Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B23/00—Testing or monitoring of control systems or parts thereof
  • G05B23/02—Electric testing or monitoring
  • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
  • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
  • G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
  • G05B23/0289—Reconfiguration to prevent failure, e.g. usually as a reaction to incipient failure detection
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
  • G05B19/4063—Monitoring general control system
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B9/00—Safety arrangements
  • G05B9/02—Safety arrangements electric
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/34—Director, elements to supervisory
  • G05B2219/34454—Check functioning controller, cpu or program
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/34—Director, elements to supervisory
  • G05B2219/34465—Safety, control of correct operation, abnormal states

Definitions

• Electronic control device of an electric drive system electronic drive unit of an electric drive system and electric drive system
• the present invention relates to an electronic control device of an electric drive system, with a central processing unit, wherein in a normal operation the central unit receives a sequence of position, speed or torque setpoints from a higher-level control device based on the assumed setpoint values and corresponding actual values determined and transmitted the current setpoint to at least one drive unit.
• the present invention further relates to an electronic drive unit of an electric drive system, with a central unit, - wherein the central unit receives in a normal operation by a control device a series of current setpoints, determined based on the current setpoint control signals for a number of circuit breakers, by means of which an electric motor corresponding to Current setpoint is connected to a power supply, and outputs to the circuit breaker.
• the present invention relates to an electric drive system consisting of an electronic control device of the type described above and at least one electronic drive unit of the above-be ⁇ type described, wherein the controller to the drive unit is connected for data transmission.
• An electric drive system has an electronic
• Control device a number (at least one) of electric motors and per electric motor depending on an electronic on ⁇ control unit.
• the electronic control device is clocked by a higher-level control device (eg, a programmable logic controller or a numerical control) a sequence of setpoints.
• the setpoints are usually position, speed or torque setpoints.
• the setpoint values are accepted within the control device by a central unit of the control device.
• the central processing unit determined on the basis of the set values desired current values, and transmits the current values via an output interface ⁇ the control device and an input interface ⁇ place of the drive unit to the drive unit.
• a central unit receives the current setpoint values and uses the current setpoint values to determine
• the circuit breakers are usually components of the drive unit. In this case, the circuit breakers are directly controlled by the central unit. It is conceivable that the circuit breakers are not components of the drive unit. In this case, the Monein ⁇ are integrated via an output interface, the control signals for the power switch.
• a monitoring of the electric motor by the control device of the drive system is possible in principle. However, by means of the procedure described above, switching off of the electric motor is only ensured if all relevant components (control device, drive unit, circuit breaker) function properly. If, on the other hand, one of the components fails, switching off the electric motor is no longer guaranteed.
• the reliable detection of individual errors can be ensured, for example, by the fact that all signal paths and all signal-processing components are configured redundantly (that is, at least two-channel).
• Such drive systems are well known. In these drive systems, the monitoring is realized by central processing units, which must be designed as relatively powerful processors.
• the central unit of the electronic control device is one of the central units which implement the monitoring.
• the central unit of the drive unit is relatively powerful ⁇ weak. In normal operation, it must only be able to determine and output the control signals for the circuit breakers on the basis of the current setpoints.
• the central unit of arrival is driving unit not to adopt a rule in a position that erfor ⁇ derliche supervision of their parent electronic control device.
• a user program In coded programming, a user program is created in plain language in the usual way. Based on the user program, a translation program generates a control program that has a useful part and an additional part.
• the payload includes the functionality that is given to him by the on ⁇ user program.
• the additional part is designed such that it receives the same input variables as the useful part, but its outputs (or at least one of the outputs) are or is n times the corresponding output of the useful part.
• n is a suitably determined prime.
• the output signal of the supplementary part corresponds nen check information, the signal drive unit transmitted by itself or in conjunction with at least one other in the monitoring operation on the at least one characteristic for at ⁇ are whether the programmable logic controller is functioning properly. Because the generated by means of the additional part output signal can only accept very specific values. If these values are not accepted, this is an indication of a malfunction of the programmable logic controller.
• the programmable logic controller transfers the test information to another module.
• This other assembly verifies that it receives the check information and that the check information is correct. If it does not receive the test information or the test information is not correct, an error reaction is taken, in particular a system controlled by the programmable logic controller is transferred to a safe state.
