CN213213361U - Actuating device - Google Patents

Abstract

The utility model discloses an actuating device, it includes: an AC motor that receives a drive voltage; a driver; when the driver is in a first mode, the driver is used for setting a first voltage margin as the set voltage margin according to the command signal; and generating the set magnetic flux according to the mechanical command and the rotation speed information of the alternating current motor; when the driver is in a second mode, the driver is configured to set a second voltage margin as the set voltage margin according to the command signal, wherein the first voltage margin is smaller than the second voltage margin; and making the set magnetic flux equal to the rated magnetic flux. The switching of the control modes can be adjusted in real time in different processing environments, and the performance, energy conservation and stability are effectively improved.

Description

Actuating device

Technical Field

The utility model relates to an actuating device, especially an actuating device that can promote performance and efficiency.

Background

In the past, the operation point of the induction motor is mostly calculated in different modes in the control of energy conservation, and the switching of the control mode is not adjusted in time in different use environments and in the processing process. Therefore, the applicable environment is limited, and may be applicable only in an empty or low-load environment. If there is a light load but a high precision environment is required throughout the operation, the optimum response may not be provided because of the low operating flux. In addition, in the design of the voltage margin, there has been no method proposed in the past to switch the voltage margin during the machining process, so the voltage margin is usually set low for good acceleration/deceleration performance. If finishing is required, the voltage margin is insufficient, and the upper limit of the voltage is easily reached, resulting in poor stability.

In the past, the patent in which the upper controller gives a command to perform the energy saving control function is often applied to a plurality of workpiece processing or a plurality of processing steps. For example, some motors are not energy-saving during the process of machining operation, but are turned on before starting machining, instead of being kept in a standby state in some machining steps.

Disclosure of Invention

The utility model aims at overcoming the not enough of prior art and providing an actuating device, can the different modes of dynamic switch in the processing, promote performance, energy-conservation and stability simultaneously.

In order to achieve the above purpose, the utility model adopts the technical scheme that: an actuator device, comprising:

an AC motor that receives a drive voltage;

a driver for driving the AC motor, the driver switching between a first mode and a second mode according to a command signal, generating a torque command according to a mechanical command, generating a current voltage command according to the torque command, a set magnetic flux, a set voltage margin and a previous voltage command, and generating the driving voltage according to the current voltage command;

when the driver is in a first mode, the driver is to,

setting a first voltage margin as the set voltage margin according to the command signal; and the number of the first and second groups,

generating the set magnetic flux according to the mechanical command and the rotation speed information of the alternating current motor;

when the driver is in a second mode, the driver is to,

setting a second voltage margin as the set voltage margin according to the command signal, wherein the first voltage margin is smaller than the second voltage margin; and the number of the first and second groups,

the set magnetic flux is made equal to the rated magnetic flux.

Preferably, the driver is configured to generate rotational speed error information according to the mechanical command and rotational speed information of the ac motor, and generate the torque command according to the rotational speed error information.

Preferably, the driver obtains the excitation shaft current information according to the set voltage margin, the set magnetic flux and the previous voltage command, obtains the torsion shaft current information according to the torque command, and generates the current voltage command according to the excitation shaft current information and the torsion shaft current information.

Preferably, the driver further includes determining whether the driving voltage generated by the current voltage command is greater than a maximum driving voltage, and making the driving voltage equal to the maximum driving voltage when the driving voltage is greater than the maximum driving voltage.

Optimally, the power consumption of the actuating device in the first mode is less than or equal to the power consumption of the actuating device in the second mode corresponding to the same information of the rotation speed of the alternating current motor.

Optimally, the driver is also operated in a third mode which is a general mode according to the command signal; the power consumption of the actuating device in the first mode is smaller than the power consumption of the actuating device in the third mode when the alternating current motor rotating speed information is the same.

