System setting support device and system setting support program

Abstract

To provide a technique to support the optimization of setting of a drive pattern of a motor in a motor drive system.SOLUTION: A system setting support device (10, 50, 60) supports setting of a drive pattern of one or more motors (41) in a motor drive system (20) comprising the one or more motors (41) and a motor controller (30) that drives the motors (41) based on a command signal from a control unit for controlling the drive of the motors (41). The system setting support device comprises: a display (12) that displays a variation pattern and the maximum value of the total power consumption of the one or more motors (41) in a predetermined period and a variation pattern and the maximum value of the total regenerative power of the one or more motors (41); and pattern changing units (11, 12, 13) that receive a command to change the drive pattern of at least one motor (41) of the one or more motors (41).SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a system setting support device and a system setting support program that support the setting of a motor drive pattern and the selection of component devices in a motor drive system having a motor control device that controls a control target including a load device and a motor. [Background technology]

[0002] In a motor drive system, a selection of motors, amplifiers, and other devices capable of a predetermined operation is performed based on information about the devices to be controlled (such as the moment of inertia value of each axis, load torque value, travel distance, speed, and acceleration). Because this selection process requires many calculations, a dedicated motor drive system selection device is used. A servo system selection device for selecting a servo system (motor drive system) equipped with a motor and a drive amplifier for a machine is known. This technology includes an input unit 16 that inputs machine information 10, machine operation information 12, and servo system information 14 for at least one servo system to be selected. The device also includes a calculation unit 18 that uses the machine information 10 and the servo system information 14 to calculate the power consumption of the servo system based on the machine operation information 12 input to the input unit 16, and calculates at least one of the total power consumption, total loss, and power efficiency for each servo system input to the input unit 16, and a first output unit 20 that displays or outputs at least one of the total power consumption, total loss, and power efficiency calculated by the calculation unit 18 for each servo system input to the input unit 16 (see, for example, Patent Document 1).

[0003] However, if the component devices of a motor drive system are selected when the drive patterns of the multiple motors that make up the motor drive system are not optimized, the specifications of the component devices may end up being excessive, and the cost of the system as a whole may not be optimized. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-166953 [Patent Document 2] Japanese Patent Application Publication No. 2019-57963 [Patent Document 3] Japanese Patent Application Laid-Open No. 2012-253892 Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been made in view of the above problems, and its purpose is to provide a technique for supporting optimization of the setting of a motor drive pattern in a motor drive system. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a system setting assistance device for assisting in setting a drive pattern for one or more motors in a motor drive system including one or more motors that drive a load device and a motor control unit that drives the motor based on a command signal from a control device for driving control of the motor, the system setting assistance device comprising: a display unit that displays a fluctuation pattern and a maximum value of the total power consumption of the one or more motors and a fluctuation pattern and a maximum value of the total regenerative power of the one or more motors over a predetermined period; and a pattern change unit that receives a command to change the drive pattern of at least one of the one or more motors.

[0007] This allows the driving pattern of at least one of the one or more motors that make up the motor driving system to be easily changed using the pattern change unit while visually checking the fluctuation pattern and maximum value of the total power consumption of the one or more motors that make up the motor driving system, and the fluctuation pattern and maximum value of the total regenerative power of the one or more motors over a specified period of time.

[0008] This makes it easy to make adjustments to reduce total power consumption and total regenerative power, prevents the components of the motor drive system from having excessive capacity, and optimizes the specifications of the components.

[0009] In addition, in the present invention, the display unit may further display a drive pattern and fluctuation patterns of power consumption and regenerative power for at least a part of the one or more motors during the predetermined period.

[0010] This makes it possible to more efficiently understand the fluctuation patterns and maximum values of the total power consumption and the fluctuation patterns and reasons for the maximum values of the total regenerative power of one or more motors that make up the motor drive system, and to make adjustments more efficiently to reduce the total power consumption and total regenerative power, thereby optimizing the specifications of the component devices.

[0011] In the present invention, a storage unit that stores candidate components of the motor drive system and specification information of the candidate components; The system may further include a unit selection unit that selects candidate components of the motor drive system from the memory unit based on at least one of the fluctuation pattern of power consumption or regenerative power in at least some of the one or more motors, the fluctuation pattern of the total power consumption or total regenerative power of the one or more motors, and the maximum value of the total power consumption or total regenerative power of the one or more motors, and displays the candidates on the display unit.

[0012] This not only makes it possible to make adjustments to reduce the total power consumption and total regenerative power in the motor drive system, but also makes it easier to select the components.

[0013] In addition, in the present invention, the constituent devices of the motor drive system include a regenerative power utilization device that stores and utilizes regenerative power from at least a part of the one or more motors, and a regenerative power loss device that causes the regenerative power to be lost, The unit selection unit Displaying the current or selected regenerative power utilization device and regenerative power loss device on the display unit; Based on at least one of the fluctuation pattern of the regenerative power in at least some of the one or more motors, the fluctuation pattern of the total regenerative power of the one or more motors, and the maximum value of the total regenerative power of the one or more motors, and the specifications of the current or selected regenerative power loss device, a candidate regenerative power utilization device may be selected when the regenerative power loss in the current or selected regenerative power loss device is stored and utilized by the regenerative power utilization device, and the candidate regenerative power utilization device may be displayed on the display unit.

[0014] Here, specific examples of the regenerative power utilization device include a smoothing capacitor and a storage battery, and specific examples of the regenerative power loss device include a regenerative resistor. It is then possible to present a configuration device for using the regenerative power utilization device to recover the regenerative power lost in the regenerative power loss device. This makes it possible to support the configuration of a system that can more efficiently utilize the regenerative power of one or more motors without loss.

[0015] In the present invention, the components of the motor drive system include a power supply, a power cable, and , motor cables, noise filters, converters, circuit breakers or fuses, The unit selection unit displaying on the display unit at least one of a power supply, a power cable, and a motor cable, and at least one of a noise filter, a converter, a molded case circuit breaker, and a fuse, which are currently in use or have been selected; At least one of the power cable, motor cable, noise filter, converter, molded case circuit breaker, and fuse candidate may be selected based on at least one of the fluctuation pattern of power consumption in at least some of the one or more motors, the fluctuation pattern of total power consumption of the one or more motors, and the maximum value of the total power consumption of the one or more motors, as well as the specifications of the current or selected power source and / or motor and converter, and the selected candidate may be displayed on the display unit.

[0016] This makes it possible to recommend appropriate power cables, motor cables, noise filters, converters, molded-case circuit breakers, and fuses based on specifications such as the power supply voltage, installation conditions, and stray capacitance of the motor cable.

[0017] In the present invention, the unit selection unit When selecting candidates for the noise filter based on the specifications of the current or selected motor cable, The stray capacitance value of the current or selected motor cable may be calculated, and a candidate noise filter may be selected according to the calculated stray capacitance value of the motor cable. Alternatively, the unit selection unit When selecting candidates for the motor cable and / or noise filter based on the specifications of the current or selected motor cable, The stray capacitance value of the current or selected motor cable may be calculated, and if the calculated stray capacitance value of the motor cable exceeds a predetermined threshold, at least one of a low stray capacitance cable whose stray capacitance value is equal to or less than the threshold, and a noise filter corresponding to the calculated stray capacitance value of the motor cable may be selected as a candidate. This makes it possible to more reliably select a motor cable having an appropriate stray capacitance or a noise filter that is appropriate for the stray capacitance of the motor cable.

[0018] The present invention also provides a system setting support program for supporting setting of a drive pattern for one or more motors in a motor drive system including one or more motors that drive a load device and a motor control unit that drives the motors based on command signals from a control unit for drive control of the motors, the program comprising: a display step of displaying on a display unit a fluctuation pattern and a maximum value of the total power consumption of the one or more motors and a fluctuation pattern and a maximum value of the total regenerative power of the one or more motors during a predetermined period; and a pattern changing step of receiving a command to change the drive pattern of at least one of the one or more motors.

[0019] Furthermore, the present invention may be the above-mentioned system setting support program, characterized in that in the display step, the drive pattern and fluctuation patterns of power consumption and regenerative power for at least a portion of the one or more motors during the specified period are further displayed.

[0020] Furthermore, the present invention includes a storage step of storing candidate components of the motor drive system and specification information of the candidate components in a storage unit; A change in power consumption or regeneration in at least a part of the one or more motors. The system setting assistance program may further include a unit selection step of selecting candidate components of the motor drive system from the memory unit based on at least one of the operating pattern of the motors, the fluctuation pattern of the total power consumption or total regenerative power of the one or more motors, and the maximum value of the total power consumption or total regenerative power of the one or more motors, and displaying the candidate components on the display unit.

[0021] Furthermore, the present invention provides a motor drive system in which the constituent devices include a regenerative power utilization device that stores and utilizes regenerative power from at least a portion of the one or more motors, and a regenerative power loss device that causes the regenerative power to be lost, In the unit selection step, Displaying the current or selected regenerative power utilization device and regenerative power loss device on the display unit; The above-mentioned system setting support program may be characterized in that, based on at least one of the fluctuation pattern of the regenerative power in at least some of the one or more motors, the fluctuation pattern of the total regenerative power of the one or more motors, and the maximum value of the total regenerative power of the one or more motors, and the specifications of the current or selected regenerative power loss device, a candidate regenerative power utilization device is selected when the regenerative power loss in the current or selected regenerative power loss device is stored and utilized by the regenerative power utilization device, and the candidate regenerative power utilization device is displayed on the display unit.

[0022] Furthermore, the present invention provides a motor drive system in which the components include a power supply, a power cable, a motor cable, a noise filter, a converter, a molded case circuit breaker, or a fuse, In the unit selection step, displaying on the display unit at least one of a power supply, a power cable, and a motor cable, and at least one of a noise filter, a converter, a molded case circuit breaker, and a fuse, which are currently in use or have been selected; The system setting support program may be characterized in that at least one of the power cable, motor cable, noise filter, converter, molded case circuit breaker, and fuse candidate is selected based on at least one of a fluctuation pattern of power consumption in at least some of the one or more motors, a fluctuation pattern of total power consumption of the one or more motors, and a maximum value of the total power consumption of the one or more motors, and specifications of at least one of the current or selected power supply, power cable, motor cable, and converter, and the selected candidate is displayed on the display unit.

[0023] Further, in the unit selection step, When selecting candidates for the noise filter based on the specifications of the current or selected motor cable, The system setting support program may be characterized in that it calculates a stray capacitance value of the current or selected motor cable, and selects a candidate noise filter according to the calculated stray capacitance value of the motor cable.

[0024] Further, in the unit selection step, When selecting candidates for the motor cable and / or noise filter based on the specifications of the current or selected motor cable, The system setting support program may be characterized in that it calculates a stray capacitance value of the current or selected motor cable, and when the calculated stray capacitance value of the motor cable exceeds a predetermined threshold, selects at least one candidate from among a low stray capacitance cable whose stray capacitance value is equal to or less than the threshold, and a noise filter corresponding to the calculated stray capacitance value of the motor cable.

