JP6996524B2 - Motor status determination device, motor status determination method, and program - Google Patents

Description

The present invention relates to a motor state determination device, a motor state determination method, and a program, and relates to a motor state determination device, a motor state determination method, and a program capable of determining a motor drive state.

Conventionally, there has been a technique for detecting an abnormal state of a motor. For example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2004-24419), a current flowing through a motor power line is detected, the detected current value is compared with a threshold value, and a motor abnormality is found based on the result of the comparison. The technique for determining the above is described.

Japanese Unexamined Patent Publication No. 2004-24419

However, when the motor is started, a current larger than the current assumed in the steady state may flow transiently. That is, if the motor abnormality determination process is executed in the transient state (unsteady state), an erroneous determination may occur. Therefore, in order to be able to accurately determine the abnormality of the motor or the like (to avoid performing the abnormality determination process in the unsteady state), it is possible to automatically determine whether or not the motor is in the steady state. Is desired. Thereby, it can be appropriately determined whether or not an abnormality has occurred in the motor.

Therefore, an object of the present invention is to provide a motor state determination device, a motor state determination method, and a program capable of automatically determining whether or not a motor is in a steady state.

In order to solve the above problems, the motor state determination device according to this disclosure is
A recording device for recording physical quantity values representing the driving state of the motor in the first period including the time from the start of the motor to the time when the motor is stopped.
Based on the frequency distribution of the physical quantity value in the first period, the physical quantity value range determining unit for determining the physical quantity value range indicating the range of the physical quantity value including the physical quantity value having the highest frequency of occurrence, and the physical quantity value range determining unit.
A transient period in which the motor exhibits a transient phenomenon from the start time of the first period is determined by using the time change of the physical quantity value in the first period and the physical quantity value range. The period determination department and
When the motor is driven over the second period after the first period, the transient period, the physical quantity range, and the physical quantity value transmitted from the motor during the second period are used. It is characterized by including a steady state determination unit for determining whether or not the motor is in a steady state within the second period.

As used herein, the "physical quantity value" typically refers to the value of the current flowing through the motor, the value of the rotational speed of the motor, the value of the electric power supplied to the motor, the value of the torque of the motor, and the like. ..

Further, "recording" the physical quantity value means, for example, recording the physical quantity value every moment.

Further, the "range" of the physical quantity value means a range (determined by a lower limit value and an upper limit value) that the physical quantity value can take when the motor is normal.

In the motor state determination device, the recording device records a physical quantity value representing the driving state of the motor in the first period. The physical quantity value range determination unit determines the physical quantity value range based on the frequency distribution of the physical quantity value. The transient period determination unit determines the transient period of the motor by using the temporal change of the physical quantity value and the physical quantity value range. Then, the steady state determination unit uses the physical quantity value transmitted from the motor during the transient period, the physical quantity value range, and the second period to determine whether or not the motor is in the steady state within the second period. To decide. Therefore, it is possible to automatically determine whether or not the motor is in a steady state in the second period thereafter by using the information acquired in the first period carried out in advance.

In the motor state determination device of one embodiment,
In the second period, the receiving device that receives the current value output from the detection device that detects the current value flowing through the motor, and the receiving device.
Abnormality determination, which determines whether or not an abnormality has occurred in the motor, using the current value received by the receiving device and the preset current threshold value in the steady period in which the motor indicates the steady state. It is characterized by further providing a part.

In the motor state determination device of this embodiment, the abnormality determination unit performs abnormality determination in the steady period. Therefore, it is possible to suppress erroneous determination of motor abnormality, and it is possible to accurately determine motor abnormality.

In the motor state determination device of one embodiment,
It is characterized by further comprising a notification device for notifying that an abnormality has occurred in the motor when the abnormality determination unit determines the abnormality of the motor.

Therefore, the motor state determination device can make the user recognize the abnormality of the motor. Therefore, the user can quickly deal with the abnormality of the motor.

In the motor state determination device of one embodiment,
A communication device for transmitting data representing the transient period and the physical quantity value range to an external device is further provided.

Therefore, the motor state determination device can visually display the transient period and the physical quantity value range on, for example, an external device having a display unit. Therefore, the user can confirm the validity of the transient period and the physical quantity value range through the display unit of the external device, and can also adjust the transient period and the physical quantity value range via the external device. It will be possible.

In the motor state determination device of one embodiment,
It is characterized by further comprising a communication device for transmitting data representing the steady-state period and the current value flowing through the motor during the steady-state period to an external device.

Therefore, the motor state determination device can display the current value in the steady period in time series, for example, in an external device having a display unit. Therefore, for example, the external device can display only the current value in the steady state as a graph over the driving period of a plurality of motors. Therefore, the user can easily determine the aged deterioration of the motor by visually recognizing the graph or the like.

In another aspect, the motor state determination method of this disclosure is:
A physical quantity value representing the driving state of the motor in the first period including the time when the motor is started to the time when the motor is stopped is recorded.
Based on the frequency distribution of the physical quantity value in the first period, a physical quantity value range indicating the range of the physical quantity value including the physical quantity value having the highest frequency of occurrence is determined.
Using the time change of the physical quantity value in the first period and the physical quantity value range, the transient period in which the motor exhibits a transient phenomenon from the start time of the first period is determined.
When the motor is driven over the second period after the first period, the transient period, the physical quantity range, and the physical quantity value transmitted from the motor during the second period are used. It is characterized in that it is determined whether or not the motor is in a steady state within the second period.

