WO2020100234A1 - Motor control device, actuator device, and motor control method - Google Patents

Motor control device, actuator device, and motor control method Download PDF

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Publication number
WO2020100234A1
WO2020100234A1 PCT/JP2018/042146 JP2018042146W WO2020100234A1 WO 2020100234 A1 WO2020100234 A1 WO 2020100234A1 JP 2018042146 W JP2018042146 W JP 2018042146W WO 2020100234 A1 WO2020100234 A1 WO 2020100234A1
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WIPO (PCT)
Prior art keywords
calculation unit
motor
voltage
command
control device
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PCT/JP2018/042146
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French (fr)
Japanese (ja)
Inventor
祥子 川崎
今村　直樹
敏 川村
暁 長谷川
裕也 西守
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2018/042146 priority Critical patent/WO2020100234A1/en
Priority to JP2020551443A priority patent/JP6800394B2/en
Publication of WO2020100234A1 publication Critical patent/WO2020100234A1/en

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    • 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
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • the present invention relates to a motor control device, an actuator device, and a motor control method.
  • valve devices such as an EGR (Exhaust Gas Recirculation) valve, a wastegate valve, and a VVT (Variable Valve Timing) are mounted on a vehicle.
  • An electric actuator device is used to control the opening degree of these valve devices, and a brushless DC (Direct Current) motor is used for this actuator device.
  • the control method of the drive current of the brushless DC motor includes so-called “120-degree rectangular wave energization control" and "vector control".
  • Patent Document 1 discloses a technique of controlling the drive current of a brushless DC motor by vector control that does not require a current sensor, that is, vector control of a current sensorless system.
  • Patent Document 1 uses a so-called “observer” to estimate the current in the brushless DC motor, more specifically, the current in the q-axis. This eliminates the need for a current sensor.
  • the poles of the observer are placed on the left half plane of the complex plane. Further, from the viewpoint of improving the responsiveness of the estimation by the observer, it is preferable to arrange the observer poles at a position far from the origin on the complex plane. That is, from the viewpoint of improving the accuracy of estimation by the observer, it is preferable to arrange the observer pole at a position far from the origin on the left half plane of the complex plane.
  • the estimation by the observer is restricted by the control period based on the so-called “sampling theorem”. Therefore, from the viewpoint of improving the reproducibility in the estimation by the observer, that is, the accuracy of the estimation by the observer, it is preferable to shorten the control cycle of the control device including the observer.
  • the estimation by the observer (observer 1) in the technique described in Patent Document 1 uses the measured value of the angular velocity of the rotor in the brushless DC motor (synchronous electric motor 11). Therefore, even when the resolution of the sensor (speed detection unit 14) that detects the angular velocity is low, the same problem as described above occurs. That is, there is a problem in that the accuracy of estimation by the observer (observer 1) decreases, and thus the accuracy of control by the control device (current control unit 7) including the observer (observer 1) decreases.
  • the present invention has been made to solve the above problems, and when controlling the drive current of a brushless DC motor by vector control of a current sensorless system, the accuracy of the control is performed by using a low-resolution position sensor.
  • the purpose is to improve.
  • a motor control device of the present invention is a motor control device for controlling a drive current for a brushless DC motor having a rotor position sensor by vector control of a current sensorless system, and uses a position pulse signal corresponding to the output of the position sensor.
  • Rotation status calculation unit that calculates the rotor position and rotor speed, and a plurality of correction positions are sequentially calculated by temporally interpolating the value of the electrical angle based on the speed, and brushless based on each correction position.
  • a voltage command calculator that generates a three-phase voltage command for the drive circuit for the DC motor.
  • the present invention since it is configured as described above, when controlling the drive current of the brushless DC motor by the vector control of the current sensorless system, it is possible to improve the accuracy of the control by using the low-resolution position sensor. it can.
  • FIG. 3 is a block diagram showing a main part of an actuator device including the motor control device according to the first embodiment.
  • FIG. 3 is a block diagram showing a main part of a rotation state calculation unit in the motor control device according to the first embodiment.
  • FIG. 3 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the first embodiment.
  • FIG. 3 is a block diagram showing a main part of a voltage command calculation unit in the motor control device according to the first embodiment. It is a timing chart which shows the example of a U-phase position pulse signal, a V-phase position pulse signal, a W-phase position pulse signal, and an update pulse signal.
  • FIG. 8A is an explanatory diagram showing a hardware configuration of the motor control device according to the first embodiment.
  • FIG. 8B is an explanatory diagram showing another hardware configuration of the motor control device according to the first embodiment.
  • 5 is a flowchart showing an operation of a current command generation unit in the motor control device according to the first embodiment.
  • 5 is a flowchart showing an operation of a control command generation unit in the motor control device according to the first embodiment.
  • 5 is a flowchart showing an operation of a corrected position calculation unit in the motor control device according to the first embodiment.
  • 5 is a flowchart showing an operation of a voltage command generation unit in the motor control device according to the first embodiment.
  • 5 is a block diagram showing a main part of an actuator device including a motor control device according to a second embodiment.
  • FIG. FIG. 6 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the second embodiment.
  • FIG. 7 is a flowchart showing an operation of a control command generation unit in the motor control device according to the second embodiment.
  • 7 is a block diagram showing a main part of an actuator device including a motor control device according to a third embodiment.
  • FIG. FIG. 11 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the third embodiment.
  • 9 is a flowchart showing an operation of a control command generation unit in the motor control device according to the third embodiment.
  • FIG. 11 is a block diagram showing a main part of another actuator device including the motor control device according to the third embodiment.
  • FIG. 11 is a block diagram showing a main part of another actuator device including the motor control device according to the third embodiment.
  • FIG. 4 is a block diagram showing a main part of an actuator device including a motor control device according to Reference Example 1.
  • FIG. 6 is a block diagram showing a main part of a rotation state calculation unit in the motor control device according to Reference Example 1.
  • FIG. 6 is a block diagram showing a main part of a control command calculation unit in the motor control device according to Reference Example 1.
  • FIG. 6 is a block diagram showing a main part of a voltage command calculation unit in the motor control device according to Reference Example 1.
  • FIG. 1 is a block diagram showing a main part of an actuator device including a motor control device according to the first embodiment.
  • FIG. 2 is a block diagram showing a main part of the rotation state calculation unit in the motor control device according to the first embodiment.
  • FIG. 3 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the first embodiment.
  • FIG. 4 is a block diagram showing a main part of the voltage command calculation unit in the motor control device according to the first embodiment.
  • the motor control device 100 and the actuator device 200 according to the first embodiment will be described with reference to FIGS. 1 to 4.
  • the valve device 1 is a valve device.
  • the valve device 1 is composed of, for example, an EGR valve, a waste gate valve or a VVT.
  • the valve device 1 has a biasing member (not shown) such as a return spring.
  • the valve device 1 is configured to be held at a predetermined opening by the biasing torque of the biasing member when the driving torque of the actuator device 200 is not supplied. More specifically, the valve opening state, the valve closing state, or the intermediate state between the valve opening state and the valve closing state is maintained.
  • the actuator device 200 controls the opening degree of the valve device 1 by supplying a drive torque to the valve device 1.
  • the brushless DC motor 2 has a rotor (not shown) and a stator (not shown).
  • the stator includes a winding corresponding to the U phase (hereinafter referred to as “U phase winding”), a winding corresponding to the V phase (hereinafter referred to as “V phase winding”), and a winding corresponding to the W phase (hereinafter referred to as “w”). "W-phase winding”).
  • the drive circuit 3 supplies a drive current to each of the U-phase winding, the V-phase winding, and the W-phase winding to generate a drive torque for the valve device 1.
  • the U-phase winding, the V-phase winding, and the W-phase winding may be collectively referred to as “three-phase winding” or “armature winding”.
  • the drive circuit 3 is composed of a so-called "inverter". That is, the drive circuit 3 has a switching element corresponding to the U phase, a switching element corresponding to the V phase, and a switching element corresponding to the W phase.
  • the switching element corresponding to each phase is composed of a so-called "power semiconductor”.
  • the drive circuit 3 supplies a drive current to the three-phase winding by switching on / off of the switching element corresponding to each phase in time.
  • the drive circuit 3 is configured to supply a current according to a voltage command (hereinafter, referred to as “U-phase voltage command”) v u * corresponding to the U-phase to the U-phase winding. Further, the drive circuit 3 is configured to supply a current according to a voltage command (hereinafter, referred to as “V phase voltage command”) v v * corresponding to the V phase to the V phase winding. Further, the drive circuit 3 is configured to supply a current according to a voltage command corresponding to the W phase (hereinafter referred to as “W phase voltage command”) v w * to the W phase winding.
  • U-phase voltage command v u * corresponding to the U-phase to the U-phase winding.
  • V phase voltage command v v * corresponding to the V phase to the V phase winding.
  • W phase voltage command v w * to the W phase winding.
  • the U-phase voltage command v u * , the V-phase voltage command v v *, and the W-phase voltage command v w * may be collectively referred to as “three-phase voltage command”.
  • the three-phase voltage commands v u * , v v * , v w * are voltage commands for realizing, for example, so-called “maximum torque control”.
  • the brushless DC motor 2 has a rotor position sensor 4.
  • the position sensor 4 includes, for example, a Hall IC (Integrated Circuit) corresponding to the U phase, a Hall IC corresponding to the V phase, and a Hall IC corresponding to the W phase.
  • the Hall IC corresponding to each phase outputs a continuous pulse signal (hereinafter referred to as "position pulse signal") according to the rotation of the rotor.
  • the position pulse signal corresponding to the U phase may be referred to as “U phase position pulse signal”
  • the position pulse signal corresponding to the V phase may be referred to as “V phase position pulse signal”
  • the position corresponding to the W phase The pulse signal may be referred to as a "W-phase position pulse signal”.
  • individual pulses in the U-phase position pulse signal may be referred to as “U-phase position pulse”
  • individual pulses in the V-phase position pulse signal may be referred to as “V-phase position pulse”
  • W-phase position pulse signal Each pulse may be referred to as a "W-phase position pulse”.
  • the U-phase position pulse, the V-phase position pulse, and the W-phase position pulse may be collectively referred to as "position pulse”.
  • the position pulse signal corresponding to each phase is such that at least one pulse is output during one rotation of the rotor.
  • the position pulse signal corresponding to each phase may be output every time the rotor rotates by a mechanical angle of 360 degrees, every time the rotor rotates by an electrical angle of 60 degrees, every time the rotor rotates by an electrical angle of 30 degrees, or One pulse is output each time is rotated by an electrical angle of 15 degrees. That is, the position sensor 4 has a lower resolution than a general position sensor (optical encoder, resolver, or the like) used for vector control.
  • the edge detection unit 11 receives an input of a position pulse signal.
  • the edge detection unit 11 detects each edge in the input position pulse signal. That is, the edge detector 11 detects each up edge in the U-phase position pulse signal, each up edge in the V-phase position pulse signal, and each up edge in the W-phase position pulse signal.
  • the edge detector 11 detects individual down edges in the U-phase position pulse signal, individual down edges in the V-phase position pulse signal, and individual down edges in the W-phase position pulse signal.
  • the edge detection unit 11 may include individual up edges and individual down edges in the U-phase position pulse signal, individual up edges and individual down edges in the V phase position pulse signal, and individual up edges in the W phase position pulse signal. Edges and individual down edges are detected.
  • the edge detection unit 11 outputs a single pulse signal (hereinafter referred to as “update pulse signal”) in response to the detection of these edges. That is, each pulse in the update pulse signal corresponds to each edge in the position pulse signal.
  • each pulse in the update pulse signal may be referred to as "update pulse”.
  • FIG. 5 shows an example of the U-phase position pulse signal, the V-phase position pulse signal, the W-phase position pulse signal, and the update pulse signal.
