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WO2018173539A1 - Système de diagnostic - Google Patents

Système de diagnostic Download PDF

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Publication number
WO2018173539A1
WO2018173539A1 PCT/JP2018/004541 JP2018004541W WO2018173539A1 WO 2018173539 A1 WO2018173539 A1 WO 2018173539A1 JP 2018004541 W JP2018004541 W JP 2018004541W WO 2018173539 A1 WO2018173539 A1 WO 2018173539A1
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WO
WIPO (PCT)
Prior art keywords
motor drive
characteristic
drive system
command
electric motor
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Ceased
Application number
PCT/JP2018/004541
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English (en)
Japanese (ja)
Inventor
田澤　徹
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Publication of WO2018173539A1 publication Critical patent/WO2018173539A1/fr
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Ceased legal-status Critical Current

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  • the present invention relates to a diagnostic system for a device having a mechanism driven by an electric motor.
  • the present invention particularly relates to diagnosis of a maintenance time of an electric motor drive system including an electric motor, a controller for driving the electric motor, and a mechanism driven by the electric motor.
  • the operation rate of the device to be diagnosed is reduced by performing the diagnosis.
  • An object of this invention is to provide the diagnostic system which can diagnose the apparatus, without reducing the operation rate of the apparatus used as a diagnosis object.
  • a diagnostic system is a diagnostic system for an apparatus having an electric motor drive system, and includes an operation command to the electric motor drive system, a work period during which the apparatus is performing a predetermined operation, and an operation period.
  • a command analysis unit for determining an addition period in which a characteristic measurement signal for measuring the characteristics of the motor drive system is added to a command in the motor drive system during the non-work period.
  • the characteristic measurement signal is added to the command in the motor drive system and the motor in the motor drive system is driven based on the command after the addition, and the operation of the motor drive system in the addition period
  • Response information related to the state is acquired, and based on the response information, an apparatus characteristic analysis unit that calculates one or more characteristic values in the addition period of the motor drive system, and characteristic values are preset based on the characteristic values. It estimates the time until the threshold, and an analysis result output unit for outputting the estimated time as a maintenance time of the device.
  • the diagnosis system makes it possible to diagnose a device without reducing the operating rate of the device to be diagnosed.
  • FIG. 7 is a block diagram showing an example of a conventional diagnostic system.
  • the conventional diagnosis system includes an external display device 101 (for example, a personal computer), an electric motor 103, an amplifier 102 that drives the electric motor 103, and a load machine 104 (for example, one shaft) that is driven by the electric motor 103. Slider).
  • a command such as a speed trapezoidal wave command is created and transferred to the amplifier 102.
  • the load machine 104 is driven by supplying electric power from the amplifier 102 to the electric motor 103 based on this command and causing the electric motor 103 to operate (rotate). Operation information (motor rotation position, motor rotation speed, motor torque command) of the motor 103 at this time is transferred from the amplifier 102 to the external display device 101.
  • FIG. 8 is a schematic diagram showing an example of characteristics obtained by a conventional diagnostic system.
  • T A ⁇ v + B (Formula 1)
  • T represents the motor torque command
  • v represents the motor rotation speed
  • A represents the viscous friction coefficient
  • B represents the static friction coefficient.
  • FIG. 9 is a schematic diagram showing an example of a change in characteristics obtained with a conventional diagnostic system.
  • the solid line represents the initial friction characteristic
  • the broken line represents the friction characteristic after two years of use. It can be confirmed that the friction characteristics have changed with the lapse of years of use. By confirming the change in the friction characteristics, it is possible to diagnose whether it is time for maintenance such as replacement of grease of the load machine and wear check of machine parts.
  • the inventor has found that the following problems occur in the conventional diagnostic system.
  • the conventional technology requires a separate diagnostic operation. For example, in order to obtain the friction characteristic, a special operation of moving the electric motor with a plurality of speed trapezoidal wave patterns and acquiring the electric motor rotation speed and the electric motor torque command is necessary. In order to perform this operation, the production line including the apparatus is temporarily stopped. Therefore, productivity is reduced. In addition, when this operation is performed, an initialization operation for returning to the normal operation is newly required. For this reason, the operation rate of an apparatus will fall.
