JP4164646B2 - Motor decelerating stop control method and motor variable speed drive device during power failure - Google Patents
Motor decelerating stop control method and motor variable speed drive device during power failure Download PDFInfo
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- JP4164646B2 JP4164646B2 JP2002239489A JP2002239489A JP4164646B2 JP 4164646 B2 JP4164646 B2 JP 4164646B2 JP 2002239489 A JP2002239489 A JP 2002239489A JP 2002239489 A JP2002239489 A JP 2002239489A JP 4164646 B2 JP4164646 B2 JP 4164646B2
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- speed
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Description
【0001】
【発明の属する技術分野】
本発明は、ACサーボアンプやインバータにより可変速駆動されるモータの停電時における減速停止制御方法及びモータ可変速駆動装置に関するものである。
【0002】
【従来の技術】
従来、ACサーボドライブやインバータドライブにおいて停電発生時に、モータを減速停止させる制御法としては、速度指令急減速により、モータが減速停止動作となり、回生電力を発生するまでの間、力行動作に必要なだけのエネルギーを蓄えるためのコンデンサを追加しておいて速度指令を図3のように与えて減速停止させていた。
【0003】
【発明が解決しようとする課題】
しかし、図3においてt0時点で停電を検出してから、速度指令、実際に減速開始する時刻t1に、実際のモータ速度が、その時の速度指令より低くなっていると、モータに力行動作させなくてはならず、また、さらに駆動装置の方でも図1のVDCが低下してしまい、電圧不足のためアラームとなり制御不能となるのを防ぐためにも、コンデンサがより多く必要となり、その分高価になり、装置が大きくなってしまうという問題があった。
そこで本発明は、より少ないコンデンサ容量で停電時においてモータを減速停止させる制御方法を提供することを目的とするものである。
【0004】
【課題を解決するための手段】
上記課題を解決するため、本発明は、停電時にその停電を検出してから、モータを減速停止させるための速度指令を速度フィードバックを移動平均して演算した速度の数%低い所から減速開始するように与え、さらにその際トルク指令が力行動作側になった時、そのトルク指令を強制的に零にするようにしたものである。
【0005】
【発明の実施の形態】
以下、本発明を具体的実施例に基いて説明する。
図1は、本発明を適用する装置の構成例であり、1は順変換部、2は突入電流抑制用抵抗、3は突入電流抑制用MC、4は平滑用コンデンサ、5は不足電圧防止用外付けコンデンサ、6は逆変換部、7はモータ、8は速度検出器、9は速度指令演算部、10は速度コントローラ、11はトルク指令リミッタ、12はトルク指令リミッタ設定部、13は速度フィードバック、14は速度指令、15はトルク指令、16は最終トルク指令である。
停電により順変換部1に入力される三相交流電源がなくなった時に、それを検出し、速度指令演算部9が速度急減速指令を与えるまでの間、モータ7を力行動作させるために必要なエネルギーは、速度N1で運転中に停電発生t0から速度指令減速開始点t1までのT1時間フリーランした後の速度をN2とし、モータと負荷の慣性モーメントをGD 2、効率をN2とし、モータと負荷の慣性モーメントをGD 2、効率をnとすると
E1=GD 2/730(N1 2−N2 2)n [J] ・・・(1)
となる。この時、図1のVDCが不足電圧アラーム検出電圧VUV以下にならないためには、停電前の電圧をVDCOとすると
C1=2E1/VDC0 2−VUV 2 [F] ・・・(2)
のコンデンサ容量が必要となるが、通常駆動装置の平滑コンデンサ4だけでは足りないため、外部に不足電圧防止用コンデンサ5を追加しなければならない。
しかしながら、急減速指令を与えた時点t1において、図2のように速度Naが速度指令N0以下になっていた場合、すぐには回生動作に入らないため、C1だけでは足りず、さらにコンデンサを追加する必要がある。
そこで、速度検出部8にて検出した速度フィードバック13を移動平均してモータ速度を演算しておいて、速度指令演算部9から減速指令14を与える時に、図2のようにその時の速度Naから、そのα%低い速度から減速するような指令を与えNaがN0以下にならないようにし、さらにその際、速度コントローラ10の出力であるトルク指令15が力行動作側になった時、強制的にそのトルク指令15をトルク指令リミッタ11にて零にすることで、モータの動作が力行側になることを防止する。
【0006】
【発明の効果】
以上述べたように、本発明によれば、ACサーボアンプやインバータによりモータを可変速駆動する装置において、運転中の停電発生により発生する不足電圧アラームを防ぐために追加するコンデンサの容量を低減することができ、コストの低減や、装置の大型化を防ぐという効果がある。
【図面の簡単な説明】
【図1】本発明を適用する装置の基本的構成である。
【図2】本発明でのモータの減速停止時の速度指令である。
【図3】従来技術でのモータ減速停止時の速度指令である。
【符号の説明】
1 順変換部
2 突入電流抑制用抵抗
3 突入電流抑制用MC
4 平滑用コンデンサ
5 不足電圧防止用外付けコンデンサ
6 逆変換部
7 モータ
8 速度検出器
9 速度指令演算部
10 速度コントローラ
11 トルク指令リミッタ
12 トルク指令リミッタ設定部
13 速度フィードバック
14 速度指令
15 トルク指令
16 最終トルク指令[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a deceleration stop control method and a motor variable speed drive apparatus during a power failure of a motor driven at a variable speed by an AC servo amplifier or an inverter.
[0002]
[Prior art]
Conventionally, as a control method for decelerating and stopping the motor in the event of a power failure in an AC servo drive or inverter drive, the motor is decelerated and stopped by the speed command sudden deceleration and is required for powering operation until regenerative power is generated. A capacitor for storing only the energy was added and the speed command was given as shown in FIG.
[0003]
[Problems to be solved by the invention]
However, if a power failure is detected at time t 0 in FIG. 3 and the actual motor speed is lower than the current speed command at time t 1 when the speed command is actually started to decelerate, a power running operation is performed on the motor. In addition, in order to prevent the VDC in FIG. 1 from being lowered in the drive unit as well as an alarm due to insufficient voltage, more capacitors are required. There is a problem that the apparatus becomes expensive and the apparatus becomes large.
Accordingly, an object of the present invention is to provide a control method for decelerating and stopping a motor at the time of a power failure with a smaller capacitor capacity.
[0004]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the present invention starts the deceleration from a place several percent lower than the speed calculated by moving and averaging the speed feedback for the speed command to decelerate and stop the motor after detecting the power failure at the time of power failure. Further, when the torque command becomes the power running operation side at that time, the torque command is forcibly set to zero.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described based on specific examples.
FIG. 1 is a configuration example of an apparatus to which the present invention is applied. 1 is a forward conversion unit, 2 is an inrush current suppression resistor, 3 is an inrush current suppression MC, 4 is a smoothing capacitor, and 5 is an undervoltage prevention device. External capacitor, 6 reverse conversion unit, 7 motor, 8 speed detector, 9 speed command calculation unit, 10 speed controller, 11 torque command limiter, 12 torque command limiter setting unit, 13 speed feedback , 14 is a speed command, 15 is a torque command, and 16 is a final torque command.
Necessary for powering operation of the motor 7 until the three-phase AC power input to the forward conversion unit 1 is lost due to a power failure and this is detected and the speed command calculation unit 9 gives a rapid deceleration command. The energy is N 2 , the speed after free running for T 1 time from the occurrence of power failure t 0 to the speed command deceleration start point t 1 during operation at speed N 1 , the moment of inertia of the motor and load is G D 2 , efficiency was a n 2, G D 2 moment of inertia of the motor and the load, efficiency When n E 1 = G D 2/ 730 (n 1 2 -N 2 2) n [J] ··· (1)
It becomes. At this time, in order to prevent the V DC in FIG. 1 from becoming below the undervoltage alarm detection voltage V UV , assuming that the voltage before the power failure is V DCO , C 1 = 2E 1 / V DC0 2 −V UV 2 [F]・ (2)
However, since the smoothing capacitor 4 of the normal driving device is not sufficient, an undervoltage prevention capacitor 5 must be added to the outside.
However, at time t 1 gave rapid deceleration command, if the speed N a as shown in FIG. 2 was equal to or lower than the speed command N 0, for immediately entering the regenerative operation, is not sufficient only C 1, It is necessary to add more capacitors.
