WO2023013068A1 - Système d'entraînement de moteur ayant un dispositif de stockage d'électricité et procédé de commande de dispositif de stockage d'électricité - Google Patents

Système d'entraînement de moteur ayant un dispositif de stockage d'électricité et procédé de commande de dispositif de stockage d'électricité Download PDF

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Publication number
WO2023013068A1
WO2023013068A1 PCT/JP2021/029425 JP2021029425W WO2023013068A1 WO 2023013068 A1 WO2023013068 A1 WO 2023013068A1 JP 2021029425 W JP2021029425 W JP 2021029425W WO 2023013068 A1 WO2023013068 A1 WO 2023013068A1
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Prior art keywords
power
storage device
drive motor
power storage
power consumption
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PCT/JP2021/029425
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English (en)
Japanese (ja)
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翔吾 篠田
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ファナック株式会社
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Priority to JP2023539579A priority Critical patent/JPWO2023013068A1/ja
Priority to PCT/JP2021/029425 priority patent/WO2023013068A1/fr
Publication of WO2023013068A1 publication Critical patent/WO2023013068A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the present invention relates to a motor drive system having a power storage device and a control method for the power storage device.
  • a motor drive system that controls the rotation of a drive motor that powers machines such as machine tools and robots consists of a drive motor drive device that drives the drive motor, and a drive motor that causes the drive motor to operate as desired.
  • a drive motor control section for controlling the drive device, and a power supply device for supplying power to the drive motor drive device for driving the drive motor.
  • the power supply device has, for example, a forward converter that converts AC power supplied from an AC power supply into DC power and outputs the DC power to a DC link.
  • the drive motor driving device has an inverter that converts the DC power of the DC link into AC power and supplies it to the drive motor.
  • DC link refers to the circuit part that electrically connects the DC output side of the rectifier and the DC input side of the inverter. It may also be called “section” or "direct current intermediate circuit”.
  • a power storage device capable of accumulating DC power is provided in the DC link that connects the forward converter in the power supply and the inverter in the drive motor drive device to reduce power consumption by the drive motor.
  • a method of appropriately exchanging the regenerated energy via a DC link has been used. According to this method, power peaks can be reduced by accumulating regenerative electric power generated by the drive motor when the drive motor decelerates in a power storage device and by reusing the accumulated electric power when the drive motor accelerates. can do.
  • the operation (acceleration/deceleration) of the drive motor that involves power consumption greater than the maximum power supply of the rectifier in the power supply device can also be handled.
  • the maximum power consumption generated by presses that involve repeated operations is extremely large, and the lack of power supply capacity can be a problem. Therefore, in the motor drive system of the press, a flywheel type power storage device is installed in the DC link, and when the press consumes a large amount of power, power is supplied from the power storage device, so that the press can be operated under a small capacity power source. It allows the machine to run. For example, when the power consumption of the drive motor is low, the buffer motor coupled with the flywheel is rotated at a constant speed. is decelerated, power is regenerated through the buffer inverter, and DC power for driving the drive motor is supplied to the DC link. As a result, even in acceleration/deceleration operations involving power consumption greater than the maximum conversion power of the rectifier, it is possible to drive by using the regenerative power from the buffer motor coupled with the flywheel having rotational energy. It becomes possible.
  • a drive inverter that performs power conversion; a drive motor control unit that controls the drive servomotor connected to the drive inverter; and supplies DC power to the DC link or stores DC power from the DC link.
  • a power consumption estimating unit that acquires an estimated power consumption value that is an estimated value a predetermined time ahead, and a power storage device control unit that controls power supply and power storage of the power storage device according to the estimated power consumption value, A motor drive device is known (see, for example, Patent Document 1).
  • a rectifying section that converts the power of an AC power supply into DC power and outputs it, a smoothing capacitor for main circuit smoothing connected to the output of the rectifying section, and one terminal connected to one electrode of the smoothing capacitor.
  • a regenerative resistor that consumes the regenerated power
  • an inverter unit that converts the DC power output from the rectifying unit into AC power suitable for driving the motor
  • a current detection unit for detecting the motor current of the motor
  • a speed calculation unit for calculating the motor speed of the motor
  • a torque calculation unit for calculating the torque or thrust of the motor based on the motor current
  • a servo control unit that gives a voltage command to an inverter unit, and a motor that calculates a loss based on the motor current or the motor current and the motor speed and calculates the product of the motor speed and the torque or thrust
  • a power consumption calculator that calculates an output and determines whether or not the regenerative resistor is energized, wherein the power consumption calculator calculates the total value
  • the power consumption per unit time is calculated as the total value, and if the total value of the loss and the motor output is negative, the power consumption per unit time is calculated as 0, and the regeneration
  • a motor control device is known in which the power consumption per unit time is calculated from the total value of the loss and the motor output when the resistance is not energized (see, for example, Patent Document 2).
  • a motor drive system provided with a power storage device to reduce power peaks of power supply equipment
  • storage power is stored according to changes in power consumption in the drive motor, the drive motor drive device, the power supply device, and the power line connecting them.
  • Power supply or power storage is commanded to the device.
  • information about power consumption is obtained in real time and a power storage device is commanded to supply or store power based on this information, it may not be possible to respond to the command due to poor responsiveness of the control system or power storage device.
  • the drive motor consumes more power than usual due to an unexpectedly high load on the drive motor. Due to the response delay of the power storage device, a situation may occur in which the power storage device cannot supply enough power to compensate for the power consumption exceeding the maximum power supply of the forward converter in the power supply device. In such a case, the AC power required to drive the drive motor is insufficient, causing the motor drive system and the machine tool including the same to stop with an alarm, or the maximum supply power of the rectifier in the power supply device. energy flows from the AC power supply side into the rectifier, possibly causing damage to the rectifier.
  • a motor drive system includes a drive motor drive device that drives a drive motor that powers a machine, and a drive motor drive that causes the drive motor to operate in the same manner in each cycle.
  • a drive motor control unit for controlling the device; a power supply device for supplying power to the drive motor drive device for driving the drive motor; Acquisition of a power consumption value of at least one of a power storage device for storing power returned via a drive motor drive device, a drive motor, a drive motor drive device, a power supply device, and a power line connecting them a power consumption acquisition unit that stores information on the power consumption value acquired by the power consumption acquisition unit; and a power storage device control unit that controls power supply and power storage.
  • power is supplied to a drive motor driving device that drives a drive motor that powers a machine, and power that is returned from the drive motor via the drive motor drive is stored.
  • a control method for a power storage device that performs a power consumption obtaining step of obtaining a power consumption value for one; a power consumption saving step of saving information about the power consumption value obtained in the power consumption obtaining step; and a power consumption saved in the power consumption saving step. and a power storage device control step of controlling power supply and power storage of the power storage device in accordance with information about the value of the power storage device.
