receiving unit 13a does not receive the power failure detection signal. )).

  Further, the controller 22b is a switch (not shown) included in the DC / DC converter 22a so as to supply the power stored in the capacitor 22c to the DC link unit 11d in response to the reception of the power failure detection signal of the receiving unit 13a. )).

  In this way, by performing an on / off operation of a switch (not shown) included in the DC / DC converter 22a, a driven body driven by the motor 3 during a power failure of the three-phase AC power source 1 when the motor 3 is driven. 4 can be supplied to the DC link unit 11d.

  Further, according to the present embodiment, the controller 22b performs an on / off operation of a switch (not shown) included in the DC / DC converter 22a so as to supply the regenerative energy generated when the motor 3 is decelerated to the capacitor 22c. Do.

  The power supply control unit 13b ′ controls the motor 3 so as to either stop the motor 3 or retract the driven body 4 driven by the motor 3 in response to the reception of the power failure detection signal from the reception unit 13a. Therefore, the control unit 12b is controlled to supply power necessary for the control unit 12b to a control power source 31 described later for supplying power to the control unit 12b.

  FIG. 5 is a diagram showing in detail another power supply control unit shown in FIG. As shown in FIG. 5, the power supply control unit 13b ″ is connected in parallel to the DC link unit 11d and includes a DC / DC converter 23a, an AC / DC converter 23b, and a controller 23c. In FIG. 5, a diode 23 d is disposed between the DC / DC converter 23 a and the control power supply 31, and a diode 23 e is disposed between the AC / DC converter 23 b and the control power supply 31.

  The controller 23c turns off a switch (not shown) included in the DC / DC converter 23a and receives AC power supplied from the three-phase AC power source 1 while the receiving unit 13a does not receive the power failure detection signal. An on / off operation of a switch (not shown) included in the AC / DC converter 23b is performed so as to convert the DC power to be supplied to the control unit 31.

  The controller 23c is included in the DC / DC converter 23a so as to supply a part of the power stored in the DC link unit 11d to the control power supply 31 in response to the reception of the power failure detection signal of the receiving unit 13a. A switch (not shown) is turned on and off, and a switch (not shown) included in the AC / DC converter 23b is turned off.

  In this way, the controller 23c performs an on / off operation of a switch (not shown) included in the DC / DC converter 23a in response to the reception of the power failure detection signal of the receiving unit 13a, so that the three-phase during driving of the motor 3 is performed. At the time of a power failure of the AC power supply 1, the control power supply 31 supplies power necessary for the control unit 12 b to control the motor 3 so as to either stop the motor 3 or retract the driven body 4 driven by the motor 3. Can be supplied to.

  In the present embodiment, the power failure detection unit 11a, the transmission unit 11b, and the control unit 12b are realized by a third processor (not shown) including an input / output port, a serial communication circuit, an A / D converter, a comparator, and the like. The power failure of the three-phase AC power supply 1 is detected according to the power failure detection program stored in the memory (not shown), and the motor 3 is controlled according to the motor control program stored in the memory (not shown).

  In the present embodiment, the receiving unit 13a and the controllers 21b, 22b, and 23c are realized by a fourth processor (not shown) including an input / output port, a serial communication circuit, an A / D converter, a comparator, and the like. The regenerative power consumption control is executed according to the regenerative power consumption control program stored in the memory (not shown), and the DC link unit 11d is supplied with power according to the power supply program stored in the memory (not shown). In addition, power is supplied to the control power supply 31 according to a power supply program stored in a memory (not shown).

