WO2023233536A1 - モータ駆動装置、モータ駆動方法およびモータ駆動プログラム - Google Patents

モータ駆動装置、モータ駆動方法およびモータ駆動プログラム Download PDF

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Publication number
WO2023233536A1
WO2023233536A1 PCT/JP2022/022177 JP2022022177W WO2023233536A1 WO 2023233536 A1 WO2023233536 A1 WO 2023233536A1 JP 2022022177 W JP2022022177 W JP 2022022177W WO 2023233536 A1 WO2023233536 A1 WO 2023233536A1
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Prior art keywords
phase
overcurrent
command
switching elements
flowing
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PCT/JP2022/022177
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English (en)
French (fr)
Japanese (ja)
Inventor
宏和 永井
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ファナック株式会社
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Priority to JP2024524037A priority Critical patent/JPWO2023233536A1/ja
Priority to PCT/JP2022/022177 priority patent/WO2023233536A1/ja
Publication of WO2023233536A1 publication Critical patent/WO2023233536A1/ja

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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
    • 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

Definitions

  • the embodiments mentioned in this application relate to a motor drive device, a motor drive method, and a motor drive program.
  • motor drive devices that drive AC motors in machine tools, forging machines, injection molding machines, industrial machinery, or various robots first convert AC power supplied from an AC power source into DC power, and then convert it to AC power. This alternating current power is converted into electric power and is supplied as driving power to the motor provided for each drive shaft via a motor power line.
  • the motor drive device includes a converter (rectifier) that converts (rectifies) the AC power input from the AC power source side into DC power, and an inverter that converts the DC power in the DC link, which is the DC side of the converter, into AC power. Equipped with.
  • a converter rectififier
  • an inverter that converts the DC power in the DC link, which is the DC side of the converter, into AC power. Equipped with.
  • the problem to be solved by the present invention is to provide a motor drive device, a motor drive method, and a motor drive program that can prevent overvoltage breakdown of power elements even if a short circuit occurs in the power elements in an inverter.
  • an acquisition unit detects and acquires output currents of multiple phases from an inverter including a plurality of switching elements that drive a multiphase AC motor;
  • a determination unit that determines overcurrent in the plurality of switching elements based on the output current of a phase, and a generation unit that generates a switching command based on the determination of the determination unit and outputs it to the plurality of switching elements.
  • a motor drive device is provided.
  • the generating unit When the determining unit determines that overcurrent is flowing, the generating unit outputs an off command to at least one switching element in a phase in which the determining unit determines that no overcurrent is flowing. After that, an off command is output to at least one switching element in the phase in which the determining section determines that an overcurrent is flowing.
  • FIG. 1 is a block diagram schematically showing an example of a motor drive device according to this embodiment.
  • FIG. 2 is a diagram for explaining a first example of the motor drive device according to the present embodiment in comparison with a conventional example.
  • FIG. 3 is a diagram for explaining a first example of the motor drive device according to the present embodiment.
  • FIG. 4 is a diagram for explaining a second example of the motor drive device according to the present embodiment.
  • FIG. 5 is a diagram for explaining a third example of the motor drive device according to the present embodiment.
  • FIG. 6 is a diagram for explaining a fourth example of the motor drive device according to the present embodiment.
  • FIG. 7 is a diagram for explaining a fifth example of the motor drive device according to the present embodiment.
  • FIG. 1 is a block diagram schematically showing an example of a motor drive device according to this embodiment.
  • FIG. 2 is a diagram for explaining a first example of the motor drive device according to the present embodiment in comparison with a conventional example.
  • FIG. 3 is a
  • FIG. 8 is a diagram for explaining a sixth example of the motor drive device according to the present embodiment.
  • FIG. 9 is a diagram for explaining a first modification of the motor drive device according to the present embodiment.
  • FIG. 10 is a diagram for explaining a second modification of the motor drive device according to the present embodiment.
  • FIG. 1 is a block diagram schematically showing an example of a motor drive device according to this embodiment.
  • reference numeral 1 indicates an AC power supply, 3 a motor (multiphase AC motor), 4 a control unit, and 100 a motor drive device.
  • the number of phases of the AC power supply 1 may be three-phase or single-phase, such as 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, etc.
