JPH09215397A - Ac motor controller - Google Patents
Ac motor controllerInfo
- Publication number
- JPH09215397A JPH09215397A JP8017360A JP1736096A JPH09215397A JP H09215397 A JPH09215397 A JP H09215397A JP 8017360 A JP8017360 A JP 8017360A JP 1736096 A JP1736096 A JP 1736096A JP H09215397 A JPH09215397 A JP H09215397A
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- JP
- Japan
- Prior art keywords
- coordinate conversion
- current
- motor
- value
- detection value
- 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.)
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- Control Of Ac Motors In General (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は交流モータの制御装
置に関し、インバータにより交流モータを駆動する際
に、精度の良いトルク制御及び電流制御ができるよう工
夫したものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an AC motor control device, and is devised so as to enable accurate torque control and current control when an AC motor is driven by an inverter.
【０００２】[0002]
【従来の技術】インバータで駆動される永久磁石同期電
動機（以下「ＰＭモータ」と略す）は、主に小容量ＡＣ
サーボモータとして広く用いられている。ＰＭモータ
は、永久磁石により界磁磁束が作られるため、高精度の
トルク制御及び電流制御を行うためには、正確な磁極位
置の情報が必要不可欠となる。2. Description of the Related Art Permanent magnet synchronous motors (hereinafter abbreviated as "PM motors") driven by inverters are mainly small capacity AC.
Widely used as a servo motor. Since a magnetic field flux is created by a permanent magnet in a PM motor, accurate magnetic pole position information is indispensable for highly accurate torque control and current control.
【０００３】ここでＰＭモータをインバータ駆動する従
来の制御装置を、図２を参照して説明する。同図に示す
ように、インバータ１からＰＭモータ２に等価三相電流
（または等価三相電圧）を供給することによりＰＭモー
タ２が回転する。速度検出器（パルスジェネレータ）３
は、ＰＭモータ２の回転子と共に回転してパルス信号Ｐ
を出力する。位置検出部４は、パルス信号Ｐを基に、Ｐ
Ｍモータ２の回転子位置（位相）即ち磁極位置を示す位
相検出値θを求め、速度検出部５は、パルス信号Ｐを基
に、ＰＭモータ２の回転子速度を示す速度検出値ωｒを
求める。角速度検出部６は、ＰＭモータ２の極数ｐと速
度検出値ωｒとから角速度検出値ωを求める。A conventional control device for driving a PM motor by an inverter will be described with reference to FIG. As shown in the figure, the PM motor 2 is rotated by supplying an equivalent three-phase current (or an equivalent three-phase voltage) from the inverter 1 to the PM motor 2. Speed detector (pulse generator) 3
Rotates with the rotor of the PM motor 2 to generate a pulse signal P
Is output. The position detection unit 4 uses the pulse signal P to generate P
The phase detection value θ indicating the rotor position (phase) of the M motor 2, that is, the magnetic pole position is obtained, and the speed detection unit 5 obtains the speed detection value ωr indicating the rotor speed of the PM motor 2 based on the pulse signal P. . The angular velocity detection unit 6 obtains the angular velocity detection value ω from the pole number p of the PM motor 2 and the velocity detection value ωr.
【０００４】電流検出部７，８はｕ相及びｗ相の電流検
出値Ｉu ，Ｉw を求める。第１の座標変換部９は、電流
検出値Ｉu ，Ｉw からｖ相の電流検出値Ｉv を求め、更
に三相の電流検出値Ｉu ，Ｉv ，Ｉw を三相／二相変換
し、位相検出値θを用いて回転座標系のトルク電流検出
値Ｉq 及び磁化電流検出値Ｉd を求める。The current detectors 7 and 8 determine the u-phase and w-phase current detection values I u and I w . The first coordinate conversion unit 9 obtains a v-phase current detection value I v from the current detection values I u , I w , and further calculates three-phase current detection values I u , I v , I w in three-phase / two-phase. After conversion, the detected torque current I q and the detected magnetizing current I d in the rotating coordinate system are obtained using the phase detection value θ.
