JP2759855B2 - Inverter device with learning function - Google Patents
Inverter device with learning functionInfo
- Publication number
- JP2759855B2 JP2759855B2 JP3344504A JP34450491A JP2759855B2 JP 2759855 B2 JP2759855 B2 JP 2759855B2 JP 3344504 A JP3344504 A JP 3344504A JP 34450491 A JP34450491 A JP 34450491A JP 2759855 B2 JP2759855 B2 JP 2759855B2
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- JP
- Japan
- Prior art keywords
- acceleration
- deceleration time
- current
- circuit
- average current
- 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.)
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Description
【０００１】[0001]
【産業上の利用分野】本発明は例えば負荷変動のない自
動搬送車の駆動源であるモータを駆動するインバータの
最適運転が行われるようにした学習機能付きインバータ
装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inverter device having a learning function for performing an optimal operation of an inverter for driving a motor which is a driving source of an automatic guided vehicle without load fluctuation.
【０００２】[0002]
【従来の技術】図４は従来のインバータ装置のブロック
図、図５は同インバータ装置による平均電流と加減速時
間設定値との関係を表わすグラフである。図において、
１はモータ８を所望の回転速度で回転させる速度指令値
を設定する速度指令回路、２はモータ８を加減速する加
減速時間を設定する加減速時間設定回路、３は速度指令
回路１の速度指令値と加減速時間設定回路２の加減速時
間とから決定された傾斜率に従って速度信号を出力する
傾斜信号発生回路、４はモータ電流の大きさによって傾
斜信号発生回路３の出力可否を決定する運転判別回路、
５は運転判別回路４によって出力された速度信号をパル
ス信号に変調するパルス変調回路、６はパルス変調回路
５で変調されたパルス信号を増幅してモータ８を駆動す
るモータ電流を出力するモータ駆動回路、７はモータ８
に流れるモータ電流を検出する電流検出器、９は電流検
出器７で検出したモータ電流を表示する電流表示回路で
ある。2. Description of the Related Art FIG. 4 is a block diagram of a conventional inverter device, and FIG. 5 is a graph showing a relationship between an average current and an acceleration / deceleration time set value by the inverter device. In the figure,
1 is a speed command circuit for setting a speed command value for rotating the motor 8 at a desired rotation speed, 2 is an acceleration / deceleration time setting circuit for setting an acceleration / deceleration time for accelerating / decelerating the motor 8, and 3 is the speed of the speed command circuit 1. A tilt signal generation circuit that outputs a speed signal in accordance with a tilt rate determined from the command value and the acceleration / deceleration time of the acceleration / deceleration time setting circuit 2, and the output signal of the tilt signal generation circuit 3 is determined by the magnitude of the motor current. Operation determination circuit,
Reference numeral 5 denotes a pulse modulation circuit that modulates the speed signal output by the operation determination circuit 4 into a pulse signal, and 6 denotes a motor drive that amplifies the pulse signal modulated by the pulse modulation circuit 5 and outputs a motor current that drives the motor 8. Circuit, 7 is motor 8
A current detector 9 detects a motor current flowing through the motor, and a current display circuit 9 displays the motor current detected by the current detector 7.
【０００３】図５において、横軸のＩＡＶはモータ８の
平均電流、縦軸のｔは加減速時間、Ａは平均電流ＩＡＶ
に対して決定された加減速時間の加減速時間設定曲線で
ある。In FIG. 5, IAV on the horizontal axis represents the average current of the motor 8, t represents the acceleration / deceleration time, and A represents the average current IAV.
5 is an acceleration / deceleration time setting curve of the acceleration / deceleration time determined with respect to FIG.
【０００４】従来のインバータ装置は上記のように構成
され、例えば速度指令回路１から出力された速度指令値
と加減速時間設定回路２で設定された加減速時間とに基
づいて決定された傾斜率に従って速度信号が傾斜信号発
生回路３から出力される。その速度信号はパルス変調回
路５でパルス信号に変調され、モータ駆動回路６ではパ
ルス信号を増幅してモータ８に対するモータ電流を出力
し、モータ８が駆動される。[0004] The conventional inverter device is constructed as described above. For example, the inclination rate determined based on the speed command value output from the speed command circuit 1 and the acceleration / deceleration time set by the acceleration / deceleration time setting circuit 2. , The speed signal is output from the inclination signal generation circuit 3. The speed signal is modulated into a pulse signal by the pulse modulation circuit 5, and the motor drive circuit 6 amplifies the pulse signal and outputs a motor current to the motor 8, so that the motor 8 is driven.
