CN1893255A - Motor control apparatus - Google Patents
Motor control apparatus Download PDFInfo
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- CN1893255A CN1893255A CNA2006100942037A CN200610094203A CN1893255A CN 1893255 A CN1893255 A CN 1893255A CN A2006100942037 A CNA2006100942037 A CN A2006100942037A CN 200610094203 A CN200610094203 A CN 200610094203A CN 1893255 A CN1893255 A CN 1893255A
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Abstract
A motor control apparatus for controlling a motor with reduced noise and vibration includes a detecting means for detecting a rotational speed of the motor, a command signal processing means that generates a command signal for allowing the motor to rotate at a predetermined rotational speed, a drive means that generates a drive signal based on the command signal and supplies the drive signal to the motor, and a control signal generation means that generates a control signal for allowing the motor to produce a control torque having a frequency equal to one of frequencies of noise and vibration due to the motor. The frequency of the control torque corresponds to at least one of orders of the rotational speed detected by the detecting means. The command signal processing means generates the command signal based on the control signal.
Description
Technical field
The present invention relates to a kind of electric machinery control device that is used for controlling motor with the noise that reduces and vibration.
Background technology
The electric machinery control device that is used for driving brshless DC motor is disclosed in JP-A-H11-275885 and JP-A-2004-19461.Described electric machinery control device comprises inverter circuit, and described inverter circuit is used for changing the drive current on the armature winding that is provided to motor at preset time, thereby motor can rotate.Electric machinery control device has reduced noise and the vibration that is produced by motor.
In the disclosed electric machinery control device of JP-A-H11-275885, the rotational velocity range of motor is divided into a plurality of speed district, and corresponding to being pre-stored in the accumulator apparatus a plurality of change-over times in each speed district.For example, when motor is driven in the first speed district, corresponding to from storage arrangement, read first change-over time in the first speed district and inverter circuit first change-over time the conversion driving electric current.Set described change-over time, to reduce motor or electric machine assembly or the structural vibrations around motor as much as possible.Vibration is owing to the torque ripple that is caused by the conversion driving electric current.Thereby, in each the speed district in rotational velocity range, reduce owing to the noise and the vibration of torque ripple.
In the disclosed electric machinery control device of JP-A-2004-19461, amplify by controlling value corresponding to the anglec of rotation (load torque) of motor corresponding to the average voltage of the rotary speed of motor.In this method, the driving torque that produces at each anglec of rotation place can the follow load moment of torsion to reduce the vibration that causes because of the difference between driving torque and the load torque.
As everyone knows, when the number of times (order) that the resonance frequency of the structure around motor, electric machine assembly or the motor equals the motor rotary speed was the harmonic wave of motor rotary speed, the number of times composition may cause noise and vibration.
Disclosed electric machinery control device is used for reducing the noise and the fluctuation that cause because of torque ripple among the JP-A-H11-275885, and disclosed electric machinery control device is used for reducing the noise and the vibration that cause because of the difference between driving torque and the load torque among the JP-A-2004-19461.Therefore, disclosed electric machinery control device is difficult to reduce noise and the vibration that the number of times because of the rotary speed of motor causes in JP-A-H11-275885 and JP-A-2004-19461.
Summary of the invention
Consider the problems referred to above, the objective of the invention is to propose noise and vibration that a kind of electric machinery control device of controlling motor causes with the resonance times that reduces because of the rotary speed of motor.
A kind of electric machinery control device comprises: checkout gear, and described checkout gear is used for detecting the rotary speed of motor; The command signal processing unit, described command signal processing unit produces command signal, is used to allow motor to rotate on predetermined rotary speed; Drive unit, described drive unit produces drive signal and described drive signal is supplied to motor based on command signal; The control signal generating means, described control signal generating means produces and is used for making motor to produce the control signal of control torque, described control torque has one frequency in the frequency that equals noise and vibration, and the control signal generating means outputs to the command signal processing unit with control signal.The frequency of control torque is with corresponding by in the number of times (orders) of the detected rotary speed of checkout gear at least one.Described control signal is sinusoidal.
The command signal processing unit produces command signal and command signal is outputed to drive unit based on control signal.Thereby drive unit can produce drive signal, noise and vibration that described drive signal can drive motors causes with the number of times that reduces because of the rotary speed of motor.
