CN114667677A - Motor drive control device and motor drive control system - Google Patents
Motor drive control device and motor drive control system Download PDFInfo
- Publication number
- CN114667677A CN114667677A CN201980102222.5A CN201980102222A CN114667677A CN 114667677 A CN114667677 A CN 114667677A CN 201980102222 A CN201980102222 A CN 201980102222A CN 114667677 A CN114667677 A CN 114667677A
- Authority
- CN
- China
- Prior art keywords
- motor
- brake
- drive control
- friction torque
- motor drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 description 28
- 238000004891 communication Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 10
- 230000005856 abnormality Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 206010027175 memory impairment Diseases 0.000 description 4
- 230000015654 memory Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003936 working memory Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
- H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Valve Device For Special Equipments (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Stopping Of Electric Motors (AREA)
Abstract
The present invention relates to a motor drive control device and a motor drive control system having a function of determining release of braking of a motor provided with a brake. The motor drive control device and the motor drive control system of the present invention are characterized by comprising: a friction torque estimation unit that calculates an estimated value of a friction torque of the motor when the motor is driven; and a brake release determination unit that determines a state of a brake that brakes the motor, using the estimated value of the friction torque calculated by the friction torque estimation unit and a threshold value of the friction torque for determining the state of the brake.
Description
Technical Field
The present invention relates to a motor drive control device and a motor drive control system having a function of determining release of braking of a motor provided with a brake.
Background
In the case of a motor having a brake, the motor may be driven without releasing the brake due to a failure of the brake. If the motor is driven in a state where the brake is not released, there is a problem that the brake is worn to deteriorate the brake or the motor is broken down. Therefore, there is a motor drive control device that determines the state of the brake in order to prevent the motor from being driven in a state where the brake is not released.
For example, in patent document 1, before the motor is used, a load torque of the motor when the motor is driven during a brake operation and a load torque of the motor when the motor is driven during a brake release are measured, and a threshold value of the load torque during the brake operation is obtained in advance. When the motor is used, if the load torque of the motor during driving of the motor is greater than or equal to a threshold value of the load torque during braking operation, which is obtained in advance, it is determined that the brake is operating. The load torque of the motor is a total value of the friction torque due to the friction force generated by the operation of the brake, and the gravity torque, the acceleration/deceleration torque, and the like generated by the gravity and the acceleration of the brake other than the friction force.
Patent document 1: japanese patent laid-open publication No. 2019-022281
Disclosure of Invention
However, in the method of patent document 1, if the load torque of the motor at the time of brake actuation and at the time of brake release is not obtained by driving the motor in advance before starting the use of the motor, the state of the brake during the driving of the motor cannot be determined. Therefore, the motor needs to be driven for the preliminary measurement, which results in a problem of a large amount of work. Further, in an environment where the motor is actually used, there is a problem that failure or forgetting of brake release due to a wiring error at the time of initial driving, an error in system setting, a program, or the like cannot be detected.
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a motor drive control device capable of detecting failure and forgetfulness of brake release even when the device is first driven after wiring without measuring the load torque of the motor in advance.
The motor drive control device of the present application is characterized by comprising: a friction torque estimation unit that calculates an estimated value of a friction torque of the motor when the motor is driven; and
and a brake release determination unit that determines the state of a brake that brakes the motor, using the estimated value of the friction torque calculated by the friction torque estimation unit and a threshold value of the friction torque for determining the state of the brake.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, it is possible to detect failure and forgetfulness of brake release even when the vehicle is first driven after wiring without measuring the load torque of the motor in advance.
Drawings
Fig. 1 is a block configuration diagram showing a motor drive control system according to embodiment 1.
Fig. 2 is a flowchart showing the operation of the motor drive control device according to embodiment 1.
Fig. 3 is a flowchart showing the operation of the controller according to embodiment 1.
Fig. 4 is a block configuration diagram showing a motor drive control system according to embodiment 2.
Fig. 5 is a block configuration diagram showing a motor drive control system according to embodiment 3.
Fig. 6 is a block configuration diagram showing a motor drive control system according to embodiment 4.
Fig. 7 is a hardware configuration diagram of the motor drive control device according to embodiments 1 to 4.
Detailed Description
Hereinafter, embodiments according to the present application will be described with reference to the drawings. In the description of the drawings, the same or corresponding portions are denoted by the same reference numerals, and redundant description thereof is omitted. The present application is not limited to the present embodiment.
First, the configuration of the motor drive control system according to embodiment 1 of the present application will be described. Fig. 1 is a block configuration diagram showing a motor drive control system 1 according to embodiment 1 of the present application.
The motor drive control system 1 according to embodiment 1 includes a controller 100, a motor drive control device 200, and a servo motor 300. The controller 100 transmits a drive command to the motor drive control device 200, and the motor drive control device 200 drives the servo motor 300 by controlling the drive of the servo motor 300 based on the drive command.
The structure of each device will be described below. First, the controller 100 will be explained. The controller 100 has a communication unit 110 and a display unit 120.
The communication unit 110 is an interface capable of exchanging information with the motor drive control device 200. The communication unit 110 transmits a drive command to the motor drive control device 200 and receives information on the servo motor 300, for example, a determination result of brake release, from the motor drive control device 200. The drive command transmitted from the communication unit 110 to the motor drive control device 200 is generated based on a program stored in the controller 100 or a command from a higher-level computer that controls the controller 100.
The display unit 120 is a display for displaying information to a user of the motor drive control system 1. The information displayed to the user is the determination result of the brake release determination unit 233 of the motor drive control device 200 described later, a warning when the brake is abnormal, or the like.
Next, the motor drive control device 200 will be explained. The motor drive control device 200 includes a driving unit 210, an acquisition unit 220, a processing unit 230, a communication unit 240, and a storage unit 250.
First, the outline of each configuration of the motor drive control device 200 will be described. The motor drive control device 200 receives a drive command from the communication unit 110 of the controller 100 via the communication unit 240, and converts the drive command into a signal for a control instruction to the drive unit 210 via the processing unit 230. Then, the driving unit 210 that receives the control instruction signal drives the motor 302 and the brake 301 of the servo motor 300, and the acquiring unit 220 acquires information necessary for determining the state of the brake 301 from the servo motor 300. Further, the processing unit 230 determines the state of the brake 301 using the information from the acquisition unit 220 and the information stored in the storage unit 250, and transmits the determination result from the communication unit 240 to the communication unit 110 of the controller 100.
Next, each configuration of the motor drive control device 200 will be described in detail. First, the driving unit 210 includes a motor driving unit 211 and a brake driving unit 212.
The motor drive unit 211 supplies electric power for driving the motor 302. The magnitude of the supplied power is instructed by the processing unit 230.
The brake driving unit 212 controls the driving of the brake 301 so that the brake 301 is in a released state or an activated state.
The acquisition unit 220 includes a rotation speed acquisition unit 221, a current value acquisition unit 222, and a threshold value acquisition unit 223.
The rotational speed acquisition unit 221 acquires information on the rotational speed achieved by driving the motor 302 from the encoder 303 of the servo motor 300. The rotation speed obtaining unit 221 may obtain not only the rotation speed of the motor 302 but also the rotation angle, the rotation direction, the rotation speed, and the like of the motor 302.
The current value obtaining unit 222 obtains a current value supplied from the motor driving unit 211 to the motor 302. The current value may be a value obtained by a detection value obtained by an actually provided ammeter, or may be a value obtained by calculation from the electric power supplied to the motor 302 by the motor driving unit 211.
The threshold value obtaining unit 223 obtains a threshold value of the friction torque of the electric motor 302 when the brake 301 is operated. The threshold value of the friction torque is described as an allowable torque, a maximum torque, or a braking torque in the specification of the motor 302, for example, or is stored in the encoder 303 or the motor 302. In embodiment 1, as shown in fig. 1, the threshold value acquisition unit 223 acquires the threshold value of the friction torque stored in the encoder 303. The threshold value obtaining unit 223 may obtain the threshold value of the friction torque from the motor 302 when the threshold value of the friction torque is stored, without obtaining the threshold value of the friction torque from the encoder 303. Since the threshold value acquisition unit 223 acquires the threshold value of the friction torque, the motor drive control device 200 of the present application can determine the state of the brake 301 even if the load torque of the motor 302 when the brake 301 is activated is not previously determined.
The processing unit 230 includes a control instruction generating unit 231, a friction torque estimating unit 232, and a brake release determining unit 233.
The control instruction generation unit 231 converts the drive command received from the controller 100 into a power value or the like, and generates a control instruction signal to the drive unit 210. The control instruction generating unit 231 may generate a signal for a control instruction to the motor driving unit 211 using not only the drive instruction received from the controller 100 but also the information on the rotation speed acquired by the rotation speed acquiring unit 221 from the encoder 303.
