JP4681953B2 - Inverter control device with electronic control unit - Google Patents

Description

  The present invention relates to an actuator for vertically moving a load body such as a sluice, a door body, a gate, and a valve body provided to open and close a flow path, and particularly at the time of starting a motor for vertically driving the load body. The present invention relates to an inverter control device using an electronic control unit.

  2. Description of the Related Art Conventionally, there is known a synchronous switching method of a power source when the motor is switched by a constant current type inverter from a state where the motor is driven by a commercial power source. The synchronous switching method is almost equal to the commercial frequency in the process of increasing the frequency of the current source inverter when the load motor is switched and driven by the constant current type inverter from the state of being driven by the commercial power source. A detection signal is also obtained when the phase coincides later, and a pulse signal having a width from the pulse generation point to the point when the power factor angle of the load motor has elapsed is obtained. When the phase coincidence detection signal is generated, the current source inverter Reverse conversion control is performed at the falling edge of each pulse signal, and then power is obtained in parallel from the commercial power source and current source inverter for the motor, and then the commercial power source is disconnected from the motor. (For example, refer to Patent Document 1).

  AC motor-operated valves or gates used to open and close various pipes and various waterways are known. The AC motor-operated valve or gate includes a valve or gate, an AC motor driving the valve or gate, an inverter of the AC motor, an opening / closing speed detecting means for determining an opening / closing speed of the valve or gate, and an opening / closing speed of the valve or gate. And an inverter controller that increases or decreases the inverter frequency of the inverter so that the opening / closing speed specified for each opening section is obtained. The inverter is attached to a valve or gate drive mechanism including an AC motor (see, for example, Patent Document 2).

  Conventionally, the watertight structure of the sluice door provided in the irrigation channel has been known to disclose watertight maintenance and protection of watertight rubber. The water-tight structure of the sluice door has a door stop having an opening arranged on the front side wall surface of the water intake, a door body that opens and closes the opening, and a drive means that moves the door body up and down. In order to protect the watertight rubber, a watertight rubber provided at the peripheral edge of the inner surface of the door body facing the opening and a protrusion that separates the door body from the receiving plate when opening and closing the door body are provided. , A sink hole in the protrusion is provided to maintain water tightness when closed (see, for example, Patent Document 3).

  As for the watertight structure of the sluice gate, it is known that the guillotine damage of the rubber packing that occurs when the door fully closes the water outlet is known. The water-tight structure of the sluice door is that a water-tight rubber is provided along the sluice-side door contact part facing the inner surface of the lower end of the door body. The door body is watertightly closed by introducing and pressing the mountain-shaped ridges against the door body (see, for example, Patent Document 4).

  The applicant previously developed an intelligent valve actuator. The intelligent type valve actuator detects valve position limits, torque limits, etc., detects temperature and humidity inside the housing, detects the amount of wear of the stem bush female thread, predicts deterioration based on motor and electronic component status data, Electrical detection and monitoring of wear deterioration, motor drive current status data, etc., self-diagnosis, and normalization of the device itself by the built-in control circuit corresponding to the information, It is possible to display parts replacement and alarms corresponding to the information. The intelligent valve actuator displays the measured values from various sensors, and processes the measured values of the status data in response to information deviating from the set values to process status outputs such as parts replacement repairs and alarms. In response to each measured value, the valve opens and closes the flow path. The controller controls the set value in response to the measured value through the communication unit connected to the control circuit (see, for example, Patent Document 5).

JP 58-39276 A Japanese Patent No. 3079426 JP 2003-206523 A JP 7-42138 A JP 2004-257420 A

  By the way, the balcon torque motor provided in the conventional valve actuator rotates the motor with a magnet switch or the like in order to obtain an initial torque, that is, a starting torque. Also, in the conventional valve actuator, as described above, various means are taken to obtain a watertight structure when the water channel of the door body is closed, and the starting torque for opening and closing the closed door body is not sufficient. It's big. In recent years, valve actuators have been equipped with inverters, and valve control by inverters has been carried out. However, the rated vector inverter has a problem in adopting inverter control for valve control because it cannot generate the starting torque necessary for the torque motor.

