TWI587108B - Frequency converter and forging press system and control method thereof - Google Patents

Description

Frequency converter and its suitable forging press system and control method

The present invention is a frequency converter, especially a frequency converter that is driven by a magnetic field steering control to drive a plurality of motors, and which makes the motor more accurate in the control of the rotational speed and the torque control, and the applicable forging machine system. And control methods.

The forging press system is an important processing equipment in the modern processing industry. Its function is mainly to forge the processed material, thereby changing the plasticity of the processed product, so that the appearance of the processed product meets the demand.

In general, the forging press system includes a forging press, a frequency converter, and a slider controller. The forging press is used for forging a workpiece by one of the inner sliders. The slider controller outputs corresponding control commands or signals to the inverter according to the relevant parameters in the forging press, and then performs speed and position control on the slider in the forging press. The inverter responds to the operation of the motor in the forging press according to the control command or signal output by the slider controller, so that the motor drives the transmission mechanism in the forging press, and when the transmission mechanism operates, the slider can be driven to reciprocate. Thereby, when the slider hits the workpiece, the kinetic energy is converted into the deformation energy of the workpiece, so that the workpiece has a specific deformation. In addition, during the movement of the slider, the position change of the slider is transmitted to the slider controller through a pulse generator, so that the slider controller obtains the speed and position of the slider according to the position change of the slider, thereby planning the motor. The timing of switching between the speed and torque of the rotor, and corresponding adjustment of control commands or signals, so that the slider can operate accordingly.

There are many different ways in which the inverter drives the motor. One of them is Field Oriented Control (FOC). In order to make the inverter of the magnetic field guiding control in the forging machine system more precise control of the motor operation, the forging press system actually needs to set a motor encoder so that the motor encoder can transmit the speed and position of the motor to the inverter. For decoding, the rotational speed and position of the rotor in the motor are supplied to the frequency converter for coordinate conversion calculation, thereby achieving magnetic field steering control of the motor.

However, it can be seen from the above that in order to perform the magnetic field guiding control, the forging press system needs to additionally provide a motor encoder, which will cause the internal operation of the frequency converter to be complicated, and the cost of the forging press system is also due to the setting of the motor encoder. Relatively improved. Moreover, in general, a frequency converter using magnetic field steering control can only be applied to a forging press driven by a single motor, but cannot be applied to a forging press driven by a plurality of motors including a plurality of motors, so when forging When the forging press of the machine system has a plurality of motors, the forging press system needs to increase the number of inverters to respond to a plurality of motors, resulting in an increase in the cost of the forging press system.

Therefore, how to develop a frequency converter and a suitable forging machine system and control method thereof which can improve the above-mentioned conventional technology are urgently needed to be solved by those skilled in the related art.

The main purpose of this case is to provide a frequency converter and its applicable forging press system and control method, and to solve the traditional forging press system, in order to enable the magnetic field steering control of the frequency converter to accurately control the motor operation, an additional motor encoder is required, resulting in The internal operation of the frequency converter is more complicated, and the cost of the traditional forging press system is also relatively increased due to the relative improvement; and the traditional forging press system needs to increase the number of motors in the forging press to increase the number of inverters that are controlled by the magnetic field steering control. The number has led to a lack of cost increases in conventional forging press systems.

In order to achieve the above purpose, the present invention provides a frequency converter, which is applied to a forging press system, wherein the forging press system has a forging press, the forging press system comprises a plurality of motors, a transmission mechanism and a pulse generator, and the plurality of motors are driven by the frequency converter. And used to drive the transmission mechanism to make the gear set of the transmission mechanism rotate to drive the slider of the transmission mechanism to reciprocate to forge the workpiece, and the pulse generator is used to detect the position change of the slider to correspond Outputting mobile information, the frequency converter includes: an inverter coupled to a plurality of motors for outputting electric energy to drive a plurality of motors to operate; a position decoder coupled to the pulse generator for decoding mobile information Obtaining the position and speed of the slider, and correspondingly outputting decoding information; the operation unit is coupled with the position decoder, and presets a parameter setting regarding a transmission relationship between the gear set and the slider, for decoding by parameter setting The information is calculated to obtain the rotation speed and position of the plurality of motors, and corresponding to the output operation information; The controller is coupled to the arithmetic unit and the inverter to control the operation of the plurality of motors, and the motor controller receives the operation information, and according to the operation information, the speed and position of the plurality of motors and the complex number The equivalent impedance value of the motor is controlled by the magnetic field, so that the torque and the rotational speed of the plurality of motors are controlled by the command given by the slider controller.

