WO2024142958A1 - Dispositif d'entraînement - Google Patents

Dispositif d'entraînement Download PDF

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Publication number
WO2024142958A1
WO2024142958A1 PCT/JP2023/044782 JP2023044782W WO2024142958A1 WO 2024142958 A1 WO2024142958 A1 WO 2024142958A1 JP 2023044782 W JP2023044782 W JP 2023044782W WO 2024142958 A1 WO2024142958 A1 WO 2024142958A1
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WIPO (PCT)
Prior art keywords
power
motor
axis current
frequency
unit
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PCT/JP2023/044782
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English (en)
Japanese (ja)
Inventor
岳 桐淵
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オムロン株式会社
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Priority claimed from JP2023167653A external-priority patent/JP2024095520A/ja
Application filed by オムロン株式会社 filed Critical オムロン株式会社
Publication of WO2024142958A1 publication Critical patent/WO2024142958A1/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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
    • H02P5/685—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors electrically connected in series, i.e. carrying the same current

Definitions

  • the present invention relates to a driver.
  • Patent Document 1 discloses a configuration in which power is supplied wirelessly from an external source to an encoder that communicates wirelessly with the servo system.
  • Patent Document 2 also discloses a configuration in which the power required to drive an external device such as an encoder is superimposed on the driving power of the motor and supplied to the motor once, and then the motor extracts a portion of the supplied power to supply power to the external device.
  • the supply power for the external device is superimposed by adjusting the d-axis current value in the driving current of the motor.
  • a d-axis current included in the drive current for driving a motor as disclosed in the prior art in the form of power supply to an external device such as an encoder
  • the present invention was made in consideration of these problems, and aims to provide technology that realizes a stable power supply to external devices related to the motor while minimizing the impact on the operating state of the motor.
  • the driver disclosed in the present application is configured to supply drive power to a motor having an extraction unit that extracts a portion of power supplied from the outside and a supply unit that supplies the power extracted by the extraction unit to an external device, or to a motor power line provided with the extraction unit and the supply unit.
  • the driver also has a power estimation unit that estimates the power extracted by the extraction unit based on the drive current and rotation speed of the motor, and an output unit that generates an additional d-axis current to be superimposed on a d-axis current corresponding to the drive power required to drive the motor based on the extracted power estimated by the power estimation unit, and superimposes the additional d-axis current on the drive power required to drive the motor and outputs the result to the extraction unit as a predetermined power.
  • the motor may be a single-phase AC motor or a three-phase AC motor.
  • the coils in the winding section of the motor may be connected in a delta connection or a star connection (or Y connection).
  • the coils of the winding section may be wound around the stator of the motor in a distributed or concentrated winding manner. In other words, there is no intention to place any particular restrictions on the specific configuration of the winding section in the motor of the present invention.
  • the extraction unit is not limited to a specific embodiment, so long as the extraction unit is arranged so as to be able to extract power from the windings of the motor and the power lines connecting the motor and the driver.
  • the extraction unit may be arranged so as to form a transformer structure arranged so that a portion of the power supplied to the windings and power lines of the motor is input to the primary coil, and may be configured to extract a portion of the power via the transformer structure.
  • the transformer structure may be either an auto-winding transformer or a compound-winding transformer.
  • the secondary coil refers to the portion of the primary coil that is shared between both.
  • FIG. 1 is a diagram showing a schematic configuration of a control system that controls the drive of a motor.
  • a PLC Programmable Logic Controller
  • a plurality of servo drivers (hereinafter referred to as "drivers") 4 are connected to the network 1, and are configured to be able to send and receive signals to and from the PLC 5.
  • the functional configuration of one driver 4 is representatively described in detail, but the other drivers 4a and 4b also have functional configurations equivalent to that of the driver 4.
  • the motor 2 is connected to the driver 4 by a power line 11 and receives a supply of drive power.
  • the motors 2a and 2b receive a supply of drive power from the drivers 4a and 4b via power lines 11a and 11b, respectively.
  • the structures of the motors and drivers will be representatively described based on the motor 2 and the driver 4.
  • the power line 11 for supplying drive power from the driver 4 is connected to a connector 211.
  • the connector 211 is connected to each phase of the winding section 25.
  • a transformer structure (see 53, 63, and 73 in FIG. 3; details will be described later) is arranged for the winding section 25, and an extraction section 214 is provided that uses the transformer structure to extract a portion of the drive power supplied to the coil of the winding section 25 as power for the encoder.
  • the extraction section 214 extracts a current that can be used as a drive current for the encoder 22 from the secondary coil side by passing the AC current flowing through the winding section 25 of the motor body 21 to the primary coil side of the transformer structure.
  • a current including the predetermined signal is passed through the secondary coil of the transformer structure via the signal exchange unit 216, so that the extraction unit 214 generates a current corresponding to the predetermined signal on the primary coil side of the transformer structure, and passes this current through the coil of the winding unit 25.
  • the signal exchange unit 216 may also perform a predetermined amplification process on the predetermined signal. Since the coil of the winding unit 25 is electrically connected to the driver 4 via the power line 11, the predetermined signal can be transmitted from the encoder 22 to the driver 4 via a current corresponding to the predetermined signal output from the processing unit 221.
  • the encoder 22 and the driver 4 are configured to be able to communicate wirelessly via the communication unit 42, but the exchange of the predetermined signal via the signal exchange unit 216 is a useful form of communication under certain conditions, such as a state before the wireless communication is possible.
  • the winding ratio (the ratio of the number of windings of the secondary coil to the number of windings of the primary coil) of the transformer structure of each phase is basically the same, but may be different.
  • the transformer structure is arranged in all three phases, and the secondary coil is connected to the supply unit 215 and the signal exchange unit 216, but the transformer structure may be arranged in only some of the three phases, and the secondary coil may be connected to the supply unit 215 and the signal exchange unit 216.
  • the transformer structure may be arranged in all three phases, the secondary coil of some of the transformer structures may be connected to the supply unit 215, and the secondary coil of the remaining transformer structure may be connected to the signal exchange unit 216.
  • the voltages Vux2, Vvx2, and Vwx2, and the currents Iux2, Ivx2, and Iwx2 represent the output voltage and current on the secondary side of the transformer structure
  • Lx1, Lx2, and Mx represent the primary inductance, secondary inductance, and mutual inductance of the transformer structure, respectively
  • Rx1 and Rx2 represent the winding resistances on the primary and secondary sides of the transformer structure.
  • ⁇ e is the electrical angle.
  • Equation 7 the power Pdqt of the steady-state characteristics on the secondary side of the transformer structure is expressed by the following Equation 7. ... (Equation 7)
  • the method of determining the motor drive current for power extraction by a transformer structure i.e., for supplying power to the encoder 22, is switched depending on the region to which the operating state of the motor 2 belongs.
  • the rotation speed of the motor 2 shown in FIG. 4 is assumed to have a maximum speed region of ⁇ max. Note that since the q-axis current iq is a drive current that directly affects the torque exerted by the motor 2, adjusting the q-axis current iq when the aim is to extract power by a transformer structure is undesirable as it significantly affects the operating state of the motor 2. Therefore, when the aim is to extract power by a transformer structure, the d-axis current id is adjusted.
  • region R1 is a so-called high-speed, high-torque region.
  • the driver voltage output becomes saturated due to induced voltage, making stable rotation difficult.
  • region R1 is set as a region in which Pdqt expressed by equation 7 is greater than a predetermined threshold power.
  • the regions other than region R1 are divided into region R2, where the rotation speed of the motor 2 is higher than a threshold speed ⁇ 0, and region R3, where the rotation speed of the motor 2 is equal to or lower than the threshold speed ⁇ 0.
  • the threshold speed ⁇ 0 is related to the efficiency of power extraction in the transformer structure, and when the rotation speed of the motor 2 is higher than the threshold speed ⁇ 0, the efficiency of power extraction in the transformer structure is relatively high, and when the rotation speed of the motor 2 is equal to or lower than the threshold speed ⁇ 0, the efficiency of power extraction in the transformer structure is relatively low. Therefore, the threshold speed ⁇ 0 is used as a boundary condition, and the adjustment mode of the d-axis current id for supplying power to the encoder 22 via the transformer structure is made different between region R2 and region R3.
  • S103 it is determined in S103 whether the operating state of motor 2 belongs to the low rotation region R3. Specifically, if the rotation speed of motor 2 is equal to or lower than the threshold speed ⁇ 0 shown in FIG. 4, a positive determination is made in S103, and if it is higher than the threshold speed ⁇ 0, a negative determination is made in S103. If a positive determination is made in S103, the process proceeds to S105, and if a negative determination is made, the process proceeds to S106.
  • FIG. 6 shows a block diagram in which the power estimate Pdqx ⁇ is generated through adjustment of the d-axis current value.
  • the power estimate Pdqx ⁇ is fed back and the difference is added to the controller.
  • the difference is multiplied by a predetermined gain C, and further multiplied by a sine wave of a first frequency generated by a signal generating unit.
  • the process of multiplying by the sine wave of the first frequency associates the fluctuation over time with the d-axis current, and as a result, the d-axis current includes an element idac* that varies over time.
  • This element idac* that varies over time is associated with the element pac shown in Figure 7(b) described below.
  • the idoc*, the d-axis current value element iddc* that does not change over time, the q-axis current iq*, and the electrical angular frequency ⁇ e related to the rotation speed of the motor 2 are input to the power estimator to obtain the power estimation value Pdqx ⁇ . That is, the parameters related to the drive current of the motor 2 (iq*, iddc*, idac*) and the parameter related to the rotation speed ( ⁇ e) are input to the power estimator. Then, Equation 5 is applied to the power estimator. Also, as shown in the lower part of FIG.
  • the d-axis current shown in the upper part of Figure 7 (a) does not change over time and is a constant value.
  • This type of d-axis current does not include elements that change over time, but only elements that do not change over time (elements referenced by pdc in the figure).
  • the d-axis current shown in the lower part of Figure 7 (b) changes over time under a constant bias.
  • This type of d-axis current includes elements that do not change over time (elements referenced by pdc in the figure) as well as elements that do change over time (elements referenced by pac in the figure).
  • the power estimation model shown in FIG. 6 is used to adjust the d-axis current value in a manner that varies over time, as shown in FIG. 7(b). That is, the amount of power to be supplied to the encoder 22 is superimposed on the motor drive current through adjustment of the d-axis current value. In this manner, the adjusted d-axis current value becomes a value that varies over time with a constant amplitude and a constant frequency, with a bias due to an element that does not vary over time being added.
  • the d-axis current value is adjusted in a manner that does not change over time, as shown in FIG. 7(a), using the power estimation model shown in FIG. 6. That is, the power to be supplied to the encoder 22 is superimposed on the drive current of the motor through the adjustment of the d-axis current value.
  • the rotation speed of the motor 2 is relatively high, so the efficiency of power extraction by the transformer structure can be relatively maintained. Therefore, by defining the d-axis current by an element that does not change over time, the amount of power supply per unit time can be increased, and more efficient power supply can be achieved.
  • the d-axis current value for power supply may be determined according to the following formula 8, which is derived from the above formula 7. ... (Equation 8)
  • the power supply control shown in FIG. 5 can realize a stable power supply to the encoder 22 while minimizing the impact on the operating state of the motor 2.
  • the specified frequency related to the time variation of the superimposed d-axis current is constant, so a transformer structure can be designed that allows for more efficient power extraction by taking into account this specified frequency for power extraction in the transformer structure.
  • the frequency of the current flowing into the transformer structure is always constant, there is no need to accommodate a wide range of frequencies, and the transformer structure for power extraction can be simplified further. This contributes to the miniaturization of the transformer structure, making it easier to miniaturize the motor 2.
  • the first frequency of the sine wave generated by the signal generating unit is lower than the frequency (electrical angular frequency) corresponding to the maximum rotation speed ⁇ max of the motor 2.
  • the power conversion unit 43 of the servo driver 4 is configured to be able to drive the motor 2 at the maximum rotation speed ⁇ max, it is also possible to generate a d-axis current for power supply.
  • there is no prohibition on the first frequency being equal to or higher than the frequency corresponding to the maximum rotation speed ⁇ max of the motor 2.
  • the frequency of the d-axis current superimposed for power supply will be considered in detail.
  • the frequency of the d-axis current superimposed is adjusted by the signal generating unit shown in FIG. 6, and specifically, the frequency of the sine wave generated therein becomes the frequency of the d-axis current superimposed.
  • the initial value id0* shown in FIG. 6 is set to zero.
  • the power extracted by the transformer structure 53 etc. has the frequency characteristics shown in Figure 8. That is, as a frequency characteristic of the extracted power, peaks of the power extracted by the transformer structure 53 etc. appear at the electrical angle frequency ⁇ e caused by the rotation speed of the motor 2 and at a frequency shifted from that frequency by the frequency ⁇ dac of the superimposed d-axis current, i.e., at the sum frequency ( ⁇ e + ⁇ dac) where the electrical angle frequency ⁇ e is added to the frequency ⁇ dac of the superimposed d-axis current, and at the differential frequency ( ⁇ e - ⁇ dac) which is the difference between the electrical angle frequency ⁇ e and the frequency ⁇ dac of the superimposed d-axis current.
  • the transformer structure 53 is a structure having a primary coil 531 and a secondary coil 532, the efficiency of physical power extraction generally depends on the frequency of the current input to the primary coil 531. Therefore, it is preferable to set the frequency ⁇ dac of the superimposed d-axis current, in other words, the frequency of the sine wave generated by the signal generating unit shown in FIG. 6, so that these frequencies ⁇ e, ( ⁇ e+ ⁇ dac), and ( ⁇ e- ⁇ dac) belong to the frequency range in which power extraction by the transformer structure 53 and the like is favorably performed, that is, the frequency range in which the extraction operation of the transformer structure 53 is guaranteed (for example, a frequency range equal to or higher than the minimum operating frequency ⁇ min in which operation is guaranteed).
  • the frequency of the sine wave generated by the signal generating unit is set so that ( ⁇ e- ⁇ dac), which is the smallest value among the frequencies ⁇ e, ( ⁇ e+ ⁇ dac), and ( ⁇ e- ⁇ dac), is equal to or greater than the minimum operating frequency ⁇ min of the transformer structure 53, etc.
  • Tables 1 and 2 show examples of fluctuations in the extracted power of the transformer structure 53 and the like due to differences in ⁇ dac.
  • the minimum operating frequency ⁇ min of the transformer structure 53 and the like is equivalent to 200 Hz.
  • the extracted power (calculated value) in Tables 1 and 2 is calculated based on the current value calculated according to Equation 10, and the extracted power (experimental value) is the power actually obtained in the motor 2.
  • id0 0 A
  • iddc -1.0 A
  • the target extracted power is 1 W.
  • the extracted power (calculated value) and extracted power (experimental value) when ⁇ dac is set to 208 Hz are shown in Table 1 below.
  • Table 1 As can be seen from Table 1, in a region where the rotation speed of the motor 2 is low and the electrical angular frequency ⁇ e is small (for example, a region where the rotation speed of the motor 2 is 500 rpm or less), the power actually extracted by the transformer structure 53 etc. is lower than the expected extracted power. This is considered to be due to the fact that the frequency ( ⁇ e - ⁇ dac) is lower than 200 Hz, which is the minimum operating frequency ⁇ min of the transformer structure 53 etc.
  • id0 0 A
  • iddc 0 A
  • the target extracted power is 1 W.
  • the extracted power (calculated value) and extracted power (experimental value) when ⁇ dac is set to 1 kHz are shown in Table 2 below.
  • the above-mentioned adjustment of the frequency ⁇ dac of the superimposed d-axis current can also be applied to areas other than the area where the rotation speed of the motor 2 is low.
  • the winding ratio of the transformer structure of each phase is basically the same, but may be different.
  • a transformer structure corresponding to all three phases is arranged, and its secondary coil is connected to the supply unit 215 and the signal exchange unit 216, but a transformer structure may be arranged to correspond to only some of the three phases, and its secondary coil may be connected to the supply unit 215 and the signal exchange unit 216.
  • a transformer structure corresponding to all three phases may be arranged, and the secondary coil of some of the transformer structures may be connected to the supply unit 215, and the secondary coil of the remaining transformer structures may be connected to the signal exchange unit 216.
  • the winding ratio of the transformer structure connected to the supply unit 215 and controlling the power supply to the encoder 22 and the winding ratio of the transformer structure connected to the signal exchange unit 216 and controlling the transmission and reception of a predetermined signal to and from the encoder 22 may be appropriately set according to the respective purposes.
  • the second embodiment of the modified example will be described with reference to FIG. 10.
  • the configuration of the winding section 25 of the motor body 21 is the same as that of the above embodiment, so a detailed description thereof will be omitted.
  • the coil components 51, 61, 71 of the winding parts L5, L6, L7 of each phase are used as the primary coils 531, 631, 731 of the transformer structures 53, 63, 73 corresponding to each phase.
  • the coil component 51 is used as the primary coil 531 to form the transformer structure 53
  • the coil component 61 is used as the primary coil 631 to form the transformer structure 63
  • the coil component 71 is used as the primary coil 731 to form the transformer structure 73. Therefore, in the third embodiment, the secondary coils 532, 632, 732 of the transformer structures 53, 63, 73 of each phase are wound around the stator core together with the main coils of the winding section, which are also the primary coils, to form the transformer structures 53, 63, 73 of each phase.
  • the secondary coil 532 of the transformer structure 53, the secondary coil 632 of the V-phase transformer structure 63, and the secondary coil 732 of the W-phase transformer structure 73 are connected to the supply unit 215. Furthermore, each of the secondary coils 532, 632, and 732 is also connected to the signal exchange unit 216.
  • the winding ratio of the transformer structure of each phase is basically the same, but may be different.
  • a transformer structure corresponding to all three phases is arranged, and its secondary coil is connected to the supply unit 215 and the signal exchange unit 216, but a transformer structure may be arranged to correspond to only some of the three phases, and its secondary coil may be connected to the supply unit 215 and the signal exchange unit 216.
  • a transformer structure corresponding to all three phases may be arranged, and the secondary coil of some of the transformer structures may be connected to the supply unit 215, and the secondary coil of the remaining transformer structures may be connected to the signal exchange unit 216.
  • the winding ratio of the transformer structure connected to the supply unit 215 and controlling the power supply to the encoder 22 and the winding ratio of the transformer structure connected to the signal exchange unit 216 and controlling the transmission and reception of a predetermined signal to the encoder 22 may be appropriately set according to the respective purposes.
  • the transformer structures 53, 63, and 73 shown in Figures 3, 9, and 10 are compound-winding transformer structures, but as a modification, a single-winding transformer structure can also be adopted.
  • a single-winding transformer structure is adopted in the form shown in Figure 10
  • the winding section 25 of the motor 2 is made into a primary coil
  • a part of the winding section 25 is made into a secondary coil, thereby forming the transformer structures 53, 63, and 73.
  • the secondary coil portion of the winding section 25 is shared between the primary side and the secondary side.
  • the power extracted by the extraction unit 214 is supplied to the encoder 22, but the extracted power can also be supplied to devices other than the encoder 22.
  • power may be supplied to a sensor device (such as a temperature sensor or a vibration sensor) disposed inside or outside the motor 2.
  • a port suitable for power supply and serving as a connection port for a cable to the sensor may be provided in the motor body 21.
  • Fig. 11 is a diagram showing a schematic configuration of the motor 2 according to this modified example.
  • the motor 2 according to this embodiment is provided with an extractor 214 having a transformer structure for the winding section 25, as in the embodiment shown in Fig. 2.
  • the transformer structure of the extractor 214 can be substantially the same as that shown in Figs. 3, 9, and 10.
  • an extractor 214b capable of extracting power is provided for the power line 11 connected to the connector 211.
  • the power extraction by the extractor 214b is also achieved by incorporating a transformer structure electrically the same as that shown in Fig. 3, etc., into the power line 11.
  • the power extracted by the extraction unit 214b can be subjected to a predetermined rectification process and supplied as power to devices such as a temperature sensor or vibration sensor arranged outside the motor 2.
  • the extracted power can be stored in a secondary battery to provide stable power to the temperature sensor, etc.
  • the power extracted by the extraction unit 214 is supplied to the encoder 22, but instead the power extracted by the extraction unit 214b may be supplied to the encoder 22, or the power extracted by both the extraction units 214 and 214b may be supplied to the encoder 22.
  • the extraction unit 214 may not be provided, and the encoder 22 may receive power from a built-in battery or from the driver 4.
  • a driver (4) supplies drive power to a motor (2) including an extraction unit (214) that extracts a portion of electric power supplied from an external source, and a supply unit (215) that supplies the electric power extracted by the extraction unit (214) to an external device, or to a motor power line (11) provided with the extraction unit (214) and the supply unit (215), a power estimation unit that estimates the power extracted by the extraction unit (214) based on a drive current and a rotation speed of the motor (2); an output unit that generates an additional d-axis current to be superimposed on a d-axis current corresponding to a drive power required to drive the motor (2) based on the extracted power estimated by the power estimation unit, and superimposes the additional d-axis current on the drive power required to drive the motor and outputs the result as a predetermined power to the extraction unit (214);
  • a driver comprising: ⁇ Appendix 2> When the rotation speed of the motor (2) is equal to or lower than a predetermined threshold ( ⁇ 0), the power estimation
  • the driver according to claim 1. the output unit outputs the predetermined power by superimposing the additional d-axis current on a d-axis current corresponding to a driving power required to drive the motor (2) in a manner such that a d-axis current value varies over time. 3.
  • the driver according to claim 1 or 2. ⁇ Appendix 4>
  • the additional d-axis current includes a first element (pac) whose current value varies over time, and a second element (pdc) whose current value does not vary over time.
  • pac first element
  • pdc second element
  • the predetermined power is adjusted only by the first element (pac) of the additional d-axis current, regardless of the second element (pdc) of the additional d-axis current and a q-axis current corresponding to a drive power required to drive the motor. 5.
  • ⁇ Appendix 7> When the rotation speed of the motor (2) is higher than a predetermined threshold ( ⁇ 0) and the operating state of the motor (2) is calculated based on the drive current and rotation speed of the motor (2), and the extracted power extracted by the extraction unit (214) belongs to a region (R2) in which the extracted power does not exceed a predetermined threshold power, the output unit outputs the predetermined power by superimposing the additional d-axis current on a d-axis current corresponding to the drive power required to drive the motor (2) in a manner such that the d-axis current value does not vary over time. 6.
  • a driver according to any one of claims 1 to 5.
  • the power estimation unit estimates the power extracted by the extraction unit (214) in all rotational speed ranges of the motor, the power estimation unit has a signal generating unit that generates a signal of a first frequency related to a predetermined frequency so that the additional d-axis current becomes a current that varies with time at the predetermined frequency,
  • the first frequency is a fixed value regardless of the rotation speed of the motor (2). 6.
  • ⁇ Appendix 9> The first frequency is lower than a frequency corresponding to a maximum rotation speed ( ⁇ max) of the motor (2). 9. The driver according to claim 8.
  • the power estimation unit has a signal generating unit that generates a signal of a first frequency related to a predetermined frequency so that the additional d-axis current becomes a current that varies with time at the predetermined frequency, the first frequency is a value that enables both an added frequency obtained by adding a frequency corresponding to the rotation speed of the motor (2) and the predetermined frequency, and a difference frequency that is a difference between the frequency corresponding to the rotation speed of the motor and the predetermined frequency, to belong to a predetermined frequency range related to power extraction by the extraction unit; 5.
  • a driver according to any one of claims 1 to 4.
  • the additional d-axis current includes a first element (pac) whose current value varies over time and a second element (pdc) whose current value does not vary over time,
  • the predetermined power is adjusted only by the first element (pac) of the additional d-axis current, regardless of the second element (pdc) of the additional d-axis current and a q-axis current corresponding to a drive power required to drive the motor.

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  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

La présente invention concerne un dispositif d'entraînement qui fournit de l'énergie électrique d'entraînement à un moteur comportant une unité d'extraction qui extrait une partie de l'énergie électrique fournie depuis l'extérieur et une unité d'alimentation qui fournit l'énergie électrique extraite par l'unité d'extraction à un dispositif externe, ou à une ligne d'alimentation du moteur sur laquelle l'unité d'extraction et l'unité d'alimentation sont disposées, le dispositif d'entraînement comprenant : une unité d'estimation d'énergie électrique qui estime l'énergie électrique extraite par l'unité d'extraction, sur la base d'un courant électrique d'entraînement et de la vitesse de rotation du moteur ; et une unité de sortie qui génère, sur la base de l'énergie électrique extraite estimée par l'unité d'estimation d'énergie électrique, un courant électrique d'axe d supplémentaire à superposer sur un courant électrique d'axe d correspondant à l'énergie électrique d'entraînement requise pour entraîner le moteur, superpose le courant électrique d'axe d supplémentaire sur l'énergie électrique d'entraînement requise pour entraîner le moteur, et délivre l'énergie électrique résultante à l'unité d'extraction en tant qu'énergie électrique prescrite. Une fourniture d'énergie électrique stable à un dispositif externe qui est associé au moteur est ainsi réalisée tout en supprimant autant que possible l'influence sur l'état de fonctionnement du moteur.
PCT/JP2023/044782 2022-12-28 2023-12-14 Dispositif d'entraînement WO2024142958A1 (fr)

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JP2022-212404 2022-12-28
JP2022212404 2022-12-28
JP2023019429 2023-02-10
JP2023-019429 2023-02-10
JP2023167653A JP2024095520A (ja) 2022-12-28 2023-09-28 ドライバ
JP2023-167653 2023-09-28

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019244194A1 (fr) * 2018-06-18 2019-12-26 三菱電機株式会社 Dispositif de commande de moteur et dispositif d'application de cycle de réfrigération
JP2020120573A (ja) * 2019-01-24 2020-08-06 オムロン株式会社 設計支援装置、設計支援方法及び設計支援プログラム
JP2021035819A (ja) * 2019-08-22 2021-03-04 株式会社ジェイテクト 転舵装置
JP2021151058A (ja) * 2020-03-18 2021-09-27 公益財団法人鉄道総合技術研究所 電動機制御装置、および、空転或いは滑走の検出方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019244194A1 (fr) * 2018-06-18 2019-12-26 三菱電機株式会社 Dispositif de commande de moteur et dispositif d'application de cycle de réfrigération
JP2020120573A (ja) * 2019-01-24 2020-08-06 オムロン株式会社 設計支援装置、設計支援方法及び設計支援プログラム
JP2021035819A (ja) * 2019-08-22 2021-03-04 株式会社ジェイテクト 転舵装置
JP2021151058A (ja) * 2020-03-18 2021-09-27 公益財団法人鉄道総合技術研究所 電動機制御装置、および、空転或いは滑走の検出方法

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