JP2019216574A - 1つの主軸を2つのモータで切り替えて駆動するモータ制御装置 - Google Patents
1つの主軸を2つのモータで切り替えて駆動するモータ制御装置 Download PDFInfo
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- JP2019216574A JP2019216574A JP2018113830A JP2018113830A JP2019216574A JP 2019216574 A JP2019216574 A JP 2019216574A JP 2018113830 A JP2018113830 A JP 2018113830A JP 2018113830 A JP2018113830 A JP 2018113830A JP 2019216574 A JP2019216574 A JP 2019216574A
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- JP
- Japan
- Prior art keywords
- motor
- unit
- control unit
- spindle
- abnormality
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/14—Handling requests for interconnection or transfer
- G06F13/20—Handling requests for interconnection or transfer for access to input/output bus
- G06F13/28—Handling requests for interconnection or transfer for access to input/output bus using burst mode transfer, e.g. direct memory access DMA, cycle steal
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B7/00—Arrangements for obtaining smooth engagement or disengagement of automatic control
- G05B7/02—Arrangements for obtaining smooth engagement or disengagement of automatic control electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
- H02H7/0844—Fail safe control, e.g. by comparing control signal and controlled current, isolating motor on commutation error
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/18—Controlling the angular speed together with angular position or phase
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
- H02P5/747—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors mechanically coupled by gearing
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Multiple Motors (AREA)
Abstract
Description
2 主軸
3−A 第1のモータ
3−B 第2のモータ
11 切替部
12 位置検出部
13−A 第1のモータ制御部
13−B 第2のモータ制御部
14 異常検出部
15 安全制御部
16 データ転送部
17 データ生成部
21−A、21−B 位置指令生成部
22−A、22−B、24−A、24−B、 減算器
23−A、23−B 位置制御部
25−A、25−B 速度制御部
26−A、26−B 速度検出部
31−A、31−B 回転軸
32−A、32−B ギヤ
41−A、41−B 可動部
51 ギヤ
100 上位制御部
Claims (5)
- 1つの主軸を駆動するモータを、2つのモータの間で選択的に切り替える切替部と、
前記主軸の位置情報を検出する位置検出部と、
前記2つのモータの各々に対応して設けられ、前記位置情報を用いて前記モータをそれぞれ制御する、2つのモータ制御部と、
前記2つのモータのうち前記主軸を駆動するモータの異常を検出する異常検出部と、
前記異常検出部が前記主軸を駆動するモータの異常を検出した場合、前記切替部を制御して前記主軸を駆動するモータを当該異常が検出されたモータから異常が検出されていないモータへ切り替え、かつ前記モータ制御部を制御して前記異常が検出されていないモータを停止させることで、前記主軸を停止させる安全制御部と、
を備える、モータ制御装置。 - 前記2つのモータ制御部の間でデータを転送するデータ転送部と、
前記データ転送部にて転送されるデータとして、少なくとも前記位置情報を含む転送データを生成するデータ生成部と、
をさらに備える、請求項1に記載のモータ制御装置。 - 前記位置検出部が検出した位置情報が、前記2つのモータ制御部のうちの第1のモータ制御部に入力され、
前記第1のモータ制御部内に設けられた前記データ生成部が生成した前記転送データが、前記データ転送部を介して前記2つのモータ制御部のうちの第2のモータ制御部に転送される、請求項2に記載のモータ制御装置。 - 前記データ転送部は、DMA転送方式によりデータを転送する、請求項2または3に記載のモータ制御装置。
- 前記2つのモータのうち、いずれか一方はサーボモータであり、もう一方はスピンドルモータである、請求項1〜4のいずれか一項に記載のモータ制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018113830A JP2019216574A (ja) | 2018-06-14 | 2018-06-14 | 1つの主軸を2つのモータで切り替えて駆動するモータ制御装置 |
DE102019115499.5A DE102019115499A1 (de) | 2018-06-14 | 2019-06-07 | Motorsteuervorrichtung, die eine hauptachse unter umschalten durch zwei motoren antreibt |
US16/436,078 US20190386594A1 (en) | 2018-06-14 | 2019-06-10 | Motor control apparatus driving one main axis switchingly by two motors |
CN201910517086.8A CN110609465A (zh) | 2018-06-14 | 2019-06-14 | 电动机控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018113830A JP2019216574A (ja) | 2018-06-14 | 2018-06-14 | 1つの主軸を2つのモータで切り替えて駆動するモータ制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2019216574A true JP2019216574A (ja) | 2019-12-19 |
Family
ID=68724870
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018113830A Pending JP2019216574A (ja) | 2018-06-14 | 2018-06-14 | 1つの主軸を2つのモータで切り替えて駆動するモータ制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20190386594A1 (ja) |
JP (1) | JP2019216574A (ja) |
CN (1) | CN110609465A (ja) |
DE (1) | DE102019115499A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112476423B (zh) * | 2020-11-12 | 2022-03-08 | 腾讯科技(深圳)有限公司 | 机器人的关节电机控制方法、装置、设备及存储介质 |
WO2024100609A1 (en) * | 2022-11-10 | 2024-05-16 | Scm Industria S.P.A. | Machine tool for working pieces powered by a three-phase motor |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6243801B2 (ja) * | 1983-10-20 | 1987-09-17 | Seibu Denki Kogyo Kk | |
JP2009177881A (ja) * | 2008-01-22 | 2009-08-06 | Okuma Corp | モータ制御装置 |
JP2013073351A (ja) * | 2011-09-27 | 2013-04-22 | Fuji Mach Mfg Co Ltd | サーボドライブシステム |
WO2016080390A1 (ja) * | 2014-11-20 | 2016-05-26 | ナブテスコ株式会社 | 発電装置を駆動する駆動装置 |
-
2018
- 2018-06-14 JP JP2018113830A patent/JP2019216574A/ja active Pending
-
2019
- 2019-06-07 DE DE102019115499.5A patent/DE102019115499A1/de not_active Withdrawn
- 2019-06-10 US US16/436,078 patent/US20190386594A1/en not_active Abandoned
- 2019-06-14 CN CN201910517086.8A patent/CN110609465A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6243801B2 (ja) * | 1983-10-20 | 1987-09-17 | Seibu Denki Kogyo Kk | |
JP2009177881A (ja) * | 2008-01-22 | 2009-08-06 | Okuma Corp | モータ制御装置 |
JP2013073351A (ja) * | 2011-09-27 | 2013-04-22 | Fuji Mach Mfg Co Ltd | サーボドライブシステム |
WO2016080390A1 (ja) * | 2014-11-20 | 2016-05-26 | ナブテスコ株式会社 | 発電装置を駆動する駆動装置 |
Also Published As
Publication number | Publication date |
---|---|
CN110609465A (zh) | 2019-12-24 |
US20190386594A1 (en) | 2019-12-19 |
DE102019115499A1 (de) | 2019-12-19 |
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