WO2020261756A1 - Outil électrique - Google Patents

Outil électrique Download PDF

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Publication number
WO2020261756A1
WO2020261756A1 PCT/JP2020/018106 JP2020018106W WO2020261756A1 WO 2020261756 A1 WO2020261756 A1 WO 2020261756A1 JP 2020018106 W JP2020018106 W JP 2020018106W WO 2020261756 A1 WO2020261756 A1 WO 2020261756A1
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WIPO (PCT)
Prior art keywords
torque
motor
value
current
unit
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PCT/JP2020/018106
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English (en)
Japanese (ja)
Inventor
中原　雅之
隆司 草川
尊大 植田
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パナソニックＩｐマネジメント株式会社
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Publication of WO2020261756A1 publication Critical patent/WO2020261756A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for

Definitions

  • the present disclosure relates generally to power tools, and more specifically to power tools including motors.
  • Patent Document 1 discloses a drive device for a power tool.
  • the power tool drive device of Patent Document 1 includes an inverter circuit, a PWM control circuit, a drive current detection means, a three-phase / two-phase conversion means, a speed detection means, a speed command signal output means, and a control means. ,have.
  • the inverter circuit supplies a three-phase drive current to the stator windings of the three-phase induction motor of the power tool.
  • the PWM control circuit supplies a PWM signal to the inverter circuit.
  • the drive current detecting means detects the three-phase drive current.
  • the three-phase / two-phase conversion means converts a d-axis current, which is a current component corresponding to magnetic flux, and a q-axis current, which is a current component corresponding to the torque of an induction motor, based on the detected three-phase drive current.
  • the speed detecting means detects the rotational speed of the induction motor.
  • the speed command signal output means outputs a speed command signal.
  • the control means outputs a control signal to the PWM control circuit based on the converted q-axis current, the detected rotation speed, and the speed command signal so that the rotation speed corresponds to the speed command signal.
  • the present disclosure has been made in view of the above reasons, and an object thereof is to improve the operability of the power tool.
  • the power tool includes a motor, a driving force transmission mechanism, an operation unit, a motor control device, and a torque measurement unit.
  • the driving force transmission mechanism transmits the rotation of the motor to the tip tool to drive the tip tool.
  • the operation unit accepts operations from the user.
  • the motor control device controls the operation of the motor by using vector control based on the operation on the operation unit.
  • the torque measuring unit obtains a torque measured value which is a measured value of the load torque applied to the tip tool.
  • the motor control device has a function of performing measurement torque control for controlling electric power supplied to the motor based on the torque measurement value.
  • FIG. 1 is a block diagram showing a schematic configuration of a power tool of one embodiment.
  • FIG. 2 is a block diagram of the same power tool.
  • FIG. 3 is an explanatory diagram of control of the power tool by the motor control device.
  • FIG. 1 shows a block diagram of a schematic configuration of the power tool 100 of one embodiment.
  • the power tool 100 includes a motor 1, a driving force transmission mechanism 4, an operation unit 70, a motor control device 3, and a torque measurement unit 6.
  • the driving force transmission mechanism 4 has an output shaft 5.
  • the tip tool 50 is attached to the output shaft 5 via, for example, a chuck.
  • the driving force transmission mechanism 4 transmits the rotation of the motor 1 to the tip tool 50 to drive the tip tool 50.
  • the operation unit 70 receives an operation from the user.
  • the motor control device 3 controls the operation of the motor 1 by using vector control based on the operation of the operation unit 70.
  • the torque measuring unit 6 obtains the torque measured value.
  • the torque measurement value is a measurement value of the load torque applied to the tip tool 50.
  • the motor control device 3 has a function of controlling the measured torque.
  • the measured torque control means a control for controlling the electric power supplied to the motor 1 based on the torque measured value obtained by the torque measuring unit 6.
