JPH06105585A

JPH06105585A - Controller for motor

Info

Publication number: JPH06105585A
Application number: JP25494092A
Authority: JP
Inventors: Keiji Kunii; 啓次国井; Masahiro Tobiyo; 飛世　　正博; Shigeru Sugiyama; 繁椙山; Kiyotaka Kobayashi; 清隆小林
Original assignee: Hitachi Ltd
Current assignee: Hitachi Ltd
Priority date: 1992-09-24
Filing date: 1992-09-24
Publication date: 1994-04-15

Abstract

PURPOSE:To prevent the control command for a motor from becoming a value exceeding an allowable range of the motor by controlling the motor with a high accuracy. CONSTITUTION:A control apparatus for a motor has a motor controller for controlling the motor, and a plant controller for generating the control command of the motor to output control data including the command to the motor controller to control it, and the plant controller has operating state data request signal generating means 63 for generating and outputting the signal for requesting operating state data of the motor controller, and speed/torque correcting means for correcting the control command based on the operating state data obtained from the motor controller by a request. Further, the motor controller has operating state data extracting means for extracting the operating state data indicating the operating state therein in response to a received request signal to output it to the plant controller. Thus, the motor controller is cooperated in high accuracy upon changing of operating conditions.

Description

Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、生産ライン等のプロセ
スプラントの制御システムに係り、特にプロセスプラン
トのプロセス機器を駆動制御する電動機を、プロセスの
運転条件や操業条件の変化に合わせて制御する電動機統
制装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for a process plant such as a production line, and more particularly to controlling an electric motor for driving and controlling process equipment of the process plant according to changes in process operating conditions and operating conditions. Electric motor control device.

【０００２】[0002]

【従来の技術】生産ライン等のプロセスラインの具体例
としては、圧延ライン、物流ライン等が挙げられる。通
常これらのプロセスラインは、ラインに沿って配設され
た１つまたは複数のプロセス機器を含んで構成される。
そして、それらのプロセス機器の運転条件は、プロセス
ラインの操業条件等の変化に密接な関連がある事から、
各プロセス機器はプロセスコンピュータ及び／またはプ
ラントコントローラ（以下プラントコントローラと総称
する。）により統括制御される。すなわち、操業条件の
変化に合わせて協調制御される。たとえば、圧延プラン
トにおける圧延設備や焼鈍設備等のプロセスラインは、
圧延コイルの巻取機、圧延ロール、ブライドルロール、
テンションリール、ヘルパーロール等の複数のプロセス
機器を含んで構成され、それらのプラント機器はそれぞ
れ電動機により駆動される。2. Description of the Related Art Specific examples of process lines such as production lines include rolling lines and physical distribution lines. Typically, these process lines comprise one or more process equipments arranged along the line.
And since the operating conditions of those process equipment are closely related to changes in the operating conditions of the process line,
Each process device is centrally controlled by a process computer and / or a plant controller (hereinafter collectively referred to as a plant controller). That is, coordinated control is performed according to changes in operating conditions. For example, process lines for rolling equipment and annealing equipment in rolling plants are
Rolling coil winder, rolling roll, bridle roll,
It is configured to include a plurality of process devices such as a tension reel and a helper roll, and these plant devices are each driven by an electric motor.

【０００３】このようなプロセスラインでは特に、各電
動機の速度を操業条件に合わせて協調制御する事が要求
される。この要求を満たすため、従来プラントコントロ
ーラから各電動機の制御装置に速度指令やトルク指令等
が送られ、各電動機制御装置はその指令に基づいて電動
機を制御するようになっている。ところが、電動機制御
装置内部では電動機を制御するために必要な各種の演算
が行われており、その演算過程においてプラントコント
ローラからの指令が加工されており、加えて電動機或い
は電力変換器を保護するために電流、電圧を制限する場
合がある。このため、電動機は必ずしもプラントコント
ローラの指令通りに動作するわけではなく、データの加
工によって生じる誤差あるいは保護動作による出力値の
制限等により、指令と実運転状態との不一致が生じる。
そこでこのような問題を防止するため、プラントコント
ローラが各電動機の運転状態を認識し、各電動機の指令
を個別に補正すること及び一部の電動機を安定に運転す
るために全体の指令を補正することが重要な課題として
要求されるParticularly in such a process line, it is required to coordinately control the speed of each electric motor in accordance with the operating conditions. In order to meet this demand, a plant controller conventionally sends a speed command, a torque command, etc. to a control device for each electric motor, and each electric motor control device controls the electric motor based on the command. However, various calculations necessary for controlling the electric motor are performed inside the electric motor control device, and the command from the plant controller is processed in the calculation process, and in addition, in order to protect the electric motor or the power converter. The current and voltage may be limited. For this reason, the electric motor does not always operate according to the command of the plant controller, and the command and the actual operating state do not match each other due to an error caused by data processing or an output value limitation due to a protection operation.
Therefore, in order to prevent such a problem, the plant controller recognizes the operating state of each electric motor, individually corrects the instruction of each electric motor, and corrects the entire instruction to stably operate some electric motors. Is required as an important issue

【０００４】[0004]

【発明が解決しようとする課題】近年圧延材の品質に対
する要求は厳しさを増しており、プラントコントローラ
は各電動機に対し、より細かな指令を与える必要があ
る。例えば特開平４−８５６０４号公報には、電動機制
御装置内の制御パラメータを更新する等の手段により、
操業条件の変化に応じて電動機の制御特性を協調させる
ようにした技術が開示されている。In recent years, the demands on the quality of rolled materials have become more severe, and the plant controller needs to give more detailed commands to each electric motor. For example, in Japanese Unexamined Patent Publication No. 4-85604, by means such as updating control parameters in the electric motor control device,
A technique is disclosed in which the control characteristics of an electric motor are coordinated in accordance with changes in operating conditions.

【０００５】しかし、このような方法は電動機制御装置
がプラントコントローラからの指令値通りに運転される
という前提のもとに成り立っており、プラントコントロ
ーラが電動機制御装置に対し、該電動機制御装置が制御
しうる範囲を越えるような指令を与えた場合に発生する
異常運転を防止することが出来ない。特にプラントコン
トローラから電動機制御装置に与えられる指令の数が増
えるに従い、その指令が電動機制御装置の制御範囲内に
あるかどうかをプラントコントローラが判断する必要が
出てきた。However, such a method is based on the premise that the electric motor control device operates according to the command value from the plant controller, and the plant controller controls the electric motor control device by the electric motor control device. It is impossible to prevent abnormal operation that occurs when a command that exceeds the allowable range is given. Particularly, as the number of commands given from the plant controller to the electric motor control device increases, it has become necessary for the plant controller to judge whether the command is within the control range of the electric motor control device.

【０００６】電動機が安定して運転できうる指令を作成
するため、プラントコントローラは各電動機制御装置内
の速度制御ループ，電流制御ループの出力や、直流電動
機の界磁電流，交流電動機の励磁電流、電動機端子電
圧、電圧・電流の制限情報などの詳細な運転状態を知る
ことが必要となってくる。In order to generate a command that enables the motor to operate stably, the plant controller outputs the speed control loop and the current control loop in each motor control device, the field current of the DC motor, the exciting current of the AC motor, It becomes necessary to know detailed operating conditions such as motor terminal voltage and voltage / current limit information.

【０００７】一方、各電動機の運転状態を詳細に把握し
ようとすれば、複数の運転状態データを電動機制御装置
からプラントコントローラへ伝送する必要がある。On the other hand, in order to grasp the operating state of each electric motor in detail, it is necessary to transmit a plurality of operating state data from the electric motor control device to the plant controller.

【０００８】本発明の目的は、プラントコントローラが
電動機制御装置内の運転状態を把握することにより精度
の高い制御を行うと共に、電動機の状態量が許容値を越
えることを防いでプロセス機器の異常運転を予防する事
ができるプロセスプラントの電動機統制装置を提供する
ことにある。An object of the present invention is to perform highly accurate control by the plant controller grasping the operating state in the electric motor control device, and to prevent the state quantity of the electric motor from exceeding an allowable value to cause abnormal operation of process equipment. It is to provide a motor control device for a process plant capable of preventing the above.

【０００９】[0009]

【課題を解決するための手段】上に述べた目的を達成す
るため、本発明の電動機統制装置は、プロセスプラント
を構成するプロセス機器を駆動する電動機を制御する電
動機制御装置と、前記プロセスプラントの操業条件に基
づいて前記電動機の制御指令を生成し、該制御指令を含
む制御データを前記電動機制御装置に出力して該電動機
制御装置を制御するプラントコントローラとを備えてな
る電動機統制装置において、前記プラントコントローラ
に、前記電動機制御装置の少なくとも１つの運転状態デ
ータを要求する要求信号を生成、出力する手段と、得ら
れた運転状態データに基づいて制御指令を補正する手段
を備え、前記電動機制御装置に、受信した要求信号に応
じて装置内の運転状態を示す運転状態データを抽出し、
前記プラントコントローラへ出力する手段を備えたもの
である。In order to achieve the above-mentioned object, an electric motor control device of the present invention includes an electric motor control device for controlling an electric motor for driving a process equipment constituting a process plant, and the process plant. An electric motor control device comprising: a control command for the electric motor based on an operating condition; and a plant controller that outputs control data including the control command to the electric motor control device to control the electric motor control device. The plant controller is provided with means for generating and outputting a request signal requesting at least one operating state data of the electric motor controller, and means for correcting a control command based on the obtained operating state data. In, to extract the operating state data indicating the operating state in the device according to the received request signal,
It is provided with means for outputting to the plant controller.

