WO2015125214A1 - モータ制御装置及びモータ制御方法 - Google Patents
モータ制御装置及びモータ制御方法 Download PDFInfo
- Publication number
- WO2015125214A1 WO2015125214A1 PCT/JP2014/053773 JP2014053773W WO2015125214A1 WO 2015125214 A1 WO2015125214 A1 WO 2015125214A1 JP 2014053773 W JP2014053773 W JP 2014053773W WO 2015125214 A1 WO2015125214 A1 WO 2015125214A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- voltage
- reference voltage
- motor
- motor control
- allowable
- Prior art date
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Classifications
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/10—Arrangements incorporating converting means for enabling loads to be operated at will from different kinds of power supplies, e.g. from ac or dc
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/026—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a power fluctuation
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- 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
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0077—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements using redundant signals or controls
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
Definitions
- One object of the present invention is to provide a technique capable of realizing stable motor control for a plurality of types of power supply voltages.
- a motor control method includes a step of controlling the operation of the motor based on the input voltage and a control parameter, and a step of detecting an abnormality in the input voltage by comparing the input voltage with an allowable voltage range.
- a plurality of allowable voltage range candidates associated with a plurality of reference voltages and a plurality of control parameter candidates associated with a plurality of reference voltages are stored in the memory.
- the motor control method further corresponds to a step of acquiring reference voltage information for designating one reference voltage among a plurality of reference voltages, and one reference voltage among a plurality of allowable voltage range candidates based on the reference voltage information. Selecting as a permissible voltage range, and selecting a control parameter corresponding to one reference voltage among a plurality of control parameter candidates as a control parameter.
- the AC voltage supplied from the AC power supply 3 is input to the rectifier 10.
- the output of the rectifier 10 is connected to the P-side power line and the N-side power line, and a smoothing capacitor 20 is connected between the P-side power line and the N-side power line.
- the rectifier 10 and the smoothing capacitor 20 convert an AC voltage into a DC voltage.
- the obtained DC voltage is input to the motor control circuit 30.
- the DC voltage input to the motor control circuit 30 is hereinafter referred to as “input voltage VI”.
- the voltage abnormality detection unit 50 is provided to detect an abnormality in the input voltage VI.
- the voltage abnormality detector 50 monitors the input voltage VI detected by the voltage detector 40 and detects an abnormality of the input voltage VI.
- the present embodiment introduces the concept of “allowable voltage range RG (voltage abnormality level)”.
- the memory 60 stores the plurality of allowable voltage range candidates RG1 to RGn and the plurality of control parameter candidates CP1 to CPn. Note that the plurality of allowable voltage range candidates RG1 to RGn and the plurality of control parameter candidates CP1 to CPn stored (stored) in the memory 60 may be rewritable.
- appropriate control parameter candidates CP1 to CPn are prepared for each of a plurality of types of reference voltages VR1 to VRn. Then, the selector 80 automatically selects the control parameter candidate CPs corresponding to the designated reference voltage VRs, and outputs the selected control parameter candidate CPs to the motor control circuit 30 as the control parameter CP. As a result, optimal motor control can be performed for a plurality of types of power supply voltages (reference voltages VR1 to VRn). In addition, since it is not necessary to sequentially calculate the control parameter CP in accordance with the fluctuation of the input voltage VI, the calculation load is reduced.
- the reference voltage acquisition unit 70 includes a changeover switch 71.
- the changeover switch 71 is a hardware switch operated by a user to change the reference voltage VRs.
- the user can designate one reference voltage VRs from among a plurality of reference voltages VR1 to VRn by operating the changeover switch 71.
- the reference voltage acquisition unit 70 selects one reference voltage VRs from among the plurality of reference voltages VR1 to VRn according to the designation by the changeover switch 71, and generates reference voltage information SEL.
