JPS62239824A - Vector control primary current abnormality detector - Google Patents
Vector control primary current abnormality detectorInfo
- Publication number
- JPS62239824A JPS62239824A JP61084747A JP8474786A JPS62239824A JP S62239824 A JPS62239824 A JP S62239824A JP 61084747 A JP61084747 A JP 61084747A JP 8474786 A JP8474786 A JP 8474786A JP S62239824 A JPS62239824 A JP S62239824A
- Authority
- JP
- Japan
- Prior art keywords
- vector control
- current
- primary current
- detection device
- abnormality detection
- 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
- 230000005856 abnormality Effects 0.000 title claims description 24
- 238000001514 detection method Methods 0.000 claims description 17
- 230000005284 excitation Effects 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 claims 2
- 238000006243 chemical reaction Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はベクトル制御を行う交流電動機（誘専電動器、
同期電動機）の焼損を防止するための一次電流異常検出
装置に関するものである。[Detailed Description of the Invention] [Industrial Field of Application] The present invention applies to AC motors (induction motors,
This invention relates to a primary current abnormality detection device for preventing burnout of a synchronous motor.
従来、過電流による電動機の焼損を防止する手段として
サーマルリレー（熱動過電流継電器）が一般に使われて
いる。Conventionally, thermal relays (thermal overcurrent relays) have been generally used as a means to prevent motor burnout due to overcurrent.
サーマルリレーはバイメタルが温度変化でわん曲する特
性を利用するもので、通常電磁接触器と組合わせて使用
され、駆動回路や制御回路を開閉している。Thermal relays utilize the characteristic of bimetals to bend due to temperature changes, and are usually used in combination with electromagnetic contactors to open and close drive and control circuits.
一方、交流電動機（誘導電動機）の可変速制御には電力
変換器として可変電圧可変周波数（ＶＶＶＦ）インバー
タ装置が広く使用され、低速から超高速まで広範囲に連
続して速度を変えることが行われている。On the other hand, variable voltage variable frequency (VVVF) inverters are widely used as power converters for variable speed control of AC motors (induction motors), and the speed can be continuously changed over a wide range from low speed to ultra high speed. There is.
近年、交流電動機はベクトル制御方式が開発され（例え
ば 上山直音編著“二ニードライブエレクトロニクス”
電気書院 参照）、工作機械、ロボットなど高精度な速
度制御１位置制御や急速な加減速を必要とする分野にお
いても使用されるようになった。In recent years, vector control methods have been developed for AC motors (e.g., “Nine Drive Electronics” edited by Nao Ueyama).
It has also come to be used in fields that require high-precision speed control, single-position control, and rapid acceleration/deceleration, such as machine tools and robots (see Denkishoin).
特に誘導電動機は回転子の構造が簡単であり機械的強度
に優れ、かつブラシレスであることから悪い雰囲気中で
も使用でき、しかも保守が容易である等の利点が多く、
サーボモータとしての応用面が急速に拡大しつつある。Induction motors in particular have many advantages, such as a simple rotor structure, excellent mechanical strength, and brushless construction, which means they can be used even in bad atmospheres and are easy to maintain.
Applications for servo motors are rapidly expanding.
サーマルリレーは形状が大きく高価なばかりでなく、そ
れを設置する場所によっては電動機と周囲温度が異なり
、制御動作精度が低下するという問題点がある。Thermal relays are not only large and expensive, but also have the problem that depending on where they are installed, the ambient temperature may differ from that of the motor, reducing control accuracy.
一方、工作機械やロボットなどの駆動源としてのサーボ
モータは、その可変速制御が高精度に行われ、かつ速い
応答が必要である。それに伴い電動機の過電流による異
常もリアルタイムで検出するよう性能向上をはかる必要
があり、しかもコストダウンすることが望ましいが、こ
れらの要望を満たすサーマルプロテクタ（一次電流異常
検出装置）は実用化が遅れている。On the other hand, servo motors used as drive sources for machine tools, robots, and the like require variable speed control to be performed with high precision and fast response. Along with this, there is a need to improve performance so that abnormalities caused by motor overcurrent can be detected in real time, and it is desirable to reduce costs, but the practical implementation of thermal protectors (primary current abnormality detection devices) that meet these demands has been delayed. ing.
