JP5495550B2 - Motor control method and power supply device - Google Patents

Description

  The present invention relates to a motor control method and a power supply device for a motor drive device, and more particularly, to a motor control method for a drive motor used in a transport device that transports components and the like, and a power supply device for the motor drive device. .

In production sites where products are produced while conveying parts, workpieces, etc., improvement in motor acceleration is required to increase production efficiency. In general, with respect to a motor, a boosting means for increasing a voltage supplied to an inverter is used to improve acceleration. For example, Patent Document 1 discloses a motor control method in which a direct current voltage is supplied to an inverter via a boosting unit and an inverter switching element is driven in a predetermined manner so that the motor is PWM controlled. Proposed a control method that starts the operation of the booster when the duty ratio of PWM control reaches 100%, raises the output DC voltage of the booster, and performs the PWM control again to control the rotation speed of the motor Has been.
JP 2000-333486 A

  By the way, unlike the motor of an air compressor, the motor of the drive device for conveying a small precision component etc. requires high precision, such as positioning and time to reach the position. In order to achieve such accuracy, a high-speed response of the motor is also required.

  However, it cannot be said that the technology for the air compressor disclosed in Patent Document 1 sufficiently considers high accuracy such as high-speed response.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a motor control method that has high-speed response and improves acceleration.

In order to solve the above-mentioned problem, the invention according to claim 1 provides a power source for supplying power to the motor driving means for driving the motor, and based on the start of acceleration or deceleration of the motor, A voltage increasing step for raising the voltage of the supplied power to a voltage higher than the reference voltage, and a reference for lowering the voltage of the supplied power from the power source to a voltage lower than the reference voltage in a state where the speed of the motor is constant. A voltage lowering step; and a voltage lowering step for returning the voltage of the supplied power to the reference voltage when the motor is stopped .

The invention according to claim 6 includes a voltage adjusting unit that adjusts a voltage of a supply voltage supplied to a motor driving unit that drives a motor, and a control unit that controls the voltage adjusting unit, and the control unit Is based on the start of acceleration or deceleration of the motor, voltage increasing means for raising the voltage of the supplied power to a voltage higher than a reference voltage, and the power supplied from the power source in a state where the speed of the motor is constant. Reference voltage lowering means for lowering the voltage to a voltage lower than the reference voltage, and voltage lowering means for returning the voltage of the supplied power to the reference voltage when the motor stops .

  Based on the start of acceleration or deceleration of the motor, the voltage of the supply power from the power supply is increased, and the voltage of the supply power is reduced in advance by declining the supply power voltage based on the end of the acceleration or deceleration of the motor. Can be kept higher than the normal voltage, and the current can be passed through the motor against the counter electromotive force generated in the motor coil, so the motor can be accelerated in a short time to the target speed. it can. That is, it is possible to provide a motor control method that has high-speed response and improves acceleration.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

(First embodiment)
First, the schematic configuration and function of the motor drive system according to the first embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of a motor drive system according to the present embodiment.

  As shown in FIG. 1, the motor drive system 1A includes a power supply device 10A for setting the voltage of the commercial power supply to a predetermined voltage, a motor drive device 20A that receives supply of electric power for operating the motor from the power supply device 10A, A host controller 30A that controls the motor drive device 20A and a motor 40 that is controlled by the motor drive device 20A and driven by three-phase alternating current are provided. The power supply device 10 </ b> A functions as a power supply that supplies power to the motor drive device 20 </ b> A, and the motor drive device 20 </ b> A functions as a motor drive unit that drives the motor 40.

  The power supply apparatus 10A converts a voltage adjustment unit 11 that adjusts the voltage of power supplied to the motor drive apparatus 20A to be stable, a control unit 12A that controls the voltage adjustment unit 11, and an alternating current from a commercial power supply into a direct current. And a rectifying unit 13 that performs.

  The voltage adjustment unit 11 includes a step-up / step-down circuit, detects an input current to the step-up / down step circuit, a value of an output voltage, and the like, and increases or decreases the voltage so that the output voltage is stabilized by the control unit 12A. To do.

