JP4285161B2 - Torque ripple correction method and apparatus for synchronous AC motor - Google Patents
Torque ripple correction method and apparatus for synchronous AC motor Download PDFInfo
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Description
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。
リニアモータの場合は、回転形モータのトルクは推力、トルクリップルは推力リップル、トルク指令は推力指令に相当する。
The present invention relates to a torque ripple correction method and apparatus that are very important in controlling the speed of a synchronous AC motor in which a torque (in the case of a linear motor, means thrust; the same applies hereinafter) ripples exist, It can be applied to both rotary motors and linear motors.
In the case of a linear motor, the torque of the rotary motor corresponds to thrust, torque ripple corresponds to thrust ripple, and torque command corresponds to thrust command.
従来の技術では、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いる。（特許文献１参照。）
図２は、従来の技術において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。図において１は同期形ＡＣモータ、２はエンコーダ、３は電流制御手段、４はＰＷＭ電力変換装置、５は電流検出手段、６はモータ電気角計算手段、７は第１の周波数・振幅・位相入力手段、８は第１の正弦波計算手段、１２は第１加算手段である。
次に動作を説明する。図２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倍数の倍数）ｆ、振幅A、位相φ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。周波数ｆ、振幅A、位相φの値は、例えば一定速度にて１電気角範囲以上の距離を移動したときのトルクデータを読み込み、周波数fの値毎にフーリエ変換の計算を実行し振幅A、位相φの値を求めることができる。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は自然数)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。
In the conventional technology, focusing on the fact that torque ripple is an integral multiple of the motor electrical angular frequency, any frequency (integer multiple of motor electrical angular frequency), any amplitude, any A phase sine wave is created and added to the torque command as a torque ripple correction amount. (See Patent Document 1.)
FIG. 2 is a block diagram used when correcting torque ripple in the prior art. In the figure, 1 is a synchronous AC motor, 2 is an encoder, 3 is a current control means, 4 is a PWM power converter, 5 is a current detection means, 6 is a motor electrical angle calculation means, and 7 is a first frequency / amplitude / phase. Input means, 8 is first sine wave calculation means, and 12 is first addition means.
Next, the operation will be described. In FIG. 2, the current control means 3 and the PWM power converter 4 drive the motor 1 in accordance with the current command I * . The encoder 2 detects the position pos of the motor 1. The current detection means 5 detects the current I fb of the motor 1. The motor electrical angle calculation means 6 calculates the motor electrical angle θ e from the motor position pos. In the frequency f / amplitude A / phase φ input means 7, the frequency (multiplier of a multiple of the motor electrical angular frequency) f, the amplitude A, and the phase φ can be freely selected, and these are input to the sine wave calculation means 8. . For the values of frequency f, amplitude A, and phase φ, for example, torque data when moving a distance of one electrical angle range or more at a constant speed is read, and Fourier transform calculation is performed for each value of frequency f, and amplitude A, The value of the phase φ can be obtained. The sine wave calculation means 8 includes a sin table, and creates a sine wave as shown in the equation (1) from the motor electrical angle θ e and the input frequency f, amplitude A, and phase φ.
A × sin (f × θ e -φ) (1)
However, f is a positive integer.
Further, since m sine waves (m is a natural number) can be created, the torque ripple correction amount T cmp is as shown in Equation (2).
式(２)のＴcmpをトルクリップル補正量として、トルク指令Ｔ＊に加える。
しかしながら、トルクリップルには、モータの電気角周波数の整数倍でないものもあり、また、特にリニアモータの場合には磁石のばらつき等によりモータの移動位置に依存したトルクリップルもあり、このようなトルクリップルもモータの電気角周波数の整数倍とならない。
従来の方法では、このようなモータの電気角周波数の整数倍でないトルクリップルは補正できない問題があった。
そこで、本発明はこのような問題点に鑑みてなされたものであり、その目的とするところは、モータの電気角周波数の整数倍とならないモータの移動位置に依存したトルクリップル等をなくすトルクリップル補正方法および装置を提供することにある。
However, some torque ripples are not integer multiples of the electrical angular frequency of the motor, and especially in the case of linear motors, there are torque ripples depending on the moving position of the motor due to variations in magnets. Ripple is not an integer multiple of the electrical angular frequency of the motor.
The conventional method has a problem that torque ripple that is not an integral multiple of the electrical angular frequency of the motor cannot be corrected.
Accordingly, the present invention has been made in view of such problems, and the object of the present invention is to provide torque ripple that eliminates torque ripple and the like depending on the moving position of the motor that does not become an integral multiple of the electrical angular frequency of the motor. It is to provide a correction method and apparatus.
上記課題を解決するため、本発明は、同期型ＡＣモータのトルクリップル、推力リップルを補正する装置であって、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、この正弦波信号を第１の補正量として、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において、前記同期型ＡＣモータで移動する機械の特定の移動距離に合わせて正弦波信号を作り、この正弦波信号を第２の補正量としてトルク指令に加えることを特徴とする。
また、前記第２の正弦波信号を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。
また、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、位相を選択する第１の周波数・振幅・位相入力手段と、前記モータ電気角計算手段と前記第１の周波数・振幅・位相入力手段とから合成正弦波信号を生成する第１の正弦波計算手段と、前記第１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第１加算手段とを備えた同期型ＡＣモータのトルクリップルを補正装置において、
前記同期型ＡＣモータの移動量を計算するモータ位置計算手段と、ｍ個（ｍは自然数）の正弦波の周波数、振幅、位相を選択する第２の周波数・振幅・位相入力手段と、前記モータ位置計算手段と周波数・振幅・位相入力手段とから合成正弦波信号を生成する第２の正弦波計算手段と、前記第２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第２加算手段とを備えたことを特徴とする。
In order to solve the above-described problems, the present invention is an apparatus for correcting torque ripple and thrust ripple of a synchronous AC motor, and generates a sine wave signal in accordance with the electrical angle of the synchronous AC motor. In the torque ripple correction method for a synchronous AC motor, wherein a sine wave signal is generated in accordance with a specific movement distance of a machine moving by the synchronous AC motor. The sine wave signal is added to the torque command as a second correction amount.
In addition, m second sine wave signals (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 synthesized to obtain a correction amount. It is characterized by that.
Motor angle calculation means for calculating the electric angle of the synchronous AC motor; and first frequency / amplitude / phase input means for selecting the frequency, amplitude and phase of m sine waves (m is a natural number); A first sine wave calculating means for generating a synthesized sine wave signal from the motor electrical angle calculating means and the first frequency / amplitude / phase input means; and the output of the first sine wave calculating means is a torque ripple. In the correction device for the torque ripple of the synchronous AC motor provided with a first addition means for adding to the torque command of the synchronous AC motor as a correction amount,
Motor position calculating means for calculating the amount of movement of the synchronous AC motor; second frequency / amplitude / phase input means for selecting the frequency, amplitude, and phase of m sine waves (m is a natural number); and the motor A second sine wave calculation means for generating a synthesized sine wave signal from the position calculation means and the frequency / amplitude / phase input means; and the output of the second sine wave calculation means as a torque ripple correction amount, and the synchronous AC And a second adding means for adding to the torque command of the motor.
本発明によれば、モータの電気角周波数の整数倍とならないモータの移動位置に依存したトルクリップル等をなくすトルクリップル補正方法および装置を提供することができる。にある。これによりＡＣサーボモータの速度制御性能をさらに向上させることができる。 According to the present invention, it is possible to provide a torque ripple correction method and apparatus that eliminates torque ripple and the like depending on the moving position of the motor that does not become an integral multiple of the electrical angular frequency of the motor. It is in. Thereby, the speed control performance of the AC servo motor can be further improved.
以下、本発明の実施の形態を図に基づいて説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
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。図において１は同期形ＡＣモータ、２はエンコーダ、３は電流制御手段、４はＰＷＭ電力変換装置、５は電流検出手段、６はモータ電気角計算手段、７は第１の周波数・振幅・位相入力手段、８は第１の正弦波計算手段、９はモータ位置計算手段、１０は第２の周波数・振幅・位相入力手段、１１は第２の正弦波計算手段、１２は第１加算手段、１３は第２加算手段である。
次に動作を説明する。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、それらを第１の正弦波計算手段８に入力する。第１の正弦波計算手段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(３)のような正弦波を作る。
A×sin(f×θe -φ) ・・・(３)
ただし、fは正の整数である。
また、この第１の正弦波はｍ個(ｍは自然数)作ることができるので、トルクリップル補正量Ｔcmp1は式(４)のようになる。
FIG. 1 is a block diagram used when correcting torque ripple of the present invention. In the figure, 1 is a synchronous AC motor, 2 is an encoder, 3 is a current control means, 4 is a PWM power converter, 5 is a current detection means, 6 is a motor electrical angle calculation means, and 7 is a first frequency / amplitude / phase. Input means, 8 is first sine wave calculation means, 9 is motor position calculation means, 10 is second frequency / amplitude / phase input means, 11 is second sine wave calculation means, 12 is first addition means, Reference numeral 13 denotes second addition means.
Next, the operation will be described. The motor 1 is driven according to the current command I * by the current control means 3 and the PWM power converter 4. The encoder 2 detects the position pos of the motor 1. The current detection means 5 detects the current I fb of the motor 1. The motor electrical angle calculation means 6 calculates the motor electrical angle θ e from the motor position pos. In the frequency f / amplitude A / phase φ input means 7, the frequency (integer multiple of motor electrical angular frequency), amplitude, and phase can be freely selected, and these are input to the first sine wave calculation means 8. The first sine wave calculation means 8 includes a sin table, and creates a sine wave as shown in the equation (3) from the motor electrical angle θ e and the input frequency f, amplitude A, and phase φ.
A × sin (f × θ e -φ) (3)
However, f is a positive integer.
In addition, since the number of the first sine waves can be made (m is a natural number), the torque ripple correction amount T cmp1 is expressed by Equation (4).
式(４)のＴcmp1を第１のトルクリップル補正量として、トルク指令Ｔ＊に加える。以上までは、従来の方法と共通である。
本発明では、さらに、以下の第２のトルクリップル補正量を作成するブロックを追加した部分である９，１０，１１，１３が従来の技術と相違する部分である。第２のトルクリップル補正処理では、モータの特定の移動範囲に対してトルクリップル補正処理を実施する。
このため、モータ位置計算手段９は、モータ位置posから前述の特定の移動範囲Ｌ内でのモータ位置Ｌeを計算する。周波数f・振幅A・位相φ入力手段１０では、周波数(モータの特定の距離の移動を１周期とする周波数の整数倍の倍数)・振幅・位相を自由に選ぶことができ、それらを第２の正弦波計算手段１１に入力する。周波数ｆ、振幅A、位相φの値は、例えば一定速度にて上記特定の距離以上の範囲を移動したときのトルクデータを読み込み、周波数fの値毎にフーリエ変換の計算を実行し振幅A、位相φの値を求めることができる。第２の正弦波計算手段８は、sinテーブルを備えており、モータ位置Ｌeと入力された周波数f・振幅A・位相φより式(５)のような正弦波を作る。
A×sin(f×（Ｌe／Ｌ）×２π −φ) ・・・(５)
ただし、fは正の整数である。
また、この第２の正弦波はｋ個(ｋは自然数)作ることができるので、トルクリップル補正量Ｔcmp２は式(６)のようになる。
T cmp1 in equation (4) is added to the torque command T * as the first torque ripple correction amount. The above is the same as the conventional method.
In the present invention, 9, 10, 11 and 13, which are parts to which a block for creating the following second torque ripple correction amount is added, are different from the conventional technique. In the second torque ripple correction process, the torque ripple correction process is performed on a specific movement range of the motor.
Therefore, the motor position calculation means 9 calculates the motor position L e within a specific range of movement L of the above from the motor position pos. In the frequency f / amplitude A / phase φ input means 10, the frequency (multiple of an integer multiple of the frequency with the movement of a specific distance of the motor as one cycle), the amplitude, and the phase can be freely selected. To the sine wave calculation means 11. For the values of frequency f, amplitude A, and phase φ, for example, torque data when moving in a range equal to or greater than the specific distance at a constant speed is read, and Fourier transform is calculated for each value of frequency f, and amplitude A, The value of the phase φ can be obtained. The second sine wave calculation means 8 includes a sin table, and creates a sine wave as shown in the equation (5) from the motor position Le and the input frequency f, amplitude A, and phase φ.
A × sin (f × (L e / L) × 2π -Φ) (5)
However, f is a positive integer.
Further, since k second sine waves (k is a natural number) can be generated, the torque ripple correction amount T cmp2 is expressed by the following equation (6).
式(６)のＴcmp2を第２のトルクリップル補正量として、トルク指令Ｔ＊に加える。たとえば、リニアモータの場合は固定子の長さに対応する絶対的な位置に応じて推力リップル補正量Ｔcmp２を加えたり、回転形モータの場合はモータ１回転分の位置に応じてトルクリップル補正量Ｔcmp２を加えたりする場合が考えられる。 T cmp2 in equation (6) is added to the torque command T * as the second torque ripple correction amount. For example, in the case of a linear motor, the thrust ripple correction amount T cmp2 is added according to the absolute position corresponding to the length of the stator, and in the case of a rotary motor, the torque ripple is corrected according to the position of one rotation of the motor. It is conceivable that the amount T cmp2 is added.
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。 The present invention relates to a torque ripple correction method and apparatus that are very important in controlling the speed of a synchronous AC motor in which a torque (in the case of a linear motor, means thrust; the same applies hereinafter) ripples exist, It can be applied to both rotary motors and linear motors.
＊ 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
Ｔcmp１ 第１のトルクリップル補正量
Ｔcmp２ 第２の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 第１の周波数・振幅・位相入力手段
８ 第１の正弦波計算手段
９ モータ位置計算手段
１０ 第２の周波数・振幅・位相入力手段
１１ 第２の正弦波計算手段
１２ 第１加算手段
１３ 第２加算手段
* A subscript representing a directive
Subscript representing fb detection
pos Positional information of synchronous AC motor by encoder θ e Electrical angle of synchronous AC motor T Torque T cmp1 First torque ripple correction amount T cmp2 Second torque ripple correction amount I Current V Voltage K T Torque constant f Frequency ( f is a positive integer)
A Amplitude φ Phase 1 Synchronous AC motor 2 Encoder 3 Current control unit 4 PWM power converter 5 Current detection unit 6 Motor electrical angle calculation unit 7 First frequency / amplitude / phase input unit 8 First sine wave calculation unit 9 Motor position calculation means 10 Second frequency / amplitude / phase input means 11 Second sine wave calculation means 12 First addition means 13 Second addition means
Claims (3)
前記同期型ＡＣモータの移動量を計算するモータ位置計算手段と、ｍ個（ｍは自然数）の正弦波の周波数、振幅、位相を選択する第２の周波数・振幅・位相入力手段と、前記モータ位置計算手段と周波数・振幅・位相入力手段とから合成正弦波信号を生成する第２の正弦波計算手段と、前記第２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第２加算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。 Motor electrical angle calculation means for calculating the electrical angle of the synchronous AC motor; first frequency / amplitude / phase input means for selecting the frequency, amplitude, and phase of m sine waves (m is a natural number); First sine wave calculation means for generating a combined sine wave signal from motor electrical angle calculation means and the first frequency / amplitude / phase input means, and the output of the first sine wave calculation means is a torque ripple correction amount. In the correction device for the torque ripple of the synchronous AC motor, the first adding means for adding to the torque command of the synchronous AC motor,
Motor position calculating means for calculating the amount of movement of the synchronous AC motor; second frequency / amplitude / phase input means for selecting the frequency, amplitude, and phase of m sine waves (m is a natural number); and the motor A second sine wave calculation means for generating a synthesized sine wave signal from the position calculation means and the frequency / amplitude / phase input means; and the output of the second sine wave calculation means as a torque ripple correction amount, and the synchronous AC A torque ripple correction device for a synchronous AC motor, comprising: a second addition means for adding to a motor torque command.
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| JP2002223582A (en) * | 2001-01-26 | 2002-08-09 | Hitachi Ltd | Apparatus and method for controlling permanent magnet type synchronous motor |
| JP2003088159A (en) * | 2001-09-05 | 2003-03-20 | Yaskawa Electric Corp | Torque ripple correction method and apparatus thereof |
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2003
- 2003-09-03 JP JP2003311439A patent/JP4285161B2/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| JP2005080482A (en) | 2005-03-24 |
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