TWI771796B - Motor driving control device and motor driving control system - Google Patents

Motor driving control device and motor driving control system Download PDF

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TWI771796B
TWI771796B TW109139137A TW109139137A TWI771796B TW I771796 B TWI771796 B TW I771796B TW 109139137 A TW109139137 A TW 109139137A TW 109139137 A TW109139137 A TW 109139137A TW I771796 B TWI771796 B TW I771796B
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motor
brake
friction torque
control device
drive control
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TW109139137A
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TW202121824A (en
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花岡遼
五十嵐裕司
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日商三菱電機股份有限公司
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    • 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
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Valve Device For Special Equipments (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Stopping Of Electric Motors (AREA)

Abstract

The present invention relates to a motor driving control device and a motor driving control system having a function for determining break release of motor having break. A motor driving control device and a motor driving control system of this invention includes a friction torque estimation unit for calculating an estimation value of friction torque of motor when motor is driven, and a break release determination unit for determining state of break using an estimation value of friction torque calculated by the friction torque estimation unit and a threshold value of friction torque for determining a state of break for breaking motor.

Description

馬達驅動控制裝置及馬達驅動控制系統Motor drive control device and motor drive control system

本申請案係關於具有判定具備制動器的馬達之制動器解除之功能的馬達驅動控制裝置及馬達驅動控制系統。The present application relates to a motor drive control device and a motor drive control system having a function of judging the release of the brake of a motor equipped with a brake.

在具備制動器的馬達中，有時會因為制動器的故障，而在未解除制動器的狀態驅動馬達。當在未解除制動器的狀態驅動馬達時，會有制動器摩耗而使制動器劣化、馬達故障等問題。從而，有一種為了防止在未解除制動器的狀態下之馬達驅動而判定制動器的狀態的馬達驅動控制裝置。In a motor provided with a brake, the motor may be driven in a state where the brake is not released due to a failure of the brake. When the motor is driven in a state where the brake is not released, there are problems such as brake wear, deterioration of the brake, and failure of the motor. Therefore, there is a motor drive control device that determines the state of the brake in order to prevent the motor from being driven in a state where the brake is not released.

例如，專利文獻1中，係在馬達的使用前，測量在制動器作動時使馬達驅動時之馬達的負載轉矩以及在制動器解除時使馬達驅動時之馬達的負載轉矩，而於事前求取制動器作動時的負載轉矩之閾值。而且，在使用馬達時，若馬達驅動中之馬達的負載轉矩為於事前求得的制動器作動時的負載轉矩之閾值以上，就判定為制動器正在作動。再者，所謂馬達的負載轉矩，係指由制動器作動而生成的摩擦力所產生的摩擦轉矩，以及由制動器的摩擦力以外之重力與加速度所生成的重力轉矩及加減速轉矩等之合計。 [先前技術文獻] [專利文獻]For example, in Patent Document 1, before the use of the motor, the load torque of the motor when the motor is driven when the brake is activated and the load torque of the motor when the motor is driven when the brake is released are measured, and obtained in advance Threshold value of load torque when the brake is activated. Furthermore, when the motor is used, if the load torque of the motor being driven by the motor is equal to or greater than the threshold value of the load torque at the time of the brake actuation obtained in advance, it is determined that the brake is being actuated. In addition, the so-called load torque of the motor refers to the friction torque generated by the friction force generated by the actuation of the brake, and the gravitational torque and acceleration/deceleration torque generated by the gravitational force and acceleration other than the friction force of the brake. of the total. [Prior Art Literature] [Patent Literature]

[專利文獻1] 日本特開2019－022281號公報[Patent Document 1] Japanese Patent Application Laid-Open No. 2019-022281

[發明所欲解決之課題][The problem to be solved by the invention]

但是，專利文獻1的方法中，若未於事前使馬達驅動而藉此在開始馬達的使用之前求取制動器作動時及制動器解除時之馬達的負載轉矩，就無法判定馬達驅動中之制動器的狀態。從而，必須為了該事前測量而使馬達驅動，而有耗費工夫的問題。此外，在實際使用馬達的環境中，還有無法偵測因初次驅動時之配線錯誤、系統設定或程式之錯誤等造成之制動器解除的失敗及疏漏制動器解除之問題。However, in the method of Patent Document 1, the load torque of the motor when the brake is actuated and when the brake is released cannot be determined without driving the motor in advance, thereby obtaining the load torque of the motor when the brake is activated and when the brake is released before starting the use of the motor. state. Therefore, it is necessary to drive the motor for this pre-measurement, and there is a problem that time is spent. In addition, in the environment where the motor is actually used, there are still problems such as failure to release the brake due to wiring errors during initial driving, errors in system settings or programs, and omission of brake release.

本申請案係為了解決上述內容般之課題所研創者，目的在於，獲得一種不用進行馬達的負載轉矩的事前測量，即使在配線後初次驅動時也可執行制動器解除的失敗及疏漏制動器解除之偵測之馬達驅動控制裝置。 [用以解決課題的手段]The present application was developed in order to solve the above-mentioned problems, and an object is to obtain a method that does not need to measure the load torque of the motor in advance, and can perform the failure of the brake release and the neglect of the brake release even in the first drive after wiring. Detected motor drive control device. [means to solve the problem]

本申請案之馬達驅動控制裝置係具備：摩擦轉矩推定部，係算出馬達驅動時之馬達的摩擦轉矩的推定值；及制動器解除判定部，係使用摩擦轉矩推定部算出的摩擦轉矩的推定值以及用以判定對馬達進行制動之制動器的狀態的摩擦轉矩之閾值，而判定制動器的狀態。 [發明功效]The motor drive control device of the present application includes: a friction torque estimating unit that calculates an estimated value of the friction torque of the motor when the motor is driven; and a brake release determination unit that uses the friction torque calculated by the friction torque estimating unit The estimated value of , and the threshold value of the friction torque for judging the state of the brake that brakes the motor, and the state of the brake is judged. [Inventive effect]

依據本申請案，不用進行馬達的負載轉矩的事前測量，即使在配線後初次驅動時也可執行制動器解除的失敗及疏漏制動器解除之偵測。According to the present application, it is not necessary to measure the load torque of the motor in advance, and even in the first drive after wiring, it is possible to detect the failure of brake release and the neglect of brake release.

實施形態1.以下，根據圖式說明本申請案之實施形態。再者，圖式說明中，係對相同部分或相當部分附加相同符號，並省略重複的說明。本申請案並非被實施形態所限定者。Embodiment 1. Hereinafter, an embodiment of the present application will be described with reference to the drawings. In addition, in description of drawings, the same code|symbol is attached|subjected to the same part or a corresponding part, and the repeated description is abbreviate|omitted. This application is not limited by the embodiment.

首先，說明本申請案之實施形態1之馬達驅動控制系統的構成。圖1係顯示本申請案之實施形態1之馬達驅動控制系統1的方塊構成圖。First, the configuration of the motor drive control system according to Embodiment 1 of the present application will be described. FIG. 1 is a block diagram showing a motor drive control system 1 according to Embodiment 1 of the present application.

實施形態1之馬達驅動控制系統1係由控制器100、馬達驅動控制裝置200、伺服馬達300所構成。控制器100對於馬達驅動控制裝置200傳送驅動指令，馬達驅動控制裝置200根據驅動指令而對伺服馬達300進行驅動控制，藉此驅動伺服馬達300。The motor drive control system 1 according to the first embodiment includes a controller 100 , a motor drive control device 200 , and a servo motor 300 . The controller 100 transmits a drive command to the motor drive control device 200 , and the motor drive control device 200 drives the servo motor 300 by driving the servo motor 300 according to the drive command.

以下，針對各裝置的構成進行說明。首先針對控制器100進行說明。控制器100具備通信部110與顯示部120。Hereinafter, the configuration of each device will be described. First, the controller 100 will be described. The controller 100 includes a communication unit 110 and a display unit 120 .

通信部110係可與馬達驅動控制裝置200進行資訊之收授的介面。通信部110係對於馬達驅動控制裝置200傳送驅動指令，且從馬達驅動控制裝置200接收有關於伺服馬達300的資訊，例如接收制動器解除的判定結果。通信部110對於馬達驅動控制裝置200傳送的驅動指令，係根據來自記憶於控制器100的程式或對控制器100進行控制之上位的電腦的指令而生成。The communication unit 110 is an interface that can exchange information with the motor drive control device 200 . The communication unit 110 transmits a drive command to the motor drive control device 200 , and receives information about the servo motor 300 from the motor drive control device 200 , for example, a determination result of brake release. The drive command transmitted by the communication unit 110 to the motor drive control device 200 is generated based on a program stored in the controller 100 or a command from a higher-level computer that controls the controller 100 .

顯示部120係對於馬達驅動控制系統1的使用者顯示資訊之顯示器。對使用者顯示的資訊係後述之馬達驅動控制裝置200之制動器解除判定部233的判定結果或制動器異常時的警告等。The display unit 120 is a display for displaying information to the user of the motor drive control system 1 . The information displayed to the user is the result of determination by the brake release determination unit 233 of the motor drive control device 200, which will be described later, or a warning when the brake is abnormal.

接下來，針對馬達驅動控制裝置200進行說明。馬達驅動控制裝置200具備驅動部210、取得部220、處理部230、通信部240、記憶部250。Next, the motor drive control device 200 will be described. The motor drive control device 200 includes a drive unit 210 , an acquisition unit 220 , a processing unit 230 , a communication unit 240 , and a storage unit 250 .

首先，說明馬達驅動控制裝置200之各構成的概要。馬達驅動控制裝置200係在通信部240接收來自控制器100之通信部110的驅動指令，而在處理部230將驅動指令轉換為對於驅動部210之控制指示的信號。而且，接收到控制指示的信號的驅動部210會使伺服馬達300之馬達302及制動器301驅動，且取得部220從伺服馬達300取得制動器301的狀態的判定所需的資訊。進而，處理部230使用來自取得部220的資訊與記憶部250所記憶的資訊而進行制動器301的狀態的判定，將判定結果從通信部240往控制器100之通信部110傳送。First, the outline of each configuration of the motor drive control device 200 will be described. The motor drive control device 200 receives a drive command from the communication unit 110 of the controller 100 at the communication unit 240 , and converts the drive command into a signal for instructing the control of the drive unit 210 at the processing unit 230 . Then, the drive unit 210 that has received the control instruction signal drives the motor 302 of the servo motor 300 and the brake 301 , and the acquisition unit 220 acquires from the servo motor 300 information necessary for determining the state of the brake 301 . Furthermore, the processing unit 230 determines the state of the brake 301 using the information from the acquisition unit 220 and the information stored in the storage unit 250 , and transmits the determination result from the communication unit 240 to the communication unit 110 of the controller 100 .

接著，針對馬達驅動控制裝置200之各構成詳細說明。首先，驅動部210具備馬達驅動部211與制動器驅動部212。Next, each configuration of the motor drive control device 200 will be described in detail. First, the drive unit 210 includes a motor drive unit 211 and a brake drive unit 212 .

馬達驅動部211係供給馬達302驅動用的電力。此供給電力的大小係從處理部230所指示。The motor drive unit 211 supplies electric power for driving the motor 302 . The magnitude of this supply power is instructed from the processing unit 230 .

制動器驅動部212係控制制動器301的驅動，使制動器301成為解除狀態或作動狀態。The brake driving unit 212 controls the driving of the brake 301 to bring the brake 301 into a released state or an activated state.

取得部220具備轉速取得部221、電流值取得部222、閾值取得部223。The acquisition unit 220 includes a rotational speed acquisition unit 221 , a current value acquisition unit 222 , and a threshold value acquisition unit 223 .

轉速取得部221係從伺服馬達300之編碼器303取得馬達302的驅動之轉速的資訊。再者，轉速取得部221亦可不僅取得馬達302之轉速，還取得馬達302之旋轉角、旋轉方向、旋轉速度等。The rotational speed acquisition unit 221 acquires information on the rotational speed of the drive of the motor 302 from the encoder 303 of the servo motor 300 . Furthermore, the rotational speed acquiring unit 221 may acquire not only the rotational speed of the motor 302 but also the rotational angle, rotational direction, rotational speed, and the like of the motor 302 .

電流值取得部222係取得從馬達驅動部211供給至馬達302的電流值。此電流值可使用由實際設置之電流計檢測的檢測值，亦可使用從馬達驅動部211供給至馬達302的電力算出而求得的值。The current value acquisition unit 222 acquires the current value supplied from the motor drive unit 211 to the motor 302 . As this current value, a detection value detected by an actually installed ammeter may be used, or a value obtained by calculation of the electric power supplied from the motor drive unit 211 to the motor 302 may be used.

閾值取得部223係取得制動器301作動時之馬達302的摩擦轉矩之閾值。再者，摩擦轉矩之閾值係例如作為容許轉矩、最大轉矩或制動轉矩而記載於馬達302的規格書，或者記憶於編碼器303或馬達302。實施形態1中，如圖1所示，閾值取得部223係作為取得編碼器303保存之摩擦轉矩之閾值者。只要馬達302保存有摩擦轉矩之閾值，閾值取得部223亦可從馬達取得摩擦轉矩之閾值，以取代從編碼器303取得摩擦轉矩之閾值。由於閾值取得部223取得摩擦轉矩之閾值，所以，本申請案之馬達驅動控制裝置200即使未於事前求取使制動器301作動時之馬達302的負載轉矩，仍可判定制動器301的狀態。The threshold value acquisition unit 223 acquires the threshold value of the friction torque of the motor 302 when the brake 301 is actuated. In addition, the threshold value of the friction torque is described in the specification of the motor 302 as an allowable torque, a maximum torque, or a braking torque, for example, or is stored in the encoder 303 or the motor 302 . In Embodiment 1, as shown in FIG. 1 , the threshold value acquisition unit 223 serves as a threshold value for acquiring the friction torque stored in the encoder 303 . As long as the motor 302 holds the friction torque threshold, the threshold acquisition unit 223 can also acquire the friction torque threshold from the motor instead of acquiring the friction torque threshold from the encoder 303 . Since the threshold value obtaining unit 223 obtains the threshold value of the friction torque, the motor drive control device 200 of the present application can determine the state of the brake 301 even if the load torque of the motor 302 when the brake 301 is actuated is not obtained in advance.

處理部230具備控制指示生成部231、摩擦轉矩推定部232、制動器解除判定部233。The processing unit 230 includes a control instruction generation unit 231 , a friction torque estimation unit 232 , and a brake release determination unit 233 .

控制指示生成部231係將從控制器100接收到的驅動指令轉換為電力值等，生成對於驅動部210之控制指示信號。再者，控制指示生成部231亦可不僅使用從控制器100接收到的驅動指令，而且還使用轉速取得部221取得之來自編碼器303之轉速的資訊，而生成對於馬達驅動部211之控制指示的信號。The control instruction generation unit 231 converts the drive instruction received from the controller 100 into a power value or the like, and generates a control instruction signal for the drive unit 210 . Furthermore, the control instruction generation unit 231 may generate a control instruction for the motor drive unit 211 using not only the drive instruction received from the controller 100 but also the rotational speed information from the encoder 303 acquired by the rotational speed acquisition unit 221 . signal of.

摩擦轉矩推定部232係算出馬達302驅動時之馬達302的摩擦轉矩的推定值。實施形態1的摩擦轉矩推定部232係根據轉速取得部221取得之馬達302之轉速的資訊與電流值取得部222取得之電流值，而算出摩擦轉矩推定值。再者，如同專利文獻1中也有記載者，從馬達302之轉速與所供給之電流值算出摩擦轉矩的推定值之方式為以往已知，並非本申請案的要點，故並不限定摩擦轉矩的推定方式。此外，只要為可算出摩擦轉矩的推定值之方法，亦可從馬達302之旋轉速度與負載轉矩等算出，以取代馬達302之轉速與所供給之電流值。The friction torque estimation unit 232 calculates an estimated value of the friction torque of the motor 302 when the motor 302 is driven. The friction torque estimation unit 232 of the first embodiment calculates the friction torque estimation value based on the rotational speed information of the motor 302 obtained by the rotational speed obtaining unit 221 and the current value obtained by the current value obtaining unit 222 . Furthermore, as described in Patent Document 1, the method of calculating the estimated value of the friction torque from the rotation speed of the motor 302 and the supplied current value is known in the past, and is not the point of the present application, so the friction torque is not limited. The method of estimating the moment. In addition, as long as the estimated value of the friction torque can be calculated, it may be calculated from the rotational speed of the motor 302 and the load torque, etc., instead of the rotational speed of the motor 302 and the supplied current value.

制動器解除判定部233係使用摩擦轉矩推定部232算出的摩擦轉矩的推定值以及摩擦轉矩之閾值，而判定制動器301的狀態。實施形態1中，制動器解除判定部233係以解除狀態、作動狀態、未解除狀態之三種狀態來判定制動器301的狀態。再者，所謂制動器301的解除狀態，係指制動器301未對馬達302進行制動之狀態。所謂制動器301的作動狀態，係指制動器驅動部212正在使制動器301作動之狀態。所謂制動器301之未解除狀態，係指儘管制動器驅動部212未使制動器301作動，制動器301仍因為制動器301的異常而對馬達302進行制動的狀態。The brake release determination unit 233 determines the state of the brake 301 using the estimated value of the friction torque calculated by the friction torque estimation unit 232 and the threshold value of the friction torque. In Embodiment 1, the brake release determination unit 233 determines the state of the brake 301 in three states: the released state, the actuated state, and the unreleased state. In addition, the so-called released state of the brake 301 refers to a state in which the brake 301 does not brake the motor 302 . The actuating state of the brake 301 refers to a state in which the brake driving unit 212 is actuating the brake 301 . The unreleased state of the brake 301 refers to a state in which the brake 301 brakes the motor 302 due to an abnormality of the brake 301 even though the brake drive unit 212 does not actuate the brake 301 .

制動器解除判定部233係在摩擦轉矩的推定值為摩擦轉矩之閾值以下時，判定制動器301為解除狀態。在摩擦轉矩的推定值比摩擦轉矩之閾值大，而制動器驅動部212未使制動器301作動時，判定制動器301為作動狀態。在摩擦轉矩的推定值比摩擦轉矩之閾值大而制動器驅動部212未使制動器301作動時，判定為未解除狀態。再者，上述內容中說明之制動器301的狀態判定方法為一例，亦可為制動器解除判定部233僅判定制動器301是否為未解除狀態者。相反地，亦可進行比上述內容說明更細的狀況區分，而更詳細地判定制動器301的狀態。The brake release determination unit 233 determines that the brake 301 is in the released state when the estimated value of the friction torque is equal to or less than the threshold value of the friction torque. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake driving unit 212 does not actuate the brake 301, it is determined that the brake 301 is in the actuated state. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake driving unit 212 does not actuate the brake 301, it is determined that the state is not released. In addition, the state determination method of the brake 301 demonstrated above is an example, and the brake release determination part 233 may only determine whether the brake 301 is in an unreleased state. Conversely, the state of the brake 301 may be determined in more detail by performing a finer status distinction than the above description.

通信部240係可與控制器100進行資訊之收授的介面。通信部240具備驅動指令接收部241與判定資訊傳送部242。The communication unit 240 is an interface that can exchange information with the controller 100 . The communication unit 240 includes a drive command reception unit 241 and a determination information transmission unit 242 .

驅動指令接收部241係接收來自控制器100之通信部110之對於馬達驅動控制裝置200的驅動指令，傳送至控制指示生成部231。The drive command reception unit 241 receives a drive command for the motor drive control device 200 from the communication unit 110 of the controller 100 and transmits it to the control command generation unit 231 .

判定資訊傳送部242係對於控制器100之通信部110傳送來自制動器解除判定部233之制動器解除的判定結果。The determination information transmission unit 242 transmits the determination result of the brake release from the brake release determination unit 233 to the communication unit 110 of the controller 100 .

記憶部250係記憶用以判定制動器301的狀態所需的值。例如，亦可記憶電流值取得部222取得的電流值或轉速取得部221取得的轉速等。此外，記憶部250具備閾值記憶部251，且記憶閾值取得部223取得的摩擦轉矩之閾值。The memory unit 250 stores values necessary for determining the state of the brake 301 . For example, the current value acquired by the current value acquisition unit 222 or the rotational speed acquired by the rotational speed acquisition unit 221 may be stored. In addition, the storage unit 250 includes a threshold value storage unit 251 and stores the threshold value of the friction torque acquired by the threshold value acquisition unit 223 .

接下來，針對伺服馬達300進行說明。伺服馬達300具備制動器301、馬達302、編碼器303。Next, the servo motor 300 will be described. The servo motor 300 includes a brake 301 , a motor 302 , and an encoder 303 .

制動器301在解除狀態係不與馬達302接觸。而在未解除狀態係與馬達302接觸，藉由在制動器301與馬達302之間生成的摩擦力對馬達302的驅動進行制動。The brake 301 is not in contact with the motor 302 in the released state. On the other hand, it is in contact with the motor 302 in the unreleased state, and the driving of the motor 302 is braked by the frictional force generated between the brake 301 and the motor 302 .

當從馬達驅動控制裝置200供給電力時，馬達302就會旋轉驅動，且藉由來自馬達驅動控制裝置200的電力供給停止或制動器301作動而停止旋轉驅動。When electric power is supplied from the motor drive control device 200, the motor 302 is rotationally driven, and the rotational drive is stopped when the power supply from the motor drive control device 200 is stopped or the brake 301 is actuated.

編碼器303係輸出馬達302的驅動之旋轉軸之轉速的資訊。再者，編碼器303亦可不僅輸出馬達302之轉速，還輸出馬達302之旋轉角、旋轉方向、旋轉速度等資訊。The encoder 303 outputs information on the rotational speed of the rotating shaft driven by the motor 302 . Furthermore, the encoder 303 can also output not only the rotational speed of the motor 302 but also the rotational angle, rotational direction, rotational speed and other information of the motor 302 .

接著，使用圖2，針對本申請案之實施形態1之馬達驅動控制裝置200之動作進行說明。圖2係顯示本申請案之實施形態1之馬達驅動控制裝置200之動作的流程圖。Next, the operation of the motor drive control device 200 according to the first embodiment of the present application will be described with reference to FIG. 2 . FIG. 2 is a flowchart showing the operation of the motor drive control device 200 according to the first embodiment of the present application.

當馬達驅動控制裝置200開始運轉時，即開始圖2的流程。首先，在步驟S100，控制指示生成部231係判斷是否在驅動指令接收部241從控制器100接收到馬達驅動開始的指示。反覆進行步驟S100，直到接收到馬達驅動開始的指示。When the motor drive control device 200 starts to operate, the flow of FIG. 2 starts. First, in step S100 , the control instruction generation unit 231 determines whether or not an instruction to start the motor drive has been received from the controller 100 in the drive instruction reception unit 241 . Step S100 is repeatedly performed until an instruction to start the motor drive is received.

當驅動指令接收部241接收到馬達驅動開始的指示時，前進到步驟S101，開始進行從馬達驅動部211對於馬達302的電力供給而開始馬達302的驅動控制。When the drive command receiving unit 241 receives an instruction to start the motor drive, the process proceeds to step S101 to start the power supply from the motor drive unit 211 to the motor 302 and start the drive control of the motor 302 .

接著步驟S101而前進到步驟S102，在電流值取得部222取得供給至馬達302的電流值。步驟S102之後，前進到步驟S103，在轉速取得部221取得馬達302之轉速。Following step S101 , the process proceeds to step S102 , and the current value to be supplied to the motor 302 is acquired in the current value acquisition unit 222 . After step S102 , the process proceeds to step S103 , and the rotational speed of the motor 302 is obtained in the rotational speed obtaining unit 221 .

步驟S103之後，前進到步驟S104，在摩擦轉矩推定部232算出摩擦轉矩的推定值。After step S103, the process proceeds to step S104, and the friction torque estimation unit 232 calculates the estimated value of the friction torque.

步驟S104之後，前進到步驟S105，在閾值取得部223取得摩擦轉矩之閾值。After step S104, it progresses to step S105, and the threshold value acquisition part 223 acquires the threshold value of a friction torque.

步驟S105之後，前進到步驟S106，由制動器解除判定部233判定摩擦轉矩的推定值是否比摩擦轉矩之閾值大。After step S105, the process proceeds to step S106, and the brake release determination unit 233 determines whether or not the estimated value of the friction torque is larger than the threshold value of the friction torque.

步驟S106中，若摩擦轉矩的推定值為摩擦轉矩之閾值以下，就前進到步驟S107，在制動器解除判定部233判定制動器301為解除狀態，且前進到步驟S111。In step S106, if the estimated value of the friction torque is equal to or less than the threshold value of the friction torque, the process proceeds to step S107, the brake release determination unit 233 determines that the brake 301 is in the released state, and the process proceeds to step S111.

步驟S106中，若制動器解除判定部233判定摩擦轉矩的推定值比摩擦轉矩之閾值大，就前進到步驟S108。在步驟S108中，判斷制動器驅動部212是否已使制動器301作動。在已使制動器301作動時，前進到步驟S109，由制動器解除判定部233判定制動器301為作動狀態。步驟S109之後，前進到步驟S111。In step S106, when the brake release determination unit 233 determines that the estimated value of the friction torque is larger than the threshold value of the friction torque, the process proceeds to step S108. In step S108, it is determined whether or not the brake driving unit 212 has actuated the brake 301. When the brake 301 has been activated, the process proceeds to step S109, and the brake release determination unit 233 determines that the brake 301 is in the activated state. After step S109, it progresses to step S111.

在摩擦轉矩的推定值比摩擦轉矩之閾值大而制動器驅動部212未使制動器301作動時，就從步驟S108前進到步驟S110，由制動器解除判定部233判定制動器301為未解除狀態。步驟S110之後，前進到步驟S111。When the estimated value of the friction torque is larger than the friction torque threshold and the brake drive unit 212 does not actuate the brake 301, the process proceeds from step S108 to step S110, and the brake release determination unit 233 determines that the brake 301 is not released. After step S110, it progresses to step S111.

步驟S107或步驟S109或步驟S110之後，在步驟S111，判定是否已從控制器100接收到結束馬達驅動的指示。After step S107 , step S109 or step S110 , in step S111 , it is determined whether or not an instruction to end the motor drive has been received from the controller 100 .

若未接收到結束馬達驅動的指示就返回步驟S101，反覆進行從步驟S101到步驟S111之制動器301的狀態的判定動作。再者，亦可在返回步驟S101之前，從判定資訊傳送部242對於控制器100傳送制動器解除判定部233的判定結果。If the instruction to end the motor drive is not received, the process returns to step S101, and the operation for determining the state of the brake 301 from step S101 to step S111 is repeated. Furthermore, before returning to step S101 , the determination result of the brake release determination unit 233 may be transmitted from the determination information transmission unit 242 to the controller 100 .

在，步驟S111當判斷為驅動指令接收部241從控制器100接收到結束馬達驅動的指示時，馬達驅動控制裝置200就使動作結束。In step S111, when it is determined that the drive command receiving unit 241 has received an instruction to end the motor drive from the controller 100, the motor drive control device 200 ends the operation.

藉由以上之動作，即使不進行馬達302的事前驅動及事前測量，馬達驅動控制裝置200也可在馬達302的驅動中算出摩擦轉矩的推定值而進行制動器301的狀態的判定。With the above operation, the motor drive control device 200 can determine the state of the brake 301 by calculating the estimated value of the friction torque while the motor 302 is being driven, without performing the pre-driving and pre-measurement of the motor 302 .

再者，圖2中，係在步驟S108判定制動器301是否已藉由制動器驅動部212作動，但亦可不進行步驟S108，而由制動器解除判定部233判定制動器為未解除狀態或作動狀態。2 , it is determined in step S108 whether the brake 301 has been actuated by the brake drive unit 212, but step S108 may not be performed, and the brake release determination unit 233 may determine whether the brake is in an unreleased state or an actuated state.

此外，圖2中雖未記載，但只要制動器301為未解除狀態，亦可使從馬達驅動部211對於馬達302的電力供給停止，或由制動器驅動部212使制動器301往適當正確的位置移動。2 , as long as the brake 301 is not released, the power supply from the motor drive unit 211 to the motor 302 may be stopped, or the brake drive unit 212 may move the brake 301 to an appropriate and accurate position.

接著，使用圖3，說明實施形態1之控制器100之動作的例子。圖3係顯示實施形態1之控制器100之動作的流程圖。Next, an example of the operation of the controller 100 according to the first embodiment will be described with reference to FIG. 3 . FIG. 3 is a flowchart showing the operation of the controller 100 according to the first embodiment.

當控制器100開始運轉時，圖3的流程就會開始進行。首先，在步驟S200，控制器100係判斷是否已由使用者進行使馬達驅動開始的操作。反覆進行步驟S200，直到馬達驅動開始的操作開始為止。When the controller 100 starts to operate, the flow of FIG. 3 begins. First, in step S200, the controller 100 determines whether or not an operation to start the motor drive has been performed by the user. Step S200 is repeatedly performed until the operation of starting the motor drive starts.

當已由使用者進行使馬達驅動開始的操作時，就前進到步驟S201，對於馬達驅動控制裝置200傳送馬達驅動開始的指示。When the operation to start the motor drive has been performed by the user, the process proceeds to step S201 , and an instruction to start the motor drive is transmitted to the motor drive control device 200 .

接著步驟S201，前進到步驟S202，判斷是否已從馬達驅動控制裝置200接收到制動器301的狀態的判定結果。若未接收到制動器301的狀態的判定結果，就前進到步驟S204。Following step S201 , the process proceeds to step S202 , and it is determined whether or not the determination result of the state of the brake 301 has been received from the motor drive control device 200 . If the determination result of the state of the brake 301 is not received, it progresses to step S204.