  According to the present embodiment, it is not necessary to provide a power failure detection unit for each of the device 14 and the power countermeasure device 13 configured as individual devices. In this way, the power failure detection of the three-phase AC power source 1 is performed on the device 14 side, and the power failure detection signal is transmitted from the transmission unit 11b of the device 14 to the reception unit 13a of the power countermeasure device 13 using an electric wire, radio, or optical fiber. Thus, it is not necessary to complicate the control to be taken in order to take measures against the power failure so that the adverse effects due to the different timings at which the plurality of power failure detection units detect the power failure are not exerted on the control of the motor 3. Therefore, it is possible to simplify the control performed in order to take measures against power failure when the three-phase AC power source 1 is powered off when the motor 3 is driven, and it is also possible to easily extend the measures against power failure. Moreover, since the system shown in FIG. 2 can be simplified by providing one power failure detection unit 11a instead of providing a plurality of power failure detection units, it also serves as a cost measure in the case of power failure countermeasures.

  FIG. 6 is a diagram showing in detail a modification of the power supply control unit shown in FIG. The power supply control unit 42 illustrated in FIG. 6 is used instead of the power supply control unit 13b ′ illustrated in FIG. As shown in FIG. 6, the power supply control unit 42 is connected in parallel to the DC link unit 11d, and includes an AC / DC converter 42a, a controller 42b, and a flywheel battery 42c.

  The controller 42b decelerates the motor of the flywheel battery 42c by performing an on / off operation of a switch (not shown) included in the AC / DC converter 42a in response to the reception of the power failure detection signal of the receiving unit 13a. . Thus, electric power is generated by decelerating the motor of the flywheel battery 42c, and the generated regenerative power is supplied to the DC link unit 11d.

  In this way, by performing an on / off operation of a switch (not shown) included in the AC / DC converter 42a, a driven body driven by the motor 3 during a power failure of the three-phase AC power source 1 when the motor 3 is driven. 4 can be supplied to the DC link unit 11d.

  Further, according to the power supply control unit 42, the controller 42b is included in the AC / DC conversion 42a so as to accelerate the motor of the flywheel battery 42c in order to consume the regenerative energy generated when the motor 3 is decelerated. A switch (not shown) can be turned on and off.

  FIG. 7 is a diagram showing in detail a modification of the other power supply control unit shown in FIG. The power supply control unit 43 shown in FIG. 7 is used instead of the power supply control unit 13b ″ shown in FIG. 2. As shown in FIG. 7, the power supply control unit 43 is connected in parallel to the DC link unit 11d. , A switch 43a, a controller 43b, and a power supply circuit 43c.

  The controller 43b connects the three-phase AC power supply 1 to the control power supply 31 via an AC / DC converter (not shown) included in the switch 43a and the power supply circuit 43c while the receiving unit 13a does not receive the power failure detection signal. Thus, the switch 43a and the power supply circuit 43c are controlled. The controller 43b is included in an AC / DC converter (not shown) included in the power supply circuit 43c so as to convert the AC power supplied from the three-phase AC power source 1 into DC power for supplying to the control unit 31. ON / OFF operation of a switch (not shown) is performed.

  In response to the reception of the power failure detection signal from the receiving unit 13a, the controller 43b controls the control power supply 31 via the DC / DC converter (not shown) included in the DC link unit 11d in the switch 43a and the power supply circuit 43c. The switch 43a and the power supply circuit 43c are controlled so as to be connected to each other. Then, the controller 43b supplies an AC / DC converter (not shown) included in the power supply circuit 43c so as to supply a part of the power stored in the DC link unit 11d to a capacitor (not shown) included in the control power supply 31. ON / OFF operation of a switch (not shown) included in

  In this way, the controller 43b performs on / off operation of a switch (not shown) included in the AC / DC converter (not shown) included in the power supply circuit 43c in response to the reception of the power failure detection signal of the receiving unit 13a. Thus, in the event of a power failure of the three-phase AC power source 1 when the motor 3 is driven, the control unit controls the motor 3 so as to either stop the motor 3 or retract the driven body 4 driven by the motor 3. The electric power necessary for 12b can be supplied to the control power supply 31.

  FIG. 8 is a diagram showing in detail another modification of the power supply control unit shown in FIG. 8 is used, for example, instead of the power supply control unit 13b ″ shown in FIG. 2. As shown in FIG. 8, the power supply control unit 43 ′ is connected to the DC link unit 11d. The rectifier circuits 43a ′ and 43b ′, the controller 43c ′, and the power supply circuit 43d ′ are connected in parallel.