本発明は上記の問題点を解消するためになされたもので
あり、ベクトル制御方式の交流電動機の過電流保護用に
高速かつ高精度に応答する一次電流異常検出装置を提供
することを目的とするものである。The present invention has been made to solve the above problems, and an object of the present invention is to provide a primary current abnormality detection device that responds quickly and with high precision for overcurrent protection of a vector control type AC motor. It is something.
上記の目的を達成するために、本発明の一次電流異常検
出装置は、ベクトル制御系に取込む制御用入力データす
なわち交流電動機に流れる一次電流を検出し三相を二相
に変換する座標変換部を介して得られる直流量の励磁電
流ｉ、とトルク電流１９の信号を利用するようにした。In order to achieve the above object, the primary current abnormality detection device of the present invention has a coordinate conversion unit that detects the control input data to be taken into the vector control system, that is, the primary current flowing through the AC motor, and converts three phases into two phases. The signals of the DC amount of excitation current i and the torque current 19 obtained through the above are used.
すなわち、上記励磁電流ｌ、とトルク電流ｉＱの信号を
マイクロコンピュータに入力し、該マイクロコンピュー
タの記憶部に設定した許容精度と一次巻線及びその近傍
の熱時定数に対応する監視時間Ｔ、により定まる等時間
間隔ΔＴ毎に現在より過去のＴＬの時間の間の電動機の
一次電流実効値Ｉ、を算出し、別途マイクロコンピュー
タの記憶部に設定した一次巻線及びその近傍の熱時定数
に対応する許容電流実効値Ｉ、□を比較し、その大小に
より異常／正常を判定し、異常と判定したら異常信号（
アラーム）を発するようにした。この異常信号により電
動機の駆動用電力供給を停止したり、異常警報を発する
などの処置がとられる。In other words, the signals of the excitation current l and torque current iQ are input to a microcomputer, and the monitoring time T corresponding to the allowable accuracy set in the memory of the microcomputer and the thermal time constant of the primary winding and its vicinity is determined. The effective primary current value I of the motor during the time TL in the past from the present time is calculated for each fixed equal time interval ΔT, and corresponds to the thermal time constant of the primary winding and its vicinity set separately in the memory section of the microcomputer. Compare the allowable current effective value I,
alarm). Based on this abnormality signal, measures such as stopping the power supply for driving the electric motor or issuing an abnormality alarm are taken.
なお、上記等時間間隔ΔＴの値は、許容精度と監視時間
ＴＬとによりサンプリング数を定め、かつ許容精度がｎ
％ならばｎ／１００ ｘＴＬｘＫ（但しに＝０．３〜３
）に選んだ。そして上記データのサンプリング数はＴＬ
／ΔＴに対応する値となる。In addition, the value of the above-mentioned equal time interval ΔT determines the number of samplings based on the allowable accuracy and the monitoring time TL, and the allowable accuracy is n.
%, n/100 xTLxK (however, = 0.3 to 3
) was selected. And the number of samples of the above data is TL
/ΔT.
本発明の一次電流異常検出装置は、第３図に示したよう
に、所定の等時間間隔ΔＴ毎に現在より過去のＴＬ （
Ｔｔ＝Ｔｏ＝’ｒ’＋＝ Ｔｚ、・・・・・・・・・）
の時間の間の電動機の一次電流実効値Ｉ、を算出してい
る。そしてその値が許容電流実効値！ ｒｅｓを越えて
いないかどうかを常時監視している。As shown in FIG. 3, the primary current abnormality detection device of the present invention detects the past TL (
Tt=To='r'+=Tz,・・・・・・・・・)
The primary current effective value I of the motor during the time period is calculated. And that value is the allowable current effective value! It constantly monitors whether res is exceeded.
なお、入力データの励磁電流ｉｄ、トルク電流ｉｑと一
次電流１．は第４図に示す関係にあり、一次電流実効値
Ｉ、は１，２ ＝ ｉｄＺ ＋ ｉＱＺの演算により簡
単に求めることができる。Note that the input data of excitation current id, torque current iq, and primary current 1. has the relationship shown in FIG. 4, and the primary current effective value I can be easily determined by calculating 1,2 = idZ + iQZ.
次に本発明の実施例について図面を参照して説明する。 Next, embodiments of the present invention will be described with reference to the drawings.