In order to achieve the above object, the present invention further provides a forging press system, comprising: a forging press, comprising a plurality of motors, a transmission mechanism and a pulse generator, wherein the plurality of motors are driven by a frequency converter and used to drive the transmission mechanism to operate The gear set of the transmission mechanism rotates to drive the slider of the transmission mechanism to perform reciprocating operation to forge the workpiece, and the pulse generator is used for detecting the position change of the slider to correspond to the output movement information; wherein the plurality of driving information is driven; The inverter operated by the motor further comprises: an inverter coupled to a plurality of motors for outputting electric energy to drive a plurality of motor operations; the position decoder is coupled to the pulse generator for decoding the movement information to obtain the position and velocity of the slider, and correspondingly outputting the decoding information; the operation unit is coupled to the position decoder, and Presetting the parameter setting of the transmission relationship between the gear set and the slider, the arithmetic unit calculates the decoding information by using the parameter setting to obtain the rotation speed and position of the plurality of motors, and correspondingly outputting the operation information; and the motor controller, The system is coupled to the computing unit and the inverter for controlling the operation of the plurality of motors, and the motor controller receives the operation information, and according to the operation information, the speed and position of the plurality of motors and the plurality of motors, etc. The impedance value is controlled by the magnetic field to control the torque and speed of the plurality of motors to be controlled by the slider controller.

In order to achieve the above object, the present invention further provides a control method for a forging press system, wherein the forging press system has a forging press and a slider controller, and the forging press has a plurality of motors and a pulse generator, and a plurality of motors It is driven by a frequency converter and is used to drive the slider of the forging press to perform reciprocating operation to forge the workpiece. The pulse generator is used to detect the position change of the slider to correspond to the output movement information, and the slider controller And the frequency converter knows the position and speed of the slider via the movement information, and the frequency converter further estimates the rotation speed and position of the plurality of motors via the movement information, and the control method includes: performing a jog program to make the slider from the preparation area The starting point moves to contact the workpiece to perform mold clamping to zero, and returns to the starting point again, thereby causing the slider controller to push the position of the workpiece through the movement information; performing an automatic forging procedure, and the slider controller Controlling the frequency converter to drive the rotors of the plurality of motors, so that the speed of the rotors of the plurality of motors is controlled to the planned set speed, and when the slider is operated Near the surface of the workpiece, the controller controls the drive of the slider a plurality of driving output torque of the motor is zero, so that the slide starting from When the machine surface is lowered to the machining surface, the forging process is performed at the set speed; when the movement information reflects the position of the slider to the workpiece and the workpiece is forged, the slider controller drives the inverter to control the rotor of the plurality of motors. The torque is the maximum torque to pull up the slider after the slider is forged by the workpiece; when the slider is pulled up, the slider controller drives the inverter to control the torque of the rotor of the plurality of motors to be fixed at the set torque To continuously pull up the slider, and the slider controller drives the frequency converter to control the rotation speed of the rotor of the plurality of motors to be the first rotation speed, so that the upward movement speed of the slider is gradually increased; when the movement information reaction slider is moved to When the preparation area is outside the set distance from the starting point, the slider controller drives the frequency converter to control the rotation speed of the rotor of the plurality of motors to be reduced to the second rotation speed, so that the slider moving speed is slowed down; and when the movement information is responsive When the block has moved into the preparation area and is within a set distance from the starting point, the slider controller drives the frequency converter to control the rotation speed of the rotor of the plurality of motors to be reduced to the third rotation speed, so that the slider The upward movement speed is slowed down again and moves to the starting point; wherein the values of the set speed, the first speed, the second speed, the third speed, the set torque and the maximum torque are determined by the frequency converter according to the speed and position of the plurality of motors Corresponding settings.

1‧‧‧Forging press system

10‧‧‧Forging press

100‧‧‧ motor

101‧‧‧Transmission mechanism

102‧‧‧ pulse generator

103‧‧‧First gear

104‧‧‧second gear

105‧‧‧ screw

106‧‧‧ Slider

11‧‧‧Inverter

110‧‧‧ position decoder

111‧‧‧ arithmetic unit

112‧‧‧Inverter

113‧‧‧Motor controller

2‧‧‧Processing

300‧‧‧etc. motor

12, 40‧‧‧ Slider controller

Zu1, Zv1, Zw1, Zu2, Zv2 and Zw2‧‧‧ impedance

Ti, tr, t0, t1, t2, t3‧‧ ‧ time

Fx‧‧‧Set speed

F1‧‧‧first speed

F2‧‧‧second speed

F3‧‧‧ third speed

Tmax‧‧‧max torque

Tq‧‧‧ set torque

Process steps for the control method of the S1~S6‧‧‧ forging press system

Figure 1 is a schematic view showing the structure of a forging press system of the preferred embodiment of the present invention.

Fig. 2 is a view showing the impedance of the internal circuit of a plurality of motors of the forging press system shown in Fig. 1.

Fig. 3 is a schematic diagram showing the impedances of the internal lines of the plurality of motors shown in Fig. 2 in parallel.

Fig. 4 is a control timing chart of the forging press system shown in Fig. 1 in an automatic forging procedure.

Fig. 5 is a flow chart showing the steps of the control method of the forging press system shown in Fig. 1.

Fig. 6 is a schematic structural view showing another modification of the forging press system shown in Fig. 1.

Some exemplary embodiments embodying the features and advantages of the present invention are described in detail in the following description. It is to be understood that the present invention is capable of various modifications in various aspects, and is not to be construed as a limitation.

