JP3547594B2 - Motor control system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a system for performing PWM (pulse width modulation) control on the rotation speed, torque, position, etc. of a motor having a plurality of axes, and in particular, a motor control device provided corresponding to the plurality of axes.Motor control system withIt is about.
[0002]
[Prior art]
FIG. 23 shows a configuration of a conventional system using only a plurality of motor control devices. In FIG. 23, this conventional system controls a control device power supply 1, an A-axis motor control device 22, a B-axis motor control device 23, a C-axis motor control device 24, a three-phase drive motor 6, and each control device. It is constituted by a system controller 16.
[0003]
In each control device, 3 is a converter circuit for rectifying an AC or DC power supply voltage and smoothing the power supply voltage with a capacitor, 4 is a regenerative circuit including a regenerative resistor and a regenerative transistor, and 5 is an AC voltage for driving a motor. Inverter circuit for conversion, 7 is a regenerative circuit drive base circuit, 8 is a CPU (central processing unit) of each control device, 9 is a PN voltage which is a voltage obtained by rectifying and smoothing a three-phase AC voltage from the power supply 1. A PN voltage detection circuit for detecting, 12 is an input interface of each control device, and 13 is an output interface of each control device. The A-axis motor control device 22 is further connectable with a regenerative option unit 79, and the unit 79 is connected to the line exhibiting the PN voltage.
[0004]
The system controller 16 has a built-in CPU 17 and further has an output interface 18 and an input interface 19.
[0005]
When a torque is generated in a direction opposite to the direction of motor rotation which is seen when the motor is decelerated as so-called regenerative braking, regenerative power returns from the motor to the control device and raises the level of the PN voltage in the control device. . In this case, when the control device detects the PN voltage and reaches a predetermined level, the control device operates a regenerative circuit provided therein, and the regenerative power corresponding to the rise in the PN voltage level at that time is applied by a resistor or the like. Will consume.
[0006]
In the conventional system as shown in FIG. 23, the A-axis, B-axis and C-axis motor control devices are independent of each other in the regenerative method. Therefore, the regenerative load generated in the A-axis system is consumed by the regenerative circuit 4 in the A-axis motor control device 22, the regenerative load generated in the B-axis system is consumed by the regenerative circuit 4 in the B-axis motor control device 23, and the C-axis The regenerative load generated in the system is consumed by the regenerative circuit 4 in the C-axis motor controller 24. For example, when the regenerative load generated in the A-axis system is so large that it cannot be consumed by the regenerative circuit 4 built in the corresponding control device, the regenerative option unit 79 capable of consuming a large regenerative load is set to eliminate such an overload state. It is necessary to connect to the A-axis system control device 22.
[0007]
[Problems to be solved by the invention]
In the case of the conventional system as shown in FIG. 23, a small-sized and small-value regenerative resistor is used for the regenerative circuit 4 in each control device in order to reduce the size and cost of each control device unit. Therefore, there is a problem that each controller has a low ability to consume a regenerative load.
[0008]
In FIG. 23, the regenerative load may be small in the B-axis and C-axis motor controllers 23 and 24, and large in the A-axis motor controller 22 such that the regenerative load cannot be consumed by the built-in regenerative circuit 4. In this case, in the B-axis and C-axis motor control devices 23 and 24, the regenerative circuit 4 hardly operates because the regenerative load is small despite the built-in regenerative circuit 4, while the A-axis motor In the control device 22, since the regenerative load is so large that it cannot be consumed by the built-in regenerative circuit 4, the regenerative option unit 79 must be connected to absorb such overload. Therefore, there is a problem that not only a space for mounting the regenerative option unit 79 as a whole system is required for such an imbalance of the regenerative load on each axis, but also the system price becomes high and uneconomical. Was.
[0009]
SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has a simple structure and a low cost.TimeThe purpose is to get.
[0010]
An object of another aspect of the present invention is to improve the regenerative load consumption capability of the entire system by sharing the PN voltage in each motor control device corresponding to a plurality of axes with each of the control devices. In this case, the regenerative circuits provided in the motor control devices are operated equally to minimize the difference in regenerative load consumption between the motor control devices.
[0011]
[TaskMeans to solve]
Motor control system according to the present inventionIs,A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers A PN voltage detection circuit that detects a PN voltage obtained by commonly connecting outputs of the smoothing circuits of all the motor control devices; and a predetermined regenerative operation voltage level in which the PN voltage is different for each motor control device. And control means for turning on the regenerating transistor when the number of motors reaches each of the plurality of motor control devices. A motor control system controlled by a motor control device, wherein each control means in the plurality of motor control devices calculates regenerative load data based on a time during which a regenerative transistor is turned on, and calculates the calculated regenerative load. Means for transmitting data to the system controller, wherein the system controller determines regenerative load data transmitted from each of the motor control devices, and based on the determination result, a motor control device corresponding to an axis having a large regenerative load data. Send a command to increase the regenerative operation voltage level to make the regenerative circuit difficult to operate, or send a command to lower the regenerative operating voltage level to the motor controller corresponding to the axis with smaller regenerative load data to operate the regenerative circuit. It is characterized by having means for facilitating.
[0012]
Motor control system according to the following inventionIs,A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor control devices each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current is supplied to the regenerative resistor; outputs of the smoothing circuits of all the motor control devices; A PN voltage detection circuit for detecting a PN voltage obtained by commonly connecting the PN voltage and a control means for turning on the regenerating transistor when the PN voltage reaches a predetermined regenerative operation voltage level different for each motor control device. Each of the plurality of motor control devices is provided, and the motor of each axis is respectively controlled by the plurality of motor control devices. One of the motor control systems is a master motor control device, wherein each control means in a plurality of motor control devices other than the master motor control device calculates regenerative load data based on a time when the regenerative transistor is turned on. And, means for transmitting the calculated regenerative load data to a master motor control device, the master motor control device determines the regenerative load data transmitted from each of the motor control devices and the regenerative load data of its own axis, Based on the determination result, a command to increase the regenerative operation voltage level is sent to the motor control device corresponding to the axis with the large regenerative load data to make the regenerative circuit difficult to operate, or the motor control device corresponding to the axis with the small regenerative load data To provide a means to make the regenerative circuit easier to operate by sending a command to lower the regenerative operation voltage level to Characterized in that was.
[0013]
Motor control system according to the following inventionIs,A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers A PN voltage detection circuit that detects a PN voltage obtained by commonly connecting outputs of the smoothing circuits of all the motor control devices; and a predetermined regenerative operation voltage level in which the PN voltage is different for each motor control device. And control means for turning on the regenerating transistor when the number of motors reaches each of the plurality of motor control devices. A motor control system controlled by a motor control device, wherein each control means in the plurality of motor control devices calculates regenerative load data based on a time during which a regenerative transistor is turned on, and calculates the calculated regenerative load. Means for transmitting data to the system controller, wherein the system controller determines the regenerative load data and the PN voltage transmitted from each of the motor control devices, and based on the determination result, a part of the axis having a large regenerative load data. A forced off command for forcibly turning off the regenerative transistor is sent to the motor control device corresponding to, and only the regenerative circuits of some of the axes are operated, and the PN voltage and the regenerative operation voltage level set for each axis are compared. Based on the comparison, the axis for operating the regenerative circuit is changed by sequentially changing the axis for sending the forcible off command. Characterized in that so as to comprise means for following changes.
[0014]
Motor control system according to the following inventionIs,A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor control devices each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current is supplied to the regenerative resistor; outputs of the smoothing circuits of all the motor control devices; A PN voltage detection circuit for detecting a PN voltage obtained by commonly connecting the PN voltage and a control means for turning on the regenerating transistor when the PN voltage reaches a predetermined regenerative operation voltage level different for each motor control device. Each of the plurality of motor control devices is provided, and the motor of each axis is respectively controlled by the plurality of motor control devices. One of the motor control systems is a master motor control device, wherein each control means in a plurality of motor control devices other than the master motor control device calculates regenerative load data based on a time when the regenerative transistor is turned on. Means for transmitting the calculated regenerative load data to the master motor control device, wherein the master motor control device transmits the regenerative load data transmitted from each of the motor control devices, the regenerative load data of its own axis, and the PN voltage. Judgment is made, and based on the judgment result, a forced off command for forcibly turning off the regenerative transistor is sent to the motor control device corresponding to some axes having large regenerative load data to operate only the regenerative circuits of some axes. At the same time, based on the comparison between the PN voltage and the regenerative operation voltage level set for each axis, the axis for sending the forced off command is sequentially changed. Characterized in that so as to comprise means for sequentially change the axis for operating the regenerative circuit by.
[0015]
Motor control system according to the following inventionIs,A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers And a PN voltage detection circuit for detecting a PN voltage obtained by commonly connecting the outputs of the smoothing circuits of all the motor control devices is provided in at least one of the plurality of motor control devices. A motor control system in which a motor is controlled by a plurality of motor control devices, respectively, wherein the plurality of motor control devices are At least one motor control device having a PN voltage detection circuit for transmitting the detected PN voltage to the system controller, wherein the system controller transmits the detected PN voltage to a predetermined regenerative operation voltage level. When the comparison result indicates that the PN voltage is higher than the regenerative operation voltage level, a regenerative circuit operation command for turning on the regenerative transistor is simultaneously transmitted to all the motor control devices to simultaneously control the regenerative circuits of all axes. It is characterized by comprising means for operating.
[0016]
Motor control system according to the following inventionIs,A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor control devices each having a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and the motor of each axis is controlled by a plurality of motor control devices. A motor control system that controls each one of the plurality of motor control devices and uses one of the plurality of motor control devices as a master motor control device, wherein the master motor control device shares an output of a smoothing circuit of all the motor control devices. A PN voltage detection circuit for detecting a PN voltage obtained by connection, a detected PN voltage, and a preset regenerative operation voltage level. When the PN voltage is higher than the regenerative operation voltage level as a result of the comparison, a regenerative circuit operation command for turning on the regenerative transistor is simultaneously transmitted to all the motor control devices including the motor control device, and the regenerative circuits of all axes are controlled. Means for operating simultaneously.
[0017]
Motor control system according to the following inventionIs,A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers And a PN voltage detection circuit for detecting a PN voltage obtained by commonly connecting the outputs of the smoothing circuits of all the motor control devices is provided in at least one of the plurality of motor control devices. A motor control system in which a motor is controlled by a plurality of motor control devices, respectively, wherein the plurality of motor control devices are At least one motor control device having a PN voltage detection circuit for transmitting the detected PN voltage to the system controller, wherein the system controller divides a predetermined cycle into the number of axes, and Each control time is assigned to each axis, and when the received PN voltage becomes higher than a preset regenerative operation voltage level, the motor control device corresponding to the axis to which the control time is assigned at that time is regenerated. A regenerative circuit operation command for turning on the transistor is provided.
[0018]
Motor control system according to the following inventionIs,A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers A PN voltage detection circuit that detects a PN voltage obtained by commonly connecting outputs of the smoothing circuits of all the motor control devices; and a predetermined regenerative operation voltage level in which the PN voltage is different for each motor control device. And control means for turning on the regenerating transistor when the number of motors reaches each of the plurality of motor control devices. A motor control system to be controlled by the respective motor control device, wherein each control means in the plurality of motor control devices calculates regenerative load data and powering load data based on the time when the regenerating transistor is turned on, Means for transmitting the calculated regenerative load data and powering load data to the system controller, wherein the system controller has an axis in a regenerative state and an axis in a powering state at the same time based on the received regenerative load data and powering load data; When it is determined that the regenerative load of all the axes is larger than the powering load of all the axes, the reactive current of the inverter circuit that does not contribute to the torque is reduced to a predetermined non-zero current value for the motor control device corresponding to the axis in the powering state. Means for transmitting a reactive current command signal for raising To increase control reactive current of the converter circuit, characterized in that to reduce the consumption of regenerative load by increasing the energy of the power running side instantaneously with.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a block diagram of a control device employed in the first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a power supply for a control device, 2 denotes a motor control device to which the power is supplied, and 3 rectifies a three-phase AC or DC power supply from the power supply 1 by a rectification circuit 30 including, for example, a diode or a thyristor. , A converter circuit for smoothing the rectified output by a circuit including a capacitor 31 or a capacitor, and a converter 4 having a regenerative resistor 40 having one end connected to one output terminal of the converter circuit 3 and a collector connected to the other end of the regenerative resistor. A regenerative circuit 5 including a regenerative transistor 41 having an emitter connected to the other output terminal of the circuit 3 is composed of a power transistor and / or a power diode, and converts an output voltage of the converter circuit 3 into an AC voltage for driving a motor. Inverter circuit 6 depends on the output voltage (or current) of inverter circuit 5 A motor for mechanical motion based on a constant axis.
[0021]
Reference numeral 7 denotes a regenerative circuit drive base circuit for controlling the base potential of the regenerative transistor 41; 8 a CPU built in the control device 2 for performing control based on the detected PN voltage; Or a PN voltage detecting circuit for detecting a PN voltage appearing between input lines of the inverter circuit 5), a PN voltage P terminal, 11 a PN voltage N terminal, and 12 a signal from the outside of the control device matched to the CPU 8. An input interface 13 is for supplying a signal from the CPU 8 to the outside of the control device while supplying a signal from the CPU 8 while matching.
[0022]
Here, the signal 14 output to the outside of the control device via the output interface 13 carries regenerative load data, and the signal 15 input to the CPU 8 via the input interface 12 carries a regenerative operation voltage level change command. .
[0023]
FIG. 2 shows the configuration of a system according to the first embodiment. This system is configured using a single system controller and the control device 2 shown in FIG. 1 for three axes.
[0024]
In FIG. 2, the system generally controls the shared power supply 1, the A-axis motor control device 22, the B-axis motor control device 23, the C-axis motor control device 24, and these control devices 22, 23 and 24. It is configured by the system controller 16 and the motor 6.
[0025]
The system controller 16 has a built-in CPU 17 and further has an output interface 18 and an input interface 19. Regeneration load data 20 obtained in each control device is transferred from the input interface 19 to the CPU 17, and a command signal 21 for designating a regenerative operation voltage level change axis for the control device is transmitted from the CPU 17 to the output interface 18. Is supplied.
[0026]
FIG. 3 shows the relationship between the regenerative operation voltage level and the PN voltage according to the first embodiment. 3, reference numeral 25 denotes an A-axis regenerative operation voltage level (Vaon) for operating the regenerative circuit 4 in the A-axis motor control device 22, and reference numeral 26 denotes B for operating the regenerative circuit 4 in the B-axis motor control device 23. The axis system regenerative operation voltage level (Vbon), 27 indicates a C-axis system regenerative operation voltage level (Vcon) for operating the regenerative circuit 4 in the C-axis motor control device 24. Reference numeral 28 denotes a regenerative operation stop voltage level (Voff) for stopping the operation of the regenerative circuit 4, and reference numeral 29 denotes a PN voltage shared by the A-axis, B-axis, and C-axis motor controllers.
[0027]
Next, the operation of the first embodiment will be described with reference to FIG. 1, FIG. 2 and FIG. First, the operation of the control device alone will be described with reference to FIG. 1. When the control device 2 enters a regenerative state, the level of the PN voltage rises and is detected by the PN voltage detection circuit 9, and a detection signal corresponding to the detection result is output. It is supplied to the CPU 8. The CPU 8 determines whether or not the PN voltage has reached the regenerative circuit operating voltage level based on the detection signal.
[0028]
If this has been reached, the CPU 8 supplies a control signal to the regenerative circuit drive base circuit 7 so as to turn on the regenerative transistor 41 of the regenerative circuit 4, and the regenerative circuit drive base circuit 7 responds accordingly. Is turned ON. The CPU 8 also calculates and outputs the value of the regenerative load data 14 from the number and time of turning on the regenerative transistor 41 via the regenerative circuit drive base circuit 7.
[0029]
The system shown in FIG. 2 uses three control devices 2 having such functions. The control devices include an A-axis motor control device 22, a B-axis motor control device 23, and a C-axis motor control device 24. It is used. The main structural feature of this system is that the P terminals 10 and the N terminals 11 of each control device are connected to each other and the control devices share a PN voltage. The controller 16 cooperates to perform control based on the shared PN voltage. Since the PN voltage detection circuit 9 in each of the A-axis, B-axis, and C-axis motor control devices is constituted by an analog circuit, there is a difference between the regenerative operation voltage levels of the motor control devices.
[0030]
In FIG. 3, when the A-axis regenerative operation voltage level 25 is 375 [V], the B-axis regenerative operation voltage level 26 is 376 [V], and the C-axis regenerative operation voltage level 27 is 377 [V], When the level of the PN voltage 29 rises, the A-axis, B-axis, and C-axis motor control devices share the PN voltage, so the A-axis regenerative circuit having the lowest regenerative operation voltage level.4First, the regenerative transistor 41 of the A-axis type regenerative circuit 4 is turned ON, and a current flows through the regenerative resistor 40 to lower the PN voltage 29.
[0031]
When the PN voltage 29 drops to the regenerative operation stop voltage 28, the regenerative circuit 4 is turned off, the transistor 41 is turned off, and no current flows through the regenerative resistor 40. However, while the regenerative state continues, the level of the PN voltage 29 rises again, reaches the regenerative circuit operating voltage level 25 of the A-axis system again, and turns on the regenerative circuit 4 of the A-axis system. When this is repeated, a situation occurs in which only the A-axis type regenerative circuit 4 is used, although all of the A-axis, B-axis, and C-axis motor control devices include the regenerative circuit 4. Will be.
[0032]
In such a situation, the system controller 16 and each control device operate as shown in FIG. First, in step S30, the system controller 16 determines whether or not the regenerative state is established (whether or not the regenerative loads of the A-axis, B-axis, and C-axis systems are all zero). In step S31, it is recognized which regenerative load data of which axis is larger.
[0033]
For example, when the regenerative operation voltage level is lower in the order of the A-axis system, the B-axis system, and the C-axis system, the regenerative load data of the A-axis system first increases. The A-axis controller 22 is designated by the level change axis designation, that is, a command is issued to the A-axis motor controller to change the regenerative operation voltage level.
[0034]
In the A-axis motor control device 22, when the regenerative operation voltage level change command is received by the CPU 8, the regenerative circuit drive base circuit 7 is controlled to increase the regenerative operation voltage level by one step in step S33. After the increase in the regenerative operation voltage level, the system controller 16 determines in step S34 whether or not the regenerative load data of the A-axis system is at the same level as that of the B-axis system, and determines that the level is the same. Then, the regenerative circuit 4 in the B-axis system motor controller 23 is also operated together with that of the A-axis system.
[0035]
At this point, the system controller 16 recognizes that the regenerative load data of the C-axis system is smaller than the regenerative load data of the A-axis and B-axis systems, and in step S35, controls the A-axis and B-axis system controllers 22 and 23. A command is issued to the A-axis and B-axis motor control units 22 and 23 to designate the regenerative operation voltage level change axis, that is, to change the regenerative operation voltage level.
[0036]
In step S36, the CPU 8 of the A-axis and B-axis motor control devices 22 and 23 receives the regenerative operation voltage level change command and controls the regenerative circuit drive base circuit 7 to raise each regenerative operation voltage level by one step. Thereafter, in step S37, it is determined whether or not the regenerative load data of the A-axis system and the B-axis system is at the same level as that of the C-axis system. The circuit 4 is also operated together with the A-axis and B-axis systems (step S38).
[0037]
Thereafter, the system controller 16 repeats this until all the regenerative loads of the A-axis system, the B-axis system, and the C-axis system become zero (Step S39). The operation of the regenerative circuit 4 is stopped (step S40), and it is determined whether the A-axis system, the B-axis system, and the C-axis system are in operation (step S41). If the A-axis system, the B-axis system, and the C-axis system are not in operation, the series of operations shown in FIG.
[0038]
Thus, the total regenerative load is uniformly consumed in the A-axis, B-axis, and C-axis system control devices.
[0039]
In the above-described example, the regenerative operation voltage levels of the A-axis and B-axis systems are increased to match the regenerative operation voltage levels of the C-axis system. According to the regenerative operation voltage level of the shaft system, it is also possible to modify the embodiment so that the total regenerative load is uniformly consumed in the A-axis, B-axis and C-axis systems.
[0040]
Embodiment 2 FIG.
FIG. 5 relates to the second embodiment, and shows a configuration of the master axis motor control device in a system in which one of the control devices employed in the first embodiment is a master axis motor control device.
[0041]
FIG. 6 shows a system configuration according to the second embodiment. 6, reference numeral 39 denotes a master axis (A-axis) motor controller, 23 denotes a B-axis motor controller controlled by the master axis motor controller 39, and 24 denotes a C-axis motor controlled by the master axis motor controller 39. It is a motor control device. The data 20 transferred to the CPU 8 from the input interface 12 in the master axis system controller 39 includes regenerative load data from each of the other controllers.
[0042]
Further, the data 21 transferred from the CPU 8 to the output interface 13 in the master axis system control device 39 includes the same master axis system as the command accompanying the regenerative operation voltage level change axis designation which the system controller 16 has assigned. A command signal from the CPU 8 to each of the other control devices is included.
[0043]
Next, the operation of the second embodiment will be described with reference to FIGS. The configuration shown in FIG. 6 leads to a system that does not use the system controller 16 in the configuration shown in FIG. 2 corresponding to the above-described first embodiment, and one of the control devices is a master axis system control device 39. The master axis system controller 39 issues a command 21 to control the other motor controllers 23 and 24.
[0044]
The system shown in FIG. 6 includes a control device 39 for the master axis (A-axis) motor, a control device 23 for the B-axis motor, and a control device 24 for the C-axis motor. This is a system in which terminals 11 are connected to share a PN voltage in each control device. As in the first embodiment described above, there is a difference in the regenerative operation voltage levels in the master axis, B axis, and C axis motor control devices, and it is conceivable that the regenerative load is concentrated on any one of the axis systems. .
[0045]
The B-axis and C-axis system controllers 23 and 24, which are slave axis system controllers, transfer regenerative load data 14 as monitored parameter data to the master axis system controller 39. Based on the transferred regenerative load data 20, master axis system controller 39 recognizes an axis system having a large regenerative load including its own axis system, and outputs regenerative operation voltage level change axis designation signal 21. The regenerative operation voltage level change axis designation signal 21 from the master axis system controller 39 is supplied to the B axis and C axis system controllers 23 and 24.
[0046]
4, the CPU 8 of the master axis system control device 39 determines whether or not the vehicle is in a regenerative state in step S30. If it is determined in step S30 that the vehicle is in the regenerative state, the CPU 8 of the master axis system control device 39 recognizes which axis system regenerative load data is large in step S31.
