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EP1761828A1 - Entraînement intelligent - Google Patents

Entraînement intelligent

Info

Publication number
EP1761828A1
EP1761828A1 EP05769161A EP05769161A EP1761828A1 EP 1761828 A1 EP1761828 A1 EP 1761828A1 EP 05769161 A EP05769161 A EP 05769161A EP 05769161 A EP05769161 A EP 05769161A EP 1761828 A1 EP1761828 A1 EP 1761828A1
Authority
EP
European Patent Office
Prior art keywords
drive
operating state
state variables
monitoring
analysis
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
EP05769161A
Other languages
German (de)
English (en)
Inventor
Matthias Wahler
Christian Feistel
Alexander Schmitt
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.)
Bosch Rexroth AG
Original Assignee
Bosch Rexroth AG
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 Bosch Rexroth AG filed Critical Bosch Rexroth AG
Publication of EP1761828A1 publication Critical patent/EP1761828A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0264—Control of logging system, e.g. decision on which data to store; time-stamping measurements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4065—Monitoring tool breakage, life or condition
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50308—Estimate wear from machining data and conditions

Definitions

  • the invention is concerned with electrical drives for controlling axes within technical processes according to the preamble of claim 1.
  • an electrical automation system or an electrical machine can also contain a large proportion of mechanical components that are subject to wear, such as Gearboxes, timing belts, brakes and guides include.
  • the primary aim is to prevent increasing wear and tear by monitoring the characteristic quantities that occur during operation. It is therefore known from the prior art to infer mechanical loads from measured values which are derived from the current operating state of an electric drive. For example, the temperature of the windings of an electric motor can be used to detect a load increase and, if necessary, limit the motor current or switch off the drive. The error detection takes place by means of a limit value monitoring or a threshold value monitoring.
  • the patents DE 196 14 748 C2 and DE 42 21 841 Cl deal with an error diagnosis method or a monitoring control system for monitoring several devices.
  • the latter document shows a control device for central monitoring, with deviations in the operating data of the monitored devices being ascertained and processed further.
  • the first-mentioned document shows a relatively complex network with process computer nodes, diagnostic computers, control process computers and a large number of other peripherals for handling errors, especially for use also in electrical drive systems. Due to the complexity of both arrangements, there are quite complex and thus also cost-intensive solutions.
  • the object of the invention is to provide an inexpensive and decentralized, preventive fault diagnosis for electric drives, the fault diagnosis being intended to ensure the early detection of an impending malfunction.
  • the invention is based on an electric drive with a drive controller, an electric motor and a control device with detection and monitoring of the threshold values of axis-relevant, electrical / mechanical operating condition variables, the control device additional monitoring with analysis of the operating condition variables for early detection of possible deviations from target specifications and preparation of the analysis result includes.
  • the analysis can be carried out permanently and / or intermittently depending on the operating state variable examined.
  • the drive can be both a central and a decentralized drive integrated in a work process, which transmits the torque of its output to axes to be controlled by means of a gear ratio or directly.
  • the drive controller or drive amplifier can comprise the current, speed or position control as well as an inverter or converter.
  • the control device uses suitable sensors to monitor the threshold values of the quantities required for correct operation, such as the maximum permissible winding temperature and the maximum permissible speed.
  • the additional monitoring is active independently of the threshold monitoring (e.g. in parallel), impending errors can be recognized before the threshold monitoring reacts. This ensures proactive monitoring, which can prevent the threshold value monitoring from responding and the associated process failure by means of suitable messages and associated countermeasures.
  • An early reaction by the operating personnel or the control for example in the event of bearing damage, reduced rigidity, increased friction, increased play, load fluctuations, stiffness, jamming and contamination is possible. Additional and additional electrical and / or mechanical faults can of course be detected by the additional monitoring. All recorded measured values are fed to the analysis device and analyzed as required.
  • the analysis device of the additional monitoring can make a preliminary decision, for example on the basis of statistical methods, as to whether a response to the threshold value monitoring is required or whether it is only a short-term exceeding of the threshold value that is harmless to the arrangement. This reduces unnecessary downtimes and reduces expensive production downtimes.
  • the invention thus enables all axis-related diagnostic processes to be largely carried out decentrally in the drive. Machine-related diagnoses, on the other hand, can be carried out in the control taking into account the axis-related diagnostic messages.
  • the operating state variables detected by means of electrical signals from sensors are preferably subjected to signal conditioning, in particular by means of a signal filter even before the threshold value is monitored. This avoids false alarms due to falsified measurement values or those with disturbance variables, which the threshold value monitoring would recognize as detected errors.
  • the sensors can be sensors for detecting movement-relevant states (acceleration, speed) but also non-movement-relevant states, such as structure-borne sound waves or static loads.
  • the electrical signals of the operating state variables detected in the time and / or frequency range are particularly preferably analyzed by the additional monitoring.
  • FFT Fast Fourier Transformation
  • KKF cross-correlation function
  • AKF auto-correlation function
