Motor drive system including servomotor for buffer including plural windings

Patent metadata

Field	Value
Publication number	US-10666176-B2
Application number	US-201816155301-A
Country	US
Kind code	B2
Filing date	Oct 9, 2018
Priority date	Oct 13, 2017
Publication date	May 26, 2020
Grant date	May 26, 2020

Abstract

A motor drive system includes: a flywheel; a servomotor for buffer which includes a plurality of independent windings and allows the flywheel to rotate; a plurality of inverters for buffer respectively connected to the windings; a plurality of converters respectively connected to the DC links; inverters for drive which perform power conversion between a DC power in the DC links and an AC power which is a drive power or a regenerative power of the servomotor for drive; and a motor control unit for buffer configured to control driving of the servomotor for buffer by controlling power conversion of the respective inverters for buffer respectively connected to the windings.

First claim

The invention claimed is:

1. A motor drive system comprising:
a flywheel capable of storing a rotation energy;
at servomotor for buffer which includes a plurality of independent windings and allows the flywheel to rotate;
a plurality of inverters for buffer respectively connected to the windings, the inverters for buffer performing power conversion between an AC power which is a drive power or a regenerative power of the servomotor for buffer and a DC power in DC links to which the inverters for buffer are respectively connected;
a plurality of converters respectively connected to the DC links to which the inverters for buffer are respectively connected, the converters performing power conversion between an AC power at a power supply side and a DC power in the DC links, respectively;
inverters for drive which are connected to any of the DC links and perform power conversion between a DC power in the DC links and an AC power which is a drive power or a regenerative power of servomotors for drive;
motor control units for buffer configured to control driving of the servomotor for buffer by controlling power conversion of the respective inverters for buffer respectively connected to the windings;
a power consumption amount calculation unit configured to calculate, with respect to each of the DC links, a total power consumption amount obtained as a sum of a loss at the converters and the inverters for drive which are respectively connected to the DC links and an output of the servomotors for drive connected to the DC links through the inverters for drive and a winding loss at the servomotors for drive connected to the DC links through the inverters for drive, respectively;
a power storage power supply capacity amount calculation unit configured to calculate, with respect to each of the inverters for buffer, a power storage power supply capacity amount defined as a DC power amount which can be taken in from the DC links or outputted to the DC links by the inverters for buffer, respectively, on the basis of the total power consumption amount and maximum power conversion amounts defined as maximum power amounts within which power conversion by the converters is possible;
a torque limit value calculation unit configured to calculate a torque limit value with respect to the servomotor for buffer on the basis of the power storage power supply capacity amount and a rotation speed of the servomotor for bluffer; and
a comparison unit configured to compare a magnitude of an absolute value of a sum total of the power storage power supply capacity amounts for indicating a DC power amount which can be taken in from the DC links by the inverters for buffer and a magnitude of an absolute value of a sum total of the power storage power supply capacity amounts for indicating a DC power amount which can be outputted to the DC links by the inverters for buffer,
wherein the motor control units for buffer perform, with respect to the inverter for buffer which can take in a DC power from the DC link, a torque control with respect to the servomotor for buffer, while changing an upper limit value and a lower limit value of a torque command using the torque limit value so as to adjust a DC power amount taken in from the DC link by the inverter for buffer, while not performing, with respect to the inverter for buffer which indicates that a DC power can be outputted to the DC link, a torque control with respect to the servomotor for buffer when the power storage power supply capacity amount determined by the comparison unit to have a large absolute value indicates a DC power amount which can be taken in from the DC link, and
performs, with respect to the inverter for buffer which can output a DC power to the DC link, a torque control with respect to the servomotor for buffer, while changing an upper limit value and a lower limit value of a torque command using the torque limit value so as to adjust a DC power amount outputted to the DC link by the inverter for buffer, while not performing, with respect to the inverter for buffer which indicates that a DC power can be taken in from the DC link, a torque control with respect to the servomotor for buffer when the power storage power supply capacity amount determined by the comparison unit to have a large absolute value indicates a DC power amount which can be outputted to the DC link.

2. The motor drive system according to claim 1 , wherein the motor control units for buffer
perform, with respect to each of the inverters for buffer, a torque control with respect to the servomotor for buffer, while changing an upper limit value and a lower limit value of a torque command using the torque limit value so as to adjust a DC power amount taken in from the DC links by the inverters for buffer when all the respective power storage power supply capacity amounts indicate a DC power amount which can be taken in from the DC links, and
perform, with respect to each of the inverters for buffer, a torque control with respect to the servomotor for buffer, while changing an upper limit value and a lower limit value of a torque command using the torque limit value so as to adjust a DC power amount outputted to the DC links by the inverters for buffer when all the respective power storage power supply capacity amounts indicate a DC power amount which can be outputted to the DC links.

3. The motor drive system according to claim 1 , wherein the motor control units for buffer
control power conversion with respect to the inverters for buffer, while performing a torque control using the torque limit value so that the servomotor for buffer rotates at a rotation speed for power supply smaller than a predetermined base rotation speed when the total power consumption amount exceeds a first threshold value, and
control power conversion with respect to the inverter for buffer, while performing a torque control using the torque limit value so that the servomotor for buffer rotates at a rotation speed for power storage larger than the base rotation speed when the total power consumption amount falls below a second threshold value smaller than the first threshold value.

4. The motor drive system according to claim 3 , wherein the motor control unit for buffer controls power conversion with respect to the inverter for buffer, while performing a torque control using the torque limit value so that the servomotor for buffer rotates at the base rotation speed when the total power consumption amount falls between the first threshold value and the second threshold value.

5. The motor drive system according to claim 3 , wherein the motor control units for buffer
control power conversion with respect to the inverters for buffer, while performing a torque control using the torque limit value so that the servomotor for buffer rotates at the base rotation speed when the total power consumption amount falls below a third threshold value smaller than the first threshold value and larger than the second threshold value while the motor control units for buffer control power conversion of the inverters for buffer so that the servomotor for buffer rotates at the rotation speed for power supply, and
controls power conversion with respect to the inverter for buffer, while performing a torque control using the torque limit value so that the servomotor for buffer rotates at the base rotation speed when the total power consumption amount exceeds a fourth threshold value larger than the second threshold value and smaller than the third threshold value while the motor control units for buffer control power conversion of the inverters for buffer so that the servomotor for buffer rotates at the rotation speed for power storage.

6. The motor drive system according to claim 3 , wherein
the first threshold value is set to be the maximum

Assignees

• Fanuc Corp

Inventors

• Shinoda Shougo
• Ikai Satoshi

Classifications

• H02P2205/05

  Torque loop, i.e. comparison of the motor torque with a torque reference · CPC title

• H02P2205/03

  Power loop, i.e. comparison of the motor power with a power reference · CPC title

• H02P2201/03

  AC-DC converter stage controlled to provide a defined DC link voltage · CPC title

• H02P6/04

  Arrangements for controlling or regulating the speed or torque of more than one motor (H02P6/10 takes precedence) · CPC title

• H02P27/08

  with pulse width modulation · CPC title