TWM609739U - Actuating apparatus - Google Patents

Abstract

An actuating apparatus includes an alternative current (AC) motor and a driver. The AC motor receives a driving voltage. The driver switches between a first mode and a second mode according to a command signal, and generates a torque command according to a mechanical command. The driver generates a current voltage command according to the torque command, a setting magnetic flux, a setting voltage margin and a previous voltage command, and generates the driving voltage according to the current voltage command. In the first mode, the driver sets the setting voltage margin to a first voltage margin according to the command signal, and generates the setting magnetic flux according to the mechanical command and a rotating velocity information of the AC motor. In the second mode, the driver sets the setting voltage margin to a second voltage margin according to the command signal. The setting magnetic flux equals a rated magnetic flux.

Description

Actuation device

The present invention relates to an actuating device, and in particular to an actuating device that can improve performance and efficiency.

In the past energy-saving control of induction motors, most of the operating points of the motor were calculated in different ways, and the switching of the control mode was not adjusted for different use environments and in the process of processing. Therefore, the applicable environment will be limited, and may only be applicable to no-load or low-load environments. If there is a light load but a high-precision environment is required during the entire operation, it will not provide the best response due to the low operating magnetic flux. In addition, in the design of voltage margin, in the past, there was no method for switching the voltage margin during processing. Therefore, in order to have good acceleration and deceleration performance, the voltage margin is usually set lower. However, if finishing processing is required at this time, the upper limit of the voltage will be easily reached due to insufficient voltage margin, resulting in poor stability.

In the past, the upper controller gave instructions to control the energy-saving function of patents, mostly applied to multiple workpiece processing, or multiple processing steps. For example, part of the motor is in certain processing steps, the original standby state is changed to insert a power-off instruction before the start of the standby, and restart until the need to start processing, in order to save energy consumption during standby, but Such an approach cannot save energy during the processing operation.

In view of this, the present invention provides an actuating device that can dynamically switch between different modes during processing while improving performance, energy saving, and stability.

The actuating device of the present invention includes an AC motor and a driver. The AC motor receives the driving voltage. The driver drives an AC motor. The driver switches between the first mode and the second mode according to the command signal, and generates a torque command according to the mechanical command. The driver generates a current voltage command according to the torque command, setting the magnetic flux, setting the voltage margin, and the previous voltage command, and generates the driving voltage according to the current voltage command. Wherein, in the first mode, the driver is used to: set the first voltage margin as the set voltage margin according to the command signal, and generate the set magnetic flux according to the mechanical command and the rotational speed information of the AC motor. Wherein, in the second mode, the driver is used to: set the second voltage margin as the set voltage margin according to the command signal. The first voltage margin is smaller than the second voltage margin, and the set magnetic flux is equal to the rated magnetic flux.

Based on the above, the actuation device proposed by the present invention can control the driver to switch between the first mode and the second mode according to the command signal by setting the AC motor and the driver, and then generate the torque command according to the mechanical command, and set the magnetic force according to the torque command. Turn on, set the voltage margin and the previous voltage command to generate the current voltage command, and generate a driving voltage according to the current voltage command to drive the AC motor. The switching of control modes can be adjusted instantly in different processing environments to effectively improve performance, energy saving and stability.

In order to make the above-mentioned features and advantages of the new creation more obvious and understandable, the following specific examples are given in conjunction with the accompanying drawings to describe in detail as follows.

Please refer to FIG. 1. FIG. 1 is a schematic diagram of a system of an actuating device according to an embodiment of the present invention. In FIG. 1, the actuating device 100 includes a driver 101 and an AC motor 102. In this embodiment, the actuating device 100 can be coupled to an external host. The external host is used to control the actuating device 100 to perform processing control actions. The AC motor 102 of this embodiment may be an induction motor.