  • the maintenance time such as whether or not the wear of the machine parts should be checked is diagnosed from the change of the friction characteristic obtained from the diagnostic operation.
  • the judgment criterion is set to a slight change, the maintenance becomes frequent and the operation rate of the apparatus decreases.
  • the judgment criterion is set to a large change, there is a possibility that the maintenance will be delayed, and the apparatus may be brought to an emergency stop due to abnormal operation such as oscillation of the electric motor drive system. In this case, it is necessary to quickly recover, but if a machine part to be replaced is not prepared, it takes time to recover.
  • an appropriate criterion should be set, but the friction characteristics when abnormal operation occurs vary depending on the installation environment and the like, so it is necessary to allow some margin. Therefore, there is room for improvement in order to accurately diagnose the maintenance time.
  • the inventors have obtained a diagnostic system according to one aspect of the present invention in order to improve the above-described points.
  • a diagnostic system is a diagnostic system for an apparatus having an electric motor drive system, and includes an operation command to the electric motor drive system, a work period during which the apparatus is performing a predetermined operation, and an operation period.
  • a command analysis unit for determining an addition period in which a characteristic measurement signal for measuring the characteristics of the motor drive system is added to a command in the motor drive system during the non-work period.
  • the characteristic measurement signal is added to the command in the motor drive system and the motor in the motor drive system is driven based on the command after the addition, and the operation of the motor drive system in the addition period
  • Response information related to the state is acquired, and based on the response information, an apparatus characteristic analysis unit that calculates one or more characteristic values in the addition period of the motor drive system, and characteristic values are preset based on the characteristic values. It estimates the time until the threshold, and an analysis result output unit for outputting the estimated time as a maintenance time of the device.
  • the diagnostic system is configured to calculate the characteristic value of the motor drive system based on response information related to the operating state of the motor drive system in a non-working period that is a period other than a period during which the device to be diagnosed performs a predetermined operation. Estimate time change.
  • the device can be diagnosed without reducing the operating rate of the device to be diagnosed.
  • the characteristic values are the phase margin of the open loop frequency characteristic of the feedback control system in the motor drive system, the gain margin of the open loop frequency characteristic of the feedback control system in the motor drive system, and the closed loop of the feedback control system in the motor drive system. It may be any one of the peak gains of the frequency characteristics.
  • the device characteristic analysis unit calculates two or more characteristic values
  • the analysis result output unit calculates each of the characteristic values based on each time change estimated by the device characteristic analysis unit at the output of the maintenance period.
  • the time until reaching each of the preset threshold values may be estimated, and the shortest time among the estimated times may be output as the maintenance time of the apparatus.
  • the two or more characteristic values are one or more phase margins of the open loop frequency characteristics of the feedback control system in the motor drive system, and one or more of the open loop frequency characteristics of the feedback control system in the motor drive system.
  • the gain margin may include at least two of one or more peak gains of the closed loop frequency characteristic of the feedback control system in the motor drive system.
  • command analysis unit may determine the addition period from the period in which the acceleration of the motor drive system is substantially zero among the operation commands divided into the non-work periods.
  • the command analysis unit may determine the addition period from among the operation commands classified into the non-working period, from a period in which the speed of the motor drive system is not 0 for a predetermined time or more.
  • FIG. 1 is a block diagram showing a configuration of a diagnostic system 100 in the embodiment.
  • a diagnosis system 100 for an apparatus having an electric motor drive system includes an upper part 1, an electric motor 3, an amplifier 2, a rotational position detector 4, and a load machine 5.
  • the host unit 1 generates an operation command and estimates a maintenance time described later.
  • the amplifier 2 drives and controls the electric motor 3.
  • the rotational position detector 4 detects the rotational position of the electric motor 3.
  • the load machine 5 is driven by the electric motor 3.
  • Diagnostic system 100 further includes a power line 6, a rotational position detection line 7, a command line 8, a measurement signal line 9, and a motor information line 10.
  • the power line 6 supplies power from the amplifier 2 to the electric motor 3.
