CN114342247A - Power amplifier device, tension controller, and load determination method - Google Patents
Power amplifier device, tension controller, and load determination method Download PDFInfo
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- 239000006249 magnetic particle Substances 0.000 claims abstract description 72
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- 230000001052 transient effect Effects 0.000 claims abstract description 13
- 229920006395 saturated elastomer Polymers 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 5
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- 239000006247 magnetic powder Substances 0.000 description 16
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- 239000000463 material Substances 0.000 description 6
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- 239000012530 fluid Substances 0.000 description 1
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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Abstract
A power amplifier device (1) connectable to a load (4) which is a magnetic particle clutch or a magnetic particle brake, comprises: an information storage unit (12) that stores, as model information, correspondence between identification information for each model of the load (4), a voltage applied to the load (4), a saturated excitation current that flows as a result of the voltage application, and an index that indicates an excitation current in a transient state due to the voltage application; a drive circuit (13) that applies a voltage to a load (4); and a model determination unit (112) that calculates an index on the basis of a detected value of a current flowing through the load (4) when a voltage is applied to the load (4), and extracts from the model information a model corresponding to the voltage applied to the load, the detected value, and the calculated index, thereby determining the model of the connected load (4).
Description
Technical Field
The present invention relates to a power amplifier device, a tension controller, and a method for determining a load, which control a magnetic particle clutch or a magnetic particle brake.
Background
Magnetic powder, namely magnetic iron powder, is used for the magnetic powder clutch and the magnetic powder brake during torque transmission. Magnetic particle clutches and magnetic particle brakes are mainly used in tension control systems for winding and unwinding long materials such as paper and films. In addition, magnetic particle clutches and magnetic particle brakes are sometimes used for torque limiters and the like in general machines.
A magnetic particle clutch has a coil called an exciting coil, and if magnetism is imparted to magnetic particles by flowing a current through the coil, torque is transmitted to operate as a clutch. Further, if the output side of the magnetic particle clutch is fixed, the magnetic particle brake is operated. Magnetic powder is used for the magnetic powder clutch and the magnetic powder brake in torque transmission, and therefore, the magnetic powder clutch and the magnetic powder brake have many advantages of smoothness, which is an advantage of a fluid clutch, and high efficiency in connection, which is an advantage of a friction plate clutch.
The power amplifier device that controls the magnetic particle clutch or the magnetic particle brake based on instructions such as a torque instruction so that an exciting current corresponding to the instructions flows in a coil of the magnetic particle clutch or the magnetic particle brake. As control methods in the power amplifier device, there are a voltage control method of outputting a constant voltage to the magnetic particle clutch or the magnetic particle brake, and a current control method of outputting a constant current to the magnetic particle clutch or the magnetic particle brake.
Magnetic powder is used for a magnetic powder clutch and a magnetic powder brake during torque transmission, and therefore, the magnetic powder may be uneven due to impact during transportation. If the magnetic powder is not uniform, the torque may be reduced or varied. Therefore, in order to exert the original performance of the magnetic particle clutch and the magnetic particle brake, it is important that the magnetic particles are uniformly distributed. In order to uniformly distribute the magnetic powder, a running-in operation is sometimes performed. The running-in condition is determined according to the models of the magnetic particle clutch and the magnetic particle brake.
In addition, in the magnetic particle clutch and the magnetic particle brake, since a characteristic of the transmission torque with respect to the exciting current, which shows a relationship between the exciting current and the transmission torque, is nonlinear, it is common to correct such that the characteristic of the transmission torque with respect to the exciting current becomes linear. For this correction, parameters corresponding to the model need to be set. As described above, in an apparatus for controlling a magnetic particle clutch or a magnetic particle brake, information indicating a model of the magnetic particle clutch or the magnetic particle brake is generally used. Therefore, a device that controls a magnetic particle clutch or a magnetic particle brake generally acquires information indicating a model.
Patent document 1 is an example of a technique for acquiring information indicating the model of a magnetic particle clutch and a magnetic particle brake. In patent document 1, in a feedback control system for a magnetic particle clutch and a magnetic particle brake, a model name recognition unit recognizes a model name of the magnetic particle clutch or the magnetic particle brake to be used by directly inputting the model name by an operator or by reading information such as a QR code (registered trademark) or a barcode given to the magnetic particle clutch or the magnetic particle brake by the operator using a mobile phone.
Patent document 1: japanese patent laid-open publication No. 2014-87131
Disclosure of Invention
However, in the technique described in patent document 1, an operator is required to directly input a model name or to operate a mobile phone. Therefore, if the technique described in patent document 1 is applied to a power amplifier device that controls a magnetic particle clutch or a magnetic particle brake as a load, there is a problem in that it takes a worker's time to determine the type of the load.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a power amplifier device capable of determining a load model while suppressing man-hours of an operator.
In order to solve the above-described problems and achieve the object, a power amplifier device according to the present invention is connectable to a load, which is a magnetic particle clutch or a magnetic particle brake, and includes an information storage unit that stores, as model information, correspondence between identification information of a model for each model of the load, a voltage applied to the load, a saturated excitation current flowing by the applied voltage, and an index indicating an excitation current in a transient state by the applied voltage. Further, the power amplifier device includes: a drive circuit that applies a voltage to a load; and a model determination unit that calculates an index based on a detected value of a current flowing through the load when a voltage is applied to the load, and determines a model of the connected load by extracting a model corresponding to the voltage applied to the load, the detected value, and the calculated index from the model information.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, there is an effect that the load model can be determined while suppressing man-hours of the operator.
Drawings
Fig. 1 is a diagram showing a configuration example of a tension control system according to embodiment 1.
Fig. 2 is a diagram showing a configuration example of a power amplifier device according to embodiment 1.
Fig. 3 is a schematic diagram showing an example of a voltage applied to a coil and an excitation current flowing through the coil in embodiment 1.
Fig. 4 is a diagram showing an example of model information according to embodiment 1.
Fig. 5 is a flowchart showing an example of the automatic model discrimination procedure according to embodiment 1.
Fig. 6 is a diagram showing a configuration example of a power amplifier device according to embodiment 2.
Fig. 7 is a diagram showing a running-in operation in embodiment 2.
Fig. 8 is a diagram showing an example of the running-in operation information of embodiment 2 in which conditions for the running-in operation for each model are stored.
Fig. 9 is a diagram showing a configuration example of a power amplifier device according to embodiment 3.
Fig. 10 is a diagram showing an example of model information according to embodiment 3.
Fig. 11 is a flowchart showing an example of the automatic determination process of the completion of the running-in operation according to embodiment 3.
Fig. 12 is a diagram showing a configuration example of a power amplifier device according to embodiment 4.
Fig. 13 is a diagram showing an example of characteristics of a transmission torque with respect to an excitation current of a load according to embodiment 4.
Detailed Description
Hereinafter, a power amplifier device, a tension controller, and a load determination method according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments.
Embodiment 1.
Fig. 1 is a diagram showing a configuration example of a tension control system according to embodiment 1 of the present invention. As shown in fig. 1, the tension control system of the present embodiment includes a power amplifier device 1, a setting device 2, and a load 4. In the present embodiment, the load 4 is a magnetic particle clutch or a magnetic particle brake, but the load 4 is not limited to the magnetic particle clutch or the magnetic particle brake. The power amplifier device 1 can be connected to loads 4 of a plurality of different models. The setting device 2 is a device that sets values such as voltage and current output to a load by the power amplifier device 1. The setting device 2 may be an adjustment potentiometer for receiving the setting of the voltage, the current, or the like, or may be a control device such as a tension controller. The power amplifier device 1 and the setting device 2 constitute a control system 3. The power amplifier device 1 and the setting device 2 may be separate or integrated. When the power amplifier device 1 and the setting device 2 as a tension controller are integrally configured to constitute the control system 3, the control system 3 is a tension controller having a built-in power amplifier as a power amplifier. The tension control system of the present embodiment adjusts the tension of the material 5 in an apparatus such as a printer or a slitter. The material is, for example, paper, film.
The power amplifier device 1 applies a voltage to the load 4 or flows a current through the load 4 based on a setting signal that is a signal output from the setting device 2. The setting signal indicates a current, a voltage, or the like for setting a torque corresponding to the target tension. The setting signal is not limited to the example input from the setting device 2, and may be input through an input means included in the power amplifier device 1. The target tension is set by the operator operating the setting device 2, but the method of setting the target tension is not limited to this. In the following, a case where the load 4 of the power amplifier device 1 is a magnetic particle clutch will be described as an example, but the load 4 of the power amplifier device 1 may be a magnetic particle brake. That is, the load 4 of the power amplifier device 1 may be a magnetic particle clutch or a magnetic particle brake.
The load 4 includes a coil called an exciting coil, an input-side rotating body, and an output-side rotating body. A voltage is applied from the power amplifier device 1 to the coil, and thereby an excitation current flows. An excitation current flows through the coil, whereby torque is transmitted, and tension is generated in the material 5. Similarly, when the load 4 is a magnetic particle brake, a voltage is applied from the power amplifier device 1, whereby torque is transmitted from the input-side rotating body to the output-side rotating body of the load 4, and tension is generated in the material 5.
Fig. 2 is a diagram showing a configuration example of the power amplifier device 1 of the present embodiment. As shown in fig. 1, the power amplifier device 1 includes an arithmetic processing unit 11, an information storage unit 12, and a drive circuit 13. The arithmetic processing unit 11 includes a command unit 111 and a model identification unit 112.
