CN104104304B - Motor control assembly - Google Patents
Motor control assembly Download PDFInfo
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- CN104104304B CN104104304B CN201410128528.7A CN201410128528A CN104104304B CN 104104304 B CN104104304 B CN 104104304B CN 201410128528 A CN201410128528 A CN 201410128528A CN 104104304 B CN104104304 B CN 104104304B
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- Prior art keywords
- regeneration
- motor
- mode
- voltage
- threshold value
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
- H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor
- H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor by regenerative braking
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Stopping Of Electric Motors (AREA)
- Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Motor control assembly is provided, can recognize that supply voltage exception and heteroplasia.Motor control assembly has：Converter (116), DC voltage conversion is in the power running mode alternating voltage and motor (118) by it, in regeneration mode, the alternating voltage from motor (118) is transformed to DC voltage and supplies regeneration resistance (122)；Switch portion (124), regeneration resistance (122) is connected by it in the case where DC voltage exceedes threshold value with converter (116)；Make-and-break time test section (141), the turn-on time and turn-off time in its detection switch portion (124)；Anomalous discrimination portion (147), it uses different threshold values under power operating mode and regeneration mode, in the power running mode, the situation that the accumulation conduction time of switch portion (122) exceedes the threshold value of power operating mode is judged as supply voltage exception, in the regenerative mode, the accumulation conduction time of switch portion (124) is judged as heteroplasia more than the situation of the threshold value of regeneration mode.
Description
Technical field
The present invention relates to recognizable supply voltage exception and the motor control assembly of heteroplasia.
Background technology
In general motor control assembly carries out rectification with commutation diode to supply voltage, rectified with converter switches
Supply voltage, the position of controlled motor, speed, torque.
Fig. 6 is the summary construction diagram of existing motor control assembly.Power supply 10 is via electromagnetic contactor 12 and commutation diode
14 connections.Motor 18 is connected with converter 16.Commutation diode 14 carries out rectification to the voltage of power supply 10, and converter 16 is switch
The rectified voltage of commutation diode 14 exports to motor 18.
Between commutation diode 14 and converter 16, capacitor 20, regeneration resistance 22, regenerated crystal pipe 24 are connected with.
Regenerated crystal pipe 24 controls its switch by regenerated crystal pipe driving part 30.The heteroplasia of regenerated crystal pipe 24 passes through regeneration
Abnormality detecting means 40 detects.
Motor 18 is connected with the encoder 50 for detecting its rotary speed.Encoder 50 is connected with speed detecting portion 52.Speed
The difference output torque instruction for the speed detection value that control unit 54 detects according to speed command and speed detecting portion 52.Direct torque
Portion 56 based on torque instruction makes the open and close of converter 16 and the rotation position of controlled motor 18, speed, torque.
From the aspect of electricity supply and demand, the power operating mode and electric power of the oriented supply electric power of motor 18 of driving of motor 18 from
Motor 18 returns to the regeneration mode of coming.During power operating mode, from power supply 10 to commutation diode 14, converter 16, motor 18
Supply electric power.During regeneration mode, from motor 18 to converter 16, the supply electric power of resistance 22 is regenerated.Motor during power operating mode
18 turn into motor, and motor 18 is changed into generator during regeneration mode, and the electric power that motor 18 is sent in regeneration mode is for regeneration electricity
The consumption of resistance 22.The power control of regeneration resistance 22 is carried out by regenerated crystal pipe driving part 30.
Fig. 7 is the figure for the relation for representing main circuit DC voltage, regenerated crystal pipe and regeneration resistance conduction time aggregate-value.
As illustrated, when the main circuit DC voltage of the detection of main circuit DC voltage test section 32（The voltage of capacitor 20）Reach in base
During the reference voltage 1 that quasi- value comparing section 34 compares, regenerated crystal pipe drive division 36 connects regenerated crystal pipe 24.And work as main circuit
DC voltage is reduced in the reference voltage 2 that a reference value comparing section 34 is compared, and regenerated crystal pipe drive division 36 makes regeneration brilliant
Body pipe 24 turns off.
In the small situation of the capacity of regeneration resistance 22 or because of harsh operating condition and in the case of regeneration frequency height, exceed
The average current for regenerating the allowable current of resistance 22 is fed into regeneration resistance 22, is related to the overheat or burning of regeneration resistance 22
It is bad.The heteroplasia detection of regeneration resistance 22 is carried out by heteroplasia detection part 40.