  • the rotational position detection line 7 conveys rotational position information, which is an output of the rotational position detector 4, to the amplifier 2.
  • the command line 8 transmits the operation command generated by the upper unit 1 to the amplifier 2.
  • the measurement signal line 9 transmits a characteristic measurement signal to be described later to the amplifier 2.
  • the motor information line 10 conveys the operating state of the motor 3 (motor rotation position, motor rotation speed, motor torque command) and control parameter information in the amplifier 2 to the upper unit 1.
  • the amplifier 2 compares the operation command with the motor rotation position detected by the rotation position detector 4 so that the motor 3 rotates in accordance with the operation command generated by the upper unit 1.
  • the drive control is performed.
  • FIG. 2 is a block diagram showing a configuration of the upper part 1 of the diagnostic system 100 in the embodiment.
  • the high-order unit 1 includes a command pattern input unit 21, a command generation unit 22, a command analysis unit 23, a measurement signal generation unit 24, a device characteristic analysis unit 25, and an analysis result output. Part 26.
  • the command pattern input unit 21 receives input of operation command parameters and work classification information described later by the user of the diagnostic system 100.
  • the command generation unit 22 generates an operation command based on the parameters of the operation command received by the command pattern input unit 21.
  • the command generation unit 22 outputs the generated operation command to the amplifier 2 through the command line 8.
  • the command analysis unit 23 Based on the work classification information input to the command pattern input unit 21, the command analysis unit 23 sends an operation command to a work period in which the device (load machine 5) is performing a predetermined operation and a period other than the work period. It is divided into non-work periods, which are periods. The command analysis unit 23 determines an addition period in which the characteristic measurement signal is added to the operation command in the non-working period.
  • the characteristic measurement signal is a signal for measuring the characteristic of the electric motor drive system.
  • the measurement signal generator 24 generates a characteristic measurement signal.
  • the measurement signal generator 24 outputs the generated characteristic measurement signal to the amplifier 2 through the measurement signal line 9 during the addition period determined by the command analyzer 23.
  • the characteristic measurement signal is, for example, an M series signal motor torque command.
  • the device characteristic analysis unit 25 analyzes the characteristics of the electric motor drive system from the operation state of the electric motor 3 during the addition period and the control parameter information in the amplifier 2 obtained through the electric motor information line 10. That is, the apparatus characteristic analysis unit 25 acquires response information related to the characteristics of the motor drive system during the addition period, and calculates one or more characteristic values during the addition period of the motor drive system based on the response information.
  • the analysis result output unit 26 receives and accumulates the characteristics of the motor drive system analyzed by the device characteristic analysis unit 25.
  • the analysis result output unit 26 estimates an appropriate maintenance time from the accumulated changes in the characteristics of the motor drive system, and provides information to the user using a display or the like. That is, the analysis result output unit 26 estimates the time until the characteristic value reaches a predetermined threshold value based on the characteristic value calculated by the device characteristic analysis unit 25.
  • the analysis result output unit 26 outputs the estimated time as the maintenance time of the apparatus (load machine 5).
  • FIG. 3 is a timing chart showing an example of operation commands of the upper part of the diagnostic system in the embodiment.
  • T1 to T8 are elapsed time from time 0
  • S1 to S6 are rotation amounts
  • V1 and V2 are maximum values of speed commands in each rotation operation.
  • the example of FIG. 3 is an example of an operation command in which the rotation amount from S1 to S5 is sequentially rotated in the forward direction and then the rotation amount of S6 is rotated in the reverse direction to return to the original position.
  • the period during which the rotation amount from S1 to S5 is operated is a period during which the apparatus (load machine 5) performs some work while performing high-precision positioning, that is, a period during which a predetermined operation is performed.
  • the period during which the rotation operation of S6 is performed is a period for returning to the original position.
  • a period during which the apparatus is performing some work that is, a period during which a predetermined operation is performed is referred to as a work period, and the other period is referred to as a non-work period.
  • Information indicating whether it is a work period or a non-work period is called work classification information.
  • the apparatus load machine 5
  • the operation period is from time 0 to time T6, and the other time T6 to time T8. Is a non-working period.
