JPS6238955B2 - - Google Patents
Info
- Publication number
- JPS6238955B2 JPS6238955B2 JP17002081A JP17002081A JPS6238955B2 JP S6238955 B2 JPS6238955 B2 JP S6238955B2 JP 17002081 A JP17002081 A JP 17002081A JP 17002081 A JP17002081 A JP 17002081A JP S6238955 B2 JPS6238955 B2 JP S6238955B2
- Authority
- JP
- Japan
- Prior art keywords
- smoothing capacitor
- output
- motor
- voltage
- phase
- 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.)
- Expired
Links
- 238000009499 grossing Methods 0.000 claims description 28
- 239000003990 capacitor Substances 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 16
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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
- H02P3/24—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 applying DC to the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
- B66B1/308—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with AC powered elevator drive
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Stopping Of Electric Motors (AREA)
Description
【発明の詳細な説明】
本発明は、特に三相逆変換器の出力で三相交流
電動機を付勢する電動機制御装置に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION The present invention particularly relates to a motor control device that energizes a three-phase AC motor with the output of a three-phase inverter.
電動機運転中に電動機の速度指令をN1からN2
（但しN1＞N2）に落すと
Ａ＝（Ｇｍ＋Ｇｌ）（Ｎ１２−Ｎ２２）／７３０（Ｊ
）……(1)
の運動エネルギーが逆変換器のフライホイールダ
イオードを通して順変換器の出力側に設けた平滑
用コンデンサに蓄積される。 When the motor speed command is reduced from N 1 to N 2 (N 1 > N 2 ) while the motor is running, A = (Gm + Gl) (N1 2 - N2 2 )/730 (J
)...The kinetic energy of (1) passes through the flywheel diode of the inverse converter and is stored in the smoothing capacitor installed on the output side of the forward converter.
このため平滑用コンデンサの電圧は だけ上昇する。 Therefore, the voltage of the smoothing capacitor is only rises.
但し Gmは三相交流電動機のGD2
Glは電動機の負荷のGD2
Voは減速指令を与える前の平滑用コン
デンサの電圧
Ｃは平滑用コンデンサの容量である。 However, Gm is the GD of the three-phase AC motor, 2 Gl is the GD of the motor load, 2 Vo is the voltage of the smoothing capacitor before giving the deceleration command, and C is the capacitance of the smoothing capacitor.
従つて電動機及び電動機の負荷のGD2が大きい
場合は大量の運動エネルギーが平滑用コンデンサ
に蓄積され、平滑用コンデンサの端子電圧はVo
＋Vx1となる。その結果逆変換器順変換器を構成
する素子は耐圧破壊を招くことがあつた。 Therefore, when GD 2 of the motor and motor load is large, a large amount of kinetic energy is stored in the smoothing capacitor, and the terminal voltage of the smoothing capacitor becomes Vo
+Vx 1 . As a result, the elements constituting the inverse converter and forward converter sometimes suffered breakdown in voltage resistance.
この対策として従来は第１図に示すように平滑
用コンデンサ３に対して並列に抵抗７とスイツチ
ング素子８の直列接続を接続し、減速するときに
はスイツチング素子８を導通状態にしてコンデン
サの電荷を、抵抗７で消費し、平滑用コンデンサ
３の電圧のはねあがりをおさえていた。 Conventionally, as a countermeasure against this problem, a series connection of a resistor 7 and a switching element 8 is connected in parallel to the smoothing capacitor 3 as shown in FIG. It was consumed by the resistor 7 and suppressed the voltage jump of the smoothing capacitor 3.
しかしこのような構造のものでは減速に依つて
平滑用コンデンサに蓄積されたエネルギーは、抵
抗７で熱エネルギーに変換して消費するだけであ
る。また抵抗７やスイツチング手段８等の回路素
子も追加しなければならなかつた。 However, in such a structure, the energy accumulated in the smoothing capacitor due to deceleration is simply converted into thermal energy by the resistor 7 and consumed. Further, circuit elements such as a resistor 7 and switching means 8 had to be added.
なお１は三相交流電源、２は順変換器、３は平
滑用コンデンサ、４は三相逆変換器、５は三相交
流電動機、６は電動機５の負荷である。 Note that 1 is a three-phase AC power supply, 2 is a forward converter, 3 is a smoothing capacitor, 4 is a three-phase inverse converter, 5 is a three-phase AC motor, and 6 is a load of the motor 5.
本発明は以上のような点に鑑み成されたもので
あつて、その目的とするところは減速指令を与え
られることに依つて平滑用コンデンサに蓄積され
たエネルギーは電動機にダイナミツクブレーキを
かける為のエネルギーにして有効に使用すること
のできる電動機制御装置を構成することにある。
本発明の他の目的は、電動機の速度が指令値まで
低下したときには、自動的にダイナミツクブレー
キ機能が解ける電動機制御装置を構成することに
ある。 The present invention has been made in view of the above points, and its purpose is to apply a dynamic brake to the motor by using the energy stored in the smoothing capacitor upon receiving a deceleration command. The object of the present invention is to construct a motor control device that can effectively utilize energy.
Another object of the present invention is to construct an electric motor control device that can automatically release the dynamic brake function when the speed of the electric motor decreases to a command value.
すなわち本発明では平滑用コンデンサの両端子
間の電圧が一定値以上になつたことを検出する過
電圧検出手段を設け、この過電圧検出手段が信号
を出しているときに三相逆変換器を構成する、特
定の１アームを構成する片側のスイツチング素子
を非導通状態に保ち、電動機に交流と直流を流す
ブレーキ制御手段を設ける。 That is, in the present invention, overvoltage detection means is provided to detect when the voltage between both terminals of the smoothing capacitor exceeds a certain value, and when this overvoltage detection means is outputting a signal, a three-phase inverse converter is configured. A brake control means is provided for keeping the switching element on one side of one specific arm in a non-conducting state and allowing alternating current and direct current to flow through the motor.
本発明ではこのように構成するので減速指令を
与えられることに依つて平滑用コンデンサに蓄積
されたエネルギーは電動機にダイナミツクブレー
キをかける為のエネルギとして有効に使用するこ
とができる。 Since the present invention is constructed in this way, the energy stored in the smoothing capacitor upon receiving a deceleration command can be effectively used as energy for applying a dynamic brake to the motor.
そのうえ、電動機の速度が設定値まで減速され
ると平滑用コンデンサの電圧は通常の値に戻るか
ら過電圧検出手段は信号を出さなくなる。従つて
自動的にダイナミツクブレーキ機能が解け、所期
の目的を達成できるのである。 Moreover, when the speed of the motor is reduced to the set value, the voltage of the smoothing capacitor returns to its normal value, so the overvoltage detection means no longer outputs a signal. Therefore, the dynamic brake function is automatically released and the desired purpose can be achieved.
ダイナミツクブレーキをかけるために電動機に
流す電流の大きさは適当な大きさに制限すること
が望ましい。そのための構成として、例えば順変
換器の出力が可変なものであれば、たとえば順変
換器としてパルス幅変調機能を有するものであれ
ば、パルスの幅を制限して行うことも可能であ
る。 It is desirable to limit the magnitude of the current flowing through the motor to apply the dynamic brake to an appropriate magnitude. As a configuration for this purpose, for example, if the output of the forward converter is variable, for example, if the forward converter has a pulse width modulation function, it is possible to limit the pulse width.
過電圧検出手段が単に過電圧になつたことを検
知するだけでなく、過電圧の程度も検知できるも
のである場合には、この過電圧の程度に例えば比
例させてダイナミツクブレーキ電流を調節するよ
うにすることも可能である。 If the overvoltage detection means is capable of not only detecting overvoltage but also the degree of overvoltage, the dynamic brake current may be adjusted in proportion to the degree of overvoltage, for example. is also possible.
以下第２図第３図に示す本発明の実施例につい
て説明する。 Embodiments of the present invention shown in FIGS. 2 and 3 will be described below.
１は交流電源、２は交流電源１の出力を整流す
る順変換器、３は順変換器２の直流出力側に接続
した平滑用コンデンサ、４は入力側を順変換器の
直流出力側に接続し、出力側を三相交流電動機５
に接続した三相逆変換器、６は三相電動機５の負
荷である。 1 is an AC power supply, 2 is a forward converter that rectifies the output of the AC power supply 1, 3 is a smoothing capacitor connected to the DC output side of the forward converter 2, and 4 is the input side connected to the DC output side of the forward converter. and the output side is a three-phase AC motor 5.
A three-phase inverter 6 is connected to the three-phase motor 5.
９は電動機５の速度を設定する速度設定手段、
１０は速度設定手段９の設定の変化をなだらかに
するソフト回路１０，１１はソフト回路１０の出
力に応じた周波数の信号を出す発振回路、１２は
発振回路１１の出力信号を６等分する分周回路、
１３は分周回路１２の出力を逆変換器４を構成す
る６つのアームのスイツチング素子Ｒ，Ｓ，Ｔ，
Ｕ，Ｖ，Ｗに夫々与えるように分配する分配器、
１７は分配器１３の出力にきざみを入れるパルス
幅変調回路、１４はパルス幅変調回路１７の出力
を増幅して逆変換器４を構成する３つのアームの
スイツチング素子Ｒ，Ｓ，Ｔ，Ｕ，Ｖ，Ｗに与え
るベース信号増幅器である。 9 is a speed setting means for setting the speed of the electric motor 5;
Reference numeral 10 denotes a software circuit 10 for smoothing the change in the setting of the speed setting means 9, 11 an oscillation circuit that outputs a signal with a frequency corresponding to the output of the software circuit 10, and 12 an output signal for dividing the output signal of the oscillation circuit 11 into six equal parts. circuit,
13 are six arm switching elements R, S, T,
a distributor that distributes to give U, V, and W respectively;
17 is a pulse width modulation circuit that increments the output of the distributor 13; 14 is a switching element of three arms R, S, T, U, which amplifies the output of the pulse width modulation circuit 17 and constitutes the inverter 4; This is a base signal amplifier that supplies V and W.
また１５はソフト回路１０の出力を受け、逆変
換器４の出力の周波数と電圧とが比例するように
パルス幅変調回路１７の出力のパルス幅を変える
電圧制御回路である。 Further, 15 is a voltage control circuit which receives the output of the software circuit 10 and changes the pulse width of the output of the pulse width modulation circuit 17 so that the frequency and voltage of the output of the inverse converter 4 are proportional.
１６は本発明に依つて設けた過電圧検出手段で
あつて、平滑用コンデンサ３の両端端子電圧が一
定値Vxよりも大きくなつたときに信号を出す。
一定値Vxは減速指令または停止指令が与えられ
ないかぎり、平滑用コンデンサ３の電圧がそこま
では高まることはないであろう値に設定する。過
電圧検出手段１６の出力は、ベース信号増幅器１
４に与える一方、電圧制御回路１５にも与えるよ
うにする。 Reference numeral 16 denotes an overvoltage detection means provided according to the present invention, which outputs a signal when the voltage across both terminals of the smoothing capacitor 3 becomes larger than a constant value Vx.
The constant value Vx is set to a value at which the voltage of the smoothing capacitor 3 will not increase to that extent unless a deceleration command or a stop command is given. The output of the overvoltage detection means 16 is transmitted to the base signal amplifier 1.
4, and also to the voltage control circuit 15.
そして過電圧検出手段１６が過電圧を検出する
とベース信号増幅器１４は６個のスイツチング素
子Ｒ，Ｓ，Ｔ，Ｕ，Ｖ，Ｗの内１個ＶへのON信
号を停止し、三相電動機５に交流と直流電流が流
れるようにする。 When the overvoltage detection means 16 detects an overvoltage, the base signal amplifier 14 stops the ON signal to one V of the six switching elements R, S, T, U, V, and W, and causes the three-phase motor 5 to receive an AC signal. and direct current to flow.
一方過電圧検出手段１６が過電圧を検出する
と、電圧制御回路１５を働かせて、逆変換器４を
構成するアームのスイツチング素子に与えるパル
ス幅を制限するようにする。なお、このとき過電
圧検出回路１６の出力が大きければ大きいほど、
パルス幅変調回路１７の出力のパルス幅を広くす
ることが望ましい。つまりこの実施例では制御手
段は過電圧検出回路１６と、ベース信号増幅器１
４とパルス幅変調回路１７とで構成してある。 On the other hand, when the overvoltage detection means 16 detects an overvoltage, the voltage control circuit 15 is operated to limit the pulse width applied to the switching element of the arm constituting the inverter 4. At this time, the larger the output of the overvoltage detection circuit 16, the more
It is desirable to widen the pulse width of the output of the pulse width modulation circuit 17. In other words, in this embodiment, the control means includes the overvoltage detection circuit 16 and the base signal amplifier 1.
4 and a pulse width modulation circuit 17.
