JPH0378483A - Load torque detecting method for carrying machine - Google Patents
Load torque detecting method for carrying machineInfo
- Publication number
- JPH0378483A JPH0378483A JP1213717A JP21371789A JPH0378483A JP H0378483 A JPH0378483 A JP H0378483A JP 1213717 A JP1213717 A JP 1213717A JP 21371789 A JP21371789 A JP 21371789A JP H0378483 A JPH0378483 A JP H0378483A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- load
- load torque
- rotary speed
- acceleration
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 3
- 230000001133 acceleration Effects 0.000 claims abstract description 21
- 230000002123 temporal effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010011224 Cough Diseases 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
- Control Of Conveyors (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、軽負荷時に定出力制御されるクレー等の搬送
機械の負荷トルク検出方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for detecting load torque of a conveying machine such as clay, which is controlled to have a constant output during light load.
モータで駆動されるクレーンやコンベヤ、走行車両等の
搬送機械においては、荷役効率を上げるために、加速中
のモータ電流、即ちモータ発生トルクと加速中の回転速
度変化率とから、（１）式によって負荷トルクを算出し
、これを基にして定出力制御を行っていた。In conveyance machines such as cranes, conveyors, and traveling vehicles that are driven by motors, in order to increase cargo handling efficiency, formula (1) is calculated from the motor current during acceleration, that is, the motor generated torque, and the rotational speed change rate during acceleration. Load torque was calculated by , and constant output control was performed based on this.
ここに、ＴＬ：負荷トルク
Ｔ：加速中のモータ発生トルク
ｄｎ／ｄｔ：加速中の回転速度変化率
Ｇ Ｄ’：負荷の慣性モーメント（定数）〔発明が解決
しようとする課題〕
ところが、このような従来方法では、負荷の慣性モーメ
ン）ＧＤ” を定数として設定しているため、ＧＤ”
の変化による誤差が負荷トルク計算値に含まれていた。Here, TL: Load torque T: Motor generated torque during acceleration dn/dt: Rotational speed change rate during acceleration GD': Moment of inertia of load (constant) [Problem to be solved by the invention] However, in this case, In the conventional method, GD" (moment of inertia of the load) is set as a constant, so GD"
Errors due to changes in the load torque were included in the calculated load torque values.
また、負荷のＧＤ２は負荷の重量に比例するが、クレー
ン等の場合には、一般に負荷重量は毎回変化するので、
負荷ＧＤ” も変わる。このとき、全Ｇ Ｄ’（モータ
ＧＤ’＋ブレーキＧＤ２＋負荷ＧＤ’・・・）のうちで
、負荷ＧＤ２の占める割合が小さい場合には、負荷ＧＤ
２変化量が全体に与える影響は小さいので固定値として
設定することができるが、全ＧＤ２に占める割合が大き
いと、固定値として特定できないことになる。後者の場
合には、（１）式に基づいて定出力制御を行うことがで
きなかった。Also, the GD2 of the load is proportional to the weight of the load, but in the case of cranes, etc., the load weight generally changes each time, so
The load GD" also changes. At this time, if the load GD2 accounts for a small proportion of the total GD' (motor GD' + brake GD2 + load GD'...), the load GD
Since the influence of the amount of change 2 on the whole is small, it can be set as a fixed value, but if its proportion to the total GD2 is large, it cannot be specified as a fixed value. In the latter case, constant output control could not be performed based on equation (1).
本発明は、このような従来の問題点に鑑みてなされたも
のであり、負荷トルクの検出に際して、負荷の慣性モー
メン）ＧＤ２を設定する必要を無くし、また、負荷の慣
性モーメントＧＤ２の変化による誤差を無くすことを目
的とする。The present invention has been made in view of such conventional problems, and eliminates the need to set the moment of inertia (GD2) of the load when detecting the load torque, and also eliminates the error caused by changes in the moment of inertia (GD2) of the load. The aim is to eliminate
この目的を達成するため、本発明の搬送機械負荷トルク
検出方法は、可変速制御装置で制御されるモータを有し
、該モータの負荷トルクが咳モータの基底速度での定格
トルク未満であるときに定出力制御を行う搬送機械にお
いて、前記モータの加速時に、ある加速度で加速する期
間と、前記加速度とは異なる加速度で加速する期間とを
設け、同期間において検出したモータ電流の平均値及び
回転速度の時間的変化率に基づいて負荷の慣性モーメン
トＧＤ２を算出し、前記一方の期間におけるモータ電流
平均値、回転速度変化率及び前記負荷の慣性モーメント
ＧＤ２算出値から負荷トルクを演算することを特徴とす
る。To achieve this objective, the conveying machine load torque detection method of the present invention has a motor controlled by a variable speed control device, and when the load torque of the motor is less than the rated torque at the base speed of the cough motor. In a conveying machine that performs constant output control, when the motor is accelerated, a period in which the motor accelerates at a certain acceleration and a period in which it accelerates at an acceleration different from the acceleration is provided, and the average value of the motor current and the rotation detected during the same period are set. A moment of inertia GD2 of the load is calculated based on a temporal rate of change in speed, and a load torque is calculated from the average motor current value in the one period, the rate of change in rotational speed, and the calculated value of the moment of inertia GD2 of the load. shall be.