  • the work period from time 0 to time T6 is the period for mounting the electronic component
  • the non-work period from time T6 to time T8 is after mounting the electronic component. It will be the period to return to pick up the parts.
  • Operation command parameters such as T1 to T8, S1 to S6, V1, and V2 and work classification information are input to the command pattern input unit 21.
  • the command generation unit 22 generates the operation command shown in FIG. 3 based on parameters such as T1 to T8, S1 to S6, V1, and V2 input to the command pattern input unit 21.
  • the command analysis unit 23 determines an addition period for adding the characteristic measurement signal within the non-work period of the work classification information input to the command pattern input unit 21. In the case of the operation command shown in FIG.
  • the non-working period is from T6 to T8, but TX at the beginning of the period during which the speed command is a constant speed between T6 and T7 is determined as the addition period.
  • TX at the beginning of the period during which the speed command is a constant speed between T6 and T7 is determined as the addition period.
  • the measurement signal generator 24 outputs the generated characteristic measurement signal to the amplifier 2 during the addition period determined by the command analyzer 23. In the amplifier 2, the characteristic measurement signal is added in the motor control system.
  • FIG. 4 is a block diagram illustrating a control configuration of a control system including the amplifier 2, the electric motor 3, and the load machine 5 included in the diagnosis system according to the embodiment.
  • a portion surrounded by a dotted line (A) is a speed feedback control unit 41
  • a portion surrounded by a dotted line (B) is a position feedback control unit 42. That is, it is a double feedback control configuration including a speed feedback control unit 41 and a position feedback control unit 42.
  • the speed command input from the command generation unit 22 in the upper unit 1 is integrated to obtain a position command.
  • the position command is input to the position feedback control unit 42.
  • the difference between the position command and the motor rotation position is calculated, and this is multiplied by a gain Kp to obtain an internal speed command.
  • the internal speed command is input to the speed feedback control unit 41.
  • the difference between the internal speed command and the motor rotation speed is calculated, and this is multiplied by the gain Kv to obtain the first torque command.
  • a characteristic measurement signal input from the measurement signal generator 24 is added to the first torque command to obtain an electric motor torque command.
  • the electric motor 3 is driven based on the electric motor torque command.
  • the amplifier 2 adds the characteristic measurement signal to the first torque command during the addition period determined by the command analysis unit 23, and drives the motor 3 based on the added motor torque command.
  • the amplifier 2 transmits the operation state (motor rotation speed, motor torque command) of the motor 3 to the upper unit 1 through the motor information line 10.
  • the device characteristic analysis unit 25 determines the device (load machine 5) from the motor rotation speed, which is the operation state of the motor 3 during the addition period obtained through the motor information line 10, and the motor torque command and the control parameter information in the amplifier 2. Analyze the characteristics. Hereinafter, the analysis of the characteristics of the apparatus (load machine 5) will be described.
  • the frequency characteristics of the controlled object to which the motor 3 and the load machine 5 are connected can be calculated. Specifically, it is obtained by frequency-analyzing each of the motor torque command and the motor rotation speed and calculating the difference. For example, frequency characteristics as shown in FIG. 5 are obtained.
  • FIG. 5 is a schematic diagram illustrating an example of frequency characteristics of a control target to which an electric motor and a load machine are connected in the diagnosis system according to the embodiment. If this frequency characteristic is obtained, since the control configuration and control parameters of the amplifier 2 are known, the open loop frequency characteristic of the speed feedback control unit 41 and the open loop frequency characteristic of the position feedback control unit 42 can be easily calculated.
  • phase margin information is output from the device characteristic analysis unit 25 to the analysis result output unit 26 as the analysis result of the device characteristics.
  • the above-described characteristic analysis of the device is continuously performed, for example, every month, and the obtained phase margin information is output from the device characteristic analysis unit 25 to the analysis result output unit 26. .
  • FIG. 6 is a schematic diagram illustrating an example of a time change of the phase margin output to the analysis result output unit 26 of the diagnosis system 100 according to the embodiment.
  • the data from the past to the present is plotted with the elapsed time as the horizontal axis and the phase margin as the vertical axis, and an estimation curve of how the time changes from that time is created.
  • the estimation curve is created using the least square method or the like.
  • the time until the intersection of the estimated curve and the predetermined limit value of the phase margin, in FIG. 6, Dx is estimated as an appropriate maintenance time and output.
  • the output information is provided to the user through a display or the like.
  • the characteristics of the motor drive system of the device (load machine 5) can be grasped without interfering with the work of the device (load machine 5) during normal operation.
  • an appropriate maintenance time can be output.
  • the phase margin which is an index for stability analysis of the control system, is used as the characteristics of the motor drive system, it has a high correlation with whether the motor drive system oscillates and accurately estimates an appropriate maintenance time It becomes possible.
  • the device characteristic analysis unit 25 can calculate the frequency characteristic with high accuracy, the phase margin can also be calculated with high accuracy. As a result, it is possible to accurately estimate an appropriate maintenance time.
  • the motor torque command which is an input signal of the frequency characteristic, has a flat gain characteristic in the entire frequency range. This is because if there is a portion that is not flat, the calculation accuracy of the frequency characteristics in the frequency region where the gain has dropped is degraded.
  • the motor torque command is obtained by adding a device characteristic measurement signal to the internal speed command. Since the device characteristic measurement signal is an M-sequence signal, it has white noise characteristics.
  • the internal speed command which is another component, has a gain characteristic that is as flat as possible. Since the acceleration in the constant speed region shown in FIG. 3 is substantially zero, the frequency component is only a direct current component, which satisfies this condition. Therefore, it is desirable to select the addition timing of the characteristic measurement signal from a period in which the acceleration of the operation command is substantially zero within the non-working period. Further, in the region near 0 speed, the relationship between the motor torque command, which is the input / output of the frequency characteristics, and the motor rotation speed becomes nonlinear due to the influence of static friction, and the calculation accuracy of the frequency characteristics deteriorates. For this reason, it is more desirable to select from a period in which the speed command is not 0 for a predetermined time or more. In the present embodiment, the addition period is determined in consideration of these two points.
  • the diagnosis system for an apparatus having an electric motor drive system grasps the characteristics of the electric motor drive system of the apparatus without disturbing the operation of the apparatus during normal operation. Therefore, it is possible to accurately estimate an appropriate maintenance time without reducing the operating rate of the apparatus.
  • the phase margin of the open loop frequency characteristic of the feedback control unit is used as the characteristic of the motor drive system.
  • the gain margin of the open loop frequency characteristic which is known as an index of stability of the control system, may be used.
  • the peak gain of the closed loop frequency characteristic which is also known as an index of stability of the control system, is used. Also good.
  • the device characteristic analysis unit 25 and the like are in the upper unit 1.
  • the amplifier 2 may have the function, or another element externally attached to the component of the present embodiment may have the function.
  • the addition period for adding the characteristic measurement signal is determined from the non-working period of the work classification information input by the command analysis unit 23.
  • the user may determine whether or not it is a non-work period and determine and input the timing.
  • phase margins When the frequency characteristic of the controlled object to which the electric motor 3 and the load machine 5 are connected is a multi-inertia system, there may be a plurality of points to be regarded as phase margins in the open loop frequency characteristic.
  • each estimation curve is created based on the time variation of each phase margin, and the time to reach the phase margin limit value earliest is output as the maintenance time. Also good.
  • all gain margins or all peak gains may be the characteristics of the motor drive system.
  • phase margin is used as the characteristic of the motor drive system.
  • phase margin two or more of phase margin, gain margin, and peak gain may be used.
  • each estimation curve may be created based on the time change of each value, and the time to reach each limit value set in advance earliest may be output as the maintenance time.
  • the present invention is useful for applications where it is desired to grasp the change in the characteristics of the apparatus and accurately estimate the appropriate maintenance time without reducing the operating rate of the apparatus with respect to the apparatus having an electric motor drive system.

