WO2012164238A3 - Method and apparatus for torque control of an electrical machine - Google Patents

Method and apparatus for torque control of an electrical machine Download PDF

Info

Publication number
WO2012164238A3
WO2012164238A3 PCT/GB2012/000472 GB2012000472W WO2012164238A3 WO 2012164238 A3 WO2012164238 A3 WO 2012164238A3 GB 2012000472 W GB2012000472 W GB 2012000472W WO 2012164238 A3 WO2012164238 A3 WO 2012164238A3
Authority
WO
WIPO (PCT)
Prior art keywords
electrical machine
torque
load
load torque
speed
Prior art date
Application number
PCT/GB2012/000472
Other languages
French (fr)
Other versions
WO2012164238A2 (en
Inventor
Charles Pollock
Helen Pollock
Original Assignee
Technelec Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Technelec Ltd filed Critical Technelec Ltd
Publication of WO2012164238A2 publication Critical patent/WO2012164238A2/en
Publication of WO2012164238A3 publication Critical patent/WO2012164238A3/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B23P19/065—Arrangements for torque limiters or torque indicators in screw or nut setting machines
    • B23P19/066—Arrangements for torque limiters or torque indicators in screw or nut setting machines by electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/143—Inertia or moment of inertia estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/18—Controlling the angular speed together with angular position or phase
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • H02P3/025—Details of stopping control holding the rotor in a fixed position after deceleration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

A control system for an electrical machine drive system which actively controls the machine excitation during conditions of rapid acceleration or deceleration to bring the machine to rest at the point when a specified torque or force has been applied to a mechanical load. This is achieved without requiring any load torque transducer and automatically compensates for inertial energy in an active manner so that when the electrical machine comes to rest the load which has been applied is close to the specified value, irrespective of the rate of change of speed which has occurred. The system comprises an electrical machine, a mechanical drive mechanism connected between the output of the electrical machine and the load, a circuit to supply current to one or more of the windings of the electrical machine, the torque controller having a function of expected load torque variation with electrical machine speed and involving the steps of monitoring the electrical machine speed to calculate rate of change of speed; estimating inertial torque of the electrical machine system; estimating the electrical machine torque from measurements of currents and/or voltages; estimating load torque; calculating a load torque error between the estimated load torque and expected load torque obtained from the function of expected load torque variation evaluated at the instantaneous electrical machine speed and using the load torque error to increase or decrease the electrical machine torque.
PCT/GB2012/000472 2011-05-27 2012-05-28 Method and apparatus for torque control of an electrical machine WO2012164238A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1109011.5A GB2491198A (en) 2011-05-27 2011-05-27 Dynamic torque controller for electrical machines
GB1109011.5 2011-05-27

Publications (2)

Publication Number Publication Date
WO2012164238A2 WO2012164238A2 (en) 2012-12-06
WO2012164238A3 true WO2012164238A3 (en) 2013-08-22

Family

ID=44310560

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2012/000472 WO2012164238A2 (en) 2011-05-27 2012-05-28 Method and apparatus for torque control of an electrical machine

Country Status (2)

Country Link
GB (1) GB2491198A (en)
WO (1) WO2012164238A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3578318A1 (en) 2014-11-28 2019-12-11 Koki Holdings Co., Ltd. Electric tool
CN110088487B (en) 2016-12-27 2021-03-02 通用电气公司 Adjustable lock block assembly for toothed gears and method of use thereof
DE112017008092A5 (en) * 2017-09-25 2020-07-09 Siemens Aktiengesellschaft Braking method for an electric motor

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5315501A (en) * 1992-04-03 1994-05-24 The Stanley Works Power tool compensator for torque overshoot
WO1998047665A1 (en) * 1997-04-22 1998-10-29 Atlas Copco Tools Ab Process for tightening screw joints
DE102006046388A1 (en) * 2006-03-07 2007-09-20 Hitachi Industrial Equipment Systems Co. Ltd. Motor control device for e.g. industrial device, has estimation section receiving speed and acceleration detection values, and controller for correcting control constant based on measure of inertia to adjust torque current instruction value
EP2031363A1 (en) * 2007-08-28 2009-03-04 Rockwell Automation Technologies, Inc. Inertia and load torque estimating method and apparatus

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4210852A (en) 1975-11-14 1980-07-01 Atlas Copco Aktiebolag Electric nutrunner
JP4685509B2 (en) * 2004-07-12 2011-05-18 株式会社豊田中央研究所 AC motor drive control device and drive control method
EP2190113A1 (en) * 2008-11-19 2010-05-26 Abb Research Ltd. Method and apparatus for controlling an electrical Machine with direct torque control

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5315501A (en) * 1992-04-03 1994-05-24 The Stanley Works Power tool compensator for torque overshoot
WO1998047665A1 (en) * 1997-04-22 1998-10-29 Atlas Copco Tools Ab Process for tightening screw joints
DE102006046388A1 (en) * 2006-03-07 2007-09-20 Hitachi Industrial Equipment Systems Co. Ltd. Motor control device for e.g. industrial device, has estimation section receiving speed and acceleration detection values, and controller for correcting control constant based on measure of inertia to adjust torque current instruction value
EP2031363A1 (en) * 2007-08-28 2009-03-04 Rockwell Automation Technologies, Inc. Inertia and load torque estimating method and apparatus

Also Published As

Publication number Publication date
GB2491198A (en) 2012-11-28
WO2012164238A2 (en) 2012-12-06
GB201109011D0 (en) 2011-07-13

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