  • the AC power supply 1 will be described as a three-phase AC power supply
  • the motor 3 will be described as a three-phase AC motor.
  • a motor drive device 100 receives power from a three-phase AC power supply 1 as input and outputs drive power for each phase (U phase, V phase, and W phase) of a three-phase motor 3. It includes a converter 21, an inverter 22, a DC link capacitor 23, and a control section 4.
  • the converter 21 is configured as a three-phase full bridge circuit, for example, and is a rectifier that converts AC power input from an AC input side into DC power and outputs the DC power to a DC link on a DC output side.
  • the DC link capacitor 23 smoothes the pulsation of the DC output of the converter 21 and stores the DC power to be output to the inverter 22 .
  • the inverter 22 is connected to the converter 21 via a DC link, converts DC power in the DC link into AC power for driving a motor, and outputs the AC power. That is, the inverter 22 receives DC power obtained by smoothing and accumulating the output of the converter 21 with the DC link capacitor 23, and drives and controls the three-phase AC motor 3 based on a control signal (control command) from the control unit 4.
  • the motor 3 is a three-phase AC motor, so the inverter 22 is configured as a three-phase full bridge circuit. That is, the inverter 22 has power semiconductors (power elements) T1, T4, T2, connected to a high potential power line and a low potential power line, respectively, for the U phase, V phase, and W phase of the three-phase AC motor 3.
  • T5, T3, T6, and free wheeling diodes (FWD) D1, D4, D2, D5, and D3, D6 connected antiparallel to each power semiconductor.
  • the power semiconductors T1, T4, T2, T5, T3, T6 are, for example, IGBTs (insulated gate bipolar transistors), but are not limited to IGBTs, and include FETs (Field-Effect Transistors), thyristors, etc. , GTO (Gate Turn-Off thyristor), SiC-MOSFET (Silicon Carbide Metal-Oxide-Semiconductor Field-Effect Transistor), and power semiconductors using GaN (Gallium Nitride).
  • a power element can be applied.
  • reference numeral Ua indicates the U-phase pull-up side switching elements (T1 and D1)
  • Ub indicates the U-phase pull-down side switching elements (T4 and D4)
  • reference numeral Va indicates the V-phase pull-up side switching elements (T2 and D2)
  • Vb indicates the V-phase pull-down side switching elements (T5 and D5)
  • reference numeral Wa indicates the W-phase pull-up side switching elements (T3 and D3)
  • Wb indicates the W-phase pull-down side switching elements (T6 and D6).
  • the inverter 22 drives the three-phase AC motor 3, but the motor drive device 100 of this embodiment is not limited to driving and controlling the three-phase AC motor. For example, it is of course possible to drive and control various polyphase AC motors such as 4-phase, 6-phase, and 12-phase.
  • FIG. 2 is a diagram for explaining a first example of the motor drive device according to the present embodiment in comparison with a conventional example.
  • Figure 2(A) shows an example of an overcurrent (short-circuit current) flowing from a high-potential power line (pull-up side) to a low-potential power line (pull-down side), and an example of the switching element cutoff process at that time.
  • FIG. 2(B) is a diagram for explaining an example of the switching element cut-off process by the motor drive device of the first embodiment when an overcurrent flows as shown in FIG. 2(A).
  • the inverter 22 that drives and controls the three-phase AC motor 3 has a pair of switching elements Ua, Ub, Va, Vb and Wa, Wb (for example, six switching elements) provided in the U phase, V phase, and W phase.
  • one of the pair of switching elements for example, three switching elements
  • the other for example, three switching elements
  • one switching element Wa is on and the other switching element Wb is off. Therefore, for example, when the switching elements Ua and Vb on the short-circuit path turn from on to off, a voltage oscillation larger than that of the U-phase and V-phase where overcurrent was detected is applied across the W-phase switching element Wb, and the switching element There is a possibility that overvoltage breakdown may occur in Wb.
  • the motor drive device of the first embodiment before switching the switching elements Ua and Vb on the short circuit path from on to off, The switching element Wa in the phase is switched from on to off.
  • the voltage oscillation (overvoltage, surge voltage) applied to both ends of the switching element Wb in FIG. 2(A) can be divided by the switching elements Wa and Wb to prevent (reduce) overvoltage breakdown. That is, according to the first embodiment, after an off command is output to the switching element Wa in the W phase where no overcurrent is flowing (not on a short circuit path), an off command is output to the switching element Wa in the W phase where no overcurrent is flowing (on a short circuit path). Outputs an off command to switching elements Ua and Vb (existing).
