TW201721166A - Motor control apparatus - Google Patents
Motor control apparatus Download PDFInfo
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- TW201721166A TW201721166A TW105139478A TW105139478A TW201721166A TW 201721166 A TW201721166 A TW 201721166A TW 105139478 A TW105139478 A TW 105139478A TW 105139478 A TW105139478 A TW 105139478A TW 201721166 A TW201721166 A TW 201721166A
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- 238000009413 insulation Methods 0.000 claims abstract description 164
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000009499 grossing Methods 0.000 claims description 39
- 238000001514 detection method Methods 0.000 description 36
- 239000003990 capacitor Substances 0.000 description 28
- 230000001681 protective effect Effects 0.000 description 10
- 238000004804 winding Methods 0.000 description 9
- 239000004065 semiconductor Substances 0.000 description 4
- 239000002131 composite material Substances 0.000 description 3
- 239000002173 cutting fluid Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/025—Measuring very high resistances, e.g. isolation resistances, i.e. megohm-meters
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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
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
本發明有關馬達控制裝置。 The invention relates to a motor control device.
伺服馬達係經由包含有逆變器(inverter)的馬達控制裝置而被驅動，廣泛用在工作機械等。在如工作機械等那般，使用切削液進行加工的機械方面，有如以下般的課題。首先，切削液附著在馬達。更進一步，也有進入到馬達內部，使馬達的絕緣劣化那般的切削液。馬達的絕緣劣化徐徐地進行的話，最終，馬達發生接地故障。馬達發生接地故障的話，會有漏電遮斷器跳脫，或是馬達控制裝置破損，發生系統停機。系統停機會對工廠的生產線帶來重大的影響。為此，從預防保養的觀點來看，期望有可以檢測馬達的絕緣電阻值之裝置。 The servo motor is driven by a motor control device including an inverter, and is widely used in a work machine or the like. In the case of a machine such as a work machine, the machining using a cutting fluid has the following problems. First, the cutting fluid adheres to the motor. Further, there is also a cutting fluid that enters the inside of the motor and deteriorates the insulation of the motor. When the insulation deterioration of the motor is slowly performed, the motor eventually has a ground fault. If the motor has a ground fault, the leakage breaker will trip or the motor control device will be damaged and the system will stop. System downtime can have a significant impact on the plant's production line. For this reason, from the viewpoint of preventive maintenance, it is desirable to have a device that can detect the insulation resistance value of the motor.
在日本特開2015-169479號專利公報記載有用於檢測馬達的絕緣電阻值的技術。在同文獻中，揭示有：“提供有也在高溫中不受半導體切換元件的洩漏電流的影響，可以進行馬達的絕緣電阻值的正確的測定之馬達 驅動裝置”之課題、以及如以下般的馬達驅動裝置(參閱摘要)。該馬達驅動裝置具備：轉換器部、電源部、以及複數個逆變器部。逆變器部具備：連接在電容與馬達線圈之間的上支路切換元件、以及連接在電容與馬達線圈之間的下支路切換元件。逆變器部係利用這些上支路切換元件及下支路切換元件把直流轉換成交流，驅動複數個馬達。更進一步，該馬達驅動裝置具有：把電容連接到大地之第2切換器、測定在電容與大地之間流動的電流之電流檢測部、測定電容的電壓之電壓檢測部、以及絕緣電阻檢測部。絕緣電阻檢測部，係使用在與測定對象的馬達線圈連接之切換元件為開啟、與測定對象以外的馬達線圈連接之切換元件為開啟的狀態下所測定出的電流值及電壓值，檢測複數個馬達的絕緣電阻值。 A technique for detecting an insulation resistance value of a motor is described in Japanese Laid-Open Patent Publication No. 2015-169479. In the same literature, it is disclosed that "a motor is provided which is capable of performing accurate measurement of the insulation resistance value of the motor without being affected by the leakage current of the semiconductor switching element at a high temperature. A problem of a driving device and a motor driving device (see summary). The motor driving device includes a converter unit, a power supply unit, and a plurality of inverter units. The inverter unit includes a capacitor and a capacitor. An upper branch switching element between the motor coils and a lower branch switching element connected between the capacitor and the motor coil. The inverter unit converts the direct current into an alternating current by using the upper branch switching element and the lower branch switching element Further, the motor driving device further includes: a second switch that connects the capacitor to the ground; a current detecting unit that measures a current flowing between the capacitor and the ground; and a voltage detecting unit that measures a voltage of the capacitor, And an insulation resistance detecting unit that uses a current value measured when the switching element connected to the motor coil to be measured is turned on and the switching element connected to the motor coil other than the measurement target is turned on. The voltage value detects the insulation resistance value of a plurality of motors.
日本特開2015-169479號專利公報記載了有關測定複數個馬達中的特定的馬達的絕緣電阻值之情況。該情況下，是有必要不受到經過與測定對象以外的馬達連接之半導體切換元件所流動之洩漏電流的影響，而正確地測定馬達的絕緣電阻值。在此，於同文獻中，根據在與測定對象以外的馬達連接之逆變器的下支路的半導體切換元件為開啟的狀態下所測定出的電流值及電壓值，檢測測定對象的馬達的絕緣電阻值。 Japanese Patent Publication No. 2015-169479 describes the measurement of the insulation resistance value of a specific motor among a plurality of motors. In this case, it is necessary to accurately measure the insulation resistance value of the motor without being affected by the leakage current flowing through the semiconductor switching element connected to the motor other than the measurement target. Here, in the same document, the current value and the voltage value measured in a state in which the semiconductor switching element of the lower arm of the inverter connected to the motor other than the measurement target is turned on are detected, and the motor to be measured is detected. Insulation resistance value.
日本特開2015-169479號專利公報中的電流檢測部，係包含被串接的分壓電阻及電流檢測電阻。該分壓電阻的電阻值，係為了在馬達接地故障的情況下抑制過 大的電流流動，被設定成較大。在使用這些電阻檢測電流之際，發生因這些電流檢測電阻及分壓電阻所致之電壓下降。其結果，在大地與電容的負極側端子之間，產生電位差。在與測定對象以外的馬達連接之逆變器的下支路的半導體切換元件為開啟狀態的情況下，測定對象以外的馬達的絕緣電阻值下降的話，通過測定對象的馬達的絕緣電阻而流動的電流，係通過測定對象以外的馬達的絕緣電阻值已下降的絕緣電阻，流動到電容的負極側端子。為此，流動到電流檢測電阻的電流變少。因此，僅電流流動到測定對象以外的馬達的份，遺憾是有檢測到測定對象的馬達的絕緣電阻值比本來還要高的可能性。 The current detecting unit in Japanese Laid-Open Patent Publication No. 2015-169479 includes a voltage dividing resistor and a current detecting resistor that are connected in series. The resistance value of the voltage dividing resistor is suppressed in the case of a motor ground fault. Large current flows are set to be large. When these resistors are used to detect a current, a voltage drop due to these current detecting resistors and a voltage dividing resistor occurs. As a result, a potential difference is generated between the ground and the negative terminal of the capacitor. When the semiconductor switching element of the lower arm of the inverter connected to the motor other than the measurement target is in the open state, if the insulation resistance value of the motor other than the measurement target is decreased, the insulation resistance of the motor to be measured flows. The current flows to the negative-side terminal of the capacitor by the insulation resistance in which the insulation resistance value of the motor other than the measurement target has decreased. For this reason, the current flowing to the current detecting resistor becomes small. Therefore, only the current flows to the motor other than the measurement target, and it is unfortunate that the insulation resistance value of the motor to be measured is higher than originally.
