JP7156131B2 - サーボdc給電システム及びモータ制御装置 - Google Patents
サーボdc給電システム及びモータ制御装置 Download PDFInfo
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- JP7156131B2 JP7156131B2 JP2019060608A JP2019060608A JP7156131B2 JP 7156131 B2 JP7156131 B2 JP 7156131B2 JP 2019060608 A JP2019060608 A JP 2019060608A JP 2019060608 A JP2019060608 A JP 2019060608A JP 7156131 B2 JP7156131 B2 JP 7156131B2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0025—Arrangements for modifying reference values, feedback values or error values in the control loop of a converter
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
- H02M1/008—Plural converter units for generating at two or more independent and non-parallel outputs, e.g. systems with plural point of load switching regulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
- H02M1/15—Arrangements for reducing ripples from dc input or output using active elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Description
流れる電流を制御する電流制御ループ部を備える。従って、このモータ制御装置を用いれば、電力供給路の電圧が発振しにくいサーボDC給電システムを構築できる。
直流電圧を三相交流に変換するための回路である。インバータ回路11は、正負の母線間に、U相用のレグ、V相用のレグ及びW相用のレグを並列接続した構成を有しており、モータ制御装置10には、インバータ回路11の各レグの出力電流を測定するための電流センサ28が設けられている。
本実施形態に係るサーボDC給電システムは、電力供給路35の電圧の発振を抑制可能とするために、各モータ制御装置10を、ノッチフィルタを含む電流制御ループによりモータ40に流れる電流を制御するように構成したシステムである。
来る。
上記した実施形態に係るサーボDC給電システムは、各種の変形が可能なものである。例えば、電力供給路35は、直流電源30からの電力(電流)を、サーボDC給電システム内の全モータ制御装置に供給できるものであれば、図1に示したものとは異なる構成のものであっても良い。また、各モータ制御装置10内の電流制御ループ部20(図3)を、例えば、図6Aに示したように、電流制御器27の後段にノッチフィルタ26を備えたものや、検出電流のリターン経路上にノッチフィルタ26を備えたものに変形しても良い。
直流電源(30)と、
それぞれ、サーボモータ(40)を制御する複数のモータ制御装置(10)と、
前記直流電源(30)からの電力を前記複数のモータ制御装置(10)に分配供給する電力供給路(35)と、
を含み、
前記複数のモータ制御装置(10)は、それぞれ、
前記電力供給路(35)の電圧が発振し得る周波数に応じた中心周波数を有するノッチフィルタ(26)を含む電流制御ループにより前記サーボモータ(40)に流れる電流を制御する電流制御ループ部(20)
を備える、
サーボDC給電システム。
11 インバータ回路
12 制御部
15 平滑コンデンサ
20 電流制御ループ部
21,23,25 減算器
22 位置制御器
24 速度制御器
26 ノッチフィルタ
27 電流制御部
28 電流センサ
29 速度検出器
30 直流電源
35 電力供給路
40 サーボモータ
41 エンコーダ
50 三相交流電源
Claims (3)
- 直流電源と、
それぞれ、サーボモータを制御する複数のモータ制御装置と、
前記直流電源からの電力を前記複数のモータ制御装置に分配供給する電力供給路と、
を含み、
前記複数のモータ制御装置は、それぞれ、
前記電力供給路の電圧が発振し得る周波数に応じた中心周波数を有するノッチフィルタ及び前記ノッチフィルタの前段に配置され電流を制御する電流制御器を含む電流制御ループにより前記サーボモータに流れる電流を制御する電流制御ループ部
を備え、
前記電力供給路の電圧が発振し得る周波数は、前記電流制御ループが前記ノッチフィルタを含まない場合に、前記電力供給路側の伝達関数とそれぞれの前記モータ制御装置側の伝達関数との相関において該電力供給路側の伝達関数に対応するゲインが該モータ制御装置側の伝達関数に対応するゲインを上回る周波数範囲に応じた周波数である、
サーボDC給電システム。 - 前記複数のモータ制御装置のそれぞれが備える前記電流制御ループ部は、
それぞれ、前記電力供給路の電圧が発振し得る複数の周波数に応じた中心周波数を有する複数のノッチフィルタを含む電流制御ループにより前記サーボモータに流れる電流を制御する、
請求項1に記載のサーボDC給電システム。 - 直流電源と、それぞれ、サーボモータを制御する複数のモータ制御装置と、前記直流電源からの電力を前記複数のモータ制御装置に分配供給する電力供給路と、を含むサーボDC給電システムにおける前記複数のモータ制御装置のうちの1つのモータ制御装置であって、
前記電力供給路の電圧が発振し得る周波数に応じた中心周波数を有する1つ又は複数のノッチフィルタ及び前記ノッチフィルタの前段に配置され電流を制御する電流制御器を含む電流制御ループにより前記サーボモータに流れる電流を制御する電流制御ループ部を備え、
前記電力供給路の電圧が発振し得る周波数は、前記電流制御ループが前記ノッチフィル
タを含まない場合に、前記電力供給路側の伝達関数とそれぞれの前記モータ制御装置側の伝達関数との相関において該電力供給路側の伝達関数に対応するゲインが該モータ制御装置側の伝達関数に対応するゲインを上回る周波数範囲に応じた周波数である、
モータ制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019060608A JP7156131B2 (ja) | 2019-03-27 | 2019-03-27 | サーボdc給電システム及びモータ制御装置 |
US17/442,215 US11750129B2 (en) | 2019-03-27 | 2020-03-05 | Servo DC power supply system and motor control device |
PCT/JP2020/009395 WO2020195677A1 (ja) | 2019-03-27 | 2020-03-05 | サーボdc給電システム及びモータ制御装置 |
DE112020001420.7T DE112020001420T5 (de) | 2019-03-27 | 2020-03-05 | Servo-gleichstromversorgungssystem und motorregelvorrichtung |
CN202080023451.0A CN113615075A (zh) | 2019-03-27 | 2020-03-05 | 伺服直流供电系统以及电机控制装置 |
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JP2019060608A JP7156131B2 (ja) | 2019-03-27 | 2019-03-27 | サーボdc給電システム及びモータ制御装置 |
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US (1) | US11750129B2 (ja) |
JP (1) | JP7156131B2 (ja) |
CN (1) | CN113615075A (ja) |
DE (1) | DE112020001420T5 (ja) |
WO (1) | WO2020195677A1 (ja) |
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JP2022139562A (ja) * | 2021-03-12 | 2022-09-26 | オムロン株式会社 | 検査装置、検査方法及びプログラム |
Citations (4)
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---|---|---|---|---|
JP2008253087A (ja) | 2007-03-30 | 2008-10-16 | Mitsubishi Electric Corp | サーボアンプおよびその診断装置 |
JP2008296877A (ja) | 2007-06-04 | 2008-12-11 | Jtekt Corp | 電動パワーステアリング装置 |
WO2017030067A1 (ja) | 2015-08-19 | 2017-02-23 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP6468342B1 (ja) | 2017-12-14 | 2019-02-13 | オムロン株式会社 | 電力変換装置 |
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US5646797A (en) * | 1990-09-18 | 1997-07-08 | Rodime Plc | Digital servo control system for use in disk drives |
JP3641953B2 (ja) * | 1997-11-25 | 2005-04-27 | 富士電機機器制御株式会社 | 永久磁石型同期電動機の制御方法 |
TWI243291B (en) * | 2003-05-13 | 2005-11-11 | Asml Netherlands Bv | Control system, lithographic apparatus, device manufacturing method, and device manufactured thereby |
WO2007096993A1 (ja) * | 2006-02-24 | 2007-08-30 | Mitsubishi Denki Kabushiki Kaisha | モータ制御装置 |
JP2011060347A (ja) * | 2009-09-07 | 2011-03-24 | Hitachi Global Storage Technologies Netherlands Bv | ディスク・ドライブ |
US9641142B2 (en) * | 2014-12-11 | 2017-05-02 | Texas Instruments Incorporated | Hot-swap current-sensing system |
JP7000373B2 (ja) * | 2019-04-15 | 2022-01-19 | ファナック株式会社 | 機械学習装置、制御装置及び機械学習方法 |
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- 2019-03-27 JP JP2019060608A patent/JP7156131B2/ja active Active
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- 2020-03-05 CN CN202080023451.0A patent/CN113615075A/zh active Pending
- 2020-03-05 WO PCT/JP2020/009395 patent/WO2020195677A1/ja active Application Filing
- 2020-03-05 US US17/442,215 patent/US11750129B2/en active Active
- 2020-03-05 DE DE112020001420.7T patent/DE112020001420T5/de active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008253087A (ja) | 2007-03-30 | 2008-10-16 | Mitsubishi Electric Corp | サーボアンプおよびその診断装置 |
JP2008296877A (ja) | 2007-06-04 | 2008-12-11 | Jtekt Corp | 電動パワーステアリング装置 |
WO2017030067A1 (ja) | 2015-08-19 | 2017-02-23 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP6468342B1 (ja) | 2017-12-14 | 2019-02-13 | オムロン株式会社 | 電力変換装置 |
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US20220173685A1 (en) | 2022-06-02 |
DE112020001420T5 (de) | 2021-12-16 |
WO2020195677A1 (ja) | 2020-10-01 |
US11750129B2 (en) | 2023-09-05 |
CN113615075A (zh) | 2021-11-05 |
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