[0047]
For example, when the regenerative operation voltage level is lower in the order of the master axis system, the B axis system, and the C axis system, the regenerative load data of the master axis system first becomes large. The own control device 39 is designated by the regenerative operation voltage level change axis designation signal 21 of the internal recognition. In response to the regenerative operation voltage level change command, the master axis CPU 8 raises the regenerative operation voltage level by one step in step S33.
[0048]
At step S34, it is determined whether or not the regenerative load data of the master axis system is at the same level as that of the B axis system. At this time, the CPU 8 of the master axis system controller 39 recognizes that the regenerative load data of the C axis system is smaller than the regenerative load data of the own axis system and the B axis system. The system is specified as the regenerative operation voltage level change axis. Thus, in step S36, the master axis and B axis system controllers 39 and 23 receive the regenerative operation voltage level change command, and increase the respective regenerative operation voltage levels by one step.
[0049]
Then, in step S37, it is determined whether or not the regenerative load data of the master axis and the B-axis system is at the same level as that of the C-axis system. Also operate together with the master axis and the B axis system (step S38).
[0050]
Thereafter, the master axis repeats this until the regenerative loads of the master axis system, the B axis system, and the C axis system all become zero (step S39). When the regenerative load becomes zero, the A axis system, the B axis system, and the C axis system The operation of the regenerative circuit 4 is stopped (step S40), and it is determined whether the A-axis system, the B-axis system, and the C-axis system are in operation (step S41). If the A-axis system, the B-axis system, and the C-axis system are not in operation, the series of operations shown in FIG.
[0051]
Thus, the total regenerative load is consumed uniformly in the master axis, B axis and C axis systems.
[0052]
Also in the present embodiment, an example in which control is performed by increasing the regenerative operation voltage level so as to match the C-axis has been described. However, the total regenerative operation voltage levels of the C-axis and B-axis systems are decreased so as to match the A-axis system. It can also be modified so that the regenerative load is consumed uniformly in the master axis, B axis and C axis systems.
[0053]
Embodiment 3 FIG.
FIG. 7 is a block diagram showing a configuration of the control device 2 employed in the third embodiment of the present invention. In FIG. 7, a signal carrying a regenerative circuit operation command issued from the system controller is sent from the input interface 12 to the CPU 8.80And the signal that carries the regenerative circuit stop command81Is supplied. Also, the regenerative load data 14 is transferred from the CPU 8 to the output interface 13.
[0054]
FIG. 8 shows a configuration of a system according to the third embodiment. This system is configured by using the control device shown in FIG. 7 for three axes together with one system controller. In FIG. 8, reference numerals 42 and 43 denote signals output from the controller CPU 17 of the controller 16 for specifying the regenerative circuit operation axis and signals for specifying the regenerative circuit stop axis, respectively. Reference numeral 20 denotes regenerative load data from the input interface 19. It is.
[0055]
Next, the operation of the third embodiment will be described with reference to FIGS. The system shown in FIG. 8 generally includes a system controller 16, an A-axis motor control device 22, a B-axis motor control device 23, and a C-axis motor control device 24, and P terminals 10 and N terminals of each control device. 11 are connected to share the PN voltage.
[0056]
In FIG. 9, the system controller 16 confirms that the A-axis system, the B-axis system, and the C-axis system are in operation (step S42), and determines in step S43 which axis system is in the regeneration state. In step S43, the same processing as in step S30 is performed. When it is determined in step S42 that any of the axis systems is in the regenerative state, the system controller 16 recognizes in step S44 which of the axis systems has larger regenerative load data.
[0057]
For example, when the regenerative circuit operating voltage level is lower in the order of the A-axis system, the B-axis system, and the C-axis system, the regenerative load data of the A-axis system first increases. When recognizing that the regenerative load data of the A-axis system is larger, the system controller 16 designates the A-axis system controller 22 as the regenerative circuit stop axis with the signal 43 in step S45. As a result, the A-axis system CPU 8 supplies a control signal to the base circuit 7 to forcibly stop the A-axis system regenerative circuit 4.
[0058]
If the PN voltage is higher than the regenerative circuit operating voltage level of the B-axis system in step S46, the B-axis system enters a regenerative state, and the system controller 16 recognizes such a state based on the B-axis regenerative load data, and proceeds to step S47. By using the signal 43, the B-axis and A-axis system controllers 22 and 23 are designated as the regenerative circuit stop axes, and the regenerative circuits 4 of the B-axis and A-axis systems are forcibly stopped.
[0059]
If the PN voltage is higher than the operating voltage level of the regenerative circuit of the C-axis system in step S48, the C-axis system enters a regenerative state, and the system controller 16 recognizes such a state based on the C-axis regenerative load data, and proceeds to step S49. The signal 43 designates the C-axis and B-axis system control devices 24 and 23 as the regenerative circuit stop axis, forcibly stops the regenerative circuits 4 of the C-axis and B-axis systems, and the signal 42 causes the regenerative circuit to operate. The A-axis system controller 22 is designated, and the stop of the regenerative circuit 4 in the A-axis system is released.
[0060]
If the PN voltage is greater than the operating voltage level of the regenerative circuit of the A-axis system in step S50, the A-axis system enters a regenerative state, and the system controller 16 returns to step S45 to forcibly stop the regenerative circuit 4 of the A-axis system. , The B-axis controller 23 is designated as the regenerative circuit operating axis by the signal 42, and the stop of the regenerative circuit 4 in the B-axis system is released.
[0061]
By repeating the operations of steps S45 to S50 as described above, the total regenerative load is uniformly consumed in the A-axis, B-axis and C-axis systems.
[0062]
In the description of the present embodiment, an example has been given in which only the regenerative circuit in one of the A-axis, B-axis, and C-axis systems is operated, but the regenerative circuit is operated for each of two regenerative circuits in the two-axis system. Alternatively, the regenerative circuits of a plurality of axes may be operated simultaneously to control the rotation, that is, the rotation sequentially.
[0063]
Embodiment 4 FIG.
FIG. 10 is a block diagram relating to the fourth embodiment and showing a configuration of the master axis control device when one of the control devices of the third embodiment is a master axis control device.
[0064]
In FIG. 10, data 20 transferred from the input interface 12 to the CPU 8 is regenerative load data, and data 42 and 43 transferred from the CPU 8 to the output interface 13 are a signal and a regenerative circuit, This signal is used to specify the stop axis.
[0065]
FIG. 11 shows a system configuration according to the fourth embodiment. In FIG. 11, reference numeral 39 denotes a master axis (A-axis) system controller, 23 denotes a B-axis motor controller controlled by the master axis controller 39, and 24 denotes a C-axis controller controlled by the master axis controller 39. It is a motor control device.
[0066]
Next, the operation of the fourth embodiment will be described with reference to FIGS. FIG. 11 shows a system in which the system controller 16 is not used in the configuration shown in FIG. 8 corresponding to the above-described third embodiment, and one of the control devices is a master axis system control device 39. The master axis system controller 39 issues commands (42, 43) as described above based on the regenerative load data from each controller to control the other axis system controllers 23, 24.
[0067]
The system shown in FIG. 11 includes a master axis (A-axis) system control device 39, a B-axis system motor control device 23, and a C-axis system motor control device 24. In this system, N terminals 11 are connected to share a PN voltage.
[0068]
In FIG. 9, the master axis system controller 39 confirms that the A axis system, the B axis system, and the C axis system are in operation (step S42), and determines in step S43 which axis system is in the regeneration state. to decide. If it is determined in step S43 that any of the axis systems is in the regenerative state, the master axis system controller 39 recognizes in step S44 which of the axis systems has larger regenerative load data.
[0069]
For example, when the regenerative circuit operating voltage level is lower in the order of the master axis (A-axis) system, the B-axis system, and the C-axis system, the regenerative load data of the master axis system first increases. When recognizing that the regenerative load data of the A-axis system, that is, the own axis system is large, the master axis system control device 39 specifies the own axis system by the regenerative circuit stop axis designation in step S45, and activates the regenerative circuit 4 of the own axis system. Force stop.
[0070]
If the PN voltage is higher than the operating voltage level of the regenerative circuit of the B-axis system in step S46, the B-axis system enters a regenerative state, and the master axis system controller 39 determines in step S47 that each of the regenerative circuits 4 of the B-axis and its own axis system Is forcibly stopped.
[0071]
If the PN voltage is higher than the operating voltage level of the regenerative circuit of the C-axis system in step S48, the C-axis system enters a regenerative state, and the master axis system controller 39 sets the regenerative circuit 4 of the C-axis and B-axis systems in step S49. Are forcibly stopped, and the stop of the regenerative circuit 4 in the master axis system is released.
[0072]
If the PN voltage is higher than the operating voltage level of the regenerative circuit of the master axis system in step S50, the master axis system enters a regenerative state, and returns to step S45 to forcibly stop the regenerative circuit 4 of the master axis system, and The stop of the regenerative circuit 4 is released.
[0073]
By repeating the operations in steps S45 to S50, the total regenerative load is uniformly consumed in the master axis system, the B axis system, and the C axis system.
[0074]
In the above description, an example has been described in which only the regenerative circuit in one of the A-axis, B-axis, and C-axis systems is operated. However, the regenerative circuit may be operated for every two regenerative circuits in the two-axis system. Alternatively, the regenerative circuits of a plurality of axes may be operated at the same time and the rotation, that is, the control may be sequentially performed.
[0075]
Embodiment 5 FIG.
FIG. 12 is a block diagram of a control device employed in the fifth embodiment of the present invention. In FIG. 12, reference numeral 50 denotes a regenerative timing output circuit to which a signal from the input interface 12 is supplied, reference numeral 30 denotes an AND circuit which receives the output signal of the regenerative timing output circuit 50 as one input, and reference numeral 53 denotes a signal generated by the PN voltage detection circuit 9. PN voltage data. Further, a signal 52 carrying a regenerative circuit operation command is supplied from the input interface 12 to the AND circuit 30.
[0076]
FIG. 13 is a block diagram of a system according to the fifth embodiment, which is configured using three axes of the control device shown in FIG. 12 together with the system controller. In FIG. 13, reference numeral 54 denotes a synchronous clock generation circuit provided in the system controller 16. The output signal of the synchronous clock generation circuit 54 is supplied to each control device via the output interface 18. The regenerative circuit operation command signal 52 is supplied from the CPU 17 to each of the control devices 22, 23, and 24 via the output interface.
[0077]
Next, the operation of the fifth embodiment will be described with reference to FIGS. In FIG. 13, the system includes a system controller 16, an A-axis motor control device 22, a B-axis motor control device 23, and a C-axis motor control device 24. The terminals 11 are connected to share a PN voltage.
[0078]
The system according to the present embodiment is configured to transfer PN voltage data from any of the axis systems to the system controller 16. For example, description will be made assuming that PN voltage data from the A-axis system is transferred to the controller 16.
[0079]
In FIG. 14, the system controller 16 confirms that the A-axis system, the B-axis system, and the C-axis system are in operation (step S54), and the PN voltage data of the arbitrary axis system transferred in step S55 and the controller Is compared with the regenerative circuit operating voltage level recognized by the controller, and if the PN voltage data is larger, the regenerative circuit operation command is sent to the A-axis, B-axis and C-axis control devices in step S56. Issue 52. As a result, in each axis system control device, a high-level signal corresponding to the logical value 1 is supplied to one input of the AND circuit 30 in response to the regenerative circuit operation command 52.
[0080]
Thereafter, in step S57, the CPU 17 of the system controller 16 causes the synchronous clock generation circuit 54 to generate a synchronous clock signal, and outputs the synchronous clock signal to each axis control device. As a result, in each axis system control device, the output circuit 50 receives this synchronous clock signal supplied via the interfaces 18 and 12, and the regenerative timing output circuit 50 outputs the AND circuit 30 with the same timing for each axis system. Is supplied with a high-level signal corresponding to a logical value "1".
[0081]
Then, in step S57, when both the regenerative circuit operation command signal 52 and the output signal of the regenerative timing circuit 50 based on the synchronous clock signal become high level (High), the output of the AND circuit 30 becomes high level, thereby driving the regenerative circuit. In step S58, the base circuit 7 simultaneously operates the regenerative circuits 4 of the respective axis systems. Thus, the total regenerative load is uniformly consumed in each axis system.
[0082]
Embodiment 6 FIG.
FIG. 15 relates to the sixth embodiment, and is a block diagram of the master axis system controller when one of the controllers employed in the fifth embodiment is a master axis system controller. In the master axis system control device, unlike the device of FIG. 12, a synchronous clock generation circuit 54 provided in the controller 16 is provided between the regenerative timing output circuit 50 and the output interface.
[0083]
The clock signal output from the synchronous clock generation circuit 54 is output not only to the regenerative timing output circuit 50 but also to the outside via the output interface 13. Further, the control device is provided with a CPU 8, which is configured to generate an input signal (regeneration circuit operation command) of the AND circuit 51 and output the signal from the output interface 13 to the outside.
[0084]
FIG. 16 shows a configuration of a system according to the sixth embodiment. In FIG. 16, reference numeral 39 denotes a master axis (A-axis) system controller, 23 denotes a B-axis motor controller controlled by the master axis controller 39, and 24 denotes a C-axis controller controlled by the master axis controller 39. It is a shaft motor control device.
[0085]
Next, the operation of the sixth embodiment will be described with reference to FIGS. The system shown in FIG. 16 is configured without using the system controller 16 shown in FIG. 13 corresponding to the fifth embodiment. One of the control devices is a master axis control device 39, and the master axis control device 39 Is to generate a regenerative circuit operation command 52 and a synchronous clock signal based on the shared PN voltage data to control another axis system controller. This system has a master axis (A-axis) system controller 39, a B-axis motor controller 23, and a C-axis motor controller 24, and connects P terminals 10 and N terminals 11 of each controller. Thus, the control devices share the PN voltage.
[0086]
The slave axis control devices 23 and 24 do not need to include the PN voltage detection circuit 9, the CPU 8, and the output interface 13, and the master axis control device 39 does not require the input interface 12.
[0087]
In FIG. 14, the master axis system control device 39 confirms that the A axis system, the B axis system, and the C axis system are in operation (step S54), and in step S55, the PN voltage data in the own axis system and the master axis system. The regenerative circuit operating voltage level recognized by the system controller 39 is compared with the regenerative circuit operation voltage level. An operation command 52 is output. Accordingly, the control device of each axis system receives the regenerative circuit operation command 52 and outputs a high-level signal to one input of the AND circuit 51.
[0088]
Thereafter, in step S57, the CPU 8 of the master axis system controller 39 causes the synchronous clock generator 54 to generate a synchronous clock signal, and outputs the synchronous clock signal to the regenerative timing output of each axis system controller including its own axis system. Output to the circuit 50. Thereby, in each axis system controller, a high-level signal corresponding to a logical value of 1 is output from the regenerative timing output circuit 50 to the other input of the AND circuit 51 at the same timing for each axis system based on the synchronous clock signal. . In step S57, when both the regenerative circuit operation command signal 52 and the regenerative timing output signal by the synchronous clock signal become high level, in step S58, the regenerative circuits 4 of the respective axis systems operate simultaneously, and the total The regenerative load is consumed uniformly in each axis control device.
[0089]
Embodiment 7 FIG.
