Protective device, drive system, protection method, and program

Abstract

The protection device includes a determination unit that determines whether a failure mode of a drive system is a serious failure of a magnetic gear motor or a slight failure of the magnetic gear motor based on input signals input from the magnetic gear motor, an inverter, a rotation angle sensor, a current sensor, a main control device, and an inverter control device, the serious failure indicating a failure that makes it impossible to control the magnetic gear motor, and the slight failure indicating a failure that makes it possible to control the magnetic gear motor; and a resynchronization processing unit that resynchronizes rotation of the high-speed rotor and the low-speed rotor in a case where the failure mode is determined to be the serious failure and only a step-out has occurred.

Description

Technical Field

[0001] This disclosure relates to protection devices, drive systems, protection methods, and procedures. This application claims priority to Japanese Patent Application No. 2024-091457, filed on June 5, 2024, the contents of which are incorporated herein by reference. Background Technology

[0002] Figure 12 This is a diagram showing the structure of a drive system in the prior art. For example... Figure 12 As shown, the drive system 9 includes a magnetic geared motor PDD that drives the load machinery LD (propeller, wheel, etc.) to rotate. The magnetic geared motor PDD has a high-speed rotor HSR and a low-speed rotor PPR. The high-speed rotor HSR and the low-speed rotor PPR transmit torque in a non-contact manner through a magnetic spring. Through this magnetic spring, the low-speed rotor PPR rotates synchronously with the high-speed rotor HSR at a predetermined reduction ratio. The rotation of the low-speed rotor PPR drives the load machinery LD to rotate via a connector JT and a rotating shaft (not shown).

[0003] For example, under conditions where the load torque exceeds the maximum transmission torque of the magnetic spring, or when the speed of the high-speed rotor HSR changes drastically, the high-speed rotor HSR and the low-speed rotor PPR cannot rotate synchronously. This phenomenon is called loss of synchronization. When loss of synchronization occurs, it is difficult to continue operation safely, therefore it is necessary to stop the operation of the magnetic gear drive motor PDD.

[0004] Figure 13 This is a diagram illustrating an example of a measurement value when a loss of synchronization occurs in the prior art. Figure 13 (a) is the time series of the rotational speed [rpm] of the high-speed rotor HSR, (b) is the time series of the rotational speed [rpm] of the low-speed rotor PPR, (c) is the time series of the torsion angle [deg] (the difference in rotational angle between the high-speed rotor HSR and the low-speed rotor), (d) is the time series of the motor torque [Nm], (e) is the time series of the load torque [Nm], and (f) is the time series of the torsional torque [Nm] at the joint. Figure 13 In the example, the system becomes overloaded at time t1 and loses synchronization at time t2.

[0005] When a step loss occurs, the geared motor PDD generates an alternating torque with an amplitude equal to its maximum transmitted torque, the frequency of which varies proportionally to the speed difference between the high-speed rotor HSR and the low-speed rotor PPR. In existing technology, step loss is detected, for example, based on the speed deviation or torsion angle between the high-speed rotor HSR and the low-speed rotor PPR. When step loss is detected, regenerative braking or similar methods are applied to perform emergency braking on the geared motor PDD. However, the load machine LD cannot stop immediately due to inertia, therefore... Figure 13As in the example, after the motor torque reaches zero, the low-speed rotor PPR continues to rotate in conjunction with the load mechanism LD, and the alternating torque may continue. If the frequency of this alternating torque matches the inherent torsional value of the rotating shaft, resonance will occur. If this resonance grows, then... Figure 13 As shown in (f), excessive torsional torque generated at the connector JT could potentially damage various components of the drive system 9 (connector JT, surrounding mechanical parts). Therefore, in order to prevent damage to the equipment, the interlocking logic used to safely stop the magnetic gear drive motor PDD and the load mechanism LD is crucial.

[0006] For example, Patent Document 1 describes the interlocking control for emergency braking of a train.

[0007] Existing technical documents

[0008] Patent Document 1: Japanese Patent No. 6254576 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] In drive system 9, not only in the event of step loss, but also in the event of a failure in the equipment required for controlling the magnetic geared motor PDD, such as a sensor or inverter, it is necessary to safely stop the magnetic geared motor PDD and the load mechanism LD to avoid damage to mechanical components. However, in the prior art, a structure for safely stopping the magnetic geared motor PDD and the load mechanism LD is not adequately considered. Furthermore, it is preferable to attempt to eliminate (resynchronize) the step loss of the magnetic geared motor before stopping the magnetic geared motor PDD and the load mechanism LD, thereby suppressing a decrease in the operating rate of drive system 9.

[0011] The purpose of this disclosure is to provide a protection device, drive system, protection method, and procedure that can resynchronize a magnetic gear drive motor and suppress the reduction of the operating rate of the drive system.

[0012] Methods for solving problems

[0013] According to one aspect of this disclosure, the protection device is a protection device for a drive system, the drive system comprising: a magnetic geared motor having a high-speed rotor and a low-speed rotor that drives a load to rotate by rotating synchronously with the high-speed rotor; an inverter that supplies current to the magnetic geared motor; a rotation angle sensor that measures the rotation angle and speed of the high-speed rotor and the low-speed rotor; a current sensor that measures the current flowing from the inverter to the magnetic geared motor; a main control device that outputs a torque command to control the torque of the magnetic geared motor; and an inverter control device that, based on the torque command, the measured value of the rotation angle, and the measured value of the current, outputs the current supplied to the inverter. The protection device includes: a determination unit that determines, based on input signals from the magnetic gear drive motor, the inverter, the rotation angle sensor, the current sensor, the main control device, and the inverter control device, whether the fault mode of the drive system is a serious fault or a minor fault of the magnetic gear drive motor, wherein a serious fault indicates a fault in which the magnetic gear drive motor cannot be controlled, and a minor fault indicates a fault in which the magnetic gear drive motor can be controlled; and a resynchronization processing unit that, if the fault mode is determined to be a serious fault and only a loss of synchronization has occurred, resynchronizes the rotation of the high-speed rotor and the low-speed rotor.

[0014] According to one aspect of this disclosure, the drive system comprises: a magnetic geared motor having a high-speed rotor and a low-speed rotor that drives a load to rotate by rotating synchronously with the high-speed rotor; an inverter that supplies current to the magnetic geared motor; a rotation angle sensor that measures the rotation angle and speed of the high-speed rotor and the low-speed rotor; a current sensor that measures the current flowing from the inverter to the magnetic geared motor; a main control unit that outputs a torque command to control the torque of the magnetic geared motor; and an inverter control unit that, based on the torque command, the measured value of the rotation angle, and the measured value of the current, outputs the torque supplied to the inverter. The system includes a current command for adjusting the current; a determination unit that, based on input signals from the magnetic gear drive motor, the inverter, the rotation angle sensor, the current sensor, the main control device, and the inverter control device, determines whether the fault mode is a serious fault or a minor fault of the magnetic gear drive motor, wherein a serious fault indicates a fault in which the magnetic gear drive motor cannot be controlled, and a minor fault indicates a fault in which the magnetic gear drive motor can be controlled; and a resynchronization processing unit that, if the fault mode is determined to be a serious fault and only a loss of synchronization has occurred, resynchronizes the rotation of the high-speed rotor and the low-speed rotor.