  • the output cycle of the position pulse corresponding to each phase is 360 electrical degrees
  • the output cycle of the update pulse is 60 electrical degrees.
  • the indefinite period position calculation unit 12 receives the input of the update pulse signal.
  • the indefinite cycle position calculation unit 12 calculates the magnetic pole position (hereinafter, simply referred to as “position”) ⁇ e of the rotor every time the value of the input update pulse signal becomes 1.
  • position the magnetic pole position (hereinafter, simply referred to as “position”)
  • ⁇ e is an electrical angle
  • ⁇ e is radian (rad).
  • the indefinite period position calculation unit 12 stores in advance information indicating the absolute value
  • the indefinite cycle position calculation unit 12 determines the rotation direction of the rotor based on the output order of the U-phase position pulse, the V-phase position pulse, and the W-phase position pulse.
  • the indefinite period position calculating unit 12 adds or subtracts the value
  • the position ⁇ e at the time of outputting the current update pulse is calculated.
  • the indefinite cycle position calculation unit 12 holds the calculated position ⁇ e , that is, the position ⁇ e at the time of outputting the current update pulse for output until the position ⁇ e at the time of outputting the next update pulse is calculated. To do.
  • the indefinite period speed calculation unit 13 receives the input of the update pulse signal.
  • the indefinite cycle speed calculation unit 13 uncertains the calculated position ⁇ e each time the value of the input update pulse signal becomes 1, that is, every time the indefinite cycle position calculation unit 12 calculates the position ⁇ e . It is acquired from the periodic position calculation unit 12.
  • the indefinite cycle speed calculation unit 13 calculates the rotor speed ⁇ e_ave every time the position ⁇ e is acquired.
  • ⁇ e_ave is the average value of the electrical angular velocity ⁇ e in the section from the time of the output of the previous update pulse to the output of the current update pulse
  • the unit of ⁇ e_ave is radian per second (rad / s).
  • the indefinite cycle speed calculation unit 13 stores in advance information indicating the resolution ⁇ e — res of the position sensor 4.
  • the indefinite cycle speed calculation unit 13 calculates the time T ⁇ e from the output of the previous update pulse to the output of the current update pulse.
  • the indefinite cycle speed calculation unit 13 calculates the speed ⁇ e_ave by the following formula (1) based on the positive / negative of the change amount d ⁇ e in the section from the output of the previous update pulse to the output of the current update pulse. Note that sgn ( ⁇ ) in the equation (1) is a sign function.
  • the indefinite period speed calculation unit 13 holds the calculated speed ⁇ e_ave , that is, the speed ⁇ e_ave at the time of outputting the current update pulse for output until the speed ⁇ e_ave at the time of outputting the next update pulse is calculated. To do.
  • the output cycle of the update pulse fluctuates according to the rotation speed of the rotor. Therefore, the calculation processing of the position ⁇ e by the indefinite cycle position calculation unit 12 and the calculation processing of the speed ⁇ e_ave by the indefinite cycle speed calculation unit 13 are both executed in an indefinite cycle. Since the indefinite cycle position calculation unit 12 calculates the position ⁇ e in an indefinite cycle, detection leakage of the magnetic pole position of the rotor is less than that in the case where the indefinite cycle position calculation unit 12 calculates the position ⁇ e in a definite cycle. It is possible to suppress the occurrence.
  • indefinite period speed calculating section 13 calculates the velocity omega E_ave indefinite period, if compared with the case where indefinite period speed calculating section 13 calculates the velocity omega E_ave to periodic, from the time the output of the previous update pulse It is possible to accurately calculate the average value of the electrical angular velocities ⁇ e , that is, the velocity ⁇ e_ave in the section until the output of the update pulse this time.
  • the edge detection unit 11, the indefinite cycle position calculation unit 12, and the indefinite cycle speed calculation unit 13 constitute a rotation state calculation unit 10.
  • the processing executed by the rotation state calculation unit 10 includes the processing executed in an indefinite cycle. Therefore, the control cycle of the rotation state calculation unit 10 is indefinite.
  • the current command generation unit 21 acquires from the ECU 5 the position command ⁇ e_dir generated by a higher-order electronic control unit (hereinafter referred to as “ECU”) 5 for the motor control device 100. Further, the current command generation unit 21 acquires the position ⁇ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12.
  • ECU electronice control unit
  • the current command generation unit 21 performs a so-called “classical control” on the basis of the acquired position command ⁇ e_dir and position ⁇ e , and a difference value of the position ⁇ e with respect to the position command ⁇ e_dir (hereinafter referred to as “position deviation”) ⁇ .
  • position deviation a difference value of the position ⁇ e with respect to the position command ⁇ e_dir
  • a current command for making e close to zero is generated. More specifically, the current command generation unit 21 generates a current command for the q-axis (hereinafter referred to as “q-axis current command”) i q * by PID (Proportional Integral Differential) control.
  • the control command generation unit 22 acquires the q-axis current command i q * generated by the current command generation unit 21 from the current command generation unit 21. Further, the control command generation unit 22 acquires a current command for the d-axis (hereinafter referred to as “d-axis current command”) i d * from the current command generation unit 21. Further, the control command generation unit 22 acquires the position ⁇ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12.
  • the d-axis current command id * is set to a predetermined value.
  • the d-axis current command id * is set to zero.
  • the d-axis current command id * is not limited to a zero value, and may be a positive value or a negative value.
  • the d-axis current command id * may be a fixed value or a variable value.
  • the d-axis current command i d * and the q-axis current command i q * may be collectively referred to as “dq-axis current command”.
  • Control command generating unit 22 the acquired dq axis current command i d *, based on i q * and the position theta e, the control command to the voltage command calculation unit 30 (hereinafter simply referred to as "control command”.) To produce a It is a thing.
  • dq coordinate system the voltage equation of the brushless DC motor 2 in the coordinate system based on the d-axis and the q-axis
  • v d * is a voltage command on the d-axis (hereinafter referred to as “d-axis voltage command”), and the unit of v d * is volt (V).
  • v q * is a voltage command on the q-axis (hereinafter referred to as “q-axis voltage command”), and the unit of v q * is volt (V).
  • the d-axis voltage command v d * and the q-axis voltage command v q * may be collectively referred to as “dq-axis voltage command”.
  • i d * is a d-axis current command
  • the unit of i d * is ampere (A)
  • i q * is the q-axis current command
  • i q * units are ampere (A).
  • R a is the armature winding resistance, and the unit of R a is ohm ( ⁇ ).
  • L d is the inductance on the d-axis (hereinafter referred to as “d-axis inductance”), and the unit of L d is Henry (H).
  • L q is the inductance on the q-axis (hereinafter referred to as “q-axis inductance”), and the unit of L q is Henry (H).
  • the d-axis inductance L d and the q-axis inductance L q may be collectively referred to as “dq-axis inductance”.
  • the dq-axis inductances L d and L q have the same value.
  • ⁇ e is an electrical angular velocity, and the unit of ⁇ e is radian per second (rad / s). Note that ⁇ e corresponds to the time differential value of ⁇ e .
  • ⁇ is the number of flux linkages in the armature winding, and the unit of ⁇ is radians per volt (Vs / rad).
  • the armature winding resistance R a , the d-axis inductance L d , the q-axis inductance L q, and the armature winding interlinkage magnetic flux number ⁇ are constants according to the specifications of the brushless DC motor 2.
  • the armature winding resistance R a , the d-axis inductance L d , the q-axis inductance L q, and the armature winding interlinkage magnetic flux number ⁇ may be collectively referred to as a “motor constant”.
  • the electrical angular velocity ⁇ e is calculated by the following equation (4).
  • ⁇ e (n ⁇ 1) is the position ⁇ e previously acquired by the control command generation unit 22
  • ⁇ e (n) is the position ⁇ e acquired this time by the control command generation unit 22. That is, n is a sample number related to the acquisition of the position ⁇ e by the control command generation unit 22.
  • dT p is a control cycle of the control command calculation unit 20. That is, the control command calculator 20 has a predetermined control cycle dT p .
  • the period dT p is set to 4 milliseconds (ms), for example.
  • this cycle dT p may be referred to as “first cycle”.
  • the control command generation unit 22 Based on the above contents, the control command generation unit 22 generates a control command as follows. That is, the control command generation unit 22 stores in advance information indicating the specifications of the brushless DC motor 2. The control command generator 22 sets the values of the motor constants R a , L d , L q , and ⁇ used in the calculation of the above equation (3) based on the specifications indicated by the stored information.
  • control command generation unit 22 stores in advance information indicating the first cycle dT p . Based on the first cycle dT p indicated by the stored information, the position ⁇ e (n) acquired this time, and the position ⁇ e (n ⁇ 1) acquired last time, the control command generation unit 22 calculates the above formula ( The electric angular velocity ⁇ e is calculated according to 4). At this time, the control command generation unit 22 may calculate the electrical angular velocity ⁇ e using a so-called “pseudo differentiator”.
  • control command generation unit 22 sets the set motor constants R a , L d , L q , ⁇ , the calculated electrical angular velocity ⁇ e, and the dq axis current commands i d * , i q * acquired this time .
  • the dq axis voltage commands v d * , v q * are generated by the above equation (3).
  • control command generator 22 calculates the voltage vector V r * in the dq coordinate system by the following equation (5) based on the generated dq axis voltage commands v d * , v q * . Further, the control command generation unit 22 calculates the voltage phase ⁇ dq in the dq coordinate system by the following formula (6) based on the generated dq axis voltage commands v d * , v q * .
  • the voltage vector V r * and the voltage phase ⁇ dq corresponding to the dq-axis voltage commands v d * , v q * and the dq-axis voltage commands v d * , v q * are displayed in polar coordinates on the dq coordinate system.
  • ⁇ indicates the electrical angle by ⁇ dq + ⁇ e .
  • the control command generation unit 22 generates a control command including the magnitude of the calculated voltage vector V r * and the voltage phase ⁇ dq .
  • the current command generator 21 and the control command generator 22 constitute a control command calculator 20.
  • the control command calculator 20 has a predetermined control cycle dT p . That is, the current command generation unit 21 acquires the position command ⁇ e — dir and the position ⁇ e , the current command generation unit 21 generates the q-axis current command i q * , and the control command generation unit 22 controls the dq-axis current command i.
  • the process of acquiring d * , i q * and the position ⁇ e , the process of generating the control command by the control command generation unit 22, and the like are executed every first cycle dT p .
  • the corrected position calculation unit 31 acquires the control command generated by the control command generation unit 22 from the control command generation unit 22. Further, the correction position calculation unit 31 acquires the position ⁇ e calculated by the indefinite cycle position calculation unit 12 from the indefinite cycle position calculation unit 12, and also calculates the speed ⁇ e_ave calculated by the indefinite cycle speed calculation unit 13 in the indefinite cycle. It is acquired from the speed calculation unit 13. Further, the corrected position calculation unit 31 receives the input of the update pulse signal.
  • the corrected position calculation unit 31 calculates the following equation based on the voltage phase ⁇ dq included in the acquired control command, the acquired position ⁇ e and the speed ⁇ e_ave , and the value of the input update pulse signal.
  • the calculation according to 7) and the calculation according to the following equation (8) are executed.
  • dT c is the control cycle of the voltage command calculation unit 30. That is, the voltage command computation unit 30 are those having a predetermined control cycle dT c.
  • the calculation by the above formula (7) and the calculation by the above formula (8) are executed for each period dT c .
  • the period dT c is set to 0.5 milliseconds (ms), for example.
  • this cycle dT c may be referred to as a “second cycle”.
  • the second period dT c is shorter than the first period dT p (for example, 4 ms). Further, the second cycle dT c can be shorter than the output cycle of the update pulse.
  • i is a variable in which 1 is added (that is, incremented) every time the second period dT c elapses within each first period dT p , and the value of the update pulse signal is 1 Is a variable that is reset to zero every time (i.e., whenever an update pulse is output).
  • the variable i can take an integer value of 0 or more and 7 or less.
  • the upper limit value and the lower limit value of ⁇ dq are values according to the specifications of the position pulse signal. For example, when the output cycle of the update pulse is an electrical angle of 60 degrees (see FIG. 5), the upper limit value of ⁇ dq is + ⁇ / 3rad and the lower limit value of ⁇ dq is ⁇ / 3rad.
  • an SR (Set Reset) flip-flop is used to determine whether or not the variable i needs to be incremented. That is, the update pulse signal and the continuous pulse signal corresponding to the second period dT c are input to the SR flip-flop.
  • the corrected position calculation unit 31 determines whether or not the variable i needs to be incremented in each second cycle dT c based on the output value of the SR flip-flop.
  • the determination of whether or not the variable i needs to be incremented is also a determination of whether or not the position ⁇ e and the velocity ⁇ e_ave need to be acquired.
  • the corrected position calculation unit 31 acquires the position ⁇ e and the speed ⁇ e_ave each time the update pulse is output, that is, each time the variable i is incremented.
  • the corrected position calculation unit 31 holds the acquired speed ⁇ e — ave for calculation by the above equation (7) and outputs the acquired position ⁇ e until the next update pulse is output. ) For calculation.
  • the value of the electrical angle ⁇ (see FIG. 6) corresponding to the voltage phase ⁇ dq is temporally calculated for each second period dT c within each first period dT p .
  • a plurality of positions (hereinafter sometimes referred to as “correction positions”) ⁇ e * are sequentially calculated.
  • the calculation by the above formula (7) is to calculate a value (hereinafter referred to as “interpolation value”) ⁇ dq used for the interpolation for each second cycle dT c .
  • the interpolation is based on the position ⁇ e and the interpolation value ⁇ dq , and the interpolation value ⁇ dq is based on the speed ⁇ e_ave .
  • Each of the plurality of correction positions ⁇ e * is used to generate the three-phase voltage commands v u * , v v * , v w * .
  • the position ⁇ e * used for generating the three-phase voltage commands v u * , v v * , v w * is made to have a high resolution by software even though the position sensor 4 has a low resolution. You can As a result, the accuracy of vector control by the motor control device 100 can be improved. Further, while the position ⁇ e * is set to a high resolution, the control cycle (for example, the control cycle dT p of the control command calculation unit 20) of the portion of the motor control device 100 except the voltage command calculation unit 30 is set to the voltage command calculation unit 30. The control period dT c can be made longer. As a result, the calculation load on the motor control device 100 can be reduced.
  • the voltage command generation unit 32 acquires the individual correction positions ⁇ e * calculated by the correction position calculation unit 31 from the correction position calculation unit 31. Further, the voltage command generation unit 32 acquires the control command generated by the control command generation unit 22 from the control command generation unit 22. The voltage command generation unit 32 calculates the three-phase voltage by the following equation (9) based on the acquired individual correction position ⁇ e * and the magnitude of the voltage vector V r * included in the acquired control command. The commands v u * , v v * , v w * are generated.
  • each of v u_normal * and v v_normal * is a voltage command in which the maximum value of one-sided amplitude is normalized to 1 (hereinafter referred to as “normalized voltage command”).
  • the voltage command generation unit 32 shows the correspondence between the value of the correction position ⁇ e * and the values of the normalized voltage commands v u_normal * , v v_normal * over the angular range of electrical angle 0 to 2 ⁇ radian (rad).
  • the table is stored in advance.
  • the voltage command generation unit 32 uses the stored table to normalize the calculation of the above equation (9) according to the value of each correction position ⁇ e * calculated by the correction position calculation unit 31.
  • FIG. 7 shows an example of the correspondence relationship between the value of the corrected position ⁇ e * and the values of the normalized voltage commands v u_normal * , v v_normal * .
  • the voltage command generator 32 outputs the generated three-phase voltage commands v u * , v v * , v w * to the drive circuit 3.
  • the drive circuit 3 supplies a current according to the three-phase voltage commands v u * , v v * , v w * to the three-phase winding.
  • the corrected position calculation unit 31 and the voltage command generation unit 32 form a voltage command calculation unit 30.
  • the control command calculator 20 has a predetermined control cycle dT c . That is, the correction position calculation unit 31 calculates the interpolation value ⁇ dq by the above formula (7), the correction position calculation unit 31 calculates the correction position ⁇ e * by the above formula (8), and the voltage command generation unit.
  • the process of 32 generating the three-phase voltage commands v u * , v v * , v w * by the above equation (9) is executed every second cycle dT c .
  • the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30 form a main part of the motor control device 100.
  • the brushless DC motor 2, the drive circuit 3, the position sensor 4, and the motor control device 100 constitute a main part of the actuator device 200.
  • the motor control device 100 has a processor 41 and a memory 42.
  • the memory 42 stores a program for realizing the functions of the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30.
  • the functions of the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30 are realized by the processor 41 reading and executing the program stored in the memory 42.
  • the motor control device 100 has a processing circuit 43.
  • the functions of the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30 are realized by the dedicated processing circuit 43.
  • the motor control device 100 has a processor 41, a memory 42, and a processing circuit 43 (not shown).
  • some of the functions of the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30 are implemented by the processor 41 and the memory 42, and the remaining functions are performed by the dedicated processing circuit 43. Will be realized.
  • the processor 41 uses, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, and a DSP (Digital Signal Processor).
  • a CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • microprocessor a microcontroller
  • DSP Digital Signal Processor
  • the memory 42 uses, for example, at least one of a semiconductor memory and a magnetic disk. More specifically, the memory 42 includes a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory-Memory), and an EEPROM (Electrically Integrated Memory). At least one of State Drive) or HDD (Hard Disk Drive) is used.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory an EPROM (Erasable Programmable Read Only Memory-Memory)
  • EEPROM Electrically Integrated Memory
  • At least one of State Drive) or HDD (Hard Disk Drive) is used.
  • the processing circuit 43 may be, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), or a SoC (Sonication) system. At least one of the above is used.
  • ASIC Application Specific Integrated Circuit
  • PLD Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • SoC SoC
  • each processing by the rotation state calculation unit 10 is executed in the background of the processing shown in FIG. 9. That is, the output processing of the update pulse signal by the edge detection unit 11 is continuously executed, the calculation processing of the position ⁇ e by the indefinite cycle position calculation unit 12 is executed indefinitely, and the indefinite cycle is also generated. The calculation processing of the speed ⁇ e_ave by the speed calculation unit 13 is executed in an indefinite cycle.
  • FIG. 9A shows the operation of the current command generator 21 in each first cycle dT p (for example, 4 ms).
  • the current command generation unit 21 acquires the position command ⁇ e_dir generated by the ECU 5 from the ECU 5, and at the same time calculates the position ⁇ e calculated by the non-fixed cycle position calculation unit 12 in the non-fixed cycle position calculation unit 12.
  • the current command generation unit 21 performs q to bring the position deviation ⁇ e close to a zero value by classical control (for example, PID control) based on the acquired position command ⁇ e_dir and position ⁇ e.
  • the axis current command i q * is generated.
  • FIG. 9B shows the operation of the control command generation unit 22 in each first cycle dT p (for example, 4 ms).
  • the control command generation unit 22 outputs the q-axis current command i q * generated by the current command generation unit 21 (that is, the q-axis current command i q * generated in step ST2) as a current command.
  • the d-axis current command i d * having a predetermined value (for example, zero value) is acquired from the generation unit 21 and the current command generation unit 21.
  • the control command generation unit 22 acquires the position ⁇ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12.
  • the control command generation unit 22 sets the values of the motor constants R a , L d , L q , and ⁇ used in the calculation of the above formula (3).
  • control command generator 22 acquires the acquired dq axis current commands i d * , i q * , the acquired position ⁇ e (more specifically, the position ⁇ e acquired in the previous step ST11).
  • a control command is generated based on (n ⁇ 1) and the position ⁇ e (n) acquired in step ST11 this time, and the set motor constants R a , L d , L q , and ⁇ .
  • control command generator 22 calculates the electrical angular velocity ⁇ e by the above equation (4) (step ST13).
  • the control command generating unit 22 generates the dq axis voltage commands v d * , v q * by the above equation (3) (step ST14).
  • the control command generation unit 22 calculates the voltage vector V r * by the above equation (5) and calculates the voltage phase ⁇ dq by the above equation (6) (step ST15).
  • the control command generation unit 22 generates a control command including the magnitude of the calculated voltage vector V r * and the voltage phase ⁇ dq (step ST16).
  • FIG. 9C shows the operation of the correction position calculation unit 31 in each first cycle dT p (for example, 4 ms).
  • the corrected position calculation unit 31 acquires the control command generated by the control command generation unit 22 (that is, the control command generated in step ST16) from the control command generation unit 22.
  • the corrected position calculation unit 31 repeatedly executes the processing of steps ST22 to ST24 described below every second cycle dT c (for example, 0.5 ms).
  • step ST22 when the value of the update pulse signal is 1 (that is, when the update pulse is output), the corrected position calculation unit 31 calculates the position ⁇ e calculated by the indefinite cycle position calculation unit 12 as the indefinite cycle position calculation.
  • the speed ⁇ e — ave calculated by the indefinite period speed calculation unit 13 is acquired from the unit 12 as well as the indefinite period speed calculation unit 13 (step ST22).
  • the process of step ST22 is skipped.
  • the correction position calculation unit 31 calculates the interpolation value ⁇ dq by the above equation (7) (step ST23).
  • Speed omega E_ave used in the calculation of the formula (7) is obtained this time in the second period dT rate acquired at step ST22 in the c ⁇ e_ave, or previous step ST22 in a previous second cycle dT c Is the velocity ⁇ e — ave that is retained for calculation.
  • the correction position calculation unit 31 calculates the correction position ⁇ e * by the above equation (8) (step ST24).
  • the voltage phase ⁇ dq used in the calculation of the equation (8) is included in the control command acquired in step ST21.
  • the position ⁇ e used in the calculation of the equation (8) is acquired at the position ⁇ e acquired in step ST22 in the second cycle dT c this time or in step ST22 in the second cycle dT c before the previous cycle. Position ⁇ e held for calculation.
  • FIG. 9D shows the operation of the voltage command generator 32 in each first cycle dT p (for example, 4 ms).
  • the voltage command generator 32 acquires the control command generated by the control command generator 22 (that is, the control command generated in step ST16) from the control command generator 22.
  • the voltage command generation unit 32 repeatedly executes the processing of steps ST32 to ST34 described below every second cycle dT c (for example, 0.5 ms).
  • the voltage command generation unit 32 calculates the corrected position ⁇ e * calculated by the corrected position calculation unit 31 (that is, the corrected position ⁇ e * generated in step ST24 in the second cycle dT c this time). It is acquired from the unit 31 (step ST32). Next, the voltage command generating unit 32, based on the table stored in advance, according to the value of the acquired correction position ⁇ e * , the normalized voltage command v u_normal * used in the calculation of the above formula (9) . , V v_normal * are set (step ST33). Next, the voltage command generation unit 32 generates the three-phase voltage commands v u * , v v * , v w * by the equation (9) (step ST34). The magnitude of the voltage vector V r * used in the calculation of the equation (9) is included in the control command acquired in step ST31.
  • the first cycle dT p may be any cycle longer than the second cycle dT c and is not limited to 4 milliseconds.
  • the first period dT p may be set to 2 milliseconds.
  • the second period dT c may be any period shorter than the first period dT p , and is not limited to 0.5 ms.
  • the use of the actuator device 200 is not limited to the opening control of the vehicle-mounted valve device 1.
  • the actuator device 200 can be used in various applications similar to the conventional actuator device.