Please refer to FIG. 1 , which is a schematic structural view of a forging press system according to a preferred embodiment of the present invention. As shown in FIG. 1, the forging press system 1 of the present embodiment includes a forging press 10 and a frequency converter 11. The forging press 10 is for forging a workpiece 2 and includes a plurality of motors 100, a transmission mechanism 101, and a pulse generator 102. A plurality of motors 100, such as the two motors 100 shown in FIG. 1, are respectively coupled to the transmission mechanism 101, and are respectively configured to convert the received electric energy into kinetic energy, thereby driving the transmission mechanism 101. The transmission mechanism 101 can perform forging processing on the workpiece 2, and in the embodiment, the transmission mechanism 101 includes a gear set, a screw 105 and a slider 106. The gear set is composed of a plurality of first gears 103 and a second gear 104. Each of the first gears 103 is coupled to the corresponding motor 100 and is rotated by the corresponding motor 100. The second gear 104 is coupled to the plurality of gears 104. The first gears 103 are coupled, and when the plurality of first gears 103 rotate, the second gears 104 are driven to rotate synchronously. One end of the screw 105 is disposed in a central region of one of the outer sides of the second gear 104, and the screw 105 is disposed for the slider 106. When the second gear 104 rotates, the screw 105 is synchronously rotated, so that the slider 106 can be The screw 105 performs a reciprocating operation of up-and-down displacement, and when the slider 106 strikes the workpiece 2, the workpiece 2 is forged.

The pulse generator 102 is disposed adjacent to the slider 106 for detecting a change in the position of the slider 106 when moving, and outputting a movement information reflecting the speed and position of the slider 106 in a pulse signal manner. In some embodiments, pulse generator 102 can be, but is not limited to, comprised of an optical scale or a position encoder.

The frequency converter 11 is coupled to the plurality of motors 100 for generating output power to drive the plurality of motors 100 to operate, and controlling the rotational speed and torque of the plurality of motors 100 in a magnetic field steering control mode, and the frequency converter 11 includes a position decoding The device 110, an arithmetic unit 111, an inverter 112, and a motor controller 113. The inverter 112 is coupled to the plurality of motors 100 for converting the received input power, such as a DC power source provided externally of the frequency converter 11, to generate output power to drive the plurality of motors 100 to operate.

The position decoder 110 is coupled to the pulse generator 102 for decoding the movement information output by the pulse generator 102 to obtain the position and velocity of the slider 106, and correspondingly outputting a decoding according to the position and velocity of the slider 106. News. The computing unit 111 is coupled to the position decoder 110 to receive the decoding information output by the position decoder 110, and pre-stores a parameter setting, wherein the parameter setting may be, but not limited to, a transmission relationship between the gear set and the slider 106. For example, a reduction ratio between the gear set and the slider 106, the operation unit 111 further calculates the decoding information by using the parameter setting to obtain the rotation speed and position of the plurality of motors 100, and according to the rotation speed and position of the plurality of motors 100. Output an operation information. The motor controller 113 is coupled to the arithmetic unit 111 and the inverter 112 for controlling the operation of the inverter 112. In addition, the motor controller 113 further receives the operation information output by the operation unit 111 to learn the complex number. The rotation speed and position of the motor 100 are combined with the equivalent impedance values of the plurality of motors 100 to perform magnetic field steering control, thereby controlling the inverter 112 to adjust the output electric energy, so that the forging press 10 is in operation, a plurality of electric motors The torque and speed of the machine 100 can be controlled by commands given to a slider controller (such as the slider controller 12 or slider controller 40 described later). In this way, the frequency converter 11 can control the rotation speed and torque of the plurality of motors 100 according to the command given by the slider controller, and further improve the accuracy and robustness of the inverter 11 to control the plurality of motors 100. . In addition, since the inverter 11 of the present invention actually uses the operation unit 111 to directly derive the rotation speed and position of the motor 100 from the movement information outputted by the pulse generator 102, the forging press system 1 does not need to additionally use a motor encoder. In order to detect the rotation speed and position of the motor 100, the operation of the inverter 11 of the present invention is relatively simple, and the cost of the forging press system 1 is also reduced.

In the above embodiment, the operation unit 111 may be, but not limited to, an electronic gear, and the parameter setting stored by the operation unit 111 actually records the reduction ratio between the gear set and the slider 106. Therefore, when the operation unit 111 After obtaining the position and speed of the slider 106 from the decoding information, the position and speed of the slider 106 can be divided by the reduction ratio to derive the rotation speed and position of the plurality of motors 100, so that the inverter 11 can perform magnetic field guiding control. That is, the motor controller 113 controls the inverter 112 to adjust the output power correspondingly according to the operation information output by the operation unit 111 and the equivalent impedance values of the plurality of motors 100, so as to instantly adjust the rotors of the plurality of motors 100. Rotating speed.