本發明為了消解上述課題而為之。本發明中的1個目的，係提供以下的馬達控制裝置。該馬達控制裝置，係也在測定複數個馬達中的特定的馬達的絕緣電阻值的情況中，幾乎不受到測定對象以外的馬達的絕緣電阻值的下降的影響，可以正確地測定測定對象的馬達的絕緣電阻值。 The present invention has been made to solve the above problems. One object of the present invention is to provide the following motor control device. In the case of measuring the insulation resistance value of the specific motor among the plurality of motors, the motor control device can almost accurately measure the motor of the measurement target due to the influence of the decrease in the insulation resistance value of the motor other than the measurement target. Insulation resistance value.
本發明之有關其中一樣態的馬達控制裝置，係對逆變器輸出電壓指令，使得以對沒有檢測絕緣電阻值 的馬達(測定對象以外的馬達)，施加與接地為同電位的電壓。 The motor control device of the present invention relates to the inverter output voltage command, so that the pair does not detect the insulation resistance value. The motor (a motor other than the measurement target) is applied with a voltage having the same potential as the ground.
根據本發明之有關其中一樣態的馬達控制裝置，可以抑制因測定對象以外的馬達的絕緣電阻值下降所致之影響。其結果，可以正確地測定測定對象的馬達的絕緣電阻值。 According to the motor control device of the present invention, it is possible to suppress the influence of the decrease in the insulation resistance value of the motor other than the measurement target. As a result, the insulation resistance value of the motor to be measured can be accurately measured.
例如，馬達控制裝置具備：對複數個馬達提供交流電力之逆變器、以及檢測前述複數個馬達的絕緣電阻值之絕緣電阻值檢測部；前述絕緣電阻值檢測部，係在檢測前述複數個馬達中特定的馬達的絕緣電阻值時，作為在前述逆變器驅動其他的馬達之際輸出到前述逆變器的電壓指令，輸出與前述其他的馬達的接地端子的電位為同電位的電壓。 For example, the motor control device includes: an inverter that supplies AC power to a plurality of motors; and an insulation resistance value detecting unit that detects an insulation resistance value of the plurality of motors; and the insulation resistance value detecting unit detects the plurality of motors When the insulation resistance value of the specific motor is used, the voltage command outputted to the inverter when the inverter drives another motor outputs a voltage having the same potential as the potential of the ground terminal of the other motor.
100‧‧‧馬達控制裝置 100‧‧‧Motor control unit
110‧‧‧整流電路 110‧‧‧Rectifier circuit
120‧‧‧平滑電容器 120‧‧‧Smoothing capacitor
130‧‧‧絕緣電阻值檢測部 130‧‧‧Insulation resistance value detection unit
140‧‧‧第1逆變器 140‧‧‧1st inverter
150‧‧‧第2逆變器 150‧‧‧2nd inverter
200‧‧‧三相交流電源 200‧‧‧Three-phase AC power supply
300‧‧‧電磁接觸器 300‧‧‧Electromagnetic contactors
410‧‧‧第1馬達 410‧‧‧1st motor
420‧‧‧第2馬達 420‧‧‧2nd motor
圖1為馬達控制裝置的電路圖。 Figure 1 is a circuit diagram of a motor control device.
在下列詳細說明中，為了解釋目的，會提到許多特定細節以便提供所揭示之實施態樣的深入理解。然而，應明白的是，可在未有這些特定細節下實施一或多個實施態樣。在其他不同的情況中，眾所周知的結構及裝置 係示意性地示出以簡化圖式。 In the following detailed description, numerous specific details are set forth However, it should be understood that one or more embodiments may be practiced without these specific details. Well-known structures and devices in other different situations It is schematically shown to simplify the drawing.
圖1為有關本實施方式之馬達控制裝置100的電路圖。馬達控制裝置100乃是驅動控制複數個馬達(圖1中，第1馬達410及第2馬達420)之裝置。馬達控制裝置100具備：整流電路110、平滑電容器(平滑電路)120、絕緣電阻值檢測部130、第1逆變器140、及第2逆變器150。 FIG. 1 is a circuit diagram of a motor control device 100 according to the present embodiment. The motor control device 100 is a device that drives and controls a plurality of motors (the first motor 410 and the second motor 420 in Fig. 1). The motor control device 100 includes a rectifier circuit 110, a smoothing capacitor (smoothing circuit) 120, an insulation resistance value detecting unit 130, a first inverter 140, and a second inverter 150.
在馬達控制裝置100，透過電磁接觸器300，連接三相交流電源200。整流電路110，係全波整流從三相交流電源200所供給的三相交流電壓，輸出直流電壓。平滑電容器120，係平滑化從整流電路110所輸出的直流電壓。第1逆變器140的正側母線、及第2逆變器150的正側母線，係一塊被連接到平滑電容器120的正極端子。第1逆變器140的負側母線、及第2逆變器150的負側母線，係一塊被連接到平滑電容器120的負極端子。 In the motor control device 100, the three-phase AC power supply 200 is connected through the electromagnetic contactor 300. The rectifier circuit 110 is a full-wave rectified three-phase AC voltage supplied from the three-phase AC power supply 200, and outputs a DC voltage. The smoothing capacitor 120 smoothes the DC voltage output from the rectifier circuit 110. The positive side bus bar of the first inverter 140 and the positive side bus bar of the second inverter 150 are connected to the positive terminal of the smoothing capacitor 120. The negative side bus bar of the first inverter 140 and the negative side bus bar of the second inverter 150 are connected to the negative terminal of the smoothing capacitor 120.
絕緣電阻值檢測部130乃是檢測在各馬達所具備之絕緣電阻的電阻值之功能部。絕緣電阻值檢測部130具備：電壓檢測部131、電流檢測電阻(第1電阻)132(電阻值R1)、保護電阻(第2電阻)133(電阻值R2)、連接在電流檢測電阻132與保護電阻133之間的繼電器、及檢測控制部134。電流檢測電阻132乃是用於檢測電流的電阻。電流檢測電阻132的電阻值為R1。電流 檢測電阻132的其中一端被連接到第1逆變器140的負側母線及第2逆變器150的負側母線。保護電阻133乃是用於抑制在任何一個的馬達接地故障的情況下流動過大的電流之情事的電阻。保護電阻133的電阻值為R2。保護電阻133的其中一端被連接到電流檢測電阻132的另一端(為可以連接)，而且保護電阻133的另一端接地。 The insulation resistance value detecting unit 130 is a functional unit that detects the resistance value of the insulation resistance provided in each motor. The insulation resistance value detecting unit 130 includes a voltage detecting unit 131, a current detecting resistor (first resistor) 132 (resistance value R1), a protective resistor (second resistor) 133 (resistance value R2), and a current detecting resistor 132 and protection. A relay between the resistors 133 and a detection control unit 134. The current detecting resistor 132 is a resistor for detecting a current. The resistance value of the current detecting resistor 132 is R1. Current One end of the detecting resistor 132 is connected to the negative side bus of the first inverter 140 and the negative side bus of the second inverter 150. The protective resistor 133 is a resistor for suppressing an excessive current flowing in the case of any one of the motor ground faults. The resistance of the protection resistor 133 is R2. One end of the protective resistor 133 is connected to the other end of the current detecting resistor 132 (which is connectable), and the other end of the protective resistor 133 is grounded.
電壓檢測部131，係檢測平滑電容器120的兩端電壓VPN，對檢測控制部134進行通知。有關檢測控制部134的動作後述之。 The voltage detecting unit 131 detects the voltage V PN across the smoothing capacitor 120 and notifies the detection control unit 134. The operation of the detection control unit 134 will be described later.
第1逆變器140，係從平滑電容器120接收直流電壓，把該直流電壓轉換成期望頻率的交流電壓，輸出到第1馬達410。經此，第1逆變器140驅動控制第1馬達410。第1逆變器140具備：設在第1馬達410的每個相之切換元件142、及PWM(Pulse Width Modulation)控制電路141。在第1逆變器140，配合從PWM控制電路141輸出的ON/OFF指令，控制各切換元件142。經此，第1逆變器140把期望的電壓輸出到第1馬達410。第2逆變器150也同樣，具備PWM控制電路151及切換元件152，並使用這些驅動控制第2馬達420。 The first inverter 140 receives a DC voltage from the smoothing capacitor 120, converts the DC voltage into an AC voltage of a desired frequency, and outputs it to the first motor 410. Thereby, the first inverter 140 drives and controls the first motor 410. The first inverter 140 includes a switching element 142 provided in each phase of the first motor 410 and a PWM (Pulse Width Modulation) control circuit 141. Each of the switching elements 142 is controlled by the first inverter 140 in accordance with an ON/OFF command output from the PWM control circuit 141. Thereby, the first inverter 140 outputs the desired voltage to the first motor 410. Similarly to the second inverter 150, the PWM control circuit 151 and the switching element 152 are provided, and the second motor 420 is controlled by these driving.
馬達控制裝置100在通常動作時，把電磁接觸器300設成開啟(ON)。接著，馬達控制裝置100，係藉由第1逆變器140，控制第1馬達410的旋轉位置及速度；而且藉由第2逆變器150，控制第2馬達420的旋轉位置及速度。 The motor control device 100 sets the electromagnetic contactor 300 to ON during normal operation. Next, in the motor control device 100, the rotational position and speed of the first motor 410 are controlled by the first inverter 140, and the rotational position and speed of the second motor 420 are controlled by the second inverter 150.
馬達控制裝置100在檢測絕緣電阻值之際，暫時停止對全部的馬達之控制動作，遮斷電磁接觸器300(設成關閉)。檢測控制部134，係把絕緣電阻值檢測部130的繼電器設成開啟，介隔著電流檢測電阻132及保護電阻133，把平滑電容器120的N極接地。以下，要檢測哪個馬達的絕緣電阻值來區分情況，說明絕緣電阻值檢測部130的動作。 When detecting the insulation resistance value, the motor control device 100 temporarily stops the control operation for all the motors, and blocks the electromagnetic contactor 300 (closed). The detection control unit 134 turns on the relay of the insulation resistance value detecting unit 130, and grounds the N pole of the smoothing capacitor 120 via the current detecting resistor 132 and the protective resistor 133. Hereinafter, the operation of the insulation resistance value detecting unit 130 will be described in order to detect which of the insulation resistance values of the motor is to be distinguished.
絕緣電阻值檢測部130也可以個別檢測各馬達的絕緣電阻值。但是，使用者從作業效率的觀點來看，首先，掌握是否發生絕緣電阻的異常，之後，考慮到也有希望經由檢測各馬達的絕緣電阻值，來特定異常處的情況。在此，以下，首先，說明檢測第1馬達410的絕緣電阻值與第2馬達420的絕緣電阻值之合成電阻值(合成絕緣電阻值)之程序。之後，說明檢測各馬達的絕緣電阻值之程序。 The insulation resistance value detecting unit 130 may individually detect the insulation resistance value of each motor. However, from the viewpoint of work efficiency, the user first grasps whether or not an abnormality of the insulation resistance occurs, and then it is considered that it is desirable to specify the abnormality by detecting the insulation resistance value of each motor. Here, first, a procedure for detecting the combined resistance value (composite insulation resistance value) of the insulation resistance value of the first motor 410 and the insulation resistance value of the second motor 420 will be described below. Next, a procedure for detecting the insulation resistance value of each motor will be described.
檢測控制部134，係對PWM控制電路141給予第1電壓指令，而且對PWM控制電路151給予第2電壓指令。經此，檢測控制部134係對各逆變器，以一定的能率進行PWM驅動。檢測控制部134係控制成，各個相的電壓指令為相互地相同。各PWM控制電路，係根據電壓指令，對第1及第2馬達的3相，輸出共通的電壓指令值。各PWM控制電路，係比較於馬達的3相所共通的電壓指令值與三角波，根據比較結果，驅動各逆變器的切換 元件。其結果，在馬達繞線，施加配合PWM的能率之平滑電容器120的兩端電壓。對全部的3相的馬達繞線施加相同的電壓的緣故，第1馬達410及第2馬達420不旋轉。 The detection control unit 134 applies a first voltage command to the PWM control circuit 141 and a second voltage command to the PWM control circuit 151. Thereby, the detection control unit 134 performs PWM driving at a constant energy rate for each inverter. The detection control unit 134 controls that the voltage commands of the respective phases are identical to each other. Each of the PWM control circuits outputs a common voltage command value to the three phases of the first and second motors in accordance with the voltage command. Each PWM control circuit compares the voltage command value common to the three phases of the motor and the triangular wave, and drives the switching of each inverter according to the comparison result. element. As a result, the voltage across the smoothing capacitor 120 that matches the energy of the PWM is applied to the motor winding. The first motor 410 and the second motor 420 do not rotate because the same voltage is applied to all three-phase motor windings.
在任何一個的馬達的絕緣電阻劣化的情況下，藉由其劣化的絕緣電阻、保護電阻133、及電流檢測電阻132形成閉迴路，通過這些流動電流。檢測控制部134，係利用下述算式(1)，求出各馬達的絕緣電阻值的合成絕緣電阻值RM。VR1為電流檢測電阻132的兩端電壓。DUTY為各PWM控制電路的能率。在切換元件中的電壓下降大到無法忽略的程度的情況下，可以從算式(1)的VPN減去配合該電壓下降的值。 When the insulation resistance of any of the motors deteriorates, the insulated insulation resistance, the protection resistor 133, and the current detecting resistor 132 form a closed loop, and these current flows. The detection control unit 134 obtains the combined insulation resistance value R M of the insulation resistance value of each motor by the following formula (1). V R1 is the voltage across the current detecting resistor 132. DUTY is the energy rate of each PWM control circuit. In the case where the voltage drop in the switching element is so large that it cannot be ignored, the value of the voltage drop can be subtracted from the V PN of the equation (1).
RM=VPN×DUTY/VR1×R1-R1-R2 (1) R M =V PN ×DUTY/V R1 ×R1-R1-R2 (1)
絕緣電阻值檢測部130，係把已求出之合成絕緣電阻值，發送到例如使用者所持的裝置。使用者係在合成絕緣電阻值為低的情況下，假想任何一個的馬達的絕緣電阻劣化，對絕緣電阻值檢測部130，要求檢測各馬達的絕緣電阻值。 The insulation resistance value detecting unit 130 transmits the obtained composite insulation resistance value to, for example, a device held by the user. When the composite insulation resistance value is low, the insulation resistance of any one of the motors is assumed to be deteriorated, and the insulation resistance value detecting unit 130 is required to detect the insulation resistance value of each motor.
檢測控制部134係在檢測第1馬達410的絕緣電阻值的情況下，對PWM控制電路141，給予一定的電壓指令。經此，檢測控制部134係對第1逆變器140，以一定的能率進行PWM驅動。經此，驅動第1馬達410。在第1 馬達410的絕緣劣化的情況下，藉由已劣化的絕緣電阻、保護電阻133、及電流檢測電阻132形成閉迴路，通過這些流動電流。 The detection control unit 134 gives a constant voltage command to the PWM control circuit 141 when detecting the insulation resistance value of the first motor 410. As a result, the detection control unit 134 performs PWM driving on the first inverter 140 at a constant energy rate. Thereby, the first motor 410 is driven. At the 1st When the insulation of the motor 410 is deteriorated, a closed circuit is formed by the deteriorated insulation resistance, the protection resistor 133, and the current detecting resistor 132, and these current flows.
檢測控制部134，係根據下述算式(2)，算出接地E與平滑電容器120的負極端子之間的電壓VEN。檢測控制部134，係把已算出的電壓VEN，作為第2電壓指令，給予到PWM控制電路151(亦即，驅動未檢測絕緣電阻值的第2馬達420之第2逆變器150)。經此，對第2馬達420之全3相的馬達繞線施加與接地為同電位的電壓。其結果，在第2馬達420的絕緣電阻不流動電流。尚且，該VEN也可以是與第2馬達420的接地端子的電位為同電位的電壓。 The detection control unit 134 calculates the voltage V EN between the ground E and the negative terminal of the smoothing capacitor 120 according to the following formula (2). The detection control unit 134 supplies the calculated voltage V EN as the second voltage command to the PWM control circuit 151 (that is, the second inverter 150 that drives the second motor 420 that does not detect the insulation resistance value). As a result, a voltage of the same potential as that of the ground is applied to the motor windings of all three phases of the second motor 420. As a result, no current flows in the insulation resistance of the second motor 420. Further, the V EN may be a voltage having the same potential as the potential of the ground terminal of the second motor 420.
VEN=(R1+R2)/R1×VR1 (2) V EN =(R1+R2)/R1×V R1 (2)
如此，檢測控制部134，係根據電流檢測電阻132的兩端電壓VR1、及電流檢測電阻132的電阻值R1與保護電阻133的電阻值R2之比，算出平滑電容器120的負極端子與接地之間的電位，把其算出結果，作為第2電壓指令輸出到PWM控制電路151。 In this manner, the detection control unit 134 calculates the negative terminal of the smoothing capacitor 120 and the grounding based on the ratio of the voltage V R1 between the both ends of the current detecting resistor 132 and the resistance R1 of the current detecting resistor 132 to the resistance value R2 of the protective resistor 133. The potential between the two is output to the PWM control circuit 151 as a second voltage command.
尚且，檢測控制部134，係也可以根據電流檢測電阻132的兩端電壓VR1、及與電流檢測電阻132的電阻值R1相對之電流檢測電阻132的電阻值R1與保護電阻133的電阻值R2的和之比，算出平滑電容器120的負極端子與接地之間的電位，把其算出結果，作為第2電壓指令輸出到PWM控制電路151。 Further, the detection control unit 134 may be based on the voltage V R1 between the both ends of the current detecting resistor 132 and the resistance value R1 of the current detecting resistor 132 and the resistance value R2 of the protective resistor 133 which are opposite to the resistance value R1 of the current detecting resistor 132. In the sum, the potential between the negative terminal of the smoothing capacitor 120 and the ground is calculated, and the result of the calculation is output to the PWM control circuit 151 as a second voltage command.
檢測控制部134，係計測電流檢測電阻132的兩端電壓VR1。檢測控制部134，係使用平滑電容器120的直流電壓VPN、及電流檢測電阻132的兩端電壓VR1，根據下述算式(3)，求出第1馬達410的絕緣電阻值RM1。 The detection control unit 134 measures the voltage V R1 across the current detecting resistor 132. The detection control unit 134 obtains the insulation resistance value R M1 of the first motor 410 based on the following equation (3) using the DC voltage V PN of the smoothing capacitor 120 and the voltage V R1 across the current detecting resistor 132.
RM1=VPN×DUTY/VR1×R1-R1-R2 (3) R M1 =V PN ×DUTY/V R1 ×R1-R1-R2 (3)
如此，檢測控制部134，係根據平滑電容器120的兩端電壓VPN、電流檢測電阻132的兩端電壓VR1、電流檢測電阻132的電阻值R1、及保護電阻133的電阻值R2，算出第1馬達410的絕緣電阻值。 In this manner, the detection control unit 134 calculates the first voltage V PN between the smoothing capacitor 120, the voltage V R1 across the current detecting resistor 132, the resistance R1 of the current detecting resistor 132, and the resistance R2 of the protective resistor 133. 1 The insulation resistance value of the motor 410.
