CN103684141B - Controller for motor and motor control method - Google Patents
Controller for motor and motor control method Download PDFInfo
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- CN103684141B CN103684141B CN201210320339.0A CN201210320339A CN103684141B CN 103684141 B CN103684141 B CN 103684141B CN 201210320339 A CN201210320339 A CN 201210320339A CN 103684141 B CN103684141 B CN 103684141B
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Abstract
The controller for motor that the present invention relates to possesses: power supply alternative pack；Voltage check part；Volatile storage element；And motor control unit.Any one party in commercial power source or battery supply is chosen as the control power supply of syncmotor by power supply alternative pack.Voltage check part detects by DC bus-bar voltage produced by the control power supply selected by power supply alternative pack.The position of magnetic pole of syncmotor is stored by volatile storage element.Motor control unit is being switched to the period of battery supply by the control power supply selected by power supply alternative pack from commercial power source, when busbar voltage is not less than the threshold value higher than the minimum voltage that can be stored position of magnetic pole by volatile storage element, the operation continuing syncmotor based on the position of magnetic pole stored by volatile storage element controls.
Description
Technical field
The present invention relates to a kind of controller for motor and motor control method.
Background technology
In the past, a kind of motor control method existed, it was by commercial power source or battery supply
A side switch to the opposing party's power supply to continue motor operation control.Such as, Japanese Patent Laid-Open
2009-012929 publication discloses a kind of motor control method, as making the same of elevator lifting
The control power supply of step motor, in every day use commercial power source, will control electricity consumption when having a power failure
Source switches to battery supply and controls to the operation continuing motor from commercial power source.
Herein, run in the technology controlled carrying out syncmotor, when starting syncmotor,
Need based on the result that the position of magnetic pole of syncmotor in stopping is speculated perform with
The starting of step motor controls.
But, when having a power failure, control power supply is switched to battery supply from commercial power source and make
When syncmotor starts, according to conventional motor control method, owing to cannot speculate in stopping
The position of magnetic pole of syncmotor, thus the operation that cannot continue normal syncmotor controls.
Such as, low when battery supply insufficient or battery supply the exportable maximum voltage of charging
In time speculating the voltage etc. required for syncmotor position of magnetic pole, conventional motor control method is just
The position of magnetic pole of syncmotor in stopping cannot be deduced.In the case of above-mentioned, even if will control
Switch to battery supply with power supply from commercial power source, also cannot continue normal syncmotor
Run and control.
It is an object of the invention to provide a kind of controller for motor and motor control method, inciting somebody to action
Syncmotor control power supply switches to battery supply to making syncmotor from commercial power source
Time dynamic, it is possible to the operation continuing normal syncmotor controls.
Summary of the invention
The controller for motor that a kind of form of the present invention relates to possesses: power supply alternative pack；Voltage
Detection part；Volatile storage element；And motor control unit.Power supply alternative pack is by business
The control power supply of syncmotor it is chosen as by any one party in power supply or battery supply.Voltage is examined
Survey parts to female by direct current produced by the described control power supply selected by described power supply alternative pack
Line voltage detects.The position of magnetic pole of described syncmotor is stored by volatile storage element.
Motor control unit by the described control power supply selected by described power supply alternative pack from described business
Industry uses the period switching power supply to described battery supply, is not less than than passing through in described busbar voltage
State volatile storage element when can store the high threshold value of the minimum voltage of described position of magnetic pole, based on
The described position of magnetic pole stored by described volatile storage element continues the operation control of described syncmotor
System.
The controller for motor that a kind of form according to the present invention provides, by the control of syncmotor
When system power supply switches to battery supply to start syncmotor from commercial power source, it is possible to continue
The operation of normal syncmotor controls.
Accompanying drawing explanation
Hereinafter, following detailed description of the invention read by comparison accompanying drawing, it is possible to easily to the present invention
Carry out the most complete understanding, and understand relative advantage.
Fig. 1 is to represent the motor control method based on controller for motor that embodiment 1 relates to
Explanatory diagram.
Fig. 2 is the motor control system representing and possessing the controller for motor that embodiment 1 relates to
The explanatory diagram of an example of concrete structure.
Fig. 3 is a carrying out practically example of the controller for motor representing that embodiment 1 relates to
Sequential chart.
Fig. 4～Fig. 6 is to represent the process that the controller for motor that embodiment 1 relates to performs
Flow chart.
Fig. 7 is a carrying out practically example of the controller for motor representing that embodiment 2 relates to
Sequential chart.
Detailed description of the invention
Referring to the drawings, disclosed controller for motor and motor control are described in detail
The embodiment of method processed.It addition, the present invention is not limited to embodiment shown below.
(embodiment 1)
Fig. 1 is to represent the motor control side based on controller for motor 1 that embodiment 1 relates to
The explanatory diagram of method.Here, Fig. 1 illustrates the motor control that embodiment 1 relates to selectively
Part-structure key element required for method.But, for the concrete structure of controller for motor 1
Example, illustrates later herein with reference to Fig. 2.
As it is shown in figure 1, controller for motor 1 possesses: power supply alternative pack 11；Voltage detecting
Parts 12；Motor control unit 13；Memory unit (hereinafter referred to as " the volatibility of volatibility
Memory unit 14 ")；And non-volatile memory unit (hereinafter referred to as " non-volatile deposits
Storage parts 15 ").
Any one party in commercial power source 2 or battery supply 3 is selected by power supply alternative pack 11
It is selected as the control object i.e. control power supply of syncmotor of controller for motor 1.Additionally, it is electric
Pressure detection part 12 is to by being produced from above-mentioned control power supply selected by power supply alternative pack 11
Raw DC bus-bar voltage detects.
Motor control unit 13, when the syncmotor making stopping starts, uses power supply selection portion
Control power supply selected by part 11, perform to stop syncmotor position of magnetic pole (with
The supposition the most referred to as " initial magnetic pole position ") carrying out speculating processes.Further, motor control part
Part 13 processes the initial magnetic pole position obtained based on above-mentioned supposition, by generating and exporting synchronization
Control signal A1 of motor starts syncmotor.
Start to motor control unit 13, the magnetic pole position of syncmotor from the syncmotor started
Put A2 to be in turn transfused to.Further, the magnetic that motor control unit 13 will input from syncmotor
A2 output in position, pole to volatile storage element 14 and is stored.Volatile storage element 14
Update and store the position of magnetic pole A2 of the syncmotor being transfused to successively.Then, motor control
Parts 13, based on the position of magnetic pole A3 read from volatile storage element 14, sequentially generate and defeated
Go out control signal A1 of syncmotor, thus the operation to syncmotor carries out FEEDBACK CONTROL.
