JPS61112585A - Torque controller of permanent magnet motor - Google Patents
Torque controller of permanent magnet motorInfo
- Publication number
- JPS61112585A JPS61112585A JP59230407A JP23040784A JPS61112585A JP S61112585 A JPS61112585 A JP S61112585A JP 59230407 A JP59230407 A JP 59230407A JP 23040784 A JP23040784 A JP 23040784A JP S61112585 A JPS61112585 A JP S61112585A
- Authority
- JP
- Japan
- Prior art keywords
- torque
- motor
- temperature
- speed
- signal
- 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
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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/16—Controlling the angular speed of one shaft
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は永久磁石電動機のトルク制御装置に関する。[Detailed description of the invention] [Industrial application field] The present invention relates to a torque control device for a permanent magnet motor.
第５図は従来のトルク制御装置を示す回路図であり、図
において、１は速度指令部、２は速度指令部１の指令出
力と電動機３に設けた回転速度検出器４の速度検出出力
とを比較する比較器、５は比較器２の出力を増幅する速
度制御増幅器、６はトルク指令部、７はトルク指令部６
からの指令により速度制御増幅器５の出力を制限するク
ランプ回路、８はクランプ回路７のトルク指令信号たる
電流指令信号と、電動機３への流入電流を検出する電流
検出器９からの電流検出信号とを比較する比較器、１０
はトルク制御用の電流増幅器、１１は電力増幅器である
。FIG. 5 is a circuit diagram showing a conventional torque control device. In the figure, 1 is a speed command section, 2 is a command output of the speed command section 1, and a speed detection output of a rotation speed detector 4 provided in an electric motor 3. 5 is a speed control amplifier that amplifies the output of comparator 2, 6 is a torque command section, and 7 is a torque command section 6.
A clamp circuit 8 limits the output of the speed control amplifier 5 according to a command from the clamp circuit 7, a current command signal which is a torque command signal of the clamp circuit 7, and a current detection signal from a current detector 9 which detects the current flowing into the motor 3. A comparator that compares 10
1 is a current amplifier for torque control, and 11 is a power amplifier.
次に動作について説明する。速度指令部１からの速度指
令信号Ｖｒｅｆと速度検出器４からの検出速度信号Ｖｆ
ｂを比較器２で比較し、この比較器２の出力を速度制御
増幅器５で増幅する。こうして増幅した速度信号をトル
ク指令部６からのトルク指令信号によってクランプ回路
７においてクランプし、このクランプして得た電流指令
信号Ｉｒｅｆと電流検出器９からの電流検出信号Ｉｆｂ
を比較器８にて比較し、この比較出力を各増幅器１０．
１１にて増幅した後、電動機３Ｋ）ルク発生電流として
供給し、この電動機のトルクを速度とともに制御してい
る。Next, the operation will be explained. Speed command signal Vref from speed command section 1 and detected speed signal Vf from speed detector 4
b is compared by a comparator 2, and the output of this comparator 2 is amplified by a speed control amplifier 5. The speed signal thus amplified is clamped in a clamp circuit 7 using a torque command signal from a torque command section 6, and a current command signal Iref obtained by this clamping and a current detection signal Ifb from a current detector 9 are generated.
are compared by a comparator 8, and the comparison output is sent to each amplifier 10.
After being amplified in step 11, the current is supplied to the electric motor 3K) as a torque generating current, and the torque of this electric motor is controlled together with the speed.
従来の永久磁石電動機のトルク制御装置は以上のように
構成され、そのトルク制御が電動機３に流入する電流の
大きさに応じてこの電流を制御するように行われている
。ところが、こうして発生する電動機３０トルクＴは電
動機磁石の発生磁束Φと電流工との積に比例するが、永
久磁石は温度によって発生磁束が変化するため、温度変
化によって電動機の発生トルクの制御精度が悪くなると
いう問題点があった。The conventional torque control device for a permanent magnet motor is configured as described above, and its torque control is performed so that the current is controlled according to the magnitude of the current flowing into the motor 3. However, the electric motor torque T generated in this way is proportional to the product of the magnetic flux Φ generated by the motor magnet and the electric current, but since the magnetic flux generated by permanent magnets changes depending on the temperature, the control accuracy of the generated torque of the electric motor changes depending on the temperature change. The problem was that it got worse.
この発明は上記のような従来の問題点を解消するために
なされたもので、電動機の温度を検出し、この温度に応
じたトルク補正制御信号により永久磁石電動機の発生ト
ルクを高精度に制御できる永久磁石電動機のトルク制御
装置を提供することを目的とする。This invention was made in order to solve the above-mentioned conventional problems, and it is possible to detect the temperature of the electric motor and control the generated torque of the permanent magnet electric motor with high precision by using a torque correction control signal according to this temperature. An object of the present invention is to provide a torque control device for a permanent magnet electric motor.
この発明にかかる永久磁石電機のトルク制御装置は、電
動機のトルク指令部、速度指令部、速度検出器および流
入電流の電流検出器を設けてこれらの出力信号を比較演
算した出力に応じて上記電動機のトルクを制御するよう
にしたものにおいて、上記電動機の温度検出器とこの温
度検出器出力に応じて上記電動機への流入電流値を補正
するトルク補正信号発生器を設けた構成としたものであ
る。A torque control device for a permanent magnet electric machine according to the present invention is provided with a torque command section, a speed command section, a speed detector, and a current detector for inflow current of an electric motor, and controls the electric motor according to an output obtained by comparing and calculating output signals of these. The motor is configured to control the torque of the electric motor, and includes a temperature detector of the electric motor and a torque correction signal generator that corrects the value of current flowing into the electric motor according to the output of the temperature detector. .
この発明における温度検出器は電動機の温度つｔ、ｂ永
久磁石の温度を監視し、この監視温度に対応して予め設
定したトルク補正データをトルク補正信号発生器から得
るとともに、この補正データをトルク指令信号たる電動
機駆動電流に乗算して電動機に入力することにより、こ
の電動機の温度のいかんに拘わらず、この電動機の発生
トルクを高精度で制御する。The temperature detector in this invention monitors the temperature of the electric motor, the temperature of the permanent magnet, and obtains preset torque correction data corresponding to the monitored temperature from the torque correction signal generator. By multiplying the motor drive current as a command signal and inputting the resultant signal to the motor, the torque generated by the motor can be controlled with high precision regardless of the temperature of the motor.
以下、この発明の一実施例を図について説明する。第１
図において、１２は電動機３の永久磁石の温度を検出す
る温度検出器、１３はこの温度検出器１２で検出した温
度信号に応じたトルク補正信号を演算出力するトルク補
正信号発生器、１４はクランプ回路７から出力されるト
ルク指令信号とトルク補正信号発生器１３からのトルク
補正信号とを乗算する乗算器で、この乗算器１４の出力
信号は温度補正した電流指令信号Ｉ ｒｅｆとなる。な
お、第５図に示したものと同一の構成部分には同一符号
を付し、その重複する説明を省略する。An embodiment of the present invention will be described below with reference to the drawings. 1st
In the figure, 12 is a temperature detector that detects the temperature of the permanent magnet of the electric motor 3, 13 is a torque correction signal generator that calculates and outputs a torque correction signal according to the temperature signal detected by this temperature detector 12, and 14 is a clamp. This multiplier multiplies the torque command signal output from the circuit 7 by the torque correction signal from the torque correction signal generator 13, and the output signal of this multiplier 14 becomes a temperature-corrected current command signal I ref. Components that are the same as those shown in FIG. 5 are designated by the same reference numerals, and redundant explanation thereof will be omitted.
次に動作について説明する。速度指令部１からの速度指
令信号Ｖｒｅｆと速度検出器４かもの検出速度信号ｖ、
ｔｂを比較器２で比較し、この比較器２の出力を速度制
御増幅器５で増幅する。この増幅した速度信号をトルク
指令部６からのトルク指令信号によってクランプし、こ
のクランプにより得た電流指令信号を乗算器１４に入力
する。Next, the operation will be explained. The speed command signal Vref from the speed command unit 1 and the detected speed signal v from the speed detector 4,
tb is compared by a comparator 2, and the output of this comparator 2 is amplified by a speed control amplifier 5. This amplified speed signal is clamped by the torque command signal from the torque command section 6, and the current command signal obtained by this clamping is input to the multiplier 14.
