WO2021100843A1 - Outil électrique, procédé de commande et programme - Google Patents

Outil électrique, procédé de commande et programme Download PDF

Info

Publication number
WO2021100843A1
WO2021100843A1 PCT/JP2020/043350 JP2020043350W WO2021100843A1 WO 2021100843 A1 WO2021100843 A1 WO 2021100843A1 JP 2020043350 W JP2020043350 W JP 2020043350W WO 2021100843 A1 WO2021100843 A1 WO 2021100843A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnetic flux
unit
control
motor
control unit
Prior art date
Application number
PCT/JP2020/043350
Other languages
English (en)
Japanese (ja)
Inventor
中原　雅之
隆司 草川
尊大 植田
Original Assignee
パナソニックＩｐマネジメント株式会社
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
Publication date
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2021100843A1 publication Critical patent/WO2021100843A1/fr

Links

Images

Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

Definitions

  • This disclosure generally relates to power tools, control methods, and programs. More specifically, the present disclosure relates to a power tool including a power tool, a control method for the power tool, and a program.
  • Patent Document 1 describes an electric tool capable of controlling the rotation speed of an electric motor.
  • This electric tool includes a brushless DC motor (motor), a battery voltage detection unit, a rotation position detection unit, and a control unit.
  • the battery voltage detection unit detects the voltage of the battery used to drive the brushless DC motor.
  • the rotation position detection unit detects the rotation position of the brushless DC motor.
  • the control unit controls the drive output to the brushless DC motor by the signal from the rotation position detection unit.
  • the control unit sends the brushless DC motor to the brushless DC motor so that the rotation speed or energizing current of the brushless DC motor becomes the target value corresponding to the battery voltage detected by the battery voltage detection unit. Control the energization angle or advance angle.
  • the present disclosure has been made in view of the above reasons, and an object of the present disclosure is to provide a power tool, a control method, and a program capable of improving the efficiency of drive control.
  • the electric tool of one aspect of the present disclosure includes an electric motor, a driving force transmission mechanism, and a control unit.
  • the motor has a permanent magnet and a coil.
  • the driving force transmission mechanism is driven by the electric motor.
  • the control unit controls the drive of the motor.
  • the drive control includes a weakening magnetic flux control in which a weakening magnetic flux current for generating a second magnetic flux that weakens the first magnetic flux of the permanent magnet is passed through the coil.
  • the control unit has an adjustment unit that adjusts the strength of the second magnetic flux based on specific conditions.
  • the specific condition includes, at least, that the remaining capacity of the battery for supplying electric power to the electric motor is lower than a predetermined value.
  • the control method of the present disclosure is a control method of an electric tool including an electric motor having a permanent magnet and a coil.
  • the control method includes a main step of driving and controlling the electric motor that drives the driving force transmission mechanism.
  • the main step includes a sub-step in which a weakening magnetic flux current for generating a second magnetic flux that weakens the first magnetic flux of the permanent magnet is passed through the coil.
  • the sub-step includes an adjustment step that adjusts the strength of the second magnetic flux based on specific conditions.
  • the specific condition includes, at least, that the remaining capacity of the battery for supplying electric power to the electric motor is lower than a predetermined value.
  • the program of one aspect of the present disclosure is a program for causing one or more processors to execute the above control method.
  • FIG. 1 is a block configuration diagram of a power tool according to an embodiment.
  • FIG. 2 is a schematic view of the same power tool.
  • FIG. 3 is a diagram for explaining the characteristics related to the drive control of the power tool of the same.
  • FIG. 4 is a flowchart for explaining the operation of the energy saving mode in the same power tool.
  • the power tool 1 (see FIGS. 1 and 2) according to the present embodiment is, for example, a tool used in a factory, a construction site, or the like.
  • the power tool 1 will be described on the assumption that it is an impact driver used for tightening a work object (fastening member such as a bolt or a screw).
  • the type of the power tool 1 is not particularly limited, and a drill driver, an impact wrench, or the like may be used.
  • the electric tool 1 includes an electric motor 15 (for example, an AC electric motor), a driving force transmission mechanism 18, and a control unit 4.
  • the electric motor 15 has a permanent magnet 131 and a coil 141.
  • the electric motor 15 is, for example, a brushless motor.
  • the electric motor 15 of the present embodiment is a synchronous electric motor, and more specifically, a permanent magnet synchronous electric motor (PMSM (Permanent Magnet Synchronous Motor)).
  • PMSM Permanent Magnet Synchronous Motor
  • the driving force transmission mechanism 18 is driven by the electric motor 15.
  • the control unit 4 controls the drive of the electric motor 15.
  • the control unit 4 independently controls the exciting current (d-axis current) and the torque current (q-axis current) supplied to the motor 15 (vector control).
  • the drive control of the control unit 4 includes a weakening magnetic flux control by vector control.
  • the control unit 4 causes the weakening magnetic flux current (d-axis current) for generating the second magnetic flux (weakening magnetic flux) that weakens the magnetic flux (first magnetic flux) of the permanent magnet 131 to the coil 141 to flow through the coil 141.
  • the weakening magnetic flux current is a negative exciting current.
  • control unit 4 of the present embodiment has an adjustment unit A1 (see FIG. 1) that adjusts the strength of the second magnetic flux based on a specific condition.
  • the specific condition includes at least that the remaining capacity of the battery 320 (see FIG. 2) that supplies electric power to the electric motor 15 is lower than a predetermined value.
  • control unit 4 since the control unit 4 has the adjustment unit A1, it is possible to improve the efficiency of drive control in consideration of the remaining capacity of the battery 320.
  • the electric tool 1 includes an electric motor 15, a power supply unit 32, a driving force transmission mechanism 18, an impact mechanism 17, a chuck 23, a trigger switch 29, a control unit 4, and a bit rotation measurement.
  • a unit 25, a torque measuring unit 26, and a motor rotation measuring unit 27 are provided.
  • the power tool 1 further includes a tip tool (bit).
  • the control unit 4 will be described in detail in the next column.
  • the impact mechanism 17 has an output shaft 21.
  • the output shaft 21 is a portion that rotates by a driving force transmitted from the electric motor 15.
  • the chuck 23 is fixed to the output shaft 21 and is a portion to which the tip tool can be detachably attached.
  • the electric tool 1 is a tool that drives the tip tool with the driving force of the electric motor 15.
  • the tip tool is, for example, a screwdriver or a drill.
  • the tip tool according to the application is selectively attached to the chuck 23 and used.
  • the tip tool may be mounted directly on the output shaft 21.
  • the motor 15 (AC motor) is a drive source for driving the tip tool.