  • the use of the motor control device 100 is not limited to the control of the brushless DC motor 2 in the actuator device 200.
  • the brushless DC motor 2 can be used in various devices similar to the conventional brushless DC motor.
  • the motor control device 100 can be used to control the brushless DC motor 2 in the various devices.
  • the motor control device 100 may be used for so-called "rotation speed control".
  • the motor control device 100 may be used for control that makes the dq axis current commands i d * , i q * constant without relying on feedback.
  • the motor control device 100 may be used for control of continuously rotating the brushless DC motor 2.
  • the motor control device 100 can improve the accuracy of vector control by using the low-resolution position sensor 4, and control the parts other than the voltage command calculation unit 30. The cycle can be lengthened. For this reason, in controlling the opening degree of the vehicle-mounted valve device 1, it is particularly preferable to use the motor control device 100 and the actuator device 200 according to the first embodiment.
  • the control command calculation unit 20 may be provided inside the actuator device 200 and outside the motor control device 100. That is, the main part of the motor control device 100 may be configured by the rotation state calculation unit 10 and the voltage command calculation unit 30.
  • the motor control device 100 is the motor control device 100 that controls the drive current for the brushless DC motor 2 having the rotor position sensor 4 by the vector control of the current sensorless system.
  • a rotation state calculation unit 10 that calculates a rotor position ⁇ e and a rotor speed ⁇ e_ave using a position pulse signal corresponding to the output of the position sensor 4, and a value of an electrical angle ⁇ is temporally interpolated based on the speed ⁇ e_ave.
  • the control cycle (for example, the control cycle dT p of the control command calculation unit 20) of the portion of the motor control device 100 excluding the voltage command calculation unit 30 is set to the voltage command calculation unit 30.
  • the control period dT c can be made longer. As a result, the calculation load on the motor control device 100 can be reduced.
  • the rotation state calculation unit 10 detects an edge in the position pulse signal and outputs an update pulse signal including an update pulse corresponding to the edge, and an edge detection unit 11 that outputs the update pulse signal at an indefinite cycle according to the output of the update pulse. It has an indefinite cycle position calculation unit 12 that calculates ⁇ e, and an indefinite cycle speed calculation unit 13 that calculates the speed ⁇ e_ave in an indefinite cycle according to the output of the update pulse. By calculating the position ⁇ e in an indefinite cycle by the indefinite cycle position calculating unit 12, it is possible to suppress the omission of detection of the magnetic pole position of the rotor.
  • the indefinite cycle speed calculation unit 13 By calculating the speed ⁇ e_ave in an indefinite cycle by the indefinite cycle speed calculation unit 13, the average value of the electrical angular speed ⁇ e in the section from the output of the previous update pulse to the output of the current update pulse, that is, the speed ⁇ e_ave Can be accurately calculated.
  • the position pulse signal is such that at least one pulse is output during one rotation of the rotor.
  • the motor control device 100 includes a control command calculation unit 20 that generates a control command including a voltage phase ⁇ dq according to a difference value (position deviation ⁇ e ) of the position ⁇ e with respect to the position command ⁇ e_dir , and the voltage command calculation is performed.
  • the unit 30 temporally interpolates the value of the electrical angle ⁇ corresponding to the voltage phase ⁇ dq based on the position ⁇ e and the speed ⁇ e_ave to sequentially calculate a plurality of correction positions ⁇ e * . Thereby, vector control according to the position deviation ⁇ e can be realized.
  • the position command ⁇ e_dir is output by a higher-order electronic control unit (ECU 5) for the motor control device 100, and the control command calculator 20 determines the q-axis current corresponding to the difference value (position deviation ⁇ e ).
  • a current command generation unit 21 which generates a command i q *, dq axis current command including a q-axis current command i q * i d *, a control command generation unit 22 that generates a control command corresponding to i q *, a Have.
  • the control command generation unit 22 also generates a control command using the voltage equation of the brushless DC motor 2.
  • a control command using the voltage equation of the brushless DC motor 2, vector control by feedforward can be realized for the drive current of the brushless DC motor 2.
  • control command includes the magnitude of the voltage vector V r * according to the difference value (positional deviation ⁇ e ), and the voltage command calculation unit 30 sequentially calculates a plurality of correction positions ⁇ e *.
  • a correction position calculation unit 31, and a voltage command generation unit 32 that generates three-phase voltage commands v u * , v v * , v w * based on the magnitude of the voltage vector V r * and each correction position ⁇ e * .
  • the voltage command calculation unit 30 calculates the formula (7), the formula (8), and the formula (9). Calculation can be realized.
  • the actuator device 200 includes the motor control device 100, the brushless DC motor 2, the drive circuit 3, and the position sensor 4. Thereby, the actuator device 200 using the motor control device 100 can be realized.
  • the actuator device 200 is used for controlling the opening degree of the valve device 1 mounted on the vehicle. As described above, it is particularly preferable to use the motor control device 100 and the actuator device 200 in controlling the opening degree of the vehicle-mounted valve device 1.
  • the motor control method according to the first embodiment is a motor control method in which the drive current for the brushless DC motor 2 having the position sensor 4 for the rotor is controlled by vector control of the current sensorless type, and the rotation state calculation unit 10 Calculates the rotor position ⁇ e and the rotor speed ⁇ e_ave using the position pulse signal corresponding to the output of the position sensor 4, and the voltage command calculator 30 determines the value of the electrical angle ⁇ based on the speed ⁇ e_ave .
  • a plurality of correction positions ⁇ e * are sequentially calculated by temporal interpolation, and the three-phase voltage commands v u * , v v to the drive circuit 3 for the brushless DC motor 2 are calculated based on the individual correction positions ⁇ e *. Generate * , v w * . As a result, it is possible to obtain the same effect as the above effect by the motor control device 100.
  • FIG. 10 is a block diagram showing a main part of an actuator device including the motor control device according to the second embodiment.
  • FIG. 11 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the second embodiment.
  • a motor control device 100a and an actuator device 200a according to the second embodiment will be described with reference to FIGS. 10 and 11.
  • FIG. 10 the same blocks as those shown in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted. Also, in FIG. 11, the same blocks as the blocks shown in FIG.
  • the motor control device 100a according to the second embodiment is different from the motor control device 100 according to the first embodiment in the voltage equation used for generating the dq axis voltage commands v d * , v q * . That is, the control command generator 22 in the motor control device 100 uses the voltage equation shown in the above equation (2) to generate the dq axis voltage commands v d * , v q * . On the other hand, the control command generation unit 22a in the motor control device 100a uses the voltage equation represented by the following Expression (10) to generate the dq axis voltage commands v d * , v q * .
  • T c is a current response time constant in the dq coordinate system. That is, the voltage equation shown in the equation (10) is obtained by adding a filter based on “1 / (1 + T c s)” to the voltage equation shown in the equation (2).
  • T c By setting the value of the current response time constant T c , it is possible to realize an arbitrary time response in controlling the drive current of the brushless DC motor 2.
  • the current command generator 21 and the control command generator 22a form a control command calculator 20a.
  • the rotation state calculation unit 10, the control command calculation unit 20a, and the voltage command calculation unit 30 form a main part of the motor control device 100a.
  • the brushless DC motor 2, the drive circuit 3, the position sensor 4, and the motor control device 100a constitute a main part of the actuator device 200a.
  • the hardware configuration of the main part of the motor control device 100a is the same as that described in Embodiment 1 with reference to FIG. 8, illustration and description thereof will be omitted. That is, the functions of the rotation state calculation unit 10, the control command calculation unit 20a, and the voltage command calculation unit 30 may be realized by the processor 41 and the memory 42, or by a dedicated processing circuit 43. It may be one.
  • the operation of the current command generator 21 is the same as that described in Embodiment 1 with reference to FIG. 9A, and therefore illustration and description thereof will be omitted.
  • the operation of the corrected position calculation unit 31 is the same as that described in the first embodiment with reference to FIG. 9C, and therefore, illustration and description thereof will be omitted.
  • the operation of the voltage command generator 32 is the same as that described in the first embodiment with reference to FIG. 9D, and therefore, illustration and description thereof will be omitted.
  • FIG. 12 shows the operation of the control command generator 22a in each first cycle dT p (for example, 4 ms).
  • the control command generation unit 22a acquires the q-axis current command i q * generated by the current command generation unit 21 from the current command generation unit 21 and sets a predetermined value (for example, zero value) d.
  • the axis current command i d * is acquired from the current command generation unit 21.
  • the control command generation unit 22a acquires the position ⁇ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12.
  • step ST12a the control command generating unit 22a, the motor constants R a to be used in the calculation of the equation (10), L d, L q, sets the value of phi, the calculation of the equation (10) The value of the current response time constant T c used for is set.
  • control command generation unit 22a determines the acquired dq axis current commands i d * , i q * , the acquired position ⁇ e (more specifically, the position ⁇ e acquired in the previous step ST11). (N ⁇ 1) and the position ⁇ e (n) acquired in step ST11 this time, the set motor constants R a , L d , L q , and ⁇ , and the set current response time constant T.
  • a control command is generated based on c .
  • control command generator 22a calculates the electrical angular velocity ⁇ e by the above equation (4) (step ST13).
  • the control command generator 22a generates the dq axis voltage commands v d * , v q * by the above equation (10) (step ST14a).
  • the control command generation unit 22a calculates the voltage vector V r * by the equation (5) and the voltage phase ⁇ dq by the equation (6) (step ST15).
  • the control command generation unit 22a generates a control command including the magnitude of the calculated voltage vector V r * and the voltage phase ⁇ dq (step ST16).
  • motor control device 100a can employ various modifications similar to those described in the first embodiment, that is, various modifications similar to the motor control device 100.
  • the voltage equation includes the filter according to the current response time constant T c .
  • FIG. 13 is a block diagram showing a main part of an actuator device including the motor control device according to the third embodiment.
  • FIG. 14 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the third embodiment.
  • a motor control device 100b and an actuator device 200b according to the third embodiment will be described with reference to FIGS. 13 and 14. Note that, in FIG. 13, the same blocks as the blocks shown in FIG. Also, in FIG. 14, the same blocks as the blocks shown in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted.
  • the brushless DC motor 2 is provided with a temperature sensor 6.
  • the temperature sensor 6 detects the temperature Temp of the armature winding in the brushless DC motor 2.
  • the control command generation unit 22b acquires the dq axis current commands i d * , i q * and the position ⁇ e similarly to the control command generation unit 22 in the motor control device 100 according to the first embodiment. In addition to this, the control command generation unit 22b acquires the temperature Temp detected by the temperature sensor 6 from the temperature sensor 6. The control command generator 22b uses the voltage equation shown in the following equation (11) instead of the voltage equation shown in the above equation (2) to generate the dq axis voltage instructions v d * , v q * .
  • each of the armature winding resistance R a , the d-axis inductance L d , the q-axis inductance L q, and the armature winding interlinkage magnetic flux number ⁇ is a function of the temperature Temp. Is. Therefore, the control command generation unit 22b sets the values of the motor constants R a , L d , L q , and ⁇ used in the calculation of the above formula (11) as follows.
  • the control command generation unit 22b stores in advance a map showing the correspondence between the value of the temperature Temp and the value of the armature winding resistance R a , that is, the map showing the function R a (Temp).
  • the control command generation unit 22b sets the value of the motor constant R a used for the calculation of the above formula (11) according to the value of the temperature Temp detected by the temperature sensor 6 based on the stored map. ..
  • control command generator 22b stores in advance a map showing the correspondence between the value of the temperature Temp and the value of the d-axis inductance L d , that is, the map showing the function L d (Temp).
  • the control command generation unit 22b sets the value of the motor constant L d used for the calculation of the above formula (11) according to the value of the temperature Temp detected by the temperature sensor 6 based on the stored map. ..