一方、この乗算器１４にはトルク補正信号発生器１４か
らトルク補正信号ｆ（ト）が入力され、このトルク補正
信号１／ｆ（至）によりクランブ回路７の出力たる電流
指令信号つまシトルク信号を補正する。On the other hand, the torque correction signal f(g) is inputted from the torque correction signal generator 14 to this multiplier 14, and this torque correction signal 1/f(to) is used to adjust the current command signal or torque signal output from the clamp circuit 7. to correct.
上記トルク補正信号１／ｆ（ト）は温度検出器１２の検
出信号にもとづいて第２図の制御パターンにより決定さ
れる。したがって、乗算機１４の出力は温度補正したト
ルクデータを含む電流となる。これをさらに詳しく述べ
ると、電動機３の発生トルクＴはすベシその他の設定係
数を定数にとして求めると、
Ｔ＝Ｋ・工（Φ・ｆ（ト））
で表わされる。ｆ（ト）は電動機志束の温度酷数であシ
、Φは永久磁石の磁束である。つまり、トルクＴは永久
磁石の磁束Φおよび温度ｆ（支）によって変化するもの
である。しかし、上記磁束Φを制御することは難しく、
このためこの発明ではトルク発生に起因している電流工
を等測的にＩ ／ ｆ （ｘ）となるように補正する。The torque correction signal 1/f (g) is determined according to the control pattern shown in FIG. 2 based on the detection signal of the temperature detector 12. Therefore, the output of the multiplier 14 is a current containing temperature-corrected torque data. To describe this in more detail, when the torque T generated by the electric motor 3 is determined by setting the speed and other setting coefficients as constants, it is expressed as T=K・unit(Φ・f(t)). f(g) is the temperature coefficient of the electric motor flux, and Φ is the magnetic flux of the permanent magnet. In other words, the torque T changes depending on the magnetic flux Φ of the permanent magnet and the temperature f (support). However, it is difficult to control the above magnetic flux Φ,
Therefore, in the present invention, the electric current caused by torque generation is isometrically corrected to become I/f (x).
従ってトルクＴは、
Ｔ＝に−Ｉ／ｆ（ｘ）・（Φ・ｆ（ト））＝に−Ｉ・Φ
となり、温度ｆ−の項が除去され温度の変化に関係なく
高精度なトルク制御が行えることになる。Therefore, the torque T is: T = -I/f(x)・(Φ・f(t))=−I・Φ
Therefore, the term of temperature f- is removed, and highly accurate torque control can be performed regardless of temperature changes.
つまり、クランプ回路Ｔの電流指令信号たるトルク信号
Ｔ＝Ｋ・工・（Φ・ｆω）ｔ−トルク補正信号発生器１
３のトルク補正信号１／ｆに）にて乗算器１４において
補正し、これの出力側に見かけ上温度依存性のないトル
ク信号を得る。In other words, the torque signal T which is the current command signal of the clamp circuit T = K・min・(Φ・fω)t−torque correction signal generator 1
The multiplier 14 performs correction using the torque correction signal 1/f of No. 3, and obtains a torque signal apparently without temperature dependence on the output side of the multiplier 14.