【０００５】電流検出器７はモータ電流を検出してお
り、運転判別回路４では電流検出器７で検出したモータ
電流が異常に大きな値であれば、運転不可とみなして傾
斜信号発生回路３から出力された速度信号を遮断する。
また、モータ電流が正常レベルの値であれば、運転可と
みなして速度信号をパルス変調回路５に出力させてモー
タ８を任意速度に制御する。[0005] The current detector 7 detects the motor current, and if the motor current detected by the current detector 7 is an abnormally large value, the operation discrimination circuit 4 considers that the operation is impossible and determines that the operation is not possible. Cut off the output speed signal.
If the motor current is at a normal level, the motor 8 is controlled to an arbitrary speed by causing the pulse modulation circuit 5 to output a speed signal assuming that the operation is possible.
【０００６】このとき、モータ８に流れるモータ電流は
電流検出器７で検出した瞬時電流値が電流表示回路９に
表示されるので、オペレータはモータ電流の瞬時電流値
を読み取ることが可能である。そこで、電流表示回路９
が表示する瞬時電流値からオペレータが平均電流ＩＡＶ
を推定し、その結果から判断して次回のモータ８の運転
時に加減速時間設定回路２の加減速時間設定値を所定の
値ｔに決定することによってインバータでモータ８を最
適の状態で運転させることができる。この場合の加減速
時間設定回路２によって決定された加減速時間設定値ｔ
を図５に示しており、この加減速時間設定値ｔは平均電
流ＩＡＶの大きさにかかわらず一定のままであり、変化
しない加減速時間設定曲線Ａが得られる。At this time, since the instantaneous current value of the motor current flowing through the motor 8 detected by the current detector 7 is displayed on the current display circuit 9, the operator can read the instantaneous current value of the motor current. Therefore, the current display circuit 9
The operator indicates the average current IAV from the instantaneous current value displayed by
Is estimated from the result, and the next operation of the motor 8 determines the acceleration / deceleration time setting value of the acceleration / deceleration time setting circuit 2 to a predetermined value t, thereby operating the motor 8 in an optimum state by the inverter. be able to. In this case, the acceleration / deceleration time setting value t determined by the acceleration / deceleration time setting circuit 2
FIG. 5 shows that the acceleration / deceleration time setting value t remains constant regardless of the magnitude of the average current IAV, and an acceleration / deceleration time setting curve A that does not change is obtained.
【０００７】[0007]
【発明が解決しようとする課題】上記のような従来のイ
ンバータ装置では始めに加減速時間設定回路２によって
加減速時間設定値をある値に決定してモータ８を駆動し
てモータ電流を電流検出器７で検出し、それを電流表示
回路９に表示させ、その電流表示回路９の瞬時電流値か
らオペレータが平均電流ＩＡＶを推定し、その結果から
判断して次回のモータの運転時に加減速時間設定回路２
の加減速時間設定値を所定の値ｔに決定することによ
り、インバータでモータ８を最適な状態で運転させるよ
うにしているから、モータ８の最適な運転状態を得るた
めには機械定数を明確に把握した上で計算して加減速時
間を決定する必要があり、しかも機械や負荷などの運転
条件の変化に対してオペレータが常に電流値を確認する
必要があるために非常にわずらわしく、更に最適な加減
速時間を決めるためにオペレータに技術的な知識と熟練
が必要とされるなどの問題点があった。In the conventional inverter device as described above, the acceleration / deceleration time setting value is first determined by the acceleration / deceleration time setting circuit 2 to drive the motor 8 to detect the motor current. The current is displayed on the current display circuit 9, and the operator estimates the average current IAV from the instantaneous current value of the current display circuit 9, and judges the average current IAV based on the result to determine the acceleration / deceleration time at the next motor operation. Setting circuit 2
By setting the acceleration / deceleration time set value to a predetermined value t, the motor 8 is operated in the optimum state by the inverter. Therefore, in order to obtain the optimum operation state of the motor 8, the mechanical constant must be clearly defined. It is necessary to determine the acceleration / deceleration time by calculating after grasping the current, and it is very troublesome because the operator needs to constantly check the current value with respect to changes in operating conditions such as machines and loads. In order to determine an appropriate acceleration / deceleration time, there is a problem that an operator needs technical knowledge and skill.
【０００８】本発明は上記のような問題点を解消するた
めになされたもので、加減速時間の設定にオペレータの
介入をなくすことを可能とし、最適値の設定を容易にで
きると共に長期にわたって最適な運転状態を得ることが
できる学習機能付きインバータ装置を得ることを目的と
する。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems. The present invention makes it possible to eliminate the intervention of an operator in setting the acceleration / deceleration time, thereby facilitating the setting of the optimum value and the optimum value for a long period of time. It is an object of the present invention to obtain an inverter device with a learning function capable of obtaining a suitable operating state.
【０００９】[0009]
【課題を解決するための手段】本発明に係る学習機能付
きインバータは、速度指令回路、加減速時間設定回路、
傾斜率信号発生回路、パルス変調回路、モータ駆動回路
及び電流検出器の他に、電流検出器が検出したモータ電
流の加速中又は減速中の平均電流を演算する平均電流演
算回路と、平均電流演算回路が演算した平均電流を記憶
する平均電流記憶回路と、モータ電流の目標値を設定す
る目標電流設定回路と、目標電流設定回路が設定した目
標値と平均電流記憶回路が記憶している平均電流との比
に前回設定された加減速時間を乗じ、平均電流が目標値
より大きいときには加減速時間を最適値より長くしない
ようにする補正係数を更に乗じて次回の加減速時間を演
算し、平均電流が目標値より小さいときには加減速時間
を最適値より短くしないようにする補正係数を更に乗じ
て次回の加減速時間を演算する加減速時間演算回路と、
加減速時間演算回路が演算した加減速時間を記憶する加
減速時間記憶回路とを備えるように構成したものであ
る。An inverter with a learning function according to the present invention comprises a speed command circuit, an acceleration / deceleration time setting circuit,
In addition to the ramp rate signal generation circuit, pulse modulation circuit, motor drive circuit, and current detector, an average current calculation circuit that calculates an average current during acceleration or deceleration of the motor current detected by the current detector, and an average current calculation An average current storage circuit that stores an average current calculated by the circuit; a target current setting circuit that sets a target value of the motor current; a target value set by the target current setting circuit and an average current that is stored in the average current storage circuit Is multiplied by the previously set acceleration / deceleration time, and when the average current is greater than the target value, the next acceleration / deceleration time is calculated by further multiplying by a correction coefficient that prevents the acceleration / deceleration time from being longer than the optimum value. An acceleration / deceleration time calculation circuit for calculating the next acceleration / deceleration time by further multiplying a correction coefficient for preventing the acceleration / deceleration time from being shorter than the optimum value when the current is smaller than the target value;
An acceleration / deceleration time storage circuit for storing the acceleration / deceleration time calculated by the acceleration / deceleration time calculation circuit.
【００１０】[0010]
【作用】本発明においては、当初の運転時には加減速時
間設定回路によって加減速時間設定値をある値に決定し
てモータを起動させて運転を行い、モータ電流を電流検
出器で検出し、平均電流演算回路では電流検出器が検出
したモータ電流の加速中又は減速中の平均電流を演算し
て求め、その平均電流を平均電流記憶回路に記憶させて
置き、次回の運転時は加減速時間演算回路で目標電流設
定回路が設定した例えばモータ電流の定格値である目標
値と平均電流記憶回路が記憶している前回運転時の平均
電流との比に前回設定された加減速時間を乗じ、平均電
流が目標値より大きいときには加減速時間を最適値より
長くしないようにする補正係数を更に乗じて次回の加減
速時間を演算し、平均電流が目標値より小さいときには
加減速時間を最適値より短くしないようにする補正係数
を更に乗じて次回の加減速時間を演算し、その演算した
加減速時間を次回運転時における加減速時間として運転
するようにしているから、次々と繰り返し運転すること
により、前回の学習運転によって加減速時間が次第に最
適な加減速時間へと次第に近づいていき、加減速時間の
最適値が自動設定されることになる。In the present invention, during the initial operation, the acceleration / deceleration time setting circuit determines the acceleration / deceleration time set value to a certain value, starts the motor, performs the operation, detects the motor current with the current detector, and averages the motor current. The current calculation circuit calculates and calculates the average current during acceleration or deceleration of the motor current detected by the current detector, stores the average current in the average current storage circuit, and calculates the acceleration / deceleration time during the next operation. Multiply the ratio of the target value set by the target current setting circuit in the circuit, for example, the target value, which is the rated value of the motor current, and the average current during the previous operation stored in the average current storage circuit by the acceleration / deceleration time set last time. When the current is larger than the target value, the acceleration / deceleration time is calculated by multiplying by a correction coefficient that prevents the acceleration / deceleration time from being longer than the optimum value. When the average current is smaller than the target value, the acceleration / deceleration time is optimized The next acceleration / deceleration time is calculated by further multiplying it by a correction coefficient that prevents it from becoming shorter, and the calculated acceleration / deceleration time is used as the acceleration / deceleration time in the next operation. As a result, the acceleration / deceleration time gradually approaches the optimal acceleration / deceleration time by the previous learning operation, and the optimal value of the acceleration / deceleration time is automatically set.
【００１１】[0011]
【実施例】図１は本発明の一実施例のブロック図、図２
は同実施例による平均電流と加減速時間設定値との関係
を表わすグラフである。図において、従来例と同一の構
成は従来例と同一符号を付して重複した構成の説明を省
略する。１１はモータ電流の目標値を設定する目標電流
設定回路、１２は電流検出器７で検出したモータ電流の
平均値を演算する平均電流演算回路、１３は平均電流演
算回路１２が演算した平均電流を記憶する平均電流記憶
回路、１４は目標電流設定回路８が設定した目標値と平
均電流記憶回路１３が記憶している平均電流とに基づき
最適な加減速時間を演算する加減速時間演算回路、１５
は加減速時間演算回路１４が演算した加減速時間を記憶
する加減速時間記憶回路である。FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG.
7 is a graph showing a relationship between an average current and an acceleration / deceleration time set value according to the embodiment. In the figure, the same components as those of the conventional example are denoted by the same reference numerals as those of the conventional example, and the description of the same components will be omitted. 11 is a target current setting circuit for setting a target value of the motor current, 12 is an average current calculation circuit for calculating an average value of the motor current detected by the current detector 7, and 13 is an average current calculated by the average current calculation circuit 12. An average current storage circuit 14 for storing an acceleration / deceleration time calculation circuit for calculating an optimal acceleration / deceleration time based on the target value set by the target current setting circuit 8 and the average current stored in the average current storage circuit 13;
An acceleration / deceleration time storage circuit stores the acceleration / deceleration time calculated by the acceleration / deceleration time calculation circuit 14.
【００１２】図２において、横軸のＩ0 ／ＩＡＶはモー
タの目標電流（目標値）と平均電流の比、縦軸のｔは加
減速時間、Ａは平均電流ＩＡＶに対して決定された加減
速時間の加減速時間設定曲線、ｔ0 は前回運転時の加減
速時間設定値である。In FIG. 2, I 0 / IAV on the horizontal axis is the ratio of the target current (target value) to the average current of the motor, t is the acceleration / deceleration time, and A is the acceleration / deceleration determined for the average current IAV. acceleration and deceleration time setting curve of the deceleration time, t 0 is the acceleration and deceleration time setting value at the time of the previous operation.
【００１３】次に上記実施例の動作を図３のフローチャ
ートに基づいて説明する。まず、速度指令回路１から出
力された速度指令値と加減速時間設定回路２で設定され
た加減速時間とに基づいて決定された初期の任意の傾斜
率に従って傾斜信号発生回路３から速度信号を出力して
初回運転を行う（ステップＳ１）。この時の速度指令回
路１からモータ８までの動作は従来と同様である。Next, the operation of the above embodiment will be described with reference to the flowchart of FIG. First, a speed signal is generated from the inclination signal generation circuit 3 according to an initial arbitrary inclination rate determined based on the speed instruction value output from the speed instruction circuit 1 and the acceleration / deceleration time set by the acceleration / deceleration time setting circuit 2. Output and perform the first operation (step S1). At this time, the operation from the speed command circuit 1 to the motor 8 is the same as in the related art.
【００１４】そして、初回運転のときには加減速時間設
定回路２で設定された加減速時間を初期値として加減速
時間演算回路１４で読み込む（ステップＳ２）。次に初
回運転が終了して停止しているか否かを判断し（ステッ
プＳ３）、まだ運転中であるときにはモータ駆動回路６
の出力周波数ｆが０Ｈｚから立ち上がっているか否かを
判断し（ステップＳ４）、０Ｈｚから立ち上がっている
ときには出力周波数ｆの立ち上がりを一定間隔でカウン
トし、出力周波数ｆが基準周波数以上となるまで電流検
出器７のモータ電流（即ち瞬時電流）をカウント数毎に
加算していく（ステップＳ５、Ｓ６）。更に、モータ電
流が過大電流であるか否かを運転判別回路４で判断し
（ステップＳ７）、モータ電流が過大電流のときは過大
電流に対応した後述する次回の加減速時間演算に用いる
加減速時間補正係数ｋ1 を１．２に設定し、過大電流で
ないときには加減速時間補正係数ｋ1 を１．０に設定す
る（ステップＳ８、Ｓ９）。At the time of initial operation, the acceleration / deceleration time set by the acceleration / deceleration time setting circuit 2 is read as an initial value by the acceleration / deceleration time calculation circuit 14 (step S2). Next, it is determined whether or not the first operation is completed and stopped (step S3).
It is determined whether or not the output frequency f has risen from 0 Hz (step S4). If the output frequency f has risen from 0 Hz, the rise of the output frequency f is counted at regular intervals, and current detection is performed until the output frequency f becomes higher than the reference frequency. The motor current of the heater 7 (that is, the instantaneous current) is added for each count number (steps S5 and S6). Further, the operation determination circuit 4 determines whether or not the motor current is an excessive current (step S7). If the motor current is an excessive current, the acceleration / deceleration used in the next acceleration / deceleration time calculation corresponding to the excessive current will be described later. set the time correction coefficient k 1 to 1.2, when it is not excessive current sets the deceleration time correction coefficient k 1 to 1.0 (step S8, S9).
【００１５】次に、初回運転が停止したときには今まで
流れていたモータ電流が過大電流か否かで、次回運転の
加減速時間の演算の仕方を違える（ステップＳ１０）。
まず、モータ電流が過大電流でない場合には平均電流演
算回路１２で初回即ち今回の運転の平均電流ＩＡＶの演
算を次式で行う（ステップＳ１１）。Next, when the first operation is stopped, the method of calculating the acceleration / deceleration time of the next operation is different depending on whether or not the motor current flowing so far is an excessive current (step S10).
First, if the motor current is not excessive, the average current calculation circuit 12 calculates the average current IAV for the first time, that is, the current operation, by the following equation (step S11).
【００１６】[0016]
【数１】 上記式（１）中、ｎは出力周波数ｆが０Hzから所定の出
力周波数まで立ち上がったときのカウント数であり、Ｉ
i はモータ電流の加算値である。平均電流記憶回路１３
では平均電流演算回路１２が演算した平均電流ＩＡＶを
記憶している。(Equation 1) In the above equation (1), n is a count number when the output frequency f rises from 0 Hz to a predetermined output frequency.
i is an added value of the motor current. Average current storage circuit 13
Stores the average current IAV calculated by the average current calculation circuit 12.
【００１７】加減速時間演算回路１４ではその平均電流
ＩＡＶと目標電流設定回路１１が設定した例えばモータ
電流の定格値である目標値Ｉ0 と比較し（ステップＳ１
２ａ、Ｓ１２ｂ）、平均電流ＩＡＶが目標値Ｉ0 と等し
ければ、次回の加減速時間ｔを前回（初回）の加減速時
間ｔ0 と等しい値に設定する（ステップＳ１３）。平均
電流ＩＡＶが目標値Ｉ0 と等しくないときは次回の加減
速時間ｔを次式により演算する（ステップＳ１４、Ｓ１
５）。 ｔ＝（ＩＡＶ／Ｉ0 ）・ｔ0 ・Ｋ0 ・・・・・・・（２）The acceleration / deceleration time calculation circuit 14 compares the average current IAV with a target value I 0 set by the target current setting circuit 11, for example, a rated value of the motor current (step S1).
2a, S12b), the average current IAV is equal to the target value I 0, sets the next deceleration time t equal to the deceleration time t 0 of the previous (first) (step S13). When the average current IAV is not equal to the target value I 0 calculates the next deceleration time t by the following equation (step S14, S1
5). t = (IAV / I 0 ) · t 0 · K 0 (2)
【００１８】このとき、平均電流ＩＡＶが目標値Ｉ0 よ
り大きければ（ステップＳ１２ａ）、加減速時の平均電
流ＩＡＶを下げるために次回の加減速時間ｔをより長く
し、しかも、加減速時間の最適値に一度にあまり急激に
近づけ過ぎないようにする加減速時間補正係数Ｋ0 ＝
０．８〜０．９を掛けて演算する（ステップＳ１６）。
また、平均電流ＩＡＶが目標値Ｉ0 より小さければ（ス
テップＳ１２ｂ）、加減速時の平均電流ＩＡＶに余裕が
あると判断して加減速時間ｔをより短くし、しかも、加
減速時間の最適値に一度にあまり急激に近づけ過ぎない
ようにする加減速時間補正係数Ｋ0 ＝１．２〜１．３を
掛けて演算する（ステップＳ１６）。このようにして加
減速時間演算回路１４で演算して求めた次回の加減速時
間ｔは加減速時間記憶回路１５に記憶され、次回の運転
の時の加減速時間として用いられる。[0018] At this time, if the average current IAV is greater than the target value I 0 (step S12a), and longer for the next acceleration or deceleration time t in order to reduce the average current IAV during acceleration or deceleration, moreover, the acceleration and deceleration times Acceleration / deceleration time correction coefficient K 0 = so as not to approach the optimum value too rapidly at once
The calculation is performed by multiplying by 0.8 to 0.9 (step S16).
Further, if the average current IAV is smaller than the target value I 0 (step S12b), it is determined that there is a margin in the average current IAV during acceleration or deceleration to shorten the deceleration time t, moreover, the optimum value of the acceleration and deceleration time Is multiplied by an acceleration / deceleration time correction coefficient K 0 = 1.2 to 1.3 so as not to approach too rapidly at once (step S16). The next acceleration / deceleration time t calculated by the acceleration / deceleration time calculation circuit 14 in this way is stored in the acceleration / deceleration time storage circuit 15 and used as the acceleration / deceleration time for the next operation.
【００１９】次に、初回運転が停止したときに今まで流
れていたモータ電流が過大電流と判断された場合には、
次回の加減速時間ｔは次式により演算される（ステップ
Ｓ１８）。 ｔ＝ｔ0 ・Ｋ1 ………………（３） これは過大電流のときには運転判別回路４で運転が直ち
に停止され、平均電流を求めることができないので、平
均電流が相当大きいものと想定し、その平均電流を大幅
に下げて目標値により近づけるために、前回の加減速時
間ｔ0 に対して加減速時間をより一層長くする補正係数
Ｋ1 ＝１．２を掛けて一律に求めるようにしたものであ
る。なお、過大電流でないときは上記補正係数Ｋ1 は上
記式（２）に実質的に影響を与えない値である１である
ため、式（２）からは除かれている。Next, when it is determined that the motor current that has been flowing so far when the first operation is stopped is an excessive current,
The next acceleration / deceleration time t is calculated by the following equation (step S18). t = t 0 · K 1 (3) In the case of an excessive current, the operation is immediately stopped by the operation determination circuit 4 and the average current cannot be obtained, so it is assumed that the average current is considerably large. Then, in order to greatly lower the average current and make it closer to the target value, the previous acceleration / deceleration time t 0 is uniformly obtained by multiplying by a correction coefficient K 1 = 1.2 for further increasing the acceleration / deceleration time. It was made. Incidentally, the correction coefficient K 1 when not excessive current for a 1 is a value which does not substantially affect the above equation (2), are excluded from the formula (2).
【００２０】以上の説明は初回の平均電流ＩＡＶから２
回目の運転後の平均電流ＩＡＶが目標値Ｉ0 となると予
想される加減速時間ｔを演算決定することによって、平
均電流ＩＡＶを目標値Ｉ0 に近づけ最適運転となるよう
に学習運転を行い、３回目は２回目に設定された加減速
時間ｔに基づいて運転をし、その２回目の運転後の平均
電流ＩＡＶに基づき３回目の運転後の平均電流ＩＡＶが
目標値となると予測される加減速時間ｔを演算決定する
ものであり、くり返し学習運転を行うことによって、平
均電流ＩＡＶが目標値に次第に近づいていき、初期運転
時に加減速時間ｔが最適な設定値になっていなくとも、
毎回平均電流ＩＡＶから加減速時間ｔの演算が行われる
ために最適な加減速時間設定値が得られるものである。The above description is based on the first average current IAV.
By rotating second average current IAV after operation calculates determining acceleration time t is expected to be the target value I 0, so the average current IAV becomes optimum operating close to the target value I 0 performs learning operation, The third operation is performed based on the acceleration / deceleration time t set for the second time, and the average current IAV after the third operation is predicted to be the target value based on the average current IAV after the second operation. The deceleration time t is calculated and determined. By performing the learning operation repeatedly, the average current IAV gradually approaches the target value, and even if the acceleration / deceleration time t does not reach the optimal set value during the initial operation,
Since the calculation of the acceleration / deceleration time t is performed from the average current IAV each time, an optimum acceleration / deceleration time set value is obtained.
【００２１】上記実施例では加速時間、減速時間の両方
について表わしたが、それぞれ一方のみ独立して用いて
も同様の効果を奏することは勿論である。また、上記実
施例では平均電流から加減速時間を決定するものについ
て示したが、平均電流から最適なトルクブーストを求め
る場合に応用しても、同様の効果を奏することはいうま
でもない。In the above embodiment, both the acceleration time and the deceleration time are shown. However, the same effect can be obtained even when only one of them is used independently. In the above embodiment has been described as determining the deceleration time from the average current, be applied to the case of obtaining the optimum torque boost from the average current, it is needless to say that the same effect.
【００２２】[0022]
【発明の効果】本発明は以上説明したとおり、初回の運
転時にはある値の下限速時間でモータの運転を行い、そ
のモータ電流から加速又は減速時の平均電流を求め、モ
ータ電流の目標値と前回運転時の前回運転時の平均電流
との比に初回（前回）に設定された加減速時間を乗じ、
平均電流が目標値より大きいときには加減速時間を最適
値より長くしないようにする補正係数を、平均電流が目
標値より小さいときには加減速時間を最適値より短くし
ないようにする補正係数を更に乗じて次回の加減速時間
を求め、その加減速時間で次回の運転を行い、次々と繰
り返し学習運転をすることにより、加減速時間をしだい
に最適な加減速時間へと近づけていくようにしたので、
最適な運転条件の決定にオペレータを介入させる必要が
なく、機械や負荷などの変化に対して常に最適な加減速
時間が得られ、しかも繰り返し学習運転を行うだけで加
減速時間の最適値が自動設定されるために、最適値を設
定するための試運転調整が大幅に簡単化でき、加減速時
間の初期設定は任意の値でよいという効果が得られる。
また、補正係数を乗じて加減速時間の変化が大きくなり
すぎないようにしているので、安全に繰り返し学習選択
を行える効果も得られる。As described above, according to the present invention, during the first operation, the motor is operated at a certain lower limit speed time, the average current during acceleration or deceleration is obtained from the motor current, and the target value of the motor current is obtained. Multiply the ratio of the average current in the previous operation to the average current in the previous operation by the acceleration / deceleration time set for the first time (last time),
When the average current is larger than the target value, a correction coefficient for preventing the acceleration / deceleration time from being longer than the optimum value is further multiplied by a correction coefficient for preventing the acceleration / deceleration time from being shorter than the optimum value when the average current is smaller than the target value. The next acceleration / deceleration time is obtained, the next operation is performed with the acceleration / deceleration time, and the learning operation is repeated one after another, so that the acceleration / deceleration time gradually approaches the optimal acceleration / deceleration time.
There is no need for the operator to intervene in determining the optimal operating conditions, and the optimal acceleration / deceleration time can always be obtained for changes in the machine, load, and the like. Since the setting is performed, the trial operation adjustment for setting the optimum value can be greatly simplified, and the effect is obtained that the initial setting of the acceleration / deceleration time may be any value.
In addition, since the change in the acceleration / deceleration time is prevented from becoming too large by multiplying by the correction coefficient, an effect that the learning selection can be repeatedly performed safely can be obtained.
【図１】本発明の一実施例を示すブロック図である。FIG. 1 is a block diagram showing one embodiment of the present invention.
【図２】同実施例による平均電流と加減速時間設定値と
の関係を表わすグラフである。FIG. 2 is a graph showing a relationship between an average current and an acceleration / deceleration time set value according to the embodiment.
【図３】同実施例の動作を示すフローチャートである。FIG. 3 is a flowchart showing the operation of the embodiment.
【図４】従来例のインバータ装置のブロック図である。FIG. 4 is a block diagram of a conventional inverter device.
【図５】同インバータ装置による平均電流と加減速時間
設定値との関係を表わすグラフである。FIG. 5 is a graph showing a relationship between an average current and an acceleration / deceleration time set value by the inverter device.
１ 速度指令回路 ２ 加減速時間設定回路 ３ 傾斜信号発生回路 ５ パルス変調回路 ６ モータ駆動回路 ７ 電流検出器 １１ 目標電流設定回路 １２ 平均電流演算回路 １３ 平均電流記憶回路 １４ 加減速時間演算回路 １５ 加減速時間記憶回路 DESCRIPTION OF SYMBOLS 1 Speed command circuit 2 Acceleration / deceleration time setting circuit 3 Gradient signal generation circuit 5 Pulse modulation circuit 6 Motor drive circuit 7 Current detector 11 Target current setting circuit 12 Average current calculation circuit 13 Average current storage circuit 14 Acceleration / deceleration time calculation circuit 15 Addition Deceleration time storage circuit
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.6，ＤＢ名) H02P 5/408 - 5/412 H02P 7/628 - 7/632 H02P 21/00──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. 6 , DB name) H02P 5/408-5/412 H02P 7/628-7/632 H02P 21/00
Claims (1)
度指令値を設定する速度指令回路と、モータを加減速す
る加減速時間を設定する加減速時間設定回路と、速度指
令回路の速度指令値と加減速時間設定回路の加減速時間
とから決定された傾斜率に従って速度信号を出力する傾
斜信号発生回路と、傾斜信号発生回路から出力された速
度信号をパルス信号に変調するパルス変調回路と、パル
ス変調回路のパネル信号を増幅してモータ電流を出力す
るモータ駆動回路と、モータ電流を検出する電流検出器
と、電流検出器が検出したモータ電流の加速中又は減速
中の平均電流を演算する平均電流演算回路と、平均電流
演算回路が演算した平均電流を記憶する平均電流記憶回
路と、モータ電流の目標値を設定する目標電流設定回路
と、目標電流設定回路が設定した目標値と平均電流記憶
回路が記憶している平均電流との比に前回設定された加
減速時間を乗じ、平均電流が目標値より大きいときには
加減速時間を最適値より長くしないようにする補正係数
を更に乗じて次回の加減速時間を演算し、平均電流が目
標値より小さいときには加減速時間を最適値より短くし
ないようにする補正係数を更に乗じて次回の加減速時間
を演算する加減速時間演算回路と、加減速時間演算回路
が演算した加減速時間を記憶する加減速時間記憶回路と
を備えてなることを特徴とする学習機能付きインバータ
装置。1. A speed command circuit for setting a speed command value for rotating a motor at a desired rotation speed, an acceleration / deceleration time setting circuit for setting an acceleration / deceleration time for accelerating / decelerating the motor, and a speed command value for the speed command circuit. A ramp signal generation circuit that outputs a speed signal according to a ramp rate determined from the acceleration / deceleration time of the acceleration / deceleration time setting circuit, a pulse modulation circuit that modulates the velocity signal output from the ramp signal generation circuit into a pulse signal, A motor drive circuit that amplifies the panel signal of the pulse modulation circuit and outputs a motor current, a current detector that detects the motor current, and that the motor current detected by the current detector is accelerating or decelerating
An average current calculation circuit that calculates an average current in the current, an average current storage circuit that stores an average current calculated by the average current calculation circuit, a target current setting circuit that sets a target value of the motor current, and a target current setting circuit. The ratio between the set target value and the average current stored in the average current storage circuit is multiplied by the previously set acceleration / deceleration time so that the acceleration / deceleration time is not longer than the optimum value when the average current is larger than the target value. Calculate the next acceleration / deceleration time by further multiplying by the correction coefficient.If the average current is smaller than the target value, shorten the acceleration / deceleration time from the optimum value.
An acceleration / deceleration time calculation circuit for calculating the next acceleration / deceleration time by further multiplying by a correction coefficient for preventing the acceleration / deceleration time, and an acceleration / deceleration time storage circuit for storing the acceleration / deceleration time calculated by the acceleration / deceleration time calculation circuit. An inverter device with a learning function characterized by the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3344504A JP2759855B2 (en) | 1991-12-26 | 1991-12-26 | Inverter device with learning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3344504A JP2759855B2 (en) | 1991-12-26 | 1991-12-26 | Inverter device with learning function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05176591A JPH05176591A (en) | 1993-07-13 |
| JP2759855B2 true JP2759855B2 (en) | 1998-05-28 |
Family
ID=18369784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3344504A Expired - Lifetime JP2759855B2 (en) | 1991-12-26 | 1991-12-26 | Inverter device with learning function |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2759855B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4112930B2 (en) * | 2002-09-04 | 2008-07-02 | 東芝三菱電機産業システム株式会社 | Inverter device |
| JP7132584B2 (en) * | 2016-12-15 | 2022-09-07 | 日本油圧工業株式会社 | Devices for starting and running AC motors |
-
1991
- 1991-12-26 JP JP3344504A patent/JP2759855B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05176591A (en) | 1993-07-13 |
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