Friction torque estimation unit 232 calculates an estimated value of the friction torque of motor 302 when motor 302 is driven. The friction torque estimation unit 232 according to embodiment 1 calculates a friction torque estimation value based on the information of the rotation speed of the motor 302 acquired by the rotation speed acquisition unit 221 and the current value acquired by the current value acquisition unit 222. Further, a method of calculating an estimated value of the friction torque from the rotation speed of the electric motor 302 and the supplied current value is currently known as described in patent document 1, and is not a gist of the present application, and therefore the method of estimating the friction torque is not limited. Further, as long as the estimated value of the friction torque can be calculated, the estimated value may be calculated from the rotation speed of the motor 302, the load torque, and the like, instead of the rotation speed of the motor 302 and the supplied current value.
The brake release determination unit 233 determines the state of the brake 301 using the estimated value of the friction torque calculated by the friction torque estimation unit 232 and the threshold value of the friction torque. In embodiment 1, the brake release determination unit 233 determines the state of the brake 301 for three states, i.e., a released state, an activated state, and an unreleased state. The released state of the brake 301 means a state in which the brake 301 does not brake the motor 302. The operating state of the brake 301 is a state in which the brake driving unit 212 operates the brake 301. The unreleased state of the brake 301 means a state in which the brake 301 brakes the motor 302 due to an abnormality of the brake 301 although the brake driving unit 212 does not operate the brake 301.
The brake release determination unit 233 determines that the brake 301 is in the released state when the estimated value of the friction torque is less than or equal to the threshold value of the friction torque. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake driving unit 212 does not operate the brake 301, it is determined that the brake 301 is in the operating state. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake drive unit 212 does not operate the brake 301, it is determined that the state is not released. The method for determining the state of the brake 301 described above is an example, and only the brake 301 of the brake release determination unit 233 may be determined to be in an unreleased state. Conversely, the state of the brake 301 may be determined in more detail by classifying the cases more finely than the above-described cases.
The communication unit 240 is an interface capable of exchanging information with the controller 100. The communication unit 240 includes a drive command receiving unit 241 and a determination information transmitting unit 242.
The drive command receiving unit 241 receives a drive command to the motor drive control device 200 from the communication unit 110 of the controller 100, and transmits the drive command to the control command generating unit 231.
The determination information transmitting unit 242 transmits the determination result of the brake release from the brake release determining unit 233 to the communication unit 110 of the controller 100.
The storage unit 250 stores values necessary for determining the state of the brake 301. For example, the current value acquired by the current value acquisition unit 222, the rotation speed acquired by the rotation speed acquisition unit 221, and the like may be stored. The storage unit 250 includes a threshold value storage unit 251, and the storage unit 250 stores the threshold value of the friction torque acquired by the threshold value acquisition unit 223.
Next, the servo motor 300 will be explained. The servo motor 300 includes a brake 301, a motor 302, and an encoder 303.
The brake 301 is not in contact with the motor 302 in the released state. In the unreleased state, the brake contacts the motor 302, and the driving of the motor 302 is braked by the frictional force generated between the brake 301 and the motor 302.
The motor 302 is rotated if power is supplied from the motor drive control device 200, and the rotation is stopped by stopping the supply of power from the motor drive control device 200 or by operating the brake 301.
The encoder 303 outputs information on the rotation speed of the rotating shaft by driving the motor 302. The encoder 303 may output not only information on the rotation speed of the motor 302 but also information on the rotation angle, rotation direction, rotation speed, and the like of the motor 302.
Next, the operation of the motor drive control device 200 according to embodiment 1 of the present application will be described with reference to fig. 2. Fig. 2 is a flowchart showing the operation of the motor drive control device 200 according to embodiment 1 of the present application.
If the motor drive control device 200 starts operating, the flow of fig. 2 starts. First, in step S100, the control instruction generation unit 231 determines whether or not an instruction to start motor driving is received from the controller 100 by the driving instruction reception unit 241. Step S100 is repeated until an instruction to start motor driving is received.
When the drive command receiving unit 241 receives the instruction to start the motor drive, the process proceeds to step S101, and the electric power supply from the motor drive unit 211 to the motor 302 is started to start the drive control of the motor 302.
