WO2016157382A1 - 保護装置およびサーボモータ - Google Patents
保護装置およびサーボモータ Download PDFInfo
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- WO2016157382A1 WO2016157382A1 PCT/JP2015/059989 JP2015059989W WO2016157382A1 WO 2016157382 A1 WO2016157382 A1 WO 2016157382A1 JP 2015059989 W JP2015059989 W JP 2015059989W WO 2016157382 A1 WO2016157382 A1 WO 2016157382A1
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- Prior art keywords
- phase coil
- temperature
- current
- motor
- resistance
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0852—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load directly responsive to abnormal temperature by using a temperature sensor
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/64—Controlling or determining the temperature of the winding
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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
- 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
- H02P6/16—Circuit arrangements for detecting position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41127—Compensation for temperature variations of servo
Definitions
- the present invention relates to a protection device and a servo motor for protecting a motor.
- the motor may cause an excessive temperature rise depending on the usage conditions.
- the protection device is a device that protects the motor from damage due to the temperature rise.
- Patent Document 1 discloses temperature measuring means for measuring a winding temperature from a winding current and a voltage of each phase of a stator of a concentrated winding rotating electrical machine, and each phase in which the concentrated winding rotating electrical machine is in a load state and a rotation stopped state.
- a concentrated winding rotating electrical machine system that includes a temperature rise estimating means for estimating a winding temperature rising from an electric current and a voltage, and monitors the temperature increase of the concentrated winding rotating electrical machine.
- Patent Document 2 discloses a current sensor that detects an alternating current of two or more phases of a three-phase alternating current of a synchronous motor, a temperature sensor that detects a temperature of the synchronous motor, and a temperature protection that suppresses a temperature increase of the synchronous motor.
- a synchronous motor comprising means is disclosed.
- JP 2005-80450 A Japanese Patent Laid-Open No. 2001-268889
- Patent Document 1 and Patent Document 2 when the temperature of each phase coil varies during direct current control or after direct current control and the temperature of a coil other than the coil detected by the temperature sensor becomes high, the motor May not be protected.
- This invention is made in view of the above, Comprising: It aims at providing the protection apparatus which can protect a motor, even if the temperature of coils other than the coil currently detected by the temperature sensor becomes high. .
- the present invention provides a protection device for protecting a motor driven by an inverter device, a temperature detector for detecting the temperature of the first phase coil of the motor, and a temperature detection
- a first resistance calculation unit that calculates the resistance of the first phase coil based on the temperature detected by the detector, a current detector that detects a current supplied from the inverter device to the motor, and a first resistance calculation unit.
- the temperature of the second phase coil and the temperature of the third phase coil of the motor are calculated, the temperature of the first phase coil, the temperature of the second phase coil Or it is provided with the process part which outputs the signal which stops a motor, when it detects that the temperature of a 3rd phase coil exceeds the set temperature.
- the protection device can protect the motor even when the temperature of the coils other than the coil detected by the temperature sensor becomes high.
- Configuration diagram of servo motor according to the first embodiment Flowchart for explaining the operation of the processing unit according to the first embodiment.
- Configuration diagram of servo motor according to second embodiment Flowchart for explaining the operation of the processing unit according to the second embodiment.
- Configuration diagram of servo motor according to the third embodiment Configuration diagram of servo motor according to embodiment 4 Flowchart for explaining the operation of the processing unit according to the fourth embodiment.
- the protection device concerning Embodiment 1 the protection device concerning Embodiment 2
- the protection device concerning Embodiment 3 and the figure which shows the example of hardware constitutions for realizing the protection device concerning Embodiment 4
- FIG. 1 is a diagram illustrating a configuration of a servo motor 100 including the protection device 1 according to the first embodiment.
- FIG. 2 is a flowchart for explaining the operation of the processing unit 14 according to the first embodiment.
- the servo motor 100 is driven by an inverter device 2 that converts an AC voltage supplied from an AC power source into a DC voltage, converts the converted DC voltage into an AC voltage again, and outputs the converted AC voltage.
- heat detector 4 that is a temperature sensor that detects the heat of a one-phase coil that constitutes motor 3, and rotation detector that detects the rotation angle of motor 3 5.
- the motor 3 is composed of a first phase coil, a second phase coil, and a third phase coil.
- the first phase coil is referred to as a U-phase coil
- the second phase coil is referred to as a V-phase coil
- the third phase coil is referred to as a W-phase coil.
- the heat detector 4 is described as detecting the heat of the U-phase coil, the heat detector 4 may detect the heat of the V-phase coil or the W-phase coil.
- the rotation detector 5 detects the rotation angle of the motor 3.
- the protection device 1 is a device that protects the motor 3 driven by the inverter device 2.
- the protection device 1 includes a temperature detection unit 11 that detects the temperature of the U-phase coil, a resistance calculation unit 12 that is a first resistance calculation unit that calculates the resistance of the U-phase coil, a current detection unit 13 that detects current, A processing unit 14 that outputs a signal for stopping the motor 3 and a phase detection unit 15 that detects a voltage and current phase of the motor 3 based on values detected by the rotation detector 5 are provided.
- the temperature detector 11 detects the temperature of the U-phase coil of the motor 3 based on the value detected by the heat detector 4.
- the resistance calculation unit 12 calculates the resistance of the U-phase coil based on the temperature detected by the temperature detection unit 11.
- the current detector 13 detects the current supplied from the inverter device 2 to the motor 3. Specifically, the current detection unit 13 detects the current of the U-phase coil, the current of the V-phase coil, and the current of the W-phase coil.
- the processing unit 14 calculates the temperature of the V-phase coil and the temperature of the W-phase coil of the motor 3 based on the resistance calculated by the first resistance calculation unit 12 and the current detected by the current detection unit 13. When the processing unit 14 detects that the temperature of the U-phase coil, the temperature of the V-phase coil, or the temperature of the W-phase coil exceeds the set temperature, the processing unit 14 outputs a signal for stopping the motor 3.
- the servo lock controls the operation of the motor 3 with a direct current, and is hereinafter also referred to as direct current control. Further, when direct current control is being performed, the operation of the motor 3 is stopped, but direct current is supplied from the inverter device 2 to the motor 3.
