WO2020012656A1 - Dispositif de commande d'entraînement de moteur - Google Patents

Dispositif de commande d'entraînement de moteur Download PDF

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Publication number
WO2020012656A1
WO2020012656A1 PCT/JP2018/026594 JP2018026594W WO2020012656A1 WO 2020012656 A1 WO2020012656 A1 WO 2020012656A1 JP 2018026594 W JP2018026594 W JP 2018026594W WO 2020012656 A1 WO2020012656 A1 WO 2020012656A1
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WO
WIPO (PCT)
Prior art keywords
sensor
motor
unit
drive command
control device
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Application number
PCT/JP2018/026594
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English (en)
Japanese (ja)
Inventor
達也 川瀬
裕司 五十嵐
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to KR1020217000416A priority Critical patent/KR102313862B1/ko
Priority to JP2019500687A priority patent/JP6524363B1/ja
Priority to PCT/JP2018/026594 priority patent/WO2020012656A1/fr
Priority to CN201880095509.5A priority patent/CN112385134B/zh
Publication of WO2020012656A1 publication Critical patent/WO2020012656A1/fr

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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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
    • 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
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements

Definitions

  • the present invention relates to a motor drive control device that supplies electric power to a motor.
  • Patent Literature 1 discloses that, in order to reduce the number of parts, in a servo motor drive control device including a plurality of encoder receiving circuits, when there are few movable parts to be driven and controlled by a servo motor, an extra encoder receiving circuit is provided with an interface. A configuration is described in which a sensor for detecting acceleration, temperature, or the like, which has been adjusted, is connected.
  • one servo motor drive control device often has only one encoder receiving circuit.
  • the technique described in Patent Literature 1 is based on the premise that the servo motor drive control device includes a plurality of encoder receiving circuits, and suppresses an increase in the number of parts when only one encoder receiving circuit is provided. Is not considered.
  • the present invention has been made in view of the above, and in a motor drive control device having only one encoder receiving circuit, a motor drive control capable of connecting a new sensor without increasing the number of components
  • the aim is to obtain a device.
  • a motor drive control device that generates electric power to be applied to a motor can receive an input of an operation detection value indicating an operation position or an operation speed of the motor.
  • the sensor communication unit includes one encoder receiving circuit that outputs the received operation detection value as sensor input information.
  • the motor drive control device includes a sensor-equipped control unit that generates and outputs a first drive command based on an operation command for the operation position or operation speed of the motor and the sensor input information, and outputs the sensor input information based on the operation command.
  • a sensorless control unit that generates and outputs a second drive command without using it.
  • the motor drive control device selects one of the first drive command and the second drive command, and outputs the selected drive command as a motor drive command, based on the motor drive command output from the switch unit.
  • a power supply unit that generates power to be supplied to the motor.
  • the sensor communication unit can receive an input of a signal other than the operation detection value, and outputs the received signal as sensor input information.
  • the motor drive control device has an effect that a new sensor can be connected without increasing the number of parts in a motor drive control device having only one encoder receiving circuit.
  • FIG. 2 is a diagram for explaining a configuration of a motor drive control device according to the first embodiment of the present invention.
  • FIG. 3 is a diagram for explaining a configuration of a sensor communication unit according to the first embodiment of the present invention.
  • FIG. 2 is a diagram for explaining a configuration of a motor drive control device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram for explaining a configuration of a motor drive control system including a motor drive control device according to a second embodiment of the present invention.
  • FIG. 4 is a diagram for explaining a configuration of a motor drive control system including a motor drive control device according to a second embodiment of the present invention.
  • FIGS. 1, 2 and 3 are diagrams for explaining the configuration of the motor drive control device according to the first embodiment of the present invention.
  • FIG. 1 shows an example using a motor position detection sensor as a sensor
  • FIG. 3 shows an example using a temperature sensor as a sensor.
  • FIG. 2 is a diagram illustrating a configuration example of the sensor communication unit 106 illustrated in FIGS. 1 and 3.
  • the motor drive control device 100 shown in FIGS. 1 and 3 is a device that supplies electric power to the motor 300.
  • the motor drive control device 100 gives the motor 300 such that the operation detection value MDV representing the operation position or operation speed of the motor 300 follows the operation command OC which is the operation target value for the operation position or operation speed of the motor 300.
  • An electric power EP is generated.
  • the motor drive control device 100 includes a sensor-equipped control unit 101, a sensorless control unit 102, a switching unit 103, a power supply unit 104, a processor 105, and a sensor communication unit 106.
  • the sensor-equipped control unit 101 calculates a drive command DIA based on the operation command OC and the sensor input information SII output from the sensor communication unit 106 so that the sensor input information SII follows the operation command OC.
  • the driving command DIA is output to the switching unit 103.
  • the drive command DIA corresponds to a first drive command.
  • the method for calculating the drive command DIA may be any method such as P (Proportional) control, PI (Proportional @ Integral) control, PID (Proportional @ Integral @ Differential) control, or adaptive control.
  • the sensorless control unit 102 Based on the operation command OC, the sensorless control unit 102 outputs the drive command DIB so that the operation detection value MDV of the motor 300 follows the operation command OC without using the sensor input information SII output from the sensor communication unit 106. Computed and outputs the computed drive command DIB to the switching unit 103. Drive command DIB corresponds to a second drive command.
  • a calculation method for causing the operation detection value MDV of the motor 300 to follow the operation command OC without using the sensor input information SII for example, a motor based on induced voltage information when driving an IPM (Interior ⁇ Permanent ⁇ Magnet) motor is used. And a method of controlling the position and speed based on the estimated position information, or a method of driving an induction motor.
  • the calculation method of the sensorless control unit 102 is not limited to the above method.
  • the switching unit 103 selects one of the drive command DIA output from the sensor-equipped control unit 101 and the drive command DIB output from the sensorless control unit 102, and provides a drive command MDI for giving either one to the motor 300. Is output to the power supply unit 104. In FIG. 1, the switching unit 103 outputs the drive command DIA output from the sensor-equipped control unit 101 to the power supply unit 104 as a drive command MDI for giving the motor 300. In FIG. 3, the switching unit 103 outputs the drive command DIB output from the sensorless control unit 102 to the power supply unit 104 as a drive command MDI for giving the motor 300.
  • the power supply unit 104 generates the power EP to be provided to the motor 300 based on the drive command MDI to be provided to the motor 300 output from the switching unit 103, and outputs the power EP to the motor 300.
  • the power supply unit 104 is, for example, an inverter circuit including a plurality of switching elements.
  • the processor 105 receives the sensor input information SII, and calculates protection of the motor drive control device 100 and the motor 300, life diagnosis, and the like.
  • Processor 105 is an integrated circuit for control, and is, for example, a CPU (Central Processing Unit) or a microprocessor. 1 and 3, the sensor-equipped control unit 101, the sensorless control unit 102, the switching unit 103, and the processor 105 are separately illustrated, but the processor 105 includes the sensor-equipped control unit 101, the sensorless control unit 102, and the switching unit. 103 functions may be included.
  • the sensor communication unit 106 receives information from various sensors such as a sensor 400 outside the motor drive control device 100.
  • the sensor communication unit 106 includes one encoder receiving circuit.
  • an operation detection value MDV indicating an operation position or an operation speed of the motor 300 is input from the sensor 400.
  • temperature information TI is input from temperature sensor 500.
  • the sensor communication unit 106 can receive input of sensor information other than the operation detection value MDV of the motor 300. 1 and 3, the sensor communication unit 106 outputs the input operation detection value MDV or temperature information TI as sensor input information SII.
  • the sensor communication unit 106 includes a sensor transmission / reception unit 1061 and a sensor type determination unit 1062 as shown in FIG.
  • the sensor transmitting / receiving unit 1061 receives the operation detection value MDV input from the sensor 400 and outputs the operation detection value MDV to the sensor type determination unit 1062.
  • the sensor type determination unit 1062 determines the type of the sensor based on the signal input from the sensor transmission / reception unit 1061, generates a selection signal DSI based on the determined type of the sensor, and outputs the selection signal DSI to the switching unit 103.
  • the selection signal DSI is a selection signal indicating which one of the drive command DIA as the first drive command and the drive command DIB as the second drive command is selected.
  • the sensor type determination unit 1062 determines the determination result of the sensor type.
  • the selection signal is generated based on.
  • any method may be used to determine the type of the sensor.
  • the type of the sensor can be determined based on the format of information output from the sensor.
  • FIG. 2 illustrates an example in which the operation detection value MDV is input.
  • the temperature information TI is input to the sensor communication unit 106.
  • the operation detection value MDV representing the operation position or operation speed of the motor 300 is input to the sensor communication unit 106. Therefore, the sensor type determination unit 1062 determines that the type of the sensor is the motor position detection sensor, and outputs a signal indicating that the drive command DIA is to be selected to the switching unit 103 as the selection signal DSI.
  • the switching unit 103 selects a drive command DIA from the sensor-equipped control unit 101 based on the selection signal DSI and outputs the drive command DIA to the power supply unit 104 as a drive command MDI to be given to the motor 300.
  • the temperature information TI is input to the sensor communication unit 106 instead of the operation detection value MDV. Therefore, the sensor type determination unit 1062 determines that the type of the sensor is the temperature sensor, and outputs a signal indicating that the drive command DIB is to be selected to the switching unit 103 as the selection signal DSI. The switching unit 103 selects the drive command DIB from the sensorless control unit 102 based on the selection signal DSI, and outputs the drive command DIB to the power supply unit 104 as a drive command MDI to be given to the motor 300.
  • the motor drive control device 100 captures the temperature information TI from another sensor, for example, the temperature sensor 500 installed on the motor 300. be able to.
  • the temperature information TI is processed by the processor 105, and is used for diagnosing the alarm for protecting the motor 300 or the motor drive control device 100 or the life of the motor 300 or the motor drive control device 100. be able to.
  • the sensor information input to the sensor communication unit 106 is not limited to the temperature information TI.
  • Output information from a torque sensor, a vibration sensor, or an I / O input / output device may be input to the sensor communication unit 106. When output information from the torque sensor or the vibration sensor is input to the sensor communication unit 106, a failure of the mechanical device connected to the motor 300 can be detected from the sensor input information SII.
  • sensor information other than the operation detection value MDV of the motor 300 is stored in the sensor communication unit 106 that is not required during sensorless control. Is entered.
  • the sensor communication unit 106 can receive input of sensor information other than the operation detection value MDV of the motor 300. Accordingly, information of a new sensor such as a temperature sensor, a torque sensor, or a vibration sensor can be input to the motor drive control device 100 without increasing the number of components.
  • a new sensor such as a temperature sensor, a torque sensor, or a vibration sensor can be input to the motor drive control device 100 without increasing the number of components.
  • the motor drive control device 100 by using the information of the new sensor, it is possible to add functions such as device protection and prior detection of device failure without increasing the number of components.
  • a drive part that requires high-precision control performs control with a sensor, and does not require precision, but has an additional function using a temperature sensor 500, a torque sensor, or a vibration sensor. Is required to perform sensorless control.
  • a drive part that requires high accuracy and a drive part that does not require accuracy may be mixed.
  • different requirements can be realized by one motor drive control device 100 without increasing the number of parts, and engineering software and manuals required for the motor drive control device 100 can be shared. Therefore, it is possible to reduce the load on the worker who learns the operation of the engineering software and the motor drive control device 100.
  • the sensor-equipped control unit 101 and the sensorless control unit 102 are configured to always calculate, but the sensor-equipped control unit that outputs a drive command DIA or a drive command DIB that is not selected by the switching unit 103.
  • the calculation 101 or the sensorless control unit 102 may stop the calculation.
  • the switching unit 103 outputs the drive command DIA of the sensor-equipped control unit 101 as the drive command MDI to be supplied to the motor 300
  • the calculation of the sensorless control unit 102 may be stopped, and the switching unit 103 may output the drive command of the sensorless control unit 102.
  • the DIB is output as the drive command MDI to be given to the motor 300
  • the calculation of the sensor-equipped control unit 101 may be stopped.
  • sensor communication unit 106 generates selection signal DSI indicating which of the first drive command and the second drive command is to be selected based on the received sensor input information
  • the switching unit 103 outputs the DSI to the switching unit 103, and the switching unit 103 selects one of the driving command DIA and the driving command DIB based on the selection signal DSI.
  • the switching unit 103 outputs a drive command DIA from the sensor-equipped control unit 101 to the motor based on the selection signal DSI input from the sensor communication unit 106.
  • the drive command MDI to provide the drive command DIB to the motor 300 is supplied from the sensorless control unit 102 to the power supply unit. Output to 104.
  • the sensor communication unit 106 determines the type of the sensor, and the switching unit 103 selects a signal to be output to the power supply unit 104 based on the determination result. Is not limited to this example.
  • the switching unit 103 may make a selection according to a command from the external device 200 or an engineering tool of a personal computer.
  • a signal indicating which one of the drive command DIA and the drive command DIB is to be selected is used as the selection signal.
  • the selection signal may be a signal indicating the type of the sensor.
  • the switching unit 103 selects one of the drive command DIA and the drive command DIB according to the type of the sensor indicated by the selection signal. In this case, it is assumed that the switching unit 103 has set the correspondence between the sensor type and the driving command DIA or the driving command DIB in the switching unit 103.
  • the operation command OC is input to the motor drive control device 100 from outside the motor drive control device 100.
  • the operation command OC is generated inside the motor drive control device 100. You may.
  • Embodiment 2 FIG. Next, a motor drive control device according to a second embodiment of the present invention will be described.
  • 4 and 5 are diagrams for explaining a configuration of a motor drive control system including the motor drive control device according to the second embodiment of the present invention.
  • the motor drive control device according to the second embodiment is mainly different from the first embodiment in that output devices 107A and 107B are provided.
  • the description of the same configuration and operation as in the first embodiment will be omitted, and a description will be given below of a different configuration and operation.
  • the motor drive control system 1 shown in FIGS. 4 and 5 includes motor drive control devices 100A and 100B. 4 and 5, the motor drive control system 1 including two motor drive control devices 100A and 100B is illustrated, but the number of motor drive control devices included in the motor drive control system 1 is three or more. There may be.
  • the external device 200 is connected to the motor drive control devices 100A and 100B and receives the output signals OSA and OSB.
  • External device 200 may be any device capable of receiving output signals OSA, OSB from motor drive control devices 100A, 100B.
  • the external device 200 is a higher-level controller device of the motor drive control devices 100A and 100B.
  • the output signals OSA and OSB include analog signals, digital signals, communication protocols for half-duplex communication or full-duplex communication, and the like.
  • the external device 200 may not only receive the output signals OSA and OSB output from the motor drive control system 1, but also output a drive command to the motor drive control system 1.
  • the motor drive control device 100A corresponds to the motor drive control device 100 shown in FIG.
  • the motor drive control device 100A includes an output unit 107A.
  • the output unit 107A can output the output signal OSA to at least one of the external device 200 and the motor drive control device 100B connected to the motor drive control device 100A.
  • the sensor communication unit 106A has the same configuration as the sensor communication unit 106 of the first embodiment, determines the type of the sensor, and selects either the drive command DIAA or the drive command DIBA based on the determined sensor type. It generates a selection signal DSIA indicating whether to perform switching and outputs it to the switching unit 103A. In the example illustrated in FIG.
  • the sensor communication unit 106A outputs, to the switching unit 103A, a signal indicating that the driving command DIAA output from the sensor-equipped control unit 101A is selected as the selection signal DSIA.
  • the sensor communication unit 106A outputs information received from a sensor or the like as sensor input information SIIA to the sensor-equipped control unit 101A, the output unit 107A, and the processor 105A.
  • the sensor communication unit 106A outputs the operation detection value MDV input from the sensor 400 as the sensor input information SIIA.
  • the motor drive control device 100B corresponds to the motor drive control device 100 shown in FIG.
  • the motor drive control device 100B includes an output unit 107B.
  • the output unit 107B can output an output signal OSB to the external device 200 and the motor drive control device 100A connected to the motor drive control device 100B.
  • the sensor communication unit 106B has the same configuration as the sensor communication unit 106 of the first embodiment, determines the type of sensor, and selects either the drive command DIAB or the drive command DIBB based on the determined type of sensor. Then, it generates a selection signal DSIB indicating whether to perform switching and outputs it to the switching unit 103A. In the example illustrated in FIG.
  • the sensor communication unit 106B outputs, to the switching unit 103B, a signal indicating that the drive command DIBB is to be selected, as the selection signal DSIB. Further, the sensor communication unit 106B outputs the information received from the sensor or the like as sensor input information SIIB to the sensor-equipped control unit 101B, the output unit 107B, and the processor 105B. In the example illustrated in FIG. 4, the sensor communication unit 106B outputs the temperature information TI input from the temperature sensor 500 as sensor input information SIIB.
  • switching units 103A and 103B select drive commands DIBA and DIBB to be output based on selection signals DSIA and DSIB input from sensor communication units 106A and 106B, respectively.
  • Temperature information TI from a sensor other than 400, for example, temperature sensor 500, can be input to motor drive control devices 100A and 100B.
  • the switching unit 103A of the motor drive control device 100A selects the drive command DIAA output by the sensor control unit 101A, and the switching unit 103B of the motor drive control device 100B outputs the drive command DIBB output by the sensorless control unit 102B.
  • the motor drive control device 100B transmits the temperature information of the entire temperature of the motor drive control system 1 acquired by the temperature sensor 500 to the external device 200 or the motor drive control device 100A via the output unit 107B, The temperature information can be shared, and the external device 200 can manage the entire temperature information of the motor drive control system 1.
  • the switching unit 103A of the motor drive control device 100A selects the drive command DIAA output by the sensor control unit 101A, and the switch unit 103B of the motor drive control device 100B outputs the drive command DIBB output by the sensorless control unit 102B.
  • a linear motion machine 600 such as a ball screw is connected to the motor 300A, and a linear motion scale 700 for measuring the motion of the linear motion machine 600 is installed on the linear motion machine 600.
  • the detection information DIX from the linear motion scale 700 is input to the sensor communication unit 106B.
  • the sensor communication unit 106B determines, as the selection signal DSIB, that the type of the sensor is the direct-acting scale, and outputs to the switching unit 103B a signal indicating that the drive command DIBB is to be selected based on the determination result. As a result, the switching unit 103B selects the drive command DIBB output by the sensorless control unit 102B and outputs it to the power supply unit 104B.
  • the sensor communication unit 106B outputs the detection information DIX as sensor input information SIIB to the control unit with sensor 101B, the output unit 107B, and the processor 105B.
  • the output unit 107B receives the detection information DIX as the sensor information SIIB and transmits the detection information DIX as the output signal OSB to the motor drive control device 100A, so that the detection information DIX from the linear motion scale 700 in the control of the motor 300A. This makes it possible to realize highly accurate linear motion of the linear motion machine 600.
  • switching section 103B of motor drive control apparatus 100B selects drive command DIBB output from sensorless control section 102B based on selection signal DSIB, controls motor 300B, and controls motor 300B.
  • a sensor other than the sensor having the same function as the sensor 400, for example, the temperature sensor 500 to the sensor communication unit 106B of the 100B, the temperature information TI of the temperature sensor 500 can be transmitted to the external device 200 and the motor drive control device 100A. It becomes possible to share. Thereby, the number of parts of the motor drive control system 1 is reduced as compared with the case where devices other than the motor drive control devices 100A and 100B and which acquire other sensor information are added to the motor drive control system 1. It is possible to do.
  • temperature sensor 500 when the distance between external device 200 and temperature sensor 500 is long, temperature sensor 500 is connected to motor drive control device 100B, and motor drive control device 100B transmits sensor input information SIIB to external device 200.