  • FIG. 3 is a diagram for explaining a first example of the motor drive device according to the present embodiment.
  • FIG. 3(A) is a circuit diagram for explaining a short circuit and the operation at that time in the first embodiment
  • FIG. 3(B) is a circuit diagram for explaining the control process (processing of the motor drive program) in the first embodiment.
  • a short circuit (interphase short circuit) occurs between the U phase and the V phase, and an overcurrent Flows from the high potential power line to the low potential power line via switching elements Ua and Vb.
  • the motor drive device 100 (control unit 4) of the first embodiment includes an acquisition unit 41, a determination unit 42, and a generation unit 43.
  • the acquisition unit 41 detects and acquires three-phase output currents from the inverter 22 including six switching elements Ua, Ub, Va, Vb, Wa, and Wb that drive the three-phase AC motor 3.
  • the determination unit 42 determines overcurrent in the six switching elements Ua, Ub, Va, Vb, Wa, and Wb based on the three-phase output currents acquired by the acquisition unit 41.
  • the generation unit 43 generates a switching command based on the determination by the determination unit 42 and outputs it to the six switching elements Ua, Ub, Va, Vb, Wa, and Wb.
  • reference symbols C1, C2, C3, C4, C5, and C6 are switching elements Ua, Ub, Va, Vb, Wa, and Wb that receive control commands (control signals) output from the generation unit 43, respectively.
  • the drive unit that controls the on/off of the switch is shown. It goes without saying that various known configurations can be applied to the drive units C1 to C6.
  • the determining unit 42 determines that an overcurrent is flowing in the U phase and the V phase (switching elements Ua and Vb in the U phase and V phase)
  • the generating unit 43 determines that an overcurrent is flowing.
  • An off command is output to the W phase (switching element Wa in the W phase: P11) that is determined to be absent. Thereafter, an off command is output to the switching elements Ua and Vb (P12) in the U phase and V phase where the determining unit 42 determines that an overcurrent is flowing.
  • step ST11 the acquisition unit 41 acquires information from the inverter 22 for each phase that drives the three-phase AC motor 3. (U-phase, V-phase, and W-phase drive currents) are obtained, and the process proceeds to step ST12.
  • step ST12 the determination unit 42 determines the presence or absence of overcurrent in each phase. If it is determined that there is no overcurrent, the process returns to step ST11, and if it is determined that there is overcurrent, the process proceeds to step ST13.
  • step ST13 the generation unit 43 generates an off command to shut off the switching elements in the following order. That is, the generation unit 43 1. outputs (P11) an off command to turn off the switching element Wa in the phase that is not determined to be overcurrent, and then 2. outputs the off command to turn off the switching element Wa in the phase determined to be overcurrent. , Vb is output (P12). Then, the process proceeds to step ST14, and the switching element is cut off according to the generation timing of the generation section 43. That is, the driving units C1, C2, C3, C4, C5, and C6 receive control commands output from the generating unit 43, respectively, and turn on/off the corresponding switching elements Ua, Ub, Va, Vb, Wa, and Wb. control.
  • the generating section 43 when the determining section 42 determines that an overcurrent is flowing in the U phase and the V phase (switching elements in the U phase and V phase), the generating section 43 outputs an OFF command (P11) to at least one switching element Wa in the W phase for which the determining unit 42 determines that no overcurrent is flowing. Thereafter, the generation unit 43 outputs an OFF command to at least one switching element Ua, Vb in the U phase and V phase where it is determined by the determination unit 42 that an overcurrent is flowing (P12). Thereby, for example, as described with reference to FIGS. 2(A) and 2(B), overvoltage breakdown of switching element Wb in the W phase can be prevented.
  • FIG. 4 is a diagram for explaining a second example of the motor drive device according to the present embodiment.
  • FIG. 4(A) is a circuit diagram for explaining a short circuit and the operation at that time in the second embodiment
  • FIG. 4(B) is an example of processing of the motor drive program in the second embodiment. It is a flow chart for explanation. 4(A) and 4(B), similar to FIG. 3(A) and FIG. 3(B) described above, a short circuit occurs between the U phase and the V phase, and overcurrent flows from the high potential power line. The case where the current flows to the low potential power supply line via switching elements Ua and Vb is shown.