FIG. 17 is a diagram conceptually showing an operation principle according to the seventh embodiment, and shows a mode in which one cycle of a control loop (control cycle) of a system controller is equally divided by the number of axes of a three-axis system. . In FIG. 17, 55 is the time ta of the period assigned to the A-axis system, 56 is the time tb of the period assigned to the B-axis system, and 57 is the time tc of the period assigned to the C-axis system. 58 indicates a time t of one cycle of a control loop (control cycle) of the system controller, and 59 indicates a regenerative operation voltage level Von.
[0090]
FIG. 18 shows the configuration of a system according to the seventh embodiment that embodies such an operation concept, and portions that are the same as those described in the above embodiments are given the same reference numerals. According to this configuration, the signal 60 for specifying the regenerative circuit operation axis is transmitted to the system controller.16Is supplied to each control device via the interface 18.
[0091]
Next, the operation of the seventh embodiment will be described with reference to FIG. 17, FIG. 18 and FIG. The system shown in FIG. 18 has a system controller 16, an A-axis motor control device 22, a B-axis motor control device 23, and a C-axis motor control device 24. The control devices share the PN voltage by connecting them.
[0092]
In FIG. 19, the system controller 16 confirms that the A-axis system, the B-axis system, and the C-axis system are in operation (step S60), and in step S61, the PN voltage data 53 in any one of the axis systems. Is transferred, and this data is compared with a regenerative circuit operating voltage level recognized by the system controller 16. If it is determined in step S62 that the PN voltage has reached the regenerative circuit operating voltage level recognized by the system controller 16 during the A-axis allocation time ta, the system controller 16 determines in step S63 that the regenerative circuit operates. The A-axis system is designated by the signal 60 for axis designation, and in response to this, the A-axis system controller 22 operates the regenerative circuit 4 in step S64.
[0093]
If it is determined in step S65 that the PN voltage has reached the regenerative circuit operating voltage level recognized by the system controller 16 during the B-axis allocation time tb, the system controller 16 regenerates in step S66. The B-axis system is designated by the signal 60 for designating the circuit operation axis, and in response to this, the B-axis system controller 23 operates the regenerative circuit 4 in step S67.
[0094]
If it is determined in step S65 that the PN voltage has reached the regenerative circuit operating voltage level recognized by the system controller 16 during the C-axis allocation time tc, the system controller 16 regenerates in step S68. The C axis system is designated by the signal 60 for designating the circuit operation axis, and in response to this, the C axis system controller 24 operates the regenerative circuit 4 in step S69.
[0095]
The allocation time of each axis system described above is equally divided in one control cycle of the system controller 16, and when the PN voltage reaches the regenerative operation voltage level, the control device of any axis system has the same frequency. Thus, the regenerative circuit 4 is operated, so that the regenerative circuit does not operate concentrated on a specific axis system.
[0096]
Embodiment 8 FIG.
FIG. 20 shows a configuration of a control device employed in the eighth embodiment of the present invention, in which parts identical to those described in each of the above embodiments are given the same reference numerals. In FIG. 20, reference numeral 70 denotes powering load data, reference numeral 71 denotes a reactive current command signal for instructing the inverter circuit 5 to flow a reactive current, and reference numeral 72 denotes a reactive current control command signal supplied from an external system controller. pointing.
[0097]
FIG. 21 is a block diagram of a system according to the eighth embodiment when the control device shown in FIG. 20 is used for three axes together with the system controller. In FIG. 21, reference numeral 73 denotes a command signal for specifying a reactive current control axis to be supplied from the controller 17 to be supplied from the controller 16 to the axis-based control device exhibiting the power running state.
[0098]
Next, the operation of the eighth embodiment will be described with reference to FIGS. 21 also has a system controller 16, an A-axis motor control device 22, a B-axis motor control device 23, and a C-axis motor control device 24, and the P terminals 10 and the N terminals 11 of these control devices. They are connected to share the PN voltage. In this embodiment, the condition is that the shaft system in the regenerative state and the shaft system in the power running state are present at the same time, and the operating mode is such that the regenerative load is larger than the power running load.
[0099]
22, the system controller 16 confirms that the A-axis system, the B-axis system, and the C-axis system are in operation (step S73), and in step S74, the regenerative load data 14 and the powering load data 70 of each axis system. And receive. Thereafter, in step S75, the system controller 16 determines whether the regenerative shaft system and the power running shaft system exist simultaneously. If they are present at the same time, the system controller 16 determines in step S76 whether the regenerative load is greater or the powering load is greater.
[0100]
For example, if the A-axis system is in the regenerative state, the B-axis system is in the powering state, and the C-axis system is in the regenerative state, and the regenerative load is larger than the powering load in total, the system controller 16 specifies the reactive current control axis in step S77. , The B-axis system in the power running state is designated, and the B-axis system controller 23 receives a reactive current control command in step S78. Thus, the B-axis system CPU 8 supplies the reactive current command signal 71 to the inverter circuit 5.
[0101]
Then, when the reactive current flows through the motor 6, the level of the shared PN voltage decreases, and the regenerative load consumption in the regenerative circuit 4 is reduced. When the regenerative load is considerably larger than the powering load, the PN voltage cannot be sufficiently reduced only by the reactive current, and when the regenerative operation voltage level is reached, the regenerative circuit 4 in the shaft control device is operated.
[0102]
Although the motor 6 is driven in three phases, it is easier to handle three-phase alternating current if it is equivalently represented by two-axis direct current. Of the two-axis direct current, the q-axis current (iqa) is a current that contributes to the generation of motor torque, and the d-axis current (ida) is, for example, a reactive current in a permanent magnet synchronous motor. If the reactive current (ida) is small, the copper loss is small and the heat generation of the motor is suppressed.
[0103]
Therefore, this reactive current (ida) is controlled to be normally zero. In the above-described embodiment, by setting a certain value other than 0 as a reactive current (ida) for a shaft in a power running state, an extra current irrelevant to torque is supplied to the motor to lower the PN voltage. I have.
[0104]
Note that, in each of the above embodiments, the regenerative circuit 4 has a configuration including the resistor 40 and the transistor 41. However, it is needless to say that various configurations other than this configuration can be applied. The same can be said for the converter 3 and the inverter 5.
[0105]
Furthermore, in addition to these, various means have been described in a limited manner in each of the above embodiments, but it is also possible to appropriately modify the means within a range that can be designed by those skilled in the art.
[0106]
【The invention's effect】
As described above, the regenerative method of the motor control system according to the present invention causes the control devices to share the PN voltage, and outputs regenerative load data having a level corresponding to the regenerative load obtained in each of the control devices to the system controller. Transfer, causing the system controller to evaluate the level of the regenerative load data, and for a control device corresponding to the larger regenerative load data, issue a command to raise the regenerative circuit operation level of the control device, and generate a smaller regenerative load. A command is issued to the control device corresponding to the data to lower the regenerative circuit operation level of the control device. This makes it difficult for the regenerative circuit to operate on the axis with large regenerative load data, and makes the regenerative circuit easy to operate on the axis with small regenerative load data, so that the regenerative load can be consumed uniformly over all axes. .
[0107]
A regenerative method for a motor control system according to the next invention is such that all of the control devices share a PN voltage, and the regenerative load data having a level corresponding to the regenerative load obtained in each of the control devices is transmitted to a master axis system of the control devices. A command to transfer or hold to the control device, cause the master axis system control device to evaluate the level of regenerative load data, and, for a control device corresponding to larger regenerative load data, increase the regenerative circuit operation level of the control device. Is generated, and for the control device corresponding to the smaller regenerative load data, a command for lowering the regenerative circuit operation level of the control device is generated. This makes it difficult for the regenerative circuit to operate on the axis with large regenerative load data, and makes the regenerative circuit easy to operate on the axis with small regenerative load data, so that the regenerative load can be consumed uniformly over all axes. At the same time, the configuration is further condensed.
