JP2023101424A - Controller of power storage system by flywheel and capacitor - Google Patents

Abstract

To efficiently cut peak of consumption power to reduce equipment power supply capacity.SOLUTION: A load power share part 21 of an energy power storage part controller 1 obtains FW load power K_PL1 and capacitor load power K_PL2 from load power K_PL. A FW control part 22 obtains FW compensation torque command PL1 by subtracting threshold power from the FW load power K_PL1, etc. and obtains FW return torque command TSTAR1 by speed control including a low pass feature amount filter and obtains FW torque command TEXT1 from these commands, etc. A capacitor control part 23 obtains capacitor compensation current command PL2 by subtracting the threshold power from the capacitor load power K_PL2, etc. and obtains capacitor return current command TSTAR2 by voltage control including the low pass feature amount filter and obtains capacitor current command TEXT2 from these commands, etc.SELECTED DRAWING: Figure 2

Description

The present invention relates to a control device for a power storage system using a flywheel and a capacitor, and more particularly to energy regeneration control and power running control for cutting peak power consumption in a power supply system to which a motor is connected.

Conventionally, there is known a control system that controls a motor to which a flywheel is coupled and regenerates energy accumulated in the flywheel (see Patent Document 1, for example). This control system uses a power storage system using a flywheel to control power supplied to loads such as press devices connected to a common power supply system.

During power running, the control system supplies power from the power supply system to the flywheel motor and rotates the flywheel motor at a constant speed, thereby converting electrical energy into mechanical energy. Also, during regeneration, the control system converts the mechanical energy accumulated in the flywheel into electrical energy, thereby supplying electric power for driving the load to the power supply system.

In general, when the electric energy supplied from the power supply system is used to drive the load, the energy stored in the flywheel is used as a backup. A power storage system using a capacitor is also known as a backup power supply system. Furthermore, there is also known a backup power supply system that combines a power storage system using a flywheel and a power storage system using a capacitor (see Patent Document 2, for example).

Japanese Patent No. 6802734 Japanese Patent No. 6778647

The power storage system using the flywheel described above has the advantage that the greater the inertia of the motor coupled to the flywheel, the greater the amount of stored energy. However, when the load to be controlled requires a large amount of energy instantaneously, such as a press, the input power supply and the capacity of the inverter limit the response of the flywheel, which may delay the supply of energy to the load.

In addition, the power storage system using the capacitor described above has the advantage of being able to charge and discharge energy rapidly. However, in order to supply a large amount of energy to the load, it is necessary to increase the amount of stored energy, which also requires an installation space.

When a power storage system using a flywheel and a capacitor is used as a backup power supply system, and a load that requires a large amount of energy momentarily, such as a press, is to be controlled, it is desirable to combine the advantages of each power storage system.

Specifically, the electric power when the motor connected to the load accelerates or decelerates is compensated by the electric power from the power storage system using the flywheel in addition to the electric power from the input power supply. Also, power when momentary large energy is required due to disturbance load such as material processing is compensated by power from the power storage system including the flywheel and the capacitor in addition to the power from the input power source.

The reason for such power sharing is that a large amount of energy can be stored in the power storage system using the flywheel. In addition, for example, in the operation cycle of a servo press, a large amount of energy is instantaneously required depending on the work load, and the power running (charging) operation time tends to be shorter than the regenerative (discharging) operation time of the flywheel. Therefore, sufficient energy cannot be stored in the flywheel, and as time passes, the rotation speed of the flywheel decreases, resulting in insufficient power storage. This is because the charge cycle of the flywheel can be maintained by supplementing the energy from the capacitor storage system.

In addition, since the powering operation time tends to be shorter than the regenerative operation time of the flywheel, in order to perform the powering operation in a limited time, a larger capacity input power supply and inverter are required, but the capacity should be as small as possible. Therefore, it is desirable to share the instantaneously required large amount of energy between the flywheel-based power storage system and the capacitor-based power storage system.

Therefore, the present invention has been made to solve the above problems, and its object is to provide a control device that can efficiently cut the peak of power consumption and reduce the facility power supply capacity when a power storage system with a flywheel and a capacitor is used as a backup power supply system.

In order to solve the above problems, the control device of claim 1 supplies power of an input power supply to a load driven by a motor via a power supply system, supplies energy accumulated in a power storage system by a FW (flywheel) to the load through an inverter for FW and the power supply system, and supplies the energy accumulated in the power storage system by a capacitor to the load through an inverter for capacitors and the power supply system. In a control device that performs energy regeneration control and power running control, when the load is controlled according to a preset speed pattern for driving the motor, an acceleration and deceleration section in the speed pattern is defined as an acceleration/deceleration section, a section excluding the acceleration and deceleration sections that requires a predetermined electric power is defined as a work section, and the speed of the FW motor that rotates the FW is FW motor speed ω.₁and the voltage across the capacitor is the capacitor voltage ω₂, the load power K_PL is obtained by multiplying the speed of the motor and a predetermined torque command for the motor, and the FW load power K_PL1 for sharing the peak of the load power K_PL in the acceleration/deceleration section with the power storage system by the FW is determined based on the preset sharing capacities of the FW and the capacitor, and the FW load power K_PL1 for sharing the peak of the load power K_PL in the work section with the power storage system by the FW, and a load power sharing unit that obtains a capacitor load power K_PL2 to be shared by the storage system using the capacitor, and the FW load power K_PL1 and the FW motor speed ω obtained by the load power sharing unit.₁FW torque command T for operating the FW inverter based on_EXT1and the capacitor load power K_PL2 and the capacitor voltage ω obtained by the load power sharing unit.₂based on the capacitor current command T for operating the inverter for the capacitor_EXT2a first threshold power regulator that calculates the FW compensation power PL1 by subtracting a preset threshold power from the FW load power K_PL1, and the FW compensation power PL1 calculated by the first threshold power regulator to the FW motor speed ω₁By dividing by the FW compensation torque command T_PL1and a preset FW speed command ω_1*and the FW motor speed ω₁A torque command is obtained by performing speed control so that the speed deviation between the_STAR1, and the closer the FW compensation power PL1 to 0, the closer the FW return torque command T to the torque command._STAR1and the FW return torque command T obtained by the first return controller_STAR1The FW compensation torque command T obtained by the torque command converter from_PL1By subtracting the FW torque command T_EXT1and a second threshold power adjuster that calculates the capacitor compensated power PL2 by subtracting a preset threshold power from the capacitor load power K_PL2 by the capacitor control unit;₂By dividing by the capacitor compensation current command T_PL2and a preset capacitor voltage command ω_2*and the capacitor voltage ω₂A current command is obtained by performing voltage control so that the voltage deviation between and is 0, and a low-pass feature amount filter with the capacitor compensation power PL2 obtained from the second threshold power adjuster as a feature amount is used to obtain a capacitor recovery current command T that is closer to 0 as the capacitor compensation power PL2 is not closer to 0._STAR2is obtained, and the closer the capacitor compensation power PL2 is to 0, the closer the capacitor recovery current command T_STAR2and the capacitor recovery current command T obtained by the second recovery controller_STAR2The capacitor compensation current command T obtained by the current command converter from_PL2By subtracting the capacitor current command T_EXT2and a second computing unit for obtaining .

The control device of claim 2 is the control device of claim 1, wherein the FW control unit further includes a first upper limit controller, a first lower limit controller, a first load FF compensator, and a first limiter, and the first upper limit controller controls the upper speed limit torque T based on a preset upper speed limit._MAX1and the first lower limit controller outputs the FW speed command ω_1*and the lower limit speed limit torque T is calculated based on the lower limit speed._MIN1is obtained, and the first calculator calculates the FW return torque command T_STAR1, the upper limit speed limit torque T obtained by the first upper limit controller_MAX1, and the lower limit speed limit torque T obtained by the first lower limit controller_MIN1is added, and the FW compensation torque command T_PL1By subtracting the FW torque command T_E1and the first load FF compensator calculates the FW torque command T obtained by the first computing unit_E1is integrated to estimate the speed command, and the FW motor speed ω₁is subtracted to obtain the load torque compensation value, and the FW torque command T_E1By adding the load torque compensation value to the FW torque command T_E1'and the first limiter determines the FW torque command T obtained by the first load FF compensator_E1'is limited within a preset range, the FW torque command T_EXT1, the capacitor control unit further includes a second upper limit controller, a second lower limit controller, a second load FF compensator, and a second limiter, wherein the second upper limit controller determines the upper limit voltage limiting current T based on a preset upper limit voltage_MAX2and the second lower limit controller outputs the capacitor voltage command ω_2*Based on the lower limit voltage is obtained, and based on the lower limit voltage, the lower limit voltage limit current T_MIN2is obtained, and the second computing unit outputs the capacitor recovery current command T_STAR2, the upper limit voltage limiting current T obtained by the second upper limit controller_MAX2, and the lower limit voltage limiting current T obtained by the second lower limit controller_MIN2is added, and the capacitor compensation current command T_PL2By subtracting the capacitor current command T_E2and the second load FF compensator calculates the capacitor current command T obtained by the second calculator_E2is integrated to estimate the voltage command, and from the voltage command the capacitor voltage ω₂By subtracting the load current compensation value, the capacitor current command T_E2By adding the load current compensation value to the capacitor current command T_E2'and the second limiter determines the capacitor current command T obtained by the second load FF compensator_E2'within a preset range, the capacitor current command T_EXT2is characterized by:

As described above, according to the present invention, when a power storage system including a flywheel and a capacitor is used as a backup power supply system, peak power consumption can be efficiently cut, and the facility power supply capacity can be reduced.

1 is a schematic diagram showing an overall configuration example of a motor control system including an energy storage unit control device according to an embodiment of the present invention; FIG. 1 is a block diagram showing a configuration example of an energy storage unit control device according to an embodiment of the present invention; FIG. 4 is a block diagram showing a configuration example of a load power sharing unit; FIG. FIG. 4 is a diagram illustrating characteristics of load power K_PL, FW load power K_PL1, and capacitor load power K_PL2; 4 is a block diagram showing a configuration example of a work angle signal generator; FIG. 4 is a block diagram showing a configuration example of a first work angle signal generator; FIG. FIG. 4 is a diagram for explaining input/output signals of components of the first work angle signal generator; FIG. 4 is a block diagram showing a configuration example of a second work angle signal generator; It is a block diagram which shows the structural example of a polarity discriminator. FIG. 4 is a block diagram showing a configuration example of a work zone entry/exit discriminator; FIG. 4 is a block diagram showing a configuration example of a work on/off trigger signal generator; FIG. 4 is a diagram for explaining input/output signals of components of a work on/off trigger signal generator; FIG. 4 is a block diagram showing a configuration example of a work on/off angle generator; 4 is a block diagram showing a configuration example of a selector; FIG. 4 is a block diagram showing a configuration example of a FW control unit; FIG. 4 is a block diagram showing a configuration example of a threshold power adjuster provided in the FW control unit; FIG. FIG. 4 is a block diagram showing a configuration example of a plus-side threshold calculator provided in the FW control unit; FIG. 10 is a block diagram showing a configuration example of a negative-side threshold computing unit provided in the FW control unit; FIG. 4 is a diagram for explaining characteristics of FW load power K_PL1″ and FW compensation power PL1; 4 is a block diagram showing a configuration example of a torque command converter provided in the FW control section; FIG. 4 is a block diagram showing a configuration example of a recovery controller provided in the FW control unit; FIG. 3 is a block diagram showing a configuration example of an upper limit controller provided in the FW control unit; FIG. 3 is a block diagram showing a configuration example of a lower limit controller provided in the FW control unit; FIG. It is a block diagram which shows the structural example of the load FF compensator with which the FW control part was equipped. 4 is a block diagram showing a configuration example of a capacitor control unit; FIG. 4 is a block diagram showing a configuration example of a threshold power regulator provided in the capacitor control section; FIG. 4 is a block diagram showing a configuration example of a plus-side threshold computing unit provided in the capacitor control unit; FIG. FIG. 3 is a block diagram showing a configuration example of a negative-side threshold computing unit provided in a capacitor control unit; FIG. 4 is a diagram for explaining characteristics of a capacitor load power K_PL2″ and a capacitor compensation power PL2; 4 is a block diagram showing a configuration example of a current command converter provided in a capacitor control section; FIG. 4 is a block diagram showing a configuration example of a recovery controller provided in the capacitor control section; FIG. 4 is a block diagram showing a configuration example of an upper limit controller provided in the capacitor control section; FIG. 4 is a block diagram showing a configuration example of a lower limit controller provided in the capacitor control section; FIG. It is a block diagram which shows the structural example of the load FF compensator with which the capacitor|condenser control part was equipped. It is a figure explaining a computer simulation result.

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing this invention is demonstrated in detail using drawing. The present invention is characterized by generating a FW torque command to the power storage system by the FW and a capacitor current command to the power storage system by the capacitor so that part of the power when the motor connected to the load accelerates or decelerates is compensated by the power from the power storage system by the flywheel (hereinafter referred to as "FW"), and part of the power when the load requires a large amount of energy momentarily is compensated by the power from the power storage system by the FW and the capacitor.

As a result, when the power storage system including the FW and the capacitor is used as a backup power supply system, the peak power consumption of the load can be efficiently cut, and the facility power supply capacity can be reduced.

[Motor control system]
First, a motor control system including an energy storage unit control device according to an embodiment of the present invention will be described. FIG. 1 is a schematic diagram showing an overall configuration example of a motor control system including an energy storage unit control device according to an embodiment of the present invention.

This motor control system uses an input power supply system comprising a power transformer 2, a reactor 3 and a converter 4, a power storage system by FW comprising an inverter 5, a FW motor 6 and a pulse generator 7, a power storage system by a capacitor 10 comprising an inverter 8, a reactor 9 and a capacitor 10, a load side system comprising a servo press motor controller 11, a primary capacitor 12, an inverter 13, a servo press motor 14 and a pulse generator 15, and a power storage system by the FW and a power storage system comprising the capacitor 10. and an energy storage unit control device 1 that performs regenerative control and power running control.

A press device 16 is connected to the servo press motor 14 as a load to be controlled, and an FW can be connected to the FW motor 6 as necessary.

The servo press motor controller 11 is a device that performs vector control of the servo press motor 14 on the d-axis and the q-axis. The servo press motor control device 11 supplies the power of the DC bus power system to the press device 16 via the inverter 13 . That is, the servo press motor control device 11 supplies power from the input power supply of the power transformer 2 to the press device 16 through the converter 4 and the inverter 13, supplies energy accumulated in the power storage system by the FW to the press device 16 through the inverter 5 and the inverter 13 for FW, and supplies energy accumulated in the power storage system by the capacitor 10 to the press device 16 through the inverter 8 and the inverter 13 for the capacitor.

The servo press motor control device 11 receives the servo press motor speed ω _SPR from the inverter 13 , performs speed control so that the deviation between a preset servo press speed command and the servo press motor speed ω _SPR becomes 0, performs current control, etc., generates a voltage command e*, and outputs the voltage command e* to the inverter 13 . As a result, the servo press motor 14 rotates at a predetermined speed pattern according to the servo press speed command, and the press device 16 connected to the servo press motor 14 operates at the predetermined pattern.

Further, when generating the voltage command e*, the servo press motor control device 11 calculates a servo press motor torque command T _{SPR *} for the servo press motor 14 and outputs the servo press motor torque command T _{SPR *} to the energy storage unit control device 1 via the inverter 13.

The energy storage unit control device 1 is a device that controls power running (charging) and regeneration (discharging) of the FW motor 6 and the capacitor 10 . The energy storage unit control device 1 compensates for a portion of the load power K_PL, which is the servo press motor load power supplied to the servo press motor 14, with the power from the power storage system by the FW and the power from the power storage system by the capacitor 10, based on the power from the input power supply of the power transformer 2.