  • FIG. 1 is a block diagram of a motor drive system according to one embodiment of the present disclosure
  • FIG. 1 is a block diagram of a motor drive device according to an embodiment of the present disclosure having a flywheel type power storage device
  • FIG. 1 is a block diagram of a motor drive device according to an embodiment of the present disclosure having a capacitor-type power storage device
  • FIG. 1 is a block diagram of a motor drive system according to an embodiment of the present disclosure having a power storage device control unit according to a first form
  • FIG. 4 is a block diagram of a motor drive system according to an embodiment of the present disclosure having a power storage device control unit according to a second form
  • FIG. 4 is a diagram illustrating the relationship between a timing reference signal, power consumption, excess power, and a command to a power storage device in a motor drive system according to an embodiment of the present disclosure
  • 4 is a flowchart showing an operation flow of power storage device control processing according to the first mode in the motor drive system according to the embodiment of the present disclosure
  • 9 is a flowchart showing an operation flow of power storage device control processing according to a second mode in the motor drive system according to the embodiment of the present disclosure
  • FIG. 5 is a block diagram of a motor drive system according to a modification of the embodiment of the present disclosure having a power storage device control unit according to the first form;
  • FIG. 11 is a block diagram of a motor drive system according to a modification of the embodiment of the present disclosure having a power storage device control unit according to the second form;
  • FIG. 5 is a diagram illustrating the relationship between power consumption, excess power, and a command to a power storage device in a motor drive system according to a modification of an embodiment of the present disclosure;
  • 7 is a flowchart showing an operation flow of power storage device control processing according to the first mode in a motor drive system according to a modified example of an embodiment of the present disclosure;
  • 9 is a flow chart showing an operation flow of power storage device control processing according to a second mode in a motor drive system according to a modified example of an embodiment of the present disclosure;
  • FIG. 1 is a block diagram of a motor drive system according to one embodiment of the present disclosure.
  • a motor drive system 1 controls a drive motor 3 that powers machines including machine tools and robots to perform predetermined repeated operations.
  • Machine tools which are machines provided with the drive motor 3, include, for example, press machines, forging machines, injection molding machines, and the like.
  • the type of the drive motor 3 is not particularly limited, and may be, for example, an induction motor or a synchronous motor.
  • the number of phases of the drive motor 3 is not particularly limited in this embodiment, and may be, for example, three-phase or single-phase.
  • An AC power supply 2 is connected to the motor drive system 1 .
  • the number of phases of the AC power supply 2 is not particularly limited in this embodiment, and may be, for example, three-phase or single-phase.
  • Examples of the AC power supply 2 include a three-phase AC 400V power supply, a three-phase AC 200V power supply, a three-phase AC 600V power supply, a single-phase AC 100V power supply, and the like.
  • a motor drive system 1 includes a drive motor drive device 11, a drive motor control unit 12, a power supply device 13, a power storage device 14, a power consumption acquisition unit 15, and a power consumption storage unit. 16 and a power storage device control unit 17 .
  • the drive motor driving device 11 is provided to drive the drive motor 3 that powers the machine.
  • the drive motor drive device 11 converts the DC power in the DC link 4 into AC power and supplies the drive motor 3 with the drive power.
  • the drive motor drive 11 has an inverter 120, for example.
  • the inverter 120 is composed of a switching element and a bridge circuit of diodes connected in anti-parallel to the switching element.
  • the inverter 120 is composed of a three-phase bridge circuit when the drive motor 3 is a three-phase motor, and composed of a single-phase bridge circuit when the drive motor 3 is a single-phase motor.
  • each switching element is on/off controlled according to, for example, a PWM switching control method. Examples of switching elements include unipolar transistors such as FETs, bipolar transistors, IGBTs, thyristors, and GTOs. good.
  • each switching element is on/off controlled based on the drive command received from the drive motor control unit 12, so that the DC power of the DC link 4 and the drive motor 3 are switched. Power conversion is performed between AC power, which is driving power or regenerative power. More specifically, the inverter 120 switches the internal switching elements based on the drive command received from the drive motor control unit 12, and converts the DC power supplied from the power supply device 13 via the DC link 4 into The power is converted into AC power having a desired voltage and frequency for driving the drive motor 3 (reverse conversion operation). Thereby, the drive motor 3 operates based on the AC power supplied from the inverter 120 .
  • regenerative electric power is generated when the drive motor 3 decelerates, but based on the drive command received from the drive motor control unit 12, the internal switching element is switched, and the AC regenerative electric power generated by the drive motor 3 is regenerated. It is converted to DC power and returned to the DC link 4 (forward conversion operation).
  • the drive motor controller 12 controls the drive motor driving device 11 so that the drive motor 3 operates (ie rotates) in the same manner in each cycle.
  • the operation pattern of the drive motor 3 is configured by appropriately combining acceleration, deceleration, constant speed, stop, etc. according to the operation contents of the machine in which the drive motor 3 is provided.
  • a set of operations of the same content of the drive motor 3 is defined as "one cycle", and the "operation pattern" is established by repeating the one cycle.
  • the operation pattern of the drive motor 3 is defined by an operation program for the drive motor 3.
  • FIG. For example, when the drive motor 3 is provided in a machine tool, an operation program for the drive motor 3 is defined as one of machining programs for the machine tool.
  • an operation program for the drive motor 3 is defined so that the drive motor 3 is repeatedly operated according to the content of press working on the work.
  • the drive motor controller 12 in order to save information on the power consumption value and control the power storage device 14 in synchronization with each cycle of the operation of the drive motor 3, the drive motor controller 12 generates a timing reference signal synchronized with each cycle. is periodically transmitted to the power consumption saving unit 16 and the power storage device control unit 17 .
  • the drive motor 3 is controlled in speed, torque and/or rotor position based on the AC power supplied from the drive motor driving device 11 . That is, the control of the drive motor 3 by the drive motor controller 12 is realized by controlling the power conversion operation of the inverter 120 in the drive motor driving device 11 .
  • the drive motor control unit 12 controls the power conversion of the inverter 120 in the drive motor driving device 11 according to a predetermined operation program, so that the drive motor 3 operates in the same operation for each cycle. control to The drive motor control unit 12 controls the speed of the drive motor 3 detected by a speed detector (not shown) (speed feedback), the current flowing through the windings of the drive motor 3 (current feedback), and a predetermined torque command.
  • a drive command for controlling the speed, torque and/or rotor position of the drive motor 3 is generated.
  • the power conversion operation by the inverter 120 in the drive motor driving device 11 is controlled based on the drive command generated by the drive motor control unit 12 .