なお、図面並びに説明を簡明にするため、電動機は誘導
電動機（ＩＭ）としたが、本発明はこれに限定されるも
のではなく、同期電動機にも適用できるものである。Note that, in order to simplify the drawings and explanation, the motor is an induction motor (IM), but the present invention is not limited to this, and can also be applied to a synchronous motor.
第１図は本発明の一次電流異常検出装置（電子サーマル
）が適用されるベクトル制御方式交流電動機のシステム
構成の主要部を示したものであり、第２図はその内の一
次電流異常検出装置の部分を抽出して示したものである
。Figure 1 shows the main parts of the system configuration of a vector control type AC motor to which the primary current abnormality detection device (electronic thermal) of the present invention is applied, and Figure 2 shows the primary current abnormality detection device of the system. This is an extracted part of the figure.
第１図において、１は整流器、２はＰＷＭインバータ、
３は誘導電動機（ＩＭ）、４はパルスジェネレータ（Ｐ
Ｇ）である。５は座標変換部で、誘導電動機３に流れ
る電流を検出して三相を二相に変換し一次電流の励磁電
流ｉ６とトルク電流１９を発生する。６はベクトル制御
部で、指令信号とパルスジェネレータ４からのフィード
バック信号を受は励磁電流指令■４．トルク電流指令！
。In Fig. 1, 1 is a rectifier, 2 is a PWM inverter,
3 is an induction motor (IM), 4 is a pulse generator (P
G). Reference numeral 5 denotes a coordinate conversion unit which detects the current flowing through the induction motor 3, converts three phases into two phases, and generates an excitation current i6 of the primary current and a torque current 19. 6 is a vector control unit which receives the command signal and the feedback signal from the pulse generator 4 and outputs an excitation current command.■4. Torque current command!
.
を発生する。７及び８は励磁電流指令■、と励磁電流ｉ
４及びトルク電流指令ＩＱとトルク電流１９を加算する
加算回路、９及び１０は増幅器である。１１は二相を三
相に変換する座標変換部で、増幅器９及び１０を介して
人力されるｄ軸及びｑ軸の一次電圧からＰＷＭインバー
タ２の制御信号を発生する。occurs. 7 and 8 are the excitation current command ■, and the excitation current i
4 and an adder circuit for adding torque current command IQ and torque current 19, and 9 and 10 are amplifiers. Reference numeral 11 denotes a coordinate conversion unit that converts two-phase to three-phase, and generates a control signal for the PWM inverter 2 from the d-axis and q-axis primary voltages input manually via amplifiers 9 and 10.
なお、上記各部によって構成されたシステムの詳細は文
献（例えば 電気学会通信教育会“電気機器学”３．７
．２）を参照されたい。The details of the system configured by each of the above parts can be found in the literature (for example, IEEJ Correspondence Education Society "Electrical Machinery" 3.7).
．． Please refer to 2).
第１図における１２が本発明の一次電流異常検出装置（
電子サーマル）であり、この詳細については第２図を参
照して説明する。12 in FIG. 1 is the primary current abnormality detection device (
The details will be explained with reference to FIG. 2.
第２図に示したように、一次電流異常検出装置はレベル
変換回路１３と、ＡＤ変換器付マイクロコンピュータ１
４とを備えて構成されている。As shown in FIG. 2, the primary current abnormality detection device includes a level conversion circuit 13 and a microcomputer 1 with an AD converter.
4.
レベル変換回路１３は、座標変換部５から出力された励
磁電流ｉ４とトルク電流ｉｑが正・負の値をとるので、
それを正側にオフセントし、かつ信号レベルをマイクロ
コンピュータ１４の入力に適合させるためのものであり
、オフセット電圧を与える直流電源Ｅと演算増幅器ＯＡ
、、○Ａ２とを有して構成されている。Since the excitation current i4 and torque current iq output from the coordinate conversion section 5 take positive and negative values, the level conversion circuit 13
This is to offset it to the positive side and match the signal level to the input of the microcomputer 14, and the DC power supply E and operational amplifier OA provide an offset voltage.
, , A2.
マイクロコンピュータ１４は入力信号をＡＤ変換するＡ
Ｄ変換器付のものく例えばμＰ０７８Ｐ０１１Ｅ）であ
り、演算部、記憶部、Ｉ１０制御部等を備えている。上
記記憶部には許容精度と電動機の一次巻線及びその近傍
の熱時定数に対応して設定された監視時間ＴＬ９等時間
間隔ΔＴの値。The microcomputer 14 converts the input signal into an AD signal.
