JPWO2021100106A1 - Motor drive control device and motor drive control system - Google Patents

Abstract

The present invention relates to a motor drive control device and a motor drive control system having a function of determining brake release of a motor equipped with a brake. The motor drive control device and the motor drive control system of the present invention include a friction torque estimation unit that calculates an estimated value of the friction torque of the motor when the motor is driven, an estimated value of the friction torque calculated by the friction torque estimation unit, and a motor. It is characterized by comprising a brake release determination unit for determining the state of the brake by using the threshold torque for determining the state of the brake for braking the brake.

Description

The present application relates to a motor drive control device and a motor drive control system having a function of determining the brake release of a motor provided with a brake.

In a motor equipped with a brake, the motor may be driven in a state where the brake is not released due to a failure of the brake. If the motor is driven in a state where the brake is not released, there is a problem that the brake is worn and the brake is deteriorated or the motor breaks down. Therefore, there is a motor drive control device that determines the state of the brake in order to prevent the motor from being driven when the brake is not released.

For example, in Patent Document 1, before using the motor, the load torque of the motor when the motor is driven when the brake is activated and the load torque of the motor when the motor is driven when the brake is released are measured, and the brake is activated. Obtain the threshold value of the load torque at the time in advance. When the motor is used, if the load torque of the motor being driven by the motor is equal to or higher than the threshold value of the load torque at the time of brake operation obtained in advance, it is determined that the brake is operating. The load torque of the motor is the total of the friction torque generated by the frictional force generated by the operation of the brake, the gravity torque generated by the gravity and the acceleration other than the frictional force of the brake, and the acceleration / deceleration torque.

Japanese Unexamined Patent Publication No. 2019-022281

However, in the method of Patent Document 1, unless the load torque of the motor at the time of brake operation and brake release is obtained by driving the motor in advance before starting the use of the motor, the state of the brake during the motor drive is determined. Cannot be determined. Therefore, it is necessary to drive the motor for this preliminary measurement, and there is a problem that it takes time and effort. Further, in an environment where a motor is actually used, there is a problem that it is not possible to detect a failure or forgetting of brake release due to a wiring error at the time of initial drive or a system setting or program error.

This application has been made to solve the above-mentioned problems, and it is possible to detect failure or forgetting to release the brake even at the first drive after wiring without measuring the load torque of the motor in advance. The purpose is to obtain a possible motor drive control device.

In the motor drive control device of the present application, the friction torque estimation unit that calculates the estimated value of the friction torque of the motor when the motor is driven, the estimated value of the friction torque calculated by the friction torque estimation unit, and the state of the brake that brakes the motor are displayed. It is characterized by comprising a brake release determination unit for determining the state of the brake by using the threshold of the friction torque for determination.

According to the present application, it is possible to detect failure or forgetting of brake release even at the time of initial driving after wiring without measuring the load torque of the motor in advance.

Block configuration diagram showing the motor drive control system of the first embodiment A flowchart showing the operation of the motor drive control device according to the first embodiment. A flowchart showing the operation of the controller according to the first embodiment. Block configuration diagram showing the motor drive control system of the second embodiment Block configuration diagram showing the motor drive control system of the third embodiment Block configuration diagram showing the motor drive control system of the fourth embodiment Hardware configuration diagram of the motor drive control device of the first to fourth embodiments

Embodiment 1.
Hereinafter, embodiments according to the present application will be described with reference to the drawings. In the description of the drawings, the same parts or corresponding parts are designated by the same reference numerals, and duplicate explanations will be omitted. This embodiment is not limited to the present application.

First, the configuration of the motor drive control system according to the first embodiment of the present application will be described. FIG. 1 is a block configuration diagram showing a motor drive control system 1 according to the first embodiment of the present application.

The motor drive control system 1 of the first embodiment includes a controller 100, a motor drive control device 200, and a servomotor 300. The controller 100 transmits a drive command to the motor drive control device 200, and the motor drive control device 200 drives and controls the servomotor 300 based on the drive command to drive the servomotor 300.

Hereinafter, the configuration of each device will be described. First, the controller 100 will be described. The controller 100 includes a communication unit 110 and a display unit 120.

The communication unit 110 is an interface capable of exchanging information with the motor drive control device 200. The communication unit 110 transmits a drive command to the motor drive control device 200, and receives information on the servomotor 300 from the motor drive control device 200, for example, a determination result of brake release. The drive command transmitted by the communication unit 110 to the motor drive control device 200 is generated based on a program stored in the controller 100 or a command from a higher-level computer that controls the controller 100.