  The controller 43b supplies the control power supply 31 with the DC power obtained by rectifying the AC power supplied from the three-phase AC power supply 1 with the rectifier circuit 43b ′ while the reception unit 13a does not receive the power failure detection signal. The switch (not shown) included in the DC / DC converter (not shown) included in the power supply circuit 43d ′ is turned on / off.

  Further, the controller 43b supplies the control power supply 31 with the DC power obtained by rectifying the DC power supplied from the DC link unit 11d with the rectifier circuit 43a ′ in response to the reception of the power failure detection signal of the receiving unit 13a. In this manner, a switch (not shown) included in a DC / DC converter (not shown) included in the power supply circuit 43d ′ is turned on / off.

  As described above, the controller 43c ′ performs the on / off operation of the switch (not shown) included in the DC / DC converter (not shown) included in the power supply circuit 43d ′ in response to the reception of the power failure detection signal of the receiving unit 13a. In order to control the motor 3 to perform either one of the stop of the motor 3 and the retraction of the driven body 4 driven by the motor 3 in the event of a power failure of the three-phase AC power source 1 when the motor 3 is driven Electric power necessary for the control unit 12 b can be supplied to the control power supply 31.

  FIG. 9 is a diagram showing a system having a motor control device according to the third embodiment of the present invention. The system shown in FIG. 9 includes a three-phase AC power source 1, voltage detectors 2 U, 2 V, 2 W, a motor 3, a driven body 4, a motor control device 25, and a host control device 6.

  The motor control device 25 includes an AC / DC converter 11 as a first device, a DC / AC converter 12, and a power countermeasure device 13 ′. The power countermeasure device 13 ′ includes a regenerative power consumption control unit 13b, a power supply control unit 13b ′, and a power supply control unit 13b ″. In the present embodiment, the DC / AC conversion device 12 and the power supply control unit 13b ′ are connected thereto. The power countermeasure device 13 ′ constitutes a device 14 ′ as a second device.

  In the present embodiment, the motor control device 25 detects a power outage of the three-phase AC power supply 1 when the motor 3 is driven, and stops the motor 3 and is driven by the motor 3 in response to the detection of the power outage. In addition to controlling the motor 3 so as to perform any one of the evacuation of 4, power measures are taken in the event of a power failure of the three-phase AC power source 1 when the motor 3 is driven.

  For this purpose, the transmission unit 11b transmits a power failure detection signal to the reception unit 12a using an electric wire, radio, or an optical fiber, and the control unit 12b responds to the reception of the power failure detection signal of the reception unit 12a. The power control device 13 controls the motor 3 in response to the reception of the power failure detection signal of the receiving unit 12a. Take measures against power in the event of a power outage of the three-phase AC power source 1 when driving.

  In the present embodiment, the receiving unit 12a, the control unit 12b, and the controllers 21b, 22b, and 23c are a fifth processor (not shown) including an input / output port, a serial communication circuit, an A / D converter, a comparator, and the like. The control of the motor 3 is executed according to the motor control program stored in the memory (not shown), and the control of the regenerative power consumption is executed according to the regenerative power consumption control program stored in the memory (not shown). Then, power is supplied to the DC link unit 11d according to a power supply program stored in a memory (not shown), and power is supplied to the control power supply 31 according to a power supply program stored in the memory (not shown).

  According to the present embodiment, it is not necessary to provide a power failure detection unit for each of the AC / DC converter 11 and the device 14 ′ configured as individual devices. In this way, detection of a power failure of the three-phase AC power supply 1 is performed on the AC / DC converter 11 side, and a power failure detection signal is received by the device 14 ′ from the transmitter 11b of the AC / DC converter 11 using an electric wire, radio or optical fiber. By transmitting to the unit 12a, the control to be taken in order to take measures against the power failure so that the adverse effect caused by the different timings at which the plurality of power failure detection units detect the power failure is not exerted on the control of the motor 3 is complicated. There is no need. Therefore, it is possible to simplify the control performed in order to take measures against power failure when the three-phase AC power source 1 is powered off when the motor 3 is driven, and it is also possible to easily extend the measures against power failure. Moreover, since the system shown in FIG. 9 can be simplified by providing one power failure detection unit 11a instead of providing a plurality of power failure detection units, it also serves as a cost measure for power failure countermeasures.

