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WO2023189134A1 - Système d'entraînement - Google Patents

Système d'entraînement Download PDF

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Publication number
WO2023189134A1
WO2023189134A1 PCT/JP2023/007536 JP2023007536W WO2023189134A1 WO 2023189134 A1 WO2023189134 A1 WO 2023189134A1 JP 2023007536 W JP2023007536 W JP 2023007536W WO 2023189134 A1 WO2023189134 A1 WO 2023189134A1
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WO
WIPO (PCT)
Prior art keywords
unit
control
drive
information
communication
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/JP2023/007536
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English (en)
Japanese (ja)
Inventor
亮介 阿部
悌 大野
聖 山脇
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.)
Omron Corp
Original Assignee
Omron Corp
Omron Tateisi Electronics Co
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 Omron Corp, Omron Tateisi Electronics Co filed Critical Omron Corp
Publication of WO2023189134A1 publication Critical patent/WO2023189134A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Definitions

  • the present invention relates to a drive system.
  • the drive unit In a drive system that drives a motor, the drive unit (driver) generally controls the motor according to instructions from a controller such as a PLC (Programmable Logic Controller), or the drive unit controls the motor based on preset information. Sometimes it is done.
  • a controller such as a PLC (Programmable Logic Controller)
  • PLC Programmable Logic Controller
  • Patent Document 1 describes a technology related to a servo drive system that controls and drives a plurality of servo motors.
  • a failure occurs in the control section of the drive unit and the control section stops, the drive unit may stop and the work being manufactured may be damaged. Furthermore, the drive system cannot be restarted until the failed control unit is replaced, which reduces work efficiency.
  • the present invention has been made in view of the above circumstances, and its purpose is to provide a technology that allows the drive system to continue operating even when the control section of the drive unit stops. .
  • a drive system includes a controller, a first drive unit, and a second drive unit, and control information transmitted from the controller is transmitted to the controller via the first drive unit and the second drive unit.
  • the first drive unit includes a first communication section that transmits and receives the control information, a first control section, and a first drive section that drives a first electric motor connected to the first drive unit.
  • the second drive unit includes a second communication section that transmits and receives the control information, a second control section, and a second drive section that drives a second electric motor connected to the second drive unit.
  • the first control section is capable of controlling the first drive section and the second drive section based on the control information via a connection line connecting the first drive unit and the second drive unit.
  • the second control section can control the first drive section and the second drive section via the connection line based on the control information, and the first control section can control the first drive section and the second drive section based on the control information.
  • the control section When the control section is operating, the first drive section is controlled; when the second control section is stopped, the first drive section and the second drive section are controlled; When the first control section is operating, the second drive section is controlled, and when the first control section is stopped, the first drive section and the second drive section are controlled.
  • the first control section of the first drive unit controls the second drive section of the second drive unit via the connection line to control the second drive section connected to the second drive unit. Drives an electric motor. Even if the second control section of the second drive unit stops, the first control section of the first drive unit adjacent to the second drive unit controls the second drive section of the second drive unit, so that the second drive unit Stopping of the connected second electric motor can be avoided. This prevents the second drive unit from stopping and allows the drive system to continue operating.
  • the second control section of the second drive unit controls the first drive section of the first drive unit via the connection line to control the first drive section connected to the first drive unit. Drives an electric motor.
  • the second control section of the second drive unit adjacent to the first drive unit controls the first drive section of the first drive unit, so that the first drive unit Stopping of the connected first electric motor can be avoided. This prevents the first drive unit from stopping and allows the drive system to continue operating.
  • This drive unit may have the following features.
  • the control information is transmitted and received between a communication device included in the controller and the first communication unit, the control information is transmitted and received between the first communication unit and the second communication unit, and the control information is transmitted and received between the first communication unit and the second communication unit, and the first
  • the first control unit includes first operation information regarding the operation of the first electric motor and second operation information regarding the operation of the second electric motor in the control information.
  • the second control unit receives the control information from the first communication unit
  • the second control unit includes the first operation information and the second operation information in the control information. Perform the second process to By performing the first process, the control information includes first operation information and second operation information.
  • the controller can acquire the first operation information and the second operation information from the control information. Therefore, the controller can include a command value related to driving the second motor in the control information based on the second operation information. This prevents the second drive unit from stopping and allows the drive system to continue operating.
  • the control information includes first operation information and second operation information. Therefore, even if the first control section of the first drive unit stops, the controller can acquire the first operation information and the second operation information from the control information. Therefore, the controller can include a command value related to driving the first motor in the control information based on the first operation information. This prevents the first drive unit from stopping and allows the drive system to continue operating.
  • This drive unit may have the following features.
  • the second control unit performs the second processing.
  • the second control section of the second drive unit performs the second process.
  • This drive unit may have the following features. If the first communication unit receives the control information from the communication device and the second communication unit is stopped, after the first process is performed, the first communication unit receives the control information from the communication device. The control information is transmitted to. Since the first communication section of the first drive unit sends control information to the communication device after the first control section of the first drive unit performs the first process, the control information includes the first operation information and the second operation information.