  • the setpoints can very particularly preferably be recorded by the drive and stored in the drive as reference values.
  • Target values with acquisition of boundary parameters such as friction conditions, translations by means of gears and tolerance bands for each operating parameter can be saved in the drive. Progressive wear of components can be prevented by comparing the actual values with the reference values in the time and / or frequency range.
  • the analysis very particularly preferably includes long-term monitoring of operating condition variables.
  • long-term monitoring including tolerance bands or limit values. This avoids error messages caused by brief load fluctuations.
  • Statistical evaluations such as averaging, make it possible to evaluate the trend of a measured variable, with error messages only being issued when the tolerances are exceeded by the mean. A false alarm due to the threshold monitoring being activated too early can thus be avoided.
  • the operating state variables are motion-sensing variables, such as an angle for detecting the motor axis position, or the motor speed and / or variables indirectly related to the movement, such as the level of the motor winding temperature, the size of the motor current or the level of the DC link voltage
  • the analysis essentially only includes the evaluation of the measured values already present in a drive system formed from servomotors. This means that no additional sensors are required to record additional status data. From the measured value for the motor current in connection with the measured value for the motor speed, conclusions can be drawn, for example, about increased friction when driving a load without additional sensors. With additional sensors such as strain gauges, load cells, Structure-borne noise sensors and acceleration sensors could further increase the diagnostic options and ease of use if necessary.
  • a drive according to the invention is advantageously integrated within at least one technical process and communicates with at least one computer, the drive being connected to the computer by means of a data bus or field bus and in particular reporting the analysis results to the computer.
  • the computer should act as a higher-level instance in the diagnosis. He can record and evaluate all error messages of all drives and keep statistics as well Initiate measures for troubleshooting automatically or inform the operating personnel.
  • the drive is freely programmable and / or configurable at least with regard to error detection, this enables flexible adaptation of the error detection to the operating environment or the application to be implemented. Functions that are not required can be deactivated to save computing power.
  • the programming interface can be designed in such a way that it is not necessary to pass on internal information structures to the user, thus safeguarding the manufacturer's interest in not having to pass on any internals.
  • Axis-specific errors can be called up, for example when an additional drive or axis address is transmitted, and easily identified on the basis of the additional information. Appropriate specialist personnel are therefore quickly and easily instructed and the necessary spare parts can be ordered regardless of a site visit.
  • Figure 1 includes a human / machine interface 1, a computer / computer network 2, a message generation 3, a protective device 4, a drive controller 5, additional monitoring 6, a limit / threshold monitoring 7, a measured value acquisition 8, a motor 9.
  • the reference numerals 3 to 9 form the drive 10, the reference numerals 1 and 2 external components.
  • the electric drive 10 with drive controller 5, electric motor 9 and a control device (3 to 8) can be used, for example, to control a ball screw of a machine tool.
  • the control device includes an additional monitoring 6 according to the invention for limit value / threshold value monitoring 7.
  • Both monitoring units 7, 6 receive the measured values to be monitored from the measured value acquisition 8. These can be, for example, measured values for acquiring the speed of the motor axis, the pulses of an angle encoder, are measured values for recording the motor current and the measured winding temperature.
  • the measured values can be in analog and / or digital form. While the limit value / threshold value monitoring 7 is limited to compliance with predetermined limit values, additional monitoring 6 is carried out, the measured values being evaluated and interpreted by means of permanent or intermittent analysis for early detection of possible deviations from target specifications.
  • the recorded electrical signals could be subjected to a signal preparation before they are fed to the threshold value monitor 7, for example. This serves to prevent short-term interference on the signal lines, e.g. caused by strong magnetic fields to hide and to avoid an error message if the associated threshold value is exceeded. Ultimately, this prevents unwanted process failures.
  • the additional monitoring 6 can be designed in various ways, so that the electrical signals of the operating state variables detected by means of sensors are analyzed in the time and / or frequency range.
  • An analysis in the frequency domain could, for example, include a Fast Fourier Transformation (FFT) to find unwanted resonance vibrations.
  • FFT Fast Fourier Transformation
  • An auto correlation function (AKF) could also be used to determine the speed at which the measured values change on average over time. Further analysis methods using mathematical methods, such as the establishment of a cross-correlation function (KKF) etc. is conceivable and only limited by the computing capacity in the drive.
  • the additional monitoring 6 will generally include a data memory, which is used to store setpoints that are recorded by the drive, for example during an initialization or homing phase, with real load as reference values and can be used as orientation variables in the analysis.
  • the analysis of the additional monitoring 6 can also include long-term monitoring of individual measured values.
  • the DC link voltage and the motor current could be used to calculate the average power.
  • Error messages can be assigned to each measured value or certain combinations of measured values, which then help to rectify the fault if a fault is detected.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Electric Motors In General (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Abstract