  • the electric motor 15 includes a rotor 13 having a permanent magnet 131 and a stator 14 having a coil 141.
  • the rotor 13 includes an output shaft 16 (see FIG. 2) that outputs rotational power.
  • the rotor 13 rotates with respect to the stator 14 due to the electromagnetic interaction between the coil 141 and the permanent magnet 131.
  • the power supply unit 32 is a so-called battery pack including one or a plurality of batteries 320 (for example, a secondary battery) that supply electric power to the electric motor 15.
  • the power supply unit 32 is detachably attached to the lower end of the grip portion in the body of the power tool 1, for example.
  • the driving force transmission mechanism 18 is driven by the electric motor 15.
  • the driving force transmission mechanism 18 adjusts the rotational power of the electric motor 15 to output a desired torque.
  • the driving force transmission mechanism 18 has a driving shaft 22 (see FIG. 2) which is an output unit.
  • the drive shaft 22 of the drive force transmission mechanism 18 is connected to the impact mechanism 17.
  • the impact mechanism 17 converts the rotational power of the electric motor 15 received via the driving force transmission mechanism 18 into pulsed torque to generate an impact force.
  • the impact mechanism 17 includes a hammer 19, an anvil 20, an output shaft 21, and a spring 24.
  • the hammer 19 is attached to the drive shaft 22 of the drive force transmission mechanism 18 via a cam mechanism.
  • the anvil 20 is coupled to the hammer 19 and rotates integrally with the hammer 19.
  • the spring 24 pushes the hammer 19 toward the anvil 20.
  • the anvil 20 is integrally formed with the output shaft 21.
  • the anvil 20 may be formed separately from the output shaft 21 and fixed to the output shaft 21.
  • the trigger switch 29 is an operation unit that accepts an operation for controlling the rotation of the electric motor 15. By pulling the trigger switch 29, the motor 15 can be switched on and off. Further, the rotation speed (rotation speed) of the output shaft 21, that is, the rotation speed (rotation speed) of the motor 15 can be adjusted by the pull-in amount of the operation of pulling the trigger switch 29. The larger the pull-in amount, the faster the rotation speed of the electric motor 15.
  • the control unit 4 rotates or stops the electric motor 15 according to the pull-in amount of the operation of pulling the trigger switch 29, and also controls the rotation speed of the electric motor 15. In the power tool 1, the tip tool is attached to the chuck 23. Then, the rotation speed of the tip tool is controlled by controlling the rotation speed of the electric motor 15 by operating the trigger switch 29.
  • the tip tool can be replaced according to the application, but it is not essential that the tip tool can be replaced.
  • the power tool 1 may be a power tool that can be used only with a specific tip tool.
  • the torque measuring unit 26 measures the operating torque of the motor 15.
  • the torque measuring unit 26 is, for example, a magnetostrictive strain sensor capable of detecting torsional strain.
  • the magnetostrictive strain sensor detects a change in the magnetostriction according to the strain generated by applying torque to the output shaft 16 of the motor 15 with a coil installed in the non-rotating portion of the motor 15, and a voltage signal proportional to the strain. Is output.
  • the bit rotation measuring unit 25 measures the rotation angle of the output shaft 21.
  • the rotation angle of the output shaft 21 is equal to the rotation angle of the tip tool (bit).
  • bit rotation measuring unit 25 for example, a photoelectric encoder or a magnetic encoder can be adopted.
  • the motor rotation measuring unit 27 measures the rotation angle of the electric motor 15.
  • a photoelectric encoder or a magnetic encoder can be adopted.
  • Control unit 4 includes a computer system having one or more processors and memories.
  • the processor of the computer system executes the program recorded in the memory of the computer system, at least a part of the functions of the control unit 4 are realized.
  • the program may be recorded in a memory, provided 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 control unit 4 is configured to control the drive of the motor 15.
  • the drive control of the control unit 4 includes a weakening magnetic flux control and a normal control.
  • the control unit 4 has a first mode as a mode of weakening magnetic flux control and a second mode as a mode of normal control as operation modes.
  • the control unit 4 causes a weakened magnetic flux current to flow from the inverter circuit unit 51 (see FIG. 1), which will be described later, to the coil 141 of the motor 15. That is, the control unit 4 causes the coil 141 to flow a weakening magnetic flux current for generating a second magnetic flux that weakens the magnetic flux (first magnetic flux) of the permanent magnet 131 in the coil 141 by the weakening magnetic flux control.
  • control unit 4 weakens the coil 141 from the inverter circuit unit 51 so that the magnetic flux current does not flow. That is, in normal control, the current flowing through the coil 141 is only the torque current (q-axis current).
  • the normal control is performed so that the command value (target value) of the weakening magnetic flux (current) (target value) cid1 (see FIG. 1) is set to zero (0) and the weakening magnetic flux (current) converges to this command value cid1.
  • the weakening magnetic flux control can be said to be a control performed so that the command value cid1 of the weakening magnetic flux (current) is made larger than zero (0) and the weakening magnetic flux (current) converges to this command value cid1.
  • the weakening magnetic flux current minus exciting current
  • the control unit 4 includes a command value generation unit 41, a speed control unit 42, a current control unit 43, a first coordinate converter 44, a second coordinate converter 45, and a magnetic flux. It has a control unit 46, an estimation unit 47, and a step-out detection unit 48. Further, the power tool 1 further includes an inverter circuit unit 51 and a plurality of (two in FIG. 1) current sensors 61 and 62. The control unit 4 is used together with the inverter circuit unit 51, and controls the operation of the electric motor 15 by feedback control.
  • Each of the plurality of current sensors 61 and 62 includes, for example, a Hall element current sensor or a shunt resistance element.
  • the plurality of current sensors 61 and 62 measure the current supplied from the battery 320 to the motor 15 via the inverter circuit unit 51.
  • a three-phase current (U-phase current, V-phase current, and W-phase current) is supplied to the motor 15, and the plurality of current sensors 61 and 62 measure at least two-phase currents.
  • the current sensor 61 measures the U-phase current and outputs the measured current value i u 1
  • the current sensor 62 measures the V-phase current and outputs the measured current value i v 1.
  • the estimation unit 47 calculates the angular velocity ⁇ 1 (angular velocity of the output shaft 16) of the motor 15 by time-differentiating the rotation angle ⁇ 1 of the motor 15 measured by the motor rotation measurement unit 27.
  • the second coordinate converter 45 uses the current measured values i u 1 and i v 1 measured by the plurality of current sensors 61 and 62 based on the rotation angle ⁇ 1 of the motor 15 measured by the motor rotation measuring unit 27. The coordinates are converted and the current measurement values id1 and iq1 are calculated. That is, the second coordinate converter 45, a current measurement value i u 1, i v 1 corresponding to the two-phase currents of the three phases, the current measurement value id1 corresponding to the magnetic field component (d-axis current), It is converted to the current measured value iq1 corresponding to the torque component (q-axis current).
  • the command value generation unit 41 generates the command value c ⁇ 1 of the angular velocity of the motor 15.
  • the command value generation unit 41 generates, for example, the command value c ⁇ 1 according to the pull-in amount of the operation of pulling the trigger switch 29 (see FIG. 2). That is, the command value generation unit 41 increases the command value c ⁇ 1 of the angular velocity as the pull-in amount increases.
  • the speed control unit 42 generates the command value ciq1 based on the difference between the command value c ⁇ 1 generated by the command value generation unit 41 and the angular velocity ⁇ 1 calculated by the estimation unit 47.
  • the command value ciq1 is a command value that specifies the magnitude of the torque current (q-axis current) of the motor 15.
  • the speed control unit 42 determines the command value ciq1 so as to reduce the difference between the command value c ⁇ 1 and the angular velocity ⁇ 1.
  • the magnetic flux control unit 46 includes an angular velocity ⁇ 1 calculated by the estimation unit 47, a command value cvq1 (described later) generated by the current control unit 43, and a current measurement value.
  • the command value cid1 is determined based on iq1 (q-axis current).
  • the command value cid1 is a command value that specifies the magnitude of the weakening magnetic flux (magnetic flux in the d-axis direction) of the motor 15.
  • the command value cid1 generated by the magnetic flux control unit 46 is a command value for setting the weakening magnetic flux to zero (0).
  • the current control unit 43 generates the command value cvd1 based on the difference between the command value cyd1 generated by the magnetic flux control unit 46 and the current measurement value id1 calculated by the second coordinate converter 45.
  • the command value cvd1 is a command value that specifies the magnitude of the d-axis voltage of the motor 15.
  • the current control unit 43 determines the command value cvd1 so as to reduce the difference between the command value cid1 and the current measurement value id1.
  • the current control unit 43 generates the command value cvq1 based on the difference between the command value iq1 generated by the speed control unit 42 and the current measurement value iq1 calculated by the second coordinate converter 45.
  • the command value cvq1 is a command value that specifies the magnitude of the q-axis voltage of the motor 15.
  • the current control unit 43 generates the command value cvq1 so as to reduce the difference between the command value xiq1 and the current measurement value iq1.
  • the first coordinate converter 44 converts the command values cvd1 and cvq1 into coordinates based on the rotation angle ⁇ 1 of the electric motor 15 measured by the motor rotation measuring unit 27, and converts the command values cv u 1, cv v 1, and cv w. 1 is calculated. That is, the first coordinate converter 44 sets the command value cvd1 corresponding to the magnetic field component (d-axis voltage) and the command value cvq1 corresponding to the torque component (q-axis voltage) to the command value corresponding to the three-phase voltage. Convert to cv u 1, cv v 1, cv w 1.
  • the command value cv u 1 corresponds to the U-phase voltage
  • the command value cv v 1 corresponds to the V-phase voltage
  • the command value cv w 1 corresponds to the W-phase voltage.
  • the inverter circuit unit 51 supplies the three-phase voltage according to the command values cv u 1, cv v 1, and cv w 1 to the motor 15.
  • the control unit 4 controls the electric power supplied to the electric motor 15 by PWM-controlling the inverter circuit unit 51.
  • the motor 15 is driven by the electric power (three-phase voltage) supplied from the inverter circuit section 51 to generate rotational power.
  • control unit 4 controls the weakening magnetic flux current so that the weakening magnetic flux current flowing through the coil 141 of the electric motor 15 has a magnitude corresponding to the command value cid1 generated by the magnetic flux control unit 46. Further, the control unit 4 controls the angular velocity of the motor 15 so that the angular velocity of the motor 15 corresponds to the command value c ⁇ 1 generated by the command value generation unit 41.
  • the step-out detection unit 48 detects the step-out of the motor 15 based on the current measurement values id1 and iq1 acquired from the second coordinate converter 45 and the command values cvd1 and cvq1 acquired from the current control unit 43. To do. When step-out is detected, the step-out detection unit 48 transmits a stop signal cs1 to the inverter circuit unit 51 to stop the power supply from the inverter circuit unit 51 to the motor 15.
  • the control unit 4 operates in the first mode in which a weakening magnetic flux current is passed through the coil 141 of the motor 15 when the switching condition is satisfied. That is, when the switching condition is satisfied, the control of the control unit 4 becomes the weak magnetic flux control.
  • the switching condition includes, for example, a high-speed range condition that the motor 15 is operating in the high-speed range.
  • the fact that the electric motor 15 operates in the high speed range generally means that the rotational speed of the electric motor 15 is relatively high.
  • the definition that "the motor 15 is operating in the high speed range" is defined as the duty of PWM (Pulse Width Modulation) control of the control unit 4 with respect to the inverter circuit unit 51 when the rotation speed of the motor 15 is equal to or higher than a predetermined rotation speed.
  • the degree of modulation is equal to or higher than the specified value.
  • the duty of the PWM control is a value obtained by dividing the ON period in one cycle of the PWM signal by the length of one cycle.
  • the rotation speed of the electric motor 15 is substantially proportional to the duty.
  • the above-mentioned specified value is, for example, about 0.9 or 0.95.
  • the switching condition includes, for example, a torque current condition that the torque current value (q-axis current value) flowing through the coil 141 of the motor 15 is equal to or less than a predetermined current value.
  • the control unit 4 uses the current measurement value iq1 as the torque current value in order to determine whether or not the switching condition is satisfied. However, the control unit 4 may use the command value iq1 of the torque current value as the torque current value.
  • the switching condition includes both the high-speed range condition and the torque current condition, but only one of them may be included.
  • the switching condition may include only the torque current condition, for example.
  • the control unit 4 is in a low load region R1 (see FIG. 3) in which the load (torque) received from the outside by the output shaft 16 of the motor 15 via the output shaft 21 and the drive shaft 22 is relatively low (including no load).
  • the weakening magnetic flux is controlled. Thereby, the rotation speed of the electric motor 15 can be increased. That is, the control unit 4 performs the weakening magnetic flux control when the load received from the outside by the output shaft 16 of the electric motor 15 is smaller than a predetermined magnitude.
  • the control unit 4 operates in the second mode in which the weakening magnetic flux current is not passed when the switching condition is not satisfied. That is, when the switching condition is not satisfied, the control of the control unit 4 becomes normal control.
  • the control unit 4 can obtain a relatively large torque by performing normal control in the high load region R2 (see FIG. 3) where the electric motor 15 requires a relatively large torque current.
