KR20230123605A - Control device and method for standardization of power drive system - Google Patents

Abstract

The present invention relates to a control apparatus and method, and in a control apparatus including a plurality of drivers controlled through a remote control unit, wherein each of the remote control unit and the driver includes a communication unit for communication, and the remote control unit and the driver each include a communication unit remote from the communication unit of the driver. The status word transmitted to the communication unit of the control unit is data of a set number of bits, and it is assumed that the status information of the driver including the motor is matched for each bit.

Description

Control device and method for standardization of power drive system

The present invention relates to a control device and method for standardization of a power drive system, and more particularly, to a device and method through which a user can easily recognize a real-time state of a motor.

Until recently, major standardization activities have been carried out regarding the control and state recognition of PDS (Power Drive System), one of the automatic control systems.

These standardization activities are being conducted in the direction of increasing the usability of the PDS consisting of a motor and CDM (Complete Drive Module), reducing engineering costs, and increasing the efficiency of system integration through development standardization for manufacturers.

In particular, CDM defines the functional composition of the general interface to drive the motor, and standardization of the subdivision definition for each functional element has been carried out within IEC 61800-7-1.

Drive characteristics and specific application profiles have been additionally derived, and even mapping technology for communication data using each profile is in progress.

However, from a general facility user's point of view, it is difficult to recognize the meaning of each data, and it is difficult to check the status before/after entering the control operation for each specific application field.

As a known technology, CiA 402 is basically a power drivetrain profile for devices (frequency inverters, servo controllers and stepper motors) using the CANopen protocol. Structure, coordination, identification, network, and real-time control/status object definitions are provided, and FSA (Finite) is also defined in relation to the PDS general interface.

The general CiA 402 standard supports a specific communication service by connecting a control device and an external device with a drive device composed of a communication system.

- Non-real-time data (configuration, identification, adjustment, diagnostics, etc.)

- Target (target) values and actual values (process data)

In addition, communication service that transmits/receives COB (Communication Object) is used as a concept of a medium to transmit data.

- Real-time cycle data COB

- Emergency Information COB

- Network Management COB

Object dictionaries classified according to communication objects define meaningful parameter names and usage of each object.

In CiA 402, the control of the PDS can be maintained and controlled according to the finite state automata (FSA). The content is defined as an abstract concept state machine. An example of conventional FSA of CiA 402 is shown in FIG. 1 .

Referring to FIG. 1, the FSA of the conventional CiA 402 shows an overall flowchart from power application to operation activation, and also includes specific responsiveness such as stop and fault.

2 is an exemplary diagram of a control word encoded according to the content defined in FIG. 1, and FIG. 3 is an exemplary diagram of a status word.

That is, the control words such as shutdown, switch on, operation activation, etc. are 8-bit control words, which are commands provided from the control device to the drive side, and according to this command, the motor is controlled and the switch is not ready to be turned on, the switch is not ready to be turned on, and the switch is turned on. , operation activation, etc. are transmitted from the drive side to the control device.

There are slight differences in details according to each control mode, and in particular, the contents of reserved bits have different meanings. The contents of the control word and status word of the speed mode control are shown in FIG. 4, and the contents of each bit are applied only when they are true.

However, based on FIG. 4 , CiA 402 covers only contents prior to operation activation, and provides a communication data frame that is insufficient to periodically check control and feedback on the driving state itself of the drive.

As another conventional example, CIP motion is known.

A drive using CIP motion implements motion axis control, which typically consists of a rotary or linear motor actuator and one or more optional feedback devices.

Basically, the profile specification and the object specification of the attached motion axis have interfaces, specific properties, and command types required for motion control through the CIP (Common Industrial Protocol) network being connected.

CIP Motion uses the CIP Motion Device profile according to the CIP standard, and among them, the CIP Motion Drive (Device Type 0x25) profile is used for VFD axis control. In addition, the object model exists in a structure in which one motion axis object uses a plurality of instances to execute a multi-axis drive device. Accordingly, the required object class is the Motion Devices Axis Object, which provides a dynamic control interface between drives, motors, and feedback devices composed of one axis. In addition, there is a difference in the class sub-property list depending on the control mode of the applied drive.

The CIP motion drive profile supports bi-directional I/O communication between the controller and the motion axis object. The I/O connection with the motion axis control class instance provides a cyclic data path between the controller and each individual motion axis object instance. Through this connection, periodic, event, and service-related channels are formed to specify the connection format between controller devices and device controllers.

Among them, the contents of the periodic data block and the periodic write/read data block, which are the main parts to be checked in the mutual connection format, are shown in FIG. 5 .

Referring to FIG. 5, periodic data blocks for axis control/status between devices are divided, and other periodic write/read data blocks are structured so that specific desired class sub-attribute information can be periodically written/read.

Control words and status words of I/O data communication intended in IEC61800-7-1 correspond to axis control and axis status in FIG. 5 . What each means can be confirmed in FIGS. 6 and 7 .

Utilizing the bi-directional periodic communication channel, it receives the axis response content according to the axis control, and at the same time transmits the information about the axis status to the controller.

A motion axis object state machine diagram according to the axis state can be expressed as FIG. 8 .

Figure 8 is a series of diagrams in the case of axial response with normal transition by each request.

In the case of CIP Motion, it is relatively difficult to check the driving status of the drive through specific I/O periodic communication. Unlike other device profiles, since each word is not separately managed through a specific I/O assembly, it is a standardized point value unless a periodic data block ID is registered through a specific write/read service. It is difficult to know

Such additional work and parts requiring changes may cause wasteful costs in terms of system maintenance management.

Lastly, PROFIdrive consists of universal application profiles for stable application interfaces on engineering tools and automation program libraries and for the successful implementation of future fieldbus systems.

They can be applied from basic AC drive converters to high-performance dynamic servo controllers, and can be connected via a digital interface to open-loop and closed-loop control systems of higher-level automation plants.

The abstract modeling integrated within the automation system is independent of the physical network platform. The names of communication devices are also unified into controller, P-device, and supervisor, and the concept of communication relationship between them is also applied equally.

Each communication device consists of one or more functional objects, and a P-device has one or more DUs (Drive Units).

Each DU also consists of one or more drive objects (DOs). At this time, when a communication service using a communication interface is supported, it has the following communication DU as a functional object.

- Periodic data exchange

- Aperiodic data exchange

- alarm mechanism

- Clock synchronous operation

Each communication DU also constitutes corresponding DOs respectively.

A central element of a DO in general is the DO's automated process control capabilities. Normally, DO parameters are controlled by aperiodic communication, and DO set points and actual point values are controlled and displayed through periodic communication.

The classification of each implemented functionality is as follows.

- essential

parameterization

- options

process control task

DO IO data (setpoint, actual point value)

general state machine

Alert mechanism support

The drive application is shown in FIG. 9 a diagram including DO function blocks targeting AC1 (Application Class 1).

Speed control in AC 1 lacks the typical feedback interface and is used as a representative of the speed control mode via PROFIdrive. A general state machine for motor output control in the block diagram of FIG. 9 is shown in FIG. 10 .

10 represents an overall diagram from application of power to an operating state. STW1 (Control word) applies the control settings, and ZSW1 (Statu sword) applies the actual state. The detected stop represents the result of the stop operation from the switched off state.

All stop-reactions from the state machine (coast stop, emergency stop, ramp stop) have a higher priority than the control function of the velocity setpoint channel.

Details related to STW1 and ZSW1, which are standards for each state and transition process, are shown in FIGS. 11 and 12, respectively.

In the examples shown in FIGS. 11 and 12 , each sign may be different depending on the speed control mode and the position control mode. Jog 1 and Jog 2 are assumed to be selectively applied.

PROFIdrive has limitations that the basic stop function should be widely used. It also means that matters to be noted for each stop should be set from the beginning of product design, and classification and control should be possible.

In addition, it is necessary to manage in detail whether each lamp is generated and what set points are applied. There is a problem in that the data specified for each other device may rather increase confusion to the user, since it induces the user to step in detail.

An object to be solved by the present invention in consideration of the problems of the prior art as described above is to provide a control device and method for easy standardization by defining the contents of a non-standardized bit field.

In addition, another object is to provide a control device and method that can easily check the real-time state of a motor in an upper platform by defining bit field contents.

In addition, the present invention provides a control device and method that can achieve information that is more familiar to controller users rather than information that only equipment installers can know, and that can be applied to general-purpose products that do not consider specific objects. There is a purpose.

In the control device according to one aspect of the present invention for solving the above technical problem, in the control device including a plurality of drivers controlled through a remote control unit, the remote control unit and each of the drivers has a communication unit for communication. It is assumed that the status word transmitted from the communication unit of the driver to the communication unit of the remote control unit is data of a set number of bits, and state information of the driver including the motor is matched for each bit.

In an embodiment of the present invention, the driver may transition from a state in which a source command can be received according to a control word of the remote controller to an operation preparation state in which a driving command is ready to be received from the remote controller.

In an embodiment of the present invention, in the operation ready state, the driver designates the driving direction of the motor according to the driving direction command of the motor included in the specific bit of the control word, and according to the execution of the control software of the remote controller The motor may be driven by receiving driving speed and torque information of the motor.

In an embodiment of the present invention, the driver marks at least one of the state information of the motor such as stop or operation, forward rotation or reverse rotation, acceleration or deceleration, or occurrence of a fault in a designated bit of the status word, It can be sent to the remote control.

In an embodiment of the present invention, the driver marks at least one information of a state in which a source command can be received, which is state information of the driver itself, and a state in which a driving command can be received in a designated bit of the status word, and the remote control unit can be sent to

In addition, a communication method according to another aspect of the present invention is a control method for driving and controlling a driver including a motor using a remote controller, wherein the driver can be remotely controlled according to a control word transmitted from the remote controller to the driver. The step of controlling the motor in a ready-to-run state; the step of setting the motor driving direction of the driver according to the command for the rotation direction of the motor included in the specific bit of the control word; The method may include driving the motor according to rotational speed and torque information, and transmitting a status word including state information of the motor to the remote control unit.

In an embodiment of the present invention, the status word is data of a set number of bits, and the status information of the driver including the motor may be matched for each bit.

In an embodiment of the present invention, the control word may include a driving direction command of a motor included in a specific bit of the control word.

In an embodiment of the present invention, the status word may include at least one information of stop or operation, forward rotation or reverse rotation, acceleration or deceleration, and fault occurrence, which is the state information of the motor, indicated in a bit designated for each. .

In an embodiment of the present invention, the status word may be information on at least one of a state information of the driver itself, that is, a state in which a source command can be received and a state in which a driving command can be received, indicated in a bit designated for each.

According to the present invention, standardization can be facilitated by providing a standardized bit field, and real-time state information of a motor is included in the bit field so that the current state of the motor can be easily checked on an upper platform.

In addition, the present invention can be applied to general-purpose products in which a specific object is not considered, and the controller user can easily check and control the motor state.

1 is an exemplary diagram of a conventional FSA of CiA 402.
FIG. 2 is an exemplary view of a control word encoded according to the content defined in FIG. 1 .
FIG. 3 is an exemplary diagram of a status word defined in FIG. 1 .
4 is an exemplary diagram of control words and status words for speed mode control of CiA 402;
5 is an exemplary diagram of a periodic data block and a periodic write/read data block of a CIP motion drive profile.
FIG. 6 is an exemplary diagram of a control word of I/O data communication encoded according to the content defined in FIG. 5 .
FIG. 7 is an exemplary view of the status word defined in FIG. 5 .
Figure 8 is a series of diagrams in the case of axial response with normal transition by request.
9 is an exemplary diagram including functional blocks of DO of PROFIdrive.
10 is an exemplary diagram of an overall diagram from power on of PROFIdrive to an operating state.
11 is an exemplary view of STW1, which is a criterion for a state.
12 is an exemplary view of ZSW1 as a transition criterion.
13 is a block diagram of a control device for standardization of the power drive system of the present invention.
14 is an exemplary diagram of a machine applied from application of power to an operating state of the present invention.
15 is an exemplary diagram of control words and status words applied to the present invention.

In order to fully understand the configuration and effects of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be implemented in various forms and various changes may be made. However, the description of the present embodiment is provided to complete the disclosure of the present invention and to completely inform those skilled in the art of the scope of the invention to which the present invention belongs. In the accompanying drawings, the size of the components is enlarged from the actual size for convenience of description, and the ratio of each component may be exaggerated or reduced.

