WO2022202304A1 - モータ制御装置 - Google Patents
モータ制御装置 Download PDFInfo
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- WO2022202304A1 WO2022202304A1 PCT/JP2022/010163 JP2022010163W WO2022202304A1 WO 2022202304 A1 WO2022202304 A1 WO 2022202304A1 JP 2022010163 W JP2022010163 W JP 2022010163W WO 2022202304 A1 WO2022202304 A1 WO 2022202304A1
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- WIPO (PCT)
- Prior art keywords
- signal
- converter
- control unit
- motor
- inverter
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- 239000003990 capacitor Substances 0.000 claims abstract description 30
- 238000009499 grossing Methods 0.000 claims abstract description 26
- 230000005856 abnormality Effects 0.000 claims abstract description 7
- 230000004044 response Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims 1
- 230000007704 transition Effects 0.000 description 12
- 230000002265 prevention Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
- H02M1/007—Plural converter units in cascade
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/36—Means for starting or stopping converters
-
- 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
- H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
- H02P2201/07—DC-DC step-up or step-down converter inserted between the power supply and the inverter supplying the motor, e.g. to control voltage source fluctuations, to vary the motor speed
Definitions
- connection circuit 30 made up of power components is provided between a DC power supply (power supply 11 and DC/DC converter 18) and an inverter 19 that drives a three-phase motor 14.
- a power supply for an electric vehicle is disclosed.
- the present invention has been made in consideration of such problems, and is capable of being replaced by power components including precharge resistors, electromagnetic contactors and electromagnetic switches, and can be arranged in a small space mounting area. It is an object of the present invention to provide a motor control device with a DC/DC converter that enables
- power components including a precharge resistor, an electromagnetic contactor, and an electromagnetic switch are replaced with a power/electronic component (power/electronic circuit) including a DC/DC converter, a monitor circuit, and a control section. Since it is replaceable, the mounting area space can be reduced.
- a power/electronic component including a DC/DC converter, a monitor circuit, and a control section. Since it is replaceable, the mounting area space can be reduced.
- the monitor circuit 32 supplies the monitor signal Sm of the output voltage Vout to the controller 20 .
- the monitor circuit 32 may be a voltage sensor, but in this embodiment employs a hysteresis comparator.
- the monitor circuit 32 generates a high-level monitor signal Sm (see (e) in FIG. 2) when the output voltage Vout exceeds the reference voltage Vref (see (d) in FIG. 2). , and when it is lower than the reference voltage Vref, it generates a low-level monitor signal Sm (see (e) in FIG. 2) and outputs it to the control section 20 .
- the ON/OFF signal (see (b) in FIG. 2) supplied from the control unit 20 to the PFM control unit 28 includes a high-level ON signal that activates the PFM control unit 28 and a PFM control signal. and a low-level OFF signal for turning off the unit 28 .
- the servo amplifier 24 is composed of a smoothing capacitor 46 , a residual charge removing circuit 80 , an inverter 48 that drives the motor 14 , drivers 50 and 52 that drive the inverter 48 , and an inverter control section 54 .
- the driver enable signal Se when the driver enable signal Se is in the low level OFF state, the drivers 50 and 52 are cut off to stop their operation, and the inverter 48 is stopped, so the motor 14 does not rotate.
- the driver enable signal Se sent from the control unit 20 functions as a command signal that commands the servo amplifier 24 to operate or stop the inverter 48 .
- the inverter control unit 54 (servo amplifier 24) receives a high-level ON-state driver enable signal Se from the control unit 20 and continues to receive the ON-state driver enable signal Se, the inverter control unit 54 (servo amplifier 24) turns ON.
- a high-level driver feedback signal Sefb corresponding to the driver enable signal Se of the state is sent back to the control unit 20 as a response signal.
- the monitor signal Sm output from the monitor circuit 32 transitions from low level to high level at time t2.
- the PFM control unit 28 changes the frequency of the PFM signal to DC/
- the inverter control section 54 of the servo amplifier 24 outputs the inverter drive signal Sd, which is a PWM signal along a predetermined sequence, to the driver. 50 and 52 to activate the drivers 50 and 52 to drive the inverter 48 and drive and control the motor 14 through the inverter 48 .
- the drivers 50 and 52 are instantaneously cut off by the low-level OFF state driver enable signal Se, the driving of the inverter 48 is stopped, and the motor 14 is stopped.