  • the switching element Ua in the U phase and the switching element Ua in the V phase The switching element Vb in is cut off with a time difference. That is, when the determining unit 42 determines that a short circuit has occurred between the U phase and the V phase, the generating unit 43 simultaneously outputs an OFF command to the switching elements Ua and Vb (Fig. Instead of P12) in 3(A), in the second embodiment, the generation unit 43 outputs an OFF command (P22) to the switching element Ua, and sets a time difference to the switching element Vb. The off command is output (P23).
  • step ST21 the acquisition unit 41 acquires the U phase of the three-phase AC motor 3 output from the inverter 22, The V-phase and W-phase drive currents are obtained, and the process proceeds to step ST22.
  • step ST22 the determination unit 42 determines the presence or absence of overcurrent in each phase. If it is determined that there is no overcurrent, the process returns to step ST21, and if it is determined that there is overcurrent, the process proceeds to step ST23.
  • step ST23 the generation unit 43 generates an off command to shut off the switching elements in the following order. That is, the generation unit 43 1. outputs an off command to turn off the switching element Wa in the phase that is not determined to be overcurrent (P21). Then, 2. Output an off command to turn off at least one phase (switching element Ua in the U phase) in the phase determined to be overcurrent (P22). Furthermore, a time difference is provided, and 3. an off command is output (P23) to turn off the remaining phase (switching element Vb in the V phase) determined to be overcurrent. Then, the process proceeds to step ST24, and in accordance with the generation timing of the generation section 43, the switching elements are cut off (cutoff control) via, for example, the drive sections (C1 to C6).
  • the generation unit 43 generates at least one phase ( An off command is output (P21) to the switching element Wa (Wa, Wb) in the W phase). Thereafter, an off command is output (P22) to the switching elements Ua in the remaining phases (U phase) in which the overcurrent is determined to be flowing by the determination unit 42, and further, with a time difference, the determination unit 42 An off command is output to the switching elements Vb in the remaining phases (V phase) in which it is determined that overcurrent is flowing (P23).
  • the instantaneously applied voltage level is reduced, and the voltage level is further reduced. It becomes possible to further prevent overvoltage breakdown of the switching element.
  • FIG. 5 is a diagram for explaining a third example of the motor drive device according to the present embodiment.
  • FIG. 5(A) is a circuit diagram for explaining a short circuit and the operation at that time in the third embodiment
  • FIG. 5(B) is a circuit diagram for explaining an example of control processing in the third embodiment.
  • This is a flowchart.
  • a short circuit occurs between the U phase and the low potential power line (grounding line), and overcurrent flows from the high potential power line via the switching element Ua. This shows the case where the current flows to the low potential power supply line.
  • the generation unit 43 when a ground fault occurs in the U phase, the generation unit 43 generates switching elements in the V and W phases in which the determination unit 42 determines that no overcurrent is flowing.
  • An off command is output for Va, Vb, Wa, and Wb (P31). Thereafter, an off command is output to the switching element Ua in the U phase where the determining unit 42 determines that an overcurrent is flowing (P32).
  • step ST31 the acquisition unit 41 acquires the U phase of the three-phase AC motor 3 output from the inverter 22, The V-phase and W-phase drive currents are obtained, and the process proceeds to step ST32.
  • step ST32 the determination unit 42 determines the presence or absence of overcurrent in each phase. If the overcurrent is determined to be "absent”, the process returns to step ST31, and if the overcurrent is determined to be "present”, the process proceeds to step ST33.
  • step ST33 the generation unit 43 generates an off command to shut off the switching elements in the following order. That is, the generation unit 43 1. outputs an off command to cut off the switching elements in the plurality of phases (V phase, W phase) that are not determined to be overcurrent. Then, 2. Outputs an OFF command to cut off the switching element in the phase (U phase) determined to be overcurrent. Then, the process proceeds to step ST34, and the switching element is shut off according to the generation timing of the generation section 43.