- the processing unit 14 includes a voltage calculation unit 16 that calculates the voltage of each phase coil, a resistance calculation unit 17 that is a second resistance calculation unit that calculates the resistances of the V-phase coil and the W-phase coil, and the V-phase coil and the W-phase.
- a temperature calculation unit 18 that calculates the temperature of the coil, a signal generation unit 19 that generates a signal, and an output unit 20 that outputs the signal are provided.
- the voltage calculation unit 16 calculates the voltage of the U phase coil, the voltage of the V phase coil, and the voltage of the W phase coil based on the resistance of the U phase coil, the current detected by the current detection unit 13, and the rotation angle. To do. Moreover, the voltage calculation part 16 may be comprised by the 1st voltage calculation part 16a which calculates the voltage of a U-phase coil, and the 2nd voltage calculation part 16b which calculates the voltage of a V-phase coil and a W-phase coil.
- the first voltage calculation unit 16a calculates the voltage of the U-phase coil based on the resistance of the U-phase coil calculated by the resistance calculation unit 12 and the current of the U-phase coil detected by the current detection unit 13.
- the second voltage calculation unit 16b calculates the phase voltage based on the voltage of the U-phase coil and the rotation angle.
- the second voltage calculation unit 16b calculates the voltage of the V-phase coil based on the angle obtained by adding 120 degrees to the rotation angle and the phase voltage, and also adds the angle obtained by adding 240 degrees to the rotation angle and the phase voltage. Based on this, the voltage of the W-phase coil is calculated.
- the resistance calculation unit 17 calculates the resistance of the V-phase coil based on the current and voltage of the V-phase coil, and calculates the resistance of the W-phase coil based on the current and voltage of the W-phase coil.
- the temperature calculation unit 18 calculates the temperature of the V-phase coil based on the resistance of the V-phase coil, and calculates the temperature of the W-phase coil based on the resistance of the W-phase coil.
- the signal generation unit 19 generates a signal for stopping the motor 3 when detecting that the temperature of the U-phase coil, the temperature of the V-phase coil, or the temperature of the W-phase coil exceeds the set temperature.
- the output unit 20 outputs a signal for stopping the motor 3.
- the set temperature is determined based on the heat resistance characteristics of the insulating material of the coil used in the motor 3, and varies depending on the type of insulation. In the case of Type F, the heat resistance temperature is 155 degrees, and in the case of Class H, the heat resistance temperature is 180 degrees, and the value obtained by subtracting “atmosphere temperature upper limit value + temperature tolerance” from this value. Set.
- step ST1 the protection device 1 determines whether direct current control of the motor 3 is being performed. If it is determined that direct current control is being performed (Yes), the process proceeds to step ST2. If it is determined that direct current control is not being performed, that is, the motor 3 is being driven (No), step ST13 is performed. Proceed to In addition, each process of step ST13 to step ST17 is demonstrated in Embodiment 4 mentioned later.
- step ST2 the temperature detector 11 detects the temperature Tu of the U-phase coil.
- step ST3 the resistance calculator 12 calculates the U-phase coil resistance Ru based on the U-phase coil temperature Tu detected in step ST2. Specifically, the resistance calculation unit 12 calculates the U-phase resistance Ru by substituting the temperature Tu of the U-phase coil into the equation (1).
- step ST4 the current detector 13 detects the current Iu of the U-phase coil, the current Iv of the V-phase coil, and the current Iw of the W-phase coil.
- step ST5 the voltage calculation unit 16 calculates the voltage Eu of the U-phase coil.
- step ST6 the voltage calculation unit 16 calculates the voltage Ev of the V-phase coil and the voltage Ew of the W-phase coil.
- the voltage Ev of the V-phase coil and the voltage Ew of the W-phase coil are instantaneous voltages.
- the voltage calculation unit 16 calculates the phase voltage E by substituting the U phase coil voltage Eu and the rotation angle ⁇ into the equation (3).
- the voltage calculation unit 16 calculates the voltage Ev of the V-phase coil by substituting the phase voltage E and the rotation angle ⁇ into the equation (4).
- ( ⁇ + 2/3 ⁇ ⁇ ) in the equation (4) means that the phase difference between the U-phase coil and the V-phase coil is 120 degrees.
- the voltage calculation unit 16 calculates the voltage Ew of the W-phase coil by substituting the phase voltage E and the rotation angle ⁇ into the equation (5). Note that ( ⁇ + 4/3 ⁇ ⁇ ) in equation (5) means that the phase difference between the U-phase coil and the W-phase coil is 240 degrees.
- Eu E ⁇ cos ( ⁇ ) (3)
- Ev E ⁇ cos ( ⁇ + 2/3 ⁇ ⁇ ) (4)
- Ew E ⁇ cos ( ⁇ + 4/3 ⁇ ⁇ ) (5)
- the voltage calculator 16 calculates the voltage of each phase coil.
- the resistance calculation unit 17 calculates the resistance Rv of the V-phase coil and the resistance Rw of the W-phase coil. Specifically, the resistance calculating unit 17 calculates the resistance Rv of the V-phase coil by substituting the voltage Ev and the current Iv of the V-phase coil into the equation (6). The resistance calculation unit 17 calculates the resistance Rw of the W-phase coil by substituting the voltage Ew and current Iw of the W-phase coil into the equation (7).
- Rv Ev ⁇ Iv (6)
- Rw Ew ⁇ Iw (7)
- step ST8 the temperature calculation unit 18 calculates the temperature Tv1 of the V-phase coil and the temperature Tw1 of the W-phase coil. Specifically, the temperature calculation unit 18 substitutes the resistance Rv of the V-phase coil calculated in the process of step ST7 and the resistance R at 20 degrees into the equation (8) to obtain the temperature Tv1 of the V-phase coil. calculate.
- the temperature calculation unit 18 calculates the temperature Tw1 of the W-phase coil by substituting the resistance Rw of the W-phase coil calculated in step ST7 and the resistance R at 20 degrees into the equation (9).
