JP4786942B2 - Inverter device - Google Patents

Description

  The present invention relates to the inverter device used in a motor drive system including an inverter device that performs variable speed control of a motor by an inverter circuit, and a mechanical brake that stops rotation of the motor.

  A motor drive system including a mechanical brake for stopping rotation of a motor is applied to various uses such as an electric hoist and a crane. In such a motor drive system, there is a problem of how to determine the operation timing of the brake. When driving a motor via an inverter circuit, the output frequency of the inverter device is increased to about 2 to 3 Hz, for example, by using the function of detecting the speed and current of the inverter device, and the inverter device The brake is opened when the output current exceeds the specified current. When the brake is closed, as disclosed in Patent Document 1, a low speed command is given to the inverter device, and the brake may be closed when the output frequency is sufficiently reduced. Has been done.

  FIG. 15 shows an example of a control sequence generally performed when starting and stopping the motor in the motor drive system as described above. When an operation command is given from the outside (a), the inverter device gradually increases the output frequency according to the frequency command (b). At that time, when the motor is restrained by a brake (f, g), the inverter device The output current of the device becomes excessive because it becomes the motor's binding current (c), and the overcurrent protection operation is activated to stop the increase in frequency. At this time, if the brake release condition is satisfied as described above (d, e), a brake open command is output according to the control sequence (f), and the brake is released (g). When the brake is released, the restraint state of the motor is also released, so that the output current of the inverter device is reduced and the overcurrent protection operation is also released (c, e). Thereafter, the operation shifts to a normal variable speed control operation, and acceleration is performed aiming at a frequency command (b).

On the other hand, when the operation command is not given from the outside (a), the inverter device is given a low speed command by an internal or external control sequence, the output frequency of the inverter device is lowered, and the motor shifts to the low speed operation. (B). When the state is detected by the speed detection function, a close command is output (d, f), and the brake is closed (g). Then, the output of the inverter device is cut off, and the motor operation is stopped (b, c).
Japanese Utility Model Publication No. 2-17994

In the above control, when a load (load torque) is applied to the motor even when it is not in operation, such as a crane, the motor is released when the brake is released from the state where the motor is restrained by closing the brake. If it does not output sufficient torque to resist the load torque at that time, it will rotate. In order to prevent such a situation, it is necessary to set the output frequency and the output current value of the inverter device, which are the brake release conditions, higher.
Similarly, when the brake is closed from the state where the motor is in operation, it is necessary to operate the brake while maintaining a low output frequency at which the output torque can resist the load torque. Therefore, there is a problem that these adjustments are very troublesome.

  Further, in the mechanical brake, there is a delay time of about several tens of m to 100 ms from when the control command for opening / closing is given to when the brake actually acts ((f, g), Tr, Tc). . When the brake is opened, the motor's restraining current flows within the delay time, so that it may trip if detected as an overload condition. On the other hand, even when the brake is closed, a period in which the brake does not act on the motor occurs if the output of the inverter device stops within the delay time. Therefore, it is necessary to adjust the control sequence in consideration of the delay time of the mechanical brake. Furthermore, since the preconditions of the drive system differ depending on the type of motor used, the type of load, etc., these adjustments must be made individually.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an inverter device that can eliminate troublesome adjustment work for performing brake opening / closing control in a motor drive system including a mechanical brake. .