本発明においては、停止状態から基底速度までの加速期
間中、加速度α１で速度指令を増加させ、その状態での
一定期間（を秒間）のモータ平均電流Ｉ ｌ（Ｐ、Ｕ）
と回転数変化Δｎ＋ （ｒｐｍ）を検出し、次に前記加
速度α１と異なる加速度α２で速度指令を増加させ、そ
の状態での一定期間（を秒間）のモータ平均電流Ｉ ２
（Ｐ、 ＩＩ）と回転数変化Δｎ ２（ｒｐｍ）を検出
する。In the present invention, during the acceleration period from a stopped state to the base speed, the speed command is increased by an acceleration α1, and the motor average current I l (P, U) for a certain period (seconds) in that state is
and rotational speed change Δn+ (rpm), then increase the speed command with an acceleration α2 different from the acceleration α1, and calculate the motor average current I 2 for a certain period (seconds) in that state.
(P, II) and the rotational speed change Δn 2 (rpm) are detected.
第１図に速度指令、回転速度及びモータ電流の状態を示
す。Figure 1 shows the speed command, rotational speed, and motor current status.
上記の■１．ΔｎＩ＋Ｉ２＋Δｎ２について、次の（２
）式、（３）式が成立する。■1 above. For ΔnI+I2+Δn2, the following (2
) and (3) hold true.
ここに、ＴＩ：モータ電流１ 、 （Ｐ、 Ｕ）に対応
するモータ発生トルク（ｐ、ｕ）
Ｔ２：モータ電流１２ （Ｐ、 Ｌｌ）に対応するモー
タ発生トルク（ｐ、ｕ）
Ｔ７：基底速度でのモータ定格トルク（Ｐ、ＩＩ）ＴＬ
：負荷トルク（Ｐ、Ｕ）
（２）、（３）式を元に、（４）式により負荷の慣性モ
ーメントＧＤ” を算出する。Here, TI: Motor generated torque (p, u) corresponding to motor current 1, (P, U) T2: Motor generated torque (p, u) corresponding to motor current 12 (P, Ll) T7: Base speed Motor rated torque (P, II) TL at
:Load torque (P, U) Based on equations (2) and (3), calculate the moment of inertia GD of the load using equation (4).
式（４）によって得られた負荷の慣性モーメン）ＧＤ２
を（２）式又は（３）式に代入することによって、負荷
トルクＴＬ を算出することができる。Moment of inertia of the load obtained by equation (4)) GD2
The load torque TL can be calculated by substituting the equation (2) or (3) into the equation (2) or (3).
これにより、負荷の慣性モーメントＧＤ２の変化に関係
なく、正確に負荷トルクを検出することができ、また、
負荷の慣性モーメントＧＤ２を特定できない場合でも、
加速中に負荷トルクを検出することが可能となる。As a result, the load torque can be accurately detected regardless of changes in the moment of inertia GD2 of the load, and
Even if the moment of inertia GD2 of the load cannot be specified,
It becomes possible to detect load torque during acceleration.
以下、本発明を実施例に基づいて具体的に説明する。 Hereinafter, the present invention will be specifically explained based on Examples.
第２図は本発明の検出方法を実施するための構成例を示
す制御ブロック図である。FIG. 2 is a control block diagram showing a configuration example for implementing the detection method of the present invention.
第２図において、１は直流モータ、２は回転数検出器、
３は速度指令のステップ状の変化をランプ状にする直線
指令器、４は速度制御器、５はサイリスタ変換装置であ
る。In Fig. 2, 1 is a DC motor, 2 is a rotation speed detector,
Reference numeral 3 designates a linear command device that converts stepwise changes in the speed command into a ramp shape, 4 designates a speed controller, and 5 designates a thyristor conversion device.
