JP6488856B2 - Drive control device provided with power storage device - Google Patents

Description

  The present invention relates to a drive control device provided with a power storage device, which is used in a transfer facility provided with a plurality of transfer machines each having an electric motor that generates regenerative power under inverter control.

As a conventional technique related to a drive control device used in a transport facility having a plurality of transport machines having an electric motor that generates inverter with regenerative power, it is not used in a transport facility in a production line or the like. A regenerative brake that supplies power to a plurality of DC electric vehicles (hereinafter referred to as “vehicles”) from a DC overhead line and flows the regenerative power through the brake resistance of the host vehicle to dissipate heat, and other vehicles via the overhead line. There is a drive control device for a DC electric vehicle that uses a power generation brake that generates braking torque by consuming regenerative power as power running power (see, for example, Patent Document 1).
Here, in the DC electric vehicle drive control device of FIG. 2 of Patent Document 1, since the drive control circuits of a plurality of vehicles are connected in parallel via an overhead line and a rail, one vehicle is connected to the overhead line. If the power generation brake resistance is turned on while the power is being generated, the regenerative load due to the power generation brake resistance is not only the regenerative load of the host vehicle but also the load of other regenerative vehicles.
Therefore, since electric power flows into the power generation brake resistor from the DC power supply side, the energy generated by the host vehicle cannot be absorbed and the braking torque may be insufficient.

In order to eliminate such a shortage of braking torque, in the configuration of the DC electric vehicle drive control device of FIG. 1 of Patent Document 1, a circuit breaker 5 for opening the inverter is connected in series with the initial charging circuit of the filter capacitor 7. In the connected circuit, in parallel with the current breaker 5, the cathode side of the diode 17 is connected to the power source side and the anode side is connected to the inverter device 8 side.
When a brake command is given to the inverter device 8, the inverter device 8 generates a voltage (direct current) for exciting the motors (M) 91 to 94. Thereafter, the inverter device 8 performs power generation control on the kinetic energy of the vehicle via the electric motors 91 to 94 to operate the electric brake. If the DC power supply does not have a load that absorbs the regenerative energy generated by the electric brake, the power supply voltage rises above the voltage delivered by the substation, thereby raising the filter capacitor voltage. At that time, the semiconductor switch 10 is turned on and the power generation brake resistor 11 is connected as a load of the inverter device 8 in order to continue the electric brake even when the filter capacitor voltage rises to a predetermined voltage value or higher.
Then, by opening the circuit breaker 5 at the time when the power generation brake control is started, the diode 17 is connected in series with the DC power supply. As a result, the power generation brake can be operated while preventing the inflow of power from the DC power supply side, and even when the regenerative load increases during the power generation brake, it can be regenerated via the diode 17. Furthermore, the influence by regeneration from other vehicles is also eliminated.
Therefore, inflow of electric power from the overhead line during power generation brake control is prevented, and stable brake control can be performed without increasing the power generation brake resistance value.

JP-A-9-308003

  The configuration of the drive control device for a DC electric vehicle shown in FIG. 1 of Patent Document 1 is a drive control device used for transport equipment in a production line or the like having a plurality of transport machines having an electric motor that is inverter-controlled and generates regenerative power. When used, since the diode 17 is connected with the cathode side on the power supply side and the anode side on the inverter device 8 side, the transporter (self transporter) that has entered the regenerative operation turns off the circuit breaker 5. Even if the control shifts to the power generation brake control (utilizing the resistance circuit), the voltage of the DC bus (both ends of the filter capacitor 7) is connected to the DC bus voltage of the other carrier (other carrier) via the diode 17 and the overhead wire. May also be lifted. That is the case where the other transport machine has started the power running operation, and the current breaker 5 of the other transport machine is turned on to supply power to the inverter.

In such a case, if the on-voltage of the semiconductor switch is lower for the reason described later when the power generation brake of the own transport machine is operating, the power generation brake circuit of the other transport machine may be activated first. It is possible to get up.
In particular, when a plurality of transporters are performing regenerative operation at the same time, it takes time to reduce the voltage of the DC bus by consuming the regenerative energy of all the transporters with a single transporting transporter. This is because it is considered.
In addition, since there are cases where electric motors having different capacities are mixed in the transport machine, the brake circuit of the other transport machine is activated when the motor of the own transport machine performs regenerative operation, so that There arises a problem that the torque affects the deceleration distance (stopping accuracy) and that the rating of the circuit element (feedback diode) inside the inverter is exceeded.

