JP5041197B2 - Control method of motor drive device - Google Patents

Description

  The present invention relates to an electric motor drive device, and more particularly to a method for controlling an electric motor drive device that drives an induction motor used in a mooring machine.

  Even if the hull is moored at an appropriate position, it is always possible that the hull will move from its original mooring position due to weather conditions such as tides and wind. As conventional techniques for mooring the hull at an appropriate position, Patent Document 1, Patent Document 2, Patent Document 3, and the like have been proposed, but these conventional techniques all detect tension and make the tension constant based on the detected tension. A control system for controlling is adopted.

An example of a conventional ship mooring system will be described with reference to FIGS.
In FIG. 4, 1 is an induction motor (hereinafter, simply referred to as an electric motor), 2 is a reduction gear installed between the electric motor 1 and equipment, 3 is a hauser drum driven by the electric motor 1, and 5 is an electric motor 1 and a reduction gear. 2, a rotating shaft for connecting the hawser drum 3 and the detector 4, 4 is a detector for detecting the number of rotations of the rotating shaft 5, 30 is a motor driving device for driving the motor 1, 27 is a mooring machine 10 and a motor A motor torque upper limit setting circuit determined from the performance of the drive device 30, a host controller 26 that generates a command for controlling the hawser drum 3 to a desired state via the motor drive device 30, the motor 1, and the speed reducer 2. Hereinafter, it is also simply referred to as a controller).

  The motor drive device 30 includes a DC power source 11 such as a rectifying power source, an inverter main circuit 12 in which a switching element such as an IGBT (Insulated Gate Bipolar Transistor) and an antiparallel circuit of a diode are connected in a three-phase bridge, and a detector 4. When the speed command of the hawser drum 3 is issued from the controller 26 and the controller 26, the predetermined acceleration gradient (acceleration value per unit time) or deceleration gradient is issued. The speed command value is changed by (deceleration value per unit time), and compared with the rotational speed input from the rotational speed detection circuit 24, the speed command value is finally matched with the speed command value. A constant speed control circuit 22 that outputs a speed setting value to the corresponding motor 1 and a ratio of a voltage (V) to the frequency to the motor 1 based on the speed setting value is set to a predetermined value. One three-phase, respectively alternating signal of controlled PWM (Pulse Width Modulation), and a like PWM control circuit 21 for generating a drive signal to the respective switching elements forming the inverter main circuit 12. Note that each of the above-described control elements is formed by a known technique.

Next, each operation | movement of the electric motor drive device 30 and the mooring machine 10 is demonstrated.
When the hull is to be berthed, the mooring rope fed from the mooring machine 10 is fixed to a land-side bit or the like, and then the mooring machine 10 is operated to be engaged to hold the hull. At this time, the motor drive device 30 supplies AC power of a desired voltage and frequency from the inverter main circuit 12 to the motor 1 by the controller 26, the rotation speed detection circuit 24, the constant speed control circuit 22, and the PWM control circuit 21. As a result, the electric motor 1 rotates and the hawser drum 3 rotates via the rotating shaft 5, so that the mooring machine 10 can entrain the mooring rope. At this time, since the motor driving device 30 is controlled by constant speed control, the tension of the mooring line can be adjusted by the operator adjusting the speed command value of the controller 26.

  The electric motor drive device 30 can perform constant speed control according to the speed command from the controller 26, but cannot control the tension of the mooring line. However, considering the mooring situation of the hull, the relative position of the hull and the land changes depending on weather conditions such as tides and winds after the mooring rope is involved. Therefore, it is necessary for sailors to periodically re-raise or loosen the mooring rope so that the hull does not leave when the mooring rope is loosened, and the mooring rope and mooring machine are not overloaded. there were.

Further, since a plurality of mooring machines are used for mooring, there is a problem that the hull moves from the original mooring position depending on the order of operation of the mooring machine when the mooring line is rebuilt. For example, when the mooring machine is operated as shown in FIG. 3 to adjust the tension of the mooring rope, the mooring position moves in the bow direction.
Japanese Patent Laying-Open No. 2005-255058 JP 2005-153595 A JP-A-61-207290

  The present invention has been made in view of the above situation, and its problem is to automatically control the tension of the mooring line automatically even when the relative position between the hull and the land changes due to weather conditions such as tides and winds. It is another object of the present invention to provide a control method in which the mooring position does not change even when moored for a long period of time.

In order to achieve the above object, the invention according to claim 1 is configured so that the induction motor directly connected to the rotating shaft of the mooring machine corresponds to the commanded speed command value of the rotating shaft when the hull is berthed. and dynamic drive-out based on the constant speed control, during mooring the hull is a constant torque control is switched to the tension control from the constant speed control, always constant tension may mooring of the mooring device is also involved when fed out In the control method of the electric motor drive device that controls the electric motor to work on the mooring line, a detector is provided on the rotary shaft, and the rotational direction is determined via the rotational position detection circuit from the shaft rotational speed signal of the detector, According to the rotation direction signal, the torque command value of the constant torque control of the electric motor is increased in the direction in which the mooring line is drawn out, and decreased when it is caught .

  According to the present invention, even when the relative position of the hull and the land changes due to weather conditions such as tides and winds, it is possible to perform control to keep the mooring rope at a constant tension by the electric motor drive device, Control of the mooring position can be performed by detecting the mooring position under the control of the electric motor drive device.

The best mode for carrying out the present invention will be described below with reference to the drawings.
FIG. 1 is a circuit configuration diagram of a mooring machine and an electric motor driving apparatus for an electric mooring machine according to a first embodiment of the present invention. The configuration different from the conventional example of FIG. 4 is a constant torque control circuit 23 and a speed upper limit setting. A motor 28 having a circuit 28, a changeover switch 41 (contacts 41a and 41b), and a host controller 25 having a torque command value and a constant torque control switching command added to a speed command value. Since other configurations are the same, the same functional elements are denoted by the same reference numerals, and description thereof is omitted.

As shown in the figure, in the present embodiment, since the motor drive device 20 and the host controller 25 are added, the operation of these devices will be mainly described.
Normally, the contact 41a of the changeover switch 41 is open and the contact 41b is closed. In this state, following the speed command value from the controller 25, the rotation speed detection open circuit 24, the constant speed control circuit 22 and the PWM control circuit 21 provide the inverter main circuit 12 with AC power having a desired voltage and frequency to the motor 1. The electric motor 1 is rotated by supplying from the rotary shaft 5, and the hawser drum 3 is rotated via the rotation shaft 5. When a constant torque control switching command is input after the mooring operation is completed, the contact 41a of the changeover switch 41 is switched to the closed state and the contact 41b is switched to the open state. As a result, the output torque of the motor 1 follows the torque command value of the controller 25. Then, the rotation speed detection circuit 24, the constant speed control circuit 22 and the PWM control circuit 21 control the output torque of the motor 1 by supplying AC power of a desired voltage and frequency from the inverter main circuit 12 to the motor 1. To do. As a result, the rotational torque of the hawser drum 3 is controlled. Therefore, if the torque command value of the controller 25 is made constant, the torque of the mooring line can be controlled to be constant.

  FIG. 2 is a circuit configuration diagram of a mooring machine and an electric motor driving apparatus for an electric mooring machine according to a second embodiment of the present invention. The configuration different from the first embodiment of FIG. 1 is rotated by a signal from the detector 4. A position detection circuit 29 for calculating the rotation angle of the shaft 5 to detect the position of the hawser drum 3, a changeover switch 42 (contact 42a), and a changeover switch 43 (contact 43a) are added. Since the configuration is the same, the same functional elements are denoted by the same reference numerals and description thereof is omitted.

  In the present embodiment, as described above, since the position detection circuit 29 for detecting the position of the hawser drum 3, the changeover switch 42, and the changeover switch 43 are added to the electric motor drive apparatus 40, the electric motor drive apparatus 40 is provided. The control operation will be described.

Since the motor drive device 40 has the same function as the motor drive device 20 of the first embodiment of FIG. 1, when a constant torque control switching command is input after the mooring operation is completed, the torque of the mooring line is controlled to be constant. Can do. At this time, when a constant torque control switching command is input, the contact 42a of the changeover switch 42 is closed, and when the rotational speed detection circuit 24 is at a constant speed during constant torque control, the contact 43a of the changeover switch 43 is closed. Since the circuit is configured as described above, the position detection circuit 29 can detect the rotation direction of the hawser drum 3 on the basis of the position where the hawser drum 3 is optimal. Here, when the direction of rotation of the hawser drum 3 is the direction in which the mooring line is extended, the torque command value of the constant torque control circuit 23 is increased. If the torque command value is decreased, the mooring position can be detected and the mooring position can be kept constant.

The block diagram of the 1st Embodiment of this invention. The block diagram of the 2nd Embodiment of this invention. Explanatory drawing of operation of the conventional mooring machine. The block diagram of the conventional mooring machine and an electric motor drive device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Induction motor, 2 ... Reduction gear, 3 ... Haosa drum, 4 ... Detector, 5 ... Rotating shaft, 10 ... Mooring machine, 11 ... DC power supply, 12 ... Inverter main circuit, 20 ... Electric motor drive device, 21 ... PWM ... Control circuit, 22 ... Constant speed control circuit, 23 ... Constant torque control circuit, 24 ... Speed detection circuit, 25, 26 ... Host controller, 27 ... Torque upper limit value setter, 28 ... Speed upper limit value setter, 29 ... Position Detection circuit, 30, 40 ... electric motor drive device, 41, 42, 43 ... changeover switch.

Claims (1)

The induction motor is directly connected to the rotation shaft of the mooring device, to the hull of the wearing桟時, and dynamic drive-out based on the constant-speed control so as to correspond to the speed command value of the rotating shaft is commanded, during mooring of the ship is switching from the constant speed control tension control and constant torque control, control of the electric motor drive device always constant tension may also be involved if the mooring line is paid out of the mooring device to control the electric motor to work in the mooring lines In the method
A detector is provided on the rotating shaft, and a rotational direction is determined from a rotational speed signal of the detector through a rotational position detection circuit, and a torque command value for constant torque control of the electric motor is determined based on the rotational direction signal. The method for controlling an electric motor driving device is characterized in that the motor drive device is increased in the direction in which the motor is extended and is decreased in the case of being caught .

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