Please refer to FIG. 2 and FIG. 3 together with FIG. 1 , wherein FIG. 2 is a schematic diagram showing the impedance of the internal circuit of a plurality of motors of the forging press system shown in FIG. 1 , and FIG. 3 is a second diagram. The impedance of the internal lines of the plurality of motors shown is shown in parallel. As shown in FIGS. 2 and 3, each motor 100 can be, but is not limited to, a three-phase motor, so each motor 100 can include three single-phase windings, and each single-phase winding has an impedance, for example, Figure 2, its One of the three single-phase windings of the motor 100 has impedances of Zu1, Zv1, and Zw1, respectively, and the impedances of the three single-phase windings of the other motor 100 are Zu2, Zv2, and Zw2, respectively. Since the forging press 10 of the forging press system 1 of the present invention includes a plurality of motors 100, and the inverter 11 controls a plurality of motors 100 in a magnetic field steering control mode, the inverter 11 needs to correct the motor controlled by the magnetic field. The model is such that the impedance of the plurality of motors 100 corresponds to a set of equivalent motors that are connected in parallel by the impedances of the plurality of motors, that is, as shown in FIG. 3, the inverter 11 actually treats the plurality of motors 100 as a set of equivalent motors 300, the impedances of the three single-phase windings of the equivalent motor 300 are respectively Zu1/Zu2, Zv1//Zv2, and Zw1//Zw2, and in order to achieve the above characteristics, in the present embodiment, After receiving the operation information outputted by the operation unit 111, the motor controller 113 of the inverter 11 performs magnetic field steering control with the equivalent impedance values of the plurality of motors 100, so that the inverter 112 outputs a corresponding output current, wherein The equivalent impedance value of the plurality of motors 100 is equal to the impedance value of the plurality of motors 100 in parallel with the equivalent impedance.

Referring to FIG. 1 again, in the present embodiment, in order to control the operation of the slider 106 of the forging press 10, the forging press system 1 further includes a slider controller 12, and the slider controller 12 and the inverter 11 are independent. The slider controller 12 is coupled to the inverter 11 and the pulse generator 102 of the forging press 10, and may be, but is not limited to, a programmable logic controller (PLC). The system is configured to decode the movement information output by the pulse generator 102 to obtain the position and speed of the slider 106, and output a mode control signal to the frequency converter 11 according to the position and speed of the slider 106, so that the frequency converter 11 is in accordance with the mode. Controlling the signal and correspondingly controlling the plurality of motors 100 to operate in a speed mode or a torque mode, wherein when the motor 100 is running in the speed mode, the speed of the rotor of the motor 100 can be converted The device 11 is controlled to be dynamically adjusted, and at this time, the torque of the rotor of the motor 100 is fixed to a set torque. When the motor 100 is operating in the torque mode, the torque of the rotor of the motor 100 can be dynamically adjusted by the inverter 11, and the rotational speed of the rotor of the motor 100 is controlled to a programmed set speed. In addition, the slider controller 12 further outputs a speed command and a torque command to the inverter 11 according to the position and speed of the slider 106, so that the inverter 11 adjusts the output power according to the speed command and/or the torque command. Thereby, the rotation speed and/or the torque of the rotor of the electric motor 100 are respectively changed, and the rotation speed of the rotor of the plurality of electric motors 100 is controlled to the rotation speed command, and the torque of the rotor of the plurality of electric motors 100 is controlled to the torque command. By the forging press system 1 having the slider controller 12, the slider controller 12 can be used to control the reciprocating operation of the slider 106 of the forging press 10 according to the position and speed of the slider 106. In some embodiments, the slider controller 12 may have another position decoder (not shown) similar to the position decoder 110 to decode the movement information output by the pulse generator 102 by using the position decoder. Further, the position and speed of the slider 106 are obtained.

In some embodiments, when the forging press 10 is in operation, there is actually a one-time dynamic program and an automatic forging procedure, wherein the jog program is executed prior to the automatic forging procedure and is initiated by a manual operation for the slider control. The device 12 knows the position of the workpiece 2, in the jog program, the slider 106 of the forging press 10 is gradually moved downward by a starting point in a preparation area, and when the slider 106 is moved to a clamping mode Point, that is, when the slider 106 is initially in contact with the workpiece 2 to perform mold clamping and zeroing, at this time, since the speed of the slider 106 is changed from a negative value to a positive value (assuming that the direction in which the slider 106 moves downward represents a negative speed) The direction in which the slider 106 moves upwards represents a positive value. Therefore, the movement information outputted by the pulse generator 102 can reflect that the speed of the slider 106 is changed from a negative value to a positive value. At this time, the slider controller 12 Can judge the location of the workpiece 2 At the position, the slider controller 12 further drives the frequency converter 11 to control the motor 100 to pull up the slider 106, causing the slider 106 to move up and return to the starting point of the preparation area again to enter the automatic forging procedure. In the automatic forging procedure, since the slider controller 12 knows the position of the workpiece 2, the inverter 10 is driven to control the motor 100 according to the desired machining kinetic energy, so that the slider 106 performs the reciprocating processing operation.