絕緣電阻值檢測部130，係把已求出的絕緣電阻值，發送到例如使用者所持的裝置。使用者係在第1馬達410的絕緣電阻值為低的情況下例如，經由交換第1馬達410，抑制起因於接地故障之系統停機。 The insulation resistance value detecting unit 130 transmits the obtained insulation resistance value to, for example, a device held by the user. When the insulation resistance value of the first motor 410 is low, for example, by exchanging the first motor 410, the system is prevented from being shut down due to a ground fault.
尚且，PWM控制電路151，係也可以在絕緣電阻值檢測部130檢測前述第1馬達的絕緣電阻值的期間，根據第2電壓指令，把共通的電壓指令值輸出到第2馬達的3相。 In addition, the PWM control circuit 151 may output the common voltage command value to the three phases of the second motor in accordance with the second voltage command while the insulation resistance value detecting unit 130 detects the insulation resistance value of the first motor.
檢測控制部134係在檢測第2馬達420的絕緣電阻值的情況下，對PWM控制電路151，給予一定的電壓指令。經此，檢測控制部134係對第2逆變器150，以一定的能率進行PWM驅動。經此，驅動第2馬達420。在第2 馬達420的絕緣劣化的情況下，藉由已劣化的絕緣電阻、保護電阻133、及電流檢測電阻132形成閉迴路，通過這些流動電流。 The detection control unit 134 gives a constant voltage command to the PWM control circuit 151 when detecting the insulation resistance value of the second motor 420. As a result, the detection control unit 134 performs PWM driving on the second inverter 150 at a constant energy rate. Thereby, the second motor 420 is driven. At the 2nd When the insulation of the motor 420 is deteriorated, a closed circuit is formed by the deteriorated insulation resistance, the protection resistor 133, and the current detecting resistor 132, and these current flows.
檢測控制部134，係根據上述的算式(2)，算出電壓VEN(與第1馬達410的接地端子為同電位的電壓)。檢測控制部134，係把已算出的電壓VEN，作為第1電壓指令，給予到PWM控制電路141(亦即，驅動未檢測絕緣電阻值的第1馬達410之第1逆變器140)。經此，對第1馬達410之全3相的馬達繞線施加與接地為同電位的電壓。其結果，在第1馬達410的絕緣電阻不流動電流。尚且，該VEN也可以是與第1馬達410的接地端子的電位為同電位的電壓。 The detection control unit 134 calculates a voltage V EN (a voltage having the same potential as the ground terminal of the first motor 410) based on the above formula (2). The detection control unit 134 supplies the calculated voltage V EN as the first voltage command to the PWM control circuit 141 (that is, the first inverter 140 that drives the first motor 410 that does not detect the insulation resistance value). As a result, a voltage of the same potential as that of the ground is applied to all three-phase motor windings of the first motor 410. As a result, no current flows in the insulation resistance of the first motor 410. Further, the V EN may be a voltage having the same potential as the potential of the ground terminal of the first motor 410.
如此，檢測控制部134，係根據電流檢測電阻132的兩端電壓VR1、及電流檢測電阻132的電阻值R1與保護電阻133的電阻值R2之比，算出平滑電容器120的負極端子與接地之間的電位，把其算出結果，作為第1電壓指令輸出到PWM控制電路141。 In this manner, the detection control unit 134 calculates the negative terminal of the smoothing capacitor 120 and the grounding based on the ratio of the voltage V R1 between the both ends of the current detecting resistor 132 and the resistance R1 of the current detecting resistor 132 to the resistance value R2 of the protective resistor 133. The potential between the two is output to the PWM control circuit 141 as a first voltage command.
檢測控制部134，係計測電流檢測電阻132的兩端電壓VR1。檢測控制部134，係使用平滑電容器120的直流電壓VPN、及電流檢測電阻132的兩端電壓VR1，根據下述算式(4)，求出第2馬達420的絕緣電阻值RM2。 The detection control unit 134 measures the voltage V R1 across the current detecting resistor 132. The detection control unit 134 obtains the insulation resistance value R M2 of the second motor 420 based on the following equation (4) using the DC voltage V PN of the smoothing capacitor 120 and the voltage V R1 across the current detecting resistor 132.
RM2=VPN×DUTY/VR1×R1-R1-R2 (4) R M2 =V PN ×DUTY/V R1 ×R1-R1-R2 (4)
如此，檢測控制部134，係根據平滑電容器120的兩 端電壓VPN、電流檢測電阻132的兩端電壓VR1、電流檢測電阻132的電阻值R1、及保護電阻133的電阻值R2，算出第2馬達420的絕緣電阻值。 In this manner, the detection control unit 134 calculates the first voltage V PN between the smoothing capacitor 120, the voltage V R1 across the current detecting resistor 132, the resistance R1 of the current detecting resistor 132, and the resistance R2 of the protective resistor 133. 2 The insulation resistance value of the motor 420.
絕緣電阻值檢測部130，係把已求出的絕緣電阻值，發送到例如使用者所持的裝置。使用者係在第2馬達420的絕緣電阻值為低的情況下例如，經由交換第2馬達420，抑制起因於接地故障之系統停機。 The insulation resistance value detecting unit 130 transmits the obtained insulation resistance value to, for example, a device held by the user. When the insulation resistance value of the second motor 420 is low, for example, by exchanging the second motor 420, the system is prevented from being shut down due to a ground fault.
尚且，PWM控制電路141，係也可以在絕緣電阻值檢測部130檢測前述第2馬達的絕緣電阻值的期間，根據第1電壓指令，把共通的電壓指令值輸出到第1馬達的3相。 In addition, the PWM control circuit 141 may output the common voltage command value to the three phases of the first motor in accordance with the first voltage command while the insulation resistance value detecting unit 130 detects the insulation resistance value of the second motor.
如以上，有關本發明的馬達控制裝置100，係在測定複數個馬達中特定的馬達之絕緣電阻值的情況下，可以抑制馬達接地故障而流動過大的電流。而且，對全部的3相的馬達繞線施加相同的電壓。為此，可以抑制因為旋轉的馬達的感應電壓而絕緣電阻值的檢測結果受到影響之情事的緣故，可以正確地檢測絕緣電阻值。 As described above, in the motor control device 100 according to the present invention, when the insulation resistance value of a specific motor among a plurality of motors is measured, it is possible to suppress an excessive current from flowing due to a motor ground fault. Moreover, the same voltage is applied to all three-phase motor windings. For this reason, it is possible to suppress the detection result of the insulation resistance value due to the induced voltage of the rotating motor, and it is possible to accurately detect the insulation resistance value.