【０００５】トルク制御部１０は、トルク指令Ｔ* が入
力されると速度検出値ωｒを用いて、回転座標系の磁化
電流指令Ｉd * 及びトルク電流指令Ｉq * を求める。When the torque command T * is input, the torque control unit 10 uses the detected speed value ωr to obtain the magnetizing current command I d * and the torque current command I q * in the rotating coordinate system.
【０００６】電流制御部１１は、回転座標系のトルク電
流指令Ｉq * 及び磁化電流指令Ｉd *と、トルク電流検出
値Ｉq 及び磁化電流検出値Ｉd との偏差を比例・積分演
算し且つ角速度検出値ωを用いることにより、回転座標
系のトルク電圧指令Ｖq * 及び磁化電圧指令Ｖd * を求め
る。The current controller 11 performs proportional / integral calculation of the deviation between the torque current command I q * and the magnetizing current command I d * in the rotating coordinate system and the detected torque current value I q and the magnetizing current value I d. Further, by using the detected angular velocity value ω, the torque voltage command V q * and the magnetizing voltage command V d * of the rotating coordinate system are obtained.
【０００７】第２の座標変換部１２は、位相検出値θを
用いて回転座標系のトルク電圧指令Ｖq * 及び磁化電圧
指令Ｖd * を座標変換して、静止座標系の三相の電圧指
令Ｖu * ，Ｖv * ，Ｖw * を求める。The second coordinate converter 12 converts the phase detection value θ into
Use the torque voltage command V of the rotating coordinate systemq *And magnetizing voltage
Command Vd *Coordinate transformation, and the three-phase voltage finger in the stationary coordinate system.
Order Vu * , Vv *, Vw *Ask for.
【０００８】インバータ１は、電圧指令Ｖu * ，Ｖv * ，
Ｖw * を基に制御され、等価三相電力をＰＭモータ２に
供給する。なお図２において点線で囲んだ部分は、ソフ
トウェアで処理している。The inverter 1 has voltage commands V u * , V v * ,
It is controlled based on V w * and supplies equivalent three-phase power to the PM motor 2. Note that the portion surrounded by the dotted line in FIG. 2 is processed by software.
【０００９】[0009]
【発明が解決しようとする課題】図２を基に説明したよ
うに、上述したタイプのモータ制御装置では、１制御周
期中に２回の座標変換を行うことになる。この場合、第
１の座標変換部９による座標変換は、位置検出（位相検
出値θの検出）とほぼ同時に行うため、位置の誤差はほ
とんどない。As described with reference to FIG. 2, in the motor control device of the type described above, the coordinate conversion is performed twice during one control cycle. In this case, since the coordinate conversion by the first coordinate conversion unit 9 is performed almost simultaneously with the position detection (detection of the phase detection value θ), there is almost no position error.
【００１０】ところが第２の座標変換部１２による座標
変換は、第１の座標変換部９による座標変換に対して、
演算遅れ（数＋μｓ）が存在する。このため、第２の座
標変換部１２による座標変換で用いた磁極位置（位相）
は、実際の磁極位置（位相）に対して誤差を有すること
になる。特にＰＭモータ３の回転数が高くなるほど誤差
が無視できなくなり、インバータ１へ出力する電圧指令
Ｖu * ，Ｖv * ，Ｖw *に影響を及ぼし、所望の位相での電
圧が得られなくなる。つまり、電流制御精度が低下する
ことになる。However, the coordinate conversion by the second coordinate conversion unit 12 is different from that by the first coordinate conversion unit 9.
There is a calculation delay (number + μs). Therefore, the magnetic pole position (phase) used in the coordinate conversion by the second coordinate conversion unit 12
Will have an error with respect to the actual magnetic pole position (phase). In particular, as the number of revolutions of the PM motor 3 becomes higher, the error cannot be ignored and affects the voltage commands V u * , V v * , V w * output to the inverter 1, and the voltage at the desired phase cannot be obtained. That is, the current control accuracy is reduced.