A setting signal is input from the setting device 2 to the command unit 111. The command unit 111 controls the normal operation of the load 4 based on the setting signal. Here, the normal operation means a normal operation after the completion of the running-in operation of the load 4. Specifically, the command unit 111 instructs the drive circuit 13 of the excitation current or the voltage applied to the load 4 based on the setting signal. The drive circuit 13 applies a voltage or flows a current to the load 4 based on an instruction from the instruction section 111.
The model determination unit 112 determines the model of the load 4. In general, in a magnetic particle clutch and a magnetic particle brake, it is necessary to determine a condition of a running-in operation or to perform a correction so that a characteristic of a transmission torque by an excitation current becomes linear.
Conventionally, when performing a break-in operation, an operator determines a model and manually sets an excitation current based on a condition corresponding to the model. Therefore, the operator may have a troublesome work and may erroneously input a condition. Further, there is a problem that an operator may erroneously determine a model. Therefore, it is desirable to automatically determine the type of the load.
In addition, in the magnetic particle clutch and the brake, since a characteristic of the transmission torque with respect to the exciting current, which indicates a relationship between the exciting current and the transmission torque, is nonlinear, a correction is usually made so that the characteristic of the transmission torque with respect to the exciting current becomes linear. For this correction, parameters corresponding to the models of the magnetic particle clutch and the brake need to be manually set. If the operator manually performs the setting, the operator may have a troublesome work and may erroneously input parameters. Therefore, it is desirable to automatically determine the type of the load.
Therefore, in the present embodiment, the model determination unit 112 automatically determines the model of the load 4. Specifically, the model identification unit 112 calculates a time constant of the coil based on a detection value of a current flowing through the coil of the load 4 when a voltage is applied to the load 4, that is, a detection value of an excitation current, and identifies the model of the load 4 based on the time constant of the coil. The details of the method of identifying the model of the load 4 in the model identifying unit 112 will be described later.
Here, a hardware configuration of the power amplifier device 1 will be explained. The arithmetic processing unit 11 is realized by a processing circuit. The processing circuit may be dedicated hardware or may be a control circuit having a processor. In the case where the processing circuit is a control circuit, the control circuit has a processor and a memory. The processor is, for example, a CPU (also referred to as a Central Processing Unit, a Processing Unit, an arithmetic Unit, a microprocessor, a microcomputer, a processor, or a dsp (digital Signal processor)). The memory is, for example, a nonvolatile or volatile semiconductor memory, a magnetic disk, or the like.
When the arithmetic processing unit is realized by the control circuit, the processor reads and executes a program stored in the memory, thereby realizing the function of the arithmetic processing unit 11. In addition, the memory is also used as a temporary memory in each process performed by the processor.
In the case where the processing circuit is configured as dedicated hardware, the processing circuit may be a circuit, a complex circuit, a programmed processor, a parallel programmed processor, an asic (application Specific Integrated circuit), an fpga (field Programmable Gate array), or a combination thereof. The arithmetic processing unit 11 may be implemented by combining a processing circuit and a control circuit, which are dedicated hardware.
The information storage unit 12 shown in fig. 2 is implemented by a memory. The memory may be a part of the memory of the control circuit implemented by the arithmetic processing unit 11, or may be provided separately from the memory of the control circuit. The drive circuit 13 shown in fig. 2 is an electronic circuit including an amplifier and the like.
Next, a method of determining the model of the load 4 in the model determination unit 112 according to the present embodiment will be described. Fig. 3 is a schematic diagram showing an example of a voltage applied to a coil and an excitation current flowing through the coil in the present embodiment. In fig. 3, the horizontal axis represents time. The voltage applied to the coil is shown in the upper part of fig. 3, and the excitation current flowing in the coil is shown in the lower part of fig. 3. If a voltage is applied to the coil of the load 4, which is a magnetic particle clutch or a magnetic particle brake, the exciting current rises exponentially according to the resistance and inductance of the coil, as shown in fig. 3. The characteristics of the exciting current in the transient state are determined by the resistance and inductance of the coil, and one example of an index indicating the characteristics is a time constant of the coil. The characteristics of the excitation current in the transient state depend on the resistance and inductance of the coil, but depend on the type of the load 4. Therefore, if the index of the excitation current indicating the transient state caused by the applied voltage is known, the model of the load 4 can be determined. In the following, an example using a time constant of a coil will be described as an example of an index indicating an excitation current in a transient state caused by voltage application, but the index indicating an excitation current in a transient state is not limited thereto. In the present embodiment, model identification information, applied voltage, saturated excitation current, and a time constant of the coil before the break-in operation (coil time constant before the break-in operation) are stored in the information storage unit 12 as model information for each model of the load 4. That is, the information storage unit 12 stores, as model information, a correspondence relationship between a voltage applied to the load 4, an excitation current flowing by the applied voltage, and a time constant of the coil for each model of the load 4. Fig. 4 is a diagram showing an example of model information according to the present embodiment. The excitation current detected by the drive circuit 13 is input to the model determination unit 112. The model identification unit 112 calculates a time constant using the detected excitation current, and automatically identifies a model by referring to the model information stored in the information storage unit 12 using the applied voltage, the detected excitation current, and the calculated time constant. When the voltage value is fixed when the voltage is applied, the model information may not include the voltage.
