CN103684118A - Multi-axis motor driving device and fiber generation device with multi-axis motor driving device - Google Patents
Multi-axis motor driving device and fiber generation device with multi-axis motor driving device Download PDFInfo
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- CN103684118A CN103684118A CN201310106062.6A CN201310106062A CN103684118A CN 103684118 A CN103684118 A CN 103684118A CN 201310106062 A CN201310106062 A CN 201310106062A CN 103684118 A CN103684118 A CN 103684118A
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Abstract
The invention provides a multi-axis motor driving device and a fiber generation device with the multi-axis motor driving device. The multi-axis motor driving device is provided with a plurality of motors, a position detector and a frequency converter. The plurality of motors are provided with indication components which indicate the specified magnetic pole positions from the outside. The position detector is arranged on one of the above motors. In the state that the above magnetic pole positions of the above indication components are in alignment, the frequency converter emits the same command of driving the motors to the motors based on the detection positions of the above position detectors.
Description
Technical field
The present invention relates to a kind of multiaxis motor drive and possess the fiber generating apparatus of this multiaxis motor drive.
Background technology
In the past, known a kind of Multi-shaft drive device, it is arranged at as in fiber generating apparatus of fibre equipment etc., and the so a plurality of axles of spool and line sending axle (hereinafter referred to as " multiaxis ") are synchronously driven respectively.
Above-mentioned Multi-shaft drive device, is connected in an axle by parts such as gears such as having respectively by multiaxis, with a large-scale motor, makes the rotation of above-mentioned axle, thus with above-mentioned rotating gang by each shaft-driven Multi-shaft drive device of multiaxis.
But, generally speaking, fiber generating apparatus is used a plurality of axles simultaneously and production identical fibre concurrently.Therefore, if will improve output, just need to increase the number of axle, in above-mentioned situation, also need correspondingly to make axle to increase.Yet, make in situation that axle increases, likely there is the problem that increases because of mechanical loss that distortion etc. causes, or when a spool damage, the problem that all equipment is stopped of having in order to keep in repair.
So, consider such problem, the motor having proposed by separately makes respectively how shaft-driven multiaxis motor drive (for example,, with reference to Japanese Patent Laid-Open 2009-201260 communique).
At this, each motor of above-mentioned multiaxis motor drive is installed respectively to frequency converter separately, each frequency converter drives each motor by so-called V/F control mode etc.
Yet in multiaxis motor drive in the past, when starting, motor synchronously being driven on this aspect aptly has further room for improvement.For example, as mentioned above, when each motor is controlled by frequency converter separately, during starting, can in each motor, produce and lead into (pull in) respectively.
Produce above-mentioned lead fashionable, if multiaxis motor drive, for for example fibre equipment of fiber generating apparatus, may cause broken string because leading fashionable impact.
A kind of form of the present invention In view of the foregoing completes, the fiber generating apparatus that its object is to provide a kind of multiaxis motor drive and possesses this multiaxis motor drive, leading into making again multiaxis motor synchronously be driven uniformly in the time of can either preventing from starting.
Summary of the invention
The multiaxis motor drive the present invention relates to possesses: a plurality of motors; Position detector; An and frequency converter.A plurality of motors have from the indicating device of the position of magnetic pole of outside indication regulation.Position detector is arranged on a motor in described motor.A frequency converter is under the state of described position of magnetic pole alignment that makes described indicating device, and the same instruction that drives described motor is sent in the detection position based on described position detector to all described motors.
According to a kind of form of the present invention, in the time of can either preventing from starting lead into, can make again multiaxis motor synchronously be driven uniformly.
Accompanying drawing explanation
Below, contrast accompanying drawing is read following detailed description of the invention, can easily to the present invention, carry out more complete understanding, and understand relative advantage.
Fig. 1 means the ideograph of the topology example of the multiaxis motor drive that execution mode relates to.
Fig. 2 A means the ideograph of the motor of indicating device overview.
Fig. 2 B and Fig. 2 C mean the ideograph of an example of indicating device.
Fig. 3 means the block diagram of the topology example of the multiaxis motor drive that execution mode relates to.
Fig. 4 means the ideograph of the processing sequence of the multiaxis motor drive that execution mode relates to.
Fig. 5 A means the ideograph of the topology example of Multi-shaft drive device in the past.
Fig. 5 B means the ideograph of the topology example of multiaxis motor drive in the past.
Fig. 6 means the ideograph of the topology example of fiber generating apparatus.
Embodiment
With reference to the accompanying drawings, the multiaxis motor drive that detailed description the present invention discloses and the execution mode that possesses the fiber generating apparatus of this multiaxis motor drive.In addition, the present invention is not limited to execution mode shown below.
In addition the situation that the multiaxis that the multiaxis motor drive of take, has the fiber generating apparatus as fibre equipment drives describes as example.In addition, for ease of understanding explanation, at this, the multiaxis that fiber generating apparatus is had, first describes with Fig. 6.
Fig. 6 means the ideograph of the topology example of fiber generating apparatus 600.As shown in Figure 6, fiber generating apparatus 600 possesses a plurality of fibers generation parts 601-1～601-n that generate line y.For fiber, generate parts 601-1～601-n one to one corresponding spool 602-1～602-n that is provided with respectively.
In addition, fiber generates and in parts 601-1～601-n, to contain line sending axle (diagram is omitted), and above-mentioned line sending axle generates by fiber the line y that parts 601-1～601-n generates and sends.And, by spool 602-1～602-n, the line y being sent is reeled.
The multiaxis motor drive that a kind of form of present embodiment relates to, for example, makes it synchronous by usining spool 602-1～602-n that the closed curve of dotted line surrounds to represent in Fig. 6 as multiaxis.But, at this, synchronous object can also be all line sending axles.In addition, can also mixedly make spool and line sending axle synchronous.But, make between spool, when the axle of so same purposes is synchronous between line sending axle, load unbalanced less, and can carry out more high-precision control.
In addition, following motor is synchronous induction motor, and position detector is resolver (Resolver).
In addition, in each figure shown below, for the structural element forming with a plurality of key elements etc., only may have an element annotation symbol in a plurality of key elements, and situation to other key element ellipsis mark.In above-mentioned situation, a key element of label symbol is all identical with other key element.
Fig. 1 means the ideograph of the structure of the multiaxis motor drive 1 that execution mode relates to.As shown in Figure 1, multiaxis motor drive 1 possesses: a frequency converter 10; A plurality of motors 20; An and resolver 30.
Resolver 30 is only arranged on a motor in motor 20, detects the position of magnetic pole of the motor 20 that is provided with above-mentioned resolver 30.
Before the detailed structure of the multiaxis motor drive 1 that present embodiment is related to describes, in order to contrast with present embodiment, first to Multi-shaft drive device and multiaxis motor drive in the past, use Fig. 5 A and Fig. 5 B to describe herein.
Fig. 5 A means the ideograph of the topology example of Multi-shaft drive device 5 in the past.In addition, Fig. 5 B means the ideograph of the topology example of multiaxis motor drive 5 ' in the past.
As shown in Figure 5A, Multi-shaft drive device 5 in the past for example possesses: frequency converter 10; Large-scale motor 50; And major axis 60.In addition, be equivalent to the multiaxis AX of the spool etc. of fiber generating apparatus, by gear 70 and coupling components 80 etc., connect with major axis 60.
And major axis 60 is for example ball-screw, the large-scale motor 50 based on by frequency converter 10 control that drives is rotated, and makes multiaxis AX and above-mentioned rotating gang and be unified driving.
Therefore, in order to improve output, increase the number of axle, and make correspondingly major axis 60 longer, can be because of the distortion of major axis 60 or deflection etc., and cause the deterioration of mechanical precision and the decline of mechanical efficiency.
So, for example, the multiaxis motor drive 5 ' shown in Fig. 5 B has been proposed.As shown in Figure 5 B, multiaxis motor drive 5 ' has frequency converter separately 10 and the motor 20 ' with the corresponding setting of each multiaxis AX difference, and each multiaxis AX is driven separately by above-mentioned frequency converter 10 and motor 20 ' respectively.
So, by respectively each multiaxis AX being driven, even when the number of axle of multiaxis AX increases, be also difficult to cause the deterioration of above-mentioned mechanical precision and the decline of mechanical efficiency.
Yet, when each multiaxis AX is driven by frequency converter 10 and motor 20 ' so respectively, need the quantity frequency converter corresponding with multiaxis AX 10 and motor 20 '.
In addition,, when making all motors 20 ' synchronously carry out unified driving, such as needs, as sync control device 90, carry out the unit of Synchronization Control or program etc.Therefore, multiaxis motor drive 5 ' as shown in Figure 5 B, exists the problem that cost increases.
In addition, if respectively each motor 20 ' is controlled, when motor 20 ' starting, produce respectively different lead into possibility larger.Therefore, not only exist the Synchronization Control of sync control device 90 to process complicated problem, and during for fibre equipment, also exist the problem that easily causes broken string because leading fashionable impact at multiaxis motor drive 5 '.
Return to the explanation of Fig. 1.At this, in the multiaxis motor drive 1 relating at execution mode, by 10 pairs of all motors of a frequency converter 20, carry out unified driving control.Accordingly, first can form multiaxis motor drive 1 with low cost.
In addition, in order to make all motors 20 synchronously unify starting, the axle 21 (that is, inner rotor) that makes in advance all motors 20 at prestart position of magnetic pole alignment in accordance with regulations.
At this, in Fig. 1, the situation while having schematically shown the end on observation motor 20 from axle 21.In addition, in Fig. 1, as an example, also schematically shown the axle 21 of all motors 20, by the state of the unified alignment of the position of magnetic pole of the regulation shown in arrow 101 (take clock pointer position be position) at 9 o'clock.
In addition, motor 20 has indicating device, from the position of magnetic pole of outside indication afore mentioned rules.At this, the details to above-mentioned indicating device, is used Fig. 2 A～Fig. 2 C to describe.
Fig. 2 A means the ideograph of the motor 20 of indicating device overview.In addition, Fig. 2 B mean an example of indicating device ideograph (one of), Fig. 2 C means the ideograph (two) of an example of indicating device.At this, Fig. 2 B and Fig. 2 C have schematically shown the situation while observing motor 20 from direction A shown in Fig. 2 A.
As shown in Figure 2 A, motor 20 has axle 21.Indicating device is for example containing markedness portion 22, its mark be drawn in above-mentioned axle 21 anti-load side end etc. and be set up.By making axle 21 towards the direction rotation of double-head arrow 201, mark portion 22 can be towards any direction.
In addition, as shown in Figure 2 B, in the end of the anti-load side of motor 20, for example, with the interval of regulation, portray and be provided with scale portion 23, it forms indicating device together with mark portion 22.By mark portion 22 being adjusted to the assigned position of this scale portion 23, can make the axle 21 (that is, rotor) of motor 20 align with the position of magnetic pole of regulation.
But at this, the position of magnetic pole of regulation, during for starting, be difficult to produce lead into position, such as predetermining the position that attracts each other most for rotor magnetic pole and magnetic pole of the stator etc.
In addition, the indicating device shown in Fig. 2 B (that is, mark portion 22 and scale portion 23) is only an example, with this, does not limit shape, configuration and the structure etc. of indicating device.
Therefore, as shown in Figure 2 C, also can be at axle 21 subscripts, draw mark portions 22, also can on axle 21, portray the breach 24 of establishing and form indicating device by being included in.
In addition, also can the signal from above-mentioned Hall element be extracted to outside as sine wave by Hall element is contained in indicating device and is formed, based on above-mentioned sine wave, make position of magnetic pole alignment.But, in above-mentioned situation, above-mentioned scale portion 23 also can distribute by the sine wave based on from above-mentioned Hall element.
Return to the explanation of Fig. 1.And, in the multiaxis motor drive 1 relating at execution mode, only on a motor in motor 20, resolver 30 is set, and the position of magnetic pole of the motor 20 based on being detected by above-mentioned resolver 30, by 10 pairs of all motors 20 of frequency converter, send same instruction.
That is to say, frequency converter 10 is considered as the position of magnetic pole obtaining for a motor 20 position of magnetic pole of all motors 20, and by processing uniformly, makes by all motor synchronous of the position of magnetic pole alignment of predetermining.
Accordingly, in the time of can either preventing from starting lead into, can make again motor 20 synchronously drive uniformly.But, for motor 20, the induction motor lower and firm in structure with respect to cost, the synchronous induction motor that is preferably the sliding action of also having further considered induction motor is (so-called: ISM (Induction Synchronous Motor)).
Then, the main internal structure to frequency converter 10, is used Fig. 3 to describe.Fig. 3 means the block diagram of the topology example of the multiaxis motor drive 1 that execution mode relates to.
At this, the structural element of necessity when Fig. 3 has only represented present embodiment explanation, and omitted the record to general structure key element.In addition,, for the motor 20 and the resolver 30 that use Fig. 1 to illustrate, description is omitted.
The frequency converter 10 of the multiaxis motor drive 1 that as shown in Figure 3, execution mode relates to possesses control assembly 11 and memory unit 12.The integral body of 11 pairs of frequency converters 10 of control assembly is controlled.Memory unit 12 is the storage devices such as nonvolatile memory, and location information 12a stores.
In addition, control assembly 11 comprises that position acquisition parts 11a, command value determine parts 11b and same instruction unit 11c.
Position acquisition parts 11a obtains the position of magnetic pole of detected by resolver 30, to be provided with resolver 30 specific motor 20.In addition, position acquisition parts 11a is stored to memory unit 12 using the position of magnetic pole obtaining as positional information 12a
Command value determines the positional information 12a of parts 11b based on being stored in memory unit 12, determine to be applicable to all motors 20, do not produce lead into best instruction value (for example: voltage-phase).In other words, the leading when command value of decision can make because of starting is zero into motor 20 anglecs of rotation that produce, and that is to say and can directly come into operation from detection position.
At this, even now in the situation that contain the deviation of the origin position of motor 20 and resolver 30 in positional information 12a, command value determines that the command value that parts 11b determines is also the value adding after above-mentioned deviation.That is, all motors 20 that position of magnetic pole aligns in accordance with regulations in advance, are regarded as all having same deviation.
And command value determines that parts 11b notifies the command value determining to same instruction unit 11c.Same instruction unit 11c is used from above-mentioned command value and determines the command value that parts 11b receives, and all motors 20 are sent to same instruction.Accordingly, all motors 20 synchronously come into operation uniformly.
But, all motors 20 are the state of position of magnetic pole alignment in accordance with regulations, so long as can guarantee before sending same instruction by frequency converter 10, and be not limited to before or after resolver 30 detection position of magnetic poles.Then, to this point, use Fig. 4 to describe.
Fig. 4 means the ideograph of the processing sequence of the multiaxis motor drive 1 that execution mode relates to.
Follow explanation so far, as shown in Figure 4, in multiaxis motor drive 1, first will with dotted line 401, iris out the position of magnetic pole alignment of all motors 20 that represent.
Then, the position of magnetic pole that 30 pairs of resolvers are provided with the particular motor 20 of above-mentioned resolver 30 detects, and is handed over to frequency converter 10 (with reference to arrow in figure 402).
And the detection position of the resolver 30 of frequency converter 10 based on receiving determines command value, and uses above-mentioned command value to send same instruction (with reference to arrow in figure 403) to all motors 20.
At this, as above-mentioned variation, also can first by resolver 30, carry out position probing.Particularly, the position of magnetic pole that is first provided with the particular motor 20 of above-mentioned resolver 30 by 30 pairs of resolvers detects, and detection position is handed over to frequency converter 10 (with reference to arrow in figure 402).
Now, frequency converter 10 can similarly be stored the detection position obtaining with above-mentioned as positional information 12a.Or, also can, based on the detected detection position of resolver 30, motor 20 be alignd with the origin position of resolver 30.After origin position is alignd, frequency converter 10 is stored the detection position after above-mentioned origin position alignment as positional information 12a.
And, in these cases, then by the position of magnetic pole alignment of all motors 20 that represent with dotted line 401.According to this method, also can make the position of magnetic pole of all motors 20 consistent with the positional information 12a of frequency converter 10 storages.
And as shown in arrow in figure 403, frequency converter 10 determines command value in the same manner as described above, and sends same instruction to all motors 20.Accordingly, all motors 20 can either prevent from leading into, can synchronously drive uniformly again.
As mentioned above, the multiaxis motor drive that a kind of form of present embodiment relates to possesses a plurality of motors; Position detector; An and frequency converter.A plurality of motors have from the indicating device of the position of magnetic pole of outside indication regulation.Position detector is located on a motor in said motor.A frequency converter is under the state of above-mentioned position of magnetic pole alignment that makes above-mentioned indicating device, and the same instruction that drives said motor is sent in the detection position based on above-mentioned position detector to all said motor.
Therefore, the multiaxis motor drive relating to according to a kind of form of present embodiment, in the time of can either preventing from starting lead into, can make again multiaxis motor synchronously drive uniformly.
But, although in the above-described embodiment, situation when multiaxis motor drive is driven to the multiaxis that fiber generating apparatus has is illustrated,, with this, do not limit the mechanical classification with multiaxis.For example,, also applicable to automatic weaving loom.
In addition, in the above-described embodiment, the position detector of take is that the situation of resolver is illustrated as example, but is also not limited to this.
Claims (8)
1. a multiaxis motor drive, is characterized in that possessing:
A plurality of motors, have from the indicating device of the position of magnetic pole of outside indication regulation;
Position detector, is arranged on a motor in described motor; And
A frequency converter, wherein
Described frequency converter is under the state of described position of magnetic pole alignment that makes described indicating device, and the same instruction that drives described motor is sent in the detection position based on described position detector to all described motors.
2. multiaxis motor drive as claimed in claim 1, is characterized in that:
Described frequency converter sends described same instruction, so that be zero by the anglec of rotation of leading into caused described motor in when starting.
3. multiaxis motor drive as claimed in claim 1, is characterized in that:
Described frequency converter is after the described position of magnetic pole of all described motors aligns based on described indicating device, and described same instruction is sent in the detection position based on described position detector.
4. multiaxis motor drive as claimed in claim 1, is characterized in that:
The detection position of described frequency converter based on described position detector, make to be provided with after the described motor of described position detector and the aligned in position of this position detector, all described motors after the described indicating device to described position of magnetic pole based on being provided with the described motor of described position detector aligns send described same instruction.
5. multiaxis motor drive as claimed in claim 1, is characterized in that:
Described position detector is resolver,
Described motor is synchronous induction motor.
6. a fiber generating apparatus, is characterized in that:
Possesses multiaxis motor drive claimed in claim 1.
7. multiaxis motor drive as claimed in claim 1, is characterized in that:
Described multiaxis motor drive is applied to fiber generating apparatus.
8. multiaxis motor drive as claimed in claim 7, is characterized in that:
Described a plurality of motor drives respectively spool or line sending axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310106062.6A CN103684118B (en) | 2012-08-31 | 2013-03-28 | Multiaxial motor drive device and possess this multiaxial motor drive device fiber generate device |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012204430594 | 2012-08-31 | ||
| CN201220443059 | 2012-08-31 | ||
| CN201220443059.4 | 2012-08-31 | ||
| CN201310106062.6A CN103684118B (en) | 2012-08-31 | 2013-03-28 | Multiaxial motor drive device and possess this multiaxial motor drive device fiber generate device |
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| Publication Number | Publication Date |
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| CN103684118A true CN103684118A (en) | 2014-03-26 |
| CN103684118B CN103684118B (en) | 2016-07-06 |
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| CN201310106062.6A Active CN103684118B (en) | 2012-08-31 | 2013-03-28 | Multiaxial motor drive device and possess this multiaxial motor drive device fiber generate device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3900589A1 (en) * | 1988-11-30 | 1990-05-31 | Heidolph Elektro Gmbh & Co Kg | Arrangement for synchronization of the rotation speeds of at least two electronically commutated DC motors |
| JP2003116294A (en) * | 2001-10-05 | 2003-04-18 | Fuji Electric Co Ltd | Synchronous operation unit |
| CN101179250A (en) * | 2006-11-07 | 2008-05-14 | 株式会社上村工业 | Control method of non-sensor permenant-magnetic synchronous motor |
| JP2009201260A (en) * | 2008-02-21 | 2009-09-03 | Sumitomo Heavy Ind Ltd | Multi-shaft motor drive device |
| CN102318180A (en) * | 2007-10-31 | 2012-01-11 | Thk株式会社 | Multi-spindle movement driver control method, multi-spindle movement driver, and multi-spindle drive control system having the same |
-
2013
- 2013-03-28 CN CN201310106062.6A patent/CN103684118B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3900589A1 (en) * | 1988-11-30 | 1990-05-31 | Heidolph Elektro Gmbh & Co Kg | Arrangement for synchronization of the rotation speeds of at least two electronically commutated DC motors |
| JP2003116294A (en) * | 2001-10-05 | 2003-04-18 | Fuji Electric Co Ltd | Synchronous operation unit |
| CN101179250A (en) * | 2006-11-07 | 2008-05-14 | 株式会社上村工业 | Control method of non-sensor permenant-magnetic synchronous motor |
| CN102318180A (en) * | 2007-10-31 | 2012-01-11 | Thk株式会社 | Multi-spindle movement driver control method, multi-spindle movement driver, and multi-spindle drive control system having the same |
| JP2009201260A (en) * | 2008-02-21 | 2009-09-03 | Sumitomo Heavy Ind Ltd | Multi-shaft motor drive device |
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