WO2022244381A1 - Dispositif, procédé et programme de commande de frein électromagnétique, et dispositif de commande électromagnétique - Google Patents

Dispositif, procédé et programme de commande de frein électromagnétique, et dispositif de commande électromagnétique Download PDF

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Publication number
WO2022244381A1
WO2022244381A1 PCT/JP2022/008943 JP2022008943W WO2022244381A1 WO 2022244381 A1 WO2022244381 A1 WO 2022244381A1 JP 2022008943 W JP2022008943 W JP 2022008943W WO 2022244381 A1 WO2022244381 A1 WO 2022244381A1
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WO
WIPO (PCT)
Prior art keywords
current path
coil
electromagnetic brake
current
conducting state
Prior art date
Application number
PCT/JP2022/008943
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English (en)
Japanese (ja)
Inventor
正志 鈴木
Original Assignee
住友重機械工業株式会社
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Publication date
Application filed by 住友重機械工業株式会社 filed Critical 住友重機械工業株式会社
Priority to JP2023522248A priority Critical patent/JPWO2022244381A1/ja
Publication of WO2022244381A1 publication Critical patent/WO2022244381A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • 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
    • H02P15/00—Arrangements for controlling dynamo-electric brakes or clutches

Definitions

  • the present invention relates to control technology for electromagnetic products such as electromagnetic brakes equipped with coils.
  • Patent Document 1 discloses an LED power supply device (10: the code in parentheses is the code in Patent Document 1, the same shall apply hereinafter) as an electromagnetic product equipped with a coil.
  • the LED power supply (10) has two switches (S1, S2) made up of transistors, and by simultaneously controlling the on/off of these switches, the energization to the primary coil of the transformer (T) and the back electromotive force of the capacitor (C1) are generated. to charge the battery. That is, when the two switches (S1, S2) are turned on at the same time, current flows from the high potential side to the low potential side in the order of the first switch (S1), the transformer (T), and the second switch (S2). T) primary coil is energized.
  • the reverse electromotive force generated in the transformer (T) causes the diode (D2), the transformer (T), and the diode (D1) to move from the low potential side to the high potential side in that order.
  • the present invention has been made in view of this situation, and its purpose is to provide an electromagnetic brake control device and an electromagnetic control device with a simple configuration.
  • an electromagnetic brake control device provides a first current path and a second current path branching from a coil of an electromagnetic brake, and a first current path provided in the first current path.
  • the coil is energized through the first current path when the first current path is rendered conductive by the control element, and the reverse current generated in the coil when the first current path is rendered non-conductive by the control element.
  • the electromotive force energizes the coil through the second current path and charges the capacitor.
  • Another aspect of the present invention is an electromagnetic brake control method.
  • This method is a method of controlling an electromagnetic brake in which a first current path including a control element and a second current path including a capacitor branch from a coil, wherein the control element switches the first current path to a conducting state to excite the coil. and a demagnetizing step of switching the first current path to a non-conducting state by the control element and demagnetizing the coil by charging the capacitor via the second current path.
  • a further aspect of the present invention is an electromagnetic control device.
  • This device is provided with a first current path and a second current path branching from a coil through which current flows in a certain direction, and is provided in the first current path to control the first current path between a conducting state and a non-conducting state.
  • a control element and a capacitor provided in the second current path are provided.
  • FIG. 1 shows a schematic configuration of a motor device including an electromagnetic brake control device
  • the present invention can be applied to any electromagnetic product equipped with a coil that generates a magnetic field when energized.
  • an electromagnetic brake will be described as an example of an electromagnetic product, but the scope of application of the present invention is not limited to the electromagnetic brake.
  • the present invention can be applied to an electromagnetic product including a transformer composed of a pair of coils as disclosed in Patent Document 1, a DC motor that obtains rotational power from a magnetic field generated by a direct current flowing coil, and the like.
  • the current flowing through the coil of the electromagnetic product is unidirectional, that is, direct current.
  • FIG. 1 shows a schematic configuration of a motor device 10 including an electromagnetic control device or an electromagnetic brake control device of the present invention.
  • the motor device 10 includes a converter 11 as a main rectifying section that rectifies multiphase alternating currents having different phases from each other and converts them into direct currents supplied from an alternating current power supply (not shown), and smoothes the direct currents rectified by the converter 11.
  • a smoothing capacitor 12 that adjusts the waveform
  • an inverter 13 that converts the DC smoothed by the smoothing capacitor 12 into AC and supplies it to a motor 20 as a load
  • an electromagnetic brake control device 14 that controls an electromagnetic brake 30 that brakes the motor 20 .
