JP2016224663A - Motor control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor control system realizing multiple motor control by a general purpose computer with suppressed system construction cost.SOLUTION: The motor control system includes a plurality of motor drive devices 300, 400 which are connected through a network 200, and a computing apparatus 100 which creates a control command to be executed by the plurality of motor drive devices for controlling a motor 500. The plurality of motor drive devices include: a master motor drive device 300 which receives from the computing apparatus a control command group including a control command, identification information on the motor drive device for executing the control command, and time information for executing the control command and transfers the control command according to the identification information on the motor drive device and the time information; and a non-master motor drive device 400 which controls a motor according to the control command received from the master motor drive device.SELECTED DRAWING: Figure 1

Description

  The present invention relates to control of a plurality of motors.

  Due to the development of Ethernet communication technology in the information field (Ethernet is a registered trademark, the same applies hereinafter), Ethernet communication technology is also gaining popularity in the FA (Factory Automation) field. Conventionally, the motor drive device and the host device have been connected by parallel wiring in which digital pulse signals and analog pulse signals are mixed. However, by replacing the transmission of digital signals and analog signals with Ethernet communication, it is possible to reduce wiring and increase the wiring. It is possible to achieve reliability.

  On the other hand, it is common to use a programmable logic controller (PLC) instead of a general-purpose PC as a host device that controls the motor drive device. However, when developing an application that operates on a PLC, it is necessary to use ladder logic. Therefore, compared with the development of an application that operates on a general-purpose PC, there is a problem that requires a great amount of man-hours. Use is desired.

  On the other hand, a general-purpose computer has a problem that it cannot be used in a system that performs synchronous control of a plurality of motors because it is difficult to guarantee real-time performance of transmitting a control command transmission to a motor drive device at a constant period.

  As a method for solving the above problem, Patent Document 1 discloses a method for transmitting a time for executing a control command together with a control command for the motor drive device in an environment in which the host device and the motor drive device are synchronized in time. Has proposed. With this method, even when a general-purpose computer that does not guarantee real-time performance is used, synchronous control of a plurality of motors can be realized if time synchronization is performed between a plurality of motor drive devices.

JP 2005-237163 A

  However, Patent Document 1 has the following problems. In general, the cycle in which the motor driving device controls the motor is several milliseconds. Therefore, when a control command necessary for a series of motor operations is collectively transmitted by a general-purpose computer in a system that performs synchronous control of a plurality of motors for a long time such as a belt conveyor, several hundred kilobytes to several tens of megabytes are transmitted to the motor drive device. Byte memory capacity is required.

  As described above, in order to construct the system shown in Patent Document 1, it is necessary to mount a large-capacity memory in all the motor drive devices, and thus there is a problem that the system construction cost increases as the motor drive devices increase. To do. In particular, it becomes a big problem in a large-scale system equipped with several tens of motor drive devices.

  A typical example of the present invention includes a plurality of motor drive devices connected via a network, and a computer that creates a control command executed by the plurality of motor drive devices to control a motor, The plurality of motor drive devices receive a control command group including the control command, identification information of the motor drive device that executes the control command, and time information that executes the control command from the computer, A master motor driving device that transfers the control command according to the identification information of the motor driving device and the time information; and a non-master motor driving device that controls the motor according to the control command received from the master motor driving device. A motor control system.

  According to one aspect of the present invention, it is possible to realize multi-motor control by a general-purpose computer while suppressing system construction costs, and a dedicated device such as a PLC is not necessary.

An example of the motor control system in an embodiment is shown. The structural example of PC is shown. The structural example of a master motor drive device is shown. The structural example of a non-master motor drive device is shown. An operation sequence of the PC, the master motor driving device, and the non-master motor driving device at the time of system startup is shown. Fig. 6 shows the rotation speed change for two motor drives. The detail of a master motor drive unit determination process is shown. The flowchart of operation | movement of PC in a control command group communication process and an operation result group communication process is shown. The flowchart of operation | movement of a master motor drive device and a non-master motor drive device in a control command group communication process, a motor control process, and an operation result group communication process is shown. The flowchart of operation | movement of a master motor drive device and a non-master motor drive device in a control command group communication process, a motor control process, and an operation result group communication process is shown. The flowchart of operation | movement of a master motor drive device and a non-master motor drive device in a control command group communication process, a motor control process, and an operation result group communication process is shown. The format example of a control command group is shown. The structural example of the operation | movement state table which PC stores is shown. The flowchart in which PC selects a master motor drive device based on an operation result table is shown.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings describing the embodiment of the present invention, the same parts are denoted by the same reference numerals, and repeated description thereof will be omitted.

  The present disclosure discloses transfer of control instructions in a motor control system. The motor control system includes a plurality of motor driving devices. The plurality of motor driving devices include at least one master motor driving device. The master motor drive device receives information on the control command, the destination motor drive device for each control command, and the execution time information for each control command from the computer that is the host device. The master motor driving device transfers the control command to another motor driving device according to the information received from the computer.

  With the above configuration, it is possible to realize synchronous control of a plurality of motors with a general-purpose computer that does not guarantee real-time performance. In addition, by using a general-purpose computer, it is possible to reduce the number of man-hours for program development necessary for realizing synchronous control of a plurality of motors.

  In one example, the available memory size of the plurality of master motor drives is selected from the plurality of motor drives so that a control command group can be stored from the computer. As a result, it is not necessary to mount a large-capacity memory capacity in all motor drive devices, and system resources can be reduced.

  FIG. 1 shows an example of a motor control system in the embodiment. In the configuration example of FIG. 1, the motor control system connects a PC 100, a plurality of master motor driving devices 300, a plurality of non-master motor driving devices 400, and a plurality of remote I / O 600 via a network 200.

  In the present disclosure, a motor drive device other than the master motor drive device is referred to as a non-master motor drive device. A motor 500 is connected to each of the motor driving devices 300 and 400. The motor 500 is, for example, a motor such as a belt conveyor or a winding device. A motor system is constituted by the motor 500 and the motor control system.

  The non-master motor driving device 400 controls the rotational speed of the connected motor 500 by changing the power supply frequency. The remote I / O 600 acquires sensor information and the like. The PC 100 generates control commands for all the motor drive devices existing in the system and distributes them to the plurality of master motor drive devices 300. The control command corresponds to the number of rotations necessary for controlling the motor 500.

  The master motor driving device 300 controls the rotational speed of the connected motor 500. The master motor driving device 300 transmits the control command received from the PC 100 to the target non-master motor driving device 400.

  The number of remote I / Os 600 and the number of motor drives depends on the system design. As will be described later, the PC 100 selects one or a plurality of master motor driving devices 300 from the motor driving devices. Note that one or a plurality of master motor driving devices 300 may be fixed without being selected by the PC 100.

  FIG. 2 shows a configuration example of the PC 100. The PC 100 has a general-purpose computer configuration. The PC 100 includes a hardware resource 110, an operating system (OS) 120, and a software module 130.

  The hardware resource 110 includes a CPU 111 that is a processor, a main memory 112, a secondary memory 113, and a communication interface (IF) 114 that performs data communication with other devices. The main memory 112 is typically a volatile semiconductor storage device. The secondary memory 113 is typically a non-volatile storage device including a non-transitory storage medium such as a hard disk drive (HDD) or a solid state drive (SSD).

  The OS 120 is basic software that comprehensively controls the operation of the PC 100. The software module 220 is software for controlling the master motor driving device 300 and the non-master motor driving device 400.

  The software module 130 includes a control instruction group generation program 131, a control instruction group transmission program 132, a time synchronization program 133, an operation result group reception program 134, an operation result group analysis program 135, a master motor drive device selection program 136, and a parameter setting program 137. It is comprised including.

  The main memory 112 stores programs including the OS 210 and the software module 220 and data used by the programs. The secondary memory 113 includes a nonvolatile non-transitory storage medium that stores programs and data loaded into the main memory 112. The secondary memory 113 may be an external storage device connected via a network. The program can be installed in the apparatus by a program distribution server or a computer-readable non-transitory storage medium, and can be stored in a nonvolatile storage device of each apparatus.

  The program is executed by a processor (CPU) to perform a predetermined process. Therefore, in the present disclosure, the description with the program as the subject may be an explanation with the processor as the subject. Or the process which a program performs is a process which the apparatus and system which the program operate | moves perform.

  The processor operates as a functional unit that realizes a predetermined function by operating according to a program. For example, the processor functions as a control command group generation unit by operating according to the control command group generation program 131, and functions as a time synchronization unit by operating according to the time synchronization program 133. The same applies to other programs. The above points are the same in the master motor driving device 300 and the non-master motor driving device 400.

  The control command group generation program 131 generates a control command group that the PC 100 transmits to the master motor driving device 300. Details of the method of generating the control instruction group will be described later. The control command group transmission program 132 transfers the control command group generated by the control command group generation program 131 to the master motor driving device 300 existing on the network. Details of the control instruction group transfer method will be described later.

  The time synchronization program 133 performs time synchronization with the master motor driving device 120 existing on the network. As a method for performing time synchronization, for example, a protocol conforming to Simple Network Time Protocol (SNTP) or IEEE1588 is used. The operation result group reception program 134 receives an operation result group of the motor 500 from the master motor driving device 300. Details of the method of receiving the operation result group will be described later.

  The operation result group analysis program 135 analyzes the operation result group received using the operation result group reception program 134 and displays the analysis result. The user refers to the operation result displayed in the operation result group analysis program 135, confirms the operation state of the motor 500, regenerates the control command as necessary, and drives the master motor driving device 300 and non-master motor. It becomes possible to reset the operation parameters of the apparatus 400.

  The master motor driving device selection program 136 selects a motor driving device that operates as a master motor driving device from among the motor driving devices existing in the system. Details of the selection method of the master motor driving device 300 will be described later.

  The parameter setting program 137 sets parameters necessary for operating the master motor driving device 300 and the non-master motor driving device 400, such as the upper limit / lower limit frequency, acceleration / deceleration time, and base frequency, and the like. Transfer to the non-master motor driving device 400.

  FIG. 3 shows a configuration example of the master motor driving device 300. The master motor driving apparatus 300 includes a hardware resource 310, an OS 320, and a software module 330. The hardware resource 310 includes a microcontroller 311, a communication IF 312, a clock 313, an external I / O 314, and a secondary memory 315.

  The microcontroller 311 is a module that includes a CPU that is a processor and a memory such as a ROM and a RAM. The communication IF 312 is an interface for performing data communication with the PC 100, the non-master motor driving device 400, and the remote I / O 600, and corresponds to an interface such as Ethernet, a serial cable, and wireless.

  The clock 313 keeps the time of the master motor driving device 300. The external I / O 314 is an interface for controlling the rotation speed of the connected motor 500, and corresponds to analog I / O, digital I / O, and the like.

  The secondary memory 315 is, for example, a volatile memory, a nonvolatile memory, an HDD, or an SSD. The secondary memory 315 includes an abnormality processing pattern 316 indicating an operation pattern of the motor 500 at the time of abnormality, a control instruction group 317 for the non-master motor driving device 400 existing in the system transferred from the PC 100 via the external communication unit 254, The operation result group 318 of the non-master motor driving apparatus 400 is stored. The abnormality processing pattern 316 includes one or a plurality of patterns.

  The OS 320 is basic software that comprehensively controls the operation of the master motor driving apparatus 300. The OS 320 is a real-time operating system used for an embedded system, for example, is stored in a memory in the microcontroller 311, and is executed by the CPU of the microcontroller 311.

  The software module 330 is used in data communication with the PC 100 and the non-master motor driving device 400 and control of the motor 500. The software module 330 includes a control command group reception program 331, an operation result group transmission program 332, a time synchronization program 133, a control command transmission program 333, an operation result reception program 334, a motor control program 335, a device information transmission program 336, and an abnormality process. An execution program 337 is included.

  The software module 330 is stored in a memory in the microcontroller 311 and is executed by the CPU of the microcontroller 311. At least a portion of the software module 330 may be loaded from the secondary memory 315. The control command group reception program 331 receives the control command group transferred via the communication IF 312 and stores it in the secondary memory 315.

  The operation result group transmission program 332 transfers the operation results of the non-master motor driving device 400 and the motor 500 in the system stored in the secondary memory 315 to the PC 100 through the communication IF 312. The operation result of the non-master motor driving apparatus 400 is received via an operation result receiving program 334 described later. The operation result of the motor 500 is acquired via the external I / O 314.

  The control command transmission program 333 transmits a control command to the non-master motor driving device 400 in the system through the communication IF 312. Details of the control command transmission method will be described later. The operation result receiving program 334 receives the operation result of the motor 500 under control from the non-master motor driving device 400 in the system and stores it in the secondary memory 315.

  The motor control program 335 controls the motor 500 through the external I / O 314 based on the control command group 317 stored in the secondary memory 315. Details of the control method of the motor 500 will be described later.

  In response to the device information request received from the PC 100, the device information transmission program 336 acquires device information such as the type of the master motor driving device 300 and the available memory capacity, and transmits it to the PC 100 in a device information response. . Details of the device information acquisition process will be described later.

  The abnormality processing execution program 337 detects an abnormality from the operation result of the connected motor 500 and the non-master motor driving device 400 in the system, the state of the remote I / O 600, and sends a message corresponding to the abnormality to another motor driving device. Send to.

  The abnormality processing execution program 337 selects an operation pattern corresponding to the detected abnormality or an abnormality message received from the outside from the abnormality processing pattern 316 stored in the secondary memory 315, and the motor 500 according to the selected operation pattern. Control. When the abnormal process pattern 316 includes a plurality of operation patterns, the abnormal process execution program 337 holds a correspondence relationship between each operation pattern and the content of the abnormality in advance.

  FIG. 4 shows a configuration example of the non-master motor driving device 400. The non-master motor driving apparatus 400 includes a hardware resource 310, an OS 320, and a software module 330. The hardware resource 310 of the non-master motor driving device 400 is the same as that of the master motor driving device 300. In the operation described below, the non-master motor driving device 400 does not require the timepiece 313.

  Similar to the master motor driving device 300, the secondary memory 315 stores an abnormality processing pattern 316 showing an operation pattern at the time of abnormality. Unlike the master motor driving device 300, a control command group for other non-master motor driving devices 400 is stored. The operation result group 318 of 317 and the other non-master motor driving device 400 is not stored.

  The software module 330 is used for data communication with the master motor driving device 300 and control of the motor 500. The software module 330 includes a device information transmission program 336, an abnormality processing execution program 337, a control command reception program 340, an operation result transmission program 341, and a motor control program 342.

  In response to the device information request received from the PC 100, the device information transmission program 336 acquires device information such as the type of the non-master motor drive device 400 and the available memory capacity, and transmits the device information response to the PC 100. To do.

  The abnormality process execution program 337 detects an abnormality from the operation result of the connected motor 500 and transmits an abnormality message to another motor driving device. The abnormality processing execution program 337 selects an operation pattern corresponding to an abnormality detected from the abnormality processing pattern 316 stored in the secondary memory 315 or corresponding to an abnormality message received from the outside, and the motor is executed according to the operation pattern. 500 is controlled. When the abnormal process pattern 316 includes a plurality of operation patterns, the abnormal process execution program 337 holds a correspondence relationship between each operation pattern and the content of the abnormality in advance.

  The control command reception program 340 receives a control command transmitted from the master motor driving device 300. Details of the control command reception method will be described later. The operation result transmission program 341 transmits an operation result of the connected motor 500 to the master motor driving device 300. The motor control program 342 controls the connected motor 500 through the external I / O 314 based on the control command received by the control command receiving program 340. Details of the control method of the motor 500 will be described later.

  In the example described below, the master motor driving device 300 is selected from the motor driving devices in the system. Therefore, the motor driving device that can be selected as the master motor driving device 300 holds the programs of both the master motor driving device 300 and the non-master motor driving device 400, and serves as the master motor driving device 300 or the non-master motor driving device 400. Execute the necessary program. The motor driving device that operates only as the non-master motor driving device 400 does not need the function of the master motor driving device 300, and stores only the program of the non-master motor driving device 400.

  All the motor drive devices in the system may have a common hardware configuration or different hardware configurations. For example, the system may include motor drive devices having different calculation capabilities, memory capacities, and storage device capacities of the microcontroller.

  FIG. 5 shows an operation sequence of the PC 100, the master motor driving device 300, and the non-master motor driving device 400 at the time of system startup. After startup, the PC 100 executes a control command group generation process S500 that creates an operation pattern of the number of rotations of the motor 500 in the system, using the control command group generation program 131.