  • the weakening magnetic flux control and the normal control may be manually switched by operating an operation unit different from the trigger switch 29.
  • the weakening magnetic flux control and the normal control may be switched by a tap operation or the like on the display unit A4 (see FIG. 1) described later.
  • the characteristic C1 in FIG. 3 shows the magnitude of the load (torque) received from the outside and the rotation speed (rpm) of the motor 15 in an electric tool (comparative example) that does not have the adjustment unit A1 described later. ) Is shown.
  • the characteristic C2 in FIG. 3 shows the relationship between the magnitude of the load and the magnitude (absolute value) of the current flowing through the motor 15 in the above comparative example.
  • the rotation speed of the motor 15 is normally controlled not only in the high load region R2 but also in the low load region R1 by performing weak magnetic flux control in the low load region R1 (see the solid line D1). Compared to the case (see broken line B1), it increases.
  • the magnitude of the current in the low load region R1 is weaker than that in the case where not only the high load region R2 but also the low load region R1 is normally controlled (see the broken line B2). It increases by the amount of current generated (see solid line D2).
  • the work efficiency of the user is improved by increasing the rotation speed of the electric motor 15, while the energy consumption in the electric tool 1 may increase. Therefore, for example, the remaining capacity of the battery 320 in the power supply unit 32 may decrease faster.
  • the control unit 4 of the present embodiment has an adjustment unit A1 (see FIG. 1) that adjusts the strength of the second magnetic flux based on a specific condition.
  • the magnetic flux control unit 46 corresponds to the adjustment unit A1.
  • the magnetic flux control unit 46 has a function as an adjustment unit A1.
  • the adjusting unit A1 may be provided separately from the magnetic flux control unit 46.
  • the "specific condition” includes at least that the remaining capacity of the battery 320 is lower than the predetermined value (hereinafter, may be referred to as “remaining capacity condition”).
  • the predetermined value is, for example, 20% of the fully charged capacity, but is not particularly limited.
  • the specific condition is to accept consent information indicating that the user of the power tool 1 has consented to the execution of the adjustment by the adjustment unit A1 (hereinafter, may be referred to as "agreement condition"). Is further included.
  • the power tool 1 further includes an operation unit P1.
  • the operation unit P1 is arranged on the body of the power tool 1.
  • the operation unit P1 is configured to be able to receive, for example, an operation input from a user.
  • the power tool 1 includes a touch panel type liquid crystal display (display unit A4: see FIG. 1), and the display unit A4 also functions as an operation unit P1.
  • the adjustment unit A1 determines that the consent condition is satisfied if the operation input by tapping the display unit A4 or the like affirms the execution of the adjustment.
  • the operation unit P1 may be composed of, for example, a push button switch or a DIP switch, and if the switch is in a specific state (for example, an on state), the adjustment unit A1 is said to satisfy the consent condition. You may judge.
  • the operation mode in which the adjusting unit A1 adjusts the strength of the second magnetic flux based on a specific condition may be referred to as an "energy saving mode". That is, the first mode when the switching condition is satisfied includes an energy saving mode and a non-energy saving mode. During the first mode, the energy-saving mode and the non-energy-saving mode are selectively switched.
  • the adjusting unit A1 (magnetic flux control unit 46) increases the magnitude of the current with a substantially constant inclination with respect to an increase in the load, for example, along the solid line D2 of the characteristic C2 in FIG. Perform normal weakening flux control.
  • the adjustment unit A1 executes adjustment control along the one-dot chain line F2 between the solid line D2 and the broken line B2 of the characteristic C2 (the inclination is substantially the same as the solid line D2) in FIG.
  • the rotation speed of the motor 15 also becomes a characteristic along the one-dot chain line F1 between the solid line D1 and the broken line B1 of the characteristic C1.
  • the adjustment unit A1 acquires the remaining amount information (for example, periodically) regarding the remaining capacity of the battery 320.
  • the remaining amount information includes, for example, information regarding the battery voltage of the battery 320.
  • the adjusting unit A1 monitors the battery voltage of the battery 320 input to the inverter circuit unit 51.
  • the control unit 4 stores in advance characteristic data indicating the relationship between the remaining capacity of the battery 320 and the battery voltage in its own memory.
  • the adjusting unit A1 converts the acquired battery voltage of the battery 320 into the remaining capacity with reference to the above characteristic data, and determines whether or not the remaining capacity is lower than a predetermined value (20%), that is, the remaining capacity condition is satisfied. Determine if it is. Then, if both the consent condition and the remaining capacity condition are satisfied, the adjusting unit A1 executes the energy saving mode.
  • the adjusting unit A1 weakens the strength of the second magnetic flux based on a specific condition.
  • the adjusting unit A1 is configured to weaken the strength of the second magnetic flux as the remaining capacity of the battery 320 decreases.
  • the magnetic flux control unit 46 which is the adjustment unit A1 adjusts the magnitude of the second magnetic flux, that is, the weakening magnetic flux (magnetic flux in the d-axis direction) as the remaining capacity decreases in the energy saving mode. Adjust the specified command value cid1 (see FIG. 1). In short, in the energy saving mode, the adjusting unit A1 reduces the effect of the weakening magnetic flux control as the remaining capacity decreases (for example, the alternate long and short dash line F2 keeps its inclination substantially constant while the broken line B2 from the solid line D2 side. (To gradually approach).
  • the control unit 4 stores in advance data in which the remaining capacity of the battery 320 and the command value are associated with each other in its own memory, and the adjustment unit A1 determines the command value cid1 with reference to the data.
  • the control unit 4 of the present embodiment further includes a notification unit A2 for notifying adjustment information regarding adjustment by the adjustment unit A1.
  • the notification unit A2 displays a character message indicating that the energy saving mode is being executed as adjustment information on the display unit A4 to notify the user.
  • An example of a text message is "Operating in energy saving mode".
  • the adjustment information may be communicated by the output of a voice message instead of (or in addition to) the output of a text message.
  • the adjustment information may be notified by changing the lighting state of the indicator lamp provided on the body of the power tool 1.
  • the change in the lighting state may include a change from turning off to lighting, a change from lighting to blinking, and the like.