After step S101, the process proceeds to step S102, and the current value supplied to the motor 302 is acquired by the current value acquisition unit 222.
After step S102, the process proceeds to step S103, and the rotation speed of the motor 302 is acquired by the rotation speed acquisition unit 221.
After step S103, the process proceeds to step S104, and the friction torque estimation unit 232 calculates an estimated value of the friction torque.
After step S104, the process proceeds to step S105, and the threshold value acquiring unit 223 acquires the threshold value of the friction torque.
After step S105, the process proceeds to step S106, where the brake release determination unit 233 determines whether or not the estimated value of the friction torque is larger than the threshold value of the friction torque.
In step S106, if the estimated value of the friction torque is equal to or less than the threshold value of the friction torque, the process proceeds to step S107, and the brake release determination unit 233 determines that the brake 301 is in the released state, and the process proceeds to step S111.
In step S106, if the brake release determination unit 233 determines that the estimated value of the friction torque is larger than the threshold value of the friction torque, the process proceeds to step S108. In step S108, it is determined whether or not the brake driving unit 212 is operating the brake 301. When the brake 301 is being operated, the process proceeds to step S109, and the brake release determination unit 233 determines that the brake 301 is in the operating state. After step S109, the process proceeds to step S111.
When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake driving unit 212 does not operate the brake 301, the process proceeds from step S108 to step S110, and the brake release determination unit 233 determines that the brake 301 is in the unreleased state. After step S110, the process proceeds to step S111.
After step S107, step S109, or step S110, it is determined whether or not an instruction to end the motor drive is received from the controller 100 in step S111.
If the instruction to end the motor driving is not received, the process returns to step S101, and the operation of determining the state of the brake 301 from step S101 to step S111 is repeated. Before returning to step S101, the determination result of brake release determination unit 233 may be transmitted from determination information transmitting unit 242 to controller 100.
If it is determined in step S111 that the drive command receiving unit 241 has received the instruction to end the motor drive from the controller 100, the motor drive control device 200 ends the operation.
By the above operation, the motor drive control device 200 can calculate the estimated value of the friction torque during the driving of the motor 302 and determine the state of the brake 301 without performing the preliminary driving and the preliminary measurement of the motor 302.
In fig. 2, it is determined whether or not the brake 301 is being operated by the brake driving unit 212 in step S108, but the brake release determination unit 233 may determine that the brake is in the unreleased state or the operated state without performing step S108.
Although not shown in fig. 2, if the brake 301 is in the unreleased state, the supply of electric power from the motor drive unit 211 to the motor 302 may be stopped, or the brake drive unit 212 may move the brake 301 to an appropriate position.
Next, an example of the operation of the controller 100 according to embodiment 1 will be described with reference to fig. 3. Fig. 3 is a flowchart showing the operation of the controller 100 according to embodiment 1.
If the controller 100 starts operating, the flow of fig. 3 starts. First, in step S200, the controller 100 determines whether or not the user has performed an operation to start driving the motor. Step S200 is repeated until the operation for starting the motor drive is performed.
If the user performs an operation to start motor driving, the process proceeds to step S201, and an instruction to start motor driving is transmitted to the motor drive control device 200.
After step S201, the process proceeds to step S202, and it is determined whether or not the determination result of the state of brake 301 is received from motor drive control device 200. If the determination result of the state of brake 301 is not received, the process proceeds to step S204.
In step S202, if it is determined that the determination result of the state of the brake 301 has been received, it is determined in step S203 whether the brake is in an unreleased state. If the brake 301 is not in the unreleased state, the brake 301 has no abnormality, and the process proceeds to step S204.
In step S204, it is determined whether or not the user has performed an operation to end the motor driving. If the motor drive is not completed, the process returns to step S202, and determination as to whether or not the brake release determination result is received is repeated.
In step S203, if it is determined that the brake 301 is not released, the process proceeds to step S205, and the display unit 120 notifies the brake 301 of an abnormality.
If it is determined in step S204 that the operation for ending the motor drive has been performed, or after step S205, the process proceeds to step S206, where an instruction for ending the motor drive is transmitted to the motor drive control device 200, and the operation of the controller 100 is ended.