Please refer to FIG. 4 and cooperate with FIG. 1 , wherein FIG. 4 is a control timing diagram of the forging press system shown in FIG. 1 in the automatic forging procedure. As shown in FIGS. 1 and 4, when the forging press 10 starts the automatic forging process at time ti, the mode control signal outputted by the slider controller 12 causes the frequency converter 11 to control the plurality of motors 100 to operate correspondingly. In the torque mode, the slider controller 12 further causes the frequency converter 11 to control the rotational speed of the rotor of the motor 100 at the planned set rotational speed Fx by the output rotational speed command, and allows the frequency conversion by the output torque command. The torque of the rotor of the motor 100 is controlled to be zero. For example, when the slider 106 is operated to approach the surface of the workpiece 2, the inverter 11 controls the torque of the rotor of the motor 100 by the torque command outputted. Zero, so the slider 106 gradually accelerates downward from the starting point of the preparation area in a similar free fall manner, and the slider 106 actually corresponds to the rotor of the plurality of motors 100 when descending from the starting point to the surface of the workpiece 2. The planned set speed Fx is moved to forge the workpiece 2.

After the slider 106 is forged by the workpiece at the time tr to the mold clamping point, since the slider controller 12 has previously obtained the position of the workpiece 2 in the jog program, it is at time tr to time t0. In the meantime, the slider controller 12 causes the inverter 11 to control the torque of the rotor of the motor 100 to be a maximum torque Tmax by the torque command outputted, so as to pull up after the workpiece 106 is forged by the slider 106. Slider 106, and between time tr and time t0, mode control of slider controller 12 output The signal still causes the frequency converter 11 to control the plurality of motors 100 to operate in the torque mode.

Between time t0 and time t1, since the slider 106 needs to be moved up at a relatively fast speed, thereby being able to quickly move toward the starting point of the preparation area, the mode control signal output by the slider controller 12 at this time is The frequency converter 11 controls a plurality of motors 100 to operate in the speed mode, and the slider controller 12 causes the frequency converter 11 to control the torque of the rotor of the motor 100 to be fixed to the set torque Tq by the torque command outputted. The slider 106 is continuously pulled up, and the slider controller 12 also causes the inverter 11 to control the rotation speed of the rotor of the motor 100 to be raised from the set rotation speed Fx to the first rotation speed F1 by the output rotation speed command, so that the slider 106 moves up. The speed is gradually increased, wherein the first rotational speed F1 is greater than the fixed rotational speed Fx.

When the slider 106 has moved to the preparation area but has not yet reached the starting point, the movement information output by the pulse generator 102 at this time is that the reaction slider 106 has moved into the preparation area, that is, at time t1, at this time The slider 106 has entered the preparation area and approaches the starting point, so the speed of the slider 106 needs to be slowed down. Therefore, the slider controller 12 further causes the frequency converter 11 to control the rotation speed of the rotor of the motor 100 by the output speed command. The first rotation speed F1 is reduced to the second rotation speed F2, so that the upward movement speed of the slider 106 is gradually slowed down, wherein the second rotation speed F2 is smaller than the fixed rotation speed Fx and the first rotation speed F1.

When the movement information reaction slider 106 outputted by the pulse generator 102 has moved from the time t1 to the time t2 and has moved to the preparation area and is close to the starting point, the slider 106 is ready to return to the starting point. Therefore, the speed of the slider 106 needs to be slowed down, so that the slider 106 can be accurately moved to the starting point, so the slider controller 12 causes the frequency converter 11 to control the motor 100 by the output speed command at time t2. The rotation speed of the rotor is reduced from the second rotation speed F2 to the third rotation speed F3, so that the upward movement speed of the slider 106 is gradually slowed down, wherein the third rotation speed F3 is smaller than the fixed rotation speed Fx, A speed F1 and a second speed F2. At time t3, the slider 106 has moved to the starting point and continues the next forging action.

