JPH066993A - Noncontact power supply control method for motor, separation control motor employed therein, and machine employing separation control motor - Google Patents

Abstract

PURPOSE:To enhance reliability, durability and controllability, and to widen application range by a constitution wherein a fixed side controller provides an independent motor section with a torque command produced based on the detection content of a detector and a predetermined command, and the indepen dent motor section drives a motor according to a torque command. CONSTITUTION:A controller 101 disposed on the fixed side produces power and torque command value for generating motor torque from signals representing the position and speed of a motor 112 fed back from an independent motor section 115, in the form of optical pulses or high frequency electromagnetic induction pulses, by no-electrode transmission through a coupler 1082, and the torque command S13 is fed to the motor section 115 side by no-electrode transmission through a coupler 1081. The motor section 115 can be downsized because only a current control circuit, i.e., a control circuit specified for the type of motor 112 to be mounted, is mounted thereon and position control circuit and speed control circuit, common to any type of motor 112, are mounted on the controller 101.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric motor control method and an electric motor control device.

[0002]

2. Description of the Related Art FIG. 8 is a block diagram showing a basic configuration of a conventional electric motor control. A power supply 801 that inputs a commercial frequency power supply supplies a main power supply S82 and a control power supply S83 to the controller 802. The controller 802 operated by the control power source S83 is composed of a position amplifier 802 ₁ , a speed amplifier 802 ₂ , a differentiator 802 ₃ , a current amplifier 802 ₄ and a power switch 802 ₅ , and is a command sent from the host system. Main power supply S8 according to S81
2 is modulated and supplied to the electric motor 803. The detector 804 detects the speed and rotation state (position and phase) of the electric motor 803, and outputs operation information S85 indicating the detected contents to the controller 802.
Output to. Further, the supply current to the electric motor 803 is also detected and is output to the controller 802 as current information S84.

The operation information S85 includes the position amplifier 802 ₁ ,
It is input to the speed amplifier 802 ₂ via the differentiator differentiator 802 ₃ , and the current information S84 is input to the current amplifier 802 ₄ . Position amplifier 802 _1, position instruction contained in the speed amplifier 802 ₂ and the current amplifier 802 ₄ In instruction S81, and controls the power switch 802 ₅ by the speed command and the current command and the information of the current supplied to the electric motor 803 Modulation control.

As described above, it has been performed on the premise that the electric motor, the power source and the controller are fixed and not separated. However, in recent years, autonomous decentralization of each functional unit has progressed in all machines including machine tools and robots, and even when automation is measured by an electric motor, the structure of the electric motor control has to be physically divided at appropriate places. There is a demand for street controllability.

For example, in the field of machine tools, the positioning of the work on the pallet moving from the setup process to the machining process, the centering, the clamping, etc. are electrified to realize the complete automation of the jig. In addition, even if physical separation is not achieved, control in the form of driving an electric motor on a multi-rotating rotating body has been desired.
For example, the linear drive by the electric motor of the tool rest attached to the tip of the main shaft of the machine tool or the electrification of the lathe head chucking portion corresponds to this.

In order to meet these demands, if power and signal transmission by ordinary electrode connectors are used, complete coupling is possible for short-term use, but contact deterioration due to the presence of oil or water, short circuit, and sparking. Due to damage due to damage, reliability was low in long-term operation, and it was often impractical. Regarding power transmission via the rotating part, there are methods of mechanical power transmission by a hollow shaft and power and information transmission by a slip ring to control an electric motor, but both have problems in durability and controllability.

Further, even in the case of driving the joint actuator of the robot to transmit electric power and signals to the rotating portion within one rotation, the increase in the number of wirings has been a great bottleneck in terms of cable reliability. On the other hand, a method of driving the actuator in a separated type by combining a high frequency induction type power supply as shown in FIG. 9 and information transmission by an optical pulse or a high frequency electromagnetic induction pulse can be considered.

In the example shown in FIG. 9, a power source 9 is installed on the fixed installation side.
02 ₁ and a high-frequency induction power generator 902 ₂ are provided as a power source device 902, and a voltage stabilizing converter 903 and a controller 80 having the same configuration as that shown in FIG.
2, an electric motor 803 and a detector 804 are provided. The induction power generated in the power supply device 902 is transmitted to the separation moving side through the separation type high frequency transformer 901, rectified by the rectification circuit 905, and then the voltage stabilization converter 9
03 and the controller 802. The operating voltage of the controller 802 is supplied from the voltage stability converter 903 as the control power supply S93. The control of the electric motor 803 by the controller 802 is performed by the detection content of the detector 804 similarly to the conventional example shown in FIG. 8, but in the example shown in FIG. 9, the command S91 is fixed via optical transmission or the high frequency coupler 904. It is sent from the installation side, and the coupler 90
The feedback information S92 is sent to the fixed installation side via 4. As a result, the controller 802 controls the electric motor 803 based on the command S91.

[0009]

Among the conventional techniques for physically dividing the above-described motor control configuration at appropriate points, the conventional electrode connector is used for power and signal transmission and the rotating part. In the case of transmitting power via the device, the reliability is low, and there are problems in durability and controllability.

When the induction type power supply as shown in FIG. 9 and the information transmission by the optical pulse or the electromagnetic induction pulse are combined, there is no problem in the above point, but the power supply device and the motor controller are It is a structure that completely separates, and the whole motor controller is separated and moved (that is, the side where the motor is installed).
However, there is a problem in that it is almost impossible to realize it in terms of size, weight and maintenance.

The present invention has been made in view of the problems of the above-mentioned conventional techniques, and it is possible to improve the reliability, durability and controllability of the electric motor, and to expand the range of use of the electric motor. An object of the present invention is to realize a contact power feeding control method and device.

[0012]

SUMMARY OF THE INVENTION A contactless power supply control method for an electric motor according to the present invention includes an independent electric motor section having an electric motor and a detector for detecting operation information of the electric motor, and the independent electric motor section without contact. A contactless power supply control method for an electric motor, which is performed between a fixed-side controller that supplies electric power and transmits a torque command to the electric motor to the independent electric motor unit in a contactless manner, wherein the fixed-side controller detects by a detector. A torque command is generated from the content and a predetermined command and given to the independent electric motor unit, and the independent electric motor unit drives the electric motor according to the torque command from the fixed-side controller.

In this case, the fixed controller generates a torque command from the position and speed of the electric motor and the command indicated by the detection content of the detector and gives it to the independent electric motor section, and the independent electric motor section gives the torque command from the fixed controller. May be used as a current command to drive the electric motor. Further, the fixed-side controller generates a torque command from the position and speed of the electric motor and the command indicated by the detection content of the detector and gives the torque command to the independent electric motor unit,
The independent motor unit may generate a current command from the torque command from the fixed-side controller and the phase of the motor indicated by the detection content of the detector to drive the motor.

The separated control electric motor of the present invention comprises an electric motor,
A secondary side of a separation type high frequency transformer for receiving electric power for driving the electric motor in a contactless manner, a means for controlling a current for driving the electric motor, and a signal necessary for controlling the electric current for driving the electric motor. An independent electric motor unit provided with a receiving unit for contactlessly receiving, a detector for detecting operation information of the electric motor, and a transmitting unit for transmitting an output signal of the detector without contact, and an electric power to the independent electric motor unit. A primary side of a separation-type high-frequency transformer for supplying power without contact, a signal receiving means for contactlessly receiving an output of a detector of an independent electric motor section, a means for generating a torque command from the received signal and a command signal, And a fixed-side controller that includes a transmission unit that transmits a torque command to the independent electric motor unit in a contactless manner.

In this case, the fixed-side controller is provided with a position amplifier and a speed amplifier that generate a torque command to the electric motor from the position and speed of the electric motor indicated by the detection content of the detector and the command, and the independent electric motor section is provided with A current amplifier that drives the electric motor according to the torque command may be provided.

Further, the fixed-side controller is provided with a position amplifier and a speed amplifier that generate a torque command to the electric motor from the position and speed of the electric motor indicated by the detection content of the detector and the command, and the independent electric motor unit is provided with a torque. A current command generator that generates a current command from the command and the phase of the motor indicated by the detection content of the detector, and a current amplifier that drives the motor according to the current command may be provided.

Further, as another form of the above-mentioned separated type control motor, a plurality of independent electric motor parts configured in multiple stages are provided for the fixed side controller, and the independent electric motor parts of each stage are separated type high frequency transformers. And a coupler, the fixed-side controller supplies electric power to each independent electric motor unit and transmits / receives a signal through a separate high-frequency transformer and a coupler provided in each stage of the independent electric motor unit. May be

Further, the separate type high frequency transformer for transmitting electric power between the independent motor section and the fixed side controller and the coupler for exchanging signals may be integrally formed. The mechanical device of the present invention is a mechanical device using the above-described separated type control electric motor, and is used as a part in which the independent electric motor part moves or rotates separately.

In this case, the independent electric motor unit may be used to drive a movable member attached to the independent electric motor unit or to drive a mechanism of the independent electric motor unit itself. Further, the above machine device may be a machine tool, a robot device, or an accessory device thereof.

[0020]

In the present invention, only the current control circuit, which is a unique control circuit corresponding to the type of the mounted electric motor, is mounted in the independent electric motor section in which the electric motor is mounted, and the type of electric motor other than the current control circuit is mounted. Since the position control circuit and the speed control circuit, which are not related to each other, are mounted on the fixed controller, the size of the independent motor unit that moves separately can be reduced.

When an induction motor or a phase motor is used as the electric motor, it is necessary to provide a current command generator for generating a current command from the torque command and the phase of the electric motor indicated by the detection content of the detector. When an electric motor is used, the torque command can be used as it is as a current command, and the independent electric motor section can be made smaller than that of another electric motor.

The fixed controller has the same structure regardless of the type of electric motor used.

[0023]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention. In this embodiment, there is no contact between the fixed-side controller 101 on the fixed installation side, the independent electric motor unit 115 on the separation / moving side, which is a mechanical element that separates and becomes autonomous, and power supply and signal transmission / reception performed therebetween. Separation type high frequency transformer 107 and couplers 108 ₁ , 108 ₂
It consists of and.

The fixed controller 101 is connected to the power source 10
2. High frequency induction power generation controller 103, position amplifier 10
4, the differentiator 105 and the speed amplifier 106, and the independent motor unit 115 includes a rectifier circuit 109, a voltage stable converter 110, a power switch 111, a motor 112, a detector 113, a current amplifier 114, and a current command generator 1.
It is composed of 16.

In the present embodiment, the electric motor 112 provided on the separating / moving side is understood as a torque generator in a unified manner without distinguishing between a DC machine and an AC machine, and the fixed side controller 101 provided on the fixed installation side. Thus, the power and torque command value for generating the motor torque are created from the signal indicating the position and speed of the motor fed back by the optical pulse or the high frequency electromagnetic induction pulse from the independent motor section 115 by the transmission without the electrode by the coupler 108 _2. Of these, the torque command is supplied to the electric motor side by the coupler 108 ₁ again without electrode transmission.

The power for driving the electric motor 112 is performed by high frequency electromagnetic induction using the separation type high frequency transformer 107. Commercial power is supplied to the primary side of the separation type high frequency transformer 107 as a high frequency power source by the power supply 102 and the high frequency induction power generation controller 103, and the separation type high frequency transformer 1
The secondary side output of 07 is supplied to the independent electric motor unit 115.
This high-frequency power is rectified by a rectifier circuit 109 composed of a bridge diode and a filter provided in the independent electric motor unit 115, and then supplied to the voltage stable converter 110 and the power switch 111, and passes through the power switch 111 to drive the motor. Become. Further, in the voltage stable converter 110, the supply voltage from the rectifier circuit 109 is supplied to the current amplifier 114 as the stabilized control voltage S16.