In order to achieve the above object, an inverter device according to claim 1 is used in a motor drive system including an inverter device that performs variable speed control of a motor by an inverter circuit, and a mechanical brake that stops rotation of the motor. In
A variable speed control of the motor, and a control unit for controlling the opening and closing of the brake;
The brake opening / closing control executed by the control unit in association with the start or stop of the motor is performed in conjunction with the variable speed control of the motor, and the brake opening / closing control executed in accordance with the start or stop of the motor. On the basis of a change in the rotational frequency of the motor estimated by calculation based on the phase current detected by the control unit via the inverter circuit when the control unit performs in conjunction with the variable speed control of the motor. And setting means configured to set brake control data used for control,
Wherein the control unit intends row close control of the brake based on the brake control data. Specifically, the brake opening / closing control is performed based on the brake control data, and the brake control data includes a brake open delay time, a brake close delay time, and a frequency command value for brake close control, and starts operation. When the command is given, the motor is started from the state where the brake is closed, and the normal operation control of the motor is performed after the brake open delay time has elapsed from the output timing of the brake open command. Further, when an operation stop command is given, the rotational frequency of the motor is reduced to the frequency command value, and the operation of the motor is stopped after the brake close delay time has elapsed from the output timing of the brake close command. .
And when the said setting means performs the setting of the said brake control data, the following sequences 1-6 are performed sequentially,
Sequence 1: Start motor operation with brake closed
Sequence 2: Brake open command is output
Sequence 3: Operate the motor with the brake open
Sequence 4: Brake close command is output
Sequence 5: Operate the motor with the brake closed
Sequence 6: Stop motor operation
The time until the rotation frequency at the time of operation of the motor reaches a predetermined value that changes according to the operation state of the motor from the time when the brake opening command is output is measured, and based on the measured time The brake opening delay time is set .

According to this configuration, the setting unit sets the brake control data used by the control unit for brake opening / closing control based on the change in the rotational frequency of the motor estimated by the control unit. It is not necessary to actually measure the rotational frequency by operating the drive system and analyze the measurement results to determine various conditions used for brake control.

  According to the present invention, since the brake control data used for the brake opening / closing control is set by the setting means, the troublesome adjustment work for performing the brake opening / closing control, which has been conventionally required by the user, is eliminated. Can do.

(First embodiment)
A first embodiment when the present invention is applied to an electric hoist will be described below with reference to FIGS. Fig.2 (a) is a front view explaining schematic structure of an electric hoist, (b) is a side view. The electric hoist 1 travels along the traveling rail 4 when the driving wheels 5 and 6 sandwiching the traveling rail 4 are driven by the two traveling motors 2 and 3. When the user operates a lifting switch (not shown), the hoisting motor 7 is driven so that the wire rope 8 is wound or unwound and the load (not shown) suspended from the hook 9 is lifted or lowered. It has become.

FIG. 1 is a functional block diagram mainly showing the configuration of the inverter device 11 built in the hoist body 10. An AC power supply 12 is supplied to the inverter device 11, and an inverter control unit 13 built in the inverter device 11 supplies a hoisting motor 7 constituted by a three-phase induction motor via an inverter circuit 14. It is configured to be controlled and driven.
The inverter control unit 13 includes a microcomputer, and includes a vector control unit 15, a brake control unit 16, an automatic setting function unit (setting means) 17, and the like. These blocks are mainly realized by software. An operation command, a frequency command, a teaching command, and the like are given to the inverter device 11 from the outside, and the inverter control unit 13 performs a vector control calculation by the vector control unit 15 based on these commands, A PWM signal is generated and output to the inverter circuit 14.

  The inverter control unit 13 controls the opening and closing of a mechanical brake (BR) 18 for restraining the shaft of the motor 7 when starting or stopping the hoisting motor (hereinafter simply referred to as a motor) 7. Control is performed by the unit 16 via the brake excitation unit 19. The brake control unit 16 performs opening / closing control of the brake 18 based on the brake control data 20. As will be described later, the brake control data 20 is automatically set by its action when a teaching command is given from the outside to cause the automatic setting function unit 17 to function. Further, when the automatic setting function unit 17 is not functioned, the setting data stored in advance in the memory (storage means) 21 is read and used.

  The vector control unit 15 detects currents of at least two phases (for example, u and w) via the inverter circuit 14 and performs vector control calculation based on the detected currents (sensorless vector control). When the current to be detected is only two phases, the remaining one phase (v) is obtained by calculation. Then, the rotational angular frequency ω, rotational phase angle θ, excitation current Id, torque current Iq, etc. of the motor 7 are calculated. The automatic setting function unit 17 obtains the rotation angular frequency ω and the torque current Iq from the vector control unit 15 when the brake control data 20 is automatically set.