  • the electric power supplied to the motor 1 is controlled based on the torque measured value which is the measured value of the load torque. Therefore, when the load torque suddenly changes due to the fluctuation of the load state, for example, when the screw as the load suddenly turns easily and the load torque suddenly decreases, the load torque suddenly changes. Correspondingly, it becomes possible to control the operation of the motor 1. As a result, the possibility of sudden deceleration and acceleration of the motor 1 is reduced, and the operability of the power tool 100 can be improved.
  • the electric tool 100 of this embodiment is an electric drill driver. As shown in FIGS. 1 and 2, the power tool 100 includes a motor 1, an inverter circuit unit 2, a motor control device 3, a driving force transmission mechanism 4, a torque measuring unit 6, an input / output unit 7, and the like. A DC power supply 8 and a current measuring unit 110 are provided.
  • the motor 1 is a brushed DC motor or a DC brushless motor.
  • the motor 1 is a DC brushless motor (three-phase permanent magnet synchronous motor), and the motor 1 is a rotor equipped with a permanent magnet and armatures for three phases (U phase, V phase, W phase). Provided with a stator with windings.
  • the DC power supply 8 is a power supply used to drive the motor 1.
  • the DC power supply 8 has a secondary battery in this embodiment.
  • the DC power supply 8 is a so-called battery pack.
  • the DC power supply 8 is also used as a power source for the inverter circuit unit 2 and the motor control device 3.
  • the inverter circuit unit 2 is a circuit for driving the motor 1.
  • the inverter circuit unit 2 converts the voltage V dc from the DC power supply 8 into the drive voltage V a for the motor 1.
  • the driving voltage V a is a three-phase AC voltage including a U-phase voltage, V-phase voltage and the W-phase voltage.
  • the U-phase voltage is represented by v u
  • the V-phase voltage is represented by v v
  • the W-phase voltage is represented by v w , if necessary.
  • each voltage v u , v v , v w is a sinusoidal voltage.
  • the inverter circuit unit 2 can be realized by using a PWM inverter and a PWM converter.
  • the PWM converter pulses according to the target value (voltage command value) v u * , v v * , v w * of the drive voltage V a (U-phase voltage v u , V-phase voltage v v , W-phase voltage v w ). Generates a width-modulated PWM signal.
  • the PWM inverter drives the motor 1 by applying a drive voltage V a (v u , v v , v w ) corresponding to the PWM signal to the motor 1. More specifically, the PWM inverter includes a half-bridge circuit for three phases and a driver.
  • the PWM inverter by the driver to turn on / off the switching element in each half bridge circuit in accordance with the PWM signal, * the voltage command value v u, v v *, v w * driving voltage in accordance with V a (v u, v v , v w ) is given to the motor 1.
  • the motor 1 the driving voltage V a (v u, v v , v w) drive current corresponding to the supplied.
  • the drive current includes a U-phase current i u , a V-phase current i v , and a W-phase current i w .
  • the U-phase current i u , the V-phase current i v , and the W-phase current i w are the currents of the U-phase armature windings and the V-phase armature windings in the stator of the motor 1.
  • the current measuring unit 110 includes two phase current sensors 11.
  • the two phase current sensors 11 measure the U-phase current i u and the V-phase current i v among the drive currents supplied from the inverter circuit unit 2 to the motor 1.
  • the W-phase current i w can be obtained from the U-phase current i u and the V-phase current i v .
  • the current measuring unit 110 may include a current detector using a shunt resistor or the like instead of the phase current sensor 11.
  • the driving force transmission mechanism 4 includes a gear, an output shaft 5, and a chuck.
  • the driving force transmission mechanism 4 transmits the rotation of the motor 1 to the tip tool 50 to drive the tip tool 50.
  • the output shaft 5 is connected to the rotating shaft (rotor) of the motor 1 via, for example, a gear.
  • the chuck is coupled to the output shaft 5.
  • Tip tools 50 such as a drill bit and a driver bit are detachably attached to the chuck.
  • the driving force transmission mechanism 4 may include, for example, a reduction mechanism capable of changing the gear ratio according to the operation of the speed changeover switch.
  • the speed changeover switch is provided in, for example, the input / output unit 7.
  • the torque measuring unit 6 obtains a torque measured value which is a measured value of the load torque applied to the tip tool 50.
  • the torque measuring unit 6 is a magnetostrictive strain sensor.
  • the magnetostrictive strain sensor detects a change in magnetic permeability according to the strain generated by applying torque to the output shaft 5, for example, with a coil installed in the housing (non-rotating portion) of the power tool 100, and is proportional to the strain. Outputs a voltage signal. That is, the torque measuring unit 6 measures the torque applied to the output shaft 5, and outputs the measured torque as the load torque (torque measured value) applied to the tip tool 50.
  • the input / output unit 7 is a user interface.
  • the input / output unit 7 includes a device (for example, a display, an input device, and an operation unit 70) used for displaying the operation of the power tool 100, setting the operation of the power tool 100, and operating the power tool 100.
  • the input / output unit 7 has a function of setting a target value ⁇ 1 * of the speed of the motor 1.
  • the input / output unit 7 includes an operation unit 70 that receives an operation from the user.
  • the operation unit 70 is a trigger volume (trigger switch) here.
  • the trigger volume is a type of pushbutton switch.
  • the trigger volume is a multi-step switch or a stepless switch (variable resistor) whose operation signal changes according to the operation amount (push amount).
  • the input / output unit 7 determines the target value ⁇ 1 * according to the operation signal from the trigger volume and gives it to the motor control device 3.
  • the motor control device 3 obtains a command value ⁇ 2 * of the speed of the motor 1.
  • the motor control device 3 obtains a command value ⁇ 2 * of the speed of the motor 1 based on the target value ⁇ 1 * of the speed of the motor 1 given from the input / output unit 7.
  • the motor control device 3 may refer to the torque measurement value and the torque calculation value when obtaining the command value ⁇ 2 * of the speed of the motor 1, and this point will be described later.
  • the motor control device 3, the target value of the driving voltage V a as the speed of the motor 1 is equal to the command value omega 2 * (voltage command value) v u *, v v * , and determines the v w * It is given to the inverter circuit unit 2.
  • the motor control device 3 controls the motor 1 by using vector control.
  • Vector control is a type of motor control method that decomposes a motor current into a current component that generates torque (rotational force) and a current component that generates magnetic flux, and controls each current component independently.
  • FIG. 3 is an analysis model diagram of the motor 1 in vector control.
  • FIG. 3 shows U-phase, V-phase, and W-phase armature winding fixed shafts.
  • vector control a rotating coordinate system that rotates at the same speed as the rotation speed of the magnetic flux created by the permanent magnet provided in the rotor of the motor 1 is taken into consideration.
  • the direction of the magnetic flux created by the permanent magnet is taken as the d-axis, and the controlled rotating axis corresponding to the d-axis is taken as the ⁇ -axis.
  • the rotating coordinate system corresponding to the real axis is a coordinate system in which the d-axis and the q-axis are selected as the coordinate axes, and the coordinate axes are called the dq-axis.
  • the control rotating coordinate system is a coordinate system in which the ⁇ -axis and the ⁇ -axis are selected as the coordinate axes, and the coordinate axes are called the ⁇ -axis.
  • the dq axis is rotating, and its rotation speed is represented by ⁇ .
  • the ⁇ axis is also rotating, and its rotation speed is represented by ⁇ e .
  • the angle (phase) of the d axis seen from the U-phase armature winding fixed axis is represented by ⁇ .
  • the angle (phase) of the ⁇ axis as seen from the U-phase armature winding fixed axis is represented by ⁇ e .
  • the angles represented by ⁇ and ⁇ e are angles in electrical angles, which are also commonly referred to as rotor positions or magnetic pole positions.
  • the rotation speed represented by ⁇ and ⁇ e is the angular velocity at the electric angle.
  • ⁇ or ⁇ e may be referred to as a rotor position, and ⁇ or ⁇ e may be simply referred to as a velocity.
  • the ⁇ axis and the ⁇ axis may be referred to as control estimation axes.
  • the motor control device 3 basically performs vector control so that ⁇ and ⁇ e match.
  • ⁇ and ⁇ e coincide with each other, the d-axis and the q-axis coincide with the ⁇ -axis and the ⁇ -axis, respectively.
  • the gamma-axis component and [delta] -axis component of the drive voltage V a respectively expressed in gamma-axis voltage v gamma and [delta] -axis voltage v [delta], gamma-axis component and [delta] axis of the drive current
  • the components are represented by the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ , respectively.
  • the voltage command values representing the target values of the ⁇ -axis voltage v ⁇ and the ⁇ -axis voltage v ⁇ are represented by the ⁇ -axis voltage command value v ⁇ * and the ⁇ -axis voltage command value v ⁇ * , respectively.
  • the current command values representing the target values of the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ are represented by the ⁇ -axis current command value i ⁇ * and the ⁇ -axis current command value i ⁇ * , respectively.
  • the values of the ⁇ -axis voltage v ⁇ and the ⁇ -axis voltage v ⁇ follow the ⁇ -axis voltage command value v ⁇ * and the ⁇ -axis voltage command value v ⁇ * , respectively, and the ⁇ -axis currents i ⁇ and the ⁇ -axis performs vector control so that the value of the current i [delta] follows the gamma-axis current value i gamma * and [delta] -axis current value i [delta] *, respectively.
  • the motor control device 3 calculates (or detects) and outputs command values (i ⁇ * , i ⁇ * , v ⁇ * , v ⁇ * , v u * , v v *, and so on in a predetermined update cycle.
  • v w * command values
  • state quantities i u , iv , i ⁇ , i ⁇ , ⁇ e and ⁇ e
  • the motor control device 3 can be realized by, for example, a computer system including one or more processors (for example, a microprocessor) and one or more memories. That is, one or more processors execute one or more programs stored in one or more memories to function as the motor control device 3.
  • the one or more programs may be recorded in advance in a memory, may be recorded through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.
  • the motor control device 3 includes a coordinate converter 12, a subtractor 13, a subtractor 14, a current control unit 15, a magnetic flux control unit 16, a speed control unit 17, and a coordinate converter. It includes 18, a subtractor 19, a position / velocity estimation unit 20, a step-out detection unit 21, and a setting unit 22.
  • Part 22 does not necessarily represent a substantive configuration. These show the functions realized by the motor control device 3. Therefore, each element of the motor control device 3 can freely use each value generated in the motor control device 3.
  • the coordinate converter 12 calculates the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ by converting the U-phase current i u and the V-phase current i v on the ⁇ ⁇ axis based on the rotor position ⁇ e. And output.
  • the ⁇ -axis current i ⁇ is an exciting current corresponding to the d-axis current and hardly contributes to torque.
  • the ⁇ -axis current i ⁇ is a current that corresponds to the q-axis current and greatly contributes to torque.
  • the rotor position ⁇ e is calculated by the position / velocity estimation unit 20.
  • the subtractor 19 refers to the velocity ⁇ e and the command value ⁇ 2 *, and calculates the velocity deviation ( ⁇ 2 * ⁇ e ) between the two .
  • the velocity ⁇ e is calculated by the position / velocity estimation unit 20.
  • the speed control unit 17 calculates and outputs the ⁇ -axis current command value i ⁇ * so that the speed deviation ( ⁇ 2 * ⁇ e ) converges to zero by using proportional integration control or the like.
  • the magnetic flux control unit 16 determines the ⁇ -axis current command value i ⁇ * and outputs it to the subtractor 13.
  • the ⁇ -axis current command value i ⁇ * can take various values depending on the type of vector control executed by the motor control device 3 and the speed ⁇ of the motor 1. For example, when the maximum torque is controlled with the d-axis current set to zero, the ⁇ -axis current command value i ⁇ * is set to 0. Further, when the d-axis current is passed to weaken the magnetic flux control, the ⁇ -axis current command value i ⁇ * is set to a negative value according to the velocity ⁇ e . In the following description, the case where the ⁇ -axis current command value i ⁇ * is 0 is dealt with.
  • the subtractor 13 subtracts the ⁇ -axis current i ⁇ output from the coordinate converter 12 from the ⁇ -axis current command value i ⁇ * output from the magnetic flux control unit 16 to obtain a current error (i ⁇ * ⁇ i ⁇ ). calculate.
  • the subtractor 14 subtracts the ⁇ -axis current i ⁇ output from the coordinate converter 12 from the value i ⁇ * output from the speed control unit 17, and calculates the current error (i ⁇ * ⁇ i ⁇ ).
  • the current control unit 15 performs current feedback control using proportional integration control or the like so that both the current error (i ⁇ * ⁇ i ⁇ ) and (i ⁇ * ⁇ i ⁇ ) converge to zero.
  • non-interference control for eliminating the interference between the ⁇ axis and the ⁇ axis is used so that both (i ⁇ * -i ⁇ ) and (i ⁇ * -i ⁇ ) converge to zero.
  • the coordinate converter 18 outputs the ⁇ -axis voltage command value v ⁇ * and the ⁇ -axis voltage command value v ⁇ * given by the current control unit 15 based on the rotor position ⁇ e output from the position / velocity estimation unit 20.
  • the voltage command values (v u * , v v * and v w * ) are calculated and output by converting the coordinates on the three-phase fixed coordinate axes.
  • the position / velocity estimation unit 20 estimates the rotor position ⁇ e and the velocity ⁇ e . More specifically, the position / velocity estimation unit 20 uses all or a part of i ⁇ and i ⁇ from the coordinate converter 12 and v ⁇ * and v ⁇ * from the current control unit 15 in proportion. Perform integration control, etc. The position / velocity estimation unit 20 estimates the rotor position ⁇ e and the velocity ⁇ e so that the axis error ( ⁇ e ⁇ ) between the d-axis and the ⁇ -axis converges to zero.
  • Various methods have been conventionally proposed as methods for estimating the rotor position ⁇ e and the velocity ⁇ e , and the position / velocity estimation unit 20 can adopt any known method.
  • the step-out detection unit 21 determines whether or not the motor 1 is step-out. More specifically, the step-out detection unit 21 determines whether or not the motor 1 is step-out based on the magnetic flux of the motor 1.
  • the magnetic flux of the motor 1 is obtained from the d-axis current, the q-axis current, the ⁇ -axis voltage command value v ⁇ *, and the ⁇ -axis voltage command value v ⁇ * . If the amplitude of the magnetic flux of the motor 1 is less than the threshold value, the step-out detection unit 21 may determine that the motor 1 is step-out.
  • the threshold value is appropriately determined based on the amplitude of the magnetic flux generated by the permanent magnet of the motor 1.
  • Various methods have been conventionally proposed as the step-out detection method, and the step-out detection unit 21 can adopt any known method.
  • the setting unit 22 is a part of the motor control device 3 for obtaining the command value ⁇ 2 * .
  • the setting unit 22 obtains a command value ⁇ 2 * based on the target value ⁇ 1 * received from the input / output unit 7.
  • the setting unit 22 has a normal mode and a measurement torque mode as operation modes.
  • the control of the motor control device 3 when the setting unit 22 operates in the measurement torque mode is the measurement torque control described above. Further, in the following, the control of the motor control device 3 when the setting unit 22 operates in the normal mode may be referred to as a normal control.
  • the operation mode of the setting unit 22 (that is, the normal control and the measurement torque control of the motor control device 3) is switched according to the operation from the user to the switching unit 71 (switch) provided in the input / output unit 7. .. That is, the power tool 100 includes a switching unit 71 that switches between permitting and prohibiting measurement torque control.
  • the setting unit 22 uses the target value ⁇ 1 * received from the input / output unit 7 as the command value ⁇ 2 * . Therefore, in the normal mode, the command value ⁇ 2 * coincides with the target value ⁇ 1 * .
  • the setting unit 22 refers to the torque measurement value and the torque calculation value when obtaining the command value ⁇ 2 * . More specifically, in the measured torque mode, the setting unit 22 obtains the command value ⁇ 2 * by correcting the target value ⁇ 1 * based on the difference between the measured torque value and the calculated torque value. In other words, in the measured torque control, the motor control device 3 controls the electric power supplied to the motor 1 based on the difference between the measured torque value and the calculated torque value.
  • the torque measurement value is a measurement value of the load torque measured by the torque measurement unit 6.
  • the torque calculation value is a calculated value of the load torque applied to the tip tool 50, which is obtained based on the current measured by the current measuring unit 110.
  • the torque calculation value is the value of the load torque applied to the tip tool 50, which is obtained based on the torque current value.
  • the setting unit 22 includes a torque calculation unit 220.
  • the torque calculation unit 220 receives a torque current value from the torque current calculation unit 120.
  • the torque calculation unit 220 obtains a torque calculation value based on the received torque current value.
  • the relationship between the torque current value and the calculated torque value is stored in the memory of the computer system constituting the motor control device 3, for example, in the form of an arithmetic expression or a data table.
  • the torque current value means the magnitude of the torque component of the currents (phase currents i u , iv , i w ) flowing through the motor 1.
  • the value of the ⁇ -axis current i ⁇ corresponding to the value of the q-axis current is used as the torque current value. That is, in the power tool 100 of the present embodiment, the value of the ⁇ -axis current i ⁇ calculated by the coordinate converter 12 is used as the torque current value. Therefore, the coordinate converter 12 functions as a torque current calculation unit 120 that calculates a torque current value based on the current measured by the current measurement unit 110.
  • the setting unit 22 corrects the target value ⁇ 1 * and determines the command value ⁇ 2 * so that the difference between the torque measurement value and the torque calculation value converges within a predetermined range.
  • the motor control device 3 controls the operation of the motor 1 so that the difference between the measured torque value and the calculated torque value converges within a predetermined range.
  • the lower limit of the predetermined range is 0.
  • the upper limit of the predetermined range is preferably small, and preferably close to 0.
  • the target value ⁇ 1 * received from the input / output unit 7, the difference between the torque measurement value and the torque calculation value, and the relationship between the correction amounts are, for example, in the form of a calculation formula or a data table, and the computer constituting the motor control device 3. It is stored in the system memory.
  • the speed of the motor 1 is feedback-controlled so that the calculated torque value approaches the measured torque value. That is, when the calculated torque value is excessive with respect to the measured torque value, the target value ⁇ 1 * (command value ⁇ 2 * ) corrected based on the difference between the measured torque value and the calculated torque value is used.
  • the speed control unit 17 reduces the ⁇ -axis current command value i ⁇ * . As a result, the torque current value decreases, and thus the torque calculation value decreases.
  • the speed control unit 17 increases the ⁇ -axis current command value i ⁇ * . As a result, the torque current value increases, and thus the torque calculation value increases.
  • the load torque actually applied to the screw by the power tool 100 is very small immediately after the start of the tightening work.
  • vector control is performed based only on the target value ⁇ 1 * given by the input / output unit 7 (normal control)
  • the torque current value can be a large value.
  • the torque due to the torque current is larger than the load torque actually given to the screw, the torque of the difference (the balance obtained by subtracting the load torque from the torque due to the torque current) increases the speed of the motor 1. Contributes to the operation of. Therefore, the motor 1 may accelerate rapidly.
  • the load torque is higher immediately after the drilling is completed than during the drilling operation. It can get smaller rapidly.
  • the torque due to the torque current is larger than the load torque actually given to the object to be drilled, the torque of the difference (the balance obtained by subtracting the load torque from the torque due to the torque current) increases the speed of the motor 1. Contributes to the operation of the motor 1. Therefore, the motor 1 may accelerate rapidly.
  • the target value ⁇ 1 * (command value ⁇ 2 * ) corrected based on the difference is used so that the difference between the measured torque value and the calculated torque value converges within a predetermined range.
  • Vector control As a result, the torque current given to the motor 1 from the motor control device 3 is controlled so that the measured torque value coincides with the calculated torque value (the difference between them converges within a predetermined range). Therefore, it is possible to suppress the sudden acceleration of the motor 1.
  • the load torque may increase sharply.
  • the torque due to the torque current is smaller than the load torque actually given to the object to be drilled, the torque of the difference (the balance obtained by subtracting the load torque from the torque due to the torque current) reduces the speed of the motor 1. Contributes to the operation of the motor 1. Therefore, the motor 1 may suddenly decelerate.
  • the target value ⁇ 1 * (command value ⁇ 2 * ) corrected based on the difference is used so that the difference between the measured torque value and the calculated torque value converges within a predetermined range.
  • Vector control As a result, the torque current given to the motor 1 from the motor control device 3 is controlled so that the measured torque value coincides with the calculated torque value (the difference between them converges within a predetermined range). Therefore, it is possible to suppress a sudden deceleration of the motor 1.
  • the operability is improved.
  • U-phase drive voltages V a, V-phase, and W-phase voltage v u, v v, v w is the sine wave voltage.
  • U-phase drive voltages V a, V-phase, and W-phase voltage v u, v v, v w may be a rectangular wave voltage. That is, the inverter circuit unit 2 may drive the motor 1 with a sine wave or a rectangular wave.
  • the power tool 100 includes a gear, an output shaft 5, and a chuck as the driving force transmission mechanism 4.
  • the power tool 100 is not limited to this configuration.
  • the output shaft 5 may be integrated with the tip tool 50 without a chuck.
  • the power tool 100 may be a power saw with blades.
  • the driving force transmission mechanism 4 of the electric tool 100 includes a conversion mechanism that converts the rotation of the motor 1 into a reciprocating motion, and the blade is reciprocated by the reciprocating motion of the conversion mechanism.
  • the driving force transmission mechanism 4 may include an impact mechanism including a spindle, a hammer, and an anvil.
  • the motor control device 3 may perform the measured torque control only when the measured torque value satisfies a predetermined condition.
  • the motor control device 3 may perform measurement torque control when the difference between the torque measurement value and the torque calculation value exceeds a predetermined allowable range.
  • the measured torque control in this case is preferably a control for stopping the motor 1.
  • the setting unit 22 may determine the command value ⁇ 2 * by correcting the target value ⁇ 1 * based only on the torque measurement value without referring to the torque calculation value. That is, the setting unit 22 does not include the torque calculation unit 220, and the target value ⁇ 1 * may be corrected based only on the torque measurement value measured by the torque measurement unit 6. For example, the setting unit 22 sets the command value ⁇ 2 * so that it becomes larger than the target value ⁇ 1 * if the torque measurement value is larger than the reference value, and the target if the torque measurement value is smaller than the reference value. The command value ⁇ 2 * may be set so as to be smaller than the value ⁇ 1 * .
  • the execution body of the motor control device 3 described above includes a computer system.
  • a computer system has a processor and memory as hardware.
  • the processor executes the program recorded in the memory of the computer system, the function as the execution subject of the motor control device 3 in the present disclosure is realized.
  • the program may be pre-recorded in the memory of the computer system or may be provided through a telecommunication line.
  • the program may also be provided recorded on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by a computer system.
  • a processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI).
  • IC semiconductor integrated circuit
  • LSI large scale integrated circuit
  • ICs and LSIs are called ICs and LSIs, but the names change depending on the degree of integration.
  • it may be called a system LSI, VLSI (very large scale integration), or ULSI (ultra large scale integration).
  • a field programmable gate array (FPPA) programmed after the LSI is manufactured, or a reconfigurable logical device that can reconfigure the junction relationships inside the LSI or set up the circuit partitions inside the LSI should also be used for the same purpose. Can be done.
  • a plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.
  • the power tool (100) of the first aspect includes a motor (1), a driving force transmission mechanism (4), an operation unit (70), a motor control device (3), a torque measurement unit (6), and the like.
  • the driving force transmission mechanism (4) transmits the rotation of the motor (1) to the tip tool (50) to drive the tip tool (50).
  • the operation unit (70) receives an operation from the user.
  • the motor control device (3) controls the operation of the motor (1) by using vector control based on the operation to the operation unit (70).
  • the torque measuring unit (6) obtains a torque measured value which is a measured value of the load torque applied to the tip tool (50).
  • the motor control device (3) has a function of performing measurement torque control that controls the electric power supplied to the motor (1) based on the torque measurement value.
  • the operability of the power tool (100) can be improved.
  • the power tool (100) of the second aspect further includes a current measuring unit (110) in the first aspect.
  • the current measuring unit (110) measures the current flowing through the motor (1).
  • the motor control device (3) includes a torque current calculation unit (120) and a torque calculation unit (220).
  • the torque current calculation unit (120) calculates the torque current value based on the current measured by the current measurement unit (110).
  • the torque calculation unit (220) obtains a torque calculation value which is a value of the load torque applied to the tip tool (50) based on the torque current value.
  • the motor control device (3) controls the electric power supplied to the motor (1) based on the difference between the measured torque value and the calculated torque value.
  • the operability of the power tool (100) can be improved.
  • the motor control device (3) converges the difference (difference between the torque measurement value and the torque calculation value) within a predetermined range.
  • the operation of the motor (1) is controlled so as to be performed.
  • the operability of the power tool (100) can be improved.
  • the motor control device (3) controls the measured torque only when the measured torque value satisfies a predetermined condition. I do.
  • the operability of the power tool (100) can be improved.
  • the power tool (100) of the fifth aspect further includes a switching unit (71) for switching between permission and prohibition of measurement torque control in any one of the first to fourth aspects.
  • the operability of the power tool (100) can be improved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

L'objectif de la présente invention est de faciliter la manipulation d'outils électriques. Un outil électrique (100) comprend un moteur (1), un mécanisme de transmission de force d'entraînement (4), une unité de manipulation (70), un dispositif de commande de moteur (3), et une unité de mesure de couple (6). Le mécanisme de transmission de force d'entraînement (4) transmet la rotation du moteur (1) à un embout (50) pour entraîner l'embout (50). L'unité de manipulation (70) reçoit une manipulation d'un utilisateur. Le dispositif de commande de moteur (3) commande le fonctionnement du moteur (1) à l'aide d'une commande vectorielle sur la base de la manipulation sur l'unité de manipulation (70). L'unité de mesure de couple (6) obtient une valeur de mesure de couple qui est la valeur de mesure du couple de charge appliqué à l'embout (50). Le dispositif de commande de moteur (3) a la fonction de commande de couple de mesure pour commander la puissance électrique fournie au moteur (1) sur la base de la valeur de mesure de couple.
PCT/JP2020/018106 2019-06-24 2020-04-28 Outil électrique WO2020261756A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019116570A JP7153879B2 (ja) 2019-06-24 2019-06-24 電動工具
JP2019-116570 2019-06-24

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WO2020261756A1 true WO2020261756A1 (fr) 2020-12-30

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JP (1) JP7153879B2 (fr)
WO (1) WO2020261756A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023074825A1 (fr) * 2021-10-29 2023-05-04 工機ホールディングス株式会社 Machine de travail

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10328952A (ja) * 1997-06-02 1998-12-15 Wako Giken:Kk モータの制御方法及び装置並びにねじ締め方法及び装置
JP2011173233A (ja) * 2010-02-01 2011-09-08 Ide Keiki:Kk ネジ締付け診断装置及び電動ドライバ
JP2015085471A (ja) * 2013-10-31 2015-05-07 Ｔｏｎｅ株式会社 締付装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10328952A (ja) * 1997-06-02 1998-12-15 Wako Giken:Kk モータの制御方法及び装置並びにねじ締め方法及び装置
JP2011173233A (ja) * 2010-02-01 2011-09-08 Ide Keiki:Kk ネジ締付け診断装置及び電動ドライバ
JP2015085471A (ja) * 2013-10-31 2015-05-07 Ｔｏｎｅ株式会社 締付装置

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