In this embodiment, the external host can be a host controller or an external device with input and output functions, and there is no fixed limit. The driver 101 can be an arithmetic unit with computing capability, such as a central processing unit (CPU), or other programmable general-purpose or special-purpose microprocessors, digital signal processors (Digital Signal Processors). Signal Processor, DSP), programmable controller, application specific integrated circuit (Application Specific Integrated Circuits, ASIC), programmable logic device (Programmable Logic Device, PLD) or other similar devices or a combination of these devices, which can be Load and execute the computer program to complete the corresponding operation function. In an embodiment, the driver can also implement various operating functions by means of a hardware circuit. The detailed steps and implementation manners of the driver can obtain sufficient teaching, suggestion, and implementation description from common knowledge in the technical field.

Regarding the operation mode of the actuating device 100 of this embodiment, please refer to FIG. 1 and FIG. 2 at the same time. FIG. 2 shows an action flow chart of the actuating device of the creative embodiment of the present invention. In this embodiment, steps S210 and S220 may be performed by an external host, steps S230 to S250 are performed by the driver 110, and step S260 is performed by the AC motor 102.

In step S210, the external host starts to execute the processing operation of the load. The external host sends the command signal CS and the mechanical command Cmd to the driver 101 in step S220.

In this embodiment, the command signal CS can be provided by an external electronic device. The command signal CS may be a mode switching command provided by an input/output (I/O) function of an external host. In other embodiments, the command signal CS may be a machining command (such as G/M code) in a computer numerical control software (CNC). The mechanical command Cmd can be a speed command, a position command, an acceleration command, etc. or other commands related to the motion of the motor. The signal transmission interface can be any input interface, and there is no fixed limit.

In this embodiment, in step S230, the driver 101 can switch the operating mode between the first mode and the second mode according to the command signal CS. The first mode and the second mode can be respectively a smart energy-saving mode and a refined mode.

Incidentally, the driver 101 of the creative embodiment of the present invention can also work in other modes, and is not limited to only the above two modes. For example, the driver 101 can also work in the normal mode (third mode) according to the command signal CS, where the power consumption of the actuating device 100 in the smart energy-saving mode can be lower than that in the smart energy-saving mode under the same rotation speed information of the AC motor 102 Power consumption in normal mode.

In the smart energy-saving mode, the driver 101 uses step S241 to set the voltage margin to the first voltage margin according to the command signal CS, and generates a torque command according to the mechanical command Cmd, and then generates a torque command based on the torque command and the rotational speed information of the AC motor 102 Set the magnetic flux.

In the finishing mode, the driver 101 uses step S242 to set the set voltage margin to the second voltage margin according to the command signal CS, and set the set magnetic flux to the rated magnetic flux.

In this embodiment, in step S250, the driver 101 calculates and generates a driving voltage Vout, and then outputs the driving voltage Vout to the AC motor 102. In step S260, the AC motor 102 will operate according to the driving voltage Vout output by the driver 101.

In this embodiment, under the same rotation speed information of the AC motor 102, the power consumption of the actuating device 100 in the smart energy-saving mode can be lower than the power consumption in the refined mode.

The detailed process of the driver 101 generating the driving voltage Vout will be described in detail in the subsequent implementation method.

In this embodiment, the actuating device 100 can also select a suitable processing mode according to the requirements of various processing situations. Please refer to Table 1 below. Table 1 shows the applicable processing modes under different loads and different processing application scenarios according to the needs of various scenarios. Wherein, when the actuating device 100 executes the cutting action of the object, the light load means the situation where the external force is small, such as a lighter cutting force, and the heavy load means the situation where a larger cutting force is required, and the like. When doing rough machining, you can use the smart energy-saving mode to reduce unnecessary excitation current at light load to achieve energy-saving effect, and at heavy load, you can increase the AC motor 102's power by reducing the set voltage margin. Acceleration and deceleration performance. In contrast, when the load is light and the finishing process is performed, the finishing mode can be used to provide sufficient margin for the set voltage and improve the stability of the AC motor 102 operation. Among them, the classification of accuracy and load in Table 1 is only an example, and it is not necessary to limit the scope of implementation of the creation of the new model. Precision load roughing finishing Light load / no load Smart energy saving mode Refinement mode Overload Smart energy saving mode - Table 1

