WO2023238381A1 - モータ制御装置およびモータ制御システム - Google Patents
モータ制御装置およびモータ制御システム Download PDFInfo
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- WO2023238381A1 WO2023238381A1 PCT/JP2022/023451 JP2022023451W WO2023238381A1 WO 2023238381 A1 WO2023238381 A1 WO 2023238381A1 JP 2022023451 W JP2022023451 W JP 2022023451W WO 2023238381 A1 WO2023238381 A1 WO 2023238381A1
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- Prior art keywords
- temperature
- motor
- motor control
- circuit board
- printed circuit
- Prior art date
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- 230000001133 acceleration Effects 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 abstract 2
- 230000036544 posture Effects 0.000 description 40
- 230000020169 heat generation Effects 0.000 description 30
- 238000004364 calculation method Methods 0.000 description 21
- 238000009434 installation Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
Definitions
- the present disclosure relates to a motor control device and a motor control system that control a motor.
- the motor control device has an inverter circuit that supplies power to a motor such as a servo motor.
- a motor control device the inverter circuit generates heat when the inverter circuit operates, and the temperature inside the motor control device increases.
- conventional motor control devices are provided with a heat dissipation mechanism for dissipating heat in a housing that houses an inverter circuit.
- the conventional motor control device is provided with a temperature sensor that detects the temperature of the heat radiation mechanism, and stops the operation of the inverter circuit depending on the detected temperature.
- the motor control device may be installed in various installation postures depending on the device to be driven and other devices. In such a motor control device, it is known that the influence of the heat generated by the inverter circuit on the heat generation of the entire motor control device varies greatly depending on the installation orientation of the motor control device.
- the component whose temperature is to be detected is mounted on a printed circuit board, whereas the temperature detected by the temperature sensor is the temperature of the heat sink, and there is a difference between the temperature of the actual component and the temperature detected by the temperature sensor. A large error will occur.
- the motor control device described in Patent Document 1 acquires the installation orientation of the motor control device by detecting the inclination of the casing with an acceleration sensor placed in the casing, but the temperature of the component whose temperature is to be detected is If the installation orientation of the printed circuit board on which the component whose temperature is to be detected changes independently of the casing or does not have a casing, it is not possible to obtain the installation orientation of the printed circuit board on which the component whose temperature is to be detected is mounted. For this reason, the motor control device described in Patent Document 1 has a problem in that it cannot perform motor control according to the accurate heat generation state of the components mounted on the printed circuit board.
- the present disclosure has been made in view of the above, and an object of the present disclosure is to obtain a motor control device that can perform motor control according to the accurate heat generation state of components mounted on a printed circuit board.
- the motor control device of the present disclosure is arranged on a printed circuit board, detects acceleration corresponding to the posture of the printed circuit board, and outputs the detected acceleration as acceleration information. and a temperature sensor that is arranged on the printed circuit board, detects the temperature on the printed circuit board, and outputs the detected temperature as the detected temperature. Further, the motor control device of the present disclosure includes an inverter circuit that is arranged on a printed circuit board and drives the motor, and an inverter circuit that is arranged on the printed circuit board and calculates posture information indicating the posture of the printed circuit board based on acceleration information.
- a diagram showing the configuration of a printed circuit board equipped with a motor control device according to an embodiment A diagram showing an example of arrangement and configuration of components on a printed circuit board according to an embodiment.
- FIG. 1 is a diagram showing the configuration of a printed circuit board equipped with a motor control device according to an embodiment. Each component constituting the motor control device 10 is arranged on the printed circuit board 50.
- the motor control device 10 is connected to a motor 20 such as a servo motor, and controls the motor 20.
- the motor control device 10 includes a control circuit 1, an acceleration sensor 2, a temperature sensor 3, and an inverter circuit 8 that drives the motor 20. That is, the control circuit 1, the acceleration sensor 2, the temperature sensor 3, and the inverter circuit 8 are all arranged on the printed circuit board 50.
- the control circuit 1 includes an installation direction calculation section 4, a temperature calculation section 5, a constraint information storage section 6, and a heat generation determination section 7.
- the temperature sensor 3 detects the temperature on the motor control device 10 and sends a detected temperature indicating the detected temperature to the temperature calculation unit 5.
- An example of the temperature sensor 3 is a temperature thermistor.
- the temperature calculation unit 5 calculates temperature information indicating the temperature of a component whose temperature is being monitored (for example, the inverter circuit 8) based on the detected temperature detected by the temperature sensor 3.
- the component whose temperature is monitored may be any component on the printed circuit board 50, but in this embodiment, the component whose temperature is monitored is the inverter circuit 8 on the printed circuit board 50. A case will be explained below.
- the temperature calculation unit 5 sends the calculated temperature information of the inverter circuit 8 to the heat generation determination unit 7.
- the installation direction calculation unit 4 calculates orientation information indicating the orientation (installation orientation) in which the printed circuit board 50 functioning as the motor control device 10 is installed.
- the installation direction calculation unit 4 calculates posture information indicating the inclination of the motor control device 10 in three axes directions: the X-axis direction, the Y-axis direction, and the Z-axis direction.
- the installation direction calculation section 4 sends the calculated posture information to the heat generation determination section 7.
- the constraint information storage unit 6 is a memory or the like that stores constraint information 9 in advance.
- the constraint information 9 is information indicating a first temperature threshold and a second temperature threshold set for each posture information. That is, in the constraint information 9, posture information, a first temperature threshold, and a second temperature threshold are associated with each other. In this manner, in this embodiment, the first temperature threshold and the second temperature threshold are set for each orientation of the printed circuit board 50.
- the second temperature threshold is a higher value than the first temperature threshold.
- the first temperature threshold is a threshold used to determine whether or not to reduce the amount of power supplied to the motor 20.
- the second temperature threshold is a threshold used to determine whether or not to stop power supply to the motor 20.
- the first temperature threshold is the upper temperature limit when determining that the amount of power supplied to the motor 20 is to be reduced
- the second temperature threshold is the upper temperature limit when determining that the amount of power supplied to the motor 20 is to be stopped. is the upper limit of temperature.
- the first temperature threshold value and the second temperature threshold value are determined between the temperature sensor 3 and the monitored component (in this embodiment, the inverter circuit 8), which is the component whose temperature is monitored on the printed circuit board 50. It is set based on placement relationships, etc.
- the arrangement relationship includes the distance between the monitored component and the temperature sensor 3, the thermal conductivity between the monitored component and the temperature sensor 3, and the like. That is, the first temperature threshold and the second temperature threshold are set based on the distance between the monitored component and the temperature sensor 3, the thermal conductivity between the monitored component and the temperature sensor 3, etc. . Further, the first temperature threshold and the second temperature threshold are set for each posture information.
- the heat generation determination unit 7 receives posture information from the installation direction calculation unit 4 and temperature information from the temperature calculation unit 5. Furthermore, the heat generation determination section 7 reads out constraint information 9 (first temperature threshold and second temperature threshold) corresponding to the posture information from the constraint information storage section 6 .
- the heat generation determination unit 7 determines the power supply command to be output to the inverter circuit 8 based on the temperature information, posture information, and constraint information 9.
- the heat generation determination unit 7 outputs a power supply command to reduce the power supply to the inverter circuit 8. That is, when the temperature information exceeds the first temperature threshold corresponding to the posture information, the heat generation determination unit 7 reduces the amount of power supplied to the motor 20 by controlling the inverter circuit 8. This suppresses heat generation in the motor control device 10.
- the power supply command to reduce the power supply is, for example, a command in which at least one of the current and voltage values is smaller than the current and voltage values of the power supply command that was previously output to the inverter circuit 8, and a power supply command that reduces the power supply command. This is a command to correct to lower at least one of the current and voltage values.
- the heat generation determination unit 7 outputs a power supply command to the inverter circuit 8 to stop the power supply. That is, when the temperature information exceeds the second temperature threshold corresponding to the posture information, the heat generation determination section 7 controls the inverter circuit 8 to stop power supply to the motor 20, thereby Heat generation of the motor control device 10 is suppressed.
- the power supply command to stop the power supply is, for example, a command in which at least one of the current and voltage values is set to 0 (zero), and at least the current and voltage values of the power supply command output to the inverter circuit 8. These include a command to correct one side to 0 (zero), a command to cut off the power supply command output to the inverter circuit 8, and the like.
- the heat generation determination unit 7 controls power to the motor 20.
- the supply amount is controlled according to the temperature information. That is, if the temperature information exceeds the first temperature threshold corresponding to the orientation information of the printed circuit board 50 and does not exceed the second temperature threshold, the heat generation determination unit 7 determines that the temperature information is a high temperature. The more the amount of power supplied to the motor 20 is reduced, the more a command is output to the inverter circuit 8.
- the heat generation determination unit 7 determines whether or not power is supplied to the motor 20 when the temperature information exceeds a first temperature threshold corresponding to the orientation information of the printed circuit board 50 and does not exceed a second temperature threshold.