Because of the application of the technical scheme, compared with the prior art, the utility model has the following advantages: the utility model provides an actuating device can switch between first mode and second mode according to command signal control driver through setting up alternating current motor and driver, produces the torsion command again according to mechanical command to according to the torsion command, set for the magnetic flux, set for voltage margin and previous voltage command and produce present voltage command, and produce driving voltage according to present voltage command and drive alternating current motor. The switching of the control modes can be adjusted in real time in different processing environments, and the performance, energy conservation and stability are effectively improved.

Drawings

Fig. 1 is a system diagram of an actuator according to an embodiment of the present invention;

fig. 2 is a flow chart illustrating the operation of the actuator according to the embodiment of the present invention;

fig. 3A is a schematic diagram of an operation of an intelligent energy saving mode according to an embodiment of the present invention;

fig. 3B is a schematic diagram of the operation of the fine modification mode according to an embodiment of the present invention;

fig. 4A is a waveform diagram of the operation of the actuator according to an embodiment of the present invention;

fig. 4B is a waveform diagram of the operation of the actuator according to an embodiment of the present invention;

fig. 5 is a block diagram of a driving method according to an embodiment of the present invention.

Detailed Description

The invention will be further described with reference to examples of embodiments shown in the drawings.

The following description of the embodiments refers to the accompanying drawings, which are included to illustrate specific embodiments in which the invention may be practiced. Directional phrases used in the present disclosure, such as "upper," "lower," "front," "rear," "left," "right," "inner," "outer," "side," and the like, refer only to the orientation of the figure(s). Accordingly, the directional terminology is used for purposes of illustration and understanding, and is in no way limiting. In addition, in the description, unless explicitly described to the contrary, the word "comprise" or "comprises" should be understood to mean that including the element, but not excluding any other elements.

Referring to fig. 1, fig. 1 is a system diagram of an actuator according to an embodiment of the present invention. In fig. 1, the actuator 100 includes a driver 101 and an ac motor 102. In this embodiment, the actuating device 100 can be coupled to an external host. Wherein an external host is used to control the actuator 100 to perform the process control actions. The ac motor 102 of the present embodiment may be an induction motor.

In this embodiment, the external host may be an upper controller or an external device with input/output function, without fixed limitation. The driver 101 may be a computing Device with computing capability, such as a Central Processing Unit (CPU) or other Programmable general purpose or special purpose Microprocessor (Microprocessor), a Digital Signal Processor (DSP), a Programmable controller, an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), or other similar devices or combinations thereof, which can be loaded with and execute a computer program to perform corresponding operations. In one embodiment, the driver may also implement various operational functions in hardware circuitry, and the detailed steps and implementations thereof may be sufficient to teach, suggest and implement the description by those skilled in the art.

Referring to fig. 1 and fig. 2 together, please refer to the operation method of the actuator 100 of the present embodiment, wherein fig. 2 is a flowchart illustrating the operation of the actuator according to the present embodiment of the invention. In this embodiment, the actions of steps S210 and S220 can be performed by the external host, the actions of steps S230 to S250 are performed by the driver 110, and the actions of step S260 are performed by the ac motor 102.

In step S210, the external host computer starts to execute a machining operation of the load. The external host sends the command signal CS and the mechanical command Cmd to the driver 110 in step S220.

In the present embodiment, the command signal CS can be provided by an external electronic device. The command signal CS may be a mode switching command provided by an input output (I/O) function of an external host. In other embodiments, the command signal CS may be a machining instruction (e.g., G/M code) in Computer Numerical Control (CNC) software. The mechanical command Cmd may be a speed command, a position command, an acceleration command, etc. or other command related to the motion of the motor. The interface for signal transmission can be any input interface without fixed limitation.

In this embodiment, in step S230, the driver 101 can switch the operation mode between the first mode and the second mode according to the command signal CS. The first mode and the second mode can be an intelligent energy-saving mode and a fine modification mode respectively.

Incidentally, the driver 101 according to the embodiment of the present invention can also operate in other modes, and is not limited to only the above two modes. For example, the driver 101 may also operate in a normal mode (third mode) according to the command signal CS, wherein the power consumption of the actuating device 100 in the smart energy saving mode may be lower than that in the normal mode under the same rotation speed information of the ac motor 102.

In the intelligent energy saving mode, the driver 101 sets the set voltage margin as the first voltage margin according to the command signal CS, generates the torque command according to the mechanical command Cmd, and generates the magnetic flux according to the torque command and the rotation speed information of the ac motor 102 in step S241.

In the fine mode, the driver 101 then sets the set voltage margin to the second voltage margin and sets the set magnetic flux to the rated magnetic flux according to the command signal CS in step S242.

In the present embodiment, in step S250, the driver 101 calculates and generates the driving voltage Vout, and outputs the driving voltage Vout to the ac motor 102. In step S260, the ac motor 102 operates according to the driving voltage Vout output by the driver 101.

In the present embodiment, the power consumption of the actuator 100 in the smart energy saving mode may be lower than the power consumption in the finishing mode with the rotation speed information corresponding to the same ac motor 102.

The detailed process of the driver 101 for generating the driving voltage Vout will be described in detail in the following embodiments.

In this embodiment, the actuator 100 can also select an applicable processing mode according to various processing situation requirements. Referring to table 1 below, table 1 shows processing modes that can be applied under different loads and different processing application situations according to the requirements of various situations. When the actuator 100 performs a cutting operation of an object, a light load indicates a situation where an external force is small, such as a light cutting force, and a heavy load indicates a situation where a large cutting force is required. During rough machining, an intelligent energy-saving mode can be used, so that unnecessary exciting current can be reduced during light load, and the energy-saving effect is achieved; when the load is heavy, the set voltage margin is reduced, so that the acceleration/deceleration performance of the ac motor 102 can be improved. In contrast, when the ac motor is lightly loaded and is precisely machined, the trimming mode may be used to increase the sufficient set voltage margin and improve the operation stability of the ac motor 102. The accuracy and load classification in table 1 is only an exemplary example and is not intended to limit the scope of the present invention.

TABLE 1

Please note that, in the present embodiment, the actuator 100 can perform the switching between the intelligent energy saving mode and the finishing mode during the processing. For example, in one embodiment, the original machining process is to perform a transverse rough turning (rough machining) and then a finish machining. If the implementation method of the invention is adopted, the intelligent energy-saving mode can be selected before starting machining to finish machining. During rough machining, the set voltage margin can be adjusted to be lower, so that the alternating current motor 102 has better acceleration and deceleration performance during operation, energy consumption can be saved, and an energy-saving effect is achieved. Then, before performing the finishing, the actuator 100 may receive the command signal CS to switch to the finishing mode. During finishing, since the set voltage margin can be increased and the ac motor 102 is controlled to operate at the rated operating point, the ac motor 102 can operate with high stability to meet the finishing requirement. Finally, after finishing is performed, the actuating device 100 may also receive the command signal CS again to switch back to the smart energy saving mode.

As can be seen from the above description, the actuator 100 according to the embodiment of the invention can switch between the intelligent energy-saving mode and the fine tuning mode according to the actual processing requirement, and achieve the effects of saving power consumption, improving the processing performance, and improving the working stability of the ac motor 102, thereby effectively improving the overall efficiency of the system.

Please refer to fig. 3A for details of the operation of the intelligent power saving mode in the embodiment of fig. 2. Fig. 3A is a schematic diagram illustrating an operation of the intelligent power saving mode according to an embodiment of the invention. In fig. 3A, the external host 303_1 is configured to send a command signal CS and a mechanical command Cmd to the driver 301_1, and the driver 301_1 is configured to send a driving voltage Vout to drive the ac motor 302_ 1.

In this embodiment, the driver 301_1 sets the set voltage margin to the first voltage margin VL according to the command signal CS, and generates the rotation speed error information Verr according to the mechanical command Cmd and the rotation speed information of the ac motor 302_ 1. In the present implementation, the mechanical command Cmd may be a speed command.