  An object of the present invention is, for example, a further development of the intelligent valve actuator described above in an actuator that drives a spindle that operates a load body such as a sluice, a door body, a valve, and a gate so as to move up and down. Yes, the motor that moves the spindle up and down according to various information about the load body is driven and controlled using an inverter. In particular, when the load body is overloaded, for example, the starting torque at startup is compared to the steady load. Since it is 200 to 400%, in order to ensure the starting torque, the start-up process data for shaping the predetermined voltage waveform, current waveform and frequency is input from the electronic control unit to the inverter when starting the load body. A high voltage is applied to the motor from the inverter to generate a starting torque. After starting the motor, And input to the processing data is to provide an inverter control device of the electronic control unit to operate at a desired speed the moving state of the load body smoothly.

The present invention relates to a motor that rotates to move a load body, a power transmission device that converts the rotational drive of the motor into a movement drive of the load body, and an actuator having an encoder that detects the movement state of the load body In
For generating a starting torque to the motor, the voltage waveform, the current waveform, and an electronic control unit to create a startup process data for shaping the frequency, and the activation process from the electronic control unit for rotationally driving the motor An inverter controlled by data input, and the start-up process data is the same as the process data generated when a commercial power supply is directly input, and is in an overload state of 200 to 400% of the steady load of the load body Is a data for generating a high torque for raising the load body,
The command time of the start-up processing data input from the electronic control unit to the inverter is a short time within an allowable range inherent in the inverter, and the electronic control unit is not high when the load body is started. A command for applying a voltage is output, the start processing data is input to the inverter to generate the start torque in the motor, the rotation of the motor is detected by the encoder and the start of the motor is confirmed, and the load body the moving position in response to detecting confirmation, the electronic control unit inverter control device according to, characterized in that for controlling the operating state of the switching Ru said load body said inverter frequency and voltage and current controlled by the normal process data About.

  In the inverter control device, the electronic control unit is registered with a movement limit position of the load body and a pulse value of a predetermined set position, and the electronic control unit is configured to store the setting value of the load body. The inverter is controlled by selecting and selecting the speed to the position.

  This electronic control unit inverter control device is configured as described above, so when the motor is started using the inverter, the voltage waveform, current waveform and frequency generated when the power is directly turned on to the commercial power source are shaped. The same start processing data as the processing data for the control is generated by the control unit, that is, the electronic control unit, and input to the inverter to start the motor. The motor generates a starting torque, and after the motor starts, the inverter is rated or steady. The motor speed is controlled by switching to frequency / voltage / current control based on processing data. In other words, simply controlling the frequency, voltage, and current of the inverter does not ensure the starting torque for driving the motor, and a commercial power source is required at the start of the motor. By simply inputting start-up processing data such as start-up waveform from the electronic control unit to the inverter, a high voltage can be instantaneously generated in the inverter, a start-up torque can be generated in the motor, and the motor can be driven. As a result, it is possible to use a cheaper rated capacity, that is, a steady-state capacity without using a large capacity motor for starting the motor, and exhibit the characteristics of generating a desired starting torque. It can be manufactured at low cost. In addition, the start-up processing data such as start-up waveform from the electronic control unit is input to the inverter for an extremely short time that can be ignored. The inverter function is not destroyed and the inverter is sufficiently durable. Can be secured.

  In addition, if this inverter control device is applied to, for example, a valve actuator, the motor is controlled by inverter control, so the status monitoring maintenance, maintenance time, etc. can be confirmed by the function, and various settings of devices such as sensors can be made. Can be easily and reliably set, and an encoder and reversing device are provided to reduce the number of parts, reduce costs, reduce the failure rate, and open the position limit and torque from the outside without opening the case. Limits can be adjusted easily, water can be prevented from entering the switch, and the failure rate can be reduced. In addition, the conventional valve actuator is composed of a limit switch transmission part and a transmission part to the opening meter by the pointer by mechanical gear transmission, which increases the number of parts and requires special technology to adjust each limit or set value. However, if an abnormality is detected by carrying out periodic inspections, the inverter control device using this electronic control unit eliminates the need for the parts and operations described above if applied to a valve actuator. Therefore, although the combination of gears of the speed reducer was complicated in the position meter, it can be configured with a digital liquid crystal display, and a conventional gear device can be dispensed with.