  • the adjustment information may include information on the current degree of adjustment in addition to the above message. Specifically, for example, in FIG. 3, the adjustment information defines a plurality of adjustment levels such that the alternate long and short dash line F2 approaches from the solid line D2 to the broken line B2 in a plurality of steps, and the adjustment level currently being set. May include information about. Further, the adjustment information may further include information that serves as a guideline for the current remaining capacity of the battery 320.
  • the display unit A4 displays a confirmation message for obtaining the consent of the user to switch in advance.
  • An example of a confirmation message is "The battery level has dropped below 20%, so the energy saving mode will start. Are you sure?"
  • the control unit 4 gives an answer from the user regarding the execution of the energy saving mode. Accept.
  • the adjusting unit A1 determines whether to execute the energy saving mode or maintain the non-energy saving mode according to the answer. That is, the above-mentioned consent condition is satisfied by tapping the object of "Yes".
  • the adjustment unit A1 switches from the energy saving mode to the non-energy saving mode when at least one of the consent condition and the remaining capacity condition is not satisfied during the energy saving mode. Specifically, the adjustment unit A1 switches from the energy-saving mode to the non-energy-saving mode when an operation input is made to the display unit A4 to stop the execution of the adjustment. Further, the adjusting unit A1 switches from the energy saving mode to the non-energy saving mode when, for example, the battery 320 is charged and the remaining capacity of the battery 320 exceeds a predetermined value. For example, the notification unit A2 displays a character message (such as "operating in the non-energy saving mode") indicating that the non-energy saving mode is being executed as adjustment information on the display unit A4 to notify the user. ..
  • the notification unit A2 may display a confirmation message on the display unit A4 in advance for obtaining the consent of the user to switch.
  • An example of a confirmation message is "The battery level is 20% or more, so cancel the energy saving mode. Are you sure?"
  • the control unit 4 gives an answer from the user regarding the cancellation of the energy saving mode. Accept.
  • the adjusting unit A1 determines whether to cancel the energy saving mode or maintain the energy saving mode according to the answer.
  • the control unit 4 further has a setting unit A3 for setting valid or invalidity regarding adjustment by the adjustment unit A1.
  • the setting unit A3 sets whether to enable or disable the energy saving mode according to the operation input received from the user through the display unit A4.
  • the setting unit A3 stores the setting information regarding the validity or invalidity of the energy saving mode in the memory of the control unit 4. If the setting information specifies that the energy saving mode is invalid, the adjustment unit A1 maintains the non-energy saving mode even if the remaining capacity condition is satisfied.
  • the adjustment unit A1 of the control unit 4 is operating in the non-energy saving mode (step S1). If the remaining capacity of the battery 320 is lower than the predetermined value (step S2: Yes), the adjusting unit A1 determines that the remaining capacity condition is satisfied (step S3). Then, the notification unit A2 notifies the user of a confirmation message for obtaining consent for switching to the energy saving mode through the display unit A4 (step S4). If the remaining capacity of the battery 320 is equal to or greater than a predetermined value (step S2: No), the non-energy saving mode is maintained.
  • the adjustment unit A1 starts the energy saving mode (step S6) if consent is obtained from the user by tapping the display unit A4 or the like (step S5: YES). Then, the notification unit A2 notifies the adjustment information through the display unit A4 (step S7). Through the adjustment information, the user can know that the user is currently operating in the energy saving mode, the degree of adjustment during setting, and the like, so that the convenience is improved.
  • the adjusting unit A1 controls so that the strength of the second magnetic flux is weakened as the remaining capacity decreases.
  • the adjustment unit A1 does not obtain the consent of the user (step S5: No), for example, the remaining capacity becomes zero (0), or the display unit A4 is instructed to save energy mode. Unless there is an operation input, the non-energy saving mode is maintained (step S10).
  • step S8: Yes if the power supply unit 32 of the power tool 1 is charged via, for example, an outlet and a charging adapter, and the remaining capacity of the battery 320 exceeds a predetermined value (step S8: Yes), the adjusting unit A1 saves energy.
  • the mode is canceled (step S9).
  • the notification unit A2 notify the user in advance of a confirmation message for obtaining consent for canceling the energy saving mode. If the remaining capacity of the battery 320 is lower than the predetermined value (step S8: No), the adjusting unit A1 maintains the energy saving mode.
  • the control unit 4 has the adjustment unit A1 and performs the weakening magnetic flux control in consideration of the remaining capacity of the battery 320. Therefore, for example, the possibility that the remaining capacity of the battery 320 becomes zero (0) when the work is nearing completion, the work is interrupted, and the battery 320 is additionally charged is reduced. In short, considering the total working time including the charging time, the power tool 1 of the present embodiment can reduce the working time. Further, since the degree of decrease of the battery 320 after the remaining capacity of the battery 320 becomes lower than the predetermined value is suppressed, the number of screws that can be worked (for example, in the case of screw tightening work) increases. As a result, the efficiency of drive control can be improved.
  • the control method of the power tool 1 includes a main step of controlling the drive of the electric motor 15 that drives the driving force transmission mechanism 18.
  • the main step includes a sub-step in which a weakening magnetic flux current for generating a second magnetic flux that weakens the first magnetic flux of the permanent magnet 131 is passed through the coil 141.
  • the sub-step includes an adjustment step that adjusts the strength of the second magnetic flux based on specific conditions.
  • the specific condition includes, at least, that the remaining capacity of the battery 320 that supplies electric power to the electric motor 15 is lower than a predetermined value.
  • the control unit 4 of the power tool 1 in the present disclosure includes a computer system.
  • the main configuration of a computer system is a processor and memory as hardware.
  • the processor executes the program recorded in the memory of the computer system, the function as the control unit 4 in the present disclosure is realized.
  • the program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided.
  • 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
  • the integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration).
  • an FPGA Field-Programmable Gate Array
  • 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 computer system referred to here includes a microprocessor having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.
  • control unit 4 it is not an essential configuration that a plurality of functions in the control unit 4 are integrated in one housing.
  • the components of the control unit 4 may be dispersedly provided in a plurality of housings.
  • a plurality of functions in the control unit 4 may be integrated in one housing as in the basic example.
