JP2011166953A - Servo system selection device having power consumption calculating function of servo system that drives machine - Google Patents

Abstract

Provided is a servo system selection device having a power consumption calculation function of a servo system provided with a motor drive device for driving a plurality of motors for driving a machine.
In a servo system selection device for selecting a servo system including a motor and a drive amplifier used in a machine, machine information 10, machine operation information 12, and a servo system of at least one servo system to be selected Servo power input to the input unit 16 using the machine information 10 and the servo system information 14 based on the input unit 16 for inputting information 14 and the power consumption of the servo system based on the machine operation information 12 input to the input unit 16 A calculation unit 18 that calculates at least one of total power consumption, total loss, or power efficiency for each system, and at least one of total power consumption, total loss, or power efficiency calculated by the calculation unit 18 as an input unit And a first output unit 20 for displaying or outputting for each servo system input to 16.
[Selection] Figure 2

Description

  The present invention relates to a servo system selection device having a power consumption calculation function of a servo system including a plurality of motors that drive a machine and a motor drive device that drives each motor.

  It is necessary to select a motor and an amplifier capable of a predetermined operation based on machine information (inertia moment value, load torque value, moving distance, speed, acceleration, etc. of each axis). Since this selection work has many calculation items, it is performed using a dedicated servo system selection device (see Patent Document 1).

JP 2006-42589 A

  In recent years, demands for improving the power efficiency and reducing power consumption of machines have increased, and a servo system selection device that meets these demands has also been required. However, the current servo system selection device has already input all machine information (machine information) and machine operating conditions (machine operation information) for calculating power consumption. It did not have a function to calculate efficiency and could not meet the recent demands.

  In view of the above-described problems of the prior art, the present invention provides a servo system selection device having a power consumption calculation function of a servo system including a plurality of motors that drive a machine and a motor drive device that drives each motor. It is.

  The invention according to claim 1 of the present application is a machine information, machine operation information, and a selection target in a servo system selection device that selects a servo system including a motor used in a machine and an amplifier that drives the motor. An input unit that inputs servo system information of at least one servo system, and the power consumption of the servo system when the machine is operated based on the machine operation information input to the input unit. The machine information and the servo system information A calculation unit that calculates at least one of total power consumption, total loss, or power efficiency for each servo system input to the input unit, and total power consumption and total loss calculated by the calculation unit. Or a first output unit that displays or outputs at least one of power efficiency for each servo system input to the input unit; A servo system selection device characterized by comprising a.

The invention according to claim 2 is based on the total power consumption or power efficiency of the servo system calculated by the calculation unit for each servo system input to the input unit. A selection unit that selects an efficient servo system, and a second output unit that displays or outputs the servo system selected by the selection unit instead of the first output unit. The servo system selection device according to claim 1.
The invention according to claim 3 is characterized in that the machine information is a load inertia value and a load torque value for each drive shaft of the machine, and a movement amount per one rotation of the motor. It is a servo system selection apparatus as described in one.

  According to the present invention, it is possible to provide a servo system selection device having a power consumption calculation function of a servo system including a plurality of motors that drive a machine and a motor drive device that drives each motor.

A servo system selection device having a power consumption calculation function of a servo system that drives a machine. It is a functional block diagram of the apparatus which calculates motor amplifier selection information. It is a functional block diagram of the apparatus which selects the most power efficient thing from the set of several motor amplifiers. It is a figure explaining the relationship between the motor rotational speed N and time. It is a figure explaining the relationship between the required torque T and time. It is a figure explaining the relationship between work amount P1 and time. It is a figure explaining the relationship between required current IQ and time. It is a figure explaining the relationship between reactive current ID and time. It is a figure explaining the relationship between the total motor current IA and time. It is a figure explaining the relationship between motor loss P2 and time. It is a figure explaining the relationship between amplifier loss P3 and time.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a servo system selection device having a power consumption calculation function of a servo system that drives a machine, and includes an input device 101, a computer main body 102, and a display device 103. Further, the result calculated by the computer main body 102 may be output to a printing apparatus 104 that prints, or to an external device such as a computer via a memory or a communication line.

  The computer main body 102 includes a processor (CPU), a storage device including a ROM and a RAM (not shown). A program for realizing the power consumption calculation function of the servo system according to the present invention is stored in the storage device. As the input device 101, for example, a keyboard or an external memory can be used. Various data such as motor / amplifier information input from the input device 101 is stored in the storage device via an interface provided in the computer main body 102.