- Rv (234.5 + Tv1-20) ⁇ (234.5 + 20) ⁇ R (8)
- Rw (234.5 + Tw1-20) ⁇ (234.5 + 20) ⁇ R (9)
- step ST9 the signal generator 19 determines whether the temperature Tu1 of the U-phase coil, the temperature Tv1 of the V-phase coil or the temperature Tw1 of the W-phase coil exceeds a set temperature. When it is determined that any one of the coils exceeds the set temperature (Yes), the process proceeds to step ST11, and when it is determined that all the coils do not exceed the set temperature (No). The process proceeds to step ST10.
- step ST10 the temperature calculation unit 18 stores the U-phase coil temperature Tu1, the V-phase coil temperature Tv1, and the W-phase coil temperature Tw1 in the storage unit 21.
- the temperature Tu2 is set to the temperature Tu1
- the temperature Tv2 is set to the temperature Tv1
- the temperature Tw2 is set to the temperature Tw1 and stored in the storage unit 21.
- the process returns to step ST1.
- step ST11 the signal generator 19 generates a signal for stopping the motor 3.
- step ST12 the output unit 20 outputs a signal for stopping the motor 3 to the inverter device 2.
- the inverter device 2 stops the supply of direct current.
- the motor 3 is cooled and the temperature is lowered when the supply of the direct current is stopped.
- the protection device 1 outputs a signal for stopping the driving of the motor 3 when any of the coils exceeds a set temperature in a state where the DC control is performed on the motor 3.
- the motor 3 can be protected even if the temperature of the coils other than the coil detected by the heat detector 4 increases.
- the protection device 1 directly calculates the temperature of each phase coil in real time using instantaneous values of voltage and current, even if the cooling state of the motor 3 changes, the protection device 1 Correspondingly, the temperature of each phase coil can be calculated.
- the driving pattern of the motor 3 is determined by repeatedly performing driving and direct current control. Since the rise in temperature during DC control is determined by the DC current, the temperature of each phase coil differs depending on the phase of the electrical angle.
- the protection device 1 calculates the temperature of each phase coil in real time during DC control, and stops driving the motor 3 when any one of the coils exceeds the set temperature, 3 can be protected.
- FIG. 3 is a diagram illustrating a configuration of the servo motor 101 according to the second embodiment.
- FIG. 4 is a flowchart for explaining the operation of the processing unit 31 according to the second embodiment.
- the servo motor 101 is driven by the inverter device 2 that converts an AC voltage supplied from an AC power source into a DC voltage, converts the converted DC voltage into an AC voltage again, and outputs the converted AC voltage.
- the motor 3 is composed of a first phase coil, a second phase coil, and a third phase coil.
- the first phase coil is referred to as a U-phase coil
- the second phase coil is referred to as a V-phase coil
- the third phase coil is referred to as a W-phase coil.
- the heat detector 4 is described as detecting the heat of the U-phase coil, the heat detector 4 may detect the heat of the V-phase coil or the W-phase coil.
- the rotation detector 5 detects the rotation angle of the motor 3.
- the servo motor 101 according to the second embodiment and the servo motor 100 according to the first embodiment are different only in the configuration of the protection device 6 and the protection device 1, and the other configurations are the same.
- the same components as those of the servo motor 100 are denoted by the same reference numerals.
- the protection device 6 is a device that protects the motor 3 driven by the inverter device 2.
- the protection device 6 includes a temperature detection unit 11 that detects the temperature of the U-phase coil, a resistance calculation unit 12 that is a first resistance calculation unit that calculates the resistance of the U-phase coil, a current detection unit 13 that detects current, A processing unit 31 that outputs a signal for stopping the motor 3 and a phase detection unit 15 that detects the voltage and current phase of the motor 3 are provided.
- the temperature detection unit 11 detects the temperature of the U-phase coil based on the value detected by the heat detector 4.
- the resistance calculation unit 12 calculates the resistance of the U-phase coil based on the temperature detected by the temperature detection unit 11.
- the current detector 13 calculates the current of the W-phase coil based on the detected current, the current of the U-phase coil or the current of the V-phase coil, and the rotation angle.
- the current detection unit 13 includes a detection unit 13a that detects the current of the U-phase coil and the current of the V-phase coil, and a calculation unit 13b that calculates the current of the W-phase coil.
- the processing unit 31 includes a storage unit 21 that stores the temperature of the V-phase coil and the temperature of the W-phase coil, and a resistance calculation unit 32 that is a second resistance calculation unit that calculates the resistance of the V-phase coil and the resistance of the W-phase coil.
- the storage unit 21 stores the temperature of the V-phase coil and the temperature of the W-phase coil calculated by the previous process.
- the resistance calculation unit 32 calculates the resistance of the V-phase coil based on the temperature of the V-phase coil stored in the storage unit 21.
- the resistance calculation unit 32 calculates the resistance of the W-phase coil based on the temperature of the W-phase coil stored in the storage unit 21.
- the copper loss calculation unit 33 calculates the copper loss of the U-phase coil based on the current and resistance of the U-phase coil, and calculates the copper loss of the V-phase coil based on the current and resistance of the V-phase coil.
- the copper loss of the W-phase coil is calculated based on the current and resistance of the W-phase coil.
- the temperature calculation unit 34 calculates the thermal resistance based on the copper loss and temperature of the U-phase coil.
- the temperature calculation unit 34 calculates the temperature of the V-phase coil based on the thermal resistance and the copper loss of the V-phase coil, and also calculates the temperature of the W-phase coil based on the thermal resistance and the copper loss of the W-phase coil.
- the temperature of is calculated.
- the temperature calculation unit 34 includes a time measurement unit 34a that measures time, a thermal resistance calculation unit 34b that calculates thermal resistance, and a calculation unit 34c that calculates the temperature of the V-phase coil and the temperature of the W-phase coil.
- the thermal resistance calculation unit 34b measures time t1 when the DC control is started by the time measurement unit 34a, and measures time t2 n seconds after the DC control is started by the time measurement unit 34a.
- the thermal resistance calculation unit 34b calculates the thermal resistance based on the temperature of the U-phase coil at time t1, the temperature of the U-phase coil at time t2, and the copper loss of the U-phase coil.
- the signal generator 19 When the signal generator 19 detects that the temperature of the U-phase coil, the temperature of the V-phase coil, or the temperature of the W-phase coil exceeds the set temperature, the signal generator 19 generates a signal for stopping the driving of the motor 3. .
- the output unit 20 outputs a signal for stopping the motor 3.
- the storage unit 21 stores the temperature Tv1 of the V-phase coil and the temperature Tw1 of the W-phase coil calculated by the previous process.
- step ST21 the protection device 6 determines whether or not direct current control of the motor 3 is being performed. If it is determined that direct current control is being performed (Yes), the process proceeds to step ST22, and if direct current control is not being performed, that is, if it is determined that the motor 3 is being driven (No), step ST13 is performed. Proceed to In addition, each process of step ST13 to step ST17 is demonstrated in Embodiment 4 mentioned later.
- step ST22 the temperature detector 11 detects the temperature Tu of the U-phase coil.
- the resistance calculation unit 32 calculates the resistance Rv of the V-phase coil and the resistance Rw of the W-phase coil. Specifically, the resistance calculation unit 32 reads the temperature Tv1 of the V-phase coil and the temperature Tw1 of the W-phase coil stored in the storage unit 21, and substitutes the temperature Tv1 of the V-phase coil into the equation (11). Then, the resistance Rv of the V-phase coil is calculated, and the temperature Rw1 of the W-phase coil is substituted into the equation (12) to calculate the resistance Rw of the W-phase coil.
- Rv (234.5 + Tv1-20) ⁇ (234.5 + 20) ⁇ R (11)
- Rw (234.5 + Tw1-20) ⁇ (234.5 + 20) ⁇ R (12)
- step ST25 the current detection unit 13 calculates the current Iw of the W-phase coil.
- the U-phase coil current Iu and the V-phase coil current Iv are directly detected by the current detector 13.
- Current detector 13 calculates phase current I by substituting U phase coil current Iu into equation (13).
- the current detection unit 13 may calculate the phase current I by substituting the current Iv of the V-phase coil into the equation (14).
- the current detection unit 13 calculates the current Iw of the W-phase coil by substituting the phase current I and the rotation angle ⁇ into the equation (15).
- Iu I ⁇ cos ( ⁇ ) (13)
- Iv I ⁇ cos ( ⁇ + 2/3 ⁇ ⁇ ) (14)
- Iw I ⁇ cos ( ⁇ + 4/3 ⁇ ⁇ ) (15)
- the copper loss calculation unit 33 calculates the copper loss Pu of the U-phase coil, the copper loss Pv of the V-phase coil, and the copper loss Pw of the W-phase coil. Specifically, the copper loss calculation unit 33 calculates the copper loss Pu of the U-phase coil by substituting the current Iu and resistance Ru of the U-phase coil into the equation (16). The copper loss calculating unit 33 calculates the copper loss Pv of the V-phase coil by substituting the current Iv and resistance Rv of the V-phase coil into the equation (17). The copper loss calculation unit 33 calculates the copper loss Pw of the W-phase coil by substituting the current Iw and resistance Rw of the W-phase coil into the equation (18).
- Pu Iu 2 ⁇ Ru (16)
- Pv Iv 2 ⁇ Rv (17)
- Pw Iw 2 ⁇ Rw (18)
- the temperature calculation unit 34 calculates the thermal resistance Rth based on the copper loss Pu of the U-phase coil and the temperature Tu.
- the thermal resistance Rth is a thermal resistance between the U-phase coil and the atmosphere. Specifically, the temperature calculation unit 34 sets the temperature of the U-phase coil detected when starting DC control to Tu1, and sets the temperature of the U-phase coil detected n seconds after starting DC control to Tu2, Substituting the n (sec) and the copper loss Pu of the U-phase coil into the equation (19), the thermal resistance Rth [K / W] is calculated.
- C is a heat capacity [J / K], which is a known value. C is less affected by temperature.
- the temperature calculation unit 34 calculates the temperature Tv2 of the V-phase coil and the temperature Tw2 of the W-phase coil. Specifically, the temperature calculation unit 34 substitutes the thermal resistance Rth, the copper loss Pv of the V-phase coil, and the temperature Tv1 of the V-phase coil stored in the storage unit 21 into the equation (20) to obtain the V-phase The coil temperature Tv2 is calculated. The temperature calculation unit 34 substitutes the thermal resistance Rth, the copper loss Pw of the W-phase coil, and the temperature Tw1 of the W-phase coil stored in the storage unit 21 into the equation (21), and sets the temperature Tw2 of the W-phase coil. calculate. The same value is used for the thermal resistance Rth for all three phases.
- Tv2 (Pv ⁇ Rth) ⁇ (1 ⁇ exp ( ⁇ n ⁇ (C ⁇ Rth))) + Tv1 ⁇ exp ( ⁇ n ⁇ (C ⁇ Rth)) (20)
- Tw2 (Pw ⁇ Rth) ⁇ (1 ⁇ exp ( ⁇ n ⁇ (C ⁇ Rth))) + Tw1 ⁇ exp ( ⁇ n ⁇ (C ⁇ Rth)) (21)
- step ST29 the signal generator 19 determines whether the temperature Tu2 of the U-phase coil, the temperature Tv2 of the V-phase coil, or the temperature Tw2 of the W-phase coil exceeds a set temperature. When it is determined that any one of the coils exceeds the set temperature (Yes), the process proceeds to step ST31, and when it is determined that all the coils do not exceed the set temperature (No). The process proceeds to step ST30.
- step ST30 the temperature calculation unit 34 stores the temperature Tu2 of the U-phase coil, the temperature Tv2 of the V-phase coil, and the temperature Tw2 of the W-phase coil in the storage unit 21.
- the temperature calculating unit 18 sets the temperature Tu2 as the temperature Tu1, sets the temperature Tv2 as the temperature Tv1, and sets the temperature Tw2 as the temperature Tw1 and stores it in the storage unit 21.
- step ST31 the signal generator 19 generates a signal for stopping the motor 3.
- step ST32 the output unit 20 outputs a signal for stopping the motor 3 to the inverter device 2.
- the inverter device 2 stops the supply of direct current.
- the motor 3 is cooled and the temperature is lowered when the supply of the direct current is stopped.
- the protection device 6 outputs a signal for stopping the driving of the motor 3 when any of the coils exceeds the set temperature in the state where the DC control is performed on the motor 3.
- the motor 3 can be protected even if the temperature of the coils other than the coil detected by the heat detector 4 increases.
- the protection device 6 sets the heat capacity in advance, calculates the temperature of each phase coil at the set timing, and detects whether any of the coils exceeds the set temperature.
- the motor 3 can be protected by stopping the driving of the motor 3 when the cooling state changes and the temperature of any of the coils exceeds the set temperature.
- FIG. 5 is a diagram illustrating a configuration of the servo motor 102 according to the third embodiment.
- the motor 3 is assumed to be a water-cooled type, but is not limited to the water-cooled type.
- the servo motor 102 is driven by the inverter device 2 that converts an AC voltage supplied from an AC power source into a DC voltage, converts the converted DC voltage into an AC voltage again, and outputs the converted AC voltage.
- the motor 3 is composed of a first phase coil, a second phase coil, and a third phase coil.
- the first phase coil is referred to as a U-phase coil
- the second phase coil is referred to as a V-phase coil
- the third phase coil is referred to as a W-phase coil.
- the heat detector 4 is described as detecting the heat of the U-phase coil, the heat detector 4 may detect the heat of the V-phase coil or the W-phase coil.
- the rotation detector 5 detects the rotation angle of the motor 3.
- the protection device 7 for the servo motor 102 according to the third embodiment and the protection device 6 for the servo motor 101 according to the second embodiment differ only in the configuration of the processing unit 41 and the processing unit 31, and other configurations. Are the same. In the following, the same components as those of the servo motor 101 are denoted by the same reference numerals.
- the processing unit 41 includes a copper loss calculation unit 33 that calculates copper loss, a time measurement unit 34a that measures time, a thermal resistance calculation unit 34b that calculates thermal resistance, a signal generation unit 19 that generates a signal, and a signal Is provided.
- the thermal resistance calculator 34b calculates the thermal resistance based on the copper loss and temperature of the U-phase coil. Specifically, the thermal resistance calculation unit 34b measures a time t1 when the DC control is started by the time measurement unit 34a, and measures a time t2 n seconds after the DC control is started. The thermal resistance calculation unit 34b sets the temperature of the U-phase coil detected at time t1 to Tu1, sets the temperature of the U-phase coil detected at time t2 to Tu2, and substitutes the copper loss Pu of the U-phase coil into equation (23). Thus, the thermal resistance Rth [K / W] is calculated. C is a heat capacity [J / K], which is a known value.
- the signal generator 19 When the signal generator 19 detects that the thermal resistance calculated by the thermal resistance calculator 34b exceeds the set resistance, the signal generator 19 generates a signal for stopping the driving of the motor 3.
- the output unit 20 outputs a signal for stopping the motor 3.
- the protection device 7 outputs a signal for stopping the drive of the motor 3 when the thermal resistance exceeds the set resistance in a state where the direct current control is performed on the motor 3, thereby detecting the heat.
- the motor 3 can be protected even when the temperature of the coils other than the coil detected by the device 4 becomes high.
- the protective device 7 sets the heat capacity in advance, calculates the thermal resistance at the set timing, and detects whether the set resistance is exceeded, the cooling state of the motor 3 deteriorates and is set. When the resistance is exceeded, the motor 3 can be protected by stopping the driving of the motor 3.
- FIG. 6 is a diagram illustrating a configuration of the servo motor 103 according to the fourth embodiment.
- FIG. 7 is a flowchart for explaining the operation of the processing unit 52 according to the fourth embodiment.
- the servo motor 103 is driven by the inverter device 2 that converts an AC voltage supplied from an AC power source into a DC voltage, converts the converted DC voltage into an AC voltage again, and outputs the converted AC voltage.
- the motor 3 is composed of a first phase coil, a second phase coil, and a third phase coil.
- the first phase coil is referred to as a U-phase coil
- the second phase coil is referred to as a V-phase coil
- the third phase coil is referred to as a W-phase coil.
- the heat detector 4 is described as detecting the heat of the U-phase coil, the heat detector 4 may detect the heat of the V-phase coil or the W-phase coil.
- the rotation detector 5 detects the rotation angle of the motor 3.
- the protection device 8 of the servo motor 103 according to the fourth embodiment and the protection device 6 of the servo motor 101 according to the second embodiment are different only in the configuration of the processing unit 52 and the processing unit 31, and other configurations. Are the same. In the following, the same components as those of the servo motor 101 are denoted by the same reference numerals.
- the protection device 8 includes a temperature detection unit 11 that detects the temperature of the U-phase coil, a current detection unit 13 that detects a current, a voltage detection unit 51 that detects a voltage supplied from the inverter device 2 to the motor 3, and a motor And a phase detector 15 for detecting the voltage and current phase of the motor 3 based on the value detected by the rotation detector 5.
- the processing unit 52 includes a storage unit 21 that stores the temperature of the V-phase coil and the temperature of the W-phase coil, a torque value calculation unit 53 that calculates a torque value, and a rotation speed detection unit 54 that detects the rotation speed of the motor 3.
- An output calculation unit 55 that calculates the output, an input calculation unit 56 that calculates the input, an total loss calculation unit 57 that calculates the total loss, and a temperature calculation unit 58 that calculates the temperatures of the V-phase coil and the W-phase coil,
- the signal generation unit 19 that generates a signal and the output unit 20 that outputs the signal are provided.
- the storage unit 21 stores the temperature of the V-phase coil and the temperature of the W-phase coil calculated by the previous process.
- the torque value calculation unit 53 calculates a torque value based on the current detected by the current detection unit 13. Specifically, the torque value calculation unit 53 performs dq coordinate conversion based on the current detected by the current detection unit 13 to calculate a torque value.
- the temperature calculation unit 58 calculates the thermal resistance based on the total loss and the temperature of the U-phase coil, and calculates the temperature of the V-phase coil and the temperature of the W-phase coil based on the thermal resistance and the total loss. To do. Specifically, the temperature calculation unit 58 includes a time measurement unit 58a that measures time, a thermal resistance calculation unit 58b that calculates thermal resistance, and a calculation unit 58c that calculates the temperature of the V-phase coil and the temperature of the W-phase coil. With. The thermal resistance calculator 58b measures a time t1 when the driving is started by the time measuring unit 58a, and measures a time t2 when the driving is ended by the time measuring unit 58a. The thermal resistance calculator 58b calculates the thermal resistance based on the temperature of the U-phase coil at time t1, the temperature of the U-phase coil at time t2, and the total loss.
- the signal generator 19 When the signal generator 19 detects that the temperature of the U-phase coil, the temperature of the V-phase coil, or the temperature of the W-phase coil exceeds the set temperature, the signal generator 19 generates a signal for stopping the driving of the motor 3. .
- the output unit 20 outputs a signal for stopping the motor 3.
- step ST13 the temperature calculation unit 58 measures the drive time set by the time measurement unit 58a.
- step ST14 the temperature calculation unit 58 calculates the time from the start to the end of driving based on the measured driving time.
- the time calculated by the temperature calculation unit 58 is referred to as “n1”.
- the temperature calculation unit 58 calculates the thermal resistance Rth based on the total loss P calculated by the total loss calculation unit 57 and the temperature Tu of the U-phase coil detected by the temperature detection unit 11. Specifically, the temperature calculation unit 58 sets Tu1 as the temperature of the U-phase coil detected by the temperature detection unit 11 at the start of driving, and sets the temperature of the U-phase coil detected by the temperature detection unit 11 at the end of driving. By substituting Tu2 for the total loss P and the time n1 calculated in the process of step ST14, the thermal resistance Rth [K / W] is calculated. C is a heat capacity [J / K], which is a known value.
- the temperature calculation unit 58 calculates the temperature Tv2 of the V-phase coil and the temperature Tw2 of the W-phase coil. Specifically, the temperature calculation unit 58 substitutes the thermal resistance Rth, the total loss P, and the V-phase coil temperature Tv1 stored in the storage unit 21 into the equation (29), and the V-phase coil temperature Tv2 Is calculated. Further, the temperature calculation unit 58 calculates the temperature Tw2 of the W-phase coil by substituting the thermal resistance Rth, the total loss P, and the temperature Tw1 of the W-phase coil stored in the storage unit 21 into the equation (30). . Note that the same value is used for the three phases for the thermal resistance Rth and the total loss P.
- Tv2 (P ⁇ Rth) ⁇ (1 ⁇ exp ( ⁇ n1 ⁇ (C ⁇ Rth))) + Tv1 ⁇ exp ( ⁇ n1 ⁇ (C ⁇ Rth)) (29)
- Tw2 (P ⁇ Rth) ⁇ (1 ⁇ exp ( ⁇ n1 ⁇ (C ⁇ Rth))) + Tw1 ⁇ exp ( ⁇ n1 ⁇ (C ⁇ Rth)) (30)
- step ST17 the signal generation unit 19 determines whether the temperature Tu2 of the U-phase coil, the temperature Tv2 of the V-phase coil, or the temperature Tw2 of the W-phase coil exceeds a set temperature. When it is determined that any one of the coils exceeds the set temperature (Yes), the process proceeds to step ST11 or step ST31, and all the coils are determined not to exceed the set temperature. For (No), the process proceeds to step ST10 or step ST30.
- the protection device 8 outputs a signal for stopping the driving of the motor 3 when any of the coils exceeds a set temperature in a state in which the motor 3 is driven, thereby detecting the heat detector.
- the motor 3 can be protected even if the temperature of the coils other than the coil detected by 4 becomes high.
- the protection device 8 repeats the short-time driving and direct current control of the motor 3, and when any one of the coils exceeds the set temperature in a state where the temperature of each phase coil is different, the protection device 8 The motor 3 can be protected by stopping the driving.
- the protection device 1 according to the first embodiment, the protection device 6 according to the second embodiment, the protection device 7 according to the third embodiment, and the protection device 8 according to the fourth embodiment are as shown in FIG.
- the CPU 201 that performs the calculation, the ROM 202 that stores the program read by the CPU 201, the RAM 203 that expands the program stored in the ROM 202, and the interface 204 that inputs and outputs signals may be included.
- the ROM 202 stores a program for executing the function of each component of the protection device 1 described above.
- the CPU 201 reads out the program stored in the ROM 202 to the RAM 203, and calculates the voltage of the U-phase coil, the voltage of the V-phase coil, and the voltage of the W-phase coil based on the resistance, current, and rotation angle of the U-phase coil. calculate.
- CPU 201 calculates the resistance of the V-phase coil based on the current and voltage of the V-phase coil, and calculates the resistance of the W-phase coil based on the current and voltage of the W-phase coil.
- CPU 201 calculates the temperature of the V-phase coil based on the resistance of the V-phase coil, and calculates the temperature of the W-phase coil based on the resistance of the W-phase coil.
- the CPU 201 detects that the temperature of the U-phase coil, the temperature of the V-phase coil, or the temperature of the W-phase coil exceeds the set temperature, the CPU 201 generates a signal for stopping the driving of the motor 3.
- a signal for stopping the driving of the motor 3 is output to the inverter device 2 via the interface 204.
- the ROM 202 stores a program for executing the function of each component of the protection device 6 described above.
- the CPU 201 reads the program stored in the ROM 202 to the RAM 203, calculates the resistance of the V-phase coil based on the temperature of the V-phase coil, and calculates the resistance of the W-phase coil based on the temperature of the W-phase coil. .
- the CPU 201 calculates the copper loss of the U-phase coil based on the current and resistance of the U-phase coil, calculates the copper loss of the V-phase coil based on the current and resistance of the V-phase coil, The copper loss of the W-phase coil is calculated based on the current and resistance.
- the CPU 201 calculates the thermal resistance based on the copper loss and temperature of the U-phase coil, calculates the temperature of the V-phase coil based on the thermal resistance and the copper loss of the V-phase coil, Based on the copper loss of the W-phase coil, the temperature of the W-phase coil is calculated.
- the CPU 201 detects that the temperature of the U-phase coil, the temperature of the V-phase coil, or the temperature of the W-phase coil exceeds the set temperature, the CPU 201 generates a signal for stopping the driving of the motor 3.
- a signal for stopping the driving of the motor 3 is output to the inverter device 2 via the interface 204.
- the ROM 202 stores a program for executing the function of each component of the protection device 7 described above.
- the CPU 201 reads out a program stored in the ROM 202 to the RAM 203 and calculates the copper loss of the U-phase coil based on the current and resistance of the U-phase coil.
- CPU 201 calculates thermal resistance based on the copper loss and temperature of the U-phase coil.
- the CPU 201 detects that the thermal resistance exceeds the set resistance, the CPU 201 generates a signal for stopping the driving of the motor 3.
- a signal for stopping the driving of the motor 3 is output to the inverter device 2 via the interface 204.
- the ROM 202 stores a program for executing the function of each component of the protection device 8 described above.
- the CPU 201 reads a program stored in the ROM 202 into the RAM 203 and calculates a torque value based on the current.
- the CPU 201 detects the number of rotations of the motor 3.
- the CPU 201 calculates an output based on the torque value and the rotation speed of the motor 3.
- the CPU 201 calculates an input based on the detected current and voltage.
- the CPU 201 calculates the total loss due to the driving of the motor 3 based on the output and the input.
- the CPU 201 calculates the thermal resistance based on the total loss and the temperature of the U-phase coil, and calculates the temperature of the V-phase coil and the temperature of the W-phase coil based on the thermal resistance and the total loss.
- the CPU 201 detects that the temperature of the U-phase coil, the temperature of the V-phase coil, or the temperature of the W-phase coil exceeds the set temperature, the CPU 201 generates a signal for stopping the driving of the motor 3.
- a signal for stopping the driving of the motor 3 is output to the inverter device 2 via the interface 204.
- the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
Abstract
Description
図1は、実施の形態1にかかる保護装置1を備えるサーボモータ100の構成を示す図である。図2は、実施の形態1にかかる処理部14の動作についての説明に供するフローチャートである。
Ru=(234.5+Tu-20)÷(234.5+20)×R ・・・(1)
Eu=Iu×Ru ・・・(2)
Eu=E×cos(α) ・・・(3)
Ev=E×cos(α+2/3×π) ・・・(4)
Ew=E×cos(α+4/3×π) ・・・(5)
Rv=Ev÷Iv ・・・(6)
Rw=Ew÷Iw ・・・(7)
Rv=(234.5+Tv1-20)÷(234.5+20)×R ・・・(8)
Rw=(234.5+Tw1-20)÷(234.5+20)×R ・・・(9)
つぎに、実施の形態2にかかる保護装置6を備えるサーボモータ101の構成について説明する。図3は、実施の形態2にかかるサーボモータ101の構成を示す図である。図4は、実施の形態2にかかる処理部31の動作についての説明に供するフローチャートである。
Ru=(234.5+Tu-20)÷(234.5+20)×R ・・・(10)
Rv=(234.5+Tv1-20)÷(234.5+20)×R ・・・(11)
Rw=(234.5+Tw1-20)÷(234.5+20)×R ・・・(12)
Iu=I×cos(α) ・・・(13)
Iv=I×cos(α+2/3×π) ・・・(14)
Iw=I×cos(α+4/3×π) ・・・(15)
Pu=Iu2×Ru ・・・(16)
Pv=Iv2×Rv ・・・(17)
Pw=Iw2×Rw ・・・(18)
Tu2=(Pu×Rth)×(1-exp(-n÷(C×Rth)))+Tu1×exp(-n÷(C×Rth)) ・・・(19)
Tv2=(Pv×Rth)×(1-exp(-n÷(C×Rth)))+Tv1×exp(-n÷(C×Rth)) ・・・(20)
Tw2=(Pw×Rth)×(1-exp(-n÷(C×Rth)))+Tw1×exp(-n÷(C×Rth)) ・・・(21)
つぎに、実施の形態3にかかる保護装置7を備えるサーボモータ102の構成について説明する。図5は、実施の形態3にかかるサーボモータ102の構成を示す図である。なお、実施の形態3においては、モータ3は、水冷式であることを想定して説明するが、水冷式に限られない。
Pu=Iu2×Ru ・・・(22)
Tu2=(Pu×Rth)×(1-exp(-n÷(C×Rth)))+Tu1×exp(-n÷(C×Rth)) ・・・(23)
つぎに、実施の形態4にかかる保護装置8を備えるサーボモータ103の構成について説明する。図6は、実施の形態4にかかるサーボモータ103の構成を示す図である。図7は、実施の形態4にかかる処理部52の動作についての説明に供するフローチャートである。
N=120÷f×モータの極数 ・・・(24)
Pout=T×(2π×N÷60)÷1000 ・・・(25)
Pin=√3×I×V×cosβ ・・・(26)
P=Pin-Pout ・・・(27)
Tu2=(P×Rth)×(1-exp(-n1÷(C×Rth)))+Tu1×exp(-n1÷(C×Rth)) ・・・(28)
Tv2=(P×Rth)×(1-exp(-n1÷(C×Rth)))+Tv1×exp(-n1÷(C×Rth)) ・・・(29)
Tw2=(P×Rth)×(1-exp(-n1÷(C×Rth)))+Tw1×exp(-n1÷(C×Rth)) ・・・(30)
Claims (6)
- インバータ装置により駆動されるモータを保護する保護装置において、
前記モータの第一相コイルの温度を検出する温度検出部と、
前記温度検出部により検出された温度に基づいて、当該第一相コイルの抵抗を算出する第1抵抗算出部と、
前記インバータ装置から前記モータへ供給される電流を検出する電流検出部と、