【００１０】さらに、プラントコントローラに、電動機
制御装置に設定されている制御パラメータの更新値を出
力する手段を設け、電動機制御装置に、入力された該更
新値に従って設定されている制御パラメータを更新する
手段を設けてもよい。Further, the plant controller is provided with means for outputting the updated value of the control parameter set in the electric motor control device, and the electric motor control device is updated with the control parameter set according to the input updated value. Means may be provided.

【００１１】[0011]

【作用】このように構成されることから、本発明の電動
機統制装置によれば、次の作用により上記目的が達成さ
れる。With this structure, the motor control device of the present invention achieves the above object by the following actions.

【００１２】まず、プラントコントローラによりプロセ
スプラントの操業条件の変化に合わせて前記電動機制御
装置への制御指令が生成され、同時に制御指令が電動機
制御装置内で波及する運転状態データを要求する信号が
生成されて電動機制御装置に送信される。First, the plant controller generates a control command to the electric motor control unit in accordance with changes in the operating conditions of the process plant, and at the same time, generates a signal requesting operating state data in which the control command propagates in the electric motor control unit. And transmitted to the motor control device.

【００１３】電動機制御装置は受信した制御指令に応じ
て各種の演算を行い電動機を制御するための信号に変換
する。また、要求信号に応じて電動機制御装置内の演算
結果から抽出された運転状態データ及びまたは電動機か
らのフィードバック情報を実運転情報としてプラントコ
ントローラへ送信する。The electric motor control device performs various calculations according to the received control command and converts it into a signal for controlling the electric motor. In addition, the operating state data extracted from the calculation result in the electric motor control device according to the request signal and / or the feedback information from the electric motor is transmitted to the plant controller as actual operating information.

【００１４】プラントコントローラは受信した実運転情
報を監視し、必要に応じて電動機制御装置に与える制御
指令を補正、更新する。この補正、更新により、操業条
件の変化に伴って電動機制御装置に与えられる制御指令
が電動機制御装置の制御許容範囲を越えることによるプ
ロセス機器の異常運転が予防される。The plant controller monitors the received actual operation information, and corrects and updates the control command given to the electric motor control device if necessary. By this correction and updating, abnormal operation of the process equipment due to the control command given to the electric motor control device exceeding the control allowable range of the electric motor control device due to the change of the operating condition is prevented.

【００１５】また、要求対象の運転状態データとして
は、電動機制御系の掛算器あるいは積分器の出力、速度
フィードバック、負荷電流フィードバック、界磁電流フ
ィードバック（直流電動機）或いは励磁電流フィードバ
ック（交流電動機）、電動機端子電圧などの運転状態や
電流制限、電圧制限、過負荷監視などの保護情報の少な
くとも１つを含む。The operation status data to be requested includes the output of the multiplier or integrator of the motor control system, speed feedback, load current feedback, field current feedback (DC motor) or excitation current feedback (AC motor), At least one of operating information such as a motor terminal voltage and protection information such as current limitation, voltage limitation, and overload monitoring is included.

【００１６】また、電動機制御装置において装置の制御
特性を規定する制御パラメータの設定値をプラントコン
トローラから更新するような電動機統制装置では、操業
条件の変化に伴ってプラントコントローラが制御パラメ
ータを演算し、電動機制御装置に更新値を与える。とこ
ろが、電動機制御装置は受信した制御パラメータの更新
値が制御範囲を越えてしまうために（上下限値を越え
る）データを廃棄することがあり、プラントコントロー
ラが得ようとしている制御特性を満足しない結果に至る
場合がある。制御パラメータとしては電動機制御系の比
例ゲイン、積分ゲインなどがあるが、制御パラメータの
更新結果としてこの比例ゲイン、積分ゲイン等または電
動機制御系の出力を運転状態データとしてプラントコン
トローラが要求することにより制御パラメータの更新値
を電動機制御装置の制御範囲内に保つことができ、プロ
セスプラントの揃速性を維持するために複数の電動機制
御装置の制御パラメータの更新値を制御範囲の限界にあ
る電動機制御装置の制御パラメータに協調させることが
可能になる。Further, in the motor control device in which the set values of the control parameters that define the control characteristics of the device in the electric motor control device are updated from the plant controller, the plant controller calculates the control parameters in accordance with changes in operating conditions, The updated value is given to the motor controller. However, the motor controller may discard the data (beyond the upper and lower limit values) because the update value of the received control parameter exceeds the control range, resulting in the plant controller not satisfying the control characteristics that it is trying to obtain. May lead to. The control parameters include the proportional gain and integral gain of the motor control system.The control parameter is controlled by the plant controller requesting the proportional gain, integral gain, etc. or the output of the motor control system as the operating state data as the update result. The motor control device can maintain the updated values of the parameters within the control range of the motor control device, and the update values of the control parameters of the plurality of motor control devices are within the control range in order to maintain the uniform speed of the process plant. It becomes possible to coordinate with the control parameter of.

【００１７】また、圧延機主機のような大容量のモータ
ーにおいては、モーター温度の監視により過大負荷時の
温度上昇防止も重要な項目であるが、本発明により電動
機制御装置からプラントコントローラへの温度情報の伝
送も容易に実現できる。Further, in a large-capacity motor such as a rolling mill main machine, it is an important item to prevent the temperature rise at the time of overload by monitoring the motor temperature. However, according to the present invention, the temperature from the motor controller to the plant controller is controlled. Information can be easily transmitted.

【００１８】また、圧延ラインにおいては圧延を監視す
るための運転室が配置されており、操業状態を監視し、
必要に応じてプラントコントローラに対して指令を与え
るオペレータが存在する。このオペレータへの情報提供
として各電動機の運転状態を詳細に表示することも可能
である。Further, in the rolling line, an operator's cab for observing rolling is arranged to monitor the operation state,
There is an operator who gives a command to the plant controller as needed. It is also possible to display the operating state of each electric motor in detail as information provision to the operator.

【００１９】[0019]

【実施例】以下、本発明の実施例を図面を参照して説明
する。図１に本発明が適用されてなる一実施例の圧延焼
鈍ラインの電動機統制装置の全体構成を示し、図２〜図
８に各部の詳細構成を示す。本実施例の焼鈍ラインは、
巻戻し機１から巻戻される圧延材２を、複数のブライド
ルロール３Ａ〜Ｄからなる入側ブライドルロール群４を
経て、複数のヘルパーロール５Ａ〜Ｎを含んでなる焼鈍
設備６に導き、ここで焼鈍処理した後複数のブライドル
ロール７Ａ〜Ｃからなる出側ブライドルロール群８を順
次通して巻取機９に巻取るようになっている。巻戻し機
１は電動機１０Ａにより、入側ブライドルロール３Ａ〜
Ｄは電動機１０Ｂ〜Ｅにより、ヘルパーロール５Ａ〜Ｎ
は電動機１０Ｆ〜Ｊにより、出側ブライドルロール７Ａ
〜Ｃは電動機１０Ｋ〜Ｍにより、巻取り機９は電動機１
０Ｎにより、それぞれ駆動される。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows the overall configuration of an electric motor control device of a rolling annealing line of one embodiment to which the present invention is applied, and FIGS. 2 to 8 show detailed configurations of respective parts. The annealing line of this embodiment is
The rolled material 2 unwound from the unwinding machine 1 is guided to an annealing equipment 6 including a plurality of helper rolls 5A to N through an entrance side bridle roll group 4 including a plurality of bridle rolls 3A to D, and here, After the annealing treatment, the outlet bridle roll group 8 including a plurality of bridle rolls 7A to 7C is sequentially passed and wound on a winder 9. The rewinding machine 1 uses the electric motor 10A to move the entry side bridle roll 3A to
D is a helper roll 5A-N driven by electric motors 10B-E
Is driven by the electric motors 10F to J, and the bridle roll 7A on the exit side is driven.
-C are electric motors 10K-M, and winder 9 is electric motor 1
Each is driven by 0N.

【００２０】このような焼鈍ラインにおいては、品質保
持や設備の安定操業の点から、各部の圧延材の張力を一
定の値に保持するため、各電動機１０の速度応答の揃速
性を満たすことが重要な課題となる。特に、圧延材の板
厚や材料の種類等の操業条件が変化すると、速度制御系
の作用により各電動機１０の負荷電流が変化するため、
プラントコントローラは限界を越えないように各電動機
制御装置を協調させようとして制御指令を更新する。こ
の更新値に対する各電動機制御装置の応答に差異が発生
したり、更新値が電動機制御装置が対応できる範囲を越
えてしまうと揃速性を満たすことができない。従って、
操業条件の変化に協調させて各電動機制御装置を協調制
御するため、各電動機の詳細な運転状態に関するデータ
をプラントコントローラが把握する必要がある。この要
求を満たす本実施例の電動機統制装置について次に説明
する。In such an annealing line, in order to maintain the quality and to stably operate the equipment, the tension of the rolled material in each part is maintained at a constant value, so that the speed response of each electric motor 10 must be uniform. Is an important issue. In particular, when the operating conditions such as the plate thickness of the rolled material and the type of material change, the load current of each electric motor 10 changes due to the action of the speed control system.
The plant controller updates the control command in an attempt to coordinate the electric motor control devices so that the limit is not exceeded. If there is a difference in the response of each electric motor control device to the updated value, or if the updated value exceeds the range that the electric motor control device can support, it is not possible to satisfy the uniform speed. Therefore,
In order to coordinately control each electric motor control device in coordination with changes in operating conditions, it is necessary for the plant controller to grasp detailed data regarding the operating state of each electric motor. The electric motor control device of this embodiment that satisfies this requirement will be described below.