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Abstract

La présente invention concerne un système de diagnostic, comprenant : une unité d'analyse de commande qui classifie des instructions de fonctionnement à un ensemble d'entraînement de moteur en périodes de fonctionnement et en périodes de non-fonctionnement, et dans les périodes de non-fonctionnement, détermine une période d'ajout dans laquelle un signal de mesure caractéristique pour mesurer une caractéristique de l'ensemble d'entraînement de moteur est ajouté à une commande qui est interne à l'ensemble d'entraînement de moteur ; un amplificateur qui, pendant la période d'ajout, ajoute le signal de mesure caractéristique à la commande qui est interne à l'ensemble d'entraînement de moteur, et entraîne un moteur à l'intérieur de l'ensemble d'entraînement de moteur sur la base de la commande post-ajout ; une unité d'analyse de caractéristique de dispositif qui acquiert des informations de réponse qui concernent l'état de fonctionnement de l'ensemble d'entraînement de moteur, et sur la base des informations de réponse, calcule une ou plusieurs valeurs caractéristiques de l'ensemble d'entraînement de moteur dans la période d'ajout ; et une unité de sortie de résultat d'analyse qui, sur la base des valeurs caractéristiques, estime une durée nécessaire aux valeurs caractéristiques pour atteindre une valeur seuil prédéfinie, et délivre la durée estimée en tant que durée de maintenance du dispositif.
PCT/JP2018/004541 2017-03-22 2018-02-09 Système de diagnostic Ceased WO2018173539A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-056692 2017-03-22
JP2017056692A JP2020079970A (ja) 2017-03-22 2017-03-22 診断システム

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020153472A (ja) * 2019-03-22 2020-09-24 三菱重工機械システム株式会社 油圧制御システムにおける状態を検知する装置と方法、および油圧制御システム

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JPH05207771A (ja) * 1992-01-22 1993-08-13 Matsushita Electric Ind Co Ltd サーボモータの異常検出装置
JPH07100724A (ja) * 1993-09-30 1995-04-18 Jatco Corp 被加工物用移動機構の監視装置
JPH09262517A (ja) * 1996-03-28 1997-10-07 Trinity Ind Corp 自動塗装装置の劣化度合監視装置
JP2000082662A (ja) * 1998-06-23 2000-03-21 Canon Inc 露光装置及び除振装置、システム同定装置及びその方法
JP2006227793A (ja) * 2005-02-16 2006-08-31 Yaskawa Electric Corp 電動機制御装置の制御パラメータ感度解析装置および電動機制御装置の制御パラメータ設定方法
JP2007090477A (ja) * 2005-09-28 2007-04-12 Toshiba Mach Co Ltd 電動式射出成形機の修繕予告方法および装置
JP2009186304A (ja) * 2008-02-06 2009-08-20 Yokogawa Electric Corp 位置決め装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05207771A (ja) * 1992-01-22 1993-08-13 Matsushita Electric Ind Co Ltd サーボモータの異常検出装置
JPH07100724A (ja) * 1993-09-30 1995-04-18 Jatco Corp 被加工物用移動機構の監視装置
JPH09262517A (ja) * 1996-03-28 1997-10-07 Trinity Ind Corp 自動塗装装置の劣化度合監視装置
JP2000082662A (ja) * 1998-06-23 2000-03-21 Canon Inc 露光装置及び除振装置、システム同定装置及びその方法
JP2006227793A (ja) * 2005-02-16 2006-08-31 Yaskawa Electric Corp 電動機制御装置の制御パラメータ感度解析装置および電動機制御装置の制御パラメータ設定方法
JP2007090477A (ja) * 2005-09-28 2007-04-12 Toshiba Mach Co Ltd 電動式射出成形機の修繕予告方法および装置
JP2009186304A (ja) * 2008-02-06 2009-08-20 Yokogawa Electric Corp 位置決め装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020153472A (ja) * 2019-03-22 2020-09-24 三菱重工機械システム株式会社 油圧制御システムにおける状態を検知する装置と方法、および油圧制御システム
JP7249835B2 (ja) 2019-03-22 2023-03-31 三菱重工機械システム株式会社 油圧制御システムにおける状態を検知する装置と方法、および油圧制御システム

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