【００１１】本発明は、上記従来技術に鑑み、精度の良
いトルク制御及び電流制御のできる交流モータの制御装
置を提供することを目的とする。In view of the above-mentioned prior art, it is an object of the present invention to provide a control device for an AC motor which is capable of accurate torque control and current control.
【００１２】[0012]
【課題を解決するための手段】上記課題を解決する本発
明は、電圧指令に応じた交流電力を交流モータに送るイ
ンバータと、前記インバータから前記交流モータに送る
電流を検出して電流検出値を出力する電流検出部と、前
記交流モータの磁極位置を検出してこの磁極位置を示す
位相検出値を出力する位置検出部と、前記交流モータの
角速度を求めて角速度検出値を出力する角速度検出部
と、前記位相検出値を用いて静止座標系の前記電流検出
値を座標変換して回転座標系のトルク電流検出値及び磁
化電流検出値を出力する第１の座標変換部と、トルク電
流指令及び磁化電流指令と前記トルク電流検出値及び磁
化電流検出値との偏差を基に回転座標系のトルク電圧指
令及び磁化電圧指令を求めて出力する電流制御部と、磁
極位置を示す座標位置データを用いて、前記トルク電圧
指令及び磁化電圧指令を座標変換して静止座標系の前記
電圧指令を出力する第２の座標変換部と、を有する交流
モータの制御装置において、前記第１の座標変換部によ
る座標変換を行う時点と前記第２の座標変換部により座
標変換を行う時点との時間差である演算遅れ時間を前記
角速度検出値に乗算した値を、前記位相検出値に加えた
値を、補正位相検出値として求め、この補正位相検出値
を前記座標位置データとして前記第２の座標変換部に送
る位置補正部を備えたことを特徴とする。According to the present invention for solving the above-mentioned problems, an inverter for sending an AC power according to a voltage command to an AC motor and a current sent from the inverter to the AC motor are detected to obtain a current detection value. An output current detection unit, a position detection unit that detects the magnetic pole position of the AC motor and outputs a phase detection value indicating the magnetic pole position, and an angular velocity detection unit that calculates the angular velocity of the AC motor and outputs the angular velocity detection value. A first coordinate conversion unit for converting the current detection value in the stationary coordinate system using the phase detection value and outputting the detected torque current value and magnetized current detection value in the rotating coordinate system; A current control unit that obtains and outputs a torque voltage command and a magnetizing voltage command of a rotating coordinate system based on the deviations of the magnetizing current command and the detected torque current value and the detected magnetizing current value, and a coordinate position indicating a magnetic pole position. A second coordinate conversion unit, which uses data to coordinate-convert the torque voltage command and the magnetizing voltage command to output the voltage command in a static coordinate system, in a control device for an AC motor, wherein the first coordinate A value obtained by multiplying the angular velocity detection value by a value obtained by multiplying the angular velocity detection value by a calculation delay time, which is a time difference between the time point when the coordinate conversion is performed by the conversion unit and the time point when the coordinate conversion is performed by the second coordinate conversion unit, is obtained. A position correction unit is provided, which is obtained as a correction phase detection value and sends the correction phase detection value as the coordinate position data to the second coordinate conversion unit.
【００１３】[0013]
【発明の実施の形態】以下に、本発明の実施の形態を図
面に基づき詳細に説明する。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.
【００１４】図２に示すように、本発明の実施の形態で
は、位置補正部２０が新たに付加されたことと、第２の
座標変換部１２ａは補正位相検出値θc （これの詳細は
後述する）を用いて座標変換をすること、が従来と異な
り、他の部分は図２に示す従来技術と同様である。As shown in FIG. 2, in the embodiment of the present invention, the position correction unit 20 is newly added, and the second coordinate conversion unit 12a causes the corrected phase detection value θ c (details of this will be described below). The coordinate conversion using (described later) is different from the conventional technique, and other portions are the same as those of the conventional technique shown in FIG.
