JPH01264586A - Control data accumulation method for motor control equipment - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an electric motor control device, and in particular, the present invention relates to a motor control device, and in particular, the present invention stores control data for each control sampling period in a memory, and stores control data for use in diagnosis at the time of failure, etc. This concerns the storage method.

[Conventional technology]

Recently, motor control has become more precise and functional.

In response to demands for miniaturization of control devices, etc., a control device with a built-in microcomputer is used to control the speed, two positions, etc. of an electric motor.

An example of a highly functional motor control device with a built-in microcomputer, which controls the speed of the motor and stores the data in memory, and in the event of a failure, can obtain the progress of the failure occurrence from the stored control data is shown in Part 6. As shown in the figure.

The motor control device 1 detects the speed of the motor 2 with a speed detector 3 and the current with a current detector 4, and compares them with a value specified by a speed command NR to determine a firing angle for operating a power converter 5. Calculate α. This firing angle α is used to adjust the power supplied to the electric motor 2 from the power source 6 and to control the speed of the electric motor 2. At this time, control data such as the detected speed, current, and firing angle that is the calculation result is stored in the memory.

The motor control device 1 includes a microprocessor 11, an interrupt generation circuit 12 that generates an interrupt that causes the microprocessor 11 to execute control calculation processing at a constant cycle, and a program memory 13 that stores programs processed by the microprocessor 11. , a calculation memory 14 that holds control data such as data during control calculation processing, speed, and current detection values, a trace memory 15 that stores control data, and a speed command N.
a.

An input circuit 16 that inputs the detected speed value Nz and the detected current value to the microprocessor 11, and an output circuit 1 that provides the firing angle α from the microprocessor 11 to the power converter 5.
7.

The motor control device 1 having such a configuration executes the processing procedure shown in FIG. 7 when controlling the motor 2 to the speed commanded by the speed command NR and storing control data, and performs speed control, current control, and control data will be accumulated.

The speed control processing and current control processing in FIG. 7 are programs that are executed when the interrupt generation circuit 12 generates a speed control interrupt signal and a current control interrupt signal, respectively. Furthermore, since the current control processing requires higher speed than the speed control processing, the interrupt generation circuit 12 generates the current control interrupt signal in short cycles, and causes the current control processing to be performed in each short cycle. There is. The main process is a program that is always executed by the microprocessor 11 regardless of interruption.

Step 1000 of the program shown in FIG. 7 is executed only once when the microprocessor 11 is started.
4. Input circuit 16. Initialize the output circuit 17.

In step 1001, when an interrupt signal for a current control interrupt or a speed control interrupt is generated from the interrupt generation circuit 12, the microprocessor 11 performs current control processing and speed control processing.

In step 1002, a determination is made by inputting a signal from an abnormality detection circuit (which detects abnormalities such as overcurrent and overspeed) not shown in FIG. Repeat. If an abnormality is detected, the process moves to step 1003.

In step 1003, interrupts are prohibited and the interrupt generation circuit 1
Even if a current control interrupt or a speed control interrupt occurs from 2 onwards, the microprocessor 11 is prevented from performing speed control processing or current control processing.

In step 1004, the accumulated control data is read from the trace memory 15 and displayed on an output device not shown in FIG. This display allows the user to examine the progress of the control processing until an abnormality occurs and the control processing is stopped.

The speed control processing program sets the speed of electric motor 2 using speed command N.
This is a procedure for calculating the motor current value to obtain the value specified by R.

In step 2000, the input circuit 16 inputs the speed detection value N1, which is the output signal of the speed detector 3, and the speed command NR to the microprocessor 11.

These data are stored in the calculation memory 14.

In step 2001, the microprocessor 11 retrieves the data stored in the calculation memory 14, calculates the data based on the control program stored in the program memory 13, and calculates the speed command NR and speed detection value Ni. A speed deviation Ne, which is the difference between the two, is calculated.