Please refer to Fig. 5 and Fig. 4, wherein Fig. 5 is a flow chart showing the steps of the control method of the forging press system shown in Fig. 1. As shown in Fig. 5, it can be seen from the above that the control method of the forging press system 1 of the present invention first performs step S1, and executes a jog program to move the slider 106 from the starting point of the preparation area to the contact workpiece 2. The mold is returned to zero and returned to the starting point again, whereby the slider controller 12 can use the movement information outputted by the pulse generator 102 to derive the position of the workpiece 2. then. Step S2 is executed to execute an automatic forging procedure, and the mode control signal output by the slider controller 12 causes the frequency converter 11 to control the plurality of motors 100 to operate in the torque mode, and the slider controller 12 further outputs the output speed. The inverter 11 is controlled to command the inverter 11 to drive and control the rotor of the motor 100, whereby the rotational speed of the rotor of the plurality of motors 100 is controlled to the planned set rotational speed Fx, and when the slider 106 is operated to approach the workpiece When the surface of 2 is on, the slider controller 12 controls the frequency converter 11 to drive the output torque of the plurality of motors 100 to zero by the torque command output, so that the slider 106 descends from the starting point to the workpiece 2. The speed at the surface is forged by the set rotational speed Fx planned for the rotors of the plurality of motors 100. Then, in step S3, after the moving information reaction slider 106 is moved to the position of the workpiece 2 and the workpiece 2 is forged, the slider controller 12 causes the inverter 11 to control the motor 100 by the torque command outputted. The torque of the rotor is the maximum torque Tmax to pull up the slider 106 after the slider 106 has forged the workpiece 2. Next, step S4 is executed. When the slider 106 is pulled up, the mode control signal output by the slider controller 12 causes the frequency converter 11 to control the plurality of motors 100 to operate in the speed mode, and the slider controller 12 outputs the signal. The torque command causes the frequency converter 11 to control the torque of the rotor of the motor 100 to be fixed. The torque Tq is set to continuously pull up the slider 106, and the slider controller 12 further causes the inverter 11 to control the rotation speed of the rotor of the motor 100 to be increased from the set rotation speed to the first rotation speed F1 by the output rotation speed command. The upward movement speed of the slider 106 is gradually increased. Then, step S5 is executed, when the moving information reaction slider 106 moves up to the preparation area and is outside a set distance from the starting point, the slider controller 12 further causes the frequency converter 11 by the output speed command. The rotation speed of the rotor of the control motor 100 is lowered from the first rotation speed F1 to the second rotation speed F2, and the upward movement speed of the slider 106 is slowed down. Finally, in step S6, when the mobile information reaction slider 106 has moved into the preparation area and is within a set distance from the starting point, the slider controller 12 causes the frequency converter 11 to control the motor by the output speed command. The rotational speed of the rotor of 100 is reduced from the second rotational speed F2 to the third rotational speed F3, causing the upward velocity of the slider 106 to slow down again and move to the starting point.

The values of the set rotational speed Fx, the first rotational speed F1, the second rotational speed F2, the third rotational speed F3, the set torque Tq, and the maximum torque Tmax are pushed by the position decoder 110 and the arithmetic unit 111 in the inverter 11. After the number and position of the plurality of motors 100 are obtained, the inverter 11 adjusts and sets according to the number and position of the plurality of motors 100.

Please refer to Fig. 6, which is a schematic structural view of another modification of the forging press system shown in Fig. 1. As shown in FIG. 6, in some embodiments, the frequency converter 11 can have a slider controller 40 instead of the slider controller 12 shown in FIG. 1, and the slider controller 40 is coupled to the motor controller 113. And the position decoder 110 is coupled to, and is not limited to, a programmable logic controller, which receives the decoding information output by the position decoder 110 to obtain the position and speed of the slider 106, and according to the slider. The position and speed of 106 output mode control signals to the motor controller 113, so that the motor controller 113 controls the inverter according to the mode control signal. 112 operates thereby controlling a plurality of motors 100 to operate in a speed mode or a torque mode. In addition, the slider controller 12 further outputs a rotation speed command and a torque command to the motor controller 113 of the inverter 11 according to the position and speed of the slider 106. When the motor controller 113 controls the inverter 112 according to the mode control signal, When the plurality of motors 100 are operated in the rotational speed mode, the motor controller 113 controls the inverter 112 to adjust the magnitude of the output electrical energy according to the rotational speed command, so that the rotational speeds of the rotors of the plurality of motors 100 are controlled at the rotational speed command, and when the frequency converter 11 When the plurality of motors 100 are operated in the torque mode according to the mode control signal, the motor controller 113 controls the inverter 112 to adjust the magnitude of the output electric energy according to the rotation speed command, so that the torque of the rotors of the plurality of motors 100 is controlled to the torque. instruction. In this embodiment, since the slider controller 40 is disposed in the inverter 11, the slider controller 40 and the inverter 11 transmit signals and commands in an internal communication manner, and thus, Compared with the slider controller 12 of FIG. 1 , the slider controller 12 is disposed outside the inverter 11 , so that the slider controller 12 and the inverter 11 transmit signals and commands in an external communication manner, as shown in FIG. 6 . The command or signal error caused by the external transmission interference can be reduced between the slider controller 40 and the frequency converter 11, and since the external circuit is not required to connect the slider controller 40 and the frequency converter 11, the cost of the forging press system 1 can be reduced. reduce.

In summary, the present invention provides a frequency converter and a suitable forging machine system and control method thereof, wherein the frequency converter can decode and calculate the movement information output by the pulse generator by using the position decoder and the operation unit, The position and speed of the slider pushes the speed and position of a plurality of motors, and accordingly adjusts the output power of the inverter. Therefore, the inverter not only controls the speed and torque of a plurality of motors by the magnetic field guiding control mode, but also improves the frequency conversion. The controller controls the accuracy and robustness of a plurality of motors. In addition, since the inverter of this case does not need to reuse the motor The encoder can know the speed and position of the motor, so the operation of the inverter in this case is relatively simple, and the cost of the forging system is also reduced. What's more, the inverter in this case actually controls the magnetic field by the speed and position of a plurality of motors and the equivalent impedance of a plurality of motors. Therefore, the forging press system of this case can control the forging press with a single frequency converter. Multiple motors are used to reduce production costs.