また、上記のトルク補正信号発生器１４は例えは第４図
に示すように構成され、第３図に示すような抵抗一温度
特性を有する永久磁石温度検出用のサーミスタ２１に対
して、サーミスタ２１の非直線性補正用の抵抗２２、サ
ーミスタ２１に並列に入れたコンデンサ２３、演算増幅
器２４、演算増幅器２４の入力抵抗２５、演算増幅器２
４の増幅率を決定する帰還抵抗２６、演算増幅器２４の
出力側に接続した補正ゲイン設定用抵抗２Ｔと、基準温
度ｔＯにおける補正信号レベル設定用抵抗２８と、これ
らの各抵抗２７．２８に入力抵抗２９゜３０を介して２
つの入力端子を接続した演算増幅器３１と、演算増幅器
３１の増幅率を設定する帰還抵抗３２とを図示のように
接続したものからなる。このトルク補正信号発生器１４
は第２図に示す制御パターンにもとづいて、電動機３の
温度に対応したトルク補正信号を出力して乗算器１４に
入力する。なお、実験によれば、安価なフェライト磁石
を用いた電動機３では、第２図に示すトルク補正信号は
０．１８ ％／ｌの直線傾向となる。The torque correction signal generator 14 is configured as shown in FIG. 4, and the thermistor 21 is configured as shown in FIG. a resistor 22 for nonlinearity correction, a capacitor 23 connected in parallel to the thermistor 21, an operational amplifier 24, an input resistor 25 of the operational amplifier 24, an operational amplifier 2
4, a correction gain setting resistance 2T connected to the output side of the operational amplifier 24, a correction signal level setting resistance 28 at the reference temperature tO, and input to each of these resistances 27 and 28. 2 through resistor 29°30
It consists of an operational amplifier 31 to which two input terminals are connected, and a feedback resistor 32 for setting the amplification factor of the operational amplifier 31, which are connected as shown. This torque correction signal generator 14
outputs a torque correction signal corresponding to the temperature of the electric motor 3 and inputs it to the multiplier 14 based on the control pattern shown in FIG. According to experiments, in the electric motor 3 using inexpensive ferrite magnets, the torque correction signal shown in FIG. 2 has a linear tendency of 0.18%/l.
なお、上記実施例では温度検出器１２としてサーミスタ
２１を設けたものについて述べたが白金側温体を設けて
もよい。In the above embodiment, a thermistor 21 is provided as the temperature detector 12, but a platinum-side hot body may be provided.
また、コンピュータによりミ動機速度をディジタル制御
するものでは、温度検出器１２の出力をＡ／Ｄ変換し、
この変換したディジタル信号によりＲＯＭ に格納した
上記制御パターンから必要トルク補正信号を読み出して
、これによりミ流補正した電流指令信号を乗算器１４か
ら出力するようにすることができる。In addition, in the case where the engine speed is digitally controlled by a computer, the output of the temperature detector 12 is A/D converted,
The required torque correction signal is read out from the control pattern stored in the ROM using the converted digital signal, and the multiplier 14 outputs a current command signal corrected by this.
なお、上記実施例では比較器２と速度制御増幅器５、比
較器８と電流増幅器１０をそれぞれ別々に設けたが、こ
れらを各−の演算増幅器で兼用することも可能である。In the above embodiment, the comparator 2 and the speed control amplifier 5, and the comparator 8 and the current amplifier 10 are provided separately, but it is also possible to use these as common operational amplifiers.
また、温度検出器１２は直接永久磁石に取り付けること
が望ましいのであるが、その取り付けが困難である場合
には、その永久磁石以外の電動機本体例えばブラケット
上に取り付けることもできる。Further, although it is desirable to attach the temperature sensor 12 directly to the permanent magnet, if it is difficult to attach the temperature sensor 12, it may be attached to the motor body other than the permanent magnet, for example, on a bracket.
以上のように、この発明によれば、電動機の温度変化に
よる永久磁石の磁束変化分に応じて、電動機への流入電
流を補正するように構成したので、電動機の発生トルク
を高精度で制御できる効果があるほか、電動機の温度検
出によって電動機の過負荷保護も同時に行えるという効
果も得られる。As described above, according to the present invention, the current flowing into the motor is corrected in accordance with the change in the magnetic flux of the permanent magnet due to the temperature change of the motor, so the torque generated by the motor can be controlled with high precision. In addition to being effective, it also has the effect of simultaneously providing overload protection for the motor by detecting the temperature of the motor.
第１図はとの発明の一実施例による永久磁石電動機のト
ルク制御装置を示す回路図、第２図はトルク補正信号発
生器の制御パターンを示す温度対補正信号の特性図、第
３図はサーミスタの温度対抵抗の特性図、第４図はトル
ク補正信号発生器の一例の回路図、第５図は従来のトル
ク制御装置を示す回路図である。
１は速度指令部、２は比較器、３は電動機、４は速度検
出器、５は速度制御増幅器、６はトルク指令部、７はク
ランプ回路、８は比較器、９は電流検出器、１０は電流
増幅器、１２は温度検出器、１３はトルク補正信号発生
器、１４は乗算器である。Fig. 1 is a circuit diagram showing a torque control device for a permanent magnet motor according to an embodiment of Hato's invention, Fig. 2 is a temperature versus correction signal characteristic diagram showing a control pattern of a torque correction signal generator, and Fig. 3 is a FIG. 4 is a circuit diagram of an example of a torque correction signal generator, and FIG. 5 is a circuit diagram of a conventional torque control device. 1 is a speed command section, 2 is a comparator, 3 is an electric motor, 4 is a speed detector, 5 is a speed control amplifier, 6 is a torque command section, 7 is a clamp circuit, 8 is a comparator, 9 is a current detector, 10 1 is a current amplifier, 12 is a temperature detector, 13 is a torque correction signal generator, and 14 is a multiplier.
Claims (3)
、上記電動機の回転速度指令を与える速度指令部と、上
記電動機の流入電流を検出する電流検出器と、上記電動
機の回転速度を検出する速度検出器と、上記速度指令し
た回転速度と上記検出した回転速度とを比較して得た速
度制御信号を上記トルク指令信号により制限するクラン
プ回路とを備え、このクランプ回路の出力と上記電流検
出器の出力との比較出力により上記電動機のトルクを制
御する永久磁石電動機のトルク制御装置において、上記
電動機の永久磁石の温度を検出する温度検出器およびこ
の検出した温度信号に応じて上記電動機への上記流入電
流値を補正するトルク補正信号発生器を設けたことを特
徴とする永久磁石電動機のトルク制御装置。(1) A torque command section that gives a torque command signal for the electric motor, a speed command section that gives a rotational speed command for the electric motor, a current detector that detects the inflow current of the electric motor, and a speed that detects the rotational speed of the electric motor. a detector; and a clamp circuit that limits a speed control signal obtained by comparing the speed commanded rotational speed and the detected rotational speed with the torque command signal, and the output of the clamp circuit and the current detector are provided. A torque control device for a permanent magnet motor that controls the torque of the electric motor based on a comparison output with the output of the motor includes a temperature detector that detects the temperature of the permanent magnet of the electric motor, and a temperature sensor that detects the temperature of the permanent magnet of the electric motor. 1. A torque control device for a permanent magnet motor, comprising a torque correction signal generator for correcting an inflow current value.
とする特許請求の範囲第１項記載の永久磁石電動機のト
ルク制御装置。(2) The torque control device for a permanent magnet motor according to claim 1, characterized in that a thermistor is used as the temperature detector.
けたことを特徴とする特許請求の範囲第１項記載の永久
磁石電動機のトルク制御装置。(3) The torque control device for a permanent magnet motor according to claim 1, wherein the temperature detector is attached to a motor body other than a permanent magnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59230407A JPS61112585A (en) | 1984-11-02 | 1984-11-02 | Torque controller of permanent magnet motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59230407A JPS61112585A (en) | 1984-11-02 | 1984-11-02 | Torque controller of permanent magnet motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61112585A true JPS61112585A (en) | 1986-05-30 |
Family
ID=16907398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59230407A Pending JPS61112585A (en) | 1984-11-02 | 1984-11-02 | Torque controller of permanent magnet motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61112585A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06133589A (en) * | 1992-10-16 | 1994-05-13 | Mitsubishi Electric Corp | Boiler feed controller |
| US7002095B2 (en) | 2002-10-11 | 2006-02-21 | Fanuc Ltd | Spot welding system and method of controlling pressing force of spot welding gun |
-
1984
- 1984-11-02 JP JP59230407A patent/JPS61112585A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06133589A (en) * | 1992-10-16 | 1994-05-13 | Mitsubishi Electric Corp | Boiler feed controller |
| US7002095B2 (en) | 2002-10-11 | 2006-02-21 | Fanuc Ltd | Spot welding system and method of controlling pressing force of spot welding gun |
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