Description of drawings
By the following detailed description of being done with reference to the accompanying drawings, above-mentioned and other purposes of the present invention, feature and advantage can be more apparent.In the drawings:
Fig. 1 is the block diagram according to the electric machinery control device of the first embodiment of the present invention;
Fig. 2 is the schematic diagram that is included in the mapping table (Map) in the electric machinery control device of Fig. 1;
Fig. 3 is the chart of explanation observed sound pressure level when motor moves;
Fig. 4 A is the chart of the relation between explanation amplitude and the rotary speed, and Fig. 4 B is the chart of the relation between explanation phase angle and the rotary speed;
Fig. 5 A is the chart of load torque of the compressor of displayed map 1, and Fig. 5 B is the chart that shows the drive current on the motor that supplies to Fig. 1, and Fig. 5 C is the chart that shows the resultant current of drive current on the motor that supplies to Fig. 1 and sinusoidal current;
Fig. 6 is the chart of explanation observed sound pressure level when the electric machinery control device drive motors of Fig. 1;
Fig. 7 is the block diagram according to the electric machinery control device of second embodiment of the present invention;
Fig. 8 A is the chart of load torque of the compressor of displayed map 7, and Fig. 8 B is the chart that shows the driving voltage on the motor that supplies to Fig. 7, and Fig. 8 C is the chart that shows the resultant voltage of driving voltage on the motor that supplies to Fig. 1 and sinusoidal voltage;
Fig. 9 is the block diagram according to the electric machinery control device of the 3rd embodiment of the present invention;
Figure 10 is included in according to the mapping table (map) in the electric machinery control device of the 4th embodiment of the present invention;
Figure 11 is included in according to the mapping table in the electric machinery control device of the 5th embodiment of the present invention;
Figure 12 is the block diagram of electric machinery control device according to a sixth embodiment of the present;
Figure 13 is the view that shows the power on the compressor that acts on Figure 12;
Figure 14 A is included in the directions X mapping table (X-directionmap) in the electric machinery control device of Figure 12, and Figure 14 B is included in the Y direction mapping table in the electric machinery control device of Figure 12;
Figure 15 is the block diagram according to the electric machinery control device of the 7th embodiment of the present invention; And
Figure 16 is the block diagram according to the electric machinery control device of the 8th embodiment of the present invention.
Embodiment
The electric machinery control device 100 of first embodiment according to the invention is described below with reference to Fig. 1-6.
Electric machinery control device 100 is used for the motor 60 of controlling and driving compressor 50.Compressor 50 is to use parts of the automotive air conditioner unit of kind of refrigeration cycle.In kind of refrigeration cycle, compressor 50 with cold-producing medium from the evaporator (not shown), extract out, compressed refrigerant is to high temperature and high pressure, and refrigerant compressed is supplied in the condenser (not shown).For example, compressor 50 be installed in the engine room of vehicle, on the cluster engine as mounting structure.
As shown in Figure 1, electric machinery control device 100 comprises DC power supply 1, inverter circuit 2, anglec of rotation detector 3, rotary speed detector 4, target velocity setting apparatus 5, processing unit 6, drive circuit 7 and sinusoidal torque generator 8.
At least one that anglec of rotation detector 3 is measured from the three-phase current of inverter circuit 2 outputs, and based on the anglec of rotation θ of the electric current that measures with the algorithm for estimating estimation motor of being scheduled to 60
d, then anglec of rotation θ d is outputed to rotary speed detector 4.
T
S＝K
N·sin(N·θ
D-θ
N) …(1)
In equation (1), N represents number of revolutions, i.e. the harmonic wave of the rotary speed ω of motor 60 (harmonic), K
NExpression is corresponding to the amplitude of times N, and θ
NExpression is corresponding to the phase angle of times N.
First number (N=1) refers to the rotary speed ω of motor 60.The multiple of each number of times corresponding rotation speed omega after this.Second number (N=2) is the rotary speed ω of the motor 60 of twice, and counting (N=3) for the third time is the rotary speed ω of three times motor 60, or the like.For example, when motor 60 with 4000rpm (rev/min) i.e. rotary speed when rotation of 4000/60 revolutions per second (rps), number is 200 hertz in frequency and locates to take place for the third time.
As shown in Figure 2, mapping table M1 comprises one group of table, and each in the described table is opened each the rotary speed ω corresponding to motor 60.Each is opened table and has three row and delegation at least.In each table, first row comprise times N, and secondary series comprises amplitude K
N, and the 3rd row comprise phase angle theta
NWhen sinusoidal torque T
SHas amplitude K
NAnd phase angle theta
NThe time, the noise of motor 60 and vibration reduce effectively.
Amplitude K
NAnd phase angle theta
NAll be installed on the vehicle and determine in the test that moves under the condition in reality at motor 60.
Fig. 3 has shown the result of motor 60 with the test of the rotary speed rotation of 4000rpm.As can be seen from Figure 3, sound pressure level exceeds predetermined threshold value grade L
T, and at the 18 number place promptly 1200 hertz frequency place reach the highest.Therefore, in table, set amplitude K corresponding to the 18 number corresponding to the rotary speed ω of 4000rpm
18And phase angle theta
18Determine amplitude K
18And phase angle theta
18Thereby numerical value peak sound pressure level can reduce as much as possible.
Thereby the noise of motor 60 and vibration can reduce effectively.Alternatively, because the 12 number promptly 800 hertz frequency place sound pressure level also exceeded predetermined threshold value grade L
TSo described table can have two row, wherein delegation is corresponding to the 12 number, and another row is corresponding to the 18 number.In this method, the noise of motor 60 and vibration can more effectively reduce.
In each rotary speed ω of motor 60, measured sound pressure level and exceeded predetermined threshold value grade L
TPerhaps reach the times N at peak value place.Then, opening the amplitude K that has set in the table corresponding to described times N corresponding to each of each rotary speed ω
NAnd phase angle theta
NThereby each is opened and shows to finish, and can finish mapping table M1 like this.Mapping table M1 is stored in the holder 81.Alternatively, each times N of opening in the table that is set in mapping table M1 can be corresponding to the resonance frequency of cluster engine, motor 60 or the refrigerant that circulates in kind of refrigeration cycle, and described cluster engine is equipped with compressor 50.
In this case, when sinusoidal current signal IS had amplitude greater than the amplitude of q axis current signal IQ, motor 60 can not rotate.In other words, when the sinusoidal torque T that produces by sinusoidal current signal IS
SAmplitude K
NDuring greater than the amplitude of the driving torque that is produced by q axis current signal IQ, motor 60 can not rotate.Therefore, in mapping table M1, amplitude K
NThe amplitude that is set in driving torque is greater than sinusoidal torque T
SScope in.
Except using mapping table M1, amplitude K
NAnd phase angle theta
NIn each may be calculated the rotary speed ω of motor 60, the anglec of rotation θ of motor 60
DThe perhaps blowdown presssure P that for example describes among the 5th embodiment in the back
NFunction.Shown in Fig. 4 A, first function f
k(ω, θ
D) provided amplitude K
NFirst function f
k(ω, θ
D) can use each the amplitude K that determines in test
NBetween non-linear interpolation obtain.Equally, shown in Fig. 4 B, second function f
θ(ω, θ
D) provided phase angle theta
NSecond function f
θ(ω, θ
D) each phase angle theta that can determine in test
NBetween obtain with non-linear interpolation.In such method,, memory 81 can reduce the required memory capacity of memory 81 thereby there is no need memory map assignments M1.
The operation of electric machinery control device 100 will be described now.Thereby electric machinery control device 100 actuating motors 60 are also controlled motor 60 motors 60 in required rotary speed ω 0 rotation.Especially, sinusoidal torquer 8 receives the rotary speed ω of motor 60 from rotary speed detector 4.Then, sinusoidal torque generator 8 reads amplitude K corresponding to times N from table
N, described table is included among the mapping table M1 of memory 81 and the corresponding rotation speed omega.Based on amplitude K
NAnd phase angle theta
N, sinusoidal torque generator 8 produces sinusoidal current signal IS, and described sinusoidal current signal IS is used for making motor 60 to produce the sinusoidal torque T of being represented by equation (1)
SDescribed sinusoidal current signal IS outputs to processing unit 6.
Because load torque changed in the time period of the T1 shown in Fig. 5 A, the rotary speed ω of motor 60 correspondingly changes.Produce q axis current signal IQ by processing unit 6 and make the drive current of motor 60 supplies corresponding to driving torque.Shown in Fig. 5 B, thereby the driving torque of drive current variations motor 60 is followed the variation in the load torque.Thereby the rotary speed ω of motor 60 can be lowered.Sinusoidal current signal IS is supplied with corresponding to sinusoidal torque T motor 60
s, and the sinusoidal current that changes in the time period at T2.Therefore, resultant current signal IQ+IS makes motor 60 be supplied with resultant current shown in Fig. 5 C.
Fig. 6 is the chart that shows when motor 60 observed sound pressure level when the rotary speed ω of 4000rpm rotates.In Fig. 6, dotted line is represented first kind of situation: motor 60 is not supplied with sinusoidal current; Solid line is represented second kind of situation: motor 60 is supplied with sinusoidal current, and described sinusoidal current has the frequency content of 800 hertz and 1200 hertz.From described chart as can be seen, the 12 and the 18 number place promptly at the frequency place of 800 hertz and 1200 hertz, sound pressure level reduces.In this case, based on corresponding to the sinusoidal current signal IS of the 12 number with corresponding to the composite signal of the sinusoidal current signal IS of the 18 number, can produce the sinusoidal current of frequency content with 800 hertz and 1200 hertz.
Thereby, can reduce noise and vibration corresponding to the sinusoidal current of frequency, amplitude and the phase angle of resonance times N by supply owing to times N.
Below with reference to Fig. 7 and Fig. 8 description electric machinery control device 200 according to a second embodiment of the present invention.
In electric machinery control device 200, processing unit 6 produces and is used for making motor 60 to produce the q shaft voltage signals VQ of driving torque, and described driving torque is followed the pulsation in the Driven Compressor 50 needed load torques.Sinusoidal torquer 8 receives the rotary speed ω of motor 60 from rotary speed detector 4.Then, sinusoidal torque generator 8 reads the amplitude K of corresponding times N from table
NAnd phase angle theta
N, described table is included among the mapping table M1 of memory 81 and the corresponding rotation speed omega.Based on amplitude K
NAnd phase angle theta
N, sinusoidal torque generator 8 produces sine voltage signal VS, is used for making motor 60 to produce the sinusoidal torque T of being represented by equation (1)
SDescribed sine voltage signal VS outputs to processing unit 6.
In processing unit 6, q shaft voltage signals VQ and sine voltage signal VS are combined as resultant voltage signal VQ+VS.Described resultant voltage signal VQ+VS outputs to drive circuit 7.
Because load torque changed in the time period of the T3 shown in Fig. 8 A, the rotary speed ω of motor 60 correspondingly changes.Producing q shaft voltage signals VQ by processing unit 6 makes motor 60 be supplied with driving voltage corresponding to driving torque.Shown in Fig. 8 B, thereby the driving torque of driving voltage variation motor 60 is followed the variation in the load torque.Thereby the rotary speed ω of motor 60 can reduce.Sine voltage signal VS is supplied with corresponding to sinusoidal torque T motor 60
sAnd the sinusoidal voltage that changes in the time period at T4.Therefore, resultant voltage signal VQ+VS makes motor 60 be supplied with resultant voltage shown in Fig. 8 C.
Now with reference to Fig. 9 description electric machinery control device 300 according to a second embodiment of the present invention.
In electric machinery control device 300, sinusoidal torquer 8 produces and is used to allow motor 60 to produce the sinusoidal torque T of being represented by equation (1)
SSinusoidal rotational speed signal ω S.Sinusoidal rotational speed signal ω S and the synthetic aggregate velocity signal ω 0+ ω S of sets of signals that is used to indicate required rotary speed ω 0.As shown in Figure 9, the deviation signal between the signal of aggregate velocity signal ω 0+ ω S and indication rotary speed ω is input to processing unit 6.Control operation signal 6 produces q axis current signal IQ based on deviation signal, and q axis current signal IQ is outputed to drive circuit 7.Drive circuit 7 produces pwm signal based on q axis current signal IQ, and pwm signal is outputed to inverter circuit 2.
In the 4th embodiment according to the present invention, memory 81 comprises mapping table M2 shown in Figure 10, replaces mapping table M1 shown in Figure 2.In each table of mapping table M2, first row comprise frequency F
NRather than times N, secondary series comprises corresponding to frequency F
NAmplitude KF
N, and the 3rd row comprise corresponding to frequency F
NPhase angle theta F
N, wherein, N is a positive integer.For example, in table corresponding to the rotary speed ω of 4000rpm, frequency F
1Can be 800 hertz and frequency F
2It can be 1200 hertz.Alternatively, the frequency F that in each table of mapping table M2, sets
NCan be corresponding to the resonance frequency of cluster engine, motor 60 or the refrigerant that in kind of refrigeration cycle, circulates, described cluster engine is equipped with compressor 50.
In the 5th embodiment according to the present invention, memory 81 comprises mapping table M3 shown in Figure 11, replaces mapping table M1 shown in Figure 2.Described mapping table M3 has one group of table, and each in the described table is also corresponding to the blowdown presssure P of compressor 50
NFor example, pressure inductor (not shown) sensed discharge pressure P
NAlternatively, blowdown presssure P
NCan estimate by the electric current of the motor 60 of for example flowing through or the driving torque of motor 60.
Even as the rotary speed ω of motor 60 when being constant, blowdown presssure P
NAlso can change.By using mapping table M3, owing to blowdown presssure P
NNoise that changes and vibration can reduce effectively.
Now with reference to Figure 12-14B description electric machinery control device 400 according to a sixth embodiment of the invention.Electric machinery control device 400 comprises control-signals generator 88 rather than sinusoidal torque generator 8.
When compressor 50 was scroll compressor, the power F that acts at an A place on the compression section (being orbital motion spool (orbiting scroll)) of compressor 50 can represent as shown in figure 13.In Figure 13, T
DRepresent the driving torque of motor 60, and R represents the i.e. distance between the center of the driving shaft of an A and motor 60 of eccentric arm.In this case, driving torque T
DProvide by equation:
T
D＝F·R …(2)
As shown in figure 13, power F is decomposed into X axis component F
XWith Y-axis to component F
YX axis component F
XWith Y-axis to component F
YBe respectively to act on the X-direction of Figure 14 and the power of Y direction.At motor 60 or comprise that noise and vibration are easy to occur in X-direction and Y direction in the mounting bracket (being cluster engine) of motor 60.Especially, X axis component F
XWith Y-axis to component F
YAt least one frequency content produce noise and the vibration that has corresponding to the frequency of described frequency content.
Control-signals generator 88 produces current controling signal ISS, and described current controling signal ISS is used for making motor 60 to produce control torque T
C, described control torque T
CBe used for producing sinusoidal force.Described sinusoidal force has and X axis component F
XWith Y-axis to component F
YThe opposite phase of frequency content.Thereby the noise and the vibration that are produced by frequency content can reduce.
Control-signals generator 88 has the memory 81 of memory map assignments M4, comprises the mapping table MY shown in the mapping table MX shown in Figure 14 A and Figure 14 B.Described mapping table MX is used for the reducing of X-direction noise and vibration, and described mapping table MY is used for reducing in Y direction noise and vibration.Among mapping table MX and the mapping table MY each has one group of table, and each in the described table is opened each the rotary speed ω corresponding to motor 60.Each of mapping table MX and mapping table MY is opened table and is had three row and delegation at least.
In each table of mapping table MX, first row comprise times N, and secondary series comprises the amplitude KX corresponding to times N
N, and the 3rd row comprise the phase angle theta X corresponding to times N
N, wherein N is a positive integer.Equally, in each table of mapping table MY, first row comprise number of times M, and secondary series comprises the amplitude KY corresponding to number of times M
M, and the 3rd row comprise the phase angle theta Y corresponding to number of times M
M, wherein M is a positive integer.
When the current controling signal ISS that is produced by control-signals generator 88 has amplitude KX
NAnd KY
NWith phase angle theta X
NWith θ Y
NThe time, the noise and the vibration of motor 60 reduce.Amplitude KX
NAnd KY
NWith phase angle theta X
NWith θ Y
NAll in test decisions, in the described test, motor 60 is installed on the vehicle and under the condition of reality and moves.
For example, shown in Figure 14 A, when motor 60 with the rotary speed ω of ω 1 rotation and when the sound pressure level of X axis exceeds predetermined threshold level at first number place, corresponding to the amplitude KX of first number
1With phase angle theta X
1Be set in the table that is included among the mapping table MX, and corresponding to the rotary speed ω of ω 1.In this case, if Y-axis to sound pressure level exceed first with for the third time during the predetermined threshold level at number place, corresponding to first and several for the third time amplitude KY
1And KY
3With phase angle theta Y
1With θ Y
3Be set in respectively in the table that is included among the mapping table MY and corresponding to the rotary speed ω of ω 1.
In such method, thus reduce X axis and Y-axis to each direction on the noise and the vibration of sound pressure level motor 60 can reduce effectively.Alternatively, described times N and M can be corresponding to the motors 60 of compressor 50 combinations or comprise the mounting structure of the motor 60 that is connected with compressor 50 or the resonance frequency of the refrigerant that circulates in kind of refrigeration cycle.By using mapping table M4, can easily in the short time, calculate current controling signal ISS.
Control-signals generator 88 receives the rotary speed ω of motor 60 from rotary speed detector 4.Control-signals generator 88 reads amplitude KX corresponding to times N from table then
NWith phase angle theta X
N, described table is included among the mapping table MX of memory 81 and corresponding to rotary speed ω.Based on amplitude KX
NWith phase angle theta X
N, control-signals generator 88 produces the X axis sub-signal ISS of current controling signal ISS
X, described X axis sub-signal ISS
XRepresent with following equation:
Equally, control-signals generator 88 also reads amplitude KY corresponding to number of times M from table
MWith phase angle theta Y
M, described table is included in the mapping table MY of memory 81 and is corresponding with described rotary speed ω.Based on amplitude KY
MWith phase angle theta Y
M, control-signals generator 88 produces the Y-axis of current controling signal ISS to sub-signal ISS
Y, described Y-axis is to sub-signal ISS
YRepresent with following equation:
Described X axis sub-signal ISS
XWith Y-axis to sub-signal ISS
YBe combined into current controling signal ISS.
The operation of electric machinery control device 400 will be described now.Thereby electric machinery control device 400 starter motors 60 are also controlled motor 60 motors 60 in required rotary speed ω 0 rotation.Especially, processing unit 6 produces q axis current signal IQ and from control-signals generator 88 received current control signal ISS.In processing unit 6, q axis current signal IQ and current controling signal ISS are combined into composite signal IQ+ISS.Processing unit 6 outputs to drive circuit 7 with composite signal IQ+ISS.Drive circuit 7 produces pwm signal and pwm signal is outputed to inverter circuit 2 based on composite signal IQ+ISS.Thereby motor 60 produces the control torque T that is used for producing sinusoidal force
CDescribed sinusoidal force has and X axis component F
XWith Y-axis to component F
YThe opposite phase of frequency content.Thereby the noise and the vibration that are produced by frequency content can reduce.
In this case, when the amplitude of current controling signal ISS during greater than the amplitude of q axis current signal IQ, motor 60 can not rotate.Therefore, the amplitude setting of current controling signal ISS becomes the amplitude of amplitude ratio q axis current signal IQ of current controling signal ISS little.
Now with reference to Figure 15 description electric machinery control device 500 according to a sixth embodiment of the invention.
In electric machinery control device 500, control-signals generator 88 produces q shaft voltage signals VQ.Control-signals generator 88 receives the rotary speed ω of motor 60 from rotary speed detector 4.Then, control-signals generator 88 reads amplitude KX corresponding to times N from table
NWith phase angle theta X
N, described table is included among the mapping table MX of memory 81 and the corresponding rotation speed omega.Further, control-signals generator 88 also reads amplitude KY corresponding to number of times M from table
MWith phase angle theta Y
M, described table is included in the interior and corresponding rotation speed omega of mapping table MY of memory 81.Based on amplitude KX
NWith amplitude KY
MWith phase angle theta X
NWith θ Y
M, control-signals generator 88 produces voltage control signal VSS, and described voltage control signal VSS is used for making motor 60 to produce described control torque T
CDescribed voltage control signal VSS outputs to processing unit 6.
In processing unit 6, q shaft voltage signals VQ and voltage control signal VSS are combined as resultant voltage signal VQ+VSS.Described resultant voltage signal VQ+VSS outputs to drive circuit 7.Drive circuit 7 produces pwm signal based on resultant voltage signal VQ+VSS, and pwm signal is outputed to inverter circuit 2.Thereby motor 60 produces the control torque T that is used for producing sinusoidal force
CDescribed sinusoidal force has and X axis component F
XWith Y-axis to component F
YThe opposite phase of frequency content.Thereby the noise and the vibration that are produced by frequency content can reduce.
Below with reference to the electric machinery control device 600 of Figure 16 description according to the eighth embodiment of the present invention.
In electric machinery control device 600, control-signals generator 88 produces rotary speed control signal ω SS, and rotary speed control signal ω SS is used for making motor 60 to produce control torque T
CThe synthetic aggregate velocity signal ω 0+ ω SS of the sets of signals of the rotary speed ω 0 that rotary speed control signal ω SS and indication are required.As shown in figure 16, the deviation signal between the signal of the rotational speed signal ω of aggregate velocity signal ω 0+ ω SS and indication motor 60 is input to processing unit 6.Processing unit 6 produces q axis current signal IQ based on deviation signal, and q axis current signal IQ is outputed to drive circuit 7.Drive circuit 7 produces pwm signal based on q axis current signal IQ, and pwm signal is outputed to inverter circuit 2.Thereby motor 60 produces the control torque T that is used for producing sinusoidal force
CDescribed sinusoidal force has and X axis component F
XWith Y-axis to component F
YThe opposite phase of frequency content.Thereby the noise and the vibration that are produced by frequency content can reduce.
Above-described embodiment can revise in a different manner.For example, described number of times can use the frequency corresponding to described number of times to replace.
Except using mapping table 2-4, shown in Fig. 4 A and 4B, each in amplitude and the phase angle can be set to the anglec of rotation θ of motor 60
DOr the function of rotary speed ω.In such method, memory 81 required memory capacity can reduce.
Can be provided with based on the physical quantity that obtains from compressor 50 when motor 60 Driven Compressor 50 corresponding to the amplitude of number of times and phase angle.For example, amplitude and the phase angle corresponding to number of times can be provided with based on the pressure or the temperature of the cold-producing medium that circulates in kind of refrigeration cycle.In such method, the noise and the vibration that cause owing to the variation of physical quantity can reduce.
Control torque T
CCan produce the power that acts on a direction, on described direction, motor 60 or comprise that the resonance amplitude of mode of resonance of the mounting structure of motor 60 exceeds the predetermined threshold value grade.
Among signal IS, ISS, VS, VSS, ω S and the ω SS each can be along with the time reduces amplitude.Among signal IS, ISS, VS, VSS, ω S and the ω SS each can be the square-wave signal that is combined into by a plurality of sinusoidal signals.
Such variation and modification it will be appreciated that in the scope of the present invention that is limited by the accompanying claims.
Claims (25)
1, a kind of electric machinery control device, described electric machinery control device is supplied to noise or the vibration that the motor (60) that is used for driving load (50) and control motor (60) cause with the operation that reduces because of motor (60) with drive signal, and described electric machinery control device comprises:
Checkout gear (4), described checkout gear (4) is used for detecting the rotary speed of motor (60);
Command signal processing unit (6), described command signal processing unit (6) produces command signal, is used for making motor (60) in predetermined rotary speed rotation;
Drive unit (7), described drive unit (7) produces drive signal and described drive signal is supplied to motor (60) based on command signal; And
Control signal generating means (8,88), described control signal generating means (8,88) produce the control signal that is used for making motor (60) generation control torque, described control torque has one frequency in the frequency that equals noise and vibration, and control signal is outputed to command signal processing unit (6), wherein:
Described control signal is sinusoidal; With
Command signal processing unit (6) produces command signal and command signal is outputed to drive unit (7) based on control signal.
2, electric machinery control device according to claim 1, wherein:
The frequency of described control torque is corresponding to the number of times by the detected rotary speed of checkout gear (4).
3, electric machinery control device according to claim 1 and 2, wherein:
Described control torque is created in the power that acts on the predetermined direction in the load (50).
4, electric machinery control device according to claim 1, wherein:
Described control signal generating means (8,88) set amplitude and the phase angle and the frequency of control signal based on the anglec of rotation of the rotary speed of motor (60), motor (60) or the physical quantity that when motor (60) drives load (50), obtains, and produce control signal based on described amplitude, phase angle and described frequency from load (50).
5, electric machinery control device according to claim 4, wherein:
Described control signal makes motor (60) produce control torque, and described control torque reduces noise or vibration as much as possible.
6, electric machinery control device according to claim 4, wherein:
The amplitude of described command signal is greater than the amplitude of control signal.
7, electric machinery control device according to claim 4, wherein:
Described control signal generating means (8,88) comprises the mapping table (M1-M4) with many tables;
Described each open table corresponding to each rotary speed of motor (60), each anglec of rotation or each physical quantity of motor (60), and comprise described amplitude, described phase angle and described frequency; With
Described control signal generating means (8,88) reads amplitude, phase angle and described frequency to produce control signal from mapping table (M1-M4).
8, electric machinery control device according to claim 4, wherein:
Described amplitude setting is the rotary speed of motor (60), the anglec of rotation of motor (60) or first function of physical quantity.
9, electric machinery control device according to claim 4, wherein:
Described phase angle is set at the rotary speed of motor (60), the anglec of rotation of motor (60) or second function of physical quantity.
10, electric machinery control device according to claim 1, wherein:
Described frequency is to have in the frequency of preposition than the noise of the predetermined big sound pressure level of arbitrarily downgrading.
11, electric machinery control device according to claim 1, wherein:
Described frequency is the resonance frequency of the motor (60) that engages with load (50).
12, electric machinery control device according to claim 1, wherein:
Described frequency is the resonance frequency that comprises the mounting structure of the motor (60) that engages with load (50).
13, electric machinery control device according to claim 3, wherein:
The sound pressure level of described noise or vibration exceeds predetermined arbitrarily downgrading at preposition on predetermined direction.
14, electric machinery control device according to claim 3, wherein:
Described motor (60) has wherein along first mode of resonance of predetermined direction generation resonance; With
The amplitude of described resonance exceeds the predetermined amplitude grade.
15, electric machinery control device according to claim 3, wherein:
The mounting structure that comprises motor (60) has wherein second mode of resonance along described predetermined direction generation resonance; With
The amplitude of described resonance exceeds the predetermined amplitude grade.
16, electric machinery control device according to claim 3, wherein:
The amplitude of the described vibration that causes because of the operation of motor (60) exceeds the predetermined amplitude grade on predetermined direction.
17, electric machinery control device according to claim 1, wherein:
Described control signal comprises and the relevant information of electric current that is used for driving described motor (60).
18, electric machinery control device according to claim 1, wherein:
Described control signal comprises and the relevant information of voltage that is used for driving described motor (60).
19, electric machinery control device according to claim 1, wherein:
Described control signal comprises the relevant information of rotary speed with motor (60).
20, electric machinery control device according to claim 1, wherein:
Described control signal amplitude in time reduces.
21, electric machinery control device according to claim 1, wherein:
Described load (50) is to be used for the fluid machinery of compression working fluid (50).
22, electric machinery control device according to claim 21, wherein:
Described fluid machinery (50) is the compressor (50) that is used in the kind of refrigeration cycle, and described working fluid is a cold-producing medium.
23, electric machinery control device according to claim 22, wherein:
Described frequency is the resonance frequency of cold-producing medium.
24, electric machinery control device according to claim 4 also comprises:
Be used for the pressure-detecting device of detected pressures; Wherein,
Described load (50) is to use the compressor (50) in kind of refrigeration cycle;
Described pressure-detecting device (4) detects the blowdown presssure of compressor (50); With
Described physical quantity is detected pressure.
25, electric machinery control device according to claim 1, wherein:
Described load (50) is installed in the vehicle.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005187010 | 2005-06-27 | ||
| JP2005187010 | 2005-06-27 | ||
| JP2006118529 | 2006-04-21 |
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| Publication Number | Publication Date |
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| CN1893255A true CN1893255A (en) | 2007-01-10 |
| CN100461615C CN100461615C (en) | 2009-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100942037A Expired - Fee Related CN100461615C (en) | 2005-06-27 | 2006-06-23 | Motor control apparatus |
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| Country | Link |
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| CN (1) | CN100461615C (en) |
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