  • the configuration of the drive motor control unit 12 defined here is merely an example, and terms such as a position command generation unit, a torque command generation unit, and a switching command generation unit are included in the drive motor control unit 12. may be specified.
  • the power supply device 13 is provided to supply electric power to the drive motor drive device 11 for driving the drive motor 3 .
  • a DC link 4 connects between the power supply device 13 and the drive motor driving device 11, and DC power is transferred.
  • the power supply device 13 includes, for example, a forward converter 110 that converts AC power supplied from the AC power supply 2 into DC power and outputs the DC power to the DC link 4 .
  • the forward converter 110 is composed of a switching element and a bridge circuit of diodes connected in anti-parallel to the switching element.
  • the rectifier 110 is composed of a three-phase bridge circuit when three-phase alternating current is supplied from the alternating current power supply 2 and is composed of a single-phase bridge circuit when single-phase alternating current is supplied from the alternating current power supply 2 .
  • Examples of the forward converter 110 include a 120-degree conduction rectifier circuit and a PWM switching control rectifier circuit.
  • each switching element is ON/OFF-controlled according to a PWM switching control method according to a drive command received from, for example, a host controller (not shown).
  • Examples of switching elements include unipolar transistors such as FETs, bipolar transistors, IGBTs, thyristors, and GTOs. good.
  • a “maximum regenerative power” is defined as the maximum power that can be converted to AC power and regenerated to the AC power supply 2 side.
  • the maximum supply power and maximum regenerative power are generally specified as specification data related to the power conversion capacity of the forward converter 110, and are described, for example, in the standard table or instruction manual of the forward converter 110. .
  • the maximum supplied power and the maximum regenerated power of the forward converter 110 may be collectively referred to as "maximum converted power”.
  • the DC link 4 is generally provided with a DC link capacitor (also referred to as a smoothing capacitor), the illustration is omitted here.
  • the DC link capacitor has a function of accumulating DC power in the DC link 4 and a function of suppressing pulsation of the DC output of the forward converter 110 in the power supply device 13 .
  • the drive motor 3 is driven with an output exceeding the maximum power supply of the rectifier 110 in the power supply 13, and the power exceeding the maximum regenerative power of the rectifier 110 in the power supply 13 is supplied from the DC link 4 to the AC power supply.
  • a power storage device 14 is provided to assist the power supply device 13 in order to be able to return to the second side.
  • the power storage device 14 supplies power to the drive motor drive device 11 and stores power returned from the drive motor 3 via the drive motor drive device 11 .
  • Each operation of power storage and power supply of the power storage device 14 is controlled by a power storage device control unit 17 to be described later.
  • the power storage device 14 includes, for example, a flywheel type as shown in FIG. 2 and a capacitor type as shown in FIG.
  • FIG. 2 is a block diagram of a motor drive device according to an embodiment of the present disclosure having a flywheel type power storage device.
  • the flywheel-type power storage device 14 includes a flywheel 31 , a buffer motor 32 , and a buffer motor driving device 33 .
  • the flywheel 31 can accumulate rotational energy.
  • the buffer motor 32 is for rotating the flywheel 31 , and the flywheel 31 is connected to the rotating shaft of the buffer motor 32 . Rotational energy can be accumulated in the flywheel 31 by rotating the buffer motor 32 .
  • the number of phases of the buffer motor 32 is not particularly limited in this embodiment, and may be, for example, three-phase or single-phase.
  • a speed detector (not shown) is provided for the buffer motor 32 , and the speed (of the rotor) of the buffer motor 32 detected by the speed detector is Used for control.
  • the buffer motor drive device 33 has an inverter 130 .
  • the inverter 130 is composed of a switching element and a bridge circuit of diodes connected in antiparallel thereto.
  • the inverter 130 is composed of a three-phase bridge circuit when the buffer motor 32 is a three-phase motor, and composed of a single-phase bridge circuit when the buffer motor 32 is a single-phase motor.
  • Examples of switching elements include unipolar transistors such as FETs, bipolar transistors, IGBTs, thyristors, and GTOs. good.
  • the inverter 130 in the buffer motor driving device 33 is controlled to turn on and off each switching element based on the power storage command and the power supply command received from the power storage device control unit 17 , so that the DC power in the DC link 4 and the buffer motor Power conversion is performed between AC power, which is drive power or regenerative power of 32 .
  • the buffer motor 32 to which the flywheel 31 is connected rotates while accelerating or decelerating, or rotates at a constant speed.
  • the DC power to be stored or supplied by the power storage device 14 (the DC power that the power storage device 14 transfers to and from the DC link 4) is adjusted. More details are as follows.
  • the buffer motor driving device 33 When storing power in the power storage device 14 , the buffer motor driving device 33 performs a reverse conversion operation to convert DC power in the DC link 4 to AC power based on the power storage command received from the power storage device control unit 17 . As a result, electrical energy from the DC link 4 is taken into the buffer motor 32 side, and this electrical energy rotates the buffer motor 32 to which the flywheel 31 is connected. In this way, in the flywheel-type power storage device 14, the electric energy flowing from the DC link 4 is converted into rotational energy of the flywheel 31 and stored.
  • the buffer motor drive device 33 decelerates the buffer motor 32 to which the flywheel 31 is connected based on the power supply command received from the power storage device control unit 17, thereby regenerating alternating current.
  • a forward conversion operation is performed to generate power and convert the AC power to DC power.
  • the rotational energy accumulated in the flywheel 31 is converted into electrical energy and supplied to the DC link 4 .
  • FIG. 3 is a block diagram of a motor drive device according to an embodiment of the present disclosure having a capacitor-type power storage device.
  • the capacitor-type power storage device 14 includes a capacitor 41 and a DCDC converter 42 that performs power conversion between the DC power in the DC link 4 and the DC power stored in the capacitor 41 .
  • An example of the DCDC converter 42 is a step-up/step-down DC chopper circuit.
  • the power storage device control unit 17 By controlling the step-up operation and step-down operation of the DCDC converter 42 by the power storage device control unit 17, the amount of DC power to be stored or supplied by the power storage device 14 (the amount of DC power that the power storage device 14 transfers to and from the DC link 4) is increased. adjusted. More details are as follows.
  • the DCDC converter 42 converts the DC voltage on the capacitor 41 side from the DC voltage on the DC link 4 side to the DC voltage on the DC link 4 side by the power storage device control unit 17 based on the power storage command received from the power storage device control unit 17. controlled to be low. As a result, electric energy from the DC link 4 flows into the capacitor 41, and the power storage device 14 is charged.
