JPH04251585A - Protective method for motor under locked state - Google Patents
Protective method for motor under locked stateInfo
- Publication number
- JPH04251585A JPH04251585A JP3012844A JP1284491A JPH04251585A JP H04251585 A JPH04251585 A JP H04251585A JP 3012844 A JP3012844 A JP 3012844A JP 1284491 A JP1284491 A JP 1284491A JP H04251585 A JPH04251585 A JP H04251585A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- control circuit
- control
- value
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 14
- 230000001681 protective effect Effects 0.000 title abstract 5
- 230000007423 decrease Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
Landscapes
- Control Of Electric Motors In General (AREA)
- Stopping Of Electric Motors (AREA)
Abstract
Description
【0001】0001
【産業上の利用分野】本発明は、負荷の急増等のために
発生するモータの回転拘束状態を確実に検出し、モータ
を保護するための回転拘束状態におけるモータの保護方
法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for protecting a motor in a rotationally restricted state by reliably detecting a rotationally restricted state of the motor that occurs due to a sudden increase in load, etc.
【0002】0002
【従来の技術】モータの出力軸に大きな負荷が加わると
、モータ回路に大電流が流れ、モータや駆動回路が焼損
する虞れがある。従来では、一般にモータ電流を検出し
、これが所定値に達するとサーキットブレーカ等により
回路を遮断する方法が採られている。2. Description of the Related Art When a large load is applied to the output shaft of a motor, a large current flows through the motor circuit, which may cause burnout of the motor and drive circuit. Conventionally, a method has generally been adopted in which the motor current is detected and when the current reaches a predetermined value, the circuit is interrupted by a circuit breaker or the like.
【0003】0003
【発明が解決しようとする課題】しかしながら上述の方
法では、負荷が小さくなった場合等に再起動させるため
に、手動操作による復帰又は電源の再投入が必要となる
場合が多い。例えば、航空機の方向舵や昇降舵を駆動す
るモータ等のように急激に大きな負荷が掛かり易く、し
かも負荷が低下した際の迅速な復帰が不可欠な場合には
、サーキットブレーカ等により回路を遮断することは不
適当である。However, in the above-described method, in order to restart the device when the load becomes small, it is often necessary to restore the device manually or turn on the power again. For example, if a large load is likely to be applied suddenly, such as the motor that drives the rudder or elevator of an aircraft, and rapid recovery is essential when the load decreases, the circuit should be shut off using a circuit breaker, etc. is inappropriate.
【0004】本発明の目的は、拘束状態に陥ったモータ
を確実に保護でき、しかも拘束状態から解放された場合
には、迅速な自動復帰が可能な回転拘束状態におけるモ
ータの保護方法を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide a method for protecting a motor in a rotationally restrained state, which can reliably protect a motor that has fallen into a restrained state, and can quickly and automatically return the motor when the motor is released from the restrained state. There is a particular thing.
【0005】[0005]
【課題を解決するための手段】上述の目的を達成するた
めの本発明の要旨は、モータの回転量又は回転速度の検
出値と外部から入力される指令値との差に基づいた制御
信号を制御回路から出力して投入すべきモータ電流を加
減する場合において、モータ電流を検出し、該検出電流
値が所定値を越えた場合には前記制御回路の故障を点検
し、この結果前記制御回路が正常であると判断された回
転拘束時には、逆回転方向の前記指令値が入力されるか
、又は制御信号が所定値を下廻るかの少なくとも何れか
が満足されるまで、前記制御回路の出力を前記指令値に
拘らず所定の値に低減させることを特徴とする回転拘束
状態におけるモータの保護方法である。[Means for Solving the Problems] The gist of the present invention to achieve the above-mentioned object is to generate a control signal based on the difference between a detected value of the rotation amount or rotation speed of the motor and a command value input from the outside. When adjusting the motor current to be output and input from the control circuit, the motor current is detected, and if the detected current value exceeds a predetermined value, the control circuit is checked for failure, and as a result, the control circuit When rotation is restricted and determined to be normal, the output of the control circuit remains unchanged until at least either the command value in the reverse rotation direction is input or the control signal falls below a predetermined value. A method for protecting a motor in a rotationally restrained state is characterized in that the motor is reduced to a predetermined value regardless of the command value.