  The controller 12A functions to detect the start of acceleration or deceleration of the motor 40, increase the voltage of the supplied power, detect the end of acceleration or deceleration of the motor 40, and decrease the voltage of the supplied power. For example, the control unit 12A increases the voltage when the supply power current increases, and decreases the voltage when the supply power current decreases.

  The voltage adjustment unit 11 and the control unit 12A reduce the voltage of the supplied power based on the voltage increasing means for increasing the voltage of the supplied power based on the start of acceleration or deceleration of the motor 40 or the end of the acceleration or deceleration of the motor 40. Functions as a voltage drop means.

  The motor drive device 20A includes a power conversion unit 21 that converts the power supplied from the power supply device 10A into a three-phase alternating current, and a control unit 22A that controls the power conversion unit 21.

  The host controller 30A has a storage unit (not shown) for storing the procedure of work input manually or the like, and command means for issuing a command of operation of the motor 40 to the motor drive device 20A. A command value pulse signal is sent to the motor drive device 20A.

  The motor 40 is a linear motor, and has a stator (not shown) and a mover (not shown) that move relative to each other by magnetic action, and these are formed by a coil or a permanent magnet. The motor 40 is provided with a sensor 41 that detects the position and speed of the mover.

  Next, the operation of the motor drive system 1A will be described with reference to the drawings.

  FIG. 2 is a diagram showing temporal changes in the speed of the motor 40 and the voltage of the power supplied from the power supply apparatus 10A in the motor drive system 1A. FIG. 3 is a flowchart illustrating an operation example of the control unit 12A of the power supply apparatus 10A.

  First, the outline of the operation of the motor 40 and the voltage change will be described with reference to FIG.

As shown in FIG. 2, power supply 10A, when the power is switched on, and outputs a voltage E _0. Then, at time t ₀ which starts the acceleration of the motor 40 to raise the voltage of the power supply voltage E _1. Under voltage E _1, to accelerate the motor 40 at a constant acceleration until the speed of the motor 40 becomes the speed v ₁ of the target. When the speed of the motor 40 reaches the target speed v ₁ at time t ₀ and the speed of the mover of the motor 40 becomes substantially equal, the voltage of the supplied power is returned to the voltage E ₀ .

Then, the position of the movable element approaches the target position, if the slowing, raising again the voltage E ₁ to the voltage of the supply electric power at time t _2. Then, under the voltage E _1, decelerating the motor 40 at a constant acceleration until the speed of the motor 40 becomes zero. When the motor 40 is stopped at time t _3, returning the voltage of the power supply voltage E _0.

  Next, based on FIG. 2 and FIG. 3, operation | movement of 12 A of control parts is demonstrated.

  First, the acceleration of the motor 40 will be described. As illustrated in FIG. 3, the control unit 12A detects the value of the output current of the rectifying unit 13 and determines whether or not the current of the supplied power has increased (step S1). When the supply power current has not yet increased (step S1; NO), the control unit 12A repeats this operation until the supply power current increases.

Next, when the motor 40 starts to accelerate and the current of the supplied power increases (step S1; YES), the control unit 12A increases the voltage of the supplied power from the voltage adjusting unit 11 (step S2). As shown in FIG. 2, at time t _0, the voltage of the supply electric power is increased from the voltage E ₀ to the voltage E _1. In this way, the control unit 12A increases the voltage of the power supplied from the power supply device 10A based on the start of acceleration of the motor 40. For example, the control unit 12A increases the voltage of the supplied power when the current of the supplied power increases.

  Next, 12 A of control parts detect the value of the output current of the rectification | straightening part 13, and determine whether the electric current of supplied electric power decreased (step S3). If the supply power current has not yet decreased (step S3; NO), the controller 12A repeats this operation until the supply power current decreases.