  Embodiments of an inverter control apparatus using an electronic control unit according to the present invention will be described below with reference to the drawings. The inverter control device by this electronic control unit is preferably used by being mounted on, for example, a valve actuator, and the valve actuator is preferably used in, for example, a water channel, a water purification plant, or the like as shown in FIGS. A flow path pipe 19 fixed to a housing 17 connected to the road, a valve 13 which is a load body 4 such as a gate, a sluice, a door body and the like disposed to open and close the flow path 18 of the flow path pipe 19 is attached to the housing. A spindle 5 supported to be vertically movable at 17, a female screw 15 to be engaged with a male screw 14 provided on the spindle 5, and a stem bush 16 and a female screw 15 that are rotatably supported by the housing 17 are driven to rotate. In order to move the spindle 5 up and down, the power transmitted to the spindle 5 is transmitted to the stem bush 16 by rotation from the motor 3 as a driving device. It comprises a device 10. The power transmission device 10 rotates the female screw 15 to move the spindle 5 up and down, so that the worm wheel 6 fixed to the stem bush 16 and the worm 7 meshed with the worm wheel 6 and transmitted from the drive means are transmitted. Have.

  This valve actuator is a further development of the intelligent valve actuator disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 2004-257420 so that it can be controlled by the inverter 2 even when the motor 3 is started. Similar to the actuator, various sensors for detecting various data of the operation state of the valve, for example, the torque detection potentiometer 9 for detecting the torque applied to the spindle 5, the moving state of the load body 4 or the rotational speed of the motor 3 are set. A temperature sensor comprising a thermistor for detecting the temperature of the encoder 8 for detecting, the motor 3 as a driving means, a humidity sensor for detecting the humidity inside the valve actuator, and a valve opening for detecting the opening degree of the flow path 18 of the valve 13 Vibration to detect vibration of degree sensor and valve actuator Capacitors, internal thread wear sensor for detecting wear of the internal thread 15 of the stem bush 16, and a current sensor for detecting the detecting and operating frequency of the starting current for driving the motor 3.

  As shown in FIG. 3, the valve actuator includes a valve 13 that opens and closes a flow path 18, a spindle 5 that supports a load body 4 such as a gate 12 so as to be movable up and down, and a motor that is driven to rotate to move the spindle 5 up and down. 3, the power transmission device 10 for converting the rotation of the motor 3 into the vertical movement for moving the spindle 5 up and down, the control unit for controlling the rotational drive of the motor 3 through the inverter 2, that is, the electronic control unit 1 and the motor 3 An encoder 8 for detecting the rotation or the moving state of the load body 4 is provided. In general, in the valve actuator, the load body 4 such as the gate 12 and the valve 13 is provided with water-tight rubber. Therefore, a metal piece or the like is used around the load body 4 to strengthen the closed state. , It is configured to withstand water pressure such as water hammer. Therefore, the valve actuator is in an overload state at the time of starting to raise the load body 4, and is 200 to 400% of the steady load. This inverter control device is to smoothly control the motor 3 that requires high torque at the time of start-up by using the inverter 2. For example, when starting at the time of gate opening / closing, a torque of 300% compared to a steady load is used. Is produced through an inverter 2 controlled by an electronic control unit 1.

  In this inverter control apparatus using the electronic control unit, the electronic control unit 1 and the inverter 2 are accommodated in a casing 20 that is detachably disposed in the housing 17 of the actuator, and can be handled as a kind of kit. This inverter control device performs the start-up control of the motor at the time of overload, particularly at the time of start-up using the inverter 2 controlled by the electronic control unit 1 as shown in FIG. 1 and FIG. Start-up processing from the electronic control unit 1 for generating start-up processing data for shaping the voltage waveform, current waveform and frequency for generating the start-up torque of the motor 3 and the electronic control unit 1 for rotationally driving the motor 3 An inverter 2 controlled by data input is provided. In addition, this inverter control device inputs an activation process data from the electronic control unit 1 to the inverter 2 and issues a command to apply a high voltage to the motor 3 when the load body 4 is activated. In response to the start of the motor 3 by detecting the rotation of the motor, the inverter 2 is switched to frequency / voltage / current control based on the rated or steady-state processing data, and the operation of the vertical movement of the load body 4 is controlled. .

  As shown in FIG. 2, the electronic control unit 1 causes the inverter 2 to start up from a predetermined frequency f for starting, a voltage waveform of a predetermined voltage V and a current waveform of a predetermined current I as shown in FIG. Is input to the motor 3 through the inverter 2 and a command for applying a high voltage V to the motor 3 is output. That is, switching to the frequency / voltage / current control of the steady frequency f, voltage V and current I is performed to control the vertical movement of the load body 4. Further, the start-up process data for shaping the voltage waveform, current waveform and frequency created by the electronic control unit 1 is the same as the process data generated when the commercial power supply is directly input when the motor 3 is driven. In general, the waveform in the startup processing data indicates the wave displacement at a point fixed in space as a time function. The voltage state and current state in the steady state of the inverter 2 loaded on the motor 3 are fed back from the inverter 2 to the electronic control unit 1.