In the motor state determination method of the present invention, a physical quantity value representing the driving state of the motor in the first period is recorded. The physical quantity value range is determined based on the frequency distribution of the physical quantity value. The transient period of the motor is determined by using the time change of the physical quantity value and the physical quantity value range. Then, using the transient period, the physical quantity value range, and the physical quantity value transmitted from the motor during the second period, it is determined whether or not the motor is in a steady state within the second period. Therefore, it is possible to automatically determine whether or not the motor is in a steady state in the second period thereafter by using the information acquired in the first period carried out in advance.

In yet another aspect, the program of this disclosure is a program for causing a computer to execute a motor state determination method.

The motor state determination method can be implemented by causing a computer to execute the program of this disclosure.

As is clear from the above, according to the motor state determination device and the motor state determination method of the present disclosure, it is possible to automatically determine whether or not the motor is in a steady state. Further, the motor state determination method can be implemented by causing a computer to execute the program of this disclosure.

It is a figure which shows the schematic structure of the motor state determination system which concerns on embodiment. It is a figure which shows the schematic structure of the motor state determination apparatus included in the motor state determination system of FIG. It is a flowchart explaining the 1st learning mode which is carried out by the said motor state determination apparatus. It is a figure which shows the example of the current waveform created using the current value recorded in the 1st learning mode. It is a flowchart explaining the 2nd learning mode which is carried out by the said motor state determination apparatus. It is a figure which illustrated the frequency distribution of the current value recorded in the 1st learning mode. It is a figure for demonstrating the current value width determined in the 2nd learning mode. It is a figure which showed the other example of the frequency distribution of the current value recorded in the 1st learning mode. It is a flowchart explaining the 3rd learning mode which is carried out by the said motor state determination apparatus. It is a figure for demonstrating the method of determining a transition period. It is a figure for demonstrating the method of determining a transition period. It is a flowchart explaining the motor state determination process which is carried out by the said motor state determination apparatus. It is a figure for demonstrating the motor state determination process performed by the said motor state determination apparatus. It is a flowchart explaining the abnormal state determination process which is carried out by the said motor state determination apparatus. It is a figure for demonstrating the abnormal state determination process performed by the said motor state determination apparatus. It is a figure which shows the example which performs the drive cycle of a motor a plurality of times, and displays all the current values in time series. It is a figure which shows the example which performs the drive cycle of a motor a plurality of times, and displays only the current value of a steady period in time series.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a schematic configuration of a motor state determination system according to the present embodiment. The motor state determination system includes an AC power supply 100, a motor 10 as a determination target, a current sensor 20, a motor state determination device 50, and an external device 200.

The AC power supply 100 supplies three-phase AC power to the motor 10 via the cable 1. The motor 10 is driven by receiving the supply of the electric power. The current sensor (which can be grasped as a detection device) 20 detects an effective value (hereinafter, simply referred to as a current value) of the current flowing through the motor 10. For example, as shown in FIG. 1, the current sensor 20 is arranged in the cable 1 between the AC power supply 100 and the motor 10, and detects the current value of the current supplied from the AC power supply 100 to the motor 10. do.

The motor state determination device 50 can detect the load state of the motor 10. Further, the motor state determination device 50 according to the present embodiment can also determine (detect) the transient period UT and the steady period ST in the drive period of the motor 10.

Here, the steady period ST is a period during which the motor 10 exhibits a steady state (that is, a period in which the current supplied for driving the motor 10 is substantially stable) after the motor start time. The transient period UT is a period during which the motor 10 exhibits a transient phenomenon. In the description here, the transient period UT is a period from the start time of the motor 10 to the start time of the steady period ST. For example, in the transient period UT, the current supplied for driving the motor 10 is unstable.

The motor state determination device 50 is communicably connected to an external device 200 such as a personal computer. In the example of FIG. 1, the motor state determination device 50 is connected to the external device 200 via the communication cable 2, but may be wirelessly connected.

FIG. 2 shows a schematic configuration of the motor state determination device 50. As shown in FIG. 2, the motor state determination device 50 includes a receiving device 51, a communication device 52, a recording device 53, a display device 54, a notification device 55, and a processor 56. The receiving device 51, the communication device 52, the recording device 53, the display device 54, and the notification device 55 are connected to the processor 56 so that data can be transmitted and received.

The receiving device 51 is communicably connected to the current sensor 20. Therefore, the receiving device 51 receives the data regarding the current value output from the current sensor 20. The communication device 52 is communicably connected to the external device 200. Therefore, data can be transmitted / received between the communication device 52 and the external device 200.

The recording device 53 is a memory including a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. For example, the recording device 53 stores each program for causing the processor 56 to execute various processes including the motor state determination method described later. The recording device 53 stores a plurality of current values detected by the current sensor 20 as current value data. The recording device 53 can also record various data sent from the external device 200. Further, the recording device 53 may record the data or the like generated as a result of the analysis by the processor 56.

The display device 54 makes various displays. For example, the display device 54 displays the current value represented by the data received by the receiving device 51. The display device 54 may indicate that the motor 10 is in the transient period UT and in the steady period ST. Further, when the abnormality determination unit 56D of the processor 56 determines the abnormality of the motor 10, the display device 54 may display that the abnormality has occurred in the motor 10.

When the abnormality determination unit 56D determines the abnormality of the motor 10, the notification device 55 notifies that the abnormality has occurred in the motor 10. For example, the notification device 55 may notify (notify) an abnormality of the motor 10 by emitting a sound, or notify (or blink) a light of a predetermined color to notify the abnormality of the motor 10. (Notification) may be performed.

The processor 56 reads each program and each data stored in the recording device 53. Further, the processor 56 controls the receiving device 51, the communication device 52, the recording device 53, the display device 54, and the notification device 55 according to the read program, and executes a predetermined operation (function). Further, the processor 56 performs predetermined operations, analyzes, processes, and the like in the processor 56 (each block 56A, 56B, 56C, 56D composed of the program) according to the read program. It should be noted that a part or all of each function executed by the processor 56 may be configured in terms of hardware by one or a plurality of integrated circuits or the like.

As shown in FIG. 2, the processor 56 according to the present embodiment includes a physical quantity value range determination unit 56A, a transient period determination unit 56B, a steady state determination unit 56C, and an abnormality determination unit 56D as functional blocks. The operation of each block 56A to 56D will be described in detail in the description of the operation described later.

Next, the operation (motor state determination method) of the motor state determination device 50 according to the present embodiment will be described. Here, the operation of the motor state determination device 50 is roughly classified into two. One is a preparatory process (including a plurality of learning modes), and the other is a motor state determination process. The motor state determination process is performed after the preparatory process.

(Preparation process: first learning mode)
First, the first learning mode of the preparation process will be described. In the first learning mode, the recording device 53 of the motor state determination device 50 records a physical quantity value representing the driving state of the motor 10 in the first period (test period of the motor 10). Here, as illustrated in FIG. 4, the first period is a period including from the start time of the motor 10 to the stop time of the motor 10. Further, it is assumed that the physical quantity value is the current value of the current flowing through the motor 10. Further, the start time of the first period is the start time of the motor 10, and at the end of the first period, the value of the current flowing through the motor 10 becomes 0 A (ampere) after the instruction to stop the motor 10. At that point.

FIG. 3 shows the flow of operation in the first learning mode. The AC power supply 100 starts supplying electric power to the motor 10 for the test operation of the motor 10. First, in step S1 of FIG. 3, the motor state determination device 50 monitoring the current sensor 20 detects that a current larger than 0 A flows through the motor 10. Then, in step S2, the recording device 53 starts to store the current value data received by the receiving device 51 immediately after step S1. For convenience, in the following description of the operation, the current value data received by the receiving device 51 and the current value data stored in the recording device 53 may be simply referred to as a current value.

After step S2, in step S3, the motor state determination device 50 determines whether or not the current value received by the receiving device 51 is 0A. If the current value is greater than 0 A (NO in step S3), the recording device 53 continues recording the current value received by the receiving device 51 (step S2). On the other hand, when the current value is 0A (YES in step S3), the recording device 53 ends the recording of the current value received by the receiving device 51 (step S4), and also ends the first learning mode. ..

As can be seen from the above, the recording device 53 records the current value of the current flowing through the motor 10 in the first period (test period) every moment. The temporal change (current waveform) of the current value acquired (recorded) in the first period is shown in FIG. In the example of FIG. 4, the first period is started after the power of the motor state determination device 50 is turned on.

In the first period, the state of the system illustrated in FIG. 1 is normal. Further, it is desirable that the first period is set so that the steady period ST is at least twice the transient period UT. Here, when the electric power is directly supplied to the motor 10 from the AC power supply 100, the transient period UT in which the transient current flows is several seconds to several tens of seconds. On the other hand, when power is supplied to the motor 10 via the inverter, the transient period UT extends for several minutes due to the soft start control.

(Preparation process: second learning mode)
Next, the second learning mode of the preparation process will be described. In the second learning mode, the physical quantity value range determining unit 56A of the motor state determination device 50 determines the physical quantity value range (here, the current value range). Here, the current value range is determined based on the frequency distribution of the current value (physical quantity value) acquired by the motor state determination device 50 in the first period. Further, the current value range is a range of current values including the current value having the highest frequency of occurrence. The boundary of the current value range is defined by the upper limit current value UI and the lower limit current value DI.

FIG. 5 shows the flow of operation in the second learning mode. The processor 56 reads out a plurality of current values acquired in the first period from the recording device 53. Then, the physical quantity value range determination unit 56A acquires a frequency distribution (frequency distribution) using the plurality of current values (step S11). FIG. 6 illustrates the acquired frequency distribution in tabular form. In the example of FIG. 6, as shown in the leftmost column of FIG. 6, the number of classes is 15, and the class width is 0.1A. Further, in the middle column of FIG. 6, the number of data (frequency) detected in the first period is exemplified for each class. Here, the class width may be determined according to the maximum current value, or may be fixed (that is, the number of classes is fixed).

Next, in step S12, the physical quantity value range determination unit 56A calculates the frequency ratio for each class (each data section). The frequency ratio is obtained by dividing the number of data (frequency) by the total number of data detected in the first period. In the rightmost column of FIG. 6, the frequency ratio for each class is illustrated. For example, in the example of FIG. 6, focusing on the data section “0.8A”, the number of data in the data section is 6 (that is, the current value in which the data section is 0.8A within the first period). However, it is detected 6 times). In the example of FIG. 6, since the total number of data is 100, the frequency ratio of the data section “0.8A” is 6%.

Next, in step S13, the physical quantity value range determination unit 56A determines whether or not the frequency ratio is equal to or greater than the ratio threshold value. Here, the ratio threshold value is stored in advance in the recording device 53, and the processor 56 reads out the ratio threshold value before the process of step S13. When the frequency ratio is equal to or higher than the ratio threshold value (“Yes” in step S13), the physical quantity value range determination unit 56A uses a class number (current value) having the frequency ratio as a candidate for a component of the current value range. , Adopted (step S14). On the other hand, when the frequency ratio is less than the ratio threshold value (“No” in step S13), the physical quantity value range determination unit 56A sets the class number (current value) having the frequency ratio in the current value range. It is not adopted as a candidate for a component (step S15).

As an example, the percentage threshold is 5%. When the ratio threshold is set to 5%, in the example of FIG. 6, the data interval (current value) “0.8A” to “1.1A” is adopted as a candidate for the component of the current value range (step). S14).

Next, in step S16, the physical quantity value range determining unit 56A determines the current value range using the current value adopted in step S14. Then, the determined current value range is stored in the recording device 53 (step S16).

For example, in the example of FIG. 6, in step S16, the current value “0.8A” to “1.1A” is determined as the current value range. Here, the upper limit current value UI of the current value range is "1.1 A", and the lower limit current value DI of the current value range is "0.8 A". As shown in FIG. 6, in the current value range, the current value having the highest frequency of occurrence (current value "1A", and the frequency ratio of the current value of 1A is "39". Highest) is included. Note that FIG. 7 shows the frequency distribution (frequency distribution) of FIG. 6 and the current value range (including the upper limit current value UI and the lower limit current value DI) determined using FIG.

After the current value range is determined and recorded in step S16, the processing of the second learning mode shown in FIG. 5 ends.

By the way, as illustrated in FIG. 8, which is different from the example of FIG. 6, it is assumed that the current values of the ratio threshold value (= 5%) or more are not continuous. In the example of FIG. 8, the frequency ratio of the data section “0.6A” is equal to or higher than the ratio threshold value (= 5%), and the frequency ratio of the data sections “0.8A” to “1.1A” is also the ratio threshold value (= 5%). = 5%) or more. However, the frequency ratio of the data interval "0.7A" is less than the ratio threshold value (= 5%). In this case, the physical quantity value range determination unit 56A may determine the current value range as follows.

That is, in the example of FIG. 8, in step S14, the current value “0.6A” and the current values “0.8A” to “1.1A” are adopted as candidates for the components in the current value range. On the other hand, in step S15, the current value "0.7A" is not adopted as a candidate for the component of the current value range. In step S16, the physical quantity value range determining unit 56A determines the current value range using the current value adopted in step S14.

More specifically, the physical quantity value range determining unit 56A determines the smallest current value among the plurality of adopted current values as the lower limit current value DI. Further, the physical quantity value range determination unit 56A determines the largest current value among the plurality of adopted current values as the upper limit current value UI. Then, the physical quantity value range determination unit 56A has the lower limit current value DI (0.6A in the example of FIG. 8) and the upper limit current value UI (1.1A in the example of FIG. 8) as a boundary, and the lower limit thereof. The current value range (0.6A to 1.1A) is determined so as to include all current values existing between the current value DI and the upper limit current value UI. Therefore, the current value "0.7A" determined not to be adopted in step S15 is also included in the current value range. Even in the example of FIG. 8, the current value range includes the current value having the highest frequency of occurrence (the current value is "1A", and the frequency ratio of the current value of 1A is the highest in "39"). ing.

(Preparation process: third learning mode)
Next, the third learning mode of the preparatory process will be described. In the third learning mode, the transient period determination unit 56B of the motor state determination device 50 determines the time change of the physical quantity value (here, the current value) acquired in the first period and the physical quantity value range (here, here). The current value range) and the transient period UT from the start time of the first period are determined. Here, in the first learning mode shown in FIG. 3, the recording device 53 records a plurality of current values acquired in the first period. The temporal change of the current value in the first period is acquired by using the plurality of current values. Further, the current value range is determined by the second learning mode shown in FIG.

FIG. 9 shows the flow of operation in the third learning mode. In step S21, the transient period determination unit 56B determines whether or not there is a current value exceeding the upper limit current value UI among the plurality of current values recorded in the recording device 53 in the first period.