In order to protect regeneration resistance 22, make-and-break time test section 42 detects the make-and-break time of regenerated crystal pipe 24.Accumulative place
Reason portion 44 in regenerating resistance 22 as shown in fig. 7, in the case where flowing through electric current, time that accumulated regeneration transistor 24 is connected,
In the case of not flowing through electric current in regeneration resistance 22, the time of the shut-off of regenerated crystal pipe 24 is subtracted.Once regenerated crystal pipe 24 connects
The aggregate-value of logical time exceedes feasible value, and threshold value comparing section 46 is judged as heteroplasia, forcibly stops converter 16
Only, prevent from regenerating the overheat of resistance 22 or burn out.
As previously discussed, as long as motor control assembly supply voltage is normal, so that it may normal to detect the high feelings of the frequency regenerated
Condition.But supply voltage than it is normal high when, it may occur that it is following the problem of.
Supply voltage than it is normal high when, when its voltage identification can not be regeneration mode by regenerated crystal pipe driving part 30
Voltage, and connect regenerated crystal pipe 24.Therefore, often from power supply 10 to commutation diode 14, regeneration resistance 22 supply
Electric power.The aggregate-value for the time that heteroplasia detection part 40 is connected in regenerated crystal pipe 24 exceedes the time point of feasible value, sentences
Break as heteroplasia, disconnect electromagnetic contactor 12 via host controller (not shown).
So, the heteroplasia detected includes the supply voltage situation higher than the frequency of normal high situation and regeneration
The exception of both sides.In the motor control assembly shown in Fig. 6, it is impossible to identify these exceptions.
Control the motor control assembly of servomotor to be used for the production equipments such as manufacturing machine more.Therefore, there occurs therefore
In the case of barrier, if can not repair will suffer big infringement at once.It is therefore desirable to the skill that failure sectionalization is detected
Art, to grasp the content of failure at once.
In Fig. 6 motor control assembly, in order to detect two abnormalities respectively, it is necessary to set detection power supply electricity in addition
Press the circuit of high situation.But if setting the circuit, not only circuit becomes complicated, and is related to cost and increases.Appealing
Save the modern times of resource, it is desirable to be not provided with special circuit, detect the technology of two abnormalities respectively.
As the technology for solving unfavorable condition as described above, there is the technology shown in following patent documents 1.Patent document 1
In shown technology, disclose a kind of Servocontrol device, its according to the acceleration and deceleration condition adjudgement power supply of control object motor again
The presence or absence of raw, motor is not located at deceleration regime and when power supply regenerative carries out, and judgement is abnormal.
In the Servocontrol device, observe the deceleration regime of motor, judge the presence or absence of exception.But only observe motor
Deceleration regime, in this case it is not apparent that motor is in regeneration mode and is in power operating mode.For example, drive vertical axle load
In the case of, motor rotates because of gravity sometimes, can also be changed into regeneration mode under certain speed.So, motor does not exist sometimes
Deceleration regime regeneration can also carry out, therefore, though motor deceleration regime and power supply regenerative progress when, supply voltage
It is not necessarily present exception.The differentiation of correct regeneration mode needs to consider the speed of motor and the aspect of torque two.
Prior art literature
Patent document
Patent document 1：（Japan）JP 2000-23480 publications
The invention problem to be solved
Generally, the detection of heteroplasia exceedes the appearance of regeneration resistance 22 according to the aggregate-value for the electric current for flowing through regeneration resistance 22
Perhaps electric current detects.In the case where the capacity of regeneration resistance 22 is small, because allowable current is smaller, the time of heteroplasia is detected
It is shorter, and in the case where the capacity of regeneration resistance 22 is big, detecting the time of heteroplasia will increase.
Supply voltage than it is normal it is high in the case of, due to detection it is abnormal after to host controller transmit abnormal signal, directly
Being cut off to electromagnetic contactor needs the time, it is therefore desirable to detects supply voltage as quickly as possible than normal high situation.
But in existing motor control assembly, until the allowable current more than regeneration resistance, electric current flows through regeneration resistance
The detection of heteroplasia can be just carried out afterwards, and therefore, supply voltage postpones than the detection moment of normal high situation, easily leads
The overheat of regeneration resistance is caused, security has problem.
The temperature rising of regeneration resistance during common motor control is set to enough than the allowable temperature for regenerating resistance
Low temperature.In addition, the device of the overheat of detection regeneration resistance is additionally provided with, if but also going out in view of detecting its device overheated
The situation of existing failure, regenerate resistance temperature be set as even if it is abnormal when also hardly excessively rise, improve security.
The poor country of power conditions, due to the Frequent Troubles that supply voltage increases, therefore the temperature for regenerating resistance must be set
Be set to even if it is abnormal when also hardly become too high.
The content of the invention
The present invention is completed to release the rough sledding of existing motor control assembly as described above, it is therefore intended that
The motor control assembly of a kind of recognizable supply voltage exception and heteroplasia is provided.