  In other words, the electronic control unit 1 as a control unit inputs start-up process data that can start the motor 3 to the inverter 2 and applies it to the motor 3 to generate torque for starting the motor 3. For example, the encoder 8 is connected to the motor 3 via a reduction gear 21 as shown in FIG. 2, or to the worm wheel 6 that drives the spindle 5 connected to the rotary shaft 11 as shown in FIG. An encoder pulse is input to the inverter 2 and then the electronic control unit 1 confirms the rotational speed, that is, the rotational speed of the motor 3. The encoder 8 can detect and confirm the operating position of the load body 4, and the signal is fed back to the electronic control unit 1.

  In this inverter control device, when the load body 4 is started, signals from the inverter 2 and the encoder 8 are input to the electronic control unit 1, and the electronic control unit 1 responds to the signals from the inverter 2 and the encoder 8 to the inverter 2. The frequency, voltage, and current can be controlled, and the smooth operation state such as the vertical movement of the load body 4 is controlled.

  In this inverter control device, the command time of the high voltage input from the electronic control unit 1 to the inverter 2 is a short time within the allowable range inherent in the inverter 2, for example, about several tens of msec. In the control by, the time is almost negligible. Therefore, even if the startup process data is input from the electronic control unit 1 to the inverter 2, it is a short time, so that the function of the inverter 2 is not damaged and the durability is not impaired.

  Further, in this inverter control device, the electronic control unit 1 has the upper limit position, the lower limit position, and the pulse value of the preset set position of the load body 4 registered therein. The speed to the set position is instructed and selected for the inverter 2 to control the driving of the motor 3. Therefore, when this inverter control device is applied to a valve actuator, the valve 13 of the load body 4 can be adjusted to a desired vertical movement speed by controlling the frequency, voltage, and current of the inverter 2, and the load body 4 can be moved to a predetermined position quickly, that is, at a desired speed.

  Further, in this embodiment, the power transmission device 10 is provided with a stem bush 16 and a stem bush 16 which are provided with a female screw 15 and a female screw 15 which are engaged with a male screw 14 provided on the spindle 5 and are rotatably supported by a housing 17. A fixed worm wheel 6, a worm 7 that meshes with the worm wheel 6 and transmits rotation, and a rotating shaft 11 that rotationally drives the worm 7 and is connected to the motor 3 are provided.

  Next, the operation of the inverter control device by this electronic control unit will be described with reference to the process flow diagram shown in FIG. First, the position of the gate opening / closing operation is confirmed by the encoder 8, for example, it is confirmed that the load body 4 is closed when the flow path 18 is closed. In this inverter control device, when the motor 3 is started by the control of the inverter 2 by the electronic control unit 1, the same start data as the start data formed when the motor 3 is directly turned on by a commercial power supply (not shown) as in the prior art. That is, start-up process data for shaping the voltage waveform, current waveform and frequency is created by the electronic control unit 1, and the start-up process data created by the electronic control unit 1 is input to the inverter 2 to command data (step S1). ). In this inverter control device, the startup process data from the electronic control unit 1 is input, the inverter 2 is energized, and the output of the startup process data from the inverter 2 is output to the motor 3 (step S2). The motor 3 is activated by the output from the inverter 2 (step S3). The load body 4 is driven by the start of the motor 3, and the encoder 8 is rotated (step S4). The rotational speed of the encoder 8 is fed back to the electronic control unit 1 by a pulse and confirmed (step S5). Therefore, the electronic control unit 1 determines whether or not the encoder pulse from the encoder 8 has a predetermined number of pulses (step S6). In this embodiment, the encoder 8 has, for example, 32 pulses per rotation, and the load body 4 is activated with 4 pulses corresponding to the number of pulses of the encoder 8, whereby the electronic control unit 1 confirms the activation of the motor 3. To do. Here, 4 pulses correspond to 1/8 rotation of the encoder 8.