６は１回目のモータ電流検出を開始する回転速度を設定
する回転速度設定器であり、回転数検出器２で検出され
た直流モータ１の回転速度が回転速度設定器６の設定値
に達すると、電流演算記憶装置７では、その後を秒間の
回転速度変化ｌΔｎ。6 is a rotation speed setter for setting the rotation speed at which the first motor current detection is started, and when the rotation speed of the DC motor 1 detected by the rotation speed detector 2 reaches the set value of the rotation speed setting device 6, , in the current calculation storage device 7, the rotational speed change lΔn per second is calculated thereafter.
を記憶するとともに、電流検出器１６で検出された同期
間のモータ電流平均値■１ を演算託憶する。At the same time, the average motor current value (1) for the same period detected by the current detector 16 is calculated and stored.
同様に、変化量記憶装置１０では、回転数検出器２で検
出された直流モータ１の回転速度が回転速度設定器９
（回転速度設定器６で設定された回転速度とは異なる回
転速度設定値をもつ）で設定された回転速度に達すると
、その後を秒間の回転速度変化量Δｎ２ を記憶すると
ともに、電流検出器１６で検出された同期間のモータ電
流平均値Ｉ２ を演算器１．αする。Similarly, in the variation storage device 10, the rotation speed of the DC motor 1 detected by the rotation speed detector 2 is stored in the rotation speed setting device 9.
When the rotation speed reaches the set rotation speed (which has a rotation speed setting value different from the rotation speed set by the rotation speed setting device 6), the rotation speed change amount Δn2 per second is stored, and the current detector 16 The motor current average value I2 for the same period detected by the calculator 1. α.
ＧＤ２演算器１１では、電流演算器１．１装置７と変化
量記憶装置１０とで得られた電流値及び回転速度変化量
とに基づいて、前記（４）式により負荷の慣性モーメン
）ＧＤ” を演算する。負荷トルク演算器１２では、得
られたＧＤ２と前記（２）式又は〔３）式とにより、負
荷トルクＴＬ を演算する。The GD2 calculator 11 calculates the moment of inertia of the load (GD) according to the equation (4) above, based on the current value and rotational speed change amount obtained by the current calculator 1.1 device 7 and the change amount storage device 10. The load torque calculator 12 calculates the load torque TL using the obtained GD2 and the equation (2) or equation (3).
８は電流演算記憶装置７からの演算・記憶完了信号を受
けて直線指令器３の加速度を増加させる増速設定器であ
る。Reference numeral 8 denotes a speed increase setting device that increases the acceleration of the linear command device 3 upon receiving a computation/storage completion signal from the current computation/storage device 7.
１４は最高回転数演算器１３で決定した最高回転数から
モータ界磁電流を決定する界磁指令器であり、界磁電流
制御器１５に指令を与え、直流モータ１の界磁１７の界
磁電流を決定する。14 is a field command device that determines the motor field current from the maximum rotation speed determined by the maximum rotation speed calculation unit 13, and gives a command to the field current controller 15 to control the field current of the field 17 of the DC motor 1. Determine the current.
以上に説明したように、本発明においては、モータの加
速度が異なる２つの期間のデータから、負荷慣性モーメ
ントを含む全ＧＤ” を演算し、これに基づいて負荷ト
ルクを得ることとしている。As described above, in the present invention, the total GD including the load inertia moment is calculated from data for two periods in which the motor accelerations are different, and the load torque is obtained based on this.
これにより、負荷の慣性モーメントＧＤ２の変化に関係
な（、正確に負荷トルクを検出することができ、また、
負荷の慣性モーメントＧＤ２を特定できない場合でも、
加速中に負荷トルクを検出することが可能となるため、
制御誤差を著しく低減することができる。したがって、
定出力制御を行うことが可能となって、荷役効率を改善
することができる。As a result, it is possible to accurately detect the load torque (related to the change in the moment of inertia GD2 of the load, and
Even if the moment of inertia GD2 of the load cannot be specified,
Since it is possible to detect the load torque during acceleration,
Control errors can be significantly reduced. therefore,
It becomes possible to perform constant output control, and cargo handling efficiency can be improved.
第１図は本発明による負荷ＧＤ”を算出するための加速
時の回転速度及びモータ電流の変化を示す波形図、第２
図は本発明を実施するための制御回路の構成例を示す制
御ブロック図である。
１：直流モータ ２：回転数検出器３：直線指令
器 ４：速度制御器５：サイリスタ変換装置
６：回転速度設定器 ７：電流演算記憶装置８：増速
設定器 ９：回転速度設定器１０：変化量記憶装
置 １１：ＧＤ２演算器１２：負荷トルク演算器 １
３：最高回転数演算器１４：界磁電流指令器 １５：
界磁電流制御器１６：電流検出器 １７：界磁FIG. 1 is a waveform diagram showing changes in rotational speed and motor current during acceleration for calculating load GD according to the present invention, and FIG.
The figure is a control block diagram showing an example of the configuration of a control circuit for implementing the present invention. 1: DC motor 2: Rotation speed detector 3: Linear command device 4: Speed controller 5: Thyristor conversion device 6: Rotation speed setting device 7: Current calculation storage device 8: Speed increase setting device 9: Rotation speed setting device 10 : Change amount storage device 11: GD2 calculator 12: Load torque calculator 1
3: Maximum rotation speed calculator 14: Field current command unit 15:
Field current controller 16: Current detector 17: Field
Claims (1)
タの負荷トルクが該モータの基底速度での定格トルク未
満であるときに定出力制御を行う搬送機械において、 前記モータの加速時に、ある加速度で加速する期間と、
前記加速度とは異なる加速度で加速する期間とを設け、
両期間において検出したモータ電流の平均値及び回転速
度の時間的変化率に基づいて負荷の慣性モーメントＧＤ
＾２を算出し、前記一方の期間におけるモータ電流平均
値、回転速度変化率及び前記負荷の慣性モーメントＧＤ
＾２算出値から負荷トルクを演算することを特徴とする
搬送機械の負荷トルク検出方法。[Claims] 1. A conveyance machine that has a motor controlled by a variable speed control device and performs constant output control when the load torque of the motor is less than the rated torque at the base speed of the motor, a period during which the motor accelerates at a certain acceleration;
providing a period of acceleration at an acceleration different from the acceleration,
The moment of inertia GD of the load is determined based on the average value of the motor current detected in both periods and the temporal change rate of the rotation speed.
^2 is calculated, and the motor current average value, rotational speed change rate, and moment of inertia GD of the load in the one period are calculated.
^2 A method for detecting load torque of a conveying machine, characterized by calculating load torque from a calculated value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1213717A JPH0378483A (en) | 1989-08-18 | 1989-08-18 | Load torque detecting method for carrying machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1213717A JPH0378483A (en) | 1989-08-18 | 1989-08-18 | Load torque detecting method for carrying machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0378483A true JPH0378483A (en) | 1991-04-03 |
Family
ID=16643828
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1213717A Pending JPH0378483A (en) | 1989-08-18 | 1989-08-18 | Load torque detecting method for carrying machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0378483A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100425723B1 (en) * | 2001-07-10 | 2004-04-03 | 엘지전자 주식회사 | Method of detecting the weight of laundry in washing machine of sensorless bldc motor |
| JP2011094451A (en) * | 2009-11-02 | 2011-05-12 | Sumitomo (Shi) Construction Machinery Co Ltd | Slewing control device for construction machine |
| WO2014073053A1 (en) * | 2012-11-07 | 2014-05-15 | パイオニア株式会社 | Motor control device and motor control method |
| WO2016208566A1 (en) * | 2015-06-22 | 2016-12-29 | 伊東電機株式会社 | Conveyor device, transport device, and weight estimation method |
-
1989
- 1989-08-18 JP JP1213717A patent/JPH0378483A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100425723B1 (en) * | 2001-07-10 | 2004-04-03 | 엘지전자 주식회사 | Method of detecting the weight of laundry in washing machine of sensorless bldc motor |
| JP2011094451A (en) * | 2009-11-02 | 2011-05-12 | Sumitomo (Shi) Construction Machinery Co Ltd | Slewing control device for construction machine |
| WO2014073053A1 (en) * | 2012-11-07 | 2014-05-15 | パイオニア株式会社 | Motor control device and motor control method |
| WO2016208566A1 (en) * | 2015-06-22 | 2016-12-29 | 伊東電機株式会社 | Conveyor device, transport device, and weight estimation method |
| JPWO2016208566A1 (en) * | 2015-06-22 | 2018-04-05 | 伊東電機株式会社 | Conveyor device, transport device, and weight estimation method |
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