  • at least a part of the functions of the control unit 4, for example, a part of the functions of the control unit 4 may be realized by a cloud (cloud computing) or the like.
  • the power supply unit 32 is a battery pack that is detachably attached to the body of the power tool 1, but may be built in the body of the power tool 1.
  • the battery voltage of the power supply unit 32 input to the inverter circuit unit 51 is monitored, but it may be determined whether or not the remaining capacity condition is satisfied based on the cumulative battery current.
  • the battery voltage input to the inverter circuit unit 51 is monitored to acquire the remaining amount information.
  • the control unit 4 may acquire the remaining amount information from the power supply unit 32.
  • the notification unit A2 notifies that the execution of the energy saving mode has started and ended during the first mode, but in addition, the first mode is changed to the second mode, and the second mode is changed to the second mode. You may also notify that the mode has been switched to one mode.
  • the adjusting unit A weakens the strength of the second magnetic flux based on a specific condition.
  • the adjusting unit A1 may stop the generation of the second magnetic flux based on a specific condition. That is, the adjusting unit A1 may set the command value cid1 to zero (0) based on a specific condition. Specifically, the adjusting unit A1 may immediately set the command value cid1 to zero (0) if the remaining capacity falls below a predetermined value (20%). In this case, the adjustment unit A1 executes the adjustment control so that the alternate long and short dash line F2 coincides with the broken line B2 in FIG.
  • the adjusting unit A1 may switch from the first mode (weak magnetic flux control) to the second mode (normal control) if the remaining capacity falls below a predetermined value (20%). Further, the adjusting unit A1 adjusts the command value cid1 so that the magnetic flux gradually weakens as the remaining capacity decreases until the remaining capacity falls below a value lower than a predetermined value (for example, 10%), and the value falls below 10%.
  • a predetermined value for example, 10%
  • the command value cid1 may be set to zero (0).
  • the adjusting unit A1 releases the energy saving mode (even if the remaining capacity is lower than a predetermined value) triggered by the power supply unit 32 being electrically connected to the outlet and starting to receive power while operating in the energy saving mode. You may.
  • the magnitude of the torque current increases proportionally with an increase in the load (torque) with a substantially constant slope, and the magnitude of the weakening magnetic flux current is substantially fixed. Is.
  • the magnitude of the weakening magnetic flux current may change instead of being fixed with respect to an increase in load (torque).
  • the notification unit A2 notifies the user of the confirmation message for obtaining the consent to switch to the energy saving mode through the display unit A4 (step S4), and the adjustment unit A1 obtains the consent from the user. In that case, the energy saving mode was started.
  • the configuration of notifying the user of the confirmation message and obtaining the consent is not an essential configuration. For example, if the remaining capacity of the battery 320 is lower than the predetermined value, the adjusting unit A1 may determine that the remaining capacity condition is satisfied and immediately start the energy saving mode.
  • the electric tool (1) includes an electric motor (15), a driving force transmission mechanism (18), and a control unit (4).
  • the motor (15) has a permanent magnet (131) and a coil (141).
  • the driving force transmission mechanism (18) is driven by the electric motor (15).
  • the control unit (4) controls the drive of the electric motor (15).
  • the drive control includes a weakening magnetic flux control in which a weakening magnetic flux current for generating a second magnetic flux that weakens the first magnetic flux of the permanent magnet (131) in the coil (141) is passed through the coil (141).
  • the control unit (4) has an adjustment unit (A1) that adjusts the strength of the second magnetic flux based on a specific condition.
  • the specific condition includes, at least, that the remaining capacity of the battery (320) that supplies power to the electric motor (15) is lower than a predetermined value. According to the first aspect, it is possible to improve the efficiency of drive control.
  • the power tool (1) according to the second aspect further includes a notification unit (A2) for notifying adjustment information regarding adjustment by the adjustment unit (A1) in the first aspect.
  • a notification unit (A2) for notifying adjustment information regarding adjustment by the adjustment unit (A1) in the first aspect.
  • the user of the power tool (1) can know the adjustment information, and the convenience is improved.
  • the adjusting unit (A1) weakens the strength of the second magnetic flux or the second aspect is based on a specific condition. Stop the generation of magnetic flux. According to the third aspect, it is possible to further improve the efficiency of drive control.
  • the adjusting unit (A1) increases the strength of the second magnetic flux as the remaining capacity of the battery (320) decreases. Weaken. According to the fourth aspect, it is possible to further improve the efficiency of drive control.
  • the specific condition is adjusted by the user of the power tool (1) by the adjusting unit (A1). It further includes accepting consent information indicating that you have agreed to the execution of. According to the fifth aspect, it is possible to improve the efficiency of drive control while improving the convenience.
  • the control unit (4) receives the output shaft (16) of the electric motor (15) from the outside.
  • the weakening magnetic flux control is performed. According to the sixth aspect, it is possible to further improve the efficiency of drive control.
  • the control unit (4) sets the validity or invalidity of the adjustment by the adjustment unit (A1). It further has a setting unit (A3). According to the seventh aspect, it is possible to improve the efficiency of drive control while improving the convenience.
  • the control method according to the eighth aspect is a control method of an electric tool (1) including an electric motor (15) having a permanent magnet (131) and a coil (141).
  • the control method includes a main step of driving and controlling the electric motor (15) that drives the driving force transmission mechanism (18).
  • the main step includes a sub-step in which a weakening magnetic flux current for generating a second magnetic flux that weakens the first magnetic flux of the permanent magnet (131) in the coil (141) is passed through the coil (141).
  • the sub-step includes an adjustment step that adjusts the strength of the second magnetic flux based on specific conditions.
  • the specific condition includes, at least, that the remaining capacity of the battery (320) that supplies power to the electric motor (15) is lower than a predetermined value. According to the eighth aspect, it is possible to provide a control method capable of improving the efficiency of drive control.
  • the program according to the ninth aspect is a program for causing one or more processors to execute the control method in the eighth aspect. According to the ninth aspect, it is possible to provide a function capable of improving the efficiency of drive control.
  • the configurations according to the second to seventh aspects are not essential configurations for the power tool (1) and can be omitted as appropriate.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Portable Power Tools In General (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