  • This drive unit may have the following features.
  • the first communication unit receives the control information from the communication device and the second communication unit and the second control unit are stopped, after the first process is performed, the first A communication unit transmits the control information to the communication device. Since the first communication section of the first drive unit sends control information to the communication device after the first control section of the first drive unit performs the first process, the control information includes the first operation information and the second operation information.
  • This drive unit may have the following features.
  • the second communication unit receives the control information from the communication device and the first communication unit is stopped, after the second process is performed, the second communication unit receives the control information from the communication device.
  • the control information is transmitted to. Since the second communication section of the second drive unit sends the control information to the communication device after the second control section of the second drive unit performs the second process, the control information includes the first operation information and the second operation information.
  • This drive unit may have the following features.
  • the second communication unit receives the control information from the communication device and the first communication unit and the first control unit are stopped, after the second process is performed, the second communication unit A communication unit transmits the control information to the communication device. Since the second communication section of the second drive unit sends the control information to the communication device after the second control section of the second drive unit performs the second process, the control information includes the first operation information and the second operation information.
  • This drive unit may have the following features.
  • the first control unit controls the first drive unit and acquires the first operation information, and transmits the first operation information via the connection line.
  • the second control unit controls the second drive unit and acquires the second operation information when the first control unit is operating, and the second control unit controls the connection.
  • the second operation information is sent to the first controller via a line.
  • the first operation information and the second operation information can be shared between the first control section of the first drive unit and the second control section of the second drive unit.
  • the communication device has a first area storing a first command value related to driving the first electric motor, a second area storing a second command value related to driving the second electric motor, a third area, and a fourth area. area, a fifth area, and a sixth area, the first control unit stores the first operation information in the third area, and stores the second operation information in the fourth area. The second control unit stores the first operation information in the fifth area and stores the second operation information in the sixth area.
  • the control information includes the first command value, the second command value, the first operation information and second operation information stored by the first control section of the first drive unit, and the second control value of the second drive unit.
  • First operation information and second operation information stored by the unit are included.
  • the communication device has a first area storing a first command value related to driving the first electric motor, a second area storing a second command value related to driving the second electric motor, a third area, and a fourth area.
  • the first control unit stores the first operation information in the third area, stores the second operation information in the fourth area, and transmits the control information including the second control area.
  • the unit stores the first motion information in the third area and stores the second motion information in the fourth area.
  • the control information includes the first command value, the second command value, and the first operation information and second operation information stored by the first control section of the first drive unit or the second control section of the second drive unit. and is included.
  • FIG. 1 is a diagram showing an example of the configuration of a drive system according to the first embodiment.
  • FIG. 2 is a diagram showing an example of control information.
  • FIG. 3 is a diagram illustrating an example of the operation of each drive unit when the control section is stopped.
  • FIG. 4 is a diagram showing an example of control information.
  • FIG. 5 is a diagram showing an example of each configuration of each drive unit.
  • FIG. 6 is a diagram illustrating an example of the operation of each drive unit when the control section is stopped.
  • FIG. 7 is a diagram showing the configuration of a drive system according to a comparative example.
  • FIG. 8 is a diagram showing a frame according to a comparative example.
  • FIG. 9 is a diagram showing the operation of each drive unit when the communication section according to the comparative example stops.
  • FIG. 1 is a diagram showing an example of the configuration of a drive system according to the first embodiment.
  • FIG. 2 is a diagram showing an example of control information.
  • FIG. 3 is a
  • FIG. 10 is a diagram showing an example of the configuration of each drive system according to the second embodiment.
  • FIG. 11 is a diagram illustrating an example of the operation of each drive unit when the communication section and the control section are stopped.
  • FIG. 12 is a diagram showing an example of control information.
  • FIG. 13 is a diagram showing the configuration of a drive system according to a comparative example.
  • FIG. 14 is a diagram showing the operation of each drive unit when the communication section according to the comparative example stops.
  • FIG. 15 is a diagram showing control information in a modified example.
  • FIG. 1 is a diagram showing an example of the configuration of a drive system 100 according to the first embodiment.
  • the drive system 100 includes a PLC 1, drive units 2A, 2B, and motors 3A, 3B.
  • the drive unit 2A controls the motors (servo motors) 3A and 3B based on commands from the PLC 1.
  • the drive unit 2A is an example of a first drive unit.
  • Drive unit 2B controls motors 3A and 3B based on commands from PLC1.
  • Drive unit 2B is an example of a second drive unit.
  • the control targets of the drive units 2A and 2B are the motors 3A and 3B, but the configuration is not limited to that of FIG.
  • the PLC 1 and the drive units 2A and 2B are connected by wire.
  • a communication method between the PLC 1 and the drive units 2A and 2B for example, a communication protocol such as EtherCAT (registered trademark) may be used.
  • EtherCAT registered trademark
  • a motor 3A is connected to the drive unit 2A, and a motor 3B is connected to the drive unit 2B.
  • Motor 3A is an example of a first electric motor.
  • Motor 3B is an example of a second electric motor.
  • the PLC 1 functions, for example, as a monitoring device for the drive system 100 by executing processing according to a program prepared in advance.