  Next, the operation of this embodiment will be described with reference to FIGS. 7 and 8 are timing charts of a control sequence for starting and stopping the motor 7 when the motor 7 performs the hoisting (Forward up) for raising the hook 9. F-CC (e) and R-CC (f) are operation commands, and are forward rotation and reverse rotation commands (low active), respectively. When the normal rotation command is given (time t0), the inverter control unit 13 performs preliminary excitation with the excitation current Id in the vector control unit 15 (b). The period for performing the preliminary excitation is set according to the individual specifications of the motor 7.

  Subsequently, the inverter control unit 13 gives a torque bias based on the torque current command Iqc in order to cause the motor 7 to output a torque that can resist the load torque when the brake 18 is released, and (c) the brake 18 by the brake control unit 16. (D, time t1). When the brake opening delay time Tr, which is brake control data, elapses, a command for starting acceleration of the motor 7 is given before the brake 18 is actually released (a, time t2), and then reaches time t3. Then, as shown by the broken line in (d), the brake 18 is released, and the motor 7 actually starts acceleration toward the frequency according to the frequency command.

On the other hand, in the case of the stop in FIG. 8, when the output of the forward rotation command stops (e), the inverter control unit 13 decelerates the rotation frequency of the motor 7 so as to decrease to the predetermined holding frequency F1 (a). When the holding frequency F1 is reached (time t4), a brake close command is given (d). When the time t5 is reached, the brake 18 is actually closed, and the rotation of the motor 7 is stopped. Thereafter, when the brake closing delay time Tc elapses, the drive of the motor 7 by the inverter circuit 14 is stopped (time t6).
FIGS. 9 and 10 are diagrams corresponding to FIGS. 7 and 8 in the case of lowering the hook 9 by the motor 7 (Reverse down). (A) in each figure has shown the frequency change also below 0 point, but has shown the reverse direction of the motor 7 as a negative frequency.

Next, a processing procedure when the automatic setting function unit 17 of the inverter control unit 13 performs teaching when a teaching command is given from the outside will be described with reference to FIGS. 3 and 5 show the teaching processing for the brake opening delay time Tr and the brake closing delay time Tc. In FIG. 3, the automatic setting function unit 17 first closes the brake 18 (step S1), and when an operation command is given (step S2, “YES”, sequence 1), the motor 7 remains in a restrained state. An excitation current command Idc is given to the vector controller 15 to perform preliminary excitation of the motor 7 (step S3).
Subsequently, when the automatic setting function unit 17 gives the torque current command Iqc to the vector control unit 15 and gives the torque bias Trq to the motor 7 (step S4), the automatic setting function unit 17 sets the counter Tim for measuring the brake opening delay time Tr to 0. After clearing (step S5), the brake control unit 16 is caused to output a brake opening command (step S6, sequence 2). Then, the mechanism of the brake 18 starts transition from the closed state to the open state.

  Then, the automatic setting function unit 17 obtains the (estimated) rotational angular frequency ω of the motor 7 estimated by the vector control unit 15, and the rotational frequency is a predetermined value, the rated slip frequency of the motor 7 in the figure (for example, 2 to 2). It is determined whether or not the frequency is 3 Hz or higher (step S7). The rated slip frequency data is stored in the memory 21 in advance. The counter Tim is incremented (updated) until the rotational frequency reaches the rated slip frequency ("NO") (step S8). It is also determined whether or not the counter value of the counter Tim has exceeded a value corresponding to an upper limit value (for example, 2.5 s) (step S9). If the upper limit is not exceeded (“NO”), the process returns to step S7.