在步驟S202，當判斷為已接收到制動器301的狀態的判定結果時，就在步驟S203判斷制動器是否為未解除狀態。若制動器301非為未解除狀態，由於制動器301沒有異常，故前進到步驟S204。When it is determined in step S202 that the determination result of the state of the brake 301 has been received, it is determined in step S203 whether or not the brake is in an unreleased state. If the brake 301 is not in the unreleased state, since there is no abnormality in the brake 301, the process proceeds to step S204.

步驟S204中，判斷是否已由使用者進行結束馬達驅動的操作。若未進行結束馬達驅動的操作，就返回步驟S202，反覆進行是否接收到制動器解除判定結果的判斷。In step S204, it is determined whether or not the user has performed an operation to end the motor drive. If the operation to end the motor drive is not performed, the process returns to step S202, and it is repeatedly determined whether or not the brake release determination result has been received.

在步驟S203，當判斷制動器301為未解除狀態時，就前進到步驟S205，以顯示部120通知制動器301的異常。In step S203, when it is determined that the brake 301 is not released, the process proceeds to step S205, and the display unit 120 notifies the abnormality of the brake 301.

在步驟S204，在判斷為已進行了結束馬達驅動的操作時或在步驟S205之後，係前進到步驟S206，對馬達驅動控制裝置200傳送結束馬達驅動的指示，結束控制器100之動作。In step S204, when it is determined that the operation to end the motor drive has been performed or after step S205, the process proceeds to step S206, where an instruction to end the motor drive is transmitted to the motor drive control device 200, and the operation of the controller 100 is terminated.

當藉由以上在圖3所示的控制器100之動作，而在馬達驅動控制裝置200判定制動器301為未解除狀態時，就會在步驟S205以顯示部120對使用者通知異常，因此，可讓使用者發現制動器301的異常。此外，在控制器從馬達驅動控制裝置200接收到制動器301為未解除狀態之判定資訊時，係在步驟S206對馬達驅動控制裝置200傳送馬達之停止指令而進行結束馬達驅動指示，因此，可防止在制動器301維持於未解除的狀態下驅動馬達302。When the motor drive control device 200 determines that the brake 301 is not released by the operation of the controller 100 shown in FIG. 3 above, the display unit 120 notifies the user of the abnormality in step S205. Therefore, it is possible to Let the user discover the abnormality of the brake 301 . In addition, when the controller receives from the motor drive control device 200 the determination information that the brake 301 is not released, it transmits a stop command of the motor to the motor drive control device 200 in step S206 to instruct the motor drive to end. Therefore, it is possible to prevent The motor 302 is driven while the brake 301 is maintained in an unreleased state.

再者，在圖3所示的控制器100之動作為一例，制動器301為未解除狀態時，馬達302的驅動結束及在顯示部120之制動器異常的通知並非必須之動作，亦可藉由其他的動作來防止在制動器301為未解除狀態下之馬達302的驅動。In addition, in the operation of the controller 100 shown in FIG. 3 as an example, when the brake 301 is not released, the driving of the motor 302 is completed and the notification of the brake abnormality on the display unit 120 is not an essential operation, and other operations may be used. action to prevent the drive of the motor 302 when the brake 301 is not released.

此外，上述內容中，係藉由控制器100之動作來防止制動器301為未解除狀態時之馬達302的驅動，但是，亦可在控制指示生成部231取得來自制動器解除判定部233的判定結果，且從控制指示生成部231對馬達驅動部211傳送控制指示的信號，以使馬達302停止。In addition, in the above description, the operation of the controller 100 is used to prevent the driving of the motor 302 when the brake 301 is not released. Then, a signal of a control instruction is transmitted from the control instruction generation unit 231 to the motor drive unit 211 to stop the motor 302 .

以上，實施形態1之馬達驅動控制裝置200中，係藉由摩擦轉矩推定部算出馬達的摩擦轉矩的推定值，且與制動器作動時的摩擦轉矩之閾值進行比較而判定制動器的狀態，因此，即使不進行馬達的負載轉矩的事前測量，也可對制動器解除失敗及疏漏制動器解除進行偵測。As described above, in the motor drive control device 200 according to the first embodiment, the friction torque estimating unit calculates the estimated value of the friction torque of the motor and compares it with the threshold value of the friction torque when the brake is actuated to determine the state of the brake. Therefore, even if the load torque of the motor is not measured in advance, it is possible to detect the brake release failure and the neglected brake release.

此外，實施形態1之馬達驅動控制系統1中，即使不進行馬達的負載轉矩的事前測量，也可對制動器解除失敗及疏漏制動器解除等的異常進行偵測，而防止馬達驅動，因此，即使是初次配線時也可防止未解除狀態下之制動器的摩耗、馬達的故障。In addition, in the motor drive control system 1 of the first embodiment, even if the load torque of the motor is not measured in advance, abnormalities such as brake release failure and neglected brake release can be detected to prevent the motor from driving. It is also possible to prevent the wear of the brake and the failure of the motor when the brake is not released during the initial wiring.

實施形態2.以下，針對本申請案之實施形態2之馬達驅動控制裝置200進行說明。圖4係顯示實施形態2之馬達驅動控制系統1的方塊構成圖。與實施形態1之馬達驅動控制裝置200之不同點在於，實施形態2之馬達驅動控制裝置200之摩擦轉矩推定部232具備摩擦轉矩推定值處理部234。有關其他的構成，由於與實施形態1的構成相同，故省略說明。Embodiment 2. Hereinafter, a motor drive control device 200 according to Embodiment 2 of the present application will be described. FIG. 4 is a block diagram showing the motor drive control system 1 of the second embodiment. The difference from the motor drive control device 200 of the first embodiment is that the friction torque estimation unit 232 of the motor drive control device 200 of the second embodiment includes a friction torque estimation value processing unit 234 . Since other configurations are the same as those of the first embodiment, descriptions thereof will be omitted.

摩擦轉矩推定部232係使用摩擦轉矩推定值處理部234算出馬達302的摩擦轉矩之中由制動器所產生的摩擦轉矩的推定值，而更高精確度地算出摩擦轉矩。The friction torque estimation unit 232 uses the friction torque estimation value processing unit 234 to calculate the estimated value of the friction torque generated by the brake among the friction torques of the motor 302, and calculates the friction torque with higher accuracy.

本申請案之馬達驅動控制裝置200係不進行馬達302的事前測量而進行制動器301的狀態的判定，但是，在實際之馬達302使用時，也有使馬達302進行加減速旋轉的情形。馬達302進行加減速旋轉時，會在馬達302產生加減速轉矩。此加減速轉矩係與由制動器301所產生之摩擦轉矩無關係。從而，摩擦轉矩推定值處理部234係在根據轉速取得部221取得之馬達302之轉速及電流值取得部222取得之電流值等而算出加減速轉矩之後，從摩擦轉矩的推定值排除加減速轉矩而算出更正確的摩擦轉矩的推定值。再者，加減速轉矩的算出方法係在例如日本特許第5591400號中已知，並不限定加減速轉矩的算出方式。The motor drive control device 200 of the present application determines the state of the brake 301 without measuring the motor 302 in advance. However, when the motor 302 is actually used, the motor 302 may be accelerated and rotated. When the motor 302 rotates at acceleration and deceleration, acceleration and deceleration torque is generated in the motor 302 . This acceleration/deceleration torque is independent of the friction torque generated by the brake 301 . Therefore, the friction torque estimated value processing unit 234 calculates the acceleration/deceleration torque based on the rotational speed of the motor 302 acquired by the rotational speed acquisition unit 221 and the current value acquired by the current value acquisition unit 222, etc., and then excludes it from the estimated value of the friction torque. Accelerate and decelerate the torque to calculate a more accurate estimated value of the friction torque. Incidentally, the calculation method of the acceleration/deceleration torque is known, for example, in Japanese Patent No. 5591400, and the calculation method of the acceleration/deceleration torque is not limited.