Fig. 5 is a flowchart showing an example of the automatic model determination procedure according to the present embodiment. The drive circuit 13 of the power amplifier device 1 applies a voltage to the load (step S1). At this time, the voltage value of the applied voltage is predetermined, for example. The voltage value may be changed based on an input from an operator via an input unit or the like, not shown. Next, the model identification unit 112 acquires the excitation current, which is the current of the load 4 (step S2). Specifically, for example, the model identification unit 112 obtains the current detected by the current detector of the drive circuit 13 from the drive circuit 13. The model identification unit 112 stores the acquired detection value of the current together with information indicating the elapsed time from the time when the voltage application is started.
Next, the model identification unit 112 calculates the maximum value of the current based on the stored detected value of the current (step S3). As illustrated in fig. 3, the excitation current flowing through the coil rapidly increases with time to a value at which the excitation current is saturated. That is, the excitation current rapidly increases with the passage of time and then converges to a constant value. The model determination unit 112 calculates the maximum value of the current using the detected value of the current after the elapse of the time required for calculating the maximum value of the current.
Next, the model identification unit 112 calculates a current value of 63% that is the maximum value of the 63% current, and calculates a time constant using the calculated 63% current (step S4). Specifically, the model determination unit 112 calculates an elapsed time from the start of voltage application at the time when the detected value of the current becomes 63% as a time constant. Here, the current value that is 63% of the maximum value, that is, the current value obtained by multiplying the maximum value by 0.63 is calculated, but the value obtained by multiplying the maximum value is not limited to 0.63. As described above, the time constant of the coil is an example of an index indicating the excitation current in a transient state caused by the application of the voltage, and as the index, for example, a time from the start of the application of the voltage to 75% of the maximum value of the current or the like can be used. In this case, the time until the current reaches 75% of the maximum value of the current is stored in the device information in place of the time constant of the coil, and the time from the start of the voltage application to 75% of the maximum value of the current is obtained in step S4. As described above, as the index of the excitation current indicating the transient state caused by the voltage application, the time from the start of the voltage application to the current that is a value obtained by multiplying the maximum value of the current by a predetermined value equal to or less than 1 may be used. In this case, the model determination unit 112 multiplies the maximum value by a predetermined value equal to or less than 1 to obtain a current value for obtaining an index of the excitation current indicating the transient state, and obtains the index from the current value.
Next, the model determination unit 112 extracts a model corresponding to the applied voltage, the calculated maximum value of the current, and the calculated time constant from the model information by using the applied voltage, the calculated maximum value of the current, and the model information, thereby specifying the model of the load 4 (step S5), and the process is terminated by automatically determining the model of the load.
As described above, the power amplifier device 1 of the present embodiment detects the current of the load 4, calculates the maximum value of the current and the time constant of the coil based on the detected current, and determines the model of the load 4 based on the voltage applied to the load 4, the maximum value of the current, the time constant, and model information. That is, the model determination unit 112 extracts, from the model information, a model corresponding to the voltage applied to the load 4, the detected value of the current of the load 4, and the calculated time constant of the coil, and thereby determines the model of the connected load 4. Thus, the power amplifier device 1 can automatically determine the model of the load without being manually set by an operator.
In the present embodiment, an example in which the model of the load is automatically determined by the power amplifier device 1 is described, but another control device may be provided independently of the power amplifier device 1, and the control device may include the model determination unit 112 and the information storage unit 12. In this case, the control device may acquire detected values of the voltage applied to the load 4 and the current of the load 4 from the power amplifier device 1.
Fig. 6 is a diagram showing a configuration example of a power amplifier device according to embodiment 2 of the present invention. A power amplifier device 1a of the present embodiment is the same as the power amplifier device 1 of embodiment 1 except that an arithmetic processing unit 11a is provided instead of the arithmetic processing unit 11 of the power amplifier device 1 of embodiment 1. The same reference numerals as those in embodiment 1 are given to the components having the same functions as those in embodiment 1, and redundant description thereof is omitted. The following mainly explains differences from embodiment 1.
As described above, since the load 4, which is a magnetic particle clutch or a magnetic particle brake, uses magnetic particles at the time of torque transmission, the magnetic particles are not uniform due to a shock or the like during transportation, and the torque may be reduced or varied. Therefore, after shipment, the magnetic particle clutch and the magnetic particle brake are usually run-in before actual operation. The running-in condition is determined in accordance with the model of the load 4. In the present embodiment, the information storage unit 12 stores running-in operation information indicating information on the running-in operation for each model in addition to the model information of embodiment 1.