The detector 113 is directly connected to the electric motor 112,
Alternatively, it is provided at the tip of the mechanical section to detect the position and speed of the electric motor 112, and converts the detected content into an optical pulse or a high frequency electromagnetic induction pulse. This optical pulse or high-frequency electromagnetic induction pulse is fed back to the fixed-side controller 101 as operation information S17 by contactless transmission without an electrode by the coupler 108 ₂ . The operation information S17 is the position amplifier 1 in the fixed controller 101.
04, and is supplied to the induction power generator 103 and the speed amplifier 106 as control information S12 through the differentiator 106, and is used for controlling and monitoring the electric motor 112.

The position amplifier 104 uses the above operation information S17.
In addition, the command S11 given from the host system is input, and the speed amplifier 106 inputs the output of the position amplifier 104 in addition to the control information S12. Position amplifier 10
4 and the speed amplifier 106 include the position and speed command value included in the command S11 and the operation information S fed back.
The torque command value S13 is created from the value indicated by 17 (and the control information S12), and this is given to the independent electric motor unit 115 in a contactless manner by optical pulse or high frequency electromagnetic induction pulse transmission by the coupler 108 ₁ .

Information is transmitted in pulses as described above by changing the gap between optical couplers or high-frequency electromagnetic induction couplers mounted as couplers 108 ₁ and 108 ₂ integrally with the separation type high-frequency transformer 107 for power transmission. This is to prevent the data from changing, and the torque command S13 is pulse-converted by an analog / digital converter (not shown) by V / F conversion or PWM modulation, and the coupler 10 is converted.
8 _{1 is} transmitted.

In the independent motor section 115, an analog torque command S13 is obtained from this command pulse by a digital / analog converter (not shown). The current command generator 116 is
From the torque command S13 and the phase information S15 indicating the magnetic pole position of the electric motor 112 obtained from the detector 113, the current command S
14 and outputs it to the current amplifier 114. When the electric motor is a DC machine, the torque command S13 directly becomes the current command S14, and the current command generator 116 becomes unnecessary.

A proportional or proportional-integral type current amplifier 114 to which the current supplied to the electric motor 112 is fed back.
Performs amplification based on the difference between the current command S14 and the detected current value, and outputs it to the power switch 111 in the form of a PWM modulation waveform by comparison with the triangular wave. The output is a power transistor,
It serves as an input signal to the base (or gate) driving pre-stage amplifier of the power switch 111 composed of MOSFET, IGBT and the like. The power switch 111 modulates the DC main power supplied from the rectifier circuit 109 according to the base drive signal which is the output of the current amplifier 114, and the PWM voltage such that the torque command S13 and the torque feedback (current feedback) match. The electric motor 11
Supply to 2.

As described above, the present embodiment is based on the recent trend of miniaturization of power switches and integration with peripheral circuits. The upper part includes only a part of the control section (current control circuit) and power switch that is unique to the motor type, and these are collectively considered as a torque generator, and the fixed-side controller does not depend on the motor type. It is a control method. As a result, the position loop and speed loop that perform universal position control and speed control among position control, speed control, and current control, which are necessary for the control system that controls the motor, are unique to the motor type. It is separated from the current loop that performs various current control. The fixed-side controller performs comprehensive control together with the power source control unit, and the independent motor unit is provided with only the current loop unique to the mounted motor. As a result, it becomes possible to control the electric motors on the autonomous functional elements such as the pallet and on the rotating body, and the physical size of the part that moves separately becomes smaller. Further, as shown in FIG.
01, the induction motor 202, and the synchronous motor 203 respectively mounted on the independent motor units 200 ₁ to 200 ₃ can be separately driven by one type of fixed-side controller 101.

3 (a) and 3 (b) are perspective views showing the concrete structure of the separation type high frequency transformer 107 in FIG. 1, and FIG. 4 explains the high frequency excitation performed in this embodiment. FIG. The power that drives the electric motor 112 is
A high frequency is generated by the transistor switch 401 that constitutes the high frequency induction power generation controller 103 (see FIG. 1) in the fixed-side controller 101, and is transmitted to the independent electric motor unit 115 by high frequency electromagnetic induction through the split transformer 107. In the structure shown in FIG. 3A, the E-shaped core 30 is used.
The voltage is transformed according to the winding ratio of the windings 301 ₁ and 301 ₂ wound around 2 ₁ and 30 ₂ . Further, in the case shown in FIG. 3B, the voltage is transformed according to the winding ratio of the windings 303 ₁ and 303 ₂ wound around the pot cores 304 ₁ and 304 ₂ .

The high frequency power is rectified by the rectifier circuit 109 in the independent motor section 115 and becomes a motor driving power through the power switch 111. The primary side of the split high frequency transformer 107 is subjected to high frequency excitation by a rectangular wave (or sine wave) inverter inside the fixed side controller 101. as a result,
A rectangular wave (or sine wave) voltage is generated on the secondary side according to the primary / secondary winding ratio, and this voltage is applied to the high frequency diode bridge 402 and the reactor L which form the rectifier circuit 109.
Further, full-wave rectification is performed by the LC filter including the smoothing capacitor C, and it becomes a DC main power supply for driving the electric motor. Further, the control power source S of the communication and control circuit of the independent motor unit 115
16 is obtained by stabilizing and controlling a part of this power in the independent electric motor unit 115 by the voltage stability converter 110 which is a regulator.

In particular, when it is necessary to stabilize the power supply on the power receiving side, the detected voltage value is fed back without electrodes in the same manner as the position data described above. By controlling the amplitude or time width modulation on the fixed controller 101 side based on the voltage detection feedback and the speed feedback information, the stabilization can be achieved. In this way, the electric motor control system of the separated type and excellent in torque controllability is constructed. This structure can be applied not only to the separated type control but also to the electric motor control via the rotating body. However, in the case of a rotating body, it is necessary to supply electric power and transmit signals coaxially with the rotating shaft, so that some ingenuity is required. The power supply can be transmitted by using the pot-core-shaped split transformer shown in Fig. 3B. On the other hand, it is necessary to exchange signals by optical pulse communication or high frequency electromagnetic induction communication arranged coaxially with the pot-core-shaped split transformer.

In the case of using an optical pulse, there is a method in which a large number of optical couplers whose light emission / light receiving sensitivity characteristics greatly differ depending on the wavelength are used as shown in FIG. Bearing balls 503 on the fixed base 501
_1, 503 in the interior of the rotary shaft 502 that is rotatably secured by through _2, each constituting the optical coupler of the optical device 504 _{1-504 4} and 505 ₁ to 505 ₄ is a light emitting element or light receiving element So as to face each other. Optical elements 504 _{1 to} 504 ₄ and 5 constituting an optical coupler
05 _{1-505 4} prevents the transmission signal the peak of the peak of the emission wavelength and the light receiving wavelength is configured differently each other optocoupler affect each other.

Another example of the optical pulse is shown in FIG.
As shown in (a) and (b), there is a method of arranging a light emitting element and a light receiving element coaxially and shielding them so as not to affect each other. In this case, the emission wavelengths and the reception wavelengths of the plurality of optical couplers may be the same. FIG. 6A shows the configuration of the rotating unit side, and the light guide member 602 ₁ is coaxial with the rotating shaft 601.
To 602 ₃ are formed in a circular shape having different diameters, and the light guide members 602 _{1 to} 602 ₃ have light shielding members 603 at their outer peripheral portions.
It is covered by _{1-603 3.} On the fixed portion side shown in FIG. 6B, the light guide member 602 is provided around the bearing 605.
_{1-602 3} and isomorphic to be formed a light shield 606 constituting the optical coupler _1-606 light guide member 604 _{1-604 3} within ₃
Are buried respectively. Light passing through one of the light guide member constituting the optical coupler, the other of the light guide member provided to face without influencing each other by the light shielding member 603 _{1-603 3} and the light shield 606 _{1-606 3} Propagate.

Although light pulses are transmitted through these light guide members, each light guide member may be directly constituted by a light emitting element or a light receiving element. Further, when the reliability of the optical pulse communication becomes low due to the deterioration of the environment, high frequency electromagnetic induction is used. This is also the same as the optical pulse transmission method shown in FIG. 5 and FIG. The method of arranging in the direction and the method of arranging in the axial direction can be considered.

Further, each of the above-mentioned split type high frequency transformers and each of the couplers may be integrally formed. For example, even when controlling an independent electric motor section via a rotating body, it is shown in FIG. 3 (b). Split core type high frequency transformer 304 ₁ ,
This can be easily realized by arranging 304 ₂ and the coupler shown in FIGS. 6A and 6B coaxially. FIG. 7 is a block diagram showing the configuration of the second embodiment of the present invention.

In this embodiment, the fixed-side controller 701 supplies electric power to the first independent electric motor section 702 and the second independent electric motor section 703 and also controls the torque. The configuration of the control circuit of the fixed-side controller 701 and the configuration of the electric motors in the first independent electric motor unit 702 and the second independent electric motor unit 703 are the same as those shown in FIG. Will be described only.

The high frequency electromagnetic induction power supplied from the fixed-side controller 701 is the first separation type high frequency transformer 70.
4 to the first independent electric motor unit 702, and further to the second independent electric motor unit 703 via the second separation type high frequency transformer 705. On the other hand, in order to perform control, the fixed-side controller 701 and the first independent electric motor unit 7
02 coupler 706 _{1-706 4} is provided between the coupler 707 _1, 707 ₂ are provided between the first independent motor unit 704 and the second independent motor unit 703. For the first independent motor section 702, the couplers 706 ₁ ,
The torque command and feedback information are transmitted / received by 706 ₂ , and the torque command and feedback information are transmitted / received to / from the second independent electric motor unit 703 via the couplers 706 ₃ , 706 ₄ , 707 ₁ , 707 ₂ .

As described above, since power supply and torque control are performed for the other independent electric motor units via the independent electric motor unit, the independent electric motor unit is configured in multiple stages, for example, separation for a multi-axis joint robot or the like. Driving can be performed efficiently. In this way, the independent electric motor unit may drive the movable member attached to the independent electric motor unit.

It should be noted that the independent motor section is not constructed in multiple stages,
As for the components arranged in parallel, the fixed controller may of course directly control them without the intermediary of the independent electric motor unit. By adopting the motor control of the novel separation method according to the present invention shown in each of the embodiments described above, attachment / detachment of the connector with an electrode and positioning on the pallet and automation of a jig, which cannot be highly reliable with a mechanical mechanism, Autonomous decentralization is realized by driving the functional elements typified by machine tool ATC tools, robot end effectors, etc. by electric motors, and comprehensive automation becomes possible.

Also, control in the form of driving an electric motor on a multi-rotating rotating body (for example, linear driving by an electric motor of a tool post attached to the tip of a machine tool spindle, electrification of a lathe head chucking portion, etc.) is possible. Becomes In addition, as described above, the physical size of the part to be separated and moved is appropriately reduced by appropriately dividing the control unit into the fixed side and the electric motor (machine mounting side), and the same fixed side controller can be used for the DC machine and the induction machine. , Any of the autonomous function elements mounted on the synchronous machine can be driven separately.

The mechanical device according to the present invention transmits power by high frequency induction using a split transformer, and performs torque command input in the form of optical transmission or high frequency electromagnetic induction signal transmission, thereby interposing water or oil. It has a feature that it can be physically divided by a hot line without being affected by the adverse environment and without causing sparks or electrode damage. This is an epoch-making one that responds to the recently increasing demands for autonomy of mechanical elements equipped with electric motors and realization of electric motor control on rotating bodies.

Also, regardless of the type of electric motor,
Since the induction motor, the synchronous machine, etc. can be handled as a torque generator at a time, the power supply controller having a wide compatibility can be provided. When the present invention is used, the above-mentioned effects are exhibited in the following specific cases, and epoch-making improvements and technological breakthroughs are made. 1) Positioning of the work on the pallet Motor control. 2) Multi-joint robot Driving of each axis motor actuator without signal and power line. 3) Driving without wiring to the tool in automatic tool change of the machine tool (machining center). 4) An electric actuator that attaches to the tip of a machine tool spindle that rotates (for example, electrification of a chucking portion at the tip of a lathe,
Control of turret on spindle etc.). 5) In particular, when an electric motor is required to have torque controllability and the table on which the electric motor is mounted needs to move autonomously, for example, when the electric motor is used for centering a work on a machining pallet or for clamping. control. 6) Power supply and control signal transmission to all electric loads including a motor in a chamber isolated by a transparent body such as glass or a non-magnetic metal, for example, a clean room. 7) In addition, power supply and control signal transmission to all electric loads including electric motors in water and vacuum where electrode power supply is not possible.

In particular, among the above-mentioned applications, in applications such as chucking, centering, and clamps in which electric motors are used as torque generators, all the electric motors are originally understood as torque generators, and the present invention in which separate type control is performed is the same. It will be effective.

[0048]

Since the present invention is constructed as described above, it has the following effects. In the method according to any one of claims 1 to 3, there is an effect that the independent electric motor unit that moves separately can be downsized, the feasibility of the separate type control electric motor can be increased, and the use range can be expanded. . In addition, since the configuration of the fixed controller that controls the independent electric motor section does not depend on the type of electric motor, the same fixed controller can be used for various electric motors, and the number of types of fixed controller can be reduced to achieve efficient manufacturing. There is an effect that can be.

According to the fourth to eighth aspects of the invention, there is provided a separate type control motor having the above-mentioned effects. According to the ninth to eleventh aspects, there is an effect that it is resistant to a bad environment such as the inclusion of water or oil, and that physical division can be performed with a hot wire without causing sparks or electrode damage.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

FIG. 2 is a diagram showing a connection example of an independent electric motor unit in the embodiment shown in FIG.

3 (a) and 3 (b) are perspective views showing a specific configuration of a separation type high frequency transformer 107 in FIG.

FIG. 4 is a diagram for explaining high frequency excitation performed in the embodiment shown in FIG.

FIG. 5 is a diagram showing an example for performing optical pulse communication.

6A and 6B are diagrams showing other examples for performing optical pulse communication.

FIG. 7 is a block diagram showing a configuration of a second exemplary embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of a conventional example.

FIG. 9 is a block diagram showing a configuration of a conventional example.

[Explanation of symbols]

101, 701 Fixed-side controller 102 Power supply 103 High-frequency induction power generation controller 104 Position amplifier 105 Differentiator 106 Speed amplifier 107 Separate high-frequency amplifier 108 ₁ , 108 ₂ , 706 _{1 to} 706 ₄ , 707 ₁ , 70
7 ₂ coupler 109 rectifier circuit 110 voltage stabilization converter 111 power switch 112 electric motor 113 detector 114 current amplifier 115,200 ₁ to 200 ₃ independent electric motor section 116 current command generator 201 DC electric motor 202 induction motor 203 synchronous electric motor 301 ₁ , 301 ₂ , 303 ₁ , 303 ₂ Winding 302 ₁ , 302 ₂ E-type core 304 ₁ , 304 ₂ Pot core 401 Transistor switch 402 High frequency diode bridge 501 Fixed base 502, 60 ₁ Rotating shaft 503 ₁ , 503 ₂ Bearing ball 504 _{1 to} 504 ₄ , 505 _{1 to} 505 ₄ optical element 602 _{1 to} 602 ₃ , 604 _{1 to} 604 ₃ light guide member 603 _{1 to} 603 ₃ light shielding member 605 bearing 606 _{1 to} 606 ₃ light shielding body 702 first independent electric motor unit 703 second Independent motor part 704 1st minute Type high frequency transformer 705 second separation type high frequency transformer S11 command S12 control information S13 torque command S14 current command S15 phase information S16 control power S17 the operation information S41 motor Mains L reactor C smoothing capacitor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yuji Nitta 480 Shimohara, Kamifujisawa, Iruma City, Saitama Prefecture Yasukawa Electric Co., Ltd. Tokyo Factory

Claims (11)

[Claims] 1. An independent electric motor section comprising an electric motor and a detector for detecting operation information of the electric motor, and electric power is supplied to the independent electric motor section without contact and a torque command for the electric motor is sent to the independent electric motor section. A non-contact electric power feeding control method for a motor, which is performed between a fixed-side controller that transmits in a contactless manner, wherein the fixed-side controller generates a torque command from the detection content of the detector and a predetermined command, and independently. A contactless power supply control method for an electric motor, characterized in that the independent electric motor unit drives the electric motor according to a torque command from the fixed-side controller. 2. The contactless power supply control method for an electric motor according to claim 1, wherein the fixed-side controller generates a torque command from the position and speed of the electric motor and a command indicated by the detection content of the detector, and sends the torque command to the independent electric motor unit. The independent electric motor section drives the electric motor by using the torque command from the fixed-side controller as a current command to control the contactless power feeding of the electric motor. 3. The contactless power supply control method for an electric motor according to claim 1, wherein the fixed-side controller generates a torque command from the position and speed of the electric motor and the command indicated by the detection content of the detector, and sends the torque command to the independent electric motor unit. The contactless power supply control of the electric motor, wherein the independent electric motor unit drives the electric motor by generating a current command from the torque command from the fixed-side controller and the phase of the electric motor indicated by the detection content of the detector. Method. 4. An electric motor, a secondary side of a separation type high frequency transformer for receiving electric power for driving the electric motor in a contactless manner, a means for controlling a current for driving the electric motor, and a current for driving the electric motor. Receiving means for contactlessly receiving a signal necessary for control, a detector for detecting operation information of the electric motor,
An independent electric motor unit including a transmission unit that transmits the output signal of the detector in a contactless manner, a primary side of a separation type high frequency transformer that supplies electric power to the independent electric motor portion in a contactless manner, and the independent electric motor Signal receiving means for contactlessly receiving the output of the detector of the section, means for generating a torque command from the received signal and a command signal, and transmitting means for contactlessly transmitting the torque command to the independent electric motor section. A separate-type control motor consisting of a fixed-side controller equipped with. 5. The separated control electric motor according to claim 4, wherein the fixed-side controller includes a position amplifier that generates a torque command to the electric motor from the position and speed of the electric motor and the command indicated by the detection content of the detector, A separated control motor, wherein a speed amplifier is provided, and the independent motor section is provided with a current amplifier for driving the motor according to the torque command. 6. The separated control electric motor according to claim 4, wherein the fixed-side controller includes a position amplifier that generates a torque command to the electric motor from a position and speed of the electric motor and a command indicated by the detection content of the detector. A speed amplifier is provided, and the independent motor section drives a current command generator that generates a current command from the torque command and the phase of the motor indicated by the detection content of the detector, and the motor according to the current command. A separate type control motor characterized in that a current amplifier is provided. 7. The separated control electric motor according to claim 4, wherein a plurality of independent electric motor sections configured in multiple stages are provided with respect to the fixed-side controller, and the independent electric motor section of each stage is provided. Is equipped with a separate type high frequency transformer and a coupler, and power is supplied from the fixed-side controller to each independent motor unit and signals are sent and received via the separate type high frequency transformer and coupler provided in each stage of the independent motor unit. Separate control motor characterized by being carried out. 8. The separated type control motor according to claim 4, wherein the separated type high frequency transformer and the signal for performing electric power transmission between the independent electric motor section and the fixed side controller. A separated type control motor characterized in that it is integrally formed with a coupler for transmitting and receiving. 9. A mechanical device using the separated control motor according to claim 4, wherein the independent motor part is used as a part that moves or rotates separately. Machinery to do. 10. A mechanical device using the separated control motor according to claim 4, wherein the independent electric motor section drives a movable member attached to the independent electric motor section, or A mechanical device characterized by being used to drive a mechanism of an independent electric motor unit itself. 11. A machine device using the separated control device according to claim 9 or 10, which is a machine tool, a robot device, or an accessory device thereof.