On the other hand, the first voltage margin VL may be a difference between a maximum driving voltage that the driver 301_1 can apply to the alternating current motor 302_1 and a voltage value at which the driver 301_1 judges to enter the field weakening control. When the mechanical command Cmd is a speed command, the rotational speed error information Verr can be a difference between the mechanical command Cmd and the current rotational speed information of the ac motor 302_ 1. When the mechanical command Cmd is a position command, the rotation speed error information Verr can be a difference value between the position command and the position feedback, and is calculated to obtain a speed command.

The driver 301_1 generates a torque command Tcmd according to the rotational speed error information Verr, and then generates a set magnetic flux Φ and a torque axis current information Iq according to the torque command Tcmd. In the present embodiment, the set magnetic flux Φ may be an energy-saving magnetic flux.

At a first time point t1, the driver 301_1 generates the current voltage command Vdq according to the first voltage margin VL and the set magnetic flux Φ, and the current voltage command Vdq according to the current information Id and the torsion-axle current information Iq (t 1).

Then, at a second point in time t2 thereafter, voltage command Vdq (t1) becomes the previous voltage command. At this time, the driver 301_1 generates the current voltage command Vdq (t2) according to the excitation shaft current information Id, the torsion shaft current information Iq, and the previous voltage command Vdq (t 1).

On the other hand, taking the second time point t2 as an example, the driver 301_1 may determine whether the present voltage command Vdq (t2) is greater than the maximum driving voltage that the driver 301_1 can apply to the ac motor 302_1, and make the present driving voltage Vout the maximum driving voltage when the present voltage command Vdq (t2) is greater than the maximum driving voltage.

In the present embodiment, the driver 301_1 generates the driving voltage Vout according to the current voltage command Vdq (t2) and drives the ac motor 302_ 1. Incidentally, the driver 301_1 may compare the current voltage command Vdq (t2) with the maximum driving voltage of the driver 301_1 to generate the driving voltage Vout. On the other hand, the driver 301_1 may select a smaller voltage value between the present voltage command Vdq (t2) and the maximum driving voltage of the driver 301_1 as the driving voltage Vout.

In this embodiment, when the actuator 100 is in a light-load processing situation, the driver 301_1 may switch to the smart energy saving mode, so that the ac motor 302_1 may operate at different rotational speeds with energy saving effect. For example, the rotation speed of the ac motor 302_1 may be set to 150-6000 Revolutions (RPM), and after the driver 301_1 is switched to the intelligent energy saving mode, the value of the working current of the ac motor 302_1 may be decreased by 44% -91% compared with the general mode, the value of the working voltage may be decreased by 63% -91% compared with the general mode, and the value of the working power may also be increased by 80% -99% compared with the general mode, so that the energy saving effect may be successfully achieved.

Please refer to fig. 3B for details of the operation of the refinement mode in the embodiment of fig. 1. Fig. 3B is a schematic diagram illustrating a refinement mode according to an embodiment of the invention. Fig. 3B is similar to fig. 3A, except that in the present embodiment, the driver 301_2 sets the set voltage margin to the second voltage margin VH according to the command signal CS, generates the rotation speed error information Verr according to the mechanical command Cmd, and sets the set magnetic flux Φ to the rated magnetic flux. It is noted that in the finishing mode, the nominal flux is independent of the mechanical command Cmd. In this embodiment, the mechanical command Cmd may be a speed command, and the second voltage margin VH may be a relatively high voltage margin (second voltage margin VH > first voltage margin VL). The remaining implementation methods can refer to the operation description of fig. 3A, which is not further described herein. In this embodiment, since the set voltage margin of the driver 301_2 can be increased, the ac motor 302_2 can operate with better stability.

Please refer to fig. 4A and 4B for selection of the setting voltage margin when the actuator operates in the smart energy saving mode and the trimming mode. Fig. 4A and 4B are waveform diagrams illustrating the operation of the actuator according to various embodiments of the present invention.