Next, when the current of the supplied power decreases (step S3; YES), the control unit 12A returns the voltage of the supplied power from the voltage adjusting unit 11 to the original voltage (step S4). As shown in FIG. 2, at time t _1, the voltage of the supply electric power is returned from the voltage E ₁ to the voltage E _0. In this way, the control unit 12A reduces the voltage of the power supplied from the power supply device 10A based on the end of acceleration or deceleration of the motor 40. For example, the control unit 12A decreases the voltage of the supplied power when the current of the supplied power decreases. Then, the control unit 12A determines whether or not the power supply 10A has been turned off (step S5).

  Next, the time when the motor 40 is decelerated from the constant speed will be described.

First, when the power supply 10A is not turned off (step S5; NO), the process returns to step S1, and the control unit 12A repeats this operation until the current of the supplied power increases. Specifically, as shown in FIG. 2, the mover of the motor 40 between time t ₁ of t ₂ is in a state of moving at substantially constant speed. In step S1, when the motor 40 starts to decelerate and the current of the supplied power increases (step S1; YES), the control unit 12A increases the voltage of the supplied power from the voltage adjusting unit 11 (step S2). As shown in FIG. 2, when the time t _2, the voltage of the supply power is increased from the voltage E ₀ to the voltage E _1.

  Next, 12 A of control parts detect the value of the output current of the rectification | straightening part 13 also at the time of deceleration, and determine whether the electric current of supply electric power decreased (step S3). If the supply power current has not yet decreased (step S2; NO), the controller 12A repeats this operation until the supply power current decreases.

Next, when the current of the supplied power decreases (step S3; YES), the control unit 12A returns the voltage of the supplied power from the voltage adjusting unit 11 to the original voltage even during deceleration (step S4). As shown in FIG. 2, at time t _3, the voltage of the supply electric power is returned from the voltage E ₁ to the voltage E _0.

  Then, the control unit 12A determines whether or not the power supply 10A is turned off (step S5), and when the power supply 10A is turned off (step S5; YES), the series of operations is terminated.

As described above, according to the present embodiment, the voltage of the supplied power from the power supply apparatus 10A is increased based on the start of acceleration or deceleration of the motor 40, and the voltage of the supplied power is decreased based on the end of acceleration or deceleration of the motor 40. Thus, while accelerating the mover of the motor 40, the voltage of the supplied power can be raised in advance from the normal voltage, and the motor 40 is supplied with current against the counter electromotive force generated in the motor coil. since so can safely, to the speed v ₁ of the target, it is possible to accelerate the armature of the motor 40 in a short time. That is, it is possible to provide a control method for improving the high-speed response and acceleration of the motor 40. Therefore, highly accurate positioning in position and time is possible. In addition, because of the high-speed response and acceleration, the manufacturing tact time can be improved.

Keep conventional method, the speed of the motor of the movable element, as shown in FIG. 4A, the thrust of the motor drive device - Beyond the velocity v ₀ of the limits which can output the maximum thrust in the rate characteristic diagram, generated in the motor reverse The influence of the increase in electromotive force cannot be ignored, the thrust is reduced, and acceleration at the maximum acceleration is impossible. As shown in FIG. 5, if the voltage of the supplied power remains at the voltage E ₀ , if the speed of the motor mover exceeds the speed v ₀ , the acceleration cannot be accelerated to the target speed v _{1 with the} same acceleration. descend. That can not be until the time t1 reaches the velocity v ₁ of the target arrival time is delayed until time t4.

However, as shown in the arrow a in FIG. 4B, the thrust of the motor driving device 20A is increased by increasing the voltage of the supplied power once in advance during the period of accelerating the mover of the motor 40 as in this embodiment. -It is possible to increase the limit speed that can output the maximum thrust in the speed characteristic diagram. That is, as shown in FIG. 2, the mover of the motor 40 can be accelerated by the maximum acceleration up to the target speed v ₁ .

Further, in the conventional method, as shown in FIG. 5, even when decelerating, since it is affected by the counter electromotive force, a sufficient decelerating force cannot be obtained at the start of deceleration, and the motor mover of the motor during the stop is slow and time t _5.