[0025] The above-mentioned means for solving the problems can be implemented in combination as much as possible. [Effects of the Invention]

[0026] According to the present invention, it is possible to assist in setting a motor drive pattern in a motor drive system, and it is possible to more easily optimize the motor drive pattern. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a block diagram showing a schematic configuration of a system setting assistance device and a motor drive system according to an embodiment of the present invention; [Figure 2] 1 is a functional block diagram of a system setting assistance device according to a first embodiment of the present invention. [Figure 3]FIG. 2 is a diagram illustrating in more detail the motor control device according to the first embodiment of the present invention. [Figure 4] 4 is a graph showing the drive patterns of the motors and the states of power consumption and regenerative power when three motors are driven in Example 1 of the present invention. [Figure 5] 6 is a graph showing the state of power consumption and regenerative power when the drive pattern of one of the three motors is changed in the first embodiment of the present invention. [Figure 6] 10 is a second graph showing the state of power consumption and regenerative power when the drive pattern of one of the three motors is changed in the first embodiment of the present invention. [Figure 7] 4 is a flowchart of control by the system setting assistance device according to the first embodiment of the present invention. [Figure 8] 10 is an example of display content in the first embodiment of the present invention. [Figure 9] FIG. 10 is a functional block diagram of a system setting support device according to a second embodiment of the present invention. [Figure 10] 10 is a flowchart of control by a system setting assistance device according to a second embodiment of the present invention. [Figure 11] FIG. 10 is a functional block diagram of a system setting assistance device according to a third embodiment of the present invention. [Figure 12] 10 is a flowchart of control by a system setting assistance device according to a third embodiment of the present invention. [Figure 13] 10 is an example of display content in the third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0028] <Application example> An application example of the present disclosure will be described below. A system setting assistance device 10 according to the present disclosure is applied to a motor control device 30 that controls a control target 40 including a load device 42 and a motor 41 that drives the load device 42, as shown in Fig. 1. More specifically, the system setting assistance device 10 is a device for setting control conditions for controlling the control target 40 in the motor control device 30.

[0029] 2, the system setting support device 10 is a device in which a setting support program is installed in a PC (personal computer), and includes a calculation processing unit 14, a UI unit 15, a display control unit 16, and a storage unit 17. The calculation processing unit 14 includes therein a data acquisition unit 14a, a power calculation unit 14b, and a maximum power calculation unit 14c.

[0030] When the motor control device 30 drives multiple motors 41, it is conceivable that multiple motors such as the first motor to the third motor will accelerate and decelerate as shown in FIG. 4. In this case, each motor will accelerate, move at a constant speed, and then decelerate before stopping. The power consumption and regenerative power of the entire system will change as shown in the bottom graph of FIG. 4, and there will be times in a specific time range when the power consumption is at its maximum and when the regenerative power is at its maximum. In the present disclosure, the drive pattern of each motor is changed so that the values of the maximum power consumption and maximum regenerative power will decrease. Specifically, as shown in the third graph of FIG. 5, when a specific motor is driven, The pattern is shifted so that the acceleration and deceleration parts do not overlap with the drive patterns of other motors.

[0031] 7, the power consumption and regenerative power of each motor are acquired (S103), and the values and times of the maximum power consumption and maximum regenerative power are calculated and displayed (S106).Then, the drive pattern of each motor is repeatedly changed and adjusted (S108) until the maximum power consumption and maximum regenerative power are equal to or less than the respective thresholds 1 (Yes in S107).

[0032] At that time, it is possible to change the drive pattern of each motor while viewing a display such as that shown in Fig. 8. In this manner, in this application example, it is possible to easily change the drive patterns of the multiple motors while visually checking the fluctuation pattern and maximum value of the total power consumption of the multiple motors constituting the motor drive system and the fluctuation pattern and maximum value of the total regenerative power of the multiple motors over a predetermined period.

[0033] This makes it easy to make adjustments to reduce total power consumption and total regenerative power, prevents the components of the motor drive system from having excessive capacity, and optimizes the specifications of the components.

[0034] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0035] Example 1 Figure 1 shows a block diagram of a system setting assistance device 10 and a motor drive system 20 in this embodiment. The system setting assistance device 10 in this embodiment is a device that assists in setting the drive pattern of a motor 41 in a motor control device 30 that serves as a motor control unit that controls a motor 41 that drives a load device 42, such as a robot arm. Note that while Figure 1 shows only one motor 41 controlled by the motor control device 30, multiple motors 41 may be controlled by the motor control device 30, as described below.

[0036] The motor control device 30 controls the motor 41 using a programmable logic controller (PLC) or the like. The motor control device 30 controls the motor 41 in accordance with commands input from a higher-level device (not shown). The motor 41 and the load device 42 constitute a controlled object 40, and the motor control device 30 and the controlled object 40 constitute a motor drive system 20.

[0037] The configuration and operation of the system setting support device 10 will be described in detail below. FIG. 2 shows a functional block diagram of the system setting support device 10. The system setting support device 10 according to this embodiment is a device in which a setting support program is installed in a PC (personal computer). As shown in FIG. 2, the setting support program installed in the PC causes a main body unit (a part consisting of a CPU and its peripheral devices) 13 of the PC to operate as an arithmetic processing unit 14, a UI unit 15, a display control unit 16, and a storage unit 17. The arithmetic processing unit 14, the UI unit 15, and the display control unit 16 are configured by a CPU built into the PC. The storage unit 17 may be an HDD (hard disk drive) or flash memory built into the PC, or may be external to the PC.

[0038] The system setting support device 10 also includes an input device 11 and a display device 12 as a display unit. The input device 11 can be a keyboard or mouse attached to a PC, and a user inputs information necessary for calculating power consumption and regenerative power and selecting system components, such as the specifications and quantity of the motor 41. The display device 12 can be an ordinary liquid crystal display or the like, and can display the power consumption fluctuation pattern calculated by the calculation processing unit 14, the maximum power value, and the time when the maximum power is consumed.

[0039] The display control unit 16 is a functional block that displays an image of the content instructed by the arithmetic processing unit 14 or the UI unit 15 on the screen of the display device 12. The UI unit 15 is a functional block that causes the arithmetic processing unit 14 to execute the type of processing specified by input from the input device 11 by the user under processing conditions specified by the user.

[0040] The arithmetic processing unit 14 includes a data acquisition unit 14a that acquires speed data and torque data for each motor 41. The arithmetic processing unit 14 also includes a power calculation unit 14b that calculates the power consumption and regenerative power of each motor 41 and the total power consumption and total regenerative power of the entire motor drive system 20 from the torque and other data of each motor 41 acquired by the data acquisition unit 14a, and a maximum power calculation unit 14c that calculates the time and maximum value at which the total power consumption and total regenerative power are maximized. The pattern change unit (described later) in this embodiment is configured, for example, with the input device 11, display device 12, and PC main unit 13 (excluding the data acquisition unit 14a, power calculation unit 14b, and maximum power calculation unit 14c) in FIG. 2. The system setting support device 10 in this embodiment does not necessarily have to be realized by a single PC, and the above-mentioned functional blocks may be shared among multiple PCs and peripheral devices. The system setting support device 10 may also include multiple PCs, servers, and mobile terminals linked via a network, the Internet, or the like.

[0041] Next, motor control device 30 according to the present disclosure will be described in more detail using Figure 3. As shown in Figure 3, motor control device 30 according to the present disclosure can be connected to multiple motors and can independently control each motor in motor groups 41a and 41b, each of which is made up of multiple motors.

[0042] The motor control device 30 receives DC power from a power supply 31 and includes a DC converter 32 that converts the voltage. The DC converter 32 includes a noise filter 321 and a DC-DC converter 322 for boosting the voltage. The DC converter 32 removes noise from the DC power from the power supply 31 and boosts the voltage. The output of the DC converter 32 is input to a first unit 33a for controlling the motor group 41a and a second unit 33b for controlling the motor group 41b. More specifically, the boosted DC power is supplied to the first unit 33a and to the second unit 33b via the first unit 33a. Although the power supply 31 has been described as a DC power supply in this embodiment, an AC power supply may also be used.

[0043] Next, the internal configuration of the first unit 33a will be described. The converter section 331a has a power storage module (not shown). The power storage module also functions as a backup power supply. Furthermore, when surplus energy is generated by the inverter section 332a performing regenerative operation, the converter 331a uses the surplus energy to charge the power storage module.

[0044] The inverter section 332a has multiple inverters built in. The inverter section 332a is equipped with the same number of inverters as the motors that make up the motor group 41a, and converts DC power into AC output to drive the connected motors 41. The motors 41 that make up the motor group 41a are each drivably coupled to a load device 42 such as a robot arm, and can operate independently. The configuration of the second unit 33b is the same as that of the first unit 33a, so a description thereof will be omitted here.

[0045] FIG. 4 shows the state of power consumption and regenerative power when three motors, the first motor to the third motor, selected from the motor groups 41a and 41b, are driven. The example in FIG. 4 shows a case where the first motor, the second motor, and the third motor accelerate and decelerate in that order. The first motor starts accelerating from time t1, switches to uniform motion at time t2, starts decelerating from time t3, and stops at time t4. During this time, forward torque is generated in the first motor during acceleration from time t1 to t2, and uniform motion is maintained between time t2 and t3. During acceleration, only the forward torque necessary to maintain speed is produced, and between times t3 and t4, a reverse torque is produced to brake.

[0046] Similarly, the second motor starts accelerating from time t3, switches to uniform motion at time t4, starts decelerating from time t5, and stops at time t6. During this time, the second motor generates forward torque during acceleration from time t3 to t4, and only generates forward torque necessary to maintain speed during uniform motion from time t4 to t5. Then, between times t5 and t6, reverse torque is generated for braking.

[0047] Similarly, the third motor starts accelerating from time t4, switches to uniform motion at time t5, starts decelerating from time t6, and stops at time t7. During this time, forward torque is generated in the third motor during acceleration from time t4 to t5, and only forward torque necessary to maintain speed is generated during uniform motion from time t5 to t6. Then, reverse torque is generated for braking from time t6 to t7.

[0048] The bottom graph in FIG. 4 shows the total power consumption and regenerative power of the first to third motors. Because the power consumption and regenerative power of each motor are determined based on the torque generated by that motor, this total power consumption is at its maximum between times t4 and t5, as shown in the figure. Furthermore, the regenerative power in the reverse direction is at its maximum between times t6 and t7, as shown in the figure. Note that the power supply 31 that supplies power to the motor drive system 20 must have a capacity capable of supplying the maximum forward power consumption between times t4 and t5. Furthermore, the storage batteries in the converter section 331a of the first unit 33a and the converter section 331b of the second unit 33b must have a capacity capable of storing at least the regenerative power between times t6 and t7.

[0049] Consider the case where the power supply 31 is changed to one with a capacity smaller than the maximum power consumption. In this case, if the first to third motors are driven according to the pattern shown in FIG. 4, sufficient power may not be supplied to the second and third motors between times t4 and t5, making it difficult to control the controlled object 40 as planned. In this case, in this embodiment, the acceleration / deceleration patterns (hereinafter also referred to as drive patterns) of the first to third motors are changed to reduce the maximum power consumption. Note that the period t1 to t8 in FIG. 4 corresponds to a predetermined period during which the drive patterns of each motor are acquired and the total power consumption and total regenerative power are displayed. When the power supply 31 is changed to one with a smaller capacity, this predetermined period is preferably set to a period that includes all the operating patterns of the multiple motors 41 in the motor drive system 20. If a predetermined operation is repeated, the period may be set to include the operating pattern that serves as the unit of repetition.

[0050] FIG. 5 is a graph showing the case where the start time of acceleration / deceleration drive of the third motor is shifted from t4 to t5. In the second graph at the bottom of FIG. 5, the pattern shown by the dashed line represents the drive pattern before the change, while the pattern shown by the solid line represents the drive pattern after the change. In this way, by shifting the start time of acceleration / deceleration drive of the third motor from t4 to t5, the total power consumption of the first to third motors is greatest between times t1 and t2, and the maximum power consumption value is reduced compared to before the change.

[0051] The regenerative power is at its maximum between times t7 and t8, but the value of the maximum regenerative power remains unchanged before and after the change. In this example, the maximum power consumption can be reduced by shifting the drive timing of the acceleration and deceleration of the third motor later and changing the drive pattern. This makes it possible to change the power supply 31 to one with a smaller capacity.

[0052] The example of FIG. 6 is a similar example, in which the acceleration / deceleration drive of the third motor starts at time t3. In this example, the start time of acceleration / deceleration drive of the third motor is shifted from t3 to t5, where t3 is the maximum, and the start time of acceleration / deceleration drive of the third motor is shifted from t3 to t4 to t1 to t2, where t3 is the maximum.

[0053] Furthermore, the time when the regenerative power is at its maximum shifts from the time between t5 and t6 to the time between t7 and t8, and the value of the maximum regenerative power is significantly reduced. In this example, by shifting the acceleration / deceleration motion profile of the third motor to the later side, it is possible to reduce the capacity of the power supply 31 and the capacity of the storage batteries of the converter units 331a and 331b.

[0054] 7 shows a flowchart of control by the system setting support device 10 in this embodiment. This flowchart is a program stored in the storage unit 17 of the PC main body 13, and is executed, for example, when a user requests a change in the motor drive pattern. When this routine is executed, first, in step S101, the current drive pattern of the motor 41 and information about the input power supply system are input from the input device 11. When the processing of S101 is completed, the process proceeds to S102.

[0055] In S102, the type of motor 41 currently used for each axis and the capacity of each component device of the motor control device 30 are selected. This is done by selecting the type of motor 41 currently being used and the capacity of each component device of the motor control device 30 from options for the motor type and the capacity of each component device of the motor control device that are stored in advance in the storage unit 17 and displayed as a list on the display device 12 under the control of the UI unit 15. When the processing of S102 is completed, the process proceeds to S103.

[0056] In S103, the power consumption and regenerative power of each motor of each motor group 41a, 41b during the target period when each motor is driven using the current drive pattern are obtained. Specifically, an ammeter may be installed in the power supply line of each motor of motor groups 41a, 41b, and the power consumption of each motor may be obtained by actually driving each motor together with the load device 42 and detecting the current value. Alternatively, a fluctuation pattern of the torque required when driving the load device 42 may be obtained in advance, and the required torque may be read from the storage unit 17 and calculated to calculate the power consumption and regenerative power.

[0057] Here, for example, the power consumption or regenerative power of each motor in FIG. 4 can be calculated as follows. E=(1 / 2)×(2π / 60)×N×T[W]...(1) N: Rotation speed at the start of acceleration / deceleration (r / min) T: Torque during acceleration / deceleration (N m) When the process of S103 is completed, the process proceeds to S104. In S104, the total power consumption and total regenerative power of all motors during the target period are calculated. When the process of S104 is completed, the process proceeds to S105.

[0058] In S105, the drive pattern and torque pattern (which are substantially the same as the fluctuation pattern of power consumption) of each motor, as well as the total power consumption and total regenerative power of all motors during the target period, as shown in Figures 4 to 6, are displayed on the display device 12. When the processing of S105 is completed, the process proceeds to S106. In S106, the values and time of the maximum power consumption and maximum regenerative power are also displayed on the display device 12. When the processing of S106 is completed, the process proceeds to S107.

[0059] In S107, it is determined whether the maximum power consumption and the maximum regenerative power are equal to or less than threshold value 1. This threshold 1 is a target value for reducing the maximum power consumption and maximum regenerative power by changing the drive pattern this time, and is a value that is input in advance via the input device 11. If it is determined that the maximum power consumption and maximum regenerative power are equal to or less than threshold 1 (Yes in S107), it is determined that the purpose of this routine has been achieved, and this routine is temporarily terminated. On the other hand, if it is determined that the maximum power consumption and maximum regenerative power are greater than threshold 1 (No in S107), the process proceeds to S108.

[0060] In S108, input of a new distribution mode (a motor drive pattern mode in which the drive timing of each motor is intentionally distributed; the same applies below) drive pattern is accepted via the input device 11. Here, when the user inputs the new distribution mode drive pattern and the processing of S108 is completed, the process returns to S103, and the power consumption and regenerative power of each motor during the target period when each motor of each motor group 41a, 41b is driven using the new distribution mode drive pattern are obtained. Then, in S107, the processing of S103 to S108 is repeatedly executed until it is determined that the maximum power consumption and maximum regenerative power are equal to or less than threshold 1. Here, the pattern change unit includes the PC main unit 13 that executes S108.

[0061] 8 shows an example of the display displayed on display device 12 by the processes of S105 and S106. As shown in Fig. 8, display device 12 displays the drive pattern and torque pattern of each motor (which are substantially the same as the fluctuation pattern of power consumption), the total power consumption and total regenerative power of all motors during the target period. In addition, the values and times of maximum power consumption and maximum regenerative power are displayed in text, and a symbol is used to indicate that these are maximum values in the display of the fluctuation pattern of total power consumption and total regenerative power at the bottom.

[0062] In this way, in this embodiment, the user can change the drive pattern of each motor and make adjustments to reduce the total power consumption and total regenerative power of the entire motor drive system 20. As a result, it is possible to reduce the total power consumption and total regenerative power while taking into account the required operation of each motor, thereby reducing the capacity of the components of the motor drive system and reducing costs.

[0063] <Example 2> Next, a second embodiment of the present disclosure will be described. In this embodiment, in addition to the function of changing the motor drive pattern described in the first embodiment, an example will be described in which a function of displaying information about changes to the components of the motor drive system is provided. FIG. 9 shows a block diagram of a system setting support device 50 in this embodiment. The difference from the first embodiment is that in this embodiment, the calculation processing unit 14 further includes a unit selection unit 14d.

[0064] 10 shows a flowchart of control by the system setting support device 50 in this embodiment. This flowchart is also a program stored in the storage unit 17 of the PC main body 13, and is executed, for example, when a user requests a change in the motor drive pattern and a selection of a new component device. When this routine is executed, in step S101, the current motor drive pattern and information about the input power supply system are input from the input device 11.

[0065] When the process of S101 is completed, the process proceeds to S102. In S102, the type of motor 41 currently used for each axis and the capacity of the motor control device 30 are selected. This is done by selecting the type of motor 41 currently used and the capacity of each component device of the motor control device 30 from options for the type of motor and the capacity of each component device of the motor control device that are stored in advance in the storage unit 17 and displayed as a list on the display device 12 under the control of the UI unit 15. The process of S102 is the same as the process described in the embodiment 1. When the process of S102 is completed, the process proceeds to S203.

[0066] In S203, the user inputs a drive pattern for the new distributed mode from the input device 11. When the processing of S203 is completed, the process proceeds to S204. In S204, the effective current, instantaneous maximum current, inrush current, etc. in the current mode and the distributed mode of the motor drive system 20 are calculated. When the processing of S204 is completed, the process proceeds to S205.

[0067] In S205, the drive patterns in the current mode and the distributed mode of the target device and a list of the constituent devices are displayed. The process of determining each constituent device in S205 is described below. (1) Converter Calculate the converter capacity from the sum of the effective current and the instantaneous maximum current, and present the format. (2) Smoothing capacity / battery capacity / regenerative resistance · Calculates the required capacity from the amount of regenerative power and presents the format according to the regenerative processing mode. (3) Power cable -Format is provided based on the effective current / voltage or that information plus the cable stray capacitance value. (4) Motor cable -Presents the format based on the effective current / voltage of each axis. (5) Noise filter -Format is presented based on the effective current / input power system, or the cable stray capacitance value in addition to that information. do. (6) Circuit breaker / fuse · Presents the format based on the effective current / input power system. (7) Optional items / accessories The required format will be presented according to the selected motor / driver and the unit selected above. When the process of S205 is completed, the process proceeds to S206.

[0068] In S206, the specification difference between the component devices in the current mode and the distributed mode of the motor drive system 20 and threshold value 2 are displayed. This specification difference is an index that indicates the difference in the specifications of each component device in the current mode and the distributed mode. This specification difference may be defined and displayed for each component device, or the specification difference for each component device may be substituted into a predetermined arithmetic expression such as a polynomial, and the calculation result may be displayed as the overall specification difference.

[0069] Threshold 2 is defined in advance for each specification difference. When the processing of S206 is completed, the process proceeds to S207. In S207, it is determined whether the specification difference calculated and displayed in S206 is equal to or greater than threshold 2. Note that, if the specification difference is defined for each component device, the specification difference may be determined to be equal to or greater than threshold 2 if the specification differences for all component devices are equal to or greater than threshold 2, or, for example, if the specification differences for more than 80% of the total component devices are equal to or greater than threshold 2.

[0070] If it is determined that the specification difference is equal to or greater than threshold 2, it is determined that the purpose of executing this routine has been achieved, and the process proceeds to S208. On the other hand, if it is determined that the usage difference is less than threshold 2, it is determined that the contents of the distribution mode are not optimal, so the process returns to S203, and a new distribution mode drive pattern is input. Then, in the process of S207, the processes of S203 to S207 are repeatedly executed until it is determined that the specification difference between the component devices in the current mode and distribution mode of the target device is equal to or greater than threshold 2.

[0071] In S208, the drive pattern of each motor 41 and each component device in the new distributed mode are determined. The user sees the display of the result of this determination and decides whether to operate the actual motor drive system 2. Replace the component in 0.

[0072] As explained above, in this embodiment, by setting the drive pattern of each motor 41 in the motor drive system 20 to a new distributed mode, it is possible to reduce power consumption and regenerative power, and also to optimize the components that make up the motor drive system 20.

[0073] As an additional function of the system setting support device 50 of this embodiment, the unit selector 14d may display devices related to the utilization or loss of regenerative power, such as currently used or newly selected smoothing capacitors, storage batteries, and regenerative resistors, on the display device 12. Based on at least one of the fluctuation pattern of the regenerative power of each of the multiple motors 41 when they are driven, the fluctuation pattern of the total regenerative power of the multiple motors 41, and the maximum value of the total regenerative power of the multiple motors 41, as well as the specifications of the regenerative resistors, etc., the unit selector 14d may select a smoothing capacitor or a storage battery when the regenerative power loss in the regenerative resistors, etc. is to be stored and utilized in the smoothing capacitor or storage battery, and display the selected smoothing capacitor or storage battery on the display device 12. Here, the smoothing capacitor and storage battery correspond to regenerative power utilization devices. The regenerative resistor corresponds to a regenerative power loss device.

[0074] This makes it possible to present candidate components for using a smoothing capacitor and a storage battery to recover regenerative power that is lost in regenerative resistors, etc. This makes it possible to support the configuration of motor drive system 20 that can more efficiently utilize regenerative power in motor 41 without loss.

[0075] Furthermore, the unit selection unit 14d may display at least one of a currently selected or newly selected power supply, power cable, or motor cable, and at least one of a noise filter, converter, circuit breaker, or fuse on the display device 12, and may select at least one of a noise filter, converter, circuit breaker, or fuse based on at least one of the fluctuation pattern of power consumption in the multiple motors 41, the fluctuation pattern of total power consumption of the multiple motors 41, or the maximum value of the total power consumption of the multiple motors 41, and the specifications of at least one of the currently selected or newly selected power supply, power cable, or motor cable, and display the selected item on the display device 12.

[0076] This additional function is provided to address the need to select appropriate motor cables, noise filters, converters, and wiring circuit breakers / fuses, since in the case of a motor drive system 20 in which the DC-BUS is branched, there is an increased risk of noise problems occurring due to the stray capacitance of the motor cable. Here, the cable stray capacitance value per unit length is calculated using the following equation (2): Stray capacitance per cable [C] = Stray capacitance per unit length (depending on cable type) (pF / m) × cable length (m) (2) Furthermore, by adding up the stray capacitance of each motor cable, the total cable stray capacitance for the motor cables branching off from the DC-BUS can be calculated. If this total cable stray capacitance is greater than a predetermined threshold 3, a low stray capacitance cable is recommended, or a cable with common mode noise resistance (less susceptible to magnetic saturation) according to the total cable stray capacitance is recommended. Here, threshold 3 is the total capacitance of the cable. This is a value that includes a margin in addition to the stray capacitance above which noise problems are predicted to become apparent, and is set in advance experimentally or through simulations or the like.

[0077] These additional features make it easier to select motor cables, noise filters, converters, circuit breakers, or fuses to reduce noise. The process for selecting noise filters, converters, wiring circuit breakers, and fuses is as follows: (1) Input power system information is input from the input device 11. This input power system information includes, for example, the power supply voltage (AC 100, 200, 400V) and the installation conditions (neutral point installation, S-phase connection). Examples include: (2) The motor cable connection length branching off from the DC-BUS is input from the input device 11, and the motor cable type is determined. Then, the total stray capacitance of the motor cables branching off from the DC-BUS is calculated by multiplying the cable stray capacitance per unit length by the total cable length. If the total length of the motor cables branching off from the DC-BUS is long and the stray capacitance is large, cable types with low stray capacitance are presented as candidates. (3) From the above calculation results, appropriate types of noise filters, converters, circuit breakers, and fuses are presented.

[0078] Example 3 Next, a third embodiment of the present disclosure will be described. In this embodiment, in addition to the function of changing the motor drive pattern described in the first embodiment, an example will be described in which a function of displaying information about examples of changes to the drive pattern is provided. FIG. 11 shows a block diagram of a system setting support device 60 in this embodiment. The difference from the first embodiment is that in this embodiment, the arithmetic processing unit 14 further includes a change content calculation unit 14e.

[0079] 12 shows a flowchart of control by the system setting support device 60 in this embodiment. This flowchart is a program stored in the storage unit 17 of the PC main body 13, and is executed when, for example, a user requests a change in the motor drive pattern.

[0080] The processing contents of steps S101 to S107 and S108 in this embodiment are the same as those in the first embodiment. The difference between this embodiment and the first embodiment is that, in this embodiment, if it is determined in S107 that the maximum power consumption and maximum regenerative power are greater than threshold 1, the processing advances to S308 before proceeding to S108. In S308, the start times of the drive patterns of each motor related to the maximum power consumption and maximum regenerative power in the current distributed mode are provisionally shifted by one unit toward the positive time side and the negative time side (e.g., from t5 to t4), and the maximum power consumption and maximum regenerative power at that time are calculated. Then, from the values of the maximum power consumption and maximum regenerative power after each provisional shift, the motors whose drive patterns should be changed in the new distributed mode, the direction of change, and the amount of change are calculated and displayed. Figure 3 shows an example of the display content displayed on the display device 12 in this embodiment.

[0081] This allows the user to determine the content of the new distributed mode by using the content displayed in S308 as a hint when inputting the drive pattern for each motor in the new distributed mode in S108, making it possible to determine the drive pattern for each motor that will more efficiently reduce maximum power consumption and maximum regenerative power.

[0082] In the following, the constituent elements of the present disclosure will be noted with the reference numerals in the drawings so that the constituent elements of the present disclosure can be compared with the configurations of the examples. <Appendix 1> A system setting support device (10, 50, 60) for supporting setting of a drive pattern of one or more motors (41) in a motor drive system (20) including one or more motors (41) that drive a load device (42) and a motor control unit (30) that drives the motors (41) based on a command signal from a control device for drive control of the motors (41), comprising: The fluctuation pattern of the total power consumption of the one or more motors (41) during a predetermined period a display unit (12) for displaying the fluctuation pattern and maximum value of the total regenerative power of the one or more motors (41), and the fluctuation pattern and maximum value of the total regenerative power of the one or more motors (41); a pattern change unit (11, 12, 13) that receives a command to change the drive pattern of at least one motor (41) among the one or more motors (41). <Appendix 6> A system setting support program for supporting setting of a drive pattern of one or more motors (41) in a motor drive system (20) including one or more motors (41) that drive a load device (42) and a motor control unit (30) that drives the motors (41) based on a command signal from a control device for drive control of the motors (41), comprising: a display step (S105, S106) of displaying on a display unit a fluctuation pattern and a maximum value of the total power consumption of the one or more motors (41) during a predetermined period and a fluctuation pattern and a maximum value of the total regenerative power of the one or more motors (41); and a pattern change step (S108) of receiving a command to change the drive pattern of at least one motor (41) among the one or more motors (41). [Explanation of symbols]

[0083] 10, 50, 60 System Setting Support Device 11 Input Devices 12 Display device 13 Main body part 14 Processing unit 15 UI section 16 Display control unit 17 Memory section 30 Motor control device 40 Control Object 41 Motor 42 Load device

Claims

1. A system setting assistance device that assists in setting drive patterns for one or more motors in a motor drive system including one or more motors that drive load devices and a motor control unit that drives the motors based on command signals from a control device for drive control of the motors, comprising: a display unit that displays a fluctuation pattern and a maximum value of the total power consumption of the one or more motors and a fluctuation pattern and a maximum value of the total regenerative power of the one or more motors over a predetermined period; a pattern change unit that receives a command to change the drive pattern of at least one of the one or more motors, a storage unit that stores candidate components of the motor drive system and specification information of the candidate components; A system setting support device further comprising a unit selection unit that selects candidate components of the motor drive system from the memory unit based on at least one of the fluctuation pattern of power consumption or regenerative power in at least some of the one or more motors, the fluctuation pattern of the total power consumption or total regenerative power of the one or more motors, and the maximum value of the total power consumption or total regenerative power of the one or more motors, and displays the candidate components on the display unit.

2. 2. The system setting assistance device according to claim 1, wherein the display unit further displays a drive pattern and a fluctuation pattern of power consumption and regenerative power for at least a portion of the one or more motors during the predetermined period.

3. The components of the motor drive system include a regenerative power utilization device that stores and utilizes regenerative power from at least a portion of the one or more motors, and a regenerative power loss device that causes the regenerative power to be lost, The unit selection unit Displaying the current or selected regenerative power utilization device and regenerative power loss device on the display unit; A fluctuation pattern of regenerative power in at least a part of the one or more motors, 2. The system setting assistance device according to claim 1, characterized in that, based on the fluctuation pattern of the total regenerative power of the one or more motors, at least one of the maximum value of the total regenerative power of the one or more motors, and the specifications of the current or selected regenerative power loss device, when the regenerative power loss in the current or selected regenerative power loss device is stored and utilized by the regenerative power utilization device, a candidate regenerative power utilization device is selected and displayed on the display unit.

4. the components of the motor drive system include a power supply, a power cable, a motor cable, a noise filter, a converter, a molded case circuit breaker, or a fuse; The unit selection unit displaying on the display unit at least one of a power supply, a power cable, and a motor cable, and at least one of a noise filter, a converter, a molded case circuit breaker, and a fuse, which are currently in use or have been selected; 2. The system configuration assistance device according to claim 1, wherein at least one of candidates for the power cable, motor cable, noise filter, converter, molded case circuit breaker, and fuse is selected based on at least one of a fluctuation pattern of power consumption in at least some of the one or more motors, a fluctuation pattern of total power consumption of the one or more motors, and a maximum value of the total power consumption of the one or more motors, and specifications of at least one of the current or selected power supply, power cable, motor cable, and converter, and causes the display unit to display the selected candidates.

5. The unit selection unit When selecting candidates for the noise filter based on the specifications of the current or selected motor cable, 5. The system setting support device according to claim 4, wherein a stray capacitance value of the current or selected motor cable is calculated, and a candidate noise filter is selected according to the calculated stray capacitance value of the motor cable.

6. The unit selection unit When selecting candidates for the motor cable and / or noise filter based on the specifications of the current or selected motor cable, 5. The system configuration assistance device according to claim 4, wherein a stray capacitance value of the current or selected motor cable is calculated, and when the calculated stray capacitance value of the motor cable exceeds a predetermined threshold, at least one candidate is selected from a low stray capacitance cable having a stray capacitance value equal to or less than the threshold, and a noise filter according to the calculated stray capacitance value of the motor cable.

7. 1. A system setting support program for supporting setting of a drive pattern for one or more motors in a motor drive system including one or more motors that drive a load device and a motor control unit that drives the motor based on a command signal from a control unit for drive control of the motor, the program comprising: a display step of displaying on a display unit a fluctuation pattern and a maximum value of the total power consumption of the one or more motors and a fluctuation pattern and a maximum value of the total regenerative power of the one or more motors during a predetermined period; a pattern changing step of receiving a command to change a drive pattern of at least one of the one or more motors; a storage step of storing candidate components of the motor drive system and specification information of the candidate components in a storage unit; A fluctuation pattern of power consumption or regenerative power in at least a part of the one or more motors, and a fluctuation pattern of total power consumption or total regenerative power of the one or more motors. and a unit selection step of selecting candidate components of the motor drive system from the storage unit based on at least one of the maximum values of the total power consumption or total regenerative power of the one or more motors and displaying the candidates on the display unit.

8. 8. The system setting support program according to claim 7, wherein the display step further displays a drive pattern and a fluctuation pattern of power consumption and regenerative power for at least a portion of the one or more motors during the predetermined period.

9. The components of the motor drive system include a regenerative power utilization device that stores and utilizes regenerative power from at least a portion of the one or more motors, and a regenerative power loss device that causes the regenerative power to be lost, In the unit selection step, Displaying the current or selected regenerative power utilization device and regenerative power loss device on the display unit; 8. The system setting support program according to claim 7, characterized in that, based on at least one of the fluctuation pattern of the regenerative power in at least some of the one or more motors, the fluctuation pattern of the total regenerative power of the one or more motors, and the maximum value of the total regenerative power of the one or more motors, and the specifications of the current or selected regenerative power loss device, a candidate regenerative power utilization device is selected when the regenerative power loss in the current or selected regenerative power loss device is stored and utilized by the regenerative power utilization device, and the candidate regenerative power utilization device is displayed on the display unit.

10. the components of the motor drive system include a power supply, a power cable, a motor cable, a noise filter, a converter, a molded case circuit breaker, or a fuse; In the unit selection step, displaying on the display unit at least one of a power supply, a power cable, and a motor cable, and at least one of a noise filter, a converter, a molded case circuit breaker, and a fuse, which are currently in use or have been selected; 8. The system setting support program according to claim 7, wherein at least any one of the power cable, motor cable, noise filter, converter, molded case circuit breaker, and fuse candidate is selected based on at least any one of a fluctuation pattern of power consumption in at least some of the one or more motors, a fluctuation pattern of total power consumption of the one or more motors, and a maximum value of the total power consumption of the one or more motors, and specifications of at least any one of the current or selected power supply, power cable, motor cable, and converter, and the selected power supply, power cable, motor cable, and converter, and the selected power supply, power cable, motor cable, and converter candidate is displayed on the display unit.

11. In the unit selection step, When selecting candidates for the noise filter based on the specifications of the current or selected motor cable, 11. The system setting support program according to claim 10, further comprising: calculating a stray capacitance value of the current or selected motor cable; and selecting a candidate noise filter according to the calculated stray capacitance value of the motor cable.

12. In the unit selection step, When selecting candidates for the motor cable and / or noise filter based on the specifications of the current or selected motor cable, A stray capacitance value of the current or selected motor cable is calculated, and if the calculated stray capacitance value of the motor cable exceeds a predetermined threshold, a low stray capacitance cable whose stray capacitance value is equal to or less than the threshold and a noise reduction cable according to the calculated stray capacitance value of the motor cable are selected.

11. The system setting support program according to claim 10, wherein at least one candidate of the filter is selected.

Images