- the control unit 20 sent the driver enable signal Se, which transitions from the ON state to the OFF state, to the inverter control unit 54 of the servo amplifier 24 at time t5. Even if the driver feedback signal Sefb, which is scheduled to be returned and transitions from high level to low level, cannot be detected, the OFF signal is supplied to the PFM control unit 28 to stop the operation of the DC/DC converter 30 .
- control unit 20 stops the DC/DC converter 30 and the motor 14 from rotating.
- a robot (not shown) can be stopped.
- the DC/DC converter stop operation and the inverter stop operation can be performed in series. For this reason, it is possible to ensure double safety in terms of protection of the motor. In other words, even if one of the DC/DC converter and the servo amplifier fails, the motor control device (control section) can stop driving the motor.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
図1は、実施形態に係るモータ制御装置10が組み込まれたサーボ制御システム12の構成の一例を示す回路ブロック図である。
前記した制御部20は、さらに、いわゆるセーフトルクオフ信号として、ドライバ50、52の動作の有効、無効を指示するドライバ有効信号Se(図3の(f)参照)を出力し、サーボアンプ24のドライバ50、52の一方の入力端子に供給する。
サーボアンプ24の残留電荷除去回路80は、インバータ48を通じてのモータ14の駆動が停止または終了したとき、平滑コンデンサ46に蓄積されている電荷を、内部の放電抵抗器を通じて放電させ、平滑コンデンサ46の端子間電圧であるコンデンサ電圧Vcを一定電圧以下にする。
基本的には以上のように構成される、サーボ制御システム12に組み込まれたモータ制御装置10の動作について、図2に示すタイムチャートに基づき、以下詳細に説明する。
その後、時点t9にて、直流電源16からの直流電圧Vdcの印加が停止される。これにより、DC/DCコンバータユニット22の入力電圧Vinは、0Vになり、モータ制御装置10を含むサーボ制御システム12の動作が終了する。なお、制御部20からのモータ14の動力遮断指令として、DC/DCコンバータユニット22のOFF指令であるOFF信号の発出時点t7と、ドライバ有効信号SeのローレベルのOFF指令(OFF状態)の発出時点t5を同時としてもよい。
制御部20は、時点t1にてON信号を供給後に、所定時間{(t2-t1)+Δt:Δtは冗長分}を経過しても、モニタ信号Smがハイレベルにならなかった場合には、DC/DCコンバータ30が異常状態になったとして、PFM制御部28にOFF信号を出力し、PFM制御部28によるPFM信号の生成を停止させ、DC/DCコンバータ30(DC/DCコンバータユニット22)の動作を停止させる。
また、制御部20は、時点t3にてサーボアンプ24のインバータ制御部54にOFF状態からON状態に遷移するドライバ有効信号Seを送出したにも拘わらず、所定時間内に、インバータ制御部54から返送予定のローレベルからハイレベルに遷移するドライバフィードバック信号Sefbを検出できなかった場合にも、OFF信号をPFM制御部28に供給し、DC/DCコンバータ30の動作を停止させる。
さらに、制御部20は、時点t5にてサーボアンプ24のインバータ制御部54にON状態からOFF状態に遷移するドライバ有効信号Seを送出したにも拘わらず、所定時間内に、インバータ制御部54から返送予定のハイレベルからローレベルに遷移するドライバフィードバック信号Sefbを検出できなかった場合にも、OFF信号をPFM制御部28に供給し、DC/DCコンバータ30の動作を停止させる。
ここで、上記実施形態から把握し得る発明について、以下に記載する。なお、理解の便宜のために構成要素の一部には上記実施形態で用いた符号を付けているが、該構成要素は、その符号を付けたものに限定されない。
Claims (4)
- 直流電源(16)を用いて平滑コンデンサ(46)を充電し、該平滑コンデンサを用いてモータ(14)の駆動を制御するモータ制御装置(10)であって、
前記直流電源の出力電圧を、前記平滑コンデンサへの突入電流を制限しながら昇圧又は降圧して、前記平滑コンデンサを充電するDC/DCコンバータ(30)と、
前記DC/DCコンバータの出力が発生しているか否かをモニタし、モニタ信号(Sm)を出力するモニタ回路(32)と、
前記DC/DCコンバータの動作を開始又は維持するON信号又は動作を停止するOFF信号を出力すると共に、前記モニタ信号が入力される制御部(20)と、を備え、
前記制御部は、
前記モニタ信号により前記DC/DCコンバータの異常を検出した場合には、前記DC/DCコンバータに前記OFF信号を出力する
モータ制御装置。 - 請求項1に記載のモータ制御装置において、
入力側が前記平滑コンデンサに接続され、出力側が前記モータに接続されて該モータを駆動するインバータ(48)と、
該インバータの作動又は停止を制御するインバータ制御部(54)と、
を有するサーボアンプ(24)を備える、
モータ制御装置。 - 請求項2に記載のモータ制御装置において、
前記制御部と前記サーボアンプとが交信可能に構成され、
前記制御部は、
前記モニタ信号により前記DC/DCコンバータの異常を検出した場合には、前記DC/DCコンバータに前記OFF信号を出力すると共に、前記サーボアンプを通じて前記インバータの作動を停止させる
モータ制御装置。 - 請求項2に記載のモータ制御装置において、
前記制御部と前記サーボアンプとが交信可能に構成され、
前記制御部は、
前記サーボアンプに前記インバータの作動又は停止を指令する指令信号を送出したときに、前記サーボアンプから前記指令信号に応じた応答信号を受信しなかった場合には、前記DC/DCコンバータに前記OFF信号を出力する
モータ制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202280020912.8A CN116998106A (zh) | 2021-03-22 | 2022-03-09 | 马达控制装置 |
DE112022000581.5T DE112022000581T5 (de) | 2021-03-22 | 2022-03-09 | Motorsteuerungsvorrichtung |
JP2023508957A JPWO2022202304A1 (ja) | 2021-03-22 | 2022-03-09 | |
US18/549,175 US20240162845A1 (en) | 2021-03-22 | 2022-03-09 | Motor control device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2021047074 | 2021-03-22 | ||
JP2021-047074 | 2021-03-22 |
Publications (1)
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WO2022202304A1 true WO2022202304A1 (ja) | 2022-09-29 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2022/010163 WO2022202304A1 (ja) | 2021-03-22 | 2022-03-09 | モータ制御装置 |
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US (1) | US20240162845A1 (ja) |
JP (1) | JPWO2022202304A1 (ja) |
CN (1) | CN116998106A (ja) |
DE (1) | DE112022000581T5 (ja) |
TW (1) | TW202239133A (ja) |
WO (1) | WO2022202304A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08205531A (ja) * | 1995-01-20 | 1996-08-09 | Mitsubishi Electric Corp | 直流電源装置 |
JP2010154642A (ja) * | 2008-12-25 | 2010-07-08 | Hitachi Ltd | 3相インバータの電源回路保護装置 |
JP2014124090A (ja) * | 2006-11-30 | 2014-07-03 | Rohm Co Ltd | 電子回路 |
JP2018129910A (ja) * | 2017-02-07 | 2018-08-16 | ローム株式会社 | Dc/dcコンバータおよびその制御回路、制御方法、車載電装機器 |
JP2021027646A (ja) * | 2019-08-01 | 2021-02-22 | 東芝三菱電機産業システム株式会社 | 制御装置及び電力変換システム |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011161925A1 (ja) | 2010-06-24 | 2011-12-29 | パナソニック株式会社 | 電気自動車用電力供給装置 |
-
2022
- 2022-03-09 US US18/549,175 patent/US20240162845A1/en active Pending
- 2022-03-09 WO PCT/JP2022/010163 patent/WO2022202304A1/ja active Application Filing
- 2022-03-09 JP JP2023508957A patent/JPWO2022202304A1/ja active Pending
- 2022-03-09 DE DE112022000581.5T patent/DE112022000581T5/de active Pending
- 2022-03-09 CN CN202280020912.8A patent/CN116998106A/zh active Pending
- 2022-03-17 TW TW111109732A patent/TW202239133A/zh unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08205531A (ja) * | 1995-01-20 | 1996-08-09 | Mitsubishi Electric Corp | 直流電源装置 |
JP2014124090A (ja) * | 2006-11-30 | 2014-07-03 | Rohm Co Ltd | 電子回路 |
JP2010154642A (ja) * | 2008-12-25 | 2010-07-08 | Hitachi Ltd | 3相インバータの電源回路保護装置 |
JP2018129910A (ja) * | 2017-02-07 | 2018-08-16 | ローム株式会社 | Dc/dcコンバータおよびその制御回路、制御方法、車載電装機器 |
JP2021027646A (ja) * | 2019-08-01 | 2021-02-22 | 東芝三菱電機産業システム株式会社 | 制御装置及び電力変換システム |
Also Published As
Publication number | Publication date |
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JPWO2022202304A1 (ja) | 2022-09-29 |
CN116998106A (zh) | 2023-11-03 |
DE112022000581T5 (de) | 2023-10-26 |
TW202239133A (zh) | 2022-10-01 |
US20240162845A1 (en) | 2024-05-16 |
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