  • PLC1 is an example of a controller.
  • Control information is transmitted from PLC1.
  • control information transmitted from the PLC 1 is returned to the PLC 1 via the drive units 2A and 2B.
  • the control information includes a command value for driving the motor 3A (first command value) and a command value for driving the motor 3B (second command value). Details of the control information will be described later.
  • the drive units 2A and 2B are provided with a built-in bus 20, which is a connection line that connects the drive unit 2A and the drive unit 2B.
  • the drive unit 2A includes a communication section 21A, a control section 22A, a drive section 23A, and a power connector 24A.
  • the drive unit 2B includes a communication section 21B, a control section 22B, a drive section 23B, and a power connector 24B.
  • the communication units 21A and 21B transmit and receive control information.
  • the communication unit 21A is an example of a first communication unit.
  • the communication unit 21B is an example of a second communication unit. Control information is transmitted and received between the communication device 11 included in the PLC 1 and the communication section 21A. Further, control information is transmitted and received between the communication section 21A and the communication section 21B.
  • a motor 3A is connected to the drive unit 2A via a power connector 24A.
  • the drive unit 23A is a drive circuit that drives the motor 3A connected to the drive unit 2A.
  • the drive unit 23A is an example of a first drive unit.
  • a motor 3B is connected to the drive unit 2B via a power connector 24B.
  • the drive section 23B is a drive circuit that drives the motor 3B connected to the drive unit 2B.
  • the drive section 23B is an example of a second drive section.
  • the control unit 22A can control the drive units 23A and 23B via the built-in bus 20 based on the control information.
  • the control unit 22A is an example of a first control unit.
  • the control section 22B can control the drive sections 23A and 23B via the built-in bus 20 based on the control information.
  • the control unit 22B is an example of a second control unit.
  • the control section 22A controls the drive section 23A when the control section 22B is operating, and controls the drive sections 23A and 23B when the control section 22B is stopped. Stopping of the control unit 22B includes cases where the control unit 22B needs to be repaired or replaced due to a failure of the control unit 22B, cases where the control unit 22B needs to be restarted, and the like.
  • the control unit 22A controls the motor 3A by controlling the drive unit 23A, and controls the motor 3B by controlling the drive unit 23B.
  • the control information includes a command value for driving the motor 3A and a command value for driving the motor 3B.
  • the control unit 22A acquires a command value regarding the drive of the motor 3A from the control information, and controls the drive unit 23A based on the command value regarding the drive of the motor 3A.
  • the control unit 22A acquires a command value regarding the drive of the motor 3B from the control information, and controls the drive unit 23B based on the command value regarding the drive of the motor 3B.
  • the control unit 22B controls the drive unit 23B when the control unit 22A is operating, and controls the drive units 23A and 23B when the control unit 22A is stopped. Stopping of the control unit 22A includes cases where the control unit 22A needs to be repaired or replaced due to a failure of the control unit 22A, cases where the control unit 22A needs to be restarted, and the like.
  • the control unit 22B controls the motor 3A by controlling the drive unit 23A, and controls the motor 3B by controlling the drive unit 23B.
  • the control unit 22B acquires a command value regarding the drive of the motor 3A from the control information, and controls the drive unit 23A based on the command value regarding the drive of the motor 3A.
  • the control unit 22B acquires a command value regarding the drive of the motor 3B from the control information, and controls the drive unit 23B based on the command value regarding the drive of the motor 3B.
  • FIG. 2 is a diagram showing an example of control information.
  • (A-1) and (A-2) in FIG. 2 show frames that are examples of control information, and the frame (A-1) in FIG. 2 is a frame transmitted from the PLC 1.
  • the frame (A-2) in FIG. 2 is a frame received by the PLC1.
  • the frame of FIG. 2 may be, for example, an EtherCAT (registered trademark) frame.
  • the frame in FIG. 2 includes a header, a footer, an area (1) for storing the command value (A), an area (2) for storing the command value (B), and an area (2) for storing the current value (A).
  • the command value (A) is a command value for driving the motor 3A
  • the command value (B) is a command value for driving the motor 3B.
  • Areas (3) and (4) of the frame are areas updated by the control unit 22A
  • areas (5) and (6) of the frame are areas updated by the control unit 22B. Since the frame (A-1) in FIG. 2 does not pass through the drive units 2A and 2B, the current values (A) and (B) are not stored in the areas (3) to (6) of the frame.
  • the control unit 22A When the communication unit 21A receives control information from the communication device 11, the control unit 22A performs a process (hereinafter referred to as “first operation information”) of including in the control information first operation information regarding the operation of the motor 3A and second operation information regarding the operation of the motor 3B. (referred to as 1 process).
  • the first operation information regarding the operation of the motor 3A includes, for example, information such as the rotational speed and position of the motor 3A.
  • the second operation information regarding the operation of the motor 3B includes, for example, information such as the rotational speed and position of the motor 3B.
  • the control unit 22A stores the current value (A) which is the first operation information in the area (3) of the frame, and stores the current value (A) which is the first operation information in the area (4) of the frame. Stores the current value (B) which is operation information.