  FIG. 10 is a diagram showing a system having a motor control device according to the fourth embodiment of the present invention. The system shown in FIG. 9 includes a three-phase AC power source 1, voltage detectors 2U, 2V, and 2W, motors 3 and 3 ′, driven bodies 4 and 4 ′, a motor control device 35, and a host control device 6. And comprising.

  As the motor 3 ′, a servo motor for the gravity axis that drives the spindle of the machine tool in the direction of the gravity axis (Z-axis direction) by a feed screw mechanism such as a ball screw / nut mechanism, or a tool attached to the spindle of the machine tool is driven. For example, a horizontal axis servo motor that drives a table of a machine tool to which a workpiece is attached in a horizontal axis direction (for example, the X axis direction) by a feed screw mechanism such as a ball screw / nut mechanism is used.

  The driven body 4 ′ is, for example, a spindle of a machine tool when the motor 3 ′ is a gravitational axis servomotor, and a tool when the motor 3 ′ is a spindle motor, and the motor 3 ′ is horizontal. In the case of a shaft servomotor, it is a table for a machine tool.

  The motor control device 35 includes an AC / DC converter 11 as a first device, a DC / AC converter 12 as a second device, a DC / AC converter 12 ′ as a second device, and a second device. As a power countermeasure device 13. The DC / AC converter 12 'includes a receiver 12a', a controller 12b ', and an inverter 12c'.

  The reception unit 12a 'is configured by, for example, an input / output port, and receives the power failure detection signal transmitted by the transmission unit 11b. The control unit 12b ′ is configured to detect a current value of each of the three-phase U-phase current, V-phase current, and W-phase current detected by a current detector (not shown) provided on the output line of the inverter 12c ′, and a position detector. Determined based on the position of the motor 3 ′ detected by (not shown), the speed of the motor 3 ′ determined based on the position of the motor 3 ′, the position command value and the position command value input from the host controller 6. Based on the speed command value to be generated, a PWM signal for driving the motor 3 ′ is generated, and the generated PWM signal is output to the inverter 12c ′.

  The inverter 12c ′ includes, for example, a plurality of (six in the case of three-phase alternating current) rectifier diodes and transistors connected in antiparallel to these rectifier diodes, and is connected in parallel to the DC link unit 11d. The DC power converted by the converter 12c ′ is converted to AC power for driving the motor 3 ′ by performing on / off operation of the transistor based on the PWM signal described above.

  According to the present embodiment, the receiving unit 12a ′ and the control unit 12b ′ are realized by a fifth processor (not shown) including an input / output port, a serial communication circuit, an A / D converter, a comparator, and the like. Then, control of the motor 3 ′ is executed in accordance with a motor control program stored in a memory (not shown).

  According to the present embodiment, it is necessary to provide a power failure detection unit for each of the AC / DC converter 11, the DC / AC converter 12, the DC / AC converter 12 ′, and the power countermeasure device 13 configured as individual devices. Absent. In this way, the detection of the power failure of the three-phase AC power supply 1 is performed on the AC / DC converter 11 side, and the power failure detection signal is transmitted from the transmission unit 11b of the AC / DC converter 11 using the electric wire, wireless or optical fiber. To the receiving unit 12a, the receiving unit 12a 'of the DC / AC converter 12' and the receiving unit 13a of the power countermeasure device 13 have a negative effect due to the different timings at which the plurality of power failure detection units detect a power failure. There is no need to complicate the control performed to take measures against power failure so as not to be affected by the control of 3, 3 ′. Therefore, with respect to the AC / DC converter 11 corresponding to one first device, the DC / AC converter 12, the DC / AC converter 12 ′, and the power countermeasures corresponding to a plurality of (in this case, three) second devices. Even when the device 13 is used, it is possible to simplify the control performed in order to take a power outage countermeasure in the event of a power outage of the three-phase AC power supply 1 when the motor 3 is driven, and to easily extend the power outage countermeasure. it can. Further, by providing one power failure detection unit 11a instead of providing a plurality of power failure detection units, the system shown in FIG. 10 can be simplified.