Abstract
Description
図1は、本発明の実施の形態1に係るモータ制御装置1を含むシステム構成例を示すブロック図である。モータ制御装置1は、モータ2の動作制御を行う。例えば、モータ2はサーボモータであり、モータ制御装置1はサーボアンプである。
図4は、本発明の実施の形態2に係るモータ制御装置1を含むシステム構成例を示すブロック図である。上述の実施の形態1と重複する説明は適宜省略する。
図5は、本発明の実施の形態3に係るモータ制御装置1を含むシステム構成例を示すブロック図である。上述の実施の形態1と重複する説明は適宜省略する。
図7は、本発明の実施の形態4に係るモータ制御装置1を含むシステム構成例を示すブロック図である。上述の実施の形態1と重複する説明は適宜省略する。
Claims (9)
- 入力電圧と制御パラメータとに基づいてモータの動作を制御するモータ制御回路と、
前記入力電圧と許容電圧範囲とを比較することによって、前記入力電圧の異常を検出する電圧異常検出部と、
複数の基準電圧に対応付けられた複数の許容電圧範囲候補と、前記複数の基準電圧に対応付けられた複数の制御パラメータ候補と、を記憶するメモリと、
前記複数の基準電圧のうち1つの基準電圧を指定する基準電圧情報を取得する基準電圧取得部と、
前記基準電圧情報に基づいて、前記複数の許容電圧範囲候補のうち前記1つの基準電圧に対応するものを前記許容電圧範囲として選択し、また、前記複数の制御パラメータ候補のうち前記1つの基準電圧に対応するものを前記制御パラメータとして選択するセレクタと
を備える
モータ制御装置。 - 前記基準電圧取得部は、電源投入時の前記入力電圧に応じて前記1つの基準電圧を算出することによって、前記基準電圧情報を生成する
請求項1に記載のモータ制御装置。 - 前記基準電圧取得部は、前記基準電圧情報を上位コントローラから受け取る
請求項1に記載のモータ制御装置。 - 前記基準電圧取得部は、ユーザによって操作される切り換えスイッチを含み、前記切り換えスイッチによる指定に従って前記複数の基準電圧から前記1つの基準電圧を選択することによって、前記基準電圧情報を生成する
請求項1に記載のモータ制御装置。 - 前記許容電圧範囲は、前記許容電圧範囲の上限値と下限値を示す電圧異常レベルで規定され、
前記入力電圧が前記上限値を上回った場合、あるいは、前記下限値を下回った場合、前記電圧異常検出部は、前記入力電圧が異常であると判定する
請求項1から4のいずれか一項に記載のモータ制御装置。 - 前記入力電圧が前記上限値を上回った場合、前記モータ制御回路は、前記モータの動作の制御を停止する
請求項5に記載のモータ制御装置。 - 前記入力電圧が前記下限値を下回った場合、前記モータ制御回路は、前記モータの動作の制御を停止する、あるいは、回生動作を実施する
請求項5に記載のモータ制御装置。 - 前記制御パラメータは、前記モータ制御回路における制御ループの制御ゲイン、前記モータの最大電流、前記モータの最大速度のうち少なくとも1つを含む
請求項1から7のいずれか一項に記載のモータ制御装置。 - 入力電圧と制御パラメータとに基づいてモータの動作を制御するステップと、
前記入力電圧と許容電圧範囲とを比較することによって、前記入力電圧の異常を検出するステップと、
ここで、複数の基準電圧に対応付けられた複数の許容電圧範囲候補と、前記複数の基準電圧に対応付けられた複数の制御パラメータ候補と、がメモリに格納されており、
前記複数の基準電圧のうち1つの基準電圧を指定する基準電圧情報を取得するステップと、
前記基準電圧情報に基づいて、前記複数の許容電圧範囲候補のうち前記1つの基準電圧に対応するものを前記許容電圧範囲として選択し、また、前記複数の制御パラメータ候補のうち前記1つの基準電圧に対応するものを前記制御パラメータとして選択するステップと
を含む
モータ制御方法。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/053773 WO2015125214A1 (ja) | 2014-02-18 | 2014-02-18 | モータ制御装置及びモータ制御方法 |
JP2014534693A JP5666064B1 (ja) | 2014-02-18 | 2014-02-18 | モータ制御装置及びモータ制御方法 |
KR1020157031802A KR101623328B1 (ko) | 2014-02-18 | 2014-02-18 | 모터 제어 장치 및 모터 제어 방법 |
DE112014001983.6T DE112014001983T5 (de) | 2014-02-18 | 2014-02-18 | Motorsteuerungsvorrichtung und Motorsteuerungsverfahren |
US14/781,611 US9673748B2 (en) | 2014-02-18 | 2014-02-18 | Motor control device and motor control method |
CN201480026348.6A CN105210286B (zh) | 2014-02-18 | 2014-02-18 | 电动机控制装置及电动机控制方法 |
TW103125451A TWI513174B (zh) | 2014-02-18 | 2014-07-25 | 馬達控制裝置及馬達控制方法 |
Applications Claiming Priority (1)
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PCT/JP2014/053773 WO2015125214A1 (ja) | 2014-02-18 | 2014-02-18 | モータ制御装置及びモータ制御方法 |
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WO2015125214A1 true WO2015125214A1 (ja) | 2015-08-27 |
Family
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PCT/JP2014/053773 WO2015125214A1 (ja) | 2014-02-18 | 2014-02-18 | モータ制御装置及びモータ制御方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US9673748B2 (ja) |
JP (1) | JP5666064B1 (ja) |
KR (1) | KR101623328B1 (ja) |
CN (1) | CN105210286B (ja) |
DE (1) | DE112014001983T5 (ja) |
TW (1) | TWI513174B (ja) |
WO (1) | WO2015125214A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020198707A (ja) * | 2019-06-03 | 2020-12-10 | 日本電産サーボ株式会社 | 駆動制御装置、及びモータ装置 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7104613B2 (ja) * | 2018-12-05 | 2022-07-21 | オークマ株式会社 | 工作機械の制御装置 |