L'invention concerne un entraînement électrique (19) comprenant un régulateur d'entraînement (5), un moteur électrique (9) et un dispositif de contrôle (3, 4, 7, 8) avec saisie et surveillance des valeurs seuils de grandeurs d'état de marche électriques/mécaniques déterminantes pour les essieux, et avec diagnostic préventif de panne. L'invention est caractérisée en ce que le dispositif de contrôle (3, 4, 7, 8) comporte une surveillance supplémentaire (6), avec analyse des valeurs de grandeurs d'état de marche pour une détection précoce d'éventuels écarts par rapport à des données nominales, et traitement du résultat de l'analyse.
EP05769161A 2004-06-22 2005-06-10 Entraînement intelligent Ceased EP1761828A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004030076A DE102004030076A1 (de) 2004-06-22 2004-06-22 Intelligenter Antrieb
PCT/EP2005/006254 WO2005124488A1 (fr) 2004-06-22 2005-06-10 Entraînement intelligent

Publications (1)

Publication Number Publication Date
EP1761828A1 true EP1761828A1 (fr) 2007-03-14

Family

ID=35079378

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05769161A Ceased EP1761828A1 (fr) 2004-06-22 2005-06-10 Entraînement intelligent

Country Status (5)

Country Link
US (1) US7659687B2 (fr)
EP (1) EP1761828A1 (fr)
JP (1) JP5009791B2 (fr)
DE (1) DE102004030076A1 (fr)
WO (1) WO2005124488A1 (fr)

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Also Published As

Publication number Publication date
JP5009791B2 (ja) 2012-08-22
US7659687B2 (en) 2010-02-09
DE102004030076A1 (de) 2006-02-09
US20070182359A1 (en) 2007-08-09
WO2005124488A1 (fr) 2005-12-29
JP2008503811A (ja) 2008-02-07

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