JPS60197185A - Protecting circuit of ac servo amplifier - Google Patents
Protecting circuit of ac servo amplifierInfo
- Publication number
- JPS60197185A JPS60197185A JP59052380A JP5238084A JPS60197185A JP S60197185 A JPS60197185 A JP S60197185A JP 59052380 A JP59052380 A JP 59052380A JP 5238084 A JP5238084 A JP 5238084A JP S60197185 A JPS60197185 A JP S60197185A
- Authority
- JP
- Japan
- Prior art keywords
- circuit
- detection device
- synchronous motor
- permanent magnet
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、工作機械および産業用ロボット等に使用され
る永久磁石式三相同期電動機を制御する交流サーはアン
プの保護回路に関するものである。[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a protection circuit for an AC amplifier that controls a permanent magnet three-phase synchronous motor used in machine tools, industrial robots, etc. .
（従来例の構成・とその問題点）
従来の交流サー？アンプは例えば第１図に示すように構
成されてい゛る。ｌは永久磁石式三相同期電動機、２は
速度検出装置、３は第１の比較器、４は第２の比較器、
５は第３の比較器、６は第４の比較器、７は速度指令回
路、８は速度制御アンプ、９は混合器、１０は第１の電
流制御アンプ、１１は第２の電流制御アンプ、１２は第
３の電流制御アンプ、１３はパルス幅変調制御回路、１
４は第１の電流検出装置、１５は第２の電流検出装置、
１６は第３の電流検出装置、１７は位置検出装置である
。(Conventional configuration and its problems) Conventional AC service? The amplifier is configured as shown in FIG. 1, for example. 1 is a permanent magnet three-phase synchronous motor, 2 is a speed detection device, 3 is a first comparator, 4 is a second comparator,
5 is a third comparator, 6 is a fourth comparator, 7 is a speed command circuit, 8 is a speed control amplifier, 9 is a mixer, 10 is a first current control amplifier, 11 is a second current control amplifier , 12 is a third current control amplifier, 13 is a pulse width modulation control circuit, 1
4 is a first current detection device, 15 is a second current detection device,
16 is a third current detection device, and 17 is a position detection device.
このように構成された従来例は、永久磁石式三相同期電
動機１の回転速度を直結された速度検出装置２で検出し
、その出力を速度フィードバック信号として第１の比較
器３に入力して、速度指令回路７からの速度指令信号と
の偏差をめ、その出力を速度制御アンプ８を介して混合
器９に入力する。また、前記永久磁石式三相同期電動機
１０回転子の位置を直結された位置検出装置１７で検出
し、その出力を位置フィードバック信号とし前記混合器
９に入力し、前記永久磁石式三相同期電動機１の三相巻
線に流す三相交流電流指令信号を各々求める。そして、
前記混合群９のｍ＝相交流電流指令信号の各々を第２．
第３．第４の比較器４゜５．６に入力し、前記第２．第
３．第４の比較器４．５．６において前記永久磁石式三
相同期電動機１に流れる三相交流電流を検出する第１．
第２゜第３の電流検出装置１４，１５，１６からの三相
交流フィードバック信号との差をめ、各出力を各々第１
．第２．第３の電流制御アンプ１０゜１１．１２を介し
て・やルス幅変調制御回路１３に入力し、その出力によ
り前記永久磁石式三相同期電動機１を制御し、駆動させ
る。In the conventional example configured in this way, the rotational speed of the permanent magnet three-phase synchronous motor 1 is detected by a directly connected speed detection device 2, and the output is inputted to the first comparator 3 as a speed feedback signal. , the deviation from the speed command signal from the speed command circuit 7 is determined, and its output is input to the mixer 9 via the speed control amplifier 8. Further, the position of the rotor of the permanent magnet three-phase synchronous motor 10 is detected by a directly connected position detection device 17, and its output is input to the mixer 9 as a position feedback signal, and Each of the three-phase AC current command signals to be applied to the three-phase windings of No. 1 is determined. and,
Each of the m=phase alternating current command signals of the mixing group 9 is applied to the second.
Third. input to the fourth comparator 4°5.6; Third. The first comparator 4.5.6 detects the three-phase alternating current flowing through the permanent magnet three-phase synchronous motor 1.
The difference between the second and third current detection devices 14, 15, and 16 is determined, and each output is sent to the first
．． Second. The current is input to the pulse width modulation control circuit 13 via the third current control amplifier 10°11.12, and the permanent magnet three-phase synchronous motor 1 is controlled and driven by its output.
上記のような従来の交流サーボアンプは、永久磁石式三
相同期電動機の結線を相順はそのままで誤結線すると、
サーボ系の三相交流電流指令信号の位相がずれて、永久
磁石式三相同期電動機は暴走する。In the conventional AC servo amplifier as described above, if the wiring of a permanent magnet type three-phase synchronous motor is incorrectly wired without changing the phase order,
The phase of the servo system's three-phase AC current command signal shifts, causing the permanent magnet type three-phase synchronous motor to run out of control.
そこで従来、前記永久磁石式三相同期電動機ｌの誤結線
による暴走を防止するために、永久磁石式三相同期電動
機ｌの回転子軸を手で回転させて位置検出装置１７を動
作させ、位置検出装置１７からの位置フィードバック信
号と、永久磁石式三相同期電動機１の誘起電圧の位相を
オシロスコープで確認して、永久磁石式三相同期電動機
１の誤結線を防止していた。Conventionally, in order to prevent the permanent magnet type three-phase synchronous motor l from running out of control due to incorrect wiring, the rotor shaft of the permanent magnet type three-phase synchronous motor l is manually rotated to operate the position detection device 17, and the position detection device 17 is operated. The position feedback signal from the detection device 17 and the phase of the induced voltage of the permanent magnet three-phase synchronous motor 1 are checked with an oscilloscope to prevent incorrect wiring of the permanent magnet three-phase synchronous motor 1.
しかしながら、上記の方法は組立工程や永久磁石式三相
同期電動機の回転子軸を容易に手で回転させることがで
きる装置だけにしか適用することができず、工作機械や
産業用ロボット−等においては、前記永久磁石式三相同
期電動機が組み込まれた後では、永久磁石式三相同期電
動機の回転子軸を手で回転させることは不可能で、永久
磁石式三相同期電動機の結線を確認することができない
ので、永久磁石式三相同期電動機の暴走を未然に防止す
ることができない等の欠点があった。However, the above method can only be applied to assembly processes and devices where the rotor shaft of a permanent magnet three-phase synchronous motor can be easily rotated by hand, and is not applicable to machine tools, industrial robots, etc. After the permanent magnet three-phase synchronous motor is installed, it is impossible to rotate the rotor shaft of the permanent magnet three-phase synchronous motor by hand, so check the wiring of the permanent magnet three-phase synchronous motor. Therefore, there were drawbacks such as the inability to prevent runaway of the permanent magnet type three-phase synchronous motor.
（発明の目的）
本発明は、上記従来例の欠点に鑑みてなされたもので、
永久磁石式三相同期電動機の結線を相順はそのままで誤
結線した場合の永久磁石式三相同期電動機の暴走を防止
して、永久磁石式三相同期電動機を保護することができ
る交流サーボアンプの保護回路を提供するものである。(Object of the invention) The present invention has been made in view of the drawbacks of the above-mentioned conventional examples, and
AC servo amplifier that can protect a permanent magnet three-phase synchronous motor by preventing runaway of the permanent magnet three-phase synchronous motor when the wiring of the permanent magnet three-phase synchronous motor is incorrectly connected without changing the phase order. This provides a protection circuit.