[0108]
A regenerative method for a motor control system according to the next invention is characterized in that all of the control devices share a PN voltage, transfer regenerative load data having a level corresponding to a regenerative load obtained in each of the control devices to a system controller, To evaluate the level of the regenerative load data, forcibly stop the operation of the regenerative circuit of the control device corresponding to the larger regenerative load data, and perform the control for the other control devices. Activate the regenerative circuit of the device. According to this, the regenerative circuit is forcibly stopped over all axes by forcibly stopping the regenerative circuit having a large regenerative load and operating (activating) the other regenerative circuits one after another instead of the regenerative circuit. can do.
[0109]
A regenerative method for a motor control system according to the next invention is such that all of the control devices share a PN voltage, and the regenerative load data having a level corresponding to the regenerative load obtained in each of the control devices is transmitted to a master axis system of the control devices. Transfer or hold to the control device, let the master axis system controller evaluate the level of regenerative load data, and for the control device corresponding to the larger regenerative load data, force the operation of the regenerative circuit of the control device. And the regenerative circuit of the control device is operated for another control device. According to this, not only can the regenerative load be consumed uniformly over all axes, but also the configuration can be further condensed.
[0110]
A regenerative method for a motor control system according to the next invention has a configuration in which all of the control devices share a PN voltage, and transfers PN voltage data having a level corresponding to the PN voltage obtained in any of the control devices to a system controller. The controller evaluates the level of the PN voltage data, and operates the regenerative circuits in all the control devices simultaneously in response to the reaching of the level of the PN voltage data to a predetermined value. According to this, not only can the regenerative load be consumed uniformly over all the axes, but also the control is further simplified.
[0111]
A regenerative method for a motor control system according to the next invention causes all of the control devices to share a PN voltage, and outputs PN voltage data having a level corresponding to the PN voltage obtained in any of the control devices to a master axis of the control device. Transfer or hold to the system controller, let the master axis system controller evaluate the level of the PN voltage data, and operate the regenerative circuits in all of the controllers simultaneously in response to the PN voltage data reaching the predetermined value. Let it. According to this, not only the regenerative load can be consumed uniformly over all the axes and the control is simplified, but also the configuration is condensed.
[0112]
In a regenerative method of a motor control system according to the next invention, a PN voltage is shared by all of the control devices, a control cycle of the system controller is divided into periods corresponding to the control devices, and one PN voltage corresponding to the control device is provided in the period. Operates the regenerative circuit of the control device when has reached the regenerative circuit operating voltage level in the control device. Even by such a method, the regenerative load can be consumed uniformly over all the axes.
[0113]
The regenerative method of the motor control system according to the next invention is such that the PN voltage is shared by all of the control devices, and the control device in the regenerative state and the control device in the power running state exist at the same time and the regenerative load is larger than the power running load. The reactive current to the motor in the power running state is controlled to instantaneously increase the driving energy of the motor by the power running state. As a result, a uniform regenerative load is consumed over all axes, not relying only on the regenerative circuit. In other words, the driving energy of the motor by the control device in the power running state is instantaneously increased by controlling the reactive current, thereby reducing the consumption of the regenerative load.
[0114]
As described above in detail, according to the present invention, it is possible to provide a regenerative method which is extremely suitable for a system using a plurality of motor control devices. In other words, the PN voltage of each motor controller is shared by all axes of the system, and when a certain axis of the controller is used as the master axis, the regenerative circuit for each axis operates uniformly from the system controller that controls the master axis and the controller. By giving the command to perform the regenerative operation, the cooperative control of regeneration by the PN link of the motor control device can be realized. As a result, it is possible to eliminate the regenerative load imbalance between each axis and to consume the regenerative load in all axes of the system, so that a large regenerative load consumption capacity can be obtained, and an economical and efficient system can be obtained. Can be constructed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a control device employed in a first embodiment according to the present invention.
FIG. 2 is a block diagram showing a configuration of a system according to a first embodiment of the present invention.
FIG. 3 is a diagram illustrating a relationship between a PN voltage and a regenerative operation voltage level for describing an operation of the first embodiment according to the present invention;
FIG. 4 is a flowchart showing the operation of the first embodiment according to the present invention and the operation of the second embodiment according to the second invention;
FIG. 5 is a block diagram showing a configuration of a control device employed in a second embodiment according to the present invention.
FIG. 6 is a block diagram showing a configuration of a system according to a second embodiment of the present invention.
FIG. 7 is a block diagram showing a configuration of a control device employed in a third embodiment according to the present invention.
FIG. 8 is a block diagram showing a configuration of a system according to a third embodiment of the present invention.
FIG. 9 is a flowchart showing the operation of the third embodiment according to the present invention and the operation of the fourth embodiment according to the fourth invention;
FIG. 10 is a block diagram showing a configuration of a control device employed in a fourth embodiment according to the present invention.
FIG. 11 is a block diagram showing a configuration of a system according to a fourth embodiment of the present invention.
FIG. 12 is a block diagram showing a configuration of a control device employed in a fifth embodiment according to the present invention.
FIG. 13 is a block diagram showing a configuration of a system according to a fifth embodiment of the present invention.
FIG. 14 is a flowchart showing the operation of the fifth embodiment according to the present invention and the operation of the sixth embodiment according to the sixth invention;
FIG. 15 is a block diagram showing a configuration of a control device employed in a sixth embodiment according to the present invention.
FIG. 16 is a block diagram showing a configuration of a system according to a sixth embodiment of the present invention.
FIG. 17 is a diagram showing a relationship between a control loop (control cycle) of a system controller and a regenerative operation voltage level performed in a seventh embodiment according to the present invention.
FIG. 18 is a block diagram showing a configuration of a system according to a seventh embodiment of the present invention.
FIG. 19 is a flowchart showing the operation of the seventh embodiment according to the present invention.
FIG. 20 is a block diagram showing a configuration of a control device employed in an eighth embodiment of the present invention.
FIG. 21 is a block diagram showing a configuration of a system according to an eighth embodiment of the present invention.
FIG. 22 is a flowchart showing the operation of the eighth embodiment according to the present invention.
FIG. 23 is a block diagram showing a configuration of a conventional system.
[Explanation of symbols]
1 power supply, 2 control device, 3 converter circuit, 4 regenerative circuit, 5 inverter circuit, 6 motor, 7 regenerative circuit drive base circuit, 8 CPU, 9 PN voltage detection circuit, 10 P terminal, 11 N terminal, 12 input interface, 13 output interface, 14 regenerative load data, 15 regenerative operation voltage level change command, 16 controllers, 17 controller CPU, 18 controller output interface, 19 controller input interface, 20 each axis regenerative load data, 21 regenerative operation voltage level change Axis designation, 22 controller (A axis), 23 controller (B axis), 24 controller (C axis), 25 A axis regenerative operating voltage level, 26 B axis regenerative operating voltage level, 27 C axis regenerative operating voltage level , 28 Regenerative operation stop voltage level, 29 P N voltage, 30 AND circuit, 39Master axis motor controller, 40Regenerative resistor, 41Transistor, 50 regeneration timing output circuit, 51 AND circuit, 52 regeneration circuit operation command, 53 PN voltage data, 54 synchronous clock generation circuit, 55 A-axis allocation time, 56 B-axis allocation time, 57 C-axis allocation time, 58 Control loop 1 cycle, 59 regeneration operation voltage level, 60 regeneration circuit operation axis designation, 70 powering load data, 71 invalid current command, 72 invalid current control command, 73 invalid current control axis designation, 79 regeneration option unit,80 regeneration circuit operation command, 81 regeneration circuit stop command.

