JPS585598B2 - Electric motor control device - Google Patents
Electric motor control deviceInfo
- Publication number
- JPS585598B2 JPS585598B2 JP54109183A JP10918379A JPS585598B2 JP S585598 B2 JPS585598 B2 JP S585598B2 JP 54109183 A JP54109183 A JP 54109183A JP 10918379 A JP10918379 A JP 10918379A JP S585598 B2 JPS585598 B2 JP S585598B2
- Authority
- JP
- Japan
- Prior art keywords
- motor
- current
- output
- circuit
- control
- 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.)
- Expired
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Direct Current Motors (AREA)
- Control Of Electric Motors In General (AREA)
- Stopping Of Electric Motors (AREA)
Description
【発明の詳細な説明】
本発明は電動機の制御装置に関するもので、電動機の高
速運転中における運転停止指令時の制御応答性を著しる
しく改善するようになした電動機制御装置を提供せんと
するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for an electric motor, and an object of the present invention is to provide a control device for an electric motor that significantly improves control responsiveness when a stop command is issued during high-speed operation of the electric motor. It is something.
本発明による電動機制御装置の詳細について、説明の都
合上、直流電動機をチョツパ制御により定電流加速する
場合の例について以下説明する。Regarding the details of the motor control device according to the present invention, for convenience of explanation, an example in which a DC motor is accelerated at a constant current by chopper control will be described below.
第１図は従来の電動機制御装置の制御方法例を示す構成
ブロック図である。FIG. 1 is a configuration block diagram showing an example of a control method of a conventional motor control device.
第１図において１は電動機電流指令器、２ぱ電動機電流
の急変を防止するクッション回路、３はチョツパ装置、
４は電動機回路、５は電動機の電流を検出する電流検出
器を示す。In Fig. 1, 1 is a motor current command device, 2 is a cushion circuit that prevents sudden changes in the motor current, 3 is a chopper device,
4 is a motor circuit, and 5 is a current detector for detecting the current of the motor.
第１図に示すような電動機制御においては、電流指令値
通りに電動機電流が制御可能な制御領域では、電動機電
流指令器１により指令された電動機電流指令値は所定の
クッション作用を有するクッション回路２に入力され、
このクッション回路２の出力と電流検出器５の出力との
減算した結果を、チョツパ装置３の指令値として電動機
電流を制御する。In motor control as shown in FIG. 1, in a control region where the motor current can be controlled according to the current command value, the motor current command value commanded by the motor current command device 1 is controlled by a cushion circuit 2 having a predetermined cushioning effect. is entered in
The result of subtracting the output of the cushion circuit 2 and the output of the current detector 5 is used as a command value for the chopper device 3 to control the motor current.
運転停止指令がでたときは、電動機電流指令器１の出力
は急減して零となるが、クッション回路２のクッション
作用によりクッション回路２の出力はゆるやかに減少し
、結果的には電動機電流はゆるやかに減少し、所定のク
ッション効果で運転を停止することができる。When an operation stop command is issued, the output of the motor current command device 1 rapidly decreases to zero, but due to the cushioning effect of the cushion circuit 2, the output of the cushion circuit 2 gradually decreases, and as a result, the motor current decreases. It gradually decreases and the operation can be stopped with a predetermined cushioning effect.
第２図は直流電動機をチョツパ制御するときの特性図で
、第１図の制御例により電動機を定電流加速する場合の
電動機の回転数Ｎと電動機電流ＩＭ、電動機電圧ｖＭの
関係を示す。FIG. 2 is a characteristic diagram when a DC motor is subjected to chopper control, and shows the relationship among the rotation speed N of the motor, the motor current IM, and the motor voltage vM when the motor is accelerated at a constant current according to the control example shown in FIG.
図においてｖＬは直流電動機を付勢する直流電源電圧、
Ｉ１は定電流加速指令値を示しだものである。In the figure, vL is the DC power supply voltage that energizes the DC motor,
I1 indicates a constant current acceleration command value.
第２図に示すように、回転数がＮ０以下の領域では電動
機電流ＩＭは一定電流の定電流加速指令値に制御される
が、回転数がＮ０以上の領域では電動機電圧ＶＭが直流
電源電圧ｖＬ一定となり、電動機電流■Ｍは回転数Ｎの
上昇に伴い減少していく。As shown in Fig. 2, in the region where the rotational speed is N0 or less, the motor current IM is controlled to a constant current acceleration command value of a constant current, but in the region where the rotational speed is N0 or more, the motor voltage VM is controlled to the DC power supply voltage vL. The motor current M becomes constant and decreases as the rotational speed N increases.