• the object of the present invention is to provide a control device of an electric drive system, a drive unit of an electric drive system and a corresponding drive system, by means of which a simple and cost-effective manner in case of failure, a safe interruption of the power supply of the electric motor is possible.
• the object is solved drive unit 27 by an electronic control device having the features of claim 1, an electronic An ⁇ with the features of claim 13 and an electric drive system having the features of the claim.
• the central unit checks, in a surveil ⁇ monitoring operation, whether an integral of driven by the at least one Antriebsein ⁇ electric motor is in a safe state. In the event that the electric motor is not in the safe state, the central unit transmits to a first shutdown device and to the drive unit each a shutdown signal. A power supply of the electric motor can be interrupted both by means of the first disconnecting device and by means of the drive unit. Furthermore, gene ⁇ riert the central unit of the electronic control means at least in the monitoring operation test information, the at least one further by themselves or in conjunction with signal transmitted in the monitoring operation on the at least one drive unit for this characteristic, if the controller is functioning properly, and transmits the check information to the at least a drive unit.
• the central unit of the electronic drive unit checks in a monitoring operation, whether it is transmitted from the control device, a shutdown signal. In the case of excess of the shutdown signal averaging interrupts a Stromver ⁇ supply of the electric motor via a second switch-off device.
• the central unit of the electronic drive unit also checks in monitoring mode whether it the test information is transmitted and whether the test information is correct. In the event that the strigin ⁇ formations are not transmitted or are not properly, it also interrupts the second Abschaltein- direction, the power supply of the electric motor.
• the central unit of the control means the monitoring operation always parallel leads to the normal operation from ⁇ . It is also possible that the central unit of the controller automatically determines whether it drove the Normalbe ⁇ or performs the monitoring operation.
• the central unit preferably receives an operating mode command from the higher-level control device and decides, based on the operating mode command, whether it accepts the normal operation or the monitoring operation.
• the safe state on the observance of which the electric motor is monitored during monitoring operation, can in principle be selected arbitrarily. Typical conditions are safe stoppage of the electric motor, rotating the electric motor with a low rotational ⁇ figure, which is below a limit speed, or maintaining a maximum limit torque. It is possible that the Siche ⁇ re state of the control device will flow to set the drive system of au ⁇ .
• the secure state is preferably determined by settings stored in the control device of the electric drive system. It is possible that the central unit of the control device receives a setpoint parameter. The central unit of the controller ge ⁇ can optionally decide whether to have her counter taken setpoints position, speed or torque setpoints from the target value parameter. This approach allows a more flexible operation of the STEU ⁇ er learned the drive system.
• the shutdown signal transmitted to the drive unit is included in the check information.
• the transmitted to the drive unit shutdown ⁇ may be a signal different from the test information signal.
• the central unit of the controller determines the check information based on the setpoint values by coded programming.
• the central unit of the drive unit checks the990 ⁇ formations always in a manner enabling it to detect whether the test information are correct.
• the central unit of the drive unit checks the check information as to whether they correspond in terms of a co ⁇ -founded programming with a predetermined number and / or the at least one further transmitted to the drive unit in the monitoring operation signal.
• the central unit of the control device also generates the test information in normal operation and transmits it to the at least one drive unit.
• Example ⁇ as the central unit of the controller can always check whether the electric motor is in safe condition, determine the test information and transmit nen the check information. Only the transmission of the shutdown signals to the first shutdown device and the drive unit omitted. The difference between normal operation and over ⁇ wachungs reiterate in this case is that normally ⁇ the output of the switching signals for operation disabled is activated in monitoring mode.
• the central unit of the control device directly controls the first shutdown device.
• the central unit of the control device preferably activates the first shutdown device via the drive unit.
• the drive unit also receives the shutdown signal for the first shutdown device and forwards it to the first shutdown device.
• the forwarding takes place bypassing the central unit of the drive unit.
• the central unit of the control unit is usually designed as a processor, which executes a control program.
• the control device thus preferably has a memory device in which the control program is stored.
• the central unit carries out its functions under execution of the control program.
• the control program is preferably configured as a system program that is pancake not be changed by at ⁇ .
• the central unit of the drive unit is preferably integrated in an ASIC. It can be electronically configured such that it operates without executing a Steuerpro ⁇ program. It is alternatively possible that the drive unit has a memory device in which a control program is stored, and that the central unit of the drive unit performs its functions while processing the control program.