L'objet de la présente invention est d'augmenter l'efficacité de commande d'entraînement. Un outil électrique (1) est pourvu d'un moteur électrique (15), d'un mécanisme de transmission de force d'entraînement et d'une unité de commande (4). Le moteur électrique (15) comprend un aimant permanent (131) et une bobine (141). Le mécanisme de transmission de force d'entraînement est entraîné par le moteur électrique (15). L'unité de commande (4) effectue une commande d'entraînement du moteur électrique (15). La commande d'entraînement comprend une commande de flux magnétique d'affaiblissement pour amener un courant de flux magnétique d'affaiblissement à circuler à travers la bobine (141), le courant de flux magnétique d'affaiblissement générant un second flux magnétique dans la bobine (141) qui affaiblit un premier flux magnétique de l'aimant permanent (131). L'unité de commande (4) comprend une unité d'ajustement (A1) pour ajuster l'intensité du second flux magnétique sur la base d'une condition spécifique. La condition spécifique comprend au moins la capacité restante d'une batterie fournissant au moteur électrique (15) une énergie qui est inférieure à une valeur prédéfinie.
PCT/JP2020/043350 2019-11-22 2020-11-20 Outil électrique, procédé de commande et programme WO2021100843A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-211831 2019-11-22
JP2019211831A JP2021083294A (ja) 2019-11-22 2019-11-22 電動工具、制御方法、及びプログラム