此外，例如升降機的捲揚機般，在馬達302使用於使物體上下動作之馬達驅動控制系統1時，會在馬達302產生重力轉矩。此重力轉矩係與由制動器301所產生之摩擦轉矩無關係。從而，摩擦轉矩推定值處理部234係在根據轉速取得部221取得之馬達302之轉速及電流值取得部222取得之電流值等而算出重力轉矩之後，從摩擦轉矩的推定值排除重力轉矩而算出更正確的摩擦轉矩的推定值。再者，重力轉矩的算出方法係在例如專利文獻1中已知，本申請案中並不限定重力轉矩的算出方式。In addition, when the motor 302 is used in the motor drive control system 1 for moving an object up and down, such as a hoist of an elevator, a gravitational torque is generated in the motor 302 . This gravitational torque is independent of the friction torque generated by the brake 301 . Therefore, the friction torque estimated value processing unit 234 calculates the gravitational torque from the rotational speed of the motor 302 acquired by the rotational speed acquisition unit 221 and the current value acquired by the current value acquisition unit 222, etc., and then excludes the gravitational force from the estimated value of the friction torque. torque to calculate a more accurate estimated value of friction torque. In addition, the calculation method of the gravitational torque is known, for example, in Patent Document 1, and the calculation method of the gravitational torque is not limited in the present application.

藉由摩擦轉矩推定值處理部234，由於可算出加減速轉矩或重力轉矩或者其雙方，且算出去除該等轉矩後之更正確的摩擦轉矩的推定值，所以，制動器解除判定部233可更正確地判定制動器的狀態。The friction torque estimated value processing unit 234 can calculate the acceleration/deceleration torque, the gravitational torque, or both, and calculate a more accurate estimated value of the friction torque after removing these torques. Therefore, the brake release determination is performed. The section 233 can more accurately determine the state of the brake.

以上說明之本實施形態2之馬達驅動控制裝置200中，可在摩擦轉矩推定值處理部234算出更正確的摩擦轉矩的推定值，因此，可更正確地進行制動器301的狀態的判定。In the motor drive control device 200 according to the second embodiment described above, the friction torque estimated value processing unit 234 can calculate a more accurate estimated value of friction torque, so that the state of the brake 301 can be determined more accurately.

實施形態3.以下，針對本申請案之實施形態3之馬達驅動控制裝置200進行說明。圖5係顯示實施形態3之馬達驅動控制系統1的方塊構成圖。與實施形態1之馬達驅動控制裝置200之不同點在於，實施形態3之馬達驅動控制裝置200之通信部240具備閾值取得部223，控制器100具備操作部130。有關其他的構成，由於與實施形態1的構成相同，故省略說明。Embodiment 3. Hereinafter, a motor drive control device 200 according to Embodiment 3 of the present application will be described. FIG. 5 is a block diagram showing the motor drive control system 1 of the third embodiment. The difference from the motor drive control device 200 of the first embodiment is that the communication unit 240 of the motor drive control device 200 of the third embodiment includes a threshold value acquisition unit 223 , and the controller 100 includes an operation unit 130 . Since other configurations are the same as those of the first embodiment, descriptions thereof will be omitted.

實施形態3之馬達驅動控制系統1中，使用者參照馬達的規格書所記載之容許轉矩或瞬間最大轉矩等，使用控制器100的操作部130輸入任意的值作為摩擦轉矩之閾值。再者，此操作部130只要為可輸入數值之使用者介面即可，為觸控面板或十鍵小鍵盤。In the motor drive control system 1 of the third embodiment, the user refers to the allowable torque or instantaneous maximum torque described in the specification of the motor, and inputs an arbitrary value as the friction torque threshold using the operation unit 130 of the controller 100 . Furthermore, the operation unit 130 may be a user interface capable of inputting numerical values, and may be a touch panel or a ten-key keypad.

使用者在操作部130輸入的摩擦轉矩之閾值係由通信部110傳送至馬達驅動控制裝置200，閾值取得部223係從使用者的操作資訊取得摩擦轉矩之閾值。閾值取得部223取得的摩擦轉矩之閾值係記憶於記憶部250之閾值記憶部251。而且，制動器解除判定部233係從閾值記憶部251取得摩擦轉矩之閾值的值，而進行制動器301的狀態的判定。The threshold value of the friction torque input by the user in the operation part 130 is transmitted to the motor drive control device 200 by the communication part 110 , and the threshold value acquisition part 223 acquires the threshold value of the friction torque from the operation information of the user. The threshold value of the friction torque acquired by the threshold value acquisition unit 223 is stored in the threshold value memory unit 251 of the memory unit 250 . Then, the brake release determination unit 233 acquires the value of the threshold value of the friction torque from the threshold value memory unit 251 to determine the state of the brake 301 .

以上實施形態3之馬達驅動控制裝置200中，使用者可藉由在操作部130輸入摩擦轉矩之閾值而設定摩擦轉矩之閾值。由此，即使不在馬達302或編碼器303保存摩擦轉矩之閾值，也不用進行馬達302的事前測量，即可進行制動器301的狀態的判定。In the motor drive control device 200 according to the third embodiment, the user can set the threshold value of the friction torque by inputting the threshold value of the friction torque in the operation unit 130 . Thereby, even if the threshold value of the friction torque is not stored in the motor 302 or the encoder 303, the state of the brake 301 can be determined without performing the pre-measurement of the motor 302.

實施形態4.以下，針對本申請案之實施形態4之馬達驅動控制裝置200進行說明。圖6係顯示實施形態4之馬達驅動控制系統1的方塊構成圖。與實施形態1之馬達驅動控制裝置200之不同點在於，實施形態4之馬達驅動控制裝置200未設置記憶部250。有關其他的構成，由於與實施形態1的構成相同，故省略說明。Embodiment 4. Hereinafter, a motor drive control device 200 according to Embodiment 4 of the present application will be described. FIG. 6 is a block diagram showing the motor drive control system 1 of the fourth embodiment. The difference from the motor drive control device 200 of the first embodiment is that the motor drive control device 200 of the fourth embodiment is not provided with the memory unit 250 . Since other configurations are the same as those of the first embodiment, descriptions thereof will be omitted.

以上實施形態4之馬達驅動控制系統1中，制動器解除判定部233係在每次進行制動器301的狀態的判定時從閾值取得部223取得摩擦轉矩之閾值，進行制動器解除的判定。實施形態4之馬達驅動控制裝置200中，記憶部250非為必須，能以低成本構成馬達驅動控制裝置200，不用進行馬達302的事前測量即可進行制動器301的狀態的判定。In the motor drive control system 1 according to the fourth embodiment described above, the brake release determination unit 233 acquires the friction torque threshold from the threshold value acquisition unit 223 every time the state of the brake 301 is determined, and determines the brake release. In the motor drive control device 200 of the fourth embodiment, the memory unit 250 is not required, and the motor drive control device 200 can be constructed at low cost, and the state of the brake 301 can be determined without the need to measure the motor 302 in advance.

以下，使用圖7，針對實施形態1到4之馬達驅動控制裝置200的硬體構成進行說明。圖7係實施形態1到4之馬達驅動控制裝置200的硬體構成圖。馬達驅動控制裝置200具備輸入裝置901、輸出裝置902、記憶裝置903及處理裝置904。Hereinafter, the hardware configuration of the motor drive control device 200 according to Embodiments 1 to 4 will be described with reference to FIG. 7 . FIG. 7 is a hardware configuration diagram of the motor drive control device 200 according to the first to fourth embodiments. The motor drive control device 200 includes an input device 901 , an output device 902 , a memory device 903 , and a processing device 904 .

