[go: up one dir, main page]

WO1997005691A1 - Frein dynamique pour servomoteur - Google Patents

Frein dynamique pour servomoteur Download PDF

Info

Publication number
WO1997005691A1
WO1997005691A1 PCT/JP1996/002073 JP9602073W WO9705691A1 WO 1997005691 A1 WO1997005691 A1 WO 1997005691A1 JP 9602073 W JP9602073 W JP 9602073W WO 9705691 A1 WO9705691 A1 WO 9705691A1
Authority
WO
WIPO (PCT)
Prior art keywords
phase
servomotor
dynamic brake
group
servo motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP1996/002073
Other languages
English (en)
Japanese (ja)
Inventor
Kiichi Inaba
Yuuichi Yamada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of WO1997005691A1 publication Critical patent/WO1997005691A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
    • H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking

Definitions

  • the present invention relates to servomotor control, and more particularly, to a dynamic brake device using a servo-evening inverter.
  • a bipolar transistor connected to a winding of each phase of the servomotor is used.
  • the driving transistors of one MOSFET and the like are controlled by a pulse width modulated (PWM) control signal to control the current in each phase of the servo mode.
  • PWM pulse width modulated
  • Fig. 6 shows an example of a conventional servomotor drive system.
  • the DC power rectified by the rectifier circuit 3 from the three-phase AC power supply E is composed of transistors TRa to TRf and diodes Da to Df. Supplied to inverter 4.
  • a smoothing capacitor C is connected to the output of the rectifier circuit 3 in parallel with the inverter 4.
  • the rotor position of the servo motor M is detected by the rotor position detector 2 and fed back to the transistor PWM control circuit 1 as a signal S.
  • the currents flowing through the U and W phases of the servomotor M are detected by a current detector (not shown) and fed to the transistor PWM control circuit 1 as signals Iu and Iw. It is fed back.
  • the transistor PWM control circuit 1 The PWM signal for each phase is generated in response to the command voltage VO for the U, V, and W phases of the motor M, and each transistor of the inverter 4 is turned on and off to turn on and off each phase. By controlling the winding current, the drive of the servo motor M is controlled.
  • the brake circuit 5 short-circuits the U-phase, V-phase and W-phase via a resistor by a switch SW such as a relay.
  • FIG. 7 shows another conventional dynamic brake device, and a brake circuit 6 includes a U-phase, a V-phase, and a W-phase which are connected to a switch such as a relay via a diode bridge. Short-circuit via resistor by switch SW.
  • An object of the present invention is to provide a dynamic brake device of a servomotor having a simple circuit configuration.
  • a dynamic brake device of a servomotor includes a first diode having one terminal connected to a terminal of each phase of the servomotor, and a first diode connected to each of the first diode.
  • a first switching element group consisting of a plurality of switching elements connected in parallel in the opposite direction, and the other pole is connected to the terminal of each phase of the servomotor.
  • a second diode comprising a plurality of switching elements connected in parallel to each other in a reverse direction with respect to each of the second diodes.
  • Control means for controlling the servomotor by outputting a control signal to a group, a switching element in the first switching element group and a switching element in the second switching element group, and control means for controlling the servomotor by outputting a control signal to the switching elements in the first switching element group and the second switching element group.
  • the control means includes a first switching group and a second switching group. Re or the other Sui Chi Tsu all Sui Chi Tsu in g elements in ring group simultaneously outputs a braking signal closed Ji that exerts a greater-Mi click brakes in this Reniyo Ri servomotor.
  • a dynamic brake device for a servomotor includes a diode, a first switching device, and a second switching device, which constitute an inverter for driving a servomotor. It can be configured using an element group.
  • the switching elements of each switching element group open and close in response to a control signal from the control means to drive a servo motor, and are bipolar transistor types. And FETs can be used.
  • the control means comprises a first switching group or a second switching group.
  • a braking signal is generated that simultaneously closes all the switching elements of any of the switching groups, whereby the current from the motor is closed. It is short-circuited by a closed circuit formed by the element and the diode. The power generated by the motor during braking is converted to heat and consumed by internal resistance in the closed circuit, and the dynamic brake operates.
  • the control means can be a control circuit that controls the inverter by PWM control.
  • FIG. 1 is a circuit configuration diagram of a dynamic brake device according to one embodiment of the present invention
  • FIGS. 2 to 5 are explanatory diagrams showing the operation of the dynamic brake device shown in FIG.
  • FIG. 6 is a circuit diagram showing a conventional servomotor drive device and a dynamic brake device.
  • FIG. 7 is a circuit configuration diagram showing another conventional dynamic brake device.
  • a servomotor M includes a three-phase AC power source E and a DC power source including a rectifier circuit 3, an inverter 4 for converting DC power into AC power, and The drive is controlled by a drive circuit including a transistor PWM control circuit that outputs a control signal on the fourth day.
  • the DC power rectified by the rectifier circuit 3 from the three-phase AC power source E is supplied to an inverter composed of transistors TRa to TRf and diodes Da to Df.
  • the rotor position of the servomotor M is detected by a rotor position detector 2 such as a pulse encoder and fed back to a transistor PWM control circuit 1. It is.
  • the transistor PWM control circuit 1 receives a command voltage for the U, V, and W phases of the servomotor M, generates a PWM control signal for each phase, and generates a PWM control signal for each inverter.
  • the current of each phase winding is controlled by turning the transistor on and off.
  • the dynamic brake device of the present invention is composed of an inverter 4 in a drive circuit for a servo motor M and a transistor PWM control circuit 1.
  • Member 4 is composed of three transistors, TR a, TR c and TR e, and a first transistor group consisting of three transistors, and each transistor of the first transistor group.
  • a second transistor consisting of three transistors D a, D c, and D e connected in parallel in the opposite direction to the evening, and three transistors TR b, TR d, and TR f It consists of a diode group and diodes Db, Dd, and Df connected in parallel in the opposite direction to each of the transistors in the second transistor group.
  • the U-phase, V-phase, and W-phase of the servomotor M are connected to the connection between the transistors in the first transistor group and the second transistor group. Therefore, the anodes of the diodes Da, Dc, and De and the force sources of the diodes Db, Dd, and Df are connected to the U and V phases of the servo motor M. And W phase Connected to.
  • Each of the transistors TRa to TRf is on-off controlled by a control signal PA to PF from the PWM control circuit 1.
  • the dynamic brake device of the present invention when the dynamic brake is actuated in the on-off control of each of the transistors TRa to TRf in the inverter 4. At this time, all the transistors in one of the first transistor group and the second transistor group are simultaneously closed.
  • the transistor PWM control circuit 1 controls the transistors TRa, TRc and Either output a braking signal PA, PC and PE to turn on TR e at the same time, or output a braking signal PB or PB to turn on transistors TR b, TR d and TR f simultaneously. Outputs PD and PF.
  • the transistor PWM control circuit 1 controls the transistors TRa, TRc and Either output a braking signal PA, PC and PE to turn on TR e at the same time, or output a braking signal PB or PB to turn on transistors TR b, TR d and TR f simultaneously.
  • Outputs PD and PF Alternatively, if the power supply from the power supply E is cut off, all the transistors TR a, TR c, TR e, TR b, TR d and TR f of the inverter 4 are simultaneously turned off. It can also output braking signals PA, PC, PE, PB, PD, and PF for turning on.
  • Figures 2 and 3 show the state during dynamic brake operation when the transistors TRa, TRc and TRe are turned on simultaneously, and Figure 2 shows the U-phase and Fig. 3 shows a case where current flows in the W and U phases. You.
  • Figures 4 and 5 show the dynamic brake operation when the transistors TRb, TRd and TRf are turned on simultaneously, and Figure 4 shows the U-phase Fig. 5 shows the case where current flows in the W and U phases.
  • an on signal is output from the PWM control circuit 1 to the control signals PA, PC, PE, PB, PD, and PF, so that all Turn on the transistors TR a, TR c, TR e, TR b, TR d, and TR f, and turn on these transistors and diodes Da, D c, De , Db, Dd, and Df form a closed circuit in each phase of the servomotor M so that the power generated by the servomotor M during braking is consumed by the internal resistance. You can also activate dynamic brakes.
  • a resistor for feedback of a servomotor or a resistor for current detection can be used as an internal resistor for consuming power.
  • a dynamic brake device is configured with a simple circuit configuration by diverting components of the inverter overnight to a dynamic brake device. As a result, the number of components required to construct the dynamic brake device can be reduced.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Stopping Of Electric Motors (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention porte sur un frein dynamique pour servomoteur de structure en forme de circuit simple. Un circuit de commande MIL (1) du frein dynamique produit un signal de freinage que ferme simultanément tous les dispositifs de commutation, soit d'un premier groupe de tels dispositifs (TRa, TRc, TRe) montés en parallèle et dans des sens opposés avec de premières diodes, soit d'un deuxième groupe de tels dispositifs (TRb, TRd, TRf) montés en parallèle et dans des sens opposés avec de secondes diodes. Il en résulte que chacune des phases du servomoteur est mise en court-circuit et forme un circuit fermé. L'énergie produite par le servomoteur au moment du freinage est absorbée par une résistance interne, ce qui provoque le freinage dynamique.
PCT/JP1996/002073 1995-07-28 1996-07-24 Frein dynamique pour servomoteur Ceased WO1997005691A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7/211345 1995-07-28
JP7211345A JPH0947054A (ja) 1995-07-28 1995-07-28 サーボモータのダイナミックブレーキ回路