The arithmetic processing unit 11a of the present embodiment is the same as the arithmetic processing unit 11 of embodiment 1, except that a running-in operation control unit 113 that controls the running-in operation of the load 4 is added to the arithmetic processing unit 11 of embodiment 1. The arithmetic processing unit 11a of the present embodiment is realized by a processing circuit in the same manner as the arithmetic processing unit 11 of embodiment 1.
Fig. 7 is a diagram showing a running-in operation according to the present embodiment. In fig. 7, the horizontal axis represents time. The field current in the running-in operation is shown in the upper part of fig. 7, and the torque in the running-in operation is shown in the lower part of fig. 7. As shown in fig. 7, in the run-in operation, the current normally flows through the load 4 a plurality of times. In the run-in operation, a current of a certain time periodically flows through the load 4, thereby periodically generating an exciting current. The conditions of the break-in operation are determined by, for example, the rotation speed, the exciting current, the current ON/OFF time, and the number of times. Fig. 8 is a diagram showing an example of the running-in operation information of the present embodiment in which the conditions of the running-in operation for each model are stored. The running-in information indicates a running-in condition for each model of the load. The rotation speed is the rotation speed of the rotating body ON the input side, and the current ON/OFF time indicates the time when the excitation current is generated, that is, the time when the current flows to the load 4, and the time when the excitation current is not generated, that is, the time when the current does not flow to the load 4. In the example shown in fig. 8, the ON time, which is the time when the current flows through the load 4, and the OFF time, which is the time when the current does not flow through the load 4, are expressed in the form of the ON time/OFF time. The drive circuit 13 includes, for example, a switch, and controls whether or not a current flows through the load 4 depending ON whether or not the switch is ON. The number of times indicates the number of times the current periodically flows, i.e., the number of running-in operations. These running-in conditions are determined for each model, and the running-in information stores the running-in conditions for each model.
The model determination unit 112 determines the model of the load 4 in the same manner as in embodiment 1, and outputs model identification information, which is the determination result, to the running-in control unit 113. The running-in control unit 113 controls the running-in operation based on the determination result of the model determination unit 112 and the running-in operation information. Specifically, the running-in condition corresponding to the determination result is extracted from the running-in operation information stored in the information storage unit 12 using the determination result output from the model determination unit 112, and a command for executing the running-in operation is generated based on the extracted operation condition and output to the drive circuit 13. The drive circuit 13 supplies a current to the load 4 based on a command output from the running-in control unit 113. Thereby running-in operation is performed.
In the present embodiment, as in embodiment 1, the model determination unit 112 of the power amplifier device 1a automatically determines the model of the load 4, and the break-in operation control unit 113 controls the break-in operation based on the determination result obtained by the model determination unit 112 and the break-in operation information stored in the information storage unit 12. Conventionally, an operator manually performs a running-in operation according to a model. In the present embodiment, since the power amplifier device 1a performs the break-in operation under the condition corresponding to the model of the load 4, the operator does not need to manually perform the setting of the break-in operation. Further, it is not necessary to add identification information such as a barcode for identifying the model to the load 4.
Fig. 9 is a diagram showing a configuration example of a power amplifier device according to embodiment 3 of the present invention. The power amplifier device 1b of the present embodiment is the same as the power amplifier device 1a of embodiment 2 except that it includes an arithmetic processing unit 11b instead of the arithmetic processing unit 11a of the power amplifier device 1a of embodiment 2. The same reference numerals as in embodiment 2 are given to the components having the same functions as in embodiment 2, and redundant description thereof is omitted. The following mainly explains differences from embodiment 2.
The arithmetic processing unit 11b of the present embodiment is the same as the arithmetic processing unit 11a of embodiment 2, except that it includes a running-in operation control unit 113a instead of the running-in operation control unit 113 of embodiment 2. The arithmetic processing unit 11b is realized by a processing circuit in the same manner as the arithmetic processing unit 11 of embodiment 1.
In the present embodiment, the model information stored in the information storage unit 12 stores not only the time constant of the coil before the break-in operation but also the time constant of the coil after the break-in operation (coil time constant after the break-in operation). As shown in fig. 7 of embodiment 2, the torque of the load 4 increases as the number of times of current flow, that is, the number of times of running-in operation, increases in the multiple running-in operation, and becomes stable if a certain amount of time elapses. If a certain degree of time has elapsed, the increase in torque is less than or equal to a certain amount. The torque stabilization means that magnetic powder unevenly distributed inside becomes evenly distributed. If the distribution of the magnetic powder changes from a non-uniform state to a uniform state, a magnetic path formed around the coil changes from the start of the running-in operation. That is, the time constant of the coil changes from the start of the run-in operation. If the above state is reached, there is no problem even if the running-in operation is completed. Therefore, in the present embodiment, "running-in operation and completion determination processing" is performed in which the running-in operation and the completion determination processing are alternately repeated, and in the completion determination processing, when the time constant becomes the time constant of the coil after the running-in operation determined for each model, the power amplifier device 1b completes the "running-in operation and the completion determination processing". The run-in operation referred to herein means that 1 set of currents is applied a plurality of times. The termination of the multiple times, i.e., the application of 1 set of currents, is hereinafter referred to as termination of the running-in operation. The repetition of stopping the running-in operation itself upon completion of the "running-in operation and completion of the determination processing" is referred to as completion of the running-in operation.
Fig. 10 is a diagram showing an example of model information according to the present embodiment. As shown in fig. 10, the model information of the present embodiment is added with the time constant of the coil after the break-in operation to the model information described in embodiment 1. The time constant of the coil after the running-in operation is a time constant used for determination of completion of the running-in operation. That is, the time constant of the coil after the running-in operation is a condition for completing the "running-in operation and completion determination processing", and is also a condition for completing the running-in operation. Here, an example is shown in which the time constant of the coil after the break-in operation is included in the model information, but instead of this, the time constant of the coil after the break-in operation may be included in the break-in operation information.
The running-in control unit 113a controls the running-in operation using the determination result obtained by the model determination unit 112 and the running-in operation information, as in embodiment 2. In the present embodiment, the running-in operation control unit 113a calculates the time constant of the coil if the running-in operation is completed, and completes the running-in operation if the time constant of the coil reaches the completion condition of the running-in operation. That is, the running-in operation control unit 113a performs a completion determination process each time the running-in operation is completed, and in the completion determination process, calculates a time constant of the coil based on a detected value of a current flowing through the coil when a voltage is applied to the load, and determines whether or not the calculated time constant of the coil satisfies a completion condition. Then, if it is determined in the completion determination process that the completion condition is satisfied, the running-in control unit 113a completes the running-in operation.
Fig. 11 is a flowchart showing an example of the automatic determination process of the completion of the running-in operation according to the present embodiment. As shown in fig. 11, the running-in operation control unit 113a performs a running-in operation based on the running-in operation conditions (step S11). Specifically, as described in embodiment 2, if the condition of the break-in operation is determined according to the model, the break-in operation is performed. Next, if the running-in operation control unit 113a ends the running-in operation, the completion determination process is started. The completed discrimination processing is the processing of step S12 to step S16 shown in fig. 11. As the completion determination process, the running-in control unit 113a first instructs the drive circuit 13 to apply a voltage to the load 4, and the drive circuit 13 applies a voltage to the load 4 (step S12).
Next, the running-in operation control unit 113a obtains a detection value of the current of the load 4 from the drive circuit 13 (step S13). The running-in operation control unit 113a holds the detected value of the current of the load 4 every elapsed time from the start of applying the voltage 1 time.
The running-in control unit 113a calculates the maximum current based on the stored detected value of the current (step S14). In detail, the maximum current in 1 voltage application was calculated. Next, the running-in control unit 113a calculates the 63% current from the maximum current and calculates the time constant using the calculated 63% current, as in embodiment 1 (step S15). Specifically, the running-in control unit 113a obtains an elapsed time from the start of voltage application at the time when the detected value of the current becomes 63% current as a time constant.
Next, the running-in operation control unit 113a determines whether or not the calculated time constant is a time constant for completion of the running-in operation (step S16). The time constant after the run-in operation is equal to or more than the time constant of the coil after the run-in operation. Therefore, in step S16, specifically, the running-in operation control unit 113a determines whether or not the calculated time constant is equal to or greater than the time constant of the coil after the running-in operation stored in the model information, and thereby determines whether or not the calculated time constant is the time constant at which the running-in operation is completed.
When the calculated time constant is the time constant for completion of the running-in operation (step S16 Yes), the running-in operation control unit 113a completes the "running-in operation and completion determination processing". If the calculated time constant is not the time constant for completion of the running-in operation (No at step S16), the running-in operation control unit 113a repeats the processing from step S11.
Conventionally, the completion of the running-in operation is determined by measuring the torque of the load 4 by an operator using a spring balance or the like, and comparing the measured value with a standard torque characteristic of the type of the load. In the present embodiment, as described above, the power amplifier device 1b can automatically determine the completion of the break-in operation based on the time constant calculated during the break-in operation. This can suppress the number of working steps required for the running-in operation.
Embodiment 4.
Fig. 12 is a diagram showing a configuration example of a power amplifier device according to embodiment 4 of the present invention. The power amplifier device 1c of the present embodiment is the same as the power amplifier device 1b of embodiment 3 except that it includes an arithmetic processing unit 11c instead of the arithmetic processing unit 11b of the power amplifier device 1b of embodiment 3 and the information storage unit 12 also stores correction information. The same reference numerals as in embodiment 3 are given to the components having the same functions as in embodiment 3, and redundant description is omitted. The following mainly explains differences from embodiment 3.