  • motor drive control device 100B transmits sensor input information SIIB to external device 200.
  • Embodiment 3 FIG.
  • various sensors are connected to the sensor communication unit 106 of the motor drive control device 100.
  • a sensor that outputs the same communication protocol or signal as the sensor 400 may be connected, or a sensor that outputs a communication protocol or a signal different from the sensor 400 may be connected.
  • the communication protocol and the signal of the sensor communication unit 106 are manually switched according to a command from the external device 200 or an engineering tool of a personal computer. Can be considered.
  • FIG. 6 is a flowchart of a communication protocol determination process executed by the sensor communication unit according to the third embodiment of the present invention.
  • the sensor communication unit 106 transmits a request signal to the connected sensor (step S11), and when a response signal that can be analyzed has not been received for a certain period of time (No in step S12). Automatically change to another communication protocol (step S13). The processing from step S11 to step S13 is repeated, and if a response signal that can be analyzed is received within a certain period of time (Yes in step S12), the change of the communication protocol is stopped and the communication protocol is fixed ( Step S14). This process is executed when the power of the motor drive control device 100 rises or when a sensor is connected to the sensor communication unit 106.
  • the switching unit 103 of the motor drive control device 100 selects one of the drive command DIA output by the sensor control unit 101 and the drive command DIB output by the sensorless control unit 102.
  • a sensor other than the sensor 400 can be connected to the sensor communication unit 106.
  • the sensor communication unit 106 determines the type of the sensor and generates the selection signal based on the determination result.
  • switching section 103 selects a drive signal to be output to power supply section 104 based on information input from sensor communication section 106.
  • the following processing automatically determines whether the sensor 400 is connected to the sensor communication unit 106 or whether a sensor other than the sensor 400 is connected to the sensor communication unit 106. I do.
  • FIG. 7 is a flowchart of a drive command selection process executed by the motor drive control device according to the fourth embodiment of the present invention.
  • the sensor communication unit 106 transmits a request signal to the connected sensor using the communication protocol of the sensor 400 (step S21). If a response signal that can be analyzed is not received within a certain period of time (step S22), the communication unit automatically changes to another communication protocol (step S23), and determines that the response signal cannot be received. Notify Upon receiving this notification, the switching unit 103 selects and outputs the drive command DIB output by the sensorless control unit 102 (Step S24).
  • FIG. 8 is a flowchart of a drive command selection process executed by the motor drive control device according to the fourth embodiment of the present invention. If there is a possibility that the communication protocol of the sensor 400 and the communication protocol of another sensor other than the sensor 400 may be the same, after the communication protocol of the sensor communication unit 106 is determined, first the sensor input information at that time is determined. The SII is acquired and stored (Step S31). At the time of step S31, power is not being output from the power supply unit 104 to the motor 300. The sensor input information SII obtained at the time of step S31 corresponds to the first sensor input information.
  • step S32 power is supplied from the power supply unit 104 to the motor 300 so as to move the motor 300 in an arbitrary direction, and the motor 300 is minutely rotated (step S32).
  • the sensor input information SII at the time when the motor 300 is rotated is obtained (step S33).
  • the sensor input information SII obtained in step S33 corresponds to the second sensor input information.
  • the switching unit 103 compares the data fields of the sensor input information SII obtained in step S31 and the sensor input information SII obtained in step S33, and when there is a change in the sensor input information SII (Yes in step S34). It is determined that the connected sensor is the sensor 400, and the drive command DIA output by the sensor-equipped control unit 101 is selected (step S35). If there is no change in the sensor input information SII (No in step S34), the switching unit 103 determines that the connected sensor is other than the sensor 400, and the drive output by the sensorless control unit 102 The command DIB is selected (Step S36).
  • 1 Motor drive control system, 100, 100A, 100B ⁇ Motor drive control device, 101, 101A, 101B ⁇ Controller with sensor, 102, 102A, 102B ⁇ Sensorless controller, 103, 103A, 103B ⁇ Switching unit, 104, 104A, 104B ⁇ Power supply Unit, 105, 105A, 105B processor, 106, 106A, 106B sensor communication unit, 107A, 107B output unit, 200 external device, 300, 300A, 300B motor, 400 sensor, 500 temperature sensor, 600 linear machine, 700 linear motion Scale, 1061 sensor transmitting / receiving section, 1062 sensor type determining section.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

Le présent dispositif de commande d'entraînement de moteur (100) comprend : une unité de communication de capteur (106) constituée par un circuit de réception de codeur qui peut recevoir une entrée d'une valeur de détection de mouvement (MDV) et délivre en sortie la valeur de détection de mouvement en tant qu'informations d'entrée de capteur (SII) ; une unité de commande (101) avec un capteur pour générer une instruction d'entraînement (DIA) sur la base d'une commande d'opération (OC) et des informations d'entrée de capteur et à délivrer en sortie l'instruction d'entraînement (DIA) ; une unité de commande sans capteur (102) pour générer une instruction d'entraînement (DIB) sur la base de la commande d'opération sans utiliser les informations d'entrée de capteur et délivrer en sortie l'instruction d'entraînement (DIB) ; une unité de commutation (103) pour délivrer soit l'instruction d'entraînement (DIA) soit l'instruction d'entraînement (DIB) en tant qu'instruction d'entraînement de moteur (MDI) ; et un bloc d'alimentation (104) pour générer, sur la base de l'instruction d'entraînement de moteur, une puissance électrique (EP) devant être fournie au moteur. Lorsque l'unité de commutation (103) délivre en sortie l'instruction d'entraînement (DIB) en tant qu'instruction d'entraînement de moteur, l'unité de communication de capteur (106) peut recevoir une entrée d'un signal autre que la valeur de détection de mouvement et délivre le signal reçu en tant qu'informations d'entrée de capteur.
PCT/JP2018/026594 2018-07-13 2018-07-13 Dispositif de commande d'entraînement de moteur WO2020012656A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020217000416A KR102313862B1 (ko) 2018-07-13 2018-07-13 모터 구동 제어 장치
JP2019500687A JP6524363B1 (ja) 2018-07-13 2018-07-13 モータ駆動制御装置
PCT/JP2018/026594 WO2020012656A1 (fr) 2018-07-13 2018-07-13 Dispositif de commande d'entraînement de moteur
CN201880095509.5A CN112385134B (zh) 2018-07-13 2018-07-13 电动机驱动控制装置

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JP2005229668A (ja) * 2004-02-10 2005-08-25 Fanuc Ltd 機械制御装置
JP2008301550A (ja) * 2007-05-29 2008-12-11 Hokuto Seigyo Kk モータ駆動装置

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KR100492616B1 (ko) * 2003-05-28 2005-06-03 엘지전자 주식회사 비엘디시 모터의 회전속도 제어용 에프지 펄스 변환 장치
WO2010131361A1 (fr) * 2009-05-15 2010-11-18 三菱電機株式会社 Dispositif de commande d'entraînement de moteur
JP5971512B2 (ja) * 2011-12-02 2016-08-17 株式会社ジェイテクト 車両用操舵装置
CN105634346A (zh) * 2014-10-29 2016-06-01 金海新源电气江苏有限公司 一种基于双模控制的无刷直流电机控制方法
JP6068554B2 (ja) * 2015-05-11 2017-01-25 ファナック株式会社 センサレスで制御停止を行う機能を有するサーボ制御装置
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JP2004096828A (ja) * 2002-08-29 2004-03-25 Toshiba Corp 電気車制御装置
JP2005229668A (ja) * 2004-02-10 2005-08-25 Fanuc Ltd 機械制御装置
JP2008301550A (ja) * 2007-05-29 2008-12-11 Hokuto Seigyo Kk モータ駆動装置

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KR20210009420A (ko) 2021-01-26
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JP6524363B1 (ja) 2019-06-05
KR102313862B1 (ko) 2021-10-19
JPWO2020012656A1 (ja) 2020-07-27

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