The display unit 120 is a display that displays information to the user of the motor drive control system 1. The information displayed to the user is a determination result of the brake release determination unit 233 of the motor drive control device 200, which will be described later, or a warning when a brake abnormality occurs.

Subsequently, the motor drive control device 200 will be described. The motor drive control device 200 includes a drive unit 210, an acquisition unit 220, a processing unit 230, a communication unit 240, and a storage unit 250.

First, an outline of each configuration of the motor drive control device 200 will be described. The motor drive control device 200 receives a drive command from the communication unit 110 of the controller 100 in the communication unit 240, and converts the drive command into a control instruction signal to the drive unit 210 in the processing unit 230. Then, the drive unit 210 that has received the control instruction signal drives the motor 302 and the brake 301 of the servomotor 300, and the acquisition unit 220 acquires the information necessary for determining the state of the brake 301 from the servomotor 300. Further, the processing unit 230 determines the state of the brake 301 using the information from the acquisition unit 220 and the information stored in the storage unit 250, and transmits the determination result from the communication unit 240 to the communication unit 110 of the controller 100.

Next, each configuration of the motor drive control device 200 will be described in detail. First, the drive unit 210 includes a motor drive unit 211 and a brake drive unit 212.

The motor drive unit 211 supplies electric power for driving the motor 302. The magnitude of this power supply is instructed by the processing unit 230.

The brake drive unit 212 controls the drive of the brake 301 so that the brake 301 is in the released state or the activated state.

The acquisition unit 220 includes a rotation speed acquisition unit 221, a current value acquisition unit 222, and a threshold value acquisition unit 223.

The rotation speed acquisition unit 221 acquires information on the rotation speed by driving the motor 302 from the encoder 303 of the servomotor 300. The rotation speed acquisition unit 221 may acquire not only the rotation speed of the motor 302 but also the rotation angle, rotation direction, rotation speed, and the like of the motor 302.

The current value acquisition unit 222 acquires the current value supplied from the motor drive unit 211 to the motor 302. As this current value, a value detected by an ammeter actually provided may be used, or a value calculated from the electric power supplied to the motor 302 by the motor drive unit 211 may be used.

The threshold value acquisition unit 223 acquires the threshold value of the friction torque of the motor 302 when the brake 301 is operated. The threshold value of the friction torque is described as, for example, the allowable torque, the maximum torque, or the braking torque in the specifications of the motor 302, or is stored in the encoder 303 or the motor 302. In the first embodiment, as shown in FIG. 1, the threshold value acquisition unit 223 acquires the threshold value of the friction torque stored by the encoder 303. Instead of acquiring the friction torque threshold value from the encoder 303, the threshold value acquisition unit 223 may acquire the friction torque threshold value from the motor as long as the motor 302 stores the friction torque threshold value. Since the threshold value acquisition unit 223 acquires the friction torque threshold value, the motor drive control device 200 of the present application determines the state of the brake 301 without obtaining the load torque of the motor 302 when the brake 301 is operated in advance. can do.

The processing unit 230 includes a control instruction generation unit 231, a friction torque estimation unit 232, and a brake release determination unit 233.

The control instruction generation unit 231 converts the drive command received from the controller 100 into a power value or the like, and generates a control instruction signal to the drive unit 210. The control instruction generation unit 231 uses not only the drive command received from the controller 100 but also the rotation speed information from the encoder 303 acquired by the rotation speed acquisition unit 221 to signal a control instruction to the motor drive unit 211. May be generated.

The friction torque estimation unit 232 calculates an estimated value of the friction torque of the motor 302 when the motor 302 is driven. The friction torque estimation unit 232 of the first embodiment calculates the friction torque estimation value based on the information on the rotation speed of the motor 302 acquired by the rotation speed acquisition unit 221 and the current value acquired by the current value acquisition unit 222. The method of calculating the estimated value of the friction torque from the rotation speed of the motor 302 and the supplied current value is conventionally known as described in Patent Document 1, and is not the main point of the present application. The estimation method is not limited. Further, if the method can calculate the estimated value of the friction torque, it may be calculated from the rotation speed of the motor 302, the load torque, etc. instead of the rotation speed of the motor 302 and the supplied current value.