In step 2002, the microprocessor 11 performs a speed compensation calculation and calculates a current command IR. Current command I
R is calculated as the sum of a value obtained by multiplying the above-mentioned speed deviation Ne by a constant KpN and a value obtained by dividing the sum of the speed deviations Ne by a constant TIN.

On the other hand, the current control processing program is executed by the interrupt generation circuit 12.
microprocessor 1 every time a current control interrupt occurs from
Processed by 1.

In step 3000, the input circuit 16 sends the current detection value, which is the output signal of the current detector 4, to the microprocessor 1.
Enter 1. This data is stored in the calculation memory 14.

In step 3001, the microprocessor 11 receives the current command Il+ stored in the calculation memory 14.

Extract and calculate the data of the current detection value, and calculate the current deviation I.
Calculate e.

In step 3002, the microprocessor 1 performs current compensation calculation and calculates the firing angle α for operating the power converter 5. That is, the current deviation Ie stored in the calculation memory 14 is taken out, and calculated as the sum of a value obtained by multiplying the value by a constant Kp+ and a value obtained by dividing the sum of the current deviations Ie by a constant T++.

In step 3003, the output circuit 17 outputs the arithmetic memory 14
The firing angle α stored in is taken out and output to the power converter 5.

In step 3004, the control data stored in the calculation memory 14 is retrieved according to the program in steps 3004A to 3004G, and is stored in the trace memory 15.

In step 3004A, the speed command value NR stored in the calculation memory 14 is taken out and stored in the trace memory 15 again. At this time, the speed command value NR is stored in the trace memory 15 at the address commanded by the trace pointer. After storing, the trace pointer is incremented by 1 to specify the storage address of the next control data.

In step 3004B, the speed detection value N stored in the arithmetic memory 14 is retrieved and stored in the trace memory 15 in the same manner as in the process described above, and the value of the trace pointer is incremented by one.

Step 3004. At C, the current command IR stored in the arithmetic memory 14 is taken out, stored in the trace memory 15 in the same manner as in the process described above, and the value of the trace pointer is increased by one.

In step 3004D, the current detection value E stored in the arithmetic memory 14 is taken out and stored in the trace memory 15 in the same manner as in the process described above, and the value of the trace pointer is incremented by one.

Step 3004. At E, the firing angle α stored in the arithmetic memory 14 is retrieved and stored in the trace memory 15 in the same way as in the process described above, and the value of the trace pointer is set to 1.
increase by one.

Step 3004. At F, it is determined whether the value indicated by the trace pointer exceeds the final address of the trace memory 15. If it exceeds, step 300
Proceed to the process of 4G, and if it does not exceed -7=, the current control process ends without doing anything.

In step 3004G, the start address of the trace memory 15 is set in the trace pointer.

Note that since the memory capacity of the trace memory 15 is limited, this process is a process of discarding old control data and updating it with new control data.

The microprocessor 11 processes the above procedure to control the speed of the electric motor 2 and to accumulate control data.

Next, the manner in which control data is stored in the trace memory 15 will be explained in more detail with reference to FIG.

The speed control interrupt and current control interrupt generated by the interrupt generation circuit 12 have a constant cycle TSN and a constant cycle Ts+, respectively, and are t2N.
＋tsN+・・・・・・、t□l tel・・・・・・
occurs at the point in time. The speed control process and the current control process are performed as follows: tzN+tsN, . . , t□, t2. ...
・It is executed at the point in time. As a result, the speed command NR and speed detection value N stored in the calculation memory 14 are changed to the data input from the input circuit 16 every time speed control processing is performed, and the current command IR is changed to the speed compensation value N. Updated with data obtained as a result of the operation. Furthermore, each time the current control process is performed, the detected current value It stored in the calculation memory 14 is added to the data input via the input circuit 16, and the firing angle α is obtained as a result of the current compensation calculation. The data will be updated to the data that will be updated. Thereafter, the control data stored in the arithmetic memory 14 is transferred to and stored in the 1-race memory 15, so that the control data is stored in the trace memory 15 over time as shown in FIG.

Note that among the control data stored in the calculation memory 14,
Speed command NR, speed detection value Ni, and current command IR are not updated unless speed control processing is performed. As shown in FIG. 8, the same data is stored redundantly.

[Problem to be solved by the invention]

In the above-mentioned conventional technology, all control data is accumulated in the cycle of current control processing, which has the shortest interrupt signal generation cycle. As a result, a large amount of control data is moved from the calculation memory 14 to the trace memory 15 and stored, and the time required for current control processing by the microprocessor 11 becomes long.

Therefore, there is a problem in that the motor control device cannot handle current control processing that requires high-speed control, and the performance of the motor control device is limited.

On the other hand, control data for the speed control processing performed at each longer interrupt signal generation period has a large amount of waste in the trace memory 15 because the same value is stored in the trace memory 15 in duplicate.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control data accumulation method for a motor control device that requires less time for control data accumulation processing in current control processing and requires less trace memory capacity.

[Means to solve the problem]

In order to achieve the above object, the present invention provides a control data accumulation method for a motor control device that controls a motor by control processing executed at a plurality of different sampling periods, including: control processing executed at each sampling period. A synchronous data generation means is provided to provide temporal correspondence between processes,
The present invention proposes a control data storage method for a motor control device in which the synchronization data and the control data updated by the control processing are stored in a memory for each control processing executed in each sampling period.

[Effect]

The synchronous data generating means generates data proportional to the passage of time, and the microprocessor takes in the synchronous data. In the speed control process, speed command Nn, speed detection value Nx
is input, speed compensation calculation is performed to calculate the current command IR, and the synchronization data is associated with the control data of the speed command NR, the speed detection value Nz, and the current command IR, and is stored and accumulated in the trace memory. . In the current control process, the detected current value Iz is input, current compensation calculation is performed, and the firing angle α
At the same time, the synchronization data and the current detection value 11 are calculated.
The control data for the two-point firing angle α are stored in the trace memory in association with each other and accumulated.

As a result of the above operation, the control data is stored separately in the speed control process and the current control process, so that the processing time for control data storage performed in the current control process is shortened. Furthermore, since only updated control data is stored in the trace memory, the capacity of the trace memory can be saved.

〔Example〕

An embodiment of the present invention will be described with reference to FIGS. 1 to 3.

FIG. 1 shows an example of the configuration of a motor control device that executes the control data storage method according to the present invention. This device has the same configuration as the conventional motor control device shown in FIG. 6, except that a Yusai 718 is added as an example of synchronous data generation means, and the same reference numerals are used in the conventional motor control device shown in FIG. It shows the same functional parts as , so it will not be explained here.

The timer 18 is composed of an oscillator that generates pulses of a constant frequency and a counter that counts the pulses. The microprocessor 11 can arbitrarily take in the count value of the counter and obtain time data from the count value.

The control procedure executed by the device shown in FIG. 1 is shown in FIG.

This procedure, like the conventional procedure shown in Fig. 7, consists of three processes: main processing, speed control processing, and current control processing. Since this is only a partial explanation, I will focus on that point.゛In Fig. 2, the main processing is a program that is always processed by the microprocessor 11 regardless of the interrupt signal from the interrupt generation circuit 12, but since it is the same as the conventional program shown in Fig. 7, it will not be explained. omitted.

The speed control process is performed at a constant period T by the interrupt generation circuit 12.
Microprocessor 1 for each speed control interrupt that occurs in SN
1, the calculation of the current value for operating the electric motor 3 at the speed of the speed command NR, and the control data that is updated every time the speed control process is performed, that is, the speed command INR, the current command for the speed detection speed detection value Ni. Trace data memory 1
Perform processing to accumulate in 4.

Steps 5000 to 5002 are step 2000 of the program of the conventional motor control device explained in FIG.
Since this is the same process as in ~2002, the explanation will be omitted.

In step 5003, the speed command N R and the speed detected value N
x, the control data of the current command IR and the time data read from the timer 18 are stored in the trace memory J5.

The time data is used to determine what time the control data is when the control data is retrieved from the trace memory 15 later due to the occurrence of an abnormality, etc., and is also used for current control accumulated in the trace memory 15 in different control cycles. Used as a mark for correspondence with control data in processing.

In this embodiment, the trace memory 15 is divided into two parts, a part for storing control data for speed control processing and a part for storing control data for current control processing, and a trace pointer indicating an address where control data is stored is traced. Pointer PTN, trace pointer PT + binding.

Next, the control data accumulation for the speed control process in step 5Q○3 will be explained in detail.

In step 5003A, the microprocessor 11 inputs the time data of the timer 18 and stores the time data in the address specified by the trace pointer PTN of the trace memory 15. After storing, trace pointer PTN
Increase the value by one, and then specify the address where the control data will be stored.

In step 5003B, the speed command value NR stored in the arithmetic memory 14 is taken out, stored in the trace memory 15 in the same manner as the above-mentioned process, and the trace pointer PTN is
Increase the value of by one.

In step 5003C, the speed detection value Nx stored in the arithmetic memory 14 is taken out, stored in the trace memory 15 in the same manner as the above-mentioned process, and the trace pointer PT+
In step 5003D, the value of i is increased by one, the current command IR stored in the calculation memory 14 is retrieved, and
Stored in the trace memory 15 in the same manner as the above-mentioned processing,
Increase the value of the trace pointer PTN by one.

In step 5003E, it is determined whether the address indicated by the trace pointer PTN exceeds the final address at which control data for speed control processing of the trace memory 15 is stored. If it exceeds, the process proceeds to step 5003F; if it does not exceed, the speed control process ends without doing anything.

In step 5003F, the value of the trace pointer PTN is set to the start address value of the portion of the trace memory 15 where speed control data is stored. This is to update old data.

Next, the current control processing program is executed by the interrupt generation circuit 12.
Every time a current control interrupt occurs at a period TsI from TsI, it is processed by the microprocessor 11 and the current detected value is processed. is taken in through the input circuit 16, current compensation calculation is performed to determine the firing angle α, and it is supplied to the power converter 5 through the output circuit 17 to operate it, and control data updated by current control processing is stored. Process.

Step 6000=6003 is step 3000 of the program of the conventional motor control device explained in No. 7 @.
Since this is the same process as in ~3003, the explanation will be omitted.

In step 6004, the control data updated in the current control process using the current detection value 112 and the firing angle α and the time data read from the timer 18 are stored in the trace memory 14.

In step 6004A, the microprocessor 11 reads the time data from the timer 18 and stores the time data at the address specified by the trace pointer PTr in the trace memory IS. After storing, trace pointer PTI
Increase the value by one, and then specify the address where the control data will be stored.

In step 6004B, the current detection value Iz stored in the arithmetic memory 14 is taken out, stored in the trace memory 15 in the same manner as the above-mentioned process, and the trace pointer PT+
Increase the value of by one.

In step 6001G, the firing angle α stored in the arithmetic memory 14 is retrieved and stored in the trace memory 15 in the same manner as in the process described above, and the value of the trace pointer PTz is incremented by one.

In step 6004D, it is determined whether the address indicated by the trace pointer PTx exceeds the final address of the portion of the trace memory 15 that stores control data for current control processing.

If it exceeds, the process proceeds to step 6004E; if it does not exceed, the current control process ends without performing anything.

In step 6004E, the value of the trace pointer PT+ is set to the start address value of the portion of the trace memory 15 that stores current control data. This is to update old data.

The microprocessor 11 processes the above program to control the speed of the electric motor 2 and to accumulate control data.

Next, how control data is stored in the trace memory 15 will be explained in more detail with reference to FIG.

The speed control interrupt and current control interrupt generated by the interrupt generation circuit 12 have a constant period TSN and a constant period TSI, respectively, and have a period of t 2
n + t 5 N + ...r tll t2
Occurs at point 1... The speed control process and current control process are t2N+ tsN+, respectively.
T engineering, t2. It is executed at the point in time.

When the speed control process is performed, the speed command N R and speed detection value Ni stored in the calculation memory 14 are input to the input circuit 16.
The current command IR is updated to the data inputted from the current command IR, and the current command IR is updated to the data obtained as a result of the speed compensation calculation. Thereafter, the control data in the calculation memory 14 is transferred to the trace memory 15.
Since the control data for the speed control process is stored, the control data is stored as shown in FIG.

Furthermore, when the current control process is performed, the current detection value E stored in the calculation memory 14 becomes the data input from the input circuit 16, and the firing angle α becomes the data obtained as a result of the current compensation calculation. Updated. Thereafter, the control data in the arithmetic memory 14 is transferred to a portion of the trace memory 15 that stores control data for current control processing, so that the control data is stored as shown in FIG.

119= Control data is accumulated as described above.

The effects of this embodiment will be compared with the conventional control data storage method described above.

As is clear from FIGS. 3 and 6, the ratio between the speed control interrupt cycle TSN and the current control interrupt cycle Tsl is 3:1. Therefore, the microprocessor has the time TS
During N, speed control processing is performed once and current control processing is performed three times. In this total of four control processes, the microprocessor 1
If the number of control data 1 is moved from the calculation memory 14 to the trace memory 15 and stored is counted in FIGS. 3 and 6, it is 13 in this embodiment and 15 in the conventional example. That is, in this embodiment, since the microprocessor 11 can reduce the processing required for storing control data by two, the processing time required for storing control data is reduced to about 87% of the conventional example, and the cycle of control interrupts can be reduced. can be shortened by that amount and speed up the processing. In addition, if the memory capacity of the trace memory 15 is also reduced by 2 data during the time TSH, and the control data from the time of abnormality occurrence to the time T before is stored, the capacity of the trace memory 15 is is 2TL/
Only one TSN data is needed.

Furthermore, the exact time when the abnormality occurred can be determined from the accumulated time data.

Next, another embodiment of the present invention will be described with reference to FIGS. 4 and 5.

In this embodiment, the synchronous data generation means is realized by software, and no change in hardware is required.

That is, since the hardware configuration of the motor control device is exactly the same as the conventional example shown in FIG. 6, the explanation will be omitted.

FIG. 4 shows programs for speed control processing and current control processing that control the speed of the electric motor 2 and accumulate control data. In FIG. 4, the program of the first embodiment of the present invention (FIG. 2) differs only in the generation of synchronous data and the process of storing this synchronous data in the trace memory 15, so this point will be mainly explained. .

Steps 7000 to 7002 are steps 50 in FIG.
Since it is the same as the processing of 0 to 5002, the explanation will be omitted.

In step 7003, generation of synchronization data and speed command N
R, the speed detection value Nf, and the control data updated in the speed control process of the current command R.

In step 7003A, synchronization data is generated. The synchronous data is generated by increasing the value of the synchronous data SD stored in the calculation memory 14 by one. That is, the value of the synchronization data SD increases by 1 each time the speed control process is performed, indicating that the speed control process has been performed.

In step 7003B, the microprocessor 11 takes out the synchronization data SD from the arithmetic memory 14 and stores it in the trace memory 15 at the address specified by the trace pointer PTN. After storing, the value of the trace pointer PTN is incremented by one, and then the address where the control data is stored is specified.

Steps 7003C to 7003G are the same as steps 5003B to 5003F in FIG. 2, so the explanation will be omitted.

Next, since the current control process shown in FIG. 4 differs from the current control process shown in FIG. 2 only in the accumulation of synchronous data, this point will be mainly explained.

Steps 8000 to 8003 are step 60 in FIG.
Since it is the same as the processing of 00 to 6003, the explanation will be omitted.

In step 8004, the synchronization data SD, the current detection value Iz updated by the current control process, and the firing angle α are stored in the trace memory 15.

In step 8004A, the microprocessor 11 retrieves the synchronization data SD from the arithmetic memory 14 and stores it in the address specified by the trace pointer PT■ of the trace memory 15. After storing, the value of the trace pointer PT+ is incremented by one, and then the address where the control data is stored is specified.

Steps 8004B to 8004E are the same as steps 6004B to 6004E of the current control process in FIG. 2, so their explanation will be omitted.

The microprocessor 11 processes the program shown in FIG. 4 to control the speed of the electric motor 2 and to accumulate control data.

Next, how control data is stored in the trace memory 15 will be explained in more detail with reference to FIG.

The speed control interrupt and current control interrupt generated by the interrupt generation circuit 12 have a constant cycle TSN and sI below SN, respectively, at t2N.
+ jsN+ """+ jt+ tel ""' occurs at the time of t2N, tgN+...l tel tel...
It is executed at the point in time.

Assuming that the first value of the synchronized data SD is O,
Since the value is incremented by one each time the speed control process is performed, the value changes as shown in FIG.

The synchronization data SD and control data are stored in the trace memory 15 for each speed control process and current control process, and are accumulated over time as shown in FIG. 5.

In this way, the temporal correspondence of the accumulated control data can be known from the synchronization data.

According to this embodiment, the processing time required for accumulating control data can be shortened without making any modifications to the hardware of the motor control device, and furthermore, the capacity of the trace memory for accumulating control data can be reduced.

Although this embodiment has described an example in which the synchronous data SD is generated by speed control processing, the same effect can be obtained even if the synchronous data SD is generated by current control processing.

〔Effect of the invention〕

According to the present invention, since control data and synchronization data are accumulated in the trace memory in the control processing performed for each control interrupt, the time required for the microprocessor to process the accumulation of control data can be reduced.

Note that the above control processing is a speed control processing and a current control processing, but in addition, it can also be applied to a motor control device that performs, for example, a position control processing.

Furthermore, the present invention can be applied to a motor control device that controls a large number of motors with one microprocessor.
it is obvious.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an example of the configuration of a motor control device that executes the control data storage method according to the present invention, FIG. 2 is a flowchart showing the control procedure executed by the device shown in FIG. 1, and FIG. Diagram showing the control data accumulation state in the procedure, 4th
Figure 1 is a flowchart showing other control procedures executed by the device, Figure 5 is a diagram showing the control data accumulation state in the control procedure shown in Figure 4, and Figure 6 is an example of the configuration of a conventional motor control device. FIG. 7 is a flowchart showing a conventional control procedure executed by the device shown in FIG. 6, and FIG. 8 is a diagram showing a control data accumulation state in the control procedure shown in FIG. DESCRIPTION OF SYMBOLS 1... Motor control device, 2... Electric motor, 3... Speed detector, 4... Current detector, 5... Power converter,
6... Power supply, 11... Microprocessor, 12... Interrupt generation circuit, 13... Program memory, 14... Arithmetic memory, 15... Trace memory,
16...Input circuit, 17...Output circuit, 18...
timer. 8 Figure bN

Claims (1)

[Scope of Claims] 1. In a control data accumulation method for a motor control device that controls a motor by control processing executed at a plurality of different sampling periods, the temporal difference between the control processing executed at each sampling period is A motor control device comprising: a synchronization data generating means for providing correspondence, and storing the synchronization data and control data updated by the control processing in a memory for each control processing executed in each sampling period. control data storage method.