This case has to be modified by people who are familiar with this technology, but they are not modified. Remove as intended from the scope of the patent application.

1‧‧‧Forging press system

10‧‧‧Forging press

100‧‧‧ motor

101‧‧‧Transmission mechanism

102‧‧‧ pulse generator

103‧‧‧First gear

104‧‧‧second gear

105‧‧‧ screw

106‧‧‧ Slider

11‧‧‧Inverter

110‧‧‧ position decoder

111‧‧‧ arithmetic unit

112‧‧‧Inverter

113‧‧‧Motor controller

2‧‧‧Processing

12‧‧‧ Slider controller

Claims (10)

A frequency converter is applied to a forging press system, wherein the forging press system has a forging press, the forging press comprising a plurality of motors, a transmission mechanism and a pulse generator, wherein the plurality of motors are driven by the inverter Driving, and driving the transmission mechanism to rotate a gear set of the transmission mechanism to drive a slider of the transmission mechanism to reciprocate to forge a workpiece, the pulse generator is used for detecting The position of the slider is changed to output a movement information, and the inverter comprises: an inverter coupled to the plurality of motors for outputting electric energy to drive the plurality of motors to operate; a position decoder And the pulse generator is coupled to decode the movement information to obtain the position and speed of the slider, and correspondingly output a decoding information; an operation unit is coupled to the position decoder, and preset Parameter setting of a transmission relationship between the gear set and the slider for calculating the decoded information by using the parameter setting to obtain the plurality of a rotation speed and a position of the motive, and corresponding to outputting an operation information; and a motor controller coupled to the operation unit and the inverter for controlling operation of the plurality of motors, and the motor controller receives the Calculating information, and performing magnetic field guiding control according to the rotation speed and position of the plurality of motors provided by the operation information and matching the equivalent impedance values of the plurality of motors, so that the torque and the rotation speed of the plurality of motors are controlled in a slip The block controller is given the command. The frequency converter of claim 1, wherein the transmission mechanism comprises: The gear set includes a plurality of first gears and a second gear, wherein the plurality of first gear trains are coupled to the plurality of motors and are rotated by the corresponding motor, the second gear train and the plurality The first gears are coupled to each other and are synchronously rotated by the plurality of first gears; and a screw, one end of the screw is disposed on the second gear, and the screw is provided for the slider, the screw system The second gear is driven to rotate synchronously, so that the slider performs a reciprocating operation of up-and-down displacement on the screw. The frequency converter of claim 2, wherein the transmission relationship between the gear set and the slider in the parameter setting is a reduction ratio between the gear set and the slider, and the operation unit is The decoded information is divided by the reduction ratio to obtain the rotational speed and position of the plurality of motors. The frequency converter of claim 1, wherein the frequency converter further has the slider controller coupled to the motor controller and the position decoder for receiving the decoding information to obtain the sliding Position and speed of the block, and output a mode control signal to the motor controller according to the position and speed of the slider, so that the plurality of motors operate in a speed mode or a torque mode, and the slider controller is further Outputting a rotational speed command and a torque command to the motor controller according to the position and speed of the slider, and when the plurality of motors are operated in the rotational speed mode, the motor controller controls the inverter according to the rotational speed command Adjusting the magnitude of the output electric energy, so that the rotation speed of the rotors of the plurality of motors is controlled by the rotation speed command, and when the plurality of electric motors are operated in the torque mode, the motor controller controls the inverter to adjust the output according to the rotation speed command The magnitude of the electrical energy is such that the torque of the rotor of the plurality of motors is controlled by the torque command. A forging press system comprising: a forging press comprising a plurality of electric motors, a transmission mechanism and a pulse production The plurality of motors are driven by an inverter, and are used to drive the transmission mechanism to rotate a gear set of the transmission mechanism to drive a slider of the transmission mechanism to reciprocate to work on a workpiece Forging, the pulse generator is configured to detect a change in position of the slider to output a movement information; wherein the inverter for driving the plurality of motors further comprises: an inverter, and the a plurality of motors coupled to output electrical energy to drive the plurality of motors to operate; a position decoder coupled to the pulse generator for decoding the movement information to obtain a position and velocity about the slider, and Corresponding to outputting a decoding information; an arithmetic unit is coupled to the position decoder, and presets a parameter setting about a transmission relationship between the gear set and the slider, and uses the parameter setting to perform the decoding information Calculating to obtain the rotation speed and position of the plurality of motors, and outputting an operation information correspondingly; and a motor controller, the operation unit and the inverter Coupling, for controlling the operation of the plurality of motors, and the motor controller receives the operation information, and according to the operation information, the speed and position of the plurality of motors and the equivalent impedance of the plurality of motors The value is subjected to magnetic field steering control such that the torque and speed of the plurality of motors are controlled by a command given by a slider controller. The forging press system of claim 5, wherein the forging press system further comprises the slider controller, and the inverter is independently disposed in the forging press system, and the inverter and the pulse are generated. The slider controller is configured to receive the decoding information to obtain the position and speed of the slider, and output a mode control signal to the frequency converter according to the position and speed of the slider, so that the frequency converter controls The plurality of motors are operated in a speed mode or a torque mode, and the slider controller is further based on The position and speed of the slider output a speed command and a torque command to the frequency converter. When the plurality of motors are operated in the speed mode, the frequency converter controls the inverter to adjust the output power according to the speed command. The size of the rotor of the plurality of motors is controlled by the speed command. When the plurality of motors are operated in the torque mode, the inverter controls the inverter to adjust the output power according to the speed command. The torque of the rotor of the plurality of motors is controlled to the torque command. The forging press system of claim 5, wherein the frequency converter further has the slider controller coupled to the motor controller and the position decoder for receiving the decoding information to obtain the a position and a speed of the slider, and outputting a mode control signal to the motor controller according to the position and speed of the slider, causing the plurality of motors to operate in a speed mode or a torque mode, and the slider controller Further outputting a rotational speed command and a torque command to the motor controller according to the position and speed of the slider, and when the plurality of motors are operated in the rotational speed mode, the motor controller controls the inverter according to the rotational speed command Adjusting the magnitude of the output electrical energy, so that the rotational speed of the rotor of the plurality of motors is controlled by the rotational speed command, and when the plurality of electric motors are operated in the torque mode, the motor controller controls the inverter to adjust according to the rotational speed command The magnitude of the output electrical energy is such that the torque of the rotor of the plurality of motors is controlled by the torque command. A control method is applied to a forging press system, wherein the forging press system has a forging press and a slider controller, and the forging press has a plurality of motors and a pulse generator, and the plurality of motors are An inverter is driven to drive a slider of the forging press to perform a reciprocating operation to forge a workpiece, and the pulse generator is configured to detect a position change of the slider to output a movement information correspondingly The slider controller and the inverter know the position and speed of the slider via the movement information, and the inverter further estimates the plurality of motors via the movement information. The rotation speed and the position, the control method comprises: performing a one-time moving process, moving the slider from a starting point of a preparation area to contacting the workpiece to perform mold clamping to zero, and returning to the starting point again, borrowing Causing the slider controller to derive the position of the workpiece via the movement information; performing an automatic forging procedure, and the slider controller controls the inverter to drive the rotor of the plurality of motors to make the rotor of the plurality of motors The rotational speed is controlled at a set rotational speed, and when the slider is operated to approach the surface of the workpiece, the slider controller controls the frequency converter to drive the output torque of the plurality of motors to zero, so that the slip The speed at which the block descends from the starting point to the surface of the workpiece is forged according to the set rotational speed planned by the rotors of the plurality of motors; when the movement information reflects the movement of the slider to the workpiece After the workpiece is forged and processed, the slider controller drives the inverter to control the torque of the rotor of the plurality of motors to a maximum torque, and the workpiece is Pulling the slider after press working; when the slider is pulled up, the slider controller drives the frequency converter to control the torque of the rotor of the plurality of motors to be fixed to a set torque, so as to continuously pull up the slider And the slider controller drives the frequency converter to control the rotation speed of the rotor of the plurality of motors to be increased to a first rotation speed, so that the upward movement speed of the slider is gradually increased; when the movement information reflects that the slider moves up to the When the preparation area is outside the set distance from the starting point, the slider controller drives the frequency converter to control the rotation speed of the rotor of the plurality of motors to be reduced to a second rotation speed, so that the slider moves upward speed is slowed down. And when the movement information reflects that the slider has moved into the preparation area and is within the set distance from the starting point, the slider controller drives the frequency converter to control the rotation speed of the rotor of the plurality of motors to be reduced to a third speed, causing the slider to move up again Slowly moving to the starting point; wherein the set speed, the first speed, the second speed, the third speed, the set torque, and the maximum torque are determined by the inverter according to the plurality of The setting of the motor speed and position. The control method of claim 8, wherein the forging press further comprises a transmission mechanism, the transmission mechanism comprising a gear set and the slider, the gear set being rotated by the plurality of motors to rotate The slider is driven to reciprocate. The control method of claim 9, wherein the inverter comprises: an inverter coupled to the plurality of motors for outputting electrical energy to drive the plurality of motors to operate; a position decoder And the pulse generator is coupled to decode the movement information to obtain the position and speed of the slider, and correspondingly output a decoding information; an operation unit is coupled to the position decoder, and preset Parameter setting of a transmission relationship between the gear set and the slider for calculating the decoding information by using the parameter setting to obtain a rotation speed and a position of the plurality of motors, and outputting an operation information correspondingly; a motor controller coupled to the arithmetic unit and the inverter for controlling operation of the plurality of motors, wherein the motor controller receives the operation information and provides the plurality of pieces according to the operation information The rotational speed and position of the motor and the equivalent impedance value of the plurality of motors are used for magnetic field steering control, so that the torque and the rotational speed of the plurality of motors are controlled On the instruction given by the slider controller.