JP2017158245A5 - - Google Patents
Download PDFInfo
- Publication number
- JP2017158245A5 JP2017158245A5 JP2016037699A JP2016037699A JP2017158245A5 JP 2017158245 A5 JP2017158245 A5 JP 2017158245A5 JP 2016037699 A JP2016037699 A JP 2016037699A JP 2016037699 A JP2016037699 A JP 2016037699A JP 2017158245 A5 JP2017158245 A5 JP 2017158245A5
- Authority
- JP
- Japan
- Prior art keywords
- motor
- current command
- command value
- phase
- unit
- 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.)
- Granted
Links
- 238000003780 insertion Methods 0.000 description 2
- 241001442055 Vipera berus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Images
Description
電気系特性部110は1/(L・s+R)で表され、機械系特性部120は1/(J・s+D)で表わされる。電気系特性部110のLはモータインダクタンス[H]、Rはモータ抵抗[Ω]であり、機械系特性部120のJはモータ慣性モーメント[Kg・m2]、Dはモータ粘性係数[Nm/(rad/s)]である。
電流指令値Irefからモータ電流Imまでの系を、図4に示すように周波数帯域を制御し易い1次フィルタ(1/(T4・s+1))とするため、T1〜T4を時定数として、制御フィルタ(GFF)101の伝達関数は下記数1で設定され、制御フィルタ(GFB)102の伝達関数は下記数2で設定されている。
The electrical system characteristic unit 110 is represented by 1 / (L · s + R) , and the mechanical system characteristic unit 120 is represented by 1 / (J · s + D) . L of an electrical system characteristics 110 mode tie inductance [H], R is the motor resistance [Omega], the J of the mechanical system characteristics unit 120 motor inertia moment [Kg · m 2], D is the motor coefficient of viscosity [Nm / (rad / s)].
In order to set the system from the current command value Iref to the motor current Im as a primary filter (1 / (T 4 · s + 1)) whose frequency band is easy to control as shown in FIG. 4, T 1 to T 4 are time constants. The transfer function of the control filter (G FF ) 101 is set by the following
図10における切換時の段差の発生は、電流指令値が40[A]において、両系統駆動時のゲイン特性が図11の実線のようになっており、位相特性が図12の実線のようになっているのに対し、片系統駆動時のゲイン特性が図11の破線のようになっており、位相特性が図12の破線のようになって、変曲点を持っているためである。 Generation of steps of switching in Figure 10, the current command value 40 [A], the gain characteristics at the time of both systems drive has become like the solid line in FIG. 11, the phase characteristic of the actual line in FIG. 12 while has been way, the gain characteristics at the time of a single system drive has become like the broken line in FIG. 11, the phase characteristic so that the broken line in FIG. 12, has an inflection point Because.
また、モータ角速度ωmは積分部311で積分されてモータ角度θmとして出力され、モータ角度θmにノイズNrが混入して微分部315で微分される。微分部315からのモータ角速度ωnは上記数5で表わされるLPF316に入力され、フィルタ処理された角速度ωn’は逆起電圧補償定数部317で逆起電圧補償定数Ke’を乗算され、逆起電圧補償信号EMFcが加算部325及び335に入力される。
Further, the motor angular velocity ωm is output as the motor angle θm is integrated by the integration section 311, a noise Nr in motor angle θm is differentiated by the differentiating section 31 5 mixed. Motor angular .omega.n from the differentiation unit 31 5 is input to the LPF 31 6 represented by the
図14は片系統駆動及び両系統駆動と本発明の角度FBフィルタ(GANG)300の介挿に基づく特性(補償あり)とを比較しており、図14(A)はゲイン特性を示し、図14(B)は位相特性を示している。図14に示すように、角度FBフィルタ(GANG)300の介挿により、変曲点の少ない円滑な特性となっていることが分かる。 FIG. 14 compares the single-system drive and both-system drive with the characteristics (with compensation) based on the insertion of the angle FB filter (G ANG ) 300 of the present invention, and FIG. 14 (A) shows the gain characteristics. FIG. 14B shows the phase characteristics. As shown in FIG. 14, it can be seen that smooth characteristics with few inflection points are obtained by the insertion of the angle FB filter (G ANG ) 300.
図15のベクトル制御系では、d軸電流指令値id及びq軸電流指令値iqを演算して補正する電流指令値演算部220が設けられており、電流指令値演算部220には操舵トルクTh、車速Vs、モータ100に連結された回転センサ100Aからモータ角度(回転角度)θe、角速度演算部226で演算されたモータ角速度ωが入力されている。電流指令値演算部220で演算されたd軸電流指令値id及びq軸電流指令値iqは2相/3相変換部221に入力され、モータ角度θeに同期して3相の電流指令値Iuref,Ivref,Iwrefに変換される。3相の電流指令値Iuref,Ivref,Iwrefは減算部222(222u,222v,222w)に入力され、電流検出回路225Aで検出されたモータ電流Imu,Imv,Imwとの偏差ΔIu,ΔIv,ΔIwが算出される。算出された偏差ΔIu,ΔIv,ΔIwはPI制御部223に入力され、電流制御された3相の電圧制御指令値Vuref,Vvref,VwrefがPWM制御部224に入力され、PWM制御部224で演算された各相dutyに基づいてインバータ225を介してモータ100が駆動される。
The vector control system of FIG. 15, and the current command value calculating section 220 is provided to correct by calculating the d-axis current command value i d and the q-axis current command value i q, steering the current command value calculating section 220 The torque Th, the vehicle speed Vs, the motor angle (rotation angle) θ e , and the motor angular velocity ω calculated by the angular velocity calculation unit 226 are input from the rotation sensor 100A connected to the
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016037699A JP6677016B2 (en) | 2016-02-29 | 2016-02-29 | Motor control device and electric power steering device equipped with the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016037699A JP6677016B2 (en) | 2016-02-29 | 2016-02-29 | Motor control device and electric power steering device equipped with the same |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2017158245A JP2017158245A (en) | 2017-09-07 |
JP2017158245A5 true JP2017158245A5 (en) | 2019-02-28 |
JP6677016B2 JP6677016B2 (en) | 2020-04-08 |
Family
ID=59810662
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016037699A Active JP6677016B2 (en) | 2016-02-29 | 2016-02-29 | Motor control device and electric power steering device equipped with the same |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP6677016B2 (en) |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH072037B2 (en) * | 1989-07-03 | 1995-01-11 | 日本オーチス・エレベータ株式会社 | Inverter control device for elevator drive |
JP4322254B2 (en) * | 2003-05-30 | 2009-08-26 | 日本精工株式会社 | Control device for electric power steering device |
US8080957B2 (en) * | 2006-04-11 | 2011-12-20 | Nsk, Ltd. | Motor control device and motor-driven power steering system using the same |
JP5017974B2 (en) * | 2006-09-12 | 2012-09-05 | 日本精工株式会社 | Control device for electric power steering device |
JP5691789B2 (en) * | 2011-04-21 | 2015-04-01 | トヨタ自動車株式会社 | Electric power steering device |
JP5954366B2 (en) * | 2014-07-14 | 2016-07-20 | 日本精工株式会社 | Motor control device and electric power steering device and vehicle equipped with the same |
-
2016
- 2016-02-29 JP JP2016037699A patent/JP6677016B2/en active Active
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6338030B1 (en) | Electric power steering device | |
JP5435252B2 (en) | Vehicle steering system | |
EP2779414B1 (en) | Motor control system having bandwidth compensation | |
KR101354294B1 (en) | Power conversion device | |
JP4988329B2 (en) | Beatless control device for permanent magnet motor | |
JP4574412B2 (en) | Hybrid vehicle motor constant detection device and hybrid vehicle motor control device | |
JP6497106B2 (en) | Multi-winding rotating machine control device | |
JP5939316B2 (en) | Induction motor control device and induction motor control method | |
JP2018148695A (en) | Rotary electric machine controller and electric power steering device using the same | |
JP7270391B2 (en) | Power converter control device and motor drive system | |
EP2940858B1 (en) | Motor control device and motor control method | |
JP2009261103A (en) | Motor controller | |
JP5397664B2 (en) | Motor control device | |
CN109451782B (en) | Electric power steering apparatus | |
JP2011066947A (en) | Motor control unit | |
JP6241331B2 (en) | Electric motor control device | |
JP6060778B2 (en) | Rotating machine control device | |
JP2017158245A5 (en) | ||
WO2021054033A1 (en) | Motor control device and motor control method | |
JP2005304175A (en) | Speed controller of motor | |
JP7294105B2 (en) | electric motor controller | |
JP6597372B2 (en) | Motor control device and electric power steering device equipped with the same | |
JP2017127066A (en) | Motor controller and electrically-driven power steering device | |
JP2007244200A (en) | Speed control device of rotating electrical machine | |
JP2004229417A (en) | Controlling equipment of electric vehicle |