Terms such as 'first' and 'second' may be used to describe various elements, but the elements should not be limited by the above terms. The above terms may only be used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a 'first element' may be named a 'second element', and similarly, a 'second element' may also be named a 'first element'. can Also, singular expressions include plural expressions unless the context clearly indicates otherwise. Terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those skilled in the art unless otherwise defined.

Hereinafter, a control device and method for standardization of a power drive system according to an embodiment of the present invention will be described in detail with reference to the drawings.

13 is a block diagram of a control device for standardization of a power drive system according to a preferred embodiment of the present invention.

Referring to FIG. 13, the present invention transmits control commands through communication, receives status information, and provides speed and torque commands from a remote control unit 10 and control software of the remote control unit 10, which are provided to an upper platform. A plurality of drivers 30 receiving and driving the motor 34, detecting a motor state according to an operation command of the remote control unit 10 received through communication, and transmitting the same to the remote control unit 10; and Including an interface 20 for interfacing data transmission between the control unit 10 and the driver 30,

The status word transmitted from the driver 30 to the remote control unit 10 is data in word units, and a designated state is defined for each bit.

Hereinafter, the configuration and operation of the control device of the present invention configured as described above will be described in more detail.

First, the remote controller 10 may be a computing device that executes the control software 11 and is assumed to be a device distinct from the controller provided in the driver 30 itself.

That is, the remote control unit 10 controls the drivers 30 in a communication method through the interface 20 at a remote location by receiving a control authority from a controller provided in the driver 30 itself.

Control at this time can be divided into control by execution of the control software 11 and control through operation commands input by the user of the remote control unit 10 . The driving command is a command for requesting and acquiring control authority of the drivers 30 from the remote controller 10, stopping the driver 30, determining the driving direction of the motor 34, emergency stop, and resetting a fault. do.

Control using the control software 11 is to control the driving speed and torque of the motor 34 according to the execution of the control software 11 after obtaining the control authority from the remote control unit 10 .

The operation command is made through a communication unit including a transmission unit 12 and a reception unit 13 of the remote control unit 10 .

14 shows a mechanical diagram applied from application of power to an operating state of the present invention.

Referring to FIG. 14 , a state not ready to receive a source command (S14a), a state not ready to receive an operation command (S14b), and a ready state (S14c), including an operating state (S14d) and a stop state (S14e) , a defect state (S14f), and all operation information states (S14g).

In the state of having such a machine diagram, the user inputs a control word using an input means such as a keypad of the remote controller 10. The control word may be 16-bit data, and a control word for transitioning the state of the machine diagram is transmitted to the driver 30 to prepare for receiving a source command and to receive an operating command to reach an operation ready state.

15 is an exemplary diagram of control words and status words applied to the present invention.

Referring to FIG. 15, the control word is 16-bit data, the 15th bit is a bit for obtaining the source command authority, and the data requesting the control authority from the remote control unit 10 is located at the 14th bit. .

Initially, the driver 30 operates in a state of not being ready to receive a source command (S14a), and the driver 30 operates according to a command input through an input unit of the driver itself.

According to the data value of the 15th bit above, the driver 30 transitions from the state not ready to receive the source command (S14a) to the state not ready to receive the operation command (S14b), and the data value of the 15th bit Accordingly, it transitions to an operation preparation state (S14c) in which an operation command can be received.

From this point on, the driver 30 can be controlled through the remote controller 10 .

Compared to the conventional mechanical diagram described above with reference to FIG. 1, this process simplifies the process up to the operation ready state (S14c), and can also be applied to products in which objects are not considered.

In the operation preparation state (S14c), the driving direction or frequency of the motor 34 is set according to the second bit forward operation command and the third bit reverse operation command, and then the control software 11 of the remote control unit 10 The motor 34 is driven according to driving speed and torque information determined according to the execution of

In the driving state of the motor 34, stop, emergency stop, etc. may be performed using a control word, and a fault reset may be performed.

The driver 30 may have a difference in its configuration, but for the application of the present invention, at least the receiver 37 that receives the control word of the remote control unit 10 and the state information detected by the sensor 35 It is supposed to include a transmission unit 38 that transmits to the remote control unit 10.

The driver 30 may include a speed controller 31 for controlling the speed of the motor, a torque controller 32 for controlling torque, and an inverter 33 for driving the motor 34 .