In said motor controls device 1, such as when the commercial power source as control power supply
During 2 power failure, control power supply switches to electricity based on power supply alternative pack 11 from commercial power source 2
Pond power supply 3.
Accordingly, busbar voltage declined in the period switching to battery supply 3 from commercial power source 2.
Now, it is possible to there is busbar voltage and carry out speculating initial magnetic pole less than motor control unit 13
The situation of the voltage required for the process of position.
In the case of above-mentioned, in controller for motor 1, in order to start the syncmotor in stopping
And to carry out speculate initial magnetic pole position process, but due to busbar voltage undertension and not
Initial magnetic pole position can be speculated exactly, so syncmotor normal starting cannot be made.
Here, motor control unit 13 prestores busbar voltage ratio by volatile storage portion
Part 14 can store the threshold value that the minimum voltage of position of magnetic pole A2 is high.Further, motor control part
Part 13 switches to the period of battery supply 3 at control power supply from commercial power source 2, by
When the busbar voltage that voltage check part 12 detects is not less than threshold value, based on passing through volatibility
The position of magnetic pole A3 of memory unit 14 storage continues the operation of syncmotor and controls.
Accordingly, even if busbar voltage is less than required for the process carrying out speculating initial magnetic pole position
Voltage, as long as being not less than threshold value, motor control unit 13 will be stored in volatile storage element
Position of magnetic pole A3 in 14 is as initial magnetic pole position, it becomes possible to make syncmotor normal starting.
Therefore, motor control unit 13 by the control power supply of syncmotor from commercial power
When source 2 switches to battery supply 3 to make syncmotor start, need not carry out speculating syncmotor
The process of initial magnetic pole position just can continue to the operation of normal syncmotor and controls.
Additionally, in controller for motor 1, at control power supply based on power supply alternative pack 11
The period of battery supply 3 is switched to, it is possible to occur that syncmotor stops from commercial power source 2
And busbar voltage drops to the situation of threshold value.
In the case of above-mentioned, motor control unit 13 drops to be deposited by volatibility in busbar voltage
Before storage parts 14 can store the minimum voltage of position of magnetic pole A2, from volatile storage element
14 read the position of magnetic pole A3 of syncmotors stopped, as initial magnetic pole position A4 make non-easily
The property lost memory unit 15 is stored.
Accordingly, in controller for motor 1, to control power supply from business after aforesaid operations
Switch in the period till battery supply 3 with power supply 2, even if busbar voltage is less than by easily
The property lost memory unit 14 can store the minimum voltage of position of magnetic pole A2, it is also possible to by initial magnetic
Position, pole A4 is stored in non-volatile memory component 15.
Therefore, motor control unit 13 is when control power supply switches to battery supply 3, i.e.
Busbar voltage is made to be less than the voltage carried out required for speculating the process of initial magnetic pole position, it is also possible to
The initial magnetic pole position A5 being stored in non-volatile memory component 15 is used to make syncmotor normal
Start.
Additionally, motor control unit 13 from commercial power source 2 have a power failure after to control power supply
When having recovered power supply before being switched to battery supply 3, it is used as to control to use by commercial power source 2
Power supply also carries out speculating the process of initial magnetic pole position.
During it addition, restore electricity, motor control unit 13 also is able to use and is stored in non-volatile
The initial magnetic pole position A5 of property memory unit 15 makes syncmotor start.Accordingly, because motor
Control parts 13 need not carry out speculating that the process of initial magnetic pole position A5 just can make syncmotor
Start, it is possible to reduction processes load, and syncmotor can be made to start rapidly.
Secondly, with reference to the concrete structure of the controller for motor 1 that embodiment 1 is related to by Fig. 2
An example illustrate.Here, enter to possess the syncmotor to making riding elevator lifting
Illustrate as a example by the motor control system 10 of the controller for motor 1 that row runs control.
It addition, the control object of controller for motor 1 of the present embodiment, it is not limited to
Make the syncmotor of elevator lifting, such as, can also be the lifting such as other lift any that makes crane
Syncmotor.
Fig. 2 is the motor control system representing and possessing the controller for motor 1 that embodiment 1 relates to
The explanatory diagram of one example of the concrete structure of system 10.Here, for the motor shown in Fig. 2
Control structural element identical with structural element shown in Fig. 1 in the structural element of device 1, mark
Also the description thereof will be omitted for the symbol identical with symbol shown in Fig. 1.It addition, in fig. 2, there is selection
Illustrate the control power supply of syncmotor switched to battery supply 3 from commercial power source 2
Carry out the structural element required for making the control of syncmotor normal starting.
As in figure 2 it is shown, motor control system 10 and commercial power source 2 or battery supply 3 phase
Connect, comprising: AC/DC converting member 21；Higher device 5；Controller for motor 1；
Syncmotor 4；Brake 41；And impulse generator (hereinafter referred to as " PG42 ").
Additionally, motor control system 10 possesses when commercial power source 2 has a power failure, to motor control
The motor control unit described later 13 that device 1 processed has provides the Auxiliary Power Units 50 of electric power.
It addition, in embodiment 1, the timing auxiliary electricity disconnected for having a power failure in commercial power source 2
Situation and the timing connected that restores electricity in commercial power source 2 that source unit 50 is connected are auxiliary
The situation helping power subsystem 50 to disconnect illustrates.
Commercial power source 2 is to be chosen as syncmotor when non-power failure based on controller for motor 1
The AC power of the control power supply of 4.Additionally, battery supply 3 is by motor control when having a power failure
Device 1 processed is chosen as the dc source of the control power supply of syncmotor 4.Although here,
This is not shown, is provided electric power by commercial power source 2 to higher device 5 when non-power failure, and
Electric power is provided by battery supply 3 to higher device 5 during power failure.
Syncmotor 4 is the three-phase alternating current driving voltage by being inputted from controller for motor 1
Rotate, make the driving means that elevator (diagram is omitted) lifts.Brake 41 is to synchronize
Motor 4 keeps the brake apparatus of elevator halted state during stopping.Above-mentioned brake 41 also exists
During the power breakdown that commercial power source 2 or battery supply 3 provide to controller for motor 1, make
Safety device for making elevator stop plays function.Above-mentioned brake 41 is according to by motor control
The instruction operating of device 1 input, the lifting operation to elevator is braked.
PG42 e.g. with the cycle corresponding with the rotating speed of syncmotor 4, would indicate that synchronization
The pulse output of the position of magnetic pole of motor 4 rotor is to controller for motor 1 and higher device 5
Rotary encoder.Additionally, AC/DC converting member 21 is will to be inputted by commercial power source 2
Alternating electromotive force be converted to direct current power after export the converter to controller for motor 1.