以上のように構成したものの動作を第４図を参
照しながら説明する。第４図の横軸は時間ｔを表
わしており縦軸は平滑用コンデンサ３の端子間圧
Ｖ、電動機５の回転速度Ｎ、及び逆変換器４の出
力周波数Ｆを示している。 The operation of the device constructed as above will be explained with reference to FIG. The horizontal axis in FIG. 4 represents time t, and the vertical axis represents the voltage V between the terminals of the smoothing capacitor 3, the rotational speed N of the motor 5, and the output frequency F of the inverter 4.
いまt0時点で電動機５が速度N1で回転している
ときに、速度設定手段９に依つて電動機５を速度
N2まで減速しようとすると逆変換器４の出力周
波数はソフト回路１０が設けてあるためにF1か
らF2になだらかに変化する。これに依り回生制
動がかかり平滑用コンデンサ３の端子間電圧は
Voから上昇する。平滑用コンデンサ３の電圧が
Vxになると過電圧検出手段１６は信号を出す。 Now, when the electric motor 5 is rotating at the speed N1 at time t 0 , the electric motor 5 is set to the speed by the speed setting means 9.
When attempting to decelerate to N2, the output frequency of the inverse converter 4 changes smoothly from F1 to F2 due to the provision of the software circuit 10. As a result, regenerative braking is applied and the voltage across the terminals of the smoothing capacitor 3 is
It rises from Vo. The voltage of smoothing capacitor 3 is
When the voltage reaches Vx, the overvoltage detection means 16 outputs a signal.
これに依つてベース信号増幅器１４からは逆変
換器４を構成する特定の素子Ｖへのベース信号は
停止される。このため電動機５には第５図に示す
ようＵ―Ｖ間には交流電圧が印加されるが、Ｖ―
Ｗ，Ｗ―Ｕ間には直流電圧が印加され、ダイナミ
ツクブレーキがかけられる。これに依り回転数が
t1からt2区間に示すように急激に低下する。なお
このときのエネルギーは平滑用コンデンサ３から
供給されるから平滑用コンデンサ３の両端子間電
圧は次第に低くなる。（なお第５図中
R′S′T′U′V′W′は夫々のスイツチング素子の導通
区間を示している。）
逆変換器４を構成するスイツチング素子に与え
られるベース信号は電圧制御回路１５によりパル
ス幅が制限さえる。 As a result, the base signal from the base signal amplifier 14 to the specific element V constituting the inverse converter 4 is stopped. Therefore, an alternating current voltage is applied to the electric motor 5 between U and V as shown in FIG.
A DC voltage is applied between W and W-U, and a dynamic brake is applied. This causes the rotation speed to
It decreases rapidly as shown in the t 1 to t 2 interval. Note that since the energy at this time is supplied from the smoothing capacitor 3, the voltage between both terminals of the smoothing capacitor 3 gradually decreases. (In addition, in Figure 5
R'S'T'U'V'W' indicates the conduction section of each switching element. ) The pulse width of the base signal applied to the switching elements constituting the inverter 4 is limited by the voltage control circuit 15.
回転数がソフト回路１０の出力に相当する値ま
で低下すると過電圧検出手段１６は信号を出さな
くなる。そうすると電動機５は回生制動される。
これがt2t2間である。回生制動に依つて平滑用コ
ンデンサ３の両端子間電圧は再び高くなる。そう
すると過電圧検出手段１６は再び信号を出すその
ため電動機５は平滑用コンデンサ３からのエネル
ギーに依つて再びダイナミツクブレーキがかか
る。 When the rotational speed decreases to a value corresponding to the output of the software circuit 10, the overvoltage detection means 16 stops outputting a signal. Then, the electric motor 5 is regeneratively braked.
This is between t 2 t 2 . Due to the regenerative braking, the voltage between both terminals of the smoothing capacitor 3 becomes high again. Then, the overvoltage detection means 16 outputs a signal again, so that the motor 5 is dynamically braked again by the energy from the smoothing capacitor 3.
以下このような動作を繰り返す。そして電動機
５の回転速度がN2になると今度は通常の運転が
行われる。 This operation is repeated below. Then, when the rotational speed of the electric motor 5 reaches N2 , normal operation is performed.