輸入裝置901為具備馬達驅動控制裝置200的取得部220與通信部240之輸入資訊的介面。就此介面而言，可為LAN纜線或同軸纜線等之有線通信網路，亦可為使用無線通信技術之無線通信網路。The input device 901 is an interface including the input information of the acquisition unit 220 and the communication unit 240 of the motor drive control device 200 . For this interface, it can be a wired communication network such as a LAN cable or a coaxial cable, or a wireless communication network using a wireless communication technology.

輸出裝置902具備驅動部210與通信部240。輸出裝置902為控制信號或通信介面。有關通信部240，由於已在輸入裝置901進行說明，故予以省略。驅動部210，尤其是馬達驅動部211，係可對馬達302供給電力的介面，例如電源供給用之導線等。The output device 902 includes the drive unit 210 and the communication unit 240 . The output device 902 is a control signal or a communication interface. The communication unit 240 has already been described in the input device 901, so it is omitted. The driving part 210 , especially the motor driving part 211 , is an interface capable of supplying power to the motor 302 , such as wires for power supply.

記憶裝置903具備記憶部250。為相當於工作記憶體等，且為記憶資訊的裝置。例如，RAM、ROM、快閃記憶體等非揮發性或揮發性之半導體記憶體、磁碟、軟碟、光碟、CD光碟(Compact Disc)等。The memory device 903 includes the memory unit 250 . It is equivalent to working memory, etc., and is a device that stores information. For example, non-volatile or volatile semiconductor memories such as RAM, ROM, and flash memory, magnetic disks, floppy disks, optical disks, compact discs, and the like.

處理裝置904具備處理部230。處理裝置904可為專用的硬體，亦可為執行記錄在記憶裝置903之程式的CPU(Central Processing Unit，中央處理器)。The processing device 904 includes the processing unit 230 . The processing device 904 may be a dedicated hardware, or may be a CPU (Central Processing Unit, central processing unit) that executes the program recorded in the memory device 903 .

處理裝置904為專用的硬體時，處理裝置904例如相當於單一電路、複合電路、程式化而成之處理器、並列程式化而成的處理器、ASIC、FPGA或組合有上述組件而成者。When the processing device 904 is a dedicated hardware, the processing device 904 is equivalent to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of the above components. .

處理裝置904為CPU時，處理部230的功能係藉由軟體、韌體或軟體與韌體的組合而實現。軟體、韌體係以程式形式撰寫，記錄在記憶裝置903。處理裝置904係讀出並執行記憶於記憶裝置903的程式，藉此實現各部的功能。When the processing device 904 is a CPU, the functions of the processing unit 230 are realized by software, firmware, or a combination of software and firmware. The software and firmware are written in the form of programs and recorded in the memory device 903 . The processing device 904 reads out and executes the program stored in the memory device 903, thereby realizing the functions of each part.

再者，處理部230之各功能也能以硬體實現一部份功能，並以軟體或韌體實現一部份功能。Furthermore, each function of the processing unit 230 can also be implemented by hardware, and partially implemented by software or firmware.

例如，可使控制指示生成部231設為專用的硬體，而摩擦轉矩推定部232與制動器解除判定部233則設為撰寫為記錄在記憶裝置903的程式而實現其功能。For example, the control instruction generation unit 231 may be provided as dedicated hardware, and the friction torque estimation unit 232 and the brake release determination unit 233 may be written as programs recorded in the memory device 903 to realize their functions.

如此，處理裝置904係可藉由硬體、軟體、韌體或該等組合而實現上述各功能。In this way, the processing device 904 can implement the above functions by means of hardware, software, firmware, or a combination thereof.

如以上所述，依據本發明之馬達驅動控制裝置200，不用於事前測量制動器解除時之馬達負載轉矩，即使在配線後初次驅動時也可對制動器解除的失敗及疏漏制動器解除進行偵測。As described above, the motor drive control device 200 according to the present invention is not used to measure the motor load torque when the brake is released in advance, and can detect the failure of the brake release and the missed brake release even in the first drive after wiring.

1:馬達驅動控制系統 100:控制器 110:通信部 120:顯示部 130:操作部 200:馬達驅動控制裝置 210:驅動部 211:馬達驅動部 212:制動器驅動部 220:取得部 221:轉速取得部 222:電流值取得部 223:閾值取得部 230:處理部 231:控制指示生成部 232:摩擦轉矩推定部 233:制動器解除判定部 234:摩擦轉矩推定值處理部 240:通信部 241:驅動指令接收部 242:判定資訊傳送部 250:記憶部 251:閾值記憶部 300:伺服馬達 301:制動器 302:馬達 303:編碼器 901:輸入裝置 902:輸出裝置 903:記憶裝置 904:處理裝置 1: Motor drive control system 100: Controller 110: Department of Communications 120: Display part 130: Operation Department 200: Motor drive control device 210: Drive Department 211: Motor drive part 212: Brake drive part 220: Acquire Department 221: Speed Acquiring Department 222: Current value acquisition part 223: Threshold Acquisition Section 230: Processing Department 231: Control instruction generation part 232: Friction torque estimation part 233: Brake Release Judgment Section 234: Friction torque estimated value processing unit 240: Department of Communications 241: Drive command receiving part 242: Judgment Information Transmission Department 250: Memory Department 251: Threshold Memory Department 300: Servo motor 301: Brake 302: Motor 303: Encoder 901: Input Device 902: Output device 903: Memory Device 904: Processing Device

圖1係顯示實施形態1之馬達驅動控制系統的方塊構成圖。圖2係顯示實施形態1之馬達驅動控制裝置之動作的流程圖。圖3係顯示實施形態1之控制器之動作的流程圖。圖4係顯示實施形態2之馬達驅動控制系統的方塊構成圖。圖5係顯示實施形態3之馬達驅動控制系統的方塊構成圖。圖6係顯示實施形態4之馬達驅動控制系統的方塊構成圖。 圖7係顯示實施形態1到4之馬達驅動控制裝置的硬體構成圖。FIG. 1 is a block diagram showing a motor drive control system according to the first embodiment. FIG. 2 is a flowchart showing the operation of the motor drive control device according to the first embodiment. FIG. 3 is a flowchart showing the operation of the controller according to the first embodiment. FIG. 4 is a block diagram showing the motor drive control system of the second embodiment. FIG. 5 is a block diagram showing the motor drive control system of the third embodiment. FIG. 6 is a block diagram showing the motor drive control system of the fourth embodiment. FIG. 7 is a diagram showing the hardware configuration of the motor drive control apparatus according to Embodiments 1 to 4. FIG.

Claims (20)

一種馬達驅動控制裝置，係具備：摩擦轉矩推定部，係算出馬達驅動時之馬達的摩擦轉矩的推定值；及制動器解除判定部，係使用前述摩擦轉矩推定部算出的前述摩擦轉矩的推定值以及用以判定對前述馬達進行制動之制動器的狀態的摩擦轉矩之閾值，而判定前述制動器的狀態；其中前述摩擦轉矩之閾值係藉由前述馬達的規格所決定的轉矩。 A motor drive control device comprising: a friction torque estimating unit that calculates an estimated value of friction torque of a motor when the motor is driven; and a brake release determination unit that uses the friction torque calculated by the friction torque estimating unit The estimated value of , and the threshold value of the friction torque used to determine the state of the brake for braking the motor to determine the state of the brake; wherein the threshold value of the friction torque is the torque determined by the specification of the motor. 如請求項1所述之馬達驅動控制裝置，其中，藉由前述規格所決定的前述馬達之轉矩，係前述馬達之容許轉矩、最大轉矩或制動轉矩。 The motor drive control device according to claim 1, wherein the torque of the motor determined by the specification is an allowable torque, a maximum torque, or a braking torque of the motor. 如請求項1所述之馬達驅動控制裝置，其中，前述摩擦轉矩推定部更具備：摩擦轉矩推定值處理部，係算出由前述制動器所產生的前述摩擦轉矩的推定值。 The motor drive control device according to claim 1, wherein the friction torque estimation unit further includes a friction torque estimation value processing unit that calculates the estimated value of the friction torque generated by the brake. 如請求項2所述之馬達驅動控制裝置，其中，前述摩擦轉矩推定部更具備：摩擦轉矩推定值處理部，係算出由前述制動器所產生的前述摩擦轉矩的推定值。 The motor drive control device according to claim 2, wherein the friction torque estimation unit further includes a friction torque estimation value processing unit that calculates the estimated value of the friction torque generated by the brake. 如請求項3所述之馬達驅動控制裝置，其中，前述摩擦轉矩推定值處理部係在前述馬達進行加減速旋轉時，將前述馬達之加減速轉矩去除而算出前述摩擦轉矩的推定值。 The motor drive control device according to claim 3, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by subtracting the acceleration and deceleration torque of the motor when the motor rotates during acceleration and deceleration. . 如請求項4所述之馬達驅動控制裝置，其中，前述摩擦轉矩推定值處理部係在前述馬達進行加減速旋轉時，將前述馬達之加減速轉矩去除而算出前述摩擦轉矩的推定值。 The motor drive control device according to claim 4, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by subtracting the acceleration and deceleration torque of the motor when the motor rotates during acceleration and deceleration. . 如請求項3所述之馬達驅動控制裝置，其中，前述摩擦轉矩推定值處理部係將前述馬達之重力轉矩去除而算出前述摩擦轉矩的推定值。 The motor drive control device according to claim 3, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by subtracting the gravitational torque of the motor. 如請求項4所述之馬達驅動控制裝置，其中，前述摩擦轉矩推定值處理部係將前述馬達之重力轉矩去除而算出前述摩擦轉矩的推定值。 The motor drive control device according to claim 4, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by subtracting the gravitational torque of the motor. 如請求項5所述之馬達驅動控制裝置，其中，前述摩擦轉矩推定值處理部係將前述馬達之重力轉矩去除而算出前述摩擦轉矩的推定值。 The motor drive control device according to claim 5, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by removing the gravitational torque of the motor. 如請求項6所述之馬達驅動控制裝置，其中，前述摩擦轉矩推定值處理部係將前述馬達之重力轉矩去除而算出前述摩擦轉矩的推定值。 The motor drive control device according to claim 6, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by removing the gravitational torque of the motor. 如請求項1至10中任一項所述之馬達驅動控制裝置，更具備：閾值取得部，係取得前述摩擦轉矩之閾值。 The motor drive control device according to any one of claims 1 to 10, further comprising: a threshold value acquisition unit for acquiring the threshold value of the friction torque. 如請求項11所述之馬達驅動控制裝置，其中，前述閾值取得部係從前述馬達取得前述摩擦轉矩之閾值。 The motor drive control device according to claim 11, wherein the threshold value acquisition unit acquires the threshold value of the friction torque from the motor. 如請求項11所述之馬達驅動控制裝置，其中，前述閾值取得部係從前述馬達之編碼器取得前述摩擦轉矩之閾值。 The motor drive control device according to claim 11, wherein the threshold value acquisition unit acquires the threshold value of the friction torque from an encoder of the motor. 如請求項11所述之馬達驅動控制裝置，其中，前述閾值取得部係從使用者的操作資訊取得前述摩擦轉矩之閾值。 The motor drive control device according to claim 11, wherein the threshold value acquisition unit acquires the threshold value of the friction torque from user operation information. 如請求項1至10中任一項所述之馬達驅動控制裝置，更具備：制動器驅動部，係控制前述制動器的驅動；且 前述制動器解除判定部係在前述摩擦轉矩的推定值比前述摩擦轉矩之閾值大，而前述制動器驅動部未使前述制動器作動時，判定前述制動器為未解除狀態。 The motor drive control device according to any one of claims 1 to 10, further comprising: a brake drive unit for controlling the drive of the brake; and The brake release determination unit determines that the brake is not released when the estimated value of the friction torque is greater than the threshold value of the friction torque and the brake drive unit does not actuate the brake. 如請求項11所述之馬達驅動控制裝置，更具備：制動器驅動部，係控制前述制動器的驅動；且前述制動器解除判定部係在前述摩擦轉矩的推定值比前述摩擦轉矩之閾值大，而前述制動器驅動部未使前述制動器作動時，判定前述制動器為未解除狀態。 The motor drive control device according to claim 11, further comprising: a brake drive unit for controlling the drive of the brake; and the brake release determination unit when the estimated value of the friction torque is greater than the threshold value of the friction torque, On the other hand, when the brake driving unit does not actuate the brake, it is determined that the brake is not released. 如請求項12所述之馬達驅動控制裝置，更具備：制動器驅動部，係控制前述制動器的驅動；且前述制動器解除判定部係在前述摩擦轉矩的推定值比前述摩擦轉矩之閾值大，而前述制動器驅動部未使前述制動器作動時，判定前述制動器為未解除狀態。 The motor drive control device according to claim 12, further comprising: a brake drive unit for controlling the drive of the brake; and the brake release determination unit when the estimated value of the friction torque is greater than the threshold value of the friction torque, On the other hand, when the brake driving unit does not actuate the brake, it is determined that the brake is not released. 如請求項1至10中任一項所述之馬達驅動控制裝置，更具備：馬達驅動部，係對前述馬達供給電力，使前述馬達驅動；電流值取得部，係取得在前述馬達的驅動中從前述馬達驅動部供給至前述馬達的電流值；及轉速取得部，係在前述馬達的驅動中取得前述馬達之轉速；且前述摩擦轉矩推定部係使用前述電流值取得部取得的前述電流值及前述轉速取得部取得的前述轉速，算出前述摩擦轉矩的推定值。 The motor drive control device according to any one of claims 1 to 10, further comprising: a motor drive unit for supplying electric power to the motor to drive the motor; and a current value acquisition unit for acquiring a current value during driving of the motor A current value supplied to the motor from the motor driving unit; and a rotational speed acquiring unit for acquiring the rotational speed of the motor during driving of the motor; and the friction torque estimating unit using the current value acquired by the current value acquiring unit The estimated value of the friction torque is calculated based on the rotational speed acquired by the rotational speed acquisition unit. 如請求項18所述之馬達驅動控制裝置，其中， 前述馬達驅動部係在前述制動器解除判定部判定前述制動器為未解除狀態時，使對於前述馬達的電力供給停止。 The motor drive control device of claim 18, wherein, The motor drive unit stops the power supply to the motor when the brake release determination unit determines that the brake is not released. 一種馬達驅動控制系統，係具備：請求項1至19中任一項所述之馬達驅動控制裝置；及控制器，係對前述馬達驅動控制裝置傳送前述馬達的驅動及停止指令；且前述控制器係在從前述馬達驅動控制裝置接收到前述制動器為未解除狀態之判定資訊時，對前述馬達驅動控制裝置傳送前述馬達之停止指令。 A motor drive control system comprising: the motor drive control device according to any one of claims 1 to 19; and a controller for transmitting drive and stop commands of the motor to the motor drive control device; and the controller When the determination information that the brake is not released is received from the motor drive control device, a stop command of the motor is transmitted to the motor drive control device.
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