  The present invention is not limited to the above-described embodiment, and many changes and modifications can be made. For example, the motor control device according to the present invention can be used in machines other than machine tools, industrial robots, and the like. The motor control device according to the present invention can also be applied to a case where power regeneration is performed when the motor 3 is decelerated and the power regeneration is interrupted when the three-phase AC power source 1 is powered down when the motor 3 is driven.

  In the above embodiment, the case where the power countermeasure device 13 includes the regenerative power consumption control unit 13b, the power supply control unit 13b ′, and the power supply control unit 13b ″ has been described. You may have at least one of the control part 13b, electric power supply control part 13b ', and electric power supply control part 13b ". Further, the control power supply 31 may supply power to components other than the control unit 12b (for example, the controllers 21b, 22b, and 23c).

  In addition, the power failure detection signal is transmitted from the transmission unit 11b to the reception unit (not shown) of the host control device 6 using an electric wire, radio, or optical fiber, and the host control device 6 performs control in response to the power failure detection signal. The controller 12b outputs a command to the unit 12b, and the control unit 12b controls the motor 3 so as to either stop the motor 3 or retract the driven body 4 driven by the motor 3 in response to the command. You can also. The power failure detection unit 11a may determine a power failure based on the amplitude, frequency, etc. of the three-phase U-phase voltage, V-phase voltage, and W-phase voltage.

  In the above embodiment, the case of controlling one motor 3 or two motors 3 and 3 ′ has been described. However, the motor control device according to the present invention is also applied to the case of controlling three or more motors. be able to.

DESCRIPTION OF SYMBOLS 1 Three-phase alternating current power supply 2U, 2V, 2W Voltage detector 3, 3 'Motor 4, 4' Driven body 5, 15, 25, 35 Motor controller 6 Host controller 11 AC / DC converter 11a Power failure detection part 11b Transmission Unit 11c converter 11d DC link unit 12, 12 ′ DC / AC converter 12a, 12a ′, 13a receiving unit 12b, 12b ′ control unit 12c, 12c ′ inverter 13 power countermeasure device 13b regenerative power consumption control unit 13b ′, 13b ″, 42, 43, 43 'Power supply control unit 21a NPN transistor 21b, 22b, 23c, 42b, 43b, 43c' Controller 21c Regenerative resistor 21d, 21e, 23d, 23e Diode 22a, 23a DC / DC converter 22c Capacitor 23b, 42a AC / DC converter 31 Control power supply 42c Le battery 43a switches 43a ', 43 b' rectifier circuit 43c, 43d 'power supply circuit

Claims (9)