Publications (1)

Publication Number Publication Date
WO1997005691A1 true WO1997005691A1 (fr) 1997-02-13

Family

ID=16604436

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1996/002073 Ceased WO1997005691A1 (fr) 1995-07-28 1996-07-24 Frein dynamique pour servomoteur

Country Status (2)

Country Link
JP (1) JPH0947054A (fr)
WO (1) WO1997005691A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0935336A3 (fr) * 1998-02-07 2001-05-30 Diehl AKO Stiftung & Co. KG Méthode et dispositif de commande d' un moteur synchron
WO2004114512A1 (fr) * 2003-06-18 2004-12-29 Matsushita Electric Industrial Co., Ltd. Dispositif d'entrainement de moteur, moteur entraine par ce dispositif d'entrainement de moteur et appareil utilisant ce moteur
EP1564880A1 (fr) * 2004-02-16 2005-08-17 Aisin Seiki Kabushiki Kaisha Véhicule avec regulation de vitesse en descente
US7218070B2 (en) 2002-03-28 2007-05-15 Abb O Y System and method for braking a motor of a propulsion unit
WO2012035385A3 (fr) * 2010-09-15 2013-11-07 Nissan Motor Co., Ltd. Appareil onduleur et procédé de commande d'onduleur

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1091325C (zh) * 1999-08-14 2002-09-18 管宝山 用于机床主轴的三相鼠笼电动机电气定位的控制方法
JP3732172B2 (ja) * 2002-11-05 2006-01-05 三菱電機株式会社 内燃機関の回転速度のオーバーシュート抑制装置
FI118406B (fi) * 2006-09-11 2007-10-31 Kone Corp Menetelmä ja laitteisto moottorin jarruttamiseksi
JP5421405B2 (ja) * 2012-02-28 2014-02-19 ファナック株式会社 ダイナミックブレーキ制御手段を備えるモータ駆動装置
JP6155175B2 (ja) * 2013-11-18 2017-06-28 株式会社マキタ 電動工具の制動装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6130977A (ja) * 1984-07-18 1986-02-13 Sharp Corp モ−タのブレ−キ制御方法
JPH04255488A (ja) * 1991-02-04 1992-09-10 Hitachi Ltd 電気掃除機用インバータ装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6130977A (ja) * 1984-07-18 1986-02-13 Sharp Corp モ−タのブレ−キ制御方法
JPH04255488A (ja) * 1991-02-04 1992-09-10 Hitachi Ltd 電気掃除機用インバータ装置