本発明は電動機の制動法として、単に直流電流
を流し、ダイナミツクブレーキをかけるものに比
べ次の点で優れている。つまり１部回転磁界を持
つので逆変換器の位相と、電動機の位相が同期は
ずれしない。このためブレーキ信号が解除された
時スムーズに電動運転に戻れる。なお逆変換器を
構成するスイツチング手段はトランジスタを用い
た場合について説明したが、サイリスタやGTO
に依つて構成することもできる。 As a braking method for an electric motor, the present invention is superior in the following points to a method in which a direct current is simply applied and a dynamic brake is applied. In other words, since there is a partially rotating magnetic field, the phase of the inverter and the phase of the motor do not go out of synchronization. Therefore, when the brake signal is released, the vehicle can smoothly return to electric operation. Although we have explained the case where transistors are used as the switching means constituting the inverter, thyristors and GTOs can also be used.
It can also be configured depending on.
ｄはフライホイールダイオードである。 d is a flywheel diode.
第１図は従来の装置を示す回路図、第２図は本
発明装置の実施例を示す回路図、第３図は三相逆
変換器の一例を示す回路図、第４図は本発明の動
作を説明するために用いるグラフ、第５図は三相
逆変換器を構成するスイツチング素子の導通状態
と三相逆変換器の出力側線間電圧を示すタイムチ
ヤートである。
１は交流電源、２は順変換器、３は平滑用コン
デンサ、４は三相逆変換器、５は電動機、１３，
１５は制御手段を構成する分配器と電圧制御回
路、１６は過電圧検出手段、Ｒ，Ｓ，Ｔ，Ｕ，
Ｖ，Ｗは三相逆変換数を構成するスイツチング素
子である。
Fig. 1 is a circuit diagram showing a conventional device, Fig. 2 is a circuit diagram showing an embodiment of the inventive device, Fig. 3 is a circuit diagram showing an example of a three-phase inverter, and Fig. 4 is a circuit diagram showing an example of the inventive device. The graph used to explain the operation, FIG. 5, is a time chart showing the conduction state of the switching elements constituting the three-phase inverter and the line-to-line voltage on the output side of the three-phase inverter. 1 is an AC power supply, 2 is a forward converter, 3 is a smoothing capacitor, 4 is a three-phase inverse converter, 5 is a motor, 13,
15 is a distributor and voltage control circuit constituting a control means; 16 is an overvoltage detection means; R, S, T, U,
V and W are switching elements constituting a three-phase inverse conversion number.
Claims (1)
変換器と、該順変換器の直流出力側に接続した平
滑用コンデンサと、入力側を前記順変換器の直流
出力側に接続し、出力側を三相交流電動機に接続
した三相逆変換器と、前記平滑用コンデンサの両
端子側の電圧が一定値以上になつたことを検出す
る過電圧検出手段と、該過電圧検出手段が信号を
出したときに、前記三相逆変換器を構成する特定
の１アームを構成する片側のスイツチング素子を
非導通状態に保つ制御手段とを有する電動機制御
装置。1. An AC power source, a forward converter that rectifies the output of the AC power source, a smoothing capacitor connected to the DC output side of the forward converter, an input side connected to the DC output side of the forward converter, and an output a three-phase inverse converter whose side is connected to a three-phase AC motor; an overvoltage detection means for detecting that the voltage at both terminals of the smoothing capacitor has exceeded a certain value; and the overvoltage detection means outputs a signal. and a control means for keeping one switching element constituting one specific arm constituting the three-phase inverse converter in a non-conductive state when
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56170020A JPS5872395A (en) | 1981-10-26 | 1981-10-26 | Controller for motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56170020A JPS5872395A (en) | 1981-10-26 | 1981-10-26 | Controller for motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5872395A JPS5872395A (en) | 1983-04-30 |
| JPS6238955B2 true JPS6238955B2 (en) | 1987-08-20 |
Family
ID=15897104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56170020A Granted JPS5872395A (en) | 1981-10-26 | 1981-10-26 | Controller for motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5872395A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0446590A (en) * | 1990-06-13 | 1992-02-17 | Brother Ind Ltd | Sewing machine motor drive device |
| FI121493B (en) * | 2007-07-26 | 2010-11-30 | Kone Corp | with electric motor |
| JP4727716B2 (en) * | 2008-12-19 | 2011-07-20 | ナブテスコ株式会社 | Home door device |
-
1981
- 1981-10-26 JP JP56170020A patent/JPS5872395A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5872395A (en) | 1983-04-30 |
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