KR20210060067A (ko) * | 2019-11-18 | 2021-05-26 | 삼성전자주식회사 | 전력 관리를 수행하는 전자 장치 및 그 동작 방법 |
TWI826820B (zh) * | 2021-08-25 | 2023-12-21 | 達明機器人股份有限公司 | 機械手臂 |
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JPH07135798A (ja) * | 1993-11-09 | 1995-05-23 | Sanyo Electric Co Ltd | 空気調和装置 |
JPH08130895A (ja) * | 1994-11-02 | 1996-05-21 | Toyohiko Okabe | 電動圧縮機システムの異常判定装置 |
JPH08205569A (ja) * | 1995-01-18 | 1996-08-09 | Fanuc Ltd | サーボアンプの入力電圧測定方法及び制御ゲイン設定方法 |
JP2003164190A (ja) * | 2001-11-28 | 2003-06-06 | Matsushita Electric Ind Co Ltd | モータ駆動装置及びモータ回転子位置検出方法 |
JP2009303321A (ja) * | 2008-06-11 | 2009-12-24 | Keihin Corp | 多出力判定回路 |
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JPS63107486A (ja) | 1986-10-22 | 1988-05-12 | Fanuc Ltd | サーボモータ制御方式 |
JPH05137367A (ja) | 1991-11-12 | 1993-06-01 | Mitsubishi Electric Corp | モータ制御装置 |
JP3506457B2 (ja) * | 1993-04-23 | 2004-03-15 | 東芝キヤリア株式会社 | 空気調和機におけるコンプレッサの起動制御方法 |
DE69415774T2 (de) * | 1993-11-09 | 1999-08-05 | Sanyo Electric Co | Klimaanlage, verwendbar für einen weiten Bereich von Eingangsspannungen |
JP2000092880A (ja) | 1998-09-18 | 2000-03-31 | Yaskawa Electric Corp | 回生処理方法および回生処理回路 |
CA2402426A1 (en) * | 2000-03-08 | 2001-09-13 | Kabushiki Kaisha Yaskawa Denki | Pwm cycloconverter and power supply abnormality detection circuit |
GB0220401D0 (en) * | 2002-09-03 | 2002-10-09 | Trw Ltd | Motor drive control |
-
2014
- 2014-02-18 CN CN201480026348.6A patent/CN105210286B/zh active Active
- 2014-02-18 US US14/781,611 patent/US9673748B2/en not_active Expired - Fee Related
- 2014-02-18 DE DE112014001983.6T patent/DE112014001983T5/de not_active Withdrawn
- 2014-02-18 JP JP2014534693A patent/JP5666064B1/ja active Active
- 2014-02-18 KR KR1020157031802A patent/KR101623328B1/ko active IP Right Grant
- 2014-02-18 WO PCT/JP2014/053773 patent/WO2015125214A1/ja active Application Filing
- 2014-07-25 TW TW103125451A patent/TWI513174B/zh not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07135798A (ja) * | 1993-11-09 | 1995-05-23 | Sanyo Electric Co Ltd | 空気調和装置 |
JPH08130895A (ja) * | 1994-11-02 | 1996-05-21 | Toyohiko Okabe | 電動圧縮機システムの異常判定装置 |
JPH08205569A (ja) * | 1995-01-18 | 1996-08-09 | Fanuc Ltd | サーボアンプの入力電圧測定方法及び制御ゲイン設定方法 |
JP2003164190A (ja) * | 2001-11-28 | 2003-06-06 | Matsushita Electric Ind Co Ltd | モータ駆動装置及びモータ回転子位置検出方法 |
JP2009303321A (ja) * | 2008-06-11 | 2009-12-24 | Keihin Corp | 多出力判定回路 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2020198707A (ja) * | 2019-06-03 | 2020-12-10 | 日本電産サーボ株式会社 | 駆動制御装置、及びモータ装置 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2015125214A1 (ja) | 2017-03-30 |
CN105210286A (zh) | 2015-12-30 |
TWI513174B (zh) | 2015-12-11 |
US9673748B2 (en) | 2017-06-06 |
KR101623328B1 (ko) | 2016-05-20 |
JP5666064B1 (ja) | 2015-02-12 |
DE112014001983T5 (de) | 2016-01-28 |
CN105210286B (zh) | 2018-04-03 |
US20160043683A1 (en) | 2016-02-11 |
KR20150129070A (ko) | 2015-11-18 |
TW201534043A (zh) | 2015-09-01 |
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