Next, a plurality of self-propelled conveyance shown in the block diagram of FIG. 8 is used as a drive control device including a power storage device, which is used in a conveyance facility including a plurality of conveyance machines having electric motors that generate inverter power under inverter control. The drive control device of the machine is examined. This drive control device does not use a power conversion device (bidirectional DC / DC converter) when storing power in the capacitor 2 that is a power storage device arranged on the ground side and when reusing the capacitor 2 for reuse. Thus, no loss (heat loss) at the time of power conversion occurs, so that regenerative power can be reused efficiently.
In the drive control device of FIG. 8, if the voltage of the AC primary power supply P is 200V, the voltage of the DC power line 1A after the power is turned on is a voltage around 282V that is twice the route. For example, when the raising / lowering motor M1 performs the lowering operation, if for some reason a situation in which the regenerative power cannot be stored in the capacitor 2 occurs, the regenerative power flows into the smoothing capacitor C1 inside the first inverter INV1. The line voltage of the DC bus will be raised.
When the line voltage of the DC bus suspended in this way exceeds the ON voltage of the regenerative transistor TR1 built in the first inverter 1NV1, the regenerative transistor TR1 is activated to flow a regenerative current to the regenerative resistor R4. It is ideal if it can operate so as to dissipate as thermal energy.

However, the ON voltage of the regenerative transistor built in the inverter varies depending on the inverter. Such variations in on-voltage include, depending on the capacity of the inverter, the type of regenerative brake unit (inverter built-in type or external type), and semiconductor manufacturing errors when using a commercially available inverter.
If the on-voltage of the regenerative transistor TR1 is 380V and the on-voltage of the regenerative transistor TR2 is 376V, the DC buses of the first inverter 1NV1 and the second inverter INV2 are connected in parallel, so that the regenerative transistor TR1 The regenerative transistor TR2 operates first before the operation of the motor, and the regenerative power of the elevating motor M1 flows into the regenerative resistor R5 on the traveling motor M2 side.
If the motor capacity of the lifting motor M1 is 7.5 kW and the motor capacity of the traveling motor M2 is 1.5 kW, the inverter and the regenerative resistor are selected according to the motor capacity, and the lifting motor M1 is selected. This regenerative power cannot be processed (thermally converted) by the 1.5 kW regenerative resistor R5 for the traveling motor M2, the DC bus voltage rises further, and the regenerative transistor TR1 also operates with a delay.
Thus, if the regenerative resistor circuit attached to the inverter malfunctions due to variations in the on-voltage of the regenerative transistor, there arises a problem that the braking torque of the motor is affected and the deceleration distance (stopping accuracy) is adversely affected.

Next, assuming the reverse case, assuming that the on-voltage of the regenerative transistor TR1 is 376V and the on-voltage of the regenerative transistor TR2 is 380V, when regenerative power is generated from the traveling motor M2, the second inverter INV2 The regeneration transistor TR1 malfunctions before the regeneration transistor TR2 operates.
A resistor for obtaining a required braking torque (regenerative current) from a general regenerative resistor selection standard (200V system) has a smaller resistance value and a larger wattage as the motor capacity increases. The reason is that a large regenerative current needs to flow to obtain a large braking torque, so the resistance value is made small. As a result, the on-voltage of the regenerative transistor is constant, so that the regenerative current increases and the power (I ² · R) to be converted into heat increases, so that the resistor has a large heat capacity (wattage).
Assuming that R4 = 20Ω and R5 = 60Ω, the regenerative current value flowing in the feedback diode built in the chopper circuit 7B of the traveling second inverter INV2 is the current value (i = 380V / A current value (i = 380V / 20Ω = 19A) that is three times that of 60Ω = 6.3A) flows, and the feedback diode of the chopper circuit 7B may be damaged when the rated current is exceeded.
Unless such a problem is solved, it is impossible to connect the inverters for transfer machines having different capacity electric motors to the same DC power line, or to connect a plurality of inverters for transfer machines to the DC power line.

  In view of the circumstances as described above, an object of the present invention is generated in a drive control device including a power storage device, which is used in a transport facility including a plurality of transport devices having an electric motor that generates inverter and is controlled by an inverter. When the regenerative power can be effectively used directly (without accumulating) as power running power of a transport machine that performs other power running operations via a common power line, and there is no other transport machine that performs power running operations when regenerative power is generated In this case, the regenerative power is efficiently stored in the power storage device installed on the ground side without going through the power converter (bidirectional DC / DC converter), and the power stored in any of the transporters in the same line can be regenerated. To make it available.

  In order to solve the above problems, a drive control device including a power storage device according to the present invention includes a power storage device that is used in a transport facility including a plurality of transport devices having an electric motor that generates inverter and is controlled by an inverter. A drive control device, a rectifier circuit that converts an AC voltage supplied from an AC primary power source into a DC voltage on a ground side control panel installed on the ground, a DC power line connected to the output side of the rectifier circuit, And a power storage device connected in parallel with the rectifier circuit via the DC power line, and connected in parallel with the rectifier circuit via the DC power line to the onboard control panel of the plurality of transporters. And an inverter for driving the motor, the DC power line, and an input side of the inverter connected in series, and a connection for ON / OFF operation between the DC power line and the input side of the inverter. In parallel to the switch, and the connection switch, the DC power line side is an anode, the inverter block side is connected to be a cathode, the regenerative block diode, either on the ground side control panel or the onboard control panel, Voltage measuring means for measuring a line voltage of the DC power line is provided, and the regenerative block diode is turned off with a predetermined voltage value lower than the on voltage of all the regenerative transistors in the inverter of the plurality of transfer machines. By enabling the regenerative power, the regenerative electric power generated by the electric motor is converted into heat energy by the regenerative resistor of the inverter and dissipated.

According to such a configuration, since the power storage device is directly connected to the DC power line on the output side of the rectifier circuit, the regenerative power generated by the motor is directly stored in the power storage device without going through the power converter, The power stored in the power storage device is used without going through the power conversion device. Therefore, since there is no conversion loss of the power conversion device, the regenerative power can be used effectively, and the energy saving effect is increased.
In addition, when the connection switch is on, the regenerative power generated in the motor is directly effective as the power of the motor that performs power running via the DC power line if there is another motor that performs power running at the same timing. Used. If there is no other motor that performs power running, the regenerative power is temporarily stored in the ground power storage device because the connection switch is on. When the regenerative power is stored in the power storage device, the potential of the power storage device becomes higher than the voltage value on the output side from the primary power supply via the rectifier circuit. Therefore, when a motor that performs a power running operation appears, the primary power supply Since the power stored in the power storage device is preferentially used, the power consumption of the primary power source can be reduced.

In addition, the regenerative block diode is enabled by turning off the connection switch at a predetermined voltage value lower than the on voltage of all the regenerative transistors in the inverters of the plurality of transfer machines, so that the regenerative power generated by the motor is the regenerative block. The diode is blocked from flowing out to the power storage device side. Since the blocked regenerative power raises the voltage of the DC bus inside the inverter, the regenerative transistor is turned on. Therefore, the regenerative electric power is converted into heat energy and dissipated by the regenerative resistor in the inverter for the motor during the regenerative operation. Therefore, it is possible to prevent an accident such as an unstable operation of the regenerative resistor circuit in which the regenerative transistor malfunctions due to variations in the ON voltage of the regenerative transistor or damage to the inverter circuit element.
In addition, even if the number of conveyors is increased, the regenerative resistor circuit attached to other inverters will not malfunction, and the braking torque of the motor will not fluctuate or adversely affect the inverter circuit elements. Thus, the transporter can perform a stable operation.

Here, the ground side control panel is provided with the voltage measuring means, and when the voltage value measured by the voltage measuring means exceeds the predetermined voltage value, the ground side control board has the ground side control circuit to It is preferable that the upper control circuit turns off the connection switch to enable the regenerative block diode by sending a command to turn off the connection switch to the upper control circuit of the upper control panel.
According to such a configuration, the command to turn off the connection switch when the measured value of the line voltage of the DC power line measured by the voltage measuring means of the ground side control panel exceeds the predetermined voltage value is It is transmitted from the control circuit to all the plurality of onboard control circuits. All the connection switches are turned off by the onboard control circuit that has received the command to turn off the connection switches. Therefore, the operation to enable the regenerative block diode by turning off the connection switch at a predetermined voltage value lower than the ON voltage of all the regenerative transistors in the inverters of the plurality of transfer machines is reliably performed collectively from the ground side control panel. be able to.

Further, the ground control panel is provided with a disconnect switch for disconnecting the power storage device provided between the rectifier circuit and the power storage device, and when the disconnect switch is turned off, the ground control panel By sending a command to turn off the connection switch from the side control circuit to the machine upper control circuit of the machine upper control panel, the machine upper control circuit turns off the connection switch and enables the regenerative block diode. Is more preferable.
According to such a configuration, when the power storage device is disconnected by turning off the disconnect switch, a command to turn off the connection switch is transmitted from the ground side control circuit to all the plurality of onboard control circuits, All the connection switches are turned off by the machine upper side control circuit that has received the command, and the regenerative block diode is enabled. Therefore, since the regenerative power does not flow out to the DC power line side by the block diode, the malfunction of the inverter's regenerative transistor due to the regenerative power flowing through the DC power line can be suppressed. Even when the apparatus is disconnected, the operation of the plurality of transfer machines can be continued.

Further, the power storage device is a capacitor, and the capacitor flows when charging the regenerative power in the operation time in which the regenerative power is generated in consideration of the operation patterns of all the motors of the transporter. Capacitance and direct current internal charge current can generate braking torque required for speed control of the motor and can be charged with regenerative power in a time shorter than the time when the motor is generating regenerative power It is preferable to have resistance.
According to such a configuration, since the capacitor having the capacitance and the DC internal resistance satisfying the above conditions is used as the power storage device, the speed of the transport device is controlled according to a target along a predetermined speed curve. be able to.

As described above, according to the drive control device including the power storage device according to the present invention,
(1) When storing the regenerative power in the power storage device and using the power stored in the power storage device, there is no conversion loss because it does not go through the power conversion device, and the regenerative power can be used effectively. To become a,
(2) When the connection switch is on, the regenerative power generated in the motor is directly used directly as the power of the motor that performs power running via the DC power line if there is another motor that performs power running at the same timing. Being
(3) If there is no other motor that performs power running when the connection switch is on, the regenerative power generated in the motor is once stored in the power storage device on the ground, and the motor that performs power running appears. Since the power stored in the power storage device is used preferentially over the power supply, the power consumption of the primary power supply can be reduced,
(4) When the connection switch is turned off at a predetermined voltage value lower than the ON voltage of all the regenerative transistors in the inverters of the plurality of transfer machines, and the regenerative block diode is enabled, the regenerative power generated in the motor is converted to the direct current inside the inverter. Since the regenerative transistor is turned on by raising the voltage of the bus, the regenerative power is converted into heat energy by the regenerative resistor in the motor inverter during the regenerative operation and is dissipated. This can prevent accidents such as unstable operation of the regenerative resistor circuit and damage to the inverter circuit element, which cause malfunction of the regenerative transistor.
(5) Even if the number of conveyors is increased, the regenerative resistor circuit attached to other inverters will not malfunction, and the braking torque of the motor will not fluctuate or adversely affect the inverter circuit elements. The transport machine can perform stable operation,
There are remarkable effects such as.

It is a block diagram which shows the structure of the drive control apparatus provided with the electrical storage apparatus which concerns on embodiment of this invention. (A) is a block diagram of a ground side control circuit, (b) is a block diagram of a first inverter. It is a top view which shows the example of the conveyance installation using the said drive control apparatus. It is also a front view. It is a block diagram which shows the modification of the drive control apparatus provided with the electrical storage apparatus. It is a block diagram which shows the example which provided the voltage measurement means which measures the line voltage of a DC power line in the machine upper side control panel. (A) is a figure which shows the equivalent circuit of capacitor charge, (b) is a figure which shows the change of the charging current with time. It is a block diagram which shows the example of the drive control apparatus provided with the electrical storage apparatus of the structure which does not utilize a power converter device at the time of the electrical storage to an electrical storage apparatus, and the discharge from an electrical storage apparatus.

The drive control device provided with the power storage device of the present invention is used in a transfer facility including a plurality of transfer machines having an electric motor that generates regenerative power under inverter control.
The power storage device in the present invention includes a secondary battery having characteristics capable of rapid charge / discharge, such as a nickel metal hydride battery, in addition to a capacitor such as an electric double layer capacitor and a lithium ion capacitor.
The conveyance machine in the present invention has one or a plurality of electric motors that generate regenerative power under inverter control, and when the traveling motor generates regenerative power, the configuration includes only one electric motor for traveling. Is also included.
Below, the structure provided with two or more conveyance machines which have the electric motor for raising / lowering from which capacity | capacitance which differs by capacity | capacitance which generate | occur | produces regenerative electric power by inverter control is demonstrated.

The drive control device provided with the power storage device according to the embodiment of the present invention shown in the block diagrams of FIG. 1 and FIG. 2 is used for a transport facility such as a plan view of FIG. 3 and a front view of FIG. Yes, with multiple self-propelled conveyors. In addition, the conveyance equipment of FIG.3 and FIG.4 has shown the example provided with two self-propelled conveyance machine T1, T2.
In the drive control device including the power storage device according to the embodiment of the present invention, the ground side control panel A is installed on the ground, and the onboard control panel B is attached to the self-propelled transport machines T1, T2,. Power is supplied to the upper control panel B from the ground control panel A installed on the ground side via the DC power line 1A (including the bus bar 1B) and the current collectors 8 and 9 (see FIG. 1). .
In FIGS. 3 and 4, the transport machines T <b> 1 and T <b> 2 are self-propelled transport machines having a travel frame 11 that travels along the travel rail 10, and supports the object W to be transported below the travel frame 11. While having the raising / lowering hanger 12 which goes up and down, it is provided with the raising / lowering electric motor M1 and the electric motor M2 for driving | running | working driven by an inverter.

<Ground control panel>
In the drive control device including the power storage device of FIG. 1, the ground-side control panel A that controls the whole outputs the rectifier circuit 1 that converts the AC voltage supplied from the AC primary power supply P into a DC voltage, and the output of the rectifier circuit 1. A capacitor 2 that is a power storage device that stores regenerative power generated by the motors M1 and M2 of the transporters T1 and T2, connected in parallel to the rectifier circuit 1 via the DC power line 1A and the DC power line 1A. An inrush current suppression circuit 3 comprising a resistor R1 and a switch SW1 connected in parallel, connected to the primary side of the capacitor 2, a disconnect switch SW2 for disconnecting the capacitor 2 provided between the rectifier circuit 1 and the capacitor 2, In addition, an upper side control circuit CB of the upper side control panel B of the transfer machines T1 and T2 and a ground side control circuit CA for performing necessary signal exchange and the like are provided.

Here, the capacitor 2 has a capacity capable of storing the maximum regenerative power generated when a plurality of electric motors connected to the DC power line 1A perform the regenerative operation at the same time, and also when the maximum regenerative power is stored. The terminal voltage of the capacitor 2, that is, the line voltage of the DC power line 1A is selected to have a capacity that does not exceed a preset threshold value (voltage V ₁ after charging the regenerative power to the capacitor 2) described later. The
Since the capacitor 2 is directly connected to the DC power line 1A, the regenerative power generated by the motors M1, M2,... Can be directly stored in the capacitor 2 without going through the power converter (bidirectional DC / DC converter). The electric power stored in can be used without going through the power converter. Therefore, since there is no conversion loss of the power conversion device, the regenerative power can be used effectively, and the energy saving effect is increased.