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0935336A3 (fr) * 1998-02-07 2001-05-30 Diehl AKO Stiftung & Co. KG Méthode et dispositif de commande d' un moteur synchron
US7218070B2 (en) 2002-03-28 2007-05-15 Abb O Y System and method for braking a motor of a propulsion unit
EP1488503B1 (fr) * 2002-03-28 2009-08-26 ABB Oy Systeme et procede de freinage du moteur d'une unite de propulsion
WO2004114512A1 (fr) * 2003-06-18 2004-12-29 Matsushita Electric Industrial Co., Ltd. Dispositif d'entrainement de moteur, moteur entraine par ce dispositif d'entrainement de moteur et appareil utilisant ce moteur
US7129661B2 (en) 2003-06-18 2006-10-31 Matsushita Electric Industrial Co., Ltd. Motor driver, motor driven by the motor driver, and apparatus employing the motor
EP1564880A1 (fr) * 2004-02-16 2005-08-17 Aisin Seiki Kabushiki Kaisha Véhicule avec regulation de vitesse en descente
WO2012035385A3 (fr) * 2010-09-15 2013-11-07 Nissan Motor Co., Ltd. Appareil onduleur et procédé de commande d'onduleur
RU2533167C1 (ru) * 2010-09-15 2014-11-20 Ниссан Мотор Ко., Лтд. Инверторное устройство и способ управления инвертором
US8975857B2 (en) 2010-09-15 2015-03-10 Nissan Motor Co., Ltd. Inverter apparatus and inverter control method

Also Published As

Publication number Publication date
JPH0947054A (ja) 1997-02-14

Similar Documents

Publication Publication Date Title
CN102106069B (zh) 电力变换装置
US5428522A (en) Four quadrant unipolar pulse width modulated inverter
JP3890906B2 (ja) ブラシレスモータの駆動装置およびそれを使用するモータ
US5896020A (en) Driving circuit for a switched reluctance motor
US6118241A (en) Dynamic braking system for electric motors
JP2007110779A (ja) モータ駆動装置および駆動方法
WO1997005691A1 (fr) Frein dynamique pour servomoteur
US20070267988A1 (en) Electronic braking and energy recycling system associated with dc brushless motor
US6388405B2 (en) Electronically-commutated motor
JP2003230276A (ja) 電力変換装置の制御方法
Krishnan et al. A new power converter topology for PM Brushless dc motor drives
US6548983B2 (en) PWM-pulse control system
KR20190034805A (ko) 모터 구동 제어 장치 및 방법
JP2022179964A (ja) 電力変換装置
JP5571987B2 (ja) ブラシレスｄｃモータの制動方法
US7616046B2 (en) System comprising an electrical bridge for generating an electrical signal for a load and a control unit for such a system
EP1865595A2 (fr) Freinage électronique et système de récupération d'énergie associé à un moteur à courant continu sans balai
JP2003018821A (ja) ゲート駆動回路
Babu et al. A MLI topology with different braking mechanisms employing BLDC drive
JP4695924B2 (ja) モータ駆動装置
SU1598097A1 (ru) Реверсивный вентильный электропривод
JP3263962B2 (ja) 直流制動方式
JPH1080183A (ja) リラクタンス形電動機のスター結線した電機子コイル
Sivakotiah et al. Speed control of brushless DC motor on resonant pole inverter using fuzzy logic controller
SU1758822A1 (ru) Вентильный электропривод

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase