JPH07303314A - Cable extending system - Google Patents

Abstract

PURPOSE:To control a driving motor for induction motor to generate a sufficient driving torque when a commanded speed value becomes lower by variably controlling the electric current supplied to the driving motor by means of a motor control means based on a vector control system using a torque component and magnetic flux component. CONSTITUTION:A motor control section 22 is constituted in such a way that the section 22 separates a current component (field current) for generating a field and another current component (torque current) for generating a rotational torque perpendicular to the field from the electric current supplied to a driving motor M upon receiving driving speed command information supplied from a main controller 21 and preset magnetic flux command information from a drive instructing section 23, synthesizes the vectors of the current components by separately controlling the current components, and supplies the synthesized vector to the driving motor M. Therefore, the motor control section 22 can excellently respond to speed commands and, at the same time, can make the motor M to exert a prescribed driving torque even in a starting state where the speed of the motor M becomes lower.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is constructed so that a cable is drawn by a wire drawing device, and the wire drawing device is adapted to feed and extend the cable by the power of a drive motor. Regarding the system.

[0002]

2. Description of the Related Art The above cable extension system is a system for extending a cable over a long distance. In the prior art, for example, as disclosed in Japanese Patent Laid-Open No. 5-76114, the extension of a cable is extended. An AC servo motor is used as a drive motor to be executed, and the drive speed of the AC servo motor is configured to be controlled by a motor control means (slave station control box) equipped with an AC servo driver, etc., and the drive speed can be freely changed. There was one that was configured to be possible.

[0003]

SUMMARY OF THE INVENTION The above-mentioned prior art makes it possible to freely change the cable drawing speed by the wire drawing device so that the cable drawing work can be started slowly or the drawing speed can be reduced. Although there is an advantage that it is possible to improve the workability of cable extension work,
In the above prior art, since the AC servomotor is used as the drive motor, there are the following disadvantages.

That is, the AC servomotor has a rotation speed detecting means (encoder) attached to its output rotation shaft, detects actual rotation information and feeds it back to the motor control means, and the rotation speed always matches the control command value. Therefore, the rotation speed detection means needs to be externally attached to the drive motor, and a dedicated signal line or the like for transmitting a detection signal from the rotation speed detection means to the motor control means is also required.

As described above, since the rotation speed detecting means, the signal line and the like are provided externally in addition to the motor control means and the drive motor, it is possible to protect them from damages caused by contact of foreign matter and intrusion of dust. It also has the disadvantage of requiring protective means and the like, which makes the structure complicated and increases the cost. Moreover, even when the protective means is provided, it is difficult to completely prevent the intrusion of dust and the like, and the durability is reduced. There was also a disadvantage.

Further, in the above-mentioned prior art, the central control panel commands the speed control value by the pulse signal from the central control panel to the plurality of wire drawing devices installed at appropriate intervals along the cable drawing direction. However, when the cable extension distance becomes long, the installation distance of the control cable also becomes long, there is a high possibility that the pulse signal will be attenuated and the waveform will be distorted, and there is also the risk of malfunction due to disturbance signals.
There is also a possibility that the drive control of the motor cannot be effectively executed.

As a variable speed control for an induction electric motor, there is also a method in which a command voltage as a speed command value is frequency-converted and shift control is performed by inverter control. There is a drawback that the drive torque cannot be increased, and in this respect, the workability of the cable drawing work cannot be improved in the wire drawing apparatus as described above.

An object of the present invention is to provide a cable drawing system which can reduce the cost by simplifying the structure while improving the workability in the cable drawing work.

[0009]

The features of the first invention are as follows:
A cable drawing system configured to draw a cable by a wire drawing device, and the wire drawing device is configured to feed and extend the cable by the power of a drive motor, wherein the drive motor is an induction motor type. And a motor control means for variable speed controlling the drive motor based on a vector control method for controlling a current supplied to the drive motor based on a torque component and a magnetic flux component. Means are detected based on the actual drive current and the actual drive voltage in the drive motor,
It is configured to execute the vector control based on the actual rotation feedback information of the drive motor.

A characteristic configuration of the second invention specifies a configuration suitable for carrying out the first invention, in which a plurality of the wire drawing devices are arranged at appropriate intervals along a cable drawing direction. , Each of the wire drawing devices is provided with the motor control means, and at the same time, command information for driving or stopping is given to each of the motor control means, and driving speed information is given to each of the motor control means. Is provided at the same time as control command means.

The characteristic structure of the third invention specifies a structure suitable for carrying out the first or second invention, and the rotation speed information is arranged to be commanded by an analog value. It is in.

[0012]

According to the characterizing feature of the first aspect of the invention, the current supplied to the induction electric drive motor is controlled by the motor control means based on the vector control method based on the torque component and the magnetic flux component, and the variable speed is controlled. Since it is controlled, it is possible to perform control so as to generate a sufficient drive torque even when the motor is started when the speed command value becomes low. In addition, since the actual rotation information of the drive motor required when executing the vector control is detected based on the actual drive current and the actual drive voltage in the drive motor and fed back to the motor control means, It is not necessary to provide an externally attached rotation state detecting means for detecting the actual rotation information, or a signal line for transmitting the detection signal to the motor control means.

According to the characterizing structure of the second invention, there is the following function in addition to the function of the characterizing structure of the first invention. Since the control information for driving or stopping is simultaneously instructed from the control command means to the plurality of wire drawing devices that sequentially extend the cables, the drive start and drive stop of each wire drawing device are always at the same timing. Run on. In addition, since the drive speed information is simultaneously commanded from the control command means to each wire drawing device,
In the driven state, each wire drawing device always pays out and extends the cable at the same speed.

As a result, due to the difference in the drive start timing of each wire drawing device or the difference in the drive speed,
It is possible to avoid the inconvenience that an unreasonable pulling force is applied to the cable that is unrolled and extended, the drive motor is overloaded, and the cable breaks down, and that the cable is bent and deformed halfway to damage the cable.

According to the characteristic configuration of the third invention, the following operation is provided in addition to the operation of the characteristic configuration of the first or second invention.
The drive speed information commanded by the control command means to each of the plurality of wire drawing devices is configured to be commanded by an analog value, so even if the transmission distance from the control command means to the wire drawing device is long, For example, as compared with the case of transmission by a digital value (pulse signal), there is less possibility that the signal waveform is distorted or the motor control unit malfunctions due to a disturbance signal (noise).

[0016]

According to the characterizing feature of the first invention, it is possible to exert a sufficient driving torque for feeding and extending the cable even in a low speed driving state when the driving of the driving motor is started. Drive speed of
Although the cable drawing speed can be made variable to improve the workability of the cable drawing work, the drive motor is provided with a rotation state detecting means and a signal for detecting the actual rotation information. It has become possible to provide a cable drawing system that does not need to be provided with wires externally, the structure of the drawing apparatus is simple, the cost is low, and the durability is excellent.

According to the characterizing structure of the second invention, the following effects are obtained in addition to the effects of the characterizing structure of the first invention. Due to the difference in the drive status of the drive motors in the plurality of wire drawing devices, it is possible to avoid the disadvantage that the wire drawing work is delayed due to the failure of the wire drawing device or the damage of the cable, etc. Workability can be further improved.

According to the characterizing feature of the third invention, the following effect is obtained in addition to the effect of the characterizing feature of the first or second invention.
It is possible to avoid as much as possible the delay of the cable drawing work due to the smooth operation of the wire drawing device due to the malfunction of the motor control means, and it is possible to improve the workability in the cable drawing work.

[0019]

Embodiments will be described below with reference to the drawings. Figure 1
As shown in FIG. 3, a cable drum 1 around which a long power cable C (an example of a cable) is wound is installed at a predetermined location on the ground, and the cable C fed from this cable drum 1 is formed underground. The cable drawing system is configured so that the inside of the cable laying tunnel 2 is sequentially extended and extended.

Near the cable drum 1, a wire drawing device 3 for pulling out the cable C from the cable drum 1 is provided.
The cable extended from the wire drawing device 3 is introduced into the tunnel 2 through the introduction path. In the tunnel 2, a plurality of wire drawing devices 3 are installed at appropriate intervals (for example, several tens of meters to several hundreds of meters) along the cable drawing direction, and the cable C is sequentially arranged by each wire drawing device 3. Is configured to be extended and extended. A plurality of guide rollers 4 are provided between the wire drawing devices 3.
Is provided so that the cable C can be smoothly drawn out and extended with less friction.

In the wire drawing device 3, as shown in FIGS. 2 to 4, a pair of left and right endless wire drawing belts 5a and 5b are wound around the drive sprocket 6 and the driven sprocket 7, respectively, and Working surface 8 of the left and right extended belts 5a and 5b
a and 8b are arranged so as to face each other,
When the cable C is pinched by the action surfaces 8a and 8b of the a and 5b, the cable C is rotationally driven in a synchronized state so that the cable C is extended and extended.

A supporting member 9 for stretching and supporting one of the extended wire belts 5a is supported by a base 10 in a fixed state, and a supporting member 11 for stretching and supporting the other extended wire belt 5b is of the base 1.
It is slidably supported along the slide guide portion 12 provided in 0 in the direction toward or away from the one extended belt 5a. Then, by rotating the screw shaft 14 with the operation handle 13, the slide position is configured to be adjustable, and the cable C is connected to each of the extending belts 5a and 5a.
When it comes in between b, the operation handle 13 is operated to adjust the distance between the respective extending belts 5a and 5b so that the cable C is clamped with an appropriate clamping force. It should be noted that, before and after the position where the wire drawing belts 5a and 5b are sandwiched, the position of the cable C is adjustable so that the cable C is always positioned at the center of the wire drawing belts 5a and 5b in the width direction regardless of the difference in diameter. Roller guide mechanisms 15 and 16 are provided.

The drive sprockets 6 are shown in FIG.
As shown in FIG. 6, a pair of flexible rotary shafts 18 and 19 driven via a gear mechanism 17 linked to the output shaft of the drive motor M are interlockingly connected and driven to rotate in the opposite direction in a synchronized state. Is configured.

Near each wire drawing device 3 in the tunnel 2,
A sub-control device 20 for individually controlling the operation of each drive motor M in each wire drawing device 3 is provided, and the operation of the drive motor M of the wire drawing device 3 is provided near the first wire drawing device 3. And a main control device 21 for controlling each wire drawing device 3 as will be described later.
As shown in FIG. 7, the main controller 21 includes a motor controller 22 as a motor controller that controls the drive motor M.
a, a drive instructing section 23a for giving various operation command signals to the motor control section 22a, an operation section 24a for instructing start and stop of the drive motor M, etc., and each sub-control device 20 similarly performs motor control. A unit 22, a drive instruction unit 23, and an operation unit 24 are provided, and a power source E is supplied to each of the control devices 20 and 21.

Each of the drive motors M is composed of a three-phase AC induction motor, and each of the motor control units 22,
22a is configured to perform variable speed control of the drive motor M based on a slip frequency vector control method that controls the current supplied to the drive motor M based on the torque component and the magnetic flux component. Further, the motor control unit 22 is configured to execute the vector control based on the actual rotation feedback information of the drive motor M detected based on the actual drive current and the actual drive voltage in the drive motor M. .

That is, the motor control unit 22 is instructed by the drive instructing unit 23 of drive speed command information given from the main control unit 21 side and preset magnetic flux command information, and the command information shown in FIG. As shown, the current component Im that forms the field in the current I ₁ supplied to the drive motor M
(Field current) and current component I ₂ (torque current) that generates a rotation torque orthogonal to this field are separately controlled, and these are vector-synthesized and given to the drive motor M. Is configured. Therefore, it is configured such that the speed response to the speed command is excellent and a predetermined drive torque can be exerted even in the starting state in which the speed is low.

That is, as shown in FIG. 9, the speed controller 25 for calculating the torque current component I ₂ based on the speed command information ω ₁ and the actual speed information ω ₂ information obtained as will be described later, Based on the current component I ₂ and the field current component Im, vector synthesis of these values is executed to obtain the scalar amount I ₁ of the supply current and the phase between the torque current component I ₂ and the field current component Im. Vector control unit 2 for finding the angle α
6. A calculation unit 27 that calculates the slip frequency information ω ₃ based on the torque current component I ₂ and the field current component Im, and a scalar amount I of the supply current output from the vector control unit 26.
₁ , and detected by the current control unit 29, the current detection unit 30, and the voltage detection unit 31 that control the supply current to the inverter 28 based on the added value of the angle α and the magnetic flux angle β obtained as described below. , An actual current calculator 3 for calculating an actual torque current component I _2FB in the drive motor M based on the detection information of the actual current and voltage flowing through the drive motor M.
2. Based on the difference between the actual torque current component I _2FB fed back from the actual current calculation unit 32 and the torque current component I ₂ , the actual speed information ω in the actual rotation state of the rotor
_The frequency control unit 33 for calculating and estimating ₂ , the integrator 34 for obtaining the magnetic flux phase angle β by integrating the added value of the slip frequency information ω ₃ and the actual velocity information ω ₂ , that is, the frequency information ω ₄ of the magnetic flux φ Composed of.

Therefore, the actual rotation information of the drive motor M is estimated on the basis of the actual drive current and the actual drive voltage supplied to the drive motor M, and the vector of the field current component Im set by the vector controller 26 is set. And the direction of the field current vector of the actual drive motor M can be matched to perform motor control with excellent responsiveness, and the motor output shaft for detecting the actual rotation information of the drive motor M can be executed. No external sensor or signal line for detecting the rotation state of is required.

The main control unit 21 has an operating section 24a.
On the basis of the operation in step 1, the interlocking drive signal is given to each sub-control device 20 via the activation signal line L1, and the emergency stop signal is given to each sub-control device 20 via the stop signal line L2. Command speed signal line L
3 is configured to output a speed command signal for driving the drive motor M of each wire drawing device 3 at the same speed. In addition, each sub-control device 20 is configured to control only the corresponding drive motor M, and the operation unit 24 provided corresponding to the sub-control device 20 starts or stops the drive motor M, or Not configured to instruct the operation of the braking device. Therefore, the main control device 21, the operation section 24a, the start signal line L1 and the stop signal line L2 constitute the control command means A.

The speed command signal is given as an analog value. That is, the main controller 21
Is provided with a voltage / current conversion unit 35 that converts a voltage value (0 to 5 volts) corresponding to the speed command value from the operation unit 24a into a current value (for example, 4 to 29 milliamperes). It is respectively supplied to the current / voltage conversion unit 36 of each sub-control device 20 connected in series via the command speed signal line L3, converted into a voltage value by each current / voltage conversion unit 36, and then supplied to the motor control unit 22. It is given as a speed command.

As described above, by instructing the speed by the analog current value, as compared with the case of instructing by the voltage value, malfunction due to voltage drop due to long-distance transmission or digital signal such as pulse signal is used. It is possible to prevent malfunction due to disturbance (noise) during transmission. Moreover, by ensuring a sufficient capacity in the voltage / current converter 31 of the main control device 21, there is no restriction on the number of connected sub control devices 20.

The cable drawing work in the cable drawing system having the above-mentioned structure will be described. The cable C is paid out from the cable drum 1 and sequentially drawn by the respective wire drawing devices 3.
When the tip of the cable C passes through each wire drawing device 3, an operator standing by in the vicinity of the wire drawing device 3 moves the cable C to the wire drawing belt 5a by the operation handle 13. 5b is tightened, the drive motor M of the wire drawing apparatus 3 is started, and the wire drawing is further continued. The drive motor M in each wire drawing device 3 is driven at substantially the same speed (speed accuracy within 1% each).

When the wire drawing work is temporarily interrupted during the work, all the drive motors M in the drive state are stopped at the same time based on the stop command from the main control device 21, and the drive state is changed based on the start command. All the drive motors M that have been present are started at the same speed at the same time.

The speed command can be adjusted to an arbitrary value from zero speed (stopped state) to the maximum speed V _MAX , and as shown in FIG. It can be activated. Moreover, the driving torque can exert a sufficient torque required for feeding the cable from the low speed state.

[Other Embodiments] (1) In the above embodiments, the sliding frequency type is illustrated as the vector control method, but the magnetic field orientation type vector control method may be used. (2) In the above-described embodiment, the configuration in which the activation operation of each wire drawing device 3 is performed by the worker who stands by nearby is exemplified.
The main control device side may instruct each wire drawing device 3 to start up separately. (3) In the above embodiment, the cable tightening work in the wire drawing device 3 is manually performed, but it may be automatically performed using an actuator such as an electric motor, and this tightening work is also performed by the main control. The device 21 may be configured to perform command control. (4) In the above embodiment, the wire drawing work in the tunnel 2 is illustrated, but it may be used for the wire drawing work on the ground or the bridge.

It should be noted that although reference numerals are given in the claims for facilitating the comparison with the drawings, the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a cable drawing system.

FIG. 2 is a plan view of a wire drawing device.

FIG. 3 is a front view of the wire drawing device.

FIG. 4 is a side view of the wire drawing device.

FIG. 5 is a side view of the drive motor.

FIG. 6 is a front view of a drive motor.

FIG. 7 is a control block diagram.

FIG. 8 is a block diagram of a motor controller.

FIG. 9: Vector diagram of supply current

FIG. 10 is a diagram showing drive speed and drive torque.

[Explanation of symbols]

 3 wire drawing device 22 motor control means A control command means M drive motor

Front page continuation (72) Inventor Koichi Taniyama 7-21-14 Fukushima, Fukushima-ku, Osaka City, Osaka Daido Electric Industry Co., Ltd.

Claims (3)

[Claims] 1. A wire drawing device (3) is configured to wire a cable, and the wire drawing device (3) is configured to feed and extend the cable by the power of a drive motor (M). It is a cable drawing system, Comprising: The said drive motor (M) is comprised by induction electric type, and based on the vector control system which controls the electric current supplied to the drive motor (M) based on a torque component and a magnetic flux component. hand,
A motor control means (22) for variable speed control of the drive motor (M) is provided, and the motor control means (22) detects based on an actual drive current and an actual drive voltage in the drive motor (M). A cable drawing system configured to perform the vector control based on actual rotation feedback information of the drive motor (M). 2. A plurality of the wire drawing devices (3) are arranged at appropriate intervals along the cable drawing direction, and each of the wire drawing devices (3) is provided with the motor control means (22). Control command means for simultaneously instructing each of the motor control means (22) with control information for driving or stopping and at the same time for each of the motor control means (22) with drive speed information ( The cable drawing system according to claim 1, wherein A) is provided. 3. The cable drawing system according to claim 2, wherein the rotation speed information is configured to be commanded by an analog value.