KR20240095871A - Contactless power supply with automatic release of overload condition - Google Patents

Abstract

The present invention relates to an automatically regulated non-contact power supply under overload conditions, comprising: a High Frequency Inverter (HFI) installed on a track; A regulator installed on the bogie; a motor drive unit that receives the output of the regulator to accelerate the bogie motor and drive it while maintaining the final speed; It is configured to include a motion controller that calculates and transmits the driving acceleration and final speed command value of the bogie motor to the motor driving unit, and controls the output current of the HFI to be reduced when the output current of the HFI reaches an overload state, and the motion controller When the input voltage Vdc_in of the DC/DC converter decreases due to a decrease in the output current of the AC/AC inverter, the driving acceleration and final speed limit value of the bogie motor linked thereto are calculated and transmitted to the motor driving unit, thereby preventing an overload condition. It is characterized by active resolution.
According to the present invention, when overload occurs during failover due to HFI failure of a track or when trucks are concentrated on a specific track from an electrically separated track and the HFI of the track is overloaded, the overload is automatically relieved in each bogie. There is an advantage in providing a regulated non-contact power supply.

Description

Contactless power supply with automatic release of overload condition}

The present invention relates to an automatically regulated non-contact power supply under overload conditions, which includes a High Frequency Inverter (HFI) that supplies current to a track cable, a coupler that receives power in a non-contact manner from the track cable, and a power supply supplied from the track cable. In a system that includes a regulator that converts power into direct current and supplies power to the motor drive unit, the motion controller detects the input voltage of the regulator and detects the input voltage of the motor drive unit without stopping the system in the event of an overload. This relates to a device that automatically relieves overload conditions by automatically reducing output.

A wireless power transmission device (hereinafter referred to as a 'non-contact power transmission device'), which transmits power non-contactly to a transport truck moving along a track, does not generate particles due to no mechanical contact and has the advantage of fast speed, making it suitable for semiconductors, LCDs, and LCDs. , It is widely used as an OHT (Overhead Hoist Transport) device in clean room environments such as manufacturing lines.

Numerous types of transfer devices such as OHT that receive power from non-contact power transmission devices are running in semiconductor, LCD, and manufacturing lines. If the power supply to such a transfer device is interrupted, it will lead to enormous losses, so non-contact power transmission devices are required. Reliability is in great demand.

An AC power device that flows high-frequency current is installed on the track that forms the non-contact power transmission device, and several transfer trucks run on one track.

Therefore, if the AC power supply device fails, there is a problem in that all transfer trucks traveling on the corresponding track are stopped.

The AC power supply device is defined as a High Frequency Inverter (hereinafter 'HFI'). In general, HFI performs control to maintain a constant current in the track cable installed on the track, and the output power is determined by the power consumption of the motor drive unit. Since it is determined by the output power, output power control cannot be performed separately.

Therefore, in the prior art method, when power is consumed more than a set value in a bogie running on a track, the operation of all bogies must be restricted to protect the system.

In the prior art method, when an overload situation of the HFI occurs, the output of the motor drive unit is collectively limited through a communication system, or the capacity of the HFI is designed to be sufficiently large for normal operation.

Figures 6 and 7 show representative examples where HFI overload may occur.

Figure 6 shows a case where HFI #1 supplies power to both tracks through a fail-over system when HFI #2 breaks down. As the number of bogies to which HFI supplies power increases, there is a problem that overload may occur. there is.

Republic of Korea Patent No. 10-1017407 'Wireless power transmission device with failover function' is a prior art related to FIG. 6, and is a non-contact power transmission device that transmits power non-contactly to each transport truck moving along two independent feed tracks. In the event that one of the two independent AC power supplies that applies AC power to each feed track does not operate due to a failure, the normal AC power is connected in parallel by switching to enable continuous operation of the transfer truck that moves the two independent feed tracks. It is a device that makes it possible.

In the case of the prior art method, there is a problem of causing inoperability due to overload and failure of the entire system as one AC power is applied to two feed tracks.

In the case of Figure 6, in order to prevent system stoppage due to overload, a method is used to collectively limit the output of all bogies to a specific value through communication. Since the large output of the bogies occurs during acceleration, it ultimately reduces the speed of the entire bogie. There is a problem that greatly reduces the efficiency of the automation system due to limitations.

Figure 7 shows a case where several cables are connected through an intersection, and the tracks are electrically separated, but the bogie can move beyond the track, so if the bogie is driven to a specific track, an overload may occur in the HFI of that track. .

In the case of Figure 7, the number of carts moving on one cable is limited to prevent overload, but this also has the problem of reducing the efficiency of the automation system.

In other words, the output of the HFI is determined by the sum of the outputs of all bogies on the track, but according to the prior art method, there is a problem in that there is no way to limit the output of the HFI itself.

[0001] Republic of Korea Patent No. 10-1017407 ‘Wireless power transmission device with failover function’

The present invention is intended to solve the above-described problem, and when overload occurs during failover due to HFI failure of a track or when trucks are concentrated on a specific track from an electrically separated track and the HFI of the track is overloaded, each bogie actively The purpose is to provide a non-contact power supply that automatically regulates overload conditions to relieve overload.

In order to achieve the above object, the present invention is a non-contact power supply device that transmits power to a bogie traveling on a track, comprising: a track cable wound around the track; HFI controller, AC/AC inverter that outputs frequency-converted AC power under the control of the HFI controller when AC power is input, primary side resonance tank that receives the output of the AC converter and transmits the resonance frequency output to the track cable HFI (High Frequency Inverter) consisting of; A coupler wound around the bogie and supplied with power from the track cable; It is formed with a secondary side resonance tank, an AC/DC converter, a DC/DC converter, and a regulator controller that receives the input voltage Vdc_in of the DC/DC converter and controls the output voltage, which are sequentially connected to the coupler, and is input to the coupler. A regulator that converts power into motor drive input DC power and outputs it; a motor drive unit that receives the output of the regulator to accelerate the bogie motor and drive it while maintaining the final speed; It is configured to include a motion controller that calculates and transmits the driving acceleration and final speed command value of the bogie motor to the motor driving unit, and when the output current of the AC/AC inverter reaches an overload state, the HFI controller The motion controller controls the output current of the AC inverter to decrease, and when the input voltage Vdc_in of the DC/DC converter decreases due to the decrease in the output current of the AC/AC inverter, the driving acceleration and final speed of the bogie motor are linked to this. By calculating a limit value and transmitting it to the motor drive unit, when the HFI reaches an overload state, the acceleration and final speed of a plurality of bogies traveling on the track are automatically reduced and controlled to relieve the overload state. Non-contact power supply is the technical point.

In the present invention, the motion controller is preferably an overload state automatically regulated non-contact power supply device that receives the current speed from the motor drive unit and performs feedback calculations on the driving acceleration of the bogie motor and the final speed limit value.

In addition, the motion controller has a built-in bogie motor driving acceleration and final speed value when the HFI is in a normal load state, and includes a comparator that compares the bogie motor driving acceleration and final speed limit value, and the smaller of the two values is included. It is desirable to use an automatically adjustable non-contact power supply device in an overload state, characterized in that it outputs to the motor driving unit.

In addition, the motion controller has a built-in minimum value of the driving acceleration and final speed of the bogie motor, and when the overload state is reached, if the driving acceleration and final speed limit value of the bogie motor is less than the minimum value of the driving acceleration and final speed of the bogie motor, It is preferred that the overload condition automatically regulated non-contact power supply is characterized in that a failover function is performed by transmitting a stop operation command to the HFI controller.

In addition, the HFI controller has a built-in minimum output current value of the AC/AC inverter, and when an overload state is reached, if the output current reduction control value of the AC/AC inverter is less than the output current minimum value, it stops operating and performs a failover function. It is desirable to use an automatically regulated non-contact power supply in overload conditions.

According to the above-described present invention, when an overload occurs during failover due to HFI failure of a track or when trucks are concentrated on a specific track from an electrically separated track and the HFI of the track is overloaded, the overload is actively relieved in each bogie. There is an advantage in providing a state-adjustable non-contact power supply.

1 is a configuration diagram of the present invention
Figure 2 is a control block diagram of the present invention
Figure 3 is a control block diagram of an embodiment of changing the track current according to the inverter output power value according to the control block diagram of Figure 4.
Figure 4 is a characteristic graph of the track current command value generator in the present invention.
Figure 5 is a characteristic graph of the driving unit acceleration limit value generator in the present invention.
Figure 6 is an example of overload occurring due to the operation of the fail-over system in a non-contact power supply.
Figure 7 is an example of overload occurring when multiple vehicles are concentrated on one track cable in a non-contact power supply.
Figure 8 is a cross-sectional view showing the track cable and coupler structure when moving the bogie to different tracks.

The present invention will be reviewed below with reference to the drawings. In describing the present invention, if it is determined that a detailed description of related known technology or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. will be.

In addition, the terms described below are terms defined in consideration of the functions in the present invention, and may vary depending on the intention or custom of the user or operator, so the definitions should be made based on the content throughout the specification explaining the present invention.

Figure 1 below is a configuration diagram of the present invention, Figure 2 is a control block diagram of the present invention, and Figure 3 is a control block diagram of an embodiment of changing the track current according to the inverter output power value according to the control block diagram of Figure 4. Figure 4 is a characteristic graph of the track current command value generator in the present invention, Figure 5 is a characteristic graph of the driving unit acceleration limit value generator in the present invention, and Figure 6 is an overload due to the operation of the fail-over system in the non-contact power supply. Figure 7 is an example of an overload occurring when multiple vehicles are concentrated on one track cable in a non-contact power supply, and Figure 8 is a cross-sectional view showing the structure of the track cable and coupler when the vehicle is moved to different tracks.

As shown in the drawing, the present invention largely includes a track (1); HFI (10) (High Frequency Inverter) consisting of a track cable (20), HFI controller (11), AC/AC inverter (12), and primary side resonance tank (14); Bogie (2); A regulator 40 formed of a coupler 30, a secondary resonance tank 41, an AC/DC converter 42, a DC/DC converter 49, and a regulator controller 48; Motor driving unit 70; It is configured to include a motion controller 50.

The present invention is a non-contact power supply device that transmits power to a bogie (2) running on a track (1), and the track cable supplies power wound on the track.

The present invention is mainly used in OHT (Overhead Hoist Transfer), which transports wafers contained in FOUP (Front Opening Unified Pod) along rails installed on the factory ceiling to manufacturing facilities for each production process.

The OHT (Overhead Hoist Transfer) is a device that moves between semiconductor manufacturing processes on its own without human intervention, and is widely used in the semiconductor process with the introduction of smart factories.

The AC/AC inverter 12 is a circuit unit that outputs frequency-converted AC power under the control of the HFI controller 11 when AC power is input, and passes through the primary side resonance tank 14 to transmit the track cable ( 20), and such a device is widely known as HFI (10) (High Frequency Inverter).

In the present invention, the HFI controller 11 receives the output current of the AC/AC inverter 12 as shown in FIG. 4 and reduces the output current of the AC/AC inverter 12 when an overload state is reached. Control it.

For this purpose, the HFI (10) of the present invention includes a first current sensor (13) that measures the output current of the AC/AC inverter (12) and a second current sensor that measures the output current of the primary resonance tank (14). It is desirable that (15) is included.

The coupler 30 is wound around the bogie 2 and receives power from the track cable 20.

That is, the track cable 20 and the coupler 30 correspond to the primary and secondary windings of the transformer and constitute a non-contact power supply device.

The regulator 40 is a secondary side resonance tank 41, an AC/DC converter 42, a DC/DC converter 49, and the input voltage of the DC/DC converter 49, which are sequentially connected to the coupler 30. It is formed as a regulator controller 48 that receives Vdc_in and controls the output voltage, and converts the AC power input to the coupler 30 into DC power as a motor drive input and outputs it.

The motor driving unit 70 is a circuit unit that receives the output of the regulator 40, accelerates the bogie motor, and drives it while maintaining the final speed.

The motion controller 50 is a circuit unit that calculates and transmits the driving acceleration and final speed command value of the bogie motor to the motor driving unit 70, and calculates and transmits the input voltage of the DC/DC converter 49 from the regulator controller 48. Receives Vdc_in and calculates the driving acceleration and final speed command value of the bogie motor.

Therefore, it is desirable to include voltage sensors 44 and 46 that measure the input voltage Vdc_in or the output voltage of the DC/DC converter 49.

As described above, the HFI controller 11 controls the output current of the AC/AC inverter 12 to decrease when the output current of the AC/AC inverter 12 reaches an overload state as shown in FIG. 4. It will be done.

Accordingly, the input voltage Vdc_in of the DC/DC converter 49 is reduced due to a decrease in the output current of the AC/AC inverter 12.

When the input voltage Vdc_in of the DC/DC converter 49 decreases, the motion controller 50 calculates the driving acceleration and final speed limit of the bogie motor linked thereto, as shown in FIG. 5, and operates the motor driver ( 70), when the HFI (10) reaches an overload state, the acceleration and final speed of a plurality of bogies traveling on the track (1) are automatically reduced and controlled to relieve the overload state.

To this end, the motor driving unit receives the current speed of the bogie motor through an encoder and feedback calculates the driving acceleration of the bogie motor and the final speed limit value.

According to the present invention, when a plurality of bogies 2 accelerate simultaneously on the track 1 and a temporary overload occurs, each bogie 2 operates to actively limit acceleration, thereby resolving the temporary overload state.

Since the acceleration limit is a temporary functional limit that temporarily delays the time to reach the final speed, in most cases, each bogie has the advantage of being able to operate normally with a normal time to reach the final speed.

As shown in FIG. 5, the motion controller 50 also has a built-in bogie motor driving acceleration and final speed value as in section b when the HFI is in a normal load state to limit the speed, and drives the bogie motor. A comparator is included to compare the acceleration and the final speed limit value, and in section a, the smaller of the two values is output to the motor drive unit.

In addition, the minimum values of the driving acceleration and final speed of the bogie motor are built-in, and when the overload state is reached, if the driving acceleration and final speed limit value of the bogie motor is less than the minimum value of the driving acceleration and final speed of the bogie motor, the HFI controller is activated. It is desirable to transmit a stop command so that the failover function is performed.

In the case of the prior art method, in order to prevent overload of the track (1), the overall speed of the bogie (2) is limited to maintain the driving state, or the number of bogies (2) entering the track (1) is limited to operate. , Overload that occurs in the actual field only occurs when a large number of bogies accelerate simultaneously, so the frequency of overload occurrence is not high.

Therefore, as in the present invention, if the acceleration of each bogie can be actively limited only when a large number of bogies (2) are accelerated simultaneously, unlike the prior art method, there is an advantage in that normal operation can be performed in most other cases.

Below, we will look at this in more detail.

1 is a configuration diagram of a non-contact power supply device of the present invention.

HFI (10) is a system that functions to supply current to the track cable (20), and is used to facilitate non-contact power supply with the AC/AC inverter (12), which generates high-frequency voltage from the voltage of the power system. It consists of a vehicle side resonance tank (14) and an HFI controller (11).

The coupler 30, which moves together with the bogie 2, supplies power to the regulator 40 from the current flowing in the track cable 20.

The regulator 40 serves to convert the power supplied from the coupler 30 into direct current voltage and supply it to the motor drive unit 70 of the bogie.

The ESM (60) is an energy storage device that absorbs energy generated when the cart stops or provides additional power to the motor drive unit (70) when the output of the regulator (40) is insufficient and may be omitted depending on the system. there is.

The motion controller 50 communicates with the higher-level system and delivers driving commands to the bogie.

The control method of the present invention is as follows.

When the HFI (10) applies a certain current to the track cable (20), the voltage applied to the input capacitor (43) of the DC/DC converter is maintained within a certain range.

The DC/DC converter 49 changes the input voltage Vdc_in to a voltage appropriate for the motor driver 70 and supplies it to the motor driver 70.

Hereinafter, it will be examined in detail together with FIGS. 2 and 3.

Figures 2 and 3 are block diagrams showing the control configuration executed in each control block of the present invention.

The HFI control block 100 is a block that functions to control the current flowing in the track cable 20, and the inverter output power calculator 101 uses the detected inverter output current and calculated inverter output voltage to control the AC/AC inverter. The power consumption in (12) can be calculated.

The track current command generator 102 generates a track current command value using the calculated power consumption.

Figure 3 shows an example of changing the track current according to the inverter output power value, and when the inverter output power becomes greater than a certain range, the track current command value is reduced.

When the track current command value is generated, the track current controller 103 performs a current controller function and applies a PWM signal to the HFI to control the track current to converge to the command value.

When current is applied to the track cable 20, an alternating current voltage is generated in the coupler 30 in proportion to the size of the current.

This alternating current voltage is converted to direct current voltage through an AC/DC converter, and the voltage signal detected through the voltage sensor is transmitted to the regulator controller 48 and the motion controller 50.

The regulator control block 200 shows that when the input voltage Vdc_in voltage is generated, the regulator 40 is operated through the regulator starting sequence 201 and the voltage controller 203 that constantly controls the output voltage is performed.

In the motion controller control block 300, the detected input voltage Vdc_in voltage is transmitted to the motion controller 50, and the motor driver acceleration limit generator 301 generates an acceleration limit value according to the magnitude of the input voltage Vdc_in voltage.

As shown in FIG. 4, when the input voltage Vdc_in voltage becomes smaller than a certain range, the acceleration limit value becomes smaller.

The acceleration limit value generated in this way is passed through the acceleration command command value and the comparator 302, and the smaller of the two values becomes the acceleration command value.

The speed controller 303 calculates the current speed using the encoder pulse transmitted from the motor driver 70, creates a speed profile using the acceleration command value and the final speed target value, and allows the current speed to converge on this speed profile. Performs speed controller 303.

The decrease in acceleration means a decrease in torque of the bogie motor, so the output of the motor is reduced.

If the acceleration is reduced, the time for the bogie driven by the bogie motor to reach the target speed increases, but this can prevent the HFI (10) from stopping due to overload, and if the number of bogies in the acceleration section decreases, the acceleration limit value Since it returns back to the normal value, the bogie operates normally.

In summary, when an overload occurs in the HFI (10), the current flowing through the track cable (20) of the HFI (10) is reduced as shown in FIG. 4, and the input voltage of the regulator (40) is reduced accordingly.

This reduced input voltage Vdc_in is used to reduce the output of the motor driver 70 to reduce the output of the HFI 10, and when the overload situation is resolved, the system returns to the normal state.

As described above, the present invention is characterized in that the acceleration of the bogie is limited by adjusting the DC/DC converter input voltage Vdc_in by changing the track current value, thereby reducing the output of the HFI.

Therefore, the present invention has the characteristic of selectively limiting output only in situations where many bogies accelerate simultaneously even when the number of bogies increases as shown in FIG. 6, and in other situations, all bogies operate normally.

In addition, according to the present invention, there is no need to excessively limit the number of bogies that can be operated on one track in order to prevent trucks from temporarily concentrating on a specific track as shown in FIG. 7, so there is a feature that can improve the operating efficiency of the system.

In addition, even in a situation where the DC/DC converter input voltage Vdc_in decreases, which occurs when the bogie passes an intersection between tracks, rather than an overload condition of the HFI, the maximum acceleration of the bogie is automatically limited, preventing the bogie from stopping. there is.

Regarding this, looking at it together with FIG. 8, FIG. 8 is a diagram showing the structure in which energy is transmitted between the track cable 20 and the coupler 30. The case (a) where the track cable 20 normally passes through the coupler and the case when it passes through the intersection (a) This shows a case (b) where only one track cable (20) passes through the coupler.

When only one track cable passes through the coupler (b), the magnetic flux generated by the track cable 20 is reduced by half, and thus the voltage output to the coupler is also reduced by half.

In this case, when the motor drive unit consumes normal output, the voltage at the input part of the regulator is reduced by half, so twice the current is generated, which may cause an overcurrent error.

The motor driver acceleration limit generator 301 included in the motion controller control block 300 of the present invention limits the acceleration command value based on the input voltage of the regulator, thereby preventing such overload errors.

Therefore, the present invention relates to an algorithm that selectively limits the acceleration of the bogie only when an overload occurs for this operation. Rather than calculating the acceleration limit value and giving a command through communication, the present invention automatically uses voltage information to control the acceleration of the bogie. This is a method of limiting acceleration.

This method of the present invention has the advantage of overcoming the technical limitations of the prior art method of collectively limiting overload that occurs momentarily through a communication system.

The drawings shown above for explanation of the present invention are one embodiment of the present invention, and as shown in the drawings, it can be seen that various types of combinations are possible to realize the gist of the present invention.

Therefore, the present invention is not limited to the above-described embodiments, and as claimed in the following claims, anyone skilled in the art can make various changes without departing from the gist of the invention. It will be said that the technical spirit of the present invention exists to the extent possible.

1: Track 2: Bogie
10: HFI 11: HFI controller
12: AC/AC inverter 13: 1st current sensor
14: Primary resonance tank 15: Second current sensor
20: track cable 30: coupler
40: Regulator 41: Secondary resonance tank
42: AC/DC converter 44, 46: voltage sensor
48: Regulator controller 49: DC/DC converter
50: Motion Controller 60: ESM
70: motor driving unit

Claims (5)

It is a non-contact power device that transmits power to a bogie running on a track,
a track cable wound around the track;
HFI controller, AC/AC inverter that outputs frequency-converted AC power under the control of the HFI controller when AC power is input, primary side resonance tank that receives the output of the AC converter and transmits the resonance frequency output to the track cable HFI (High Frequency Inverter) consisting of;

A coupler wound around the bogie and supplied with power from the track cable;
It is formed with a secondary side resonance tank, an AC/DC converter, a DC/DC converter, and a regulator controller that receives the input voltage Vdc_in of the DC/DC converter and controls the output voltage, which are sequentially connected to the coupler, and is input to the coupler. A regulator that converts power into motor drive input DC power and outputs it;
a motor drive unit that receives the output of the regulator to accelerate the bogie motor and drive it while maintaining the final speed;
It is configured to include a motion controller that calculates and transmits the driving acceleration and final speed command value of the bogie motor to the motor driving unit,
The HFI controller controls the output current of the AC/AC inverter to decrease when the output current of the AC/AC inverter reaches an overload state,
When the input voltage Vdc_in of the DC/DC converter decreases due to a decrease in the output current of the AC/AC inverter, the motion controller calculates the driving acceleration and final speed limit value of the bogie motor linked thereto and transmits them to the motor driving unit. ,
When the HFI reaches an overload state, the acceleration and final speed of a plurality of bogies traveling on the track are automatically reduced and controlled to relieve the overload state. The method of claim 1, wherein the motion controller
An automatically regulated non-contact power supply device in an overload state, characterized in that it receives the current speed from the motor drive unit and performs a feedback calculation on the driving acceleration of the bogie motor and the final speed limit value. The method of claim 1, wherein the motion controller
The bogie motor driving acceleration and final speed values when the HFI is in a normal load state are built-in,
A comparator is included to compare the driving acceleration of the bogie motor with the final speed limit value,
An automatically regulated non-contact power supply device in an overload state, characterized in that the smaller of the two values is output to the motor drive unit. The method of claim 1, wherein the motion controller
The minimum values of the driving acceleration and final speed of the bogie motor are built-in.
When overload condition is reached
If the driving acceleration and final speed limit value of the bogie motor is less than the minimum value of the driving acceleration and final speed of the bogie motor,
An automatically regulated non-contact power supply device in an overload state, characterized in that a failover function is performed by transmitting a stop operation command to the HFI controller. The method of claim 1, wherein the HFI controller
The minimum output current of the AC/AC inverter is built-in.
When an overload condition is reached, if the output current reduction control value of the AC/AC inverter is less than the minimum output current value,
An overload condition automatically regulated non-contact power supply, characterized in that it stops operating and performs a failover function.