WO2011158563A1 - Power-conserving drive device and method for device having uniform load pattern - Google Patents

Power-conserving drive device and method for device having uniform load pattern Download PDF

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Publication number
WO2011158563A1
WO2011158563A1 PCT/JP2011/060060 JP2011060060W WO2011158563A1 WO 2011158563 A1 WO2011158563 A1 WO 2011158563A1 JP 2011060060 W JP2011060060 W JP 2011060060W WO 2011158563 A1 WO2011158563 A1 WO 2011158563A1
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Prior art keywords
power
inverter
parameter
command value
converter
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PCT/JP2011/060060
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French (fr)
Japanese (ja)
Inventor
素直 新妻
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株式会社Ihi
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Priority to CN201180017599.4A priority Critical patent/CN102812632B/en
Publication of WO2011158563A1 publication Critical patent/WO2011158563A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0025—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control implementing a off line learning phase to determine and store useful data for on-line control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
    • H02P2201/09—Boost converter, i.e. DC-DC step up converter increasing the voltage between the supply and the inverter driving the motor

Definitions

  • the present invention relates to a power saving driving apparatus and method for apparatuses having the same load pattern.
  • the present invention is directed to a device that is driven by a motor that is powered by an inverter driven by the output of a DC-DC converter that is driven by a battery, and that is repeatedly operated in the same load pattern.
  • a device is referred to as a “same load pattern device”.
  • the same load pattern apparatus mainly assumes industrial apparatuses, such as a servo press, the die cushion for a press, a conveying apparatus, and a physical distribution apparatus, it is not limited to them.
  • the amount of loss in the same load pattern device described above varies depending on the parameters of the power conversion circuit, for example, the output voltage of the DC-DC converter, the carrier frequency of the inverter, the voltage change rate dv / dt of the switching waveform, and the like.
  • the “loss amount” means the difference between the electric power supplied from the battery and the motor output, that is, the electric circuit (including the DC-DC converter, inverter and motor) from the battery to the motor, and the magnetic circuit inside the motor. Means the amount of work lost in the form of heat generation and electromagnetic radiation.
  • Patent Document 1 has already been proposed.
  • the technique relevant to this invention is disclosed by patent document 2 and nonpatent literature 1,2.
  • Japanese Patent Laid-Open No. 2004-228561 is to reduce a loss amount by changing a power conversion parameter (a carrier frequency of a DC / DC converter) when an operation condition of the apparatus is changed.
  • Non-Patent Document 2 discloses that loss is reduced by switching the switching frequency during operation in accordance with a low speed region, a medium speed region, and a high speed region.
  • Patent Document 1 the frequency of a carrier wave (referred to as a carrier) that reduces the amount of loss is obtained by (A) using the loss characteristics of the energy storage means, the switching element, and each phase coil of the motor, or (B) by experimentation in advance. Means have been proposed. However, if the means of Patent Document 1 is applied to various apparatuses, particularly industrial apparatuses such as a servo press driven by a battery, a die cushion for pressing, a conveying apparatus, and a physical distribution apparatus, there are the following problems.
  • industrial apparatuses such as a servo press driven by a battery, a die cushion for pressing, a conveying apparatus, and a physical distribution apparatus
  • (A) there is a problem that “loss characteristics of other components are not considered”. For example, wiring between the inverter and the motor, electromagnetic noise removing elements (ferrite cores and filters), and loss in the rotor of the motor (loss due to current induced in the rotor, etc.) are not considered. Further, in industrial devices, the wiring between the inverter and the motor is long, or the electromagnetic noise removing element and the motor are large, so the amount of loss from these components is often not negligible.
  • the present invention has been developed to solve the above-described problems. That is, the object of the present invention is to obtain data on loss characteristics by conducting experiments in advance on the output voltage of a DC-DC converter, electrical characteristics of wiring, presence / absence of an electromagnetic noise removing element, loss characteristics and temperature changes for each motor, and the like. It is an object of the present invention to provide a power-saving drive device and method for a device having the same load pattern that can minimize the amount of loss in consideration of the loss characteristics of all the components without obtaining them.
  • a DC-DC converter driven by a battery and an inverter driven by the output of the DC-DC converter driven by a motor supplied with power from the inverter, and having the same load pattern
  • a power saving drive device for the device An energy calculator that calculates the amount of power received from the battery in the same load pattern;
  • a power-saving drive device for a device having the same load pattern is provided.
  • a command value generator for outputting a cycle start signal and a cycle end signal of the load pattern.
  • the parameters of the inverter are the carrier frequency and the output voltage of the DC-DC converter.
  • the present invention also includes a DC-DC converter driven by a battery and an inverter driven by the output of the DC-DC converter, driven by a motor supplied with power from the inverter, and having the same load pattern.
  • a power saving driving method for an apparatus having: Change the inverter parameters to multiple values, Calculate the amount of power received from the battery by the same load pattern in each parameter, There is provided a power saving driving method for a device having the same load pattern, wherein the received power amount in each parameter is compared, a parameter that minimizes the received power amount is selected, and an inverter is commanded .
  • an electric energy calculator and a parameter selector / commander changing the parameter of the inverter to a plurality of values, and determining the amount of electric power received from the battery by the same load pattern in each parameter. Calculate and compare, select the parameter that minimizes the amount of received power, and command the inverter, so the electrical characteristics of the wiring, the presence or absence of electromagnetic noise removal elements, loss characteristics and temperature changes for each motor, etc.
  • the amount of loss can be minimized in consideration of the loss characteristics of all the components without obtaining the loss characteristic data by conducting an experiment in advance.
  • FIG. 1 is a diagram showing a first embodiment of a power-saving drive device according to the present invention.
  • the power-saving drive device of the present invention includes a DC-DC converter 93 driven by a battery 91 and an inverter 19 driven by the output of the DC-DC converter 93.
  • the battery 91 is a secondary battery such as a lithium ion battery, a nickel metal hydride battery, or a lead storage battery.
  • the battery 91 includes cells connected in series and a battery controller in order to increase the output voltage of the battery. Further, the battery 91 is charged with DC power by a solar cell, a fuel cell, a wind power generator or the like (not shown).
  • the DC-DC converter 93 is a variable output voltage DC-DC converter that boosts and / or steps down a DC voltage. In FIG. 1, the voltage across the capacitor 17 on the right side of the DC-DC converter 93 is the output voltage.
  • the DC-DC converter 93 is configured to be capable of not only powering (power moves from left to right in FIG. 1) but also regeneration (power moves from right to left in FIG. 1).
  • a DC-DC converter 93 is realized by combining a power control element such as an IGBT or a power MOSFET with an inductor or a transformer.
  • reference numeral 95 denotes a DC-DC converter control circuit.
  • the DC-DC converter control circuit 95 generates a gate signal for the power control element of the DC-DC converter 93 and controls the output voltage of the DC-DC converter 93.
  • the DC-DC converter control circuit 95 is realized by an electronic circuit or an embedded CPU and a dedicated control program or a combination of both.
  • the DC bus 15 electrically connects the DC-DC converter 93 and the inverter 19.
  • the upper side shows the positive side (+) of the DC bus 15, and the lower side shows the negative side ( ⁇ ) of the DC bus 15.
  • a capacitor 17 smoothes the voltage of the DC bus 15.
  • an aluminum electrolytic capacitor is often used, but other types of capacitors and electric double layer capacitors may be used.
  • Reference numeral 19 denotes an inverter which controls the current / voltage flowing from the DC bus 15 to the motor 21 so that the motor 21 generates a desired torque.
  • the inverter 19 is assumed to be a voltage type inverter in this embodiment, but may be a current type inverter. In the case of a current type inverter, a reactor is used instead of the capacitor 17. Further, in this embodiment, the inverter 19 is assumed to be a four-quadrant drive inverter capable of forward / reverse rotation, power running / regeneration of the motor 21, but depending on the characteristics and operation of the mechanical load 23 (same load pattern device), The inverter may be capable of rotating only in one direction or powering only. When an inverter capable of only power running is used, the DC-DC converter 93 may be capable of only power running.
  • Reference numeral 21 denotes a motor.
  • the combination of the inverter 19 and the motor 21 causes the motor 21 to generate torque following the torque command value input from the controller 27.
  • the motor 21 is assumed to be a three-phase induction motor or a three-phase permanent magnet synchronous motor. However, other types of motors may be used as long as the torque and rotational speed are variable in combination with an inverter.
  • Reference numeral 23 denotes a mechanical load, that is, the same load pattern device, which is driven by the motor 21.
  • Reference numeral 25 denotes a motor encoder, which measures the rotational position (angle) of the motor 21.
  • the motor encoder 25 an optical or magnetic rotary encoder or resolver is used.
  • the controller 27 performs speed control, the rotational speed (angular speed) of the motor 21 may be measured.
  • the rotational position measured with a rotary encoder or resolver may be time-differentiated, or the rotational speed may be directly measured like a tachometer.
  • Reference numeral 27 denotes a controller, and the inverter 19, the motor 21, the motor encoder 25, and the controller 27 constitute a feedback loop, and the motor 21 is controlled to follow the command value from the command value generator 29.
  • the controller 27 assumes position control in this embodiment, but may be speed control.
  • PID Proportional Integral Derivative
  • I-PD Intelligent Proportional Derivative
  • a feedforward calculation for improving controllability may be combined.
  • the controller 27 can be realized by a programmable device using DSP (Digital Signal Processor), a microcomputer, an analog circuit, or a combination thereof.
  • DSP Digital Signal Processor
  • a command value generator which outputs a motor rotation angle command value Ac to be followed by the motor 21 to the controller 27 at each time.
  • transmission of the motor rotation angle command value Ac transmission by a two-phase pulse train whose phase is shifted by 90 degrees or transmission by various communication networks is used. Since the rotation angle of the motor 21 and the mechanical load 23 are mechanically linked, instructing the rotation angle of the motor 21 has the same meaning as instructing the position of the mechanical load 23.
  • FIG. 2 is an operation explanatory view of the same load pattern device targeted by the present invention. Since the present invention is intended for a device that is repeatedly operated with the same load pattern (same load pattern device), in this embodiment, as shown in the figure, the motor rotation angle command value Ac is a cycle (same repeated pattern).
  • the command value generator 29 outputs a cycle start signal Cs and a cycle end signal Ce at the start time and end time of the cycle, respectively.
  • C1, C2, and C3 indicate cycles.
  • An arbitrary command value such as a command value for stopping the mechanical load 23 or a command value for operating the mechanical load 23 according to a manual operation may be output between cycles.
  • the cycle start signal Cs and the cycle end signal Ce are pulse signals, but other signal waveforms such as a cycle start being indicated by a rising edge of the signal and a cycle end being indicated by a falling edge of the signal. Good.
  • the command value generator 29 may output the motor rotation speed command value.
  • the command value generator 29 can be realized by a programmable device using a DSP or a microcomputer having a storage device such as a semiconductor memory.
  • the inverter 19 includes the following elements, and performs PWM modulation (Pulse Width Modulation) using a carrier wave Cw having a frequency according to the carrier frequency command value F output from the parameter selector / commander 83. Details of the configuration / operation example of the inverter 19 are shown in Non-Patent Document 1, for example. An example of a method for performing PWM modulation with a variable carrier frequency is disclosed in Patent Document 2. In Patent Document 2, the carrier wave is called a carrier.
  • the power control unit 41 is a power control unit, which controls the voltage / current from the DC bus 15 to the motor 21 by a power control element whose conduction state is changed by a gate signal.
  • the power control unit 41 uses a power control element that can be extinguished by turning off a gate signal such as a power MOSFET (Metal-Oxide-Semiconductor, Field-Effect Transistor) or IGBT (Insulated Gate Bipolar Transistor).
  • a power MOSFET Metal-Oxide-Semiconductor, Field-Effect Transistor
  • IGBT Insulated Gate Bipolar Transistor
  • GTO Gate Turn Off
  • the motor current measuring device 43 is a motor current measuring device which measures the current of each UVW phase from the power control unit 41 to the motor 21.
  • the motor current measuring device 43 is a non-contact type device that measures a magnetic field generated around an electric wire with current, a device that inserts a resistor into a circuit and measures a potential difference generated at both ends of the resistor with current. It is.
  • the method for realizing the current measuring device 63 is the same.
  • the command calculator 45 is a command calculator that outputs a modulated wave Mw for each phase of UVW to the PWM modulator 47 so that the motor 21 generates torque following the torque command value Tc from the controller 27.
  • the command calculator 45 can be a device that compares the current command to each phase calculated by vector calculation with the measured value of the motor current measuring device 43 to obtain the modulated wave of each phase, but other devices may be used.
  • the command calculator 45 can be realized by a programmable device using a DSP or a microcomputer, an electronic circuit, or a combination thereof.
  • the structure which reduces the number of required motor current measuring devices 43 using methods, such as state estimation, is also possible.
  • the PWM modulator 47 is a PWM modulator, which modulates the modulated wave Mw with the carrier wave Cw and outputs a notch wave Nw that determines conduction / non-conduction of the power control element.
  • the PWM modulator 47 uses a triangular carrier wave in this embodiment, and assumes a means for determining on / off of the notch wave Nw by comparing the magnitude of the modulated wave Mw and the carrier wave Cw.
  • the PWM modulator 47 can be realized by an analog electronic circuit (comparator) or a program of a DSP or a microcomputer.
  • the carrier wave oscillator 49 is a carrier wave oscillator, which oscillates a carrier wave Cw for PWM modulation.
  • the carrier wave oscillator 49 is configured such that the oscillation frequency is variable according to the carrier wave frequency command value F.
  • the carrier oscillator 49 oscillates a triangular carrier wave by configuring an up / down counter that repeats counting up and down between two values M1 and M2 by an electronic circuit, a DSP, or a program of a microcomputer, and according to the carrier frequency command value F
  • it is possible to change the oscillation frequency by appropriately changing the values of M1 and M2 it may be configured by other methods such as an oscillation circuit using an analog electronic circuit.
  • the gate drive circuit 51 is a gate drive circuit, which insulates, level-converts or amplifies the notch wave Nw, and outputs a gate signal for driving the gate of the power control element.
  • the gate drive circuit 51 can be realized by an electronic circuit using an insulating power source, a photocoupler, or the like.
  • the 61 is a voltage measuring device, and 63 is a current measuring device.
  • the voltage measuring device 61 and the current measuring device 63 measure the voltage and current, respectively, in order to calculate the amount of electric power W flowing from the battery 91 to the DC-DC converter 93, and measure the voltage measurement value V (t) and the current measurement value I. (T) is output to the electric energy calculator 81.
  • the voltage measurement value V (t) and the current measurement value I (t) can be transmitted digitally by means of analog transmission as voltage amplitude or current amplitude, or by using various communication networks.
  • V (t) The voltage on the plus side with respect to the minus side of the battery 91 at time t measured by the voltage measuring device 61
  • I (t) the current flowing from the left to the right in the figure on the positive side of the battery 91 at time t measured by the current measuring device 63 is denoted as I (t).
  • a negative current measurement value indicates that current flows from right to left in the figure.
  • the 81 is an electric energy calculator, and calculates electric energy W of 1 cycle. That is, a value obtained by multiplying the voltage measurement value V (t) and the current measurement value I (t) is time-integrated from the time when the cycle start signal Cs is input to the time when the cycle end signal Ce is input, and then output. For the transmission of the electric energy W in one cycle, it is possible to perform digital transmission using means for analog transmission as voltage amplitude and current amplitude, and various communication networks.
  • the electric energy calculator 81 can be realized by a programmable device using a DSP or a microcomputer, an analog electronic circuit, or a combination thereof. The electric energy calculator 81 performs the following calculation.
  • the power P (t) at time t is the product of voltage and current, and is expressed by equation (1).
  • P (t) V (t) ⁇ I (t) (1)
  • Equation (2) of Formula 1 Since the power amount W of one cycle is a time integral of the power, if the time of the cycle start signal for the cycle is written as T1, and the time of the cycle end signal is written as T2, it is expressed by Equation (2) of Formula 1.
  • the electric energy calculator 81 If the calculation by the electric energy calculator 81 is performed in the period of time ⁇ T, the equation (2) is differentiated, and V (t) ⁇ I (t) ⁇ ⁇ T is integrated from time T1 to time T2. It becomes the electric energy W of the cycle. In other words, at the end of the cycle, it is possible to output one cycle of electric power for that cycle. As described above, the present invention is applicable even when power running and regeneration are mixed in one cycle by allowing negative values for the current measurement value and power. That is, positive and negative power corresponds to power running and regeneration, respectively.
  • the parameter selection / commander 83 is a parameter selection / commander that commands parameter values that affect the amount of loss, and selects appropriate parameter values based on the power consumption of one cycle in each cycle.
  • the parameters are the frequency of the carrier wave Cw and the output voltage of the DC-DC converter 93, and the parameter selector / commander 83 outputs the carrier frequency command value F to the carrier wave transmitter 49, and the output voltage command value G Is output to the DC-DC converter control circuit 95.
  • the parameter selector / commander 83 can be realized by a programmable device using a DSP or a microcomputer.
  • FIG. 3 is an operation explanatory diagram of the parameter selection / commander 83.
  • the output voltage command value G to the DC-DC converter control circuit 95 is constant will be described.
  • the procedure for searching and determining a parameter for reducing the loss by the parameter selector / commander 83 is as follows.
  • the parameter selector / commander 83 outputs a different carrier frequency command value F for each cycle.
  • a power amount W for one cycle for each cycle is output from the power amount calculator 81 and is stored in the parameter selector / commander 83.
  • the parameter selector / commander 83 compares the stored one-cycle power amount W and outputs the carrier frequency command value F with the smallest power amount as the subsequent carrier frequency command value F.
  • the carrier frequency command value F is changed to F1, F2, F3, F4, and F5 for each of five cycles (C1, C2, C3, C4, and C5 in the figure).
  • the power amount of one cycle in each cycle is W1, W2, W3, W4, and W5.
  • W1, W2, W3, W4, W5 are stored and compared at the end of cycle 5 (C5 in the figure). If W4 is the smallest, the carrier frequency command value F4 corresponding to W4 is the most lossy. It can be seen that this is a carrier frequency command value for reducing the frequency. Therefore, the parameter selector / commander 83 continues to output F4 as the carrier frequency command value thereafter.
  • the carrier frequency command value F is changed in five ways, F1 to F5, and five cycles C1 to C5 are required for searching and determining the parameter (carrier frequency command value).
  • the number for changing the carrier wave frequency command value F is not limited to 5, and may be a number Q of 2 or more. In this case, Q cycles are required for searching and determining the parameter (carrier frequency command value).
  • (1) to (3) are conceivable as timings for searching and determining parameters.
  • (1) Parameter search immediately after a hardware change that affects loss, such as addition of a noise filter to the wiring from the inverter 19 to the motor 21, replacement of the motor 21, modification of the mechanical load 23, etc. ⁇ Make a decision.
  • a push button (not shown) is connected to the parameter selection / commander 83, and when a hardware change is made, a human pushes the push button.
  • the parameter selector / commander 83 searches and determines a parameter (carrier frequency command value in this example) in the first cycle (first five cycles in this example) after the push button is pressed. Continue to output the specified carrier frequency command value.
  • a parameter selector / commander 83 has a function of outputting an output voltage command value G to the DC-DC converter control circuit 95 in addition to the carrier frequency command value F described above.
  • the carrier frequency command value F and the output voltage command value G output by the parameter selector / commander 83 are changed to store and compare the power amount W of one cycle, and the carrier frequency command value with the smallest power amount W is stored.
  • F and the output voltage command value G are output as the subsequent carrier wave frequency command value F and output voltage command value G.
  • FIG. 4 is an explanatory diagram of a method for searching and determining a plurality of parameters.
  • a method for searching and determining a plurality of parameters carrier frequency command value F and output voltage command value G
  • FIG. 4 shows an example in which W3 is the smallest among W1 to W15, and the combination of the carrier frequency command value F1 and the output voltage command value G3 corresponding to W3 is the carrier frequency at which the loss is minimized.
  • the parameter selector / commander 83 uses F1 as the carrier frequency command value after the end of the cycle 15 (that is, after the cycle C16 in the figure) as the output voltage. Continue to output G3 as the command value.
  • the carrier frequency command value F is changed in five ways F1 to F5 and the output voltage command value G is changed in three ways G1 to G3, and parameters (carrier frequency command value and voltage change rate command are changed).
  • the number Q or R is not limited to 3, but may be 2 or more. In this case, Q ⁇ R cycles are required for searching and determining parameters (carrier frequency command value F and output voltage command value G).
  • FIG. 5 is a diagram showing a second embodiment of the power-saving drive device according to the present invention.
  • this embodiment there are a plurality of inverters and motors, all of which move in the same manner.
  • the integrated mechanical load is driven by a plurality of motors.
  • FIG. 5 shows the case where there are three inverters and motors, but the same applies to the case where there are two or four or more motors.
  • the configurations of the DC-DC converter and the inverter are the same as those in the first embodiment, the configurations of the DC-DC converter and the inverter are not shown.
  • the electric energy calculator 81 and the parameter selector / commander 83 are provided, the inverter parameters are changed to a plurality of values, and the received electric energy of the inverter by the same load pattern in each parameter. Since W is calculated and compared, the parameter that minimizes the amount of received power is selected and the inverter is commanded, the electrical characteristics of the wiring, the presence or absence of electromagnetic noise removal elements, the loss characteristics for each motor, and temperature changes The loss amount can be minimized in consideration of the loss characteristics of all the components without obtaining the loss characteristic data by performing experiments in advance.
  • the parameter of the inverter may be a voltage change rate of the switching waveform.

Abstract

A power-conserving drive device for a device (23) having a uniform load pattern, driven by a motor (21) supplied with power from an inverter (19), and operated by the repetition of the uniform load pattern, is provided with a DC-DC converter (93) driven by a battery (91), and the inverter (19) driven by the output of the DC-DC converter. The power-conserving drive device is provided with: a power volume computing unit (81) which measures the volume (W) of power received from the battery during a uniform cycle pattern; and a parameter selection/command unit (83) which converts the inverter parameters (carrier frequency command value (F) and output voltage command value (G)) into a plurality of values, compares the volume of power received for each parameter, selects the parameters which minimize the volume of power received, and commands the inverter to implement the parameters.

Description

同一負荷パターンを有する装置の省電力駆動装置及び方法Power saving drive apparatus and method for apparatus having the same load pattern
　本発明は、同一負荷パターンを有する装置の省電力駆動装置及び方法に関する。 The present invention relates to a power saving driving apparatus and method for apparatuses having the same load pattern.
　本発明は、バッテリで駆動されるＤＣ－ＤＣコンバータの出力で駆動されるインバータから電力供給されるモータで駆動され、同一負荷パターンで繰り返し運転される装置を対象とする。以下、かかる装置を「同一負荷パターン装置」と呼ぶ。
　なお、同一負荷パターン装置は、サーボプレス、プレス用ダイクッション、搬送装置、物流装置などの産業用装置を主に想定するが、それらには限定されない。 The present invention is directed to a device that is driven by a motor that is powered by an inverter driven by the output of a DC-DC converter that is driven by a battery, and that is repeatedly operated in the same load pattern. Hereinafter, such a device is referred to as a “same load pattern device”.
In addition, although the same load pattern apparatus mainly assumes industrial apparatuses, such as a servo press, the die cushion for a press, a conveying apparatus, and a physical distribution apparatus, it is not limited to them.
　上述した同一負荷パターン装置における損失量は、電力変換回路のパラメタ、例えばＤＣ－ＤＣコンバータの出力電圧や、インバータの搬送波周波数やスイッチング波形の電圧変化率ｄｖ／ｄｔなどにより変化する。
　ここで「損失量」とは、バッテリから供給される電力とモータ出力との差、すなわち、バッテリからモータに到る電気回路（ＤＣ－ＤＣコンバータ、インバータとモータを含む）およびモータ内部の磁気回路において発熱や電磁放射の形で失われる仕事量を意味する。
　この損失量を低減する手段として、例えば特許文献１が既に提案されている。また、本発明に関連する技術が、特許文献２と非特許文献１，２に開示されている。 The amount of loss in the same load pattern device described above varies depending on the parameters of the power conversion circuit, for example, the output voltage of the DC-DC converter, the carrier frequency of the inverter, the voltage change rate dv / dt of the switching waveform, and the like.
Here, the “loss amount” means the difference between the electric power supplied from the battery and the motor output, that is, the electric circuit (including the DC-DC converter, inverter and motor) from the battery to the motor, and the magnetic circuit inside the motor. Means the amount of work lost in the form of heat generation and electromagnetic radiation.
As means for reducing this loss amount, for example, Patent Document 1 has already been proposed. Moreover, the technique relevant to this invention is disclosed by patent document 2 and nonpatent literature 1,2.
　特許文献１は、装置の運転条件が変化したとき、電力変換のパラメタ（ＤＣ／ＤＣコンバータの搬送波周波数）を変化させて損失量を小さくするものである。 Japanese Patent Laid-Open No. 2004-228561 is to reduce a loss amount by changing a power conversion parameter (a carrier frequency of a DC / DC converter) when an operation condition of the apparatus is changed.
　非特許文献２には、低速域・中速域・高速域に応じて運転中にスイッチング周波数を切り替えることにより損失を低減することが開示されている。 Non-Patent Document 2 discloses that loss is reduced by switching the switching frequency during operation in accordance with a low speed region, a medium speed region, and a high speed region.
特開２００３－１１６２８０号公報、「駆動装置および動力出力装置」JP 2003-116280 A, “DRIVE DEVICE AND POWER OUTPUT DEVICE” 特開平５－１８４１８２号公報、「インバータ制御装置」Japanese Patent Application Laid-Open No. 5-184182, “Inverter Control Device”
　特許文献１では、損失量を小さくする搬送波（キャリアと称する）周波数を、（Ａ）エネルギ蓄積手段、スイッチング素子、電動機各相コイルの損失特性を用いることにより、或いは（Ｂ）予め実験などにより求める手段が提案されている。
　しかし、特許文献１の手段を各種装置、特にバッテリで駆動されるサーボプレス、プレス用ダイクッション、搬送装置、物流装置などの産業用装置に適用しようとすると以下の問題がある。 In Patent Document 1, the frequency of a carrier wave (referred to as a carrier) that reduces the amount of loss is obtained by (A) using the loss characteristics of the energy storage means, the switching element, and each phase coil of the motor, or (B) by experimentation in advance. Means have been proposed.
However, if the means of Patent Document 1 is applied to various apparatuses, particularly industrial apparatuses such as a servo press driven by a battery, a die cushion for pressing, a conveying apparatus, and a physical distribution apparatus, there are the following problems.
（Ａ）に対しては、「他の構成要素の損失特性が考慮されていない」という問題がある。
　例えば、インバータとモータ間の配線、電磁ノイズ除去用素子（フェライトコアやフィルタ）、モータのロータにおける損失（ロータ内に誘導される電流による損失など）が考慮されていない。
　また、産業用装置ではインバータとモータ間の配線が長かったり、電磁ノイズ除去用素子やモータが大型であったりするため、これらの構成要素からの損失量も無視できないことが多い。 As for (A), there is a problem that “loss characteristics of other components are not considered”.
For example, wiring between the inverter and the motor, electromagnetic noise removing elements (ferrite cores and filters), and loss in the rotor of the motor (loss due to current induced in the rotor, etc.) are not considered.
Further, in industrial devices, the wiring between the inverter and the motor is long, or the electromagnetic noise removing element and the motor are large, so the amount of loss from these components is often not negligible.
（Ｂ）に対しては、「搬送波周波数を決めるためのデータ（総合的な損失特性）を予め求めておくことが困難である」という問題がある。
　これは、例えば、次の理由による。
（ａ）バッテリで駆動されるＤＣ－ＤＣコンバータと、ＤＣ－ＤＣコンバータの出力で駆動されるインバータとを備える場合、ＤＣ－ＤＣコンバータの出力電圧の最適化ができない。
（ｂ）配線作業が現物合わせのため、配線の電気的特性が事前に予測できない。
（ｃ）電磁ノイズ除去用素子が装置設置後に追加されることがある。
（ｄ）モータが故障して交換されることがあるが、モータは一台ごとに特性が異なる。
（ｅ）モータの温度は、装置の起動直後は低く、装置を連続運転していると上昇するが、モータの損失特性は温度によって変化する。 As for (B), there is a problem that “it is difficult to obtain in advance data (total loss characteristics) for determining a carrier frequency”.
This is due to the following reason, for example.
(A) When a DC-DC converter driven by a battery and an inverter driven by the output of the DC-DC converter are provided, the output voltage of the DC-DC converter cannot be optimized.
(B) Since the wiring work is in line with the actual product, the electrical characteristics of the wiring cannot be predicted in advance.
(C) An electromagnetic noise removing element may be added after installation of the apparatus.
(D) Although a motor may fail and be replaced, each motor has different characteristics.
(E) The temperature of the motor is low immediately after the start of the apparatus and rises when the apparatus is continuously operated, but the loss characteristic of the motor changes depending on the temperature.
　本発明は、上述した問題点を解決するために創案されたものである。すなわち、本発明の目的は、ＤＣ－ＤＣコンバータの出力電圧、配線の電気的特性、電磁ノイズ除去用素子の有無、モータごとの損失特性及び温度変化、等を予め実験して損失特性のデータを取得することなく、すべての構成要素の損失特性を考慮して損失量を最小化することができる同一負荷パターンを有する装置の省電力駆動装置及び方法を提供することにある。 The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to obtain data on loss characteristics by conducting experiments in advance on the output voltage of a DC-DC converter, electrical characteristics of wiring, presence / absence of an electromagnetic noise removing element, loss characteristics and temperature changes for each motor, and the like. It is an object of the present invention to provide a power-saving drive device and method for a device having the same load pattern that can minimize the amount of loss in consideration of the loss characteristics of all the components without obtaining them.
　本発明によれば、バッテリで駆動されるＤＣ－ＤＣコンバータと、該ＤＣ－ＤＣコンバータの出力で駆動されるインバータとを備え、該インバータから電力供給されるモータで駆動され、同一負荷パターンを有する装置の省電力駆動装置であって、
　前記同一負荷パターンにおけるバッテリからの受電電力量を計算する電力量演算器と、
　インバータのパラメタを複数の値に変化させ、各パラメタにおける前記受電電力量を比較し、該受電電力量を最小にするパラメタを選択して、インバータに指令するパラメタ選択・指令器と、を備える、ことを特徴とする同一負荷パターンを有する装置の省電力駆動装置が提供される。 According to the present invention, a DC-DC converter driven by a battery and an inverter driven by the output of the DC-DC converter are provided, driven by a motor supplied with power from the inverter, and having the same load pattern A power saving drive device for the device,
An energy calculator that calculates the amount of power received from the battery in the same load pattern;
A parameter selection / commander for changing the parameter of the inverter to a plurality of values, comparing the received power amount in each parameter, selecting a parameter that minimizes the received power amount, and instructing the inverter; A power-saving drive device for a device having the same load pattern is provided.
　本発明の実施形態によれば、前記負荷パターンのサイクル開始信号とサイクル終了信号を出力する指令値生成器を備える。 According to an embodiment of the present invention, a command value generator for outputting a cycle start signal and a cycle end signal of the load pattern is provided.
　前記インバータのパラメタは、搬送波周波数、および、ＤＣ－ＤＣコンバータの出力電圧である。 The parameters of the inverter are the carrier frequency and the output voltage of the DC-DC converter.
　また本発明によれば、バッテリで駆動されるＤＣ－ＤＣコンバータと、該ＤＣ－ＤＣコンバータの出力で駆動されるインバータとを備え、該インバータから電力供給されるモータで駆動され、同一負荷パターンを有する装置の省電力駆動方法であって、
　インバータのパラメタを複数の値に変化させ、
　前記各パラメタにおける前記同一負荷パターンによるバッテリからの受電電力量を計算し、
　各パラメタにおける前記受電電力量を比較し、該受電電力量を最小にするパラメタを選択して、インバータに指令する、ことを特徴とする同一負荷パターンを有する装置の省電力駆動方法が提供される。 The present invention also includes a DC-DC converter driven by a battery and an inverter driven by the output of the DC-DC converter, driven by a motor supplied with power from the inverter, and having the same load pattern. A power saving driving method for an apparatus having:
Change the inverter parameters to multiple values,
Calculate the amount of power received from the battery by the same load pattern in each parameter,
There is provided a power saving driving method for a device having the same load pattern, wherein the received power amount in each parameter is compared, a parameter that minimizes the received power amount is selected, and an inverter is commanded .
　上記本発明の装置及び方法によれば、電力量演算器とパラメタ選択・指令器とを備え、インバータのパラメタを複数の値に変化させ、各パラメタにおける同一負荷パターンによるバッテリからの受電電力量を計算して比較し、該受電電力量を最小にするパラメタを選択して、インバータに指令するので、配線の電気的特性、電磁ノイズ除去用素子の有無、モータごとの損失特性及び温度変化、等を予め実験して損失特性のデータを取得することなく、すべての構成要素の損失特性を考慮して損失量を最小化することができる。
  According to the apparatus and method of the present invention, it is provided with an electric energy calculator and a parameter selector / commander, changing the parameter of the inverter to a plurality of values, and determining the amount of electric power received from the battery by the same load pattern in each parameter. Calculate and compare, select the parameter that minimizes the amount of received power, and command the inverter, so the electrical characteristics of the wiring, the presence or absence of electromagnetic noise removal elements, loss characteristics and temperature changes for each motor, etc. The amount of loss can be minimized in consideration of the loss characteristics of all the components without obtaining the loss characteristic data by conducting an experiment in advance.
本発明による省電力駆動装置の第１実施形態を示す図である。It is a figure which shows 1st Embodiment of the power saving drive device by this invention. 本発明が対象としている同一負荷パターン装置の作動説明図である。It is operation | movement explanatory drawing of the same load pattern apparatus which this invention makes object. パラメタ選択・指令器の作動説明図である。It is operation | movement explanatory drawing of a parameter selection / command device. 複数のパラメタを探索・決定する方法の説明図である。It is explanatory drawing of the method of searching and determining a some parameter. 本発明による省電力駆動装置の第２実施形態を示す図である。It is a figure which shows 2nd Embodiment of the power saving drive device by this invention.
　以下、本発明の好ましい実施形態を図面を参照して説明する。なお各図において、共通する部分には同一の符号を付し、重複した説明は省略する。 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.
　図１は、本発明による省電力駆動装置の第１実施形態を示す図である。この図において、本発明の省電力駆動装置は、バッテリ９１で駆動されるＤＣ－ＤＣコンバータ９３と、ＤＣ－ＤＣコンバータ９３の出力で駆動されるインバータ１９とを備える。 FIG. 1 is a diagram showing a first embodiment of a power-saving drive device according to the present invention. In this figure, the power-saving drive device of the present invention includes a DC-DC converter 93 driven by a battery 91 and an inverter 19 driven by the output of the DC-DC converter 93.
　バッテリ９１は、例えば、リチウムイオン電池、ニッケル水素電池、鉛蓄電池などの二次電池である。バッテリ９１は、電池の出力電圧を高くするため、セルを直列接続し、かつ電池のコントローラを備えている。
　また、このバッテリ９１には、図示しない太陽電池、燃料電池、風力発電機等により直流電力を充電するようになっている。 The battery 91 is a secondary battery such as a lithium ion battery, a nickel metal hydride battery, or a lead storage battery. The battery 91 includes cells connected in series and a battery controller in order to increase the output voltage of the battery.
Further, the battery 91 is charged with DC power by a solar cell, a fuel cell, a wind power generator or the like (not shown).
　ＤＣ－ＤＣコンバータ９３の入力端（図で左端）は、バッテリ９１に接続され、出力端（図で右端）はインバータ１９に接続されている。
　ＤＣ－ＤＣコンバータ９３は、直流電圧の昇圧もしくは降圧もしくはその双方を行う可変出力電圧のＤＣ－ＤＣコンバータである。図１で、ＤＣ－ＤＣコンバータ９３の右側の、キャパシタ１７の両端間の電圧が出力電圧である。 An input end (left end in the figure) of the DC-DC converter 93 is connected to the battery 91, and an output end (right end in the figure) is connected to the inverter 19.
The DC-DC converter 93 is a variable output voltage DC-DC converter that boosts and / or steps down a DC voltage. In FIG. 1, the voltage across the capacitor 17 on the right side of the DC-DC converter 93 is the output voltage.
　このＤＣ－ＤＣコンバータ９３は、力行（図１で左から右へ電力が移動する）のみでなく、回生（図１で右から左へ電力が移動する）も可能に構成されている。
　このようなＤＣ－ＤＣコンバータ９３は、ＩＧＢＴやパワーＭＯＳＦＥＴなどの電力制御素子とインダクタやトランスを組み合わせて実現される。 The DC-DC converter 93 is configured to be capable of not only powering (power moves from left to right in FIG. 1) but also regeneration (power moves from right to left in FIG. 1).
Such a DC-DC converter 93 is realized by combining a power control element such as an IGBT or a power MOSFET with an inductor or a transformer.
　図１において、９５はＤＣ－ＤＣコンバータ制御回路である。ＤＣ－ＤＣコンバータ制御回路９５は、ＤＣ－ＤＣコンバータ９３の電力制御素子のゲート信号を生成し、ＤＣ－ＤＣコンバータ９３の出力電圧を制御する。
　ＤＣ－ＤＣコンバータ制御回路９５は、電子回路もしくは組み込みＣＰＵと専用制御プログラムないしは両者の組み合わせで実現される。 In FIG. 1, reference numeral 95 denotes a DC-DC converter control circuit. The DC-DC converter control circuit 95 generates a gate signal for the power control element of the DC-DC converter 93 and controls the output voltage of the DC-DC converter 93.
The DC-DC converter control circuit 95 is realized by an electronic circuit or an embedded CPU and a dedicated control program or a combination of both.
　直流バス１５は、ＤＣ－ＤＣコンバータ９３とインバータ１９を電気的に接続する。図中で、上方に示されているのが直流バス１５のプラス側（＋）、下方に示されているのが直流バス１５のマイナス側（－）である。
　１７はキャパシタであり、直流バス１５の電圧を平滑化する。キャパシタ１７は、アルミ電解コンデンサが使用されることが多いが、他の種類のコンデンサや電気二重層キャパシタを用いてもよい。 The DC bus 15 electrically connects the DC-DC converter 93 and the inverter 19. In the drawing, the upper side shows the positive side (+) of the DC bus 15, and the lower side shows the negative side (−) of the DC bus 15.
A capacitor 17 smoothes the voltage of the DC bus 15. As the capacitor 17, an aluminum electrolytic capacitor is often used, but other types of capacitors and electric double layer capacitors may be used.
　１９はインバータであり、直流バス１５からモータ２１へ流れる電流・電圧を制御し、モータ２１が所望のトルクを発生するようにする。インバータ１９は、この実施形態では電圧型インバータを仮定するが、電流型インバータでもよい。電流型インバータの場合、キャパシタ１７の代わりにリアクトルを用いる。
　また、インバータ１９は、この実施形態では、モータ２１の正逆回転、力行・回生が可能な４象限駆動のインバータを仮定するが、機械負荷２３（同一負荷パターン装置）の特性および動作によっては、回転方向が一方向のみ、もしくは力行のみが可能なインバータでもよい。力行のみが可能なインバータを用いる場合、ＤＣ－ＤＣコンバータ９３も力行のみ可能なものであってよい。 Reference numeral 19 denotes an inverter which controls the current / voltage flowing from the DC bus 15 to the motor 21 so that the motor 21 generates a desired torque. The inverter 19 is assumed to be a voltage type inverter in this embodiment, but may be a current type inverter. In the case of a current type inverter, a reactor is used instead of the capacitor 17.
Further, in this embodiment, the inverter 19 is assumed to be a four-quadrant drive inverter capable of forward / reverse rotation, power running / regeneration of the motor 21, but depending on the characteristics and operation of the mechanical load 23 (same load pattern device), The inverter may be capable of rotating only in one direction or powering only. When an inverter capable of only power running is used, the DC-DC converter 93 may be capable of only power running.
　２１はモータであり、インバータ１９とモータ２１の組み合わせにより、制御器２７から入力されるトルク指令値に追従してモータ２１がトルクを発生する。
　モータ２１は、この実施形態では、３相誘導モータないし３相永久磁石同期モータを仮定するが、インバータとの組み合わせでトルク・回転速度が可変であれば、他の形式のモータでもよい。 Reference numeral 21 denotes a motor. The combination of the inverter 19 and the motor 21 causes the motor 21 to generate torque following the torque command value input from the controller 27.
In this embodiment, the motor 21 is assumed to be a three-phase induction motor or a three-phase permanent magnet synchronous motor. However, other types of motors may be used as long as the torque and rotational speed are variable in combination with an inverter.
　２３は機械負荷、すなわち同一負荷パターン装置であり、モータ２１により駆動される。
　２５はモータエンコーダであり、モータ２１の回転位置（角度）を測定する。モータエンコーダ２５として、光学式や磁気式のロータリーエンコーダやレゾルバが用いられる。なお、制御器２７が速度制御を行う場合には、モータ２１の回転速度（角速度）を測定すればよい。この場合、ロータリーエンコーダやレゾルバで測定した回転位置を時間微分してもよいし、タコメータのように回転速度を直接測定してもよい。 Reference numeral 23 denotes a mechanical load, that is, the same load pattern device, which is driven by the motor 21.
Reference numeral 25 denotes a motor encoder, which measures the rotational position (angle) of the motor 21. As the motor encoder 25, an optical or magnetic rotary encoder or resolver is used. When the controller 27 performs speed control, the rotational speed (angular speed) of the motor 21 may be measured. In this case, the rotational position measured with a rotary encoder or resolver may be time-differentiated, or the rotational speed may be directly measured like a tachometer.
　２７は制御器であり、インバータ１９、モータ２１、モータエンコーダ２５、制御器２７でフィードバックループを構成し、モータ２１が指令値生成器２９からの指令値に追随するよう制御する。
　制御器２７は、この実施形態では、位置制御を仮定するが、速度制御でもよい。制御器２７内部の演算手法としては、ＰＩＤ（Ｐｒｏｐｏｒｔｉｏｎａｌ　Ｉｎｔｅｇｒａｌ　Ｄｅｒｉｖａｔｉｖｅ）制御やＩ－ＰＤ（Ｉｎｔｅｇｒａｌ　Ｐｒｏｐｏｒｔｉｏｎａｌ　Ｄｅｒｉｖａｔｉｖｅ）制御などが多く用いられるが、その他の制御手法を用いてもよい。制御性を改善するためのフィードフォワード演算を組み合わせてもよい。制御器２７は、ＤＳＰ（Ｄｉｇｉｔａｌ　Ｓｉｇｎａｌ　Ｐｒｏｃｅｓｓｏｒ）やマイコンを用いたプログラマブル装置もしくはアナログ回路もしくはそれらの組み合わせにより実現可能である。 Reference numeral 27 denotes a controller, and the inverter 19, the motor 21, the motor encoder 25, and the controller 27 constitute a feedback loop, and the motor 21 is controlled to follow the command value from the command value generator 29.
The controller 27 assumes position control in this embodiment, but may be speed control. As a calculation method inside the controller 27, PID (Proportional Integral Derivative) control, I-PD (Integral Proportional Derivative) control, and the like are often used, but other control methods may be used. A feedforward calculation for improving controllability may be combined. The controller 27 can be realized by a programmable device using DSP (Digital Signal Processor), a microcomputer, an analog circuit, or a combination thereof.
　２９は指令値生成器であり、それぞれの時刻において、モータ２１が追随すべきモータ回転角度指令値Ａｃを制御器２７へ出力する。モータ回転角度指令値Ａｃの伝送には、９０度位相がずれた２相パルス列による伝送や、各種通信ネットワークによる伝送が用いられる。モータ２１の回転角と機械負荷２３は機械的に連動しているので、モータ２１の回転角度を指令することは、機械負荷２３の位置を指令することと同じ意味である。 29 is a command value generator, which outputs a motor rotation angle command value Ac to be followed by the motor 21 to the controller 27 at each time. For transmission of the motor rotation angle command value Ac, transmission by a two-phase pulse train whose phase is shifted by 90 degrees or transmission by various communication networks is used. Since the rotation angle of the motor 21 and the mechanical load 23 are mechanically linked, instructing the rotation angle of the motor 21 has the same meaning as instructing the position of the mechanical load 23.
　図２は、本発明が対象としている同一負荷パターン装置の作動説明図である。
　本発明は同一負荷パターンで繰り返し運転される装置（同一負荷パターン装置）を対象としているので、この実施形態において、図に示すように、モータ回転角度指令値Ａｃはサイクル（繰り返される同一パターン）を有し、サイクルの開始時点と終了時点において、指令値生成器２９はサイクル開始信号Ｃｓとサイクル終了信号Ｃｅをそれぞれ出力するものとする。
　この図において、Ｃ１、Ｃ２、Ｃ３がそれぞれサイクルを示している。サイクルとサイクルの間では、任意の指令値、たとえば機械負荷２３を停止させておくような指令値や機械負荷２３を手動操作にしたがって動作させるための指令値を出力してかまわない。 FIG. 2 is an operation explanatory view of the same load pattern device targeted by the present invention.
Since the present invention is intended for a device that is repeatedly operated with the same load pattern (same load pattern device), in this embodiment, as shown in the figure, the motor rotation angle command value Ac is a cycle (same repeated pattern). The command value generator 29 outputs a cycle start signal Cs and a cycle end signal Ce at the start time and end time of the cycle, respectively.
In this figure, C1, C2, and C3 indicate cycles. An arbitrary command value such as a command value for stopping the mechanical load 23 or a command value for operating the mechanical load 23 according to a manual operation may be output between cycles.
　なお、以下の説明においては単純化のため、サイクルとサイクルの間では機械負荷２３を停止させておくような指令値を出力するものとする。また、図２ではサイクル開始信号Ｃｓ、サイクル終了信号Ｃｅはパルス信号としたが、サイクル開始を信号の立上りエッジで、サイクル終了を信号の立下りエッジで示すようにするなど、他の信号波形でもよい。
　なお、制御器２７が速度制御を行う場合には、指令値生成器２９はモータ回転速度指令値を出力するようにすればよい。 In the following description, for simplification, it is assumed that a command value for stopping the mechanical load 23 is output between cycles. In FIG. 2, the cycle start signal Cs and the cycle end signal Ce are pulse signals, but other signal waveforms such as a cycle start being indicated by a rising edge of the signal and a cycle end being indicated by a falling edge of the signal. Good.
When the controller 27 performs speed control, the command value generator 29 may output the motor rotation speed command value.
　指令値生成器２９は、半導体メモリのような記憶装置を有するＤＳＰやマイコンを用いたプログラマブル装置により実現可能である。 The command value generator 29 can be realized by a programmable device using a DSP or a microcomputer having a storage device such as a semiconductor memory.
　インバータ１９は、以下の要素から構成され、パラメタ選択・指令器８３が出力する搬送波周波数指令値Ｆにしたがった周波数の搬送波Ｃｗを用いてＰＷＭ変調（Ｐｕｌｓｅ　Ｗｉｄｔｈ　Ｍｏｄｕｌａｔｉｏｎ）が行われる。
　インバータ１９の構成・動作例の詳細は例えば、非特許文献１に示されている。また、可変な搬送波周波数によりＰＷＭ変調を行う方法の例は、特許文献２に示されている。なお特許文献２では、搬送波はキャリアと呼ばれている。 The inverter 19 includes the following elements, and performs PWM modulation (Pulse Width Modulation) using a carrier wave Cw having a frequency according to the carrier frequency command value F output from the parameter selector / commander 83.
Details of the configuration / operation example of the inverter 19 are shown in Non-Patent Document 1, for example. An example of a method for performing PWM modulation with a variable carrier frequency is disclosed in Patent Document 2. In Patent Document 2, the carrier wave is called a carrier.
　４１は電力制御部であり、ゲート信号により導通状態が変化する電力制御素子により、直流バス１５からモータ２１への電圧・電流を制御する。電力制御部４１は、この実施形態ではパワーＭＯＳＦＥＴ（Ｍｅｔａｌ－Ｏｘｉｄｅ－Ｓｅｍｉｃｏｎｄｕｃｔｏｒ　Ｆｉｅｌｄ－Ｅｆｆｅｃｔ　Ｔｒａｎｓｉｓｔｏｒ）やＩＧＢＴ（Ｉｎｓｕｌａｔｅｄ　Ｇａｔｅ　Ｂｉｐｏｌａｒ　Ｔｒａｎｓｉｓｔｏｒ）などのゲート信号をオフすることにより消弧可能な電力制御素子を用いることを仮定するが、ＧＴＯ（Ｇａｔｅ　Ｔｕｒｎ　Ｏｆｆ）など他の種類の電力制御素子を電力制御素子に応じた適当なゲート駆動回路と組み合わせて用いてもよい。 41 is a power control unit, which controls the voltage / current from the DC bus 15 to the motor 21 by a power control element whose conduction state is changed by a gate signal. In this embodiment, the power control unit 41 uses a power control element that can be extinguished by turning off a gate signal such as a power MOSFET (Metal-Oxide-Semiconductor, Field-Effect Transistor) or IGBT (Insulated Gate Bipolar Transistor). However, other types of power control elements such as GTO (Gate Turn Off) may be used in combination with an appropriate gate drive circuit corresponding to the power control element.
　４３はモータ電流測定器であり、電力制御部４１からモータ２１へのＵＶＷ各相の電流を測定する。モータ電流測定器４３は、電流にともなって電線の周囲に発生する磁場を測定する非接触方式の装置や、回路に抵抗を挿入し電流にともなって抵抗の両端に発生する電位差を測定する装置などである。電流測定器６３の実現方法も同様である。 43 is a motor current measuring device which measures the current of each UVW phase from the power control unit 41 to the motor 21. The motor current measuring device 43 is a non-contact type device that measures a magnetic field generated around an electric wire with current, a device that inserts a resistor into a circuit and measures a potential difference generated at both ends of the resistor with current. It is. The method for realizing the current measuring device 63 is the same.
　４５は指令演算器であり、制御器２７からのトルク指令値Ｔｃに追随してモータ２１がトルクを発生するよう、ＰＷＭ変調器４７へＵＶＷの各相に対する変調波Ｍｗを出力する。指令演算器４５として、ベクトル演算により計算した各相への電流指令をモータ電流測定器４３の測定値と比較して各相の変調波を求める装置が可能であるが、他の装置でもよい。指令演算器４５は、ＤＳＰやマイコンを用いたプログラマブル装置もしくは電子回路もしくはそれらの組み合わせにより実現可能である。なお、状態推定等の手法を用いて、必要なモータ電流測定器４３の個数を減らす構成も可能である。 45 is a command calculator that outputs a modulated wave Mw for each phase of UVW to the PWM modulator 47 so that the motor 21 generates torque following the torque command value Tc from the controller 27. The command calculator 45 can be a device that compares the current command to each phase calculated by vector calculation with the measured value of the motor current measuring device 43 to obtain the modulated wave of each phase, but other devices may be used. The command calculator 45 can be realized by a programmable device using a DSP or a microcomputer, an electronic circuit, or a combination thereof. In addition, the structure which reduces the number of required motor current measuring devices 43 using methods, such as state estimation, is also possible.
　４７はＰＷＭ変調器であり、変調波Ｍｗを搬送波Ｃｗで変調し、電力制御素子の導通・非導通を決めるノッチ波Ｎｗを出力する。ＰＷＭ変調器４７は、この実施形態では三角搬送波を用い、変調波Ｍｗと搬送波Ｃｗの大小比較でノッチ波Ｎｗのオンオフを決める手段を想定する。ＰＷＭ変調器４７は、アナログ電子回路（コンパレータ）もしくはＤＳＰやマイコンのプログラムで実現可能である。 47 is a PWM modulator, which modulates the modulated wave Mw with the carrier wave Cw and outputs a notch wave Nw that determines conduction / non-conduction of the power control element. The PWM modulator 47 uses a triangular carrier wave in this embodiment, and assumes a means for determining on / off of the notch wave Nw by comparing the magnitude of the modulated wave Mw and the carrier wave Cw. The PWM modulator 47 can be realized by an analog electronic circuit (comparator) or a program of a DSP or a microcomputer.
　４９は搬送波発振器であり、ＰＷＭ変調のための搬送波Ｃｗを発振する。搬送波発振器４９は、搬送波周波数指令値Ｆにしたがって発振周波数が可変となるよう構成する。
　搬送波発振器４９は、２つの値Ｍ１，Ｍ２の間でカウントアップ・ダウンを繰り返すアップダウンカウンタを電子回路やＤＳＰやマイコンのプログラムで構成して三角搬送波を発振し、搬送波周波数指令値Ｆに応じてＭ１，Ｍ２の値を適切に変えることにより発振周波数を変える構成が可能であるが、アナログ電子回路による発振回路など他の方法で構成してもよい。 49 is a carrier wave oscillator, which oscillates a carrier wave Cw for PWM modulation. The carrier wave oscillator 49 is configured such that the oscillation frequency is variable according to the carrier wave frequency command value F.
The carrier oscillator 49 oscillates a triangular carrier wave by configuring an up / down counter that repeats counting up and down between two values M1 and M2 by an electronic circuit, a DSP, or a program of a microcomputer, and according to the carrier frequency command value F Although it is possible to change the oscillation frequency by appropriately changing the values of M1 and M2, it may be configured by other methods such as an oscillation circuit using an analog electronic circuit.
　５１はゲート駆動回路であり、ノッチ波Ｎｗを絶縁、レベル変換又は増幅して、電力制御素子のゲートを駆動するゲート信号を出力する。ゲート駆動回路５１は、絶縁型電源・フォトカプラ等を用いた電子回路により実現できる。 51 is a gate drive circuit, which insulates, level-converts or amplifies the notch wave Nw, and outputs a gate signal for driving the gate of the power control element. The gate drive circuit 51 can be realized by an electronic circuit using an insulating power source, a photocoupler, or the like.
　６１は電圧測定器であり、６３は電流測定器である。電圧測定器６１と電流測定器６３は、バッテリ９１からＤＣ－ＤＣコンバータ９３へ流入する電力量Ｗを計算するため、それぞれ電圧と電流を測定し、電圧測定値Ｖ（ｔ）と電流測定値Ｉ（ｔ）を電力量演算器８１へ出力する。電圧測定値Ｖ（ｔ）、電流測定値Ｉ（ｔ）の伝送には、電圧振幅や電流振幅としてアナログ伝送する手段や、各種通信ネットワークを用いてデジタル伝送することが可能である。
　電圧測定器６１で測定される時刻ｔにおけるバッテリ９１のマイナス側に対するプラス側の電圧をＶ（ｔ）と記す。また電流測定器６３で測定される時刻ｔにおけるバッテリ９１のプラス側を図中で左から右へ流れる電流をＩ（ｔ）と記す。電流測定値が負の値の場合、電流が図中で右から左へ流れることを示す。 61 is a voltage measuring device, and 63 is a current measuring device. The voltage measuring device 61 and the current measuring device 63 measure the voltage and current, respectively, in order to calculate the amount of electric power W flowing from the battery 91 to the DC-DC converter 93, and measure the voltage measurement value V (t) and the current measurement value I. (T) is output to the electric energy calculator 81. The voltage measurement value V (t) and the current measurement value I (t) can be transmitted digitally by means of analog transmission as voltage amplitude or current amplitude, or by using various communication networks.
The voltage on the plus side with respect to the minus side of the battery 91 at time t measured by the voltage measuring device 61 is denoted as V (t). Further, the current flowing from the left to the right in the figure on the positive side of the battery 91 at time t measured by the current measuring device 63 is denoted as I (t). A negative current measurement value indicates that current flows from right to left in the figure.
　８１は電力量演算器であり、１サイクルの電力量Ｗを演算する。すなわち、電圧測定値Ｖ（ｔ）と電流測定値Ｉ（ｔ）を乗算した値を、サイクル開始信号Ｃｓが入力された時点からサイクル終了信号Ｃｅが入力される時間まで時間積分して出力する。１サイクルの電力量Ｗの伝送には、電圧振幅や電流振幅としてアナログ伝送する手段や、各種通信ネットワークを用いてデジタル伝送することが可能である。
　電力量演算器８１は、ＤＳＰやマイコンを用いたプログラマブル装置もしくはアナログ電子回路もしくはそれらの組み合わせにより実現可能である。
　電力量演算器８１は、以下のような演算を行う。
　時刻ｔにおける電力Ｐ（ｔ）は電圧と電流の積であり、式（１）であらわされる。ここで、Ｐ（ｔ）が正の値であれば電力が図中の左から右へ、Ｐ（ｔ）が負の値であれば電力が図中の右から左へ流れることを示す。
　Ｐ（ｔ）＝Ｖ（ｔ）×Ｉ（ｔ）・・・（１）
　１サイクルの電力量Ｗは、電力の時間積分なので、そのサイクルに対するサイクル開始信号の時刻をＴ１、サイクル終了信号の時刻をＴ２と書けば、数１の式（２）であらわされる。 81 is an electric energy calculator, and calculates electric energy W of 1 cycle. That is, a value obtained by multiplying the voltage measurement value V (t) and the current measurement value I (t) is time-integrated from the time when the cycle start signal Cs is input to the time when the cycle end signal Ce is input, and then output. For the transmission of the electric energy W in one cycle, it is possible to perform digital transmission using means for analog transmission as voltage amplitude and current amplitude, and various communication networks.
The electric energy calculator 81 can be realized by a programmable device using a DSP or a microcomputer, an analog electronic circuit, or a combination thereof.
The electric energy calculator 81 performs the following calculation.
The power P (t) at time t is the product of voltage and current, and is expressed by equation (1). Here, when P (t) is a positive value, power flows from left to right in the figure, and when P (t) is a negative value, power flows from right to left in the figure.
P (t) = V (t) × I (t) (1)
Since the power amount W of one cycle is a time integral of the power, if the time of the cycle start signal for the cycle is written as T1, and the time of the cycle end signal is written as T2, it is expressed by Equation (2) of Formula 1.
Figure JPOXMLDOC01-appb-M000001
  
Figure JPOXMLDOC01-appb-M000001
  
　電力量演算器８１での演算が時間ΔＴ周期で行われるとすれば、式（２）を差分化し、時刻Ｔ１から時刻Ｔ２までＶ（ｔ）×Ｉ（ｔ）×ΔＴを積算すれば、１サイクルの電力量Ｗとなる。すなわち、サイクル終了時点において、そのサイクルに対する１サイクルの電力量を出力可能である。
　以上の説明のように、電流測定値と電力に負の値も許容することにより、１サイクル中で力行と回生が混在している場合にも本発明は適用可能となる。すなわち、電力の正、負が、それぞれ力行、回生に相当する。 If the calculation by the electric energy calculator 81 is performed in the period of time ΔT, the equation (2) is differentiated, and V (t) × I (t) × ΔT is integrated from time T1 to time T2. It becomes the electric energy W of the cycle. In other words, at the end of the cycle, it is possible to output one cycle of electric power for that cycle.
As described above, the present invention is applicable even when power running and regeneration are mixed in one cycle by allowing negative values for the current measurement value and power. That is, positive and negative power corresponds to power running and regeneration, respectively.
　８３はパラメタ選択・指令器であり、損失量に影響するパラメタの値を指令するとともに、各サイクルにおける１サイクルの電力量にもとづいて、適切なパラメタの値を選択する。この実施形態では、パラメタは搬送波Ｃｗの周波数とＤＣ－ＤＣコンバータ９３の出力電圧であり、パラメタ選択・指令器８３は、搬送波周波数指令値Ｆを搬送波発信器４９へ出力し、出力電圧指令値ＧをＤＣ－ＤＣコンバータ制御回路９５へ出力する。パラメタ選択・指令器８３は、ＤＳＰやマイコンをもちいたプログラマブル装置により実現可能である。 83 is a parameter selection / commander that commands parameter values that affect the amount of loss, and selects appropriate parameter values based on the power consumption of one cycle in each cycle. In this embodiment, the parameters are the frequency of the carrier wave Cw and the output voltage of the DC-DC converter 93, and the parameter selector / commander 83 outputs the carrier frequency command value F to the carrier wave transmitter 49, and the output voltage command value G Is output to the DC-DC converter control circuit 95. The parameter selector / commander 83 can be realized by a programmable device using a DSP or a microcomputer.
　図３は、パラメタ選択・指令器８３の作動説明図である。
　以下、ＤＣ－ＤＣコンバータ制御回路９５への出力電圧指令値Ｇが一定である場合を説明する。 FIG. 3 is an operation explanatory diagram of the parameter selection / commander 83.
Hereinafter, a case where the output voltage command value G to the DC-DC converter control circuit 95 is constant will be described.
