• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    In order to improve the safety of a functional test of a holding brake (2) of an electric motor (1), the invention proposes to vary the phase currents (isu, isv, isw) so that the current space indicator (is) is rotated when the holding brake (2) is closed, so that the Stromraumzeiger (is) at least once normal to the rotor flow direction (d).
    公开号:AT514494A1
    申请号:T50414/2013
    申请日:2013-06-24
    公开日:2015-01-15
    发明作者:Andreas Dipl Ing Fh Pölzleithner
    申请人:Bernecker & Rainer Ind Elektronik Gmbh；
    IPC主号:
    专利说明:

    Method for functional testing of a holding brake of an electric motor
    The subject invention relates to a method for functional testing of a holding brake of an electric motor in which phase currents are applied to the electric motor when the holding brake is closed to generate a current space pointer in magnitude and angle and checks whether the holding brake slips when applied phase currents.
    In many machines, moving machine parts are driven by electric motors. Often also holding brakes are provided to fix a moving axis of the machine in a position. The holding brake can be designed as a separate component, or can also be integrated in the electric motor. The function of the holding brake, especially in critical areas, must be ensured in order to prevent damage to man and machine. The holding brake is subject to wear, e.g. the brake pads that change the braking behavior. Apart from this, the holding brake can be damaged by external contamination, e.g. be affected by oil, or by damage in their function. Therefore, regular functional tests of the holding brake are required, e.g. at regular intervals or always before a certain movement of the machine to ensure that the holding brake can still apply sufficient braking effect. If the holding brake does not pass the bump test, the machine is normally shut down.
    In DE 10 2005 015 608 A1, a method is proposed in which the electric motor of the driven axle is driven with a torque and is checked via the position encoder of the drive, whether the holding brake is able to hold the torque. A slipping of the holding brake is interpreted as a failure of the holding brake. The torque is gradually increased until the holding brake slips and the last held torque is considered the maximum holding force of the holding brake, which can be compared with a certain nominal holding force.
    DE 10 2007 005 827 A1 describes a method for a functional test of a holding brake of an electric motor which moves a suspended load. In order to be able to take the load into account during the function test, the effect of the load is first determined here in which the electric motor is controlled in such a way that the load remains stationary when the brake is open. The necessary motor current is stored as a reference value. Subsequently, the electric motor is driven at a closed brake with a multiple of this reference value and checked via an angle sensor, whether the drive moves.
    A functional test of a holding brake is also described in DE 197 56 752 A1, in which a starting current is applied when the holding brake is closed, which is a specific one
    Torque causes. A rotation of the rotor of the electric motor and thus an improper holding brake can be detected by detecting the motor voltage or by means of a rotary encoder.
    In this prior art, a motor current is thus applied when the holding brake is closed in order to produce a specific torque. However, especially with multi-phase electric motors, the motor current must be correctly applied vectorially (in terms of magnitude and angle) while the electric motor is being held in order to generate the expected torque.
    The stator current results from the vectorial addition of the individual phase currents and is referred to as current space indicator is. By known Clarke or Park transformation of the current space pointer can be transformed into the stator fixed α jß coordinate system or in the rotor fixed dq coordinate system. The park transformation requires the absolute position of the rotor in relation to the stator, which is usually measured with an angle encoder. When the rotor-fixed coordinate system dq is used, it is assumed that the current space vector in the rotor-fixed dq coordinate system has exclusively a torque-forming q component (normal to the rotor flux direction d). This is ensured by the drive control so that the stator current rotates with the rotor-fixed dq coordinate system.