Claims (8)

A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers A PN voltage detection circuit that detects a PN voltage obtained by commonly connecting outputs of the smoothing circuits of all the motor control devices; and a predetermined regenerative operation voltage level in which the PN voltage is different for each motor control device. And control means for turning on the regenerating transistor when the number of motors reaches each of the plurality of motor control devices. A motor control system so as to respectively controlled by a motor controller,
Each control means in the plurality of motor control devices, calculates the regenerative load data based on the time when the regenerative transistor was turned on, and includes means for transmitting the calculated regenerative load data to the system controller,
The system controller determines the regenerative load data transmitted from each of the motor control devices, and sends a command to increase the regenerative operation voltage level to the motor control device corresponding to the axis having a large regenerative load data based on the determination result. A means for making the regenerative circuit difficult to operate or a means for facilitating the operation of the regenerative circuit by sending a command to lower the regenerative operation voltage level to a motor control device corresponding to an axis having a small regenerative load data is provided. Motor control system. A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor control devices each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current is supplied to the regenerative resistor; outputs of the smoothing circuits of all the motor control devices; A PN voltage detection circuit for detecting a PN voltage obtained by commonly connecting the PN voltage and a control means for turning on the regenerating transistor when the PN voltage reaches a predetermined regenerative operation voltage level different for each motor control device. Each of the plurality of motor control devices is provided, and the motor of each axis is respectively controlled by the plurality of motor control devices. The Chino one a motor control system with a master motor controller,
Each control means in a plurality of motor control devices other than the master motor control device calculates regenerative load data based on the time when the regenerative transistor is turned on, and transmits the calculated regenerative load data to the master motor control device. Prepare,
The master motor control device determines the regenerative load data transmitted from each of the motor control devices and the regenerative load data of its own axis, and based on the determination result, regenerates to the motor control device corresponding to the axis having the larger regenerative load data. A command to increase the operating voltage level is sent to make the regenerative circuit difficult to operate, or a command to lower the regenerative operating voltage level is sent to a motor control device corresponding to an axis having a small regenerative load data to facilitate the operation of the regenerative circuit. A motor control system characterized by comprising means. A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers A PN voltage detection circuit that detects a PN voltage obtained by commonly connecting outputs of the smoothing circuits of all the motor control devices; and a predetermined regenerative operation voltage level in which the PN voltage is different for each motor control device. And control means for turning on the regenerating transistor when the number of motors reaches each of the plurality of motor control devices. A motor control system so as to respectively controlled by a motor controller,
When each control means in the plurality of motor control devices turns on the regenerative transistor, Comprising regenerative load data based on the interval, comprising means for transmitting the calculated regenerative load data to the system controller,
The system controller determines the regenerative load data and the PN voltage transmitted from each of the motor control devices, and forcibly activates the regenerative transistor to the motor control devices corresponding to some axes having large regenerative load data based on the determination result. A forced off command is sent to turn off the regenerative circuits of some axes, and based on a comparison between the PN voltage and the regenerative operating voltage level set for each axis, A motor control system comprising means for sequentially changing an axis for operating a regenerative circuit by sequentially changing the axis. A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor control devices each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current is supplied to the regenerative resistor; outputs of the smoothing circuits of all the motor control devices; A PN voltage detection circuit for detecting a PN voltage obtained by commonly connecting the PN voltage and a control means for turning on the regenerating transistor when the PN voltage reaches a predetermined regenerative operation voltage level different for each motor control device. Each of the plurality of motor control devices is provided, and the motor of each axis is respectively controlled by the plurality of motor control devices. The Chino one a motor control system with a master motor controller,
Each control means in a plurality of motor control devices other than the master motor control device calculates regenerative load data based on the time when the regenerative transistor is turned on, and transmits the calculated regenerative load data to the master motor control device. Prepare,
The master motor control device determines the regenerative load data transmitted from each of the motor control devices, the regenerative load data of its own axis, and the PN voltage. A forced off command to forcibly turn off the regenerative transistor to the motor control device to operate only the regenerative circuits of some axes and to compare the PN voltage with the regenerative operating voltage level set for each axis. A motor control system comprising means for sequentially changing the axis for operating the regenerative circuit by sequentially changing the axis for sending the forcible off command based on the axis. A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers And a PN voltage detection circuit for detecting a PN voltage obtained by commonly connecting the outputs of the smoothing circuits of all the motor control devices is provided in at least one of the plurality of motor control devices. A motor control system in which the motor is controlled by a plurality of motor control devices, respectively,
At least one motor control device having a PN voltage detection circuit of the plurality of motor control devices includes means for transmitting the detected PN voltage to the system controller,
The system controller compares the received PN voltage with a preset regenerative operation voltage level, and when the result of the comparison indicates that the PN voltage is higher than the regenerative operation voltage level, all motor control devices are provided with a regenerating transistor. A motor control system comprising means for simultaneously transmitting a regenerative circuit operation command to turn on and simultaneously operating regenerative circuits of all axes. A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor control devices each having a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and the motor of each axis is controlled by a plurality of motor control devices. To control each A motor control system in which one of the plurality of motor control devices is a master motor control device,
The master motor control device,
  A PN voltage detection circuit that detects a PN voltage obtained by commonly connecting outputs of the smoothing circuits of all the motor control devices;
  The detected PN voltage is compared with a preset regenerative operation voltage level. When the result of the comparison indicates that the PN voltage is higher than the regenerative operation voltage level, the regenerative transistors are turned on for all the motor control devices including themselves. Means for simultaneously transmitting regenerative circuit operation commands to operate the regenerative circuits of all axes simultaneously,
  A motor control system comprising: A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers And a PN voltage detection circuit for detecting a PN voltage obtained by commonly connecting the outputs of the smoothing circuits of all the motor control devices is provided in at least one of the plurality of motor control devices. A motor control system in which the motor is controlled by a plurality of motor control devices, respectively,
At least one motor control device having a PN voltage detection circuit of the plurality of motor control devices includes means for transmitting the detected PN voltage to the system controller,
The system controller divides one predetermined cycle into the number of axes, allocates each divided control time to each axis, and, when the received PN voltage becomes larger than a preset regenerative operation voltage level, A motor control system comprising: means for transmitting a regenerative circuit operation command for turning on a regenerative transistor to a motor control device corresponding to an axis to which a control time is allocated at a time. A rectifier circuit for rectifying the output of the common power supply, a smoothing circuit for smoothing the output of the rectifier circuit, an inverter circuit for converting the output of the smoothing circuit into an AC voltage for driving the motor of the shaft, A plurality of motor controllers each including a regenerative resistor that consumes regenerative power and a regenerative circuit including a regenerative transistor that switches whether or not a regenerative current flows through the regenerative resistor, and a system controller that controls the plurality of axis motor controllers A PN voltage detection circuit that detects a PN voltage obtained by commonly connecting outputs of the smoothing circuits of all the motor control devices; and a predetermined regenerative operation voltage level in which the PN voltage is different for each motor control device. And control means for turning on the regenerative transistor when the number of motors reaches each of the motor control devices. A motor control system so as to respectively controlled by a motor controller,
Each control means in the plurality of motor control devices calculates regenerative load data and powering load data based on a time when a regenerating transistor is turned on, and transmits the calculated regenerative load data and powering load data to the system controller. With
When the system controller determines that the regenerative state axis and the powering state axis are simultaneously present based on the received regenerative load data and the powering load data and that the regenerative loads of all the axes are larger than the powering loads of all the axes, A means for transmitting a reactive current command signal for increasing the reactive current of the inverter circuit that does not contribute to the torque to a predetermined current value other than 0 to the motor control device corresponding to the axis in the state,
A motor control system characterized by reducing the consumption of a regenerative load by instantaneously increasing the power running side energy by controlling the reactive current of an inverter circuit related to a shaft in a power running state to increase.

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