The brake release determination unit 233 determines the state of the brake 301 using the estimated value of the friction torque calculated by the friction torque estimation unit 232 and the threshold value of the friction torque. In the first embodiment, the brake release determination unit 233 determines the state of the brake 301 in three ways: a release state, an operating state, and an unreleased state. The released state of the brake 301 refers to a state in which the brake 301 is not braking the motor 302. The operating state of the brake 301 refers to a state in which the brake driving unit 212 is operating the brake 301. The unreleased state of the brake 301 refers to a state in which the brake 301 is braking the motor 302 due to an abnormality in the brake 301 even though the brake drive unit 212 has not operated the brake 301.

When the estimated value of the friction torque is equal to or less than the threshold value of the friction torque, the brake release determination unit 233 determines that the brake 301 is in the release state. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake drive unit 212 does not operate the brake 301, it is determined that the brake 301 is in the operating state. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake drive unit 212 does not operate the brake 301, it is determined that the brake 301 is not released. The state determination method of the brake 301 described above is an example, and may only determine whether or not the brake 301 of the brake release determination unit 233 is in the unreleased state. On the contrary, the state of the brake 301 may be determined in more detail by performing more detailed case classification than described above.

The communication unit 240 is an interface capable of exchanging information with the controller 100. The communication unit 240 includes a drive command receiving unit 241 and a determination information transmitting unit 242.

The drive command receiving unit 241 receives a drive command from the communication unit 110 of the controller 100 to the motor drive control device 200 and transmits the drive command to the control instruction generation unit 231.

The determination information transmission unit 242 transmits the brake release determination result from the brake release determination unit 233 to the communication unit 110 of the controller 100.

The storage unit 250 stores a value required for determining the state of the brake 301. For example, the current value acquired by the current value acquisition unit 222 or the rotation speed acquired by the rotation speed acquisition unit 221 may be stored. Further, the storage unit 250 includes a threshold value storage unit 251 and stores the threshold value of the friction torque acquired by the threshold value acquisition unit 223.

Subsequently, the servomotor 300 will be described. The servomotor 300 includes a brake 301, a motor 302, and an encoder 303.

The brake 301 does not come into contact with the motor 302 in the released state. In the unreleased state, it comes into contact with the motor 302 and brakes the drive of the motor 302 by the frictional force generated between the brake 301 and the motor 302.

The motor 302 is rotationally driven when electric power is supplied from the motor drive control device 200, and the rotational drive is stopped when the electric power supply from the motor drive control device 200 is stopped or the brake 301 is activated.

The encoder 303 outputs information on the number of rotations of the rotating shaft driven by the motor 302. The encoder 303 may output not only the rotation speed of the motor 302 but also information such as the rotation angle, rotation direction, and rotation speed of the motor 302.

Next, the operation of the motor drive control device 200 according to the first embodiment of the present application will be described with reference to FIG. FIG. 2 is a flowchart showing the operation of the motor drive control device 200 according to the first embodiment of the present application.

When the motor drive control device 200 starts operation, the flow of FIG. 2 is started. First, in step S100, the control instruction generation unit 231 determines whether the drive command reception unit 241 has received the motor drive start instruction from the controller 100. Step S100 is repeated until the instruction to start driving the motor is received.

When the drive command receiving unit 241 receives the instruction to start driving the motor, the process proceeds to step S101, the power supply from the motor driving unit 211 to the motor 302 is started, and the drive control of the motor 302 is started.

After step S101, the process proceeds to step S102, and the current value acquisition unit 222 acquires the current value supplied to the motor 302.
After step S102, the process proceeds to step S103, and the rotation speed acquisition unit 221 acquires the rotation speed of the motor 302.

After step S103, the process proceeds to step S104, and the friction torque estimation unit 232 calculates the estimated value of the friction torque.

After step S104, the process proceeds to step S105, and the threshold value acquisition unit 223 acquires the friction torque threshold value.

After step S105, the process proceeds to step S106, and the brake release determination unit 233 determines whether or not the estimated value of the friction torque is larger than the threshold value of the friction torque.

If the estimated value of the friction torque is equal to or less than the threshold value of the friction torque in step S106, the process proceeds to step S107, the brake release determination unit 233 determines that the brake 301 is in the release state, and the process proceeds to step S111.