  • a power regeneration converter 15 as a power regeneration unit that returns regenerated power from the motor 20 and excess power stored in the smoothing capacitor 12 to AC power.
  • the converter 11 includes diodes 111 to 116 that rectify the three-phase (R, S, T) AC input from the AC power supply in a certain direction (upward direction in the figure).
  • Diode 111 allows current to flow when the R-phase AC voltage is positive
  • diode 112 allows current to flow when the R-phase AC voltage is negative
  • diode 113 allows current to flow when the S-phase AC voltage is positive
  • diode 114 allows current to flow when the R-phase AC voltage is positive.
  • the diode 115 conducts current when the S-phase AC voltage is negative
  • the diode 115 conducts current when the T-phase AC voltage is positive
  • the diode 116 conducts current when the T-phase AC voltage is negative.
  • Smoothing capacitor 12 connected between high-potential output terminal 117 and low-potential output terminal 118 of converter 11 smoothes the pulsating current obtained by converter 11 to generate direct current with a regular waveform.
  • the DC smoothed by smoothing capacitor 12 is input between high potential input terminal 131 and low potential input terminal 132 of inverter 13 .
  • Vdd the high potential input to the high potential input terminal 131
  • Vss the low potential input to the low potential input terminal 132
  • V in V dd -V ss .
  • the inverter 13 converts the DC voltage Vin input between the high-potential input terminal 131 and the low-potential input terminal 132 into three-phase AC voltages U, V, and W.
  • FIG. Specifically, a U-phase inverter 13U that generates a U-phase AC voltage based on the DC voltage Vin , a V-phase inverter 13V that generates a V-phase AC voltage based on the DC voltage Vin, and a DC voltage V
  • a W-phase inverter 13W for generating a W-phase AC voltage based on in is provided in parallel. Since the configurations of the inverters 13U, 13V, and 13W for each phase are common, they will be collectively referred to as the inverter 13 as appropriate below.
  • Each inverter 13 has a high potential input terminal 131 to which a high DC potential Vdd is input, a low potential input terminal 132 to which a low DC potential Vss is input, and between the high potential input terminal 131 and the low potential input terminal 132 and an output terminal 133 for outputting an alternating voltage that varies between Vdd and Vss .
  • a high potential transistor 134 H is connected between the high potential input terminal 131 and the output terminal 133
  • a low potential transistor 134 L is connected between the low potential input terminal 132 and the output terminal 133 .
  • the high-potential transistor 134H is switched between conductive states in response to a control signal from a high-potential driver (not shown) connected to its control electrode.
  • the low potential transistor 134L is switched between conductive states in response to a control signal from a low potential driver (not shown) connected to its control electrode.
  • the driver pair consisting of the high potential driver and the low potential driver performs switching control to complementarily switch the conductive state of the transistor pair 134 consisting of the high potential transistor 134H and the low potential transistor 134L, thereby controlling the DC voltage Vin. to AC voltage.
  • complementary switching means controlling so that when one of the transistors 134H and 134L is on, the other is off. That is, when the transistor 134H is on, the transistor 134L is turned off, and when the transistor 134L is on, the transistor 134H is turned off.
  • a high potential Vdd appears at the output terminal 133 when the high potential transistor 134H is on, and a low potential Vss appears at the output terminal 133 when the low potential transistor 134L is on.
  • a high potential Vdd and a low potential Vss appear alternately at the output terminal 133, thereby generating an AC voltage.
  • the three-phase AC voltage generated by the inverter 13 is used to drive a motor 20 as a load.
  • the motor 20 is a three-phase brushless motor having three-phase coils (not shown) of U-phase, V-phase, and W-phase.
  • a U-phase voltage is applied to the U-phase coil from the U-phase inverter 13U and a U-phase current flows.
  • a V-phase voltage is applied to the V-phase coil from the V-phase inverter 13V and a V-phase current flows.
  • a W-phase voltage is applied to the coil from the W-phase inverter 13W, and a W-phase current flows.
  • the inverters 13U, 13V, and 13W of each phase generate a rotating magnetic field by applying AC voltages of different phases to the coils of each phase based on the rotational position of the rotor detected by the Hall element (not shown) of the motor 20. Let Desired rotational power is obtained from the rotor rotating by this rotating magnetic field.
  • motor 20 may be another type of motor that is driven by AC voltage.
  • the number of phases of the motor 20 is not limited to 3 and may be any natural number.
  • the number of AC phases supplied from the AC power supply to the converter 11 is not limited to 3, and may be any natural number.
  • the electromagnetic brake control device 14 controls the electromagnetic brake 30 that brakes the motor 20 .
  • the electromagnetic brake 30 is a non-excitation actuation type brake that works when the coil 31 is not energized or demagnetized.
  • the rotor of the motor 20 is pressed against the plate by the spring-biased armature, resulting in a braking state in which the rotation of the motor 20 is restricted.
  • the coil 31 is energized or energized while the current I is flowing, the armature pulled against the biasing force of the spring by the coil 31 acting as an electromagnet moves away from the rotor of the motor 20, causing the motor 20 to rotate. is an acceptable brake release condition.
  • non-excitation electromagnetic brake 30 can safely and reliably hold the moving parts such as the rotor in a stationary state by the brake that works when the power is not supplied.
  • the electromagnetic brake 30 will be described below as a non-excitation type electromagnetic brake, the present invention can also be applied to an excitation type electromagnetic brake. Contrary to the non-excited actuated type, the brake is actuated when the coil is energized or energized, and the brake is released when the coil is not energized or demagnetized.
  • the electromagnetic brake control device 14 includes a rectifying section 141 that rectifies the alternating current from the alternating current power supply into direct current and supplies it to the coil 31 of the electromagnetic brake 30, and a low potential output terminal of the converter 11 that is branched from the coil 31 and has a low potential Vss .
  • a transistor 142 as a control element provided in the first current path (indicated by the arrow of the current I1) toward 118, and a pulse width modulation section 143 that performs switching control of the transistor 142 by pulse width modulation (PWM).
  • a diode 144 provided in the forward direction on a second current path (indicated by the arrow of current I2 ) branched from the coil 31 and directed to the high potential output terminal 117 of the converter 11 at the high potential Vdd .
  • the rectifying unit 141 includes a plurality of diodes 141R, 141S, and 141T that individually rectify the alternating currents R, S, and T of each phase and supply them to the coil 31 of the electromagnetic brake 30.
  • Inputs of the diodes 141R, 141S, and 141T are connected to the AC supply terminals R, S, and T of each phase of the AC power supply, and outputs of the diodes 141R, 141S, and 141T are connected to the input terminal of the coil 31 (left end in FIG. 1). Connected.
  • Each diode 141R, 141S, 141T allows a current to flow when the AC voltage of each phase R, S, T to be input is positive.
  • the coil 31 Since the AC voltage of at least one of the R, S, and T phases is positive at any time during operation of the motor device 10 and the AC power supply, the coil 31 is oriented in a fixed direction (direction from left to right in FIG. 1). of current I always flows. As described above, the coil 31 is always in an excited state and the electromagnetic brake 30 is in a released state while the motor device 10 and the AC power supply are in operation, so that the motor 20 can be rotated normally.
  • the rectifying section 141 is provided in parallel with the converter 11 as the main rectifying section.
  • the rectifying unit 141 has the same function as the converter 11 of rectifying the multi-phase alternating current supplied from the alternating current power supply and converting it into direct current, but it has a simpler configuration than the converter 11 consisting of the six diodes 111 to 116. can.
  • a pulsating current with a larger fluctuation than the output of the converter 11 appears in the output of the rectifier 141 consisting of three diodes 141R, 141S, and 141T. Fluctuations are not a big problem as long as I flows.
  • the coil 31 like the smoothing capacitor 12, the coil 31 itself has a function of smoothing pulsating currents and suppressing fluctuations.
  • a transistor 142 provided in a first current path branching from a branch point 145 on the output side of the coil 31 to the low potential Vss side controls the first current path between a conducting state and a non-conducting state.
  • Transistor 142 typically has two states, on and off, with the first current path conducting when transistor 142 is on and the first current path non-conducting when transistor 142 is off.
  • the transistor 142 is configured by, for example, an insulated gate bipolar transistor (IGBT), but may be configured by a MOSFET (metal-oxide-semiconductor field-effect transistor) or other type of transistor such as a bipolar transistor.
  • the pulse width modulation section 143 changes the width or duty ratio of the pulse wave to control the on/off of the transistor 142 . If the cycle of the pulse wave is T and the width of the pulse wave variable in the cycle T is ⁇ , the duty ratio is expressed as ⁇ /T.
  • the transistor 142 is turned on at the time ⁇ during which the pulse wave exists in the period T, and is turned off at the time T- ⁇ during which the pulse wave does not exist.
  • a state in which the duty ratio is 0 is referred to as a PWM OFF state, and a state in which the duty ratio is greater than 0 is referred to as a PWM ON state. Since the transistor 142 is always off in the PWM off state, the current I1 does not flow through the first current path. In the PWM ON state, the transistor 142 is intermittently turned ON by the pulse wave supplied from the pulse width modulation unit 143 (continuously only when the duty ratio is 1 ). flows. As will be described later, the pulse width modulation unit 143 efficiently switches between the excitation state and the demagnetization state of the electromagnetic brake 30 by switching between the PWM ON state and the PWM OFF state.
  • a diode 144 provided forward in a second current path branching from a branch point 145 on the output side of the coil 31 to the high potential Vdd side allows current I1 to pass through the first current path when the transistor 142 is off.
  • the current I2 from the coil 31 is passed through the second current path.
  • the current I2 is used to charge the smoothing capacitor 12 provided in the second current path, and excess power is returned to the power regeneration converter 15 when the smoothing capacitor 12 is overcharged.
  • the power regeneration converter 15 is provided in parallel with the smoothing capacitor 12, and returns the regenerated power from the motor 20 and excess power stored in the smoothing capacitor 12 through the second current path to the AC power supply. Specifically, when the voltage of smoothing capacitor 12 rises and becomes higher than the output voltage of converter 11 due to regenerative power from motor 20 or charging through the second current path, power regeneration converter 15 causes smoothing capacitor 12 to The stored excess power is returned to the AC supply terminals R, S, T of each phase of the AC power supply.
  • the power regeneration converter 15 can be arbitrarily configured based on known technology, but as a simple configuration example, a resistor connected in parallel with the smoothing capacitor 12 converts excess power stored in the smoothing capacitor 12 into heat. Overcharging may be prevented.
  • the pulse width modulation section 143 as a mode switching section in the electromagnetic brake control device 14 switches the first current path to the conduction state by the transistor 142 while the motor device 10 and the AC power supply are in operation, and the electromagnetic brake 30 is switched.
  • the electromagnetic brake 30 is activated by an excitation mode that excites the coil 31, and by switching the first current path to a non-conducting state by the transistor 142 while the motor device 10 or the AC power supply is not in operation and charging the smoothing capacitor 12 through the second current path.
  • the demagnetization mode for demagnetizing the coil 31 is switched.
  • the pulse width modulation section 143 switches the first current path between the conducting state and the non-conducting state by means of the transistor 142 while maintaining the excitation state of the coil 31 of the electromagnetic brake 30 .
  • the excitation mode pulse width modulation unit 143 operates in a PWM ON state in which a pulse wave having a width ⁇ ( ⁇ period T) or a duty ratio ⁇ /T ( ⁇ 1) greater than 0 is applied to the transistor 142 .
  • the current I from the coil 31 flows through the first current path through the transistor 142 during ⁇ (greater than 0 and less than or equal to T) during which the transistor 142 is turned on by the pulse wave.
  • T ⁇ greater than 0 and less than or equal to T
  • the back electromotive force generated in the coil 31 causes the current I from the coil 31 to pass through the diode 144. flow through the second current path.
  • the current path on the output side of the coil 31 is between the first current path (I 1 ) and the second current path (I 2 ) according to the transistor 142 that is on/off controlled at the frequency of the period T.
  • the current I of a certain level or more continues to flow through the coil 31, so that the electromagnetic brake 30 is maintained in the energized state, that is, in the brake released state.
  • the smoothing capacitor 12 can be charged through the second current path by the back electromotive force generated in the coil 31 when the transistor 142 switches from the on state to the off state, so that the power consumption of the motor device 10 can be reduced.
  • one transistor 142 can energize the coil 31 and charge the smoothing capacitor 12 with counter electromotive force. can be simplified.
  • the electromagnetic brake control device 14 operating in the excitation mode continues to charge the smoothing capacitor 12 via the second current path. Therefore, overcharging of the smoothing capacitor 12 may occur during the excitation mode, that is, during operation of the motor device 10 and the AC power supply.
  • the power regeneration converter 15 returns the excess power stored in the smoothing capacitor 12 to the AC power supply, thereby preventing overcharging of the smoothing capacitor 12 and effectively reusing the excess power.
  • the power regeneration converter 15 originally provided in many motor devices 10 for recovering the regenerated power from the motor 20 is connected to the electromagnetic brake 30 via the second current path. It can also be used as it is for the purpose of recovering excess power that is supplied. Therefore, according to the present embodiment, the motor device 10 can be configured simply by minimizing additional components (such as the rectifying section 141).
  • the pulse width modulation section 143 switches the first current path to a non-conducting state by the transistor 142 to rapidly demagnetize the coil 31 of the electromagnetic brake 30 .
  • the degauss mode pulse width modulation unit 143 operates or stops in the PWM off state where the pulse wave width ⁇ or the duty ratio ⁇ /T is zero. Degaussing is also called arc extinction.
  • the large back electromotive force generated in the coil 31 rapidly charges the smoothing capacitor 12 through the second current path.
  • the power regeneration converter 15 rapidly discharges the power stored in the smoothing capacitor 12 to the AC power supply side.
  • the current and magnetic flux in the coil 31 of the electromagnetic brake 30 can be rapidly reduced to rapidly transition from the excited state to the demagnetized state.
  • the electromagnetic brake 30 can be quickly changed from the brake release state (excitation state) to the brake operation state (demagnetization state), so that the motor 20 can be operated safely and safely. can be stopped quickly.
  • each device described in the embodiments can be realized by hardware resources or software resources, or by cooperation between hardware resources and software resources.
  • Processors, ROMs, RAMs, and other LSIs can be used as hardware resources.
  • Programs such as operating systems and applications can be used as software resources.
  • the present invention relates to control technology for electromagnetic products such as electromagnetic brakes equipped with coils.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Stopping Of Electric Motors (AREA)

Abstract

L'invention concerne un dispositif de commande de frein électromagnétique (14) comprenant : un premier trajet de courant (I1) et un deuxième trajet de courant (I2) qui se ramifient à partir d'une bobine (31) d'un frein électromagnétique (30) ; un transistor (142) disposé sur le premier trajet de courant et commandant le premier trajet de courant entre un état conducteur et un état non conducteur ; un condensateur de lissage (12) disposé sur le deuxième trajet de courant ; et une unité de modulation d'impulsions en durée (143) pouvant commuter entre un mode d'excitation dans lequel le premier trajet de courant est commuté vers l'état conducteur par le transistor (142) et la bobine (31) est sous tension, et un mode de démagnétisation dans lequel le premier trajet de courant est commuté vers l'état non conducteur par le transistor (142) et la bobine (31) est démagnétisée par la charge du condensateur de lissage (12) par l'intermédiaire du deuxième trajet de courant.
PCT/JP2022/008943 2021-05-19 2022-03-02 Dispositif, procédé et programme de commande de frein électromagnétique, et dispositif de commande électromagnétique WO2022244381A1 (fr)

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JP2021-084834 2021-05-19

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5012768B1 (fr) * 1970-07-13 1975-05-14
JPS5188788U (fr) * 1975-01-13 1976-07-15
JP2005045936A (ja) * 2003-07-23 2005-02-17 Tsubaki Emerson Co 直流電源装置
US20090021963A1 (en) * 2007-02-28 2009-01-22 Gamesa Innovation & Technology, S.L. Uninterruptible power supply, connected to a grid
JP2018126017A (ja) * 2017-02-03 2018-08-09 住友重機械工業株式会社 ブレーキ駆動回路
WO2021014803A1 (fr) * 2019-07-19 2021-01-28 株式会社日立産機システム Convertisseur à régénération de puissance et son procédé de traitement

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5012768B1 (fr) * 1970-07-13 1975-05-14
JPS5188788U (fr) * 1975-01-13 1976-07-15
JP2005045936A (ja) * 2003-07-23 2005-02-17 Tsubaki Emerson Co 直流電源装置
US20090021963A1 (en) * 2007-02-28 2009-01-22 Gamesa Innovation & Technology, S.L. Uninterruptible power supply, connected to a grid
JP2018126017A (ja) * 2017-02-03 2018-08-09 住友重機械工業株式会社 ブレーキ駆動回路
WO2021014803A1 (fr) * 2019-07-19 2021-01-28 株式会社日立産機システム Convertisseur à régénération de puissance et son procédé de traitement

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