- the amount may be controlled to a constant amount.
- the motor control device 10 of this embodiment uses temperature information corresponding to the temperature detected by the temperature sensor 3 on the printed circuit board 50, attitude information of the motor control device 10 (printed circuit board 50), and constraint information 9. Based on this, the heat generation state of the inverter circuit 8 is determined. The motor control device 10 then controls the amount of power supplied to the motor 20 according to the heat generation state of the inverter circuit 8.
- the control circuit 1 issues a power supply command to the motor 20 based on the temperature thresholds (first and second temperature thresholds) set for each posture information, the posture information, and the temperature information to the inverter circuit 8.
- the inverter circuit 8 is controlled by outputting the signal to the inverter circuit 8. That is, since the motor control device 10 can determine the heat generation state of the inverter circuit 8 based on the posture information, accurate temperature monitoring of the inverter circuit 8 is possible.
- FIG. 2 is a diagram showing an example of the arrangement and configuration of components on the printed circuit board according to the embodiment.
- a control circuit 1 On the printed circuit board 50, a control circuit 1, an acceleration sensor 2, a temperature sensor 3, and an inverter circuit 8, which are components (components) of the motor control device 10, are arranged. Note that components other than those shown in FIG. 2 may be arranged on the printed circuit board 50.
- a control circuit 1, an acceleration sensor 2, a temperature sensor 3, and an inverter circuit 8 are fixed on the printed circuit board 50. Therefore, although the distance between the temperature sensor 3 and the inverter circuit 8 remains unchanged, the positional relationship between the temperature sensor 3 and the inverter circuit 8 changes depending on the attitude of the printed circuit board 50.
- the specific member within the device may change its posture.
- the printed circuit board 50 is arranged so as to change to an arbitrary posture after being installed.
- the attitude of the printed circuit board 50 also changes.
- the posture of the printed circuit board 50 changes according to the movement of the robot arm. That is, the positional relationship between the temperature sensor 3 and the inverter circuit 8 changes depending on the operation of the device in which the printed circuit board 50 is arranged.
- motor control device 10 controls the amount of power supplied to motor 20 based on orientation information.
- the motor control system 60 can change the posture by rotating the joints 41 to 43 and move the tip 55 to various positions.
- the printed circuit board 50 is arranged within the arm section 40, which is a movable section.
- the printed circuit board 50 is arranged inside the shaft portions 51 to 53, for example. Note that the printed circuit board 50 may be placed inside the joints 41 to 43.
- the motor 20 is arranged inside the joints 41 to 43, for example. Note that the motor 20 may be placed inside the shaft portions 51 to 53.
- the motor control device 10 is composed of a printed circuit board 50 on which an inverter circuit 8 is arranged, and is not housed in a housing.
- the motor control device 10 controls the motor 20 based on posture information, even if it is not housed in a casing in which a heat dissipation mechanism such as a heat sink is arranged, or even if the installation posture changes independently of the casing. Since the amount of power supplied can be reduced, the motor control device 10 can be protected from excessive heat generation.
- the motor control device 10 since the motor control device 10 is not placed inside the housing, it can be made smaller and can be placed in the motor control system 60 in various postures. Even in this case, the motor control device 10 can reduce the amount of power supplied to the motor 20 based on the posture information, so the motor control device 10 can be protected from excessive heat generation.
- FIG. 4 is a diagram illustrating an example of a hardware configuration that implements a control circuit included in the motor control device according to the embodiment.
- the control circuit 1 can be realized by an input device 300, a processor 100, a memory 200, and an output device 400.
- An example of the processor 100 is a CPU (Central Processing Unit, also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor)) or a system LSI (Large Scale Integration).
- Examples of the memory 200 are RAM (Random Access Memory) and ROM (Read Only Memory).
