JP2003088159A - Torque ripple correction method and apparatus thereof - Google Patents
Torque ripple correction method and apparatus thereofInfo
- Publication number
- JP2003088159A JP2003088159A JP2001269063A JP2001269063A JP2003088159A JP 2003088159 A JP2003088159 A JP 2003088159A JP 2001269063 A JP2001269063 A JP 2001269063A JP 2001269063 A JP2001269063 A JP 2001269063A JP 2003088159 A JP2003088159 A JP 2003088159A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- sine wave
- synchronous
- torque ripple
- frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、トルク(リニアモ
ータの場合は推力の意味である。以下同様)リップルの
存在する同期型ＡＣモータを速度制御する上で非常に重
要なトルクリップル補正法とその装置に関するものであ
り、回転型モータおよびリニアモータどちらにも適用で
きるものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a torque ripple correction method which is very important for speed control of a synchronous AC motor in which torque (in the case of a linear motor, ripple means the same. The same applies hereinafter). The present invention relates to the device and can be applied to both a rotary motor and a linear motor.
【０００２】[0002]
【従来の技術】従来は、トルクリップルの存在するモー
タを速度制御する場合、トルクリップルによる速度変動
を速度ループゲインで抑えていたが、速度ループゲイン
が低い時には十分に抑えられなかった。2. Description of the Related Art Conventionally, when controlling the speed of a motor having a torque ripple, the speed fluctuation due to the torque ripple has been suppressed by the speed loop gain, but it has not been sufficiently suppressed when the speed loop gain is low.
【０００３】[0003]
【発明が解決しようとする課題】従来法では、トルクリ
ップルが小さい場合や速度ループゲインが高い場合はそ
れほど問題にならなかったが、トルクリップルが大きい
場合や速度ループゲインが低い場合は、速度変動を小さ
く抑えられなかった。そこで本発明は、トルクリップル
がモータの電気角周波数の整数倍であることに着目し
て、モータの電気角に合わせて任意の周波数(モータ電
気角周波数の整数倍)、任意の振幅、任意の位相の正弦
波を作り出し、それをトルクリップル補正量としてトル
ク指令に足して、速度変動を抑えることを目的としてい
る。In the conventional method, when the torque ripple is small or the speed loop gain is high, it does not become a serious problem, but when the torque ripple is large or the speed loop gain is low, the speed fluctuation is small. Couldn't be kept small. Therefore, the present invention focuses on the fact that the torque ripple is an integral multiple of the electric angular frequency of the motor, and according to the electric angle of the motor, an arbitrary frequency (an integral multiple of the motor electric angular frequency), an arbitrary amplitude, an arbitrary The purpose is to create a phase sine wave and add it as a torque ripple correction amount to the torque command to suppress speed fluctuations.
【０００４】[0004]
【課題を解決するための手段】上記問題を解決するた
め、本発明の請求項１は、同期型ＡＣモータのトルクリ
ップルを補正する装置において、前記同期型ＡＣモータ
の電気角に合わせて正弦波信号を作り、この正弦波信号
を補正量として、トルク指令に加えることを特徴とする
同期型ＡＣモータのトルクリップル補正方法であり、請
求項２は 前記正弦波信号の周波数を前記同期型ＡＣモ
ータの電気角周波数の整数倍とし、前記正弦波信号の振
幅と位相を任意に選ぶことを特徴とする同期型ＡＣモー
タのトルクリップル補正方法であり、請求項３は、前記
正弦波信号をｍ個(ｍは自然数)作り、それぞれ独立して
各正弦波信号の周波数、振幅、位相を選択し、選択した
正弦波信号を合成して補正量とすることを特徴とする同
期型ＡＣモータのトルクリップル補正方法である。ま
た、請求項４は、前記同期型ＡＣモータの電気角を計算
するモータ電気角計算手段と、ｍ個（ｍは自然数）の正
弦波の周波数、振幅、位相を選択する周波数・振幅・位
相入力手段と、前記モータ電気角計算手段と周波数・振
幅・位相入力手段とから合成正弦波信号を生成する正弦
波計算手段と、この正弦波計算手段の出力をトルクリッ
プル補正量として、前記同期型ＡＣモータのトルク指令
に加算する手段とを備えたことを特徴とする同期型ＡＣ