【0006】[0006]
【作用】上述の構成を有する回転拘束状態におけるモー
タの保護方法は、回転拘束状態を検出して制御出力を低
減することにより、モータ電流を制限し、また制限時に
逆回転の指令値が入力されたり、拘束が開放されて制御
信号が小さくなると自動的に制限状態から復帰する。[Operation] The method for protecting the motor in a rotational restraint state having the above-mentioned configuration limits the motor current by detecting the rotational restraint state and reducing the control output, and also when a reverse rotation command value is input at the time of restriction. or when the restraint is released and the control signal becomes smaller, it automatically returns from the restricted state.
【0007】[0007]
【実施例】本発明を図示の実施例に基づいて詳細に説明
する。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be explained in detail based on the illustrated embodiments.
【0008】図1は本発明の方法を実施するためのモー
タ制御回路の一構成例であり、1はマイクロコンピュー
タであり、このマイクロコンピュータ1は、CPU1a
、このCPU1aに接続したAD変換器1b、DA変換
器1c、ROM1d、RAM1e、インタフェイス回路
1fから構成されている。DA変換器1cからのモータ
制御信号は、パルス幅変調器2a及びプリドライバ2b
から成る駆動部2に与えられ駆動信号となる。この駆動
信号は直流電源3に接続したインバータ回路4に入力さ
れ、モータ5の回転を可変としている。更に、CPU1
aの指令により、インタフェイス回路1fを介して駆動
部2のオン・オフや、プリドライバ2bによりモータ5
の回転方向を切換えることができる。モータ5の回転は
減速ギア6等を介して直線型ではボールスクリュ、或い
は回転型ではリンク等の出力部に伝達されるが、これら
の出力部には、位置検出器7や回転計等のセンサが取り
付けられ、これらの検出信号はマイクロコンピュータ1
にフィードバックされている。FIG. 1 shows an example of the configuration of a motor control circuit for carrying out the method of the present invention, and 1 is a microcomputer.
, an AD converter 1b, a DA converter 1c, a ROM 1d, a RAM 1e, and an interface circuit 1f connected to the CPU 1a. The motor control signal from the DA converter 1c is sent to the pulse width modulator 2a and predriver 2b.
The signal is applied to the drive unit 2 consisting of the following and becomes a drive signal. This drive signal is input to an inverter circuit 4 connected to a DC power source 3, thereby making the rotation of the motor 5 variable. Furthermore, CPU1
In response to the command a, the drive section 2 is turned on and off via the interface circuit 1f, and the motor 5 is turned on and off by the predriver 2b.
The direction of rotation can be changed. The rotation of the motor 5 is transmitted via a reduction gear 6 etc. to an output part such as a ball screw in a linear type or a link in a rotary type, but these output parts are equipped with a sensor such as a position detector 7 or a tachometer. is installed, and these detection signals are sent to the microcomputer 1.
feedback has been provided.
【0009】マイクロコンピュータ1では、システム外
部から与えられる指令値に、この検出値が逐次に一致す
るように駆動部2に与える制御信号を加減しており、全
体が所謂サーボループ系をなしている。更に、本実施例
ではモータ5への投入電流を測定するために、インバー
タ回路4の直流部分等に抵抗器8を介したり、ホール素
子を設けており、この検出電流値をマイクロコンピュー
タ1に入力している。The microcomputer 1 adjusts the control signal given to the drive section 2 so that the detected value successively matches the command value given from outside the system, and the entire system forms a so-called servo loop system. . Furthermore, in this embodiment, in order to measure the current applied to the motor 5, a resistor 8 or a Hall element is provided in the DC portion of the inverter circuit 4, and this detected current value is input to the microcomputer 1. are doing.