[0015] According to one aspect of this disclosure, the protection method is a protection method for a drive system, the drive system comprising: a magnetic geared motor having a high-speed rotor and a low-speed rotor that drives a load mechanically to rotate by rotating synchronously with the high-speed rotor; an inverter that supplies current to the magnetic geared motor; a rotation angle sensor that measures the rotation angle and speed of the high-speed rotor and the low-speed rotor; a current sensor that measures the current flowing from the inverter to the magnetic geared motor; a main control device that outputs a torque command to control the torque of the magnetic geared motor; and an inverter control device that outputs control parameters to the inverter based on the torque command, the measured value of the rotation angle, and the measured value of the current. The protection method includes the following steps: based on the input signals received from the magnetic gear drive motor, the inverter, the rotation angle sensor, the current sensor, the main control device, and the inverter control device, determining whether the fault mode of the drive system is a serious fault or a minor fault of the magnetic gear drive motor, wherein a serious fault indicates a fault in which the magnetic gear drive motor cannot be controlled, and a minor fault indicates a fault in which the magnetic gear drive motor can be controlled; if the fault mode is determined to be a serious fault, and only a loss of synchronization has occurred, resynchronizing the rotation of the high-speed rotor and the low-speed rotor.

[0016] According to one aspect of this disclosure, the drive system comprises: a magnetic geared motor having a high-speed rotor and a low-speed rotor that drives a load to rotate mechanically by rotating synchronously with the high-speed rotor; an inverter that supplies current to the magnetic geared motor; a rotation angle sensor that measures the rotation angle and speed of the high-speed rotor and the low-speed rotor; a current sensor that measures the current flowing from the inverter to the magnetic geared motor; a main control unit that outputs a torque command to control the torque of the magnetic geared motor; and an inverter control unit that, based on the torque command, the measured value of the rotation angle, and the measured value of the current, outputs an adjustment to the current supplied by the inverter. The current command causes the protection device of the drive system to perform the following steps: based on the input signals from the magnetic gear drive motor, the inverter, the rotation angle sensor, the current sensor, the main control device, and the inverter control device, determine whether the fault mode of the drive system is a serious fault or a minor fault of the magnetic gear drive motor. A serious fault indicates a fault in which the magnetic gear drive motor cannot be controlled, while a minor fault indicates a fault in which the magnetic gear drive motor can be controlled. If the fault mode is determined to be a serious fault, and only a loss of synchronization has occurred, the rotation of the high-speed rotor and the low-speed rotor is resynchronized.

[0017] Invention Effects

[0018] The above method resynchronizes the magnetic gear drive motor, suppressing the decrease in the operating rate of the drive system. Attached Figure Description

[0019] Figure 1 This is a diagram showing the overall structure of the drive system according to the first embodiment.

[0020] Figure 2 This is a block diagram illustrating the functional structure of the protection device in the first embodiment.

[0021] Figure 3 This is a diagram illustrating an example of a failure mode in the first embodiment.

[0022] Figure 4 This is a flowchart illustrating an example of interlocking control of the drive system in the first embodiment.

[0023] Figure 5 This is a diagram illustrating an example of the step loss limit information in the first embodiment.

[0024] Figure 6 This is a diagram used to illustrate the function of the drive system in the first embodiment.

[0025] Figure 7 The first figure (prior art) is an example of a measurement value when a serious fault occurs.

[0026] Figure 8 This is a diagram illustrating an example of load characteristics.

[0027] Figure 9 The second figure shows an example of the measurement value when a serious malfunction occurs (the technology of the first embodiment).

[0028] Figure 10 This is a block diagram illustrating the functional structure of the protection device in the second embodiment.

[0029] Figure 11 This is a flowchart illustrating an example of interlocking control of the drive system in the second embodiment.

[0030] Figure 12 It is a diagram showing the structure of a drive system in the prior art.

[0031] Figure 13 This is a diagram illustrating an example of measurement values ​​when loss of synchronization occurs in the prior art. Detailed Implementation

[0032] <First Implementation Method>

[0033] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings.

[0034] (Overall structure of the drive system)

[0035] Figure 1 This is a diagram showing the overall structure of the drive system according to the first embodiment.

[0036] Drive system 1 is a system used to drive the load machinery LD. Drive system 1 is used, for example, in the propulsion systems of vehicles (tram, etc.), ships, and windmills for wind power generation. The load machinery LD is a wheel, fan, propeller, etc. In addition, depending on the object to which drive system 1 is applied, the structure (contactor 11) shown by the dashed line is sometimes not used. In this case, this structure can also be omitted.

[0037] like Figure 1 As shown, the drive system 1 includes: an inverter 10, a contactor 11, a magnetic gear drive motor 12, a braking device 13, a main control device 2, an inverter control device 3, and a protection device 4.

[0038] The inverter 10 includes a semiconductor switch 101, which is composed of multiple switching elements such as IGBTs (Insulated Gate Bipolar Transistors) and MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors). The inverter 10 switches the switching mode of the semiconductor switch 101 to supply current commanded by the inverter control device 3 to the magnetic geared motor 12.

[0039] Contactor 11 is located between inverter 10 and geared motor 12. Contactor 11 cuts off current flowing to or supplies current to geared motor 12 by opening and closing the power line 102 between inverter 10 and geared motor 12. Alternatively, contactor 11 may not be used for specific applications (e.g., the propulsion system of a tram). In this case, drive system 1 may omit contactor 11.

[0040] The magnetic geared motor 12 has a high-speed rotor HSR and a low-speed rotor PPR. When current supplied from the inverter 10 flows through the stator windings (not shown), the high-speed rotor HSR rotates due to the magnetomotive force of the windings. The motor torque (electric torque) applied to the high-speed rotor HSR is transmitted to the low-speed rotor PPR via a magnetic spring. Thus, the low-speed rotor PPR rotates synchronously with the high-speed rotor HSR at a predetermined reduction ratio. At this time, the low-speed rotor PPR rotates at a lower speed than the high-speed rotor HSR according to the reduction ratio. Furthermore, the rotating shaft 121 of the low-speed rotor PPR is connected to the load machine LD via a connector JT. The output torque (magnetic spring torque) generated by the magnetic geared motor 12 is transmitted to the load machine LD through the rotating shaft 121. As a result, the load machine LD rotates.

[0041] Braking device 13 is a device used to brake the load machinery LD. For example, when the drive system 1 is applied to the propulsion device of a vehicle, braking device 13 is a braking mechanism that utilizes friction, such as a tread brake or a disc brake. In addition, when the drive system 1 is applied to the propulsion device of a ship or fluid machinery such as a windmill, braking device 13 is a mechanism that changes the blade angle of a variable pitch propeller, a control valve that reduces or cuts off the flow of working fluid, etc.

[0042] Additionally, a current sensor 15 is provided on the power line 102 between the inverter 10 and the geared motor 12. The current sensor 15 measures the motor current supplied to the geared motor 12. A temperature sensor 16 is provided on the geared motor 12. The temperature sensor 16 measures, for example, the temperature of the windings of the geared motor 12. A rotation angle sensor 17 is provided on the geared motor 12. The rotation angle sensor 17 includes a high-speed side rotation angle sensor 17A that measures the rotation angle and speed of the high-speed rotor HSR, and a low-speed side rotation angle sensor 17B that measures the rotation angle and speed of the low-speed rotor PPR (rotating shaft 121). A sensor 18 is provided on the load machine LD. The sensor 18 is, for example, a rotation angle sensor that measures the rotation angle and speed of the load machine LD.

[0043] The main control unit 2 calculates the torque that the magnetic gear drive motor 12 should output based on the speed command provided from the upper device (not shown) and the measured value of the speed of the magnetic gear drive motor 12, and outputs the torque command to the inverter control unit 3.

[0044] The inverter control unit 3 outputs a current command to obtain the motor torque command from the main control unit 2, based on the torque command input from the main control unit 2, the motor current supplied to the geared motor 12 (measured by the current sensor 15), and the measured values ​​of the rotation angles of the high-speed rotor HSR and low-speed rotor PPR of the geared motor 12 (measured by the rotation angle sensor 17). The inverter 10 generates a voltage based on the command received from the inverter control unit 3 and adjusts the current supplied to the geared motor 12.

[0045] The protection device 4 is a device used to safely stop the magnetic gear drive motor 12 and the load machinery LD in the event of a failure or loss of synchronism in the drive system 1.