Specifically, the energy storage unit control device 1 generates the FW torque command T _EXT1 for operating the inverter 5 in order to compensate for part of the load power K_PL when the servo press motor 14 accelerates or decelerates with the power from the storage system by the FW. Energy storage unit control device 1 then outputs FW torque command T _EXT1 to inverter 5 .

In addition, the energy storage unit control device 1 generates a FW torque command T _EXT1 for operating the inverter 5 and a capacitor current command T _EXT2 for operating the inverter 8 in order to compensate for part of the load power K_PL when the servo press motor 14 requires a large amount of energy momentarily (during press work) with power from the power storage system by the FW and power from the power storage system by the capacitor 10. The energy storage unit control device 1 outputs the FW torque command T _EXT1 to the inverter 5 and outputs the capacitor current command T _EXT2 to the inverter 8 .

When generating the FW torque command T _EXT1 and the capacitor current command T _EXT2 , the energy storage unit control device 1 receives the servo press motor torque command T _{SPR *} and the servo press motor speed ω _SPR from the inverter 13 to which the servo press motor 14 is connected, the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5, and the capacitor voltage ω ₂ from the inverter 8.

The reactor 3 is an inductance device for energy control of AC power supplied from the input power source of the power transformer 2 to the converter 4, and is used to suppress current changes.

The converter 4 is supplied with AC power from the input power supply of the power transformer 2 and converts the AC power into DC power of the DC bus. The DC power converted by the converter 4 is supplied to the press device 16 on the side of the servo press motor 14 via the primary capacitor 12 and the inverter 13 . Also, the DC power is supplied to the FW on the FW motor 6 side through the inverter 5 and supplied to the capacitor 10 through the inverter 8 and the reactor 9 .

The inverter 5 is a device that bi-directionally converts the DC power of the DC bus and the AC power of the FW motor 6 side, receives the FW torque command T _EXT1 from the energy storage unit control device 1, inputs the FW motor speed _ω1 from the pulse generator 7, and outputs the FW motor speed _ω1 to the energy storage unit control device 1. The inverter 5 converts the DC power of the DC bus into AC power and supplies the AC power to the FW motor 6 during power running based on the FW torque command T _EXT1 . As a result, the FW motor 6 rotates at a constant speed under variable speed control based on the FW torque command T _EXT1 . Then, the FW motor 6 rotates due to inertia, and mechanical energy is accumulated.

During regeneration, the inverter 5 converts the AC power supplied from the FW motor 6 into DC power based on the FW torque command T _EXT1 and supplies the DC power to the servo press motor 14 via the inverter 13 . Thereby, the mechanical energy stored in the FW is converted into electrical energy, and the electrical energy is supplied to the press device 16 connected to the servo press motor 14 .

A pulse generator 7 generates a pulse signal corresponding to the rotation of the FW motor 6 . The FW motor speed ω ₁ , which is the rotational speed of the FW motor 6 , is obtained from the pulse signal count value, and the FW motor speed ω ₁ is input to the inverter 5 .

The inverter 8 is a device for bi-directionally converting the DC power of the power supply system of the DC bus and the DC power of the capacitor 10 side, and receives the capacitor current command T _EXT2 from the energy storage unit control device 1 . Inverter 8 converts DC power based on capacitor current command T _EXT2 and supplies the converted DC power to capacitor 10 during power running in which electric energy is stored in capacitor 10 . Thereby, the capacitor 10 is charged and electric energy is accumulated.

Further, the inverter 8 converts the DC power of the electrical energy accumulated in the capacitor 10 based on the capacitor current command T _EXT2 during regeneration to supply the electrical energy of the capacitor 10 to the DC bus, and supplies the converted DC power to the servo press motor 14 via the inverter 13. This discharges the capacitor 10 and supplies the stored electrical energy to the press device 16 connected to the servo press motor 14 . Inverter 8 also detects the voltage across capacitor 10 and outputs it to energy storage unit control device 1 as capacitor voltage ω ₂ .

The reactor 9 is an inductance device for energy control of DC power, and is used to suppress current changes.

A primary side capacitor 12 is inserted in the DC bus between the converter 4 and the inverters 5 , 8 , 13 . Primary capacitor 12 accumulates the DC power supplied from converter 4 to inverters 5 , 8 , 13 and smoothes the voltage of the DC power supplied from inverters 5 , 8 to inverter 13 .

The inverter 13 receives a voltage command e* and a servo press motor torque command T _SPR* from the servo press motor controller 11 . Then, the inverter 13 converts the DC power of the DC bus into AC power based on the voltage command e*, and supplies the AC power to the servo press motor 14 . As a result, the servo press motor 14 is variable speed controlled based on the voltage command e*, and rotates at a predetermined speed pattern. A press device 16 connected to the servo press motor 14 operates in a predetermined pattern. The inverter 13 also outputs a servo press motor torque command T _SPR* to the energy storage unit control device 1 .

The inverter 13 receives the servo press motor speed ω _SPR from the pulse generator 15 and outputs the servo press motor speed ω _SPR to the servo press motor controller 11 and the energy storage unit controller 1 .

A pulse generator 15 generates a pulse signal corresponding to the rotation of the servo press motor 14 . The servo press motor speed ω _SPR , which is the rotational speed of the servo press motor 14 , is obtained from the pulse signal count value, and the servo press motor speed ω _SPR is input to the servo press motor control device 11 and the energy storage unit control device 1 via the inverter 13 .

[Energy storage unit control device]
Next, the energy storage unit control device 1 shown in FIG. 1 will be described. FIG. 2 is a block diagram showing a configuration example of the energy storage unit control device 1 according to the embodiment of the present invention. The energy storage unit control device 1 includes a load power sharing unit 21 , a FW control unit 22 and a capacitor control unit 23 .

The load power sharing unit 21 receives the servo press motor speed ω _SPR and the servo press motor torque command T _SPR* from the inverter 13, and inputs the FW load power K_PL1″ from the FW control unit 22. Then, the load power sharing unit 21 multiplies the servo press motor speed ω _SPR and the servo press motor torque command T _{SPR *} to obtain the load power K_PL of the press device 16.

Based on the servo press motor speed ω _SPR and the FW load power K_PL1″, the load power sharing unit 21 determines a time interval during which the servo press motor 14 (the press member of the press device 16) accelerates or decelerates (hereinafter referred to as a “press acceleration/deceleration interval”) and a time interval during which the servo press motor 14 requires a large amount of energy (hereinafter referred to as a “press operation interval”) according to the press angle θ _deg indicating the angle of the press member of the press device 16. Then, the load power sharing unit 21 divides the load power K_PL, which fluctuates over time, into the load power K_PL for the press acceleration/deceleration section, the load power K_PL for the press work section, and the load power K_PL for other sections on the time axis. The press working section is a section in which the press device 16 requires electric power for processing the material, that is, a section when the material is being processed.

The load power sharing unit 21 obtains FW load power K_PL1 for allocating the peak portion of the load power K_PL in the press acceleration/deceleration section to the FW power storage system. Also, the load power sharing unit 21 obtains FW load power K_PL1 and capacitor load power K_PL2 for sharing the peak portion of the load power K_PL in the press work section with the FW power storage system and the capacitor 10 power storage system, respectively.

The load power sharing unit 21 outputs the FW load power K_PL1 to the FW control unit 22 and outputs the capacitor load power K_PL2 to the capacitor control unit 23 . Details of the load power sharing unit 21 will be described later.

The FW control unit 22 receives the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 and also receives the FW load power K_PL1 from the load power sharing unit 21 . Based on the FW motor speed _ω1 and the FW load power K_PL1, the FW control unit 22 generates the FW torque command T _EXT1 and outputs the FW torque command T _EXT1 to the inverter 5 so that power is supplied from the power storage system by the FW during the press work section and the press acceleration/deceleration section. Details of the FW control unit 22 will be described later.

The capacitor control unit 23 receives the capacitor voltage ω ₂ from the inverter 8 and the capacitor load power K_PL2 from the load power sharing unit 21 . Then, based on the capacitor voltage _ω2 and the capacitor load power K_PL2, the capacitor control unit 23 generates a capacitor current command T EXT2 and outputs the capacitor current command _{T EXT2 to} the inverter 8 so that power is supplied from the power storage system by the capacitor 10 during the press work section. Details of the capacitor control unit 23 will be described later.

<Load power sharing unit 21>
Next, the load power sharing unit 21 shown in FIG. 2 will be described in detail. FIG. 3 is a block diagram showing a configuration example of the load power sharing unit 21. As shown in FIG. The load power sharing unit 21 includes multipliers 30 , 32 , 34 , switches 31 , 33 and a work angle signal generator 35 .

A multiplier 30 receives the servo press motor speed ω _SPR and the servo press motor torque command T _{SPR *} from the inverter 13 . Multiplier 30 multiplies servo press motor speed ω _SPR by servo press motor torque command T _{SPR *} to obtain load power K_PL of press device 16 , and outputs load power K_PL to multipliers 32 and 34 .

The switch 31 inputs the preset FW allotted capacity FW_KW and the servo press motor rated capacity SPR_KW, and also inputs the work angle signal WA_ON@ from the work angle signal generator 35 .

The switch 31 outputs the servo press motor rated capacity SPR_KW to the multiplier 32 when the work angle signal WA_ON@ is off (when not in the press work section). On the other hand, the switch 31 outputs the FW allotted capacity FW_KW to the multiplier 32 when the work angle signal WA_ON@ is on (during the press work interval).

Multiplier 32 receives load power K_PL from multiplier 30 . Also, the multiplier 32 inputs the servo press motor rated capacity SPR_KW from the switch 31 when not in the press work section, and inputs the FW allotted capacity FW_KW in the press work section.

The multiplier 32 multiplies the load power K_PL by the servo press motor rated capacity SPR_KW when not in the press work section, and multiplies the load power K_PL by the FW shared capacity FW_KW in the press work section to obtain the FW load power K_PL1, and outputs the FW load power K_PL1 to the FW control unit 22.

The switch 33 inputs the preset capacitor sharing capacity CB_KW and 0 (value of zero), and inputs the work angle signal WA_ON@ from the work angle signal generator 35 .

The switch 33 outputs 0 to the multiplier 34 when the work angle signal WA_ON@ is off (when not in the press work interval). On the other hand, the switch 33 outputs the capacitor allotted capacity CB_KW to the multiplier 34 when the work angle signal WA_ON@ is on (during the press work interval).

Multiplier 34 receives load power K_PL from multiplier 30 . In addition, the multiplier 34 inputs 0 from the switch 33 when it is not in the press work section, and inputs the capacitor allotted capacity CB_KW when it is in the press work section.

The multiplier 34 multiplies the load power K_PL by 0 when not in the press work section, and multiplies the load power K_PL by the capacitor allotted capacity CB_KW in the press work section to obtain the capacitor load power K_PL2, and outputs the capacitor load power K_PL2 to the capacitor control unit 23.

Here, the servo press motor rated capacity SPR_KW is the sum of the FW shared capacity FW_KW and the capacitor shared capacity CB_KW, as shown in the following equation.
[Number 1]
Servo press motor rated capacity SPR_KW
= FW shared capacity FW_KW + capacitor shared capacity CB_KW (1)

That is, FW load power K_PL1 is obtained for sharing the peak portion of load power K_PL in the press acceleration/deceleration section with the power storage system by FW according to the sharing of the capacity shown in the formula (1). Further, FW load power K_PL1 and capacitor load power K_PL2 are obtained for sharing the peak portion of the load power K_PL in the press work section with the FW power storage system and the capacitor 10 power storage system, respectively.

The work angle signal generator 35 receives the servo press motor speed ω _SPR from the inverter 13 and the FW load power K_PL1″ from the FW control unit 22. Based on the servo press motor speed ω _SPR and the FW load power K_PL1″, the work angle signal generator 35 generates a work angle signal WA_ON@ that is maintained in the ON state during the press work interval and in the OFF state outside the press work interval. Output to 1,33. Details of the work angle signal generator 35 will be described later.

FIG. 4 is a diagram for explaining characteristics of load power K_PL, FW load power K_PL1, and capacitor load power K_PL2. The horizontal axis indicates time.

FIG. 4(1) shows an example of the servo press motor speed ω _SPR . The servo press motor speed ω _SPR increases during the acceleration section, becomes constant at the end of the acceleration section, then enters the press work section, and the press work section ends. The servo press motor speed ω _SPR becomes smaller after entering the deceleration section. This corresponds to an example of a preset servo press speed command pattern for accelerating the servo press motor 14 and decelerating it after material processing. Although the servo press motor speed ω _SPR shown in FIG. 4(1) is constant when the acceleration section ends, it is not necessarily constant.

FIG. 4(2) shows the load power K_PL. The load power K_PL gradually increases from 0 to a positive predetermined value during the acceleration section, becomes 0 when the acceleration section ends, becomes constant at a predetermined value when the press work section ends, becomes 0 when the press work section ends, takes a pattern opposite to the acceleration section when the press work section ends, and gradually approaches 0 from the negative predetermined value and returns to the original 0. This is an example of a servo press motor operation pattern.

FIG. 4(3) shows the work angle signal WA_ON@, which maintains the ON state during the press work interval and the OFF state during the non-press work interval.

FIG. 4(4) shows the FW load power K_PL1. The FW load power K_PL1 is the power reflecting the load power K_PL shown in FIG. 4(2) (the power obtained by multiplying the load power K_PL by the servo press motor rated capacity SPR_KW by the multiplier 32) during a period other than the press work section. power obtained by multiplying the load power K_PL by the FW allotted capacity FW_KW by the multiplier 32).

FIG. 4(5) shows the capacitor load power K_PL2, which is 0 (power obtained by multiplying the load power K_PL by 0 by the multiplier 34) when not in the press work section, and power b shared by the load power K_PL according to the capacitor allotment capacity CB_KW during the press work section (power obtained by multiplying the load power K_PL by the capacitor allotment capacity CB_KW by the multiplier 34). is.

(Work angle signal generator 35)
Next, the work angle signal generator 35 shown in FIG. 3 will be described in detail. FIG. 5 is a block diagram showing a configuration example of the work angle signal generator 35. As shown in FIG. This work angle signal generator 35 comprises a first work angle signal generator 40 , a second work angle signal generator 41 and a selector 42 .

The first work angle signal generator 40 receives the servo press motor speed ω _SPR from the inverter 13 and calculates the press angle θ _deg based on the servo press motor speed ω _SPR . Then, the first work angle signal generator 40 generates a first work angle signal WA_ON_DEG@ indicating whether or not the press angle θ _deg is within a preset work angle range (the range from the work-on angle WON to the work-off angle WOFF, the press work section range). The first work angle signal generator 40 outputs the press angle θ _deg to the second work angle signal generator 41 and outputs the first work angle signal WA_ON_DEG@ to the selector 42 . Details of the first work angle signal generator 40 will be described later.

The second work angle signal generator 41 receives the servo press motor speed ω from the inverter 13 ._SPRis input, the FW load power K_PL1″ is input from the FW control unit 22, and the press angle θ is input from the first work angle signal generator 40._degEnter Based on the FW load power K_PL1″, the second work angle signal generator 41 calculates a load power change amount K_PLD that indicates the amount of change in the FW load power K_PL1″. The second work angle signal generator 41 generates the load power change amount K_PLD and the servo press motor speed ω._SPRbased on the press angle θ_degis within the range of the press work interval corresponding to the load power change amount K_PLD. The second work angle signal generator 41 outputs the second work angle signal WA_ON_PL@ to the selector 42 . Details of the second work angle signal generator 41 will be described later.