If it is determined by motor drive control device 200 that brake 301 is in the unreleased state by the operation of controller 100 shown in fig. 3, the abnormality is notified to the user via display unit 120 in step S205, and the user can notice the abnormality of brake 301. Further, when the controller receives the determination information that the brake 301 is in the unreleased state from the motor drive control device 200, the controller transmits a motor stop command to the motor drive control device 200 and issues a motor drive end instruction in step S206, so that the motor 302 can be prevented from being driven in the unreleased state of the brake 301.
The operation of the controller 100 shown in fig. 3 is an example, and when the brake 301 is in the unreleased state, the completion of the driving of the motor 302 and the notification of the brake abnormality on the display unit 120 are not essential, and the driving of the motor 302 when the brake 301 is in the unreleased state may be prevented by another operation.
Further, as described above, the drive of the motor 302 in the case where the brake 301 is not released is prevented by the operation of the controller 100, but the control instruction generating unit 231 may acquire the determination result from the brake release determining unit 233 and transmit a signal of the control instruction from the control instruction generating unit 231 to the motor driving unit 211 to stop the motor 302.
As described above, in the motor drive control device 200 according to embodiment 1, the friction torque estimating unit calculates the estimated value of the friction torque of the motor and compares the calculated value with the threshold value of the friction torque when the brake is operated to determine the state of the brake, so that it is possible to detect a brake release failure and forgetfulness without previously measuring the load torque of the motor.
Further, in the motor drive control system 1 according to embodiment 1, since it is possible to detect an abnormality such as a brake release failure or forgetting without performing a prior measurement of the load torque of the motor and prevent the motor from being driven, it is possible to prevent the brake from being worn or the motor from being broken in an unreleased state even when the wiring is first conducted.
Embodiment mode 2
Hereinafter, the motor drive control device 200 according to embodiment 2 of the present application will be described. Fig. 4 is a block configuration diagram showing the motor drive control system 1 according to embodiment 2. The motor drive control device 200 according to embodiment 2 is different from the motor drive control device 200 according to embodiment 1 in that the friction torque estimation unit 232 includes a friction torque estimation value processing unit 234. The other structures are the same as those of embodiment 1, and therefore, the description thereof is omitted.
The friction torque estimating unit 232 calculates an estimated value of friction torque generated by the brake among the friction torques of the motor 302 by using the friction torque estimated value processing unit 234, and calculates the friction torque with higher accuracy.
The motor drive control device 200 of the present application determines the state of the brake 301 without performing the preliminary measurement of the motor 302, but may cause the motor 302 to perform acceleration/deceleration rotation when the actual motor 302 is used. When the motor 302 is rotated to accelerate or decelerate, acceleration or deceleration torque is generated in the motor 302. The acceleration/deceleration torque is independent of the friction torque generated by the brake 301. Therefore, the friction torque estimated value processing unit 234 calculates the acceleration/deceleration torque based on the rotation speed of the electric motor 302 acquired by the rotation speed acquisition unit 221, the current value acquired by the current value acquisition unit 222, and the like, and then excludes the acceleration/deceleration torque from the estimated value of the friction torque to calculate a more accurate estimated value of the friction torque. A method of calculating the acceleration/deceleration torque is known, for example, in japanese patent No. 5591400, and the method of calculating the acceleration/deceleration torque is not limited.
In addition, for example, in the case of the motor drive control system 1 in which the motor 302 is used to move an object up and down, such as a hoisting machine of an elevator, a gravitational torque is generated in the motor 302. This gravitational torque is independent of the frictional torque developed by brake 301. Therefore, the friction torque estimated value processing unit 234 calculates the gravity torque based on the rotation speed of the electric motor 302 acquired by the rotation speed acquisition unit 221, the current value acquired by the current value acquisition unit 222, and the like, and then excludes the gravity torque from the estimated value of the friction torque to calculate a more accurate estimated value of the friction torque. A method of calculating the gravitational torque is known, for example, in patent document 1, and the present application is not limited to the calculation method of the gravitational torque.
Since the acceleration/deceleration torque, the gravity torque, or both can be calculated by the friction torque estimated value processing unit 234, and a more accurate estimated value of the friction torque obtained by removing these can be calculated, the brake release determination unit 233 can more accurately determine the state of the brake.
The motor drive control device 200 according to embodiment 2 described above can calculate a more accurate estimated value of the friction torque by the friction torque estimated value processing unit 234, and thus can determine the state of the brake 301 more accurately.