Higher device 5 comprises top level control parts 51 and auto-speed controls parts (hereinafter referred to as
For " ASR(Automatic Speed Regulator) 52 ").Top level control parts 51 possess
CPU(Central Proces sing Unit), it is that the operation to motor control system 10 entirety is entered
The processing component of row Comprehensive Control.
In above-mentioned top level control parts 51, such as from the operating portion (figure operated by user
Show omission) input the signal representing the purpose floor having selected elevator.In the case of above-mentioned, upper strata
Control the run signal that parts 51 bring into operation to controller for motor 1 output instruction.Enter one
Step, top level control parts 51 are in order to make elevator move to purpose floor from current floor, by same
Step motor 4 acceleration during, at the uniform velocity period, slow down during calculate respectively syncmotor 4 turn
Speed desired value also exports to ASR52.
Additionally, top level control parts 51, when commercial power source 2 has a power failure, to accessory power supply list
Unit 50 sends the instruction starting to provide electric power to controller for motor 1.Afterwards, top level control
The battery operation signal exported to controller for motor 1 is switched to ON from OFF by parts 51.
Accordingly, battery supply 3 is used by controller for motor 1 as control power supply, starts to synchronize
The operation of motor 4 controls.
Further, top level control parts 51, will be to horse when commercial power source 2 restores electricity
The battery operation signal reaching control device 1 output switches to OFF from ON.Accordingly, motor control
Commercial power source 2 is used by device 1 processed as control power supply, starts the fortune of syncmotor 4
Row controls.
ASR52 is to differentiate turning of syncmotor 4 cycle based on the pulse inputted by PG42
Speed also makes the rotating speed determined close at the rotating speed desired value that top level control parts 51 input
Reason parts.Above-mentioned ASR52 generates and makes the rotating speed of syncmotor 4 close to required for rotating speed desired value
The torque instruction value of syncmotor 4 and output this to controller for motor 1.
Controller for motor 1 includes: power supply alternative pack 11；Voltage check part 12；Horse
Reach control parts 13；Volatile storage element 14；Non-volatile memory component 15；And PWM
(Pulse Width Modulation) processing component 16.
Power supply alternative pack 11 is any one party in commercial power source 2 or battery supply 3 to be selected
It is selected as the processing component of the control power supply of syncmotor 4.Above-mentioned power supply alternative pack 11 is pressed
It is controlled with power supply via the instruction that motor control unit 13 inputs according to by higher device 5
Select.
Further, power supply alternative pack 11 will be changed via AC/DC from by commercial power source 2
In the electric power of parts 21 input and the electric power that inputted by battery supply 3, the electricity of a side of selection
Power exports to motor control unit 13 and PWM processing component 16.Although it addition, herein
Eliminate diagram, but the electric power offer of selection is also deposited to volatibility by power supply alternative pack 11
Storage parts 14 etc..
Voltage check part 12 is the busbar voltage to the electric power exported by power supply alternative pack 11
The processing component to motor control unit 13 is exported after detecting.Volatile storage element 14
For example, RAM(Random Access Memory), carrying based on power supply alternative pack 11
Supply the period of the busbar voltage of more than assigned voltage, for information the storage kept can be write
Device.
Above-mentioned volatile storage element 14 by motor control unit 13 based on being inputted by PG42
The position of magnetic pole of the syncmotor 4 that pulse differentiates successively updates and stores.Further, volatile
Property memory unit 14 storage position of magnetic pole be successively read by motor control unit 13, and
The operation being used in syncmotor 4 controls.
Non-volatile memory component 15 for example, EEPROM(Electrically Erasable
Programmable Read-Only Memory), even if being to carry based on power supply alternative pack 11
There is the storage device interrupting also being able to keep the information in storage in the electric power of confession.
Above-mentioned non-volatile memory component 15 drops to the threshold of regulation in busbar voltage described above
During value, the position of magnetic pole of syncmotor 4 is stored.It addition, for being deposited by non-volatile
The position of magnetic pole of storage parts 15 storage is used for the timing running control of syncmotor 4, will
Illustrate later in reference to Fig. 3.
Motor control unit 13 possesses CPU, is the operation of controller for motor 1 entirety to be entered
The processing component of row Comprehensive Control.Said motor controls the arteries and veins that parts 13 will input based on PG42
Punching and the position of magnetic pole of syncmotor 4 that determines and defeated from the torque instruction value of ASR52 input
Going out to PWM processing component 16, thus the operation to syncmotor 4 carries out FEEDBACK CONTROL.Separately
Outward, motor control unit 13 also carries out to brake 41 output operating and releases operation instruction
Process.
Further, motor control unit 13 is selected as control power supply in commercial power source 2
Time make syncmotor 4 start in the case of, perform the initial magnetic pole of syncmotor 4 stopped
Position carries out the process speculated, presumptive initial magnetic pole position performs rising of syncmotor 4
Dynamic control.
Now, the height that motor control unit 13 such as will be specified by PWM processing component 16
Frequently pulse voltage is loaded onto syncmotor 4, based on now flowing into the electric current of syncmotor 4
Big value carries out the supposition of initial magnetic pole position.It addition, carry out the process of initial magnetic pole position estimation
It is not limited to this, can also be other process using known technology.
Even if the CPU of said motor control parts 13 is when commercial power source 2 has a power failure, also can
Enough the period of electric power is being provided to ensure that it runs by Auxiliary Power Units 50.But, if female
Line voltage is less than assigned voltage because commercial power source 2 has a power failure, then can be because of motor control unit
The CPU of 13 loses the information (magnetic pole of syncmotor 4 that volatile storage element 14 is stored
Position), and the normal control of syncmotor 4 can not be continued.
Here, the busbar voltage that motor control unit 13 inputs according to voltage check part 12,
It is used separately volatile storage element 14 and non-volatile memory component 15 to store syncmotor
The position of magnetic pole of 4, and continued syncmotor 4 and run control normally.It addition, for
The details of above-mentioned point, illustrates later herein with reference to Fig. 3.
PWM processing component 16 be to the electric power provided by power supply alternative pack 11 based on by
The torque instruction value of motor control unit 13 input carries out pulse width modulation and exports to synchronizing
The processing component of motor 4.The direct current power of offer is converted to by above-mentioned PWM processing component 16
Three-phase ac power, and each three-phase ac power after conversion is carried out arteries and veins based on torque instruction value
Rush width modulated to produce the driving voltage of syncmotor 4.Further, PWM processing component 16
The driving voltage produced is exported to syncmotor 4, produce from there through syncmotor 4 and meet
The torque of command value.
Secondly, with reference to Fig. 3, one example of the carrying out practically of controller for motor 1 is said
Bright.Fig. 3 is that a carrying out practically of the controller for motor 1 representing that embodiment 1 relates to shows
The sequential chart of example.It addition, the voltage for battery supply 3 is less than by motor control unit at this
13 perform speculate syncmotor 4 initial magnetic pole positions process required for voltage time situation enter
Row explanation.
As it is shown on figure 3, when moment t0 commercial power source 2 is connected, busbar voltage is from the moment
Rise to assigned voltage during t0 to moment t 1 and be kept.Afterwards, controller for motor 1 exists
If moment t 1 have input run signal (the diagram province representing elevator and bringing into operation from higher device 5
Slightly), then the speculation flag of initial magnetic pole position is switched to ON from OFF, same to stop
The position of magnetic pole i.e. initial magnetic pole position of step motor 4 carries out supposition process.
If the supposition process of initial magnetic pole position terminates, then controller for motor 1 is by initial magnetic
The speculation flag of position, pole is after ON switches to OFF, based on turning of inputting from higher device 5
Square command value and syncmotor 4 initial magnetic pole position make syncmotor 4 start.Accordingly, same
The rotating speed of step motor 4 improves.
Afterwards, controller for motor 1 based on the torque instruction value inputted from higher device 5 and makes
The position of magnetic pole of the syncmotor 4 that volatile storage element 14 stores successively is to syncmotor 4
Operation carry out FEEDBACK CONTROL.Accordingly, syncmotor 4 slows down after maintaining the rotating speed of regulation,
Stop when elevator arrives purpose floor.After elevator stops, controller for motor 1 makes brake
41 operatings (ON).
Afterwards, after syncmotor 4 stops, when moment t2 commercial power source 2 has a power failure, though
So busbar voltage declines, but, because the CPU of motor control unit 13 is by accessory power supply list
Unit 50 provides electric power, it is possible to ensure and run.But, if busbar voltage is less than regulation electricity
Pressure, will lose information (position of magnetic pole of syncmotor 4) from volatile storage element 14.
Here, controller for motor 1 is by the busbar voltage of continuous decrease and threshold value set in advance
Compare.Threshold value herein is to keep the bus of information than volatile storage element 14
The value that the minimum voltage of voltage is high.It addition, above-mentioned threshold value can at random be set change.
Further, controller for motor 1 from commercial power source 2 have a power failure to battery operation signal
Becoming ON, i.e. battery supply 3 is the period till ON, when busbar voltage is not less than threshold value
Time, fortune based on the position of magnetic pole continuation syncmotor 4 that volatile storage element 14 is stored
Row controls.
Such as, have a power failure in moment t2 commercial power source 2, busbar voltage less than before threshold value time
When quarter, t3 battery supply 3 was connected, if inputting run signal (diagram is omitted) from higher device 5,
Then the speculation flag of initial magnetic pole position need not be switched to ON from OFF by controller for motor 1,
The starting that just can carry out syncmotor 4 controls.
It is to say, controller for motor 1 need not carry out initial magnetic pole position supposition process and
The position of magnetic pole of the syncmotor 4 in the stopping that volatile storage element 14 is stored as
Initial magnetic pole position makes syncmotor 4 start.
Accordingly, even if the voltage of battery supply 3 processes less than the supposition carrying out initial magnetic pole position
Required voltage, controller for motor 1 also is able to be provided by Auxiliary Power Units 50
Electric power make syncmotor 4 normal starting.
Then, battery supply 3 is used by controller for motor 1 as control power supply, with than
Rotating speed low during use commercial power source 2 makes syncmotor 4 slow down after operation, arrives at elevator
The time point reaching purpose floor makes elevator stop.After elevator stops, controller for motor 1 makes braking
Device 41 operates (ON).
Afterwards, when moment t4 commercial power source 2 restores electricity, busbar voltage is from moment t4
During moment t5, rise to carry out the supposition process of initial magnetic pole position than controller for motor 1
Assigned voltage that required voltage is high is also kept.
Further, if inputting run signal (diagram is omitted) at moment t5 from higher device 5, then
The speculation flag of initial magnetic pole position is switched to ON from OFF by controller for motor 1, to stopping
The position of magnetic pole i.e. initial magnetic pole position of syncmotor 4 only carries out supposition process.
Then, controller for motor 1 makes syncmotor 4 at presumptive initial magnetic pole position
After starting, commercial power source 2 is continued as control power supply the operation of syncmotor 4,
Elevator arrives the time point of purpose floor makes elevator stop.After elevator stops, controller for motor 1
Brake 41 is made to operate (ON).
Afterwards, when moment t6 commercial power source 2 has a power failure again, busbar voltage declines again.
Now, switching to battery supply 3 to control power supply, need some times, and likely
Busbar voltage can be less than threshold value.
Such as, the frequency frequently having a power failure in commercial power source 2 and run based on battery supply 3 increases
Added-time, the charging of battery supply 3 needs long-time, and sometimes can not after the generation that has a power failure at once
Control power supply is switched to battery supply 3.
Here, controller for motor 1 is after such as in the moment, t6 has a power failure, female at moment t7
When line voltage drops to threshold value, by UV(Under Voltage) detect mark from OFF switching
To ON, and the mark writing position of magnetic pole to non-volatile memory component 15 is switched from OFF
To ON.
Further, controller for motor 1 makes non-volatile memory component 15 by out of service
After the position of magnetic pole storage of syncmotor 4, magnetic pole will be write to non-volatile memory component 15
The mark of position switches to OFF from ON.Afterwards, controller for motor 1 is at moment t8 battery
Power supply 3 is connected, and busbar voltage rises and when moment t9 is higher than threshold value, by UV detection mark
OFF is switched to from ON.
Further, controller for motor 1 inputs run signal (figure at moment t 10 from higher device 5
Show omission) time, the mark of position of magnetic pole will be read from non-volatile memory component 15 from OFF
Switch to ON, and the magnetic of the syncmotor 4 from non-volatile memory component 15 reading stops
Position, pole.Afterwards, controller for motor 1 using read position of magnetic pole as initial magnetic pole position
Use makes syncmotor 4 start.
Accordingly, even if busbar voltage makes the magnetic that volatile storage element 14 stores less than threshold value
Position, pole disappears and the voltage of battery supply 3 processes less than the supposition carrying out initial magnetic pole position
Required voltage, controller for motor 1 also is able to make syncmotor 4 normal starting.
Then, battery supply 3 is used by controller for motor 1 as control power supply, with than
Rotating speed low during use commercial power source 2 makes syncmotor 4 slow down after operation, arrives at elevator
The time point reaching purpose floor makes elevator stop.After elevator stops, controller for motor 1 makes braking
Device 41 operates (ON).
Afterwards, when the needs that restore electricity are long-time, it is possible to can be at moment t11 battery supply
3 power breakdowns provided, and in moment t 12 busbar voltage less than threshold value.In the case of above-mentioned,
UV detection mark is switched to ON from OFF at moment t 12 by controller for motor 1, and will
The mark writing position of magnetic pole to non-volatile memory component 15 switches to ON from OFF.
Further, controller for motor 1 makes non-volatile memory component 15 store syncmotor 4
Position of magnetic pole after, the mark of position of magnetic pole will be write to non-volatile memory component 15 from ON
Switch to OFF.Afterwards, controller for motor 1 recovers in moment t 13 commercial power source 2 to supply
Electricity, busbar voltage rises and when moment t 14 is higher than threshold value, by UV detection mark from ON
Switch to OFF.
Further, controller for motor 1 after commercial power source 2 restores electricity moment t 15 from
When higher device 5 inputs run signal (diagram is omitted), by the supposition mark of initial magnetic pole position
Will switches to ON, and the position of magnetic pole i.e. initial magnetic pole to the syncmotor 4 stopped from OFF
Position carries out supposition process.Then, controller for motor 1 is in presumptive initial magnetic pole position
Put after making syncmotor 4 start, continue to synchronize horse as control power supply using commercial power source 2
Reach the operation control of 4.
It addition, controller for motor 1 inputs run signal (figure at moment t15 from higher device 5
Show omission) time, additionally it is possible to the position of magnetic pole stored by non-volatile memory component 15 is made
Syncmotor 4 is made to start for initial magnetic pole position.
Accordingly, controller for motor 1, need not be to synchronization when commercial power source 2 restores electricity
The initial magnetic pole position of motor 4 carries out supposition and processes and just can continue to syncmotor 4 and transport normally
Row controls.It is to say, controller for motor 1 can either reduce process load, can rise again
Dynamic syncmotor 4 continues the properly functioning control of syncmotor 4.
Secondly, the controller for motor 1 related to embodiment 1 with reference to Fig. 4～Fig. 6 performs
Process illustrate.Fig. 4～Fig. 6 is to represent the controller for motor that embodiment 1 relates to
The flow chart of 1 process performed.
Hereinafter, it is that situation during commercial power source 2 illustrates with reference to Fig. 4 to control power supply,
Situation when interrupting is occurred to illustrate with reference to the Fig. 5 electric power to being provided by control power supply, ginseng
It is that situation during battery supply 3 illustrates according to Fig. 6 to control power supply.
Controller for motor 1 is when commercial power source 2 is selected as control power supply, such as Fig. 4
Shown in, carry out judging (step S101) for the most inputting run signal from higher device 5.
Here, controller for motor 1 is when judging not input run signal (step S101 "No"),
The judgement of step S101 is carried out repeatedly, till run signal inputs with the predetermined cycle.
Further, controller for motor 1 has inputted run signal (step S101 "Yes") in judgement
Time, the initial magnetic pole position of the syncmotor 4 stopped is speculated (step S102), and
The initial magnetic pole position deduced is used to make syncmotor 4 start (step S103).
Afterwards, the position of magnetic pole of operating syncmotor 4 is stored to volatile storage element
14(step S104), position of magnetic pole based on volatile storage element 14 storage synchronizes
The operation of motor 4 controls (step S105).
Then, controller for motor 1 is to whether being finished input torque instruction by higher device 5
Value carries out judging (step S106), does not terminates input torque command value (step S106 in judgement
"No") time, process is proceeded to step S104.
On the other hand, when judging to have terminated input torque command value (step S106 "Yes"),
Controller for motor 1 makes syncmotor 4 stop (step S107), and end processes.
Additionally, when the commercial power source 2 being chosen as control power supply has a power failure, or selecting
During for the power breakdown of battery supply 3 offer of control power supply, as it is shown in figure 5, motor control
Device 1 processed makes brake 41 operate (step S201).Accordingly, even if syncmotor 4 is
Being in operation, syncmotor 4 is the most out of service.
Then, commercial power source 2 has been restored electricity and has judged by controller for motor 1 the most
(step S202), when judgement restores electricity (step S202 "Yes"), at end
Reason.So, when commercial power source 2 restores electricity, controller for motor 1 performs Fig. 4
Shown process, the operation continuing syncmotor 4 controls.
On the other hand, when judging that commercial power source 2 does not restores electricity (step S202 "No")
Time, controller for motor 1 is to whether having been turned on battery supply 3, namely as controlling electricity consumption
Source has the most put into battery supply 3 and has carried out judging (step S203).
Further, battery supply 3(step S203 "Yes" is had been turned in judgement) time, motor control
The position of magnetic pole of the syncmotor 4 of stopping is stored to volatile storage element 14 by device 1 processed
(step S204), end processes.So, when having been turned on battery supply 3, motor control
Device 1 performs the process shown in Fig. 6, and the operation continuing syncmotor 4 controls.
On the other hand, when judging access failure battery supply 3 (step S203 "No"), motor
Control whether device 1 judges (step S205) to busbar voltage below threshold value.Further,
When judging busbar voltage (step S205 "No") not below threshold value, controller for motor
Process is proceeded to step S202 by 1.
On the other hand, when judging busbar voltage (step S205 "Yes") below threshold value,
The position of magnetic pole of the syncmotor 4 of stopping is stored to non-volatile memories by controller for motor 1
Parts 15(step S206), end processes.So, by the magnetic pole position of syncmotor 4
Put when storing to non-volatile memory component 15, if commercial power source 2 restores electricity afterwards,
Then controller for motor 1 performs the process shown in Fig. 4.And if battery supply 3 is connected, then horse
Reach control device 1 and perform the process shown in Fig. 6.
Additionally, when battery supply 3 is chosen as control power supply, as shown in Figure 6, to being
No input run signal from higher device 5 and carry out judging (step S301).Here, sentencing
When determining not input run signal (step S301 "No"), controller for motor 1 is with predetermined
Cycle carries out the judgement of step S301 repeatedly, till run signal inputs.
Further, when judging to have inputted run signal (step S301 "Yes"), motor control
Device 1 to whether have in volatile storage element 14 position of magnetic pole of storage judge (step
Rapid S302).Further, in judging volatile storage element 14, there is the position of magnetic pole (step of storage
Rapid S302 "Yes") time, controller for motor 1 is stored based on volatile storage element 14
The position of magnetic pole of syncmotor 4 make syncmotor 4 start (step S303), process is turned
Enter to step S305.
On the other hand, in judging volatile storage element 14, there is no the position of magnetic pole (step of storage
Rapid S302 "No") time, controller for motor 1 is deposited based on non-volatile memory component 15
The position of magnetic pole of the syncmotor 4 of storage makes syncmotor 4 start (step S304), will process
Proceed to step S305.
In step S305, the operation continuing syncmotor 4 is controlled by controller for motor 1
Process.Continuing with that above-mentioned operation controls, controller for motor 1 performs Fig. 4
Shown step S104～the process of step S107.Afterwards, at controller for motor 1 end
Reason.
As it has been described above, the controller for motor that embodiment 1 relates to possesses: power supply alternative pack；
Voltage check part；Volatile storage element；And motor control unit.Power supply alternative pack
Any one party in commercial power source or battery supply is chosen as the control electricity consumption of syncmotor
Source.Voltage check part is produced by the above-mentioned control power supply selected by power supply alternative pack
DC bus-bar voltage detect.The position of magnetic pole of syncmotor is entered by volatile storage element
Row storage.
Motor control unit switches to the phase of battery supply at control power supply from commercial power source
Between, it is not less than in busbar voltage and can store position of magnetic pole than by volatile storage element
During the high threshold value of low-voltage, the position of magnetic pole stored based on volatile storage element continues to synchronize
The operation of motor controls.
Accordingly, the controller for motor that embodiment 1 relates to can be by the control of syncmotor
With power supply switch to from commercial power source battery supply make syncmotor start time, continue to synchronize
Motor runs control normally.
Additionally, the controller for motor that embodiment 1 relates to possesses syncmotor position of magnetic pole
Carry out the non-volatile memory component stored.Further, motor control unit is being selected by power supply
The control power supply of subassembly selection switches to the period of battery supply from commercial power source, works as synchronization
When motor stops and busbar voltage drops to threshold value, by the position of magnetic pole of the syncmotor of stopping
Store to non-volatile memory component.
Accordingly, the controller for motor that embodiment 1 relates to is at the magnetic of the syncmotor that will stop
Position, pole stores to non-volatile memory component, is selected as in commercial power source controlling electricity consumption
During source, it is possible to select when making syncmotor start following two to start and control.
It is to say, controller for motor can be by the process institute by speculating initial magnetic pole position
The position of magnetic pole of the syncmotor obtained, or, at the magnetic that non-volatile memory component is stored
Any one party in position, pole makes syncmotor start as initial magnetic pole position.
Here, utilizing the syncmotor acquired by the process by speculating initial magnetic pole position
During position of magnetic pole, controller for motor can be based on syncmotor initial magnetic pole position more accurately
Make syncmotor normal starting.On the other hand, when using non-volatile memory component to be stored
During position of magnetic pole, controller for motor can either process by omitting the supposition of initial magnetic pole position
Reduce process load, syncmotor normal starting can be made again.
Additionally, the motor control unit of controller for motor that relates to of embodiment 1 make non-easily
After the property lost memory unit storage position of magnetic pole, when being selected battery supply by power supply alternative pack,
Operation control based on the position of magnetic pole continuation syncmotor that non-volatile memory component is stored.
Accordingly, even if the voltage of battery supply synchronizes horse less than being carried out speculating by motor control unit
Reaching the voltage required for the process of initial magnetic pole position, motor control of the present embodiment fills
Put the position of magnetic pole also being able to use non-volatile memory component to be stored to make syncmotor just
Often start.
(embodiment 2)
Secondly, the motor control system relating to embodiment 2 illustrates.Here, implement
The motor control system that mode 2 relates to possesses identical with the motor control system 10 shown in Fig. 2
Structure, but its running is different from shown in Fig. 2.
Therefore, the running to the motor control system that embodiment 2 relates to illustrates below,
For each structural element of the motor control system that embodiment 2 relates to, shown in mark and Fig. 2
The identical symbol of symbol the description thereof will be omitted.
In the motor control system that embodiment 2 relates to, during connecting at battery supply 3,
Auxiliary Power Units 50 is for connecting, during battery supply 3 disconnects, Auxiliary Power Units 50
For the mode disconnected, higher device 5 operation of Auxiliary Power Units 50 is controlled.
Therefore, in embodiment 2, start to battery supply having a power failure from commercial power source 2
3 connect, say, that provide electric power to by Auxiliary Power Units 50 to controller for motor 1
Before, it is possible to because busbar voltage declines, the CPU of motor control unit 13 can not run in meeting.
In this case, even volatile storage element 14 can store the bus electricity of position of magnetic pole
Pressure, motor control unit 13 also cannot make volatile storage element 14 store syncmotor 4
Position of magnetic pole.
Then, the motor control unit 13 that embodiment 2 relates to prestores the 1st threshold value,
Its during the disconnection of battery supply 3, i.e. during the disconnection of Auxiliary Power Units 50 with mother
Line voltage compares.Further, motor control unit 13 prestores the 2nd threshold value, its
During the connection of battery supply 3, i.e. during the connection of Auxiliary Power Units 50 with bus
Voltage compares.
Here, the 1st threshold value is higher than the voltage of battery supply 3 and than motor control unit 13
The high threshold value of the minimum voltage of busbar voltage that can run of CPU.Additionally, the 2nd threshold value is
Lower than the voltage of battery supply 3 and syncmotor 4 can be stored than volatile storage element 14
The threshold value that the minimum voltage of the busbar voltage of position of magnetic pole is high.
Further, motor control unit 13 is during the disconnection of Auxiliary Power Units 50, bus electricity
When 1 threshold value is down in pressure, or, during the connection of Auxiliary Power Units 50, bus
When voltage drops to 2 threshold value, non-volatile memory component 15 is made to store syncmotor 4
Position of magnetic pole.
Hereinafter, a tool of the motor control unit 13 with reference to Fig. 7, embodiment 2 related to
Running body example illustrates.Fig. 7 is to represent the controller for motor 1 that embodiment 2 relates to
The sequential chart of a carrying out practically example.
As it is shown in fig. 7, when moment T0 commercial power source 2 is connected, busbar voltage from time
The period carving T0 to moment T1 rises to assigned voltage and is kept.So, at commercial power
Source 2 is connected, say, that in the period that battery supply 3 disconnects, at controller for motor 1
In, set the 1st threshold value as the threshold value compared with busbar voltage.
Afterwards, if representing, from higher device 5 input, the operation that elevator brings into operation at moment T1
Signal (diagram omit), then controller for motor 1 by the speculation flag of initial magnetic pole position from
OFF switches to ON, enters the position of magnetic pole i.e. initial magnetic pole position of the syncmotor 4 stopped
Row supposition processes.
If the supposition process of initial magnetic pole position terminates, then controller for motor 1 is by initial magnetic
The speculation flag of position, pole is after ON switches to OFF, based on turning of inputting from higher device 5
The initial magnetic pole position of square command value and syncmotor 4 makes syncmotor 4 start.Accordingly,
The rotating speed of syncmotor 4 is improved.
Afterwards, controller for motor 1 based on the torque instruction value inputted from higher device 5 and makes
The position of magnetic pole of the syncmotor 4 that volatile storage element 14 stores successively is to syncmotor 4
Operation carry out FEEDBACK CONTROL.Accordingly, syncmotor 4 slows down after the rotating speed keeping regulation,
Stop when elevator arrives purpose floor.After elevator stops, controller for motor 1 makes brake
41 operatings (ON).
Afterwards, when moment T2 commercial power source 2 has a power failure, busbar voltage begins to decline.?
This, before busbar voltage drops to the 1st threshold value, if becoming at moment T3 battery operation signal
For ON, then battery supply 3 and Auxiliary Power Units 50 are connected.
Accordingly, in controller for motor 1, even if busbar voltage is less than the electricity of battery supply 3
Pressure, as long as higher than the voltage of the 2nd threshold value, it becomes possible to ensure the CPU of motor control unit 13
Operation, and position of magnetic pole can be stored by volatile storage element 14.Here, at motor
Control, in device 1, to set the 2nd threshold value as the threshold value compared with busbar voltage.
Further, controller for motor 1 is during the connection of battery supply 3, say, that
Busbar voltage is higher than during the 2nd threshold value, if inputting run signal from higher device 5, (diagram saves
Slightly), then the speculation flag of initial magnetic pole position need not be switched to ON from OFF, just can enter
The starting of row syncmotor 4 controls.
It is to say, controller for motor 1 need not carry out initial magnetic pole position supposition process and
The position of magnetic pole of the syncmotor 4 in the stopping that volatile storage element 14 is stored as
Initial magnetic pole position makes syncmotor 4 start.
Accordingly, even if the voltage of battery supply 3 processes less than the supposition carrying out initial magnetic pole position
Required voltage, controller for motor 1 also is able to be provided with Auxiliary Power Units 50
Electric power makes syncmotor 4 normal starting.
Then, battery supply 3 is used by controller for motor 1 as control power supply, with than
Rotating speed low during use commercial power source 2 makes syncmotor 4 slow down after operation, arrives at elevator
The time point reaching purpose floor makes elevator stop.After elevator stops, controller for motor 1 makes braking
Device 41 operates (ON).
Afterwards, in controller for motor 1, restore electricity in moment T4 commercial power source 2
Time, set the 1st threshold value as the threshold value compared with busbar voltage.Now, although bus
Voltage is below the 1st threshold value, but it is possible to ensure motor control by commercial power source 2
The operation of the CPU of parts 13.
Afterwards, busbar voltage is due to the connection in commercial power source 2, it is possible to from moment T4 extremely
The period of moment T5, rise to carry out the supposition of initial magnetic pole position than controller for motor 1
Assigned voltage that voltage required for process is high is also kept.
Further, if inputting run signal (diagram is omitted) at moment T5 from higher device 5,
Then the speculation flag of initial magnetic pole position is switched to ON from OFF by controller for motor 1, right
The position of magnetic pole i.e. initial magnetic pole position of the syncmotor 4 stopped carries out supposition process.
Then, controller for motor 1 makes syncmotor 4 at presumptive initial magnetic pole position
After starting, commercial power source 2 is continued as control power supply the operation of syncmotor 4,
Elevator arrives the time point of purpose floor makes elevator stop.After elevator stops, controller for motor 1
Brake 41 is made to operate (ON).
Afterwards, when moment T6 commercial power source 2 has a power failure again, busbar voltage declines again.
Now, control power supply needs some times till switching to battery supply 3, and likely
Busbar voltage can be less than the 1st threshold value.
Such as, have a power failure the frequency frequently occurred and run based on battery supply 3 in commercial power source 2
When degree increases, the charging of battery supply 3 needs long-time, and likely cannot occur having a power failure
After at once control power supply is switched to battery supply 3.
Here, controller for motor 1 is such as after moment T6 has a power failure generation, and at moment T7
When busbar voltage drops to 1 threshold value, UV detection mark is switched to ON from OFF, and
The mark writing position of magnetic pole to non-volatile memory component 15 is switched to ON from OFF.
Further, controller for motor 1 makes non-volatile memory component 15 by out of service
After the position of magnetic pole storage of syncmotor 4, magnetic pole will be write to non-volatile memory component 15
The mark of position switches to OFF from ON.Afterwards, when moment T8 battery supply 3 is connected,
UV detection mark is switched to OFF from ON by controller for motor 1.
Further, in controller for motor 1, due at moment T8 Auxiliary Power Units 50
Connect together with battery supply 3, it is possible to ensure the operation of the CPU of motor control unit 13,
So, set the 2nd threshold value as the threshold value compared with busbar voltage.
Afterwards, when moment T10 inputs run signal (diagram is omitted) from higher device 5,
Controller for motor 1 will read the mark of position of magnetic pole from OFF from non-volatile memory component 15
Switch to ON, and read the magnetic pole of the syncmotor 4 stopped from non-volatile memory component 15
Position.Afterwards, the position of magnetic pole read is come by controller for motor 1 as initial magnetic pole position
Syncmotor 4 is made to start.
Accordingly, even if busbar voltage makes the magnetic that volatile storage element 14 stores less than threshold value
Position, pole disappears, and the voltage of battery supply 3 processes less than the supposition carrying out initial magnetic pole position
In the case of required voltage, controller for motor 1 also is able to make syncmotor 4 normally rise
Dynamic.
Then, battery supply 3 is used by controller for motor 1 as control power supply, with low
In using rotating speed during commercial power source 2 to make syncmotor 4 slow down after operation, arrive at elevator
The time point reaching purpose floor makes elevator stop.After elevator stops, controller for motor 1 makes braking
Device 41 operates (ON).
Afterwards, in controller for motor 1, restore electricity and need the long period, and in the moment
In the case of T11 battery supply 3 and Auxiliary Power Units 50 disconnect, it is impossible to ensure motor control
The operation of the CPU of parts 13.
Then, in controller for motor 1, set as the threshold value compared with busbar voltage
Fixed 1st threshold value.Now, because controller for motor 1 is in the time point busbar voltage of moment T11
It is in below the 1st threshold value, so, UV detection mark is switched to ON from OFF, and will
The mark writing position of magnetic pole to non-volatile memory component 15 switches to ON from OFF.
Further, controller for motor 1 makes non-volatile memory component 15 by syncmotor 4
Position of magnetic pole storage after, the mark of position of magnetic pole will be write to non-volatile memory component 15
OFF is switched to from ON.Afterwards, controller for motor 1 is in moment T12 commercial power source 2
Restoring electricity, busbar voltage rises and when moment T13 is higher than 1 threshold value, is detected by UV
Mark switches to OFF from ON.
Further, controller for motor 1 is after commercial power source 2 restores electricity, at moment T14
When higher device 5 inputs run signal (diagram is omitted), by the supposition of initial magnetic pole position
Indicate and switch to ON, and the most initial magnetic of position of magnetic pole to the syncmotor 4 stopped from OFF
Position, pole carries out supposition process.Then, controller for motor 1 is at presumptive initial magnetic pole
After position makes syncmotor 4 start, continue to synchronize as control power supply using commercial power source 2
The operation of motor 4 controls.
It addition, controller for motor 1 inputs run signal (figure at moment T14 from higher device 5
Show omission) time, additionally it is possible to the position of magnetic pole stored by non-volatile memory component 15 is made
Syncmotor 4 is made to start for initial magnetic pole position.
As it has been described above, in the motor control system that embodiment 2 relates to, with at battery supply
During connection, Auxiliary Power Units connect, battery supply disconnect during, Auxiliary Power Units
The mode disconnected, is controlled the operation of Auxiliary Power Units by higher device.
In the case of above-mentioned, the motor control unit of controller for motor breaking at Auxiliary Power Units
Open period, prestore the 1st threshold value, accessory power supply as the threshold value compared with busbar voltage
During the connection of unit, prestore the 2nd threshold value as the threshold value compared with busbar voltage.
Now, as the 1st threshold value, motor control unit storage is higher than the voltage of battery supply,
And the threshold value that the minimum voltage of the busbar voltage can run than the CPU of motor control unit is high.This
Outward, as the 2nd threshold value, motor control unit storage is lower than the voltage of battery supply and ratio is easy
The minimum voltage of the busbar voltage that the property lost memory unit can store syncmotor position of magnetic pole is high
Threshold value.
Further, controller for motor is during the disconnection of Auxiliary Power Units, busbar voltage decline
During to 1 threshold value, or during the connection of Auxiliary Power Units, busbar voltage drop to
During 2 threshold value, make the position of magnetic pole of non-volatile memory component storage syncmotor.
Accordingly, the motor control system related to according to embodiment 2, by the control of syncmotor
When system power supply switches to battery supply to make syncmotor start from commercial power source, it is possible to continue
Continuous syncmotor runs control normally.
Claims (3)
1. a controller for motor, it is characterised in that possess:
Power supply alternative pack, for selecting any one party in commercial power source or battery supply
It is selected as the control power supply of syncmotor；
Voltage check part, for by the described control selected by described power supply alternative pack
Detect with DC bus-bar voltage produced by power supply；
Volatile storage element, for storing the position of magnetic pole of described syncmotor；
Non-volatile memory component, for storing the position of magnetic pole of described syncmotor；
And
Motor control unit, by the described control electricity consumption selected by described power supply alternative pack
Source switches to the period of described battery supply from described commercial power source, in described busbar voltage
It is not less than than the minimum electricity that can be stored described position of magnetic pole by described volatile storage element
When pressing high threshold value, continue based on the described position of magnetic pole stored by described volatile storage element
The operation of continuous described syncmotor controls, and stops and described busbar voltage at described syncmotor
When dropping to described threshold value, the position of magnetic pole of the described syncmotor stopped is stored to described
Non-volatile memory component.
2. controller for motor as claimed in claim 1, it is characterised in that:
Described motor control unit, stores described position of magnetic pole to described non-volatile memories
After parts, in the case of described power supply alternative pack have selected described battery supply, based on
The described position of magnetic pole stored by described non-volatile memory component continues described syncmotor
Run and control.
3. a motor control method, it is characterised in that including:
By power supply alternative pack, any one party in commercial power source or battery supply is selected
Control power supply for syncmotor；
Used by the described control selected by described power supply alternative pack by voltage check part
Produced by power supply, DC bus-bar voltage detects；
By volatile storage element, the position of magnetic pole of described syncmotor is stored；With
And
Used by the described control selected by described power supply alternative pack by motor control unit
Power supply switches to the period of described battery supply from described commercial power source, at described bus electricity
Pressure is not less than and can store the minimum of described position of magnetic pole than by described volatile storage element
During the high threshold value of voltage, based on the described position of magnetic pole stored by described volatile storage element
The operation continuing described syncmotor controls,
When described syncmotor stops and described busbar voltage drops to described threshold value, will stop
The position of magnetic pole of described syncmotor only stores to non-volatile memory component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210320339.0A CN103684141B (en) | 2012-08-31 | 2012-08-31 | Controller for motor and motor control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210320339.0A CN103684141B (en) | 2012-08-31 | 2012-08-31 | Controller for motor and motor control method |
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| CN103684141A CN103684141A (en) | 2014-03-26 |
| CN103684141B true CN103684141B (en) | 2016-09-07 |
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| EP3291181B1 (en) * | 2016-09-05 | 2021-11-03 | Andreas Stihl AG & Co. KG | Device and system for detecting operating data of a tool |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1502539A (en) * | 1997-03-18 | 2004-06-09 | 三菱电机株式会社 | Lift device for elevator |
| CN101987709A (en) * | 2009-08-03 | 2011-03-23 | 株式会社日立制作所 | Power switch control device of elevator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5240684B2 (en) * | 2007-07-04 | 2013-07-17 | 東芝エレベータ株式会社 | Elevator power supply system |
| JP5481286B2 (en) * | 2010-06-30 | 2014-04-23 | 日立オートモティブシステムズ株式会社 | Power conversion system and power conversion device |
-
2012
- 2012-08-31 CN CN201210320339.0A patent/CN103684141B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1502539A (en) * | 1997-03-18 | 2004-06-09 | 三菱电机株式会社 | Lift device for elevator |
| CN101987709A (en) * | 2009-08-03 | 2011-03-23 | 株式会社日立制作所 | Power switch control device of elevator |
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