JP6628948B1 - Motor drive - Google Patents

Abstract

The motor drive device (100) includes a drive control unit (13) that controls a current (28) flowing through the motor (17) according to a command value, and an operation of a mechanism (18) that operates by receiving the power of the motor (17). The state data (including the detection result of the state or the operation state of the motor (17), the command value input to the drive control unit (13), and the current value of the current (28) output from the drive control unit (13)) A state data holding unit (14) for holding state data (25); and a data analysis unit (15) for analyzing state data (25) using learning data (27) obtained by machine learning. The motor driving device (100) causes the data analysis unit (15) to analyze the state data in a servo-off state in which the control of the motor (17) according to the command value is stopped, and performs the motor (17) according to the command value. A switching unit (12) for stopping the analysis of the state data by the data analysis unit (15) in the servo-on state in which is controlled.

Description

  The present invention relates to a motor driving device that drives a motor.

  The operating state of the motor and the mechanism operated by the power of the motor, such as friction, vibration characteristics, and load characteristics, is detected by the motor driving device, and based on the detected state data, the cause of the abnormality is verified or a sign of failure is indicated. Diagnosis may be made. In the data analysis for verifying the cause of the abnormality and diagnosing a sign of a failure, highly accurate verification and diagnosis can be performed by using learning data obtained by machine learning.

  The motor drive device is equipped with a processing circuit that performs an operation for controlling the rotation of the motor shaft based on the result of detecting the rotation of the motor shaft. The amount of calculation required in the data analysis by using the learning data is larger than the amount of calculation required for controlling the motor. Since a processing circuit mounted on a conventional motor driving device does not have a processing capability capable of constantly performing the data analysis, the data analysis is performed using a device external to the motor driving device.

  Patent Literature 1 discloses that an air conditioning control device that calculates a comfort index using a neural network performs machine learning in a time zone other than a time zone in which air conditioning by an air conditioner is performed and a calculation load is reduced. Have been. The air-conditioning control device according to Patent Literature 1 can reduce the calculation load as compared with the case where machine learning is performed in parallel with normal air-conditioning control.

JP-A-9-196434

  The motor driving device normally drives the motor at an arbitrary timing according to the operation schedule of the device having the motor. In the case of the motor drive device, it is more difficult to define the time when the calculation load is lower than the case of the air conditioning control device according to the time zone. For this reason, the motor driving device has a problem that it is difficult to reduce the calculation load by the technique of Patent Document 1 described above when realizing state data analysis without performing calculation using an external device. Was.

  The present invention has been made in view of the above, and an object of the present invention is to provide a motor drive device capable of reducing a calculation load.

  In order to solve the above-described problems and achieve the object, a motor drive device according to the present invention includes a drive control unit that controls a current flowing through a motor according to a command value, and an operation of a mechanism that operates by receiving the power of the motor. A state data holding unit for holding state data including a detection result of a state or an operation state of the motor, a command value input to the drive control unit, and a current value of a current output from the drive control unit; And a data analysis unit that analyzes the state data using the obtained learning data. The motor drive device according to the present invention causes the data analysis unit to analyze state data in a servo-off state in which control of the motor according to the command value is stopped, and performs data analysis in a servo-on state in which the motor is controlled according to the command value. A switching unit is provided for stopping the analysis of the state data by the analyzing unit.

  The motor drive device according to the present invention has an effect that the calculation load can be reduced.

FIG. 1 is a block diagram illustrating a functional configuration of a motor drive device according to a first embodiment of the present invention. FIG. 1 is a block diagram illustrating a hardware configuration of a motor drive device according to a first embodiment of the present invention. FIG. 4 is a block diagram showing a functional configuration of a motor drive device according to a second embodiment of the present invention. FIG. 4 is a block diagram showing a functional configuration of a motor drive device according to a third embodiment of the present invention. FIG. 4 is a block diagram showing a functional configuration of a motor drive device according to a fourth embodiment of the present invention.

  Hereinafter, a motor drive device according to an embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that the present invention is not limited by the embodiment.

Embodiment 1 FIG.
FIG. 1 is a block diagram illustrating a functional configuration of the motor driving device 100 according to the first embodiment of the present invention. The motor driving device 100 drives the motor 17 by supplying power to the motor 17. The motor 17 is a servo motor.

  The external device 10 is a device external to the motor drive device 100 and is a higher-level controller that controls the entire device including the motor 17. The external device 10 sends a servo command 21 to the motor drive device 100. The servo command 21 is a position command or a speed command.

  The mechanism 18 operates by receiving the power of the motor 17. The encoder 19 detects rotation of a motor shaft of the motor 17. The encoder 19 outputs a detection value 29, which is a result of detecting the rotation of the motor shaft, to the motor driving device 100. The detector 20 detects an operation state of the mechanism 18. The detector 20 outputs a detection value 30 which is a result of detecting an operation state of the mechanism 18 to the motor driving device 100. The detector 20 may be either one that detects an operation state outside the mechanism 18 or one that detects an operation state inside the mechanism 18.

  The operating state of the mechanism 18 is the state of the components of the mechanism 18 or the state of the substance in the mechanism 18 when the mechanism 18 is operating, and is assumed to be quantified. The operating state of the motor 17 is a state of components of the motor 17 or a state of a substance in the motor 17 at the time of operation of the motor 17, and it is assumed that quantitative determination is possible. The state is an electrical state, a mechanical state, a thermodynamic state, or a hydrodynamic state. The state data 25 described below is data obtained by quantifying the operation state.

  The motor drive device 100 holds a command analysis unit 11 that analyzes a servo command 21 input to the motor drive device 100, a drive control unit 13 that controls a current 28 that flows through the motor 17 according to a command value, and holds state data 25. It has a state data holding unit 14, a data analysis unit 15 that analyzes state data 25, and a learning data holding unit 16 that holds learning data 27. Further, the motor drive device 100 includes a switching unit 12 that alternately switches between execution of control by the drive control unit 13 and execution of analysis by the data analysis unit 15. The switching unit 12 causes the data analysis unit 15 to analyze the state data 25 in the servo-off state in which the control of the motor 17 according to the command value is stopped, and performs the data analysis in the servo-on state in which the motor 17 is controlled in accordance with the command value. The analysis of the state data 25 by the analysis unit 15 is stopped.

  By analyzing the contents of the servo command 21, the command analysis unit 11 instructs, by the servo command 21, which of servo-on, in which the motor 17 is controlled according to the command value, and servo-off, in which the control of the motor 17 is stopped in accordance with the command value. To determine if it is. If it is determined that the servo-on is instructed, the command analysis unit 11 outputs to the switching unit 12 instruction information 22 indicating that the servo-on is instructed. The instruction information 22 related to the servo-on includes an instruction value indicating an instructed position or an instructed speed. If the command analysis unit 11 determines that the servo-off is instructed, the command analysis unit 11 outputs to the switching unit 12 instruction information 22 indicating that the servo-off is instructed.

  When the instruction information 22 indicating servo-on is input to the switching unit 12, the switching unit 12 outputs a drive command 23 including a command value to the drive control unit 13. When the drive command 23 is input, the drive control unit 13 supplies a current 28 to the motor 17 according to the command value. The detected value 29 is input to the drive control unit 13 in the servo-on state where the servo-on is instructed. The drive control unit 13 adjusts the current value so that the detection value 29 follows the command value. The drive control unit 13 outputs the input / output data 24 including the command value input to the drive control unit 13 and the current value of the current 28 output from the drive control unit 13 to the state data holding unit 14 in the servo-on state. I do.

  When instruction information 22 indicating servo-off is input to switching section 12, switching section 12 outputs an analysis command 26 to data analysis section 15. When the analysis command 26 is input, the data analysis unit 15 reads the learning data 27 stored in the learning data holding unit 16 and the state data 25 stored in the state data holding unit 14. The data analysis unit 15 analyzes the state data 25 by using the learning data 27 in the servo-off state where the servo-off is instructed. The motor driving device 100 outputs the analysis data 31 that is the result of the analysis by the data analysis unit 15 to the outside of the motor driving device 100.

  When the instruction information 22 input to the switching unit 12 is switched from the instruction information 22 indicating servo-off to the instruction information 22 indicating servo-on, the drive control unit 13 starts the control of the motor 17 according to the drive instruction 23. In addition, the data analysis unit 15 stops the analysis of the state data 25. The switching unit 12 stops the analysis of the state data 25 by the data analysis unit 15 and controls the drive control unit 13 to control the motor 17 according to the command value in response to the instruction to shift from servo-off to servo-on. .

  On the other hand, when the instruction information 22 input to the switching unit 12 is switched from the instruction information 22 indicating servo-on to the instruction information 22 indicating servo-off, the drive control unit 13 controls the motor 17 according to the drive instruction 23. The operation is stopped, and the data analysis unit 15 starts the analysis of the state data 25. The switching unit 12 causes the data analysis unit 15 to analyze the state data 25 and stops the control of the motor 17 according to the command value from the drive control unit 13 in response to the instruction to shift from servo-on to servo-off. .

  The learning data holding unit 16 stores learning data 27 obtained by machine learning in a device external to the motor driving device 100. In the first embodiment, the analysis process by the data analysis unit 15 only needs to analyze the state data 25 using the learning data 27, and the content of the analysis is arbitrary.

  The motor drive device 100 performs the analysis of the state data 25 stored in the state data holding unit 14 by the data analysis unit 15, thereby enabling the analysis of the state data 25 to be realized without using an operation using an external device. . The motor drive device 100 can analyze the state data 25 without using an external device.

  In the servo-on state, the motor driving device 100 performs an operation for controlling the driving of the motor 17 and stops the operation for analyzing the state data 25. In the servo-off state, the motor driving device 100 performs a calculation for analyzing the state data 25 and stops the calculation for controlling the driving of the motor 17. The motor drive device 100 does not perform the calculation for controlling the drive of the motor 17 and the calculation for analyzing the state data 25 while performing the other calculation while performing the other calculation. The calculation load can be reduced as compared with the case where the calculations are performed in parallel.

  The servo command 21 may be input to the motor drive device 100 by the external device 10 other than the host controller. Further, the servo command 21 may be received by communication with the external device 10 using the communication interface. The servo command 21 is not limited to the one obtained by the motor driving device 100 from the external device 10, and may be generated inside the motor driving device 100.

  Next, the hardware configuration of the motor drive device 100 will be described. Each functional unit of the motor driving device 100 illustrated in FIG. 1 is realized by executing a motor driving program, which is a program for executing the motor driving method according to the first embodiment, using hardware.

  FIG. 2 is a block diagram illustrating a hardware configuration of the motor driving device 100 according to the first embodiment of the present invention. The motor drive device 100 includes a CPU (Central Processing Unit) 41 that executes various processes, a RAM (Random Access Memory) 42 including a data storage area, a ROM (Read Only Memory) 43 that is a nonvolatile memory, and an external storage. It has a device 44 and an input / output interface 45 for inputting information to the motor driving device 100 and outputting information from the motor driving device 100.

  The CPU 41 executes a program stored in the ROM 43 and the external storage device 44. Each function of the command analysis unit 11, the switching unit 12, the drive control unit 13, and the data analysis unit 15 shown in FIG. The external storage device 44 is a hard disk drive (HDD) or a solid state drive (SSD). The external storage device 44 stores a motor drive program and various information. The functions of the state data holding unit 14 and the learning data holding unit 16 illustrated in FIG. 1 are realized by using the external storage device 44.

  The ROM 43 is a boot loader such as a BIOS (Basic Input / Output System) or UEFI (Unified Extensible Firmware Interface), which is a program for basic control of a computer or a controller as the motor drive device 100, and controls hardware. Software or a program to be executed is stored. Note that the motor drive program may be stored in the ROM 43.

  The programs stored in the ROM 43 and the external storage device 44 are loaded into the RAM 42. The CPU 41 develops a motor drive program in the RAM 42 and executes various processes. The input / output interface 45 is an interface for connecting to a device external to the motor drive device 100.

  The motor drive program may be stored in a storage medium that can be read by a computer. The motor drive device 100 may store the motor drive program stored in the storage medium in the external storage device 44. The storage medium may be a portable storage medium that is a flexible disk, or a flash memory that is a semiconductor memory. The motor driving program may be installed from another computer or a server device via a communication network to a computer or a controller serving as the motor driving device 100.

  The function of the motor driving device 100 may be realized by a processing circuit that is hardware dedicated to the motor driving device 100. The processing circuit is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. A part of the functions of the motor driving device 100 may be realized by dedicated hardware, and the other part may be realized by software or firmware.

  According to the first embodiment, motor drive device 100 causes data analysis unit 15 to analyze state data 25 in the servo-off state, and stops the analysis of state data 25 by data analysis unit 15 in the servo-on state. Thus, the motor driving device 100 has an effect that the calculation load can be reduced.

Embodiment 2 FIG.
FIG. 3 is a block diagram illustrating a functional configuration of the motor driving device 101 according to the second embodiment of the present invention. The data analysis unit 15 of the motor drive device 101 includes an abnormality analysis unit 50 that analyzes a cause of an abnormality that has occurred in the mechanism 18 or the motor 17. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the configuration different from the first embodiment will be mainly described.

  The motor drive device 101 includes an abnormality detection unit 51 that detects an abnormality that has occurred in the mechanism 18 or the motor 17. The detector 20 outputs the detection value 30 to the abnormality detection unit 51. The abnormality detection unit 51 detects an abnormality of the mechanism 18 based on the detection value 30. The encoder 19 outputs the detection value 29 to the abnormality detection unit 51. The abnormality detection unit 51 detects an abnormality of the motor 17 based on the detection value 29.

  When detecting the abnormality, the abnormality detection unit 51 outputs a detection result 52 indicating that the abnormality has been detected to the command analysis unit 11. When the detection result 52 is input, the command analysis unit 11 outputs to the switching unit 12 instruction information 22 indicating servo-off regardless of the content of the servo command 21. The switching unit 12 stops outputting the drive command 23 to the drive control unit 13 and outputs the analysis command 26 to the data analysis unit 15 when the instruction information 22 indicating servo-off is input to the switching unit 12. I do. Accordingly, when the abnormality is detected by the abnormality detection unit 51, the switching unit 12 stops the control of the motor 17 according to the command value from the drive control unit 13 and analyzes the state data 25 by the data analysis unit. 15

  When the analysis command 26 is input, the data analysis unit 15 reads the learning data 27 stored in the learning data holding unit 16 and the state data 25 stored in the state data holding unit 14. The abnormality analysis unit 50 analyzes the cause of the abnormality by analyzing the state data 25 using the learning data 27 in the servo-off state. The motor driving device 101 outputs factor analysis data 53, which is a result of the analysis by the abnormality analysis unit 50, to the outside of the motor driving device 101. The abnormality analysis unit 50 does not analyze the cause of the abnormality in the servo-on state.

  By generating the factor analysis data 53 indicating the detailed cause of the abnormality, the motor driving device 101 can provide information useful for recovery from the abnormality. Note that the analysis processing by the abnormality analysis unit 50 may be any as long as the state data 25 is analyzed using the learning data 27, and the method of analyzing the cause of the abnormality is arbitrary.

  Each functional unit included in the motor drive device 101 is realized using a hardware configuration similar to the hardware configuration illustrated in FIG. Each function of the abnormality analysis unit 50 and the abnormality detection unit 51 is realized using the CPU 41.

  According to the second embodiment, in the servo-on state, the motor driving device 101 performs the calculation for controlling the power supply to the motor 17 and stops the calculation for analyzing the cause of the abnormality. In the servo-off state, the motor driving device 101 performs a calculation for analyzing the cause of the abnormality and stops the calculation for controlling the power supply to the motor 17. Thus, the motor driving device 101 has an effect that the calculation load can be reduced.

Embodiment 3 FIG.
FIG. 4 is a block diagram illustrating a functional configuration of the motor driving device 102 according to the third embodiment of the present invention. The data analysis unit 15 of the motor drive device 102 includes a failure diagnosis unit 60 that diagnoses a sign of a failure in the mechanism 18 or the motor 17. In the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals, and a configuration different from the first and second embodiments will be mainly described.

  When the analysis command 26 is input, the data analysis unit 15 reads the learning data 27 stored in the learning data holding unit 16 and the state data 25 stored in the state data holding unit 14. The failure diagnosis unit 60 diagnoses a sign of a failure by analyzing the state data 25 using the learning data 27 in the servo-off state. The motor driving device 102 outputs diagnostic data 61 as a result of the diagnosis by the failure diagnosis unit 60 to the outside of the motor driving device 102. The failure diagnosis unit 60 does not diagnose a sign of failure in the servo-on state.

  The motor drive device 102 can provide useful information for preventing the failure of the mechanism 18 and the motor 17 by generating the diagnostic data 61 about the failure sign. The analysis processing by the failure diagnosis unit 60 may be any analysis of the state data 25 using the learning data 27, and a method for diagnosing a sign of failure is arbitrary. The failure diagnosis unit 60 may estimate the life of the mechanism 18 or the motor 17 based on the failure diagnosis result.

  Each functional unit of the motor driving device 102 is realized by using a hardware configuration similar to the hardware configuration illustrated in FIG. The function of the failure diagnosis unit 60 is realized using the CPU 41. The data analysis unit 15 may include the failure diagnosis unit 60 and the abnormality analysis unit 50 according to the second embodiment.

  According to the third embodiment, in the servo-on state, motor drive device 102 performs an operation for controlling power supply to motor 17 and stops an operation for diagnosing a sign of failure. In the servo-off state, the motor driving device 102 performs an operation for diagnosing a sign of a failure and stops the operation for controlling the power supply to the motor 17. Thus, the motor driving device 102 has an effect that the calculation load can be reduced.

Embodiment 4 FIG.
FIG. 5 is a block diagram illustrating a functional configuration of the motor driving device 103 according to the fourth embodiment of the present invention. The data analysis unit 15 of the motor drive device 103 includes a machine learning unit 70. The learning data holding unit 16 holds the learning data 27 obtained by machine learning by the machine learning unit 70. The machine learning unit 70 updates the learning data 27 by executing re-learning based on the input of the state data 25. In the fourth embodiment, the same components as those in the above-described first to third embodiments are denoted by the same reference numerals, and a configuration different from the first to third embodiments will be mainly described.

  When the analysis command 26 is input, the data analysis unit 15 reads the learning data 27 stored in the learning data holding unit 16 and the state data 25 stored in the state data holding unit 14. The machine learning unit 70 re-learns the learning data 27 by using the state data 25 in the servo-off state. The machine learning unit 70 outputs the learning data 72 updated by the re-learning to the learning data holding unit 16. The machine learning unit 70 does not perform re-learning in the servo-on state.

  By analyzing the state data 25 using the updated learning data 72, the motor driving device 103 can perform highly accurate analysis. The technique of re-learning by the machine learning unit 70 is arbitrary.

  Each functional unit of the motor driving device 103 is realized using a hardware configuration similar to the hardware configuration illustrated in FIG. The function of the machine learning unit 70 is realized using the CPU 41. The data analysis unit 15 may include a machine learning unit 70 and the abnormality analysis unit 50 according to the second embodiment. The data analysis unit 15 may include a machine learning unit 70 and the failure diagnosis unit 60 according to the third embodiment.

  According to the fourth embodiment, in the servo-on state, motor drive device 103 performs an operation for controlling power supply to motor 17 and stops an operation for relearning. In the servo-off state, the motor driving device 103 performs an operation for re-learning and stops the operation for controlling the power supply to the motor 17. Thus, the motor driving device 103 has an effect that the calculation load can be reduced.

  The configurations described in the above embodiments are merely examples of the contents of the present invention, and can be combined with other known technologies, and can be combined with other known technologies without departing from the gist of the present invention. It is also possible to omit or change the part.

  Reference Signs List 10 external equipment, 11 command analysis unit, 12 switching unit, 13 drive control unit, 14 state data holding unit, 15 data analysis unit, 16 learning data holding unit, 17 motor, 18 mechanism, 19 encoder, 20 detector, 21 servo Command, 22 command information, 23 drive command, 24 input / output data, 25 state data, 26 analysis command, 27, 72 learning data, 28 current, 29, 30 detection value, 31 analysis data, 41 CPU, 42 RAM, 43 ROM , 44 external storage device, 45 input / output interface, 50 abnormality analysis unit, 51 abnormality detection unit, 52 detection result, 53 factor analysis data, 60 failure diagnosis unit, 61 diagnosis data, 70 machine learning unit, 100, 101, 102, 103 Motor drive.

Claims (5)

A drive control unit that controls a current flowing through the motor according to a command value;
The detection result of the operation state of the mechanism that operates by receiving the power of the motor or the operation state of the motor, the command value input to the drive control unit, and the current value of the current output from the drive control unit A state data holding unit for holding state data including
A data analysis unit that analyzes the state data using learning data obtained by machine learning,
In the servo-off state in which the control of the motor according to the command value is stopped, the state data is analyzed by the data analysis unit, and in the servo-on state in which the motor is controlled according to the command value, the data analysis unit A switching unit for stopping the analysis of the state data by
A motor drive device comprising:   The motor drive device according to claim 1, wherein the data analysis unit includes an abnormality analysis unit configured to analyze a cause of an abnormality that has occurred in the mechanism or the motor. An abnormality detection unit that detects the occurrence of the abnormality,
The switching unit, when the occurrence of the abnormality is detected by the abnormality detection unit, stops the control of the motor according to the command value by the drive control unit, and analyzes the state data to the data The motor drive device according to claim 2, wherein the analysis is performed by an analysis unit.   The motor drive device according to claim 1, wherein the data analysis unit includes a failure diagnosis unit that diagnoses a sign of a failure in the mechanism or the motor.   The motor drive device according to any one of claims 1 to 4, wherein the data analysis unit has a machine learning unit that updates the learning data by executing re-learning based on the input of the state data. .

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