  The user uses, for example, a spreadsheet program to create data indicating changes in the number of rotations with respect to time for each motor drive device as shown in FIG. FIG. 6 shows the rotational speed change for the two motor drives. The control command group generation program 131 generates a control command corresponding to a change in the rotational speed generated by the user for each motor drive device. For example, each rotation speed change in FIG. 6 corresponds to one control command.

  When the operation pattern shown in FIG. 6 is created using the PLC, it is necessary to use ladder logic. Since ladder logic is a kind of programming language, its development requires a lot of man-hours compared with the case of developing using a spreadsheet program. Furthermore, when the operation pattern is changed, in the case of a spreadsheet program, it is only necessary to change the corresponding value. However, in the case of ladder logic, it is necessary to perform programming again, which requires a lot of man-hours.

  On the other hand, as in the configuration of the present disclosure, the PC 100 having the general-purpose computer configuration can easily generate and change the control command to be transferred to the master motor driving device 300.

  After executing the control command group generation process S500, the PC 100 executes a master motor drive device determination process S600. Specifically, the PC 100 uses the master motor drive device selection program 136 to select the master motor drive device 300 from the motor drive devices in the system.

  FIG. 7 shows details of the master motor drive device determination process S600. The master motor drive device selection program 136 acquires device information including the type of motor drive device and the available memory size from all motor drive devices in the system (S602 to S604).

  Specifically, the master motor drive device selection program 136 generates a device information request and transmits it to the motor drive device (S602). The master motor drive device selection program 136 receives a response to the device information request from the motor drive device that has transmitted the device information request (S603). The master motor drive device selection program 136 repeats steps S602 and 603 for all motor drive devices in the system (S604: NO).

  The available memory size corresponds to a memory size for storing a control instruction group to be described later. For example, the free capacity of the secondary memory 315, the total of the free capacity of the secondary memory 315 and the memory in the microcontroller, or these Indicates the capacity calculated by the prescribed calculation method.

  When a response to the device information request is received from all the motor drive devices in the system (S604: YES), the master motor drive device selection program 136 analyzes the received device information (S606) and becomes a master motor drive device candidate. It is determined whether or not the motor drive device is present in the system (S610).

  As described above, the device information includes the type of device. The master motor drive device selection program 136 determines whether a drive device suitable for the master motor drive device exists from the device type. The device type corresponds to the hardware configuration of the device. The master motor drive device selection program 136 holds in advance device types that can be selected as the master motor drive device, and if any device type received from the system matches the device type held in advance, the master motor drive device Determine that the candidate exists in the system.

  Further, the master motor drive device selection program 136 may select a master motor drive device using information related to the performance of the microcontroller 311 such as the operating frequency, version information of the software module 330, etc. in addition to the device type. .

  As described above, by selecting the master motor driving device based on the configuration information such as the device type and the device characteristics, it is possible to select a motor driving device that can appropriately operate as the master motor driving device. In addition, information necessary for selection can be reduced as compared with a configuration in which identifiers of devices that can be selected as a master motor driving device are stored in advance. The master motor drive device selection program 136 may hold in advance an identifier of a device that can be selected as the master motor drive device.

  When the determination result indicates that the master motor drive device candidate does not exist in the system (S610: NO), the master motor drive device selection program 136 determines that it is difficult to operate this system, and that is the effect. Is displayed on the display device of the PC 100 (S622).

  When the determination result indicates that there are master motor drive device candidates in the system (S610: YES), the master motor drive device selection program 136 selects all the master motor drive device candidates (S612). Further, the master motor driving device selection program 136 determines whether or not the selected master motor driving device candidate can store the control command group generated in the control command group generation processing S500.

  Specifically, the master motor drive device selection program 136 substitutes 1 for the variable i and sets the total memory size to 0 (S614). Next, the master motor drive device selection program 136 selects the i-th largest memory size from the available memory sizes of the motor drive device selected as the master motor drive device candidate, and adds it to the total memory size (S615).

  The master motor drive device selection program 136 compares the total memory size with the size of the control command group for the motor drive devices in the system (S616). When the comparison result indicates that the size of the control command group is large (S616: NO), the master motor drive device selection program 136 determines whether or not an unselected master motor drive device remains (S618).

  When there is no unselected master motor driving device remaining (S618: NO), the master motor driving device selection program 136 determines that it is difficult to operate this system, and displays an error message indicating that to the display device of the PC 100. Is displayed (S622).

  If unselected master motor drive device candidates remain (S618: YES), the master motor drive device selection program 136 increments the variable i (S620) and returns to step S614.

  In step S616, when the comparison result between the control instruction group size and the total memory size indicates that the control instruction group size is equal to or smaller than the total memory size (S616: YES), the master motor drive device selection program 136 Is determined to be operable, and the master motor driving device candidate selected for calculating the total memory size is determined as the master motor driving device.

  The master motor drive device selection program 136 divides the control command group generated in the control command group generation process S500 according to the available memory size of the device operating as the master motor drive device (S630). Each of the divided control command groups includes a control command for the transmission destination master motor driving device.

  As described above, the master motor driving device selection program 136 selects master motor driving device candidates in descending order of available memory size, and calculates the total memory size. The master motor drive device selection program 136 determines one or more master motor drive device candidates whose total memory size is equal to or greater than the control command group size as a master motor drive device.

  The master motor drive device selection program 136 divides the control command group according to the available memory size of each selected master motor drive device. If the total available memory size of all master motor drive candidate is less than the control command group size, an error is displayed.

  Returning to FIG. 5, after determining the master motor driving device 300 in the master motor driving device determination processing S600, the PC 100 and the master motor driving device 300 execute the time synchronization processing S700. The time synchronization process S700 synchronizes the time of the clock 313 mounted on the master motor driving device 300 with the time of the clock of the PC 100. Specifically, the time synchronization program 133 of the PC 100 transmits the measurement time of the PC 100 to the master motor driving device 300, and the microcontroller 311 of the master motor driving device 300 adjusts the clock 313 according to the received time.

  After execution of the time synchronization process S700, the PC 100 and the master motor driving device 300 execute a control command group communication process S800. The PC 100 transmits a corresponding control command group to each of the selected master motor driving devices 300, and each master motor driving device 300 receives the control command group transmitted to the own device.

  The master motor driving device 300 and the non-master motor driving device 400 execute a motor control process S900. The master motor driving device 300 controls the motor 500 connected to the own device according to the control command to the own device received from the PC 100, and transfers the control command received from the PC 100 to the target non-master motor driving device 400. To do. The non-master motor driving device 400 controls the motor 500 connected to the own device according to the received control command.

  Thereafter, the master motor driving apparatus 300 and the PC 100 execute the operation result group communication process S1000. The master motor driving device 300 transmits to the PC 100 the operation result received from the non-master motor driving device 400 to which the operation result of the motor 500 connected to the own device and the control command are transferred. The PC 100 receives the operation result from each of the master motor driving devices 300. The operation result indicates, for example, the executed control command and whether or not the operation is normal.

  FIG. 8 shows a flowchart of the operation of the PC 100 in the control command group communication process S800 and the operation result group communication process S1000. The PC 100 operates according to the control command group transmission program 132, the operation result group reception program 134, and the operation result group analysis program 135.

  The control command group transmission program 132 transmits the control command group divided in step 630 to each corresponding master motor driving device 300 (S810). FIG. 10 shows a format example of the control instruction group 1000. The format of the control instruction group 1000 has three fields.

  A control command field 1010 indicates a control command. The time field 1020 indicates time information for executing the control command. The motor drive device number field 1030 indicates a number for identifying the motor drive device to which the control command is transmitted, and indicates the number of the own device or a non-master motor drive device. Master motor driving device 300 transmits the control command indicated by control command field 1010 to the motor driving device indicated by motor driving device number field 1030 at the time indicated by time field 1020.

  The time field 1020 may indicate an absolute time or a relative time. When the time field 1020 indicates relative time, the control command group includes information on the reference time. For example, the start time (reference time) is associated with the control command executed first in the control command group transmitted from the PC 100 to the master motor driving device 300, and the time field of another control command. 1020 shows the elapsed time from the start time.

  The control command group may indicate a start time (reference time) and a cycle as information on the execution time of the control command. The start time and the period are respectively common to the destination motor drive device in the control command group, or are indicated for each motor drive device. In the control command group of each non-master motor driving device 400, master motor driving device 300 transmits the first control command at the corresponding disclosure time, and transmits subsequent control commands at the corresponding cycle. The master motor driving device 300 executes the first control command at the corresponding disclosure time in the control command group of the own device, and executes subsequent control commands at the corresponding cycle.

  By including the time information as described above in the control command group, the master motor driving device 300 can transmit the control command to the non-master motor driving device 400 at an accurate timing without requiring other settings. .

  For example, in the synchronous control of a plurality of motors, the control command execution cycle may be different for each motor 500. When performing synchronous control of several tens to several hundreds of motors, it takes a lot of time to set the cycle in advance. As described above, by including information indicating the time at which each control command is executed in the control command group, the cycle setting for each motor 500 as described above becomes unnecessary.

  In addition, the control command group transmitted to each of the plurality of master motor driving devices 300 includes time information indicating the operation timing of the transmission destination master motor driving device 300, and therefore the right to operate as the master motor driving device is defined between the motor driving devices. No need to take over the system.

  Returning to FIG. 8, the control command group transmission program 132 transmits a control command group to the master motor driving device 300 and then receives a response message for the transmission (S812). When response messages are received from all the master motor drive devices 300 that have transmitted the control command group (S812: YES), the control command group transmission program 132 determines that the master motor drive device 300 has successfully received the control command group. To do. The operation result group reception program 134 has an operation result group reception (S1010).

  When response messages cannot be received from all the master motor drive devices 300 that have transmitted the control command group (S812: NO), the control command group transmission program 132 determines that an abnormality has occurred in any of the master motor drive devices 300. Then, an abnormal message is transmitted to the master motor driving device 300 and the non-master motor driving device 400 (S814), and an error message indicating that is displayed on the display device of the PC 100 (S816).

  When the operation result group reception program 134 receives the operation result group from all the master motor driving devices 300 (S1010: YES), after analyzing the received operation result group, the analysis result is displayed on the PC 100 ( S1012, S1014).

  On the other hand, if even one of the master motor driving devices 300 that transmitted the control command group has not received the operation result group (S1010: NO) and the time added to the generated control command group has elapsed (S1016: YES), the master It is determined that an abnormality has occurred in the motor driving device 300, an abnormality message is transmitted to the master motor driving device 300 and the non-master motor driving device 400 (S1018), and that fact is displayed on the PC 100 as an error message ( S1020).

  As described above, the motor control system transmits a control command together with time information to the master motor driving device, and the master motor driving device transfers the control command to the non-master motor driving device according to the time information. Thereby, a control command can be generated by a PC having a general-purpose computer configuration, and the control command can be transmitted to each motor drive device in real time.

  Further, the motor control system selects one or a plurality of master motor driving devices from among the motor driving devices in the system. Thereby, an appropriate motor drive device can be selected as the master motor drive device. In particular, by selecting one or more master motor driving devices based on the memory size, all control command groups can be stored in one or more master motor driving devices.

  Further, since a plurality of master motor drive devices can be selected, even in a large-scale system that requires a large-capacity control command, the control command can be divided and transferred to the master motor drive device, leading to an increase in cost. An increase in memory size can be suppressed. Depending on the design, only one master motor drive device may be selectable.

  9A to 9C show flowcharts of operations of the master motor driving device 300 and the non-master motor driving device 400 in the control command group communication processing 800, the motor control processing 900, and the operation result group communication processing S1000. Master motor driving device 400 operates only in motor control processing 900.

  In FIG. 9A, the motor driving device in the system recognizes that its own device operates as the master motor driving device 300 when receiving the control command group transmitted by the PC 100 by the control command group receiving program 331 (S850: YES). The control command group reception program 331 analyzes the received control command group and then stores it as the control command group 317 in the secondary memory 315 (S852).

  The control command transmission program 333 of the master motor driving device 300 compares the value of the time field 1020 of the clock 313 and the control command group 317. When the current time is the time when the control command is transmitted to the non-master motor driving device 400 or the motor 500 under control (S910: YES), the control command transmission program 333 sends each control command to the non-master motor driving device 400. Alternatively, it is transmitted to the motor control program 335 of the own device. In this example, when the time indicated by the clock 313 matches the value of the time field 1020, the current time is the time when the control command is transmitted to the non-master motor driving device 400 or the motor 500 under control.

  The motor control program 335 of the master motor driving device 300 transmits a control command to the motor 500 connected to the own device. The motor control program 335 transmits the control command to the motor 500 after changing the control command to the control command in accordance with the interface of the motor 500 (S912).

  The operation result reception program 334 receives the operation result from each non-master motor driving device 400 that transmitted the control command and the motor control program 335 of the own device (YES in S914), It is determined that the apparatus has successfully transmitted a control command to the motor 500, and the operation result is stored in the secondary memory 315 as the operation result 318 (S916). The operation result 318 stores, for example, information on a control command, a transmission destination motor driving device, and transmission time.

  On the other hand, when the normal operation result cannot be received from the own apparatus motor control program 335 or any non-master motor drive apparatus 400 that has transmitted the control command (S914: NO), the abnormality process execution program 339 indicates that an abnormality has occurred in the system. It determines with having generate | occur | produced, and it progresses to the flowchart of FIG.

  The abnormality processing execution program 339 transmits an abnormality message corresponding to the detected abnormality to the other motor driving device (S950) and detects from the abnormality processing pattern 316 for the motor 500 connected to the own device. The control command corresponding to the operation pattern selected according to the above is transmitted (S952). Thus, the motor system can be appropriately controlled when an abnormality occurs in the non-master motor driving device 400. The abnormal process pattern 316 shows the time change of the rotation speed as shown in FIG. 10, and the abnormal process execution program 339 holds a control command corresponding to the abnormal process pattern 316 in advance or generates it at the time of abnormality.

  Returning to FIG. 9A, when the control command receiving program 340 of the non-master motor driving device 400 receives the control command transmitted by the master motor driving device 300 (S920: YES), the received control command is transferred to the motor control program 335. Send to. The motor control program 335 changes the control command according to the interface of the connected motor 500, and then transmits the control command to the motor 500 (S922).

  The motor control program 335 receives the operation result from the motor 500 (S924), and when the result is normal (S926: YES), transmits the operation result to the operation result transmission program 341. The operation result transmission program 341 transmits the operation result to the master motor driving device 300 (S928).

  On the other hand, when the operation result received from the motor 500 is not normal (S926: NO), the abnormality processing execution program 339 of the non-master motor driving device 400 determines that an abnormality has occurred in the operation of the motor 500, and the connector B Then, the process proceeds to the flowchart of FIG. 9B. The abnormal process execution program 339 transmits an abnormal message to another motor drive device (S950) and matches the operation pattern selected from the abnormal process pattern 316 for the motor 500 connected to the own device. A control command is transmitted (S952). Thereby, the motor system can be appropriately controlled when an abnormality occurs.

  Returning to FIG. 9A, when the abnormal process execution program 339 of the master motor driving device 300 and the non-master motor driving device 400 receives the abnormal message (S930: YES), it analyzes the received abnormal message (S932), A control command corresponding to the operation pattern selected according to the message from the abnormality processing pattern 316 is transmitted to the motor 500 connected to the apparatus (S934).

  As shown in FIG. 9C, the master motor driving apparatus 300 periodically receives a message transmitted from the remote I / O 600 (S940: YES), and the abnormal process execution program 339 analyzes the message (S942). When it is determined that an abnormal message needs to be transmitted (S944: YES), the abnormal process execution program 339 transmits an abnormal message to another motor driving device (S950) and the motor 500 connected to the own device. In response to this, a control command corresponding to the operation pattern selected in accordance with the message from the abnormality processing pattern 316 is transmitted (S952).

  By receiving the message transmitted by the remote I / O 600, an abnormality process corresponding to the state of the remote I / O 600 can be executed. For example, sensor information of an externally installed temperature sensor is acquired, and abnormality processing can be performed when the value of the sensor information is equal to or greater than a threshold value.

  With the configuration of transmitting an abnormal message and transmitting a control command to the motor 500 that matches the abnormal processing pattern, even if one of the motor drive devices existing in the system has an abnormality, an appropriate abnormality process can be performed. Can prevent runaway. As an abnormal process of the motor 500, various methods are conceivable, such as a sudden stop of the motor, a slow stop after the motor is slowly stopped, and a constant speed operation is maintained after the motor is slowly decelerated.

  For example, in order to prevent personal injury, the motor control system suddenly stops the motor. On the other hand, if the motor is suddenly stopped in the motor system of the belt conveyor, there is a risk that the work on the belt conveyor falls. In this case, the motor control system slowly decelerates and stops the motor. By storing the abnormality processing pattern 316 corresponding to the system state in the secondary memory 315 in advance, the abnormality processing suitable for the system can be performed.

  As shown in FIG. 9C, when the transmission of the control command to the non-master motor driving device 400 is completed (S1020: YES), the operation result group transmission program 332 of the master motor driving device 300 is stored in the secondary memory 315. The operation result 318 is transmitted to the PC 100 (S1022).

  When the time field 1020 indicates the absolute time, the PC 100, the master motor driving device 300, and the non-master device 300 can execute the same processing again after each processing of the control command group. The motor driving device 400 needs to execute time synchronization processing S700, control command group communication processing S800, motor control processing S900, and operation result group communication processing S1000. When a failure of the PC 100 or a network abnormality between the PC 100 and the master motor driving device 300 occurs, the system may not operate.

  On the other hand, when the time field 10120 indicates relative time, time synchronization processing S700 with the PC 100 is performed by performing time synchronization between the master motor driving devices 300 at a time before the oldest time in the control command group. The motor control process (S900) can be performed without performing the instruction group communication process S800. Therefore, the system can operate even if a failure of the PC 100 or a network abnormality between the PC 100 and the master motor driving device 300 occurs.

  In order to perform the above-described operation, it is necessary to select the master motor driving device 300 to be the grand master in the time synchronization process (S700). For example, the PC 100 selects the device having the largest available memory capacity as the grand master among the master motor driving devices 300 determined in the master motor driving device determination processing S600, and the motor driving selected accordingly. Notify the device.

  The master motor driving device 300 selected as the grand master performs time synchronization with other master motor driving devices 300 using the time synchronization program 133 after the processing of each master motor driving device 300 is completed.

  In the above example, the master motor driving device 300 is selected based on the type of the motor driving device and the available memory size. By this method, it is possible to select the master motor driving device 300 according to the size of the control command group.

  However, since this method selects the master motor driving apparatus 300 based on static conditions, dynamic conditions such as the total operation time of the motor driving apparatus are ignored. For example, a motor drive device having a control command group size of 1 Mbyte, an available memory size of 2 Mbytes and a total operation time of 10,000 hours, and a motor drive device having an available memory size of 1 Mbytes and a communication operation time of 10 hours Is present, the above method selects the former motor driving device as the master motor driving device 300.

  On the other hand, in consideration of the total operation time, the former motor driving device has a high possibility of failure. Since the system does not operate when the master motor driving device 300 fails, it is preferable to select a motor driving device with a low possibility of failure as the master motor driving device 300.

  Therefore, when the master motor driving device 300 acquires the operation result from the non-master motor driving device 400 and when the PC 100 acquires the operation result group from the master motor driving device 300, the motor is matched with the operation result of the motor 500. The operation state information such as the total operation time of the drive device and the average CPU usage rate is acquired. The PC 100 stores the information in the operation state table 1100 shown in FIG. A master motor drive device can be selected in accordance with the operation status of each motor drive device in the operation state table 1100. The PC 100 may acquire the operation state information of the motor drive device in the device information acquisition step (S602).

  FIG. 11 shows a configuration example of the operation state table 1100 stored in the PC 100. FIG. 12 shows a flowchart in which the PC 100 selects the master motor driving device 300 based on the operation result table shown in FIG.

  The operation state table 1100 includes a motor drive device name field 1110, a total operation time field 1120, an operated control command group field 1130, a role field 1140, and an average CPU usage rate field 1150. From this table 1100, the PC 100 can know the operation time of each motor drive device, the role of each control command group, and the average CPU usage rate 1150 at that time. These are merely examples, and other information may be used.

  If the master motor drive device candidate exists after obtaining the motor drive device type and the available memory size from all the motor drive devices in step 602 (S610: YES), the master motor drive device selection program 136 displays the operating state. The table 1100 is referred to (S1210), and it is determined whether the master motor driving device condition is satisfied or whether there is a master motor driving device candidate (S1220).

  The master motor drive device condition is a condition of an operation state that leads to the failure of the motor drive device, for example, the total operation time is within 10,000 hours or the average CPU usage rate is within 80%. When there is a master motor driving device candidate that satisfies the master motor driving device condition (S1220: YES), the PC 100 executes steps from step 612 onward.

  On the other hand, when there is no master motor driving device candidate that satisfies the master motor driving device condition (S1220: NO), the PC 100 determines that it is difficult to operate the system, and displays an error message to that effect on the display device. (S622).

  By selecting a device that satisfies the master motor drive device condition as the master motor drive device 300 as described above, a failure during operation of the master motor drive device can be prevented. Further, by including the average CPU usage rate in the master motor drive device conditions, unstable operation of the master motor drive device can be suppressed. For example, by performing an unexpected operation of the software installed in the motor driving device and using the CPU more than originally planned, it is possible to prevent the non-master motor driving device 400 from fluctuating the control command transmission timing.

  In addition, this invention is not limited to an above-described Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  Each of the above-described configurations, functions, processing units, and the like may be realized by hardware by designing a part or all of them, for example, with an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files for realizing each function can be stored in a recording device such as a memory, a hard disk, or an SSD, or a recording medium such as an IC card or an SD card. In addition, the control lines and information lines are those that are considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. In practice, it may be considered that almost all the components are connected to each other.

DESCRIPTION OF SYMBOLS 100 ... PC, 110 ... Hardware resource, 111 ... CPU, 112 ... Main memory, 113 ... Secondary memory, 114 ... Communication IF, 120 ... OS, 130 ... Software module, 131 ... Control command group generation program, 132 ... Control Command group transmission program, 133 ... Time synchronization program, 134 ... Operation result group reception program, 135 ... Operation result group analysis program, 136 ... Master motor drive device selection program, 137 ... Parameter setting program, 200 ... Network, 300 ... Master motor Drive device, 310 ... hardware resource, 311 ... microcontroller, 312 ... communication IF, 313 ... clock, 315 ... external I / O, 315 ... secondary memory, 316 ... abnormal processing pattern, 317 ... control instruction group, 318 ... Operation result group, 320 ... OS 330 ... Software module, 331 ... Control command group reception program, 332 ... Operation result group transmission program, 333 ... Control command transmission program, 334 ... Operation result reception program, 335 ... Motor control program, 336 ... Device information transmission program, 337 ... Abnormal processing execution program, 340 ... control command reception program, 341 ... operation result transmission program, 342 ... motor control program, 400 ... non-master motor drive device, 500 ... motor, 600 ... remote I / O

Claims (14)

A plurality of motor drive devices connected via a network;
A computer that creates a control command to be executed by the plurality of motor driving devices to control the motor, and
The plurality of motor driving devices are:
A control command group including the control command, identification information of the motor drive device that executes the control command, and time information that executes the control command is received from the computer, and the identification information of the motor drive device and A master motor driving device for transferring the control command according to the time information;
A non-master motor driving device that controls the motor in accordance with a control command received from the master motor driving device. The motor control system according to claim 1,
The motor control system, wherein the computer selects the master motor driving device from the plurality of motor driving devices based on a size of the control instruction group and an available memory size of the plurality of motor driving devices. The motor control system according to claim 1,
The calculator is
Select a plurality of master motor drive devices that can store the control command group with the total available memory size,
The control command group is divided according to the available memory size of the plurality of master motor driving devices, and distributed to the plurality of master motor driving devices,
Each of the plurality of master motor driving devices transfers a received control command to a non-master motor driving device in the plurality of motor driving devices according to the received identification information and time information of the motor driving device. The motor control system according to claim 3,
The calculator is
Based on the types of the plurality of motor driving devices, select a plurality of master motor driving device candidates from the plurality of motor driving devices,
A motor control system for selecting the plurality of master motor drive devices from the plurality of master motor drive device candidates. The motor control system according to claim 3 or 4,
The calculator is
Based on the operating state of the plurality of motor driving devices, select a plurality of master motor driving device candidates from the plurality of motor driving devices,
A motor control system for selecting the plurality of master motor drive devices from the plurality of master motor drive device candidates. The motor control system according to claim 1,
When the first motor driving device in the plurality of motor driving devices detects an abnormality of the managed motor, the first motor driving device controls the controlled motor according to the preset abnormal operation pattern, and further, the second master motor driving device has an abnormality. Send an abnormal message indicating the occurrence,
When the second master motor driving device receives the abnormality message, the second master motor driving device controls a controlled motor according to a preset abnormal operation pattern. The motor control system according to claim 1,
When the master motor drive device does not receive a normal result for the transmitted control command from the non-master motor drive device that transmitted the control command, the master motor drive device generates an abnormality in the other motor drive devices in the plurality of motor drive devices. A motor control system that sends an error message indicating. A motor control method by a motor control system,
The motor control system includes:
A plurality of motor drive devices including a master motor drive device and a non-master motor drive device connected via a network;
A computer that creates a control command to be executed by the plurality of motor driving devices to control the motor, and
The motor control method includes:
The master motor driving device is
A control command group including the control command, identification information of a motor driving device that executes the control command, and time information that executes the control command is received from the computer,
According to the identification information of the motor drive device and the time information, the control command is transferred,
The non-master motor driving device controls a motor according to a control command received from the master motor driving device. The motor control method according to claim 8, comprising:
The computer includes a method of selecting the master motor driving device from the plurality of motor driving devices based on a size of the control instruction group and an available memory size of the plurality of motor driving devices. The motor control method according to claim 8, comprising:
The calculator is
Select a plurality of master motor drive devices that can store the control command group with the total available memory size,
The control command group is divided according to the available memory size of the plurality of master motor driving devices, and distributed to the plurality of master motor driving devices,
Motor control including each of the plurality of master motor driving devices transferring the received control command to a non-master motor driving device in the plurality of motor driving devices according to the received identification information and time information of the motor driving device. Method. The motor control method according to claim 10, comprising:
The calculator is
Based on the types of the plurality of motor driving devices, select a plurality of master motor driving device candidates from the plurality of motor driving devices,
A motor control method comprising: selecting the plurality of master motor drive devices from the plurality of master motor drive device candidates. The motor control method according to claim 10 or 11,
The calculator is
Based on the operating state of the plurality of motor driving devices, select a plurality of master motor driving device candidates from the plurality of motor driving devices,
A motor control method comprising: selecting the plurality of master motor drive devices from the plurality of master motor drive device candidates. The motor control method according to claim 8, comprising:
When the first motor driving device in the plurality of motor driving devices detects an abnormality of the managed motor, the controlled motor is controlled in accordance with a preset abnormal operation pattern, and the second master motor driving device has an abnormality. Send an abnormal message indicating the occurrence,
When the second master motor driving device receives the abnormal message, the motor control method includes: controlling a motor under control according to a preset abnormal operation pattern. The motor control method according to claim 8, comprising:
The motor control method includes:
If the master motor driving device does not receive a normal result for the transmitted control command from the non-master motor driving device that has transmitted the control command, an abnormality has occurred in other motor driving devices in the plurality of motor driving devices. A motor control method including transmitting an abnormal message indicating.

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