  In this inverter control apparatus, the processing data command at the time of startup by the inverter 2 is set to, for example, 2 seconds which is not so long. The reason for this is that although the transmission time of the electronic control unit 1 to the inverter 2 is extremely short, the processing data command at the start-up to the inverter 2 by the electronic control unit 1 is repeated for the inverter 2 over a very long period. In this embodiment, for example, the time is set to a short time of about 2 seconds, and the operation is performed in a short time of about 2 seconds. This is because adverse effects on the inverter 2 can be minimized. This inverter control device stops processing data to the inverter 2 by the electronic control unit 1 when the electronic control unit 1 does not receive feedback of 4 pulses from the encoder 8 for 2 seconds (step S13), and damages the inverter 2 In this case, a new processing command is issued again. In this inverter control device, the activation control data from the electronic control unit 1, that is, the activation data command, and the output of the inverter 2 are always compared to control the electronic control unit 1 (step S14).

  In this inverter control device, when the load body 4 starts within 2 seconds, that is, when the electronic control unit 1 confirms four pulses from the encoder 8, the encoder pulse of the encoder 8 has a predetermined number of pulses. In this case, since the motor 3 is reliably started and the load body 4 is driven to move up and down, the high voltage required for starting the motor 3 is not required. A command is issued to the inverter 2, and the control of the inverter 2 by the electronic control unit 1 is switched to a steady data command, that is, steady frequency / voltage / current control (step S7). A steady data command is input from the electronic control unit 1 to the inverter 2 (step S8), and the load body 4 is moved to a predetermined position (step S9). Next, the electronic control unit 1 determines whether or not the load body 4 has reached a predetermined position determined by moving the encoder 8 while counting the number of pulses of the encoder 8 (step S10). When the load body 4 reaches a predetermined position, the data command from the electronic control unit 1 to the inverter 2 is stopped (step S11), and when the load body 4 has not reached the predetermined position Subsequently, the process repeats step S9, and the inverter 2 performs movement control of the load body 4. When the data command from the electronic control unit 1 to the inverter 2 is stopped, the movement of the load body 4 is stopped and the driving process is ended (step S12).

  The inverter control device by the electronic control unit according to the present invention is applied to, for example, a valve actuator that moves a load body such as a sluice, a door body, a gate, and a valve body provided to open and close a flow path, and starts a motor. Torque can be activated by controlling the inverter with an electronic control unit.

It is explanatory drawing which shows one Example of the inverter control apparatus of the motor at the time of starting of the load body by this invention. It is explanatory drawing which shows the relationship between the electronic control unit in this inverter control apparatus of a motor, an inverter, and a motor. It is sectional drawing which shows an example of the valve actuator in which the inverter control apparatus of the motor at the time of starting of this load body is integrated. It is a processing flowchart which shows the action | operation of the inverter control apparatus of the motor at the time of starting of this load body.

DESCRIPTION OF SYMBOLS 1 Electronic control unit 2 Inverter 3 Motor 4 Load body 5 Spindle 6 Worm wheel 7 Worm 8 Encoder 10 Power transmission device 11 Rotating shaft 14 Male screw 15 Female screw 16 Stem bush 17 Housing 18 Flow path 20 Casing

Claims (2)

A motor that rotationally drives to move the load body, a power transmission device that converts the rotational drive of the motor into a movement drive of the load body, and an actuator that has an encoder that detects the movement state of the load body;
For generating a starting torque to the motor, the voltage waveform, the current waveform, and an electronic control unit to create a startup process data for shaping the frequency, and the activation process from the electronic control unit for rotationally driving the motor An inverter controlled by data input, and the start-up process data is the same as the process data generated when a commercial power supply is directly input, and is in an overload state of 200 to 400% of the steady load of the load body Is a data for generating a high torque for raising the load body,
The command time of the start-up processing data input from the electronic control unit to the inverter is a short time within an allowable range inherent in the inverter, and the electronic control unit is not high when the load body is started. A command for applying a voltage is output, the start processing data is input to the inverter to generate the start torque in the motor, the rotation of the motor is detected by the encoder and the start of the motor is confirmed, and the load body the moving position in response to detecting confirmation, the electronic control unit inverter control device according to, characterized in that for controlling the operating state of the switching Ru said load body said inverter frequency and voltage and current controlled by the normal process data . In the electronic control unit, the movement limit position of the load body and a pulse value of a preset set position are registered, and the electronic control unit instructs and selects the speed of the load body to the set position. The inverter control apparatus according to claim 1, wherein the inverter is controlled by the electronic control unit.

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