KR20200054830A - Iot-based intelligent servo motor driver and remote management service system - Google Patents

Abstract

The present invention relates to an IoT-based intelligent servo-motor driver and a remote management service system, which comprise: a plurality of servo-drivers; a master server which is connected to the plurality of servo-drivers by means of an EtherCAT, and receives and manages data regarding management information received from each servo-driver in real time; a client control server which connects the master server to an Ethernet, and receives the management information of the servo-drivers received in real time to monitor the servo-drivers in real time; and a manager terminal which is connected to the client control server through wired and wireless communication to receive information regarding management and safety of the servo-drivers, and allows the servo-drivers to be remotely controlled in accordance with the received information. Therefore, according to the present invention, the direct cause of malfunction such as a deterioration phenomenon and an excess current is notified to the manager such that the manager may take immediate measures against the cause of malfunction. Consequently, the service life cycle of the motor system can be extended, such that a company may significantly reduce loss generated by postponement of fabrication and replacement costs of the motor system.

Description

Iot-based intelligent servo motor driver and remote management service system

The present invention relates to an Iot-based intelligent servo motor driver and a remote management service system, and in more detail, an Iot-based intelligent servo motor driver predicting the life of the motor through data analysis that collects signals generated during operation, and It relates to a remote management service system.

With the recent demands for advanced manufacturing robots and home automation, more efficient and controllable slotless motors have attracted attention. Slotless motors offer significant advantages in miniaturization, efficiency, weight, and inertia, and many countries, including developed countries, are actively conducting research and development on high-efficiency slotless motors.

When looking at the market structure of slotless motors, some advanced companies such as Maxon and Paul Harbor in Europe are forming high value-added markets, and Taiwan or Chinese products are supplying them to low-end markets.

Also, in order to develop a precision-class motor control system, advanced research personnel and considerable development costs must be invested, but many domestic motor manufacturers have a desire to secure a precision-class motor control system that tunes their motors, but investment in development is passive. to be. Therefore, most domestic motor manufacturers have a motor drive that can only control the speed of the motor as a product line, so the competitiveness of low-cost Chinese motors is falling behind.

The technology that is the background of the present invention is disclosed in Korean Patent Registration No. 10-0666096 (Jan. 2017.09. Announcement).

The technical problem to be achieved by the present invention is to provide an Iot-based intelligent servo motor driver and a remote management service system that predicts the life of a motor through data analysis that collects signals generated during operation.

According to an embodiment of the present invention for achieving such a technical problem, a plurality of servo drivers, connected to the plurality of servo drivers and EtherCAT, the master for receiving and managing data on the operation information received from each servo driver in real time A server, connected to the master server via Ethernet, receives customer operating information of the servo driver received in real time, and monitors the servo driver in real time, and is connected to the customer control server through wired / wireless communication and servos. It includes an administrator terminal that receives information on driver operation and safety and enables remote control of the servo driver according to the received information.

The server driver uses the PMSM control algorithm to which Load torque Estimation using Kalman Filter is applied, so that it can respond to the quick response received from a plurality of servo motors.

The master server may be applied with a field-oriented control (FOC) control method that can be serially connected and controlled with up to 50 servo drivers by applying the EtherCAT interface.

The customer control server may continuously provide optimal tuning state information for forecasting of parts replacement and fluctuations in load conditions by deep learning sensor values received from a plurality of servo drives.

The customer control server includes: a servo driver information receiving unit receiving information on a plurality of servo drivers from the master server, a data management unit managing data on operating information of the servo drivers received from the master server, and the received operating information Driver diagnostic unit that enables data on each of the servo drivers to be diagnosed by comparing with the threshold set by the user. Prediction information calculation unit that predicts and suggests a point in time when maintenance is needed, information calculation provider that calculates and provides an optimal value for each servo driver to drive through the received data, and the calculated optimal value and servo driver An information provider that provides information on the point of time for your facility It can hamhal.

The operation information may include values measured for vibration, current, voltage, speed, position, torque, temperature, load fluctuation, mechanical wear, and black lash of the load received from each sensor of the servo driver.

The driver diagnostic unit transmits the diagnostic information for the servo driver to the manager terminal in real time, and the diagnostic information includes safety information generated when the operation information value exceeds a threshold set by the user and a failure state of the servo driver. It may include.