（発明の構成）
上記目的を達成するために本発明は、永久磁石式三相同
期電動機の三相交流電流を検出する電流検出装置と、回
転速度を検出する速度検出装置と、回転子の位置を検出
する位置検出装置とを具え、前記電流検出装置からの電
流フィードバック信号と、前記速度検出装置からの速度
フィードバック信号と、前記位置検出装置からの位置フ
ィードバック信号とにより前記永久磁石式三相同期電動
機を制御する交流サーボアンプにおいて、電源投入後、
一定時間だけ動作する電源回路と、前記電源回路からの
電圧の供給を受けて、前記交流サーボアンプの速度指令
信号を遮断する第１のスイッチと、前記交流サーボアン
プに速度信号ゼロを与える第２のスイッチと、前記速度
検出装置からの速度フィードバック信号の絶対値を与え
る絶対値回路と、前記絶対値回路の出力信号を一定な基
準信号と比較する比較回路と、前記比較回路の出力によ
シ前記交流す−？アンプの出力を遮断する回路とか交流
サーボアンプの保護回路を構成し、前記永久磁石式三相
同期電動機の結線を相順はそのままで誤結線したとき、
電源投入後、一定時間内に前記比較回路で検知して、前
記永久磁石式三相同期電動機の暴走を保護するようにし
たことを特徴とするものである。(Structure of the Invention) In order to achieve the above object, the present invention provides a current detection device for detecting three-phase alternating current of a permanent magnet type three-phase synchronous motor, a speed detection device for detecting rotation speed, and a rotor position a position detection device that detects the permanent magnet type three-phase synchronization by a current feedback signal from the current detection device, a speed feedback signal from the speed detection device, and a position feedback signal from the position detection device. In an AC servo amplifier that controls a motor, after turning on the power,
a power supply circuit that operates for a certain period of time; a first switch that receives voltage from the power supply circuit and cuts off a speed command signal to the AC servo amplifier; and a second switch that provides a zero speed signal to the AC servo amplifier. a switch, an absolute value circuit that provides the absolute value of the speed feedback signal from the speed detection device, a comparison circuit that compares the output signal of the absolute value circuit with a constant reference signal, and a switch that uses the output of the comparison circuit. The exchange? When a circuit for cutting off the output of an amplifier or a protection circuit for an AC servo amplifier is configured, and the wiring of the permanent magnet type three-phase synchronous motor is incorrectly wired without changing the phase order,
The present invention is characterized in that runaway of the permanent magnet type three-phase synchronous motor is protected by detection by the comparison circuit within a certain period of time after power is turned on.
（実施例の説明）
以下、図面にもとすいて本発明の実施例を詳細に説明す
る。第２図は、本発明の一実施例の構成を示すブロック
図で、第１図と同一の機能を有するものには同一の参照
番号が付しておる。１８は電源投入後一定時間だけ動作
する電源回路、１９は第１のスイッチ、２０は第２のス
イッチ、２１は絶対値回路、２２は比較回路、２３は交
流サーボアンプ出力遮断回路、２４は速度指令信号ゼロ
を与える速度指令回路である。(Description of Embodiments) Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 2 is a block diagram showing the configuration of an embodiment of the present invention, and parts having the same functions as those in FIG. 1 are given the same reference numerals. 18 is a power supply circuit that operates for a certain period of time after power is turned on, 19 is a first switch, 20 is a second switch, 21 is an absolute value circuit, 22 is a comparison circuit, 23 is an AC servo amplifier output cutoff circuit, and 24 is a speed switch. This is a speed command circuit that gives a command signal of zero.