FIG. 10 shows an example of a current waveform (time change of the current value) generated from the plurality of current values. Note that FIG. 10 shows an upper limit current value UI and a lower limit current value DI that define a current value range. In the example of FIG. 10, among the plurality of current values described above, a current value exceeding the upper limit current value UI exists (“Yes” in step S21). Therefore, in the example of FIG. 10, the process of step S22 is carried out.

FIG. 11 shows another example of the current waveform (time change of the current value) generated from the plurality of current values. Note that FIG. 11 shows an upper limit current value UI and a lower limit current value DI that define a current value range. In the example of FIG. 11, among the plurality of current values described above, there is no current value exceeding the upper limit current value UI (“No” in step S21). Therefore, in the example of FIG. 11, the process of step S23 is performed.

In step S22, the transient period determination unit 56B first acquires a time point when the upper limit current value UI is exceeded when the current waveform is viewed from the direction in which the time returns. For example, in the example of FIG. 10, the transient period determination unit 56B traces the current waveform from the direction in which the time returns, and first acquires the time point PA1 that exceeds the upper limit current value UI. Here, "exceeds" is a case where the current waveform intersects with the upper limit current value UI with a negative slope when the current waveform is traced from the direction in which the time returns.

On the other hand, in step S23, the transient period determination unit 56B first acquires a time point below the lower limit current value DI when the current waveform is viewed from the direction in which the time returns. For example, in the example of FIG. 11, the transient period determination unit 56B traces the current waveform from the return direction of time, and first acquires the time point PA2 below the lower limit current value DI. Here, "below" is a case where the current waveform intersects the lower limit current value DI with a positive slope when the current waveform is traced from the direction of returning time.

In steps S22 and 23, the transient period determination unit 56B tracks the current waveform in the direction of returning time. As a result, even if noise or the like occurs during the transient phenomenon, the transient period UT indicating the transient phenomenon of the motor 10 can be accurately determined.

After step S22 or step S23, in step S24, the transient period determination unit 56B determines the time when the current value becomes 0 A (that is, the end time of the first period) after the motor 10 is instructed to stop. To detect. In the example of FIG. 10, in step S24, the transient period determination unit 56B acquires the time point PB1. On the other hand, in the example of FIG. 11, in step S24, the transient period determination unit 56B acquires the time point PB2.

Next, in step S25, the transient period determination unit 56B determines the transient period UT, and records the determined transient period UT in the recording device 53. The transition period determination unit 56B may determine the period from the start time of the first period to the time acquired in step S22 or S23 as the transition period UT. Alternatively, the transient period determination unit 56B sets the period from the end of the first period acquired in step S24 to the time acquired in step S22 or S23 as the period DT (time point PA1 to time point PB1 in FIG. 10 or time point PB1). After determining as the time point PA2 to the time point PB2) in FIG. 11, the transient period determination unit 56B may determine the transient period UT by subtracting the period DT from the first period. FIGS. 10 and 11 illustrate the determined transient period UT.

Here, the transient period determination unit 58B may determine the transient period UT by also using a preset margin time. That is, the transient period UT determined above plus the margin time may be determined as the final transient period UT in step S25. After step S25, the process in the third learning mode shown in FIG. 9 ends.

(Motor state judgment processing)
Next, the motor state determination process performed after the preparatory process will be described. The motor state determination process includes a process of determining whether or not the motor 10 is in a steady state. As will be described later, when the steady state determination unit 56C of the motor state determination device 50 drives the motor 10 over the second period after the first period, the transient period UT and the physical quantity value range (here, the current). The value range) and the physical quantity value (here, the current value) transmitted from the motor 10 in the second period are used to determine whether or not the motor 10 is in a steady state within the second period. Further, the motor state determination process includes a process of determining an abnormality of the motor 10 in the steady period ST in which the motor 10 indicates a steady state. As will be described later, the abnormality determination unit 56D of the motor state determination device 50 determines the abnormality of the motor 10 by using the current value received by the reception device 51 and the preset current threshold value Is in the steady period ST. do.

FIG. 12 shows the flow of the motor state determination process according to the present embodiment. The motor state determination process will be described with reference to FIG. Note that FIG. 13 is used for explaining the motor state determination process, and the current waveform W1, the upper limit current value UI, and the lower limit current value DI are exemplified. Here, the illustrated current waveform W1 is received by the motor state determination device 50 (more specifically, the receiving device 51) from the current sensor 20 in the second period in which the motor state determination process described later is performed. , Generated from multiple current values. The current value acquired in the second period is recorded in the recording device 53 every moment.

After the first period, the AC power source 100 starts supplying current to the motor 10 (start of the second period) in order to drive the motor 10 in the stopped state. Then, in step S31, the current sensor 20 detects the current supplied to the motor 10 (current value larger than 0 A) and transmits the detection result to the motor state determination device 50 (time point h1 in FIG. 13). Immediately after detecting a current value larger than 0A in step S31, in step S32, the steady state determination unit 56C of the motor state determination device 50 starts measuring the transient period UT determined in the preparatory process. In the example of FIG. 13, in step S32, the steady state determination unit 56C starts the measurement of the transient period UT from the time point h1.