【００１５】即ち図１に示すように、インバータ１から
ＰＭモータ２に等価三相電流（または等価三相電圧）を
供給することによりＰＭモータ２が回転する。速度検出
器（パルスジェネレータ）３は、ＰＭモータ２の回転子
と共に回転してパルス信号Ｐを出力する。位置検出部４
は、パルス信号Ｐを基に、ＰＭモータ２の回転子位置
（位相）即ち磁極位置を示す位相検出値θを求め、速度
検出部５は、パルス信号Ｐを基に、ＰＭモータ２の回転
子速度を示す速度検出値ωｒを求める。角速度検出部６
は、ＰＭモータ２の極数ｐと速度検出値ωｒとから角速
度検出値ωを求める。That is, as shown in FIG. 1, the PM motor 2 is rotated by supplying an equivalent three-phase current (or equivalent three-phase voltage) from the inverter 1 to the PM motor 2. The speed detector (pulse generator) 3 rotates together with the rotor of the PM motor 2 and outputs the pulse signal P. Position detector 4
Is a phase detection value θ indicating the rotor position (phase) of the PM motor 2, that is, the magnetic pole position, based on the pulse signal P, and the speed detection unit 5 determines the rotor of the PM motor 2 based on the pulse signal P. A speed detection value ωr indicating the speed is obtained. Angular velocity detector 6
Calculates the angular velocity detection value ω from the number of poles p of the PM motor 2 and the velocity detection value ωr.
【００１６】電流検出部７，８はｕ相及びｗ相の電流検
出値Ｉu ，Ｉw を求める。第１の座標変換部９は、電流
検出値Ｉu ，Ｉw からｖ相の電流検出値Ｉv を求め、更
に三相の電流検出値Ｉu ，Ｉv ，Ｉw を三相／二相変換
し、位相検出値θを用いて回転座標系のトルク電流検出
値Ｉq 及び磁化電流検出値Ｉd を求める。The current detectors 7 and 8 determine the u-phase and w-phase current detection values I u and I w . The first coordinate conversion unit 9 obtains a v-phase current detection value I v from the current detection values I u , I w , and further calculates three-phase current detection values I u , I v , I w in three-phase / two-phase. After conversion, the detected torque current I q and the detected magnetizing current I d in the rotating coordinate system are obtained using the phase detection value θ.
【００１７】トルク制御部１０は、トルク指令Ｔ* が入
力されると速度検出値ωｒを用いて、回転座標系の磁化
電流指令Ｉd * 及びトルク電流指令Ｉq * を求める。When the torque command T * is input, the torque control unit 10 uses the detected speed value ωr to obtain the magnetizing current command I d * and the torque current command I q * in the rotating coordinate system.
【００１８】電流制御部１１は、回転座標系のトルク電
流指令Ｉq * 及び磁化電流指令Ｉd *と、トルク電流検出
値Ｉq 及び磁化電流検出値Ｉd との偏差を比例・積分演
算し且つ角速度検出値ωを用いることにより、回転座標
系のトルク電圧指令Ｖq * 及び磁化電圧指令Ｖd * を求め
る。The current controller 11 performs proportional / integral calculation of the deviation between the torque current command I q * and the magnetizing current command I d * of the rotating coordinate system and the detected torque current value I q and the magnetizing current value I d. Further, by using the detected angular velocity value ω, the torque voltage command V q * and the magnetizing voltage command V d * of the rotating coordinate system are obtained.
【００１９】第２の座標変換部１２ａは、補正位相検出
値θc を用いて回転座標系のトルク電圧指令Ｖq * 及び
磁化電圧指令Ｖd * を座標変換して、静止座標系の三相
の電圧指令Ｖu * ，Ｖv * ，Ｖw * を求める。The second coordinate conversion unit 12a performs coordinate conversion of the torque voltage command V q * and the magnetizing voltage command V d * of the rotating coordinate system using the corrected phase detection value θ c , and the three-phase of the stationary coordinate system. The voltage commands V u * , V v * , and V w * are calculated.
【００２０】インバータ１は、電圧指令Ｖu * ，Ｖv * ，
Ｖw * を基に制御され、等価三相電力をＰＭモータ２に
供給する。なお図２において点線で囲んだ部分は、ソフ
トウェアで処理している。The inverter 1 has voltage commands V u * , V v * ,
It is controlled based on V w * and supplies equivalent three-phase power to the PM motor 2. Note that the portion surrounded by the dotted line in FIG. 2 is processed by software.
【００２１】ここで位置補正部２０の演算手法を説明す
る。この位置補正部２０は次式（１）の演算をして補正
位相検出値θc を演算して出力する。 θc ＝θ＋ω・Δｔ …（１）Here, the calculation method of the position correction unit 20 will be described. The position correction unit 20 calculates the corrected phase detection value θ c by the calculation of the following equation (1) and outputs it. θ c = θ + ω · Δt (1)
【００２２】上式（１）において、θは位置検出部４で
求めた位相検出値、ωは角速度検出部６により求めた角
速度検出値である。更にΔｔは、第１の座標変換部９に
より座標変換を行う時点と、第２の座標変換部１２ａに
より座標変換を行う時点との間の時間、つまり、演算遅
れ時間である。この演算遅れ時間Δｔは、演算処理装置
（図１において点線で囲んだ演算部の演算を行う装置）
の性能及びソフトウェアによりあらかじめ計算されて、
設定されている。In the above equation (1), θ is the phase detection value obtained by the position detection unit 4, and ω is the angular velocity detection value obtained by the angular velocity detection unit 6. Further, Δt is the time between the time when the coordinate conversion is performed by the first coordinate conversion unit 9 and the time when the coordinate conversion is performed by the second coordinate conversion unit 12a, that is, the calculation delay time. The calculation delay time Δt is calculated by a calculation processing device (device for calculating the calculation part surrounded by a dotted line in FIG. 1).
Pre-calculated by the performance and software of
It is set.
【００２３】上式（１）の演算により求めた補正位相検
出値θc は、位相検出値θに対して演算遅れの分（つま
りω・Δｔ）だけ補正したものとなっている。つまり、
補正位相検出値θc は、第２の座標変換部１２ａにより
座標変換を行う時点での、ＰＭモータ２の磁極位置（位
相）を示すものとなっている。The corrected phase detection value θ c obtained by the calculation of the above equation (1) is corrected by the calculation delay (that is, ω · Δt) with respect to the phase detection value θ. That is,
The corrected phase detection value θ c indicates the magnetic pole position (phase) of the PM motor 2 at the time when coordinate conversion is performed by the second coordinate conversion unit 12a.
【００２４】このため、第２の座標変換部１２ａにおい
て、補正位相検出値θc を用いて、回転座標系のトルク
電圧指令Ｖq * 及び磁化電圧指令Ｖd * を、静止座標系の
電圧指令Ｖu * ，Ｖv * ，Ｖw * に座標変換する際に、誤
差が生じることなく、精度のよい電圧指令Ｖu * ，
Ｖv * ，Ｖw * が得られる。よって精度の良いトルク制御
及び電流制御を実現できる。Therefore, in the second coordinate conversion unit 12a, the corrected phase detection value θ c is used to convert the torque voltage command V q * and the magnetizing voltage command V d * in the rotating coordinate system into the voltage command in the stationary coordinate system. When the coordinate conversion into V u * , V v * , and V w * is performed, an accurate voltage command V u * with no error is generated.
V v * and V w * are obtained. Therefore, accurate torque control and current control can be realized.