モータのトルクリップル補正装置である。In order to solve the above problems, a first aspect of the present invention provides a device for correcting torque ripple of a synchronous AC motor, wherein a sine wave is adjusted in accordance with an electrical angle of the synchronous AC motor. A torque ripple correction method for a synchronous AC motor, wherein a signal is generated, and this sine wave signal is added as a correction amount to a torque command, and the frequency of the sine wave signal is set to the synchronous AC motor. Is an integral multiple of the electrical angular frequency of, and the amplitude and the phase of the sine wave signal are arbitrarily selected. A torque ripple correction method for a synchronous AC motor, wherein the number of the m sine wave signals is m. (m is a natural number), the frequency, amplitude, and phase of each sine wave signal are selected independently, and the selected sine wave signals are combined to obtain a correction amount. A ripple correction method. According to a fourth aspect of the present invention, a motor electrical angle calculating means for calculating an electrical angle of the synchronous AC motor and a frequency / amplitude / phase input for selecting frequencies, amplitudes and phases of m (m is a natural number) sine waves. Means, a sine wave calculating means for generating a composite sine wave signal from the motor electrical angle calculating means and the frequency / amplitude / phase input means, and the output of the sine wave calculating means as a torque ripple correction amount, the synchronous AC And a means for adding to the torque command of the motor.
It is a torque ripple correction device for a motor.
【０００５】[0005]
【発明の実施の形態】以下、本発明の実施の形態を図に
基づいて説明する。図１は、本発明のトルクリップルを
補正するときに使用するブロック図である。図１におい
て、電流制御手段３とＰＷＭ電力変換装置４で電流指令
Ｉ*通りにモータ１を駆動する。エンコーダ２は、モー
タ１の位置posを検出する。モータ１の電流Ｉfbを電流
検出手段５で検出する。モータ電気角計算手段６は、モ
ータ位置posからモータ電気角θeを計算する。周波数f
・振幅A・位相φ入力手段７では、周波数(モータ電気角
周波数の整数倍)・振幅・位相を自由に選ぶことがで
き、それらを正弦波計算手段８に入力する。正弦波計算
手段８は、sinテーブルを備えており、モータ電気角θe
と入力された周波数f・振幅A・位相φより式(１)のよう
な正弦波を作る。
A×sin(f×θe -φ) ・・・(１)
ただし、fは正の整数である。また、この正弦波はｍ個
(ｍはｍ>0の整数)作ることができるので、トルクリップ
ル補正量Ｔcmpは式(２)のようになる。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram used when correcting the torque ripple of the present invention. In FIG. 1, the current control means 3 and the PWM power converter 4 drive the motor 1 according to the current command I * . The encoder 2 detects the position pos of the motor 1. The current I fb of the motor 1 is detected by the current detecting means 5. The motor electric angle calculation means 6 calculates the motor electric angle θ e from the motor position pos. Frequency f
In the amplitude A / phase φ input means 7, the frequency (an integer multiple of the motor electrical angular frequency), the amplitude and the phase can be freely selected, and these are input to the sine wave calculation means 8. The sine wave calculating means 8 is provided with a sin table, and the motor electrical angle θ e
From the input frequency f, amplitude A, and phase φ, a sine wave as shown in equation (1) is created. A × sin (f × θ e -φ) (1) where f is a positive integer. Also, this sine wave is m
(m is an integer of m> 0), the torque ripple correction amount T cmp is given by the equation (2).
【０００６】[0006]
【数１】 [Equation 1]
【０００７】式(２)のＴcmpをトルクリップル補正量と
して、加算手段９において、トルク指令Ｔ*に加える。The addition unit 9 adds T cmp in the equation (2) as a torque ripple correction amount to the torque command T * .
【０００８】[0008]
【発明の効果】以上述べたように、本発明によれば、ト
ルクリップルを抑えることができ、速度制御性能を向上
させることができる。As described above, according to the present invention, the torque ripple can be suppressed and the speed control performance can be improved.
【図１】 本発明を説明するためのブロック図である。FIG. 1 is a block diagram for explaining the present invention.