    Due to incorrect commutation, errors in the motor control or errors in the drive control, the actual current space vector can also contain a d-component. This means that the q-component is smaller than the magnitude of the current space pointer, which means that the torque is smaller in magnitude than assumed or predetermined. With regard to the brake test, however, this means that only with correct commutation, and with no occurrence of an error, can it be assumed that the applied stator current or the applied phase currents that can be measured or are known, is proportional to the torque at the motor shaft , For example, an angular error υβιτ between the actual rotor-fixed d'q 'coordinate system (d' points in the direction of the rotor) and the assumed dq coordinate system must be assumed. It applies to a permanent magnet-excited synchronous motor in vector control M = KT is cos Uerr- Ideally, Oerr = 0 and thus the torque M via the motor constant KT directly proportional to the torque-generating current component (stator current). In the case of an error, however, Oerr ^ O, which results in a smaller torque in terms of absolute value. That is, a brake test for functional testing of a holding brake on the basis of the measured phase currents or the resulting vectorial Stromraumze is is not sufficiently secure as in the prior art.
    It is therefore an object of the subject invention to improve the safety of a functional test of a holding brake of an electric motor.
    This object is achieved in that the phase currents are varied so that the current space pointer is rotated with the holding brake closed, so that the current space pointer is at least once normal to the rotor flux direction. In this way it can be guaranteed that at least once the desired moment for functional testing of the holding brake is actually applied.
    In the simplest case, when no external load is applied, it is sufficient if the current space pointer is rotated by an angle of at least 180 °. In the case of an external load or a functional test with a moment in a certain direction, the current space indicator is rotated by an angle of at least 360 °. For the functional test, it is advantageous if the electrical period is subdivided into sectors and the current space pointer remains in each sector for a certain residence time during the functional test, since this can ensure that the torque to be set actually sets.
    The subject invention will be explained in more detail below with reference to Figures 1 to 8, which show by way of example, schematically and not by way of limitation advantageous embodiments of the invention. It shows
    1 shows a typical drive with electric motor, load and holding brake,
    2 shows the resulting current-space vector with applied phase currents,
    3 and 4, the rotation of the stream space hand,
    5 shows the rotation of the current space pointer with external load,
    6 shows a quasi-continuous and discrete rotation of the current space vector, and FIG. 7 and FIG. 8 show the division of the electrical period into sectors.
    1 shows schematically a drive with an electric motor 1, which is connected via a motor shaft 4 with a load 5. The electric motor 1 generates a torque Mw on the motor shaft 4 and the load 5 a load torque ML. On the motor shaft 4, here at the other end of the electric motor 1, a holding brake 2, in any embodiment, is arranged. Likewise, a rotary encoder 3 is provided for measuring the angle of rotation. Of course, the axial arrangement of electric motor 1, holding brake 2 and rotary encoder 3 can be changed arbitrarily. It is also conceivable that the holding brake 2 and / or the rotary encoder 3 are integrated in the electric motor 1, but these can also be mechanically connected in another way, e.g. a gearbox.
    A motor controller 6 controls the electric motor 1 via the power electronics 7, usually an inverter. For this purpose, the motor controller 6 can send e.g. a torque Mw are given, which is then converted by the power electronics 7 in phase currents isu, isv, isw for generating the torque Mw. The phase currents isu, isv, isw generate a current space vector is in magnitude and angle p, as described in more detail with reference to FIG.
    Ideally, the current space indicator should correspond in terms of magnitude and angle to the torque-forming current component iq in the rotor-fixed coordinate system dq, that is to say is = iq. Due to errors, however, an error results (coordinate system d'q '), which means that the stator current also includes a d-component id'. Thus, iq, = is cos (i9OT) and the torque-forming current component iq and thus also the torque Mw, which is generated by the electric motor 1 and applied to the motor shaft 4, is smaller in magnitude than due to the applied or measured phase currents isu, isv, isw expected.
    In order to take this into account for the functional test of the holding brake 2, it is now provided that the current space vector is, for example by corresponding variation of the phase currents isu, isv, isw, to rotate with the holding brake 2 closed so that it is ensured that the current space pointer is at least once exclusively in the q-direction (normal to the rotor flux direction d) and consequently at least once is is = iq, as shown in Fig.3.
    Furthermore, two cases can be distinguished, namely a brake test without external load and a brake test with external load (as indicated in FIG. 1 in the form of the load torque ML).