Please refer to fig. 4A. In fig. 4A, the driver has a maximum driving voltage V3. When the ac motor is operating with a high voltage margin, the operating voltage is shown as waveform 401. And when the ac motor is operating with a low voltage margin, the operating voltage is shown as waveform 402.

During the time t1, the AC motor reaches the rated speed in both waveform 401 and waveform 402. According to the waveform 401 (under the condition of high voltage margin), the operating voltage is maintained at the operating voltage V1 after the time t 1. According to the waveform 402 (under the condition of low voltage margin), the voltage saturation is reached at time t2, and the operating voltage is maintained at the operating voltage V2 after time t 2. The working voltages V1 and V2 are both less than the maximum driving voltage V3, and the working voltage V1 is less than the working voltage V2. Since the operating voltage V2 > the operating voltage V1, the low voltage margin may have better acceleration after time t1, for example, the low voltage margin may reach the highest speed at time t3, and the high voltage margin may not reach the highest speed until time t4, wherein time t3 occurs earlier than time t 4.

Note that in the present embodiment, on the premise that the operating voltage of the ac motor is stable during acceleration, the waveform 401 has a relatively high voltage margin with respect to the waveform 402 on the premise that the operating voltage V1 < the operating voltage V2.

Please refer to fig. 4A and fig. 4B simultaneously. Fig. 4B shows the waveforms 403 and 404 at the operating point after time t2 in fig. 4A, where the waveforms 403 and 404 are the voltage waveform changes when the external disturbance occurs, and the waveform 403 shows that the operating voltage is V4 when the ac motor is operated under the condition of high voltage margin and the ac motor is maintained at the rated maximum rotation speed. Waveform 404 shows that when the ac motor is operating with a low voltage margin and the ac motor is maintained at the rated maximum speed, the operating voltage is V5. In the fine modification mode, because the voltage margin is high, when the external force disturbance is received, the voltage is not limited by the upper voltage limit (V3), and the voltage can be sufficiently corrected; the low voltage margin is easily limited by reaching the maximum driver voltage.

Therefore, based on the above control embodiments of the intelligent energy-saving mode and the fine modification mode, the actuating device of the invention can switch the working mode between the intelligent energy-saving mode and the fine modification mode according to the command signal and the mechanical command sent by the external host. Under the intelligent energy-saving mode, the set voltage margin of the driver can be adjusted to be low voltage margin, so that the alternating current motor has better acceleration and deceleration performance during working. On the other hand, the torque command can be generated according to the mechanical command to determine the set magnetic flux for optimal efficiency control, so that unnecessary loss caused by exciting current in light load can be reduced, and the effects of improving performance and saving energy are achieved. Under the fine mode, the set voltage margin of the driver can be adjusted to be a high voltage margin so as to reduce the voltage when the alternating current motor enters the field weakening control, so that the alternating current motor has better stability in operation, and is less influenced by the maximum driving voltage of the driver when the alternating current motor is interfered by the outside. On the other hand, before the drive voltage of the driver is not saturated, the set magnetic flux may be set to the rated magnetic flux to control the ac motor at the rated excitation current, so that the ac motor has a good operation response.

Please refer to fig. 5. Fig. 5 is a block diagram of a driving method according to an embodiment of the invention, which can be implemented by the aforementioned actuating device. In step S510, the actuator receives the command signal and the mechanical command. In step S520, the operating mode can be switched between the first mode and the second mode according to the command signal.

In the present embodiment, in step S520, the step S530 is entered when the command signal is switched to the first mode, and the step S530 includes steps S531 and S532. In step S531, the set voltage margin may be set to the first voltage margin, and in step S532, the set magnetic flux may be generated according to the mechanical command and the rotational speed information of the ac motor.

In the present embodiment, in step S520, the process proceeds to step S540 when the mode is switched to the second mode according to the command signal, and step S540 includes step S541 and step S542. In step S541, the set voltage margin may be set to the second voltage margin, and in step S542, the set magnetic flux may be set to the rated magnetic flux.