【００２１】各電動機１０Ａ〜Ｎはそれぞれ個別に、ま
たは一定のグループ毎に設けられた複数の電動機制御装
置２０Ａ〜Ｎにより制御される。なお、図を判り易くす
るため、一部の電動機制御装置は図示が省略されてい
る。各電動機制御装置２０Ａ〜Ｎはプラントコントロー
ラ６０から、伝送路４０を介して運転指令、速度指令、
トルク指令等の各種の制御指令や、制御パラメータ等を
含む制御データが与えられる。また、電動機制御装置２
０Ａ〜Ｎからはプラントコントローラ６０に対して運転
停止状態、実速度フィードバック等の情報（実運転情
報）４０Ｂを伝送するようになっている。更に、プラン
トコントローラ６０には各種センサ群４５から必要なプ
ロセス機器のセンサデータ４４が入力されている。ま
た、プラントコントローラ６０は上位のプロセスコンピ
ュータ５０と接続されている。Each of the electric motors 10A to 10N is controlled by a plurality of electric motor control devices 20A to 20N provided individually or in fixed groups. It should be noted that some of the electric motor control devices are not shown for the sake of clarity. Each of the motor control devices 20A to 20N receives an operation command, a speed command, and a command from the plant controller 60 via the transmission path 40.
Various control commands such as a torque command and control data including control parameters are given. In addition, the electric motor control device 2
From 0A to N, information (actual operation information) 40B such as an operation stop state and actual speed feedback is transmitted to the plant controller 60. Further, the sensor data 44 of necessary process equipment is input to the plant controller 60 from various sensor groups 45. Further, the plant controller 60 is connected to the upper process computer 50.

【００２２】プロセスコンピュータ５０は、操業条件と
プラントコントローラ６０からの実運転情報に基づい
て、プラントコントローラ６０に、材料情報、全体のラ
インスピード、ロールの圧力などの各種の運転指令を出
力する。プラントコントローラ６０は、与えられる運転
指令に基づいて各電動機１０の速度、電流等の制御指令
４０Ａを生成して、各電動機制御装置２０に出力する。
この際、センサ群４５からのセンサデータ４４と各電動
機制御装置２０からの実運転情報４０Ｂをもとに、運転
状態を判断する。電動機制御装置２０Ａ〜Ｎはプラント
コントローラ６０から与えられる制御指令通りに、対応
する各電動機１０を制御し、結果として得られる実運転
情報をプラントコントローラ６０に出力する。The process computer 50 outputs various operation commands such as material information, overall line speed, and roll pressure to the plant controller 60 based on the operating conditions and the actual operation information from the plant controller 60. The plant controller 60 generates a control command 40A for the speed, current, etc. of each electric motor 10 based on the given operation command, and outputs it to each electric motor control device 20.
At this time, the operating state is determined based on the sensor data 44 from the sensor group 45 and the actual operating information 40B from each motor control device 20. The electric motor control devices 20A to 20N control the corresponding electric motors 10 according to the control commands given from the plant controller 60, and output the resulting actual operation information to the plant controller 60.

【００２３】図２に、プラントコントローラ６０の主要
部の構成をブロック図で示す。図示のように、プラント
コントローラ６０は、制御指令生成手段６１と、制御指
令生成手段６１にそれぞれ接続された運転停止レジスタ
６５、単位変換手段６６、単位変換手段６７と、運転状
態データ要求信号生成手段６３と、運転停止レジスタ６
５、単位変換手段６６、単位変換手段６７、運転状態デ
ータ要求信号生成手段６３それぞれに並列に接続された
送信手段６４とを含んで構成されている。制御指令生成
手段６１はまた、センサ群４５及びプロセスコンピュー
タ５０に接続され、運転状態データ要求信号生成手段６
３の入力側はプロセスコンピュータ５０に接続されてい
る。FIG. 2 is a block diagram showing the configuration of the main part of the plant controller 60. As shown in the figure, the plant controller 60 includes a control command generation unit 61, an operation stop register 65, a unit conversion unit 66, a unit conversion unit 67 connected to the control command generation unit 61, and an operation state data request signal generation unit. 63 and operation stop register 6
5, unit conversion means 66, unit conversion means 67, and operation state data request signal generation means 63, respectively, and transmission means 64 connected in parallel. The control command generating means 61 is also connected to the sensor group 45 and the process computer 50, and the operating state data request signal generating means 6
The input side of 3 is connected to the process computer 50.

【００２４】制御指令生成手段６１は、プロセスコンピ
ュータ５０から伝送路４２を介して入力される操業条件
や運転指令に基づいて、対応する電動機１０の制御指令
を生成する。生成された制御指令は送信手段６４を介し
て対応する電動機制御装置２０に出力される。本実施例
では、制御指令生成手段６１は制御指令として電動機の
運転停止指令Ｄ／Ｓ、速度指令ω、及びトルク指令τを
出力する。運転停止指令Ｄ／Ｓは運転停止レジスタ６５
を介して、速度指令ωは単位変換手段６６により圧延材
の速度系の単位ｍｐｍから電動機の速度系の単位ｒｐｍ
に変換されて、トルク指令τは単位変換手段６７によ
り、機械系の単位［Ｎ・ｍ］から電動機の電流単位
［Ａ］の電流指令Ｉに変換されて、それぞれ送信手段６
４に取り込まれる。運転状態データ要求信号生成手段６
３は、プロセスコンピュータ５０から入力される操業条
件に基づいて、あらかじめ定められた手順により、必要
に応じて１または２以上の運転状態データの要求信号で
ある運転状態データ要求信号Ｐ（データコードＤＣを含
む）を送信手段６４に出力する。出力のタイミングは、
各制御指令により、電動機制御装置内で各種演算が行わ
れ、制御指令の影響が電動機制御装置の動作に波及した
段階にあわせるのが好ましい。送信手段６４は、運転停
止指令Ｄ／Ｓ，速度指令ω，電流指令Ｉ及び運転状態デ
ータ要求信号Ｐ（以下、要求信号Ｐという）を制御指令
４０Ａとして電動機制御装置２０に出力する。The control command generating means 61 generates a control command for the corresponding electric motor 10 based on the operating condition and the operation command input from the process computer 50 via the transmission path 42. The generated control command is output to the corresponding motor control device 20 via the transmission means 64. In the present embodiment, the control command generating means 61 outputs a motor operation stop command D / S, a speed command ω, and a torque command τ as control commands. The operation stop command D / S is output to the operation stop register 65.
The speed command ω is converted by the unit conversion means 66 from the unit mpm of the speed system of the rolled material to the unit rpm of the speed system of the electric motor.
The torque command τ is converted by the unit conversion means 67 into a current command I in a current unit [A] of the electric motor from the unit [N · m] of the mechanical system, and the transmission means 6 respectively.
Taken in 4. Operating state data request signal generating means 6
3 is an operation state data request signal P (data code DC), which is a request signal for one or more operation state data as necessary, according to a predetermined procedure based on the operating condition input from the process computer 50. Is output to the transmission means 64. The output timing is
It is preferable that various calculations be performed in the electric motor control device by each control command, and that the influence of the control command be reflected at the stage where the operation of the electric motor control device is affected. The transmission means 64 outputs the operation stop command D / S, the speed command ω, the current command I, and the operation state data request signal P (hereinafter referred to as request signal P) to the electric motor control device 20 as the control command 40A.

【００２５】図３に電動機制御装置２０の一実施例の主
要構成をブロック図で示す。図示の電動機制御装置２０
は、受信手段２１と、受信手段２１に接続された運転シ
ーケンサ２２，運転状態データ抽出手段２５及び制御手
段２３と、運転シーケンサ２２及び制御手段２３に入力
側を接続され出力側を電動機１０に接続されたインバー
タ等の電力変換器２４と、運転シーケンサ２２及び運転
状態データ抽出手段２５に接続された送信手段３１と、
を含んで構成されている。運転状態データ抽出手段２５
は制御手段２３にも接続されており、電力変換器２４の
出力側に配置された電流検出器３０は制御手段２３及び
送信手段３１に接続されている。FIG. 3 is a block diagram showing the main configuration of one embodiment of the motor control device 20. The illustrated motor control device 20
Are connected to the receiving means 21, the operation sequencer 22 connected to the receiving means 21, the operating state data extracting means 25 and the control means 23, the input side to the operation sequencer 22 and the control means 23, and the output side to the electric motor 10. A power converter 24 such as an inverter and a transmission means 31 connected to the operation sequencer 22 and the operation state data extraction means 25;
It is configured to include. Operating state data extraction means 25
Is also connected to the control means 23, and the current detector 30 arranged on the output side of the power converter 24 is connected to the control means 23 and the transmission means 31.

【００２６】受信手段２１は、伝送路４０を介してプラ
ントコントローラ６０から入力される制御データ４０Ａ
を取り込み、運転停止指令Ｄ／Ｓは運転シーケンサ２２
に、速度指令ωと電流指令Ｉは制御手段２３に、要求信
号Ｐは運転状態データ抽出手段２５にそれぞれ出力す
る。運転シーケンサ２２は、運転停止指令Ｄ／Ｓのシー
ケンスの制御内容に従って、主として電力変換器２４の
運転制御を行う。制御手段２３は、本実施例では、受信
手段２１に接続される速度制御系ＡＳＲ２６と、ＡＳＲ
２６の出力側に接続された電流リミッタ２７と、電流リ
ミッタ２７の出力側に接続された電流制御系ＡＣＲ２８
と、ＡＣＲ２８の出力側に接続された電圧指令リミッタ
２９とを含んで構成されている。電圧指令リミッタ２９
の出力側は電力変換器２４の入力側に接続されている。
電流リミッタ２７と電圧指令リミッタ２９は運転状態デ
ータ抽出手段２５にそれぞれ接続されている。電動機１
０の速度検出器１２の出力側は送信手段３１及びＡＳＲ
２６の入力側に接続されている。The receiving means 21 controls the control data 40A input from the plant controller 60 via the transmission line 40.
And the operation stop command D / S
The speed command ω and the current command I are output to the control means 23, and the request signal P is output to the operating state data extraction means 25. The operation sequencer 22 mainly controls the operation of the power converter 24 according to the control content of the sequence of the operation stop command D / S. In this embodiment, the control means 23 includes a speed control system ASR26 connected to the receiving means 21 and an ASR.
26, and a current control system ACR 28 connected to the output side of the current limiter 27.
And a voltage command limiter 29 connected to the output side of the ACR 28. Voltage command limiter 29
The output side of is connected to the input side of the power converter 24.
The current limiter 27 and the voltage command limiter 29 are connected to the operating state data extracting means 25, respectively. Electric motor 1
The output side of the speed detector 12 of 0 is transmitting means 31 and ASR.
It is connected to the input side of 26.

【００２７】速度制御系ＡＳＲ２６は、受信手段２１か
ら入力される速度指令ωと電動機１０の速度検出器１２
から入力される実速度ωＡの偏差を、比例積分処理して
その偏差を零にするための電流指令を出力する。電流リ
ミッタ２７は、プラントコントローラ６０から入力され
る電流指令ＩとＡＳＲ２６から出力される電流指令との
加算値を取り込み、必要に応じて設定されている電流の
上下限値に制限して出力する。電流制御系ＡＣＲ２８
は、電流リミッタ２７から出力される電流指令と電流検
出器３０から入力される実電流ＩＡの偏差を零にすべ
く、電力変換器２４への出力電圧指令を生成して出力す
る。電圧指令リミッタ２９は電流制御系ＡＣＲ２８から
の出力電圧指令が電力変換器２４の出力範囲内となるよ
うに必要により上下限値の制限を行う。電力変換器２４
は、入力される出力電圧指令に従って忠実に動作し、電
動機１０の速度を制御する。The speed control system ASR 26 includes the speed command ω input from the receiving means 21 and the speed detector 12 of the electric motor 10.
The deviation of the actual speed ωA input from is subjected to proportional-plus-integral processing to output a current command for making the deviation zero. The current limiter 27 takes in the added value of the current command I input from the plant controller 60 and the current command output from the ASR 26, limits the current to the upper and lower limit values of the current set as necessary, and outputs the current. Current control system ACR28
Generates and outputs an output voltage command to the power converter 24 so that the deviation between the current command output from the current limiter 27 and the actual current IA input from the current detector 30 becomes zero. The voltage command limiter 29 limits the upper and lower limit values as necessary so that the output voltage command from the current control system ACR 28 falls within the output range of the power converter 24. Power converter 24
Operates faithfully according to the input output voltage command and controls the speed of the electric motor 10.

【００２８】一方、運転状態データ抽出手段２５は、受
信手段２１より入力された要求信号Ｐからデータコード
ＤＣを分離し、データコードに対応する運転状態データ
を抽出して送信手段３１へ出力する。送信手段３１は運
転シーケンサ２２の制御状態と、実速度ωＡと、実電流
ＩＡと、運転状態データ抽出手段２５からの出力を、予
め定められた伝送フォーマットに変換して、伝送路４０
に出力する。本実施例においては電流リミッタ２７と電
圧指令リミッタ２９の上下限値制限情報を運転状態デー
タとして抽出している。On the other hand, the operating state data extracting means 25 separates the data code DC from the request signal P input from the receiving means 21, extracts the operating state data corresponding to the data code, and outputs it to the transmitting means 31. The transmission unit 31 converts the control state of the operation sequencer 22, the actual speed ωA, the actual current IA, and the output from the operation state data extraction unit 25 into a predetermined transmission format, and the transmission line 40.
Output to. In the present embodiment, the upper and lower limit value limit information of the current limiter 27 and the voltage command limiter 29 is extracted as operating state data.

【００２９】本実施例では、プラントコントローラの送
信手段６４と受信手段６２は、各電動機制御装置２０Ａ
〜Ｎの送信手段３１と受信手段２１に対応させて、電動
機制御装置ごとに個別に設けられ、各電動機制御装置に
いわゆる放射状伝送路によりデータを伝送するものとし
てある。しかし、本発明はこれに限らず、各電動機制御
装置２０Ａ〜Ｎをループ伝送路で結び、そのループ状伝
送路を介してデータを伝送するようにすることも可能で
ある。送信手段６４，３１は上記各指令を図４に示した
伝送フォーマットに従って１フレームの伝送データ３８
を生成し、その伝送データ３８は、例えば図示のよう
に、６ワードを含んで構成される。前後の各１ワードは
伝送制御のための前データＨＥＡＤと後データＥＮＤが
割り当てられている。前データＨＥＡＤは伝送データ３
８の先頭を表す。後データＥＮＤは伝送データ３８の終
了を表すデータと、エラーチェックデータを含んでい
る。それらの中間の４つのワードには、プラントコント
ローラ６０からの制御データＤＡＴＡ１〜４或いは電動
機制御装置からの実運転情報ＤＡＴＡ５〜８が割り当て
られている。ＤＡＴＡ１〜４には図５に示すように、そ
れぞれ運転停止指令Ｄ／Ｓ、速度指令ω、電流指令Ｉ、
運転状態データ要求信号Ｐが割り当てられている。運転
状態データ要求信号Ｐのビット構成は、ｎビットのデー
タコード部３９Ａと、（１ｗ−ｎ）ビットの空きエリア
３９Ｂに分けられている。空きエリア３９ＢにはＤＡＴ
Ａ１〜ＤＡＴＡ３の制御指令の他の制御指令を与えるこ
とも可能である。図６に１ｗ＝１６ビット、ｎ＝４ビッ
トの場合の運転状態データ要求信号Ｐのビット構成を示
す。これによれば、データコード部３９Ａは４ビット有
るので、１６種類のデータコードＤＣを設定できる。In the present embodiment, the transmission means 64 and the reception means 62 of the plant controller are the respective motor control devices 20A.
Each of the electric motor control devices is individually provided in correspondence with the transmitting means 31 and the receiving means 21 of N to N, and data is transmitted to each electric motor control device by a so-called radial transmission path. However, the present invention is not limited to this, and it is also possible to connect the motor control devices 20A to 20N by a loop transmission line and transmit data via the loop transmission line. The transmitting means 64, 31 transmits the above commands to one frame of transmission data 38 in accordance with the transmission format shown in FIG.
, And the transmission data 38 includes 6 words as shown in the figure. Preceding data HEAD and succeeding data END for transmission control are assigned to the front and rear one words, respectively. Previous data HEAD is transmission data 3
Represents the beginning of 8. The post data END includes data indicating the end of the transmission data 38 and error check data. Control data DATA1 to DATA4 from the plant controller 60 or actual operation information DATA5 to DATA8 from the electric motor control device are assigned to the four words in the middle. As shown in FIG. 5, DATA1 to DATA4 respectively include an operation stop command D / S, a speed command ω, a current command I, and
The operation state data request signal P is assigned. The bit configuration of the operating state data request signal P is divided into an n-bit data code section 39A and a (1w-n) -bit empty area 39B. DAT in the empty area 39B
It is also possible to give other control commands than the control commands of A1 to DATA3. FIG. 6 shows the bit configuration of the operation state data request signal P when 1w = 16 bits and n = 4 bits. According to this, since the data code section 39A has 4 bits, 16 kinds of data codes DC can be set.

【００３０】一方実運転情報ＤＡＴＡ５〜８には、図７
に示すように、それぞれ運転停止状態Ｄ／Ｓ、実速度ω
Ａ、実電流ＩＡ、運転状態データＯが割り当てられてい
る。運転状態データＯのビット構成は、データの種類を
表すｎビットのデータコード部４１Ａと、（１ｗ−ｎ）
ビットの運転状態データ部４１Ｂに分けられている。デ
ータコード部４１Ａにはプラントコントローラからの要
求指令３９Ａと同じコードが与えられる。図６と同様に
１ｗ＝１６ビット、ｎ＝４ビットとすると、運転状態デ
ータ部４１Ｂは１２ビットとなり、−２０４８〜＋２０
４７のデータ表現となるが伝送路上に出力する前に係数
を掛けて重み付けが出来るので通常の運転状態データに
は十分対応できる。例えばＡＳＲ出力などは制御により
零に向かおうとするので通常数ビットで表現できる範囲
内にある。On the other hand, in the actual operation information DATA5-8, FIG.
As shown in, the operation stop state D / S and the actual speed ω
A, actual current IA, and operating state data O are assigned. The bit configuration of the operating state data O includes an n-bit data code section 41A that indicates the type of data and (1w-n)
It is divided into a bit operating state data section 41B. The same code as the request command 39A from the plant controller is given to the data code section 41A. If 1w = 16 bits and n = 4 bits as in FIG. 6, the operating state data portion 41B has 12 bits, and −2048 to +20.
The data is represented by 47, but since it can be weighted by being multiplied by a coefficient before being output on the transmission line, it can sufficiently correspond to normal operation state data. For example, since the ASR output or the like tries to go to zero by control, it is usually within a range that can be expressed by several bits.

【００３１】次に本実施例における運転状態データ抽出
手段２５の構成例を示す図８を参照して運転状態データ
Ｏの生成手順を説明する。図示の運転状態データ抽出手
段２５は、メモリアドレスＭ−ＤＣを介して受信手段２
１に接続されるデコーダ２５Ａと、デコーダ２５Ａの出
力側に接続されたデータ抽出器２５Ｂと、データ抽出器
２５Ｂの出力側に接続された乗算器２５Ｃと、乗算器２
５Ｃの出力側に接続されたＡＮＤゲート２５Ｄと、ＡＮ
Ｄゲート２５Ｄの出力側に接続されたＯＲゲート２５Ｅ
と、乗算器２５Ｃに接続されたメモリアドレスＭ−ＩＣ
とを含んで構成されている。Next, the procedure for generating the operating condition data O will be described with reference to FIG. 8 showing an example of the configuration of the operating condition data extracting means 25 in this embodiment. The operating state data extracting means 25 shown in the figure receives the receiving means 2 via the memory address M-DC.
1, the decoder 25A connected to 1, the data extractor 25B connected to the output side of the decoder 25A, the multiplier 25C connected to the output side of the data extractor 25B, and the multiplier 2
AND gate 25D connected to the output side of 5C and AN
OR gate 25E connected to the output side of D gate 25D
And a memory address M-IC connected to the multiplier 25C
It is configured to include and.

【００３２】上に述べた構成において、デコーダ２５Ａ
は受信手段２１によりメモリアドレスＭ−ＤＣに格納さ
れた運転状態データ要求信号Ｐよりデータコードを取り
出し、データ抽出器２５Ｂへ出力する。データ抽出器２
５Ｂは入力されたデータコードに対応するメモリアドレ
スの内容を乗算器２５Ｃへ渡す。乗算器２５Ｃはメモリ
アドレスＭ−ＩＣに格納された送信倍率ＩＣでデータの
重み付けをし、ＡＮＤゲート２５Ｄに渡す。ＡＮＤゲー
ト２５Ｄは、データコードのビット数分を切りとった後
（実施例では４ビットなので１６進データＦＦＦ０でＡ
ＮＤ）ＯＲゲート２５Ｅに渡す。ＯＲゲート２５Ｅはデ
ータコードＤＣを付加する。ここで送信倍率を例えば１
とした場合、下位４ビットを切り捨てることにより１／
１６の重み付けとなる。従って必要とするデータが小さ
く、−２０４８〜＋２０４７の範囲にあるような場合
は、送信倍率ＩＣを１６に設定する。また、データ抽出
器２５Ｂは、デコーダ２５Ａの出力がなくなっても、そ
れ以前に入力したデータコードを保持し、保持している
データコードで規定される運転状態データを抽出し続け
る。In the configuration described above, the decoder 25A
Receives the data code from the operating state data request signal P stored in the memory address M-DC by the receiving means 21 and outputs it to the data extractor 25B. Data extractor 2
5B passes the contents of the memory address corresponding to the input data code to the multiplier 25C. The multiplier 25C weights the data with the transmission magnification IC stored in the memory address M-IC, and passes it to the AND gate 25D. The AND gate 25D cuts off the number of bits of the data code (in the embodiment, since it is 4 bits, the hexadecimal data FFF0 is A).
ND) Pass to OR gate 25E. The OR gate 25E adds the data code DC. Here, the transmission ratio is, for example, 1
, The lower 4 bits are truncated to 1 /
The weighting is 16. Therefore, when the required data is small and is in the range of −2048 to +2047, the transmission magnification IC is set to 16. Further, the data extractor 25B holds the data code inputted before that even if the output of the decoder 25A disappears, and continues to extract the operation state data defined by the held data code.

【００３３】なお、要求すべき運転状態データが複数あ
るときは、伝送周期毎に１つづつ伝送フォーマット上に
格納して、順次伝送することにより対応できる。この場
合、各運転状態データの更新は伝送周期の複数回に１回
なされることになるため、特に高速に更新したいデータ
は要求頻度を他のデータに対して多くすることで対応で
きる。例えば電動機温度などはＡＳＲ出力に比べ変化が
緩慢であるため、ＡＳＲ出力数回に対し１回の割合で要
求すればよい。Incidentally, when there are a plurality of operation state data to be requested, they can be dealt with by storing one in each transmission cycle in the transmission format and transmitting them sequentially. In this case, each operating state data is updated once every several transmission cycles, so that data that is desired to be updated at high speed can be handled by increasing the request frequency with respect to other data. For example, the temperature of the electric motor or the like changes more slowly than the ASR output, so that it may be requested once every several ASR outputs.

【００３４】また、本実施例における実速度ωＡや実電
流ＩＡに使用しているワードも運転状態データの伝送フ
ォーマットとし、実速度ωＡと実電流ＩＡをデータコー
ドによる伝送として、必要周期毎に３つのワードを使い
分ける方法でも対応できる。例えば図９のように、運転
状態データ抽出手段２５において、デコーダ２５Ａに３
個のデータ抽出器２５Ｂを並列に接続し、３個のデータ
抽出器２５ＢそれぞれにメモリアドレスＭ−ＩＣを接続
された乗算器２５Ｃ、ＡＮＤゲート２５Ｄ、ＯＲゲート
２５Ｅを順次接続して、３系列の処理を行えるようにし
ておく。また、デコーダ２５ＡにはメモリアドレスＭ−
ＡとＭ−Ｂを接続しておく。デコーダ２５Ａからデータ
コードを３つのデータ抽出器２５Ｂに出力し、どのデー
タ抽出器を使用するかは予めメモリアドレスＭ−ＡとＭ
−Ｂに格納した境界データコードとの比較により判断す
る。逆に、同一の伝送フレームに複数の運転状態データ
を格納すると、伝送フレームが長くなり、伝送時間が増
加して、制御の高速応答性が損なわれる。Further, the words used for the actual speed ωA and the actual current IA in this embodiment are also in the transmission format of the operating state data, and the actual speed ωA and the actual current IA are transmitted by the data code, and the data is transmitted every 3 cycles at a necessary period. You can also use a method that uses one word properly. For example, as shown in FIG.
The three data extractors 25B are connected in parallel, and the multiplier 25C, the AND gate 25D, and the OR gate 25E, to which the memory address M-IC is connected, are sequentially connected to the three data extractors 25B. Ready to process. Further, the decoder 25A has a memory address M-
Connect A and MB. The data code is output from the decoder 25A to the three data extractors 25B, and which data extractor is to be used depends on the memory addresses M-A and M in advance.
Judgment is made by comparison with the boundary data code stored in B. On the contrary, if a plurality of operating state data is stored in the same transmission frame, the transmission frame becomes long, the transmission time increases, and the high-speed response of control is impaired.

【００３５】図１０にプラントコントローラ６０が電動
機制御装置２０の制御パラメータを更新する手段（図示
せず）を含んでなる場合の電動機制御装置２０の制御ブ
ロック図を示す。プラントコントローラ６０の制御指令
生成手段６１は、操業条件の変化により電動機の制御パ
ラメータを変更する必要があると判断した場合、制御パ
ラメータの更新値を演算し、制御データとして電動機制
御装置２０に出力する。本実施例では図５に示したＤＡ
ＴＡ４の空きエリア３９Ｂが制御パラメータの更新値の
格納場所として使用され、電動機制御装置内でデータコ
ードを分離した後、そのデータコードが制御パラメータ
の更新を表すものか運転状態データの抽出を表すものか
が判断される。図１０に示す電動機制御装置が図５に示
す電動機制御装置と異なるのは、受信手段２１に接続し
て新たに制御パラメータ更新手段３２が設けられ、この
制御パラメータ更新手段３２の出力側がＡＳＲ２６及び
ＡＣＲ２８に接続されている点であり、他の構成は図５
に示す電動機制御装置と同じである。制御パラメータ更
新手段３２には要求信号Ｐが入力される。FIG. 10 is a control block diagram of the motor controller 20 when the plant controller 60 includes means (not shown) for updating the control parameters of the motor controller 20. When the control command generation means 61 of the plant controller 60 determines that the control parameters of the electric motor need to be changed due to changes in the operating conditions, the control command generation means 61 calculates an updated value of the control parameter and outputs it as control data to the electric motor control device 20. . In this embodiment, the DA shown in FIG.
The vacant area 39B of TA4 is used as a storage location of the updated value of the control parameter, and after the data code is separated in the motor control device, the data code represents the update of the control parameter or the extraction of the operating state data. Is determined. The electric motor control device shown in FIG. 10 is different from the electric motor control device shown in FIG. 5 in that a control parameter updating means 32 is newly provided in connection with the receiving means 21, and the output side of the control parameter updating means 32 is ASR 26 and ACR 28. The other configuration is shown in FIG.
It is the same as the motor control device shown in FIG. The request signal P is input to the control parameter updating means 32.

【００３６】制御パラメータ更新手段３２は、データコ
ードが制御パラメータの更新を表している場合、分離し
た更新値をデータコードが示す制御パラメータに与え
る。また、運転状態データ抽出手段２５は、データコー
ドが運転状態データの抽出を表している場合、該当する
運転状態データを送信手段３１に出力する。本実施例で
は速度制御系ＡＳＲ２６と電流制御系ＡＣＲ２８の比例
ゲインを制御パラメータ更新手段３２によって更新し、
同時におのおのの制御系の出力を運転状態データ抽出手
段２５によって抽出している。The control parameter updating means 32 gives the separated update value to the control parameter indicated by the data code when the data code represents the update of the control parameter. When the data code represents the extraction of the driving condition data, the driving condition data extracting unit 25 outputs the corresponding driving condition data to the transmitting unit 31. In this embodiment, the proportional gains of the speed control system ASR 26 and the current control system ACR 28 are updated by the control parameter updating means 32,
At the same time, the output of each control system is extracted by the operating state data extracting means 25.

【００３７】図１１にプラントコントローラの制御指令
生成手段６１の構成例を示す。図示の制御指令生成手段
６１は、圧延ライン内に設置された各種センサからのセ
ンサデータが入力されるトラッキング信号生成手段６１
Ａと、圧延ラインの運転状態データを含む実運転情報が
受信手段６２から入力されるとともにトラッキング信号
生成手段６１Ａに接続された速度・トルク補正手段６１
Ｂと、トラッキング信号生成手段６１Ａに接続された運
転停止指令生成手段６１Ｃと、トラッキング信号生成手
段６１Ａ及び速度・トルク補正手段６１Ｂに接続されて
いるとともに操業条件、運転指令が入力される速度パタ
ーン生成手段６１Ｄと、同じくトラッキング信号生成手
段６１Ａ及び速度・トルク補正手段６１Ｂに接続されて
いるとともに操業条件、運転指令が入力されるトルクパ
ターン生成手段６１Ｅとを含んで構成されている。FIG. 11 shows a configuration example of the control command generating means 61 of the plant controller. The illustrated control command generation means 61 is a tracking signal generation means 61 to which sensor data from various sensors installed in the rolling line is input.
A and the actual operation information including the operation status data of the rolling line are input from the receiving means 62 and the speed / torque correcting means 61 connected to the tracking signal generating means 61A.
B, a stop pattern generation unit 61C connected to the tracking signal generation unit 61A, a speed pattern generation unit connected to the tracking signal generation unit 61A and the speed / torque correction unit 61B, and input with operating conditions and operation commands. Means 61D and torque pattern generation means 61E, which is also connected to the tracking signal generation means 61A and speed / torque correction means 61B, and into which operating conditions and operation commands are input.

【００３８】トラッキング信号生成手段６１Ａは入力さ
れるセンサデータ４４に基づいて運転、停止、加速、減
速等の各種タイミング信号を生成する。運転停止指令生
成手段６１Ｃは、トラッキング信号生成手段６１Ａから
出力されるタイミング信号に応じて対応する電動機制御
装置への運転停止指令Ｄ／Ｓを生成する。同様に、速度
パターン生成手段６１Ｄ、トルクパターン生成手段６１
Ｅもトラッキング信号生成手段６１Ａから出力されるタ
イミング信号に応じて加速、減速等の速度信号ωやトル
クパターンτを生成、出力する。速度・トルク補正手段
６１Ｂは、例えば第３図のように、電流リミッタ２７や
電圧指令リミッタ２９の上下限値制限情報（電流リミッ
タ２７や電圧指令リミッタ２９への入力値と出力値の差
σ）を運転状態データとして受信する場合、上下限値に
制限されていない場合（σ＝０の場合）には補正値を生
成せず、上下限値に制限される（σ≠０の場合）と制限
量（σ）に応じて速度・トルク指令値を減少させるよう
に補正値を出力する。速度・トルク補正手段６１Ｂから
補正値を出力することにより電動機制御装置に入力され
る速度・トルク指令値が修正され、電流リミッタ２７や
電圧指令リミッタ２９に入力される指令値が制限範囲内
に収まって上下限値制限量σが消失（０となる）する
が、ここで補正値の生成をやめてしまうと、再び指令値
が制限範囲を越えてしまい、信号が安定しなくなる。こ
のため、速度・トルク補正手段６１Ｂは、σ＝０となっ
ても、トラッキング信号生成手段６１Ａからのタイミン
グ信号を利用して次の圧延材まで補正値の出力を継続、
保持する。The tracking signal generating means 61A generates various timing signals for driving, stopping, accelerating, decelerating, etc. based on the input sensor data 44. The operation stop command generation means 61C generates an operation stop command D / S to the corresponding motor control device according to the timing signal output from the tracking signal generation means 61A. Similarly, the speed pattern generation means 61D and the torque pattern generation means 61.
E also generates and outputs a speed signal ω and a torque pattern τ for acceleration and deceleration according to the timing signal output from the tracking signal generation means 61A. The speed / torque correction means 61B, for example, as shown in FIG. 3, the upper and lower limit value limit information of the current limiter 27 and the voltage command limiter 29 (the difference σ between the input value and the output value of the current limiter 27 and the voltage command limiter 29). When receiving as the operating state data, the correction value is not generated when the upper and lower limit values are not limited (when σ = 0), and is limited to the upper and lower limit values (when σ ≠ 0). The correction value is output so as to decrease the speed / torque command value according to the amount (σ). By outputting the correction value from the speed / torque correction means 61B, the speed / torque command value input to the motor control device is corrected, and the command value input to the current limiter 27 or the voltage command limiter 29 falls within the limit range. As a result, the upper and lower limit value limiting amount σ disappears (becomes 0), but if the correction value generation is stopped here, the command value will exceed the limiting range again and the signal will become unstable. Therefore, the speed / torque correction means 61B continues to output the correction value up to the next rolled material using the timing signal from the tracking signal generation means 61A even when σ = 0.
Hold.

【００３９】図１２は、電動機制御装置内で検出された
過負荷情報を運転状態データとして抽出するようにした
電動機制御装置の要部構成例を示す。本実施例が図３に
示した電動機制御装置と異なるのは、実電流ＩＡが入力
される積分器３３Ａが設けられ、この積分器３３Ａの出
力側に接続して比較器３３Ｂが配置され、この比較器３
３ＢにメモリアドレスＭ−ＯＬが接続され、比較器３３
Ｂの出力側が送信手段３１に接続されるとともに、積分
器３３Ａの出力側は運転状態データ抽出手段２５に接続
されている点であり、他の構成は、図３に示したものと
同様である。なお、比較器３３Ｂからは、比較結果に応
じて故障信号が出力されるようになっている。電動機の
過負荷特性は、電流値の４乗と時間の積によって表され
る。積分器３３Ａは実電流ＩＡが定格値を越えたとき、
実電流値を４乗して積分を開始する。比較器３３Ｂは、
メモリアドレスＭ−ＯＬに予め格納された過負荷検出レ
ベルを越えたとき故障信号を出力し、電動機を停止さ
せ、同時に送信手段３１によりプラントコントローラに
送る実運転情報４０Ｂにその信号を追加する。FIG. 12 shows an example of the essential structure of a motor control device in which the overload information detected in the motor control device is extracted as operating state data. The present embodiment differs from the motor control device shown in FIG. 3 in that an integrator 33A to which the actual current IA is input is provided, and a comparator 33B is arranged in connection with the output side of this integrator 33A. Comparator 3
The memory address M-OL is connected to 3B, and the comparator 33
The output side of B is connected to the transmission means 31, and the output side of the integrator 33A is connected to the operating state data extraction means 25, and other configurations are the same as those shown in FIG. . The comparator 33B outputs a failure signal according to the comparison result. The overload characteristic of the electric motor is represented by the product of the fourth power of the current value and time. When the actual current IA exceeds the rated value, the integrator 33A
The actual current value is raised to the fourth power and integration is started. The comparator 33B is
When the overload detection level prestored in the memory address M-OL is exceeded, a failure signal is output, the electric motor is stopped, and at the same time, the signal is added to the actual operation information 40B sent to the plant controller by the transmission means 31.

【００４０】図１１の他の実施例として、プラントコン
トローラが図１２の積分器３３Ａの出力を運転状態デー
タとして受信した場合、速度・トルク補正手段６１Ｂは
積分値に応じて速度・トルク指令を減少させ、故障の発
生を防止する。As another embodiment of FIG. 11, when the plant controller receives the output of the integrator 33A of FIG. 12 as the operating state data, the speed / torque correction means 61B decreases the speed / torque command according to the integrated value. Prevent failure.

【００４１】[0041]

【発明の効果】以上説明したように、本発明によれば次
に示す効果がある。As described above, the present invention has the following effects.

【００４２】まず、プラントコントローラが任意の電動
機制御装置の運転状態データを認識できることから、操
業条件変化に伴って各電動機制御装置をの高い精度で協
調させることが可能となる。特に一部の電動機に能力を
越える制御指令が与えられそうな場合に、その電動機の
制御範囲に入るように他の電動機の制御指令を協調する
ことによりプロセス機器の異常運転を予防することがで
きる。First, since the plant controller can recognize the operating state data of an arbitrary electric motor control device, it becomes possible to coordinate each electric motor control device with high accuracy in accordance with changes in operating conditions. Especially when a control command that exceeds the capacity is likely to be given to some motors, the abnormal operation of process equipment can be prevented by coordinating the control commands of other motors so that they fall within the control range of that motor. .

【００４３】また、プラントコントローラが電動機制御
装置内の制御パラメータを更新するような複数の制御指
令を有する電動機統制装置においても、電動機制御装置
内での演算結果を得ることにより電動機が与えられた指
令に対して無理なく運転可能であるかどうかが判断可能
となる。Further, even in a motor control device having a plurality of control commands for the plant controller to update the control parameter in the motor control device, the command given to the motor by obtaining the calculation result in the motor control device. Therefore, it becomes possible to judge whether or not the vehicle can be driven without difficulty.

[Brief description of drawings]

【図１】本発明の一実施例である焼鈍プラント電動機統
制装置の全体構成図である。FIG. 1 is an overall configuration diagram of an annealing plant motor control device that is an embodiment of the present invention.

【図２】図１の実施例のプラントコントローラの要部構
成を示すブロック図である。FIG. 2 is a block diagram showing a main configuration of a plant controller of the embodiment shown in FIG.

【図３】図１の実施例の電動機制御装置の要部構成を示
すブロック図である。FIG. 3 is a block diagram showing a main configuration of an electric motor control device of the embodiment shown in FIG.

【図４】シリアル伝送フレームの構成例を示す概念図で
ある。FIG. 4 is a conceptual diagram showing a configuration example of a serial transmission frame.

【図５】電動機制御装置への制御指令のビット構成例を
示す図である。FIG. 5 is a diagram showing a bit configuration example of a control command to the electric motor control device.

【図６】運転状態データ要求信号のビット構成例を示す
図である。FIG. 6 is a diagram showing a bit configuration example of a driving state data request signal.

【図７】電動機制御装置からの伝送データのビット構成
例を示す図である。FIG. 7 is a diagram showing a bit configuration example of transmission data from the electric motor control device.

【図８】運転状態データ抽出手段の構成例を示すブロッ
ク図である。FIG. 8 is a block diagram showing a configuration example of operating state data extraction means.

【図９】運転状態データ抽出手段の他の構成例を示すブ
ロック図である。FIG. 9 is a block diagram showing another configuration example of operating state data extracting means.

【図１０】図１に示す実施例の電動機制御装置の他の構
成例を示すブロック図である。FIG. 10 is a block diagram showing another configuration example of the electric motor control device of the embodiment shown in FIG.

【図１１】図１に示す実施例におけるプラントコントロ
ーラの要部構成を示すブロック図である。FIG. 11 is a block diagram showing a main configuration of a plant controller in the embodiment shown in FIG.

【図１２】図１に示す実施例の電動機制御装置のさらに
他の構成例を示すブロック図である。FIG. 12 is a block diagram showing still another configuration example of the electric motor control device of the embodiment shown in FIG.

[Explanation of symbols]

１巻戻し機２圧延材３入側ブライドルロール５ヘルパー
ロール７出側ブライドルロール９巻取機１０電動機１２速度検
出器２０電動機制御装置２１受信手
段２２運転シーケンサ２３制御手
段２４電力変換器２５運転状
態データ抽出手段２６速度制御系２７電流リ
ミッタ２８電流制御系２９電圧指
令リミッタ３０電流検出器３１送信手
段３２制御パラメータ更新手段３３Ａ積分
器３３Ｂ比較器３８伝送フ
ォーマット３９制御指令ビット構成４０伝送路４０Ａ制御データ４０Ｂ実運
転情報４１運転状態データビット構成４２伝送路４４センサデータ５０プロセ
スコンピュータ６０プラントコントローラ６１制御指
令生成手段６１Ａトラッキング信号生成手段６１Ｂ速度
・トルク補正手段６１Ｃ運転停止指令生成手段６１Ｄ速度
パターン生成手段６１Ｅトルクパターン生成手段６２受信手
段６３運転状態データ要求信号生成手段６４送信手
段６５運転停止指令レジスタ６６，６７
単位変換手段DESCRIPTION OF SYMBOLS 1 Rewinder 2 Rolled material 3 Entry side bridle roll 5 Helper roll 7 Exit side bridle roll 9 Winder 10 Electric motor 12 Speed detector 20 Electric motor control device 21 Receiving means 22 Operation sequencer 23 Control means 24 Electric power converter 25 Operating state Data extracting means 26 Speed control system 27 Current limiter 28 Current control system 29 Voltage command limiter 30 Current detector 31 Transmitting means 32 Control parameter updating means 33A Integrator 33B Comparator 38 Transmission format 39 Control command bit configuration 40 Transmission path 40A Control data 40B Actual operation information 41 Operation status data bit configuration 42 Transmission path 44 Sensor data 50 Process computer 60 Plant controller 61 Control command generation means 61A Tracking signal generation means 61B Speed / torque correction means 61C Operation stop command generating means 61D Speed pattern generating means 61E Torque pattern generating means 62 Receiving means 63 Operating state data request signal generating means 64 Transmitting means 65 Operation stop instruction register 66, 67
Unit conversion means

───────────────────────────────────────────────────── フロントページの続き (72)発明者小林清隆茨城県日立市大みか町５丁目２番１号株式会社日立製作所大みか工場内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kiyotaka Kobayashi 52-1 Omika-cho, Hitachi-shi, Ibaraki Hitachi Ltd. Omika factory

Claims

[Claims]

1. A motor control device for controlling an electric motor for driving a process device constituting a process plant, a control command for the motor based on an operating condition of the process plant, and control data including the control command. An electric motor control device comprising: a plant controller for outputting to the electric motor control device to control the electric motor control device, wherein the plant controller generates a request signal requesting at least one operating state data of the electric motor control device. , A means for outputting and a means for correcting the control command based on the operating state data obtained from the electric motor control device, wherein the electric motor control device changes the operating state in the device according to the received request signal. Extract the operating status data shown,
An electric motor control device comprising means for outputting to the plant controller.

2. An electric motor control device for controlling an electric motor for driving a process equipment constituting a process plant, and a plant controller for controlling the electric motor control device, wherein the plant controller is an operating condition of the process plant. Control command generating means for generating a control command for the electric motor based on the above, and transmitting means for outputting control data including the control command to the electric motor control device via a transmission line, wherein the electric motor control device is An electric motor control device comprising: a receiving unit that receives the control data input from the plant controller via the transmission path; and a control unit that controls the electric motor according to a received control command. The plant controller has at least one operation status data indicating an operation status of the motor control device. Driving condition data request signal generating means for generating a driving condition data request signal, transmitting means for outputting the request signal to the electric motor control device via the transmission path, and operating condition data from the electric motor control device. The electric motor control device comprises a calculating means for controlling the electric motor according to the received control command, and an operating state according to the received operating state data request signal. An electric motor control device comprising: an extraction means for extracting data and a transmission means for transmitting the extracted operation state data to the plant controller via the transmission path.

3. The control command generation means and the request signal generation means obtain a timing at which a change in the operating condition affects control characteristics of the electric motor control device, and the control instruction and the operation are performed in accordance with the obtained timing. The motor control device according to claim 2, which outputs a status data request signal.

4. The operating state data includes at least one of proportional and integrator outputs of a motor control system, outputs of various compensators, motor current, voltage, speed, temperature, and failure information. The motor control device according to any one of claims 1, 2 and 3.

5. The process plant is a rolling plant such as a rolling line or an annealing line for rolled material, and the operating conditions include at least one of operating speed, material of rolled material, thickness and weight. Claims 1, 2, characterized in that
The electric motor control device according to any one of 3 and 4.

6. An electric motor control device for respectively controlling electric motors respectively driving a plurality of process equipments constituting a process plant, and a plant controller for integrally controlling the plurality of electric motor control devices, wherein the plant controller is provided. , A plurality of control command generating means for respectively generating control commands for the respective electric motors based on the operating conditions of the process plant, and outputting control data including the respective control commands to the respective electric motor control devices via a transmission path. A plurality of electric motor control devices, each of which receives the control data input from the plant controller via the transmission path, and the plurality of electric motor control devices according to the received control command. The control means for controlling the electric motor and the operation state data defining the operation state of the electric motor are stored in the plant controller. In a motor control device including a transmission unit for transmitting to a controller, the plant controller generates a control command for each of the plurality of motor control devices in accordance with a change in an operating state of the process plant. Generating means, request signal generating means for requesting at least one operating state data in each of the plurality of electric motor control devices, and outputting the control command and the request signal to the corresponding electric motor control devices via the transmitting means. And a receiving unit that receives operating state data from the plurality of electric motor control devices, each of the plurality of electric motor control devices controlling the electric motor according to the received control command. Calculation means of
It is characterized by comprising extraction means for extracting operating condition data in response to the received request signal, and transmitting means for transmitting the extracted operating condition data to the plant controller via the transmission path. Electric motor control device.

7. The operation state data request signal generation means obtains a timing at which a change in the operating condition affects the control characteristics of the plant controller, and obtains the operation state data request signal in accordance with the obtained timing. The electric motor control device according to claim 6, wherein the electric motor control device outputs the electric power.

8. A plurality of electric motor control devices that respectively control a plurality of electric motors that respectively drive a plurality of process devices that form a process plant, and a plant controller that integrally controls the plurality of electric motor control devices, The plant controller includes a plurality of control command generation means for respectively generating control commands for the electric motors based on operating conditions of the process plant, and control data for controlling the electric motors including the control commands via a transmission line. The control data input from the plant controller via the transmission path, the transmission means outputting to the device, and the receiving means receiving the operation state data from the electric motor control device. Receiving means for receiving, and control means for controlling the electric motor according to the received control command, In an electric motor control device comprising a transmission means for transmitting operating state data defining an operating state of a motive to the plant controller, the plant controller of the electric motor control device according to a change in an operating state of the process plant. Control command generation means for generating a control command, operation state data request signal generation means for requesting at least one operation state data of the electric motor control device, and the control command and the request signal are corresponded via the transmission means. And a transmission means for outputting to the electric motor control device, wherein the transmission means serially transfers the control data in a predetermined transmission format, and the request signal generation means includes the operation state data. Divide the data code indicating the type into the specified bits in one word of the transmission format. Is output to the transmitting means, the electric motor control device, the means for extracting the operating state data according to the received request signal, and the transmitting means for transmitting the extracted operating state data to the plant controller. It has a function of transmitting operation status data to be transmitted via
The receiving means extracts the data code based on the transmission format and outputs the data code to the operating state data extracting means, and the operating state data extracting means,
An electric motor control device for extracting operating state data corresponding to the data code of the electric motor control device.

9. The operation state data request signal generating means stores, when there are a plurality of operation state data to be requested, one in the transmission format for each transmission cycle of the transmitting means. The electric motor control device according to item 8.

10. The operating condition data includes at least one of proportional and integrator outputs of a motor control system, outputs of various compensators, electric motor current, voltage, speed, temperature, and failure information. The motor control device according to any one of claims 8 and 9.

11. The process plant is a rolling plant such as a rolling line or an annealing line for rolled material, and the change in the operating condition is at least one of change in operating speed, material of rolled material, thickness and weight. The motor control device according to any one of claims 8, 9, and 10, comprising:

12. The control command generation means and the operation state data request signal generation means obtain a timing at which a change in the operating condition affects control characteristics of the plant controller, and the operation state is adjusted in accordance with the obtained timing. The motor control device according to any one of claims 8, 9, 10, and 11, wherein a data request signal is output.

13. An electric motor control device for controlling an electric motor for driving a process equipment constituting a process plant, and a plant controller for controlling the electric motor control device, wherein the plant controller is an operating condition of the process plant. On the basis of the control command for the electric motor, and output control data including the control command to the electric motor control device, wherein the electric motor control device is controlled by a set value of at least one control parameter. In a motor control device having characteristics, which controls the electric motor according to a control command input from the plant controller and outputs the operating state in the device to the plant controller, the plant controller is the process According to changes in plant operating conditions, An operating state data request for calculating at least one operating state data in the electric motor control device, which calculates an updated value of the control parameter of the motor control device and propagates by updating the updated value of the control parameter and the control parameter. The operation state data request signal generating means for generating a signal and outputting the signal to the electric motor control device is included, and the electric motor control device updates the set value of the previous machine control parameter according to the received update value of the control parameter. And a means for extracting the operating condition data in response to the received operating condition data request signal and outputting the extracted operating condition data to the plant controller.

14. An electric motor control device for controlling an electric motor for driving a process equipment constituting a process plant, and a plant controller for controlling the electric motor control device, wherein the plant controller is an operating condition of the process plant. And a transmission unit that outputs control data including the control command to the electric motor control device via a transmission path, the electric motor control device comprising: A receiving unit for receiving the control data input from the plant controller via the transmission path, and a control characteristic defined by a set value of at least one control parameter, and an electric motor according to the received control command. And a control means for controlling the operation state of the electric motor via the transmission path to the plant controller. In a motor control device including a transmission means for outputting to a roller, the plant controller, a control parameter calculation means for calculating an updated value of the control parameter of the motor control device in accordance with a change in the operating conditions of the process plant, An operating state data request signal generating means for generating an operating state data request signal for requesting at least one operating state data in the electric motor control device which propagates by updating the control parameter; and an updated value of the control parameter. And a control command updating means for outputting the operating state data request signal to the electric motor control device via the transmitting means, wherein the electric motor control device controls the control according to an update value of the received control parameter. The control parameter updating means for updating the set value of the parameter and the received operation status data An operating state data extracting means for extracting operating state data in response to a data request signal, and a means for outputting the extracted operating state data to the plant controller via the transmitting means. Electric motor control device.

15. The control command updating means obtains a timing at which a change in the operating condition affects a control characteristic of the electric motor control device, and outputs the control instruction and the operation state data request signal in accordance with the obtained timing. The electric motor control device according to claim 14, wherein the electric motor control device outputs the electric power.

16. The control parameter includes at least one of a control gain such as a proportional gain and an integral gain of an electric motor control system, a current limit value of an electric motor, and a moment of inertia set value of an electric motor motion system, and the operating state data includes: 16. At least one of proportional and integrator outputs of a motor control system, outputs of various compensators, electric current, voltage, speed, temperature, and failure information of the motor is included in any one of claims 13, 14, and 15. The electric motor control device described in 1.

17. The process plant is a rolling plant such as a rolling line or an annealing line for rolled material, and the change in operating conditions is at least one of change in operating speed, material of rolled material, thickness and weight. The motor control device according to any one of claims 13, 14, 15, and 16, comprising :.

18. A control system comprising: a plurality of electric motor control devices that respectively control a plurality of electric motors that respectively drive a plurality of process devices that form a process plant; and a plant controller that integrally controls the plurality of electric motor control devices. The plant controller includes a plurality of control command generation means for respectively generating control commands for the electric motors based on operating conditions of the process plant, and control data for controlling the electric motors including the control commands via a transmission line. And a transmission unit for outputting to the device, wherein each of the electric motor control devices receives the control data input from the plant controller via the transmission path, and a set value of at least one control parameter. Control the electric motor according to the received control command having the control characteristic defined by In a motor control device comprising a control unit and a transmission unit that outputs the operating state of the electric motor to the plant controller via the transmission path, the plant controller is configured in accordance with changes in operating conditions of the process plant. Control parameter calculating means for calculating an updated value of at least one control parameter of the electric motor control device, and operating state data requesting at least one operating state data in the electric motor control device which is spread by updating the control parameter. And an operating condition data request signal generating unit for generating a request signal, and a control command updating unit for outputting the updated value of the control parameter and the operating condition data request signal to the electric motor control device via the transmitting unit. According to the received update value of the control parameter, the motor control device Control parameter updating means for updating the set value of the control parameter, operating state data extracting means for extracting operating state data in response to the received operating state data request signal, and the operating state data via the transmitting means. And a means for outputting the output to the plant controller.

19. The control command updating means obtains a timing at which a change in the operating condition affects a control characteristic of the electric motor control device, and outputs the control instruction and the operation state data request signal in accordance with the obtained timing. The electric motor control device according to claim 18, wherein the electric motor control device outputs the electric power.

20. A plurality of electric motor control devices that respectively control a plurality of electric motors that respectively drive a plurality of process devices that form a process plant, and a plant controller that integrally controls the plurality of electric motor control devices, The plant controller includes a plurality of control command generation means for respectively generating control commands for the electric motors based on operating conditions of the process plant, and control data for controlling the electric motors including the control commands via a transmission line. And a transmission unit for outputting to the device, wherein each of the electric motor control devices receives the control data input from the plant controller via the transmission path, and a set value of at least one control parameter. Controlling the electric motor according to the received control command having the control characteristic defined by In a motor control device comprising a control means and a transmission means for outputting the operating state of the electric motor to the plant controller via the transmission path, the plant controller, in accordance with a change in the operating state of the process plant. Control parameter calculating means for calculating an updated value of at least one control parameter of the electric motor control device, and operating state data requesting at least one operating state data in the electric motor control device which is spread by updating the control parameter. And an operation state data request signal generating means for generating a request signal, and a control command updating means for outputting the updated value of the control parameter and the operating state data request signal to the corresponding electric motor control device via the transmitting means. The transmission path is controlled according to a predetermined transmission format. The control command updating means serially transfers the control command, and the control command updating means sets a data code indicating the type of the control parameter and the operation state data and an updated value of the control parameter to a predetermined value in one word of the transmission format. Bits are assigned to and output to the transmitting means, the electric motor control device updating the set value of the control parameter according to the update value of the received control command, and means for extracting the operating state data. And an operating state data transmitting function for transmitting the extracted operating state data to the plant controller via the transmitting means, and the receiving means includes the data code from the control command received based on the transmission format. To output to the control parameter updating means or the operating state data extracting means. The parameter updating means updates the set value of the control parameter corresponding to the data code based on the updated value, and the operating state data extracting means stores the operating state data corresponding to the data code. An electric motor control device characterized by being extracted.

21. The control command updating unit stores one control signal in the transmission format for each transmission cycle of the transmitting unit when there are a plurality of control signals to be updated. The motor control device described in.

22. The control parameter includes at least one of a control gain such as a proportional gain and an integral gain of an electric motor control system, a current limit value of an electric motor, and a moment of inertia set value of an electric motor motion system, and the operating state data includes: 22. At least one of proportional and integrator outputs of a motor control system, outputs of various compensators, motor current, voltage, speed, temperature and failure information is included.
Motor control device described in.

23. The process plant is a rolling plant such as a rolling line or an annealing line for rolled material, and the change in the operating condition is at least one of change in operating speed, material of rolled material, thickness and weight. The motor control device according to any one of claims 20, 21, and 22, including :.

24. The control command updating means obtains a timing at which a change in the operating condition affects a control characteristic of the plant controller, and outputs the operation state data request signal in accordance with the obtained timing. The electric motor control device according to any one of claims 20, 21, 22, and 23.