＊ 指令を表す添字 fb 検出を表す添字 pos エンコーダによる同期型ＡＣモータの位置情報 θe 同期型ＡＣモータの電気角 Ｔ トルク Ｔcmp トルクリップル補正量 Ｉ 電流 Ｖ 電圧 ＫT トルク定数 ｆ 周波数(ｆは正の整数) Ａ 振幅 φ 位相 １ 同期型ＡＣモータ ２ エンコーダ ３ 電流制御手段 ４ ＰＷＭ電力変換装置 ５ 電流検出手段 ６ モータ電気角計算手段 ７ 周波数・振幅・位相入力手段 ８ 正弦波計算手段 ９ 加算手段* Subscript fb for command Subscript for detection pos Positional information of synchronous AC motor by encoder θ e Electrical angle of synchronous AC motor T Torque T cmp Torque ripple correction amount I Current V Voltage K T Torque constant f Frequency (f is Positive integer) A Amplitude φ Phase 1 Synchronous AC motor 2 Encoder 3 Current control means 4 PWM power converter 5 Current detection means 6 Motor electrical angle calculation means 7 Frequency / amplitude / phase input means 8 Sine wave calculation means 9 Addition means
Claims (4)
正する装置において、前記同期型ＡＣモータの電気角に
合わせて正弦波信号を作り、この正弦波信号を補正量と
して、トルク指令に加えることを特徴とする同期型ＡＣ
モータのトルクリップル補正方法。1. A device for correcting a torque ripple of a synchronous AC motor, wherein a sine wave signal is generated in accordance with an electrical angle of the synchronous AC motor, and the sine wave signal is added to a torque command as a correction amount. Characteristic synchronous AC
Motor torque ripple correction method.
Ｃモータの電気角周波数の整数倍とし、前記正弦波信号
の振幅と位相を任意に選ぶことを特徴とする請求項１記
載の同期型ＡＣモータのトルクリップル補正方法。2. The frequency of the sine wave signal is set to the synchronous type A
2. The torque ripple correction method for a synchronous AC motor according to claim 1, wherein the amplitude and the phase of the sine wave signal are arbitrarily selected by setting the electrical angular frequency of the C motor to an integral multiple.
り、それぞれ独立して各正弦波信号の周波数、振幅、位
相を選択し、選択した正弦波信号を合成して補正量とす
ることを特徴とする請求項１又は２記載の同期型ＡＣモ
ータのトルクリップル補正方法。3. The number of the sine wave signals is m (m is a natural number), the frequency, amplitude, and phase of each sine wave signal are independently selected, and the selected sine wave signals are combined to obtain a correction amount. The torque ripple correction method for a synchronous AC motor according to claim 1 or 2, characterized in that.
正する装置において、前記同期型ＡＣモータの電気角を
計算するモータ電気角計算手段と、ｍ個（ｍは自然数）
の正弦波の周波数、振幅、位相を選択する周波数・振幅
・位相入力手段と、前記モータ電気角計算手段と周波数
・振幅・位相入力手段とから合成正弦波信号を生成する
正弦波計算手段と、この正弦波計算手段の出力をトルク
リップル補正量として、前記同期型ＡＣモータのトルク
指令に加算する手段とを備えたことを特徴とする同期型
ＡＣモータのトルクリップル補正装置。4. A device for correcting torque ripple of a synchronous AC motor, comprising motor electric angle calculating means for calculating an electric angle of the synchronous AC motor, and m (m is a natural number).
Frequency / amplitude / phase input means for selecting the frequency, amplitude, and phase of the sine wave, and sine wave calculation means for generating a composite sine wave signal from the motor electrical angle calculation means and the frequency / amplitude / phase input means, A torque ripple correction device for a synchronous AC motor, comprising: a means for adding the output of the sine wave calculation means to the torque command of the synchronous AC motor as a torque ripple correction amount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001269063A JP2003088159A (en) | 2001-09-05 | 2001-09-05 | Torque ripple correction method and apparatus thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001269063A JP2003088159A (en) | 2001-09-05 | 2001-09-05 | Torque ripple correction method and apparatus thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003088159A true JP2003088159A (en) | 2003-03-20 |
Family
ID=19094944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001269063A Pending JP2003088159A (en) | 2001-09-05 | 2001-09-05 | Torque ripple correction method and apparatus thereof |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2003088159A (en) |
Cited By (8)
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|---|---|---|---|---|
| JP2005080482A (en) * | 2003-09-03 | 2005-03-24 | Yaskawa Electric Corp | Method and apparatus for correcting torque ripple for synchronous ac motor |
| WO2008108292A1 (en) * | 2007-03-07 | 2008-09-12 | Kabushiki Kaisha Yaskawa Denki | Motor controller and motor and torque ripple correction method |
| JP2008273391A (en) * | 2007-04-27 | 2008-11-13 | Mitsubishi Electric Corp | Electric power steering control device |
| WO2009122954A1 (en) * | 2008-04-02 | 2009-10-08 | 日産自動車株式会社 | Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus |
| JP2010063343A (en) * | 2008-08-06 | 2010-03-18 | Yaskawa Electric Corp | Motor control apparatus, torque ripple correction method thereof, and motor control system |
| WO2010116787A1 (en) * | 2009-03-30 | 2010-10-14 | アイシン・エィ・ダブリュ株式会社 | Electric motor control device |
| CN103814517A (en) * | 2011-09-22 | 2014-05-21 | 三菱电机株式会社 | Motor control device |
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-
2001
- 2001-09-05 JP JP2001269063A patent/JP2003088159A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005080482A (en) * | 2003-09-03 | 2005-03-24 | Yaskawa Electric Corp | Method and apparatus for correcting torque ripple for synchronous ac motor |
| WO2008108292A1 (en) * | 2007-03-07 | 2008-09-12 | Kabushiki Kaisha Yaskawa Denki | Motor controller and motor and torque ripple correction method |
| JP5321449B2 (en) * | 2007-03-07 | 2013-10-23 | 株式会社安川電機 | Motor control device |
| US8044621B2 (en) | 2007-03-07 | 2011-10-25 | Kabushiki Kaisha Yaskawa Denki | Motor controller |
| JP2008273391A (en) * | 2007-04-27 | 2008-11-13 | Mitsubishi Electric Corp | Electric power steering control device |
| JP4536085B2 (en) * | 2007-04-27 | 2010-09-01 | 三菱電機株式会社 | Electric power steering control device |
| US8447468B2 (en) | 2008-04-02 | 2013-05-21 | Nissan Motor Co., Ltd. | Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus |
| WO2009122954A1 (en) * | 2008-04-02 | 2009-10-08 | 日産自動車株式会社 | Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus |
| JP5375822B2 (en) * | 2008-04-02 | 2013-12-25 | 日産自動車株式会社 | Electric actuator drive control device, drive control method, and vehicle equipped with electric actuator drive control device |
| EP2262102A1 (en) * | 2008-04-02 | 2010-12-15 | Nissan Motor Company Limited | Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus |
| EP2262102A4 (en) * | 2008-04-02 | 2012-03-07 | Nissan Motor | Electrically-powered actuator driving control apparatus and driving control method and vehicle having electrically-powered actuator driving control apparatus |
| JP2010063343A (en) * | 2008-08-06 | 2010-03-18 | Yaskawa Electric Corp | Motor control apparatus, torque ripple correction method thereof, and motor control system |
| US8446118B2 (en) | 2009-03-30 | 2013-05-21 | Aisin Aw Co., Ltd. | Rotary electric machine control device |
| DE112010000941T5 (en) | 2009-03-30 | 2012-09-20 | Aisin Aw Co. Ltd. | Control device for a rotating electrical machine |
| JP2010239681A (en) * | 2009-03-30 | 2010-10-21 | Aisin Aw Co Ltd | Rotary electric machine control device |
| WO2010116787A1 (en) * | 2009-03-30 | 2010-10-14 | アイシン・エィ・ダブリュ株式会社 | Electric motor control device |
| DE112010000941B4 (en) | 2009-03-30 | 2022-01-27 | Aisin Aw Co., Ltd. | Control device for a rotating electrical machine |
| CN103814517A (en) * | 2011-09-22 | 2014-05-21 | 三菱电机株式会社 | Motor control device |
| US9720334B2 (en) | 2014-06-17 | 2017-08-01 | Canon Kabushiki Kaisha | Stage apparatus, lithography apparatus, method of manufacturing an article, and determination method |
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