    In the brake test without external load, it is sufficient that the current pointer is rotated by 180 °, if the direction of the load is irrelevant, to ensure that the current space pointer is at least once exclusively in the q-direction, as shown in Figure 4. However, should the holding brake 2 be tested with a moment in a certain direction, the current space indicator must also be rotated by 360 ° in this case in order to safely test the function of the holding brake 2.
    The stator current is in the embodiment of FIG. rotated 360 ° and projected onto the q-axis of the rotor-fixed coordinate system dq, in the form iq = | / | sin (p-Sr).
    Thus, the torque-forming current component iq at least once reaches the maximum is = iq, whereby at least once the intended torque MW = KT is is generated for testing the holding brake 2.
    If the drive is still connected to an external load 5, which causes a certain load torque Ml, the holding brake 2 already experiences a base load. This basic load can be expressed as a torque-equivalent current IM1. By this amount, the torque is reduced, which must apply the drive during the brake test. The moment-equivalent current profile iTest from the perspective of the holding brake 2 is the sum of the external basic load iMi_ and the moment-forming portion of the stator current iq,
    as shown in Figure 5. The external load 5 can be assumed to be known.
    If the current space vector is rotated by 360 °, the torque-forming current component iq undergoes at least once the maximum is = iq. For the functional test of the holding brake 2, e.g. Checked via the rotary encoder 3, whether the holding brake 2 slips during the Stromraumzeiger is rotated. If the rotary encoder 3 detects an excessive change in angle, this is interpreted as slippage of the holding brake 2 and the functional test is terminated with an error message, e.g. Setting a status bit, ended. Which angle change is allowed can be specified. The error message may e.g. be passed to the motor controller 6, which can then take an appropriate action, e.g. Activation of an emergency, notification to a higher-level system control, signaling the failed functional test, etc. The function test can of course also be initiated and / or executed by the engine control unit 6. However, it can also be provided that the functional test is performed by another unit, e.g. a safe engine control is performed. For the specific implementation of the functional test described above, the angle p of the current space vector can be changed quasi-continuously or in discrete steps, as shown in FIG. 6 and FIG. 7.
    The electrical period (360 °) is divided into n sectors Sn, e.g. Eighteen sectors as shown in Fig.7. For the brake test, it is now provided that the current space indicator must remain in a valid function test in each sector Sn for a certain residence time so that the torque Mw can be set. The sector size or the number of sectors can be determined from a maximum tolerable error f, as explained with reference to FIG. Thus, the relationship applies to the sector size α
    where f is given in percent.
    It can thus be guaranteed that during the dwell time in a sector Sn, the maximum torque is applied, minus the error f, which is dependent on the sector size α. The smaller the dividing sectors Sn, the smaller the maximum error f, but at the same time the total test duration increases, since the current space pointer must stay in each sector Sn. So a meaningful compromise between accuracy and test duration must be found.
    The required dwell time depends on the application and the holding brake 2 used and must be set either on the basis of the manufacturer's instructions or a separate calculation and is the responsibility of the user. The same applies to the angle change tolerance window.
    As an approach to the calculation, the torque balance and the tolerated angle change tolerance can be used. These values can be used to calculate how long a torque must be present in order to accelerate the inertia of the rotor of the electric motor 1 and possibly of a load 4 in order to cover the minimum measurable angle change.
    Furthermore, in the case of external load 5, it may be provided that the load torque ML, which applies the external load 5 at standstill, is determined, e.g. with a method as described in DE 10 2007 005 827 A1. The load torque ML can also be assumed to be known for many applications. Now, a current space indicator can be impressed is that corresponds to the torque equivalent current IMl of the load torque ML and the resulting torque are measured, or to check whether the external load is at a standstill in this impressed Stromraumzeiger is. Thereby, e.g. By comparing the known external load 5 and the load torque ML with the measured torque, the commutation or the torque constant KT is plausibilized, i. It can be detected in this way a faulty commutation when the two torques differ from each other.
    The above explanations apply in the same way to a linear motor, since from a control point of view there is no difference between a rotating motor and a linear motor. One can think of the linear motor as " unwound " Imagine engine. The three windings (phases) are usually strung together (short stator motor) in the carriage and produce a sinusoidal " current balance " (magnetic flux) in the air gap. The permanent magnets are lined up in the fixed part of the motor. The long-stator motor is exactly the opposite. One electrical revolution corresponds to the pool pair length and is converted internally, so that here too a "rotation of the current space indicator" can be used. Ideally, the current space indicator is again quasi-normal to the flow direction. The torque constant here is equivalent to a force constant and the linear motor generates no torque M but a force F. The method for the functional test of a holding brake can therefore be applied equally and equivalently also in the case of a linear motor.
    权利要求:
    Claims (4)
    [1]
    1. Method for functional testing of a holding brake (2) of an electric motor (1), in which closed phase holding brake (2) for generating a current space indicator (is) in magnitude and angle phase currents (isu, isv, isw) to the electric motor (1) be created and checked whether the holding brake (2) slips in applied phase currents (isu, isv, isw), characterized in that the phase currents (isu, isv, isw) are varied so that the current space pointer (is) when closed Holding brake (2) is rotated so that the Stromraumzeiger (is) is at least once normal to the rotor flow direction (d).
    [2]
    2. The method according to claim 1, characterized in that the phase currents (isu, isv, isw) are varied so that the current space pointer (is) rotates at an angle of at least 180 °.
    [3]
    3. The method according to claim 1, characterized in that the phase currents (isu, isv, isw) are varied so that the current space pointer (is) rotates at an angle of at least 360 °.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that the electrical period is divided into sectors (Sn) and the current space pointer (is) remains during the functional test in each sector (Sn) for a certain residence time.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP1495535B1|2008-06-25|Method for determining the rotor position of a synchronous motor
    EP2272162B1|2013-02-27|Determining offset angle for synchronous machines
    EP1479157B1|2006-12-06|Method for the detection of abnormalities of electric motors
    DE10311028B4|2008-06-19|Method for determining a starting rotor position and speed at pulse enable of a converter-fed, permanent-magnet synchronous machine without position and speed sensor
    EP2309641A2|2011-04-13|Method and device for error-free monitoring of an electric motor drive
    EP3014233B1|2017-09-13|Method for the functional testing of a holding brake of an electric motor
    EP1699676A1|2006-09-13|Method for reducing the speed of an electric motor and electric drive
    EP3109999B1|2022-01-26|Method and device for determining a physical variable of a multi-phase synchronous machine
    EP3152831A1|2017-04-12|Method and device for adjusting an actuator of a positioning system with an electronically commutated actuator drive
    DE102016108263B4|2020-01-09|Servo control device with sensorless controlled stop function
    EP1501185B1|2009-09-09|Method and arrangement for positioning a rotating device
    EP3105848B1|2019-07-10|Control circuit and control method for a synchronous machine
    DE112016003559T5|2018-04-19|Apparatus and method for controlling a linear actuator
    EP3208935A1|2017-08-23|Reliable testing of an electric drive
    DE102015202229A1|2016-08-11|Method and device for torque ripple determination
    EP3154189A2|2017-04-12|Apparatus with at least one ac motor
    DE102015207491A1|2016-10-27|Method for operating an electric machine and drive
    DE202006012200U1|2006-10-05|Electric motor drive system for industrial machine, has braking system comprising short-circuit brake unit and/or holding brake in modular unit
    WO2018028739A1|2018-02-15|Method for the mutual adjustment of a magnetic sensor device and of an actuator, and actuator device having an actuator and a magnetic sensor device
    EP3314744B1|2019-08-07|Method and device for checking a drive current of an electric machine
    DE102015202594A1|2016-08-18|Control circuit for initializing a control path for a current for operating a three-phase machine, method and computer program
    DE102014211881A1|2015-12-24|Method for checking a position of a rotor of an electrical machine
    DE102013218122A1|2015-03-12|Electronically commutated electrical machine and method for operating an electrical machine
    EP3664278A1|2020-06-10|Method for network synchronisation of a permanently excited alternating current machine with a soft-start device comprising a thyristor
    EP2360830B1|2012-09-19|Method and device for simulating an electromechanical converter
    同族专利:
    公开号 | 公开日
    EP3014233B1|2017-09-13|
    CN104412085A|2015-03-11|
    WO2014206691A1|2014-12-31|
    US9897156B2|2018-02-20|
    AT514494B1|2015-04-15|
    CN104412085B|2017-10-10|
    EP3014233A1|2016-05-04|
    US20160003316A1|2016-01-07|
    ES2651840T3|2018-01-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5343134A|1993-05-03|1994-08-30|Harnischfeger Corporation|Method for checking brake torque|
    EP1215475A2|2000-12-13|2002-06-19|KUKA Roboter GmbH|Method of testing a brake of an electromotor|
    DE102005015608A1|2005-04-05|2006-10-12|Motoman Robotec Gmbh|Method for testing the brake of a motor of a robot|
    DE102007005827A1|2007-02-01|2008-08-14|Sew-Eurodrive Gmbh & Co. Kg|Device and method for a functional test of a brake|
    US20130154522A1|2011-12-20|2013-06-20|Kurtis Verheyen|Method and Apparatus for Calibrating and Testing Brake Holding Torque|
    DE19532149A1|1995-08-31|1997-03-06|Siemens Ag|Method and device for correcting a flow direction of a model flow of an encoderless, field-oriented rotating field machine up to frequency zero|
    DE19756752A1|1997-12-19|1999-06-24|Heidenhain Gmbh Dr Johannes|Method and circuit arrangement for checking engine brakes|
    DE19941121C2|1999-08-25|2002-10-24|Rexroth Indramat Gmbh|Holding brake wear monitoring|
    DE10149628B4|2000-12-13|2004-09-30|Beru Ag|temperature sensor|
    US8088480B2|2003-09-29|2012-01-03|Shieldmark, Inc.|Adhesive tape|
    JP4379702B2|2004-02-10|2009-12-09|株式会社デンソー|Brushless motor control device|
    US20070031131A1|2005-08-04|2007-02-08|Mountain Engineering Ii, Inc.|System for measuring the position of an electric motor|
    DE112010005230T5|2010-02-04|2012-11-22|Mitsubishi Electric Corporation|elevator control|
    CN202676335U|2012-06-15|2013-01-16|北京中陆航星机械动力科技有限公司|Locked rotor torque detection device of three-phase permanent-magnet synchronous motor|
    CN102710210B|2012-06-19|2014-06-25|合肥工业大学|Control method of drive system of salient pole type permanent magnet synchronous motor|DE102015105526A1|2015-04-10|2016-10-13|Wittenstein Ag|Drive and method for operating a drive|
    JP6382882B2|2016-04-15|2018-08-29|ファナック株式会社|Brake inspection device and brake inspection method|
    CN108036813B|2017-12-23|2020-04-21|马鞍山钢铁股份有限公司|Automatic detection method for slipping of motor encoder catcher|
    法律状态:
    2018-03-15| HC| Change of the firm name or firm address|Owner name: B&R INDUSTRIAL AUTOMATION GMBH, AT Effective date: 20180205 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50414/2013A|AT514494B1|2013-06-24|2013-06-24|Method for functional testing of a holding brake of an electric motor|ATA50414/2013A| AT514494B1|2013-06-24|2013-06-24|Method for functional testing of a holding brake of an electric motor|
    US14/391,617| US9897156B2|2013-06-24|2014-06-03|Method for functional testing of a holding brake of an electric motor|
    CN201480001512.8A| CN104412085B|2013-06-24|2014-06-03|The method for carrying out functional test for the retaining brake to motor|
    PCT/EP2014/061442| WO2014206691A1|2013-06-24|2014-06-03|Method for the functional testing of a holding brake of an electric motor|
    EP14728916.9A| EP3014233B1|2013-06-24|2014-06-03|Method for the functional testing of a holding brake of an electric motor|
    ES14728916.9T| ES2651840T3|2013-06-24|2014-06-03|Method to check the operation of a stop brake of an electric motor|
    [返回顶部]