In addition, it is an object of the present invention to provide one kind in the case of supply voltage exception, its abnormal inspection can be made
Survey the motor control assembly of high speed.
For reaching the motor control assembly of the invention of above-mentioned purpose, there is converter, switch portion, make-and-break time detection
Portion and judging part.
DC voltage conversion is in the power running mode alternating voltage and motor by converter, in regeneration mode
Under, the alternating voltage from motor is transformed to DC voltage and supplied to regeneration resistance.Switch portion exceedes threshold in DC voltage
Regeneration resistance is connected with converter in the case of value.When the turn-on time in make-and-break time test section detection switch portion and disconnection
Between.Judging part uses different threshold values under power operating mode and regeneration mode, and in the power running mode, switch portion is tired out
The situation that product conduction time exceedes the threshold value of power operating mode is judged as supply voltage exception, on the other hand, in regeneration mode
Under, the situation that the accumulation conduction time of switch portion exceedes the threshold value of regeneration mode is judged as heteroplasia.
Invention effect
In the power running mode, the accumulation conduction time of switch portion exceedes the situation judgement of the threshold value of power operating mode
Abnormal for supply voltage, under regeneration mode, the situation that the accumulation conduction time of switch portion exceedes the threshold value of regeneration mode is judged as
Heteroplasia, so, it can identify and detect supply voltage exception and heteroplasia.
Brief description of the drawings
Fig. 1 is the summary construction diagram of the related motor control assembly of embodiment 1；
Fig. 2 is the chart for the judgement of power operating mode and regeneration mode；
Fig. 3 be to provide supply voltage it is normal when, judge power operation in the case of motor acceleration and deceleration, regeneration mode
The figure of action specification；
Power operation, regeneration mode when Fig. 4 is to provide regeneration mode in the case of generation supply voltage exception judge
The figure of action specification；
Fig. 5 is the summary construction diagram of the related motor control assembly of embodiment 2；
Fig. 6 is the summary construction diagram of existing motor control assembly；
Fig. 7 is the figure for the relation for representing main circuit DC voltage, regenerated crystal pipe and regeneration resistance conduction time aggregate-value.
Symbol description
100th, 200 motor control assemblies,
110th, 210 power supplys,
112nd, 212 electromagnetic contactors,
114th, 214 commutation diodes,
116th, 216 converters,
118th, 218 motors,
120th, 220 smoothing capacity devices,
122nd, 222 regeneration resistance,
124th, 224 regenerated crystal pipes,
130th, 230 regenerated crystal pipe driving parts,
132nd, 232 main circuit DC voltage test sections,
134th, 234 a reference value comparing sections,
136th, 236 regenerated crystal pipe drive divisions,
140th, 240 abnormality detecting means,
141st, 241 make-and-break time test sections,
142nd, 242 accumulative processing units,
143rd, 243 first threshold comparing sections,
145th, 245 Second Threshold comparing sections,
144th, 244 continuous energization test sections,
147th, 247 anomalous discrimination portions,
150th, 250 encoders,
152nd, 252 speed detecting portions,
154th, 254 speed controlling portions,
156th, 256 torque control divisions,
The threshold calculations portion of the torque of 248 power operation regeneration differentiation.
Embodiment
Below, the embodiment of related motor control assembly of the invention is divided into ［ embodiment 1 ］ and ［ embodiment 2 ］
Illustrate.
［ embodiment 1 ］
Fig. 1 is the summary construction diagram of the related motor control assembly of embodiment 1.
(structure of motor control assembly 100)
Power supply 110 is connected via electromagnetic contactor 112 with commutation diode 114.Power supply 110 is the commercial ac power of three-phase
Source.Power supply 110 and commutation diode 114 are attached and disconnected by electromagnetic contactor 112.Commutation diode 114 is by power supply 110
Alternating current carry out rectification and be transformed into DC current.
Motor 118 is connected with converter 116.Motor 118 is AC servo motor.Converter 116 will be from commutation diode
The DC voltage of 114 outputs, by making to carry out switch motion located at internal switching transistor, it is transformed into the exchange of assigned frequency
Voltage（Power operating mode）.The alternating voltage that motor 118 is exported using converter 116 is rotated.On the other hand, converter
116 will carry out switch motion from the alternating voltage that motor 118 exports by making located at internal switching transistor, be transformed into direct current
Voltage（Regeneration mode）.