  • the control unit 22B performs a process (hereinafter referred to as a second process) of including the first operation information and the second operation information in the control information.
  • the control unit 22B stores the current value (A) which is the first operation information in the area (5) of the frame, and stores the current value (A) which is the first operation information in the area (6) of the frame. Stores the current value (B) which is operation information.
  • areas (3) and (4) of the frame are updated by the control unit 22A, and areas (5) and (6) of the frame are updated by the control unit 22B. Accordingly, the current value (A) is stored in areas (3) and (5) of the frame, and the current value (B) is stored in areas (4) and (6) of the frame. Therefore, the frame includes the command value (A), the command value (B), the current values (A) and (B) stored by the control unit 22A, and the current value (A) stored by the control unit 22B. and (B).
  • the communication device 11 receives control information via the drive units 2A and 2B.
  • the PLC 1 acquires first operation information stored by the control unit 22A from the control information, and acquires second operation information stored by the control unit 22B from the control information.
  • the communication device 11 receives the frame (A-2) in FIG. 2
  • the PLC 1 obtains the current value (A) stored in the area (3) of the frame, and obtains the current value (A) stored in the area (6) of the frame.
  • the PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing.
  • the control unit 22A acquires a command value regarding driving the motor 3A and a command value regarding driving the motor 3B from the control information. Further, when the communication unit 21B receives control information from the communication unit 21A, the control unit 22B acquires a command value related to driving the motor 3A and a command value related to driving the motor 3B from the control information. In this way, the command value for driving the motor 3A and the command value for driving the motor 3B can be shared between the drive unit 2A and the drive unit 2B.
  • the control unit 22A controls the drive unit 23A, acquires the first operation information, and sends the first operation information to the control unit 22B via the built-in bus 20.
  • the control unit 22B controls the drive unit 23B, acquires the second operation information, and sends the second operation information to the control unit 22A via the built-in bus 20.
  • the information regarding the operation of the motor 3A (first operation information) and the information regarding the operation of the motor 3B (second operation information) are shared between the control section 22A of the drive unit 2A and the control section 22B of the drive unit 2B. be able to.
  • control unit 22A controls the drive unit 23A and the drive unit 23B, and acquires the first operation information and the second operation information.
  • control unit 22B controls the drive unit 23A and the drive unit 23B, and acquires the first operation information and the second operation information.
  • FIG. 3 is a diagram showing an example of the operation of the drive units 2A and 2B when the control section 22A is stopped.
  • the control section 22B controls the drive sections 23A and 23B based on the control information.
  • FIG. 4 is a diagram showing an example of control information.
  • (A-3) and (A-4) in FIG. 4 show frames that are examples of control information, and the frame (A-3) in FIG. 4 is a frame transmitted from the PLC 1.
  • the frame (A-4) in FIG. 4 is a frame received by the PLC1.
  • the frame (A-3) in FIG. 4 is similar to the frame (A-1) in FIG.
  • the control unit 22A Since the control unit 22A is stopped, the current values (A) and (B) are not stored in areas (3) and (4) of the frame (A-4) in FIG. 4.
  • the control unit 22A performs the second process.
  • the control unit 22B stores the current value (A) which is the first operation information in the area (5) of the frame, and stores the current value (A) which is the first operation information in the area (6) of the frame. Stores the current value (B) which is operation information. As shown in the frame (A-4) of FIG.
  • the current value (A) is stored in the frame area (5), and the current value (B) is stored in the frame area (6).
  • the communication unit 21B transmits the frame in which the current values (A) and (B) are stored to the communication unit 21A. Note that since the control unit 22A is stopped, the first process is not performed.
  • the communication device 11 receives control information via the drive units 2A and 2B.
  • the PLC 1 acquires the first operation information and the second operation information stored by the control unit 22B from the control information.
  • the communication device 11 receives the frame (A-4) in FIG. 4, the PLC 1 obtains the current value (A) stored in the area (5) of the frame, and obtains the current value (A) stored in the area (6) of the frame.
  • the PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing.
  • FIG. 5 is a diagram showing an example of each configuration of the drive units 2A and 2B.
  • the control section 22A has a motor control signal calculation section (hereinafter referred to as calculation section) 25A, and the control section 22B has a calculation section 25B.
  • calculation section a motor control signal calculation section
  • an encoder 4A is provided near the motor 3A
  • an encoder 4B is provided near the motor 3B.
  • the calculation unit 25A generates and outputs a control signal for controlling the drive of the motor 3A based on the command value (A) included in the control information.
  • a control signal for controlling the drive of the motor 3A is input to the drive section 23A via the built-in bus 20.
  • the drive unit 23A drives the motor 3A according to a control signal for controlling the drive of the motor 3A.
  • Encoder 4A sends position information of motor 3A to drive unit 23A.
  • the drive unit 23A sends position information of the motor 3A to the calculation unit 25A via the built-in bus 20.
  • the calculation unit 25A acquires the position information of the motor 3A, and sends the position information of the motor 3A to the calculation unit 25B via the built-in bus 20. Further, the drive unit 23A may send position information of the motor 3A to the calculation unit 25B via the built-in bus 20.
  • the calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3B based on the command value (B) included in the control information.
  • a control signal for controlling the drive of the motor 3B is input to the drive section 23B via the built-in bus 20.
  • the drive unit 23B drives the motor 3B according to a control signal for controlling the drive of the motor 3B.
  • Encoder 4B sends position information of motor 3B to drive unit 23B.
  • the drive section 23B sends position information of the motor 3B to the calculation section 25B via the built-in bus 20.
  • the calculation unit 25B acquires the position information of the motor 3B, and sends the position information of the motor 3B to the calculation unit 25A via the built-in bus 20. Further, the drive unit 23B may send position information of the motor 3B to the calculation unit 25A via the built-in bus 20.
  • the calculation unit 25A generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B.
  • the calculation unit 25A stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information.
  • the calculation unit 25B generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B.
  • the calculation unit 25B stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information.
  • FIG. 6 is a diagram showing an example of the operation of the drive units 2A and 2B when the control section 22A is stopped.
  • the control section 22B controls the drive sections 23A and 23B based on the control information.
  • the calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3A based on the command value (A) included in the control information. Further, the calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3B based on the command value (B) included in the control information.
  • a control signal for controlling the drive of the motor 3A is input to the drive section 23A via the built-in bus 20.
  • a control signal for controlling the drive of the motor 3B is input to the drive section 23B via the built-in bus 20.
  • the drive unit 23A drives the motor 3A according to a control signal for controlling the drive of the motor 3A.
  • the drive unit 23B drives the motor 3B according to a control signal for controlling the drive of the motor 3B.
  • the encoder 4A sends position information of the motor 3A to the drive unit 23A.
  • Encoder 4B sends position information of motor 3B to drive unit 23B.
  • the drive unit 23A sends position information of the motor 3A to the calculation unit 25B via the built-in bus 20.
  • the drive section 23B sends position information of the motor 3B to the calculation section 25B via the built-in bus 20.
  • the calculation unit 25B acquires the position information of the motor 3A and the position information of the motor 3B.
  • the calculation unit 25B generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B.
  • the calculation unit 25B stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information.
  • the control section 22B accesses the drive section 23A via the built-in bus 20 and controls the motor 3A. Thereby, the control section 22B can control the drive section 23A to drive the motor 3A. In this way, even if the control section 22A of the drive unit 2A stops, the control section 22B of the drive unit 2B adjacent to the drive unit 2A controls the drive section 23A, thereby avoiding stopping of the motor 3A. . Stopping of the drive unit 2A is avoided, and the drive system 100 can continue to operate.
  • the control information includes the first operation information and the second operation information. Therefore, even if the control section 22A of the drive unit 2A stops, the PLC 1 can acquire the first operation information and the second operation information from the control information. Therefore, the PLC 1 can include a command value related to driving the motor 3A in the control information based on the first operation information. This prevents the drive unit 2A from stopping and allows the drive system 100 to continue operating.
  • the drive unit 2A sends the current value (A) of the motor 3A, which is the control target of the drive unit 2A, and the current value (B) of the motor 3B, which is the control target of the drive unit 2B, to the PLC1. That is, the drive unit 2A includes information regarding the operation of the motor 3A that is the control target of the drive unit 2A (first operation information), and information (second operation information) regarding the operation of the motor 3B that is the control target of the drive unit 2B. control information is sent to PLC1. Thereby, even if a failure occurs in the control section 22B of the drive unit 2B, the PLC 1 can obtain the first operation information and the second operation information by receiving the control information.
  • the drive unit 2B sends the current value (A) of the motor 3A, which is the control target of the drive unit 2A, and the current value (B) of the motor 3B, which is the control target of the drive unit 2B, to the PLC1. That is, the drive unit 2B includes information regarding the operation of the motor 3A that is the control target of the drive unit 2A (first operation information), and information (first operation information) regarding the operation of the motor 3B that is the control target of the drive unit 2B. control information is sent to PLC1. Thereby, even if a failure occurs in the control section 22A of the drive unit 2A, the PLC 1 can obtain the first operation information and the second operation information by receiving the control information.
  • the control section 22A controls the drive sections 23A and 23B based on the control information. Thereby, the control section 22A can control the drive section 23B to drive the motor 3B. In this way, even if the control section 22B of the drive unit 2B stops, the control section 22A of the drive unit 2A adjacent to the drive unit 2B controls the drive section 23B, thereby avoiding stopping of the motor 3B. . Stopping of the drive unit 2B is avoided, and the drive system 100 can continue to operate.
  • the communication unit 21A receives control information from the communication device 11 and the control unit 22B is stopped, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11.
  • the control information includes first operation information and second operation information. Therefore, even if the control section 22B of the drive unit 2B stops, the PLC 1 can acquire the first operation information and the second operation information from the control information. Therefore, the PLC 1 can include a command value related to driving the motor 3B in the control information based on the second operation information. This prevents the drive unit 2B from stopping and allows the drive system 100 to continue operating.