  • control command generation unit 22b stores in advance a map showing the correspondence relationship between the value of the temperature Temp and the value of the q-axis inductance L q , that is, the map showing the function L q (Temp).
  • the control command generation unit 22b sets the value of the motor constant L q used for the calculation of the above formula (11) according to the value of the temperature Temp detected by the temperature sensor 6 based on the stored map. ..
  • control command generator 22b stores in advance a map showing the correspondence between the value of the temperature Temp and the value of the armature winding interlinkage magnetic flux number ⁇ , that is, the function ⁇ (Temp). .
  • the control command generation unit 22b sets the value of the motor constant ⁇ used for the calculation of the above formula (11) according to the value of the temperature Temp detected by the temperature sensor 6 based on the stored map.
  • the current command generator 21 and the control command generator 22b constitute a control command calculator 20b.
  • the rotation state calculation unit 10, the control command calculation unit 20b, and the voltage command calculation unit 30 form a main part of the motor control device 100b.
  • the brushless DC motor 2, the drive circuit 3, the position sensor 4, the temperature sensor 6, and the motor control device 100b constitute a main part of the actuator device 200b.
  • the hardware configuration of the main part of the motor control device 100b is the same as that described in Embodiment 1 with reference to FIG. 8, illustration and description thereof will be omitted. That is, the functions of the rotation state calculation unit 10, the control command calculation unit 20b, and the voltage command calculation unit 30 may be realized by the processor 41 and the memory 42, or by a dedicated processing circuit 43. It may be one.
  • the operation of the current command generator 21 is the same as that described in Embodiment 1 with reference to FIG. 9A, and therefore illustration and description thereof will be omitted.
  • the operation of the corrected position calculation unit 31 is the same as that described in the first embodiment with reference to FIG. 9C, and therefore, illustration and description thereof will be omitted.
  • the operation of the voltage command generator 32 is the same as that described in the first embodiment with reference to FIG. 9D, and therefore, illustration and description thereof will be omitted.
  • FIG. 15 shows the operation of the control command generator 22b in each first cycle dT p (for example, 4 ms).
  • the control command generation unit 22b acquires the q-axis current command i q * generated by the current command generation unit 21 from the current command generation unit 21, and at the same time, sets a predetermined value (for example, zero value) d.
  • the axis current command i d * is acquired from the current command generation unit 21.
  • the control command generation unit 22b acquires the position ⁇ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12.
  • the control command generator 22b acquires the temperature Temp detected by the temperature sensor 6 from the temperature sensor 6.
  • step ST12b the control command generation unit 22b determines the values of the motor constants R a , L d , L q , and ⁇ used in the calculation of the equation (11) according to the value of the acquired temperature Temp. To set.
  • control command generation unit 22b acquires the acquired dq axis current commands i d * , i q * , the acquired position ⁇ e (more specifically, the position ⁇ e acquired in the previous step ST11b).
  • a control command is generated based on (n-1) and the position ⁇ e (n) acquired in step ST11b this time, and the set motor constants R a , L d , L q , and ⁇ .
  • control command generator 22b calculates the electrical angular velocity ⁇ e by the above equation (4) (step ST13).
  • the control command generator 22b generates the dq axis voltage commands v d * , v q * by the above equation (11) (step ST14b).
  • the control command generation unit 22b calculates the voltage vector V r * by the equation (5) and the voltage phase ⁇ dq by the equation (6) (step ST15).
  • the control command generation unit 22b generates a control command including the magnitude voltage phase ⁇ dq of the calculated voltage vector V r * (step ST16).
  • the temperature sensor 6 may be provided in the drive circuit 3 instead of the brushless DC motor 2.
  • the temperature sensor 6 may detect the temperature Temp of the power semiconductor in the drive circuit 3, that is, the temperature Temp of the switching element corresponding to the three phases.
  • the temperature sensor 6 may be provided in the valve device 1 instead of the brushless DC motor 2. In this case, the temperature sensor 6 may detect the temperature Temp in the flow path of the valve device 1.
  • the temperature sensor 6 may be provided in each of two or more of the valve device 1, the brushless DC motor 2, and the drive circuit 3 (not shown).
  • the control command generator 22b may estimate the operating environment temperature of the valve device 1, that is, the operating environment temperature of the actuator device 200b, based on the temperature Temp detected by the temperature sensor 6.
  • the control command generation unit 22b may set the values of the motor constants R a , L d , L q , and ⁇ according to the estimated temperature value.
  • control command generation unit 22b may execute the same process as control command generation unit 22a in motor control device 100a according to the second embodiment. That is, the control command generator 22b may set the value of the current response time constant Tc .
  • the control command generation unit 22b uses the voltage equation shown in the following equation (12) instead of the voltage equation shown in the above equation (11) to generate the dq axis voltage instructions v d * , v q *. Is also good.
  • the voltage equation shown in the equation (12) is obtained by adding a filter based on “1 / (1 + T c s)” to the voltage equation shown in the equation (11).
  • the motor control device 100b can adopt various modifications similar to those described in the first embodiment, that is, various modifications similar to the motor control device 100.
  • the brushless DC motor 2 is provided with the temperature sensor 6, and the control command generation unit 22b causes the value of the temperature Temp detected by the temperature sensor 6.
  • the values of the motor constants R a , L d , L q , and ⁇ in the voltage equation are set according to As a result, in the control of the drive current of the brushless DC motor 2, it is possible to suppress the occurrence of variations in current response due to the operating environment temperature of the actuator device 200, that is, the operating environment temperature of the valve device 1.
  • FIG. 18 is a block diagram showing a main part of an actuator device including the motor control device according to the first reference example.
  • FIG. 19 is a block diagram illustrating a main part of a rotation state calculation unit in the motor control device according to the first reference example.
  • FIG. 20 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the first reference example.
  • FIG. 21 is a block diagram showing a main part of a voltage command calculation unit in the motor control device according to the first reference example.
  • a motor control device 100c and an actuator device 200c according to Reference Example 1 will be described with reference to FIGS. 18 to 21, the same blocks as the blocks shown in FIGS. 1 to 4 are designated by the same reference numerals, and the description thereof will be omitted.
  • the rotation state calculation unit 10c has an edge detection unit 11 and an indefinite period position calculation unit 12. That is, the rotation state calculation unit 10c does not include the indefinite period speed calculation unit 13. As a result, the calculation load on the rotation state calculation unit 10c can be reduced.
  • the control command generation unit 22c acquires the q-axis current command i q * generated by the current command generation unit 21 from the current command generation unit 21 and also outputs the d-axis current command i d * having a predetermined value (for example, zero value). It is acquired from the current command generator 21.
  • the control command generator 22c sets the values of the motor constants R a and L q and also sets the value of the current response time constant T c .
  • the control command generation unit 22 c calculates Equation 13 is used to calculate v d_dummy * and v q_dummy * . That is, the control command generation unit 22c calculates v d_dummy * and v q_dummy * by calculating only the term that does not include the speed ⁇ e_ave in the voltage equation shown in the above equation (10).
  • the control command generation unit 22c is configured to generate a control command including the calculated v d_dummy * and v q_dummy * .
  • the voltage command generation unit 32 c acquires the position ⁇ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12.
  • the voltage command generator 32c calculates the rotor speed ⁇ e by the following equation (14) based on the acquired position ⁇ e .
  • ⁇ e is an electrical angular velocity
  • the unit of ⁇ e is radian per second (rad / s).
  • ⁇ e (n ⁇ 1) is the position ⁇ e previously acquired by the voltage command generation unit 32c
  • ⁇ e (n) is the position ⁇ e acquired this time by the voltage command generation unit 32c. That is, n is a sample number related to the acquisition of the position ⁇ e by the voltage command generation unit 32c.
  • dT c is a control cycle (for example, 0.5 seconds) of the voltage command calculation unit 30c.
  • the calculation by the above formula (14) is to calculate the rotor speed ⁇ e by differentiating the rotor position ⁇ e with respect to each second period dT c .
  • the voltage command generator 32c may use a pseudo differentiator for the calculation of the equation (14).
  • the voltage command generation unit 32c acquires the control command generated by the control command generation unit 22c from the control command generation unit 22c.
  • the voltage command generator 32c sets the value of the motor constant ⁇ .
  • the voltage command generation unit 32c calculates the following based on v d_dummy * and v q_dummy * included in the acquired control command, the set motor constant ⁇ , and the speed ⁇ e calculated by the above equation (14).
  • the dq axis voltage commands v d * and v q * are generated by the equation (15).
  • the two-axis three-phase conversion unit 33 acquires the dq-axis voltage commands v d * , v q * generated by the voltage command generation unit 32 c from the voltage command generation unit 32 c.
  • the 2-axis 3-phase conversion unit 33 converts the acquired dq-axis voltage commands v d * , v q * into 3-phase voltage commands v u * , v v * , v w * by using a predetermined conversion example. It is to convert.
  • a conversion matrix for converting the dq axis voltage commands v d * , v q * into the three-phase voltage commands v u * , v v * , v w * is known. Therefore, detailed description of the conversion matrix is omitted.
  • the two-axis / three-phase conversion unit 33 outputs the converted three-phase voltage commands v u * , v v * , v w * to the drive circuit 3.
  • the drive circuit 3 supplies a current according to the three-phase voltage commands v u * , v v * , v w * to the three-phase winding.
  • the edge detection unit 11 and the indefinite period position calculation unit 12 constitute a rotation state calculation unit 10c.
  • the current command generator 21 and the control command generator 22c constitute a control command calculator 20c.
  • the voltage command generator 32c and the biaxial three-phase converter 33 configure a voltage command calculator 30c.
  • the rotation state calculation unit 10c, the control command generation unit 22c, and the voltage command calculation unit 30c constitute a main part of the motor control device 100c.
  • the brushless DC motor 2, the drive circuit 3, the position sensor 4, and the motor control device 100c constitute a main part of the actuator device 200c.
  • the hardware configuration of the main part of the motor control device 100c is the same as that described in Embodiment 1 with reference to FIG. 8, illustration and description thereof will be omitted. That is, the functions of the rotation state calculation unit 10c, the control command calculation unit 20c, and the voltage command calculation unit 30c may be realized by the processor 41 and the memory 42, or by a dedicated processing circuit 43. It may be one.
  • the motor control device 100c can eliminate the need for the rotation state calculation unit 10c to perform the process of calculating the rotor speed ⁇ e_ave in an indefinite cycle. As a result, the calculation load on the rotation state calculation unit 10c can be reduced. Further, in the voltage command calculation unit 30c, the process of temporally interpolating the value of the electrical angle ⁇ corresponding to the voltage phase ⁇ dq can be eliminated. As a result, the calculation load on the voltage command calculation unit 30c can be reduced.
  • the invention of the present application is capable of freely combining the embodiments, modifying any constituent element of each embodiment, or omitting any constituent element in each embodiment. ..
  • the motor control device and the motor control method of the present invention can be used, for example, for controlling a brushless DC motor in an actuator device.
  • the actuator device of the present invention can be used, for example, for controlling the opening of a vehicle-mounted valve device.
  • valve device 1 valve device, 2 brushless DC motor, 3 drive circuit, 4 position sensor, 5 electronic control unit (ECU), 6 temperature sensor, 10 and 10c rotation state calculation unit, 11 edge detection unit, 12 indeterminate cycle position calculation unit, 13 Indefinite cycle speed calculator, 20, 20a, 20b, 20c control command calculator, 21 current command generator, 22, 22a, 22b, 22c control command generator, 30, 30c voltage command calculator, 31 correction position calculator, 32, 32c voltage command generation unit, 33 2-axis 3-phase conversion unit, 41 processor, 42 memory, 43 processing circuit, 100, 100a, 100b, 100c motor control device, 200, 200a, 200b, 200c actuator device.

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Abstract

This motor control device (100) is provided with: a rotation state calculation unit (10) which calculates a rotor position (θe) and a rotor speed (ωe_ave) using a position pulse signal corresponding to the output of a position sensor (4); and a voltage command calculation unit (30) which calculates a plurality of corrected positions (θe *) sequentially by temporally interpolating the value of an electrical angle (θ) on the basis of the speed (ωe_ave), and generates three-phase voltage commands (vu *, vv *, vw *) to a drive circuit (3) for a brushless DC motor (2) on the basis of each of the corrected positions (θe *).

Description

モータ制御装置、アクチュエータ装置及びモータ制御方法Motor control device, actuator device, and motor control method
　本発明は、モータ制御装置、アクチュエータ装置及びモータ制御方法に関する。 The present invention relates to a motor control device, an actuator device, and a motor control method.
　従来、ＥＧＲ（Ｅｘｈａｕｓｔ　Ｇａｓ　Ｒｅｃｉｒｃｕｌａｔｉｏｎ）バルブ、ウェイストゲートバルブ及びＶＶＴ（Ｖａｒｉａｂｌｅ　Ｖａｌｖｅ　Ｔｉｍｉｎｇ）などの種々のバルブ装置が車両に搭載されている。これらのバルブ装置の開度制御に電動式のアクチュエータ装置が用いられており、このアクチュエータ装置にブラシレスＤＣ（Ｄｉｒｅｃｔ　Ｃｕｒｒｅｎｔ）モータが用いられている。ブラシレスＤＣモータの駆動電流の制御方式には、いわゆる「１２０度矩形波通電制御」及び「ベクトル制御」などがある。 Conventionally, various valve devices such as an EGR (Exhaust Gas Recirculation) valve, a wastegate valve, and a VVT (Variable Valve Timing) are mounted on a vehicle. An electric actuator device is used to control the opening degree of these valve devices, and a brushless DC (Direct Current) motor is used for this actuator device. The control method of the drive current of the brushless DC motor includes so-called "120-degree rectangular wave energization control" and "vector control".
　通常、ベクトル制御においては、シャント抵抗器などの電流センサを用いてブラシレスＤＣモータの駆動電流を検出することが求められる。これに対して、特許文献１には、電流センサを不要としたベクトル制御、すなわち電流センサレス方式のベクトル制御によりブラシレスＤＣモータの駆動電流を制御する技術が開示されている。 Normally, in vector control, it is required to detect the drive current of the brushless DC motor using a current sensor such as a shunt resistor. On the other hand, Patent Document 1 discloses a technique of controlling the drive current of a brushless DC motor by vector control that does not require a current sensor, that is, vector control of a current sensorless system.
特開２００５－１２４３５９号公報JP, 2005-124359, A
　特許文献１記載の技術は、いわゆる「オブザーバ」を用いて、ブラシレスＤＣモータにおける電流、より具体的にはｑ軸における電流を推定するものである。これにより、電流センサを不要としたものである。 The technique described in Patent Document 1 uses a so-called “observer” to estimate the current in the brushless DC motor, more specifically, the current in the q-axis. This eliminates the need for a current sensor.
　一般に、オブザーバによる推定を安定させる観点から、オブザーバの極は複素数平面のうちの左半平面に配置するのが好適である。また、オブザーバによる推定の応答性を向上する観点から、オブザーバの極は複素数平面における原点から遠い位置に配置するのが好適である。すなわち、オブザーバによる推定の精度を向上する観点から、オブザーバの極は複素数平面のうちの左半平面における原点から遠い位置に配置するのが好適である。他方、オブザーバによる推定は、いわゆる「サンプリング定理」に基づく制御周期の制約を受ける。このため、オブザーバによる推定における再現性を向上する観点から、すなわちオブザーバによる推定の精度を向上する観点から、オブザーバを含む制御装置の制御周期は短くするのが好適である。 Generally, from the viewpoint of stabilizing the estimation by the observer, it is preferable to place the poles of the observer on the left half plane of the complex plane. Further, from the viewpoint of improving the responsiveness of the estimation by the observer, it is preferable to arrange the observer poles at a position far from the origin on the complex plane. That is, from the viewpoint of improving the accuracy of estimation by the observer, it is preferable to arrange the observer pole at a position far from the origin on the left half plane of the complex plane. On the other hand, the estimation by the observer is restricted by the control period based on the so-called “sampling theorem”. Therefore, from the viewpoint of improving the reproducibility in the estimation by the observer, that is, the accuracy of the estimation by the observer, it is preferable to shorten the control cycle of the control device including the observer.
　特許文献１記載の技術は、仮にオブザーバ（オブザーバ１）の極を上記のように配置したとしても、オブザーバ（オブザーバ１）を含む制御装置（電流制御部７）の制御周期が長い場合、オブザーバ（オブザーバ１）による推定の精度が低下する問題があった。この結果、オブザーバ（オブザーバ１）を含む制御装置（電流制御部７）による制御の精度が低下する問題があった。 In the technique described in Patent Document 1, even if the poles of the observer (observer 1) are arranged as described above, if the control cycle of the control device (current control unit 7) including the observer (observer 1) is long, the observer ( There was a problem that the accuracy of the estimation by the observer 1) decreased. As a result, there is a problem that the accuracy of control by the control device (current control unit 7) including the observer (observer 1) decreases.
　また、特許文献１記載の技術におけるオブザーバ（オブザーバ１）による推定は、ブラシレスＤＣモータ（同期電動機１１）におけるロータの角速度の実測値を用いるものである。このため、当該角速度を検出するセンサ（速度検出部１４）の分解能が低い場合も上記と同様の問題があった。すなわち、オブザーバ（オブザーバ１）による推定の精度が低下することにより、オブザーバ（オブザーバ１）を含む制御装置（電流制御部７）による制御の精度が低下する問題があった。 The estimation by the observer (observer 1) in the technique described in Patent Document 1 uses the measured value of the angular velocity of the rotor in the brushless DC motor (synchronous electric motor 11). Therefore, even when the resolution of the sensor (speed detection unit 14) that detects the angular velocity is low, the same problem as described above occurs. That is, there is a problem in that the accuracy of estimation by the observer (observer 1) decreases, and thus the accuracy of control by the control device (current control unit 7) including the observer (observer 1) decreases.
　本発明は、上記のような課題を解決するためになされたものであり、ブラシレスＤＣモータの駆動電流を電流センサレス方式のベクトル制御により制御するとき、低分解能な位置センサを用いて当該制御の精度の向上を図ることを目的とする。 The present invention has been made to solve the above problems, and when controlling the drive current of a brushless DC motor by vector control of a current sensorless system, the accuracy of the control is performed by using a low-resolution position sensor. The purpose is to improve.
　本発明のモータ制御装置は、ロータ用の位置センサを有するブラシレスＤＣモータに対する駆動電流を電流センサレス方式のベクトル制御により制御するモータ制御装置であって、位置センサの出力に対応する位置パルス信号を用いてロータの位置及びロータの速度を算出する回転状態演算部と、電気角の値を速度に基づき時間的に補間することにより複数個の補正位置を順次算出するとともに、個々の補正位置に基づきブラシレスＤＣモータ用の駆動回路に対する３相電圧指令を生成する電圧指令演算部と、を備えるものである。 A motor control device of the present invention is a motor control device for controlling a drive current for a brushless DC motor having a rotor position sensor by vector control of a current sensorless system, and uses a position pulse signal corresponding to the output of the position sensor. Rotation status calculation unit that calculates the rotor position and rotor speed, and a plurality of correction positions are sequentially calculated by temporally interpolating the value of the electrical angle based on the speed, and brushless based on each correction position. And a voltage command calculator that generates a three-phase voltage command for the drive circuit for the DC motor.
　本発明によれば、上記のように構成したので、ブラシレスＤＣモータの駆動電流を電流センサレス方式のベクトル制御により制御するとき、低分解能な位置センサを用いて当該制御の精度の向上を図ることができる。 According to the present invention, since it is configured as described above, when controlling the drive current of the brushless DC motor by the vector control of the current sensorless system, it is possible to improve the accuracy of the control by using the low-resolution position sensor. it can.
実施の形態１に係るモータ制御装置を含むアクチュエータ装置の要部を示すブロック図である。FIG. 3 is a block diagram showing a main part of an actuator device including the motor control device according to the first embodiment. 実施の形態１に係るモータ制御装置における回転状態演算部の要部を示すブロック図である。FIG. 3 is a block diagram showing a main part of a rotation state calculation unit in the motor control device according to the first embodiment. 実施の形態１に係るモータ制御装置における制御指令演算部の要部を示すブロック図である。FIG. 3 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the first embodiment. 実施の形態１に係るモータ制御装置における電圧指令演算部の要部を示すブロック図である。FIG. 3 is a block diagram showing a main part of a voltage command calculation unit in the motor control device according to the first embodiment. Ｕ相位置パルス信号、Ｖ相位置パルス信号、Ｗ相位置パルス信号及び更新パルス信号の例を示すタイミングチャートである。It is a timing chart which shows the example of a U-phase position pulse signal, a V-phase position pulse signal, a W-phase position pulse signal, and an update pulse signal. ｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊並びにｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊に対応する電圧ベクトルＶｒ ＊及び電圧位相θｄｑがｄｑ座標系にて極座標表示された状態の例を示す説明図である。dq-axis voltage command v d *, v q * and the dq-axis voltage command v d *, v q voltage vector V r * and voltage phase theta dq corresponding to * is an example of a state of being polar coordinates by the dq coordinate system FIG. 補正位置θｅ ＊の値と正規化電圧指令ｖｕ＿ｎｏｒｍａｌ ＊，ｖｖ＿ｎｏｒｍａｌ ＊の値との対応関係の例を示す説明図である。It is explanatory drawing which shows the example of a correspondence of the value of correction position (theta) e * , and the value of normalized voltage command vu_normal * , vv_normal * . 図８Ａは、実施の形態１に係るモータ制御装置のハードウェア構成を示す説明図である。図８Ｂは、実施の形態１に係るモータ制御装置の他のハードウェア構成を示す説明図である。FIG. 8A is an explanatory diagram showing a hardware configuration of the motor control device according to the first embodiment. FIG. 8B is an explanatory diagram showing another hardware configuration of the motor control device according to the first embodiment. 実施の形態１に係るモータ制御装置における電流指令生成部の動作を示すフローチャートである。5 is a flowchart showing an operation of a current command generation unit in the motor control device according to the first embodiment. 実施の形態１に係るモータ制御装置における制御指令生成部の動作を示すフローチャートである。5 is a flowchart showing an operation of a control command generation unit in the motor control device according to the first embodiment. 実施の形態１に係るモータ制御装置における補正位置算出部の動作を示すフローチャートである。5 is a flowchart showing an operation of a corrected position calculation unit in the motor control device according to the first embodiment. 実施の形態１に係るモータ制御装置における電圧指令生成部の動作を示すフローチャートである。5 is a flowchart showing an operation of a voltage command generation unit in the motor control device according to the first embodiment. 実施の形態２に係るモータ制御装置を含むアクチュエータ装置の要部を示すブロック図である。5 is a block diagram showing a main part of an actuator device including a motor control device according to a second embodiment. FIG. 実施の形態２に係るモータ制御装置における制御指令演算部の要部を示すブロック図である。FIG. 6 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the second embodiment. 実施の形態２に係るモータ制御装置における制御指令生成部の動作を示すフローチャートである。7 is a flowchart showing an operation of a control command generation unit in the motor control device according to the second embodiment. 実施の形態３に係るモータ制御装置を含むアクチュエータ装置の要部を示すブロック図である。7 is a block diagram showing a main part of an actuator device including a motor control device according to a third embodiment. FIG. 実施の形態３に係るモータ制御装置における制御指令演算部の要部を示すブロック図である。FIG. 11 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the third embodiment. 実施の形態３に係るモータ制御装置における制御指令生成部の動作を示すフローチャートである。9 is a flowchart showing an operation of a control command generation unit in the motor control device according to the third embodiment. 実施の形態３に係るモータ制御装置を含む他のアクチュエータ装置の要部を示すブロック図である。FIG. 11 is a block diagram showing a main part of another actuator device including the motor control device according to the third embodiment. 実施の形態３に係るモータ制御装置を含む他のアクチュエータ装置の要部を示すブロック図である。FIG. 11 is a block diagram showing a main part of another actuator device including the motor control device according to the third embodiment. 参考例１に係るモータ制御装置を含むアクチュエータ装置の要部を示すブロック図である。4 is a block diagram showing a main part of an actuator device including a motor control device according to Reference Example 1. FIG. 参考例１に係るモータ制御装置における回転状態演算部の要部を示すブロック図である。6 is a block diagram showing a main part of a rotation state calculation unit in the motor control device according to Reference Example 1. FIG. 参考例１に係るモータ制御装置における制御指令演算部の要部を示すブロック図である。6 is a block diagram showing a main part of a control command calculation unit in the motor control device according to Reference Example 1. FIG. 参考例１に係るモータ制御装置における電圧指令演算部の要部を示すブロック図である。6 is a block diagram showing a main part of a voltage command calculation unit in the motor control device according to Reference Example 1. FIG.
　以下、この発明をより詳細に説明するために、この発明を実施するための形態について、添付の図面に従って説明する。 Hereinafter, in order to explain the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.
実施の形態１．
　図１は、実施の形態１に係るモータ制御装置を含むアクチュエータ装置の要部を示すブロック図である。図２は、実施の形態１に係るモータ制御装置における回転状態演算部の要部を示すブロック図である。図３は、実施の形態１に係るモータ制御装置における制御指令演算部の要部を示すブロック図である。図４は、実施の形態１に係るモータ制御装置における電圧指令演算部の要部を示すブロック図である。図１～図４を参照して、実施の形態１に係るモータ制御装置１００及びアクチュエータ装置２００について説明する。 Embodiment 1.
FIG. 1 is a block diagram showing a main part of an actuator device including a motor control device according to the first embodiment. FIG. 2 is a block diagram showing a main part of the rotation state calculation unit in the motor control device according to the first embodiment. FIG. 3 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the first embodiment. FIG. 4 is a block diagram showing a main part of the voltage command calculation unit in the motor control device according to the first embodiment. The motor control device 100 and the actuator device 200 according to the first embodiment will be described with reference to FIGS. 1 to 4.
　図中、１はバルブ装置である。バルブ装置１は、例えば、ＥＧＲバルブ、ウェイストゲートバルブ又はＶＶＴにより構成されている。バルブ装置１は、リターンスプリングなどの付勢部材（不図示）を有している。バルブ装置１は、アクチュエータ装置２００による駆動トルクが供給されていないとき、付勢部材による付勢トルクにより、所定の開度に保持されるようになっている。より具体的には、開弁状態、閉弁状態又は開弁状態と閉弁状態との中間状態に保持されるようになっている。 In the figure, 1 is a valve device. The valve device 1 is composed of, for example, an EGR valve, a waste gate valve or a VVT. The valve device 1 has a biasing member (not shown) such as a return spring. The valve device 1 is configured to be held at a predetermined opening by the biasing torque of the biasing member when the driving torque of the actuator device 200 is not supplied. More specifically, the valve opening state, the valve closing state, or the intermediate state between the valve opening state and the valve closing state is maintained.
　アクチュエータ装置２００は、バルブ装置１に駆動トルクを供給することにより、バルブ装置１の開度を制御するものである。すなわち、ブラシレスＤＣモータ２は、ロータ（不図示）及びステータ（不図示）を有している。ステータは、Ｕ相に対応する巻線（以下「Ｕ相巻線」という。）、Ｖ相に対応する巻線（以下「Ｖ相巻線」という。）及びＷ相に対応する巻線（以下「Ｗ相巻線」という。）を有している。駆動回路３がＵ相巻線、Ｖ相巻線及びＷ相巻線の各々に駆動電流を供給することにより、バルブ装置１に対する駆動トルクが発生する。以下、Ｕ相巻線、Ｖ相巻線及びＷ相巻線を総称して「三相巻線」又は「電機子巻線」ということがある。 The actuator device 200 controls the opening degree of the valve device 1 by supplying a drive torque to the valve device 1. That is, the brushless DC motor 2 has a rotor (not shown) and a stator (not shown). The stator includes a winding corresponding to the U phase (hereinafter referred to as “U phase winding”), a winding corresponding to the V phase (hereinafter referred to as “V phase winding”), and a winding corresponding to the W phase (hereinafter referred to as “w”). "W-phase winding"). The drive circuit 3 supplies a drive current to each of the U-phase winding, the V-phase winding, and the W-phase winding to generate a drive torque for the valve device 1. Hereinafter, the U-phase winding, the V-phase winding, and the W-phase winding may be collectively referred to as “three-phase winding” or “armature winding”.
　駆動回路３は、いわゆる「インバータ」により構成されている。すなわち、駆動回路３は、Ｕ相に対応するスイッチング素子、Ｖ相に対応するスイッチング素子及びＷ相に対応するスイッチング素子を有している。各相に対応するスイッチング素子は、いわゆる「パワー半導体」により構成されている。駆動回路３は、各相に対応するスイッチング素子のオンオフを時間的に切り替えることにより、三相巻線に駆動電流を供給するものである。 The drive circuit 3 is composed of a so-called "inverter". That is, the drive circuit 3 has a switching element corresponding to the U phase, a switching element corresponding to the V phase, and a switching element corresponding to the W phase. The switching element corresponding to each phase is composed of a so-called "power semiconductor". The drive circuit 3 supplies a drive current to the three-phase winding by switching on / off of the switching element corresponding to each phase in time.
　ここで、駆動回路３は、Ｕ相に対応する電圧指令（以下「Ｕ相電圧指令」という。）ｖｕ ＊に応じた電流をＵ相巻線に供給するようになっている。また、駆動回路３は、Ｖ相に対応する電圧指令（以下「Ｖ相電圧指令」という。）ｖｖ ＊に応じた電流をＶ相巻線に供給するようになっている。さらに、駆動回路３は、Ｗ相に対応する電圧指令（以下「Ｗ相電圧指令」という。）ｖｗ ＊に応じた電流をＷ相巻線に供給するようになっている。以下、Ｕ相電圧指令ｖｕ ＊、Ｖ相電圧指令ｖｖ ＊及びＷ相電圧指令ｖｗ ＊を総称して「３相電圧指令」ということがある。３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊は、例えば、いわゆる「最大トルク制御」を実現するための電圧指令である。 Here, the drive circuit 3 is configured to supply a current according to a voltage command (hereinafter, referred to as “U-phase voltage command”) v u * corresponding to the U-phase to the U-phase winding. Further, the drive circuit 3 is configured to supply a current according to a voltage command (hereinafter, referred to as “V phase voltage command”) v v * corresponding to the V phase to the V phase winding. Further, the drive circuit 3 is configured to supply a current according to a voltage command corresponding to the W phase (hereinafter referred to as “W phase voltage command”) v w * to the W phase winding. Hereinafter, the U-phase voltage command v u * , the V-phase voltage command v v *, and the W-phase voltage command v w * may be collectively referred to as “three-phase voltage command”. The three-phase voltage commands v u * , v v * , v w * are voltage commands for realizing, for example, so-called “maximum torque control”.
　ブラシレスＤＣモータ２は、ロータ用の位置センサ４を有している。位置センサ４は、例えば、Ｕ相に対応するホールＩＣ（Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、Ｖ相に対応するホールＩＣ及びＷ相に対応するホールＩＣにより構成されている。各相に対応するホールＩＣは、ロータの回転に応じて、連続パルス状の信号（以下「位置パルス信号」という。）を出力するものである。 The brushless DC motor 2 has a rotor position sensor 4. The position sensor 4 includes, for example, a Hall IC (Integrated Circuit) corresponding to the U phase, a Hall IC corresponding to the V phase, and a Hall IC corresponding to the W phase. The Hall IC corresponding to each phase outputs a continuous pulse signal (hereinafter referred to as "position pulse signal") according to the rotation of the rotor.
　以下、Ｕ相に対応する位置パルス信号を「Ｕ相位置パルス信号」ということがあり、Ｖ相に対応する位置パルス信号を「Ｖ相位置パルス信号」ということがあり、Ｗ相に対応する位置パルス信号を「Ｗ相位置パルス信号」ということがある。また、Ｕ相位置パルス信号における個々のパルスを「Ｕ相位置パルス」ということがあり、Ｖ相位置パルス信号における個々のパルスを「Ｖ相位置パルス」ということがあり、Ｗ相位置パルス信号における個々のパルスを「Ｗ相位置パルス」ということがある。また、Ｕ相位置パルス、Ｖ相位置パルス及びＷ相位置パルスを総称して「位置パルス」ということがある。 Hereinafter, the position pulse signal corresponding to the U phase may be referred to as “U phase position pulse signal”, the position pulse signal corresponding to the V phase may be referred to as “V phase position pulse signal”, and the position corresponding to the W phase The pulse signal may be referred to as a "W-phase position pulse signal". Further, individual pulses in the U-phase position pulse signal may be referred to as “U-phase position pulse”, individual pulses in the V-phase position pulse signal may be referred to as “V-phase position pulse”, and W-phase position pulse signal Each pulse may be referred to as a "W-phase position pulse". Further, the U-phase position pulse, the V-phase position pulse, and the W-phase position pulse may be collectively referred to as "position pulse".
　各相に対応する位置パルス信号は、ロータが１回転する間に少なくとも１パルスが出力されるものである。例えば、各相に対応する位置パルス信号は、ロータが機械角３６０度分回転する毎に、ロータが電気角６０度分回転する毎に、ロータが電気角３０度分回転する毎に、又はロータが電気角１５度分回転する毎に１パルスが出力されるものである。すなわち、位置センサ４は、ベクトル制御に用いられる一般的な位置センサ（光学式エンコーダ又はレゾルバなど）に比して低分解能なものである。 ∙ The position pulse signal corresponding to each phase is such that at least one pulse is output during one rotation of the rotor. For example, the position pulse signal corresponding to each phase may be output every time the rotor rotates by a mechanical angle of 360 degrees, every time the rotor rotates by an electrical angle of 60 degrees, every time the rotor rotates by an electrical angle of 30 degrees, or One pulse is output each time is rotated by an electrical angle of 15 degrees. That is, the position sensor 4 has a lower resolution than a general position sensor (optical encoder, resolver, or the like) used for vector control.
　エッジ検出部１１は、位置パルス信号の入力を受け付けるものである。エッジ検出部１１は、当該入力された位置パルス信号における個々のエッジを検出するものである。すなわち、エッジ検出部１１は、Ｕ相位置パルス信号における個々のアップエッジ、Ｖ相位置パルス信号における個々のアップエッジ、及びＷ相位置パルス信号における個々のアップエッジを検出するものである。または、エッジ検出部１１は、Ｕ相位置パルス信号における個々のダウンエッジ、Ｖ相位置パルス信号における個々のダウンエッジ、及びＷ相位置パルス信号における個々のダウンエッジを検出するものである。または、エッジ検出部１１は、Ｕ相位置パルス信号における個々のアップエッジ及び個々のダウンエッジ、Ｖ相位置パルス信号における個々のアップエッジ及び個々のダウンエッジ、並びにＷ相位置パルス信号における個々のアップエッジ及び個々のダウンエッジを検出するものである。 The edge detection unit 11 receives an input of a position pulse signal. The edge detection unit 11 detects each edge in the input position pulse signal. That is, the edge detector 11 detects each up edge in the U-phase position pulse signal, each up edge in the V-phase position pulse signal, and each up edge in the W-phase position pulse signal. Alternatively, the edge detector 11 detects individual down edges in the U-phase position pulse signal, individual down edges in the V-phase position pulse signal, and individual down edges in the W-phase position pulse signal. Alternatively, the edge detection unit 11 may include individual up edges and individual down edges in the U-phase position pulse signal, individual up edges and individual down edges in the V phase position pulse signal, and individual up edges in the W phase position pulse signal. Edges and individual down edges are detected.