The prediction information calculating unit may collect operational information received from the servo driver and analyze a large amount of collected data to predict the life cycle of the motor included in the servo driver.

The manager terminal receives a message in a text form so as to grasp remote control and failure status information using diagnostic information on the received servo driver,

According to the stability information received from the customer control server, a signal capable of urgently stopping the motor included in the servo driver may be directly transmitted to the servo driver.

As described above, according to the present invention, a direct action on the cause of the failure is possible by notifying the manager of the direct cause of the failure, such as deterioration or overcurrent, so that the life cycle of the motor system can be extended, so that the enterprise may experience loss and motor caused by production delay It has the effect of dramatically reducing the cost of system replacement.

1 is a view schematically showing a remote management service system according to an embodiment of the present invention.
FIG. 2 is a diagram schematically showing a PMSM control algorithm applied to the servo driver shown in FIG. 1.
3 is a circuit diagram for implementing the FOC method applied to the servo driver shown in FIG.
Figure 4 It is a diagram schematically showing the implementation of the EtherCAT protocol applied to the servo driver shown in FIG.
5 is a configuration diagram of the customer control server shown in FIG.
6 is a flowchart schematically showing a remote control method using a remote management service system according to an embodiment of the present invention.
7 is a graph showing that a life can be extended by predicting a life for a motor included in a servo driver when using a remote management service system according to an embodiment of the present invention.
8 is an exemplary diagram schematically displaying information received at the manager terminal in step S370 included in FIG. 5.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience.

In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition of these terms should be made based on the contents throughout the present specification.

First, a remote management service system according to an embodiment of the present invention will be described with reference to FIG. 1.

1 is a diagram schematically showing a remote management service system according to an embodiment of the present invention, FIG. 2 is a diagram schematically showing a PMSM control algorithm applied to the servo driver shown in FIG. 1, and FIG. 3 is FIG. A circuit diagram for implementing the FOC method applied to the servo driver shown in FIG. 4 is a diagram schematically showing the implementation of the EtherCAT protocol applied to the servo driver shown in FIG.

1, the remote management service system 100 according to an embodiment of the present invention includes a plurality of servo drivers 110, a master server 120, a customer control server 130 and a user terminal 114 do.

The servo driver 110 is capable of EtherCAT communication, and transmits data and various parameters measured through various sensors to the master server 120 described below.

EtherCAT, which has been certified as an IEC international standard, is an open industrial Ethernet protocol of the international standard, and has advantages such as high communication speed, jitter time of less than 1㎲, and low interface cost. Field applications are being actively conducted in various fields such as robots.

However, EtherCAT in the present invention is not a core technology of the present invention as a communication method capable of transmitting and receiving data between the servo driver 110 and the master server 120, and thus, the EtherCAT will not be described in detail. .

Meanwhile, the servo driver 110 includes a precision-grade PMSM servo motor of a field-oriented control (FOC) control method, and the servo motor includes a slotless motor, a BLDC motor, and a PMSM motor.

The FOC (Field Oriented Control) control method is to control speed, position, torque, etc. by using a control method used by combining the three terms of P (proportional), I (integral), and D (differential). Is translated as magnetic flux reference control, and is the basis for enabling MTPA, MTPV, Flux Weakening control, etc. of servo control by current control for d-axis and q-axis perpendicular to the direction of magnetic flux. The FOC controller is also effective in eliminating torque ripple, a chronic problem that occurs when driving a BLDC motor 6-step.

At this time, by using the CMSIS-DSP provided by ARM for the control of the servo motor, it is possible to secure responsiveness and reliability by realizing a short looping time with fast calculation of the algorithm. In other words, as illustrated in FIG. 2, the server driver 110 can respond to fast responsiveness received from a plurality of servo motors using a PMSM control algorithm to which Load torque Estimation using Kalman Filter is applied.

In addition, the servo motor, as shown in Figure 4, porting the EtherCAT Slave Stack, CoE (CANopen over EtherCAT) support, FoE (File Access over EtherCAT) support and DC (Distribution Clock) support to improve synchronization performance Have

In addition, the server driver 110 measures temperature, voltage, current, speed, and the like by a sensor, and transmits the measured data to the master server 120, thereby allowing the master server 120 a plurality of server drivers ( Operation information received from 110) is transmitted to the customer control server 130.