• the control program for the central unit of the drive ⁇ unit is - if present - preferably designed as a system program that is not changeable by the user.
• the memory device may optionally be integrated in the ASIC.
• FIG 1 is a block diagram of an electric An ⁇ drive system, FIG 2 and 3 and flowcharts
• FIG. 4 shows a modification of FIG. 1
• an electric drive system has an override control device 1, an electronic control device 2, at least one electronic drive unit 3 and at least one electric motor 4.
• the higher-level control device 1 can be, for example, a programmable logic controller or a numerical controller.
• the number of electric motors 4 corresponds to the number of drive units 3.
• the electronic control device 2 has an output ⁇ interface 5.
• the drive unit 3 has a ⁇ A gateway interface. 6
• the output interface 5 of the electronic control device 2 and the input interface 6 of the drive unit 3 are data technically miteinan ⁇ connected.
• drive unit 3 If more than one drive unit 3 is present, they can be connected in various ways with the electronic control ⁇ device 2. For example, a connection via a bus system is conceivable. It is also conceivable that the electronic control device 2 a number of Output interfaces 5 and each output section ⁇ point 5 is connected to exactly one drive unit 3.
• the electronic control device 2 has a central unit 7.
• the central unit 7 is usually designed as a micro ⁇ processor 7. If it is designed as a microprocessor 7, it works in operation from a control program 8, which is stored in a memory device 9 of the electronic control device 2. In this case, the central unit 7 carries out its functions, which are described in greater detail below, by executing the control program 8.
• the control program 8 is designed as a system program 8. It is therefore not a user program that can be changed by a user, not shown in FIG 1 as needed.
• control program 8 is written by the manufacturer of the electronic control device 2 into a non-volatile memory 10 (eg an EEPROM memory).
• the memory 10 is introduced as a memory device 9 in the electronic control device 2 see. It corresponds to a Da ⁇ pinion carrier according to the present invention.
• the electronic control device 2 preferably works as follows:
• step S1 the electronic control device 2 checks whether parameters C, T are preset by the higher-level control device 1 via an input interface 11. If this is the case, the electronic control device is ⁇ 2 to steps S2 to S4. Otherwise, it goes directly to a step S5.
• step S2 the electronic control device 2 accepts the transmitted parameters C, T.
• step S3 the CPU 7 determines based on the parameter C, a Reglercha ⁇ rakterizing for the CPU 7. For example, using the parameter C is set to be whether the central unit 7 operates as a P, PI, as a PID, as a PTi controller, etc., which proportional gain the controller has, which integration time constant the controller has, etc.
• the parameter C is not necessarily a scalar parameter is. It can also be a vector size.
• the central unit 7 determines within the scope of step S4 whether it is to deal with setpoint values W * still to be accepted by it as position setpoints, as speed setpoints or as torque setpoints.
• a step S5 the central unit 7 receives an operating mode command M from the overriding control device .
• the CPU 7 determines in a step S6 whether they drove a Normalbe ⁇ or assumes a monitoring mode. It sets the appropriate operating mode for this purpose.
• step S7 the central unit 7 of the electronic control device 2 receives via the input interface 11 from the higher-level control device 1, a desired value W *.
• the target value W * is, as already mentioned, usually a position setpoint, speed setpoint, or torque setpoint value ⁇ .
• the CPU 7 2 receives the electronic ⁇ rule control means an actual value W of the electric motor 4 against.
• the actual value W corresponds to the desired value W *. If the target value W * is a position setpoint, so and so an actual position value and the actual value W ..
• the actual value of W is the centering ⁇ raliser fed in the usual way. 7
• the central unit 7 uses the setpoint value W *, the actual value W and the controller characteristic of the central unit 7 to determine a current setpoint value I *.
• a step S the CPU 7 transmitted through the output interface 5 the current setpoint I * drive unit to the at ⁇ . 3
• the central unit 7 of the electronic control device 2 generates check information P.
• the check information P is characteristic of itself or in conjunction with at least one current setpoint I * for whether the electronic control device 2 is functioning properly.
• the determined test information P can in principle be arbitrary, as long as the test information P-optionally in conjunction with at least one current setpoint I * -is used to determine whether the electronic control device 2 is functioning properly.
• the program can Steuerpro ⁇ 8 a useful part 8 'and an auxiliary part 8 "comprising. Both parts 8', 8" results in the CPU 7 to the target value W *, and the actual value of W to.
• the useful part 8 ' determines based on the desired value W * and the actual value W the corresponding current setpoint I *.
• the additional part 8 ' has been automatically testifies ⁇ based on the useful part 8' it.
• the attachment 8 "provides for proper functioning of the electronic control device 2 as a test information P, for example, always n times the current command value I *. n is a suitably determined prime. This way of generating the check information P is known to those skilled in the art as coded programming.
• the central unit 7 of the control device 2 checks whether it is in normal operation.
• step S13 the CPU 7 of the electronic control device 2 checks whether it detects an internal error of the electronic control device 2 and / or an external fault in another unit (eg, the electric motor 4 or the drive unit 3). If such an error he will ⁇ known, the CPU 7 proceeds to a step S14.
• step S14 the central unit 7 transmits a first shutdown signal Al to a first shutdown device 12. By means of the first shutdown device 12, it is possible to interrupt a power supply U of the electric motor 4.
• step S14 the central unit 7 of the electronic control device 2 further transmits a second shutdown signal A2 to the drive unit 3.
• the drive unit 3 is therefore also able to interrupt the power supply U of the electric motor 4.
• the central unit 7 can modify the check information P so that the check information P is no longer correct.
• the incorrect inspection information P is sent to the drive unit 3 in the course of step S14.
• the CPU 7 proceeds to a step S15 in which it executes an error reaction.
• the central unit 7 can wait for a reset signal.
• step S13 the centering ⁇ goes ralstatt 7 to a step S16 in which it transmits the (unmo--modified and thus proper) test information P to the drive unit.
• step S16 the central processing unit 7 returns to step S1 (if present) or to step S5. If the CPU 7 of the controller 2 is not in normal operation, it proceeds from the step S12 to a step S17.
• step S17 the CPU 7 checks whether the electric motor 4 is in a safe state. For example, the central unit 7 can check whether the actual value W or a temporal change of the actual value W corresponds to the safe state.
• the safe state is preferably ⁇ determined by settings that are stored in the control device 2 in a corresponding setting memory 10 '.
• step S17 the CPU 7 proceeds to either step S13 or step S14. Specifically, the CPU 7 proceeds to step S13 when the electric motor 4 is in the safe state. Corresponding to this, the central unit is ⁇ 7 to step S14, when the electric motor 4 is not in a safe condition.
• the transmitted to the drive unit 3 second Abschaltsig ⁇ nal A2 may be a separate, different from the check information P signal A2. Alternatively, it may be included in the test information P.
• the first cut-off device 12 is part of the drive unit 3.
• the central processing unit 7 as transmitted ⁇ forth destined for the first cut-off device 12 first shutdown signal Al via the drive unit 3 to said first switching means from ⁇ 12th
• the central unit 7 outputs the current setpoint values I * clocked to the drive unit 3.
• the two bars agree with each other match.
• steps S9 and Sl0 could be incorporated into an inner loop that is traversed several times before steps S7 and S8 are again executed.
• test information P is transmitted to the drive unit 3 with each desired current value I *. Again, this is not mandatory. Rather, it may be sufficient, the test information P only in larger
• Time intervals for example once a minute or once every quarter of an hour, to transmit to the drive unit 3.
• the drive unit 3 also has a central unit 13 according to FIG.
• the central unit 13 can be integrated, for example, in an ASIC 14 according to FIG. They can, as shown in FIG 1, such circuitry being ⁇ forms be that it operates without executing a control program.
• the drive unit 3 operates in different operating modes, in particular in a normal mode and in a monitoring mode. In this case, an ent ⁇ speaking changing the operating mode is required. In the present case, the two operating modes are identical. So they are always executed together.
• the central processing unit 13 takes the An ⁇ drive unit 3 in operation via the input interface 6 of the electronic control device 2 in a step S21, a current command value I * counter. Furthermore, it also accepts the check information P in the context of step S21. If a switch-off signal A2 for the central unit 13 of the drive unit 3 is transmitted from the central unit 7 of the control device 2, the central unit 13 also receives the switch-off signal A2 in step S21.
• the central unit 13 of the drive unit 3 is further supplied in the usual manner, an actual current value I, which it receives in a step S22.
• the CPU 13 determines the on ⁇ drive unit 3 on the basis of the current setpoint I * and the current ⁇ actual value I drive signals A * switches for a number of power ⁇ 15.
• the circuit breakers 15 are generally electronic power switches 15, z. B. butterstransisto- ren or thyristors.
• the power switch 15 are usually part of the drive unit 3.
• the central unit 13 controls the power switch 15 in this case immediately accordingly.
• the central unit 13 thus outputs the control signals A * to the power switches 15.
• the electric motor 4 is turned on to the power supply U.
• a step S24 the CPU 13 checks the on ⁇ drive unit 3, whether it by the central processing unit 7 of the control device 2 ⁇ a shutdown signal A2 has been transmitted. If the shutdown is A2 of the central unit 13 of the integral determined Antriebsein ⁇ 3 as a separate signal A2, can of course directly the shutdown signal A2 are checked for presence. If the switch-off signal A2 is included in the test information P, it is previously extracted from the test information P.
• the CPU 13 controls, in a step S25 to ei ⁇ ne second shutoff sixteenth As a result, the power supply U of the electric motor 4 is interrupted.
• the central unit 13 blocks in a step S26, the output of the drive signals A * to the power switch 15. Also in this way, the power supply U of the electric motor 4 can be interrupted.
• the central unit 13 in a step S27 controls the first shutdown device 12, which is directly controlled by the central unit 7 of the control device 2.
• the central unit 13 executes an error ⁇ reaction.
• the central unit 13 may be a reset signal abwar ⁇ th.
• the first shut-off device 12, the second shut-off device 16 and the power switches 15 are connected in series. Already by appropriate driving one of these three elements 12, 15, 16, the power supply of the electric motor 4 is thus interrupted.
• the central unit was not the shutdown signal A2 averages 13 via ⁇ checked, the CPU 13 of the drive unit 2 ⁇ whether the test information have been transmitted and P are correctly.
• the formations slaughterin ⁇ P have been produced by coded programming 13 checks the central unit in a step S29 whether the check information P n by the previously known prime number divisible.
• the central unit 13 checks whether the check information P is n times the current setpoint value I *.
• step S25 If the tests performed are positive, the test information P is correct. In this case, the CPU 13 returns to step S21. On the other hand, if one of the checks of steps S29 and S30 is negative, the CPU 13 proceeds to step S25.
• the shutdown safety in the event of a fault can be further increased if the central unit 7 of the control device 2 not only controls the first shutdown device 12, but additionally controls the second shutdown device 16 and / or the outputting of the drive signals A * in the event of a fault locks.
• the turn-off devices 12, 16 are preferably electromechanical switching devices. However, it is also possible to realize them as electronic switching devices.
• the first switch-off device 12 and the second switch-off device 16 are preferably components of the drive unit 3.
• the drive unit 3 therefore receives, among other things, the switch-off signal Al of the electronic control device 2 for the first switch-off device 12, shown in broken lines in FIG.
• the switch-off signal to the Al passes ⁇ drive unit 3, bypassing the central processing unit 13 to the first cut-off device 12 on.
• the central processing unit 13 is configured of circuitry that they BEITEN without Abar ⁇ a control program operates.
• the drive unit 3 operates on a control program 17 which is stored in a memory device 18 and determines the operation of the central unit 13.
• the centering ⁇ leads 13 raliser their functions described above by executing the control program 17 from.
• the control program 17 is also a system program 17. It can not be changed by the user, but instead is written by the manufacturer of the drive unit 3 into the memory device 18.
• the control program 17 can by means of a suitable programming device by a data ⁇ carrier 19 on which the control program is stored 17, read out and are written into the memory device 18th
• the central unit 13 may - as in the embodiment ge ⁇ Gurss FIG 1 - continue to be integrated into an ASIC fourteenth
• the memory device 18 may be arranged outside the ASIC 14. It can also be integrated into the ASIC 14.

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• Engineering & Computer Science (AREA)
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• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Chemical & Material Sciences (AREA)
• Chemical Kinetics & Catalysis (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• Control Of Electric Motors In General (AREA)

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• 2006
  • 2006-05-24 DE DE102006024378A patent/DE102006024378A1/de not_active Withdrawn
• 2007
  • 2007-04-12 JP JP2009511431A patent/JP5241706B2/ja not_active Expired - Fee Related
  • 2007-04-12 US US12/227,479 patent/US7952314B2/en not_active Expired - Fee Related
  • 2007-04-12 WO PCT/EP2007/053580 patent/WO2007134915A1/de not_active Ceased

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