JP7057723B2 - 位置制御装置 - Google Patents
位置制御装置 Download PDFInfo
- Publication number
- JP7057723B2 JP7057723B2 JP2018119061A JP2018119061A JP7057723B2 JP 7057723 B2 JP7057723 B2 JP 7057723B2 JP 2018119061 A JP2018119061 A JP 2018119061A JP 2018119061 A JP2018119061 A JP 2018119061A JP 7057723 B2 JP7057723 B2 JP 7057723B2
- Authority
- JP
- Japan
- Prior art keywords
- axis
- axis current
- command value
- current
- voltage
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/08—Indirect field-oriented control; Rotor flux feed-forward control
- H02P21/09—Field phase angle calculation based on rotor voltage equation by adding slip frequency and speed proportional frequency
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37298—Two measurements, position of slide and position of tool
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Description
Claims (1)
- 電力変換機としてPWMインバータを用いる位置制御装置であって、2相(d,q軸)回転座標系により、電動機の電流を演算制御する位置制御装置であって、
q軸電流指令値からq軸電流検出値を減算してq軸電流誤差を出力する減算器と、
前記q軸電流誤差に、q軸電流の応答タイミングを補償するq軸電流補償量を加算する加算器と、
前記加算器の出力をI-P制御により増幅してq軸電圧誤差を算出するとともに、前記q軸電圧誤差に基づいてq軸電圧指令値を算出するq軸電流制御器と、
前記q軸電圧指令値に、q軸電流の時間微分値に対応するq軸電圧フィードフォワード量を加算して最終的なq軸電圧指令値を算出する第二加算器と、
を備え、さらに、
前記q軸電流補償量と前記q軸電圧フィードフォワード量とを算出するq軸応答補償量演算部を備え、
前記q軸応答補償量演算部は、
加減速トルクフィードフォワード量からq軸電流の時間微分値を算出し、
前記q軸電流の時間微分値を増幅して前記q軸電圧フィードフォワード量を算出し、
前記I-P制御の制御パラメータと、q軸電流応答遅れ時間の補間定数と、を用いて前記q軸電流の時間微分値に比例したq軸電流誤差を任意に調整できる前記q軸電流補償量を算出する、
ことを特徴とする位置制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018119061A JP7057723B2 (ja) | 2018-06-22 | 2018-06-22 | 位置制御装置 |
US16/441,542 US10784803B2 (en) | 2018-06-22 | 2019-06-14 | Position control device |
DE102019116773.6A DE102019116773A1 (de) | 2018-06-22 | 2019-06-21 | Positionssteuervorrichtung |
CN201910544285.8A CN110635739B (zh) | 2018-06-22 | 2019-06-21 | 位置控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018119061A JP7057723B2 (ja) | 2018-06-22 | 2018-06-22 | 位置制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019221112A JP2019221112A (ja) | 2019-12-26 |
JP7057723B2 true JP7057723B2 (ja) | 2022-04-20 |
Family
ID=68806073
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018119061A Active JP7057723B2 (ja) | 2018-06-22 | 2018-06-22 | 位置制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10784803B2 (ja) |
JP (1) | JP7057723B2 (ja) |
CN (1) | CN110635739B (ja) |
DE (1) | DE102019116773A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113556076B (zh) * | 2020-04-23 | 2023-08-15 | 无锡市优利康电气有限公司 | 一种变频器加减速平滑运行的控制方法 |
CN111781839B (zh) * | 2020-08-10 | 2021-07-20 | 北京航空航天大学 | 一种电动加载***的自适应鲁棒控制方法及电动加载*** |
CN112644726B (zh) * | 2021-01-12 | 2022-07-05 | 贵州理工学院 | 一种动力三角翼用倾斜摄影三轴云台装置的结构及其方法 |
JP2024524676A (ja) * | 2021-07-28 | 2024-07-05 | 天津賽象科技股▲分▼有限公司 | 適応型交流サーボモーター電流制御方法及びシステム |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009087813A1 (ja) | 2008-01-11 | 2009-07-16 | Kabushiki Kaisha Yaskawa Denki | モータ制御装置 |
JP2017118652A (ja) | 2015-12-22 | 2017-06-29 | オークマ株式会社 | モータ制御装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE69737351T2 (de) * | 1997-03-11 | 2007-10-31 | Mitsubishi Denki K.K. | Regler für induktionsmotor |
JP3520002B2 (ja) * | 1999-12-08 | 2004-04-19 | 三菱電機株式会社 | 誘導電動機のベクトル制御装置 |
FR2855677B1 (fr) * | 2003-05-30 | 2016-11-04 | Valeo Equip Electr Moteur | Circuit de commande a modulation en largeur d'impulsions pour machine electrique multi mode et machine electrique multi mode equipee d'un tel circuit de commande |
JP4552466B2 (ja) * | 2004-03-12 | 2010-09-29 | 株式会社日立製作所 | 交流モータの制御装置,2チップインバータ及びワンチップインバータ。 |
JP2006197718A (ja) * | 2005-01-13 | 2006-07-27 | Nissan Motor Co Ltd | 電動機の制御装置 |
JP4800861B2 (ja) * | 2006-06-21 | 2011-10-26 | 三菱電機株式会社 | 交流回転機の制御装置 |
US7843162B2 (en) * | 2008-03-13 | 2010-11-30 | Gm Global Technology Operations, Inc. | Current regulator and current control method and system for AC motors |
WO2011108169A1 (ja) * | 2010-03-03 | 2011-09-09 | 株式会社安川電機 | インバータ装置及びその制御方法 |
WO2012125259A1 (en) * | 2011-02-23 | 2012-09-20 | Deere & Company | Method and system for controlling an electric motor with compensation for time delay in position determination |
JP5633551B2 (ja) * | 2012-11-05 | 2014-12-03 | 株式会社安川電機 | 交流電動機の制御装置 |
JP5948266B2 (ja) * | 2013-02-28 | 2016-07-06 | 株式会社日立産機システム | インバータ装置、建設機械、電動機制御方法 |
CN104113253B (zh) * | 2014-07-01 | 2017-06-06 | 广东美芝制冷设备有限公司 | 速度波动的抑制方法、控制装置和压缩机控制*** |
JP6226833B2 (ja) * | 2014-07-30 | 2017-11-08 | 三菱電機株式会社 | 電力変換装置 |
JP6811626B2 (ja) | 2017-01-25 | 2021-01-13 | 三菱鉛筆株式会社 | ボールペン用水性インク組成物 |
CN107086834B (zh) * | 2017-05-02 | 2019-05-10 | 西北工业大学 | 方波注入的永磁同步电机转子位置时延补偿方法估算方法 |
-
2018
- 2018-06-22 JP JP2018119061A patent/JP7057723B2/ja active Active
-
2019
- 2019-06-14 US US16/441,542 patent/US10784803B2/en active Active
- 2019-06-21 CN CN201910544285.8A patent/CN110635739B/zh active Active
- 2019-06-21 DE DE102019116773.6A patent/DE102019116773A1/de active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009087813A1 (ja) | 2008-01-11 | 2009-07-16 | Kabushiki Kaisha Yaskawa Denki | モータ制御装置 |
JP2017118652A (ja) | 2015-12-22 | 2017-06-29 | オークマ株式会社 | モータ制御装置 |
Also Published As
Publication number | Publication date |
---|---|
DE102019116773A1 (de) | 2019-12-24 |
US20190393817A1 (en) | 2019-12-26 |
CN110635739B (zh) | 2024-06-25 |
US10784803B2 (en) | 2020-09-22 |
CN110635739A (zh) | 2019-12-31 |
JP2019221112A (ja) | 2019-12-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7057723B2 (ja) | 位置制御装置 | |
JP4958431B2 (ja) | 電動機制御装置 | |
JP4065903B2 (ja) | 誘導電動機のベクトル制御装置、誘導電動機のベクトル制御方法および誘導電動機の駆動制御装置 | |
JP5084973B1 (ja) | モータ制御装置 | |
WO2020217764A1 (ja) | 電力変換装置およびそれを備えた電動車両システム | |
JP4402600B2 (ja) | 同期電動機の駆動システム及び同期電動機の駆動方法 | |
JP2009124871A (ja) | 同期電動機のV/f制御装置 | |
JP6248847B2 (ja) | 永久磁石形同期電動機の制御装置 | |
JP3586078B2 (ja) | 電力変換装置 | |
JP3527207B2 (ja) | モータ制御装置 | |
JP5745105B2 (ja) | 交流回転機の制御装置 | |
Kiran | Indirect vector control of three phase induction motor using PSIM | |
JP4596906B2 (ja) | 電動機の制御装置 | |
JP2013187931A (ja) | モータ制御装置 | |
JP4945307B2 (ja) | ツイン・ドライブ制御装置及び捻り振動抑制方法 | |
JP2006158046A (ja) | 交流電動機のセンサレス制御方法および装置 | |
JP6695497B2 (ja) | モータ制御装置 | |
JP5659639B2 (ja) | モータ駆動装置 | |
JP2012175776A (ja) | モータ制御装置及びモータ駆動システム | |
JP6497584B2 (ja) | 永久磁石形同期電動機の制御装置 | |
JP2023055279A (ja) | 位置制御装置 | |
JP7012931B2 (ja) | インバータ制御装置および電動機駆動システム | |
JP2023007752A (ja) | 電動機駆動制御装置および該方法ならびに電動機駆動制御システム | |
JP2010259133A (ja) | モータ制御装置および圧縮機 | |
JP2010142047A (ja) | 電動機の磁極位置推定装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20201130 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20210830 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20211019 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20211117 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220405 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220408 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7057723 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |