KR20170052205A - Performance testing system and method for motor drive controller for machine tools - Google Patents

Performance testing system and method for motor drive controller for machine tools Download PDF

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Publication number
KR20170052205A
KR20170052205A KR1020150154380A KR20150154380A KR20170052205A KR 20170052205 A KR20170052205 A KR 20170052205A KR 1020150154380 A KR1020150154380 A KR 1020150154380A KR 20150154380 A KR20150154380 A KR 20150154380A KR 20170052205 A KR20170052205 A KR 20170052205A
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South Korea
Prior art keywords
motor
drive controller
motor drive
module
value
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KR1020150154380A
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Korean (ko)
Inventor
천종민
김홍주
홍지태
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한국전기연구원
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R11/00—Electromechanical arrangements for measuring time integral of electric power or current, e.g. of consumption
    • G01R11/02—Constructional details
    • G01R11/25—Arrangements for indicating or signalling faults
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/08—Locating faults in cables, transmission lines, or networks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/327—Testing of circuit interrupters, switches or circuit-breakers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C19/00—Electric signal transmission systems
    • G08C19/02—Electric signal transmission systems in which the signal transmitted is magnitude of current or voltage

Abstract

The present invention discloses a motor drive controller performance test system for a machine tool. The present invention creates a numerical approximation model for a motor module, sets parameters for the motor model, and then performs the auto-tuning of the motor module to the motor drive controller so that the auto-tuning performance of the motor drive controller can be easily tested In addition to setting the control gains of the motor drive controller using the auto tuned parameter values, it is possible to control the performance of the motor drive controller by using the difference between the motor rotation speed command value and the motor rotation speed received from the motor drive controller Can be easily tested. Therefore, since the present invention changes the numerical approximate model for the motor module and changes only the parameter set value, it is possible to set various test environments for various combinations of motor modules, It is possible to perform the performance test effectively, reduce the test cost, and shorten the development period.

Description

Technical Field [0001] The present invention relates to a motor drive controller for a machine tool,

The present invention relates to a performance test system and method for a motor drive controller, and more particularly, to a performance test system and method for a motor drive controller for a machine tool.

Generally, a motor system for a machine tool comprises a motor module and a motor controller module for controlling the operation thereof.

In a conventional method of testing the performance of motor systems for such machine tools, the operator manually operated the motor system for the machine tool and checked the performance of the motor system.

However, this method has a problem that the performance test time is long, and the performance evaluation result is derived differently according to the skill level of the operator performing the test.

In order to solve such a problem, recently, a method of testing a motor module by generating a separate test program has been proposed.

However, in the related art, only the motor module of the motor system for the machine tool is subjected to the performance test, and the motor drive controller for controlling the motor module performs only the function of receiving the test command and operating the motor module accordingly. Therefore, there is no conventional technique for evaluating the performance of the controller that controls the motor module.

In order for the motor to follow the given command value effectively, the performance of the motor module itself is important for the motor to operate at the desired speed and torque. However, the processor-based controller that controls the motor module must control the well- And it is necessary to cope with the change of the status of the motor module in operation in a timely manner. Therefore, a performance test for the motor drive controller is also required, and a system capable of performing a performance test on the motor drive controller is needed.

A problem to be solved by the present invention is to set test environments in various cases for various combinations of motor modules and to more effectively perform a performance test on a motor drive controller for a machine tool, And to provide a performance test system for a motor drive controller for a machine tool capable of achieving the above object.

According to another aspect of the present invention, there is provided a system for testing the performance of a motor drive controller for a machine tool, the method comprising: generating a numerical approximation model for the motor module, A real time simulator that simulates the module in real time and outputs the simulated signal to the motor drive controller; A simulator device for setting and changing a parameter value for the motor module, transmitting an operation command for the motor to the real-time simulator, and controlling the motor module according to a user's command; And a test device for testing the performance of the motor drive controller using a difference between a motor rotational speed command value received from the simulator device and an actual motor rotational speed received from the motor drive controller.

In addition, the test apparatus may be configured such that the squared value of the difference between the motor rotation speed command value received from the simulator device and the actual motor rotation speed received from the motor drive controller is accumulated for a predetermined period of time, and when the integrated value is within the permissible range The performance of the motor drive controller can be judged to be acceptable.

The test apparatus may further include a motor drive controller that transmits an auto-tuning command to the motor drive controller so that the motor drive controller performs auto-tuning for the motor module, Values of the auto-tuned parameter values are compared with parameter values set for the motor module in the simulation apparatus, and when the error between the auto-tuned parameter values and the set parameter values is within a predefined tolerance range, The auto-tuning performance can be judged to be acceptable.

In addition, the test apparatus may further include a controller for controlling the bandwidths of the current controller and the speed controller included in the motor drive controller input from the user and the auto-tuned parameter values A gain value of the current controller and the speed controller may be calculated and transmitted to the motor drive controller, and the gain values of the motor drive controller may be set.

In addition, the simulation apparatus includes a failure signal due to an AC power supply failure signal, a DC link failure signal, a failure signal of an inverter switch, a failure signal due to overheating of a motor, And the test apparatus checks whether or not a trip signal corresponding to a failure signal received from the simulation apparatus is received from the motor drive controller, so that the motor drive controller It is possible to determine whether or not the motor has been protected by a trip measure by detecting the occurrence of a fault in the motor module.

In addition, the real-time simulator includes a motor module including an AC power source, a power conversion module for converting power supplied from the AC power source to provide the motor, and a motor driven by a power source supplied from the power conversion module, And converts the digital values representing the rotational speed of the motor to analog signals, and outputs the analog signals to the motor drive controller And receives the PWM control signal output from the motor drive controller corresponding to the analog signals to control the switches of the inverter included in the power conversion module.

In addition, the simulation apparatus may further include: a motor operation command unit for transmitting the start, stop, and speed change commands of the motor to the real-time simulator and transmitting the speed command value of the motor to the test apparatus; A motor parameter setting unit for setting parameters of the motor module; A motor parameter changing unit for changing a parameter of the motor module during operation of the motor; An abnormality state simulation unit for transmitting a failure signal of the motor module to the real-time simulator and the test apparatus; And a first user interface including the motor operation command unit, the motor parameter setting unit, and an input unit and an output unit that allow a user to input and confirm a value input by the abnormal state simulation unit.

The motor parameter setting unit may set the motor parameter setting unit to a predetermined value based on the rated output value of the motor, the input line voltage value of the motor module, the number of poles of the motor, the fundamental frequency of the motor, the stator resistance value of the motor, Sets a parameter of the motor module including at least one of a stator leakage inductance value of the motor, a rotor leakage inductance value of the motor, a magnetization inductance value of the motor, an inertia value of the motor and a load torque of the motor, The motor parameter changing unit may change the stator resistance value of the motor, the rotor resistance value of the motor, the stator leakage inductance value of the motor, the rotor leakage inductance value of the motor, the magnetization inductance value of the motor, And a load torque applied to the motor, wherein the abnormal state simulation At least one of a fault signal of an AC power source included in the motor module, a DC link fault signal, a fault signal of an inverter switch, a fault signal due to overheating of the motor, and a fault signal due to an excessive value of a three- To the real-time simulator and the test apparatus.

The test apparatus may further include a parameter setting value set in the simulation apparatus and an error between the parameter setting value set in the simulation apparatus and the parameter auto tuning value obtained by performing the auto tuning on the motor module by the motor drive controller, Parameter tuning performance test module to test performance; A motor control performance test module for testing a motor control performance of the motor drive controller using an error value between a motor rotation speed command value received from the simulation device and an actual motor rotation speed received from the motor drive controller; And a motor protection performance test module for testing the motor protection performance of the motor drive controller in accordance with whether a trip signal corresponding to the failure signal is received from the motor drive controller when a failure signal for the motor module is received from the simulation device . ≪ / RTI >

According to another aspect of the present invention, there is provided a method for testing a performance of a motor drive controller for a machine tool, the method comprising the steps of: (a) Generating an approximate model to simulate the motor module; (b) setting parameters for the motor module; (c) comparing the auto tuning parameter value obtained by performing the auto tuning to the motor module by the motor drive controller and the parameter value set in the (b), and testing the auto tuning performance of the motor drive controller; (d) calculating a speed control gain and a current control gain of the speed controller and the current controller included in the motor drive controller by using the auto tuning parameter value, if the auto tuning performance of the motor drive controller is determined to be acceptable, ; And (e) testing the motor control performance of the motor drive controller using an error value between the motor rotational speed command set by the user and the actual motor rotational speed received from the motor drive controller.

In the step (e), the square of the difference between the motor rotation speed instruction value and the actual motor rotation speed received from the motor drive controller is accumulated for a predetermined period of time. When the integrated value is within the permissible range, The performance of the controller can be judged to be acceptable.

In addition, the step (a) may include: a motor module including an AC power source, a power conversion module for converting power supplied from the AC power source to provide the motor, and a motor driven by a power source supplied from the power conversion module Wherein the step (e) simulates real-time simulation, wherein the step (e) comprises: comparing a DC-link voltage, a current value of two phases among three-phase currents flowing from the power conversion module to the motor, Signals to the motor drive controller and receives the PWM control signals output from the motor drive controller corresponding to the analog signals to control the switches of the inverter included in the power conversion module.

(F) During the operation of the motor drive controller 400, the method for testing the performance of the motor drive controller for a machine tool includes a failure signal of an AC power source included in the motor module, a DC link failure signal, Phase current value supplied to the motor and generates a trip signal corresponding to the generated fault signal from the motor drive controller to determine whether a trip signal corresponding to the generated fault signal is received from the motor drive controller, The motor drive controller may detect a failure of the motor module and determine whether the motor is protected by a trip action.

The present invention creates a numerical approximation model for a motor module, sets parameters for the motor model, and then performs the auto-tuning of the motor module to the motor drive controller so that the auto-tuning performance of the motor drive controller can be easily tested In addition to setting the control gains of the motor drive controller using the auto tuned parameter values, it is possible to control the performance of the motor drive controller by using the difference between the motor rotation speed command value and the motor rotation speed received from the motor drive controller Can be easily tested.

Therefore, since the present invention changes the numerical approximate model for the motor module and changes only the parameter set value, it is possible to set various test environments for various combinations of motor modules, It is possible to perform the performance test effectively, reduce the test cost, and shorten the development period.

1 is a block diagram showing the overall configuration of a motor drive controller performance test system for a machine tool according to a preferred embodiment of the present invention.
Fig. 2 is a diagram showing a detailed configuration of a motor module to be simulated in the real-time simulator shown in Fig. 1. Fig.
3 is a diagram showing a real-time simulation result of a motor module simulating in a real-time simulator according to a preferred embodiment of the present invention.
4 is a diagram showing an example of a first user interface of the simulator apparatus shown in FIG.
FIG. 5A is a diagram illustrating a performance test procedure performed by the parameter tuning performance test module of the test apparatus shown in FIG. 1, and FIG. 5B is a diagram illustrating an example of a second user interface for outputting a performance test result .
FIG. 6A is a diagram showing a performance test procedure performed by the motor control performance test module of the test apparatus shown in FIG. 1, and FIG. 6B is a diagram showing an interface showing a result of the performance test.
FIG. 7 is a diagram showing an example in which a result performed by the motor protection test module of the test apparatus shown in FIG. 1 is displayed on a second user interface.
8 is a view for explaining a performance test method of a motor drive controller for a machine tool according to a preferred embodiment of the present invention.

In order for the machine tool to exhibit high-speed and high-precision machining performance, the motor drive controller must perform high-speed, high-precision motor control algorithms effectively, quickly and accurately determine the state of the motor in operation, and cope with current situation.

In order to develop such a high-performance motor drive controller for a machine tool, a numerical approximation model is made using a proven software tool for the operation and environment of the actual motor module, It is possible to test the motor drive controller for the machine tool more effectively, and it is possible to reduce the test cost and shorten the development period.

The machine tool includes a servomotor system for moving a tool or a workpiece to a predetermined position, and a spindle motor system for machining at a high rotational speed by attaching a tool. The servo motor drive controller must control the servo motor drive to move the object to the correct position by the speed control and the position control at the appointed time. The spindle motor drive controller controls the speed of the tool by the speed control and torque control. To be processed to a given shape.

In order to obtain high quality workpieces, machine tools must have high speed and high precision control performance, so it is essential to develop a high performance motor drive controller. The motor drive controller for machine tools should be able to precisely identify the characteristics of the motor and reflect it in the controller setting for high speed and high precision control of the motor. Because the motor drive controller parameter values are dependent on the motor parameter values. High speed and high precision motor control is possible by providing the function of automatically setting the controller parameters by estimating the motor parameter values before the operation of the motor and the function of setting the controller parameters according to the estimation of the changing motor parameters during the operation of the motor.

In addition, the motor drive controller should have the function of quickly detecting the mechanical and electrical fault conditions that may occur during operation of the motor and the motor drive, and taking measures to protect the system.

In order to develop a high performance motor drive controller that performs these functions efficiently, it is necessary to test all possible abnormal conditions for various combinations of motor modules. In actual motor module based performance test environment, Because it is very consuming, replace the motor module with a real-time simulator and construct a performance test environment to enable various tests.

In the present invention, when a test command is issued to various test items in the test apparatus, the motor drive controller controls the motor drive with the required test command. The test device and the motor drive controller are connected by serial communication and can monitor the control status in real time.

In the present invention, parameters for the operating environment of the motor module and the motor module implemented in the real-time simulator are set in the simulator device, and the simulator device is connected with the real-time simulator via TCP / IP to change parameters in real time.

This performance evaluation environment can be constructed to perform motor drive controller performance tests for all possible operating conditions for various motor module combinations.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing the overall configuration of a motor drive controller performance test system for a machine tool according to a preferred embodiment of the present invention.

Referring to FIG. 1, the system for testing the performance of a motor drive controller for a machine tool according to the present invention includes a real-time simulator 100, a simulator workstation 200, and a test workstation 300 ).

The real-time simulator 100 generates a numerical approximation model for a motor module to be simulated and simulates it in real time by calculating it using a high-speed computing device. In the present invention, the AC power source 110, And a motor 130 driven by a power source supplied from the power conversion module.

In the real-time simulator 100, various combinations of the motor 130 and the power conversion module 120 having various specifications and capacities can be modeled, and the AC power source 110 can freely set the voltage magnitude and the frequency. In addition, it is possible to simulate in real time all possible abnormal conditions such as phase faults of the AC power source 110, switching elements of the power conversion module 120, and overheating during operation of the motor 130, ) May be tested for performance to adequately address this situation.

When the real-time simulator 100 simulates the motor operation in real time and outputs an analog signal such as a motor current, a DC-link voltage, and a motor speed to the motor drive controller 400, the motor drive controller 400 generates an analog input signal And outputs a control signal for achieving the control purpose to the real-time simulator 100 in the form of a PWM-based pulse signal.

The simulator device 200 is connected to the real-time simulator 100 through TCP / IP and transmits and receives data at a cycle of 1 msec.

The simulator apparatus 200 includes a motor operation command unit 210, a motor parameter setting unit 220, a motor parameter changing unit 230, an abnormal state simulation unit 240 and a first user interface 250 .

The motor operation command unit 210 receives various operation commands for the motor 130 simulated in the real-time simulator 100 (all the conditions are initialized after a motor start command, a motor stop command, a motor rotation direction, The speed change command, and the like) to the real-time simulator 100, and transmits the rotation speed command value of the motor 130 to the test apparatus 300.

The motor parameter setting unit 220 outputs and sets parameters for various motors to the real-time simulator 100 so that the real-time simulator 100 can simulate various motors. Examples of parameters output from the motor parameter setting unit 220 to the real-time simulator 100 include a rated output value of the motor included in the motor module, an input line voltage value of the motor module, a pole number of the motor, A stator resistance value of the motor, a rotor resistance value of the motor, a stator leakage inductance value of the motor, a rotor leakage inductance value of the motor, a magnetization inductance value of the motor, an inertia value of the motor, And load torque.

The motor parameter changing unit 230 performs a function of arbitrarily changing a parameter value in real time with respect to parameters that can be changed during operation of the motor 130 and outputting the parameter value to the real-time simulator 100. The parameter values that the motor parameter changing unit 230 changes during operation of the motor include the stator resistance value of the motor, the rotor resistance value of the motor, the stator leakage inductance value of the motor, the rotor leakage inductance value of the motor, And a load torque applied to the motor.

The abnormal state simulation unit 240 controls the real time simulator 100 to simulate an abnormal state of the AC power source 110, the power conversion module 120, or the motor 130 in real time. The abnormal state simulation unit 240 receives the malfunction signal of the AC power source included in the motor module, the DC link malfunction signal, the malfunction signal of the inverter switch, the malfunction signal due to the motor overheating, Fault signal and the like to the motor protection performance test module 340 of the real-time simulator 100 and the test apparatus 300.

The first user interface 250 provides a function that allows a user to easily operate the above-described components. That is, input means for allowing the user to easily input and check the values input by the motor operation command unit 210, the motor parameter setting unit 220, the motor parameter changing unit 230, and the abnormal state simulation unit 240, And output means.

The test apparatus 300 transmits a performance test related command for the motor drive controller 400 to the motor drive controller 400 in real time in association with the motor drive controller 400 in serial communication, Receives data related to the motor drive control and uses it to determine if the motor drive controller 400 satisfies a given performance metric.

The test apparatus 300 includes a second user interface 310, a parameter tuning performance test module 320, a motor control performance test module 320, and a motor control performance test module 320 so that the user can test the motor drive controller 400 with various test items. (330) and a motor protection performance test module (340).

The second user interface 310 includes input means for allowing the user to select the performance test items of the various motor drive controllers 400 and control means for checking the control execution status of the motor drive controller 400 for the selected performance test items in real time And quantitatively indicates to what degree a given performance index is satisfied.

The parameter tuning performance test module 320 compares the bandwidth ω cc of the current controller 430 included in the motor drive controller 400 And the bandwidth ω cs of the speed controller 420. The motor parameter setting unit 220 of the simulation apparatus 200 receives and stores the motor parameter values that are set in advance. When the user inputs an auto-tuning instruction, The drive controller 400 outputs an auto-tuning start command.

The parameter tuning performance test module 320 receives the parameter tuning value as a result of the auto tuning performed by the motor drive controller 400 and compares the parameter tuning value with the parameter setting values received from the simulation apparatus 200 to calculate an error between them And compare the error within the allowable range.

If the error exceeds the permissible range, the parameter tuning performance test module 320 determines that the auto tuning performance test of the motor drive controller 400 is failed and transmits the result to the user through the second user interface 310 Lt; / RTI > If the error is within the allowable range, the result is displayed to the user through the second user interface 310, and the auto-tuned parameter values, the current controller bandwidth ω cc, and the speed controller bandwidth ω cs , The control gain of the speed controller and the control gain of the current controller are calculated and the control gain values of the speed controller and the current controller are transmitted to the motor drive controller 400. [ The function of the parameter tuning performance test module 320 will be described in more detail below with reference to Figures 5A and 5B.

The motor control performance test module 330 receives the motor rotation speed command value from the simulation apparatus 200 in the case of the motor speed control performance test, for example, and transmits the received rotation speed command value to the motor drive controller 400, And causes the controller 400 to control the motor module in accordance with the rotation speed command value. Thereafter, the motor control performance test module 330 receives the actual motor rotational speed value recognized by the motor drive controller 400 from the motor drive controller 400, and then calculates the difference between the motor rotational speed instruction value and the actual motor rotational speed It is determined whether or not the integrated value is within a predetermined allowable range or exceeds a permissible range. If the integrated value is within a permissible range, the motor drive It is determined that the motor speed control performance of the controller 400 is acceptable and the motor speed control performance of the motor drive controller 400 is determined to be unacceptable if the tolerance is exceeded, . The function of the motor control performance test module 330 will be described later in more detail with reference to FIGS. 6A and 6B showing a motor speed control performance test example.

The motor protection performance test module 340 determines whether or not the abnormal state simulation unit 240 of the simulation apparatus 200 has detected a malfunction signal of the AC power source 110, a DC link malfunction signal, a malfunction signal of the inverter switches 191 to 196, When a fault signal due to overheating and a fault signal due to excess of the three-phase current supplied to the motor are outputted to the real-time simulator 100 and the motor protection performance testing module 340, a trip signal is received from the motor drive controller 400 The motor drive controller 400 senses the occurrence of a fault and determines whether or not the motor is protected by a trip measure and notifies the user through the second user interface 310. [

The function of the motor protection test module 340 will be described with reference to FIG. 7, which shows an example in which the results performed by the motor protection test module 340 of the test apparatus 300 are displayed on the second user interface 310. [ More specifically, in the abnormal state simulation unit 240, a failure is generated in the item 285 causing a failure in each phase among the three phases of the AC power source 110, and is transmitted to the real-time simulator 100, If the failure number is transmitted to the motor protection performance testing module 340, the motor protection performance testing module 340 determines whether a trip signal is received from the motor drive controller 400. If a trip signal is received, The fault notification LEDs 386, 387 and 388 corresponding to the respective phases of the power source 110 are turned on to notify the user that the motor drive controller 400 has detected a fault, It indicates whether or not the call.

When the abnormal state simulation unit 240 generates a failure in the item 286 simulating the occurrence of the DC link failure and transmits the failure to the real-time simulator 100, the abnormal state simulation unit 240 transmits the corresponding failure number to the motor protection performance testing module 340 , The motor protection performance test module 340 determines whether or not a trip signal is received in the motor drive controller 400. When a trip signal is received, the motor protection performance test module 340 lights a fault occurrence notification LED 389 corresponding to the DC link in which the fault occurred, The motor drive controller 400 senses the occurrence of a fault and notifies the user whether the motor has been protected by a trip action.

Further, the abnormal state simulation unit 240 generates a fault in the item 287 that simulates short-circuit and open-circuit faults that are failures that may occur in each of the six total power switches 191 to 196 included in the inverter of the motor When the failure signal is transmitted to the real-time simulator 100 and the corresponding failure number is transmitted to the motor protection performance testing module 340, the motor drive controller 400 determines whether a trip signal is received. If a trip signal is received, (See FIG. 7) corresponding to the fault occurrence notification LEDs 390 to 395 (see FIG. 7) to notify the user whether the motor drive controller 400 has detected a fault and protected the motor by a trip action.

The abnormal state simulation unit 240 generates a failure in the failure occurrence simulation item 288 that raises the motor-supplied three-phase current value to an allowable level or higher of each phase, outputs the error to the real-time simulator 100, The motor protection performance test module 340 determines whether or not a trip signal is received in the motor drive controller 400. When the trip signal is received, the motor protection performance test module 340 determines whether a fault corresponding to each of the motor- The occurrence notification LEDs 396 to 398 are turned on to notify the user whether or not the motor drive controller 400 detects the occurrence of a fault and protects the motor by a trip measure.

The abnormal state simulation unit 240 generates a fault in an item 289 simulating a fault that raises heat generated by a motor rotating at a high speed beyond an allowable value and transmits the fault to the real-time simulator 100, The motor protection performance test module 340 determines whether or not a trip signal is received from the motor drive controller 400. When the trip signal is received, the motor protection performance test module 340 transmits a fault occurrence notification LED 399 to the motor, The motor drive controller 400 senses the occurrence of a fault and informs the user whether or not the motor is protected by a trip action.

Fig. 2 is a diagram showing a detailed configuration of a motor module to be simulated in the real-time simulator shown in Fig. 1. Fig.

2, in the real-time simulator 100 according to the present invention, operations of the AC power source 110, the power conversion module 120, and the motor 130 are simulated in real time. In this case, - link voltage rotational speed of V DC (140) and the current of the two-phase among from the power conversion modules 120, three-phase current flowing to the motor (i as (150), i bs (160)) and the motor ω m ( 170) into analog signals and outputs the analog signals to the motor drive controller 400.

The motor drive controller 400 recognizes the analog signals input from the real-time simulator 100 as analog signals measured by the sensors of the actual motor module and performs various control and protection algorithms corresponding to the inputted analog signals And outputs the pulse width modulation PWM control signals 180 as gate control signals of the switching elements 191 to 196 of the power conversion module 120. [

When the motor 130 is numerically modeled, in the case of the induction motor, the flux linkage components of the stator and the rotor are obtained from the following Equation 1 based on the stationary coordinate system.

[Equation 1]

Figure pat00001

Then, the current components are obtained from the following equation (2), and the torque T e is obtained from the equation (3).

&Quot; (2) "

Figure pat00002

&Quot; (3) "

Figure pat00003

Then, the torque? E is used to obtain the rotational speed? M of the motor in the motor-mechanical type as shown in Equation (4).

&Quot; (4) "

Figure pat00004

In order to derive the motor model equation, various parameters such as the capacity, resistance, inductance, pole number, and inertia of the motor must be set. In the present invention, these parameters are set in the motor parameter setting Is initially set in the part (220). This allows a variety of different motor models to be simulated.

3 is a diagram showing a real-time simulation result of a motor module simulating in a real-time simulator according to a preferred embodiment of the present invention.

The results shown in FIG. 3 are obtained by simulating the motor module of FIG. 2 numerically as shown in Equations (1) to (4) And outputs a command and a motor speed change command to the motor parameter changing unit 230. The motor parameter changing unit 230 changes the T L value in Equation 4 to change the motor load 132, A three-phase current 135, a motor speed 136, and a motor torque 137 input to the motor 134 and the stator of the motor.

4 is a diagram showing an example of a first user interface of the simulator apparatus shown in FIG.

4, the first user interface 250 includes a box 251 in which a motor operation command unit 210 receives a command from a user and displays input information, a motor parameter setting unit 220, A box 252 for receiving parameter change values from the motor parameter changing unit 230 and displaying corresponding information, a box 253 for receiving the information from the abnormal state simulation unit 240, And a box 254 for displaying information to be displayed.

The information displayed on the first user interface 250 is input from the user in the motor operation command unit 210, the motor parameter setting unit 220, the motor parameter changing unit 230, and the abnormal state simulation unit 240, And outputs to the simulator 100 or indicates the current state of the real-time simulator 100. [

The box 251 corresponding to the motor operation command unit 210 includes a dial 261 for changing the motor rotational speed command, a button 262 for generating a motor start command, a button 263 for generating a motor stop command, A button 264 for resetting all the conditions to the initial state after the occurrence of an operation error, a button 265 for switching the rotation direction of the motor, and an operation state of the motor as numerical values of the motor rotation speed, motor input current, Display 266 and the like.

The box 252 corresponding to the motor parameter setting unit 220 includes an item 267 for setting the rated output value of the motor, an item 268 for setting the input line voltage value of the motor module, an item for setting the number of poles of the motor 269), an item 270 for setting the basic frequency of the motor, an item 271 for setting the stator resistance value of the motor, an item 272 for setting the rotor resistance value of the motor, a stator leakage inductance value of the motor An item 275 for setting the rotor leakage inductance value of the motor, an item 275 for setting the magnetizing inductance value of the motor, an item 276 for setting the inertia value of the motor, And an item 278 for setting the setting value.

An item 279 for changing the stator resistance value of the motor during operation of the motor, an item 280 for changing the rotor resistance value of the motor during operation of the motor, An item 282 for changing the stator leakage inductance value of the motor during operation of the motor, an item 282 for changing the rotor leakage inductance value of the motor during operation of the motor, an item 283 for changing the magnetization inductance value of the motor during operation of the motor, There are items 284 that change the load torque applied to the motor during operation.

The box 254 corresponding to the abnormal state simulation unit 240 includes an item 285 for generating a failure for each phase among the three phases of the AC power source 110 inputted to the motor module, (286), which simulates the occurrence of a fault by raising the DC link voltage value between the rectifier to DC power and the inverter that converts DC power back to AC power to an allowable level or higher, and converts the DC power of the DC link to an AC power supplied to the motor An item 287 simulating short and open faults that are failures that may occur in each of the six total power switches of the inverter; a three-phase current value supplied from the power conversion module 120 to the motor 130, An item 288 for simulating the occurrence of a fault by raising the motor to a high speed, and an item 289 for simulating a fault where the heat generated by the motor rotating at a high speed exceeds the allowable value.

FIG. 5A is a diagram illustrating a performance test procedure performed by the parameter tuning performance test module of the test apparatus shown in FIG. 1, and FIG. 5B is a diagram illustrating an example of a second user interface for outputting a performance test result .

First, the parameter tuning performance test module 320 determines whether or not the bandwidth ω (n) of the current controller 430 in the item 354 for setting the bandwidth Bandwidth (BW) of the motor drive controller 400 through the second user interface 310 cc and the bandwidth? cs of the speed controller 420, respectively (S341).

Then, the parameter tuning performance test module 320 receives and stores the motor parameter values set in advance from the simulation apparatus 200 (S342). When the auto tuning start button 352 is selected from the user, the motor drive controller 400 to output an auto-tuning start command (S343).

When the auto-tuning start command is input, the motor drive controller 400 performs an auto-tuning function with its own auto-tuning algorithm (S344). When the auto-tuning is completed, And the second user interface 310 informs the user that the auto tuning is completed by turning on the end notification box 353 of the auto tuning result window 322 at step S345.

Thereafter, the parameter tuning performance test module 320 compares the set values received from the simulation apparatus 200 with the tuning values received from the motor drive controller 400, and calculates the error (S346). The parameters to be compared with the auto-tuning results are stator resistance 357, stator inductance 358, magnetizing inductance 359, stator transient inductance 362, rotor time constant 361 and motor inertia 362.

The second user interface 310 includes an LED 363 for displaying an auto-tuning comparison result for each parameter. Whether the tuning result of each parameter is within an error range or outside an error range is displayed on the LED 363 By separating them into different colors, the user can intuitively recognize the result of auto-tuning.

The parameter tuning performance test module 320 compares the calculated error within an allowable range (S347). In step S347, the comparison result is displayed through the LED 363 of the second user interface 310. In the error tolerance range, the comparison result may be displayed in blue. If the error tolerance range is out of range, the comparison result may be displayed in gray.

The parameters 357 to 362 displayed in the auto tuning result window 322 of the second user interface 310 are displayed in the box 252 for displaying the parameter information set by the motor parameter setting unit 220 of the simulator device 200 ), But it is possible to derive the remaining values through these values.

Stator inductance L s and stator transient inductance

Figure pat00005
If the magnetizing inductance L m is known, the rotor inductance L r can be obtained by the following equation (5).

&Quot; (5) "

Figure pat00006

The rotor inductance L r and the stator time constant

Figure pat00007
The rotor resistance R < RTI ID = 0.0 > r < / RTI & Can be obtained.

&Quot; (6) "

Figure pat00008

Stator leakage inductance

Figure pat00009
And rotor leakage inductance
Figure pat00010
Can be obtained by knowing L s , L r and L m in the following Equation (7).

&Quot; (7) "

Figure pat00011

If it is determined in step S347 that the error is out of the permissible range, the parameter tuning performance test module 320 determines that the auto tuning performance test of the motor drive controller 400 is failed (S349).

If, however, within the error is acceptable, the parameter tuning performance test module 320 is pre-set current controller bandwidth ω cc and speed determine the auto-tuning results in a pass, and (S348), step the S341 of the motor drive controller (400) The control gain of the speed controller is calculated by using the controller bandwidth? Cs and the auto tuned motor parameter values during the auto tuning process, and is displayed on the item 355 for displaying the speed controller control gain, and the control gain of the current controller is calculated Is displayed on the item 356 for displaying the current controller gain (S350).

Proportional gain of speed controller K PS Is calculated by using the torque constant K T , the motor inertia J and the speed controller bandwidth? Cs as shown in Equation (8).

&Quot; (8) "

Figure pat00012

Then, the integral control gain K IS of the speed controller is given by K PS And the velocity controller bandwidth CS , the following equation (9) is used.

&Quot; (9) "

Figure pat00013

The proportional control gain K PC of the current controller is determined by the stator transient inductance

Figure pat00014
And the current controller bandwidth ω CC .

&Quot; (10) "

Figure pat00015

Then, the integral control gain K IC of the current controller is calculated by the following Equation (11) using the stator resistance R S , the rotor resistance R r , the stator inductance L r , the magnetizing inductance L m, and the current controller bandwidth ω CC .

&Quot; (11) "

Figure pat00016

Thereafter, the control gain values of the speed controller and the current controller calculated in Equations (8) to (11) are transmitted to the motor drive controller 400 to be set, thereby ending the auto tuning process and preparing a motor operation control test ).

If the variable parameters are changed in the box 253 of the first user interface 250 through the motor parameter changing unit 230 of the simulator device 200 during the operation of the motor, The adaptive control performance of the drive controller 400 can be confirmed in real time.

FIG. 6A is a diagram showing a performance test procedure performed by the motor control performance test module of the test apparatus shown in FIG. 1, and FIG. 6B is a diagram showing an interface showing a result of the performance test.

In order to test the speed control performance of the motor drive controller 400, the motor control performance test module 330 receives the motor rotation speed instruction value from the simulation device 200 and outputs the motor rotation speed instruction value to the motor drive controller 400 And instructs the motor drive controller 400 to control the motor module according to the rotation speed command value, and then receives the actual motor rotation speed value from the motor drive controller 400 (S371).

Thereafter, the motor control performance test module 330 displays the motor rotation speed instruction waveform 379 and the actual motor rotation speed waveform 380 in the graph 378 of the motor control performance result display window 332 (S372) . In addition to the waveforms, the motor rotation speed command value is displayed as a numerical value (381) and the actual motor rotation speed value is also displayed as a numerical value (382) so that the user can grasp not only the motor operation trend through the graph but also the current value .

An error value which is the difference between the motor rotational speed command value and the actual motor rotational speed is calculated and the square value of the error is calculated and displayed as a waveform 383 in the graph 378 of the motor control performance result display window 332, The squared value is also shown as a number 384 (S373).

The error square values calculated in step S373 are accumulated for a predetermined time (S374), and it is determined whether or not the integrated value for a predetermined time is within a predetermined allowable range or exceeds an allowable range (S375) It is determined that the motor control performance of the motor drive controller 400 is acceptable and the acceptance notification box 385 indicates the acceptance to the user (S376).

If it is determined in operation S375 that the allowable range is exceeded, it is determined that the motor control performance of the motor drive controller 400 is rejected, and the rejection notification box 385 notifies the user of the rejection (S377).

8 is a view for explaining a performance test method of a motor drive controller for a machine tool according to a preferred embodiment of the present invention.

Since the functions performed in each step of the method for testing the performance of the motor drive controller for a machine tool according to the preferred embodiment of the present invention have been described in detail with reference to FIGS. 1 to 7, hereinafter, in order to avoid duplication, The overall performance of the motor drive controller performance test method for a machine tool according to a preferred embodiment of the present invention will be described.

Referring to FIG. 8, in order to test the performance of the motor drive controller 400 for a machine tool of the present invention, first, a numerical value of a motor module to be controlled by the motor drive controller 400 through the real- An approximate model is generated and the motor module is simulated (S810).

Thereafter, the simulation apparatus 200 receives and sets parameters for the motor module from the user (S820). The contents of step 820 are the same as those of the motor parameter setting unit 220 of the simulation apparatus 200, and detailed description thereof has been given above.

When the parameter is set, the motor drive controller 400 carries out auto-tuning to the motor module according to the control of the tester 300 and transmits the obtained auto-tuning parameter value to the tester 300, Compares the auto tuning parameter value with the parameter value set in step S820 and tests the auto tuning performance of the motor drive controller 400 in step S830. The contents of step S830 are the same as those of the parameter tuning performance test module 320 of the test apparatus 300, and detailed description thereof has been given above, so a detailed description thereof will be omitted.

If it is determined that the auto-tuning performance of the motor drive controller 400 is acceptable, the motor drive controller 400 receives the bandwidth of the current controller and the speed controller included in the motor drive controller 400 input from the user, (Step S840). In step S840, the control gains are calculated by calculating the speed control gain and the current control gain of the speed controller and the current controller included in the controller 400, respectively. The functions of step S840 are described in detail while explaining the functions of the parameter tuning performance testing module 320, and therefore detailed description thereof will be omitted.

Thereafter, the motor control performance test module 330 of the test apparatus 300 determines whether or not there is a difference between the motor rotation speed command set by the user received from the simulation apparatus 200 and the actual motor rotation speed received from the motor drive controller 400 The motor control performance of the motor drive controller 400 is tested using the error value (S850). In step S850, the motor control performance test module 330 integrates the squared value of the difference between the motor rotation speed command value and the actual motor rotation speed received from the motor drive controller 400 for a predetermined period of time, It is determined that the performance of the motor drive controller 400 is determined to be acceptable.

Lastly, during the operation of the motor drive controller 400, the abnormal state simulation unit 240 of the simulation apparatus 200 receives the malfunction signal of the AC power source included in the motor module, the DC link malfunction signal, the malfunction signal of the inverter switch, A fault signal due to overheating of the motor and a fault signal due to excess of the three-phase current value supplied to the motor and transmits the signal to the motor protection performance testing module 340 of the real-time simulator 100 and the test apparatus 300 , The motor protection performance test module 340 checks whether a trip signal corresponding to the received failure signal is received from the motor drive controller 400. If the motor drive controller 400 detects a failure of the motor module, It is determined whether or not the motor is protected by the action (S860). Since the functions of the abnormal state simulation unit 240 have been described in detail with respect to step S860, detailed description thereof will be omitted.

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) . The computer readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

The present invention has been described with reference to the preferred embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

100: Real-time simulator
200: Simulation device
210: Motor operation command section
220: Motor parameter setting section
230: Motor parameter changing section
240: Abnormal state simulation section
250: first user interface
300: Test device
310: second user interface
320: Parameter tuning performance test module
330: Motor control performance test module
340: Motor protection performance test module

Claims (13)

A real time simulator for generating a numerical approximation model for the motor module and simulating the motor module in real time according to a control signal input from the motor drive controller and outputting the simulated signal to the motor drive controller;
A simulator device for setting and changing a parameter value for the motor module, transmitting an operation command for the motor to the real-time simulator, and controlling the motor module according to a user's command; And
And a test apparatus for testing the performance of the motor drive controller using a difference between a motor rotational speed command value received from the simulator device and an actual motor rotational speed received from the motor drive controller Motor Drive Controller Performance Test System.
The apparatus of claim 1,
And a motor drive controller for controlling the motor drive controller based on the sum of the squared difference between the motor rotational speed command value received from the simulator device and the actual motor rotational speed received from the motor drive controller for a predetermined period of time, Is judged to be acceptable. The motor drive controller performance test system for a machine tool according to claim 1,
The apparatus of claim 1,
The motor drive controller transmits an auto-tuning command to the motor drive controller to perform auto-tuning for the motor module, and the auto-tuned parameter values for the motor module received from the motor- Comparing the auto tuned parameter values with the parameter values set for the motor module and determining whether the auto tuning performance of the motor drive controller is acceptable if the error between the auto tuned parameter values and the set parameter values is within a predefined tolerance range And the motor drive controller performance test system for a machine tool.
4. The apparatus of claim 3,
Wherein when the auto tuning performance of the motor drive controller is judged to be acceptable, the bandwidth of the current controller and the speed controller included in the motor drive controller input from the user and the current controller Calculating a gain value of the speed controller, transmitting the gain value to the motor drive controller, and setting the gain values of the motor drive controller.
The method according to claim 1,
The simulation apparatus includes at least one of a fault signal of an AC power source included in the motor module, a DC link fault signal, a fault signal of the inverter switch, a fault signal due to overheating of the motor, One of which is transmitted to the real-time simulator and the test apparatus,
The test apparatus checks whether or not a trip signal corresponding to a failure signal received from the simulation apparatus is received from the motor drive controller, and the motor drive controller detects a failure of the motor module and protects the motor by a trip measure Wherein the controller determines whether or not the motor drive controller has been tested.
2. The system of claim 1, wherein the real-
An AC power source, a power conversion module for converting power supplied from the AC power source into a motor, and a motor driven by a power source supplied from the power conversion module,
A current value of two phases among the three-phase currents flowing from the power conversion module to the motor, and digital values representing a rotation speed of the motor are converted into analog signals and transmitted to the motor drive controller ,
And receives the PWM control signal output from the motor drive controller corresponding to the analog signals to control the switches of the inverter included in the power conversion module.
The apparatus of claim 1, wherein the simulation device
A motor operation command unit for transmitting a start command, a stop command, and a speed change command to the real-time simulator and transmitting a speed command value of the motor to the test apparatus;
A motor parameter setting unit for setting parameters of the motor module;
A motor parameter changing unit for changing a parameter of the motor module during operation of the motor;
An abnormality state simulation unit for transmitting a failure signal of the motor module to the real-time simulator and the test apparatus; And
And a first user interface including input means and output means for allowing the user to input and confirm the values input by the motor operation command unit, the motor parameter setting unit, and the abnormal state simulation unit Performance Test System for Motor Drive Controller for Machine Tools.
8. The method of claim 7,
Wherein the motor parameter setting unit sets the motor parameter setting value based on a rated output value of the motor, an input line voltage value of the motor module, a pole number of the motor, a fundamental frequency of the motor, a stator resistance value of the motor, A parameter of the motor module including at least one of a leakage inductance value of the motor, a leakage inductance value of the motor, a magnetization inductance value of the motor, an inertia value of the motor, and a load torque of the motor,
Wherein the motor parameter changing unit changes the stator resistance value of the motor, the rotor resistance value of the motor, the stator leakage inductance value of the motor, the rotor leakage inductance value of the motor, the magnetization inductance value of the motor, And changing a parameter of at least one of a load torque applied to the motor,
The abnormality state simulation unit includes a failure signal due to an AC power supply failure signal, a DC link failure signal, a failure signal of an inverter switch, a failure signal due to overheating of the motor, Signal to the real-time simulator and the test apparatus, wherein the at least one of the signals is transmitted to the real-time simulator and the test apparatus.
The apparatus of claim 1,
A parameter tuning capability for testing an auto-tuning performance of the motor drive controller by using a parameter setting value set in the simulation device and an error between the parameter auto-tuning value obtained by performing the auto-tuning to the motor module by the motor drive controller Test module;
A motor control performance test module for testing a motor control performance of the motor drive controller using an error value between a motor rotation speed command value received from the simulation device and an actual motor rotation speed received from the motor drive controller; And
A motor protection performance test module for testing a motor protection performance of the motor drive controller according to whether a trip signal corresponding to the failure signal is received from the motor drive controller when a failure signal for the motor module is received from the simulation device And a motor drive controller performance test system for a machine tool.
A performance test method of a motor drive controller for a machine tool, which is performed in a performance test system of a motor drive controller for a machine tool,
(a) generating a numerical approximation model for the motor module to simulate the motor module;
(b) setting parameters for the motor module;
(c) comparing the auto tuning parameter value obtained by performing the auto tuning to the motor module by the motor drive controller and the parameter value set in the (b), and testing the auto tuning performance of the motor drive controller;
(d) calculating a speed control gain and a current control gain of the speed controller and the current controller included in the motor drive controller by using the auto tuning parameter value, if the auto tuning performance of the motor drive controller is determined to be acceptable, ; And
(e) testing the motor control performance of the motor drive controller using an error value between a motor rotational speed command set by the user and an actual motor rotational speed received from the motor drive controller, Method of testing controller performance.
11. The method of claim 10, wherein step (e)
The squared value of the difference between the motor rotational speed command value and the actual motor rotational speed received from the motor drive controller is accumulated for a predetermined period of time and the performance of the motor drive controller is judged to be acceptable when the integrated value is within the permissible range A method for testing the performance of a motor drive controller.
11. The method of claim 10,
Wherein the step (a) includes the steps of: realizing a motor module including an AC power source, a power conversion module for converting power supplied from the AC power source to provide the motor, and a motor driven by the power source supplied from the power conversion module, Simulation,
The step (e) includes converting the digital values representing the rotational speed of the motor and the current value of the two phases among the three-phase currents flowing from the power conversion module to the motor into analog signals And controls the switches of the inverter included in the power conversion module by receiving the PWM control signal output from the motor drive controller in response to the analog signals, Test Methods.
11. The method of claim 10,
(f) During operation of the motor drive controller 400, a failure signal of the AC power source included in the motor module, a DC link failure signal, a failure signal of the inverter switch, a failure signal due to overheating of the motor, And a fault signal corresponding to the generated fault signal is received from the motor drive controller, and the motor drive controller detects the occurrence of a fault in the motor module And determining whether or not the motor has been protected by a tripping measure.
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102074972B1 (en) * 2018-11-19 2020-02-07 현대오트론 주식회사 Apparatus for simulating performance test of motor controller and method thereof
CN112834849A (en) * 2021-01-05 2021-05-25 国网浙江省电力有限公司电力科学研究院 Ultrasonic positioning method and device for partial discharge source of transformer
CN112904112A (en) * 2021-01-18 2021-06-04 深圳市科创奇科技有限公司 Test system and test method of scooter controller
CN113917262A (en) * 2021-10-08 2022-01-11 深圳市好盈科技有限公司 Automatic testing system and method for power system
CN116382251A (en) * 2023-05-31 2023-07-04 中汽研新能源汽车检验中心(天津)有限公司 Method and device for testing safety of body functions of motor drive system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102074972B1 (en) * 2018-11-19 2020-02-07 현대오트론 주식회사 Apparatus for simulating performance test of motor controller and method thereof
CN112834849A (en) * 2021-01-05 2021-05-25 国网浙江省电力有限公司电力科学研究院 Ultrasonic positioning method and device for partial discharge source of transformer
CN112904112A (en) * 2021-01-18 2021-06-04 深圳市科创奇科技有限公司 Test system and test method of scooter controller
CN113917262A (en) * 2021-10-08 2022-01-11 深圳市好盈科技有限公司 Automatic testing system and method for power system
CN116382251A (en) * 2023-05-31 2023-07-04 中汽研新能源汽车检验中心(天津)有限公司 Method and device for testing safety of body functions of motor drive system
CN116382251B (en) * 2023-05-31 2023-09-12 中汽研新能源汽车检验中心(天津)有限公司 Motor drive system body class function safety test device

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