Referring back to FIG. 14 , the driving direction of the motor 34 is set by a control word in the ready-to-start state (S14c), and the motor 34 is driven according to the driving speed and torque information according to the execution of the control software 11. In the driving operation (OPERATION) state (S14d), the motor 34 can be stopped or emergency stopped by a control word input through the input means of the remote control unit 10.

In addition, the driver 30 includes a sensor 35 that detects the driving state of the motor 34, detects state information, and transmits it to the receiver 13 of the remote controller 10 as a status word. do.

The sensor 50 may be understood as one or a set of two or more sensors capable of detecting the state of the motor 34, whether it is defective, whether it is accelerating or decelerating, and the like.

A feature of the present invention is that it is configured by matching detected state information for each bit of the state word.

Referring back to FIG. 15, the status word may be 16-bit data, the first bit is stop state, the second bit is forward operation, the third bit is reverse operation, the fourth bit is faulty, and the fifth bit is accelerating. Among them, the sixth bit may indicate deceleration, and the seventh bit may indicate a speed reaching state.

As such, an effect obtained by designating each bit of the status word as data representing specific state information of the motor is that the side receiving the status word can easily check the state of the driver 30 including the driving state of the motor 34.

That is, the rotation direction of the motor can be confirmed by checking the second bit data of the status word, and whether the operation command is in the forward direction can be checked by checking the 12th bit.

As such, the present invention can improve the convenience of use by allowing the user to easily check the state of the driver 30 including the motor.

In the present invention, description is limited to the example of the status word shown in FIG. 15, but more diverse driver 30 status information can be checked by using a variable length of status word data, for example, a 32-bit status word.

Embodiments according to the present invention have been described above, but these are merely examples, and those skilled in the art will understand that various modifications and embodiments of equivalent range are possible therefrom. Therefore, the true technical protection scope of the present invention should be defined by the following claims.

10: remote control unit 12: transmission unit
13: receiver 20: interface
30: driver 31: speed controller
32: torque controller 33: inverter
34: motor 35: sensor
36: transmission unit 37: reception unit

Claims (10)

In the control device including a plurality of drivers controlled through a remote control unit,
Each of the remote controller and the driver includes a communication unit for communication,
The status word transmitted from the communication unit of the driver to the communication unit of the remote control unit,
It is data of the set number of bits,
A control device, characterized in that state information of the driver including the motor is matched for each bit. According to claim 1,
the driver,
A control device characterized in that a state transitions to a state in which a source command can be received according to a control word of a remote controller and an operation preparation state in which an operating command is ready to be received from the remote controller. According to claim 2,
In the operation ready state, the driver,
Specifying the driving direction of the motor according to the driving direction command of the motor included in the specific bit of the control word;
Control device characterized in that for driving the motor by receiving driving speed and torque information of the motor according to the execution of the control software of the remote control unit. According to claim 3,
the driver,
The control device characterized in that at least one of the state information of the motor, such as stop or operation, forward rotation or reverse rotation, acceleration or deceleration, or defect occurrence, is marked on a designated bit of the status word and transmitted to the remote control unit. . According to claim 3,
the driver,
The control apparatus characterized in that at least one of a state information of the driver itself, a state in which a source command can be received and a state in which a driving command can be received, is marked on a designated bit of the status word and transmitted to the remote control unit. A control method for driving and controlling a driver including a motor using a remote control unit,
controlling the driver into a ready-to-operate state in which remote control is possible according to a control word transmitted from the remote control unit to the driver;
setting a motor driving direction of the driver according to a command for a rotation direction of the motor included in a specific bit of the control word; and
and driving a motor according to motor rotational speed and torque information determined by execution of control software by the remote control unit, and transmitting a status word including state information of the motor to the remote control unit. According to claim 6,
The status word is
It is data of the set number of bits,
A control method characterized in that state information of the driver including the motor is matched for each bit. According to claim 7,
The control word,
A control method comprising a driving direction command of a motor included in a specific bit of the control word. According to claim 7,
The status word is
Control method, characterized in that at least one information of the state information of the motor stop or operation, forward rotation or reverse rotation, acceleration or deceleration, fault occurrence is marked on a bit designated for each. According to claim 7,
The status word is
A control method characterized in that at least one information of a state information of a driver itself, a state in which a source command can be received and a state in which an operation command can be received, is displayed in a bit designated for each.

Images