  • the DCDC converter 42 When power is supplied to the power storage device 14 , the DCDC converter 42 , based on the power supply command received from the power storage device control unit 17 , converts the DC voltage on the DC link 4 side to the DC voltage on the capacitor 41 side by the power storage device control unit 17 . The voltage is controlled to be high. As a result, electric energy from the capacitor 41 flows into the DC link 4, and the power storage device 14 is supplied with power.
  • the motor drive system 1 is provided with the power storage device 14 that performs the above operation, when a particularly large amount of power is consumed during acceleration of the drive motor 3, the power storage device 14 is used in addition to the energy supplied from the power supply device 13. is supplied to the drive motor 3 and used as power for accelerating the drive motor 3 .
  • the energy regenerated from the drive motor 3 is accumulated in the power storage device 14 via the drive motor driving device 11 . Since the energy stored in the power storage device 14 is used to drive the drive motor 3 together with the power supplied by the power supply device 13, the drive motor 3 is driven with an output exceeding the maximum converted power of the power supply device 13. and power peaks can be reduced. By reducing the power peak, it is possible to reduce the power supply capacity and the operation cost of the motor drive system 1, and to avoid power failure and flicker on the AC power supply 2 side.
  • the power storage device 14 has poor responsiveness to discharge commands and power storage commands. There is a time delay between when power storage device 14 responds to a power supply or power storage command and when power storage device 14 actually starts the power supply operation or power storage operation. For example, when the power storage device 14 is of the flywheel type shown in FIG. , the buffer motor 32 starts accelerating or decelerating. Further, for example, when the power storage device 14 is of the capacitor type shown in FIG. , the capacitor 41 is charged or discharged to the desired voltage.
  • the drive motor controller 12 controls the drive motor driving device 11 so that the drive motor 3 operates in the same manner in each cycle. The change in power consumption in the device 13 and the power line connecting them is almost the same in each cycle and has high reproducibility.
  • the power consumption value of at least one of the drive motor 3, the drive motor driving device 11, the power supply device 13, and the power line connecting them is acquired, stored, and stored.
  • the power supply and power storage of the power storage device 14 are controlled according to the information on the power consumption value. That is, in an embodiment of the present disclosure, a power supply command and a power storage command are created in advance according to the stored information regarding the value of power consumption.
  • the power consumption acquisition unit 15 is for acquiring the power consumption value of at least one of the drive motor 3, the drive motor driving device 11, the power supply device 13, and the power line connecting them. In each cycle of the operation of the drive motor 3, the power consumption value acquired by the power consumption acquiring unit 15 is successively acquired at minute intervals in a predetermined sampling cycle.
  • the loss in the power supply 13, the loss in the drive motor driving device 11, and the loss in the power line are smaller than the absolute value of the output of the drive motor 3, so the output of the drive motor 3 affects the total power consumption. dominant in Therefore, the power consumption acquisition unit 15 should acquire at least the power consumption value of the drive motor 3 .
  • the power consumption value of the drive motor driving device 11 can be calculated based on the motor output obtained from the rotational speed and torque of the drive motor 3 and the winding loss of the drive motor 3 .
  • the power consumption of the drive motor driving device 11 can be calculated based on the switching loss in the inverter 120 and the like.
  • the power consumption of the power supply device 13 can be calculated based on the switching loss in the forward converter 110 and the like. Power line losses can be calculated based on the current and voltage on the power line.
  • the power consumption saving unit 16 is configured by an arithmetic processing device provided in the motor drive system 1, and performs these calculation processes.
  • the power consumption saving unit 16 saves information about the power consumption value acquired by the power consumption acquiring unit 15 .
  • the value of power consumption acquired by the power consumption acquisition unit 15 is obtained successively at minute intervals in a predetermined sampling cycle. Waveform data consisting of information about the attached power consumption value will be saved.
  • the drive motor controller 12 periodically sends the timing reference signal synchronized with each cycle to the power consumption storage unit 16.
  • the power consumption saving unit 16 saves the information on the power consumption value acquired by the power consumption acquiring unit 15, using the timing reference signal as a guideline.
  • the “information on the value of power consumption” stored in the power consumption storage unit 16 may be the power consumption value itself acquired by the power consumption acquisition unit 15, or may be a value of excess power supplied corresponding to the amount by which the power consumption exceeds a predetermined storage threshold, and a value of stored excess power corresponding to an amount by which the power consumption is below a predetermined storage threshold.
  • a timing reference signal synchronized with each cycle of operation of the drive motor 3 is composed of, for example, an ON signal and an OFF signal, and a certain cycle and the next cycle are separated by the OFF signal.
  • the drive motor control unit 12 since the output of the drive motor 3 changes in accordance with the position command or speed command for the drive motor 3 generated by the drive motor control unit 12, the drive motor control unit 12 turns ON the timing reference signal.
  • a signal is output to power storage device control unit 17 in response to the position command or the speed command.
  • a signal from the drive motor control unit 12 to start outputting the power supply command and the power storage command defined by the machining program may be used as a guideline for the rise of the ON signal of the timing reference signal.
  • the power consumption storage unit 16 stores information about the value of power consumption during the period during which the ON signal of the timing reference signal is received. That is, the temporal range of the power consumption values to be stored among the power consumption values acquired by the power consumption acquiring unit 15 is defined by the time period during which the ON signal is output in one cycle.
  • the power storage device control unit 17 generates a power supply command and a power storage command according to the information about the power consumption value stored in the power consumption storage unit 16, and controls the power supply and power storage of the power storage device 14.
  • FIG. 6 is a diagram illustrating the relationship between the timing reference signal, power consumption, excess power, and commands to the power storage device in the motor drive system according to the embodiment of the present disclosure.
  • the power storage device control unit 17 controls the power storage device 14 by outputting a power supply command and a power storage command during a period defined by the ON signal of the timing reference signal.
  • the period from time t1 to time t6 is the period during which the timing reference signal is the ON signal.
  • the power storage device 14 is controlled by the device control unit 17 .
  • the supply threshold is set.
  • the supply threshold is set to a value that does not exceed the maximum power supply of the forward converter 110 in order to ensure the safety of the forward converter 110 in the power supply device 13 .
  • the power consumption value exceeds the supply threshold from time t2 to time t3 .
  • the power corresponding to the power consumption exceeding the supply threshold is referred to as excess power.
  • the power storage device control unit 17 generates a power supply command corresponding to the excess power supply, and the power storage device 14 uses the power supply command in a cycle after the cycle at which the power supply command is generated to handle the excess power supply. Control to output power supply.
  • the power supply command is set to a magnitude that allows power storage device 14 to output DC power (power supply) that is the same as the excess power.
  • a power storage threshold is set as the value.
  • the power storage threshold is set to a value that does not exceed the maximum regenerative electric power of the forward converter 110 in order to ensure the safety of the forward converter 110 in the power supply device 13 .
  • the power consumption value is below the power storage threshold from time t4 to time t5 .
  • the power corresponding to the amount of power consumption that is less than the power storage threshold is referred to as excess power storage.
  • the power storage device control unit 17 generates a power storage command corresponding to the excess power storage, and the power storage device 14 responds to the excess power storage using the power storage command in a cycle after the cycle at which the power storage command is generated. Control to recover (store) the stored power.
  • the power storage command is set to a magnitude that allows the power storage device 14 to recover (store) DC power (stored power) of the same magnitude as the excess stored power.
  • the power supply command and the power storage command generated by the power storage device control unit 17 are generated in a cycle after the cycle corresponding to the point in time when the power consumption value used in generating the power supply command and the power storage command is obtained. It is output to power storage device 14 and used to control power storage device 14 . That is, the power supply command and the power storage command used by the power storage device control unit 17 to control the power storage device 14 in a certain cycle are generated in the cycle prior to the cycle corresponding to the point in time when the power supply command and the power storage command are used. It is what was done.
  • the power storage device control unit 17 controls the “response of the power storage device 14” rather than the timing at which the power peak needs to be reduced (that is, the timing at which the power consumption exceeds the power supply threshold and the timing at which the power consumption falls below the power storage threshold).
  • the power storage device 14 is controlled by outputting a power supply command and a power storage command to the power storage device 14 earlier by a time corresponding to the "delay time”.
  • the drive motor control unit 12 controls the drive motor driving device 11 so that the drive motor 3 operates in the same manner in each cycle. , is almost the same in each cycle and is highly reproducible.
  • the power storage device control unit 17 determines the timing of occurrence of excess power supply and excess power storage in one cycle based on the information about the value of power consumption stored in the power consumption storage unit 16.
  • the timing acquired based on the drive command for the electric motor 3 and advanced by the time corresponding to the "response delay time of the power storage device 14" is used as the timing to start outputting the power supply command and the power storage command.
  • Such an operation of the power storage device control unit 17 may be defined in a predetermined operation program, for example.
  • the power storage device control unit 17 When the information related to the power consumption value stored in the power consumption storage unit 16 is the power consumption value itself acquired by the power consumption acquisition unit 15, the power storage device control unit 17 according to the first embodiment is adopted, and the power consumption value is When the information on the power consumption value stored in the storage unit 16 is the value of the excess power supplied and the value of the excess power stored, the power storage device control unit 17 according to the second mode is adopted.
  • FIG. 4 is a block diagram of a motor drive system according to an embodiment of the present disclosure having a power storage device control unit according to the first form.
  • the power storage device control unit 17 according to the first mode has a comparison unit 21 and a command generation unit 22 .
  • the drive motor control unit 12 periodically transmits a timing reference signal synchronized with each cycle of the operation of the drive motor 3 to the power consumption storage unit 16 and the power storage device control unit 17. In the cycle, the value itself of the power consumption acquired by the power consumption acquisition unit 15 while the ON signal of the timing reference signal is being received is saved.
  • the comparison unit 21 While receiving the ON signal of the timing reference signal, the comparison unit 21 reads the power consumption value stored in the power consumption storage unit 16, and compares the power consumption value with the predetermined power supply threshold and the predetermined power supply threshold. and the stored power threshold. A comparison result is sent to the command generation unit 22 .
  • the command generation unit 22 generates a power supply command for the power storage device 14 based on the result of the comparison by the comparison unit 21, according to the value of the excess power supply corresponding to the power consumption exceeding the power supply threshold. In addition, based on the comparison result of the comparison unit 21, the command generation unit 22 generates a power storage command for the power storage device 14 in accordance with the value of the excess stored power corresponding to the power consumption value falling below the power storage threshold. .
  • FIG. 5 is a block diagram of a motor drive system according to an embodiment of the present disclosure having a power storage device control unit according to a second form.
  • the power storage device control unit 17 according to the second mode has a command generation unit 23 .
  • the drive motor control unit 12 periodically transmits a timing reference signal synchronized with each cycle of the operation of the drive motor 3 to the power consumption storage unit 16 and the power storage device control unit 17 .
  • the power consumption saving unit 16 While receiving the ON signal of the timing reference signal, the power consumption saving unit 16 stores, at minute intervals, a value of excess power supply corresponding to the amount by which the power consumption exceeds a predetermined power supply threshold. is stored, and the stored excess power value corresponding to the power consumption value falling below a predetermined storage threshold value is stored. Since the power consumption value acquired by the power consumption acquiring unit 15 is sequentially acquired for each minute time, the power consumption saving unit 16 stores the value of the excess power supply and the stored power associated with each minute time. Waveform data consisting of excess power values will be saved.
  • the command generation unit 23 reads the value of the excess power supply and the value of the excess stored power stored in the power consumption storage unit 16, generates a power supply command for the power storage device 14 according to the value of the excess power supply, and stores the excess power storage.
  • a power storage command for the power storage device 14 is generated according to the value of .
  • the control method of the power storage device 14 that stores electric power includes the drive motor 3, the drive motor drive device 11, and the power supply device 13 that supplies power to the drive motor drive device 11 to drive the drive motor 3. , and power lines connecting them; a power consumption obtaining step of obtaining a power consumption value; a power consumption saving step of saving information about the power consumption value obtained in the power consumption obtaining step; and a power storage device control step of controlling power supply and power storage of the power storage device 14 according to the information about the value of power consumption saved in the power saving step.
  • FIG. 7 is a flowchart showing an operation flow of power storage device control processing according to the first mode in the motor drive system according to the embodiment of the present disclosure.
  • the drive motor control unit 12 controls the drive motor drive device 11 so that the drive motor 3 operates (that is, rotates) in the same operation in each cycle
  • the drive motor control unit 12 controls each cycle.
  • a timing reference signal synchronized with the cycle is transmitted to the power consumption saving unit 16 and the power storage device control unit 17 .
  • step S101 the power consumption saving unit 16 and the power storage device control unit 17 determine whether the timing reference signal is an ON signal.
  • the power consumption acquisition unit 15 determines the power consumption of at least one of the drive motor 3, the drive motor driving device 11, the power supply device 13, and the power line connecting them. Get the power value.
  • the power consumption acquisition unit 15 should acquire at least the power consumption value of the drive motor 3 .
  • the power storage device control unit 17 The control accuracy of the power storage device 14 is further improved.
  • step S ⁇ b>103 the power consumption saving unit 16 saves the information on the power consumption value acquired by the power consumption acquiring unit 15 .
  • step S ⁇ b>104 the power storage device control unit 17 controls the next cycle of the current cycle (that is, the ) to generate a power supply command and a power storage command.