Further, as shown in the block diagram of FIG. 2A, the ground side control circuit CA includes a voltage measuring unit 4A that measures the line voltage of the DC power line 1A, and a measured value and a voltage setting value 4B by the voltage measuring unit 4A. 13A is provided. When the measured value exceeds the set value, a “connection switch-off signal” for turning off a connection switch (described later) of the onboard control panel B from the ground side control circuit CA is a signal shown in FIG. It is transmitted to the upper control circuit CB by the transmission means S.
Here, the voltage setting value 4B is set to a voltage value lower than the ON voltage of all the regenerative transistors TR1, TR2,... In the inverters 1NV1, INV2,.

<Upper control panel>
In the drive control device including the power storage device of FIG. 1, the upper control panel B attached to the transporters T1 and T2 includes an elevator motor M1 connected in parallel with the rectifier circuit 1 via the DC power line 1A. The first inverter INV1, the DC power line 1A to be driven, and the input side of the first inverter INV1 are connected in series, and the on / off operation is performed between the DC power line 1A and the input side of the first inverter INV1, and the regenerative power is turned on. Is connected to the ground capacitor 2 via the DC power line 1A, and the regeneration switch is connected in parallel with the connection switch SW5 so that the DC power line 1A side is an anode and the first inverter INV1 side is a cathode. A block diode D1 is provided.
Further, the upper control panel B is connected in parallel with the rectifier circuit 1 through the DC power line 1A, between the input side of the second inverter INV2, the DC power line 1A, and the second inverter INV2 that drives the traveling motor M2. Connected to the DC power line 1A and the input side of the second inverter INV2, and a connection switch SW6 for returning the regenerative power to the ground capacitor 2 via the DC power line 1A in the ON state. The regenerative block diode D2 is connected in parallel with the connection switch SW6 so that the DC power line 1A side is an anode and the second inverter INV2 side is a cathode.
Further, the upper control panel B has an upper control circuit CB that controls the main body of the transport machine while exchanging signals with the ground control panel A.

The first inverter INV1 includes a smoothing capacitor C1 for smoothing a DC voltage, a resistor R2 connected in parallel connected to the primary side of the smoothing capacitor C1, and an inrush current suppression circuit 5A including a switch SW3, and a smoothing capacitor C1. A chopper circuit 7A that converts the smoothed DC voltage into an AC voltage of variable voltage and variable frequency and outputs the AC voltage to the lifting motor M1, a regenerative transistor TR1 and a regenerative resistor R4 connected in parallel to the smoothing capacitor C1, etc. It is comprised by the regenerative resistance circuit 6A etc. which consist of.
The second inverter INV2 includes a smoothing capacitor C2 that smoothes the DC voltage, a resistor R3 connected in parallel to the primary side of the smoothing capacitor C2, and an inrush current suppression circuit 5B including a switch SW4, a smoothing capacitor A chopper circuit 7B that converts the DC voltage smoothed by C2 into an AC voltage of variable voltage and variable frequency and outputs the AC voltage to the traveling motor M2, and a regenerative transistor TR2 and a regenerative resistor connected in parallel to the smoothing capacitor C2. It is constituted by a regenerative resistor circuit 6B composed of R5 and the like.

Here, all the inverters that drive the motor are provided with an inverter control circuit similar to the inverter control circuit IC shown in the block diagram of the first inverter INV1 in FIG.
The inverter control circuit IC shown in FIG. 2B is a voltage measuring unit 14A that measures its own DC bus voltage, and a comparator that compares the measured value by the voltage measuring unit 14A with the on-voltage set value 14B of the regenerative transistor TR1. 13A, the regenerative transistor TR1 is turned on when the measured value exceeds the set value.

<Operation of the entire circuit>
Next, the operation of the entire circuit of the drive control device including the power storage device shown in FIG. 1 will be described.

(When measured value ≤ set value in Fig. 2 (a))
When the measured value of the line voltage of the DC power line 1A by the voltage measuring means 4A shown in FIG. 2A is equal to or lower than the voltage setting value 4B (for example, 375V) and the disconnect switch SW2 is not turned off (“disconnect” When the “switch-off signal” is not input), the “connection switch-off command” is not transmitted from the ground side control circuit CA.
In such a case, if the lifting / lowering hanger 12 of the transporting machine T1 is operated to lower the transported object W, regenerative power is generated in the lifting / lowering motor M1.
At that time, since the connection switch SW5 is on, if there is another electric motor that performs a power running operation (rising or traveling operation) at the same timing, the regenerative power is used as electric power of the motor that performs the power running operation via the DC power line. Used directly and effectively.
If there is no other motor that performs power running, the regenerative power is temporarily stored in the ground capacitor 2 because the connection switch SW5 is on. When the regenerative power is stored in the capacitor 2, the potential of the capacitor 2 becomes higher than the voltage value (for example, 282V) on the output side from the primary power supply P via the rectifier circuit 1. Therefore, when an electric motor that performs a power running operation appears, the power stored in the capacitor 2 is preferentially used over the primary power supply P. Therefore, since the stored regenerative power is preferentially reused, the primary power consumption can be reduced.

(When measured value> set value in FIG. 2A)
As described above, the voltage setting value 4B of the ground side control circuit CA shown in FIG. 2A includes all the regenerative transistors TR1, TR2,... In the inverters 1NV1, INV2,. A voltage value (for example, 375 V) lower than the ON voltage is set. When the measured value of the line voltage of the DC power line 1A by the voltage measuring means 4A exceeds the voltage set value 4B (for example, 375V), the ground side control circuit CA controls the “connection switch-off command” on the aircraft upper side. To the circuits CB, CB,.
Therefore, the on-board control circuits CB, CB,... Are connected to the connection switches SW5, SW6 at a predetermined voltage value (for example, 375 V) lower than the on-voltage of all the regenerative transistors TR1, TR2,. Turn off….
According to such a configuration, the connection switches SW5, SW6 at a predetermined voltage value lower than the ON voltage of all the regenerative transistors TR1, TR2,... In the inverters INV1, INV2,. The operation of turning off... Can be reliably performed collectively from the ground side control panel A.

When the connection switches SW5, SW6,... Are turned off, the regenerative block diodes D1, D2,... Become effective, and the regenerative power generated by the motors M1, M2,. Blocked from flowing out to the side.
Since the blocked regenerative power raises the voltage of the DC bus inside the inverters INV1, INV2,..., The regenerative transistors TR1, TR2,.
Therefore, the regenerative power is converted into heat energy and dissipated by the regenerative resistors R4, R5,... Of the regenerative resistor circuits 6A, 6B,... In the motor inverters INV1, INV2,. Therefore, an accident such as unstable operation of the regenerative resistor circuits 6A, 6B,... In which the regenerative transistors TR1, TR2,... Malfunction due to variations in the ON voltage of the regenerative transistors TR1, TR2,. It becomes possible to prevent.

(When “disconnect switch-off signal” in FIG. 2A is input)
When the disconnect switch SW2 of the ground control panel A in FIG. 1 is operated and the “disconnect switch off signal” is input to the ground control circuit CA, the ground control circuit CA issues a “connection switch off command”. To the upper control circuits CB, CB,.
Since the on-board control circuits CB, CB,... That have received the “connection switch-off command” turn off the connection switches SW5, SW6,..., Regenerative power flows out to the DC power line 1A side by the block diodes D1, D2,. do not do. Therefore, malfunction of the regenerative transistor of the inverter due to regenerative power flowing in through the DC power line 1A can be suppressed.
By providing the disconnect switch SW2 in the ground side control panel A in this manner, the disconnect switch SW2 is operated, and the “disconnect switch off signal” is input to the ground side control circuit CA, and the onboard control circuit CB is connected to the “connect switch off”. When the “command” is received, the regenerative power cannot be effectively used. However, even when the power storage device is disconnected for maintenance or the like of the power storage device, the operation of the plurality of transporters can be continued.

In the drive control apparatus having the power storage device of the present invention, the power supply from the ground side control panel A to the onboard control panel B is the DC power line 1A connected to the output side of the rectifier circuit 1 as shown in the block diagram of FIG. (Including the bus bar 1B) and the configuration performed via the current collectors 8 and 9, but the bus bar 1B and the current collectors 8 and 9 are used as in the modification shown in the block diagram of FIG. The structure which does not have may be sufficient.
Further, the voltage measuring means for measuring the line voltage of the DC power line in the drive control device equipped with the power storage device of the present invention is controlled on the ground side like the voltage measuring means 4A in the block diagrams of FIGS. 1 and 2 (a). You may provide in the board A, and you may provide in the machine upper side control board B like the voltage measurement means 15A of the block diagram of Fig.6 (a) and (b). When the voltage measuring means 15A is provided on the machine upper side, the machine upper control circuit CB of the machine upper control panel B compares the measured value by the voltage measuring means 15A with the voltage set value 15B in addition to the voltage measuring means 15A. 13C is provided. When the measured value exceeds the set value, the connection switches SW5 and SW6 are turned off by the connection switch-off command from the onboard control circuit CB.

<Performance required for capacitors>
Next, the performance required for the capacitor as the power storage device will be described.
The required performance of the capacitor is that the capacitor has enough capacity to store the regenerative power generated by the motor, and the rated voltage enough to withstand the total voltage of the connected circuit voltage and the voltage rise due to the regenerative stored power. It is necessary to have.
Further, for example, when the lifting motor M1 of the transport machine T1 performs the regenerative operation, the charging current that flows when the capacitor 2 is charged with the regenerative power generated by the motor M1 within the operation time during which the regenerative power is generated is It must be possible to generate the braking torque required for the speed control of M1.
Furthermore, the capacitor 2 to be used needs an ability to charge the regenerative power in a time shorter than the time in which the electric motor M1 generates the regenerative power.

It is desirable to verify the performance required for such a capacitor in an operation in which more regenerative energy (regenerative electric energy) is generated in a short time.
It is now assumed that the lifting motor M1 of the transfer machine T1 “5,244J of regenerative energy is generated in 2.7 seconds from the high speed descent to the low speed descent”, and the capacitor charging current of the regenerative energy at that time The required braking torque is obtained with the charging current value, and it is confirmed whether the regenerative power generated by the motor can be charged in the capacitor within a limited time.
This is a material for determining whether the elevating hanger 12 of the transport machine T1 can be controlled according to a target along a predetermined speed curve.

(Capacitor charging current value by regenerative energy)
When the regenerative energy (5,244J) is stored in a capacitor having the following specifications, the amount of increase in the capacitor charging current during charging and the increase in capacitor voltage after charging is calculated.
However, it is assumed that the capacitor is charged to 300V in advance.
(Capacitor specifications)
Type: Electric double layer capacitor Rated voltage: DC378V
Maximum peak voltage: DC406V
Capacitance (C): 1.5F
DC internal resistance (R): 206mΩ

Since 5,244 J of energy is stored in the capacitor charged to 300 V (V ₂ ) in 2.7 seconds, the capacitor voltage V ₁ after charging can be calculated as follows.
First, the following equation (1) is established among the regenerative energy U _RG (J), the capacitance C (F), the voltage V ₂ (V) before charging, and the voltage V ₁ (V) after charging. .

U _RG = (1/2) · C · (V ₁ ² −V ₂ ² ) (1)

The voltage V ₁ after charging is obtained from the equation (1).

V ₁ = √ [(2 · U _RG / C) + V ₂ ² ] = √ [(2 × 5,244 / 1.5) +300 ² ]
= 311.4 (V) (2)

That is, the capacitor voltage increases by 11.4V from 300V to 311.4V.
Next, an average charging current I _RG necessary for charging the capacitor for 2.7 seconds is obtained by the following equation (3).

I _RG = C · ΔV / T
= 1.5 * (311.4-300) /2.7=6.33 (A) (3)

In summary, when an average charging current of 6.33 A is supplied to the capacitor in the regeneration operation for 2.7 seconds, the regenerative energy of 5,244 J can be stored.
As a result, the capacitor potential, which was initially 300 V, increases by 11.4 V to 311.4 V.

(Determination of capacitor charging current value)
Next, for the purpose of determining whether or not the required braking torque can be obtained by the average charging current I _RG , the regeneration flowing through the regenerative resistor circuit (series circuit of the regenerative transistor TR1 and the regenerative resistor R4) of the lifting motor M1. Compare with the current value. However, the ON voltage of the regenerative transistor TR1 is 379 V, and the regenerative resistor R4 is 20Ω.
The maximum current Imax that flows through the regenerative resistor R4 when the regenerative transistor TR1 is turned on is calculated.

                  Imax = 379V ÷ 20Ω = 18.95 (A) (4)

Normally, the regenerative transistor TR1 is repeatedly turned on and off by the voltage fluctuation of the smoothing capacitor C1 inside the inverter, so that the regenerative current value is lower than the maximum current Imax.
The average regenerative current I _AVE is obtained by multiplying the on / off duty cycle by the maximum current Imax obtained by the equation (4). This time, for the duty cycle, a value of 27% obtained by actual measurement is used.

I _AVE = Imax × Duty = 18.95 × 0.27 = 5.1 (A) (5)

The average charging current I _RG of the capacitor calculated by the equation (3) is larger than the average regenerative current I _AVE calculated by the equation (5) flowing through the regenerative resistor circuit for converting the regenerative energy into the heat energy. Therefore, it can be seen that the necessary braking torque can be obtained by the charging current when charging the regenerative energy to the capacitor.

(Capacitor charging speed)
Next, regarding the performance of the capacitor, the DC internal resistance and the regenerative energy charging time are examined.
If the regenerative energy of 5,244J is not generated in 2.7 seconds but is generated instantaneously, it is examined how long the capacitor 2 can absorb (charge) the energy.

Since the voltage rise due to power storage is 11.4 V (ΔV) and the DC internal resistance R of the capacitor 2 is 0.206Ω, the charging of the capacitor 2 shown in FIG. It is equivalent to a circuit.
The time constant T of this equivalent circuit is T = CR = (1.5) · (0.206) = 0.31 s, and the rate of change of the charging current i is faster as the DC internal resistance R is smaller. Recognize. The electrostatic capacity C has the same tendency, but care must be taken because the electrostatic capacity C is related to the storage capacity.
Further, from FIG. 7B showing the change of the charging current i with time t in the equivalent circuit of FIG. 7A, the voltage increase value (ΔV = V) is divided by the DC internal resistance R of the capacitor 2. The current value I ₀ becomes substantially zero (I ₂₀ = 0.09 A) after 2 seconds, and almost all (99.84%) of the regenerative energy of 5,244 J is charged in the capacitor 2 in about 2 seconds. I understand that.
Therefore, the time (about 2 seconds) at which the residual rate of the current value I ₀ is substantially zero (0.16%) is sufficiently shorter than 2.7 seconds, which is the generation time (operation time) of regenerative energy. The charging speed of the capacitor 2 is not a problem.

As described above, the storage capacitor used in the drive control device including the power storage device of the present invention is directly connected to the DC power line, taking into account the operation patterns of all the motors of the plurality of transporters, and regenerating. The time during which the charging current flowing when charging the regenerative power in the capacitor generates the braking torque required for the speed control of the motor and the time during which the motor generates the regenerative power within the operation time when the power is generated A capacitor having a capacitance (C) and a DC internal resistance (R) satisfying the two performances of being capable of charging the regenerative power in a shorter time is selected.
Here, if the above two performances are not provided, the regenerative energy that does not operate according to the planned speed curve or that has lost its place due to a delay in charging the capacitor flows into the smoothing capacitor inside the inverter, and the voltage of the DC bus And the regenerative transistor is turned on, and the regenerative energy is dissipated as heat by the regenerative resistor even though the capacitor has a surplus storage space.

A Ground side control panel B Upper side control panel C Capacitor capacitance CA Ground side control circuit CB Upper side control circuit C1, C2 Smoothing capacitors D1, D2 Regenerative block diode INV1 First inverter INV2 Second inverter IC Inverter control circuit M1 Lifting motor M2 Driving motor P AC primary power supply R DC internal resistance R1, R2, R3 of resistor R4, R5 Regenerative resistor S Signal transmission means SW1, SW3, SW4 Switch SW2 Disconnect switch SW5, SW6 Connection switch T1 , T2, Tn Transporter TR1, TR2 Regenerative transistor W Transported object 1 Rectifier circuit 1A DC power line 1B Bus bar 2 Capacitor (power storage device)
3 Inrush current suppression circuit 4A Voltage measuring means 4B Voltage set value 5A, 5B Inrush current suppression circuit 6A, 6B Regenerative resistance circuit 7A, 7B Chopper circuit 8, 9 Current collector 10 Traveling rail 11 Traveling frame 12 Lifting hangers 13A, 13B, 13C Comparator 14A Voltage measurement means 14B ON voltage set value 15A Voltage measurement means 15B Voltage set value

Claims (4)

A drive control device provided with a power storage device, used in a transfer facility provided with a plurality of transfer machines having an electric motor that is controlled by an inverter and generates regenerative power,
To the ground side control panel installed on the ground,
A rectifier circuit that converts AC voltage supplied from the AC primary power source into DC voltage;
DC power line connected to the output side of the rectifier circuit,
And a power storage device connected in parallel with the rectifier circuit via the DC power line,
In the upper control panel of the plurality of conveyors,
An inverter for driving the electric motor, connected in parallel with the rectifier circuit via the DC power line;
A connection switch that is connected in series between the DC power line and the input side of the inverter, and that performs an on / off operation between the DC power line and the input side of the inverter;
In addition, in parallel with the connection switch, a regenerative block diode connected so that the DC power line side is an anode and the inverter side is a cathode,
In either the ground side control panel or the aircraft upper side control panel, a voltage measuring means for measuring a line voltage of the DC power line is provided,
By turning off the connection switch at a predetermined voltage value lower than the ON voltage of all the regenerative transistors in the inverters of the plurality of transfer machines and enabling the regenerative block diode, the regenerative power generated by the electric motor is A drive control device provided with a power storage device, characterized in that it is converted into thermal energy by a regenerative resistor of an inverter and dissipated.   The ground side control panel is provided with the voltage measuring means, and when the voltage value measured by the voltage measuring means exceeds the predetermined voltage value, the ground side control circuit of the ground side control panel is connected to the onboard control panel. 2. The power storage device according to claim 1, wherein the on-board control circuit turns off the connection switch and enables the regenerative block diode by transmitting a command to turn off the connection switch to the on-board control circuit. Drive control device.   The ground-side control panel is provided with a disconnect switch for disconnecting the power storage device provided between the rectifier circuit and the power storage device, and when the disconnect switch is turned off, the ground-side control of the ground-side control panel 2. The machine upper control circuit turns off the connection switch and enables the regenerative block diode by transmitting a command to turn off the connection switch from the circuit to the machine upper control circuit of the machine upper control panel. Or the drive control apparatus provided with the electrical storage apparatus of 2.   The power storage device is a capacitor, and the capacitor is a charging current that flows when regenerative power is charged to the capacitor within an operation time in which regenerative power is generated in consideration of operation patterns of all the motors of the transporter. Which generates a braking torque required for speed control of the motor and can charge the regenerative power in a time shorter than the time during which the motor generates regenerative power. A drive control device comprising the power storage device according to claim 1.

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