  If the brake 18 is actually opened while the loop of steps S7 to S9 is repeatedly executed, the motor 7 starts to rotate. When the rotational frequency of the motor 7 becomes equal to or higher than the rated slip frequency (step S7, “YES”), the automatic setting function unit 17 sets the count value of the counter Tim at that time as the brake opening delay time Tr (step S10). ), Shift to normal operation (sequence 3). That is, when the rotational speed of the motor 7 reaches the rated slip frequency and is in a state where the rated torque can be output, it is determined that the brake 18 is opened and the motor 7 has started. Then, the time measured between the time when the brake opening command is output and the time when the motor 7 starts to start is adopted as the brake opening delay time Tr as brake control data.

Here, if the motor drive system is normal, the brake 18 shifts to the open state in the above sequence, the motor 7 is started, and the rotation speed should reach the rated slip frequency within a certain time. If the value of the counter Tim exceeds the upper limit value in S9 ("YES"), it is determined that some abnormality has occurred in the motor drive system. Therefore, the automatic setting function unit 17 performs an abnormality handling process such as displaying an alarm indicating that an abnormality has occurred, or stopping the operation of the inverter circuit 14 (trip), for example.
FIG. 4 shows an example of each signal waveform observed in the teaching process of FIG. (A) is the rotation speed of the motor 7 (solid and broken lines are commands), (b) is the excitation current Id (solid lines and broken lines are commands), (c) is the torque, (d) is the excitation magnetic flux, and (e) is the brake. 18 shows an open command output timing (Brake Open Command) and a timing when the brake 18 is actually opened (Actual Brake Open).

FIG. 5 is a teaching process procedure for the brake closing delay time Tc, which is executed subsequent to the process of FIG. When operation stop is commanded from the state in which the motor 7 is performing normal operation (step S11, “YES”), the automatic setting function unit 17 sets the frequency command fc given to the vector control unit 15 to the value corresponding to the rated slip frequency. (Brake close control command value, step S12).
When it is confirmed that the rotational frequency of the motor 7 has become equal to or lower than the rated slip frequency (step S13, “YES”), the counter Tim is cleared to 0 to measure the brake closing delay time Tc (step S14), and the brake The controller 16 is caused to output a brake close command (sequence 4, step S15). Then, the mechanism of the brake 18 starts transition from the closed state to the open state.

  Subsequently, the automatic setting function unit 17 acquires the torque current Iq (estimated torque) of the motor 7 from the vector control unit 15 and determines whether or not the output torque of the motor 7 is equal to or higher than the rated torque (step S16). . The counter Tim is incremented until the output torque reaches the rated torque ("NO") (step S17). Further, based on the same purpose as in step S9, it is also determined whether or not the value of the counter Tim exceeds the upper limit value (step S18). If it does not exceed the upper limit (“NO”), the process returns to step S16.

When the brake 18 is actually closed while the loop of steps S16 to S18 is repeatedly executed, the motor 7 stops rotating, but the drive control is continued, so the output torque of the motor 7 increases. When the output torque exceeds the rated torque (step S16, “YES”), the automatic setting function unit 17 sets the count value of the counter Tim at that time as the brake closing delay time Tc (step S19), and step S10. The data is stored together with the brake opening delay time Tr set in step S20 (step S20).
Then, the automatic setting function unit 17 stops the driving of the motor 7 by the vector control unit 15 and the inverter circuit 14 (sequence 6, step S21). End the teaching process. FIG. 6 is a view corresponding to FIG.

  Even when the inverter control unit 13 performs the normal operation of the motor 7 instead of the teaching process, the start sequence and the stop sequence are basically performed in the same procedure as described above. That is, in the start sequence, after the brake opening command is output, the normal operation is started after the brake opening delay time Tr has elapsed. In the stop sequence, after the brake close command is output, the operation is stopped after the brake close delay time Tc has elapsed. The brake opening delay time Tr and the brake closing delay time Tc used at this time are values obtained by teaching processing.