  • the generation unit 43 generates a plurality of phases (V phase, V phase, An off command is output to the switching elements Va, Vb, Wa, and Wb in the W phase (P31). Thereafter, an off command is output to the switching element Ua in at least one phase (U phase) in which the determining unit 42 determines that an overcurrent is flowing (P32).
  • FIG. 6 is a diagram for explaining a fourth example of the motor drive device according to the present embodiment.
  • FIG. 6(A) is a circuit diagram for explaining a short circuit and the operation at that time in the fourth embodiment
  • FIG. 6(B) is a circuit diagram for explaining an example of control processing in the fourth embodiment.
  • This is a flowchart. 6(A) and 6(B), similar to FIG. 5(A) and FIG. 5(B) described above, a ground fault occurs in the U phase and an overcurrent flows from the high potential power supply line to the switching element Ua. The case where the current flows through the ground wire (low potential power supply wire) is shown.
  • the fourth embodiment simultaneously shuts off the switching elements Va, Vb, Wa, and Wb in the V phase and W phase where the determining unit 42 determines that no overcurrent is flowing. Instead of blocking the signal, the timing is shifted and the signal is cut off.
  • step ST41 the acquisition unit 41 acquires the U phase of the three-phase AC motor 3 output from the inverter 22, The V-phase and W-phase drive currents are obtained, and the process proceeds to step ST42.
  • step ST42 the determination unit 42 determines the presence or absence of overcurrent in each phase. If it is determined that there is no overcurrent, the process returns to step ST41, and if it is determined that there is overcurrent, the process proceeds to step ST43.
  • step ST43 the generation unit 43 generates an off command to shut off the switching elements in the following order. That is, the generation unit 43 1. Outputs an OFF command to the switching elements in some phases (W phase) among the plurality of phases (V phase, W phase) that are not determined to be overcurrent. Then, 2. Output an OFF command to the switching elements in the remaining phase (V phase) of the plurality of phases in which the determining unit 42 determines that no overcurrent is flowing. Furthermore, after that, 3. An off command is output to the switching element in the phase (U phase) for which the determining unit 42 determines that there is an overcurrent. Then, the process proceeds to step ST44, and the switching element is shut off according to the generation timing of the generation section 43.
  • the generation unit 43 generates a plurality of phases (V phase, V phase, An off command is output (P41) to the switching elements Wa and Wb in some of the phases (W phase). After that, an OFF command is output to the switching elements Va and Vb in the remaining phases (V phase) of the plurality of phases (V phase, W phase) for which the determination unit 42 has determined that no overcurrent is flowing (P42). do. Furthermore, after that, an off command is outputted to the switching element Ua in the phase (U phase) determined to be overcurrent by the determination unit 42 (P43).
  • FIG. 7 is a diagram for explaining a fifth example of the motor drive device according to the present embodiment.
  • FIG. 7(A) is a circuit diagram for explaining a short circuit and the operation at that time in the fifth embodiment
  • FIG. 7(B) is a circuit diagram for explaining an example of control processing in the fifth embodiment.
  • This is a flowchart.
  • a short circuit three-phase short circuit
  • the overcurrent flows from the high potential power supply line to the switching elements Ua, Vb, and Wb. This shows the case where the current flows to the low potential power line via.
  • the generating unit 43 when the determining unit 42 determines that overcurrent is flowing in all phases (U phase, V phase, W phase), the generating unit 43 generates at least one phase ( Outputs an off command (P51) to the switching element Wb in the W phase (W phase), and then outputs an off command (P52) to the switching element (Vb) in the remaining phases (V phase) other than at least one phase. do. Furthermore, after that, an off command (P53) is output to the switching elements (Ua) in the remaining phases (U phase) other than at least one phase.
  • step ST51 the acquisition unit 41 acquires the U phase of the three-phase AC motor 3 output from the inverter 22, The V-phase and W-phase drive currents are obtained, and the process proceeds to step ST52.
  • step ST52 the determination unit 42 determines the presence or absence of overcurrent in all phases, and if it is determined that overcurrent in all phases is "present”, the process proceeds to step ST53, and the overcurrent in all phases is determined to be "no". ”, the process returns to step ST51.
  • step ST53 the generation unit 43 generates an off command to shut off the switching elements in the following order. That is, the generation unit 43 1. outputs an OFF command to the switching element in at least one phase. Then, 2. Output an off command to the switching elements in the remaining phases. Then, the process proceeds to step ST54, and the switching element is cut off according to the generation timing of the generation section 43.
  • the generation unit 43 determines that, for example, the determination unit 42 determines that overcurrent is flowing in all phases and a three-phase short circuit has occurred. If determined, an off command is output to the switching element Wb in at least one phase (W phase) (P51). Thereafter, an off command is output to the switching element Vb in the V phase other than the W phase (P52). Furthermore, after that, an off command is outputted to the switching elements Ua in the U phase other than the W phase (P53).
  • W phase W phase
  • FIG. 8 is a diagram for explaining a sixth example of the motor drive device according to the present embodiment.
  • FIG. 8(A) is a circuit diagram for explaining a short circuit and the operation at that time in the sixth embodiment
  • FIG. 8(B) is a circuit diagram for explaining an example of control processing in the sixth embodiment. This is a flowchart.
  • FIG. 8(A) is substantially the same as FIG. 7(A) described above.
  • the determining unit 42 determines that overcurrent is flowing in all phases (U phase, V phase, W phase)
  • the generating unit 43 generates a An off command is output to the switching elements in the remaining phases, and then an off command is output to the switching elements in the remaining phases. That is, in the sixth embodiment, in the fifth embodiment described above, an OFF command is first given to the switching element Wb in the phase at the upper end of the structure (W phase: W phase located at the end of the wiring in the circuit configuration). Output (P61).
  • the subsequent steps are substantially the same as in the fifth embodiment.
  • step ST61 when an example of the processing of the motor drive program in the sixth embodiment starts, in step ST61, the acquisition unit 41 acquires the U phase of the three-phase AC motor 3 output from the inverter 22, The V-phase and W-phase drive currents are obtained, and the process proceeds to step ST62.
  • step ST62 the determination unit 42 determines the presence or absence of overcurrent in all phases, and if it is determined that overcurrent in all phases is "present”, the process proceeds to step ST63, and the overcurrent in all phases is determined to be "absent”. ”, the process returns to step ST61.
  • step ST63 the generation unit 43 generates an off command to shut off the switching elements in the following order. That is, the generation unit 43 1. outputs an OFF command to the switching element in the phase located at the upper end of the structure. Then, 2. Output an off command to the switching elements in the remaining phases. Then, the process proceeds to step ST64, where the switching elements are controlled to be cut off (via the drive units C1 to C6) according to the generation timing of the generation unit 43.
  • the generation unit 43 determines, for example, that the determination unit 42 determines that overcurrent is flowing in all phases and a three-phase short circuit has occurred.
  • an OFF command is first output to the W-phase switching element Wb, which is structurally located at the end of the wiring (P61).
  • an off command is output to the switching element Vb in the V phase other than the W phase (P62).
  • an off command is outputted to the switching element Ua in the U phase other than the W phase (P63).
  • overvoltage breakdown in the switching elements can be prevented when various overcurrents flow, such as phase-to-phase short circuits, ground faults, and three-phase short circuits in the inverter. It becomes possible to prevent this.
  • FIG. 9 is a diagram for explaining a first modification of the motor drive device according to the present embodiment.
  • FIG. 9(A) is a circuit diagram for explaining a short circuit and the operation at that time in the first modified example
  • FIG. 9(B) is a circuit diagram for explaining an example of control processing in the first modified example. This is a flowchart.
  • FIGS. 9(A) and 9(B) show the first modified example applied to the first embodiment described with reference to FIGS. 3(A) and 3(B). However, as described above, it is also applicable to the second to sixth embodiments.
  • step ST71 when an example of the processing of the motor drive program in the first modification starts, in step ST71, the acquisition unit 41 acquires the U phase and The V-phase drive current is acquired, and the process proceeds to step ST72.
  • step ST72 the W-phase drive current is estimated based on the U-phase and V-phase drive currents acquired by the acquisition unit 41, and the process proceeds to step ST73.
  • step ST73 the determination unit 42 determines the presence or absence of overcurrent in all phases (the presence or absence of overcurrent in each phase), and if it is determined that overcurrent in all phases is present, the process proceeds to step ST74, If it is determined that there is no overcurrent in all phases, the process returns to step ST71.