In motor control devices used in machine tools or industrial robots that drive at least one motor by connecting to an AC power supply and driving the driven body, the motor stops when the AC power supply is interrupted when the motor is driven A motor control device in which at least one motor is controlled to perform at least one of retraction of a driven body driven by the motor,
A first device comprising an AC / DC converter comprising a converter and a DC link unit for converting AC to DC;
Connected to the first device, having a DC / AC converter and its control unit, converting direct current from the DC link unit to AC by the DC / AC converter controlled by the control unit, and A second device for outputting to the motor,
The first device includes a power failure detection unit that detects a power failure of the AC power supply during driving of the motor and generates a power failure detection signal according to the detection of the power failure, and a transmission unit that transmits the power failure detection signal. Provided,
The second device includes a receiving unit that receives the power failure detection signal transmitted from the transmitting unit and sends the signal to the control unit, and the control unit responds to the input of the power failure detection signal and the motor The motor control device is characterized in that either the stop of the motor or the retraction of the driven body driven by the motor can be performed.   Further, the motor control device includes another second device, and the other second device includes the power failure detection signal receiving unit, and when the AC power supply fails, the other second device. The motor control device according to claim 1, wherein a power failure countermeasure is taken.   Further, the type and the number of connected functional devices are selected according to the type of power failure countermeasures when the motor is driven, and the power and energy required at that time. Motor control device.   4. The motor control device according to claim 1, wherein the transmission unit transmits the power failure detection signal to the reception unit using an electric wire, radio, or an optical fiber. In motor control devices used in machine tools or industrial robots that drive at least one motor by connecting to an AC power supply and driving the driven body, the motor stops when the AC power supply is interrupted when the motor is driven A motor control device in which at least one motor is controlled to perform at least one of retraction of a driven body driven by the motor,
An AC / DC converter having a converter and a DC link unit for converting AC to DC, a DC / AC converter connected to the AC / DC converter, and a control unit thereof, the DC / AC converter being the DC link A first device that converts direct current from the unit into alternating current and outputs the alternating current to the motor;
A second device connected to the first device and having a power countermeasure device;
The first device includes a power failure detection unit that detects a power failure of the AC power supply during driving of the motor and generates a power failure detection signal according to the detection of the power failure, and a transmission unit that transmits the power failure detection signal. Provided,
The control unit in the first device has a function of receiving the power failure detection signal transmitted from the transmission unit, and the control unit responds to the input of the power failure detection signal and stops the motor. Any one of the retraction of the driven body driven by a motor can be performed,
The second device is provided with a receiving unit that receives the power failure detection signal transmitted from the transmission unit and transmits the signal to the power countermeasure device, and the power countermeasure device responds to an input of the power failure detection signal. As power countermeasures in the event of a power failure of the AC power supply during motor driving, regenerative power consumption control for controlling to consume regenerative power generated when the motor decelerates, and power supply to the control power supply unit or DC link unit A motor control device characterized in that at least one of power supply control for controlling is performed.   Further, the motor control device includes another second device, and each of the other second devices includes a power failure detection signal receiving unit, and when the AC power supply fails, the other second device is provided. The motor control device according to claim 5, wherein a power failure process is performed in all of the devices. In motor control devices used in machine tools or industrial robots that drive at least one motor by connecting to an AC power supply and driving the driven body, the motor stops when the AC power supply is interrupted when the motor is driven A motor control device in which at least one motor is controlled to perform at least one of retraction of a driven body driven by the motor,
A first device comprising an AC / DC converter comprising a converter and a DC link unit for converting AC to DC;
A DC / AC converter, its controller and a power countermeasure device are connected to the first device, and direct current from the DC link unit is converted to AC by the DC / AC converter controlled by the controller. A second device for converting and outputting to the motor,
The first device includes a power failure detection unit that detects a power failure of the AC power supply during driving of the motor and generates a power failure detection signal according to the detection of the power failure, and a transmission unit that transmits the power failure detection signal. Provided,
The second device is provided with a receiving unit that receives the power failure detection signal transmitted from the transmitting unit and sends it to the control unit and the power countermeasure device,
In response to the input of the power failure detection signal, the control unit can perform either one of stopping the motor and retracting the driven body driven by the motor,
In response to the input of the power failure detection signal, the power countermeasure device controls regenerative power consumption so as to consume regenerative power generated when the motor is decelerated as a power measure in the event of a power failure of the AC power supply when the motor is driven. And a motor control apparatus that performs at least one of power supply control for controlling power supply to the control power supply unit or the DC link unit.   Further, the motor control device includes another second device, and each of the other second devices includes a power failure detection signal receiving unit, and when the AC power supply fails, the other second device is provided. The motor control device according to claim 7, wherein a power failure process is performed in all of the devices.   The type of the other functional device and the number of connected devices are selected in accordance with the type of power failure countermeasure at the time of driving the motor and the power and energy required at that time. The motor control apparatus of Claim 1.

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