[0046] (Functional structure of the protection device)

[0047] Figure 2 This is a block diagram illustrating the functional structure of the protection device in the first embodiment.

[0048] like Figure 2 As shown, the protection device 4 includes: a processor 40, a memory 41, a storage device 42, and a communication interface 43.

[0049] The processor 40 operates according to a predetermined program, thereby performing the functions of the determination unit 401, the stop processing unit 402, and the braking processing unit 403.

[0050] The determination unit 401 determines the fault mode of the drive system 1 based on input signals from the magnetic gear drive motor 12, inverter 10, rotation angle sensor 17, current sensor 15, main control unit 2, and inverter control unit 3. Additionally, the determination unit 401 determines the fault mode of the drive system 1 based on status notification signals from the main control unit 2 and inverter control unit 3. Input signals include status notification signals from the magnetic gear drive motor 12, inverter 10, main control unit 2, and inverter control unit 3, as well as sensor signals (measured values) from the rotation angle sensor 17 and current sensor 15.

[0051] Figure 3 This is a diagram illustrating an example of a failure mode in the first embodiment.

[0052] like Figure 3 As shown, the failure modes are classified into two categories: (A) serious failure and (B) minor failure.

[0053] (A) Serious malfunction

[0054] A serious fault is a fault or abnormality in which the speed or output torque of the magnetic gear drive motor 12 cannot be arbitrarily controlled. Specifically, serious faults include the following faults and abnormalities.

[0055] (A1) Fault in main control unit 2

[0056] When the main control unit 2 malfunctions, it cannot output appropriate torque commands, thus becoming unable to control the magnetic gear drive motor 12. The determination unit 401 determines that the main control unit 2 has malfunctioned, for example, when it receives a status notification signal indicating a malfunction from the main control unit 2 or when the watchdog timer times out.

[0057] (A2) Fault in inverter control unit 3

[0058] When the inverter control unit 3 malfunctions, it cannot output the correct current or voltage command to the main control unit 2 to obtain the commanded torque, thus becoming unable to control the magnetic gear drive motor 12. The determination unit 401 determines that the inverter control unit 3 has malfunctioned, for example, when it receives a status notification signal indicating a malfunction from the inverter control unit 3 or when the watchdog timer times out.

[0059] (A3) Fault in inverter 10

[0060] When inverter 10 malfunctions, it cannot output the commanded current or voltage to inverter control device 3, thus becoming unable to control the magnetic gear drive motor 12. The determination unit 401 receives, for example, a status notification signal indicating whether there is a fault from a diagnostic device (not shown) provided with inverter 10, and determines whether inverter 10 is faulty based on this signal.

[0061] (A4) Fault of current sensor 15

[0062] When the current sensor 15 malfunctions, the inverter control unit 3 cannot output the correct current or voltage command to obtain the torque command from the main control unit 2, thus becoming unable to control the magnetic gear drive motor 12. For example, if the sensor signal from the current sensor 15 is interrupted, the determination unit 401 determines that the current sensor 15 has malfunctioned.

[0063] (A5) Fault in rotation angle sensor 17

[0064] When the rotation angle sensor 17 malfunctions, the inverter control unit 3 cannot output the correct current or voltage command to obtain the torque command from the main control unit 2, thus becoming unable to control the magnetic gear drive motor 12. For example, if the sensor signal from the rotation angle sensor 17 is interrupted, the determination unit 401 determines that the rotation angle sensor 17 has malfunctioned.

[0065] (A6) The winding of the magnetic gear drive motor 12 is open or short-circuited.

[0066] If a break or short circuit occurs in the winding of the geared motor 12, the specified current will not flow through the winding even if voltage is applied from the inverter 10, making it impossible to control the geared motor 12. The determination unit 401 monitors the power command output by the inverter control device 3 and the motor current measured by the current sensor 15. If the motor current does not flow as commanded, even though the inverter 10 is operating normally, it determines that a break or short circuit has occurred in the winding.

[0067] (A7) Loss of pace

[0068] When the magnetic coupling between the high-speed rotor HSR and the low-speed rotor PPR is released, the motor torque (electric torque) cannot be transmitted from the high-speed rotor HSR to the low-speed rotor PPR via the magnetic spring, and therefore the magnetic gear drive motor 12 cannot be controlled. At this time, the average value of the magnetic spring torque is 0. However, in the absence of the above-mentioned faults (A1) to (A6), the motor torque can be controlled. The determination unit 401 determines whether a loss of synchronization has occurred based on the measured values ​​of the rotational speeds of the high-speed rotor HSR and the low-speed rotor PPR from the rotational angle sensor 17. Specifically, the determination unit 401 determines that a loss of synchronization has occurred if the speed deviation between the high-speed rotor HSR (converted to the low-speed rotor PPR based on the reduction ratio) and the low-speed rotor PPR exceeds a predetermined speed threshold (e.g., 10 to 50 rpm), and the difference in rotational angle (torsion angle) between the high-speed rotor HSR and the low-speed rotor PPR exceeds a predetermined torsion angle threshold (e.g., 90 degrees).

[0069] (B) Minor fault

[0070] A minor fault is a fault other than a serious fault, and is a fault at the level where some fault or abnormality has occurred but the magnetic gear drive motor 12 can still be controlled. For example, if the winding temperature of the magnetic gear drive motor 12 exceeds the temperature threshold or if the sensor signal from a sensor (such as temperature sensor 16) that is not used in the control of the magnetic gear drive motor 12 is interrupted, the determination unit 401 determines that a minor fault has occurred.

[0071] When the fault mode is determined to be a serious fault, the stop processing unit 402 stops the current flowing from the inverter 10 to the magnetic gear drive motor 12. At this time, the stop processing unit 402 outputs a command to the inverter 10 to open the semiconductor switch 101 (gate blocking). If a contactor 11 is provided, the stop processing unit 402 may also output a command to open the contactor 11. In addition, the stop processing unit 402 may perform the same processing as in the case of a serious fault when an emergency stop operation is performed by the operator of the drive system 1.

[0072] Furthermore, if the stop processing unit 402 determines that the fault mode is not a serious fault (but a minor fault), it adjusts the torque command or current command in stages until the motor torque falls below a predetermined torque value. Additionally, the stop processing unit 402 can also perform the same processing as for a minor fault if a normal stop operation is performed by the operator of the drive system 1.

[0073] After executing the processing of the stop processing unit 402, the brake processing unit 403 outputs a braking command to the brake device 13 when the motor torque falls below a predetermined torque value or when the current flowing in the magnetic gear drive motor 12 falls below a predetermined current value. Furthermore, the brake processing unit 403 can also perform the same processing when the operator of the drive system 1 performs a normal stop operation or an emergency stop operation.

[0074] Furthermore, the predetermined program executed by the processor 40 is stored on a computer-readable recording medium. This computer-readable recording medium includes disks, optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, etc. Alternatively, the computer program can be distributed to a computer via a communication line, and the receiving computer can execute the program. Furthermore, this program can be a part of a program used to implement the aforementioned functions. Additionally, it can be a so-called differential file (differential program) capable of implementing the aforementioned functions through combination with a program already recorded in the computer system.

[0075] The memory 41 has the storage area required for the operation of the processor 40.

[0076] Storage device 42 is a so-called auxiliary storage device, such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Storage device 42 stores data acquired, generated, or referenced by various parts of processor 40 during processing.

[0077] The communication interface 43 transmits and receives signals (control commands, measured values, status notification signals, etc.) between itself and various devices.

[0078] (Protection device processing procedure)

[0079] Figure 4 This is a flowchart illustrating an example of interlocking control of the drive system in the first embodiment.

[0080] The following is for reference Figure 4 The process of interlocking control for drive system 1 will be described. In this embodiment, protection device 4 implements interlocking control for drive system 1.

[0081] First, the determination unit 401 determines whether a minor fault has occurred in the drive system 1 (step S101). If a minor fault has occurred (step S101; yes), the protection device 4 performs minor fault handling (step S102). Details of the minor fault handling will be described later.

[0082] If no minor fault occurs (step S101; No), the determination unit 401 further determines whether a serious fault has occurred in the drive system 1 (step S103). If no serious fault occurs (step S103; No), the protection device 4 returns to step S101 and continues monitoring of the drive system 1. On the other hand, if a serious fault occurs (step S103; Yes), the protection device 4 performs serious fault handling (steps S104 to S107). Details regarding serious fault handling will be described later.

[0083] (1) Handling minor faults

[0084] First, the handling of a minor malfunction (step S101; Yes) will be explained. The stop processing unit 402 performs a phased change of torque command to safely and quickly stop the rotation of the magnetic gear drive motor 12 and the load machine LD (torque becomes 0) (step S102).

[0085] Figure 5 This is a diagram illustrating an example of the step loss limit information in the first embodiment.

[0086] In the event of a minor fault, if a large negative torque (regenerative braking) is applied sharply to the magnetic gear motor 12 to immediately stop its rotation, it may actually cause it to lose synchronism. This stems from the magnetic spring characteristics of the magnetic gear motor 12. The negative torque that causes synchronism loss is, for example... Figure 5 As shown, the relationship between the initial torque (horizontal axis) and the negative torque (vertical axis) of the motor is represented by the previous torque. The magnetic geared motor 12 is subjected to a ratio... Figure 5 The step loss occurs when the negative torque (less than the motor torque of the step loss limit L) is large, as indicated by the dashed line. Therefore, in order to suppress step loss, the motor torque commanded to the magnetic gear drive motor 12 needs to be controlled within a stable region R1 above the step loss limit L.

[0087] Furthermore, the step loss limit L varies depending on the ratio of the moments of inertia of the high-speed rotor HSR and the load machine LD. Specifically, the smaller the moment of inertia of the high-speed rotor HSR is compared to the moment of inertia of the load machine LD, the less likely step loss will occur even when a larger negative torque is applied. In addition, the moment of inertia of the load machine LD sometimes varies depending on the state of the load machine LD (e.g., wheel slippage in a vehicle, the weight of the load, etc.).

[0088] The moment of inertia ratio changes according to the change in the moment of inertia of the load mechanism LD, and therefore the step loss limit L also changes. Here, the moment of inertia ratio is "the moment of inertia of the high-speed rotor HSR / the moment of inertia of the low-speed rotor PPR + the moment of inertia of the load mechanism LD". Therefore, in step S102, the stop processing unit 402 needs to determine an appropriate step loss limit L based on the moment of inertia ratio, and adjust the torque command in a way that applies the largest possible negative torque within the range that does not cause the magnetic gear drive motor 12 to lose step.

[0089] Figure 6 This is a diagram used to illustrate the function of the drive system in the first embodiment.

[0090] Reference Figure 6 The handling of minor malfunctions in the specific stop processing unit 402 (step S102) will be explained. For example... Figure 6 As shown, when a minor fault occurs, the stop processing unit 402 first outputs a minor fault stop command to the inverter control device 3. Upon receiving the minor fault stop command, the inverter control device 3 switches the torque command limit value from the normal torque limit value to the torque limit value during a minor fault.

[0091] In addition, the stop processing unit 402 pre-stores the step loss limit information D1, L2, ... for each moment of inertia ratio, which is preset through experiments or simulations. Figure 5 (See the graphs or tables shown). Furthermore, the stop processing unit 402 calculates the negative torque limit value (torque limit value in case of minor fault) based on the out-of-step limit information D1, the inertia ratio information D2 of the high-speed rotor HSR and the load mechanical LD, and the initial torque (the value of the last final torque command).

[0092] The inertia ratio information D2 is obtained by dividing the rotational inertia of the high-speed rotor HSR by the rotational inertia of the low-speed rotor PPR, plus the rotational inertia of the load mechanism LD. The rotational inertia of the high-speed rotor HSR and the low-speed rotor PPR are values ​​obtained based on the specifications of the magnetic gear drive motor 12, etc. The rotational inertia of the load mechanism LD is a value obtained sequentially based on the specifications and state of the load mechanism LD. Various known techniques can be used to obtain the rotational inertia of the load mechanism LD.

[0093] The stop processing unit 402 outputs the calculated negative torque limit value to the inverter control device 3. The inverter control device 3 generates a final torque command that limits the torque command (regenerative braking amount) used to quickly stop the geared motor 12 to a value greater than or equal to the negative torque limit value received from the stop processing unit 402. The torque command (regenerative braking amount) used to stop the geared motor 12 can, for example, be provided to the inverter control device 3 by the stop processing unit 402. In other embodiments, the stop processing unit 402 may generate the final torque command and output it to the inverter control device 3. Furthermore, the inverter control device 3 adjusts the current command output to the inverter 10 to match the motor torque with the final torque command.

[0094] In addition, the stop processing unit 402 obtains the final torque command generated by the inverter control device 3 and records it as the initial torque to be used in the next calculation of the load torque limit value.

[0095] Next, return Figure 4 When the motor torque is below the specified torque value and the speeds of the high-speed rotor HSR and the low-speed rotor PPR are both below the specified speeds (step S108; Yes), the stop processing unit 402 considers the drive system 1 to be in a stopped state and ends the processing. Furthermore, the motor torque used for this determination is an estimated value derived from the motor current measured by the current sensor 15.

[0096] On the other hand, if the motor torque is not below the specified torque value or the speed of the high-speed rotor HSR and the low-speed rotor PPR is not below the specified speed (step S108; no), the stop processing unit 402 returns to step S102.

[0097] The stop processing unit 402 continuously calculates the negative torque limit value to limit the regenerative braking amount in such a way that the motor torque does not change drastically during minor faults, thereby simultaneously achieving the suppression of step loss and emergency braking. As a result, the speeds of the high-speed rotor HSR and the low-speed rotor PPR can be reduced in a coordinated manner, allowing the load machinery LD to stop safely along with the magnetic gear drive motor 12.

[0098] In addition, Figure 6The diagram illustrates an example where the stop processing unit 402 applies regenerative braking (negative torque) to the geared motor 12 for emergency braking, but this is not the only embodiment. In other embodiments, the stop processing unit 402 may not apply regenerative braking to the geared motor 12, but instead gradually reduce the torque command at a predetermined reduction rate so that the motor torque gradually approaches zero. Alternatively, the stop processing unit 402 may reduce the current command at a predetermined reduction rate instead of the torque command. In this case, the inverter control device 3 controls the inverter 10 based on the current command output from the stop processing unit 402. Alternatively, the stop processing unit 402 may directly output the current command to the inverter 10. For example, if, according to the requirements of the drive system 1 and the minor fault, it is not necessary to rapidly stop the geared motor 12 and the load machine LD, the geared motor 12 and the load machine LD can be safely stopped in conjunction by simply performing this process of gradually reducing the torque command or the current command.

[0099] (2) Handling serious malfunctions

[0100] Next, the handling of a serious malfunction (step S103; Yes) will be explained. When a serious malfunction occurs, the stop processing unit 402 first performs a process that makes the motor torque zero (steps S104~S105).

[0101] Specifically, in the event of a malfunction in the inverter control device 3, the stop processing unit 402 outputs a gate blocking command to the inverter 10 (step S104). The inverter 10 then disconnects all switching elements of the semiconductor switch 101, cutting off the motor current. By forcibly making the motor current zero, the motor torque can be reduced to zero.

[0102] Alternatively, when the inverter control device 3 is operating normally, the stop processing unit 402 can also output a torque command to the inverter control device 3 to make the motor torque zero instead of the gate blocking command (step S104). At this time, the stop processing unit 402 can also output a current command to set the motor current to zero instead of the torque command.

[0103] Furthermore, when the drive system 1 is equipped with contactor 11, the stop processing unit 402 outputs a contactor disconnect command to contactor 11 (step S105). Then, contactor 11 disconnects the power line 102 between the inverter 10 and the magnetic gear drive motor 12, cutting off the motor current. Thus, even if the inverter 10 malfunctions, the motor current can still be cut off.

[0104] Next, the braking processing unit 403 determines whether the motor torque is below a specified torque value (step S106). The motor torque used for this determination is an estimated value derived from the motor current measured by the current sensor 15. Alternatively, the braking processing unit 403 may determine whether the motor current is below a specified current value instead of the motor torque. If the motor torque (or motor current) is not below the specified value (step S106; no), the braking processing unit 403 returns to step S106 and continues monitoring the motor torque (or motor current). On the other hand, if the motor torque (or motor current) is below the specified value (step S106; yes), the braking processing unit 403 outputs a braking command to the braking device 13 (step S107).

[0105] In addition, the role of interlocking control in the event of a serious malfunction will be explained. First, as a comparative example, refer to... Figures 7-8 An example is given of a situation where, in the event of a serious malfunction (loss of synchronization), the previous control method is used (the motor stops running).

[0106] Figure 7 The first figure (prior art) is an example of a measurement value when a serious fault occurs. Figure 8 This is a diagram illustrating an example of load characteristics.

[0107] Figure 7 An example of a time series of measurements when a loss of synchronization occurs. Figure 7 (a) is the time series of the rotational speed [rpm] of the high-speed rotor HSR, (b) is the time series of the rotational speed [rpm] of the low-speed rotor PPR, (c) is the time series of the torsion angle [deg] (the difference in rotational angle between the high-speed rotor HSR and the low-speed rotor), (d) is the time series of the motor torque [Nm], (e) is the time series of the load torque [Nm], and (f) is the time series of the torsional torque [Nm] at the joint. Additionally, as... Figure 8 As shown, the load-bearing mechanical LD ​​has multiple load characteristics 1, 2, ...

[0108] For example, in situations where the load-bearing machinery LD has wheels and slips due to debris on the track (road surface), the load characteristics may temporarily change. For example... Figure 7 As shown in (e), at time t21, from load characteristic 1 ( Figure 8 The change is to load characteristic 2 () Figure 8 Furthermore, suppose that at time t22, the load characteristic returns from 2 to 1. Here, after switching back to load characteristic 1 at time t22, the first-order torsional vibration intrinsic value is excited, and the driving system becomes unstable. As a result, as... Figure 7As shown in (c), the speed variations of the high-speed rotor HSR and the low-speed rotor PPR create a phase difference, increasing the variation in the torsion angle. As a result, in Figure 7 In the example, at time t23, the speed deviation and rotation angle difference (torsion angle) of the high-speed rotor HSR and the low-speed rotor PPR exceed the speed threshold and torsion angle threshold, respectively, thus indicating a loss of synchronization. However, in practical applications, the threshold used to determine a loss of synchronization is sometimes set with a margin of safety; therefore, a loss of synchronization may not actually occur at time t23. Figure 7 In the example, by giving the threshold a margin, at time t23, the state that is about to lose step (the precursor state of losing step) is detected.

[0109] Furthermore, for example, at time t23, only control is performed to normally stop the motor (making the motor torque zero). Therefore, the speed of the high-speed rotor HSR gradually approaches zero. On the other hand, the low-speed rotor PPR continues to rotate due to the inertia of the load mechanism LD. At this time, even if the motor torque is set to zero, due to the inertia of the high-speed rotor HSR itself, its characteristics do not immediately switch to rotational linkage with the low-speed rotor PPR. Therefore, the increase in the speed deviation and torsion angle between the high-speed rotor HSR and the low-speed rotor PPR does not stop, and at time t24, a state of loss of synchronism (out-of-step state) actually occurs. The load torque decreases only in response to the decrease in the speed of the low-speed rotor PPR, therefore... Figure 7 In the example, excessive torsional torque is generated after time t24. This is because the alternating torque with the amplitude of the maximum transmitted torque between the high-speed and low-speed rotors is generated due to the loss of synchronization, and the frequency of the alternating torque increases with the increase of the speed deviation between the high-speed rotor HSR and the low-speed rotor PPR (load side), thereby exciting the inherent mode of the rotating shaft system.

[0110] Thus, in order to suppress the transition from the precursor state of step loss to the step loss state, in this embodiment, the following steps are performed: Figure 4 This illustrates a series of interlocking controls. (Refer to...) Figure 9 This section will explain the function of the interlock control.

[0111] Figure 9 The second figure shows an example of the measurement value when a serious malfunction occurs (the technology of the first embodiment).

[0112] exist Figure 9 In the middle, it means through and Figure 7 The protection device 4 in this embodiment implements interlocking control to detect temporary changes in the same load characteristics (a sign of loss of synchronization). Figure 4 The time series of measurements taken at that time. Figure 9(a) is the time series of the rotational speed [rpm] of the high-speed rotor HSR, (b) is the time series of the rotational speed [rpm] of the low-speed rotor PPR, (c) is the time series of the torsion angle [deg] (the difference in rotational angle between the high-speed rotor HSR and the low-speed rotor), (d) is the time series of the motor torque [Nm], (e) is the time series of the load torque [Nm], and (f) is the time series of the torsional torque [Nm] of the joint.

[0113] For example, such as Figure 9 As shown in (e), at time t31, from load characteristic 1 ( Figure 8 The change is to load characteristic 2 () Figure 8 Additionally, suppose that at time t32, the load characteristic returns from load characteristic 2 to load characteristic 1. Here, with... Figure 7 Similarly, in Figure 9 In the example, the drive system also becomes unstable due to temporary changes in load characteristics. As a result, such as... Figure 9 As shown in (c), at time t33, the speed deviation and rotation angle difference (torsion angle) of the high-speed rotor HSR and the low-speed rotor PPR exceed the speed threshold and the torsion angle threshold, respectively, thus detecting a loss of synchronization (a sign of loss of synchronization). The determination unit 401 determines that a loss of synchronization (serious fault) has occurred at time t33 (step S103; yes).

[0114] Therefore, the stop processing unit 402 outputs a torque command to the inverter control device 3, for example, to make the motor torque zero (step S104). The inverter control device 3 performs control to stop the supply of motor current and make the motor torque zero.

[0115] Furthermore, the determination unit 401 determines that a step loss has occurred at time t33, but as mentioned above, in practical applications, the threshold is set with a margin of error, so a step loss may not actually occur at that time. Here, as Figure 7 As in the example, at time t33, the state of actually losing step has not actually been reached, but rather it is the state just before losing step (the precursor state of losing step).

[0116] For reference Figure 7 As explained, simply setting the motor torque to 0 is sometimes insufficient to prevent a transition from the premonition state of step loss to the actual step loss state. Therefore, it is advisable to set the motor torque to 0 and apply braking to the load machinery. However, if braking is applied to the load machinery while it is in the premonition state of step loss (a state where step loss has not actually occurred) and residual motor torque remains, step loss may occur due to the same effect as applying overload. Therefore, the timing of applying braking to the load machinery is also important.

[0117] Based on these, the braking processing unit 403 of this embodiment does not output a braking command and remains in standby mode until the motor torque (or motor current) is sufficiently reduced (step S106; No). Furthermore, at time t34, when it is detected that the motor torque has fallen below a specified torque value (or the motor current has fallen below a specified current value) (step S106; Yes), a braking command is output to the braking device 13 (step S107). Thus, as... Figure 9 As shown in (c) and (f), the torsional angle and torsional torque gradually converge to 0, enabling the motor 12 and the load mechanical LD ​​to stop safely in conjunction.

[0118] (Effect)

[0119] As described above, the protection device 4 of this embodiment includes: a determination unit 401, which determines whether the fault mode of the drive system 1 is a serious fault or a minor fault; a stop processing unit 402, which stops the motor current when the fault mode is determined to be a serious fault; and a braking processing unit 403, which, after stopping the motor current, outputs a braking command to the braking device 13 when the motor current is below a predetermined current value or the motor torque is below a predetermined torque value.

[0120] Therefore, in the event of a serious fault, the protection device 4 can safely stop the magnetic gear drive motor 12 and the load mechanism LD in a coordinated manner. Furthermore, when the protection device 4 detects a premonition of loss of synchronization as a serious fault, it can also prevent the magnetic gear drive motor 12 from actually losing synchronization and can safely stop the magnetic gear drive motor 12 and the load mechanism LD.

[0121] In addition, when the stop processing unit 402 determines that the fault mode is a minor fault, it calculates the negative torque limit value based on the step loss limit information D1, which represents the relationship between the initial torque as the previous torque command and the negative torque that becomes the step loss limit L, and changes the torque command to a regenerative braking amount that does not exceed the negative torque limit value until the motor torque becomes below the predetermined torque limit value.

[0122] Therefore, in the event of a minor fault, the protection device 4 can simultaneously suppress step loss and provide emergency braking. This allows the speeds of the high-speed rotor HSR and the low-speed rotor PPR to be reduced in tandem, ensuring that the load mechanism LD also stops safely along with the magnetic gear drive motor 12.

[0123] In addition, if the stop processing unit 402 determines that the fault mode is a minor fault, it can gradually reduce the torque command or current command at a predetermined reduction rate until the motor torque becomes below a predetermined torque value.

[0124] Therefore, the protection device 4 can safely stop the magnetic gear drive motor 12ji and the load mechanical LD ​​by performing a simple process.

[0125] <Second Implementation Method>

[0126] Next, refer to Figures 10-11 The second embodiment will now be described. The same reference numerals are used to denote components common to the embodiments described above, and detailed descriptions are omitted.

[0127] In the first embodiment, an example of controlling the magnetic gear drive motor 12 and the load mechanism LD to stop in the event of a serious fault was described. In contrast, the protection device 4 of this embodiment can control the magnetic gear drive motor 12 even in the event of a serious fault (that is, only when a loss of synchronization occurs), and attempts to resynchronize the high-speed rotor HSR and the low-speed rotor PPR.

[0128] Figure 10 This is a block diagram illustrating the functional structure of the protection device in the second embodiment.

[0129] like Figure 10 As shown, the protection device 4 of this embodiment also includes a resynchronization processing unit 404. The resynchronization processing unit 404 resynchronizes the rotation of the high-speed rotor HSR and the low-speed rotor PPR when the fault mode is a severe fault and only loss of synchronization occurs.

[0130] Figure 11 This is a flowchart illustrating an example of interlocking control of the drive system in the second embodiment.

[0131] like Figure 11 As shown, the interlocking control in this embodiment is based on the first embodiment ( Figure 4 In the handling of serious malfunctions, steps S110 to S112 are added to control the process. Steps S101 to S107 are the same as in the first embodiment, so only the added steps S110 to S112 will be described here.

[0132] First, if the determination unit 401 determines that a serious fault has occurred (step S103; Yes), the resynchronization processing unit 404 determines whether control of the magnetic gear drive motor 12 can be performed (step S110). In the event of a serious fault other than loss of synchronization ( Figure 3 In cases where (A1) to (A6) are not possible, the resynchronization processing unit 404 determines that it is difficult to control the magnetic gear drive motor 12 (step S110; no). In this case, the protection device 4 enters step S104 and performs the process of stopping the magnetic gear drive motor 12 and the load machine LD in the same way as in the first embodiment (steps S104 to S107).

[0133] On the other hand, if only a loss of synchronization occurs, the resynchronization processing unit 404 determines that control of the magnetic gear drive motor 12 can be performed (step S110; Yes). In this case, the resynchronization processing unit 404 performs a resynchronization process to resynchronize the rotation of the high-speed rotor HSR and the low-speed rotor PPR (step S111).

[0134] Specifically, the resynchronization processing unit 404 sets the value obtained by correcting the speed of the low-speed rotor PPR with a reduction ratio as the target speed value for the high-speed rotor HSR. Furthermore, the resynchronization processing unit 404 generates a torque command corresponding to the target speed value and outputs it to the inverter control device 3. The inverter control device 3 controls the inverter 10 based on the torque command indicated by the resynchronization processing unit 404. In other words, the resynchronization processing unit 404 adjusts the speed of the high-speed rotor HSR in conjunction with the low-speed rotor PPR to resynchronize the rotation of the high-speed rotor HSR and the low-speed rotor PPR.

[0135] Next, the resynchronization processing unit 404 determines whether resynchronization was successful (step S112). For example, if the speed deviation between the high-speed rotor HSR and the low-speed rotor PPR is below the speed threshold and the torsion angle is below the torsion angle threshold, the resynchronization processing unit 404 determines that resynchronization was successful (step S112; Yes). In this case, the serious fault (loss of synchronization) is eliminated, and the system returns to a normal operating state, returning to step S101.

[0136] On the other hand, if the speed deviation of the high-speed rotor HSR and the low-speed rotor PPR continues to exceed the speed threshold, or the torsion angle exceeds the torsion angle threshold, the resynchronization processing unit 404 determines that resynchronization has failed (step S112; no). In this case, the serious fault (loss of synchronization) is not eliminated, so the process proceeds to step S104, and the process of stopping the magnetic gear drive motor 12 and the load machine LD is performed in the same way as in the first embodiment (steps S104 to S107).

[0137] As described above, the protection device 4 of this embodiment also includes a resynchronization processing unit 404, which resynchronizes the rotation of the high-speed rotor HSR and the low-speed rotor PPR when the fault mode is determined to be a serious fault and only a loss of synchronization occurs.

[0138] Therefore, when only a step loss occurs, the protection device 4 can resynchronize the high-speed rotor HSR and the low-speed rotor PPR, allowing the drive system 1 to return to normal operation. This suppresses damage to the drive system 1 caused by step loss and improves the operating efficiency of the drive system 1.

[0139] <Other Implementation Methods>

[0140] The embodiments have been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to the structure described above, and various design changes can be made. That is, in other embodiments, the order of the above processes can be appropriately changed. In addition, some processes can be executed in parallel.

[0141] In the above embodiments, examples of interlocking control of the protection device 4 have been described, but the implementation is not limited to these. In other embodiments, the main control device 2 may also perform the same interlocking control as the protection device 4. For example, the main control device 2 may include all of the determination unit 401, stop processing unit 402, braking processing unit 403, and resynchronization processing unit 404 of the protection device 4. Under normal operation of the main control device 2, that is, in the event of a minor fault or Figure 3 When a serious malfunction occurs other than (A1), the main control unit 2 performs... Figure 4 or Figure 11 The interlocking control is shown. Additionally, at this time, the protection device 4 only performs interlocking control in place of the main control device 2 when the main control device 2 fails.

[0142] In another embodiment, the inverter control device 3 may also include the determination unit 401, stop processing unit 402, braking processing unit 403, and resynchronization processing unit 404 of the protection device 4. This is in the case where the inverter control device 3 is operating normally, or a detectable fault occurs in the inverter control device 3; that is, in the event of a minor fault or... Figure 3 When a serious fault occurs other than (A1) and (A2), the inverter control device 3 cooperates with the main control device 2 or the protection device 4 to perform... Figure 4 or Figure 11 The interlocking control shown. For example, in Figure 1 In the structural example shown, the inverter control device 3 cannot directly control the braking device 13. Therefore, the braking processing unit 403 of the inverter control device 3... Figure 4 In step S107, the main control device 2 or the protection device 4 is required to output a braking command. Furthermore, in the event of a fault in the inverter control device 3 or a serious fault that the inverter control device 3 cannot detect, the main control device 2 or the protection device 4 will perform interlocking control in place of the inverter control device 3. Alternatively, the specific type of interlocking control among the main control device 2, inverter control device 3, and protection device 4 can be pre-set based on the nature of the serious fault.

[0143] In this way, by enabling control devices other than protection device 4 to perform the same interlocking control, even if protection device 4 fails, the magnetic gear drive motor 12 and the load machinery LD can be safely stopped.

[0144] <Postscript>

[0145] The protection device, drive system, protection method, and procedure described in the above embodiments are as follows.

[0146] (1) According to the first scheme, the protection device 4 is the protection device 4 of the drive system 1. The drive system 1 includes: a magnetic gear drive motor 12, having a high-speed rotor HSR and a low-speed rotor PPR that drives the load machinery LD to rotate by rotating synchronously with the high-speed rotor HSR; an inverter 10 that generates a voltage to drive the magnetic gear drive motor 12; a rotation angle sensor 17 that measures the rotation angle and speed of the high-speed rotor HSR and the low-speed rotor PPR; a current sensor 15 that measures the motor current flowing from the inverter 10 to the magnetic gear drive motor 12; a main control device 2 that outputs a torque command to control the torque of the magnetic gear drive motor 12; and an inverter control device 3 that, based on the torque command, the measured value of the rotation angle, and the measured value of the motor current, controls the torque of the magnetic gear drive motor 12. The current command for adjusting the motor current is output to the inverter 10. The protection device 4 includes: a determination unit 401, which determines whether the fault mode of the drive system 1 is a serious fault or a minor fault of the magnetic gear drive motor 12 based on the input signals input from the magnetic gear drive motor 12, the inverter 10, the rotation angle sensor 17, the current sensor 15, the main control device 2, and the inverter control device 3. The serious fault indicates that the magnetic gear drive motor 12 cannot be controlled, and the minor fault indicates that the magnetic gear drive motor 12 can be controlled; and a resynchronization processing unit 404, which resynchronizes the rotation of the high-speed rotor HSR and the low-speed rotor PPR when the fault mode is determined to be a serious fault and only a loss of synchronization has occurred.

[0147] Therefore, the protection device 4 can resynchronize the high-speed rotor HSR and the low-speed rotor PPR, returning the drive system 1 to normal operation, even when only a step loss occurs. This suppresses damage to the drive system 1 caused by step loss and improves the operating efficiency of the drive system 1.

[0148] (2) According to the second scheme, the protection device 4 of the first scheme also includes a stop processing unit 402, which stops the current when the fault mode is determined to be a serious fault.

[0149] Therefore, in the event of a serious malfunction, the protection device 4 can safely stop the magnetic gear drive motor 12 and the load mechanism LD in a coordinated manner.

[0150] (3) According to the third scheme, the protection device 4 of the second scheme also includes a braking processing unit 403. After the current is stopped, when the current becomes below a predetermined current value or the torque of the magnetic gear drive motor 12 becomes below a predetermined torque value, the braking processing unit 403 outputs a braking command to the braking device 13 of the drive system 1.

[0151] Therefore, in the event that a premonition of loss of synchronism is detected as a serious fault, the protection device 4 can suppress the actual loss of synchronism of the magnetic gear drive motor 12 and can safely stop the magnetic gear drive motor 12 and the load machine LD.

[0152] (4) According to the fourth scheme, in the protection device 4 of the second or third scheme, when the fault mode is determined to be a minor fault, the stop processing unit 402 calculates the negative torque limit value based on the step loss limit information that represents the relationship between the initial torque as the previous torque command and the negative torque that becomes the step loss limit, and adjusts the torque command to become a regenerative braking amount that does not exceed the negative torque limit value until the torque of the magnetic gear drive motor 12 becomes below the predetermined torque specified value.

[0153] Therefore, in the event of a minor fault, the protection device 4 can simultaneously suppress step loss and provide emergency braking. This allows the speeds of the high-speed rotor HSR and the low-speed rotor PPR to be reduced in tandem, ensuring that the load mechanism LD also stops safely along with the magnetic gear drive motor 12.

[0154] (5) According to the fifth scheme, the drive system 1 includes: a magnetic gear drive motor 12 having a high-speed rotor HSR and a low-speed rotor PPR that drives the load machinery LD to rotate by rotating synchronously with the high-speed rotor HSR; an inverter 10 that generates the voltage to drive the magnetic gear drive motor 12; a rotation angle sensor 17 that measures the rotation angle and speed of the high-speed rotor HSR and the low-speed rotor PPR; a current sensor 15 that measures the motor current flowing from the inverter 10 to the magnetic gear drive motor 12; a main control device 2 that outputs a torque command to control the torque of the magnetic gear drive motor 12; and an inverter control device 3 that adjusts the motor based on the torque command, the measured value of the rotation angle, and the measured value of the motor current. The current command is output to the inverter 10; the determination unit 401 determines whether the fault mode of the drive system 1 is a serious fault or a minor fault of the magnetic gear drive motor 12 based on the input signals from the magnetic gear drive motor 12, the inverter 10, the rotation angle sensor 17, the current sensor 15, the main control device 2, and the inverter control device 3. The serious fault indicates that the magnetic gear drive motor 12 cannot be controlled, and the minor fault indicates that the magnetic gear drive motor 12 can be controlled; and the resynchronization processing unit 404 resynchronizes the rotation of the high-speed rotor HSR and the low-speed rotor PPR when the fault mode is determined to be a serious fault and only a loss of synchronization has occurred.

[0155] (6) According to the sixth scheme, the protection method is the protection method of the drive system 1. The drive system 1 includes: a magnetic gear drive motor 12, having a high-speed rotor HSR and a low-speed rotor PPR that drives the load machinery LD to rotate by rotating synchronously with the high-speed rotor HSR; an inverter 10 that generates a voltage to drive the magnetic gear drive motor 12; a rotation angle sensor 17 that measures the rotation angle and speed of the high-speed rotor HSR and the low-speed rotor PPR; a current sensor 15 that measures the motor current flowing from the inverter 10 to the magnetic gear drive motor 12; a main control device 2 that outputs a torque command to control the torque of the magnetic gear drive motor 12; and an inverter control device 3 that, based on the torque command, the measured value of the rotation angle, and the motor current... The measured value of the current is used to output a current command to the inverter 10 to adjust the motor current. The protection method has the following steps: Based on the input signals from the magnetic gear drive motor 12, the inverter 10, the rotation angle sensor 17, the current sensor 15, the main control device 2, and the inverter control device 3, it is determined whether the fault mode of the drive system 1 is a serious fault or a minor fault of the magnetic gear drive motor 12. The serious fault indicates that the magnetic gear drive motor 12 cannot be controlled, and the minor fault indicates that the magnetic gear drive motor 12 can be controlled. If the fault mode is determined to be a serious fault, and only a loss of synchronization has occurred, the rotation of the high-speed rotor HSR and the low-speed rotor PPR is resynchronized.

[0156] (7) According to the seventh scheme, the drive system 1 includes: a magnetic geared motor 12 having a high-speed rotor HSR and a low-speed rotor PPR that drives the load machinery LD to rotate by rotating synchronously with the high-speed rotor HSR; an inverter 10 that generates a voltage to drive the magnetic geared motor 12; a rotation angle sensor 17 that measures the rotation angle and speed of the high-speed rotor HSR and the low-speed rotor PPR; a current sensor 15 that measures the motor current flowing from the inverter 10 to the magnetic geared motor 12; a main control device 2 that outputs a torque command to control the torque of the magnetic geared motor 12; and an inverter control device 3 that adjusts the motor voltage based on the torque command, the measured value of the rotation angle, and the measured value of the motor current. The current command is output to the inverter 10, and the program causes the protection device 4 of the drive system 1 to perform the following steps: based on the input signals from the magnetic gear drive motor 12, the inverter 10, the rotation angle sensor 17, the current sensor 15, the main control device 2, and the inverter control device 3, it determines whether the fault mode of the drive system 1 is a serious fault or a minor fault of the magnetic gear drive motor 12. The serious fault indicates that the magnetic gear drive motor 12 cannot be controlled, and the minor fault indicates that the magnetic gear drive motor 12 can be controlled. If the fault mode is determined to be a serious fault, and only a loss of synchronization has occurred, the rotation of the high-speed rotor HSR and the low-speed rotor PPR is resynchronized.

[0157] Industrial applicability

[0158] The above method resynchronizes the magnetic gear drive motor, suppressing the decrease in the operating rate of the drive system.

[0159] Explanation of reference numerals in the attached figures

[0160] 1. Drive System

[0161] 10 Inverters

[0162] 101 Semiconductor Switch

[0163] 102 Power Line

[0164] 11 Contactor

[0165] 12. Magnetic gear drive motor

[0166] HSR High-Speed ​​Rotor

[0167] PPR low-speed rotor

[0168] 121 Rotation axis

[0169] JT connector

[0170] 13 Braking device

[0171] 15 Current Sensor

[0172] 16 Temperature Sensors

[0173] 17 Rotation Angle Sensor

[0174] 17A High-Speed ​​Side Rotation Angle Sensor

[0175] 17B Low-speed side rotation angle sensor

[0176] 18 sensors

[0177] 2. Main control device

[0178] 3 Inverter control device

[0179] 4. Protection devices

[0180] 40 processors

[0181] 401 Judgment Department

[0182] 402 Stop Processing Department

[0183] 403 Brake Treatment Department

[0184] 404 Resynchronization Processing Department

[0185] 41 Memory

[0186] 42 Storage devices

[0187] 43 Communication Interface

[0188] D1 Step-out Limit Information

[0189] D2 Inertia Ratio Information.

Claims

1. A protection device for a drive system, the drive system comprising: A magnetic geared electric motor has a high-speed rotor and a low-speed rotor that drives the mechanical rotation of a load by rotating synchronously with the high-speed rotor; The inverter supplies current to the magnetic geared motor; A rotation angle sensor measures the rotation angle and speed of the high-speed rotor and the low-speed rotor; A current sensor measures the current flowing from the inverter to the magnetic geared motor; The main control device outputs torque commands to control the torque of the magnetic gear drive motor; and The inverter control device, based on the torque command, the measured value of the rotation angle, and the measured value of the current, outputs a current command to adjust the current supplied to the inverter. The protection device includes: The determination unit determines, based on input signals from the magnetic gear drive motor, the inverter, the rotation angle sensor, the current sensor, the main control device, and the inverter control device, whether the fault mode of the drive system is a serious fault or a minor fault of the magnetic gear drive motor. A serious fault indicates a fault in which the magnetic gear drive motor cannot be controlled, while a minor fault indicates a fault in which the magnetic gear drive motor can be controlled. and The resynchronization processing unit, when determining that the fault mode is a serious fault and when only a loss of synchronization has occurred, resynchronizes the rotation of the high-speed rotor and the low-speed rotor.

2. The protection device according to claim 1, wherein, The protection device also includes a stop processing unit, which stops the current when the fault mode is determined to be a serious fault.

3. The protection device according to claim 2, wherein, The protection device also includes a braking processing unit, which, after stopping the current, outputs a braking command to the braking device of the drive system when the current falls below a predetermined current value or the torque of the magnetic gear drive motor falls below a predetermined torque value.

4. The protective device according to claim 2 or 3, wherein, If the fault mode is determined to be a minor fault... The stop processing unit calculates a negative torque limit value based on the step-out limit information, which represents the relationship between the initial torque as the previous torque command and the negative torque that becomes the step-out limit, and adjusts the torque command to become a regenerative braking amount that does not exceed the negative torque limit value until the torque of the magnetic gear drive motor becomes below a predetermined torque specification value.

5. A drive system, comprising: A magnetic geared electric motor has a high-speed rotor and a low-speed rotor that drives the mechanical rotation of a load by rotating synchronously with the high-speed rotor; The inverter supplies current to the magnetic geared motor; A rotation angle sensor measures the rotation angle and speed of the high-speed rotor and the low-speed rotor; A current sensor measures the current flowing from the inverter to the magnetic geared motor; The main control device outputs torque commands to control the torque of the magnetic gear drive motor; The inverter control device outputs a current command to adjust the current supplied by the inverter based on the torque command, the measured value of the rotation angle, and the measured value of the current. The determination unit determines whether the fault mode is a serious fault or a minor fault of the magnetic gear drive motor based on the input signals from the magnetic gear drive motor, the inverter, the rotation angle sensor, the current sensor, the main control device, and the inverter control device. The serious fault indicates a fault in which the magnetic gear drive motor cannot be controlled, and the minor fault indicates a fault in which the magnetic gear drive motor can be controlled. and The resynchronization processing unit, when determining that the fault mode is a serious fault and when only a loss of synchronization has occurred, resynchronizes the rotation of the high-speed rotor and the low-speed rotor.

6. A protection method, which is a protection method for a drive system, said drive system comprising: A magnetic geared electric motor has a high-speed rotor and a low-speed rotor that drives the mechanical rotation of a load by rotating synchronously with the high-speed rotor; The inverter supplies current to the magnetic geared motor; A rotation angle sensor measures the rotation angle and speed of the high-speed rotor and the low-speed rotor; A current sensor measures the current flowing from the inverter to the magnetic geared motor; The main control device outputs torque commands to control the torque of the magnetic gear drive motor; and The inverter control device, based on the torque command, the measured value of the rotation angle, and the measured value of the current, outputs a current command to adjust the current supplied to the inverter. The protection method comprises the following steps: Based on the input signals from the magnetic gear drive motor, the inverter, the rotation angle sensor, the current sensor, the main control device, and the inverter control device, the fault mode of the drive system is determined to be a serious fault or a minor fault of the magnetic gear drive motor. A serious fault indicates a fault in which the magnetic gear drive motor cannot be controlled, while a minor fault indicates a fault in which the magnetic gear drive motor can be controlled. If the fault mode is determined to be a serious fault, and only a loss of synchronization has occurred, the rotation of the high-speed rotor and the low-speed rotor shall be resynchronized.

7. A program, The drive system has the following features: A magnetic geared electric motor has a high-speed rotor and a low-speed rotor that drives the mechanical rotation of a load by rotating synchronously with the high-speed rotor; The inverter supplies current to the magnetic geared motor; A rotation angle sensor measures the rotation angle and speed of the high-speed rotor and the low-speed rotor; A current sensor measures the current flowing from the inverter to the magnetic geared motor; The main control device outputs torque commands to control the torque of the magnetic gear drive motor; and The inverter control device, based on the torque command, the measured value of the rotation angle, and the measured value of the current, outputs a current command to adjust the current supplied to the inverter. The program causes the protection device of the drive system to perform the following steps: Based on the input signals from the magnetic gear drive motor, the inverter, the rotation angle sensor, the current sensor, the main control device, and the inverter control device, the fault mode of the drive system is determined to be a serious fault or a minor fault of the magnetic gear drive motor. A serious fault indicates a fault in which the magnetic gear drive motor cannot be controlled, while a minor fault indicates a fault in which the magnetic gear drive motor can be controlled. If the fault mode is determined to be a serious fault, and only a loss of synchronization has occurred, the rotation of the high-speed rotor and the low-speed rotor shall be resynchronized.

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