Therefore, when the
[0006]
【The invention's effect】
As described above, according to the present invention, in an apparatus that drives a motor at a variable speed by an AC servo amplifier or an inverter, the capacity of an additional capacitor is reduced to prevent an undervoltage alarm that occurs due to a power failure during operation. It is possible to reduce the cost and prevent the apparatus from becoming large.
[Brief description of the drawings]
FIG. 1 is a basic configuration of an apparatus to which the present invention is applied.
FIG. 2 is a speed command when the motor is decelerated to a stop according to the present invention.
FIG. 3 is a speed command at the time of motor deceleration stop in the prior art.
[Explanation of symbols]
1 Forward conversion part 2 Inrush current suppression resistor 3 Inrush current suppression MC
4 Smoothing Capacitor 5 External Voltage Prevention Capacitor 6 Reverse Conversion Unit 7 Motor 8 Speed Detector 9 Speed Command Calculation Unit 10 Speed Controller 11 Torque Command
Claims (2)
速度指令演算部(9)から速度指令(14)を与える時に、速度指令減速開始点(t 1 )での速度指令(Na)が停電発生時(t 0 )の速度指令(No)以下にならないように停電時にその停電を検出してから、モータ(7)を減速停止させるための速度指令(14)を速度検出部(8)にて検出した速度フィードバック(13)を移動平均して演算した速度の数%低い所から減速開始するように与え、さらにその際、トルク指令(15)が力行動作側になった時、強制的にトルク指令(15)をトルク指令リミッタ(11)にて零にすることを特徴とする停電時におけるモータの減速停止制御方法。In AC servo drive and inverter drive,
When the speed command (14) is given from the speed command calculation unit (9) , the speed command (Na) at the speed command deceleration start point (t 1 ) does not fall below the speed command (No) at the time of power failure (t 0 ). Thus, after detecting the power failure at the time of a power failure, a speed command (14) for decelerating and stopping the motor (7) is calculated by moving average the speed feedback (13) detected by the speed detection unit (8). given from the speed several percent lower at the to start decelerating, further this time, when the torque command (15) is turned power-running operation side, at forcing a torque command (15) the torque command limiter (11) zero A method for controlling deceleration and stopping of a motor at the time of a power failure.
速度指令演算部(9)から速度指令(14)を与える時に、速度指令減速開始点(t 1 )での速度指令(Na)が停電発生時(t 0 )の速度指令(No)以下にならないように停電時にその停電を検出してから、モータ(7)を減速停止させるための速度指令(14)を速度検出部(8)にて検出した速度フィードバック(13)を移動平均して演算した速度の数%低い所から減速開始するように与え、さらにその際、トルク指令(15)が力行動作側になった時、強制的にトルク指令(15)をトルク指令リミッタ(11)にて零にすることを特徴とするモータ可変速駆動装置。In AC servo drive and inverter drive,
When the speed command (14) is given from the speed command calculation unit (9) , the speed command (Na) at the speed command deceleration start point (t 1 ) does not fall below the speed command (No) at the time of power failure (t 0 ). Thus, after detecting the power failure at the time of a power failure, a speed command (14) for decelerating and stopping the motor (7) is calculated by moving average the speed feedback (13) detected by the speed detection unit (8). given from the speed several percent lower at the to start decelerating, further this time, when the torque command (15) is turned power-running operation side, at forcing a torque command (15) the torque command limiter (11) zero A motor variable speed drive device characterized by that.
Priority Applications (1)
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JP2002239489A JP4164646B2 (en) | 2002-08-20 | 2002-08-20 | Motor decelerating stop control method and motor variable speed drive device during power failure |
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JP2002239489A JP4164646B2 (en) | 2002-08-20 | 2002-08-20 | Motor decelerating stop control method and motor variable speed drive device during power failure |
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JP2004080933A JP2004080933A (en) | 2004-03-11 |
JP2004080933A5 JP2004080933A5 (en) | 2005-10-27 |
JP4164646B2 true JP4164646B2 (en) | 2008-10-15 |
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JP4859813B2 (en) * | 2007-11-05 | 2012-01-25 | 東洋電機製造株式会社 | Drive control device for printing press |
WO2015107639A1 (en) * | 2014-01-15 | 2015-07-23 | 三菱電機株式会社 | Inverter device and air conditioner using inverter device |
CN112822902B (en) * | 2020-12-31 | 2022-06-17 | 武汉睿特富连技术有限公司 | Electric control distribution frame cabinet device and using method thereof |
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