Please note that in this embodiment, the actuating device 100 can switch between the above-mentioned smart energy-saving mode and the refined mode during processing. For example, in one embodiment, the original processing flow is to perform horizontal rough turning processing (rough processing) first, and then perform finishing processing again. If the implementation method of the new creation is adopted, the smart energy-saving mode can be selected before starting the processing to the finishing processing. During rough machining, since the set voltage margin can be adjusted to a lower level, the AC motor 102 can have better acceleration and deceleration performance during operation, and can save power consumption and achieve the effect of energy saving. Then, before performing finishing, the actuating device 100 may receive the command signal CS to switch to the finishing mode. During the finishing process, since the set voltage margin can be increased and the AC motor 102 can be controlled to work at a rated operating point, the AC motor 102 can have a higher stability during operation to meet the requirements of finishing. Finally, after finishing finishing, the actuating device 100 can also receive the command signal CS again to switch back to the smart energy-saving mode.

From the above description, it can be known that the actuating device 100 of the creative embodiment of the present invention can be switched between the smart energy-saving mode and the refined mode according to actual processing requirements, and can save power consumption and improve processing performance. And the effect of improving the working stability of the AC motor 102, effectively improving the overall efficiency of the system.

For the operation details of the smart energy-saving mode in the embodiment of Fig. 2 of the present invention, please refer to Fig. 3A. FIG. 3A is a schematic diagram of the action of the smart energy-saving mode according to an embodiment of the new creation. In FIG. 3A, the external host 303_1 is used to send the command signal CS and the mechanical command Cmd to the driver 301_1, and the driver 301_1 is used to send the driving voltage Vout to drive the AC motor 302_1.

In this embodiment, the driver 301_1 will set the voltage margin to the first voltage margin VL according to the command signal CS, and generate the rotational speed error information Verr according to the mechanical command Cmd and the rotational speed information of the AC motor 302_1. In this implementation method, the mechanical command Cmd may be a speed command.

On the other hand, the first voltage margin VL may be the difference between the maximum driving voltage that the driver 301_1 can apply to the AC motor 302_1 and the voltage value that the driver 301_1 determines to enter the field weakening control. When the mechanical command Cmd is a speed command, the rotational speed error information Verr may be the difference between the mechanical command Cmd and the current rotational speed information of the AC motor 302_1. When the mechanical command Cmd is a position command, the speed error information Verr can be the difference between the position command and the position feedback, and the speed command obtained after calculation.

以及扭力軸電流資訊Iq。在本實施方法中，設定磁通

可以為節能磁通。 The driver 301_1 generates a torque command Tcmd according to the rotational speed error information Verr, and then generates a set magnetic flux according to the torque command Tcmd

And torque shaft current information Iq. In this implementation method, set the magnetic flux

Can be energy-saving magnetic flux.

產生激磁軸電流資訊Id，並依據激磁軸電流資訊Id與扭力軸電流資訊Iq可產生目前電壓命令Vdq(t1)。 At the first time point t1, the driver 301_1 will set the magnetic flux according to the first voltage margin VL

Generate excitation axis current information Id, and generate current voltage command Vdq(t1) based on excitation axis current information Id and torque axis current information Iq.

Then, at a second time point t2 afterwards, the voltage command Vdq(t1) becomes the previous voltage command. At this time, the driver 301_1 generates the current voltage command Vdq(t2) according to the excitation shaft current information Id, the torque shaft current information Iq, and the previous voltage command Vdq(t1).