The master server 120 receives and manages operation information received from a plurality of server drivers 110, and transmits the received operation information to the customer control server 130.

Meanwhile, the master server 120 matches the unique value of the server driver 110 with the operation information received from the server driver 110 and transmits it to the customer control server 130, so that the customer control server 130 Operation information for each server driver 110 is collected, and the life and failure of the motor can be determined using the collected operation information.

In addition, the master server 120 manages a plurality of slave motors using a motor management system (MMS) software in a GUI environment.

Moreover, the master server 120 provides operation information (motor deterioration information, voltage, current, torque, speed, load fluctuation, mechanical wear, backlash) to the customer control server 130.

The customer control server 130 can be utilized in the analysis of the motor condition included in the server driver 110 by using the operation information received from the master server 120, safety information (operation information value is set by the user Occurs when a threshold is exceeded) and a fault condition is transmitted to the manager's smartphone so that the manager can grasp the state of the motor in real time, and the manager uses the terminal 140 when it is urgent using the received information. Allow the motor to be stopped urgently.

Hereinafter, a customer control server will be schematically described with reference to FIG. 5.

5 is a configuration diagram of the customer control server shown in FIG.

As shown in FIG. 5, the customer control server 130 collects operation information for the server driver 110 received from the master server 120, and uses the collected operation information to provide safety information and information about a fault condition. As to obtain, includes a driver information receiving unit 131, a data management unit 132, a driver diagnostic unit 133, a prediction information calculating unit 134, an information calculating providing unit 135 and an information providing unit 136 .

The driver information receiving unit 131 receives information about a plurality of servo drivers 110 from the master server 120.

At this time, the master server 120 applies a EtherCAT interface, and a FOC (Field Oriented Control) control method that can be serially connected and controlled with up to 50 servo drivers is applied.

Accordingly, the driver information receiving unit 131 receives information about the position of the servo driver 110, the configuration of the server driver 110, and the like, and transmits the received information to the data management unit 132.

The data management unit 132 manages information on the servo driver 110 received from the master server 120 and data on operational data. That is, the basic information for the servo driver 110 received from the driver information receiving unit 131 and the operation information for each servo driver 110 received from the master server 120 are matched together to collect and manage.

The operation information includes motor deterioration information, voltage, current, torque, speed, load fluctuation, mechanical wear, and backlash.

The driver diagnosis unit 133 allows the data on the operation information collected in the data management unit 132 to be compared with a threshold set by the user to diagnose the state of each servo driver.

The operation information can be used to analyze the state of the motor included in the servo driver 110, and the threshold value changes discontinuously when the property of the material exceeds a certain value such as an applied voltage or temperature ( For example, the value that becomes the boundary when insulation is changed to conductivity).

Therefore, the user is included in the operation information, and sets thresholds for sensor values for each of motor deterioration information, voltage, current, torque, speed, load fluctuation, mechanical wear, and backlash measured from the sensor unit.

When the measured sensor value is larger than the set threshold value, safety information is generated.

The prediction information calculating unit 134 accumulates and analyzes a fine pattern variation of the sensor from the data on the received operation information to predict a facility state and a time point for maintenance.

In other words, the prediction information calculating unit 134 continuously accumulates data in the collected operation information and processes the accumulated data by machine learning software to grasp the current state of the equipment and predict the point in time when maintenance is required.

The information calculation providing unit 135 calculates an optimal value for driving each servo driver through data on the operation information, and provides the information to the information providing unit 136, which will be described later.

The information providing unit 136 provides information on the calculated optimum value and the time point of the installation of the servo driver. That is, the information providing unit 130 transmits the information data calculated by the information calculating providing unit 135 to the terminals 140 owned by each manager, so that the manager owning the manager terminal 140 The servo driver 110 can be remotely controlled according to the information received by the terminal 140.

The manager terminal 140 receives the safety information and the failure status received from the customer control server 130, sets an appropriate driving value in the server driver 110 according to the received information, or sends an abnormal signal to the received safety information. If found, the motor included in the server driver 110 may be stopped urgently.

6 is a flowchart schematically showing a remote control method using a remote management service system according to an embodiment of the present invention, and FIG. 7 is a view of a motor included in a servo driver when using a remote management service system according to an embodiment of the present invention. It is a graph showing that the lifespan can be extended by predicting the lifespan, and FIG. 8 is an exemplary view schematically displaying information received at the manager terminal in step S370 included in FIG. 3.