【００２５】なお図１の実施の形態では、制御対象とな
るモータはＰＭモータであったが、制御対象のモータが
誘導電動機やＰＭモータ以外のタイプの同期電動機であ
っても本発明を適用することができる。つまり、交流モ
ータの磁極位置を検出しつつ制御のための座標変換を行
うタイプの制御方法に対して、本発明を適用することが
できる。In the embodiment of FIG. 1, the motor to be controlled is the PM motor, but the present invention is applied even if the motor to be controlled is an induction motor or a synchronous motor of a type other than the PM motor. be able to. That is, the present invention can be applied to a control method of a type that performs coordinate conversion for control while detecting the magnetic pole position of the AC motor.
【００２６】[0026]
【発明の効果】以上実施の形態と共に具体的に説明した
ように本発明によれば、第２の座標変換を行う際に、演
算遅れの分だけ補正した補正位相検出値を用いて、第２
の座標変換を行うようにしたので、トルク制御及び電流
制御の精度が向上する。According to the present invention as specifically described in connection with the above embodiments, when the second coordinate conversion is performed, the second phase is corrected by using the corrected phase detection value corrected by the calculation delay.
Since the coordinate conversion is performed, the accuracy of torque control and current control is improved.
【図１】本発明の実施の形態を示すブロック回路図。FIG. 1 is a block circuit diagram showing an embodiment of the present invention.
【図２】従来技術を示すブロック回路図。FIG. 2 is a block circuit diagram showing a conventional technique.
１ インバータ ２ ＰＭモータ ３ 速度検出器 ４ 位置検出部 ５ 速度検出部 ６ 角速度検出部 ７，８ 電流検出部 ９ 第１の座標変換部 １０ トルク制御部 １１ 電流制御部 １２ 第２の座標変換部 １２ａ 第２の座標変換部 ２０ 位置補正部 Ｐ パルス信号 θ 位相検出値 θc 補正位相検出値 ωｒ 速度検出値 ω 角速度検出値 Ｉu ，Ｉw 電流検出値 Ｉd 磁化電流検出値 Ｉq トルク電流検出値 Ｉd * 磁化電流指令 Ｉq * トルク電流指令 Ｔ* トルク指令 Ｖd * 磁化電圧指令 Ｖq * トルク電圧指令 Ｖu * ，Ｖv * ，Ｖw * 電圧指令 Δｔ 演算遅れ時間1 Inverter 2 PM Motor 3 Speed Detector 4 Position Detection Section 5 Speed Detection Section 6 Angular Speed Detection Section 7, 8 Current Detection Section 9 First Coordinate Conversion Section 10 Torque Control Section 11 Current Control Section 12 Second Coordinate Conversion Section 12a Second coordinate conversion unit 20 Position correction unit P Pulse signal θ Phase detection value θ c Correction phase detection value ωr Velocity detection value ω Angular velocity detection value I u , I w Current detection value I d Magnetization current detection value I q Torque current detection Value I d * Magnetizing current command I q * Torque current command T * Torque command V d * Magnetizing voltage command V q * Torque voltage command V u * , V v * , V w * Voltage command Δt Calculation delay time
Claims (1)
に送るインバータと、 前記インバータから前記交流モータに送る電流を検出し
て電流検出値を出力する電流検出部と、 前記交流モータの磁極位置を検出してこの磁極位置を示
す位相検出値を出力する位置検出部と、 前記交流モータの角速度を求めて角速度検出値を出力す
る角速度検出部と、 前記位相検出値を用いて静止座標系の前記電流検出値を
座標変換して回転座標系のトルク電流検出値及び磁化電
流検出値を出力する第１の座標変換部と、 トルク電流指令及び磁化電流指令と前記トルク電流検出
値及び磁化電流検出値との偏差を基に回転座標系のトル
ク電圧指令及び磁化電圧指令を求めて出力する電流制御
部と、 磁極位置を示す座標位置データを用いて、前記トルク電
圧指令及び磁化電圧指令を座標変換して静止座標系の前
記電圧指令を出力する第２の座標変換部と、を有する交
流モータの制御装置において、 前記第１の座標変換部による座標変換を行う時点と前記
第２の座標変換部により座標変換を行う時点との時間差
である演算遅れ時間を前記角速度検出値に乗算した値
を、前記位相検出値に加えた値を、補正位相検出値とし
て求め、この補正位相検出値を前記座標位置データとし
て前記第２の座標変換部に送る位置補正部を備えたこと
を特徴とする交流モータの制御装置。1. An inverter for sending AC power according to a voltage command to an AC motor, a current detector for detecting a current sent from the inverter to the AC motor and outputting a current detection value, and a magnetic pole position of the AC motor. A position detection unit that detects a phase detection value indicating the magnetic pole position and outputs an angular speed detection value by obtaining the angular speed of the AC motor; and a stationary coordinate system using the phase detection value. A first coordinate converter for converting the detected current value