As described above, according to the present embodiment, the inverter 7 controls the motor 7 at the variable speed, and the inverter control unit 13 that controls the opening and closing of the brake 18, and the inverter control unit 13 is started or stopped. The brake control data used for performing the opening / closing control of the 18 brake executed in cooperation with the variable speed control of the motor 7 is based on internal information such as the torque current Iq and the rotational angular frequency ω of the inverter control unit 13. And an automatic setting function unit 17 that automatically sets the inverter device 11.
Therefore, it is not necessary for the user to actually operate the motor drive system himself and perform necessary measurements, etc., and analyze the measurement results to determine various conditions used for brake control. Furthermore, troublesome adjustment work for performing brake opening / closing control can be eliminated.

Further, the inverter control unit 13 uses the rated slip frequency that is the brake open delay time Tr, the brake close delay time Tc, and the brake close control frequency command value as the brake control data. The motor 7 starts to start from the closed state, and the normal operation control of the motor 7 is performed after the brake open delay time Tr has elapsed from the output timing of the brake open command. When the operation stop command is given, the rotation of the motor 7 is started. The frequency is lowered to the rated slip frequency, and the operation of the motor 7 is stopped after the brake close delay time Tc has elapsed from the output timing of the brake close command.
The automatic setting function unit 17 sequentially executes the sequences 1 to 6 when teaching the brake opening delay time Tr and the brake closing delay time Tc. Therefore, the automatic setting function unit 17 can appropriately teach the brake control data according to the procedure of the start sequence and stop sequence of the motor 7 by the inverter control unit 13.

The automatic setting function unit 17 measures the time from when the brake opening command is output until the rotational speed of the motor 7 reaches the rated slip frequency, and based on the measured time, the brake opening delay time Tr. Therefore, it can be reliably determined that the brake 18 is actually opened based on the fact that the motor 7 outputs the rated torque.
Further, the automatic setting function unit 17 measures the time from when the brake close command is output until the output torque of the motor 7 reaches the rated torque, and based on the measured time, the brake close delay time Tc is calculated. Therefore, it can be reliably determined that the brake 18 is actually closed.

Further, in the starting control of the motor 7 by the inverter control unit 13 and the teaching by the automatic setting function unit 17, since preliminary excitation is performed before the rotation of the motor 7 is started, the brake 18 is opened and the motor 7 is opened. When the rotation starts, torque against the load can be reliably output.
In the start control of the motor 7 by the inverter control unit 13 and the teaching by the automatic setting function unit 17, the motor 7 is started by torque control based on the torque command value of the brake control data, and the stop of the motor 7 is brake controlled. Since the speed control is performed based on the frequency command value of the data, an appropriate control form can be applied.
In addition, the automatic setting function unit 17 cannot perform teaching because the measurement time for teaching exceeds a predetermined upper limit time based on the control state of the inverter circuit 14 when teaching brake control data. If it is determined that there is an abnormality, the abnormality information indicating that is output, so that when the teaching is performed, the user can recognize that there is some cause that the start control or the stop control cannot be normally performed.

(Second embodiment)
11 and 12 show a second embodiment of the present invention. The same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. Only the different parts will be described below. The configuration of the second embodiment is basically the same as that of the first embodiment, and the teaching processing procedure by the automatic setting function unit 17 is slightly different. FIG. 11 is a diagram corresponding to FIG. 3 of the first embodiment. When “YES” is determined in step S9, the brake 18 is temporarily closed (step S22), and the torque bias Trq is increased by a predetermined value Tα (step S23). ). If the torque bias Trq does not exceed the limit value (step S24, “NO”), the process proceeds to step S5 to retry teaching for obtaining the brake opening delay time Tr.

  That is, when the value of the counter Tim exceeds the upper limit value in Step S9 (“YES”), it may be caused by the setting value of the torque bias Trq given in Step S4 being too low. Accordingly, the brake opening delay time Tr is obtained by slightly increasing the torque bias Trq and retrying teaching. If the limit value is exceeded as a result of increasing the torque bias Trq sequentially (step S24, "YES"), the drive system itself has an abnormality, not because the set value of the torque bias Trq is low. Since there is a high possibility that the error has occurred, an abnormality handling process is performed in the same manner as in the first embodiment.