After that, in step S33, the steady state determination unit 56C determines whether or not the transient period UT has elapsed after the start of measurement in step S32. Here, as shown in FIG. 12, the steady state determination unit 56C repeatedly performs the determination in step S33 after the start of the measurement until the transient period UT elapses (“No” in step S33). In this case, the steady state determination unit 56C determines that the motor 10 is in the transient phenomenon state and is not in the steady state (transient phenomenon state in FIG. 13).

On the other hand, when the transient period UT elapses after the start of the measurement (“Yes” in step S33), the steady state determination unit 56C determines that the motor 10 has transitioned from the transient phenomenon state to the steady state (FIG. 13). Time point h2). Then, in step S34, the abnormality determination unit 56D of the motor state determination device 50 starts the abnormality determination process for the motor 10. That is, when the motor 10 is in the steady state, the abnormal state determination process is performed.

Using the flowchart of FIG. 14, the abnormal state determination process of the motor 10 performed during the steady period ST of the motor 10 will be specifically described.

The abnormality determination unit 56D makes a comparative determination in step S41 shown in FIG. 14 for each current value received by the motor state determination device 50 when the motor 10 is in the steady state. That is, in step S41, the abnormality determination unit 56D determines whether or not the current value received by the motor state determination device 50 is larger than the current threshold value Is. Here, the current threshold value Is is set in advance in the recording device 53, and the processor 56 reads out from the recording device 53 at the time of step S41.

When the current value is larger than the current threshold value Is (“Yes” in step S41), the abnormality determination unit 56D determines that the motor 10 has an abnormality (step S42). On the other hand, when the current value is equal to or less than the current threshold value Is (“No” in step S41), the abnormality determination unit 56D determines that the motor 10 is normal (step S43).

After steps S42 and S43, in step S44, the motor state determination device 50 notifies the result of steps S42 and S43. For example, the display device 54 displays that the motor 10 is normal or that the motor 10 is abnormal. Further, when the abnormality determination unit 56D determines the abnormality of the motor 10, for example, the notification device 55 may notify the abnormality of the motor 10 by using light and / or sound.

While the abnormality determination process shown in FIG. 14 is performed on each current value received in the steady period ST, the steady state determination unit 56C performs the current value and the lower limit in step S35 of FIG. Comparison with the current value DI is performed. More specifically, the steady state determination unit 56C determines whether or not each received current value is less than the lower limit current value DI (step S35).

For example, when the current value is equal to or greater than the lower limit current value DI (“No” in step S35), the steady state determination unit 56C performs the process of step S35 with respect to the next received current value. On the other hand, for example, it is assumed that the drive stop process of the motor 10 is started, the value of the current flowing through the motor 10 decreases, and the current value becomes less than the lower limit current value DI (“Yes” in step S35, the time point in FIG. 13). h3). In this case, the abnormality determination unit 56D ends the abnormality determination process (see FIG. 14) performed in step S36.

After that, the steady state determination unit 56C detects that the current value received by the receiving device 51 is 0A (step S37). The time when the 0A is detected is the time when the second period ends. Then, after step S37, the motor state determination process over the second period ends. Here, it is assumed that the rotation speed of the motor 10 does not change during the steady period ST.

As can be seen from the above, the motor state determination device 50 according to the present embodiment determines the abnormality of the motor 10 in the steady period ST of the second period. In the example of FIG. 15, since there is a current value (part indicated by reference numeral Ip) that exceeds the current threshold value Is in the steady-state period ST, an abnormality of the motor 10 is notified in the steady-state period ST. On the other hand, the motor state determination device 50 according to the present embodiment does not perform abnormality determination of the motor 10 in a period other than the steady period ST of the second period. Therefore, as shown in the example of FIG. 15, in the transient period UT, there is a current value exceeding the current threshold value Is (the portion indicated by the reference numeral Ix), but the abnormality of the motor 10 is not notified (since the abnormality determination process is not performed). ).

As described above, the motor state determination device 50 according to the present embodiment determines the current value range using the plurality of current values obtained during the first period (preparation process). Then, the motor state determination device 50 determines the transient period UT using the temporal change of the current value and the current value range. Then, the motor state determination device 50 is transmitted from the motor 10 during the transient period UT, the current value range, and the second period when the motor 10 is driven over the second period after the first period. The current value is used to determine if the motor 10 is in a steady state within the second period.

Therefore, the motor state determination device 50 automatically determines whether or not the motor 10 is in the steady state in the second period thereafter by using the information acquired in the first period carried out in advance. be able to. Since the steady state of the motor 10 is determined using the current value range, the steady state of the motor 10 can be correctly determined even in equipment in which the current value fluctuates in the steady state. Further, since the transient period UT is determined as described above, even if a transient current flows because the inverter is not arranged, or because the inverter is arranged, the transient current does not flow. Even in this case, the steady state of the motor 10 can be correctly determined.

Further, the motor state determination device 50 according to the present embodiment performs abnormality determination in the steady period ST. Therefore, it is possible to suppress the erroneous determination of the motor abnormality, and it is possible to accurately determine the abnormality of the motor 10.

Further, the motor state determination device 50 of the present embodiment further includes a notification device 55 for notifying that an abnormality has occurred in the motor 10 when an abnormality in the motor 10 is determined. Therefore, the user can recognize the abnormality of the motor 10. Therefore, the user can quickly deal with the abnormality of the motor 10.

As shown in FIG. 2, the motor state determination device 50 includes an external device 200 and a communication device 52 for transmitting and receiving data. For example, the communication device 52 may transmit data representing the transient period UT determined by the transient period determination unit 56B and the current value range determined by the physical quantity value range determination unit 56A to the external device 200. .. Thereby, the transient period UT and the current value range can be visually displayed on the display unit of the external device 200, for example. Therefore, the user can confirm the validity of the transient period UT and the current value range (upper limit current value UI and lower limit current value DI) through the display unit of the external device 200. It is also possible to adjust (change) the transient period UT and the current value range via the external device 200.

Further, the communication device 52 may transmit data representing the steady-state period ST and the value of the current flowing through the motor 10 during the steady-state period ST to the external device 200. Therefore, the current value of the steady period ST can be displayed in time series, for example, on the display unit of the external device 200.

For example, it is assumed that the drive of the motor 10 is started and stopped (referred to as a drive cycle) a plurality of times. Then, it is assumed that the communication device 52 transmits all the current values detected during the drive cycle over a plurality of times to the external device 200. In this case, the current value waveform as illustrated in FIG. 16 is displayed on the external device 200. As can be seen from FIG. 16, a plurality of steady period STs appear in the current waveform. However, in the current waveform shown in FIG. 16, between each steady-state period ST, there is a period other than the steady-state period ST. Therefore, for example, it is difficult for the user to quantitatively determine the current value of the steady-state ST between a plurality of drive cycles.

Therefore, as described above, the communication device 52 transmits data representing the steady-state period ST and the current value flowing through the motor 10 during the steady-state period ST to the external device 200. In this case, the communication device transmits only the current value of the steady-state ST in each drive cycle to the external device 200. Therefore, the current value waveform as illustrated in FIG. 17 is displayed on the external device 200. As can be seen from FIG. 17, the current waveform of the steady-state ST can be displayed continuously. In this way, the external device 200 can display only the current value at the steady period ST in a graph over the drive cycles of the plurality of motors 10, so that the user visually recognizes the graph. Therefore, the aged deterioration of the motor 10 can be easily determined.

In the above, the physical quantity value range is determined, the transient period UT is determined, the steady state of the motor 10 is determined, and the like are determined based on the current value flowing through the motor 10. However, a rotation speed sensor for detecting the rotation speed of the motor 10 is provided, and the physical quantity value range is determined, the transient period UT is determined, and the steady state of the motor 10 is determined based on the rotation speed detected by the rotation speed sensor. Etc. may be performed. Basically, in steps S31, S35, and S37 of FIGS. 3, 5, and 12, "current" and "current value" are read as "rotational speed" and "rotational speed value". Each of the flowcharts in the above figure can also be adopted in the description of the operation using the rotation speed sensor.

For example, when a rotation speed sensor is adopted, for example, in the first learning mode shown in FIG. 3, the rotation speed value of the motor 10 is recorded in the recording device 53 over the first period. Further, in the second learning mode shown in FIG. 5, the physical quantity value range determining unit 56A uses the histogram (frequency distribution) of the rotation speed value to set the rotation speed value range (upper limit rotation speed value and lower limit rotation speed value). Includes). Further, in the third learning mode shown in FIG. 9, the transient period determination unit 56B determines the transient period UT by using the plurality of recorded rotation speed values and the rotation speed value range. Further, in FIG. 12, the steady state determination unit 56C starts the measurement of the transient period UT from the time point when the rotation speed value exceeds 0 (zero), and the received rotation speed value sets the lower limit rotation speed value. The end time point of the steady period is determined depending on whether or not it falls below the limit, and the motor state determination process ends when the rotation speed value becomes 0. Even when the rotation speed sensor is adopted, the abnormality determination process in the steady period ST shown in FIG. 14 is carried out with the above-mentioned contents using the current value from the current sensor 20.

Further, a wattmeter for detecting the value (electric power value) of the electric power supplied to the motor 10 is provided, and the physical quantity value range is determined, the transient period UT is determined, and the motor is determined based on the electric power value detected by the wattmeter. The determination of the steady state of 10 may be performed. Basically, in steps S31, S35, and S37 of FIGS. 3, 5, and 12, the above figure is obtained by replacing "current" and "current value" with "electric power" and "electric power value". Each flowchart of the above can also be adopted in the explanation of the operation using the power meter.

For example, when a power meter is adopted, for example, in the first learning mode shown in FIG. 3, the power value of the motor 10 is recorded in the recording device 53 over the first period. Further, in the second learning mode shown in FIG. 5, the physical quantity value range determining unit 56A uses the histogram (frequency distribution) of the power value to set the power value range (including the upper limit power value and the lower limit power value). decide. Further, in the third learning mode shown in FIG. 9, the transient period determination unit 56B determines the transient period UT by using the plurality of recorded power values and the power value range. Further, in FIG. 12, the steady state determination unit 56C starts the measurement of the transient period UT from the time point when the power value exceeds 0 (zero), and whether or not the received power value is lower than the lower limit power value. Then, the end time point of the steady period is determined, and when the power value becomes 0, the motor state determination process is ended. Even when a wattmeter is adopted, the abnormality determination process in the steady-state period ST shown in FIG. 14 is carried out with the above-mentioned contents using the current value from the current sensor 20.

Further, a torque sensor for detecting the torque of the motor 10 is provided, and based on the torque value detected by the torque sensor, the physical quantity value range is determined, the transient period UT is determined, the steady state of the motor 10 is determined, and the like. You may go. Basically, in steps S31, S35, and S37 of FIGS. 3, 5, and 12, the above figure is obtained by replacing "current" and "current value" with "torque" and "torque value". Each flowchart of the above can also be adopted in the explanation of the operation using the torque sensor.

For example, when a torque sensor is adopted, for example, in the first learning mode shown in FIG. 3, the torque value of the motor 10 is recorded in the recording device 53 over the first period. Further, in the second learning mode shown in FIG. 5, the physical quantity value range determining unit 56A uses the torque value histogram (frequency distribution) to set the torque value range (including the upper limit torque value and the lower limit torque value). decide. Further, in the third learning mode shown in FIG. 9, the transient period determination unit 56B determines the transient period UT by using the plurality of recorded torque values and the torque value range. Further, in FIG. 12, the steady state determination unit 56C starts the measurement of the transient period UT from the time point when the torque value exceeds 0 (zero), and whether or not the received torque value is lower than the lower limit torque value. Then, the end time point of the steady period is determined, and when the torque value becomes 0, the motor state determination process is ended. Even when the torque sensor is adopted, the abnormality determination process in the steady period ST shown in FIG. 14 is carried out with the above-mentioned contents using the current value from the current sensor 20.

The above embodiment is an example, and various modifications can be made without departing from the scope of the present invention. The plurality of embodiments described above can be established independently, but combinations of the embodiments are also possible. Further, although various features in different embodiments can be established independently, it is also possible to combine features in different embodiments.

10 Motor 20 Current sensor 50 Motor status determination device 52 Communication device 53 Recording device 55 Notification device 56A Physical quantity value range determination unit 56B Transient period determination unit 56C Steady state determination unit 56D Abnormality determination unit

Claims (9)

A recording device that records a physical quantity value that represents the driving state of the motor in the first period including the time from the start of the motor to the time when the motor is stopped.
Based on the frequency distribution of the physical quantity value in the first period, a physical quantity value range determining unit for determining the physical quantity value range indicating the range of the physical quantity value including the physical quantity value having the highest frequency of occurrence, and a physical quantity value range determining unit.
A transient period in which the motor exhibits a transient phenomenon from the start time of the first period is determined by using the time change of the physical quantity value in the first period and the physical quantity value range. The period determination department and
In the case of driving the motor over the second period after the first period, the transient period, the physical quantity value range, and the physical quantity value transmitted from the motor during the second period are used. A steady state determination unit for determining whether or not the motor is in a steady state within the second period is provided.
Motor status determination device. In the motor state determination device according to claim 1,
The physical quantity value is a value of a current flowing through the motor, a value of a rotational speed of the motor, a value of electric power supplied to the motor, or a value of torque of the motor.
A motor state determination device characterized by this. In the motor state determination device according to claim 1 or 2.
In the second period, the receiving device that receives the current value, which is output from the detecting device that detects the current value flowing through the motor, and the receiving device.
Abnormality determination, which determines whether or not an abnormality has occurred in the motor, using the current value received by the receiving device and a preset current threshold value in a steady period in which the motor indicates a steady state. Further prepare for the department,
A motor state determination device characterized by this. In the motor state determination device according to claim 3,
Further, the abnormality determination unit is further provided with a notification device for notifying that an abnormality has occurred in the motor when the abnormality determination unit determines the abnormality of the motor.
A motor state determination device characterized by this. In the motor state determination device according to claim 1 or 2.
A communication device for transmitting data representing the transient period and the physical quantity value range to an external device is further provided.
A motor state determination device characterized by this. In the motor state determination device according to claim 3,
A communication device for transmitting data representing the steady-state period and the current value flowing through the motor during the steady-state period to an external device is further provided.
A motor state determination device characterized by this. A physical quantity value representing the driving state of the motor in the first period including the time of starting the motor to the time of stopping the motor is recorded.
Based on the frequency distribution of the physical quantity value in the first period, a physical quantity value range indicating the range of the physical quantity value including the physical quantity value having the highest frequency of occurrence is determined.
Using the time change of the physical quantity value in the first period and the physical quantity value range, the transient period in which the motor exhibits a transient phenomenon from the start time of the first period is determined.
In the case of driving the motor over the second period after the first period, the transient period, the physical quantity value range, and the physical quantity value transmitted from the motor during the second period are used. It is determined whether or not the motor is in a steady state within the second period.
Motor state determination method. In the motor state determination method according to claim 7,
The physical quantity value is a value of a current flowing through the motor, a value of a rotational speed of the motor, a value of electric power supplied to the motor, or a value of torque of the motor.
A method for determining a motor state. A program for causing a computer to execute the motor state determination method according to claim 7 or 8.

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