The arithmetic processing unit 11c of the present embodiment is the same as the arithmetic processing unit 11b of embodiment 3, except that it includes a command unit 111a instead of the command unit 111 of the arithmetic processing unit 11b of embodiment 3. The arithmetic processing unit 11c is realized by a processing circuit in the same manner as the arithmetic processing unit 11 of embodiment 1.
The information storage unit 12 of the present embodiment stores correction information for each model of the load 4 in addition to model information and running-in operation information. The correction information is information for correcting the transmission torque characteristic by the excitation current. The correction information is an example of control information used for controlling the normal operation of each model of the load 4. Other examples of the control information include a rated voltage and a rated current.
Fig. 13 is a diagram showing an example of characteristics of the load 4 with respect to the transmission torque. In fig. 13, the horizontal axis represents the ratio (%) of the passage of the excitation current to the rated value, and the vertical axis represents the ratio (%) of the passage of the transmission torque to the rated value. The a-curve shows the excitation current versus transmitted torque characteristics for each model of load 4. As shown in fig. 13, the characteristics of the excitation current of the load 4 to the transmission torque are nonlinear. Further, the characteristics of the excitation current with respect to the transmission torque differ depending on the model of the load 4. For example, as shown in fig. 13, the a-curve of the model AAA and the a-curve of the model BBB are different.
In general, in order to realize stable tension control, the nonlinearity of the transmission torque by the excitation current is corrected. Here, the nonlinearity correction is performed so that the characteristic of the excitation current with respect to the transmission torque is a c-curve, which is a straight line connecting the point where the excitation current is a rated value (100%) and the transmission torque is the rated value (100%) and the origin. For example, the field current in the c-curve corresponding to 40% of the transmitted torque is 40%. On the other hand, according to the a-curve of the model AAA, only about 20% of transmission torque can be obtained even if 40% of excitation current is generated in the model AAA. In the model AAA, about 60% of the excitation current is required to obtain 40% of the transmission torque. Therefore, in the present embodiment, when the excitation current before correction, i.e., the input excitation current, is 40%, a curve for correction is obtained for performing correction so that the excitation current after correction, i.e., the output excitation current, becomes approximately 60%. As described above, the calibration curve generated based on the a-curve for each model is stored as calibration information for each model in the information storage unit 12. The correction information may be information for expressing the curve for correction in a tabular form or in an arithmetic expression.
In a normal operation after completion of the running-in operation, the command unit 111a of the present embodiment calculates a required torque based on the coil diameter and the like, and controls the drive circuit 13 so as to obtain the torque. At this time, the command unit 111a extracts information corresponding to the determination result from the correction information stored in the information storage unit 12 based on the determination result obtained by the model determination unit 112, and corrects the nonlinearity of the excitation current with respect to the transmission torque based on the extracted information. The correction of the nonlinearity of the transmission torque by the exciting current is included in the control operation of the normal operation. Therefore, the command unit 111a of the present embodiment controls the normal operation based on the determination result of the model determination unit 112 and the control information. An example of the control information is the above-described correction information, but the control information is not limited thereto, and may be any information as long as it is used for control of the normal operation. For example, the control information may be rated values of the excitation current and the transmission torque described above.
The power amplifier device 1c also includes the above-described rated values in the correction information for each model. Thus, the power amplifier device 1c can be corrected without setting a parameter such as a rating value to be used for correction by an operator.
As described above, in the present embodiment, the power amplifier device 1c stores correction information for correcting the nonlinearity of the transmission torque with respect to the excitation current for each model, and corrects the nonlinearity based on the result of the automatic determination of the model and the correction information. Conventionally, an operator manually sets what kind of correction is to be performed according to the model, but in the present embodiment, the power amplifier device 1c can automatically determine the model of the load 4 and automatically perform the correction according to the model.
In the above example, the power amplifier device 1b according to embodiment 3 is added with a function of correcting the nonlinearity according to the model, but the power amplifier device according to embodiment 1 or 2 may be added with a function of correcting the nonlinearity according to the model. That is, the power amplifier device having the function of correcting the nonlinearity may have a command unit 111a instead of the command unit 111 of the power amplifier device 1 according to embodiment 1, and the information storage unit 12 may store correction information. Alternatively, instead of the command unit 111 of the power amplifier device 1a according to embodiment 2, a command unit 111a may be provided, and the information storage unit 12 may store correction information.
In the case of a system in which the command unit 111a is provided instead of the command unit 111 of the power amplifier device 1 according to embodiment 1 and the information storage unit 12 also stores correction information, the model information may be a model information in which a coil time constant after the break-in operation is stored instead of a coil time constant before the break-in operation. In this case, the power amplifier device 1 performs automatic determination of the model described in embodiment 1 after the completion of the break-in operation.
The configurations described in the above embodiments are only examples of the contents of the present invention, and may be combined with other known techniques, and some of the configurations may be omitted or modified without departing from the scope of the present invention.
Description of the reference numerals
1. 1a, 1b, 1c power amplifier device, 2 setting device, 3 control system, 4 load, 5 material, 11a, 11b, 11c operation processing unit, 12 information storage unit, 13 drive circuit, 111a command unit, 112 model identification unit, 113a running-in operation control unit.
Claims (9)
1. A power amplifier device which can be connected to a magnetic particle clutch or a magnetic particle brake, i.e. a load,
the power amplifier device is characterized by comprising:
an information storage unit that stores, as model information, correspondence between identification information of a model for each model of the load, a voltage applied to the load, a saturated excitation current flowing by applying the voltage, and an index indicating an excitation current in a transient state caused by applying the voltage;
a drive circuit that applies a voltage to the load; and
and a model determination unit that calculates the index based on a detected value of a current flowing through the load when a voltage is applied to the load, and determines a model of the connected load by extracting a model corresponding to the voltage applied to the load, the detected value, and the calculated index from the model information.
2. The power amplifier arrangement of claim 1,
has a running-in operation control section for controlling the running-in operation of the load,
the information storage unit stores running-in operation information indicating conditions of running-in operation for each model of the load,
the running-in operation control unit controls running-in operation based on the determination result of the model determination unit and the running-in operation information.
3. The power amplifier arrangement of claim 2,
the information storage unit stores a running-in completion condition for each model of the load,
the running-in operation control part implements the judgment processing after each running-in operation is finished,
the running-in control unit calculates the index based on a detected value of a current flowing through the load when a voltage is applied to the load in the completion determination process, determines whether the calculated index satisfies the completion condition, and completes the running-in if it is determined in the completion determination process that the completion condition is satisfied.
4. The power amplifier arrangement according to any one of claims 1 to 3,
has a command unit for controlling the normal operation of the load,
the information storage unit stores information used for controlling the normal operation for each model of the load as control information,
the command unit controls the normal operation based on the determination result of the model determination unit and the control information.
5. The power amplifier arrangement of claim 4,
the control information is correction information for correcting nonlinearity of a characteristic representing a relationship between an excitation current of the load and a torque of the load,
the command unit corrects the nonlinearity based on the determination result of the model determination unit and the correction information.
6. The power amplifier arrangement according to any one of claims 1 to 5,
the model determination unit obtains a maximum value of the detection values, obtains a current value obtained by multiplying the maximum value by a predetermined value smaller than or equal to 1, and calculates an elapsed time from the start of voltage application at a time when the current value is obtained as the index.
7. The power amplifier arrangement of claim 6,
the indicator is the time constant of the coil, and the predetermined value is 0.63.
8. A tension controller having a power amplifier connectable to a magnetic particle clutch or a magnetic particle brake, i.e. a load,
the tension controller is characterized by comprising:
an information storage unit that stores, as model information, correspondence between identification information for each model of the load, a voltage applied to the load, a saturated excitation current that flows when the voltage is applied, and an index indicating an excitation current in a transient state caused by the voltage being applied;
a drive circuit that applies a voltage to the load; and
and a model determination unit that calculates the index based on a detected value of a current flowing through the load when a voltage is applied to the load, and determines a model of the connected load based on the voltage applied to the load, the detected value, the calculated index, and the model information.
9. A method for discriminating a load in a power amplifier device connectable to a magnetic particle clutch or a magnetic particle brake, i.e., a load,
the load discrimination method comprises the following steps:
an information storage step of storing, as model information, correspondence between identification information of a model for each model of the load, a voltage applied to the load, an excitation current after saturation flowing by applying the voltage, and an index indicating an excitation current in a transient state caused by applying the voltage;
a voltage applying step of applying a voltage to the load; and
a determination step of calculating the index based on a detected value of a current flowing in the load when a voltage is applied to the load, and determining a model of the connected load based on the voltage applied to the load, the detected value, the calculated index, and the model information.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2019/034842 WO2021044555A1 (en) | 2019-09-04 | 2019-09-04 | Power amplifier device, tension controller, and load discrimination method |
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| CN114342247A true CN114342247A (en) | 2022-04-12 |
| CN114342247B CN114342247B (en) | 2023-01-13 |
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| JP (1) | JP6682058B1 (en) |
| CN (1) | CN114342247B (en) |
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- 2019-09-04 WO PCT/JP2019/034842 patent/WO2021044555A1/en active Application Filing
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| JP6682058B1 (en) | 2020-04-15 |
| JPWO2021044555A1 (en) | 2021-03-11 |
| WO2021044555A1 (en) | 2021-03-11 |
| CN114342247B (en) | 2023-01-13 |
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