  • the power supply command and the power storage command generated at this stage are the next cycle of the current cycle at the time when the power consumption value used in the generation of the power supply command and the power storage command was obtained (i.e., the current cycle).
  • the output is output to power storage device 14 in the next cycle) and used to control power storage device 14 .
  • the power supply command and the power storage command generated in the first cycle immediately after the start of operation of the drive motor 3 are also output to the power storage device 14 and used to control the power storage device 14 in the first cycle. be done.
  • step S105 the power storage device control unit 17 sets the power supply command and the power storage command generated in the cycle immediately before the current cycle to the timing when the power peak needs to be reduced (that is, when the power consumption exceeds the power supply threshold).
  • the power storage device 14 is output to the power storage device 14 to control the power storage device 14 earlier than the timing when the power consumption exceeds the power storage threshold and the timing when the power consumption falls below the power storage threshold by a time corresponding to the "response delay time of the power storage device 14".
  • step S104 the power supply command and the power storage command to be used in the next cycle of the current cycle (that is, the cycle after the current cycle) corresponding to the time when the power consumption value was obtained are generated.
  • step S105 the power storage device 14 is controlled using the power supply command and the power storage command generated in the cycle immediately preceding the current cycle corresponding to the time at which the power consumption value was acquired.
  • the power storage device 14 is controlled in real time using the power supply command and the power storage command generated in step S104 in the first cycle. be.
  • step S106 the power consumption saving unit 16 and the power storage device control unit 17 determine whether the timing reference signal is an OFF signal. If the timing reference signal is not determined to be an OFF signal, the process returns to step S102, and if it is determined that the timing reference signal is an OFF signal, power consumption acquisition unit 15 and power consumption storage unit 16 in the current cycle. And each process in the power storage device control unit 17 ends. After completion of the process, the process returns to step S101 and a new cycle of the drive motor 3 is started.
  • the power consumption value is obtained and stored, and the power supply command and the power storage command are generated in each cycle of the operation of the drive motor 3. Therefore, the motor drive system 1 It is possible to respond to subtle changes in the operating environment (ambient temperature, etc.), and to control the power storage device 14 with high precision and reliability.
  • FIG. 8 is a flowchart showing an operation flow of power storage device control processing according to the second mode in the motor drive system according to the embodiment of the present disclosure.
  • Steps S201 to S206 are executed only in the first cycle immediately after the drive motor 3 starts operating, and steps S207 to S209 are executed in cycles after the first cycle.
  • step S201 the power consumption saving unit 16 and the power storage device control unit 17 determine whether or not the timing reference signal is an ON signal.
  • the power consumption acquisition unit 15 determines the power consumption of at least one of the drive motor 3, the drive motor driving device 11, the power supply device 13, and the power line connecting them. Get the power value.
  • the power consumption acquisition unit 15 should acquire at least the power consumption value of the drive motor 3 .
  • the power storage device control unit 17 The control accuracy of the power storage device 14 is further improved.
  • step S ⁇ b>203 the power consumption saving unit 16 saves the information on the power consumption value acquired by the power consumption acquiring unit 15 .
  • step S204 the power storage device control unit 17 generates a power supply command and a power storage command according to the information about the power consumption value stored in the power consumption storage unit 16.
  • the power storage device 14 is controlled in real time using the command and the power storage command. Note that the power supply command and the power storage command generated at this stage are used to control the power storage device 14 in the first cycle immediately after the start of operation of the drive motor 3 (step S205) and in cycles after the first cycle. It is commonly used for control of power storage device 14 (step S208).
  • step S206 the power consumption saving unit 16 and the power storage device control unit 17 determine whether the timing reference signal is an OFF signal. If the timing reference signal is not determined to be an OFF signal, the process returns to step S202. If it is determined that the timing reference signal is an OFF signal, the process proceeds to step S207, a new cycle of the drive motor 3 is started, and the drive motor controller 12 outputs the timing reference signal synchronized with the cycle. It is transmitted to the power consumption saving unit 16 and the power storage device control unit 17 .
  • step S207 the power consumption saving unit 16 and the power storage device control unit 17 determine whether or not the timing reference signal is the ON signal.
  • step S ⁇ b>208 the power storage device control unit 17 controls the “response of the power storage device 14 A power supply command and a power storage command are output to the power storage device 14 earlier by a time corresponding to the "delay time", and the power storage device 14 is controlled.
  • the power supply command and power storage command used at this stage are generated in step S204 in the first cycle immediately after the drive motor 3 starts operating.
  • step S209 the power consumption saving unit 16 and the power storage device control unit 17 determine whether or not the timing reference signal is the OFF signal. If the timing reference signal is not determined to be an OFF signal, the process returns to step S208. If it is determined that the timing reference signal is an OFF signal, the process returns to step S207 and a new cycle of the drive motor 3 is started.
  • the same power supply command and power storage command are used to control the power storage device 14 in cycles after the first cycle of the drive motor 3.
  • the processing load of the arithmetic processing unit in the drive system 1 can be reduced.
  • the configuration of the power storage device control unit 17 according to the first and second embodiments described above and the power storage device control processing according to the first and second embodiments can be appropriately combined and implemented.
  • FIG. 9 A modified example of the motor drive system according to one embodiment of the present disclosure will be described with reference to FIGS. 9 to 13.
  • FIG. 9 A modified example of the motor drive system according to one embodiment of the present disclosure will be described with reference to FIGS. 9 to 13.
  • the power supply command is set to a magnitude that allows the power storage device 14 to output DC power (supplied power) of the same magnitude as the excess power, and the power storage command is set to the same magnitude as the excess power.
  • DC power (accumulated power) is set to a magnitude that can be recovered (accumulated) in the electricity storage device 14 .
  • the power that should actually be supplied from the power storage device 14 and the stored power that should be collected (stored) in the power storage device may vary. , the power supply command and the power storage command cannot be followed, and a time delay may occur in output and recovery.
  • FIG. 11 is a diagram illustrating the relationship between the power consumption, the excess power, and the command to the power storage device in the motor drive system according to the modified example of the embodiment of the present disclosure.
  • the time when the stored power starts to be collected in the power storage device 14 may be delayed from the time t12 , the actual stored power value and the power supply command in the current cycle, and the actual stored power in the current cycle.
  • a power deviation occurs between the power storage command and the power storage command.
  • the power deviation corresponds to the shortage of the actual supplied power to the power supply command and the shortage of the actual stored power to the storage command to the storage command.
  • a new power supply command and a new power storage command to be used in the next cycle of the current cycle Generate directives. Note that the power deviation and the correction amount do not necessarily have to match, and a value obtained by multiplying the power deviation by a predetermined ratio may be used as the correction amount.
  • FIG. 9 A configuration example of the power storage device control unit 17 according to this modified example in which the above-described correction processing is executed will be described with reference to FIGS. 9 and 10.
  • FIG. 9 A configuration example of the power storage device control unit 17 according to this modified example in which the above-described correction processing is executed will be described with reference to FIGS. 9 and 10.
  • FIG. 9 is a block diagram of a motor drive system according to a modification of one embodiment of the present disclosure, which has a power storage device control unit according to the first form.
  • the power storage device control unit 17 according to the first mode according to this modification includes the comparison unit 21 and the command generation unit 22 described with reference to FIG. It further has a quantity calculator 25 .
  • the comparison unit 21 is as described with reference to FIG.
  • the power deviation calculation unit 24 calculates the value obtained by subtracting the power supply command from the value of the actual power supply output from the power storage device 14 and the actual power recovered to the power storage device 14 . Calculate the power deviation defined by the value obtained by subtracting the power storage command from the stored power.
  • the correction amount calculator 25 calculates a correction amount according to the power deviation calculated by the power deviation calculator 24 .
  • the command generation unit 22 adds a correction amount according to the power deviation to the power supply command and the power storage command used when calculating the power deviation, thereby reducing the power consumption used when calculating the power deviation.
  • a new power supply command and a new power storage command to be used in the cycle next to the cycle corresponding to the time when the value of is acquired are generated.
  • the configuration other than the command generation unit 22, the power deviation calculation unit 24, and the correction amount calculation unit 25 is as described with reference to FIG.
  • FIG. 10 is a block diagram of a motor drive system according to a modification of the embodiment of the present disclosure, which has a power storage device control unit according to the second form.
  • the power storage device control unit 17 according to the second mode according to the modification includes the command generation unit 23 described with reference to FIG. further has
  • the power deviation calculation unit 24 While receiving the timing reference signal, calculates a value obtained by subtracting the power supply command from the value of the actual power supply output from the power storage device 14 and the actual power stored in the power storage device 14. Calculate the power deviation defined by the value obtained by subtracting the power storage command.
  • the correction amount calculator 25 calculates a correction amount according to the power deviation calculated by the power deviation calculator 24 .
  • the command generation unit 23 adds a correction amount according to the power deviation to the power supply command and the power storage command used when calculating the power deviation, thereby reducing the power consumption used when calculating the power deviation.
  • a new power supply command and a new power storage command to be used in the cycle next to the cycle corresponding to the time when the value of is acquired are generated.
  • the configuration other than the command generation unit 23, the power deviation calculation unit 24, and the correction amount calculation unit 25 is as described with reference to FIG.
  • FIG. 12 is a flowchart showing an operation flow of power storage device control processing according to the first mode in the motor drive system according to the modified example of the embodiment of the present disclosure.
  • the drive motor control unit 12 controls the drive motor drive device 11 so that the drive motor 3 operates (that is, rotates) in the same operation in each cycle
  • the drive motor control unit 12 controls each cycle.
  • a timing reference signal synchronized with the cycle is transmitted to the power consumption saving unit 16 and the power storage device control unit 17 .
  • step S301 the power consumption saving unit 16 and the power storage device control unit 17 determine whether the timing reference signal is an ON signal.
  • the power consumption acquisition unit 15 determines the power consumption of at least one of the drive motor 3, the drive motor driving device 11, the power supply device 13, and the power line connecting them. Get the power value.
  • the power consumption acquisition unit 15 should acquire at least the power consumption value of the drive motor 3 .
  • the power storage device control unit 17 The control accuracy of the power storage device 14 is further improved.
  • step S ⁇ b>303 the power consumption saving unit 16 saves the information on the power consumption value acquired by the power consumption acquiring unit 15 .
  • step S304 the power deviation calculation unit 24 subtracts the power supply command from the value of the actual power supplied from the power storage device 14 in the current cycle, and calculates the power storage command from the actual power stored in the power storage device 14. and the power deviation specified by However, in the first cycle immediately after the drive motor 3 starts operating, the process of step S304 is omitted.
  • step S305 the correction amount calculation unit 25 calculates a correction amount according to the power deviation calculated by the power deviation calculation unit 24.
  • the process of step S305 is omitted in the first cycle immediately after the drive motor 3 starts operating.
  • step S306 the command generation unit 23 adds a correction amount according to the power deviation to the power supply command and the power storage command used in calculating the power deviation, thereby generating the next cycle of the current cycle (that is, A new power supply command and a new power storage command to be used in the cycle after the current cycle) are generated.
  • step S ⁇ b>306 in the first cycle immediately after the drive motor 3 starts operating the power supply command and the power storage command are generated according to the information on the power consumption value saved in the power consumption saving unit 16 .
  • step S ⁇ b>307 the power storage device control unit 17 outputs to the power storage device 14 the power supply command and the power storage command generated in the cycle immediately preceding the current cycle, and controls the power storage device 14 .
  • the power storage device 14 is controlled in real time using the power supply command and the power storage command generated in step S306 in the first cycle. be.
  • step S308 the power consumption saving unit 16 and the power storage device control unit 17 determine whether the timing reference signal is the OFF signal. If the timing reference signal is not determined to be an OFF signal, the process returns to step S302, and if the timing reference signal is determined to be an OFF signal, the power consumption acquisition unit 15 and the power consumption storage unit 16 in the current cycle. And each process in the power storage device control unit 17 ends. After completion of the processing, the process returns to step S301 and a new cycle of the drive motor 3 is started.
  • the power consumption value is obtained and stored, and the power supply command and power storage command are generated in each cycle of the operation of the drive motor 3.
  • Subtle changes in the operating environment (ambient temperature, etc.) of the motor drive system 1 can be dealt with, and the power storage device 14 can be controlled with high accuracy and reliability.
  • the power supply command and the storage command are corrected to reduce the power deviation corresponding to the shortage of the actual supplied power with respect to the power supply command and the shortage of the actual stored power with respect to the storage command with respect to the storage command, the power peak can be reduced more reliably. can be realized.
  • FIG. 13 is a flowchart showing an operation flow of power storage device control processing according to the second mode in the motor drive system according to the modified example of the embodiment of the present disclosure.
  • Steps S401 to S406 are executed only in the first cycle immediately after the drive motor 3 starts operating, and steps S407 to S412 are executed in cycles after the first cycle.
  • step S401 the power consumption saving unit 16 and the power storage device control unit 17 determine whether the timing reference signal is an ON signal.
  • the power consumption acquisition unit 15 determines the power consumption of at least one of the drive motor 3, the drive motor driving device 11, the power supply device 13, and the power line connecting them. Get the power value.
  • the power consumption acquisition unit 15 should acquire at least the power consumption value of the drive motor 3 .
  • the power storage device control unit 17 The control accuracy of the power storage device 14 is further improved.
  • step S403 the power consumption saving unit 16 saves the information on the power consumption value acquired by the power consumption acquisition unit 15.
  • step S404 the power storage device control unit 17 generates a power supply command and a power storage command according to the information about the power consumption value stored in the power consumption storage unit 16.
  • the power storage device 14 is controlled in real time using the command and the power storage command.
  • step S406 the power consumption saving unit 16 and the power storage device control unit 17 determine whether the timing reference signal is an OFF signal. If the timing reference signal is not determined to be an OFF signal, the process returns to step S402. If it is determined that the timing reference signal is an OFF signal, the process proceeds to step S407, a new cycle of the drive motor 3 is started, and the drive motor controller 12 outputs the timing reference signal synchronized with the cycle. It is transmitted to the power consumption saving unit 16 and the power storage device control unit 17 .
  • step S407 the power consumption saving unit 16 and the power storage device control unit 17 determine whether or not the timing reference signal is the ON signal.
  • step S408 the power consumption acquisition unit 15 determines the power consumption of at least one of the drive motor 3, the drive motor driving device 11, the power supply device 13, and the power line connecting them. Get the power value.
  • the power consumption acquisition unit 15 should acquire at least the power consumption value of the drive motor 3 .
  • the power storage device control unit 17 The control accuracy of the power storage device 14 is further improved.
  • step S408 the power deviation calculation unit 24 calculates a value obtained by subtracting the power supply command from the value of the power supplied from the power storage device 14 in the current cycle and a value obtained by subtracting the power storage command from the stored power recovered to the power storage device 14. Calculate the power deviation specified by
  • step S409 the correction amount calculation unit 25 calculates a correction amount according to the power deviation calculated by the power deviation calculation unit 24.
  • step S410 the command generation unit 23 adds a correction amount according to the power deviation to the power supply command and the power storage command used in the current cycle, so that the next cycle of the current cycle (that is, the current cycle A new power supply command and a new power storage command to be used in the cycle after one cycle) are generated.
  • step S411 the power storage device control unit 17 outputs to the power storage device 14 the power supply command and the power storage command generated in the cycle immediately preceding the current cycle, and controls the power storage device 14.
  • step S412 the power consumption saving unit 16 and the power storage device control unit 17 determine whether or not the timing reference signal is the OFF signal. If the timing reference signal is not determined to be an OFF signal, the process returns to step S408. If it is determined that the timing reference signal is an OFF signal, the process returns to step S407 and a new cycle of the drive motor 3 is started.
  • the power storage device 14 is controlled using the same power supply command and power storage command in cycles after the first cycle of the drive motor 3. Therefore, the processing load on the arithmetic processing unit in the motor drive system 1 can be reduced.
  • the power supply command and the storage command are corrected to reduce the power deviation corresponding to the shortage of the actual supplied power with respect to the power supply command and the shortage of the actual stored power with respect to the storage command with respect to the storage command, the power peak can be reduced more reliably. can be realized.
  • An arithmetic processing unit (processor) is provided in the motor drive system 1 described above.
  • arithmetic processing units include ICs, LSIs, CPUs, MPUs, and DSPs.
  • This arithmetic processing unit has a drive motor control unit 12 , a power consumption acquisition unit 15 , and a power storage device control unit 17 .
  • Each of these units of the arithmetic processing unit is, for example, a functional module realized by a computer program executed on the processor.
  • the drive motor control unit 12, the power consumption acquisition unit 15, and the power storage device control unit 17 are constructed in the form of a computer program, the functions of each unit are realized by operating the arithmetic processing unit according to the computer program. be able to.
  • a computer program for executing each process of the drive motor control unit 12, the power consumption acquisition unit 15, and the power storage device control unit 17 is stored in a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. May be provided in recorded form.
  • the drive motor control unit 12, the power consumption acquisition unit 15, and the power storage device control unit 17 may be realized as a semiconductor integrated circuit in which a computer program that implements the functions of each unit is written.
  • the power consumption storage unit 16 may be electrically erasable and recordable nonvolatile memory such as EEPROM (registered trademark), or random access memory such as DRAM or SRAM that can be read and written at high speed. and so on.

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Abstract

Le système d'entraînement de moteur selon l'invention comprend : un dispositif d'entraînement de moteur d'entraînement pour entraîner un moteur d'entraînement qui sert de source de puissance pour une machine ; une unité de commande de moteur d'entraînement pour commander le dispositif d'entraînement de moteur d'entraînement de telle sorte que le moteur d'entraînement fonctionne avec la même opération dans chaque cycle ; un dispositif d'alimentation électrique pour fournir une alimentation électrique au dispositif d'entraînement de moteur d'entraînement pour entraîner le moteur d'entraînement ; un dispositif de stockage d'électricité pour fournir une alimentation électrique au dispositif d'entraînement de moteur d'entraînement et stocker de l'électricité ; une unité d'acquisition de consommation d'énergie pour acquérir la valeur de consommation d'énergie ; une unité de stockage de consommation d'énergie pour stocker des informations concernant la valeur acquise de la consommation d'énergie ; et une unité de commande de dispositif de stockage d'électricité pour commander l'alimentation électrique depuis, et stocker de l'électricité vers, le dispositif de stockage d'électricité en fonction des informations concernant la valeur de la consommation d'énergie stockée dans l'unité de stockage de consommation d'énergie.
PCT/JP2021/029425 2021-08-06 2021-08-06 Système d'entraînement de moteur ayant un dispositif de stockage d'électricité et procédé de commande de dispositif de stockage d'électricité WO2023013068A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000206150A (ja) * 1999-01-11 2000-07-28 Fanuc Ltd 機械の消費電力表示装置
JP2020031495A (ja) * 2018-08-23 2020-02-27 ファナック株式会社 蓄電装置を有するモータ駆動システム
JP2020182373A (ja) * 2019-04-25 2020-11-05 ファナック株式会社 蓄電装置を有するモータ駆動装置
JP2021019418A (ja) * 2019-07-19 2021-02-15 ファナック株式会社 サーボ制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000206150A (ja) * 1999-01-11 2000-07-28 Fanuc Ltd 機械の消費電力表示装置
JP2020031495A (ja) * 2018-08-23 2020-02-27 ファナック株式会社 蓄電装置を有するモータ駆動システム
JP2020182373A (ja) * 2019-04-25 2020-11-05 ファナック株式会社 蓄電装置を有するモータ駆動装置
JP2021019418A (ja) * 2019-07-19 2021-02-15 ファナック株式会社 サーボ制御装置

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