On the other hand, taking the second time point t2 as an example, the driver 301_1 can determine whether the current voltage command Vdq(t2) is greater than the maximum driving voltage that the driver 301_1 can apply to the AC motor 302_1, and at the current voltage command Vdq(t2) When) is greater than the maximum driving voltage, make the current driving voltage Vout the maximum driving voltage.

In this embodiment, the driver 301_1 generates the driving voltage Vout according to the current voltage command Vdq(t2), and is used to drive the AC motor 302_1. Incidentally, the driver 301_1 can compare the current voltage command Vdq(t2) with the maximum driving voltage of the driver 301_1 to generate the driving voltage Vout. On the other hand, the driver 301_1 can select the smaller voltage value between the current voltage command Vdq(t2) and the maximum driving voltage of the driver 301_1 as the driving voltage Vout.

In this embodiment, when the actuating device 100 is in a light-load processing situation, the driver 301_1 can be switched to the smart energy-saving mode, so that the AC motor 302_1 can work at different speeds with energy-saving effects. For example, the rotation speed of AC motor 302_1 can be set at 150~6000 revolutions (RPM). When the drive 301_1 is switched to the smart energy-saving mode, the value of the working current of AC motor 302_1 can be reduced by 44%~91% compared with the normal mode. The value can be reduced by 63%~91% compared with the normal mode, and the value of the working power can also be increased by 80%~99% compared with the normal mode, which can successfully achieve the effect of energy saving.

為額定磁通。值得注意的是，在精修模式下，額定磁通與力學命令Cmd無關。在本實施例中，力學命令Cmd可以為速度命令，第二電壓裕度VH可以為一相對高的電壓裕度（第二電壓裕度VH ＞ 第一電壓裕度VL）。其餘實施方法可參照圖3A的動作說明，於此不另贅述。在本實施例中，因為可以將驅動器301_2的設定電壓裕度提高，可以以使交流馬達302_2在工作時有較好的穩定性。 Please refer to Figure 3B for details of the action of the refined mode in the implementation method of Figure 1 of the present invention. FIG. 3B is a schematic diagram showing the action of the refined mode of an embodiment of the new creation. 3B and FIG. 3A have a similar operation flow. The difference is that in this embodiment, the driver 301_2 sets the voltage margin to the second voltage margin VH according to the command signal CS, and generates the rotational speed error information Verr according to the mechanical command Cmd. , And make the set magnetic flux

It is the rated magnetic flux. It is worth noting that in the finishing mode, the rated magnetic flux has nothing to do with the mechanical command Cmd. In this embodiment, the mechanical command Cmd may be a speed command, and the second voltage margin VH may be a relatively high voltage margin (second voltage margin VH> first voltage margin VL). For other implementation methods, please refer to the action description of FIG. 3A, which will not be described in detail here. In this embodiment, because the setting voltage margin of the driver 301_2 can be increased, the AC motor 302_2 can have better stability during operation.

Regarding the selection of the setting voltage margin when the above-mentioned actuating device works in the smart energy-saving mode and the refined mode, please refer to FIG. 4A and FIG. 4B at the same time. 4A and 4B show the action waveform diagrams of the actuating device according to different embodiments of the present invention.

Please refer to Figure 4A. In FIG. 4A, the driver has a maximum driving voltage V3. When the AC motor is working under the condition of high voltage margin, the working voltage is as shown in the waveform 401. When the AC motor is working under the condition of low voltage margin, the working voltage is as shown in the waveform 402.

When the waveform 401 and the waveform 402 reach the time t1, the AC motor will reach the rated speed. According to the waveform 401 (under the condition of high voltage margin), the working voltage is maintained at the working voltage V1 after the time t1. According to the waveform 402 (under the condition of low voltage margin), the voltage saturation is reached at time t2, and the working voltage remains at the working voltage V2 after time t2. Wherein, the working voltages V1 and V2 are all less than the maximum driving voltage V3, and the working voltage V1<the working voltage V2. Since the working voltage V2>the working voltage V1, after the time t1, the low voltage margin will have a better acceleration. For example, the low voltage margin can reach the maximum speed at time t3, while the high voltage margin will have to be time The maximum speed can be reached at t4, where the time point at which time t3 occurs is earlier than time t4.