Embodiment 3
Hereinafter, the motor drive control device 200 according to embodiment 3 of the present application will be described. Fig. 5 is a block configuration diagram showing the motor drive control system 1 according to embodiment 3. The motor drive control device 200 according to embodiment 3 is different from the motor drive control device 200 according to embodiment 1 in that the communication unit 240 includes a threshold value acquisition unit 223, and the controller 100 includes an operation unit 130. The other structures are the same as those of embodiment 1, and therefore, description thereof is omitted.
In the motor drive control system 1 according to embodiment 3, the user refers to the allowable torque, the instantaneous maximum torque, and the like described in the specification of the motor, and inputs an arbitrary value as the threshold value of the friction torque using the operation unit 130 of the controller 100. The operation unit 130 may be a touch panel, a numeric keypad, or the like as long as it is a user interface capable of inputting numeric values.
The threshold value of the friction torque input by the user through the operation unit 130 is transmitted from the communication unit 110 to the motor drive control device 200, and the threshold value acquisition unit 223 acquires the threshold value of the friction torque from the operation information of the user. The threshold value of the friction torque acquired by the threshold value acquisition unit 223 is stored in the threshold value storage unit 251 of the storage unit 250. Then, the brake release determination unit 233 acquires the value of the friction torque threshold from the threshold storage unit 251 to determine the state of the brake 301.
As described above, in motor drive control device 200 according to embodiment 3, the user can set the threshold value of the friction torque by inputting the threshold value of the friction torque through operation unit 130. Therefore, even if the threshold value of the friction torque is not stored in the motor 302 or the encoder 303, the state of the brake 301 can be determined without performing preliminary measurement of the motor 302.
Embodiment 4
Hereinafter, a motor drive control device 200 according to embodiment 4 of the present application will be described. Fig. 6 is a block configuration diagram showing a motor drive control system 1 according to embodiment 4. The motor drive control device 200 according to embodiment 4 is different from the motor drive control device 200 according to embodiment 1 in that the storage unit 250 is not provided. The other structures are the same as those of embodiment 1, and therefore, the description thereof is omitted.
As described above, in the motor drive control system 1 according to embodiment 4, the threshold value of the friction torque is acquired from the threshold value acquisition unit 223 every time the brake release determination unit 233 determines the state of the brake 301, and the determination of the brake release is performed. Since the motor drive control device 200 according to embodiment 4 does not require the storage unit 250, the motor drive control device 200 can be configured at low cost, and the state of the brake 301 can be determined without performing preliminary measurement of the motor 302.
Hereinafter, a hardware configuration of the motor drive control device 200 according to embodiments 1 to 4 will be described with reference to fig. 7. Fig. 7 is a hardware configuration diagram of the motor drive control device 200 according to embodiments 1 to 4. The motor drive control device 200 includes an input device 901, an output device 902, a storage device 903, and a processing device 904.
The input device 901 is an interface having input information of the acquisition unit 220 and the communication unit 240 of the motor drive control device 200. The interface may be a wired communication network such as a LAN cable or a coaxial cable, or may be a wireless communication network using a wireless communication technology.
The output device 902 includes a driving unit 210 and a communication unit 240. The output device 902 is a control signal or a communication interface. The communication unit 240 has already been described with reference to the input device 901, and therefore description thereof is omitted. The driving unit 210, particularly the motor driving unit 211, is an interface capable of supplying electric power to the motor 302, and is, for example, a power supply wire or the like.
The storage device 903 has a storage unit 250. A working memory or the like, and is a device for storing information. Examples of the memory include nonvolatile and volatile semiconductor memories such as RAM, ROM, and flash memory, magnetic disks, floppy disks, optical disks, and compact disks.
The processing device 904 has a processing unit 230. The processing unit 904 may be dedicated hardware or may be a cpu (central processing unit) that executes a program recorded in the storage unit 903.
Where the processing device 904 is dedicated hardware, the processing device 904 may be, for example, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
In the case where the processing device 904 is a CPU, the functions of the processing section 230 are realized by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and is recorded in the storage device 903. The processing device 904 reads and executes the program stored in the storage device 903 to realize the functions of the functional units.
The functions of the processing unit 230 may be partly implemented by hardware and partly implemented by software or firmware.
For example, the control instruction generating unit 231 may be dedicated hardware, and the friction torque estimating unit 232 and the brake release determining unit 233 may be described as programs recorded in the storage device 903 to implement their functions.
As such, the processing device 904 can be implemented by hardware, software, firmware, or a combination thereof.
As described above, according to the motor drive control device 200 of the present invention, it is not necessary to measure the motor load torque at the time of brake release in advance, and it is possible to detect failure and forgetfulness of brake release even at the time of initial drive after wiring.
Description of the reference numerals
1 motor drive control system
100 controller
110 communication part
120 display part
130 operating part
200 motor drive control device
210 drive part
211 motor driving part
212 brake drive
220 acquisition part
221 rotation speed obtaining part
222 Current value obtaining part
223 threshold value acquisition part
230 treatment part
231 control instruction generating unit
232 friction torque estimating part
233 brake release determination unit
234 friction torque estimated value processing unit
240 communication unit
241 driving command receiving part
242 determination information transmitting unit
250 storage part
251 threshold value storage unit
300 servo motor
301 brake
302 electric motor
303 encoder
901 input device
902 output device
903 storage device
904 processing means
Claims (12)
1. A motor drive control device is characterized by comprising:
a friction torque estimation unit that calculates an estimated value of a friction torque of a motor when the motor is driven; and
and a brake release determination unit that determines a state of the brake that brakes the motor, using the estimated value of the friction torque calculated by the friction torque estimation unit and a threshold value of the friction torque for determining the state of the brake.
2. The motor drive control device according to claim 1,
the friction torque estimation unit further includes a friction torque estimation value processing unit that calculates an estimation value of the friction torque formed by the brake.
3. The motor drive control device according to claim 2,
the friction torque estimated value processing unit calculates the estimated value of the friction torque by removing the acceleration/deceleration torque of the motor when the motor is rotated for acceleration/deceleration.
4. The motor drive control device according to claim 2 or 3,
the friction torque estimated value processing unit calculates the estimated value of the friction torque by removing the gravitational torque of the motor.
5. The motor drive control device according to any one of claims 1 to 4,
the device further includes a threshold value acquisition unit for acquiring a threshold value of the friction torque.
6. The motor drive control device according to claim 5,
the threshold value acquisition unit acquires a threshold value of the friction torque from the motor.
7. The motor drive control device according to claim 5,
the threshold value acquisition unit acquires a threshold value of the friction torque from an encoder of the motor.
8. The motor drive control device according to claim 5,
the threshold value acquisition unit acquires the threshold value of the friction torque from operation information of a user.
9. The motor drive control device according to any one of claims 1 to 8,
further comprises a brake driving part for controlling the driving of the brake,
the brake release determination unit determines that the brake is in a non-released state when the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake drive unit does not operate the brake.
10. The motor drive control device according to any one of claims 1 to 9,
further comprising:
a motor drive unit that supplies electric power to the motor and drives the motor;
a current value obtaining unit that obtains a current value supplied to the motor from the motor drive unit during driving of the motor; and
a rotational speed acquisition unit that acquires a rotational speed of the motor during driving of the motor,
the friction torque estimating unit calculates the estimated value of the friction torque using the current value acquired by the current value acquiring unit and the rotation speed acquired by the rotation speed acquiring unit.
11. The motor drive control device according to claim 10,
the motor driving unit stops the supply of electric power to the motor when the brake release determination unit determines that the brake is in the unreleased state.
12. A motor drive control system characterized by comprising:
the motor drive control device according to any one of claims 1 to 11; and
a controller that sends a drive and stop command of the motor to the motor drive control device,
the controller transmits a stop command of the motor to the motor drive control device when receiving determination information that the brake is not released from the motor drive control device.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2019/045206 WO2021100106A1 (en) | 2019-11-19 | 2019-11-19 | Motor drive control device and motor drive control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114667677A true CN114667677A (en) | 2022-06-24 |
| CN114667677B CN114667677B (en) | 2022-10-28 |
Family
ID=75981537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980102222.5A Active CN114667677B (en) | 2019-11-19 | 2019-11-19 | Motor drive control device and motor drive control system |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6892029B1 (en) |
| CN (1) | CN114667677B (en) |
| TW (1) | TWI771796B (en) |
| WO (1) | WO2021100106A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07110717A (en) * | 1993-08-19 | 1995-04-25 | Fanuc Ltd | Motor control system |
| JP2000324885A (en) * | 1999-05-12 | 2000-11-24 | Amada Co Ltd | Method and apparatus for detecting brake failure of servo motor with brake |
| CN101944870A (en) * | 2009-07-10 | 2011-01-12 | 北京兴大豪科技开发有限公司 | Control method and circuit of servo motor |
| CN109256987A (en) * | 2017-07-13 | 2019-01-22 | 发那科株式会社 | Controller for motor |
| CN109254574A (en) * | 2017-07-13 | 2019-01-22 | 发那科株式会社 | Brake check device and controller for motor |
| CN109416041A (en) * | 2016-07-06 | 2019-03-01 | 爱信精机株式会社 | Electric oil pump system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008149414A1 (en) * | 2007-06-04 | 2008-12-11 | Mitsubishi Electric Corporation | Power conversion device and motor driving method |
| JP5591400B2 (en) * | 2011-05-31 | 2014-09-17 | 三菱電機株式会社 | Drive machine load characteristic estimation device |
-
2019
- 2019-11-19 WO PCT/JP2019/045206 patent/WO2021100106A1/en active Application Filing
- 2019-11-19 JP JP2020573053A patent/JP6892029B1/en active Active
- 2019-11-19 CN CN201980102222.5A patent/CN114667677B/en active Active
-
2020
- 2020-11-10 TW TW109139137A patent/TWI771796B/en active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07110717A (en) * | 1993-08-19 | 1995-04-25 | Fanuc Ltd | Motor control system |
| JP2000324885A (en) * | 1999-05-12 | 2000-11-24 | Amada Co Ltd | Method and apparatus for detecting brake failure of servo motor with brake |
| CN101944870A (en) * | 2009-07-10 | 2011-01-12 | 北京兴大豪科技开发有限公司 | Control method and circuit of servo motor |
| CN109416041A (en) * | 2016-07-06 | 2019-03-01 | 爱信精机株式会社 | Electric oil pump system |
| CN109256987A (en) * | 2017-07-13 | 2019-01-22 | 发那科株式会社 | Controller for motor |
| CN109254574A (en) * | 2017-07-13 | 2019-01-22 | 发那科株式会社 | Brake check device and controller for motor |
Non-Patent Citations (1)
| Title |
|---|
| 张渊博等: "基于模型预测控制的混合动力汽车模式切换中的转矩协调控制策略", 《汽车工程》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| TW202121824A (en) | 2021-06-01 |
| WO2021100106A1 (en) | 2021-05-27 |
| CN114667677B (en) | 2022-10-28 |
| JPWO2021100106A1 (en) | 2021-12-02 |
| TWI771796B (en) | 2022-07-21 |
| JP6892029B1 (en) | 2021-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109254574B (en) | Brake inspection device and motor control device | |
| KR101547411B1 (en) | Method for checking a brake of a robot and method for use of torque detected by a torque sensor to check a brake of a robot | |
| US9537431B2 (en) | Brake diagnosis device and brake diagnosis method | |
| JP5577365B2 (en) | Device for checking braking performance of press machine | |
| JP6077592B2 (en) | Motor control system and brake abnormality detection method having function of detecting brake abnormality | |
| US10315896B2 (en) | Electric winch device | |
| CN107816929B (en) | Roundness measuring machine | |
| US20190258223A1 (en) | Failure prediction device and machine learning device | |
| EP3001164B1 (en) | Evaluation of static brake torque in a robot | |
| EP2813407A1 (en) | Electric parking brake control device, control method and control program, and brake system | |
| JP7275008B2 (en) | Diagnostic device, motor drive device and diagnostic method | |
| CN114667677B (en) | Motor drive control device and motor drive control system | |
| CN109256987B (en) | Motor control device | |
| JP2005054843A (en) | Brake device | |
| EP3875418B1 (en) | Control system for elevator | |
| JP3221795B2 (en) | Elevator braking monitoring system | |
| CN107697761B (en) | Elevator device | |
| CN115356135A (en) | Robot brake performance testing method and device and readable storage medium | |
| US11565671B2 (en) | Method for monitoring an electric motor, electronic control module, hydraulic brake system and storage medium | |
| KR20210144048A (en) | Apparatus for controlling charging coil | |
| JP6570496B2 (en) | Brake operation detection device, elevator control device, and brake operation detection method | |
| JP6292256B2 (en) | Swing control device | |
| US20230173678A1 (en) | Method for detecting and evaluating a friction status at a joint, robotic arm and computer program product | |
| JPH0599252A (en) | Friction type brake monitoring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |