WO2018230140A1 - 電動工具 - Google Patents
電動工具 Download PDFInfo
- Publication number
- WO2018230140A1 WO2018230140A1 PCT/JP2018/015809 JP2018015809W WO2018230140A1 WO 2018230140 A1 WO2018230140 A1 WO 2018230140A1 JP 2018015809 W JP2018015809 W JP 2018015809W WO 2018230140 A1 WO2018230140 A1 WO 2018230140A1
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- WO
- WIPO (PCT)
- Prior art keywords
- motor
- current
- axis
- torque
- permanent magnet
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
Definitions
- the present disclosure relates to an electric tool including a motor control unit that controls a motor, for example.
- Patent Document 1 proposes an electric tool characterized in that a tightening torque is calculated from a motor driving current and a motor rotation speed, and the motor is stopped when the tightening torque exceeds a preset value.
- Patent Document 2 discloses a control device for an electric driver that detects screw tightening torque in the electric driver and intermittently supplies drive torque to the chuck until the completion of tightening is detected based on the detected torque. Has been.
- Motor excitation current includes motor excitation current that does not contribute to rotational torque.
- the inertial energy of the rotating body is not considered, There was a problem such as, and the correct tightening torque could not be set.
- An object of the present disclosure is to provide an electric tool capable of eliminating or simplifying a mechanical clutch mechanism by solving the above problems and enabling more accurate tightening torque setting only by motor control. is there.
- An electric tool comprising a permanent magnet synchronous motor and a control unit for controlling the operation of the permanent magnet synchronous motor
- the control unit includes a limiting unit that limits a current contributing to torque generation of the permanent magnet synchronous motor to a predetermined maximum set value based on a predetermined tightening torque.
- the generated torque of the motor can be controlled only by the current that contributes to the torque generation.
- the current value contributing to the generated torque can be dynamically limited to a maximum value that also takes into account the influence of the inertia energy of the rotating body. Therefore, according to the electric tool according to the present disclosure, more accurate tightening torque can be set only by motor control, and the mechanical clutch mechanism can be omitted or simplified.
- FIG. 1 is a block diagram illustrating a configuration example of the power tool according to the first embodiment of the present disclosure.
- the electric tool according to the first embodiment is, for example, an electric driver, and includes a motor 1, an inverter circuit unit 2, a motor control unit 3, a gear 4, a chuck 5, and a user interface unit (UI unit). ) 6.
- UI unit user interface unit
- a motor 1 is constituted by a three-phase permanent magnet synchronous motor in which a permanent magnet is provided on a rotor (not shown) and an armature winding is provided on a stator (not shown), for example.
- armature winding and a rotor when an armature winding and a rotor are simply used, they mean an armature winding and a rotor of the motor 1 provided on the stator of the motor 1, respectively.
- the motor 1 is, for example, a salient pole machine (motor having salient polarity) represented by an embedded magnet type synchronous motor (IPMSM), but may be a non-salient pole machine.
- the motor 1 is rotatably connected to a chuck 5 on which a screw rotating bit is mounted, for example, via a gear 4.
- the inverter circuit unit 2 supplies a three-phase AC voltage composed of a U phase, a V phase, and a W phase to the armature winding of the motor 1 according to the rotor position of the motor 1.
- the motor control unit 3 has a position sensor-less control function for example, to estimate the rotor position and rotation speed of the motor 1 with a motor current I a, the operation of the motor 1 at a desired rotation speed and the target tightening torque A signal for causing this is given to the inverter circuit section 2.
- the desired rotational speed and the target tightening torque are set in advance by the user interface unit 6, and are linked to a motor switch command value by the motor control unit 3 in conjunction with a trigger switch (not shown) operated by the user. Output as ⁇ * and target tightening torque T * .
- FIG. 2 is an analysis model diagram of the motor 1 of the electric tool of FIG.
- U-phase, V-phase, and W-phase armature winding fixed axes are shown.
- the direction of the magnetic flux generated by the permanent magnet 1a is taken as the d-axis
- the estimated axis for control corresponding to the d-axis Is the ⁇ -axis.
- the q axis is taken as a phase advanced by 90 degrees in electrical angle from the d axis
- the estimated ⁇ axis is taken as phase advanced by 90 degrees in electrical angle from the ⁇ axis.
- the coordinate axis of the rotating coordinate system in which the d axis and the q axis are selected as the coordinate axes is referred to as a dq axis (real axis).
- the rotational coordinate system for control is a coordinate system in which the ⁇ -axis and the ⁇ -axis are selected as coordinate axes, and the coordinate axes are called ⁇ - ⁇ axes.
- the dq axes are rotating, and the rotation speed (that is, the rotation speed of the rotor of the motor 1) is called the actual motor speed ⁇ .
- the ⁇ - ⁇ axis is also rotating, and the rotation speed is called an estimated motor speed ⁇ e .
- the phase of the d axis is represented by ⁇ (actual rotor position ⁇ ) with respect to the U-phase armature winding fixed axis.
- the phase of the ⁇ axis is represented by ⁇ e (estimated rotor position ⁇ e ) with respect to the U-phase armature winding fixed axis.
- ⁇ e estimated rotor position
- the parameters ⁇ * , ⁇ , and ⁇ e are represented by electrical angular velocities.
- the ⁇ -axis component, ⁇ -axis component, d-axis component and q-axis component of the motor voltage V a are respectively expressed as ⁇ -axis voltage v ⁇ , ⁇ -axis voltage v ⁇ , d-axis voltage v d and q-axis voltage v.
- the ⁇ -axis component, ⁇ -axis component, d-axis component, and q-axis component of the motor current I a are respectively expressed as q , i.e., ⁇ -axis current i ⁇ , ⁇ -axis current i ⁇ , d-axis current i d, and q-axis current i q.
- Ra is a motor resistance (resistance value of the armature winding of the motor 1)
- L d and L q are d-axis inductance (d-axis component of inductance of the armature winding of the motor 1)
- q an axis inductance (q-axis component of inductance of the armature winding of the motor 1)
- the [Phi a the armature flux linkage ascribable to the permanent magnet 1a.
- L d , L q , R a and ⁇ a are values determined at the time of manufacturing the motor drive system for the electric tool, and these values are used in the calculation of the motor control unit 3.
- FIG. 3 is a block diagram showing a detailed configuration example of the electric tool of FIG.
- the motor control unit 3 includes a current detector 11, a coordinate converter 12, a subtractor 13, a subtractor 14, a current control unit 15, a magnetic flux control unit 16, a speed control unit 17, a coordinate converter 18, a position A speed estimation unit 20 and a step-out detection unit 21 are provided.
- the current detector 11 is composed of, for example, a Hall element and the like.
- These currents may be detected by various existing current detection methods in which a shunt resistor or the like is incorporated in the inverter circuit unit 2.
- Coordinate converter 12 receives the detection result of the U-phase current i u and the V-phase current i v from the current detector 11, based on the estimated rotor position theta e from the position and speed estimation unit 20, the following equation According to (1), it is converted into ⁇ -axis current i ⁇ (current that controls the magnetic flux of the motor) and ⁇ -axis current i ⁇ (current that is directly proportional to the motor supply torque and directly contributes to the generation of motor rotation torque). To do.
- the position / speed estimation unit 20 estimates and outputs the estimated rotor position ⁇ e and the estimated motor speed ⁇ e .
- the method of estimating the estimated motor speed ⁇ e and the estimated rotor position theta e it is possible to use the method for example disclosed in Patent Document 3.
- the speed control unit 17 subtracts the estimated motor speed ⁇ e given from the position / speed estimation unit 20 from the motor speed command value ⁇ * given from the user interface unit 6, and obtains the subtraction result ( ⁇ * ⁇ e ).
- a ⁇ -axis current command value i ⁇ * is generated by inputting it into a PI (Proportional Interval) controller 51 (FIG. 4).
- * [delta] -axis current value i [delta] represents the current value to be followed by the motor current I a [delta] -axis component of a [delta] -axis current i [delta] is.
- the magnetic flux controller 16 outputs a ⁇ -axis current command value i ⁇ * .
- the ⁇ -axis current command value i ⁇ * and the estimated motor speed ⁇ e are referred to as necessary.
- the ⁇ -axis current command value i ⁇ * represents the value of the current that the ⁇ -axis current i ⁇ that is the ⁇ -axis component of the motor current I a should follow.
- the subtractor 13 subtracts the ⁇ -axis current i ⁇ output from the coordinate converter 12 from the ⁇ -axis current command value i ⁇ * output from the magnetic flux control unit 16, and obtains a current error (i ⁇ * as a result of the subtraction . -i ⁇ ) is calculated.
- the subtracter 14 subtracts the ⁇ -axis current i ⁇ output from the coordinate converter 12 from the ⁇ -axis current command value i ⁇ * output from the speed control unit 17, and obtains a current error (i ⁇ ) as a subtraction result. * ⁇ i ⁇ ) is calculated.
- the current control unit 15 receives each current error calculated by the subtractors 13 and 14 so that the ⁇ -axis current i ⁇ follows the ⁇ -axis current command value i ⁇ * , and the ⁇ -axis current i ⁇ is ⁇ .
- the ⁇ -axis voltage command value v ⁇ * and the ⁇ -axis voltage command value v ⁇ * are calculated and output so as to follow the shaft current command value i ⁇ * .
- the coordinate converter 18 performs reverse conversion of the ⁇ -axis voltage command value v ⁇ * and the ⁇ -axis voltage command value v ⁇ * based on the estimated rotor position ⁇ e given from the position / speed estimation unit 20, and voltage V a of the U-phase component, the U-phase voltage command value representing a V-phase component and a W-phase component v u *, V-phase voltage value v v * and the voltage command of the W-phase voltage command value v consisting w * three-phase Values are generated and output to the inverter circuit unit 2.
- equation (2) is used for this inverse transformation.
- the inverter circuit unit 2 generates a pulse-width-modulated signal based on three-phase voltage command values (v u * , v v *, and v w * ) representing the voltage to be applied to the motor 1, and voltage command value of the phase (v u *, v v * and v w *) of the motor current I a corresponding to the supplied to the armature winding of the motor 1 drives the motor 1.
- the step-out detection unit 21 estimates the rotation speed of the rotor using an estimation method (for example, refer to Patent Document 4) different from the estimation method of the rotation speed of the rotor employed in the position / speed estimation unit 20. If the difference is large, the motor 1 is forcibly stopped by assuming that the step-out has occurred.
- an estimation method for example, refer to Patent Document 4
- FIG. 4 is a block diagram showing a detailed configuration example of the speed control unit 17 of FIG.
- the output of the PI controller 51 generates a ⁇ -axis current command value i ⁇ * before current limit based on the subtraction result ( ⁇ * ⁇ e ) of the subtracter 50 and outputs the ⁇ -axis current command value i ⁇ * to the limiter 52.
- the limiter 52 outputs the output of the PI controller 51 as it is when the output of the PI controller 51 is equal to or less than the maximum set value i ⁇ * max of the limiter 52.
- the limit value calculation unit 53 calculates the maximum set value i ⁇ * max of the limiter 52 using the following equation (3), and sequentially updates the maximum set value i ⁇ * max of the limiter 52.
- K and J are constants
- d ⁇ / dt is a differential value of the angular velocity of the motor
- T is a predetermined target tightening torque.
- T0 is a predetermined loss torque, and may be previously set in a table or the like in the internal memory of the limit value calculation unit 53 as, for example, a dependent variable of the angular velocity ⁇ of the motor. Note that the angular speed ⁇ of the motor can be substituted by the estimated motor speed ⁇ e .
- the ⁇ -axis current is a current that is directly proportional to the supplied torque of the motor, and does not include an excitation current that does not directly contribute to the generation of the rotational torque of the motor.
- the command value i ⁇ * of the ⁇ -axis current is dynamically limited using the above-described equation (3). Therefore, more accurate tightening torque can be controlled in consideration of the inertia energy of the rotating body.
- the motor when the screw that is the work target of the electric tool is seated and the load torque increases rapidly, the motor is decelerated and finally stops. As the motor current decreases, the motor current gradually increases. During this time, tightening with a constant torque can be performed. Therefore, more accurate tightening torque can be set, and the mechanical clutch mechanism can be omitted or simplified.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
Description
(1)モータ駆動電流に回転トルクに寄与しないモータの励磁電流が含まれてしまう、
(2)回転体の慣性エネルギー等が考慮されていない、
等の問題点があり、正確な締め付けトルクが設定できなかった。
永久磁石同期モータと、前記永久磁石同期モータの動作を制御する制御部を備えた電動工具において、
前記制御部は、所定の締め付けトルクに基づいて、前記永久磁石同期モータのトルク発生に寄与する電流を、所定の最大設定値で制限する制限手段を備えたことを特徴とする。
そのため、本開示に係る電動工具によれば、モータ制御だけでより正確な締め付けトルクの設定が可能になり、機械的なクラッチ機構の省略もしくは簡略化ができる。
なお、この所望の回転速度と目標の締め付けトルクは、ユーザーインターフェース部6で予め設定され、ユーザが操作するトリガスイッチ(図示せず)に連動して、モータ制御部3に、それぞれモータ速度指令値ω*、目標締め付けトルクT*として出力する。
2 インバータ回路部
3 モータ制御部
4 ギア
5 チャック
6 ユーザーインターフェース部(UI部)
11 電流検出器
12 座標変換器
13,14 減算器
15 電流制御部
16 磁束制御部
17 速度制御部
18 座標変換器
19 減算器
20 位置・速度推定部
21 脱調検出部
50 減算器
51 PI制御器
52 リミッタ
53 リミット値演算部
Claims (3)
- 永久磁石同期モータと、前記永久磁石同期モータの動作を制御する制御部を備えた電動工具において、
前記制御部は、所定の締め付けトルクに基づいて、前記永久磁石同期モータのトルク発生に寄与する電流を、所定の最大設定値で制限する制限手段を備えたことを特徴とする電動工具。 - 前記制御部は、前記トルク発生に寄与する電流の最大設定値を、前記永久磁石同期モータの回転数、あるいは角速度で補正して演算することを特徴とする請求項1記載の電動工具。
- 前記制御部は、次式を用いて前記トルク発生に寄与する電流の最大設定値iδ * maxを演算し、
iδ * max=K(T-J・dω/dt+T0)
ここで、K、Jは定数であり、dω/dtは前記永久磁石同期モータの角速度の微分値であり、Tは所定の目標の締め付けトルクであり、T0は所定の損失トルクであることを特徴とする請求項2記載の電動工具。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/618,841 US11396092B2 (en) | 2017-06-16 | 2018-04-17 | Electric power tool provided with motor controller controlling motor including limiter for limitting current contributing to torque generation |
CN201880039522.9A CN110769981A (zh) | 2017-06-16 | 2018-04-17 | 电动工具 |
JP2019525154A JPWO2018230140A1 (ja) | 2017-06-16 | 2018-04-17 | 電動工具 |
EP18816964.3A EP3639977A4 (en) | 2017-06-16 | 2018-04-17 | ELECTRIC TOOL |
Applications Claiming Priority (2)
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JP2017-118961 | 2017-06-16 | ||
JP2017118961 | 2017-06-16 |
Publications (1)
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WO2018230140A1 true WO2018230140A1 (ja) | 2018-12-20 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2018/015809 WO2018230140A1 (ja) | 2017-06-16 | 2018-04-17 | 電動工具 |
Country Status (5)
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US (1) | US11396092B2 (ja) |
EP (1) | EP3639977A4 (ja) |
JP (1) | JPWO2018230140A1 (ja) |
CN (1) | CN110769981A (ja) |
WO (1) | WO2018230140A1 (ja) |
Cited By (4)
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WO2021033432A1 (ja) * | 2019-08-22 | 2021-02-25 | パナソニックIpマネジメント株式会社 | 電動工具 |
WO2021095533A1 (ja) * | 2019-11-15 | 2021-05-20 | パナソニックIpマネジメント株式会社 | 電動工具、制御方法、カムアウト検知方法、及びプログラム |
JP2021079471A (ja) * | 2019-11-15 | 2021-05-27 | パナソニックIpマネジメント株式会社 | 電動工具、カムアウト検知方法及びプログラム |
JP2021079509A (ja) * | 2019-11-21 | 2021-05-27 | パナソニックIpマネジメント株式会社 | 電動工具、制御方法、及びプログラム |
Families Citing this family (1)
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US11374520B2 (en) * | 2019-06-10 | 2022-06-28 | Black & Decker Inc. | Field-oriented sensorless brushless motor control in a power tool |
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WO2021033432A1 (ja) * | 2019-08-22 | 2021-02-25 | パナソニックIpマネジメント株式会社 | 電動工具 |
WO2021095533A1 (ja) * | 2019-11-15 | 2021-05-20 | パナソニックIpマネジメント株式会社 | 電動工具、制御方法、カムアウト検知方法、及びプログラム |
JP2021079471A (ja) * | 2019-11-15 | 2021-05-27 | パナソニックIpマネジメント株式会社 | 電動工具、カムアウト検知方法及びプログラム |
JP7390587B2 (ja) | 2019-11-15 | 2023-12-04 | パナソニックIpマネジメント株式会社 | 電動工具、カムアウト検知方法及びプログラム |
JP2021079509A (ja) * | 2019-11-21 | 2021-05-27 | パナソニックIpマネジメント株式会社 | 電動工具、制御方法、及びプログラム |
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US11396092B2 (en) | 2022-07-26 |
JPWO2018230140A1 (ja) | 2020-04-02 |
CN110769981A (zh) | 2020-02-07 |
EP3639977A1 (en) | 2020-04-22 |
US20210078145A1 (en) | 2021-03-18 |
EP3639977A4 (en) | 2020-07-29 |
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