The selector 42 receives the first work angle signal WA_ON_DEG@ from the first work angle signal generator 40 and the second work angle signal WA_ON_PL@ from the second work angle signal generator 41 . The selector 42 also receives a preset work angle selection signal WA_ON_SEL@, and selects one of the first work angle signal WA_ON_DEG@ and the second work angle signal WA_ON_PL@ as the work angle signal WA_ON@ in accordance with the work angle selection signal WA_ON_SEL@. Selector 42 outputs work angle signal WA_ON@ to switches 31 and 33 . The work angle selection signal WA_ON_SEL@ is a signal for selecting either one of the first work angle signal WA_ON_DEG@ and the second work angle signal WA_ON_PL@, and can be changed by the user's operation. Details of the selector 42 will be described later.

[First work angle signal generator 40]
Next, the first work angle signal generator 40 shown in FIG. 5 will be described in detail. FIG. 6 is a block diagram showing a configuration example of the first work angle signal generator 40. As shown in FIG. FIG. 7 is a diagram for explaining input/output signals of the components of the first work angle signal generator 40. As shown in FIG. 7(1) shows the input/output signal of the angle generator 36, and FIG. 7(2) shows the input/output signal of the comparator 38. FIG.

This first work angle signal generator 40 comprises an angle generator 36 , a multiplier 37 and a comparator 38 .

The angle generator 36 receives the servo press motor speed ω _SPR from the inverter 13 and generates an angle θ _plse by processing the servo press motor speed ω _SPR , integrating the addition result of the servo press motor rotation speed, and the like. _Specifically , the angle generator 36 generates the angle θ plse from 0 to the value of the preset scaling factor SC based on the servo press motor speed ω _SPR , which is the acceleration/deceleration pattern of the servo press motor 14, so that the rate of change gradually increases at first and gradually decreases at the end, as shown in FIG. 7(1). Angle generator 36 outputs angle θ _plse to multiplier 37 . More specifically, the angle generator 36 generates the angle θ _plse by processing such as integrating the servo press motor speed ω _SPR .

The multiplier 37 receives the angle θ _plse from the angle generator 36, multiplies the angle θ _plse by the division result obtained by dividing 360 by a preset scaling factor SC, thereby obtaining the press angle θ _deg , and outputs the press angle θ _deg to the comparator 38 and the second work angle signal generator 41.

The comparator 38 receives the press angle θ _deg from the multiplier 37, and generates a first work angle signal WA_ON_DEG@ that maintains the ON state when the press angle θ _deg is greater than or equal to a preset work-on angle WON and less than or equal to a preset work-off angle WOFF.

On the other hand, the comparator 38 generates a first work angle signal WA_ON_DEG@ that remains off when the press angle θ _deg is smaller than the preset work-on angle WON or larger than the preset work-off angle WOFF. The comparator 38 then outputs the first work angle signal WA_ON_DEG@ to the selector 42 .

As shown in FIG. 7(2), it is assumed that the pressing member of the pressing device 16 moves counterclockwise from the top dead center (press angle θ _deg =0°) to the bottom dead center (press angle θ _deg =180°) and from the bottom dead center to the top dead center. In this case, at the press angle θ _deg =0° to 360° corresponding to the pattern of the servo press motor speed ω _SPR , when the press angle θ _deg is greater than or equal to the work-on angle WON and less than or equal to the work-off angle WOFF ((α2−δ) or more (α3+δ) or less), the first work angle signal WA_ON_DEG@ that maintains the ON state is generated. On the other hand, when the press angle θ _deg is smaller than the work-on angle WON or larger than the work-off angle WOFF, the first work angle signal WA_ON_DEG@ is generated to maintain the OFF state. Note that α2 and α3 are actual press work sections. The work-on angle WON and the work-off angle WOFF are angles obtained by adding a margin angle δ to α2 and α3, and are set in advance.

In this way, the FW load power K_PL1 and the capacitor load power K_PL2 are generated by the load power sharing unit 21 shown in FIG. In addition, FW load power K_PL1 reflecting the load power K_PL and 0 capacitor load power K_PL2 are generated by allocating part of the load power K_PL to the power storage system by the FW outside the press work section.

[Second work angle signal generator 41]
Next, the second work angle signal generator 41 shown in FIG. 5 will be described in detail. FIG. 8 is a block diagram showing a configuration example of the second work angle signal generator 41. As shown in FIG. The second work angle signal generator 41 includes a polarity discriminator 50 , a work section entry/exit discriminator 51 , a work on/off trigger signal generator 52 , a work on/off angle generator 53 and a comparator 54 .

The polarity discriminator 50 receives the servo press motor speed ω from the inverter 13 ._SPRis input, and the FW load power K_PL1" is input from the FW control unit 22. Then, the polarity discriminator 50 calculates the load power change amount K_PLD based on the FW load power K_PL1", and calculates the load power change amount K_PLD and the servo press motor speed ω_SPRbased on the servo press motor speed ω_SPRand FW load power K_PL1″, and sets a polarity discrimination value SGN.

FIG. 9 is a block diagram showing a configuration example of the polarity discriminator 50. As shown in FIG. This polarity discriminator 50 comprises a differentiator 60 , comparators 61 and 63 , switches 62 and 64 and a multiplier 65 .

The differentiator 60 receives the FW load power K_PL1″ and performs differentiation processing on the FW load power K_PL1″ using a preset differential gain ω _LAG parameter to obtain a load power change amount K_PLD that indicates the amount of change in the FW load power K_PL1″.

The comparator 61 receives the load power change amount K_PLD from the differentiator 60 and a preset 0 (zero value), and compares the load power change amount K_PLD with 0. Then, when the load power change amount K_PLD is greater than 0, the comparator 61 outputs a signal indicating that it is greater than 0 to the switch 62, and when the load power change amount K_PLD is 0, outputs a signal indicating 0 to the switch 62. Also, when the load power change amount K_PLD is less than 0, the comparator 61 outputs a signal indicating that it is less than 0 to the switch 62 .

The switch 62 receives from the comparator 61 one of a signal indicating greater than 0, a signal indicating 0, and a signal indicating less than 0, and inputs preset 1 (value of 1), 0 (value of zero) and -1 (value of -1). The switch 62 outputs a value of 1 to the multiplier 65 when a signal indicating greater than 0 is input from the comparator 61, and outputs a value of 0 to the multiplier 65 when a signal indicating 0 is input from the comparator 61. Also, the switch 62 outputs a value of −1 to the multiplier 65 when a signal indicating that the value is smaller than 0 is input from the comparator 61 .

A comparator 63 receives the servo press motor speed ω _SPR from the inverter 13 and a preset value of 0 (zero value), and compares the servo press motor speed ω _SPR with 0. When the servo press motor speed ω _SPR is greater than 0, the comparator 63 outputs a signal indicating that it is greater than 0 to the switch 64, and when the servo press motor speed ω _SPR is 0, outputs a signal indicating 0 to the switch 64. Also, when the servo press motor speed ω _SPR is less than zero, the comparator 63 outputs a signal indicating that it is less than zero to the switch 64 .

The switch 64 receives one of a signal indicating greater than 0, a signal indicating 0, and a signal indicating less than 0 from the comparator 63, and inputs preset 1 (value of 1), 0 (value of zero) and -1 (value of -1). The switch 64 outputs a value of 1 to the multiplier 65 when a signal indicating that it is greater than 0 is input from the comparator 63, and outputs a value of 0 to the multiplier 65 when a signal indicating that it is 0 is input from the comparator 63. Also, the switch 64 outputs a value of −1 to the multiplier 65 when a signal indicating that the value is smaller than 0 is input from the comparator 63 .

Multiplier 65 receives a value of 1, 0 or −1 from switch 62 and a value of 1, 0 or −1 from switch 64 . Then, the multiplier 65 multiplies both values to determine the polarity of the servo press motor speed ω _SPR and the FW load power K_PL1″, and sets the multiplication result as the polarity determination value SGN (any value of 1, 0, or −1).

Returning to FIG. 8 , the work section entrance/exit discriminator 51 inputs the load power change amount K_PLD and the polarity discrimination value SGN from the polarity discriminator 50 . Based on the load power change amount K_PLD and the polarity discrimination value SGN, the work zone entry/exit discriminator 51 generates a work zone entry signal WANG_ON0@ indicating that the rate of increase of the FW load power K_PL1'' when entering the press work zone (when the press work is started) is high, and generates a work zone exit signal WANG_OFF0@ which indicates that the rate of decrease of the FW load power K_PL1'' when exiting the press work zone (when the press work ends) is high. The work section entry/exit discriminator 51 outputs a work section entry signal WANG_ON0@ and a work section exit signal WANG_OFF0@ to the work on/off trigger signal generator 52 .

FIG. 10 is a block diagram showing a configuration example of the work section entry/exit discriminator 51. As shown in FIG. The work interval entry/exit discriminator 51 includes a high-pass feature amount filter 66 , a multiplier 67 , and comparators 68 and 69 .

The high-pass feature amount filter 66 receives the load power change amount K_PLD from the polarity discriminator 50, performs high-pass feature amount filter processing on the load power change amount K_PLD using the load power change amount K_PLD as a feature amount, and outputs the load power change amount K_PLD subjected to the high-pass feature amount filter processing to the multiplier 67. The high-pass feature amount filter 66 performs an operation represented by the formula (K_PLD/P _o ) ² /(1+(K_PLD/P _o ) ² ), where P _o is a parameter indicating a preset constant.

Specifically, the higher the absolute value of the load power change amount K_PLD (the closer it is to 0), the higher the high-pass feature amount filter 66 outputs the input load power change amount K_PLD as it is. That is, the higher the absolute value of the load power change amount K_PLD, the closer the output value of the high-pass feature amount filter 66 to 1. On the other hand, as the load power change amount K_PLD is closer to 0, the high-pass feature amount filter 66 outputs a load power change amount K_PLD closer to 0. As a result, the closer the load power change amount K_PLD is to 0, the more the hunting of the load power change amount K_PLD can be eliminated and the sensitivity can be lowered.

The multiplier 67 receives the load power change amount K_PLD subjected to the high-pass feature filter processing from the high-pass feature filter 66, and inputs the polarity discrimination value SGN (one of 1, 0, -1) from the polarity discriminator 50. The multiplier 67 multiplies the load power change amount K_PLD by the polarity discrimination value SGN, and outputs the multiplication result to the comparators 68 and 69 .

A comparator 68 receives the multiplication result from the multiplier 67 and a preset 0.5 (value of 0.5), and compares the multiplication result with 0.5. Then, if the multiplication result is greater than 0.5, the comparator 68 generates a work interval entry signal WANG_ON0@ that remains on indicating that the rate of increase of the FW load power K_PL1″ is high. On the other hand, if the result of multiplication is 0.5 or less, the comparator 68 generates a work interval entry signal WANG_ON0@ that remains off indicating that the rate of increase of the FW load power K_PL1″ is not high. Comparator 68 outputs work interval incoming signal WANG_ON0@ to work on/off trigger signal generator 52 .

A comparator 69 receives the multiplication result from the multiplier 67 and a preset -0.5 (a value of -0.5), and compares the multiplication result with -0.5. Then, when the multiplication result is smaller than −0.5, the comparator 69 generates a work interval output signal WANG_OFF0@ that remains ON indicating that the rate of decrease of the FW load power K_PL1″ is high. On the other hand, if the result of multiplication is −0.5 or more, the comparator 69 generates a work interval output signal WANG_OFF0@ that maintains an OFF state indicating that the rate of decrease of the FW load power K_PL1″ is not high. The comparator 69 outputs the work interval output signal WANG_OFF0@ to the work on/off trigger signal generator 52 .

Referring to the characteristics of the load power K_PL shown in FIG. 4(2), when the load power change amount K_PLD (increase rate of the FW load power K_PL1″) subjected to the high-pass feature filter processing by the high-pass feature filter 66 is greater than 0.5 at the rising timing of entering the press work zone, the work zone entry signal WANG_ON0@ that maintains the ON state is generated. When the processed load power change amount K_PLD (decrease rate of the FW load power K_PL1″) is smaller than −0.5, the work interval output signal WANG_OFF0@ that remains on is generated.

Returning to FIG. 8, the work on/off trigger signal generator 52 receives the work zone entry signal WANG_ON0@ and the work zone exit signal WANG_OFF0@ from the work zone entry/exit discriminator 51 and the press angle θ _deg from the first work angle signal generator 40 .

The work-on-off trigger signal generator 52 generates a work-on trigger signal WANG_ON_TRG@ at the rising timing of the input work section entry signal WANG_ON0@ when the press angle θ _deg is within the range from a point (WON−δ) before the preset work-on angle WON by a margin angle δ (WON−δ) to the bottom dead center (180°).

The work-on-off trigger signal generator 52 generates the work-off trigger signal WANG_OFF_TRG@ at the rising timing of the input work interval output signal WANG_OFF0@ when the press angle θ _deg is within the range from the bottom dead center (180°) to the point (WOFF+δ) after the margin angle δ with respect to the preset work-off angle WOFF. The work on/off trigger signal generator 52 then outputs the work on trigger signal WANG_ON_TRG@ and the work off trigger signal WANG_OFF_TRG@ to the work on/off angle generator 53 . The allowance angle δ is a preset angle.

As a result, when the press angle θ _deg is outside the aforementioned range, the input of the work section entry signal WANG_ON0@ and the work section exit signal WANG_OFF0@ can be ignored, and erroneous detection of the work section entry signal WANG_ON0@ and the work section exit signal WANG_OFF0@ by the work section entry/exit discriminator 51 can be prevented. That is, the work-on-off trigger signal generator 52 can generate the work-on trigger signal WANG_ON_TRG@ and the work-off trigger signal WANG_OFF_TRG@ with high accuracy, and as a result, the accuracy of the second work-angle signal WA_ON_PL@ generated by the second work-angle signal generator 41 can be improved.

FIG. 11 is a block diagram showing a configuration example of the work on/off trigger signal generator 52, and FIG. The work on/off trigger signal generator 52 includes comparators 70 and 73 , calculators 71 and 74 and rising differentiators 72 and 75 .

The comparator 70 inputs the press angle θ _deg , the preset angle of 180°, and the angle (WON-δ) obtained by subtracting the allowance angle δ from the preset work-on angle WON, and compares the press angle θ _deg with the angles of 180° and (WON-δ).

When the press angle θ _deg is larger than (WON−δ) and smaller than 180° (when the press angle θ _deg is within the range of α in FIG. 12), the comparator 70 generates a work-on bottom dead center interval signal WANG_ON_WIN@ that maintains an ON state indicating that the press angle θ _deg is within the range from before the work-on angle WON to the bottom dead center (180°).

On the other hand, when the press angle θ _deg is less than (WON−δ) or greater than 180°, the comparator 70 generates a work-on bottom dead center interval signal WANG_ON_WIN@ that remains off indicating that the press angle θ _deg is outside the aforementioned range. The comparator 70 then outputs a work-on bottom dead center interval signal WANG_ON_WIN@ to the calculator 71 .

The calculator 71 receives the work-on bottom dead center interval signal WANG_ON_WIN@ from the comparator 70 and the work interval entry signal WANG_ON0@ from the work interval entry/exit discriminator 51 . Then, the computing unit 71 generates a load power increase signal WANG_ON@ indicating that the FW load power K_PL1″ is increasing by computing the logical product (AND) of the work-on bottom dead center interval signal WANG_ON_WIN@ and the work interval entry signal WANG_ON0@, and outputs the load power increase signal WANG_ON@ to the rising differentiator 72.

The rise differentiator 72 receives the load power increase signal WANG_ON@ from the calculator 71 and performs rise differentiation processing on the load power increase signal WANG_ON@ to detect the rise timing. Then, the rising differentiator 72 generates a work-on trigger signal WANG_ON_TRG@ indicating the rising timing of the load power increase signal WANG_ON@ (the timing at which the FW load power K_PL1″ increases). The rising differentiator 72 outputs the work-on trigger signal WANG_ON_TRG@ to the work-on off angle generator 53.

The comparator 73 inputs the press angle θ _deg , the angle obtained by adding the allowance angle δ to the preset work-off angle WOFF (WOFF+δ), and the preset angle of 180°, and compares the press angle θ _deg with (WOFF+δ) and the angle of 180°.

When the press angle θ _deg is greater than 180° and smaller than (WOFF+δ) (in FIG. 12, the press angle θ _deg is in the range of β), the comparator 73 generates a work-off bottom dead center interval signal WANG_OFF_WIN@ that remains on indicating that the press angle θ _deg is within the range from the bottom dead center (180°) to a point after the work-off angle WOFF.

On the other hand, when the press angle θ _deg is less than or equal to 180° or greater than (WOFF+δ), the comparator 73 generates a work-off bottom dead center interval signal WANG_OFF_WIN@ that remains off indicating that the press angle θ _deg is outside the aforementioned range. The comparator 73 then outputs a work-off bottom dead center interval signal WANG_OFF_WIN@ to the calculator 74 .

The calculator 74 receives the work-off bottom dead center interval signal WANG_OFF_WIN@ from the comparator 73 and the work interval exit signal WANG_OFF0@ from the work interval entry/exit discriminator 51 . Then, the computing unit 74 generates the load power decrease signal WANG_OFF@ indicating that the FW load power K_PL1″ is decreasing by computing the logical product (AND) of the work-off bottom dead center interval signal WANG_OFF_WIN@ and the work interval output signal WANG_OFF0@, and outputs the load power decrease signal WANG_OFF@ to the rising differentiator 75.

The rising differentiator 75 receives the load power reduction signal WANG_OFF@ from the computing unit 74, and performs a rising differentiation process on the load power reduction signal WANG_OFF@ to detect the rising timing. The rise differentiator 75 generates a work-off trigger signal WANG_OFF_TRG@ indicating the rise timing of the load power reduction signal WANG_OFF@ (the timing at which the FW load power K_PL1″ decreases).

Returning to FIG. 8, the work-on/off-angle generator 53 receives the work-on trigger signal WANG_ON_TRG@ and the work-off trigger signal WANG_OFF_TRG@ from the work-on/off trigger signal generator 52 and the press angle θ _deg from the first work angle signal generator 40 .

The work-on-off angle generator 53 sets the preset work-on angle WON and work-off angle WOFF to the initial values of the work-on angle WA_ON_PL and the work-off angle WA_OFF_PL, respectively.

The work-on/off angle generator 53 updates the work-on angle WA_ON_PL by setting the press angle θ _deg to the work-on angle WA_ON_PL each time the work-on trigger signal WANG_ON_TRG@ is input. Further, the work-on/off-angle generator 53 updates the work-off angle WA_OFF_PL by setting the press angle θ _deg to the work-off angle WA_OFF_PL each time the work-off trigger signal WANG_OFF_TRG@ is input. The work-on/off-angle generator 53 then outputs the work-on angle WA_ON_PL and the work-off angle WA_OFF_PL to the comparator 54 .

As a result, every time the press angle θ _deg is within the aforementioned work-on bottom dead center range (α in FIG. 12) and the work-on trigger signal WANG_ON_TRG@ indicating the timing at which the FW load power K_PL1″ increases (each cycle of the press device 16), the press angle θ _deg at the timing at which the FW load power K_PL1″ increases is updated as the work-on angle WA_ON_PL. In addition, every time the press angle θ _deg is within the aforementioned work-off bottom dead center range (β in FIG. 12) and the work-off trigger signal WANG_OFF_TRG@ indicating the timing at which the FW load power K_PL1″ decreases (each cycle of the press device 16), the press angle θ _deg at the timing at which the FW load power K_PL1″ decreases is updated as the work-off angle WA_OFF_PL.

FIG. 13 is a block diagram showing a configuration example of the work on/off angle generator 53. As shown in FIG. The work on/off angle generator 53 has switches 76 , 77 , 78 and 79 .

A switch 76 receives a preset work-on angle WON, a work-on angle WA_ON_PL output from the switch 77, and an inverter operation ON signal K_ASTBY@. The inverter operation ON signal K_ASTBY@ is a signal that maintains an ON state when the inverter 13 shown in FIG. 1 is in operation, and maintains an OFF state when the inverter 13 is not in operation.

The switch 76 outputs the work-on angle WON input to the b-contact relay to the switch 77 when the inverter operation ON signal K_ASTBY@ is OFF, and outputs the work-on angle WA_ON_PL input to the a-contact relay to the switch 77 when the inverter operation ON signal K_ASTBY@ is ON.

The switch 77 receives the press angle θ _deg , the work-on angle WON or the work-on angle WA_ON_PL from the switch 76 , and the work-on trigger signal WANG_ON_TRG@ from the work-on/off trigger signal generator 52 .

When the work-on trigger signal WANG_ON_TRG@ is off, the switch 77 sets the work-on angle WON or the work-on angle WA_ON_PL (the work-on angle WA_ON_PL of one scan before) input to the b-contact relay as the work-on angle WA_ON_PL of the current scan, and outputs this to the switch 76 and the comparator 54.

On the other hand, when the work-on trigger signal WANG_ON_TRG@ is on, the switch 77 sets the press angle θ _deg input to the a-contact relay as the current scan work-on angle WA_ON_PL and outputs it to the switch 76 and the comparator 54 . Thus, every time the work-on trigger signal WANG_ON_TRG@ that has turned on is input, the press angle θ _deg is set to the work-on angle WA_ON_PL, and the work-on angle WA_ON_PL is updated.

A switch 78 receives a preset work-off angle WOFF, a work-off angle WA_OFF_PL output by the switch 79, and an inverter operation ON signal K_ASTBY@.

The switch 78 outputs the work-off angle WOFF input to the b-contact relay to the switch 79 when the inverter operation ON signal K_ASTBY@ is OFF, and outputs the work-off angle WA_OFF_PL input to the a-contact relay to the switch 79 when the inverter operation ON signal K_ASTBY@ is ON.

The switch 79 receives the press angle θ _deg , the work-off angle WOFF or the work-off angle WA_OFF_PL from the switch 78 , and the work-off trigger signal WANG_OFF_TRG@ from the work-on/off trigger signal generator 52 .

When the work-off trigger signal WANG_OFF_TRG@ is off, the switch 79 sets the work-off angle WOFF or the work-off angle WA_OFF_PL (the work-off angle WA_OFF_PL of one scan before) input to the b-contact relay as the work-off angle WA_OFF_PL of the current scan, and outputs it to the switch 78 and the comparator 54.

On the other hand, when the work-off trigger signal WANG_OFF_TRG@ is on, the switch 79 sets the press angle θ _deg input to the a-contact relay as the current scan work-off angle WA_OFF_PL, and outputs it to the switch 78 and the comparator 54 . As a result, every time the work-off trigger signal WANG_OFF_TRG@ that has turned on is input, the press angle θ _deg is set to the work-off angle WA_OFF_PL, and the work-off angle WA_OFF_PL is updated.

Returning to FIG. 8, the comparator 54 receives the work-on angle WA_ON_PL and the work-off angle WA_OFF_PL from the work-on/off-angle generator 53 and the press angle θ _deg from the first work-angle signal generator 40 . Then, the comparator 54 compares the work-on angle WA_ON_PL and work-off angle WA_OFF_PL with the press angle θ _deg .

Comparator 54 generates a second work angle signal WA_ON_PL@ that remains on indicating a press work interval when press angle θ _deg is greater than work on angle WA_ON_PL and less than work off angle WA_OFF_PL. On the other hand, when the press angle θ _deg is equal to or less than the work-on angle WA_ON_PL or equal to or more than the work-off angle WA_OFF_PL, the comparator 54 generates a second work angle signal WA_ON_PL@ that remains off indicating a section other than the press work section. The comparator 54 then outputs the second work angle signal WA_ON_PL@ to the selector 42 .

[Selector 42]
Next, the selector 42 shown in FIG. 5 will be described in detail. FIG. 14 is a block diagram showing a configuration example of the selector 42. As shown in FIG. This selector 42 comprises an inverter 80 and calculators 81 , 82 , 83 .

The inverter 80 receives a work angle selection signal WA_ON_SEL@ indicating a preset ON or OFF state, inverts the work angle selection signal WA_ON_SEL@, and outputs the inverted work angle selection signal WA_ON_SEL@ to the calculator 81 . The work angle selection signal WA_ON_SEL@ is a signal for selecting either the first work angle signal WA_ON_DEG@ or the second work angle signal WA_ON_PL@.

The calculator 81 receives the first work angle signal WA_ON_DEG@ from the first work angle signal generator 40 and the inverted work angle selection signal WA_ON_SEL@ from the inverter 80 . The calculator 81 then calculates a logical product (AND) of the first work angle signal WA_ON_DEG@ and the inverted work angle selection signal WA_ON_SEL@, and outputs the calculation result to the calculator 83 .

The calculator 82 receives the second work angle signal WA_ON_PL@ from the second work angle signal generator 41 and also receives a preset work angle selection signal WA_ON_SEL@. The calculator 82 then calculates a logical product (AND) of the second work angle signal WA_ON_PL@ and the work angle selection signal WA_ON_SEL@, and outputs the calculation result to the calculator 83 .

A computing unit 83 receives the computation result from the computing unit 81 and the computing result from the computing unit 82, and generates the work angle signal WA_ON@ by computing the logical sum (OR) of both computation results, and outputs the work angle signal WA_ON@ to the switches 31 and 33.

As a result, when the work angle selection signal WA_ON_SEL@ indicates ON, the second work angle signal WA_ON_PL@ which reflects the increase or decrease in the FW load power K_PL1″ in the press work interval is output as the work angle signal WA_ON@. When the work angle selection signal WA_ON_SEL@ indicates OFF, the first work angle signal WA_ON_DEG@ reflects in the press work interval whether or not the press angle θ _deg is within the preset work angle range. Output as signal WA_ON@.

<FW control unit 22>
Next, the FW control unit 22 shown in FIG. 2 will be described in detail. FIG. 15 is a block diagram showing a configuration example of the FW control unit 22. As shown in FIG.

The FW control unit 22 includes a threshold power regulator 100, a torque command converter 101, a return controller 102, an upper limit controller 103, a lower limit controller 104, an adder/subtractor (calculator) 105, a load FF (feedforward) compensator 106, and a limiter 107.

The threshold power adjuster 100 and the torque command converter 101 generate a FW compensating torque command T _PL1 for compensating the power for the press member of the press device 16 to perform the press work and the power for accelerating and decelerating the press member in the press work section and the press acceleration/deceleration section, and generate the FW compensating torque command T _PL1 of 0 in the other sections. That is, the threshold power regulator 100 and the torque command converter 101 perform regenerative control of the FW.

The return controller 102 generates the FW return torque command T _STAR1 by speed control in sections other than the press work section and the press acceleration/deceleration section, and generates the FW return torque command T _STAR1 close to 0 in the press work section and the press acceleration/deceleration section. In other words, the power running control of the FW is performed by the return controller 102 .

Threshold power adjuster 100 receives FW load power K_PL1 from load power sharing unit 21 and obtains FW compensation power PL1 by, for example, subtracting a preset threshold power from FW load power K_PL1. Threshold power adjuster 100 then outputs FW compensation power PL1 to torque command converter 101 and return controller 102 . The threshold power corresponds to the power supplied from the input power supply of the power transformer 2, and the FW compensation power PL1 corresponds to power obtained by subtracting the threshold power from the FW load power K_PL1.

As a result, the threshold power is excluded from the FW load power K_PL1, and the power consumption of the press device 16 is adjusted by the peak cut amount.

Further, threshold power adjuster 100 obtains FW load power K_PL1″ (KW) by multiplying FW load power K_PL1 subjected to first-order lag filter processing by a predetermined constant, and outputs FW load power K_PL1″ to load power sharing unit 21.

Torque command converter 101 receives FW compensation power PL 1 from threshold power regulator 100 and FW motor speed ω ₁ from pulse generator 7 via inverter 5 . Torque command converter 101 converts FW compensation power PL1 into FW compensation torque command T _PL1 according to FW motor speed _ω1 . Specifically, the torque command converter 101 obtains the FW compensation torque command T _PL1 by dividing the FW compensation power PL1 by the FW motor speed _ω1 . Torque command converter 101 outputs FW compensation torque command T _PL1 to adder/subtractor 105 .

Return controller 102 receives FW motor speed ω ₁ from pulse generator 7 via inverter 5 , preset FW speed command ω _{1 *} , and FW compensation power PL 1 from threshold power adjuster 100 . Then, the return controller 102 performs speed control so that the speed deviation obtained by subtracting the FW motor speed _ω1 from the FW speed command _ω1* becomes 0, and obtains the FW return torque command _TSTAR1 .

Here, when the speed control is performed, the return controller 102 uses a low-pass feature value filter to make the proportional gain of the speed control closer to 0 as the absolute value of the FW compensation power PL1 is larger (the closer it is to 0), and obtains the FW return torque command T _STAR1 closer to 0. On the other hand, as the FW compensation power PL1 is closer to 0, the return controller 102 obtains the FW return torque command T _STAR1 in which the proportional gain of the speed control is effective. Then, return controller 102 outputs FW return torque command T _STAR1 to adder/subtractor 105 .

As a result, the FW return torque command T _STAR1 close to 0 is generated and output during the press work section and the press acceleration/deceleration section. Further, in a section other than the press work section and the press acceleration/deceleration section, a FW restoration torque command T _STAR1 is generated and output for restoring the power storage system by the FW (to restore the mechanical energy of the FW consumed during the press work section and the press acceleration/deceleration section).

In other words, the return controller 102 sets the proportional gain of the speed control to a value close to 0 by the low-pass feature amount filter when compensating for electric power in the power storage system by the FW, so that torque control by the torque command converter 101 is performed. In this case, the torque command converter 101 functions as a component that controls FW regeneration. In addition, the return controller 102 functions as a component that controls the power running of the FW (the operation of rotating the FW at a constant speed) by performing speed control with a preset proportional gain when power is not compensated.

The upper limit controller 103 receives the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 . When the FW motor speed _ω1 exceeds a preset upper limit speed (when the absolute value of the FW motor speed _ω1 increases and exceeds the upper limit speed), the upper limit controller 103 obtains an upper limit speed limit torque T _MAX1 for returning the FW motor speed _ω1 to the original range based on the upper limit speed and the FW motor speed _ω1 . Upper limit controller 103 then outputs upper limit speed limit torque T _MAX1 to adder/subtractor 105 .

The lower limit controller 104 receives the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 and a preset FW speed command ω _{1 *} , and determines the lower limit speed based on the FW speed command ω _{1 *} . Then, when the FW motor speed _ω1 exceeds the lower limit speed (when the absolute value of the FW motor speed _ω1 becomes smaller and exceeds the lower limit speed), the lower limit controller 104 obtains the lower limit speed limit torque _TMIN1 for returning the FW motor speed _ω1 to the original range based on the lower limit speed and the FW motor speed _ω1 . Lower limit controller 104 outputs lower limit speed limit torque T _MIN1 to adder/subtractor 105 .

The adder/subtractor 105 receives the FW compensation torque command T _PL1 from the torque command converter 101, the FW return torque command T _STAR1 from the return controller 102, the upper limit speed limit torque T _MAX1 from the upper limit controller 103, and the lower limit speed limit torque T _MIN1 from the lower limit controller 104, respectively. The adder/subtractor 105 adds the FW return torque command T _STAR1 , the upper limit speed limit torque T _MAX1 and the lower limit speed limit torque T _MIN1 and subtracts the FW compensation torque command T _PL1 from the addition result to obtain the FW torque command T _E1 . The adder/subtractor 105 outputs the FW torque command T _E1 to the load FF compensator 106 .

The load FF compensator 106 receives the FW torque command T _E1 from the adder/subtractor 105 and the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 . The load FF compensator 106 integrates the FW torque command T _E1 to estimate the FW speed command, and subtracts the FW motor speed ω ₁ from the estimated speed command to obtain the load torque compensation value. The load FF compensator 106 obtains the FW torque command T _{E1 ′} by adding the load torque compensation value to the FW torque command T _E1 . Load FF compensator 106 outputs FW torque command T _{E1 ′} to limiter 107 .

The limiter 107 receives the FW torque command T _{E1 '} from the load FF compensator 106, and limits the FW torque command T _{E1 '} within the range of the preset positive side torque limit η and negative side torque limit -η to obtain the FW torque command T _EXT1 . Limiter 107 then outputs FW torque command T _EXT1 to inverter 5 .

Specifically, when the FW torque command T _{E1 ′} is equal to or greater than a preset positive torque limit η, the limiter 107 sets the positive torque limit η to the FW torque command T _EXT1 and outputs it. Further, when the FW torque command T _{E1 '} is smaller than the preset positive side torque limit η and larger than the preset negative side torque limit -η, the limiter 107 sets the input FW torque command T _{E1 '} to the FW torque command T _EXT1 and outputs it. Further, when the FW torque command T _{E1 '} is equal to or less than the preset negative side torque limit -η, the limiter 107 sets the negative side torque limit -η to the FW torque command T _EXT1 and outputs it. As a result, an excessive FW torque command T _EXT1 can be prevented from being output to the inverter 5 .

In this manner, the FW torque command T _EXT1 is generated by the FW control unit 22 based on the FW motor speed _ω1 , FW load power K_PL1, etc. so that power is supplied from the power storage system by the FW to the press work section and the press acceleration/deceleration section of the press device 16. Then, the FW torque command T _EXT1 is output to the inverter 5 .

(Threshold power regulator 100)
The threshold power regulator 100 shown in FIG. 15 will now be described in detail. FIG. 16 is a block diagram showing a configuration example of the threshold power adjuster 100. As shown in FIG.

The threshold power adjuster 100 includes a first-order lag filter 110, a multiplier 111, a plus side threshold calculator 112-1, a minus side threshold calculator 112-2, a limiter 113 and a subtractor 114. FIG.

First-order lag filter 110 receives FW load power K_PL1 from load power sharing unit 21 , performs first-order lag filter processing on FW load power K_PL1, and outputs FW load power K_PL1 ′ subjected to first-order lag filter processing to multiplier 111 . The first-order lag filter 110 is represented by the formula 1/(1+S/ω _cc ), where the parameter ω _cc is a preset current response value.

Multiplier 111 receives FW load power K_PL1′ from first-order lag filter 110, multiplies FW load power K_PL1′ by a preset constant (1/P _RATED ) to obtain FW load power K_PL1″ (KW), and outputs FW load power K_PL1″ to limiter 113, subtractor 114, and load power sharing unit 21. P _RATED is a parameter indicating a preset FW motor rated capacity (rated capacity of the FW motor 6) (KW).

The plus-side threshold calculator 112-1 inputs a preset parameter of the threshold power PL1CUT+, multiplies the threshold power PL1CUT+ by a predetermined constant to obtain the plus-side threshold power PL1CUT+' (KW), and outputs the threshold power PL1CUT+' to the limiter 113.

FIG. 17 is a block diagram showing a configuration example of the plus side threshold calculator 112-1. This threshold calculator 112-1 has a multiplier 115 and a switch 116. FIG.

Multiplier 115 receives a preset parameter of threshold power PL1CUT+, multiplies threshold power PL1CUT+ by a predetermined constant (1000/P _RATED ) to obtain positive side threshold power PL1CUT+' (KW), and outputs threshold power PL1CUT+' to switch 116.

A switch 116 receives a preset 0 (zero value), the threshold power PL1CUT+' from the multiplier 115, and the power loss signal PLOSS@. The power loss signal PLOSS@ is a signal that maintains an ON state when there is a power loss due to a power failure, and maintains an OFF state otherwise.

Switch 116 outputs threshold power PL1CUT+' to limiter 113 when power loss signal PLOSS@ is off (when there is no power loss due to power failure). On the other hand, the switch 116 outputs 0 to the limiter 113 when the power loss signal PLOSS@ is on (when there is power loss due to power failure).

Returning to FIG. 16, negative side threshold calculator 112-2 inputs a parameter of preset threshold power PL1CUT-, multiplies threshold power PL1CUT- by a predetermined constant, and inverts the sign to obtain negative side threshold power PL1CUT-' (KW), and outputs threshold power PL1CUT-' to limiter 113.

FIG. 18 is a block diagram showing a configuration example of the threshold calculator 112-2 on the minus side. The threshold calculator 112-2 has multipliers 117 and 118. FIG.

Multiplier 117 receives a preset parameter of threshold power PL1CUT−, multiplies threshold power PL1CUT− by a predetermined constant (1000/P _RATED ), and outputs the multiplication result to multiplier 118 . Multiplier 118 receives the multiplication result from multiplier 117 , multiplies the multiplication result by −1 to obtain negative side threshold power PL 1 CUT−′ (KW), and outputs threshold power PL 1 CUT−′ to limiter 113 .

Returning to FIG. 16, the limiter 113 receives the FW load power K_PL1″ from the multiplier 111, the threshold power PL1CUT+' from the threshold calculator 112-1, and the threshold power PL1CUT-' from the threshold calculator 112-2.

Limiter 113 determines FW load power K_PL1* (KW) by limiting FW load power K_PL1″ within the range of threshold power PL1CUT+' and threshold power PL1CUT-'. Limiter 113 then outputs FW load power K_PL1* to subtractor 114.

Specifically, when the FW load power K_PL1″ is greater than or equal to the threshold power PL1CUT+′, the limiter 113 sets the threshold power PL1CUT+′ to the FW load power K_PL1* and outputs the FW load power K_PL1*. Further, the limiter 113 sets the FW load power K_PL1″ to be lower than the threshold power PL1CUT+′ and higher than the threshold power PL1CUT-′. In this case, the FW load power K_PL1″ is set to the FW load power K_PL1* and the FW load power K_PL1* is output. Further, when the FW load power K_PL1″ is equal to or less than the threshold power PL1CUT-′, the limiter 113 sets the threshold power PL1CUT-′ to the FW load power K_PL1* and outputs the FW load power K_PL1*.

Subtractor 114 receives FW load power K_PL1″ from multiplier 111 and FW load power K_PL1* from limiter 113. Subtractor 114 subtracts FW load power K_PL1* from FW load power K_PL1″ to obtain FW compensation power PL1 (KW), and outputs FW compensation power PL1 to torque command converter 101.

As a result, the actual FW load power K_PL1'' (KW) is calculated from the FW load power K_PL1, and the FW compensation power PL1 (KW) obtained by subtracting the threshold power from the FW load power K_PL1'' (KW) can be obtained.

FIG. 19 is a diagram for explaining the characteristics of the FW load power K_PL1″ and the FW compensation power PL1. The horizontal axis represents time. FIG. 19(1) shows the FW load power K_PL1″ output by the multiplier 111 shown in FIG. The FW load power K_PL1″ is power corresponding to the pattern of the FW load power K_PL1 ((4) in FIG. 4) input to the first-order lag filter 110 shown in FIG.

FIG. 19(2) shows the FW compensation power PL1 output by the subtractor 114 shown in FIG. The FW compensation power PL1 is obtained by subtracting the threshold powers PL1CUT+' and PL1CUT-' from the FW load power K_PL1'' shown in FIG. 19(1).

As a result, the FW compensation power PL1 has power A1 corresponding to the peak portion of the FW load power K_PL1″ in the acceleration section, power A2 corresponding to the peak portion of the FW load power K_PL1″ in the pressing section, and power A3 corresponding to the peak portion of the FW load power K_PL1″ in the deceleration interval.

A part of the load power K_PL of the press device 16 is compensated by the power from the power storage system by the FW by the power of A1, A2, and A3 in the FW compensation power PL1. The threshold powers PL1CUT+' and PL1CUT-' are supplied from the input power source of the power transformer 2. FIG.

(Torque command converter 101)
Next, the torque command converter 101 shown in FIG. 15 will be described in detail. FIG. 20 is a block diagram showing a configuration example of the torque command converter 101. As shown in FIG. This torque command converter 101 comprises a high-pass feature quantity filter 120 , a divider 121 and a limiter 122 .

High-pass feature amount filter 120 receives FW-compensated power PL1 from threshold power adjuster 100, performs high-pass feature amount filtering on FW-compensated power PL1 using FW-compensated power PL1 as a feature amount, and outputs FW-compensated power PL1 subjected to high-pass feature amount filtering to calculator 121. The high-pass feature amount filter 120 performs an operation represented by the formula (PL1/P _o ) ² /(1+(PL1/P _o ) ² ), where P _o is a parameter indicating a preset constant.

Specifically, the higher the absolute value of the FW compensation power PL1 (the closer it is to 0), the higher the high-pass feature amount filter 120 outputs the input FW compensation power PL1 as it is. On the other hand, the closer the FW-compensated power PL1 to 0, the closer the FW-compensated power PL1 to 0, the higher-pass feature amount filter 120 outputs the FW-compensated power PL1 closer to 0. As a result, the closer the FW compensation power PL1 is to 0, the more the hunting of the FW compensation power PL1 can be eliminated and the sensitivity can be lowered.

The divider 121 receives the FW compensation power PL1 subjected to high-pass feature filter processing from the high-pass feature filter 120 and the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 .

A divider 121 divides the FW compensation power PL1 subjected to the high-pass feature amount filtering process by the FW motor speed _ω1 to obtain the FW compensation torque command T _PL1 (T _PL1 =PL1/ω1 ₎ . Incidentally, actually, the divider 121 is represented by the formula P _0ω ω ₁ /(1+P _0ω (ω ₁ ) ² ), and performs zero division prevention processing. P _0ω is a parameter indicating a preset constant. Divider 121 then outputs FW compensation torque command T _PL1 to limiter 122 .

The limiter 122 receives the FW compensation torque command T _PL1 from the divider 121, _{and limits the FW compensation torque command T PL1 within the range of the preset positive side torque limit η and negative side torque limit −η, thereby obtaining the FW compensation torque command T PL1 after} restriction. Then, the limiter 122 outputs the limited FW compensation torque command T _PL1 to the adder/subtractor 105 .

Specifically, when the input FW compensation torque command T _PL1 is greater than or equal to the preset positive torque limit η, the limiter 122 sets the positive torque limit η to the FW compensation torque command T _PL1 and outputs it. Further, when the input FW compensation torque command T _PL1 is smaller than the preset positive side torque limit η and greater than the preset negative side torque limit −η, the limiter 122 outputs the input FW compensation torque command T _PL1 as it is. If the input FW compensation torque command T _PL1 is equal to or less than the preset negative side torque limit -η, the limiter 122 sets the negative side torque limit -η to the FW compensation torque command T _PL1 and outputs it. As a result, an excessive FW compensation torque command T _PL1 can be prevented from being output to the adder/subtractor 105 .

(Recovery controller 102)
Next, the return controller 102 shown in FIG. 15 will be described in detail. FIG. 21 is a block diagram showing a configuration example of the recovery controller 102. As shown in FIG. This return controller 102 comprises a ramp device 130 , a subtractor 131 , a low-pass feature value filter 132 and a speed controller 133 .

The ramp device 130 receives a preset FW speed command ω _{1 *} , performs ramp processing on the FW speed command ω _{1 *} using preset acceleration and deceleration rates, and outputs the ramp-processed FW speed command ω _{1 *} to the subtractor 131.

Specifically, when the FW speed command ω _{1 *} increases stepwise, the ramp device 130 gradually increases the FW speed command _{ω 1 * so} that the slope matches the acceleration rate.

The subtractor 131 receives the ramp-processed FW speed command ω _{1 *} from the ramp device 130 and the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 . Then, the subtractor 131 obtains the speed deviation by subtracting the FW motor speed ω ₁ from the FW speed command ω _{1 *} , and outputs the speed deviation to the speed controller 133 .

Low-pass feature filter 132 receives FW compensation power PL1 from threshold power adjuster 100 . Then, the low-pass feature amount filter 132 performs low-pass feature amount filtering using a preset constant P _o parameter on the preset parameter Kv1 with the FW compensation power PL1 as the feature amount to generate a proportional gain. The low-pass feature amount filter 132 performs an operation represented by the formula 1/(1+(PL1/P _o ) ² ). The low-pass feature quantity filter 132 outputs the proportional gain to the speed controller 133 .

In this case, the low-pass feature amount filter 132 generates a proportional gain closer to 0 as the absolute value of the FW compensation power PL1 is larger (less close to 0) by low-pass feature amount filtering. Then, the downstream speed controller 133 generates the FW return torque command T _STAR1 close to 0 by the action of the proportional gain close to 0. On the other hand, as the FW compensation power PL1 is closer to 0, the low-pass feature amount filter 132 generates a proportional gain having a value closer to the parameter Kv1 before low-pass feature amount filtering. Then, the subsequent speed controller 133 generates the FW return torque command T _STAR1 that makes the speed deviation zero.

The speed controller 133 receives the speed deviation from the subtractor 131 and the proportional gain from the low-pass feature amount filter 132 . Then, the speed controller 133 obtains the FW return torque command T _STAR1 by performing speed control with a proportional gain so that the speed deviation becomes 0, further limits the FW return torque command T _STAR1 within the range of the positive side torque limit η and the negative side torque limit −η, and outputs the limited FW return torque command T _STAR1 to the adder/subtractor 105.

As a result, the FW return torque command T _STAR1 close to 0 is generated and output during the press work section and the press acceleration/deceleration section, and torque control is performed with the FW compensation torque command T _PL1 output by the torque command converter 101. Further, in a section other than the press work section and the press acceleration/deceleration section, a FW restoration torque command T _STAR1 is generated and output for restoring the power storage system by the FW (to restore the mechanical energy of the FW consumed during the press work section and the press acceleration/deceleration section).

(Upper limit controller 103)
Next, the upper limit controller 103 shown in FIG. 15 will be described in detail. FIG. 22 is a block diagram showing a configuration example of the upper limit controller 103. As shown in FIG. This upper limit controller 103 comprises subtractors 140 and 142 and limiters 141 and 143 .

The subtractor 140 receives a preset forward rotation upper limit speed ω _+MAX1 parameter and also receives the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 . Then, the subtractor 140 obtains the forward rotation upper limit torque by subtracting the FW motor speed ω ₁ from the forward rotation upper limit speed ω _+MAX1 , and outputs the forward rotation upper limit torque to the limiter 141 .

The limiter 141 receives the forward rotation upper limit torque from the subtractor 140, as well as the preset 0 (zero value) and the negative side torque limit -η. Then, the limiter 141 limits the forward rotation upper limit torque within the range of 0 and the negative side torque limit −η, and outputs the forward rotation upper limit torque after the limitation to the adder 144 .

Specifically, when the forward rotation upper limit torque is equal to or greater than 0, the limiter 141 sets the forward rotation upper limit torque to 0 and outputs it. When the forward rotation upper limit torque is less than 0 and greater than the negative side torque limit -η, the limiter 141 sets the input forward rotation upper limit torque to the forward rotation upper limit torque after limitation and outputs it. Further, when the forward rotation upper limit torque is equal to or less than the negative side torque limit -η, the limiter 141 sets the negative side torque limit -η to the forward rotation upper limit torque after limitation and outputs it.

As a result, when the FW motor speed ω ₁ exceeds the forward rotation upper limit speed ω _+MAX1 from the limiter 141 (when it exceeds), a negative value corresponding to the exceeded speed is output to the adder 144 as the forward rotation upper limit torque after limitation.

The subtractor 142 receives a preset reverse rotation upper limit speed ω _−MAX1 parameter and also receives the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 . Then, the subtractor 142 obtains the reverse rotation upper limit torque by subtracting the FW motor speed ω ₁ from the reverse rotation upper limit speed ω _−MAX1 , and outputs the reverse rotation upper limit torque to the limiter 143 .

The limiter 143 receives the reverse rotation upper limit torque from the subtractor 142, and also receives a preset positive side torque limit η and 0 (zero value). Then, the limiter 143 limits the reverse rotation upper limit torque within the range of the positive side torque limit η and 0, and outputs the limited reverse rotation upper limit torque to the adder 144 .

Specifically, when the reverse rotation upper limit torque is greater than or equal to the positive side torque limit η, the limiter 143 sets the positive side torque limit η to the post-limiting reverse rotation upper limit torque and outputs it. Further, when the reverse rotation upper limit torque is smaller than the positive side torque limit η and greater than 0, the limiter 143 sets the input reverse rotation upper limit torque to the reverse rotation upper limit torque after limitation and outputs it. Further, when the reverse rotation upper limit torque is 0 or less, the limiter 143 sets 0 as the post-limiting reverse rotation upper limit torque and outputs it.

As a result, when the FW motor speed ω ₁ exceeds (below) the reverse rotation upper limit speed ω _−MAX1 from the limiter 143 , the plus value corresponding to the exceeding speed is output to the adder 144 as the reverse rotation upper limit torque after the limit.

The adder 144 receives the limited forward rotation upper limit torque from the limiter 141 and the limited reverse rotation upper limit torque from the limiter 143 . The adder 144 adds the forward rotation upper limit torque after the limitation and the reverse rotation upper limit torque after the limitation to obtain the upper speed limit torque T _MAX1 , and outputs the upper speed limit torque T _MAX1 to the adder/subtractor 105 .

As a result, the absolute value of the FW motor speed _ω1 increases, and when the FW motor speed _ω1 exceeds the upper limit, an upper limit speed limit torque _TMAX1 is generated and output for returning it to the original range.

(Lower limit controller 104)
Next, the lower limit controller 104 shown in FIG. 15 will be described in detail. FIG. 23 is a block diagram showing a configuration example of the lower limit controller 104. As shown in FIG. The lower limit controller 104 comprises a lower limit speed setter 150, a subtractor 151, a multiplier 152, a comparator 153, switches 154, 155 and a limiter 156.

The lower limit speed setter 150 receives a preset FW speed command ω _{1 *} and multiplies the FW speed command ω _{1 *} by a preset parameter δ _min to obtain the lower limit speed. Then, the lower limit speed setter 150 outputs the lower limit speed to the subtractor 151 .

The subtractor 151 receives the lower limit speed from the lower limit speed setter 150 and the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 . Then, the subtractor 151 obtains the lower limit speed deviation by subtracting the FW motor speed ω ₁ from the lower limit speed, and outputs the lower limit speed deviation to the multiplier 152 .

The multiplier 152 receives the lower limit speed deviation from the subtractor 151 and multiplies the lower limit speed deviation by a preset parameter K _DROOP to obtain the lower limit torque. Multiplier 152 then outputs the lower limit torque to limiter 156 .

A comparator 153 receives a preset FW speed command ω _{1 *} and a preset 0 (zero value), and compares the FW speed commands ω _{1 *} and 0.

When the FW speed command ω _{1 *} is greater than 0, the comparator 153 outputs the forward rotation detection signal FWD@ that maintains the ON state to the switch 154, and outputs the forward rotation detection signal FWD@ that maintains the OFF state to the switch 154 when the FW speed command ω _{1 *} is 0 or less. When the FW speed command ω _{1 *} is smaller than 0, the comparator 153 outputs to the switch 155 a reverse rotation detection signal REV@ that maintains an ON state, and outputs a reverse rotation detection signal REV@ that maintains an OFF state to the switch 155 when the FW speed command ω _{1 *} is greater than or equal to 0.

The switch 154 inputs the preset positive side torque limit η and 0 (value of zero), and inputs the forward rotation detection signal FWD@ from the comparator 153 .

The switch 154 outputs the positive side torque limit η to the limiter 156 when the forward rotation detection signal FWD@ is on (when the FW speed command ω _{1 *} is greater than 0). On the other hand, the switch 154 outputs 0 to the limiter 156 when the forward detection signal FWD@ is off (when the FW speed command ω _{1 *} is 0 or less).

The switch 155 inputs the preset negative side torque limit -η and 0 (value of zero), and inputs the reverse rotation detection signal REV@ from the comparator 153 .

The switch 155 outputs the negative side torque limit -η to the limiter 156 when the reverse rotation detection signal REV@ is on (when the FW speed command ω _{1 *} is smaller than 0). On the other hand, the switch 155 outputs 0 to the limiter 156 when the reverse rotation detection signal REV@ is off (when the FW speed command ω _{1 *} is 0 or more).

The limiter 156 receives the lower torque limit from the multiplier 152, the positive side torque limit η or 0 from the switch 154, and the 0 or negative side torque limit −η from the switch 155.

When the FW speed command ω1 _* is greater than 0, the limiter 156 limits the lower limit torque within the range of the positive torque limit η and 0, and outputs the lower limit torque after limitation to the adder/subtractor 105 as the lower limit speed limit torque _TMIN1 . On the other hand, when the FW speed command ω _{1 *} is smaller than 0, the limiter 156 limits the lower limit torque within the range of 0 and the negative side torque limit −η, and outputs the lower limit torque after limitation as the lower limit speed limit torque T _MIN1 to the adder/subtractor 105.

As a result, the absolute value of the FW motor speed _ω1 becomes smaller, and when the FW motor speed _ω1 exceeds the lower limit speed, the lower limit speed limit torque _TMIN1 for returning to the original range is generated and output.

(Load FF compensator 106)
Next, load FF compensator 106 shown in FIG. 15 will be described in detail. FIG. 24 is a block diagram showing a configuration example of the load FF compensator 106. As shown in FIG. This load FF compensator 106 comprises an integrator 160 , a subtractor 161 , a multiplier 162 and an adder 163 .

The integrator 160 receives the FW torque command T _E1 from the adder/subtractor 105, performs integration processing on the FW torque command T _E1 using a preset integral gain J parameter, estimates a speed command corresponding to the FW load, and outputs the speed command to the subtractor 161.

The subtractor 161 receives the speed command from the integrator 160 and the FW motor speed ω ₁ from the pulse generator 7 via the inverter 5 , subtracts the FW motor speed ω ₁ from the speed command to obtain the speed deviation, and outputs the speed deviation to the multiplier 162 .

Multiplier 162 receives the speed deviation from subtractor 161, multiplies the speed deviation by a preset gain K parameter, and outputs the multiplication result to adder 163 as a load torque compensation value.

The adder 163 receives the FW torque command T _E1 from the adder/subtractor 105 and the load torque compensation value from the multiplier 162 . The adder 163 adds the load torque compensation value to the FW torque command T _E1 to obtain the FW torque command T _{E1 ′} , and outputs the FW torque command T _{E1 ′} to the limiter 107 .

<Capacitor control unit 23>
Next, the capacitor control section 23 shown in FIG. 2 will be described in detail. FIG. 25 is a block diagram showing a configuration example of the capacitor control section 23. As shown in FIG.

This capacitor control unit 23 includes a threshold power regulator 200 , a current command converter 201 , a return controller 202 , an upper limit controller 203 , a lower limit controller 204 , an adder/subtractor (calculator) 205 , a load FF compensator 206 and a limiter 207 .

The threshold power adjuster 200 and the current command converter 201 generate a capacitor compensation current command T _PL2 for compensating the power when the press member of the press device 16 performs the press work in the press work section, and generate a capacitor compensation current command T _PL2 of 0 in other sections. That is, discharge control of capacitor 10 is performed by threshold power regulator 200 and current command converter 201 .

The recovery controller 202 generates a capacitor recovery current command T _STAR2 by voltage control in sections other than the press work section, and generates a capacitor recovery current command T _STAR2 close to 0 in the press work section. That is, the charge control of the capacitor 10 is performed by the recovery controller 202 .

Threshold power adjuster 200 receives capacitor load power K_PL2 from load power sharing unit 21, and subtracts a preset threshold power from capacitor load power K_PL2 to obtain capacitor compensation power PL2. Threshold power adjuster 200 then outputs capacitor compensation power PL2 to current command converter 201 and recovery controller 202 . The threshold power corresponds to the power supplied from the input power supply of the power transformer 2, and the capacitor compensation power PL2 corresponds to power obtained by subtracting the threshold power from the capacitor load power K_PL2.

As a result, the threshold power is excluded from the capacitor load power K_PL2, and the power consumption of the press device 16 is adjusted by the peak cut amount.

Current command converter 201 receives capacitor compensation power PL 2 from threshold power regulator 200 and capacitor voltage ω ₂ from inverter 8 . Then, the current command converter 201 converts the capacitor compensation power PL2 into a capacitor compensation current command T _PL2 according to the capacitor voltage _ω2 . Specifically, current command converter 201 obtains capacitor compensation current command T _PL2 by dividing capacitor compensation power PL2 by capacitor voltage _ω2 . Current command converter 201 outputs capacitor compensation current command T _PL2 to adder/subtractor 205 .

The return controller 202 receives the capacitor voltage ω ₂ from the inverter 8, the preset capacitor voltage command ω _{2 *} , and the capacitor compensation power PL2 from the threshold power regulator 200, respectively. Then, the recovery controller 202 performs voltage control so that the voltage deviation obtained by subtracting the capacitor voltage _ω2 from the capacitor voltage command _ω2* becomes 0, and obtains the capacitor recovery current command _TSTAR2 .

Here, when performing voltage control, the recovery controller 202 uses a low-pass feature filter to make the proportional gain of voltage control closer to 0 as the absolute value of the capacitor compensation power PL2 is larger (the closer it is to 0), and obtains a capacitor recovery current command T _STAR2 closer to 0. On the other hand, the return controller 202 obtains a capacitor return current command T _STAR2 in which the proportional gain of the voltage control is effective as the capacitor compensation power PL2 is closer to zero. The recovery controller 202 then outputs a capacitor recovery current command T _STAR2 to the adder/subtractor 205 .

As a result, a capacitor recovery current command T _STAR2 close to 0 is generated and output during the press work interval. In addition, a capacitor reset current command T _STAR2 is generated and output to restore the power storage system by the capacitor 10 (to restore the electrical energy of the capacitor 10 consumed during the press work section) during a section other than the press work section.

In other words, the return controller 202 sets the proportional gain of the voltage control to a value close to 0 by the low-pass feature value filter when compensating for power in the storage system using the capacitor 10, so that current control is performed by the current command converter 201. In this case, current command converter 201 functions as a component that controls discharge of capacitor 10 . Also, the return controller 202 functions as a component that controls charging of the capacitor 10 by performing voltage control with a preset proportional gain when power is not compensated.

The upper limit controller 203 receives the capacitor voltage ω ₂ from the inverter 8 . When the capacitor voltage _ω2 exceeds a preset upper limit voltage, the upper limit controller 203 obtains an upper limit voltage limiting current T _MAX2 for returning the capacitor voltage _ω2 to the original range based on the upper limit voltage and the capacitor voltage _ω2 . Then, the upper limit controller 203 outputs the upper limit voltage limiting current T _MAX2 to the adder/subtractor 205 .

A lower limit controller 204 receives the capacitor voltage _ω2 from the inverter 8 and a preset capacitor voltage command _ω2* , and obtains the lower limit voltage based on the capacitor voltage command _ω2* . Then, when the capacitor voltage _ω2 exceeds the lower limit voltage, the lower limit controller 204 obtains a lower limit voltage limiting current _TMIN2 for returning the capacitor voltage _ω2 to the original range based on the lower limit voltage and the capacitor voltage _ω2 . The lower limit controller 204 outputs the lower limit voltage limiting current T _MIN2 to the adder/subtractor 205 .

The adder/subtractor 205 receives the capacitor compensation current command T _PL2 from the current command converter 201, the capacitor recovery current command T _STAR2 from the recovery controller 202, the upper voltage limit current T _MAX2 from the upper limit controller 203, and the lower voltage limit current T _MIN2 from the lower limit controller 204, respectively. The adder/subtractor 205 adds the capacitor restoration current command T _STAR2 , the upper limit voltage limit current T _MAX2 and the lower limit voltage limit current T _MIN2 and subtracts the capacitor compensation current command T _PL2 from the addition result to obtain the capacitor current command T _E2 . The adder/subtractor 205 outputs the capacitor current command T _E2 to the load FF compensator 206 .

The load FF compensator 206 receives the capacitor current command T _E2 from the adder/subtractor 205 and the capacitor voltage ω ₂ from the inverter 8 . Then, the load FF compensator 206 estimates the voltage command of the capacitor 10 by integrating the capacitor current command T _E2 and obtains the load current compensation value by subtracting the capacitor voltage _ω2 from the estimated voltage command. The load FF compensator 206 adds a load current compensation value to the capacitor current command _TE2 to obtain a capacitor current command _TE2' . Load FF compensator 206 outputs capacitor current command T _{E2 ′} to limiter 207 .

The limiter 207 receives the capacitor current command T _E2′ from the load FF compensator 206, and limits the capacitor current command T _E2′ within the range of the preset positive side torque limit η and negative side torque limit −η, thereby obtaining the capacitor current command T _EXT2 . Limiter 207 then outputs capacitor current command T _EXT2 to inverter 8 .

Specifically, the limiter 207 sets the positive torque limit η to the capacitor current command T _EXT2 and outputs it when the capacitor current command T _E2′ is equal to or greater than a preset positive torque limit η. Further, when the capacitor current command T _E2′ is smaller than the preset positive side torque limit η and larger than the preset negative side torque limit −η, the limiter 207 sets the input capacitor current command T _E2′ to the capacitor current command T _EXT2 and outputs it. Further, when the capacitor current command T _E2′ is equal to or less than the preset negative side torque limit −η, the limiter 207 sets the negative side torque limit −η to the capacitor current command T _EXT2 and outputs it. As a result, it is possible to prevent the excessive capacitor current command T _EXT2 from being output to the inverter 8 .

In this manner, the capacitor current command T _EXT2 is generated by the capacitor control unit 23 based on the capacitor voltage _ω2 , the capacitor load power K_PL2, etc. so that power is supplied from the power storage system of the capacitor 10 to the press working section of the press device 16. Then, the capacitor current command T _EXT2 is output to the inverter 8 .

(Threshold power regulator 200)
Threshold power regulator 200 shown in FIG. 25 will now be described in detail. FIG. 26 is a block diagram showing a configuration example of the threshold power adjuster 200. As shown in FIG.

This threshold power adjuster 200 comprises a first-order lag filter 210 , a multiplier 211 , a plus side threshold calculator 212 - 1 , a minus side threshold calculator 212 - 2 , a limiter 213 and a subtractor 214 .

Threshold power adjuster 200 performs similar processing under the same configuration as threshold power adjuster 100 shown in FIG. First-order lag filter 210, multiplier 211, plus-side threshold calculator 212-1, minus-side threshold calculator 212-2, limiter 213, and subtractor 214 provided in threshold power adjuster 200 correspond to first-order lag filter 110, multiplier 111, plus-side threshold calculator 112-1, and minus-side threshold calculator provided in threshold power adjuster 100 shown in FIG. 112-2, the limiter 113, and the subtractor 114, respectively, and perform similar processing, so detailed description thereof will be omitted here.

Capacitor load powers K_PL2, K_PL2', K_PL2'', K_PL2* shown in FIG. 26 respectively correspond to FW load powers K_PL1, K_PL1', K_PL1'', K_PL1* shown in FIG. 26 correspond to the threshold powers PL1CUT+, PL1CUT+', PL1CUT-, PL1CUT-' shown in FIG. 16, respectively. Also, the capacitor-compensated power PL2 shown in FIG. 26 corresponds to the FW-compensated power PL1 shown in FIG.

The parameter ω _cc used in the first-order lag filter 210 is a preset current response value, as in FIG. 16, and P _RATED used in the multiplier 211 is a preset capacitor rated capacity (rated capacity of the capacitor 10) (KW).

FIG. 27 is a block diagram showing a configuration example of the plus side threshold calculator 212-1 shown in FIG. This threshold calculator 212-1 has a multiplier 215 and a switch 216. FIG.

The threshold calculator 212-1 performs the same processing under the same configuration as the threshold calculator 112-1 shown in FIG. The multiplier 215 and switch 216 provided in the threshold calculator 212-1 correspond to the multiplier 115 and switch 116 provided in the threshold calculator 112-1 shown in FIG.

Threshold powers PL2CUT+ and PL2CUT+' shown in FIG. 27 correspond to threshold powers PL1CUT+ and PL1CUT+' shown in FIG.

FIG. 28 is a block diagram showing a configuration example of the minus side threshold calculator 212-2 shown in FIG. The threshold calculator 212-2 has multipliers 217 and 218. FIG.

The threshold calculator 212-2 performs the same processing under the same configuration as the threshold calculator 112-2 shown in FIG. Multipliers 217 and 218 provided in threshold calculator 212-2 correspond to multipliers 117 and 118 provided in threshold calculator 112-2 shown in FIG.

The threshold powers PL2CUT-, PL2CUT-' shown in FIG. 28 correspond to the threshold powers PL1CUT-, PL1CUT-' shown in FIG.

The threshold power adjuster 200 shown in FIG. 26 calculates the actual capacitor load power K_PL2″ (KW) from the capacitor load power K_PL2, and the capacitor compensation power PL2 (KW) is obtained by subtracting the threshold power from the capacitor load power K_PL2″ (KW).

FIG. 29 is a diagram for explaining the characteristics of the capacitor load power K_PL2″ and the capacitor compensation power PL2. The horizontal axis represents time. FIG. 29(1) shows the capacitor load power K_PL2″ output by the multiplier 211 shown in FIG. The capacitor load power K_PL2″ is power corresponding to the pattern of the capacitor load power K_PL2 input to the first-order lag filter 210 shown in FIG. 26 ((5) in FIG. 4).

FIG. 29(2) shows capacitor compensation power PL2 output by subtractor 214 shown in FIG. The capacitor compensation power PL2 is obtained by subtracting the threshold powers PL2CUT+' and PL2CUT-' from the capacitor load power K_PL2'' shown in FIG. 29(1).

As a result, the capacitor compensation power PL2 has the power of B1 corresponding to the peak portion of the capacitor load power K_PL2'' in the press work section.

Then, the load power K_PL of the press device 16 is compensated by the power from the power storage system by the capacitor 10 by the power of B1 in the capacitor compensation power PL2. The threshold powers PL2CUT+' and PL2CUT-' are supplied from the input power supply of the power transformer 2. FIG.

(Current command converter 201)
Next, the current command converter 201 shown in FIG. 25 will be described in detail. FIG. 30 is a block diagram showing a configuration example of the current command converter 201. As shown in FIG. This current command converter 201 comprises a high-pass feature quantity filter 220 , a divider 221 and a limiter 222 .

The current command converter 201 performs the same processing under the same configuration as the torque command converter 101 shown in FIG. The high-pass feature amount filter 220, the divider 221 and the limiter 222 provided in the current command converter 201 correspond to the high-pass feature amount filter 120, the divider 121 and the limiter 122 provided in the torque command converter 101 shown in FIG.

Capacitor compensation power PL2, capacitor voltage _ω2 , and capacitor compensation current command T _PL2 shown in FIG. 30 correspond to FW compensation power PL1, FW motor speed _ω1 , and FW compensation torque command T _PL1 shown in FIG. 20, respectively. In the divider 221, the capacitor compensation current command T _PL2 is obtained by dividing the capacitor compensation power PL2 subjected to the high-pass feature amount filtering by the capacitor voltage ω ₂ (T _PL2 =PL2/ω ₂ ). Actually, the divider 221 is represented by the formula P _0ω ω ₂ /(1+P _0ω (ω ₂ ) ² ), and is subjected to zero division prevention processing.

P _o used in the high-pass feature amount filter 220 is a parameter indicating a preset constant, as in FIG. 20 .

(Recovery controller 202)
Next, the return controller 202 shown in FIG. 25 will be described in detail. FIG. 31 is a block diagram showing a configuration example of the recovery controller 202. As shown in FIG. This return controller 202 comprises a ramp device 230 , a subtractor 231 , a low-pass feature amount filter 232 and a voltage controller 233 .

The return controller 202 performs the same processing under the same configuration as the return controller 102 shown in FIG. The ramp device 230, subtractor 231, low-pass feature quantity filter 232, and voltage controller 233 provided in the return controller 202 correspond to the ramp device 130, subtractor 131, low-pass feature quantity filter 132, and speed controller 133 provided in the return controller 102 shown in FIG. 21, respectively, and perform similar processing. A detailed description of the processing of the ramp unit 230 and the subtractor 231 is omitted.

Capacitor voltage command ω _{2 *} , capacitor voltage ω ₂ , capacitor compensation power PL2 and capacitor recovery current command T _STAR2 shown in FIG. 31 respectively correspond to FW speed command ω _{1 *} , FW motor speed ω ₁ , FW compensation power PL1 and FW recovery torque command T _STAR1 shown in FIG.

Low-pass feature filter 232 receives capacitor-compensated power PL2 from threshold power adjuster 200 . Then, the low-pass feature amount filter 232 performs low-pass feature amount filtering using a preset constant P _o parameter on the preset parameter Kv2 with the capacitor compensation power PL2 as the feature amount to generate a proportional gain. The low-pass feature amount filter performs an operation represented by the formula 1/(1+(PL2/P _o ) ² ). The low-pass feature quantity filter 232 outputs the proportional gain to the voltage controller 233 .

In this case, the low-pass feature amount filter 232 generates a proportional gain closer to 0 as the absolute value of the capacitor compensation power PL2 is larger (less close to 0) by low-pass feature amount filtering. Then, the voltage controller 233 in the latter stage generates a capacitor recovery current command T _STAR2 close to 0 by the action of the proportional gain close to 0. On the other hand, as the capacitor compensation power PL2 is closer to 0, the low-pass feature amount filter 232 generates a proportional gain having a value closer to the parameter Kv2 before low-pass feature amount filtering. Then, the voltage controller 233 in the subsequent stage generates a capacitor recovery current command T _STAR2 that makes the voltage deviation zero.

The voltage controller 233 receives the voltage deviation from the subtractor 231 and the proportional gain from the low-pass feature amount filter 232 . Then, the voltage controller 233 obtains the capacitor recovery current command T _STAR2 by performing voltage control with a proportional gain so that the voltage deviation becomes 0, further limits the capacitor recovery current command T _STAR2 within the range of the positive side torque limit η and the negative side torque limit −η, and outputs the limited capacitor recovery current command T _STAR2 to the adder/subtractor 205.

As a result, a capacitor recovery current command T _STAR2 close to 0 is generated and output during the press work section, and current control is performed with the capacitor compensation current command T _PL2 output by the current command converter 201 . Also, in a section other than the press work section, a capacitor reset current command T _STAR2 is generated and output to restore the power storage system by the capacitor 10 (to restore the electrical energy of the capacitor 10 consumed during the press work section).

(Upper limit controller 203)
Next, the upper limit controller 203 shown in FIG. 25 will be described in detail. FIG. 32 is a block diagram showing a configuration example of the upper limit controller 203. As shown in FIG. This upper limit controller 203 comprises a subtractor 240 and a limiter 241 .

The upper limit controller 203 performs the same processing under the same configuration as the subtractor 140 and the limiter 141 of the components of the upper limit controller 103 shown in FIG. Subtractor 240 and limiter 241 provided in upper limit controller 203 correspond to subtractor 140 and limiter 141 provided in upper limit controller 103 shown in FIG.

The upper limit controller 203 does not have the subtractor 142, limiter 143 and adder 144 of the upper limit controller 103 shown in FIG. This is because the capacitor voltage ω ₂ takes a positive value including 0 and never takes a negative value, and there is no need to consider the upper limit value on the negative side.

The upper limit voltage ω _MAX2 and the capacitor voltage ω ₂ shown in FIG. 32 correspond to the forward rotation upper limit speed ω _+MAX1 and the FW motor speed ω ₁ shown in FIG. 22, respectively.

As a result, when the capacitor voltage ω ₂ exceeds the upper limit voltage ω _{MAX 2} (exceeds), the limiter 241 generates a negative value for the excess as the upper limit voltage limit current T _{MAX 2} for returning to the original range, and outputs it to the adder/subtractor 205.

(Lower limit controller 204)
Next, the lower limit controller 204 shown in FIG. 25 will be described in detail. FIG. 33 is a block diagram showing a configuration example of the lower limit controller 204. As shown in FIG. This lower limit controller 204 comprises a lower limit speed setter 250 , a subtractor 251 , a multiplier 252 , a comparator 253 , a switch 254 and a limiter 255 .

The lower limit controller 204 has the same configuration as the lower limit speed setter 150, the subtractor 151, the multiplier 152, the comparator 153, the switch 154 and the limiter 156 among the components of the lower limit controller 104 shown in FIG. 23, and performs the same processing. The lower limit speed setter 250, the subtractor 251, the multiplier 252, the comparator 253, the switch 254 and the limiter 255 provided in the lower limit controller 204 correspond to the lower limit speed setter 150, the subtractor 151, the multiplier 152, the comparator 153, the switch 154 and the limiter 156 provided in the lower limit controller 104 shown in FIG.

Note that the lower limit controller 204 does not have the switch 155 of the lower limit controller 104 shown in FIG. This is because the capacitor voltage command ω _{2 *} takes a positive value including 0 and does not take a negative value, and the comparator 253 does not need to consider the capacitor voltage command ω _{2 *} <0.

The parameter δ _min used in the lower limit speed setter 250 and the parameter K _DROOP used in the multiplier 252 are set in advance as in FIG.

As a result, when the capacitor voltage _ω2 exceeds (falls below) the lower limit voltage set by the lower limit speed setter 250, the positive value of the exceeding voltage is generated as the lower limit voltage limit current _TMIN2 for returning to the original range, and is output to the adder/subtractor 205.

(Load FF compensator 206)
Next, load FF compensator 206 shown in FIG. 25 will be described in detail. FIG. 34 is a block diagram showing a configuration example of the load FF compensator 206. As shown in FIG. This load FF compensator 206 comprises an integrator 260 , a subtractor 261 , a multiplier 262 and an adder 263 .

The load FF compensator 206 performs similar processing under the same configuration as the load FF compensator 106 shown in FIG. The integrator 260, the subtractor 261, the multiplier 262 and the adder 263 provided in the load FF compensator 206 correspond to the integrator 160, the subtractor 161, the multiplier 162 and the adder 163 provided in the load FF compensator 106 shown in FIG.

Capacitor current commands T _E2 , T _{E2 ′} and capacitor voltage ω ₂ shown in FIG. 34 correspond to FW torque commands T _E1 , T _E1′ and FW motor speed ω ₁ shown in FIG. 24, respectively.

The integral gain J used for the integrator 260 and the gain K used for the multiplier 262 are set in advance as in FIG.

As described above, according to the energy storage unit control device 1 of the embodiment of the present invention, the load power sharing unit 21 obtains the load power K_PL of the press device 16 by multiplying the servo press motor speed ω _SPR by the servo press motor torque command T _{SPR *} . Then, the load power sharing unit 21 obtains the FW load power K_PL1 for allocating part of the load power K_PL in the press acceleration/deceleration section to the power storage system by the FW, and obtains the FW load power K_PL1 and the capacitor load power K_PL2 for allocating part of the load power K_PL in the press work section to the power storage system including the FW and the capacitor 10.

The threshold power adjuster 100 of the FW control unit 22 subtracts the threshold power from the FW load power K_PL1 to obtain the FW compensation power PL1, and the torque command converter 101 divides the FW compensation power PL1 by the FW motor speed _ω1 to obtain the FW compensation torque command T _PL1 .

As a result, the FW compensating torque command T _PL1 for compensating the electric power for performing the press work and the electric power for accelerating and decelerating the press member is obtained in the press work section and the press acceleration/deceleration section.

The return controller 102 performs speed control so that the speed deviation between the FW speed command _ω1* and the FW motor speed _ω1 becomes 0, and when obtaining the FW return torque command _TSTAR1 , a low-pass feature value filter is used to obtain the FW return torque command _TSTAR1 that is closer to 0 as the absolute value of the FW compensation power PL1 is larger, and the FW return torque command _TSTAR1 with the proportional gain Kv of the speed control applied as the FW compensation power PL1 is closer to 0. Ask.

As a result, the FW return torque command T _STAR1 close to 0 is generated during the press work section and the press acceleration/deceleration section. In addition, a FW recovery torque command T _STAR1 for recovering the power storage system by FW is generated during a section other than the press work section and the press acceleration/deceleration section.

That is, in the press work section and the press acceleration/deceleration section in which compensation is performed by the power storage system by the FW, by setting the FW return torque command T _STAR1 to a value close to 0, torque control is performed by the FW compensation torque command T _PL1 obtained by the torque command converter 101. On the other hand, in sections other than the press work section and the press acceleration/deceleration section in which compensation is not performed in the power storage system by the FW, the power storage system by the FW is restored by the FW recovery torque command T _STAR1 to which the proportional gain Kv of the speed control is applied.

The upper limit controller 103 obtains the upper limit speed limit torque T _MAX1 for returning the FW motor speed ω ₁ to the original range when the FW motor speed ω 1 exceeds the upper limit speed, and the lower limit controller 104 obtains the lower limit speed limit torque T _MIN1 for returning the FW motor speed ω 1 to the original range when the FW motor speed ω ₁ exceeds the lower limit speed.

An adder/subtractor 105 adds the FW return torque command T _STAR1 , the upper limit speed limit torque T _MAX1 and the lower limit speed limit torque T _MIN1 and subtracts the FW compensation torque command T _PL1 from the addition result to obtain the FW torque command T _E1 .

The load FF compensator 106 obtains a load torque compensation value by, for example, integrating the FW torque command T _E1 , and adds the load torque compensation value to the FW torque command T _E1 to obtain the FW torque command T _{E1 ′} .

Limiter 107 obtains FW torque command T _EXT1 by limiting FW torque command T _{E1 ′} within a preset range, and outputs FW torque command T _EXT1 to inverter 5 .

On the other hand, the threshold power adjuster 200 of the capacitor control unit 23 subtracts the threshold power from the capacitor load power K_PL2 to obtain the capacitor compensation power PL2, and the current command converter 201 divides the capacitor compensation power PL2 by the capacitor voltage _ω2 to obtain the capacitor compensation current command T _PL2 .

As a result, a capacitor compensating current command T _PL2 for compensating for the electric power when performing the press work is obtained in the press work section.

The recovery controller 202 performs voltage control so that the voltage deviation between the capacitor voltage command _ω2* and the capacitor voltage _ω2 becomes 0. When obtaining the capacitor recovery current command T _STAR2 , the higher the capacitor compensation power PL2 is, the closer the capacitor recovery current command T _STAR2 is to 0, and the closer the capacitor compensation power PL2 is to 0, the more the capacitor recovery current command T _STAR2 is obtained with the proportional gain Kv of the voltage control applied.

As a result, a capacitor recovery current command T _STAR2 close to 0 is generated during the press work section. Further, a capacitor reset current command T _STAR2 for resetting the power storage system by the capacitor 10 is generated during a section other than the press work section.

That is, current control is performed according to the capacitor compensation current command T _PL2 obtained by the current command converter 201 by setting the capacitor recovery current command T _STAR2 to a value close to 0 during the press work section in which compensation is performed by the power storage system using the capacitor 10. On the other hand, in a section other than the press work section in which no compensation is performed in the power storage system by the capacitor 10, the power storage system by the capacitor 10 is restored by the capacitor compensation current command T _PL2 to which the proportional gain Kv of the voltage control is applied.

The upper limit controller 203 obtains the upper limit voltage limiting current T _MAX2 for returning the capacitor voltage _ω2 to the original range when the capacitor voltage ω2 exceeds the upper limit voltage, and the lower limit controller 204 obtains the lower limit voltage limiting current _TMIN2 for returning the capacitor voltage _ω2 to the original range when the capacitor voltage ω2 exceeds the lower limit voltage.

The adder/subtractor 205 adds the capacitor recovery current command T _STAR2 , the upper limit voltage limiting current T _MAX2 and the lower limit voltage limiting current T _MIN2 and subtracts the capacitor compensation current command T _PL2 from the addition result to obtain the capacitor current command T _E2 .

The load FF compensator 206 obtains a load current compensation value by, for example, integrating the capacitor current command _TE2 , and adds the load current compensation value to the capacitor current command _TE2 to obtain a capacitor current command _TE2' .

Limiter 207 obtains capacitor current command T _EXT2 by limiting capacitor current command T _{E2 ′} within a preset range, and outputs capacitor current command T _EXT2 to inverter 8 .

As a result, when the power storage system by the FW and the capacitor 10 is used as a backup power system for the input power source of the power transformer 2, part of the power in the press work section can be shared by the power storage system by the FW and the capacitor 10, and part of the power in the press acceleration/deceleration section can be shared by the power storage system by the FW.

Therefore, the peak power consumption of the press device 16 can be efficiently cut, and the input power capacity of the power transformer 2 and the facility power capacity in the power storage system including the FW and the capacitor 10 can be reduced.

Further, the capacity of the primary side capacitor 12 provided for storing the DC power supplied from the input power supply of the power transformer 2 to the press device 16 driven by the servo press motor 14 can be reduced.

[Computer simulation results]
Next, computer simulation results will be described. FIG. 35 is a diagram for explaining computer simulation results. In FIG. 35, the characteristics of the FW motor speed ω ₁ , the capacitor voltage ω ₂ , the primary bus voltage (voltage of the DC bus shown in FIG. 1), the load power K_PL, the input power (the power supplied from the input power supply of the power transformer 2), the FW compensation power PL1-, and the capacitor compensation power PL2- are shown from the top of the graph, and the horizontal axis is time. Units are as shown on the right side of FIG.

The load power K_PL in FIG. 35 corresponds to the load power K_PL shown in FIG. 4(2), and it can be seen that both powers have similar characteristics. The FW compensated power PL1− in FIG. 35 corresponds to the positive/negative reversed characteristic of the FW compensated power PL1 shown in FIG. 19(2), and the capacitor compensated power PL2− in FIG. 35 corresponds to the reversed positive/negative characteristic of the capacitor compensated power PL2 shown in FIG. 29(2).

A part of the load power K_PL in the press work section is shared by the power storage system including the FW and the capacitor 10 . It can be seen that the FW motor speed ω ₁ and capacitor voltage ω ₂ in FIG. 35 have decreased since power based on FW compensated power PL1 and capacitor compensated power PL2 are supplied from the storage system of FW and capacitor 10, respectively.

A part of the load power K_PL in the press acceleration/deceleration section is shared by the power storage system of the FW. It can be seen that the FW motor speed ω ₁ in FIG. 35 changes because power based on the FW compensation power PL1 is supplied from the FW power storage system.

Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments, and can be variously modified without departing from the technical idea thereof.

For example, in the motor control system shown in FIG. 1, the control target of the servo press motor control device 11 is the press device 16, but the control target may be a load other than the press device 16.

Further, the FW control unit 22 shown in FIG. 15 includes a threshold power regulator 100, a torque command converter 101, a return controller 102, an upper limit controller 103, a lower limit controller 104, an adder/subtractor 105, a load FF compensator 106 and a limiter 107. On the other hand, the FW control unit 22 includes the threshold power regulator 100, the torque command converter 101, the return controller 102, and the adder/subtractor 105, and does not have to include the upper limit controller 103, the lower limit controller 104, the load FF compensator 106, and the limiter 107.

In this case, the adder/subtractor 105 obtains the FW torque command T EXT1 by subtracting the FW compensation torque command T _PL1 from the FW return torque command T _STAR1 and outputs the FW torque command _{T EXT1 to} the inverter 5 .

25 includes a threshold power regulator 200, a current command converter 201, a return controller 202, an upper limit controller 203, a lower limit controller 204, an adder/subtractor 205, a load FF compensator 206 and a limiter 207. On the other hand, the capacitor control section 23 includes the threshold power regulator 200, the current command converter 201, the return controller 202 and the adder/subtractor 205, and does not have to include the upper limit controller 203, the lower limit controller 204, the load FF compensator 206 and the limiter 207.

In this case, the adder/subtractor 205 obtains the capacitor current command T _EXT2 by subtracting the capacitor compensation current command T _PL2 from the capacitor recovery current command T _STAR2 and outputs the capacitor current command T _EXT2 to the inverter 8 .

1 Energy Storage Unit Control Device 2 Power Transformer 3, 9 Reactor 4 Converter 5, 8, 13 Inverter 6 FW Motor 7, 15 Pulse Generator 10 Capacitor 11 Servo Press Motor Control Device 12 Primary Side Capacitor 14 Servo Press Motor 16 Press Device 21 Load Power Sharing Unit 22 FW Control Unit 23 Capacitor Control Unit 30, 32, 34, 37, 65, 67, 111, 115, 117, 118, 152, 162, 211, 215, 217, 218, 252, 262 Multipliers 31, 33, 62, 64, 76, 77, 78, 79, 116, 154, 155, 216, 254 Switch 35 Work angle signal generator 36 Angle generators 38, 54, 61, 63, 68, 69, 70, 73 Comparator 40 First work angle signal generator 41 Second work angle signal generator 42 Selector 50 Polarity discriminator 51 Work section entry/exit discriminator 52 Work on/off trigger signal generator 53 Work on/off angle generator 60 Differentiators 66, 120, 220 High-pass feature quantity filters 71, 74, 81, 82, 83 Calculators 72, 75 Rising differentiator 80 Inverters 100, 200 Threshold power adjuster 101 Torque command converters 102, 202 Return controllers 103, 203 Upper limit controllers 104, 204 Lower limit controllers 105, 205 Adder/subtractor (calculator)
１０６，２０６ 負荷ＦＦ補償器１０７，１１３，１２２，１４１，１４３，１５６，２０７，２１３，２２２，２４１，２５５ リミッタ１１０，２１０ １次遅れフィルタ１１２－１，１１２－２，２１２－１，２１２－２ スレショルド演算器１１４，１３１，１４０，１４２，１５１，１６１，２１４，２３１，２４０，２５１，２６１ 減算器１２１，２２１ 除算器１３０，２３０ ランプ器１３３ 速度制御器１３２，２３２ ローパス特徴量フィルタ１４４，１６３，２６３ 加算器１５０，２５０ 下限速度設定器１５３，２５３ 比較器１６０，２６０ 積分器２０１ 電流指令変換器２３３ 電圧制御器ω _SPRサーボプレスモータ速度ｅ＊ 電圧指令Ｔ _SPR*サーボプレスモータトルク指令θ _plse角度θ _degプレス角度
WON work-on angle
WOFF Work-off angle SC Scaling factor
K_PL Load power
K_PL1, K_PL1', K_PL1", K_PL1* FW load power
K_PL2, K_PL2', K_PL2”, K_PL2* Capacitor load power
SPR_KW Servo press motor rated capacity
FW_KW FW shared capacity
CB_KW Capacitor shared capacity
WA_ON_DEG @ 1st work angle signal
WA_ON_PL @ 2nd work angle signal
WA_ONG＠ work angle signal
WA_ON_SEL@ Work angle selection signal ω ₁ FW motor speed ω ₂ Capacitor voltage T _EXT1 , T _E1 , T _{E1 '} FW torque command T _EXT2 , T _E2 , T _{E2 '} capacitor current command
K_PLD Load power variation
SGN polarity discrimination value
WANG_ON0＠ Working zone entry signal
WANG_OFF0@ Working section output signal δ Margin angle
WANG_ON_TRG＠ Work-on trigger signal
WANG_OFF_TRG＠ Work-off trigger signal
WA_ON_PL Work-on angle
WA_OFF_PL Work off angle
WANG_ON_WIN@ work-on bottom dead center zone signal
WANG_OFF_WIN＠ Work-off bottom dead center zone signal
WANG_ON @ load power increase signal
WANG_OFF @ load power decrease signal
K_ASTBY@ Inverter start signal ω _1* FW speed command ω _2* Capacitor voltage command
PL1, PL1- FW compensation power
PL2, PL2- Capacitor compensation power T _PL1 FW compensation torque command T _PL2 capacitor compensation current command T _STAR1 FW recovery torque command T _STAR2 capacitor recovery current command T _MAX1 upper limit speed limit torque T _MAX2 upper limit voltage limit current T _MIN1 lower limit speed limit torque T _MIN2 lower limit voltage limit current
PL1CUT+, PL1CUT+', PL1CUT-, PL1CUT-', PL2CUT+, PL2CUT+', PL2CUT-, PL2CUT-' Threshold power
PLOSS@ Power loss signal η Positive side torque limit
-η Negative side torque limit ω _+MAX1 forward upper limit speed ω _-MAX1 reverse upper limit speed ω _MAX2 upper limit voltage
FWD@ Forward rotation detection signal
REV＠ Reverse rotation detection signal

Claims (2)

The power of the input power supply is supplied to the load driven by the motor via the power supply system, and the energy accumulated in the FW (flywheel) storage system is supplied to the loading system through the inverter for the FW and the power supply system, and the energy accumulated in the power storage system accumulated by the capacitor. In the control device that performs the energy resonance and power control of the energy storage system and the power storage system accumulated in the motor control system that is supplied to the load via the inverter for the capacitor and the power supply system (the power supply system ((above)
When the load is controlled according to a preset speed pattern for driving the motor, an acceleration and deceleration section in the speed pattern is defined as an acceleration/deceleration section, a section other than the acceleration and deceleration section and requiring a predetermined electric power is defined as a work section, the speed of the FW motor that rotates the FW is defined as FW motor speed _ω1 , and the voltage across the capacitor is defined as capacitor voltage _ω2 ,
Calculate the load power K_PL by multiplying the speed of the motor and a predetermined torque command for the motor,
Based on the preset shared capacity of the FW and the capacitor,
a load power sharing unit that obtains the FW load power K_PL1 for sharing the peak of the load power K_PL in the acceleration/deceleration section with the FW power storage system, and obtains the FW load power K_PL1 for sharing the peak of the load power K_PL in the work section with the FW power storage system, and the capacitor load power K_PL2 for sharing with the capacitor power storage system;
a FW control unit that obtains a FW torque command T _EXT1 for operating the FW inverter based on the FW load power K_PL1 and the FW motor speed _ω1 obtained by the load power sharing unit;
a capacitor control unit that obtains a capacitor current command T _EXT2 for operating the inverter for the capacitor based on the capacitor load power K_PL2 and the capacitor voltage _ω2 obtained by the load power sharing unit;
The FW control unit is
a first threshold power regulator that obtains FW compensation power PL1 by subtracting a preset threshold power from the FW load power K_PL1;
a torque command converter that obtains a FW compensation torque command T PL1 by dividing the FW compensation power _PL1 obtained by the first threshold power regulator by the FW motor speed _ω1 ;
A torque command is obtained by performing speed control so that the speed deviation between a preset FW speed command _ω1* and the FW motor speed _ω1 becomes 0,
a first return controller that obtains a FW return torque command T _STAR1 that is closer to 0 as the FW compensation power PL1 is less close to 0, and obtains the FW return torque command T STAR1 that is closer to the torque command as the FW compensation power PL1 is closer to 0, using a low-pass feature amount filter having the FW compensation power _PL1 obtained by the first threshold power adjuster as a feature amount;
a first calculator for obtaining the FW torque command T _EXT1 by subtracting the FW compensation torque command T _PL1 obtained by the torque command converter from the FW return torque command T _STAR1 obtained by the first return controller;
The capacitor control unit
a second threshold power regulator to obtain a capacitor compensated power PL2 by subtracting a preset threshold power from the capacitor load power K_PL2;
a current command converter that obtains a capacitor compensation current command T _PL2 by dividing the capacitor compensation power PL2 determined by the second threshold power regulator by the capacitor voltage _ω2 ;
A current command is obtained by performing voltage control so that the voltage deviation between a preset capacitor voltage command ω _{2 *} and the capacitor voltage ω ₂ becomes 0,
a second return controller that obtains a capacitor return current command T _STAR2 that is closer to 0 as the capacitor compensated power PL2 is less close to 0, and obtains the capacitor return current command T STAR2 that is closer to the current command as the capacitor compensated power PL2 is closer to 0, using a low-pass feature amount filter whose feature amount is the capacitor compensated power _PL2 obtained by the second threshold power adjuster;
and a second calculator that obtains the capacitor current command T _EXT2 by subtracting the capacitor compensation current command T _PL2 obtained by the current command converter from the capacitor reset current command T _STAR2 obtained by the second return controller. The control device according to claim 1,
The FW control unit further includes a first upper limit controller, a first lower limit controller, a first load FF compensator and a first limiter,
The first upper limit controller,
Obtaining an upper limit speed limit torque T _MAX1 based on a preset upper limit speed,
The first lower limit controller,
A lower limit speed is obtained based on the FW speed command _ω1* , a lower limit speed limit torque _TMIN1 is obtained based on the lower limit speed,
The first calculator is
The FW return torque command T _STAR1 , the upper limit speed limit torque T _MAX1 obtained by the first upper limit controller, and the lower limit speed limit torque T _MIN1 obtained by the first lower limit controller are added, and the FW compensation torque command T _PL1 is subtracted from the addition result to obtain the FW torque command T _E1 ,
The first load FF compensator is
A speed command is estimated by integrating the FW torque _{command TE1} obtained by the first calculator, a load torque compensation value is obtained by subtracting the FW motor speed _ω1 from the speed command, and a FW torque command _{TE1' is obtained by adding the load torque compensation value to the FW torque command TE1} ,
The first limiter is
obtaining the FW torque command T _EXT1 by limiting the FW torque command T _E1′ obtained by the first load FF compensator within a preset range;
The capacitor control unit further comprises a second upper limit controller, a second lower limit controller, a second load FF compensator and a second limiter,
The second upper limit controller,
Obtaining an upper limit voltage limiting current T _MAX2 based on a preset upper limit voltage,
The second lower limit controller,
A lower limit voltage is obtained based on the capacitor voltage command ω _{2 *} , a lower limit voltage limit current T _MIN2 is obtained based on the lower limit voltage,
The second operator is
The capacitor recovery current command T _STAR2 , the upper limit voltage limiting current T _MAX2 obtained by the second upper limit controller, and the lower limit voltage limiting current T _MIN2 obtained by the second lower limit controller are added, and the capacitor compensation current command T _PL2 is subtracted from the addition result to obtain the capacitor current command T _E2 ,
The second load FF compensator is
A voltage command is estimated by integrating the capacitor current command _TE2 obtained by _the second calculator, a load current compensation value is obtained by subtracting the capacitor voltage _ω2 from the voltage command, and a capacitor current command _{TE2' is obtained by adding the load current compensation value to the capacitor current command TE2} ,
The second limiter is
A control device, wherein the capacitor current command T _EXT2 is determined by limiting the capacitor current command _TE2' determined by the second load FF compensator within a preset range.

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