- the configuration shown in the above embodiments is an example, and it is possible to combine it with another known technology, and a part of the configuration can be omitted or changed without departing from the gist. It is possible.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
図1は、実施の形態にかかるモータ制御装置を備えたプリント基板の構成を示す図である。プリント基板50には、モータ制御装置10を構成する各部品が配置されている。モータ制御装置10は、サーボモータ等のモータ20に接続されており、モータ20を制御する。
Claims (7)
- プリント基板に配置されるとともに、前記プリント基板の姿勢に対応する加速度を検知し、検知した加速度を加速度情報として出力する加速度センサと、
前記プリント基板に配置されるとともに、前記プリント基板上での温度を検知し、検知した温度を検知温度として出力する温度センサと、
前記プリント基板に配置されるとともに、モータを駆動するインバータ回路と、
前記プリント基板に配置されるとともに、前記加速度情報に基づいて前記プリント基板の姿勢を示す姿勢情報を算出し、かつ前記検知温度に基づいて前記プリント基板に配置されている部品の温度を示す温度情報を算出し、かつ前記姿勢情報毎に設定されている温度閾値、前記姿勢情報、および前記温度情報に基づいた前記モータへの電力供給指令を前記インバータ回路に出力することで前記インバータ回路を制御する制御回路と、
を備える、
ことを特徴とするモータ制御装置。 - 前記温度閾値は、前記部品と前記温度センサとの間の配置関係に基づいて設定されている、
ことを特徴とする請求項1に記載のモータ制御装置。 - 前記温度閾値は、第1の温度閾値と、前記第1の温度閾値よりも高い値の第2の温度閾値とを含み、
前記制御回路は、前記温度情報が前記第1の温度閾値を超えた場合には、前記モータへの電力供給量を低減させる指令を前記インバータ回路に出力し、前記温度情報が前記第2の温度閾値を超えた場合には、前記モータへの電力供給を停止させる指令を前記インバータ回路に出力する、
ことを特徴とする請求項1または2に記載のモータ制御装置。 - 前記制御回路は、前記温度情報が前記第1の温度閾値を超え、かつ前記温度情報が前記第2の温度閾値を超えていない場合には、前記温度情報が高い温度であるほど前記モータへの電力供給量を多く低減させる指令を前記インバータ回路に出力する、
ことを特徴とする請求項3に記載のモータ制御装置。 - 前記部品は、前記インバータ回路である、
ことを特徴とする請求項1から4の何れか1つに記載のモータ制御装置。 - 前記プリント基板は、前記モータを備える装置の可動部に配置されており、前記可動部の動作に応じて前記姿勢が変化する、
ことを特徴とする請求項1から5の何れか1つに記載のモータ制御装置。 - 請求項1から6の何れか1つに記載のモータ制御装置と、
前記モータを備える装置の可動部と、
を有し、
前記プリント基板は、前記可動部に配置されており、前記可動部の動作に応じて前記姿勢が変化する、
ことを特徴とするモータ制御システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2022/023451 WO2023238381A1 (ja) | 2022-06-10 | 2022-06-10 | モータ制御装置およびモータ制御システム |
JP2022566409A JP7233623B1 (ja) | 2022-06-10 | 2022-06-10 | モータ制御装置およびモータ制御システム |
KR1020247020403A KR102703424B1 (ko) | 2022-06-10 | 모터 제어 장치 및 모터 제어 시스템 | |
CN202280083486.2A CN118402175A (zh) | 2022-06-10 | 2022-06-10 | 电动机控制装置及电动机控制系统 |
Applications Claiming Priority (1)
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PCT/JP2022/023451 WO2023238381A1 (ja) | 2022-06-10 | 2022-06-10 | モータ制御装置およびモータ制御システム |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013223360A (ja) * | 2012-04-18 | 2013-10-28 | Lenovo Singapore Pte Ltd | 流体動圧軸受の寿命を延長する方法および携帯式電子機器 |
JP2015033995A (ja) * | 2013-08-09 | 2015-02-19 | トヨタ自動車株式会社 | 車両用回転電機温度推定システム |
WO2021255999A1 (ja) * | 2020-06-17 | 2021-12-23 | パナソニックIpマネジメント株式会社 | 吸引式の清掃機に取り付けられる吸込具 |
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- 2022-06-10 JP JP2022566409A patent/JP7233623B1/ja active Active
- 2022-06-10 CN CN202280083486.2A patent/CN118402175A/zh active Pending
- 2022-06-10 WO PCT/JP2022/023451 patent/WO2023238381A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2013223360A (ja) * | 2012-04-18 | 2013-10-28 | Lenovo Singapore Pte Ltd | 流体動圧軸受の寿命を延長する方法および携帯式電子機器 |
JP2015033995A (ja) * | 2013-08-09 | 2015-02-19 | トヨタ自動車株式会社 | 車両用回転電機温度推定システム |
WO2021255999A1 (ja) * | 2020-06-17 | 2021-12-23 | パナソニックIpマネジメント株式会社 | 吸引式の清掃機に取り付けられる吸込具 |
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JPWO2023238381A1 (ja) | 2023-12-14 |
CN118402175A (zh) | 2024-07-26 |
KR20240104178A (ko) | 2024-07-04 |
JP7233623B1 (ja) | 2023-03-06 |
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