Publications (1)

Publication Number Publication Date
WO2021100843A1 true WO2021100843A1 (fr) 2021-05-27

Family

ID=75966116

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/043350 WO2021100843A1 (fr) 2019-11-22 2020-11-20 Outil électrique, procédé de commande et programme

Country Status (2)

Country Link
JP (1) JP2021083294A (fr)
WO (1) WO2021100843A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3960382A4 (fr) * 2019-04-24 2022-06-01 Panasonic Intellectual Property Management Co., Ltd. Outil électrique

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023137412A1 (fr) * 2022-01-14 2023-07-20 Milwaukee Electric Tool Corporation Outil électrique pour commander un affaiblissement de champ

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07107772A (ja) * 1993-08-10 1995-04-21 Toyota Motor Corp 永久磁石型同期モータの駆動制御装置
JP2000228892A (ja) * 1999-02-08 2000-08-15 Hitachi Ltd 同期電動機の制御装置
US20070267990A1 (en) * 2006-05-22 2007-11-22 Black & Decker Inc. Electronically commutated motor and control system employing phase angle control of phase current
JP2010064544A (ja) * 2008-09-09 2010-03-25 Honda Motor Co Ltd 電動パワーステアリング装置
JP2018183875A (ja) * 2015-11-26 2018-11-22 株式会社マキタ 電動工具

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07107772A (ja) * 1993-08-10 1995-04-21 Toyota Motor Corp 永久磁石型同期モータの駆動制御装置
JP2000228892A (ja) * 1999-02-08 2000-08-15 Hitachi Ltd 同期電動機の制御装置
US20070267990A1 (en) * 2006-05-22 2007-11-22 Black & Decker Inc. Electronically commutated motor and control system employing phase angle control of phase current
JP2010064544A (ja) * 2008-09-09 2010-03-25 Honda Motor Co Ltd 電動パワーステアリング装置
JP2018183875A (ja) * 2015-11-26 2018-11-22 株式会社マキタ 電動工具

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3960382A4 (fr) * 2019-04-24 2022-06-01 Panasonic Intellectual Property Management Co., Ltd. Outil électrique

Also Published As

Publication number Publication date
JP2021083294A (ja) 2021-05-27

Similar Documents

Publication Publication Date Title
JP5182562B2 (ja) 電動工具
WO2021100843A1 (fr) Outil électrique, procédé de commande et programme
WO2020017202A1 (fr) Outil électrique, procédé de commande et programme
WO2021100368A1 (fr) Outil à percussion, procédé de commande d'outil à percussion et programme
JP2021079471A (ja) 電動工具、カムアウト検知方法及びプログラム
WO2021100844A1 (fr) Outil électrique, procédé de commande et programme
EP3984706B1 (fr) Outil électrique, procédé de commande de moteur et programme
WO2021215083A1 (fr) Système d'outil électrique, procédé de commande et programme
WO2021095533A1 (fr) Outil électrique, procédé de commande, procédé de détection de décrochage et programme
WO2021100309A1 (fr) Système d'outil électrique, procédé d'utilisation de système d'outil électrique, et programme
WO2020261756A1 (fr) Outil électrique
JP7178591B2 (ja) インパクト工具、インパクト工具の制御方法及びプログラム
JP2021079509A (ja) 電動工具、制御方法、及びプログラム
CN113710427B (zh) 电动工具
WO2021033432A1 (fr) Outil électrique
JP7296587B2 (ja) 電動工具、制御方法、及びプログラム
JP7296586B2 (ja) 電動工具、制御方法、及びプログラム
JP7228763B2 (ja) 電動工具
WO2021095470A1 (fr) Outil électrique, procédé de commande et programme
EP4299251A1 (fr) Outil électrique
JP2023149066A (ja) 電動工具
JP2023009977A (ja) 電動工具、制御方法及びプログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20889062

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20889062

Country of ref document: EP

Kind code of ref document: A1