However, in this embodiment, like the time of acceleration, the mover of the motor 40 can be stopped the mover of early motor 40 when stopped at time t ₃ since it decelerated by the maximum acceleration.

  In addition, when the current of the supplied power from the power supply device 10A increases, the power supply device increases the voltage of the supplied power, and when the current of the supplied power from the power supply device 10A decreases, the voltage of the supplied power decreases. The control unit 12A of 10A can easily detect the start and end times of acceleration or deceleration. Further, since the control can be performed only by the power supply device 10A, the configuration is simplified.

  Next, a modification of the first embodiment will be described with reference to the drawings.

  FIG. 6 is a diagram showing a modification of the temporal change in the speed of the motor 40 and the voltage of the power supplied from the power supply apparatus 10A in the motor drive system 1A. FIG. 7 is a flowchart illustrating a modification of the operation example of the power supply apparatus 10A.

First, unlike the first embodiment, as shown in FIG. 6, the acceleration of the mover of the motor 40 is finished, and the voltage of the power supplied by the power supply device 10 </ b> A in a state where the mover of the motor 40 becomes constant speed. Is reduced to a voltage E ₂ lower than the voltage E ₀ .

As shown in FIG. 7, in the modification, steps S1 to S3 are the same as those in the first embodiment. However, if the current of the supply power is decreased (step S3; YES), the control unit 12A is, reduce the voltage of the power supply is lower than the voltage _{E 0,} to a voltage _{E 2} (step S10). Then, the control unit 12A determines whether or not the motor 40 has been stopped (step S11). As shown in FIG. 6, kept from the time t ₁ while the mover speed of the motor 40 of t ₂ has not changed much, the voltage of the supply electric power to the voltage E _2.

When the motor 40 has not stopped (step S11; NO), it returns to step S1, and the control part 12A repeats this operation | movement until the electric current of supply electric power increases. During deceleration, in step S2, the control unit 12A is, raising the voltage from the voltage _{E 2} to the voltage _{E 1.} If the motor 40 is stopped (step S11; YES), the control unit 12A returns an voltage of the power supplied to the voltage _{E 0} (step S12).

In this modification, the mover of the motor 40, between time t ₁ of t _2, i.e. constant velocity motion, etc., that is, when that does not require high acceleration, it is possible to reduce the noise generated from the motor 40. In particular, in a linear motor with a flat magnet, since the structure is open, the magnetic flux easily leaks to the outside, but the leakage of magnetic flux can be reduced by lowering the voltage during constant speed motion or the like.

Note that when lowering the voltage to a voltage E _2, as indicated by an arrow b in FIG. 4B, the thrust of the motor driving device 20A - for speed characteristic diagram varies, does not require a thrust in v _1, the motor 40 There is no effect on the movement of the mover.

(Second Embodiment)
Next, the schematic configuration and function of the motor drive system according to the second embodiment of the present invention will be described with reference to the drawings. Note that the same or corresponding parts as those in the first embodiment will be described using only the same reference numerals and different configurations and operations. The same applies to other embodiments and modifications.

  FIG. 8 is a block diagram showing an example of a schematic configuration of a motor drive system according to the second embodiment of the present invention.

  As shown in FIG. 8, unlike the first embodiment, the motor drive system 1B includes a power supply device 10B and a motor drive device 20B.

  The power supply device 10B has a control unit 12B, the motor drive device 20B has a control unit 22B, and the control unit 12B and the control unit 22B are connected by a line 26 that transmits a signal from the control unit 22B to the control unit 12B. It is connected. Then, the control unit 12B detects the start or end of acceleration or deceleration of the motor 40 based on information from the motor drive device 20B via the line 26. Unlike the control unit 22A, the control unit 22B of the motor drive device 20B outputs information on the start or end of acceleration or deceleration of the motor 40 via the line 26.

  Next, the operation of the motor drive system 1B will be described with reference to the drawings.

  FIG. 9 is a flowchart illustrating an operation example of the control unit 12B of the power supply apparatus 10B.

  First, the control unit 12B of the power supply device 10B determines whether or not to start the acceleration of the motor 40 based on information from the control unit 22B of the motor drive device 20B (step S20). The control unit 22B outputs to the control unit 12B information on acceleration start, acceleration end, and stop of the motor 40 based on a command from the host controller 30A, information from the power conversion unit 21, and information from the sensor 41. To do. And when the motor 40 does not start acceleration (step S20; NO), the control part 12B repeats this operation | movement until the motor 40 starts acceleration.

Next, when the motor 40 starts acceleration (step S20; YES). The control unit 12B increases the voltage of the power supplied from the voltage adjusting unit 11 (step S21). As shown in FIG. 2, at time t _0, the voltage of the supply electric power is increased from the voltage E ₀ to the voltage E _1. In this way, the control unit 12B detects the start of acceleration of the motor 40 based on information from the motor drive device 20A, and increases the voltage of the power supplied from the power supply device 10A.

  Next, the control unit 12B determines whether or not the acceleration of the mover of the motor 40 has been completed based on the information from the motor drive device 20A (step S22). And when the acceleration of the needle | mover of the motor 40 is not complete | finished (step S22; NO), the control part 12B repeats this operation | movement until acceleration is complete | finished.

Next, when the acceleration of the mover of the motor 40 is completed (step S22; YES), the control unit 12B returns the voltage of the power supplied from the voltage adjusting unit 11 to the original voltage (step S23). As shown in FIG. 2, at time t _1, the voltage of the supply electric power is returned from the voltage E ₁ to the voltage E _0. In this way, the control unit 12B detects the end of acceleration of the motor 40 based on information from the motor drive device 20A.

  Next, the control unit 12B determines whether or not the mover of the motor 40 has stopped based on information from the motor drive device 20A (step S24). If the mover of the motor 40 is not stopped (step S24; NO), the process returns to step S20, and the control unit 12B repeats this operation until acceleration during deceleration. The deceleration is almost the same as the acceleration.

Armature of the motor 40, when stopped at time _{t 3} (step S24; YES), the control unit 12B ends the series of operations.

  As described above, according to the present embodiment, in addition to the effects of the first embodiment, since the motor 40 is driven by the motor drive device 20B, acceleration or deceleration of the motor 40 is determined based on information from the motor drive device 20B. Since the start and end can be detected early, it is possible to provide a control method that further increases the responsiveness and acceleration.

In the present embodiment as well, as in the modification of the first embodiment, the voltage of the power supplied from the power supply device 10B is lower than the voltage E _{0 in} a state where the mover of the motor 40 is substantially constant speed. it may be lowered to E _2. In this case, the same effect as that of the modification of the first embodiment can be obtained. Moreover, the modification of 1st Embodiment can be applied also to embodiment described below, and the same effect can be acquired.

(Third embodiment)
Next, a schematic configuration and functions of a motor drive system according to a third embodiment of the present invention will be described with reference to the drawings.

  FIG. 10 is a block diagram showing an example of a schematic configuration of a motor drive system according to the third embodiment of the present invention.

  As shown in FIG. 10, the motor drive system 1C includes a power supply device 10C and a host controller 30C, unlike the first embodiment.

  The power supply apparatus 10C includes a control unit 12C, and the control unit 12C and the host controller 30C are connected by a line 36 that transmits a signal from the host controller 30C to the control unit 12C. Unlike the host controller 30A, the host controller 30C also outputs an operation command for the motor 40 output to the motor drive device 20A to the control unit 12C of the power supply device 10C via the line 36.

  The control unit 12C detects the start of acceleration or deceleration of the motor 40 or the end of acceleration or deceleration of the motor 40 based on information from the host controller 30C.

  Next, the operation of the motor drive system 1C will be described with reference to the drawings.

  FIG. 11 is a flowchart illustrating an operation example of the control unit 12C of the power supply apparatus 10C.

  First, the control unit 12C of the power supply apparatus 10C determines whether or not an acceleration command to the motor 40 is output based on information from the host controller 30C (step S30). When no command is output to the motor 40 (step S30; NO), the control unit 12C repeats this operation until an acceleration command is output.

Then, if the command for accelerating the motor 40 is output (step S30; YES), the control unit 12C will raise the voltage of power supplied from the voltage adjusting unit 11 to the voltage _{E 1} (step S31). In this way, the control unit 12C detects the start of acceleration of the motor 40 based on information from the host controller 30C that issues a command for the operation of the motor 40 to the motor drive device 20A, and the voltage of the power supplied from the power supply device 10A. Raise.

  Next, the control unit 12C determines whether or not the acceleration of the mover of the motor 40 has been completed based on information from the host controller 30C (step S32). Then, when the acceleration of the mover of the motor 40 is not completed (step S32; NO), this operation is repeated until the acceleration is completed. The host controller 30C normally calculates an acceleration end time, a deceleration start time, a deceleration end time, and the like according to a work procedure stored in advance, and issues a command to the control unit 12C of the power supply apparatus 10C.

Then, if the acceleration of the mover of the motor 40 has been completed (step S32; YES), the control unit 12C is returned to the original voltage _{E 0} a voltage of power supplied from the voltage controller 11 (step S33). In this way, the control unit 12C detects the end of acceleration of the motor 40 based on information from the host controller 30C that issues a command for the operation of the motor 40 to the motor driving device 20A.

  Next, the control unit 12C determines whether or not the power supply 10C is turned off (step S34). When the power supply 10C is not turned off (step S34; NO), the process returns to step S30, and the control unit 12C repeats this operation until a deceleration command. Note that the deceleration is almost the same as the acceleration.

  When the power supply device 10C is turned off (step S34; YES), the control unit 12C ends the series of operations.

  As described above, according to the present embodiment, in addition to the effects of the above-described embodiment, the motor drive device 20A operates based on the command of the host controller 30C. From the information from 30C, the start of acceleration or deceleration can be determined more accurately. In particular, it is possible to accurately determine when to start deceleration, and to decelerate in a short time.

(Fourth embodiment)
Next, a schematic configuration and functions of a motor drive system according to a fourth embodiment of the present invention will be described with reference to the drawings.

  FIG. 12 is a block diagram showing an example of a schematic configuration of a motor drive system according to the fourth embodiment of the present invention.

  As shown in FIG. 12, the motor drive system 1D includes a power supply device 10D and a motor drive device 20D, unlike the first embodiment.

  The power supply device 10D has a control unit 12D, and the motor drive device 20D has a control unit 22D. The control unit 22 </ b> D includes back electromotive force detection means 23 that detects back electromotive force generated in the coil of the motor 40. The control unit 12D of the power supply device 10D and the control unit 22D of the motor driving device 20D are connected by a line 26.

  The back electromotive force detection means 23 calculates the magnitude of the back electromotive force based on the information from the sensor 41 based on the speed of the motor 40.

  The control unit 12D of the power supply apparatus 10D acquires information on the magnitude of the counter electromotive force generated by the operation of the motor 40 from the control unit 22D of the motor driving apparatus 20D via the line 26, and the magnitude of the counter electromotive force. Based on the above, control is performed to change the voltage of the supplied power. That is, it functions as a voltage variable means for changing the voltage of the power supplied from the power supply device 10D based on the magnitude of the counter electromotive force generated by the operation of the motor 40.

  Next, the operation of the motor drive system 1D will be described with reference to the drawings.

  FIG. 13 is a flowchart illustrating an operation example of the control unit 12D of the power supply apparatus 10D.

First, the control unit 12D of the power supply device 10D determines whether or not the counter electromotive force has exceeded the threshold value based on the information on the magnitude of the counter electromotive force from the control unit 22D of the motor drive device 20D ( Step S40). The threshold is set so that the voltage of the supplied power can be increased before the motor 40 is accelerated and the speed of the mover of the motor 40 reaches the speed v ₀ and the acceleration starts to be affected as shown in FIG. Is set. If the counter electromotive force does not exceed a certain threshold (step S40; NO), the control unit 12D repeats this operation until the counter electromotive force exceeds a certain threshold.

Then, when it exceeds a certain threshold counter electromotive force (Step S40; YES), the control unit 12D may raise the voltage of power supplied from the voltage controller 11 from the voltage _{E 0} to the voltage _{E 1} (step S41). As described above, the control unit 12D changes the voltage of the power supplied from the power supply device 10D based on the magnitude of the back electromotive force generated by the operation of the motor 40. Since the magnitude of the counter electromotive force depends on the speed of the motor 40, the magnitude of the counter electromotive force is calculated based on the speed of the motor 40.

  Next, the control unit 12D determines whether or not the acceleration of the mover of the motor 40 has been completed based on information from the motor driving device 20D (step S42). And when the acceleration of the needle | mover of the motor 40 is not complete | finished (step S42; NO), control part 12D repeats this operation | movement until acceleration is complete | finished.

Then, if the acceleration of the mover of the motor 40 has been completed (step S42; YES), the control unit 12D is returned to the original voltage _{E 0} a voltage of power supplied from the voltage controller 11 (step S43).

  Next, the control unit 12D determines whether to start decelerating the motor 40 based on information from the motor drive device 20D (step S44). And when the motor 40 does not start deceleration (step S44; NO), control part 12D repeats this operation | movement until the motor 40 starts deceleration. And when the motor 40 starts deceleration (step S44; YES). The control unit 12D increases the voltage of the power supplied from the voltage adjustment unit 11 (step S45).

  Next, the control unit 12D determines whether or not the back electromotive force has fallen below a threshold value based on the information on the magnitude of the back electromotive force from the control unit 22D (step S46). If the counter electromotive force has not fallen below a certain threshold value (step S46; NO), the control unit 12D repeats this operation until the counter electromotive force falls below a certain threshold value.

Next, when it falls below a certain threshold counter electromotive force (Step S46; YES), the control unit 12D returns an voltage of power supplied from the voltage adjusting unit 11 to the voltage _{E 0} (step S47). As described above, the control unit 12D changes the voltage of the power supplied from the power supply device 10D based on the magnitude of the back electromotive force generated by the operation of the motor 40.

    As described above, according to the present embodiment, in addition to the effects of the above-described embodiment, since it is based on the magnitude of the back electromotive force generated by the operation of the motor 40, the increase in the voltage of the supplied power can be accurately determined at a necessary timing. . Then, by controlling the voltage of the power supplied from the power supply device 10D based on the magnitude of the back electromotive force, it is possible to realize control of the motor that can respond at high speed and high speed.

  In the first to fourth embodiments, when the motor 40 is a rotary motor, the sensor 41 detects the rotational speed of the rotor of the rotary motor. In the case of accelerating or decelerating the rotary motor up to the target rotational speed, the same effect as that of the linear motor can be obtained.

The motor 40 in the above embodiment may be a direct current motor. Even in the case of a direct current motor, when high response and high acceleration are required, the control method of the above embodiment can be applied.
Further, a motor driving device in which a power supply device is incorporated in the motor driving device may be used. In this case, the motor driving device incorporating the control method of the above embodiment can be integrated.

  The present invention is not limited to the above embodiments. Each of the embodiments described above is an exemplification, and any configuration that has substantially the same configuration as the technical idea described in the claims of the present invention and has the same operational effects can be used. It is included in the technical scope of the present invention.