次に、本実施例の動作を説明する。交流サーボアンプに
電源が投入されると、電源投入後一定時間だけ動作する
電源回路１８によって、前記交流サーボアンプの速度指
令回路７の出力信号を遮断する第１のスイッチ１９が動
作する。同時に電源回路１８によって、速度指令信号ゼ
ロを与える速度指令回路２４の出力信号を前記交流サー
ボアンプに接続する第２のスイッチ２０が動作する。一
方、前記速度検出装置２からの速度フィードバック信号
を絶対値回路２１を介して比較回路２２に入力し、永久
磁石式三相同期電動機１の動きを判別する。永久磁石式
三相同期電動機ｌが停止している場合には、比較回路２
２の出力はロウとなる。Next, the operation of this embodiment will be explained. When the AC servo amplifier is powered on, the first switch 19 which cuts off the output signal of the speed command circuit 7 of the AC servo amplifier is operated by the power supply circuit 18 which operates for a certain period of time after the power is turned on. At the same time, the power supply circuit 18 operates a second switch 20 that connects the output signal of the speed command circuit 24, which provides a speed command signal of zero, to the AC servo amplifier. On the other hand, a speed feedback signal from the speed detecting device 2 is inputted to a comparator circuit 22 via an absolute value circuit 21 to determine the movement of the permanent magnet type three-phase synchronous motor 1. When the permanent magnet three-phase synchronous motor l is stopped, the comparator circuit 2
The output of 2 becomes low.
また、永久磁石式三相同期電動機１が回転している場合
には、比較回路２２の出力はハイとなる。Further, when the permanent magnet type three-phase synchronous motor 1 is rotating, the output of the comparison circuit 22 becomes high.
比較回路２２の出力がハイの場合は、交流サーボアンプ
出力遮断回路２３が動作して、交流サーぎアンプの出力
を遮断する。永久磁石式三相同期電動機ｌの結線が正し
く接続されている場合は、比較回路２２の出力はロウで
、交流サーボアンプ出力遮断回路２３は動作しない。永
久磁石式三相同期電動機１の結線を相順はそのままで誤
結線したとき比較回路２２の出力はハイとなり、交流サ
ーがアンプ出力遮断回路２３が動作して、交流サーボア
ンプの出力を遮断する。以上の動作を、電源投入後一定
時間動作する電源回路１８からの電圧の供給を受けて行
なうので、永久磁石式三相同期電動機ｌの結線を相順は
そのままで誤結線したときの永久磁石式三相同期電動機
ｌの暴走を未然に防止することができる。When the output of the comparison circuit 22 is high, the AC servo amplifier output cutoff circuit 23 operates to cut off the output of the AC servo amplifier. When the permanent magnet three-phase synchronous motor l is connected correctly, the output of the comparator circuit 22 is low and the AC servo amplifier output cutoff circuit 23 does not operate. When the permanent magnet type three-phase synchronous motor 1 is wired incorrectly without changing the phase order, the output of the comparison circuit 22 becomes high, and the AC servo amplifier output cutoff circuit 23 operates to cut off the output of the AC servo amplifier. . The above operations are performed by receiving voltage from the power supply circuit 18, which operates for a certain period of time after the power is turned on. It is possible to prevent the three-phase synchronous motor l from running out of control.
”（発明の効果）
以上説明したように、本発明は、永久磁石式三相同期電
動機の結線を相順はそのままで誤結線した場合、電源投
入時に異常を検出して、交流サーボアンプの出力を遮断
するもので、これによシ永久磁石式三相同期電動機の暴
走を未然に防止し、永久磁石式三相同期電動機を保護す
ることができる。” (Effects of the Invention) As explained above, the present invention detects an abnormality when the power is turned on and changes the output of the AC servo amplifier when the permanent magnet three-phase synchronous motor is wired incorrectly without changing the phase order. This prevents the permanent magnet three-phase synchronous motor from running out of control and protects the permanent magnet three-phase synchronous motor.
【図面の簡単な説明】
第１図は、従来の交流サー〆アンプの構成を示すブロッ
ク図、第２図は、本発明の一実施例の構成を示すブロッ
ク図である。
ｌ・・・永久磁石式三相同期電動機、２・・・速度検出
装置、３〜６・・・比較器、７・・・速度指令回路、８
・・・速度制御アンプ、９・・・混合器、１０〜１２・
・・電流制御アンプ、１３・・りやルス幅変調制御回路
、１４〜１６・・・電流検出装置、１７・・・位置検出
装置、１８・・・電源回路、１９．２０・・・スイッチ
、２１・・・絶対値回路、２２・・・比較回路、２３・
・・出力遮断回路、２′４・・・速度指令回路。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the configuration of a conventional AC amplifier, and FIG. 2 is a block diagram showing the configuration of an embodiment of the present invention. l...Permanent magnet three-phase synchronous motor, 2...Speed detection device, 3-6...Comparator, 7...Speed command circuit, 8
...Speed control amplifier, 9...Mixer, 10-12.
...Current control amplifier, 13...Rear width modulation control circuit, 14-16...Current detection device, 17...Position detection device, 18...Power supply circuit, 19.20...Switch, 21 ... Absolute value circuit, 22... Comparison circuit, 23.
...Output cutoff circuit, 2'4...Speed command circuit.
Claims (1)
流検出装置と、回転速度を検出する速度検出装置と、回
転子の位置を検出する位置検出装置とを具え、前記電流
検出装置からの電流フィードバック信号と、前記速度検
出装置からの速度フィードバック信号と、前記位置検出
装置からの位置フィードバック信号とによシ前記永久磁
石式三相同期電動機を制御する交流サー？アンプにおい
て、電源投入後、一定時間だけ動作する電源回路と、前
記電源回路からの電圧の供給を受けて、前記交流サー？
アンプの速度指令信号を遮断する第１のスイッチと、前
記交流サーボアンプに速度指令信号ゼロを与える第２の
スイッチと、前記速度検出装置からの速度フィードパ、
り信号の絶対値を与える絶対値回路と、前記絶対値回路
の出力信号を一定な基準信号と比較する比較回路と、前
記比較回路の出力によシ前記交流す−がアンプの出力を
遮断する回路とからなり、前記交流サーボアンプにおい
て、前記永久磁石式三相同期電動機の結線を相順はその
ままで誤結線したとき、電源投入後、一定時間内に前記
比較回路で検知して、前記永久磁石式三相同期電動機の
暴走を保護することを特徴とする交流サーボアンプの保
護回路。The permanent magnet type three-phase synchronous motor includes a current detection device for detecting three-phase alternating current, a speed detection device for detecting the rotation speed, and a position detection device for detecting the position of the rotor, and a current detection device for detecting the position of the rotor. An AC servo circuit that controls the permanent magnet three-phase synchronous motor using a current feedback signal, a speed feedback signal from the speed detection device, and a position feedback signal from the position detection device. In the amplifier, after the power is turned on, there is a power supply circuit that operates for a certain period of time, and the AC circuit receives voltage from the power supply circuit.
a first switch that cuts off a speed command signal of the amplifier; a second switch that provides a speed command signal of zero to the AC servo amplifier; a speed feeder from the speed detection device;
an absolute value circuit that provides the absolute value of the absolute value signal; a comparison circuit that compares the output signal of the absolute value circuit with a constant reference signal; In the AC servo amplifier, if the permanent magnet type three-phase synchronous motor is incorrectly wired with the phase order unchanged, the comparator circuit detects this within a certain period of time after the power is turned on, and the permanent A protection circuit for an AC servo amplifier characterized by protecting a magnetic three-phase synchronous motor from runaway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59052380A JPS60197185A (en) | 1984-03-21 | 1984-03-21 | Protecting circuit of ac servo amplifier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59052380A JPS60197185A (en) | 1984-03-21 | 1984-03-21 | Protecting circuit of ac servo amplifier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60197185A true JPS60197185A (en) | 1985-10-05 |
Family
ID=12913191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59052380A Pending JPS60197185A (en) | 1984-03-21 | 1984-03-21 | Protecting circuit of ac servo amplifier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60197185A (en) |
-
1984
- 1984-03-21 JP JP59052380A patent/JPS60197185A/en active Pending
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