本發明並不限定於上述的實施方式，包含各式各樣的變形例。例如，上述的實施方式，係為了容易理解本發明而說明，而詳細說明之。上述的實施方式，未必會被限定 在具備已說明之全部的構件(構成)者。 The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments are described in detail in order to facilitate understanding of the present invention. The above embodiments are not necessarily limited Those who have all the components (constructions) described above.
在上述的實施方式中，說明有關馬達為2個的情況。即便馬達為3個以上的情況，同樣也可以適用本發明的構成。亦即，經由對驅動不檢測絕緣電阻值的馬達之逆變器，給予與馬達的接地端子為同電位的電壓指令的方式，可以實現與上述同樣的動作。 In the above embodiment, the case where there are two motors will be described. The configuration of the present invention can be applied similarly even when the number of motors is three or more. In other words, the same operation as described above can be realized by giving a voltage command for the same potential as the ground terminal of the motor for driving the inverter that does not detect the insulation resistance value.
亦即，有關本揭示之一實施方式的馬達控制裝置，可以是以下的馬達控制裝置。該馬達控制裝置具備：對複數個馬達提供交流電力之逆變器、以及檢測前述複數個馬達的絕緣電阻值之絕緣電阻值檢測部；前述絕緣電阻值檢測部，係在檢測前述複數個馬達中特定的馬達的絕緣電阻值時，作為在前述逆變器驅動其他的馬達之際輸出到前述逆變器的電壓指令，輸出與前述其他的馬達的接地端子的電位為同電位的電壓。 That is, the motor control device according to an embodiment of the present disclosure may be the following motor control device. The motor control device includes: an inverter that supplies AC power to a plurality of motors; and an insulation resistance value detecting unit that detects an insulation resistance value of the plurality of motors; and the insulation resistance value detecting unit detects the plurality of motors When the insulation resistance value of the specific motor is used, the voltage command output to the inverter when the inverter drives another motor outputs a voltage having the same potential as the potential of the ground terminal of the other motor.
在上述的實施方式，使用三相交流電源200。但是，取代三相交流電源200，也可以使用單相交流電源。更進一步，取代電磁接觸器300，也可以使用其他的交流切換器。作為整流電路110，也可以使用PWM轉換器等那般，可以對電源進行再生的電路。該情況下，在檢測絕緣電阻值之際，也停止PWM轉換器。而且，取代交流電源，也可以使用電池等的直流電源。該情況下，在檢測絕緣電阻值之際，變成沒有必要把電磁接觸器300設成關閉。 In the above embodiment, the three-phase AC power supply 200 is used. However, instead of the three-phase AC power source 200, a single-phase AC power source can also be used. Further, instead of the electromagnetic contactor 300, other AC switchers can also be used. As the rectifier circuit 110, a circuit that can regenerate a power source like a PWM converter or the like can be used. In this case, the PWM converter is also stopped when the insulation resistance value is detected. Further, instead of the AC power source, a DC power source such as a battery can also be used. In this case, when the insulation resistance value is detected, it is not necessary to set the electromagnetic contactor 300 to be closed.
檢測控制部134也可以構成為：對驅動不檢 測絕緣電阻值的馬達之逆變器之3相中的1相或者是2相進行PWM驅動。 The detection control unit 134 may be configured to: not drive the driver One of the three phases of the inverter of the motor for measuring the insulation resistance value or two phases is PWM-driven.
在上述的實施方式中，係表示藉由3相逆變器對3相馬達進行驅動之例。也在藉由單相逆變器對單相馬達進行驅動的情況下，同樣，可以適用本發明的構成。 In the above embodiment, an example in which a three-phase motor is driven by a three-phase inverter is shown. Also in the case where the single-phase motor is driven by the single-phase inverter, the configuration of the present invention can be applied in the same manner.
絕緣電阻值檢測部130，係取代電流檢測電阻132，也可以具備霍爾感測器等之檢測電流的機器。該情況下，檢測控制部134係可以使用保護電阻133的電壓，算出VEN。 The insulation resistance value detecting unit 130 may be provided with a device for detecting a current such as a Hall sensor instead of the current detecting resistor 132. In this case, the detection control unit 134 can calculate V EN using the voltage of the protection resistor 133.
檢測控制部134，係可以作為實現檢測控制部134的功能之電路裝置等的硬體，安裝到馬達控制裝置100。或者是，可以作為執行用於實現同等的功能的軟體之處理器，安裝到馬達控制裝置100。 The detection control unit 134 can be attached to the motor control device 100 as a hardware such as a circuit device that realizes the function of the detection control unit 134. Alternatively, it may be mounted to the motor control device 100 as a processor that executes software for realizing equivalent functions.
藉由絕緣電阻值檢測部130所求出的絕緣電阻值，係例如可以被表示在畫面，對使用者通知，也可以作為資料，透過適當的通訊管道來發送。或者是，絕緣電阻值，係也可以以表示絕緣電阻值之電訊號等的型態，透過適當的輸出端子來輸出。馬達控制裝置100係可以具備：配合絕緣電阻值的輸出型態之用於輸出藉由絕緣電阻值檢測部130所檢測出的絕緣電阻值之適切的輸出部(顯示器、通訊管道、及輸出端子等)。 The insulation resistance value obtained by the insulation resistance value detecting unit 130 can be displayed on the screen, for example, and can be transmitted as a material through an appropriate communication pipe. Alternatively, the insulation resistance value may be output through an appropriate output terminal in a type such as a signal indicating an insulation resistance value. The motor control device 100 may include an output unit (display, communication line, output terminal, etc.) for outputting an insulation resistance value detected by the insulation resistance value detecting unit 130 in an output type in which an insulation resistance value is matched. ).
尚且，檢測控制部134，係也可以在檢測第1馬達410的絕緣電阻值的情況下，控制成第1馬達的各個相的電壓指令為相互地相同。PWM控制電路141，係也可 以比較於3相所共通的電壓指令與三角波，根據比較結果，驅動第1逆變器140的切換元件142。也可以在馬達繞線，施加配合PWM的能率之平滑電容器120的兩端電壓。該情況下，對全部的3相的馬達繞線施加相同的電壓的緣故，第1馬達410即便被驅動，也不旋轉。 In addition, when detecting the insulation resistance value of the first motor 410, the detection control unit 134 may control the voltage commands of the respective phases of the first motor to be the same as each other. PWM control circuit 141, can also be The switching element 142 of the first inverter 140 is driven in accordance with the comparison result by comparing the voltage command common to the three phases with the triangular wave. It is also possible to apply a voltage across the smoothing capacitor 120 in accordance with the energy of the PWM in the motor winding. In this case, the same voltage is applied to all of the three-phase motor windings, and the first motor 410 does not rotate even if it is driven.
更進一步，檢測控制部134，係也可以在檢測第2馬達420的絕緣電阻值的情況下，控制成各個相的電壓指令為相互地相同。PWM控制電路151，係也可以比較於3相所共通的電壓指令與三角波，根據比較結果，驅動第2逆變器150的切換元件152。也可以在馬達繞線，施加配合PWM的能率之平滑電容器120的兩端電壓。該情況下，對全部的3相的馬達繞線施加相同的電壓的緣故，第2馬達420即便被驅動，也不旋轉。 Further, the detection control unit 134 may control the voltage commands of the respective phases to be the same as each other when detecting the insulation resistance value of the second motor 420. The PWM control circuit 151 can also compare the voltage command and the triangular wave common to the three phases, and drive the switching element 152 of the second inverter 150 based on the comparison result. It is also possible to apply a voltage across the smoothing capacitor 120 in accordance with the energy of the PWM in the motor winding. In this case, the same voltage is applied to all of the three-phase motor windings, and the second motor 420 does not rotate even if it is driven.
本揭示的實施方式，亦可以是以下的第1~第8馬達控制裝置。 The embodiment of the present disclosure may be the following first to eighth motor control devices.
第1馬達控制裝置乃是驅動控制第1及第2馬達之馬達控制裝置，具備：對前述第1及第2馬達供給交流電力之逆變器、以及檢測前述第1及第2馬達的絕緣電阻之絕緣電阻檢測部；前述絕緣電阻檢測部，係在檢測前述第2馬達的絕緣電阻時，作為前述逆變器驅動前述第1馬達之際之對前述逆變器的第1電壓指令，在輸出了前述第1馬達的接地端子的電位之下檢測前述第2馬達的絕緣電阻；前述絕緣電阻檢測部，係在檢測前述第1馬達的絕緣電阻時，作為前述逆變器驅動前述第2馬達之際之對 前述逆變器的第2電壓指令，在輸出了前述第2馬達的接地端子的電位之下檢測前述第1馬達的絕緣電阻。 The first motor control device is a motor control device that drives and controls the first and second motors, and includes an inverter that supplies AC power to the first and second motors, and an insulation resistance that detects the first and second motors. The insulation resistance detecting unit is configured to detect the first voltage command to the inverter when the inverter drives the first motor when detecting the insulation resistance of the second motor. The insulation resistance of the second motor is detected under the potential of the ground terminal of the first motor, and the insulation resistance detecting unit drives the second motor as the inverter when detecting the insulation resistance of the first motor. Right The second voltage command of the inverter detects the insulation resistance of the first motor under the potential of the ground terminal of the second motor.
第2馬達控制裝置係在第1馬達控制裝置中，前述馬達控制裝置更具備：把交流電力轉換成直流電力，對前述逆變器進行供給之平滑電路；前述平滑電路與前述逆變器係分別對共通的母線做連接；前述絕緣電阻檢測部，係在檢測前述第1馬達的絕緣電阻時，在把前述平滑電路的負母線電位與接地電位之間的差分作為前述第2電壓指令而已輸出的情況下，檢測前述第1馬達的絕緣電阻；前述絕緣電阻檢測部，係在檢測前述第2馬達的絕緣電阻時，在把前述平滑電路的負母線電位與接地電位之間的差分作為前述第1電壓指令而已輸出的情況下，檢測前述第2馬達的絕緣電阻。 In the first motor control device, the motor control device further includes: a smoothing circuit that converts AC power into DC power and supplies the inverter; and the smoothing circuit and the inverter system respectively The insulation resistance detecting unit is configured to detect the difference between the negative bus potential of the smoothing circuit and the ground potential as the second voltage command when detecting the insulation resistance of the first motor. In the case of detecting the insulation resistance of the first motor, the insulation resistance detecting unit determines the difference between the negative bus potential of the smoothing circuit and the ground potential when the insulation resistance of the second motor is detected. When the voltage command is output, the insulation resistance of the second motor is detected.
第3馬達控制裝置係在第2馬達控制裝置中，前述絕緣電阻檢測部具備：第1及第2電阻；前述第1電阻的其中一端，係對前述平滑電路與前述逆變器的負母線做連接；前述第2電阻的其中一端，係對前述第1電阻的另一端做連接，而且前述第2電阻的另一端接地；前述絕緣電阻檢測部，係在檢測前述第1馬達的絕緣電阻時，經由使前述第1馬達驅動的方式計測在前述第1電阻的兩端所產生的兩端電壓，使用其兩端電壓算出前述平滑電路的負母線電位與接地電位之間的差分；前述絕緣電阻檢測部，係在檢測前述第2馬達的絕緣電阻時，經由使前述第2馬達驅動的方式計測前述第1電阻的兩端所產生的 兩端電壓，使用其兩端電壓算出前述平滑電路的負母線電位與接地電位之間的差分。 In the second motor control device, the insulation resistance detecting unit includes first and second resistors, and one end of the first resistor is configured to the smoothing circuit and the negative bus of the inverter. One end of the second resistor is connected to the other end of the first resistor, and the other end of the second resistor is grounded; and the insulation resistance detecting unit detects the insulation resistance of the first motor. The voltage between the two ends of the first resistor is measured by driving the first motor, and the difference between the negative bus potential of the smoothing circuit and the ground potential is calculated using the voltage across the two ends. The insulation resistance is detected. When detecting the insulation resistance of the second motor, the second motor is driven to measure the two ends of the first resistor. The voltage at both ends is calculated by using the voltage across the two ends to calculate the difference between the negative bus potential of the smoothing circuit and the ground potential.
第4馬達控制裝置係在第3馬達控制裝置中，前述絕緣電阻檢測部，係根據前述第1電阻的兩端電壓、及前述第1電阻的電阻值與前述第2電阻的電阻值之比，算出前述平滑電路的負母線電位與接地電位之間的差分，把其算出結果作為前述第1或是第2電壓指令進行輸出。 In the third motor control device, the insulation resistance detecting unit is based on a voltage between both ends of the first resistor and a resistance value of the first resistor and a resistance value of the second resistor. The difference between the negative bus potential of the smoothing circuit and the ground potential is calculated, and the calculated result is output as the first or second voltage command.
第5馬達控制裝置係在第4馬達控制裝置中，前述絕緣電阻檢測部，係根據前述平滑電路的兩端電壓、前述第1電阻的兩端電壓、前述第1電阻的電阻值、及前述第2電阻的電阻值，算出前述第1或是第2馬達的絕緣電阻。 In the fourth motor control device, the insulation resistance detecting unit is based on a voltage across the smoothing circuit, a voltage across the first resistor, a resistance value of the first resistor, and the first The resistance value of the resistor is used to calculate the insulation resistance of the first or second motor.
第6馬達控制裝置，係在第1馬達控制裝置中，前述第1及第2馬達，係構成作為3相交流馬達；前述馬達控制裝置具備：對前述逆變器輸出電壓指令之控制電路；前述控制電路，係在前述絕緣電阻檢測部檢測前述第1或是第2馬達的任何一個其中一方的絕緣電阻的期間，對前述第1或是第2馬達之另一方的全部的3相輸出相同的電壓指令值。 In the first motor control device, the first and second motors are configured as a three-phase AC motor, and the motor control device includes: a control circuit that outputs a voltage command to the inverter; In the control circuit, the insulation resistance detecting unit detects the insulation resistance of one of the first or second motors, and outputs the same three-phase output to the other of the first or second motors. Voltage command value.
第7馬達控制裝置，係在第6馬達控制裝置中，前述控制電路，係在前述絕緣電阻檢測部檢測前述第1馬達的絕緣電阻與前述第2馬達的絕緣電阻的合成電阻的期間，對前述第1馬達的全部的3相輸出相同的電壓指 令值，而且對前述第2馬達的全部的3相輸出相同的電壓指令值。 In the seventh motor control device, the control circuit is configured such that the insulation resistance detecting unit detects the combined resistance of the insulation resistance of the first motor and the insulation resistance of the second motor. All three phases of the first motor output the same voltage finger The same voltage command value is output to all three phases of the second motor.
第8馬達控制裝置，係在第1馬達控制裝置中，前述馬達控制裝置具備：輸出前述絕緣電阻檢測部所已檢測出的絕緣電阻值之輸出部。 In the first motor control device, the motor control device includes an output unit that outputs an insulation resistance value detected by the insulation resistance detecting unit.
為繪示及描述之目的，已呈現上述詳細說明。可依上述教示有許多修飾及變體。並非意欲窮盡本文中所述之發明標的物或將本文中所述之發明標的限制在所揭示之特定精確形式。雖然該發明標的已對特定結構特徵及/或方法行為之用語而描述，但應了解的是，後附申請專利範圍所界定之發明標的並不必然被限定在上述之特定特徵或行為。相反地，上述之特定特徵及行為係揭示作為實施後附之申請專利範圍的實施例形式。 The above detailed description has been presented for the purposes of illustration and description. Many modifications and variations are possible in light of the above teachings. It is not intended to be exhaustive or to limit the scope of the invention disclosed herein. Although the subject matter of the invention has been described in terms of specific structural features and/or methodological acts, it is understood that the subject matter of the invention as defined by the appended claims is not necessarily limited to the specific features or acts described. Rather, the specific features and acts described above are disclosed as an embodiment of the scope of the application.
100‧‧‧馬達控制裝置 100‧‧‧Motor control unit
110‧‧‧整流電路 110‧‧‧Rectifier circuit
120‧‧‧平滑電容器 120‧‧‧Smoothing capacitor
130‧‧‧絕緣電阻值檢測部 130‧‧‧Insulation resistance value detection unit
131‧‧‧電壓檢測部 131‧‧‧Voltage Detection Department
132‧‧‧電流檢測電阻 132‧‧‧ Current Sense Resistor
133‧‧‧保護電阻 133‧‧‧protection resistance
134‧‧‧檢測控制部 134‧‧‧Detection Control Department
140‧‧‧第1逆變器 140‧‧‧1st inverter
141、151‧‧‧PWM控制電路 141, 151‧‧‧ PWM control circuit
142、152‧‧‧切換元件 142, 152‧‧‧Switching components
150‧‧‧第2逆變器 150‧‧‧2nd inverter
200‧‧‧三相交流電源 200‧‧‧Three-phase AC power supply
300‧‧‧電磁接觸器 300‧‧‧Electromagnetic contactors
410‧‧‧第1馬達 410‧‧‧1st motor
420‧‧‧第2馬達 420‧‧‧2nd motor
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| TWI707147B (en) * | 2017-08-01 | 2020-10-11 | 日商東京威爾斯股份有限公司 | Path selection system |
| TWI743541B (en) * | 2018-08-31 | 2021-10-21 | 日商日立產機系統股份有限公司 | Power conversion system and motor control method |
| TWI770691B (en) * | 2019-11-29 | 2022-07-11 | 日商日立製作所股份有限公司 | Diagnostic device and diagnostic method |
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| JP7258654B2 (en) * | 2019-05-23 | 2023-04-17 | 東芝キヤリア株式会社 | Circuit board for motor drive and motor drive |
| JP6652691B1 (en) * | 2019-06-07 | 2020-02-26 | Ｕ−Ｍｈｉプラテック株式会社 | Motor drive |
| CN113138308A (en) * | 2020-01-17 | 2021-07-20 | 宝山钢铁股份有限公司 | Remote real-time monitoring system for insulation state of roller way motor in IT power supply system |
| JP2022073675A (en) * | 2020-11-02 | 2022-05-17 | オークマ株式会社 | Inverter device with motor insulation inspection function |
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| JP4554501B2 (en) * | 2005-01-18 | 2010-09-29 | ファナック株式会社 | Motor insulation resistance deterioration detection method, insulation resistance deterioration detection device, and motor drive device |
| JP2008102096A (en) * | 2006-10-20 | 2008-05-01 | Fanuc Ltd | Insulation resistance degradation detector of motor |
| JP5065192B2 (en) * | 2008-02-01 | 2012-10-31 | 山洋電気株式会社 | Motor control apparatus and motor insulation deterioration detection method |
| JP4565036B2 (en) * | 2009-01-05 | 2010-10-20 | ファナック株式会社 | Motor insulation deterioration detector |
| JP4961045B1 (en) * | 2011-02-24 | 2012-06-27 | 株式会社安川電機 | Motor drive device |
| JP5406345B1 (en) * | 2012-08-02 | 2014-02-05 | 山洋電気株式会社 | Motor control apparatus and motor insulation deterioration detection method |
| JP5442078B2 (en) * | 2012-08-02 | 2014-03-12 | 山洋電気株式会社 | Motor control apparatus and motor insulation deterioration detection method |
| WO2015075821A1 (en) * | 2013-11-22 | 2015-05-28 | 三菱電機株式会社 | Insulation detector and electrical device |
| JP5788538B2 (en) * | 2014-01-08 | 2015-09-30 | ファナック株式会社 | Motor drive device with insulation deterioration detection function and motor insulation resistance detection method |
| JP6017481B2 (en) * | 2014-03-05 | 2016-11-02 | ファナック株式会社 | Motor drive device having insulation resistance detection function and motor insulation resistance detection method |
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| TWI707147B (en) * | 2017-08-01 | 2020-10-11 | 日商東京威爾斯股份有限公司 | Path selection system |
| TWI743541B (en) * | 2018-08-31 | 2021-10-21 | 日商日立產機系統股份有限公司 | Power conversion system and motor control method |
| TWI770691B (en) * | 2019-11-29 | 2022-07-11 | 日商日立製作所股份有限公司 | Diagnostic device and diagnostic method |
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