into coordinates and outputting a detected torque current value and a detected magnetizing current value in a rotating coordinate system; a torque current command and a magnetizing current command; and a detected torque current value and a magnetizing current detection Based on the deviation from the value, a current control unit that obtains and outputs a torque voltage command and a magnetizing voltage command in the rotating coordinate system, and the torque voltage command and the torque voltage command using the coordinate position data indicating the magnetic pole position. In a control device for an AC motor having a second coordinate conversion unit that performs coordinate conversion of a magnetizing voltage command and outputs the voltage command in a stationary coordinate system, a time point when the coordinate conversion is performed by the first coordinate conversion unit, and A value obtained by adding a value obtained by multiplying the angular velocity detection value by a calculation delay time, which is a time difference from the time when the coordinate conversion is performed by the second coordinate conversion unit, to the phase detection value, is obtained as a correction phase detection value, and the correction is performed. A control device for an AC motor, comprising: a position correction unit that sends a phase detection value as the coordinate position data to the second coordinate conversion unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8017360A JPH09215397A (en) | 1996-02-02 | 1996-02-02 | Ac motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8017360A JPH09215397A (en) | 1996-02-02 | 1996-02-02 | Ac motor controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09215397A true JPH09215397A (en) | 1997-08-15 |
Family
ID=11941883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8017360A Pending JPH09215397A (en) | 1996-02-02 | 1996-02-02 | Ac motor controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09215397A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008026270A1 (en) * | 2006-08-31 | 2008-03-06 | Mitsubishi Electric Corporation | Electric motor driving device, and compressor driving device |
| JP2013090567A (en) * | 2011-10-14 | 2013-05-13 | Deere & Co | Method and system for estimating rotor angle of electric machine |
| US20130278186A1 (en) * | 2012-04-22 | 2013-10-24 | Denso Corporation | Ac motor control apparatus |
-
1996
- 1996-02-02 JP JP8017360A patent/JPH09215397A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008026270A1 (en) * | 2006-08-31 | 2008-03-06 | Mitsubishi Electric Corporation | Electric motor driving device, and compressor driving device |
| JPWO2008026270A1 (en) * | 2006-08-31 | 2010-01-14 | 三菱電機株式会社 | Electric motor drive device and compressor drive device |
| AU2006347701B2 (en) * | 2006-08-31 | 2010-11-18 | Mitsubishi Electric Corporation | Electric motor driving device, and compressor driving device |
| JP4693904B2 (en) * | 2006-08-31 | 2011-06-01 | 三菱電機株式会社 | Electric motor drive device and compressor drive device |
| JP2013090567A (en) * | 2011-10-14 | 2013-05-13 | Deere & Co | Method and system for estimating rotor angle of electric machine |
| US20130278186A1 (en) * | 2012-04-22 | 2013-10-24 | Denso Corporation | Ac motor control apparatus |
| JP2013225994A (en) * | 2012-04-22 | 2013-10-31 | Denso Corp | Controller for ac motor |
| US9035580B2 (en) | 2012-04-22 | 2015-05-19 | Denso Corporation | AC motor control apparatus |
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