After step S530 or step S540 is executed, step S550 is proceeded to generate a torque command according to the mechanical command. In step S560, the current voltage command is generated according to the torque command, the set magnetic flux, the set voltage margin and the previous voltage command. Finally, in step S570, a driving voltage for driving the ac motor is generated according to the current voltage command.

The details of the above steps have been described in the foregoing embodiments, and are not repeated herein.

In summary, the actuator of the present invention can be applied to an induction motor and different processing situations by opening a driver for switching control modes, so that the external device can dynamically switch between an intelligent energy saving mode and a finishing mode during the processing process. The intelligent energy-saving mode can reduce the set voltage margin and has good acceleration and deceleration performance. When the magnetic flux is applied to different loads, the set magnetic flux can be reduced, so that the energy-saving effect is achieved. When the motor is applied to the requirements of heavy load and acceleration and deceleration in transient state, the flux control can be adjusted and set to be operated at the rated point of the motor in real time, and the loss is low. In contrast, the trimming mode can improve the set voltage margin and can be applied in an environment with low load and high stability. Therefore, the actuating device and the driving method provided by the invention can improve the performance, energy saving and stability of the processing action at the same time by dynamically switching the two driver modes.

Description of the symbols:

100: an actuating device;

101. 301_1, 301_ 2: a driver;

102. 302_1, 302_ 2: an AC motor;

303_1, 303_ 2: an external host;

401. 402, 403: a waveform;

CS: a command signal;

cmd: a mechanical command;

id. Iq: current information;

s210 to S260, S510 to S570: a step of;

t1, t 2: time;

tcmd: a torque command;

V1-V4, Vout: a voltage;

vdq (t1), Vdq (t 2): a voltage command;

verr: rotational speed error information;

VH and VL: a voltage margin;

phi: the magnetic flux is set.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable people skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims (6)

1. An actuator device, comprising:

an AC motor that receives a drive voltage;

a driver for driving the AC motor, the driver switching between a first mode and a second mode according to a command signal, generating a torque command according to a mechanical command, generating a current voltage command according to the torque command, a set magnetic flux, a set voltage margin and a previous voltage command, and generating the driving voltage according to the current voltage command;

when the driver is in a first mode, the driver is to,

setting a first voltage margin as the set voltage margin according to the command signal; and the number of the first and second groups,

generating the set magnetic flux according to the mechanical command and the rotation speed information of the alternating current motor;

when the driver is in a second mode, the driver is to,

setting a second voltage margin as the set voltage margin according to the command signal, wherein the first voltage margin is smaller than the second voltage margin; and the number of the first and second groups,

the set magnetic flux is made equal to the rated magnetic flux.

2. The actuator device of claim 1, wherein: the driver is used for generating rotation speed error information according to the mechanical command and the rotation speed information of the alternating current motor and generating the torque command according to the rotation speed error information.

3. The actuator device of claim 1, wherein: the driver obtains the excitation shaft current information according to the set voltage margin, the set magnetic flux and the previous voltage command, obtains torsion shaft current information according to the torque command, and generates the current voltage command according to the excitation shaft current information and the torsion shaft current information.

4. The actuator device of claim 1, wherein: the driver also comprises a circuit for judging whether the driving voltage generated by the current voltage command is greater than the maximum driving voltage or not, and enabling the driving voltage to be equal to the maximum driving voltage when the driving voltage is greater than the maximum driving voltage.

5. The actuator device of claim 1, wherein: the power consumption of the actuating device in the first mode is less than or equal to the power consumption of the actuating device in the second mode when the alternating current motor speed information is the same.

6. The actuator device of claim 1, wherein: the driver is also operated in a third mode which is a normal mode according to the command signal; the power consumption of the actuating device in the first mode is smaller than the power consumption of the actuating device in the third mode when the alternating current motor rotating speed information is the same.

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