  Next, a first embodiment of the present invention will be described with reference to FIG. FIG. 2 is a functional block diagram of a servo system selection device that calculates motor / amplifier selection information. Machine information 10, machine operation information 12, and servo system information 14 are input to the input unit 16. The machine information 10, the machine operation information 12, and the servo system information 14 input to the input unit 16 are sent to the calculation unit 18.

  The machine information 10, machine operation information 12, and servo system information 14 input to the input unit 16 are subjected to motor / amplifier selection calculation in the calculation unit 18, and torque T, current IQ, IA, work P1, motor Each value of loss P2, amplifier loss P3, total power consumption ΣP, total loss Loss, and power efficiency η is calculated. The calculation method of each value will be described later.

  The first output unit 20 outputs at least one of the total power consumption ΣP, the total loss Loss, and the power efficiency η calculated by the calculation unit 18 as motor / amplifier selection information. Then, using the motor / amplifier selection information output to the first output unit 20, it is possible to determine whether or not the servo system input from the input unit 16 is an optimal system. In other words, according to the first embodiment of the present invention, a servo system that drives a machine can be considered at the selection stage with low power efficiency or low power consumption.

  In FIG. 2, information regarding one servo system is illustrated as being input from the input unit 16 as the servo system information. The input unit 16 is not limited to one servo system, but inputs information on a plurality of servo systems to be selected, inputs information on each system, and calculates motor / amplifier selection information for each system. You may make it do.

  The input unit 16, the calculation unit 18, and the first output unit 20 correspond to the input device 101, the computer main body 102, and the display device 103 shown in FIG. Further, the first output unit 20 can use the printing apparatus 104 or the external device 105.

  Next, a second embodiment will be described with reference to FIG. FIG. 3 is a functional block diagram of a servo system selection device that selects the most power-efficient one from a plurality of motor / amplifier sets. In the second embodiment, servo system information related to two or more servo systems is input to the input unit 16. Then, the power efficiency η is calculated for each servo system, the servo system having the highest power efficiency η is selected by the selection unit 19, and the selected servo system candidate is output to the second output unit 21. The calculation unit 18 and the selection unit 19 correspond to the computer main body 102 shown in FIG. The second output unit 21 corresponds to the display device 103 shown in FIG. Note that the printing device 104 or the external device 105 may be used instead of the display device 103.

Next, a calculation method for the total power consumption ΣP executed by the servo system selection device of the present invention will be described.
The movement information p [mm / rev], the load inertia J _L [kgm ² ], and the load torque T _L [Nm] per rotation of the servo motor, which are the machine information 10 of the drive shaft of the machine, are input to the input unit 16.
Further, the movement distance D [mm], the maximum rotation speed N [rad / sec] of the servo motor, and the time t1 [sec] from the stop until reaching the maximum rotation speed N, which are the machine operation information 12, are input to the input unit 16. To do.
The required torque T of the servo motor while moving the distance D at the maximum rotational speed N is expressed by the following equation (1).
T = _TL (Formula 1)
The required torque T during acceleration / deceleration is expressed by Equation 2.
T = (J _L + J _m ) * (N / t1) + T _L (Expression 2)
Here, J _m is the rotor inertia of the motor.
Then, the work amount P1 [W] of the servo motor is calculated for each unit time by the equation (3).
P1 = T * N (Formula 3)
Further, the necessary current IQ (effective current or torque component current in dq conversion) can be obtained from the equation (4) with respect to the torque T of the servo motor.
IQ = T / Kt (Formula 4)
Here, Kt is a torque constant [Nm / Apeak].
Further, the total motor current IA is obtained by the equation (5) by adding the reactive current ID (in the dq conversion) input as servo system information to the necessary current IQ as a vector.
IA = √ (IQ ² + ID ² ) (Formula 5)
Further, the motor loss P2 [W] per unit time is calculated by the equation (6).
P2 = IA ² * R * 3 + A * N + B * N ² (Formula 6)
Here, R is a resistance value [Ω] per phase of the motor winding. A is a linear proportion term of the motor iron loss speed. B is a speed quadratic proportional term of motor iron loss.
Further, the amplifier loss P3 [W] per unit time is calculated by the equation (7).
P3 = C + D * IA (Formula 7)
Here, C is a constant term of amplifier loss. D is a current linear proportional term of amplifier loss.
The torque constant Kt, resistance value R, motor iron loss speed primary proportional term A, and motor iron loss speed secondary proportional term B are the amplifier loss C and amplifier loss current primary proportional term D are: The information is input to the computer main body 102 in advance as servo system information.
After all the operations have been calculated, the total power consumption ΣP [W · s] is obtained by adding the sums of P1, P2, and P3 as shown in Equation 8.
ΣP = ΣP1 + ΣP2 + ΣP3 (Equation 8)
Further, the total loss Loss [W · s] is obtained by integrating the motor loss P2 [W] and the amplifier loss P3 [W] as shown in Equation 9.
Loss = ΣP2 + ΣP3 (Equation 9)
The power efficiency η can be obtained by the equation (10).
η = ΣP1 / ΣP (Formula 10)
The total power consumption ΣP, the total loss Loss, and the power efficiency η are calculated using the servo system selection device 100 at the time of motor selection and displayed on the display device 103, which is useful when considering the selection of the servo system. Can do.

Next, an example of calculation executed by the servo system selection device 100 using specific numerical values will be described.
The machine information of the machine information 10 of the machine drive shaft is as follows, and these values are input to the servo system selection device 100.
Movement amount per servo motor rotation p = 10 [mm / rev]
Load inertia J _L = 0.01 [kgm ² ]
Load torque T _L = 1 [Nm]
Further, the machine operation information 12 is set to the following values, and these values are input to the servo system selection device 100.
Travel distance D = 1 [mm]
Maximum motor speed N = 314 [rad / sec]
Time from stopping to reach the maximum rotational speed N t1 = 1 [sec]
Stop time after moving = 1 [sec]
The servo system information 14 is input to the servo system selection apparatus 100 in advance as the following value.
Torque constant Kt = 1 [Nm / Arms]
The reactive current ID is not supplied when the rotational speed is 0 rev / min to 2000 rev / min, and is calculated using Equation 11 when the rotational speed is 2000 rev / min to 3000 rev / min.
ID = 0.002 Arms [/ min] * (rotational speed [/ min] −2000 [/ min]) (Expression 11)
Resistance R = 0.5 [Ω]
Loss coefficient A = 0.01 [W / min]
Loss coefficient B = 0 [W / min ² ]
Loss coefficient C = 10 [W / min]
Loss coefficient D = 10 [W / min]
At this time, the maximum motor rotation speed N changes as shown in FIG. Further, the necessary torque T changes as shown in FIG. Then, the work amount P1 changes as shown in FIG. Further, the required current IQ changes as shown in FIG. Further, the reactive current ID changes as shown in FIG. The total motor current IA changes as shown in FIG. Therefore, the motor loss P2 changes as shown in FIG. Further, the amplifier loss P3 changes as shown in FIG.

Then, it can be calculated that the integrated value ΣP1 = 1300 W · s of the work amount P1. Also,
It can be calculated that the integrated value ΣP2 of the motor loss P2 = 102 W · s. Also, it can be calculated that the integrated value ΣP3 = 135 W · s of the amplifier loss P3. Therefore, the total loss Loss is 237 W · s, and the power efficiency η can be obtained as 85%.

10 Machine Information 12 Machine Operation Information 14 Servo System Information 14-1 Servo System Information (Candidate 1)
14-2 Servo system information (candidate 2)
14-3 Servo system information (candidate 3)
14-n Servo system information (candidate n)
DESCRIPTION OF SYMBOLS 16 Input part 18 Calculation part 19 Selection part 20 1st output part 21 2nd output part 100 Servo system selection apparatus 101 Input apparatus 102 Computer main body 103 Display apparatus 104 Printing apparatus 105 External apparatus

Claims (3)

In a servo system selection device for selecting a servo system including a motor used in a machine and an amplifier that drives the motor,
An input unit for inputting machine information, machine operation information, and servo system information of at least one servo system to be selected;
The power consumption of the servo system when the machine is operated based on the machine operation information input to the input unit is calculated for each servo system input to the input unit using the machine information and the servo system information. A calculator that calculates at least one of power consumption, total loss, or power efficiency;
A first output unit that displays or outputs at least one of total power consumption, total loss, or power efficiency calculated by the calculation unit for each servo system input to the input unit;
Servo system selection device characterized by comprising: For each servo system input to the input unit, the servo system with the least power consumption or the most power efficient servo system is selected based on the total power consumption or power efficiency of the servo system calculated by the calculation unit. A selection section;
Instead of the first output unit, a second output unit for displaying or outputting the servo system selected by the selection unit;
The servo system selection device according to claim 1, further comprising:   3. The servo system selection according to claim 1, wherein the machine information includes a load inertia value and a load torque value for each drive shaft of the machine, and a movement amount per one rotation of the motor. apparatus.

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