　パラメタ選択・指令器８３により、損失を小さくするパラメタを探索・決定するための手順は以下のようになる。
　パラメタ選択・指令器８３は、１サイクルごとに異なる搬送波周波数指令値Ｆを出力する。サイクル終了時点において、電力量演算器８１から各サイクルに対する１サイクルの電力量Ｗが出力されるので、パラメタ選択・指令器８３の内部に記憶しておく。パラメタ選択・指令器８３は、記憶した１サイクルの電力量Ｗを比較し、もっとも電力量が小さくなる搬送波周波数指令値Ｆを、以降の搬送波周波数指令値Ｆとして出力する。 The procedure for searching and determining a parameter for reducing the loss by the parameter selector / commander 83 is as follows.
The parameter selector / commander 83 outputs a different carrier frequency command value F for each cycle. At the end of the cycle, a power amount W for one cycle for each cycle is output from the power amount calculator 81 and is stored in the parameter selector / commander 83. The parameter selector / commander 83 compares the stored one-cycle power amount W and outputs the carrier frequency command value F with the smallest power amount as the subsequent carrier frequency command value F.
　例として、図３に示すように、５サイクル（図中、Ｃ１、Ｃ２、Ｃ３、Ｃ４、Ｃ５）のそれぞれに対して搬送波周波数指令値ＦをＦ１、Ｆ２、Ｆ３、Ｆ４、Ｆ５に変化させたとし、それぞれのサイクルにおける１サイクルの電力量がＷ１、Ｗ２、Ｗ３、Ｗ４、Ｗ５であったとする。Ｗ１、Ｗ２、Ｗ３、Ｗ４、Ｗ５を記憶しておき、サイクル５（図中、Ｃ５）が終了した時点で比較し、Ｗ４がもっとも小さかったとすると、Ｗ４に対応する搬送波周波数指令値Ｆ４がもっとも損失を小さくする搬送波周波数指令値ということがわかる。そこで、パラメタ選択・指令器８３は、以降、搬送波周波数指令値としてＦ４を出力し続ける。 As an example, as shown in FIG. 3, the carrier frequency command value F is changed to F1, F2, F3, F4, and F5 for each of five cycles (C1, C2, C3, C4, and C5 in the figure). Assume that the power amount of one cycle in each cycle is W1, W2, W3, W4, and W5. W1, W2, W3, W4, W5 are stored and compared at the end of cycle 5 (C5 in the figure). If W4 is the smallest, the carrier frequency command value F4 corresponding to W4 is the most lossy. It can be seen that this is a carrier frequency command value for reducing the frequency. Therefore, the parameter selector / commander 83 continues to output F4 as the carrier frequency command value thereafter.
　なお、図３に示す例では、搬送波周波数指令値ＦをＦ１～Ｆ５の５通りに変化させ、パラメタ（搬送波周波数指令値）の探索・決定にＣ１～Ｃ５の５サイクルを要するものとしたが、搬送波周波数指令値Ｆを変化させる数は５に限らず、２以上の数Ｑでよい。この場合、パラメタ（搬送波周波数指令値）の探索・決定にＱサイクル要することになる。 In the example shown in FIG. 3, the carrier frequency command value F is changed in five ways, F1 to F5, and five cycles C1 to C5 are required for searching and determining the parameter (carrier frequency command value). The number for changing the carrier wave frequency command value F is not limited to 5, and may be a number Q of 2 or more. In this case, Q cycles are required for searching and determining the parameter (carrier frequency command value).
　パラメタの探索・決定を行うタイミングとしては、たとえば以下の（１）～（３）が考えられる。
　（１）インバータ１９からモータ２１へ到る配線へのノイズフィルタの追加、モータ２１の交換、機械負荷２３の改造など、損失に影響を与えるハードウェア的な変更が行われた直後にパラメタの探索・決定を行う。たとえば、パラメタ選択・指令器８３に押しボタン（図示せず）を接続し、ハードウェア的な変更が行われたら人間が押しボタンを押す。パラメタ選択・指令器８３は押しボタンが押された後、最初に行われるサイクル（本例では最初の５サイクル）においてパラメタ（本例では搬送波周波数指令値）の探索・決定を行い、以降、決定された搬送波周波数指令値を出力し続ける。 For example, the following (1) to (3) are conceivable as timings for searching and determining parameters.
(1) Parameter search immediately after a hardware change that affects loss, such as addition of a noise filter to the wiring from the inverter 19 to the motor 21, replacement of the motor 21, modification of the mechanical load 23, etc.・ Make a decision. For example, a push button (not shown) is connected to the parameter selection / commander 83, and when a hardware change is made, a human pushes the push button. The parameter selector / commander 83 searches and determines a parameter (carrier frequency command value in this example) in the first cycle (first five cycles in this example) after the push button is pressed. Continue to output the specified carrier frequency command value.
　（２）装置を運転して一定のサイクル数もしくは一定時間が経過したら、パラメタの探索・決定をやり直す。たとえば、サイクル開始信号もしくはサイクル終了信号の発生回数をカウントするカウンタもしくは経過時間を計測するタイマをパラメタ選択・指令器８３内に設け、カウンタの値もしくはタイマの値が一定値に達したらパラメタの探索・決定をやり直す。同時にカウンタもしくはタイマをリセットしてサイクル数のカウントもしくは経過時間の計測を再スタートする。 (2) When a certain number of cycles or a certain amount of time has elapsed after operating the device, search and determine parameters again. For example, a counter for counting the number of occurrences of the cycle start signal or cycle end signal or a timer for measuring the elapsed time is provided in the parameter selector / commander 83, and when the counter value or the timer value reaches a certain value, the parameter search is performed.・ Redo the decision. At the same time, reset the counter or timer to restart the cycle count or elapsed time measurement.
　図１において、パラメタ選択・指令器８３は、上述した搬送波周波数指令値Ｆに加え出力電圧指令値ＧをＤＣ－ＤＣコンバータ制御回路９５へ出力する機能を有する。
　以下、搬送波周波数指令値Ｆと出力電圧指令値Ｇが変化できる場合を説明する。
　この場合、パラメタ選択・指令器８３が出力する搬送波周波数指令値Ｆと出力電圧指令値Ｇを変化させて１サイクルの電力量Ｗを記憶・比較し、もっとも電力量Ｗが小さくなる搬送波周波数指令値Ｆと出力電圧指令値Ｇを、以降の搬送波周波数指令値Ｆと出力電圧指令値Ｇとして出力する。 In FIG. 1, a parameter selector / commander 83 has a function of outputting an output voltage command value G to the DC-DC converter control circuit 95 in addition to the carrier frequency command value F described above.
Hereinafter, a case where the carrier frequency command value F and the output voltage command value G can be changed will be described.
In this case, the carrier frequency command value F and the output voltage command value G output by the parameter selector / commander 83 are changed to store and compare the power amount W of one cycle, and the carrier frequency command value with the smallest power amount W is stored. F and the output voltage command value G are output as the subsequent carrier wave frequency command value F and output voltage command value G.
　図４は、複数のパラメタを探索・決定する方法の説明図である。
損失を小さくする複数のパラメタ（搬送波周波数指令値Ｆと出力電圧指令値Ｇ）を探索・決定する方法としてはたとえば以下の方法がある。 FIG. 4 is an explanatory diagram of a method for searching and determining a plurality of parameters.
As a method for searching and determining a plurality of parameters (carrier frequency command value F and output voltage command value G) for reducing loss, for example, there are the following methods.
　搬送波周波数指令値Ｆと出力電圧指令値Ｇのすべての組み合わせに対して１サイクルの電力量を記憶・比較する。たとえば、搬送波周波数指令値ＦがＦ１，Ｆ２，Ｆ３，Ｆ４，Ｆ５の５通り、出力電圧指令値ＧがＧ１，Ｇ２，Ｇ３の３通りの場合、図４に示すように５×３＝１５サイクル（図中、Ｃ１～Ｃ１５）に対し、１サイクルの電力量（図中、Ｗ１～Ｗ１５）を記憶・比較して、搬送波周波数指令値Ｆと出力電圧指令値Ｇを選択する。図４では、Ｗ１～Ｗ１５の中で、Ｗ３が一番小さい場合の例を示しており、Ｗ３に対応する搬送波周波数指令値Ｆ１と出力電圧指令値Ｇ３の組み合わせが、もっとも損失を小さくする搬送波周波数指令値と出力電圧指令値の組み合わせであるということがわかるので、パラメタ選択・指令器８３は、サイクル１５終了以降（すなわち、図中のサイクルＣ１６以降）、搬送波周波数指令値としてＦ１を、出力電圧指令値としてＧ３を出力し続ける。 Memorize and compare 1 cycle of energy for all combinations of carrier frequency command value F and output voltage command value G. For example, when there are five carrier frequency command values F1, F2, F3, F4, F5 and three output voltage command values G1, G2, G3, 5 × 3 = 15 cycles as shown in FIG. A carrier frequency command value F and an output voltage command value G are selected by storing and comparing the amount of power for one cycle (W1 to W15 in the diagram) with respect to (C1 to C15 in the diagram). FIG. 4 shows an example in which W3 is the smallest among W1 to W15, and the combination of the carrier frequency command value F1 and the output voltage command value G3 corresponding to W3 is the carrier frequency at which the loss is minimized. Since it is understood that this is a combination of the command value and the output voltage command value, the parameter selector / commander 83 uses F1 as the carrier frequency command value after the end of the cycle 15 (that is, after the cycle C16 in the figure) as the output voltage. Continue to output G3 as the command value.
　なお、図４に示す例では、搬送波周波数指令値ＦをＦ１～Ｆ５の５通り、出力電圧指令値ＧをＧ１～Ｇ３の３通りに変化させ、パラメタ（搬送波周波数指令値と電圧変化率の指令値）の探索・決定に５×３＝１５サイクル（図中、Ｃ１～Ｃ１５）を要するものとしたが、搬送波周波数指令値Ｆを変化させる数、出力電圧指令値Ｇを変化させる数はそれぞれ５、３に限らず、２以上の数Ｑ、Ｒでよい。この場合、パラメタ（搬送波周波数指令値Ｆと出力電圧指令値Ｇ）の探索・決定にＱ×Ｒサイクル要することになる。 In the example shown in FIG. 4, the carrier frequency command value F is changed in five ways F1 to F5 and the output voltage command value G is changed in three ways G1 to G3, and parameters (carrier frequency command value and voltage change rate command are changed). (Value) requires 5 × 3 = 15 cycles (C1 to C15 in the figure), but the number for changing the carrier frequency command value F and the number for changing the output voltage command value G are 5 respectively. The number Q or R is not limited to 3, but may be 2 or more. In this case, Q × R cycles are required for searching and determining parameters (carrier frequency command value F and output voltage command value G).
　以上の方法ではパラメタの値の組み合わせ数（以上の例では１５通り）が多くなりすぎ、パラメタの探索・決定に要するサイクル数が多数となりすぎる場合には、パラメタの組み合わせの中から乱数や遺伝的アルゴリズムにより選択した組み合わせのみ用いてもよい。実験計画法にもとづく他の方法を用いてもよい。 In the above method, if the number of parameter value combinations (15 in the above example) becomes too large and the number of cycles required for parameter search / determination becomes too large, random numbers or genetics are selected from the parameter combinations. Only combinations selected by an algorithm may be used. Other methods based on the experimental design may be used.
　図５は、本発明による省電力駆動装置の第２実施形態を示す図である。
　この実施形態は、インバータとモータが複数台で、すべてが同じ動きをする場合である。たとえば、モータのサイズが制限されるため、一体の機械負荷を複数台のモータで分担して駆動するような場合である。
　図５はインバータとモータが３台の場合を示すが、２台もしくは４台以上の場合も同様である。また図５において、ＤＣ－ＤＣコンバータの内部およびインバータ内部の構成は第１実施形態と同じなので、ＤＣ－ＤＣコンバータの内部およびインバータ内部の構成は図示を省略する。 FIG. 5 is a diagram showing a second embodiment of the power-saving drive device according to the present invention.
In this embodiment, there are a plurality of inverters and motors, all of which move in the same manner. For example, since the size of the motor is limited, the integrated mechanical load is driven by a plurality of motors.
FIG. 5 shows the case where there are three inverters and motors, but the same applies to the case where there are two or four or more motors. Further, in FIG. 5, since the configurations of the DC-DC converter and the inverter are the same as those in the first embodiment, the configurations of the DC-DC converter and the inverter are not shown.
　以下の構成要素が各インバータとモータごとにあるので、末尾にＡ、Ｂ、Ｃをつけて識別する。
各要素の構成は第１実施形態と同じである。
１９Ａ、１９Ｂ、１９Ｃ　インバータ
２１Ａ、２１Ｂ、２１Ｃ　モータ
２３Ａ、２３Ｂ、２３Ｃ　機械負荷
２５Ａ、２５Ｂ、２５Ｃ　モータエンコーダ
２７Ａ、２７Ｂ、２７Ｃ　制御器 Since the following components are provided for each inverter and motor, they are identified by adding A, B, and C at the end.
The configuration of each element is the same as in the first embodiment.
19A, 19B, 19C Inverters 21A, 21B, 21C Motors 23A, 23B, 23C Mechanical loads 25A, 25B, 25C Motor encoders 27A, 27B, 27C Controllers
　末尾にＡ、Ｂ、Ｃを付した３組が完全に同一の動作をするので、パラメタ選択・指令器８３は１台のみであり、それぞれの組に対するパラメタ（搬送波周波数指令値Ｆと出力電圧指令値Ｇ）は常に同一になるようにする。
　３組の総計の電力量Ｗを計測するように電圧測定器６１と電流測定器６３が接続されているので、第１実施形態と同じ電力量演算、パラメタ探索・決定動作をすることにより、３組の総計の損失を小さくするようにパラメタ（搬送波周波数指令値Ｆ、出力電圧指令値Ｇ）が探索・決定される。 Since the three sets with A, B, and C at the end perform completely the same operation, there is only one parameter selector / commander 83, and parameters for each set (carrier frequency command value F and output voltage command). The value G) is always the same.
Since the voltage measuring device 61 and the current measuring device 63 are connected so as to measure the total power amount W of the three sets, the same power amount calculation and parameter search / determination operations as in the first embodiment are performed. Parameters (carrier frequency command value F, output voltage command value G) are searched and determined so as to reduce the total loss of the set.
　上述本発明の装置及び方法によれば、電力量演算器８１とパラメタ選択・指令器８３とを備え、インバータのパラメタを複数の値に変化させ、各パラメタにおける同一負荷パターンによるインバータの受電電力量Ｗを計算して比較し、該受電電力量を最小にするパラメタを選択して、インバータに指令するので、配線の電気的特性、電磁ノイズ除去用素子の有無、モータごとの損失特性及び温度変化、等を予め実験して損失特性のデータを取得することなく、すべての構成要素の損失特性を考慮して損失量を最小化することができる。 According to the apparatus and method of the present invention, the electric energy calculator 81 and the parameter selector / commander 83 are provided, the inverter parameters are changed to a plurality of values, and the received electric energy of the inverter by the same load pattern in each parameter. Since W is calculated and compared, the parameter that minimizes the amount of received power is selected and the inverter is commanded, the electrical characteristics of the wiring, the presence or absence of electromagnetic noise removal elements, the loss characteristics for each motor, and temperature changes The loss amount can be minimized in consideration of the loss characteristics of all the components without obtaining the loss characteristic data by performing experiments in advance.
　なお、本発明は上述した実施形態に限定されず、特許請求の範囲の記載によって示され、さらに特許請求の範囲の記載と均等の意味及び範囲内でのすべての変更を含むものである。
　例えば、同一の負荷パターン内の複数の区間毎に、上記パラメタを選択してもよい。また、インバータのパラメタは、スイッチング波形の電圧変化率であってもよい。 In addition, this invention is not limited to embodiment mentioned above, is shown by description of a claim, and also includes all the changes within the meaning and range equivalent to description of a claim.
For example, you may select the said parameter for every some area in the same load pattern. The parameter of the inverter may be a voltage change rate of the switching waveform.
１５　直流バス、
１７　キャパシタ、
１９、１９Ａ、１９Ｂ、１９Ｃ　インバータ、
２１、２１Ａ、２１Ｂ、２１Ｃ　モータ、
２３、２３Ａ、２３Ｂ、２３Ｃ　機械負荷（同一負荷パターン装置）、
２５、２５Ａ、２５Ｂ、２５Ｃ　モータエンコーダ、
２７、２７Ａ、２７Ｂ、２７Ｃ　制御器、
２９　指令値生成器、
４１　電力制御部、４３　モータ電流測定器、
４５　指令演算器、４７　ＰＷＭ変調器、４９　搬送波発振器、
５１　ゲート駆動回路、
６１　電圧測定器、
６３　電流測定器、
８１　電力量演算器、
８３　パラメタ選択・指令器、
９１　バッテリ、
９３　ＤＣ－ＤＣコンバータ、
９５　ＤＣ－ＤＣコンバータ制御回路 15 DC bus,
17 capacitors,
19, 19A, 19B, 19C inverter,
21, 21A, 21B, 21C motor,
23, 23A, 23B, 23C Mechanical load (same load pattern device),
25, 25A, 25B, 25C motor encoder,
27, 27A, 27B, 27C controller,
29 command value generator,
41 power control unit, 43 motor current measuring device,
45 command calculator, 47 PWM modulator, 49 carrier oscillator,
51 gate drive circuit,
61 Voltage measuring instrument,
63 Current measuring instrument,
81 electric energy calculator,
83 Parameter selection / commander,
91 battery,
93 DC-DC converter,
95 DC-DC converter control circuit

Claims (4)

  1. 　バッテリで駆動されるＤＣ－ＤＣコンバータと、該ＤＣ－ＤＣコンバータの出力で駆動されるインバータとを備え、該インバータから電力供給されるモータで駆動され、同一負荷パターンを有する装置の省電力駆動装置であって、
    　前記同一負荷パターンにおけるバッテリからの受電電力量を計算する電力量演算器と、
    　インバータのパラメタを複数の値に変化させ、各パラメタにおける前記受電電力量を比較し、該受電電力量を最小にするパラメタを選択して、インバータに指令するパラメタ選択・指令器と、を備える、ことを特徴とする同一負荷パターンを有する装置の省電力駆動装置。     A power-saving drive device for a device having a DC-DC converter driven by a battery and an inverter driven by an output of the DC-DC converter, driven by a motor supplied with power from the inverter, and having the same load pattern Because
    An energy calculator that calculates the amount of power received from the battery in the same load pattern;
    A parameter selection / commander for changing the parameter of the inverter to a plurality of values, comparing the received power amount in each parameter, selecting a parameter that minimizes the received power amount, and instructing the inverter; A power-saving drive device for a device having the same load pattern.
  2. 　前記負荷パターンのサイクル開始信号とサイクル終了信号を出力する指令値生成器を備える、ことを特徴とする請求項１に記載の省電力駆動装置。 The power-saving drive device according to claim 1, further comprising a command value generator that outputs a cycle start signal and a cycle end signal of the load pattern.
  3. 　前記インバータのパラメタは、搬送波周波数、および、ＤＣ－ＤＣコンバータの出力電圧である、ことを特徴とする請求項１又は２に記載の省電力駆動装置。 3. The power-saving drive device according to claim 1, wherein the parameters of the inverter are a carrier frequency and an output voltage of the DC-DC converter.
  4. 　バッテリで駆動されるＤＣ－ＤＣコンバータと、該ＤＣ－ＤＣコンバータの出力で駆動されるインバータとを備え、該インバータから電力供給されるモータで駆動され、同一負荷パターンを有する装置の省電力駆動方法であって、
    　インバータのパラメタを複数の値に変化させ、
    　前記各パラメタにおける前記同一負荷パターンによるバッテリからの受電電力量を計算し、
    　各パラメタにおける前記受電電力量を比較し、該受電電力量を最小にするパラメタを選択して、インバータに指令する、ことを特徴とする同一負荷パターンを有する装置の省電力駆動方法。     A power-saving driving method for a device having a DC-DC converter driven by a battery and an inverter driven by an output of the DC-DC converter, driven by a motor supplied with power from the inverter, and having the same load pattern Because
    Change the inverter parameters to multiple values,
    Calculate the amount of power received from the battery by the same load pattern in each parameter,
    A power-saving drive method for a device having the same load pattern, wherein the received power amount in each parameter is compared, a parameter that minimizes the received power amount is selected, and an inverter is commanded.
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