  • step ST74 the generation unit 43 generates an off command to shut off the switching elements in the following order. That is, the generation unit 43 1. outputs an OFF command to the switching element Wa (Wa, Wb) in the phase (W phase) that is not determined to be overcurrent. Then, 2. Output an OFF command to the switching elements Ua and Vb in the phases (U phase, V phase) that are not determined to be overcurrent.
  • FIG. 10 is a diagram for explaining a second modification of the motor drive device according to the present embodiment.
  • FIG. 10(A) is a circuit diagram for explaining a short circuit and the operation at that time in the second modified example
  • FIG. 10(B) is a circuit diagram for explaining an example of control processing in the second modified example.
  • FIGS. 10(A) and 10(B) show an application of the first modification described with reference to FIGS. 9(A) and 9(B), and FIG. This is similar to FIG. 9(A) described above. That is, the second modification can be applied to the first to sixth embodiments to which the first modification is applied, but the second modification to the first to sixth embodiments to which the first modification is not applied. It can also be applied to examples. In other words, the first modification and the second modification can be applied arbitrarily (as appropriate) to the first to sixth embodiments.
  • step ST81 the acquisition unit 41 acquires the U phase and The V-phase drive current is acquired, and the process proceeds to step ST82.
  • step ST82 the W-phase drive current is estimated based on the U-phase and V-phase drive currents acquired by the acquisition unit 41, and the process proceeds to step ST83.
  • step ST83 the determination unit 42 determines from the current of each phase and its time change (di/dt) whether it is necessary to turn off the phase in which no overcurrent is flowing in advance. Then, in step ST83, if it is determined that there is a need to turn off due to overcurrent flowing, the process proceeds to step ST84, and the process proceeds to step ST84, where the above-mentioned embodiments 1 to 6 (embodiments 1 to 6 to which modification 1 is applied) are executed. ) is performed (same processing).
  • the determination unit 42 determines whether it is necessary to turn off or not, for example, if di/dt (current change per time) is This can be determined based on whether it exceeds a predetermined value.
  • the motor 3 can be continued.
  • a predetermined value to be compared with di/dt an optimal value is selected based on the capacity and standard of the applied polyphase AC motor 3 and the specifications of the robot or the like in which the motor 3 is used.
  • the motor drive devices of the first to sixth embodiments or the motor drive devices of the first to sixth embodiments to which the first modification and/or the second modification are applied are as follows. , a motor drive method, and, for example, a motor drive program that is executed by an arithmetic unit in a motor drive device.
  • the motor drive program according to the present embodiment described above may be provided by being recorded on a computer-readable non-temporary recording medium or a non-volatile semiconductor storage device, or may be provided via wired or wireless communication.
  • the computer-readable non-temporary recording medium may be, for example, an optical disk such as a CD-ROM (Compact Disc Read Only Memory) or a DVD-ROM, or a hard disk device.
  • PROM Programmable Read Only Memory
  • flash memory etc.
  • distribution from the server device may be provided via a wired or wireless WAN (Wide Area Network), LAN (Local Area Network), the Internet, or the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Ac Motors In General (AREA)
PCT/JP2022/022177 2022-05-31 2022-05-31 モータ駆動装置、モータ駆動方法およびモータ駆動プログラム WO2023233536A1 (ja)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014217151A (ja) * 2013-04-25 2014-11-17 富士電機株式会社 電力変換装置およびその過電流保護方法
JP2016066974A (ja) * 2014-09-26 2016-04-28 株式会社日立製作所 半導体パワーモジュール及び半導体駆動装置
JP2017050996A (ja) * 2015-09-02 2017-03-09 ファナック株式会社 過電流検出部を有するモータ駆動装置
JP2018098938A (ja) * 2016-12-14 2018-06-21 三菱電機株式会社 駆動システムおよび電力変換装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014217151A (ja) * 2013-04-25 2014-11-17 富士電機株式会社 電力変換装置およびその過電流保護方法
JP2016066974A (ja) * 2014-09-26 2016-04-28 株式会社日立製作所 半導体パワーモジュール及び半導体駆動装置
JP2017050996A (ja) * 2015-09-02 2017-03-09 ファナック株式会社 過電流検出部を有するモータ駆動装置
JP2018098938A (ja) * 2016-12-14 2018-06-21 三菱電機株式会社 駆動システムおよび電力変換装置

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