  FIG. 12 is a diagram corresponding to FIG. 5. If “YES” is determined in step S18, the brake 18 is once opened (step S25), and the frequency command fc is increased by a predetermined value fα (step S26). If the frequency command fc does not exceed the limit value (step S27, “NO”), the process proceeds to step S13 to retry teaching for obtaining the brake close delay time Tc.

As described above, according to the second embodiment, the automatic setting function unit 17 stops the teaching sequence when the measurement time for performing the teaching for acquiring the brake opening delay time Tr exceeds a predetermined upper limit time. When the torque bias Trq (torque current command value Iqc) is increased by a predetermined value Tα, the sequence 1 is executed again. Further, if the teaching time for performing the teaching for obtaining the brake closing delay time Tc exceeds the predetermined upper limit time, the teaching sequence is stopped, and when the frequency command value fc is increased by the predetermined value fα, the sequence is repeated. It was made to execute from 4.
Therefore, when the brake bias delay time Tc or the brake close delay time Tc cannot be acquired because the torque bias Trq and the frequency command value fc are too low, it is possible to retry acquisition of the brake control data by increasing those command values. .

(Third embodiment)
13 and 14 show a third embodiment of the present invention, and only the parts different from the second embodiment will be described. Similarly to the second embodiment, the third embodiment also has a slightly different teaching procedure by the automatic setting function unit 17. FIG. 13 is a diagram corresponding to FIG. 11 of the second embodiment. When step S23 is executed, it is determined whether or not the rotational frequency has become equal to or higher than the rated slip frequency of the motor 7 at that time, as in step S7. If the rotation frequency is less than the rated slip frequency (“NO”) in step S28), the determination in step S24 is performed. If “NO” is determined in the step S24, the process returns to the step S23, and if “YES” is determined, an abnormality handling process is performed.
That is, if the brake opening delay time Tr cannot be obtained because the set value of the torque bias Trq given in step S4 is too low, the rotational frequency of the motor 7 will eventually increase if the torque bias Trq is increased sequentially. The rated slip frequency should be reached. Therefore, if “YES” is determined in the step S28, the process returns to the step S4 to retry the teaching.

  FIG. 14 is a diagram corresponding to FIG. 12. When step S26 is executed, if “YES” is determined, it is determined whether or not the output torque of the motor 7 has exceeded the rated torque at that time (step S29). . If the output torque is less than the rated torque ("NO"), the determination in step S27 is performed, and if "NO" is determined, the process returns to step S26. If the output torque is equal to or greater than the rated torque (step S29, “YES”), the rotational frequency at that time is set as the rated slip frequency (step S30), the process returns to step S12, and “YES” is determined in step S27. Perform response processing.

As described above, according to the third embodiment, the automatic setting function unit 17 determines the torque bias Trq when the measurement time for teaching to acquire the brake opening delay time Tr exceeds a predetermined upper limit time. When the rotational frequency of the motor 7 reaches the rated slip frequency by sequentially increasing the predetermined value Tα, teaching is retried from the sequence 1 using the torque bias Trq at that time. In addition, when the measurement time for teaching for obtaining the brake close delay time Tc exceeds a predetermined upper limit time, the frequency command value fc is sequentially increased by a predetermined value fα to thereby output the motor 7. If the torque has reached the rated torque, and to run again from the sequence 4 teaching by using the frequency command value fc at that time.
Accordingly, when the brake bias delay time Tc or the brake close delay time Tc cannot be acquired because the torque bias Trq and the frequency command value fc are too low, the command values are sequentially increased to actually rotate the motor 7. After confirming that the frequency has reached the rated slip frequency or that the output torque has reached the rated torque, the acquisition of brake control data can be retried.

The present invention is not limited to the embodiments described above and shown in the drawings, and the following modifications or expansions are possible.
For example, teaching of the brake opening delay time Tr and the brake closing delay time Tc is not necessarily performed as a series of processing, and any one teaching may be performed independently.
Storage means for storing the set value of the brake control data may be provided as necessary.
The abnormality handling process may be performed as necessary.
The present invention is not limited to an electric hoist, but can be widely applied to a system that uses a mechanical brake such as a crane or an elevator and controls the opening and closing of the brake using an inverter output.
The motor is not limited to an induction motor, and may be a permanent magnet type motor such as a brushless DC motor.

FIG. 1 is a functional block diagram showing a configuration of an inverter device built in a hoist body according to a first embodiment when the present invention is applied to an electric hoist. (A) is a front view explaining the schematic structure of an electric hoist, (b) is the side view Flow chart showing teaching process for brake opening delay time Tr The figure which shows an example of each signal waveform observed in the teaching process of FIG. Flow chart showing teaching process for brake closing delay time Tc The figure which shows an example of each signal waveform observed in the teaching process of FIG. Timing chart of the control sequence for starting the motor when winding with the motor Timing chart of the control sequence that stops the motor when winding with the motor Timing chart of control sequence to start motor when lowering by motor Timing chart of control sequence to stop motor when lowering by motor FIG. 3 equivalent view showing a second embodiment of the present invention. Figure equivalent to FIG. FIG. 11 equivalent view showing a third embodiment of the present invention. Figure equivalent to FIG. The figure which shows an example of the control sequence generally implemented when starting and stopping a motor in a motor drive system

Explanation of symbols

  In the drawings, 7 is an induction motor, 11 is an inverter device, 13 is an inverter control unit, 14 is an inverter circuit, 17 is an automatic setting function unit (setting means), 18 is a mechanical brake, and 21 is a memory (storage means). .

Claims (14)

In the inverter device used in a motor drive system comprising an inverter device for variable speed control of a motor by an inverter circuit, and a mechanical brake for stopping the rotation of the motor,
A variable speed control of the motor, and a control unit for controlling the opening and closing of the brake;
The brake opening / closing control executed by the control unit in association with the start or stop of the motor is performed in conjunction with the variable speed control of the motor, and the brake opening / closing control executed in accordance with the start or stop of the motor. On the basis of a change in the rotational frequency of the motor estimated by calculation based on the phase current detected by the control unit via the inverter circuit when the control unit performs in conjunction with the variable speed control of the motor. And setting means configured to set brake control data used for control,
The control unit may have a row close control of the brake based on the brake control data,
The brake control data includes a brake command delay time, a brake close delay time, a frequency command value for brake close control,
When the operation start command is given, the control unit starts the motor from a state where the brake is closed,
From the output timing of the brake opening command, the normal operation control of the motor is performed after the brake opening delay time has elapsed,
When an operation stop command is given, the rotational frequency of the motor is reduced to the frequency command value,
From the output timing of the brake close command, the operation of the motor is stopped after the brake close delay time has elapsed,
The setting means sequentially executes the following sequences 1 to 6 when setting the brake control data,
Sequence 1: Start motor operation with brake closed
Sequence 2: Brake open command is output
Sequence 3: Operate the motor with the brake open
Sequence 4: Brake close command is output
Sequence 5: Operate the motor with the brake closed
Sequence 6: Stop motor operation
The time until the rotation frequency at the time of operation of the motor reaches a predetermined value that changes according to the operation state of the motor from the time when the brake opening command is output is measured, and based on the measured time And setting the brake opening delay time . The inverter device according to claim 1 , wherein the predetermined value is a value based on a rated slip frequency of the motor . In the inverter device used in a motor drive system comprising an inverter device for variable speed control of a motor by an inverter circuit, and a mechanical brake for stopping the rotation of the motor,
A variable speed control of the motor, and a control unit for controlling the opening and closing of the brake;
The brake opening / closing control executed by the control unit in association with the start or stop of the motor is performed in conjunction with the variable speed control of the motor, and the brake opening / closing control executed in accordance with the start or stop of the motor. On the basis of a change in the torque of the motor estimated by calculation based on the phase current detected by the control unit via the inverter circuit when performing the control in conjunction with the variable speed control of the motor. And setting means adapted to set brake control data used for the
The control unit performs opening / closing control of the brake based on the brake control data,
The brake control data includes a brake command delay time, a brake close delay time, a frequency command value for brake close control,
When the operation start command is given, the control unit starts the motor from a state where the brake is closed,
From the output timing of the brake opening command, the normal operation control of the motor is performed after the brake opening delay time has elapsed,
When an operation stop command is given, the rotational frequency of the motor is reduced to the frequency command value,
From the output timing of the brake close command, the operation of the motor is stopped after the brake close delay time has elapsed ,
The setting means sequentially executes the following sequences 1 to 6 when setting the brake control data,
Sequence 1: Start motor operation with brake closed
Sequence 2: Brake open command is output
Sequence 3: Operate the motor with the brake open
Sequence 4: Brake close command is output
Sequence 5: Operate the motor with the brake closed
Sequence 6: Stop motor operation
Measure the time from when the brake closing command is output until the estimated torque at the time of operation of the motor that changes according to the operation state of the motor reaches a predetermined value, and based on the measured time An inverter device, wherein the brake closing delay time is set . 4. The inverter device according to claim 3 , wherein the predetermined value is a value based on a rated torque of the motor . Brake control data separate from the data set by the setting means is provided with storage means that is set in advance,
5. The control unit according to claim 1, wherein when the function of the setting unit is not validated, the control unit performs opening / closing control of the brake based on setting data of the storage unit. The described inverter device. 6. The inverter according to claim 1, wherein the control unit and the setting unit are configured to establish excitation for the motor in advance before the rotation of the motor is started. apparatus. The brake control data includes a torque command value for brake opening control,
The inverter device according to claim 1, wherein the control unit and the setting unit start the motor by torque control based on the torque command value . The brake control data includes a frequency command value for brake closing control,
The inverter device according to claim 1, wherein the control unit and the setting unit stop the motor by speed control based on the frequency command value . When the setting means determines that the setting of the brake control data is impossible based on the control state of the inverter circuit when setting the brake control data, the setting means outputs abnormality information to that effect. An inverter device according to any one of claims 1 to 8 . When setting the brake control data, the setting means determines that the brake control data cannot be set if the time to be set in the brake control data exceeds a predetermined upper limit time. 10. The inverter device according to claim 1, wherein abnormality information to that effect is output . The brake control data includes a torque command value for brake opening control,
The setting means performs the start of the motor in the sequences 1 and 2 by torque control based on the torque command value,
When the time to be set in the brake control data exceeds a predetermined upper limit time, the setting sequence is stopped,
The inverter apparatus according to claim 1, wherein when the torque command value is increased by a predetermined value, the process is executed again from sequence 1 . The brake control data includes a torque command value for brake opening control,
The setting means performs the start of the motor in the sequences 1 and 2 by torque control based on the torque command value,
When the time to be set in the brake control data exceeds a predetermined upper limit time,
Sequentially increasing the torque command value until the predetermined parameter reaches a predetermined value,
Wherein when stopping the setting sequence at the time of reaching the predetermined value, the inverter apparatus according to any one of claims 1 to 1 0, characterized in that run from the sequence 1 again using the torque command value at that time. The setting means stops the motor in the sequences 4 to 6 by speed control based on the frequency command value,
When the time to be set in the brake control data exceeds a predetermined upper limit time, the setting sequence is stopped,
Increasing the frequency command value by a predetermined value, the inverter apparatus according to any one of claims 1 to 1 0, characterized in that run from the sequence 4 again. The setting means stops the motor in the sequences 4 to 6 by speed control based on the frequency command value,
When the time to be set in the brake control data exceeds a predetermined upper limit time, the frequency command value is sequentially increased until the predetermined parameter reaches a predetermined value,
Wherein when stopping the setting sequence at the time of reaching the predetermined value, the inverter apparatus according to any one of claims 1 to 1 0, characterized in that run from the sequence 4 again using the frequency command value at that time.

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