Please note that in this embodiment, under the premise that the operating voltage of the AC motor will be stable during acceleration, the waveform 401 has a relatively high voltage margin relative to the waveform 402 under the premise that the operating voltage V1 <the operating voltage V2 .

Please refer to FIG. 4A and FIG. 4B at the same time. Fig. 4B is the operating point after time t2 in Fig. 4A. Waveform 403 and waveform 404 are the voltage waveform changes when subjected to external disturbance. Waveform 403 shows that when the AC motor is working under the condition of high voltage margin, and the AC motor is maintained at the rated value At the highest speed, its working voltage is V4. The waveform 404 shows that when the AC motor is operating under a low voltage margin condition and the AC motor is maintained at the rated maximum speed, its operating voltage is V5. In the fine-tuning mode, because the voltage margin is higher, when the external force is disturbed, it will not be restricted by the upper voltage limit (V3), and there can be enough voltage for correction; while the low voltage margin is easy to achieve The maximum voltage of the drive is limited.

Therefore, based on the above-mentioned control embodiments of the smart energy-saving mode and the refined mode, the actuating device created by the present invention can switch the working mode between the smart energy-saving mode and the refined mode according to the command signal and mechanical command sent by the external host. In the smart energy-saving mode, the set voltage margin of the driver can be adjusted to a low voltage margin, so that the AC motor has better acceleration and deceleration performance during operation. On the other hand, the torque command can be generated according to the mechanics command to determine the set magnetic flux for the best efficiency control, which can reduce unnecessary losses caused by the excitation current under light load, and at the same time achieve the effect of improving performance and energy saving. In the fine-tuning mode, the set voltage margin of the driver can be adjusted to a high voltage margin to reduce the voltage when entering the field weakening control, so that the AC motor has better stability during operation, and when it is interfered by the outside world, It will not be affected by the maximum driving voltage of the driver. On the other hand, before the drive voltage of the driver reaches saturation, the magnetic flux can be set to the rated magnetic flux to control the AC motor under the rated excitation current, so that the AC motor has a better working response.

Please refer to Figure 5. FIG. 5 shows a block diagram of a driving method according to an embodiment of the new creation. The driving method can be realized by the aforementioned actuating device. In step S510, the actuating device receives the command signal and the force command. And in step S520, the operating mode can be switched between the first mode and the second mode according to the command signal.

In this implementation method, in step S520, when switching to the first mode according to the command signal, step S530 is entered, and step S530 includes step S531 and step S532. In step S531, the set voltage margin may be the first voltage margin, and in step S532, the set magnetic flux is generated according to the mechanical command and the rotational speed information of the AC motor.

In this implementation method, in step S520, when switching to the second mode according to the command signal, the process proceeds to S540, and step S540 includes step S541 and step S542. In step S541, the set voltage margin may be the second voltage margin, and in step S542, the set magnetic flux may be the rated magnetic flux.

After step S530 or step S540 is executed, step S550 is entered to generate a torque command according to the mechanics command. And in step S560, the current voltage command is generated according to the torque command, the set magnetic flux, the set voltage margin, and the previous voltage command. Finally, in step S570, a driving voltage for driving the AC motor is generated according to the current voltage command.

The implementation details of the foregoing steps have been described in detail in the foregoing embodiments, and will not be repeated here.