前記第1抵抗算出部により算出された抵抗と前記電流検出部により検出された電流とに基づいて、前記モータの第二相コイルの温度および第三相コイルの温度を算出し、前記第一相コイルの温度、前記第二相コイルの温度または前記第三相コイルの温度が設定されている温度を超えていることを検出した場合、前記モータを停止させる信号を出力する処理部とを備えることを特徴とする保護装置。 - 前記モータに直流制御が行われている状態において、
前記モータの回転角度を検出する角度検出部を備え、
前記電流検出部は、前記第一相コイルの電流と、前記第二相コイルの電流と、前記第三相コイルの電流とを検出し、
前記処理部は、
前記第一相コイルの抵抗と、前記電流検出部により検出された電流と、前記回転角度とに基づいて、前記第一相コイルの電圧、前記第二相コイルの電圧および前記第三相コイルの電圧を算出する電圧算出部と、
前記第二相コイルの電流と電圧とに基づいて、前記第二相コイルの抵抗を算出し、前記第三相コイルの電流と電圧とに基づいて、前記第三相コイルの抵抗を算出する第2抵抗算出部と、
前記第二相コイルの抵抗に基づいて、前記第二相コイルの温度を算出し、前記第三相コイルの抵抗に基づいて、前記第三相コイルの温度を算出する温度算出部と、
前記第一相コイルの温度、前記第二相コイルの温度または前記第三相コイルの温度が前記設定されている温度を超えていることを検出した場合、前記モータを停止させる信号を生成する信号生成部と、
前記信号を出力する出力部とを備える請求項1に記載の保護装置。 - 前記モータに直流制御が行われている状態において、
前記モータの回転角度を検出する角度検出部を備え、
前記電流検出部は、検出された電流である前記第一相コイルの電流または前記第二相コイルの電流と、前記回転角度とに基づいて、前記第三相コイルの電流を算出し、
前記処理部は、
前回の処理により算出された前記第二相コイルの温度および前記第三相コイルの温度を記憶する記憶部と、
前記第二相コイルの温度に基づいて、前記第二相コイルの抵抗を算出し、前記第三相コイルの温度に基づいて、前記第三相コイルの抵抗を算出する第2抵抗算出部と、
前記第一相コイルの電流と抵抗とに基づいて、前記第一相コイルの銅損を算出し、前記第二相コイルの電流と抵抗とに基づいて、前記第二相コイルの銅損を算出し、前記第三相コイルの電流と抵抗とに基づいて、前記第三相コイルの銅損を算出する銅損算出部と、
前記第一相コイルの銅損と温度とに基づいて、熱抵抗を算出し、当該熱抵抗と前記第二相コイルの銅損とに基づいて、前記第二相コイルの温度を算出し、当該熱抵抗と前記第三相コイルの銅損とに基づいて、前記第三相コイルの温度を算出する温度算出部と、
前記第一相コイルの温度、前記第二相コイルの温度または前記第三相コイルの温度が前記設定されている温度を超えていることを検出した場合、前記モータを停止させる信号を生成する信号生成部と、
前記信号を出力する出力部とを備える請求項1に記載の保護装置。 - 前記モータに直流制御が行われている状態において、
前記処理部は、
前記第一相コイルの電流と抵抗とに基づいて、前記第一相コイルの銅損を算出する銅損算出部と、
前記第一相コイルの銅損と温度とに基づいて、熱抵抗を算出する熱抵抗算出部と、
前記熱抵抗が設定されている抵抗を超えていることを検出した場合、前記モータを停止させる信号を生成する信号生成部と、
前記信号を出力する出力部とを備える請求項1に記載の保護装置。 - 前記モータが駆動している状態において、
前記モータの回転角度を検出する角度検出部と、
前記インバータ装置から前記モータへ供給される電圧を検出する電圧検出部と、を備え、
前記電流検出部は、検出された電流である前記第一相コイルの電流または前記第二相コイルの電流と、前記回転角度とに基づいて、前記第三相コイルの電流を算出し、
前記処理部は、
前回の処理により算出された前記第二相コイルの温度および前記第三相コイルの温度を記憶する記憶部と、
前記電流検出部により検出された電流に基づいて、トルク値を算出するトルク値算出部と、
前記モータの回転数を検出する回転数検出部と、
前記トルク値と前記モータの回転数とに基づいて、出力を算出する出力算出部と、
前記電流検出部により検出された電流と前記電圧検出部により検出された電圧とに基づいて、入力を算出する入力算出部と、
前記入力と前記出力とに基づいて、前記モータの駆動による全損失を算出する全損失算出部と、
前記全損失と前記第一相コイルの温度とに基づいて、熱抵抗を算出し、当該熱抵抗と前記全損失とに基づいて、前記第二相コイルの温度と前記第三相コイルの温度とを算出する温度算出部と、
前記第一相コイルの温度、前記第二相コイルの温度または前記第三相コイルの温度が前記設定されている温度を超えていることを検出した場合、前記モータを停止させる信号を生成する信号生成部と、
前記信号を出力する出力部とを備える請求項1に記載の保護装置。 - 請求項1から5いずれか一項に記載の保護装置を備えることを特徴とするサーボモータ。
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- 2015-03-30 WO PCT/JP2015/059989 patent/WO2016157382A1/ja active Application Filing
- 2015-03-30 CN CN201580078442.0A patent/CN107567681B/zh not_active Expired - Fee Related
- 2015-03-30 KR KR1020177027260A patent/KR101856431B1/ko active IP Right Grant
- 2015-10-05 TW TW104132677A patent/TWI577126B/zh not_active IP Right Cessation
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WO2020108693A1 (de) * | 2018-11-30 | 2020-06-04 | Schaeffler Technologies AG & Co. KG | Verfahren zur laufenden zustandsüberwachung eines elektromotors |
JP2022509278A (ja) * | 2018-11-30 | 2022-01-20 | シェフラー テクノロジーズ アー・ゲー ウント コー. カー・ゲー | 電気モータの継続的な状態監視のための方法 |
US11575340B2 (en) | 2018-11-30 | 2023-02-07 | Schaeffler Technologies AG & Co. KG | Method for continuous condition monitoring of an electric motor |
WO2022269950A1 (ja) * | 2021-06-25 | 2022-12-29 | 株式会社日立産機システム | 電動機制御装置 |
JP7385628B2 (ja) | 2021-06-25 | 2023-11-22 | 株式会社日立産機システム | 電動機制御装置 |
Also Published As
Publication number | Publication date |
---|---|
TWI577126B (zh) | 2017-04-01 |
CN107567681A (zh) | 2018-01-09 |
KR20170118225A (ko) | 2017-10-24 |
KR101856431B1 (ko) | 2018-05-09 |
CN107567681B (zh) | 2019-01-18 |
TW201635693A (zh) | 2016-10-01 |
JPWO2016157382A1 (ja) | 2017-04-27 |
JP5936786B1 (ja) | 2016-06-22 |
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