The device is equipped with a D converter (for example, μP078P011E), and is equipped with an arithmetic section, a storage section, an I10 control section, and the like. The storage unit stores the value of the monitoring time TL9 equal time interval ΔT set in accordance with the allowable accuracy and the thermal time constant of the primary winding of the motor and its vicinity.
許容電流実効値１．、、（又はＩ Ｐａ１ｌ”）等があ
らかじめ記憶されている。Allowable current effective value 1. , , (or I Pa1l''), etc. are stored in advance.
マイクロコンピュータ１４でのデータ処理プロセスは次
の通りである。The data processing process in the microcomputer 14 is as follows.
レベル変換回路１３を介して正側にオフセットされた励
磁電流ｉ６とトルク電流ｉＱの信号を取り込む。等時間
間隔ΔＴ毎に１４”＋ Ｉ Ｑ”を算出し加算すること
によりＩＩ２を求める。次いで現在より過去の監視時間
ＴＬ（Ｔｏ、 ＴＩ、 ＴＺ、・・・・・・・・・）時
間の間のΣＩ＋／Ｔｔを求める。その後、ΣＩ Ｉ／
Ｔ Ｌと許容電流実効値Ｉ ＰｍＭを比較し、Ｉ ｒｍ
ｓ≦Σ■１／ＴＬならアラームを発する。Ｉ ｒｌｌｌ
ｓ 〉ΣＴ ＋ ／ Ｔ ＬならΣＩ ＋ ／ Ｔ Ｌ
を保持してデータ処理プロセスを繰返し、ΔＴ時間後の
■、が求まるたびに保持していｈ値に新しい１１の値を
加算し一番古いＩＩのデータをそこから減算しＩ ｒｍ
ｓと順次比較する。The excitation current i6 and torque current iQ signals offset to the positive side are taken in through the level conversion circuit 13. II2 is obtained by calculating and adding 14"+IQ" at every equal time interval ΔT. Next, ΣI+/Tt between the current and past monitoring times TL (To, TI, TZ, . . . ) is determined. Then ΣI I/
Compare T L and allowable current effective value I PmM, and find I rm
If s≦Σ■1/TL, an alarm is generated. I rllll
s 〉ΣT + / T L, then ΣI + / T L
, and repeat the data processing process, and each time ■ after ΔT time is obtained, add the new value of 11 to the h value held, and subtract the oldest II data from it, I rm
Sequentially compare with s.
なお、上記データ処理プロセスにおいては、一次電流実
効値■１が先ず１．ｚの形で算出されるので、それをそ
のまま使い、比較するデータの許容電流実効値Ｉ、、、
、、ｓも２乗したものを用いて異常／正常を判定するよ
うにすると、開平演算処理が省け、演算効率が向上する
。In the above data processing process, the primary current effective value ■1 is first calculated as 1. Since it is calculated in the form of z, use it as is and calculate the allowable current effective value I of the data to be compared.
,, If s is also squared to determine abnormality/normality, the square root calculation process can be omitted and the calculation efficiency will be improved.
以上説明したように、本発明のベクトル制御一次電流異
常検出装置によれば、ベクトル制御方式の交流電動機の
異常検出と対策が高速かつ高精度に行われるばかりでな
く、装置の小形化、低廉化がはかれる。As explained above, according to the vector control primary current abnormality detection device of the present invention, not only abnormality detection and countermeasures for vector control type AC motors can be performed quickly and with high precision, but also the device can be made smaller and less expensive. is measured.
第１図は本発明一次電流異常検出装置が適用されるベク
トル制御方式交流電動機のシステム構成説明図、第２図
は本発明の装置の構成説明図である。第３図、第４図は
いずれも本発明の原理説明図で、第３図は一次電流■１
を等時間間隔ΔＴで求めたもの、第４図は励磁電流ｉ６
．トルク電流１９と一次電流■１の関係を示したもので
ある。
３・・・誘導電動機（ＩＭ）、
５・・・座標変換部、
１２・・・一次電流異常検出装置（電子サーマル）、１
３・・・レベル変換回路、
１４・・・ＡＤ変換器付マイクロコンピュータ。FIG. 1 is an explanatory diagram of the system configuration of a vector control AC motor to which the primary current abnormality detection device of the present invention is applied, and FIG. 2 is an explanatory diagram of the configuration of the device of the present invention. Both Fig. 3 and Fig. 4 are explanatory diagrams of the principle of the present invention, and Fig. 3 shows the primary current ■1.
is obtained at equal time intervals ΔT, and Figure 4 shows the excitation current i6
．． It shows the relationship between torque current 19 and primary current (1). 3... Induction motor (IM), 5... Coordinate conversion unit, 12... Primary current abnormality detection device (electronic thermal), 1
3... Level conversion circuit, 14... Microcomputer with AD converter.
Claims (1)
期形の交流電動機のベクトル制御において、ベクトル制
御系に取込む励磁電流ｉ＿ｄとトルク電流ｉ＿ｑの信号
をマイクロコンピュータに入力し、上記マイクロコンピ
ュータの記憶部に設定した許容精度と一次巻線及びその
近傍の熱時定数に対応する監視時間Ｔ＿１により定まる
等時間間隔ΔＴ毎に現在より過去のＴ＿１の時間の間の
電動機の一次電流の実効値Ｉ＿１を算出し、別途記憶部
に設定した一次巻線及びその近傍の熱時定数に対応する
許容電流実効値Ｉ＿ｒ＿ｍ＿ｓを比較し、その大小によ
り異常／正常を判定し、異常と判定したら異常信号を発
するようにしたことを特徴とするベクトル制御一次電流
異常検出装置。 ２、前記データのサンプリング数は、Ｔ＿１／ΔＴに対
応する値となることを特徴とする特許請求の範囲第１項
に記載のベクトル制御一次電流異常検出装置。 ３、前記等時間間隔ΔＴの値は、許容精度と監視時間Ｔ
＿１とによりサンプリング数を定めかつ許容精度がｎ％
ならばΔＴをｎ／１００×Ｔ＿１×Ｋ（Ｋ＝０．３〜３
）に選んだことを特徴とする特許請求の範囲第１項又は
第２項に記載のベクトル制御一次電流異常検出装置。[Claims] 1. In vector control of an induction type or synchronous type AC motor that rotates a rotor by a rotating magnetic field, signals of an excitation current i_d and a torque current i_q to be taken into a vector control system are input to a microcomputer. , for every equal time interval ΔT determined by the permissible accuracy set in the storage section of the microcomputer and the monitoring time T_1 corresponding to the thermal time constant of the primary winding and its vicinity, the primary of the motor during the time T_1 in the past from the present time. Calculate the effective current value I_1, compare it with the allowable current effective value I_r_m_s corresponding to the thermal time constant of the primary winding and its vicinity, which is set separately in the storage unit, and determine whether it is abnormal or normal based on its magnitude, and determine it as abnormal. A vector control primary current abnormality detection device characterized in that it emits an abnormality signal when the abnormality occurs. 2. The vector control primary current abnormality detection device according to claim 1, wherein the number of data samples is a value corresponding to T_1/ΔT. 3. The value of the equal time interval ΔT is based on the allowable accuracy and monitoring time T.
The number of samplings is determined by _1 and the allowable accuracy is n%.
Then, ΔT is n/100×T_1×K (K=0.3~3
) The vector control primary current abnormality detection device according to claim 1 or 2, wherein the vector control primary current abnormality detection device is selected as follows.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61084747A JPS62239824A (en) | 1986-04-12 | 1986-04-12 | Vector control primary current abnormality detector |
| EP87105216A EP0241853A3 (en) | 1986-04-12 | 1987-04-08 | Apparatus for detecting abnormality of primary current for vector control |
| CN198787102809A CN87102809A (en) | 1986-04-12 | 1987-04-13 | Detect the device of the abnormal phenomenon of primary current of vector controlled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61084747A JPS62239824A (en) | 1986-04-12 | 1986-04-12 | Vector control primary current abnormality detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62239824A true JPS62239824A (en) | 1987-10-20 |
Family
ID=13839284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61084747A Pending JPS62239824A (en) | 1986-04-12 | 1986-04-12 | Vector control primary current abnormality detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62239824A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02133196U (en) * | 1989-04-11 | 1990-11-05 |
-
1986
- 1986-04-12 JP JP61084747A patent/JPS62239824A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02133196U (en) * | 1989-04-11 | 1990-11-05 |
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