第３図に回転数がＮ０以上の回転数（例えばＮ＝Ｎ１と
する）で運転中に運転停止指令がでた場合の制御応答を
示す。FIG. 3 shows a control response when an operation stop command is issued during operation at a rotational speed of N0 or more (for example, N=N1).
■Ｍｏは第１図の電動機電流指令器１の出力、ＩＭ１は
同様に第１図のクッション回路２の出力の制御応答を表
わしだものである。(2) Mo represents the output of the motor current command unit 1 shown in FIG. 1, and IM1 similarly represents the control response of the output of the cushion circuit 2 shown in FIG.
前述したようにＮ＝Ｎｏ以上の回転数域では電動機電圧
ＶＭはほぼ直流電源電圧ｖＬに等しくなり、第１図のテ
ヨツパ装置３０通流率は最大となるが、回転数の上昇に
伴ない電動機電流■Ｍは第２図のように減少してしまう
（直流直巻電動機の特性）。As mentioned above, in the rotational speed range of N=No or higher, the motor voltage VM becomes almost equal to the DC power supply voltage vL, and the current flow rate of the power supply device 30 in Fig. 1 becomes maximum, but as the rotational speed increases, the motor voltage VM becomes almost equal to the DC power supply voltage vL. The current ■M decreases as shown in Figure 2 (characteristics of a DC series motor).
しかし第１図の電動機電流指令器１へは、第１図のチョ
ツパ装置３の通流率が最大となり、もはや電動機電流■
Ｍを第２図に示す定電流加速指令値Ｉ１なる電流値に制
御できる領域から外れてしまったという情報が入力され
ていないため、その出力ＩＭＯは依然として第２図に示
す■１なる電流値を指令し続ける。However, the current flow rate of the chopper device 3 in FIG. 1 to the motor current command device 1 in FIG.
Since no information has been input that M has gone out of the range where M can be controlled to a current value of constant current acceleration command value I1 shown in Figure 2, the output IMO still has a current value of 1 shown in Figure 2. Continue to command.
クッション回路２の出力ＩＭＩは同様に電動機電流指令
器１の出力ＩＭＯが不変のだめ、同じＩ１なる電流値を
指令し続ける。Similarly, the output IMI of the cushion circuit 2 continues to command the same current value I1 since the output IMO of the motor current command device 1 remains unchanged.
いま回転数はＮ＝Ｎ１として考えているので、第１図の
電流検出器５の出力は■２の電流値を示している，した
がって第１図のチョツパ装置３へは、電流パターンとし
て定電流加速指令値■，が、フイドバツク量として■２
の電流値が入力していることになり、さらにチョツパ装
置３は通流率を拡げて電動機電流■ツをたくさん流そう
とする状態となっている。Since we are now considering the rotation speed as N=N1, the output of the current detector 5 in Fig. 1 shows the current value of ■2.Therefore, the current pattern to the chopper device 3 in Fig. 1 is a constant current. The acceleration command value ■, is the feedback amount ■2
This means that the current value has been input, and the chopper device 3 is in a state where it is trying to widen the conduction rate and allow a large amount of motor current to flow.
すなわちチョツパ装置３は最大通流率に深く飽和した状
態となっている。That is, the chopper device 3 is in a state deeply saturated at the maximum conduction rate.
これらを示したのが第３図で、運転停止指令が発生する
前の状態である。These are shown in FIG. 3, which shows the state before the operation stop command is issued.
次に第３図に示すように運転停止指令が発生すると、第
１図の電動機電流指令器１の出力ＩＭｏは即座に零にな
るが、クッション回路２の出力ＩＭＩはそのクッション
作用のため第３図に示すようにゆっくりと零に向って減
少する。Next, when an operation stop command is issued as shown in FIG. 3, the output IMo of the motor current command unit 1 shown in FIG. 1 immediately becomes zero, but the output IMI of the cushion circuit 2 becomes As shown in the figure, it slowly decreases towards zero.
その際、出力ＩＭＩがＩ２の電流値より少くなると、よ
うやくチョツパ装置３で電流パターンがフィードバック
量より少くなって通流率を最大値から絞って制御できる
領域に人ってくるだめ、電動機電流ＩＭは出力ＩＭＩに
従って減少を開始する。At that time, when the output IMI becomes smaller than the current value of I2, the current pattern in the chopper device 3 finally becomes smaller than the feedback amount, and the motor current IM starts decreasing according to the output IMI.
結果的には図示のように時間Ｔ１の遅れ時間が発生する
。As a result, a delay time of time T1 occurs as shown in the figure.
Ｔ１の遅れ時間を短くするためには、クッション回路２
のクッション作用を小さくするほかなく、制御特性上問
題となる。In order to shorten the delay time of T1, cushion circuit 2
There is no choice but to reduce the cushioning effect, which poses a problem in terms of control characteristics.
本発明は上述したような点にかんがみなされたもので、
制御応答の遅れ時間をクッション作用を小さくすること
なく改善するようにしたものである。The present invention was conceived in view of the above-mentioned points,
The control response delay time is improved without reducing the cushioning effect.
以下本発明を実施例図面にもとづいて説明する，第４図
は本発明による電動機制御装置の一実施例を示す構成ブ
ロック図であり、図中の符号１〜５はそれそれ第１図の
同符号のものと同じものを示す。The present invention will be explained below based on the drawings. FIG. 4 is a block diagram showing an embodiment of the motor control device according to the present invention. Indicates the same thing as the symbol.
６は低位優先回路、７は一定バイアス量発生回路、８は
加算器を示し、図示の如くに、前述の第１図回路に付加
したものである。6 is a low order priority circuit, 7 is a constant bias amount generating circuit, and 8 is an adder, which are added to the circuit shown in FIG. 1, as shown.
第４図において、加算器８ぱ、電流検出器５の出力に一
定バイアス量発生回路７の出力△Ｉを加算する加算器で
ある。In FIG. 4, an adder 8 is an adder that adds the output ΔI of the constant bias amount generating circuit 7 to the output of the current detector 5.
低位優先回路６は、その加算器８の出力ＩＭ３と電動機
電流指令器１の出力ＩＭｏとの低位優先を行なう。The low priority circuit 6 gives low priority to the output IM3 of the adder 8 and the output IMo of the motor current command unit 1.
その低位優先回路６の出力■４２は所定のクッション作
用を有するクッション回路２に入力され、クツション回
路２の出力ＩＭＩと電流検出器５の出力との減算した結
果を、チョツノ装置３０指令値として電動機電流を制御
する。The output 42 of the low priority circuit 6 is inputted to the cushion circuit 2 having a predetermined cushioning effect, and the result of subtracting the output IMI of the cushion circuit 2 and the output of the current detector 5 is used as the command value for the electric motor device 30. Control the current.
第４図の電動機制御における電動機の回転数Ｎと電動機
電流■や、電動機電圧Ｖヶの関係は第２図と同じ特性と
なる。The relationship between the rotational speed N of the motor, the motor current (2), and the motor voltage V in the motor control shown in FIG. 4 has the same characteristics as in FIG. 2.
第４図の電動機制御では、電流指令値通りに電動機電流
一が制御可能な領域（Ｎ＜Ｎｏ）では低位優先回路６の
出力は電動機電流指令器１の出力ＩＭｏと等しくなり、
第２図の制御方法と同じ結果となる。In the motor control shown in FIG. 4, in the region where the motor current 1 can be controlled according to the current command value (N<No), the output of the low priority circuit 6 becomes equal to the output IMo of the motor current command 1,
The same result as the control method shown in FIG. 2 is obtained.
第５図に第４図の電動機制御における回転数がＮｏ以上
の運転中（Ｎ＝Ｎ１）に運転停止指令がでた場合の制御
応答を示す。FIG. 5 shows a control response in the electric motor control shown in FIG. 4 when an operation stop command is issued during operation at a rotational speed of No. or higher (N=N1).
出立△１，ＩＭ０、ＩＭ２、■Ｍ３は第４図個所に対応
した出方の制御応答を表わしている。Departures △1, IM0, IM2, and ■M3 represent the control responses of the departures corresponding to the locations in FIG.
第５図において、運転停止発生と同時に、電動機電流指
令器１の出力ＩＭ０は定電流加速指令値■１の値より零
に急減し、また低位優先回路６の出力ＩＭ２は「■２＋
△Ｉ」の値より零に急減するが、クッション回路２の出
力ＩＭＩはＩＩＺ＋△Ｉ」の値よりゆるやかに減少して
ゆき、出力ＩＭ１がＩ２の電流値に等しくなったときよ
り、加算器８の出力ＩＭ３と電動機電流工Ｍの減少が始
まる。In FIG. 5, at the same time as the operation stop occurs, the output IM0 of the motor current command device 1 suddenly decreases to zero from the value of the constant current acceleration command value ■1, and the output IM2 of the low priority circuit 6 becomes “■2+
However, the output IMI of the cushion circuit 2 gradually decreases from the value of IIZ+△I'', and when the output IM1 becomes equal to the current value of I2, the output of the adder 8 The output IM3 of the motor and the motor current M begin to decrease.
この場合も第２図の制御例と同じように図示の如く時間
Ｔ２の遅れ時間が発生するが、Ｔ２の遅れ時間は出力△
Ｉを小さくすることにより短縮可能であり、クッション
回路２のクッション作用を小さくする必要はない。In this case as well, a delay time of time T2 occurs as shown in the figure, as in the control example of FIG. 2, but the delay time of T2 is the output Δ
It can be shortened by reducing I, and there is no need to reduce the cushioning effect of the cushion circuit 2.
一方、出力△■は第４図の制御回路の種々の誤差を補償
するためのバイアス量であり、充分小さくすることが可
能であり、結果的には遅れ時間Ｔ２を制御応答上無視し
得る程度にまで短縮可能となる。On the other hand, the output △■ is a bias amount for compensating for various errors in the control circuit shown in Fig. 4, and can be made sufficiently small, so that the delay time T2 can be ignored in terms of control response. It can be shortened to .
上述したように本発明によれば、従来の制御回路に簡単
な回路を付加することにより、高速運転中の運転停止指
令時の制御応答を著しく向上させることが可能となる。As described above, according to the present invention, by adding a simple circuit to the conventional control circuit, it is possible to significantly improve the control response when an operation stop command is issued during high-speed operation.
なお本発明の実施例では、直流電動機をチョツパ制御す
る場合について説明したが、第４図の符号３をインバー
タ、符号４を誘導電動機とすれは、本発明は誘導電動機
をインバータにより制御する場合にも適用できる。In the embodiments of the present invention, the case where the DC motor is subjected to chopper control has been explained. However, in FIG. can also be applied.
第１図は従来の電動機制御装置の制御例を示すブロック
図、第２図は直流電動機をチョツパ制御するときの特性
図、第３図は第１図の制御応答を説明する図、第４図は
本発明の一実施例を示すプロック図、第５図は第４図の
制御応答を説明する図である。
１・・・・・・電動機電流指令器、２・・・・・・クッ
ション回路、３・・・・・・チョツパ装置、４・・・・
・・電動機回路、５・・・・・・電流検出器、６・・・
・・・低位優先回路、７・・・・・・一定バイアス量発
生回路、８・・・・・・加算器。Fig. 1 is a block diagram showing a control example of a conventional motor control device, Fig. 2 is a characteristic diagram when performing chopper control on a DC motor, Fig. 3 is a diagram explaining the control response of Fig. 1, and Fig. 4 5 is a block diagram showing one embodiment of the present invention, and FIG. 5 is a diagram explaining the control response of FIG. 4. 1...Motor current command device, 2...Cushion circuit, 3...Chopper device, 4...
...Motor circuit, 5...Current detector, 6...
. . . Low priority circuit, 7 . . . Constant bias amount generation circuit, 8 . . . Adder.
Claims (1)
流を検出する検出器と、該検出器の出力に一定量を加算
する加算器と、該加算器の出力と前記指令器の出力との
低位優先を行なう優先回路と該優先回路の出力を時間的
にゆるやかに変化させるクッション回路と、前記電動機
の電流を制御する電流制御装置を備え、前記クッション
回路の出力により前記電流制御装置を制御するようにし
たことを特徴とする電動機制御装置。1. A command device that commands the current of the motor, a detector that detects the current of the motor, an adder that adds a certain amount to the output of the detector, and a combination of the output of the adder and the output of the command device. A priority circuit that gives low priority, a cushion circuit that gradually changes the output of the priority circuit over time, and a current control device that controls the current of the motor, and the current control device is controlled by the output of the cushion circuit. An electric motor control device characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP54109183A JPS585598B2 (en) | 1979-08-29 | 1979-08-29 | Electric motor control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP54109183A JPS585598B2 (en) | 1979-08-29 | 1979-08-29 | Electric motor control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5635694A JPS5635694A (en) | 1981-04-08 |
| JPS585598B2 true JPS585598B2 (en) | 1983-01-31 |
Family
ID=14503745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP54109183A Expired JPS585598B2 (en) | 1979-08-29 | 1979-08-29 | Electric motor control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS585598B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR900006505B1 (en) * | 1985-08-22 | 1990-09-03 | 미쓰비시전기 주식회사 | Air-conditioner |
| JPS62262695A (en) * | 1986-05-08 | 1987-11-14 | Matsushita Electric Ind Co Ltd | Cooking appliance |
-
1979
- 1979-08-29 JP JP54109183A patent/JPS585598B2/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5635694A (en) | 1981-04-08 |
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