In summary, the actuating device proposed in the present invention can be applied to induction motors and different processing scenarios through the open switch control mode driver, so that the external device can dynamically switch between smart energy-saving mode and precision during processing. Repair mode. Among them, the smart energy-saving mode can reduce the set voltage margin, and has good acceleration and deceleration performance. Applied to different loads, it can also reduce the set magnetic flux to save energy. When used in transient heavy load and acceleration/deceleration requirements, the flux control operation can also be adjusted and set to exceed the rated point of the motor, and there is lower loss. In contrast, the fine-tuning mode can increase the margin of the set voltage and can be used in low-load and high-stability environments. Therefore, the actuating device and the driving method proposed by the present invention can dynamically switch the above-mentioned two driving modes, which can simultaneously improve the performance, energy saving and stability of the processing action.

Although the creation of this new type has been disclosed in the above embodiments, it is not intended to limit the creation of this new type. Anyone with ordinary knowledge in the technical field can make some changes and changes without departing from the spirit and scope of the creation of the new type. Retouching, so the scope of protection of the creation of this new model shall be subject to the scope of the attached patent application.

:設定磁通100: Actuating device 101, 301_1, 301_2: Driver 102, 302_1, 302_2: AC motor 303_1, 303_2: External host 401~404: Waveform CS: Command signal Cmd: Mechanical command Id, Iq: Current information S210~S260, S510 ~S570: Steps t1~t4: Time Tcmd: Torque command V1~V5, Vout: Voltage Vdq(t1), Vdq(t2): Voltage command Verr: Speed error information VH, VL: Voltage margin

: Set magnetic flux

FIG. 1 is a schematic diagram of the system of the actuating device according to an embodiment of the invention. Fig. 2 shows an action flow chart of the actuating device of the creative embodiment of the present invention. FIG. 3A is a schematic diagram of the action of the smart energy-saving mode according to an embodiment of the new creation. FIG. 3B is a schematic diagram showing the action of the refined mode of an embodiment of the new creation. 4A and 4B show the action waveform diagrams of the actuating device according to different embodiments of the present invention. FIG. 5 shows a block diagram of a driving method according to an embodiment of the new creation.

100: Actuating device

101: drive

102: AC motor

Vout: voltage

CS: Command signal

Cmd: Mechanics command

Claims (6)

An actuating device includes: An AC motor, receiving a driving voltage; A driver drives the AC motor, the driver switches between a first mode and a second mode according to a command signal, generates a torque command according to a mechanical command, and generates a torque command according to the torque command, a setting magnetic flux, and a setting Voltage margin and a previous voltage command to generate a current voltage command, and generate the driving voltage according to the current voltage command, Wherein, in the first mode, the driver is used to: Setting a first voltage margin as the set voltage margin according to the command signal; and Generate the set magnetic flux according to the mechanical command and the rotational speed information of the AC motor; Wherein, in the second mode, the driver is used to: Setting a second voltage margin as the set voltage margin according to the command signal, wherein the first voltage margin is smaller than the second voltage margin; and Make the set magnetic flux equal to a rated magnetic flux. The actuating device according to claim 1, wherein the driver is used for generating a rotational speed error information according to the mechanical command and rotational speed information of the AC motor, and generating the torque command according to the rotational speed error information. The actuating device according to claim 1, wherein the driver obtains an exciting shaft current information according to the set voltage margin, the set magnetic flux, and the previous voltage command, and obtains a torque shaft current information according to the torque command, The current voltage command is generated according to the excitation shaft current information and the torque shaft current information. The actuating device according to claim 1, wherein the driver further includes determining whether the driving voltage generated by the current voltage command is greater than a maximum driving voltage, and when the driving voltage is greater than the maximum driving voltage, making the driving voltage equal to The maximum drive voltage. The actuating device according to claim 1, wherein corresponding to the same rotational speed information of the AC motor, the power consumption of the actuating device in the first mode is less than or equal to the power consumption in the second mode. The actuating device according to claim 1, wherein the driver further operates in a third mode which is a normal mode according to the command signal, wherein corresponding to the same rotational speed information of the AC motor, the actuating device is in the first The power consumption of the mode is less than the power consumption of the third mode.

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