【0010】以上の構成のモータ制御回路は、例えば図
2に示すような制御フローチャート図に基づいて動作す
る。先ず、通常では抵抗器8による検出電流値が所定値
以下の範囲内に収まっており、通常のサーボループの動
作を行い、出力部を指令値に応じて駆動する。一方、検
出電流値が所定値を超えるとステップは分岐し、後述す
る方法に基づいて制御回路自体の故障の有無を検出する
。この結果、制御回路に故障が無いと判断され、なおか
つこの状態が例えば5〜10秒の所定時間を超過して続
いた場合には、モータ5が過負荷による回転拘束状態に
あると判断し、モータ電流を所定の安全値に低下・保持
する保護モードに分岐する。これにより、モータ5やイ
ンバータ回路4の焼損が防止される。The motor control circuit configured as described above operates based on a control flowchart as shown in FIG. 2, for example. First, normally, the current value detected by the resistor 8 is within a predetermined value or less, and a normal servo loop operation is performed to drive the output section according to the command value. On the other hand, if the detected current value exceeds a predetermined value, the step branches, and the presence or absence of a failure in the control circuit itself is detected based on a method described later. As a result, if it is determined that there is no failure in the control circuit, and this state continues for a predetermined time period of, for example, 5 to 10 seconds, it is determined that the motor 5 is in a rotationally restricted state due to overload. Branches into a protection mode that reduces and maintains the motor current at a predetermined safe value. This prevents the motor 5 and the inverter circuit 4 from burning out.
【0011】更に、この電流低下中に負荷が低下してモ
ータ5が回転され、出力部の位置検出値と指令値との差
が小さくなったり、拘束方向と逆方向への駆動指令値が
与えられると、保護モードを脱して通常のサーボループ
に戻る。これにより、負荷が低下した際に、迅速に通常
の制御が可能となる。Furthermore, during this current drop, the load decreases and the motor 5 rotates, and the difference between the detected position value of the output section and the command value becomes small, or a drive command value is given in the direction opposite to the restraining direction. When this happens, it exits protection mode and returns to the normal servo loop. This makes it possible to quickly perform normal control when the load decreases.
【0012】なお、制御回路の故障は例えば次のように
して検出することができる。先ず、検出電流値が所定値
を超えると、CPU1aは図3に示すように適宜の間隔
をおいて、幅2ミリ秒程度の低減パルスを制御信号に重
畳させてDA変換器1cから出力する。[0012]Failures in the control circuit can be detected, for example, in the following manner. First, when the detected current value exceeds a predetermined value, the CPU 1a superimposes a reduction pulse with a width of about 2 milliseconds on the control signal at appropriate intervals as shown in FIG. 3, and outputs it from the DA converter 1c.
【0013】ここで、制御回路が正常であり、電流増加
が単にモータの負荷増加に帰因するものであれば、低減
パルスは正常にDA変換器1cから出力され、パルス幅
変調器2a及びプリドライバ2bも正常に動作するから
、インバータ回路4によるモータ電流もパルス状に低下
する。一方、電流増加が制御回路の故障によるものであ
れば、低減パルスはモータ電流に反映されないことにな
る。従って、抵抗器8等を介して得られる電流検出値が
パルス状に追従して低下するか否かを検知して、制御回
路の正常、異常を判定できることになる。[0013] Here, if the control circuit is normal and the increase in current is simply due to an increase in the load on the motor, the reduced pulse is normally output from the DA converter 1c and the pulse width modulator 2a and the preamplifier are output. Since the driver 2b also operates normally, the motor current generated by the inverter circuit 4 also decreases in a pulsed manner. On the other hand, if the current increase is due to a failure in the control circuit, the reduction pulse will not be reflected in the motor current. Therefore, it is possible to determine whether the control circuit is normal or abnormal by detecting whether the current detection value obtained through the resistor 8 or the like decreases in a pulse-like manner.
【0014】制御回路の故障が判定された場合には、上
述のような保護モードでの運転不可能であり、警報を発
して運転を停止する等の処置が適切である。If a failure in the control circuit is determined, it is impossible to operate in the protection mode as described above, and appropriate measures such as issuing an alarm and stopping operation are appropriate.
【0015】このように本発明に係る方法によれば、モ
ータ5の回転拘束状態を確実に判定でき、モータ5やイ
ンバータ回路4の焼損防止ができると共に、拘束状態が
解かれると速やかに通常の制御状態に復帰できる。As described above, according to the method of the present invention, it is possible to reliably determine the rotational restraint state of the motor 5, prevent burnout of the motor 5 and the inverter circuit 4, and quickly return to the normal state when the restraint state is released. Can return to control state.
【0016】なお、本発明は上述した構成の制御回路以
外でも、モータ回転の検出値と指令値との差、或いは出
力部の位置検出値と指令値との差から制御信号を決定す
る方式の制御回路であれば適用できる。[0016] In addition to the control circuit having the above-mentioned configuration, the present invention also applies to a method of determining a control signal from the difference between the detected value of motor rotation and the command value, or the difference between the detected position value of the output section and the command value. It can be applied to any control circuit.
【0017】[0017]
【発明の効果】以上説明したように本発明に係る回転拘
束状態におけるモータの保護方法は、モータの回転拘束
状態を判定して、モータやインバータ回路の焼損が防止
でき、しかも拘束状態が解かれると速やかに通常の制御
状態に復帰できるので、大きな負荷が急激に印加された
り、負荷低下の際に迅速な復帰が要求される場合に用い
て好適である。[Effects of the Invention] As explained above, the method for protecting a motor in a rotationally restrained state according to the present invention can determine the rotationally restrained state of the motor, prevent burnout of the motor and inverter circuit, and release the restrained state. Since the normal control state can be quickly returned to, it is suitable for use when a large load is suddenly applied or when a quick return is required when the load decreases.
【図1】本発明に係る回転拘束状態におけるモータの保
護方法を実施するためのブロック回路構成図である。FIG. 1 is a block circuit configuration diagram for implementing a method for protecting a motor in a rotationally restrained state according to the present invention.
【図2】フローチャート図である。FIG. 2 is a flowchart diagram.
【図3】低減パルスの波形図である。FIG. 3 is a waveform diagram of a reduced pulse.
1 マイクロコンピュータ 1a CPU 2 駆動部 3 直流電源 4 インバータ回路 5 モータ 6 減速ギア 7 位置検出器 8 抵抗器 1 Microcomputer 1a CPU 2 Drive part 3 DC power supply 4 Inverter circuit 5 Motor 6 Reduction gear 7 Position detector 8 Resistor
Claims (1)
と外部から入力される指令値との差に基づいた制御信号
を制御回路から出力して投入すべきモータ電流を加減す
る場合において、モータ電流を検出し、該検出電流値が
所定値を越えた場合には前記制御回路の故障を点検し、
この結果前記制御回路が正常であると判断された回転拘
束時には、逆回転方向の前記指令値が入力されるか、又
は制御信号が所定値を下廻るかの少なくとも何れかが満
足されるまで、前記制御回路の出力を前記指令値に拘ら
ず所定の値に低減させることを特徴とする回転拘束状態
におけるモータの保護方法。Claim 1: In the case where the control circuit outputs a control signal based on the difference between the detected value of the rotational amount or rotational speed of the motor and the command value inputted from the outside to adjust the motor current to be applied, detecting the current, and if the detected current value exceeds a predetermined value, inspecting the control circuit for failure;
As a result, when the control circuit is determined to be normal and the rotation is restricted, the operation is continued until at least either the command value in the reverse rotation direction is input or the control signal is below a predetermined value. A method for protecting a motor in a rotationally restrained state, characterized in that the output of the control circuit is reduced to a predetermined value regardless of the command value.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3012844A JP2876170B2 (en) | 1991-01-08 | 1991-01-08 | How to protect the motor in the rotation restricted state |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3012844A JP2876170B2 (en) | 1991-01-08 | 1991-01-08 | How to protect the motor in the rotation restricted state |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH04251585A true JPH04251585A (en) | 1992-09-07 |
JP2876170B2 JP2876170B2 (en) | 1999-03-31 |
Family
ID=11816703
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP3012844A Expired - Fee Related JP2876170B2 (en) | 1991-01-08 | 1991-01-08 | How to protect the motor in the rotation restricted state |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2876170B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106385218A (en) * | 2016-11-23 | 2017-02-08 | 北京新能源汽车股份有限公司 | Method and device for controlling three-phase current fault of motor |
-
1991
- 1991-01-08 JP JP3012844A patent/JP2876170B2/en not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106385218A (en) * | 2016-11-23 | 2017-02-08 | 北京新能源汽车股份有限公司 | Method and device for controlling three-phase current fault of motor |
CN106385218B (en) * | 2016-11-23 | 2019-03-01 | 北京新能源汽车股份有限公司 | Method and device for controlling three-phase current fault of motor |
Also Published As
Publication number | Publication date |
---|---|
JP2876170B2 (en) | 1999-03-31 |
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