It is a block diagram which shows an example of schematic structure of the motor drive system which concerns on 1st Embodiment of this invention. It is a diagram which shows the time change of the speed of the motor in the motor drive system of FIG. 1, and the output voltage of a power supply device. 3 is a flowchart illustrating an operation example of the power supply device of FIG. 1. It is a characteristic view which shows the relationship between the thrust and speed in the conventional motor drive system. It is a characteristic view which shows the relationship between the thrust and speed in the motor drive system of FIG. It is a diagram which shows the speed of the motor in the conventional motor drive system, and the output voltage of a power supply device. It is a diagram which shows the modification of the speed change of the motor in the motor drive system of FIG. 1, and the time change of the output voltage of a power supply device. 6 is a flowchart showing a modification of the operation example of the power supply device of FIG. 1. It is a block diagram which shows an example of schematic structure of the motor drive system which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the operation example of the power supply device of FIG. It is a block diagram which shows an example of schematic structure of the motor drive system which concerns on 3rd Embodiment of this invention. It is a flowchart which shows the operation example of the power supply device of FIG. It is a block diagram which shows an example of schematic structure of the motor drive system which concerns on 4th Embodiment of this invention. 13 is a flowchart illustrating an operation example of the power supply device of FIG. 12.

Explanation of symbols

  10A, 10B, 10C, 10D ... power supply device (power supply), 11 ... voltage adjustment unit (voltage increase means, voltage decrease means), 12A, 12B, 12C, 12D ... control unit (control unit, voltage) 20A, 20B, 20D Motor drive device (motor drive means), 21 ... Power conversion unit, 22A, 22B, 22D ... Control unit, 23 ... Back electromotive force detection unit, 30A, 30C ... Host controller (command means), 40 ... Motor

Claims (10)

Prepare a power supply to supply power to the motor drive means to drive the motor,
A voltage increasing step for raising the voltage of the power supplied from the power source to a voltage higher than a reference voltage based on the start of acceleration or deceleration of the motor;
A reference voltage lowering step for lowering the voltage of the power supplied from the power source to a voltage lower than the reference voltage in a state where the speed of the motor is constant ;
A voltage lowering step for returning the voltage of the supplied power to the reference voltage when the motor is stopped ;
A motor control method characterized by comprising: The voltage increasing step increases the voltage when the current of the supplied power increases;
The motor control method according to claim 1, wherein the voltage dropping step returns the voltage when the current of the supplied power decreases. The voltage increase step detects the start of acceleration or deceleration of the motor based on information from the motor driving means,
The motor control method according to claim 1, wherein the voltage drop step detects stop of the motor based on information from the motor driving unit. The voltage increase step detects the start of acceleration or deceleration of the motor based on information from a command unit that issues a command for operation of the motor to the motor drive unit;
4. The stop of the motor is detected based on information from a command unit that issues a command to operate the motor to the motor driving unit. 5. The motor control method according to item. The voltage increasing step increases the voltage based on the magnitude of the back electromotive force generated by the operation of the motor,
5. The motor control method according to claim 1, wherein the voltage drop step returns the voltage based on a magnitude of a counter electromotive force generated by the operation of the motor. A voltage adjusting unit for adjusting a voltage of a supply voltage supplied to the motor driving means for driving the motor;
A controller for controlling the voltage regulator;
With
The controller is
Voltage raising means for raising the voltage of the supplied power to a voltage higher than a reference voltage based on the start of acceleration or deceleration of the motor;
In a state where the speed of the motor becomes constant speed, and the reference voltage lowering means for the voltage of power supplied from the power supply, down to a voltage lower than the reference voltage,
Voltage lowering means for returning the voltage of the supplied power to the reference voltage when the motor is stopped ;
A power supply device comprising:   The power supply apparatus according to claim 6, wherein the control unit increases the voltage when the supply power current increases, and returns the voltage when the supply power current decreases. Wherein the control unit, based on information from the motor driving means, said start of acceleration or deceleration of the motor, or the power supply device according to claim 6 or claim 7, characterized in that for detecting the stopping of the motor . Wherein the control section, based on information from command means for issuing a command for operation of the motor to the motor drive unit, the start of acceleration or deceleration of the motor, or, which is characterized by detecting the stop of the motor Item 9. The power supply device according to any one of Items 6 to 8. A voltage adjusting unit for adjusting the voltage of the power supplied to the motor driving means for driving the motor;
10. The power supply device according to claim 6, wherein the control unit performs control to change the voltage based on a magnitude of a back electromotive force generated by operation of the motor. 11. .

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