If the brake release determination unit 233 determines in step S106 that the estimated value of the friction torque is larger than the threshold value of the friction torque, the process proceeds to step S108. In step S108, it is determined whether the brake drive unit 212 is operating the brake 301. When the brake 301 is operated, the process proceeds to step S109, and the brake release determination unit 233 determines that the brake 301 is in the operating state. After step S109, the process proceeds to step S111.

When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake drive unit 212 does not operate the brake 301, the process proceeds from step S108 to step S110, and the brake release determination unit 233 has not released the brake 301. Is determined. After step S110, the process proceeds to step S111.

After step S107, step S109, or step S110, it is determined in step S111 whether or not the instruction to end the motor drive is received from the controller 100.

If the instruction to end the motor drive has not been received, the process returns to step S101, and the operation of determining the state of the brake 301 in step S101 is repeated from step S101. Before returning to step S101, the determination information transmission unit 242 may transmit the determination result of the brake release determination unit 233 to the controller 100.

When it is determined in step S111 that the drive command receiving unit 241 has received the instruction to end the motor drive from the controller 100, the motor drive control device 200 ends the operation.

By the above operation, the motor drive control device 200 calculates the estimated value of the friction torque while driving the motor 302 and determines the state of the brake 301 without performing the pre-drive and the pre-measurement of the motor 302. Can be done.

In FIG. 2, it is determined in step S108 whether the brake 301 is operated by the brake drive unit 212, but the brake release determination unit 233 is in the unreleased state or the activated state without performing step S108. It may be determined that.

Further, although not shown in FIG. 2, if the brake 301 is not released, the power supply from the motor drive unit 211 to the motor 302 may be stopped, or the brake drive unit 212 may move the brake 301 to an appropriate position. You may move it.

Next, an example of the operation of the controller 100 of the first embodiment will be described with reference to FIG. FIG. 3 is a flowchart showing the operation of the controller 100 of the first embodiment.

When the controller 100 starts operation, the flow of FIG. 3 is started. First, in step S200, the controller 100 determines whether the motor drive start operation has been performed by the user. Step S200 is repeated until the operation of starting the motor drive is performed.

When the operation to start the motor drive is performed by the user, the process proceeds to step S201, and an instruction to start the motor drive is transmitted to the motor drive control device 200.

After step S201, the process proceeds to step S202, and it is determined whether or not the determination result of the state of the brake 301 has been received from the motor drive control device 200. If the determination result of the state of the brake 301 has not been received, the process proceeds to step S204.

If it is determined in step S202 that the determination result of the state of the brake 301 has been received, it is determined in step S203 whether or not the brake has not been released. If the brake 301 is not in the unreleased state, there is no abnormality in the brake 301, and the process proceeds to step S204.

In step S204, it is determined whether the operation of ending the motor drive has been performed by the user. If there is no operation to end the motor drive, the process returns to step S202, and the determination as to whether or not the brake release determination result has been received is repeated.

If it is determined in step S203 that the brake 301 has not been released, the process proceeds to step S205, and the display unit 120 notifies the abnormality of the brake 301.

When it is determined in step S204 that the motor drive end operation has been performed, or after step S205, the process proceeds to step S206, an instruction to end the motor drive is transmitted to the motor drive control device 200, and the operation of the controller 100 ends.

When the motor drive control device 200 determines that the brake 301 has not been released by the operation of the controller 100 shown in FIG. 3, the display unit 120 notifies the user of the abnormality in step S205. The user can notice the abnormality of the brake 301. Further, when the controller receives the determination information that the brake 301 is not released from the motor drive control device 200, a motor stop command is transmitted to the motor drive control device 200 in step S206 to instruct the motor drive to end. Therefore, it is possible to prevent the motor 302 from being driven while the brake 301 is not released.

The operation of the controller 100 shown in FIG. 3 is an example, and when the brake 301 is not released, the end of driving of the motor 302 and the notification of the brake abnormality on the display unit 120 are not essential operations. , The driving of the motor 302 may be prevented when the brake 301 is not released by other operations.

Further, in the above, the motor 302 is prevented from being driven when the brake 301 is not released by the operation of the controller 100, but the determination result from the brake release determination unit 233 is acquired by the control instruction generation unit 231. A control instruction signal may be transmitted from the control instruction generation unit 231 to the motor drive unit 211 to stop the motor 302.

As described above, in the motor drive control device 200 according to the first embodiment, the friction torque estimation unit calculates the estimated value of the friction torque of the motor and compares it with the threshold value of the friction torque when the brake is operated to determine the state of the brake. Since the determination is made, it is possible to detect the failure and forgetting of the brake release without performing the preliminary measurement of the load torque of the motor.

Further, in the motor drive control system 1 according to the first embodiment, it is possible to detect an abnormality such as a brake release failure or forgetting and prevent the motor drive without performing a preliminary measurement of the load torque of the motor. Even at the time of initial wiring, it is possible to prevent brake wear or motor failure in the unreleased state.

Embodiment 2.
Hereinafter, the motor drive control device 200 according to the second embodiment of the present application will be described. FIG. 4 is a block configuration diagram showing the motor drive control system 1 of the second embodiment. The motor drive control device 200 of the second embodiment is different from the motor drive control device 200 of the first embodiment in that the friction torque estimation unit 232 includes the friction torque estimation value processing unit 234. Since the other configurations are the same as those of the first embodiment, the description thereof will be omitted.

The friction torque estimation unit 232 uses the friction torque estimation value processing unit 234 to calculate the estimated value of the friction torque due to the brake among the friction torques of the motor 302, and calculates the friction torque with higher accuracy.

The motor drive control device 200 of the present application determines the state of the brake 301 without performing the preliminary measurement of the motor 302, but the motor 302 may be accelerated / decelerated and rotated when the motor 302 is actually used. When the motor 302 rotates in acceleration / deceleration, acceleration / deceleration torque is generated in the motor 302. This acceleration / deceleration torque is independent of the friction torque generated by the brake 301. Therefore, the friction torque estimation value processing unit 234 calculates the acceleration / deceleration torque based on the rotation speed of the motor 302 acquired by the rotation speed acquisition unit 221 and the current value acquired by the current value acquisition unit 222, and then the friction torque. The acceleration / deceleration torque is excluded from the estimated value of, and a more accurate estimated value of the friction torque is calculated. The method for calculating the acceleration / deceleration torque is known, for example, in Japanese Patent No. 5591400, and the method for calculating the acceleration / deceleration torque is not limited.

Further, when used in a motor drive control system 1 in which a motor 302 moves an object up and down, such as an elevator hoist, gravity torque is generated in the motor 302. This gravitational torque is independent of the friction torque generated by the brake 301. Therefore, the friction torque estimation value processing unit 234 calculates the gravity torque based on the rotation speed of the motor 302 acquired by the rotation speed acquisition unit 221 and the current value acquired by the current value acquisition unit 222, and then determines the friction torque. The gravitational torque is excluded from the estimated value to calculate a more accurate friction torque estimate. The method for calculating the gravitational torque is known, for example, in Patent Document 1, and the method for calculating the gravitational torque is not limited in the present application.

Since the friction torque estimation value processing unit 234 can calculate the acceleration / deceleration torque, the gravity torque, or both, and can calculate a more accurate friction torque estimate value by removing them, the brake release determination unit 233 can be performed more accurately. The state of the brake can be determined.

In the motor drive control device 200 according to the second embodiment described above, the friction torque estimation value processing unit 234 can calculate a more accurate friction torque estimate, so that the state of the brake 301 is determined more accurately. It becomes possible.

Embodiment 3.
Hereinafter, the motor drive control device 200 according to the third embodiment of the present application will be described. FIG. 5 is a block configuration diagram showing the motor drive control system 1 of the third embodiment. The motor drive control device 200 of the third embodiment is different from the motor drive control device 200 of the first embodiment in that the communication unit 240 includes the threshold value acquisition unit 223 and the controller 100 includes the operation unit 130. Since the other configurations are the same as those of the first embodiment, the description thereof will be omitted.

In the motor drive control system 1 of the third embodiment, the user uses the operation unit 130 of the controller 100 with an arbitrary value as the threshold value of the friction torque with reference to the allowable torque or the instantaneous maximum torque described in the motor specifications. And enter. The operation unit 130 may be a user interface capable of inputting numerical values, and may be a touch panel, a numeric keypad, or the like.

The threshold value of the friction torque input by the user in the operation unit 130 is transmitted to the motor drive control device 200 by the communication unit 110, and the threshold value acquisition unit 223 acquires the friction torque threshold value from the user's operation information. The threshold value of the friction torque acquired by the threshold value acquisition unit 223 is stored in the threshold value storage unit 251 of the storage unit 250. Then, the brake release determination unit 233 acquires the value of the threshold value of the friction torque from the threshold value storage unit 251 and determines the state of the brake 301.

In the motor drive control device 200 according to the third embodiment, the user can set the friction torque threshold value by inputting the friction torque threshold value in the operation unit 130. Therefore, even if the threshold value of the friction torque is not stored in the motor 302 or the encoder 303, the state of the brake 301 can be determined without performing the preliminary measurement of the motor 302.

Embodiment 4.
Hereinafter, the motor drive control device 200 according to the fourth embodiment of the present application will be described. FIG. 6 is a block configuration diagram showing the motor drive control system 1 of the fourth embodiment. The motor drive control device 200 of the fourth embodiment is different from the motor drive control device 200 of the first embodiment in that the storage unit 250 is not provided. Since the other configurations are the same as those of the first embodiment, the description thereof will be omitted.

In the motor drive control system 1 of the fourth embodiment, the brake release determination unit 233 acquires the friction torque threshold value from the threshold value acquisition unit 223 every time the brake release determination unit 233 determines the state of the brake 301, and determines the brake release. Since the motor drive control device 200 according to the fourth embodiment does not require the storage unit 250, the motor drive control device 200 is configured at low cost to determine the state of the brake 301 without performing prior measurement of the motor 302. It can be carried out.

Hereinafter, the hardware configuration of the motor drive control device 200 of the first to fourth embodiments will be described with reference to FIG. 7. FIG. 7 is a hardware configuration diagram of the motor drive control device 200 of the first to fourth embodiments. The motor drive control device 200 includes an input device 901, an output device 902, a storage device 903, and a processing device 904.

The input device 901 is an interface for inputting information provided by the acquisition unit 220 and the communication unit 240 of the motor drive control device 200. The interface may be a wired communication network such as a LAN cable or a coaxial cable, or a wireless communication network using wireless communication technology.

The output device 902 includes a drive unit 210 and a communication unit 240. The output device 902 is a control signal or communication interface. Since the communication unit 240 has already been described in the input device 901, it will be omitted. The drive unit 210, particularly the motor drive unit 211, is an interface capable of supplying electric power to the motor 302, for example, a lead wire for supplying power.

The storage device 903 is included in the storage unit 250. It corresponds to working memory and is a device that stores information. For example, non-volatile or volatile semiconductor memories such as RAM, ROM, and flash memory, magnetic disks, flexible disks, optical disks, compact disks, and the like are applicable.

The processing device 904 is included in the processing unit 230. The processing device 904 may be dedicated hardware or a CPU (Central Processing Unit) that executes a program recorded in the storage device 903.

When the processing device 904 is dedicated hardware, the processing device 904 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. ..

When the processing device 904 is a CPU, the function of the processing unit 230 is realized by software, firmware, or a combination of software and firmware. Software and firmware are described as programs and recorded in the storage device 903. The processing device 904 realizes the functions of each part by reading and executing the program stored in the storage device 903.

It should be noted that each function of the processing unit 230 may be partially realized by hardware and partly realized by software or firmware.

For example, the control instruction generation unit 231 may be dedicated hardware, and the friction torque estimation unit 232 and the brake release determination unit 233 may be described as a program recorded in the storage device 903 to realize the functions.

As described above, the processing device 904 can realize each of the above-mentioned functions by hardware, software, firmware, or a combination thereof.

As described above, according to the motor drive control device 200 of the present invention, failure or forgetting of brake release is detected even during the first drive after wiring without measuring the motor load torque at the time of brake release in advance. It becomes possible.

1 Motor drive control system 100 Controller 110 Communication unit 120 Display unit 130 Operation unit 200 Motor drive control device 210 Drive unit 211 Motor drive unit 212 Brake drive unit 220 Acquisition unit 221 Rotation speed acquisition unit 222 Current value acquisition unit 223 Threshold acquisition unit 230 Processing unit 231 Control instruction generation unit 232 Friction torque estimation unit 233 Brake release judgment unit 234 Friction torque estimation value processing unit 240 Communication unit 241 Drive command reception unit 242 Judgment information transmission unit 250 Storage unit 251 Threshold storage unit 300 Servo motor 301 Brake 302 Motor 303 Encoder 901 Input device 902 Output device 903 Storage device 904 Processing device

In the motor drive control device of the present application, the friction torque estimation unit that calculates the estimated value of the friction torque of the motor when the motor is driven, the estimated value of the friction torque calculated by the friction torque estimation unit, and the state of the brake that brakes the motor are displayed. A brake release determining unit for determining the state of the brake is provided by using the threshold of the friction torque for determination, and the threshold of the friction torque is a torque determined by the specifications of the motor .

The motor drive control device of the present application determines the friction torque estimation unit that calculates the estimated value of the friction torque of the motor when the motor is driven, the estimated value of the friction torque calculated by the friction torque estimation unit, and the state of the brake that brakes the motor. A brake release determination unit that determines the state of the brake using a friction torque threshold for determination and a brake drive unit that controls the drive of the brake are provided, and the brake release determination unit is an estimated value of the friction torque. When is equal to or less than the threshold of the friction torque, it is determined that the brake is in the released state, and when the estimated value of the friction torque is larger than the threshold of the friction torque and the brake drive unit is operating the brake, the brake is in the operating state. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake drive unit does not operate the brake, it is determined that the brake is not released .

When the estimated value of the friction torque is equal to or less than the threshold value of the friction torque, the brake release determination unit 233 determines that the brake 301 is in the release state. Estimated value of the friction torque is greater than the threshold value of the friction torque, when the brake drive unit 212 that has actuates the brake 301, it is determined that the brake 301 is actuated state. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake drive unit 212 does not operate the brake 301, it is determined that the brake 301 is not released. The state determination method of the brake 301 described above is an example, and may only determine whether or not the brake 301 of the brake release determination unit 233 is in the unreleased state. On the contrary, the state of the brake 301 may be determined in more detail by performing more detailed case classification than described above.

Claims (12)

A friction torque estimation unit that calculates an estimated value of the friction torque of the motor when the motor is driven, and a friction torque estimation unit.
A brake release determination unit that determines the brake state using the estimated value of the friction torque calculated by the friction torque estimation unit and the threshold value of the friction torque for determining the state of the brake that brakes the motor. ,
A motor drive control device characterized by being provided with. The friction torque estimation unit further includes a friction torque estimation value processing unit that calculates an estimated value of the friction torque by the brake.
The motor drive control device according to claim 1. The motor drive according to claim 2, wherein the friction torque estimation value processing unit calculates an estimated value of the friction torque by removing the acceleration / deceleration torque of the motor when the motor accelerates / decelerates. Control device. The motor drive control device according to claim 2 or 3, wherein the friction torque estimation value processing unit removes the gravitational torque of the motor and calculates the estimated value of the friction torque. The motor drive control device according to any one of claims 1 to 4, further comprising a threshold value acquisition unit for acquiring the threshold value of the friction torque. The motor drive control device according to claim 5, wherein the threshold value acquisition unit acquires the friction torque threshold value from the motor. The motor drive control device according to claim 5, wherein the threshold value acquisition unit acquires the friction torque threshold value from the encoder of the motor. The motor drive control device according to claim 5, wherein the threshold value acquisition unit acquires the friction torque threshold value from user operation information. A brake drive unit that controls the drive of the brake is further provided.
The brake release determination unit determines that the brake is not released when the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake drive unit does not operate the brake. The motor drive control device according to any one of claims 1 to 8, wherein the motor drive control device is characterized. A motor drive unit that supplies electric power to the motor and drives the motor,
A current value acquisition unit that acquires a current value supplied from the motor drive unit to the motor while the motor is being driven, and a current value acquisition unit.
Further, a rotation speed acquisition unit for acquiring the rotation speed of the motor while driving the motor is provided.
The friction torque estimation unit is characterized in that the estimated value of the friction torque is calculated by using the current value acquired by the current value acquisition unit and the rotation speed acquired by the rotation speed acquisition unit. The motor drive control device according to any one of claims 1 to 9. The motor drive control device according to claim 10, wherein the motor drive unit stops power supply to the motor when the brake release determination unit determines that the brake is not in the unreleased state. .. The motor drive control device according to any one of claims 1 to 11.
The motor drive control device is provided with a controller for transmitting drive and stop commands for the motor.
The controller is a motor drive control system, characterized in that when it receives determination information that the brake is not released from the motor drive control device, it transmits a stop command for the motor to the motor drive control device. ..

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