Between commutation diode 114 and converter 116, smoothing capacity device 120, regeneration resistance 122, regeneration crystalline substance are connected with
Body pipe 124.The pulsation for the DC voltage that smoothing capacity device 120 exports commutation diode 114 is removed, and forms the direct current of smoothing
Voltage.Regeneration resistance 122 falls the power converter that motor 118 during the regeneration mode of motor 118 is sent into heat consumption.Regeneration is brilliant
Body pipe 124 is switched in the regeneration mode of motor 118 and is connected in parallel regeneration resistance 122 with converter 116.In addition, again
Raw transistor 124 is also switched on when the voltage of power supply 110 becomes higher than common voltage.
The break-make of regenerated crystal pipe 124 is controlled by regenerated crystal pipe driving part 130.Regenerated crystal pipe driving part 130
With main circuit DC voltage test section 132, a reference value comparing section 134, regenerated crystal pipe drive division 136.In addition, regenerated crystal
Pipe 124 and regenerated crystal pipe driving part 130 form switch portion.Abnormity detection portion in addition to make-and-break time test section 141
Part 140 forms judging part.
Main circuit DC voltage test section 132 detects the outlet side of commutation diode 114（During power operating mode）And become
The outlet side of parallel operation 116（During regeneration mode）DC voltage.A reference value comparing section 134 stores the He of reference voltage 1 shown in Fig. 6
Reference voltage 2, the DC voltage detected to reference voltage 1 and reference voltage 2 and main circuit DC voltage test section 132 are carried out
Compare.As shown in fig. 6, a reference value comparing section 134 exceedes base in the DC voltage that main circuit DC voltage test section 132 detects
After quasi- voltage 1, output signal, until being reduced to reference voltage 2.Regenerated crystal pipe drive division 136 is defeated in a reference value comparing section 134
During going out signal, connect regenerated crystal pipe 124.
Supply voltage exception and heteroplasia are detected by abnormality detecting means 140.When abnormality detecting means 140 has break-make
Between test section 141, accumulative processing unit 142, first threshold comparing section 143, continuous energization test section 144, Second Threshold comparing section
145th, motor driving condition judging part 146, anomalous discrimination portion 147.
Make-and-break time test section 141 detects the turn-on time and turn-off time of regenerated crystal pipe 124.Accumulative processing unit 142
The turn-on time for the regenerated crystal pipe 124 that make-and-break time test section 141 detects is added and subtracts turn-off time again, calculates regeneration
The accumulation conduction time of transistor 124.The regenerated crystal pipe 124 that accumulative processing unit 142 is added up by first threshold comparing section 143
Accumulation conduction time, in the power running mode compared with the threshold value of power operating mode.In the regenerative mode, with again
The threshold value of raw pattern is compared.It is stored in the threshold value of the regeneration mode of first threshold comparing section 143（For detecting regeneration mode
Under heteroplasia accumulation conduction time）, it is to not cause to regenerate the overheat of resistance 124 in the regenerative mode, burn out
Stipulated time.In addition, it is stored in the threshold value of the power operating mode of first threshold comparing section 143（For detecting power operation mould
The accumulation conduction time of supply voltage exception under formula）, it is to not cause the mistake of regeneration resistance 124 in the power running mode
Heat, the stipulated time burnt out.The size of the threshold value of power operating mode is smaller than the size of the threshold value of regeneration mode.It is because preferable
, supply voltage is detected earlier than heteroplasia extremely.
Continuous energization test section 144 detects the continuous energization for the regenerated crystal pipe 124 that make-and-break time test section 141 detects
Time（The time that regenerated crystal pipe 124 is continuously switched on）.Second Threshold comparing section 145 detects continuous energization test section 144
Regenerated crystal pipe 124 continuous conduction time and threshold value（Supply voltage abnormal threshold value when being regenerated for detecting）Compared
Compared with.The threshold value for being stored in Second Threshold comparing section 145 be than regenerated crystal pipe 124 in the regenerative mode repeatedly on-off when
A turn-on time length time（Greatly）.Motor driving condition judging part 146 is according to the torque instruction TC of motor 118 and rotation
Speed omega m judges the power operating mode and regeneration mode of motor 118.In addition, motor driving condition judging part 146 is detecting
It is that certain time maintains the detection of regeneration mode after regeneration mode.This is to prevent regeneration mode and power operating mode
In the case of motor action as judging frequent switching, overvoltage of power supply error detection.In addition, regeneration mode is to pass through weight
What the detection of trigger formula was carried out, when being repeatedly detected power operating mode and regeneration mode in a short time, regard regeneration as
Pattern.In addition, motor driving condition judging part 146 is adopted for the threshold value for judging power operating mode and regeneration mode and setting
With pre-determined certain value, but can also be changed with making its interim or continuity according to rotary speed ω m size.
The power operating mode and regeneration mode for the motor 118 that anomalous discrimination portion 147 judges according to motor driving condition judging part 146
With the comparative result of first threshold comparing section 143, Second Threshold comparing section 145, differentiate that supply voltage is abnormal and regenerates different respectively
Chang Shuanfang.
Encoder 150 is installed on motor 118, speed detecting portion 152 is connected with encoder 150.Speed detecting portion 152
It is connected with speed controlling portion 154, speed controlling portion 154 is connected with torque control division 156.Torque control division 156 and converter 116
Connection.
Encoder 150 detects the rotation position of motor 118.The motor that speed detecting portion 152 detects according to encoder 150
118 rotation position, detect the rotary speed ω m of motor 118.Speed controlling portion 154 is according to speed command and rotary speed ω m
Deviation, output torque instruction TC.Rotary speed ω m and speed controlling portion 154 output that speed detecting portion 152 detects turn
Square instructs TC, is also output to motor driving condition judging part 146.Torque controller 156 is exported based on speed controlling portion 154
Torque instruction TC and controlled motor 118 electric current, pwm signal is generated, the pwm signal is exported to converter 116.Converter 116
The transistor of switch internal based on pwm signal, the voltage of assigned frequency is supplied to motor 116.
(action of motor control assembly 100)
First, speed controlling portion 154 according to speed command and rotary speed ω m deviation and output torque instruction TC.Turn
The input torque of square control unit 156 instructs the electric current of TC and controlled motor 118, generates pwm signal and is exported to converter 116.Become
Parallel operation 116 supplies the voltage of assigned frequency according to the pwm signal that torque control division 156 exports to motor 118.Motor 118 exports
Torque corresponding with the electric power supplied.
The output voltage of commutation diode 114（During power operating mode）And the output voltage of converter 116（Regeneration mode
When）, detected by main circuit DC voltage test section 132.If the threshold value of the voltage ratio a reference value comparing section 134 detected is big,
Regenerated crystal pipe drive division 136 then connects regenerated crystal pipe 124.Photo-coupler is connected in parallel on regenerated crystal pipe 124, is examined
Survey the energization of regeneration resistance 122.
Turn-on time during accumulative processing unit 142 connects regenerated crystal pipe 124 adds up, from the accumulation of turn-on time
Time subtracts the turn-off time during disconnecting.Continuous energization test section 144 detects the time during regenerated crystal pipe 124 is connected,
As being continuously switched on the time.Accumulative processing unit 142 and continuous energization test section 144 are set, be in order in regeneration can with again
Raw abnormal separate detection supply voltage is abnormal.The regeneration that first threshold comparing section 143 is stored with during for detecting regeneration mode is different
The threshold value of the threshold value of normal regeneration mode and the abnormal power operating mode of supply voltage during for detecting power operating mode.
In addition, Second Threshold comparing section 145 is stored with the threshold value of supply voltage exception during for detecting regeneration mode.First threshold ratio
The threshold value stored compared with portion 143 is set as regenerating resistance 122 even if there occurs abnormal can also protect of heteroplasia or supply voltage
Appropriate value.In first threshold comparing section 143, the threshold value as regeneration mode is stored with such as 0.5 second, is run as power
The threshold value of pattern is stored with such as 0.01 second.The threshold value that Second Threshold comparing section 145 stores is to be able in regeneration mode
Detect abnormity of power supply voltage threshold value, be set as than regenerated crystal pipe 124 in the regenerative mode repeatedly on-off when once
The time of turn-on time length.Supply voltage when this is to identify regeneration mode is abnormal（Overvoltage）And heteroplasia.
The rotary speed ω m and speed controlling portion of the input speed test section 152 of motor driving condition judging part 146 output
The torque instruction TC of 154 outputs.Motor driving condition judging part 146 considers the loss of motor 118 or the quantization of encoder 150
Velocity fluctuation caused by error, according to rotary speed ω m and torque instruction TC, as shown in Fig. 2 being judged using threshold value ω A, TCA
Power operating mode and regeneration mode.
As shown in Fig. 2 in rotary speed ω m and torque instruction TC value
ω m≤ω A and TC≤- TCA or
In the case of ω m≤- ω A and TC≤TCA, it is judged as regeneration mode,
Rotary speed ω m and torque instruction TC value are situation other than the above, are judged as power operating mode.
In addition, depending on ω A consider the quantized error of encoder 150, run power during 118 no-load running of motor
Regeneration judgement will not tremble.In addition, depending on TCA considers the loss of motor 118, the regenerated electric power and motor damage of motor 118 are set
Value during dephasing etc..In addition, regeneration mode detection is once be changed into regeneration mode, regeneration shape is just detected as in the regular hour
State, then using weight trigger formula, the mechanical system formed under more inertia or because control parameter not at that time caused by torque shake
In the case of pattern that is dynamic and occurring power operation, regeneration back and forth, regeneration mode is detected as, prevents the flase drop of overvoltage of power supply
Survey.
When Fig. 3 is that power supply source voltage is normal, judge the power operation in the case of motor acceleration and deceleration, regeneration mode dynamic
The figure explained.Fig. 4 for making motor acceleration and deceleration in the case of, regeneration mode when occur supply voltage exception in the case of
The figure for the action specification that power operation, regeneration mode judge.
When supply voltage is normal, rotary speed ω m change as the velocity chart of Fig. 3 topmost over time, turn
Square instruction TC changes as the torque instruction chart under its velocity chart over time.Now, power operation, regeneration mode
Judge motor driving condition judging part 146 as shown in Figure 1, differentiate chart according to power operation/regeneration of Fig. 3 foot
Carry out.
When motor 118 enters regeneration mode, regenerated crystal pipe 124 is connected, such as the chart institute of Fig. 3 regeneration resistor current
Show, regenerate the regenerative current for flowing through in resistance 122 and being supplied from converter 116.Now, as Fig. 3 main circuit DC voltage figure
Shown in table, main circuit DC voltage changes.
In the regenerative mode, when the conduction time of regeneration resistance 122 exceedes the threshold value of regeneration mode, from anomalous discrimination portion
147 output heteroplasias.
Rotary speed ω m change as the velocity chart of Fig. 4 topmost over time, and torque instruction TC is over time
Change as the torque instruction chart under its velocity chart.Now, power operation, regeneration mode judgement as shown in Figure 1
Motor driving condition judging part 146 differentiate chart according to the power operation/regeneration of Fig. 4 foot to carry out.
It is higher than common supply voltage when supply voltage occurs extremely, though motor 118 is in the power running mode, then
Raw transistor 124 is also connected, and is regenerated in resistance 122 and is flowed through electric current.Electricity is flowed through in the accumulative detection of processing unit 142 regeneration resistance 122
The time of stream.In the case where the accumulated time of the regenerated crystal pipe 124 exceedes the threshold value of power operating mode, from anomalous discrimination
The output supply voltage of portion 147 is abnormal.Because threshold value in this case is very small value, therefore can quickly detect power supply electricity
Reduce off-flavor is normal, prevents the damage of part.
When motor 118 enters regeneration mode, regenerated crystal pipe 124 is connected, such as the chart institute of Fig. 4 regeneration resistor current
Show, regenerate the regenerative current for flowing through in resistance 122 and being supplied from converter 116.Now, as Fig. 4 main circuit DC voltage figure
Shown in table, main circuit DC voltage changes.
In regeneration mode, as shown in figure 4, it is abnormal that temporary transient supply voltage such as occurs（0.7 second）When, regenerate resistance 122
Continuous conduction time, threshold value will be exceeded, therefore detect from the output voltage of anomalous discrimination portion 147 abnormal.
Generally, the resistance value for regenerating resistance 122 is set as caning absorb the resistance value of the maximum output of motor 118, therefore, then
The continuous conduction time included once of raw resistance 122 as shown in the chart of Fig. 3 regeneration resistor current, is changed into tiny time.
On the other hand, in regeneration mode, in the case of rising on the supply voltage, in addition to the regenerated electric power of motor 118, electric power
Also regeneration resistance 122 is flowed through, therefore, as shown in the chart of Fig. 4 regeneration resistor current, regeneration resistance 122 is continuously powered.
In regeneration mode, in the case where forming the continuous energization of regeneration resistance 122, electric voltage exception detection is carried out.Inspection
It is the value smaller than detecting the threshold value of heteroplasia in regeneration mode to survey the threshold value that is continuously powered, and, it is set as than once again
The value of the length of continuous conduction time of raw resistance 122.
As previously discussed, by judging that motor 118 is power operating mode or regeneration mode, and regeneration resistance is used
The aggregate-value detection of 122 conduction time is supply voltage exception or heteroplasia, can identify it is the frequency regenerated respectively
Excessive or supply voltage is high.In addition, in regeneration mode, according to whether the continuous energization of regeneration resistance 122 is produced, can also
It is abnormal to detect supply voltage.Alternatively, it is also possible to substitute torque instruction, by detecting torque or presumption torque, judge that power is run
Regeneration mode.
［ embodiment 2 ］
The summary construction diagram of the motor control assembly of Fig. 5 embodiment 2.Motor control assembly 200 is used for induction machine
Main shaft drives.
(composition of motor control assembly 200)
Motor control assembly 100 shown in the structure and Fig. 1 of motor control assembly 200 is roughly the same.It is unique simply to possess
This point of threshold calculations portion 248 of the torque of power operation regeneration differentiation, and the motor control assembly 100 of embodiment 1 is not
Together.
Fig. 5, except power supply 210, electromagnetic contactor 212, commutation diode 214, converter 216, motor 218, smooth
Capacitor 220, regeneration resistance 222, regenerated crystal pipe 224, regenerated crystal pipe driving part 230, power operation regeneration, which differentiate, to be used
Torque threshold value calculating section 248 beyond abnormality detecting means 240, encoder 250, speed detecting portion 252, speed controlling portion
254th, torque control division 256, and Fig. 1, power supply 110, electromagnetic contactor 112, commutation diode 114, converter 116, motor
118th, smoothing capacity device 120, regeneration resistance 122, regenerated crystal pipe 124, regenerated crystal pipe driving part 130, abnormity detection portion
Part 140, encoder 150, speed detecting portion 152, speed controlling portion 154, torque control division 156 are identicals.
(action of motor control assembly 200)
In the main shaft drives of induction machine, the rotary speed more than with substrate rotation rate is used, makes magnetic flux and rotation
The weak excitation con-trol of the inversely proportional decrease of rotary speed.Therefore, motor control assembly 200 is provided with weak encourage in torque control division 256
Magnetic portion, when more than substrate velocity, then the rotary speed of torque instruction and motor is set inversely proportionally to reduce.
In high-speed range, the regenerated electric power of motor 218 loses consistent torque TC value with motor, with rotary speed
Rise and diminish.In motor control assembly 200, threshold value is inversely proportionally reduced with rotary speed, electricity is carried out based on its threshold value
Power operation, the judgement of regeneration mode of machine 218.In addition, not only make magnetic flux and motor rotary speed inversely proportional, Er Qie
After making its increase proportional to motor speed, the situation proportional to rotary speed, similarly, make threshold value and rotary speed into than
After example increase, then make itself and the inversely proportional reduction of rotary speed.Other actions of motor control assembly 200 and motor control dress
It is identical to put 100.
In addition, being not only induction machine, using the main shaft drives of ipm motor or reluctance motor, similarly think to answer
Use the present embodiment.
As previously discussed, in the present invention, using torque instruction and motor speed differentiate motor be power operating mode or
Regeneration mode, additionally it is possible to the "on" position in view of regenerating resistance, detect supply voltage exception and heteroplasia respectively.Therefore,
Special circuit need not be added, compared to the prior art compared with, overvoltage of power supply can be detected earlier, even in power conditions difference
Under environment, the security of motor control assembly can be also improved.In addition, there occurs during alarm, it can identify whether power supply is deposited
In exception, regeneration frequency with the presence or absence of exception, reparation when alarm occurs can be promptly carried out.
Claims (10)
1. a kind of motor control assembly, it is characterised in that have：
Converter, DC voltage conversion is in the power running mode alternating voltage and motor by it, in the regenerative mode
Alternating voltage from the motor is transformed to DC voltage and is supplied to regeneration resistance；
Switch portion, the regeneration resistance is connected by it in the case where the DC voltage exceedes threshold value with the converter；
Make-and-break time test section, it detects the turn-on time and turn-off time of the switch portion；
Judging part, it uses different threshold values under power operating mode and regeneration mode, under the power operating mode,
The accumulation conduction time of the switch portion is judged as that supply voltage is abnormal in the case of exceeding the threshold value of power operating mode, and
Under the regeneration mode, it is judged as regenerating in the case of exceeding the threshold value of regeneration mode in the accumulation conduction time of the switch portion
It is abnormal.
2. motor control assembly as claimed in claim 1, it is characterised in that
The judging part has：
Accumulative processing unit, the turn-on time of its switch portion for detecting the make-and-break time test section is added, then subtracts institute
The turn-off time of switch portion is stated, calculates the accumulation conduction time of the switch portion；
First threshold comparing section, it is by the threshold value of accumulation conduction time and the power operating mode and the regeneration mode
Threshold value be compared；
Anomalous discrimination portion, it is determined as in the case where the accumulation conduction time exceedes the threshold value of the power operating mode
Supply voltage is abnormal, in the case where the accumulation conduction time exceedes the threshold value of the regeneration mode, is determined as heteroplasia.
3. motor control assembly as claimed in claim 1, it is characterised in that
The continuous conduction time of judging part switch portion also under the regeneration mode exceedes the threshold of continuous conduction time
In the case of value, it is judged as supply voltage exception.
4. motor control assembly as claimed in claim 3, it is characterised in that
The judging part has：
Continuous conduction time test section, it detects from the make-and-break time test section and detects that the on-state of the switch portion is opened
The continuous conduction time begun,
Second Threshold comparing section, its by the continuous conduction time compared with the threshold value of continuous conduction time, and
Anomalous discrimination portion, its described continuous conduction time under the regeneration mode exceed the situation of the threshold value of continuous conduction time
Under, it is determined as supply voltage exception.
5. motor control assembly as claimed in claim 1, it is characterised in that
The size of the threshold value of the power operating mode is less than the size of the threshold value of the regeneration mode.
6. motor control assembly as claimed in claim 3, it is characterised in that
Threshold value compared with the continuous conduction time connects switching repeatedly more than the switch portion under the regeneration mode
Turn-on time once when opening.
7. motor control assembly as claimed in claim 1, it is characterised in that
The motor control assembly also has motor driving condition judging part, and the motor driving condition judging part uses the motor
Torque instruction and rotary speed, detect the power operating mode and the regeneration mode.
8. motor control assembly as claimed in claim 7, it is characterised in that
The motor driving condition judging part is being detected after being the regeneration mode, and the inspection of regeneration mode is maintained in certain time
Survey result.
9. motor control assembly as claimed in claim 7, it is characterised in that
According to the rotary speed of the motor so that judge power operating mode and again for the motor driving condition judging part
Change to the threshold stage or continuity of raw pattern.
10. motor control assembly as claimed in claim 1, it is characterised in that
The switch portion has：
Detect the DC voltage main circuit DC voltage test section,
By a reference value comparing section of the DC voltage detected compared with a reference value,
By it is described regeneration resistance be connected with the converter regenerated crystal pipe,
The DC voltage detected connects the regenerated crystal pipe in the case of exceeding a reference value, leads to the regeneration resistance
The regenerated crystal pipe drive division of electricity.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013081350A JP5658785B2 (en) | 2013-04-09 | 2013-04-09 | Motor control device |
| JP2013-081350 | 2013-04-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104104304A CN104104304A (en) | 2014-10-15 |
| CN104104304B true CN104104304B (en) | 2018-01-19 |
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ID=51672164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410128528.7A Expired - Fee Related CN104104304B (en) | 2013-04-09 | 2014-04-01 | Motor control assembly |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5658785B2 (en) |
| KR (1) | KR101883334B1 (en) |
| CN (1) | CN104104304B (en) |
| TW (1) | TWI597931B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6331237B1 (en) * | 2017-02-20 | 2018-05-30 | 株式会社安川電機 | Motor control device and motor control method |
| JP7091815B2 (en) * | 2018-05-07 | 2022-06-28 | 株式会社デンソー | Power converter control circuit |
| JP6973336B2 (en) * | 2018-09-11 | 2021-11-24 | 株式会社明電舎 | Power element diagnostic device |
| JP2020046955A (en) * | 2018-09-19 | 2020-03-26 | 株式会社東芝 | AC input device |
| JP7359673B2 (en) * | 2019-12-09 | 2023-10-11 | ファナック株式会社 | Rectifier and motor drive device with power regeneration function |
| JP2021094618A (en) * | 2019-12-13 | 2021-06-24 | セイコーエプソン株式会社 | Motor drive system and robot |
| CN111049459B (en) * | 2019-12-31 | 2021-07-20 | 哈尔滨工业大学 | A braking method for a permanent magnet synchronous motor air conditioner drive device without electrolytic capacitors |
| US11843344B2 (en) | 2020-11-02 | 2023-12-12 | Richtek Technology Corporatiion | Brushless DC electric (BLDC) motor driver circuit |
| TWI777544B (en) * | 2020-11-02 | 2022-09-11 | 立錡科技股份有限公司 | Brushless dc electric (bldc) motor driver circuit |
| CN113411033A (en) * | 2021-07-15 | 2021-09-17 | 中冶赛迪工程技术股份有限公司 | Method for judging input overvoltage of load with motor of frequency converter |
| JP7350120B1 (en) | 2022-03-22 | 2023-09-25 | 日立建機株式会社 | electric work machine |
| KR102722547B1 (en) * | 2022-09-14 | 2024-10-29 | 엘지이노텍 주식회사 | Motorized weight training machine control device and method |
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- 2014-03-31 KR KR1020140037603A patent/KR101883334B1/en not_active Expired - Fee Related
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| CN1311151A (en) * | 2000-02-28 | 2001-09-05 | 三菱电机株式会社 | Elevator control device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104104304A (en) | 2014-10-15 |
| TWI597931B (en) | 2017-09-01 |
| JP2014204633A (en) | 2014-10-27 |
| KR20140122179A (en) | 2014-10-17 |
| KR101883334B1 (en) | 2018-07-30 |
| TW201509112A (en) | 2015-03-01 |
| JP5658785B2 (en) | 2015-01-28 |
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