  • control section 22A controls the drive sections 23A and 23B based on the control information.
  • the control unit 22A receives control information from the communication device 11 and the communication unit 21B and the control unit 22B are stopped, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11.
  • FIG. 7 is a diagram showing the configuration of a drive system 200 according to a comparative example.
  • the drive system 200 includes a PLC 201, drive units 202A, 202B, and motors 203A, 203B.
  • PLC 201 has a communication device 211.
  • the drive unit 202A includes a communication section 221A, a control section 222A, and a power connector 223A.
  • a motor 203A is connected to the drive unit 202A via a power connector 223A.
  • Drive unit 202B includes a communication section 221B, a control section 222B, and a power connector 223B.
  • a motor 203B is connected to the drive unit 202B via a power connector 223B.
  • FIG. 8 is a diagram showing a frame according to a comparative example.
  • the frame (B-1) in FIG. 8 is a frame transmitted from the PLC 201, and the frame (B-2) in FIG. 8 is a frame received by the PLC 201.
  • the frame in FIG. 8 is an EtherCAT (registered trademark) frame.
  • the frame in FIG. 8 includes a header, a footer, an area (21) for storing a command value (C), and an area (22) for storing a command value (D).
  • the command value (C) is a command value for driving the motor 203A
  • the command value (D) is a command value for driving the motor 203B.
  • the frame area (21) is an area updated by the control unit 222A
  • the frame area (22) is an area updated by the control unit 222B.
  • the current value (D) is stored in the area (21) of the frame.
  • the current value (D) is stored in the area (22) of the frame.
  • the communication unit 221A receives a frame transmitted from the communication device 211.
  • the control unit 222A controls the motor 203A based on the command value (C) of the frame received from the communication device 211.
  • the communication unit 221B receives frames transmitted from the communication unit 221A.
  • the control unit 222B controls the motor 203B based on the command value (D) of the frame received from the communication unit 221A.
  • the control unit 222A cannot control the motor 203B connected to the drive unit 202B.
  • the control unit 222B cannot control the motor 203A connected to the drive unit 202A.
  • FIG. 9 is a diagram showing the operation of the drive units 202A and 202B when the communication unit 221A according to the comparative example stops.
  • the drive unit 202A cannot acquire frames from the PLC 201. Therefore, the control unit 222A cannot control the motor 203A, and the motor 203A stops.
  • the drive unit 202B cannot acquire frames from the drive unit 202A. Therefore, the control unit 222B cannot control the motor 203B, and the motor 203B stops.
  • the drive system 200 according to the comparative example when the communication unit 221A stops, the drive units 202A and 202B cannot continue operating, and the motors 203A and 203B stop. Therefore, the drive system 200 according to the comparative example cannot continue to operate.
  • FIG. 10 is a diagram showing an example of the configuration of a drive system 100 according to the second embodiment.
  • the PLC 1 and the drive units 2A and 2B are communicably connected by a so-called ring topology. Control information is transmitted and received between the communication device 11 of the PLC 1 and the communication section 21A of the drive unit 2A. Further, control information is transmitted and received between the communication section 21A of the drive unit 2A and the communication section 21B of the drive unit 2B. Further, control information is transmitted and received between the communication device 11 of the PLC 1 and the communication section 21B of the drive unit 2B.
  • control information is transmitted from the communication device 11 of the PLC 1 to the communication section 21A of the drive unit 2A, and control information is transmitted from the communication section 21A of the drive unit 2A to the communication section 21B of the drive unit 2B.
  • the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication unit 21B.
  • the control unit 22B receives the control information from the communication unit 21A, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication device 11.
  • control information is transmitted from the communication device 11 of the PLC 1 to the communication section 21B of the drive unit 2B, and control information is transmitted from the communication section 21B of the drive unit 2B to the communication section 21A of the drive unit 2A.
  • the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication unit 21A.
  • the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication device 11.
  • the second case will be explained.
  • the communication unit 21B When the communication unit 21B receives control information from the communication device 11, the communication unit 21B transmits the control information to the communication unit 21A.
  • the control unit 22A When the communication unit 21A receives control information from the communication unit 21B, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication unit 21B.
  • the control unit 22B When the communication unit 21B receives the control information from the communication unit 21A, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication device 11. For example, if the cable between the communication device 11 and the communication unit 21A is disconnected, the process described in the second case is performed.
  • FIG. 11 is a diagram showing an example of the operation of the drive units 2A and 2B when the communication section 21A and the control section 22A are stopped.
  • the communication unit 21B receives control information from the communication device 11.
  • the control section 22B controls the drive sections 23A and 23B based on the control information.
  • FIG. 12 is a diagram showing an example of control information.
  • (A-5) and (A-6) in FIG. 12 show frames that are examples of control information, and the frame (A-5) in FIG. 12 is a frame transmitted from the PLC 1.
  • the frame (A-6) in FIG. 12 is a frame received by the PLC1.
  • the frame (A-5) in FIG. 12 is similar to the frame (A-1) in FIG. Since the communication unit 21A and the control unit 22A are stopped, the current values (A) and (B) are not stored in areas (3) and (4) of the frame (A-6) in FIG. 12.
  • the control unit 22B performs the second process. After the second process is performed, the communication unit 21B sends control information to the communication device 11. After the control unit 22B performs the second process, the communication unit 21B sends the control information to the communication device 11, so the control information includes the first operation information and the second operation information.
  • the control unit 22B receives a frame from the communication device 11, the control unit 22B stores the current value (A), which is the first operation information, in the area (5) of the frame, and stores the second value in the area (6) of the frame. Stores the current value (B) which is operation information. As shown in the frame (A-6) of FIG. 12, the current value (A) is stored in the frame area (5), and the current value (B) is stored in the frame area (6).
  • the communication unit 21B transmits the frame in which the current values (A) and (B) are stored to the communication device 11.
  • control section 22A controls the drive sections 23A and 23B based on the control information.
  • the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11. Since the communication unit 21A sends control information to the communication device 11 after the control unit 22A performs the first process, the control information includes the first operation information and the second operation information.
  • the control unit 22B performs the second process. After the second process is performed, the communication unit 21B sends control information to the communication device 11. After the control unit 22B performs the second process, the communication unit 21B sends the control information to the communication device 11, so the control information includes the first operation information and the second operation information.
  • the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11. Since the communication unit 21A sends control information to the communication device 11 after the control unit 22A performs the first process, the control information includes the first operation information and the second operation information.
  • FIG. 13 is a diagram showing the configuration of a drive system 300 according to a comparative example.
  • a PLC 201 and drive units 202A and 202B are communicably connected by a so-called ring topology.
  • the other configuration of the drive system 300 according to the comparative example shown in FIG. 13 is the same as the configuration of the drive system 200 according to the comparative example shown in FIG.
  • the frames transmitted and received in the drive system 300 according to the comparative example shown in FIG. 13 are the same as the frames according to the comparative example shown in FIG.
  • the communication unit 221A receives a frame transmitted from the communication device 211.
  • the control unit 222A controls the motor 203A based on the command value (C) of the frame received from the communication device 211.
  • the communication unit 221B receives frames transmitted from the communication unit 221A.
  • the control unit 222B controls the motor 203B based on the command value (D) of the frame received from the communication unit 221A.
  • the control unit 222A cannot control the motor 203B connected to the drive unit 202B.
  • the control unit 222B cannot control the motor 203A connected to the drive unit 202A.
  • FIG. 14 is a diagram showing the operation of the drive units 202A and 202B when the communication unit 221A according to the comparative example stops.
  • the drive unit 202A cannot acquire frames from the PLC 201. Therefore, the control unit 222A cannot control the motor 203A, and the motor 203A stops.
  • the drive unit 202B can acquire frames from the PLC 201. Therefore, the control unit 222B can control the motor 203B, and can avoid stopping the motor 203B.
  • the drive system 300 according to the comparative example when the communication unit 221A stops, the drive unit 202A cannot continue its operation, and the motor 203A stops. Therefore, the drive system 300 according to the comparative example cannot continue to operate.
  • FIG. 15 is a diagram showing control information in a modified example.
  • (A-7) and (A-8) in FIG. 15 show frames that are examples of control information, and the frame (A-7) in FIG. 15 is a frame transmitted from the PLC 1.
  • the frame (A-7) in FIG. 15 is a frame received by the PLC1.
  • the frame in FIG. 15 may be, for example, an EtherCAT (registered trademark) frame.
  • the frame in FIG. 15 includes a header, a footer, an area (11) for storing the command value (A), an area (12) for storing the command value (B), and an area (12) for storing the current value (A).
  • the command value (A) is a command value for driving the motor 3A
  • the command value (B) is a command value for driving the motor 3B.
  • Areas (3) and (4) of the frame are areas that are updated by the control unit 22A as well as areas that are updated by the control unit 22B. Since the frame (A-7) in FIG. 15 does not pass through the drive units 2A and 2B, the current values (A) and (B) are not stored in areas (3) and (4) of the frame.
  • the control unit 22A updates regions (13) and (14) of the frame by performing the first process. That is, the control unit 22A stores the current value (A) in the frame area (13), and stores the current value (B) in the frame area (14).
  • the communication unit 21A sends a frame in which the current value (A) and the current value (B) are stored to the communication unit 21B.
  • the control unit 22B updates regions (13) and (14) of the frame by performing the second process. When the communication unit 21B receives a frame from the communication unit 21A, the current value (A) and the current value (B) are already stored in areas (13) and (14) of the frame.
  • the control unit 22B overwrites the current value (A) and current value (B) stored in areas (13) and (14) of the frame. Therefore, the frame includes the command value (A), the command value (B), and the current values (A) and (B) stored by the control unit 22A or the control unit 22B.
  • the communication device 11 receives frames that have passed through the drive units 2A and 2B.
  • PLC1 acquires the current value (A) and current value (B) from areas (13) and (14) of the frame.
  • the PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing.
  • the control unit 22A is stopped, the control unit 22B can store the current value (A) and the current value (B) in areas (13) and (14) of the frame.
  • the control unit 22A can store the current value (A) and the current value (B) in the areas (13) and (14) of the frame. Therefore, even if the control unit 22A or the control unit 22B stops, the PLC 1 can obtain the current value (A) and the current value (B) from the frame, and the drive system 100 can continue to operate.
  • the first drive unit (2A) includes a first communication section (21A) that transmits and receives the control information, a first control section (22A), and a first electric motor (3A) connected to the first drive unit (2A).
  • the second drive unit (2B) includes a second communication section (21B) that transmits and receives the control information, a second control section (22B), and a second electric motor (3B) connected to the second drive unit (2B).
  • a second drive unit (23B) that drives the Based on the control information, the first control section (21B) controls the first drive section (21B) via a connection line (20) connecting the first drive unit (2A) and the second drive unit (2B).
  • the second control unit (22B) can control the first drive unit (23A) and the second drive unit (23B) via the connection line (20) based on the control information,
  • the first control section (22A) controls the first drive section (23A) when the second control section (22B) is operating, and when the second control section (22B) is stopped.
  • the second control section (22B) controls the second drive section (23B) when the first control section (22A) is operating, and when the first control section (22A) is stopped.
  • controlling the first driving section (23A) and the second driving section (23B) Drive system (100).
  • the control information is transmitted and received between the communication device (11) of the controller (1) and the first communication unit (21A), and the control information is transmitted and received between the communication device (11) of the controller (1) and the first communication unit (21A), and ), the control information is transmitted and received between When the first communication unit (21A) receives the control information from the communication device (11), the first control unit (22A) receives the first operation information regarding the operation of the first electric motor (3A) and the first operation information regarding the operation of the first electric motor (3A).
  • the control information is transmitted and received between the communication device (11) and the second communication unit (21B), When the second communication unit (21B) receives the control information from the communication device (11), the second control unit (22B) performs the second process.
  • the drive system (100) according to Appendix 2.
  • the communication device (11) has a first area storing a first command value related to driving the first electric motor (3A) and a second area storing a second command value related to driving the second electric motor (3B). and transmitting the control information including a third area, a fourth area, a fifth area, and a sixth area,
  • the first control unit (22A) stores the first operation information in the third area and stores the second operation information in the fourth area
  • the second control unit (22B) stores the first operation information in the fifth area and stores the second operation information in the sixth area.
  • the drive system (100) according to any one of appendices 2 to 8.
  • the communication device (11) has a first area storing a first command value related to driving the first electric motor (3A) and a second area storing a second command value related to driving the second electric motor (3B). transmitting the control information including a third area and a fourth area;
  • the first control unit (22A) stores the first operation information in the third area and stores the second operation information in the fourth area,
  • the second control unit (22B) stores the first operation information in the third area and stores the second operation information in the fourth area.
  • the drive system (100) according to any one of appendices 2 to 8.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Programmable Controllers (AREA)

Abstract

La présente invention permet à un système d'entraînement de continuer à fonctionner même lorsque l'unité de commande d'une unité d'entraînement s'arrête. Le système d'entraînement comprend un dispositif de commande, une première unité d'entraînement et une seconde unité d'entraînement, et des informations de commande transmises à partir du dispositif de commande sont renvoyées au dispositif de commande par l'intermédiaire de la première unité d'entraînement et de la seconde unité d'entraînement. La première unité d'entraînement a une première unité de communication, une première unité d'entraînement et une première unité de commande, et la seconde unité d'entraînement a une seconde unité de communication, une seconde unité d'entraînement et une seconde unité de commande. La première unité de commande commande la première unité d'entraînement lorsque la seconde unité de commande fonctionne, et commande la première unité d'entraînement et la seconde unité d'entraînement lorsque la seconde unité de commande s'arrête. La seconde unité de commande commande la seconde unité d'entraînement lorsque la première unité de commande fonctionne, et commande la première unité d'entraînement et la seconde unité d'entraînement lorsque la première unité de commande s'arrête.
PCT/JP2023/007536 2022-04-01 2023-03-01 Système d'entraînement Ceased WO2023189134A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009128216A1 (fr) * 2008-04-15 2009-10-22 パナソニック株式会社 Dispositif de moteur, système d'entraînement de moteur muni de dispositifs de moteur, et dispositif de circuit intégré
WO2018179268A1 (fr) * 2017-03-30 2018-10-04 株式会社安川電機 Système de commande de moteur, procédé de commande, et dispositif de commande de moteur
WO2020195552A1 (fr) * 2019-03-27 2020-10-01 オムロン株式会社 Système d'alimentation électrique asservi

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009128216A1 (fr) * 2008-04-15 2009-10-22 パナソニック株式会社 Dispositif de moteur, système d'entraînement de moteur muni de dispositifs de moteur, et dispositif de circuit intégré
WO2018179268A1 (fr) * 2017-03-30 2018-10-04 株式会社安川電機 Système de commande de moteur, procédé de commande, et dispositif de commande de moteur
WO2020195552A1 (fr) * 2019-03-27 2020-10-01 オムロン株式会社 Système d'alimentation électrique asservi

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