6, the remote management service system according to an embodiment of the present invention first, the master server 120 receives the operation information from a plurality of servo drivers 11 connected by EtherCAT (S310).

The received operation information is transmitted to the basic information data for the servo driver 11 and the customer control server 130. The customer control server 130 receiving the operation information and the basic information data collects and stores the received data in the data management unit 132 through the driver information receiving unit 131 (S320).

The driver diagnosis unit 133 assigns a threshold value to diagnose the state of the servo driver 110 according to the data measured by the received servo driver 110 (S330).

By comparing and determining the assigned threshold value and the operation information measured by the servo driver 110, when the measured operation information is higher than the threshold value, it transmits it to the manager terminal 140 so that the administrator can control the servo driver 110 in real time. Check the current state with the naked eye, and remote control according to the confirmed information (S340)

Then, the prediction information calculating unit 134 accumulates data on the operation information for the received servo driver 110 for a certain period of time, and analyzes the fine pattern variation of the sensor using the accumulated data to improve the health of the facility. It grasps the state and predicts a point in time when maintenance is required (S350).

In other words, sensor data and fault data are accumulated based on a physical model. According to the accumulated data, the overall health level of the equipment combining the degree of aging, abnormal frequency, and abnormal intensity is calculated, and the accumulated sensor data is learned to predict the optimal maintenance time.

This is by automatically analyzing and presenting the item causing the abnormality, that is, as shown in FIG. 4, it is possible to take immediate action on the cause of the failure by notifying the administrator of the direct cause of the failure, such as deterioration or overcurrent, and thus the life of the motor system. It has the effect of significantly reducing the loss caused by delay in production and the cost of replacing the motor system by increasing the cycle.

Meanwhile, the information calculation providing unit 135 continuously calculates the optimum value for driving the servo driver 110 according to the analysis of the received operation information of the servo driver 110, and the information providing unit It is transmitted to (136) (S360).

As shown in FIG. 5, the information providing unit 136 receiving the optimal value delivers information to the manager terminal 140, and the manager terminal 140 is connected to all communication such as WiFi and LTE, as shown in FIG. Information about the servo driver 110 is received through (S370).

Therefore, the administrator can remotely and continuously perform real-time intelligent tuning of the Servo Driver remotely anywhere in the world through the terminal 140, and remote AS and Firmware Up Grade are possible, dramatically improving customer service not only in Korea (local) but also abroad. It is possible, and remote management service is available, reducing the time and expense required for travel and after-sales service.

According to the present invention, it is possible to take immediate action on the cause of the failure by notifying the manager of the direct cause of the failure, such as deterioration or overcurrent, so that the life cycle of the motor system can be extended, so that enterprises can replace the loss and motor system caused by production delay It has the effect of dramatically reducing costs.

The present invention has been described with reference to the embodiment shown in the drawings, but this is only exemplary, and those skilled in the art to which the art belongs understand that various modifications and other equivalent embodiments are possible therefrom. will be. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the claims below.

100: remote management service system.
110: servo driver
120: master server
130: customer control server
140: administrator terminal

Claims (4)

Multiple servo drivers,
A master server that is connected to the plurality of servo drivers through EtherCAT and receives and manages data on the operation information received from each servo driver in real time.
A customer control server that is connected to the master server via Ethernet and receives real-time received servo driver operation information to monitor the servo driver in real time, and
Iot-based intelligent servo motor driver and remote including a manager terminal that is connected to the customer control server through wired / wireless communication and receives information regarding the operation and safety of the servo driver, and allows remote control of the servo driver according to the received information. Management service system. According to claim 1,
The server driver is an Iot-based intelligent servo motor driver and a remote management service system that can respond to fast responsiveness received from a plurality of servo motors using a PMSM control algorithm applied with Load torque Estimation using Kalman Filter. According to claim 1,
The master server,
Iot-based intelligent servo motor driver and remote management service system to which FOC (Field Oriented Control) control method that can be connected and controlled in series with up to 50 servo drivers by applying EtherCAT interface is applied. According to claim 1,
The customer control server,
Iot-based intelligent servo motor driver and remote management service system that deeply learns sensor values received from multiple servo drives and continuously provides optimum tuning status information for parts replacement forecast and load condition changes.

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