　エッジ検出部１１は、これらのエッジの検出に応じて、単発パルス状の信号（以下「更新パルス信号」という。）を出力するものである。すなわち、更新パルス信号における個々のパルスは、位置パルス信号における個々のエッジに対応するものである。以下、更新パルス信号における個々のパルスを「更新パルス」ということがある。図５は、Ｕ相位置パルス信号、Ｖ相位置パルス信号、Ｗ相位置パルス信号及び更新パルス信号の例を示している。図５に示す例においては、各相に対応する位置パルスの出力周期が電気角３６０度であるのに対して、更新パルスの出力周期が電気角６０度である。 The edge detection unit 11 outputs a single pulse signal (hereinafter referred to as “update pulse signal”) in response to the detection of these edges. That is, each pulse in the update pulse signal corresponds to each edge in the position pulse signal. Hereinafter, each pulse in the update pulse signal may be referred to as "update pulse". FIG. 5 shows an example of the U-phase position pulse signal, the V-phase position pulse signal, the W-phase position pulse signal, and the update pulse signal. In the example shown in FIG. 5, the output cycle of the position pulse corresponding to each phase is 360 electrical degrees, whereas the output cycle of the update pulse is 60 electrical degrees.
　不定周期位置算出部１２は、更新パルス信号の入力を受け付けるものである。不定周期位置算出部１２は、当該入力された更新パルス信号の値が１となる度に、ロータの磁極位置（以下単に「位置」ということがある。）θｅを算出するものである。ここで、θｅは電気角であり、θｅの単位はラジアン（ｒａｄ）である。 The indefinite period position calculation unit 12 receives the input of the update pulse signal. The indefinite cycle position calculation unit 12 calculates the magnetic pole position (hereinafter, simply referred to as “position”) θ e of the rotor every time the value of the input update pulse signal becomes 1. Here, θ e is an electrical angle, and the unit of θ e is radian (rad).
　すなわち、不定周期位置算出部１２には、互いに連続する各２個の更新パルス間の区間における位置θｅの変化量ｄθｅの絶対値｜ｄθｅ｜を示す情報が予め記憶されている。不定周期位置算出部１２は、Ｕ相位置パルス、Ｖ相位置パルス及びＷ相位置パルスの出力順に基づき、ロータの回転方向を判定する。不定周期位置算出部１２は、前回の更新パルスの出力時における位置θｅに対して、当該記憶されている情報が示す値｜ｄθｅ｜を当該判定の結果に応じて加算又は減算することにより、今回の更新パルスの出力時における位置θｅを算出する。不定周期位置算出部１２は、次回の更新パルスの出力時における位置θｅが算出されるまで、当該算出された位置θｅ、すなわち今回の更新パルスの出力時における位置θｅを出力用に保持する。 That is, the indefinite period position calculation unit 12 stores in advance information indicating the absolute value | dθ e | of the change amount dθ e of the position θ e in the interval between each two consecutive update pulses. The indefinite cycle position calculation unit 12 determines the rotation direction of the rotor based on the output order of the U-phase position pulse, the V-phase position pulse, and the W-phase position pulse. The indefinite period position calculating unit 12 adds or subtracts the value | dθ e | indicated by the stored information to or from the position θ e at the time of outputting the previous update pulse according to the result of the determination. , The position θ e at the time of outputting the current update pulse is calculated. The indefinite cycle position calculation unit 12 holds the calculated position θ e , that is, the position θ e at the time of outputting the current update pulse for output until the position θ e at the time of outputting the next update pulse is calculated. To do.
　不定周期速度算出部１３は、更新パルス信号の入力を受け付けるものである。不定周期速度算出部１３は、当該入力された更新パルス信号の値が１となる度に、すなわち不定周期位置算出部１２が位置θｅを算出する度に、当該算出された位置θｅを不定周期位置算出部１２から取得するものである。不定周期速度算出部１３は、位置θｅを取得する度に、ロータの速度ωｅ＿ａｖｅを算出するものである。ここで、ωｅ＿ａｖｅは前回の更新パルスの出力時から今回の更新パルスの出力時までの区間における電気角速度ωｅの平均値であり、ωｅ＿ａｖｅの単位はラジアン毎秒（ｒａｄ／ｓ）である。 The indefinite period speed calculation unit 13 receives the input of the update pulse signal. The indefinite cycle speed calculation unit 13 uncertains the calculated position θ e each time the value of the input update pulse signal becomes 1, that is, every time the indefinite cycle position calculation unit 12 calculates the position θ e . It is acquired from the periodic position calculation unit 12. The indefinite cycle speed calculation unit 13 calculates the rotor speed ω e_ave every time the position θ e is acquired. Here, ω e_ave is the average value of the electrical angular velocity ω e in the section from the time of the output of the previous update pulse to the output of the current update pulse, and the unit of ω e_ave is radian per second (rad / s).
　すなわち、不定周期速度算出部１３には、位置センサ４の分解能θｅ＿ｒｅｓを示す情報が予め記憶されている。不定周期速度算出部１３は、前回の更新パルスの出力時から今回の更新パルスの出力時までの時間Ｔωｅを算出する。不定周期速度算出部１３は、前回の更新パルスの出力時から今回の更新パルスの出力時までの区間における変化量ｄθｅの正負に基づき、以下の式（１）により速度ωｅ＿ａｖｅを算出する。なお、当該式（１）におけるｓｇｎ（・）は符号関数である。不定周期速度算出部１３は、次回の更新パルスの出力時における速度ωｅ＿ａｖｅが算出されるまで、当該算出された速度ωｅ＿ａｖｅ、すなわち今回の更新パルスの出力時における速度ωｅ＿ａｖｅを出力用に保持する。 That is, the indefinite cycle speed calculation unit 13 stores in advance information indicating the resolution θ e — res of the position sensor 4. The indefinite cycle speed calculation unit 13 calculates the time T ωe from the output of the previous update pulse to the output of the current update pulse. The indefinite cycle speed calculation unit 13 calculates the speed ω e_ave by the following formula (1) based on the positive / negative of the change amount dθ e in the section from the output of the previous update pulse to the output of the current update pulse. Note that sgn (·) in the equation (1) is a sign function. The indefinite period speed calculation unit 13 holds the calculated speed ω e_ave , that is, the speed ω e_ave at the time of outputting the current update pulse for output until the speed ω e_ave at the time of outputting the next update pulse is calculated. To do.
Figure JPOXMLDOC01-appb-I000001
Figure JPOXMLDOC01-appb-I000001
　ここで、アクチュエータ装置２００が動作しているとき、更新パルスの出力周期はロータの回転速度に応じて変動する。このため、不定周期位置算出部１２による位置θｅの算出処理及び不定周期速度算出部１３による速度ωｅ＿ａｖｅの算出処理は、いずれも不定周期に実行されるものである。不定周期位置算出部１２が位置θｅを不定周期に算出することにより、仮に不定周期位置算出部１２が位置θｅを定周期に算出する場合に比して、ロータの磁極位置の検出漏れが発生するのを抑制することができる。不定周期速度算出部１３が速度ωｅ＿ａｖｅを不定周期に算出することにより、仮に不定周期速度算出部１３が速度ωｅ＿ａｖｅを定周期に算出する場合に比して、前回の更新パルスの出力時から今回の更新パルスの出力時までの区間における電気角速度ωｅの平均値、すなわち速度ωｅ＿ａｖｅを正確に算出することができる。 Here, when the actuator device 200 is operating, the output cycle of the update pulse fluctuates according to the rotation speed of the rotor. Therefore, the calculation processing of the position θ e by the indefinite cycle position calculation unit 12 and the calculation processing of the speed ω e_ave by the indefinite cycle speed calculation unit 13 are both executed in an indefinite cycle. Since the indefinite cycle position calculation unit 12 calculates the position θ e in an indefinite cycle, detection leakage of the magnetic pole position of the rotor is less than that in the case where the indefinite cycle position calculation unit 12 calculates the position θ e in a definite cycle. It is possible to suppress the occurrence. By indefinite period speed calculating section 13 calculates the velocity omega E_ave indefinite period, if compared with the case where indefinite period speed calculating section 13 calculates the velocity omega E_ave to periodic, from the time the output of the previous update pulse It is possible to accurately calculate the average value of the electrical angular velocities ω e , that is, the velocity ω e_ave in the section until the output of the update pulse this time.
　エッジ検出部１１、不定周期位置算出部１２及び不定周期速度算出部１３により、回転状態演算部１０が構成されている。上記のとおり、回転状態演算部１０により実行される処理は、不定周期に実行される処理を含むものである。このため、回転状態演算部１０の制御周期は不定である。 The edge detection unit 11, the indefinite cycle position calculation unit 12, and the indefinite cycle speed calculation unit 13 constitute a rotation state calculation unit 10. As described above, the processing executed by the rotation state calculation unit 10 includes the processing executed in an indefinite cycle. Therefore, the control cycle of the rotation state calculation unit 10 is indefinite.
　電流指令生成部２１は、モータ制御装置１００に対する上位の電子制御ユニット（以下「ＥＣＵ」と記載する。）５により生成された位置指令θｅ＿ｄｉｒをＥＣＵ５から取得するものである。また、電流指令生成部２１は、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得するものである。 The current command generation unit 21 acquires from the ECU 5 the position command θ e_dir generated by a higher-order electronic control unit (hereinafter referred to as “ECU”) 5 for the motor control device 100. Further, the current command generation unit 21 acquires the position θ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12.
　電流指令生成部２１は、当該取得された位置指令θｅ＿ｄｉｒ及び位置θｅに基づき、いわゆる「古典制御」により、位置指令θｅ＿ｄｉｒに対する位置θｅの差分値（以下「位置偏差」という。）δθｅを零値に近づけるための電流指令を生成するものである。より具体的には、電流指令生成部２１は、ＰＩＤ（Ｐｒｏｐｏｒｔｉｏｎａｌ　Ｉｎｔｅｇｒａｌ　Ｄｉｆｆｅｒｅｎｔｉａｌ）制御により、ｑ軸における電流指令（以下「ｑ軸電流指令」という。）ｉｑ ＊を生成するものである。 The current command generation unit 21 performs a so-called “classical control” on the basis of the acquired position command θ e_dir and position θ e , and a difference value of the position θ e with respect to the position command θ e_dir (hereinafter referred to as “position deviation”) δθ. A current command for making e close to zero is generated. More specifically, the current command generation unit 21 generates a current command for the q-axis (hereinafter referred to as “q-axis current command”) i q * by PID (Proportional Integral Differential) control.
　制御指令生成部２２は、電流指令生成部２１により生成されたｑ軸電流指令ｉｑ ＊を電流指令生成部２１から取得するものである。また、制御指令生成部２２は、ｄ軸における電流指令（以下「ｄ軸電流指令」という。）ｉｄ ＊を電流指令生成部２１から取得するものである。さらに、制御指令生成部２２は、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得するものである。 The control command generation unit 22 acquires the q-axis current command i q * generated by the current command generation unit 21 from the current command generation unit 21. Further, the control command generation unit 22 acquires a current command for the d-axis (hereinafter referred to as “d-axis current command”) i d * from the current command generation unit 21. Further, the control command generation unit 22 acquires the position θ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12.
　ここで、ｄ軸電流指令ｉｄ ＊は所定値に設定されている。例えば、ｄ軸電流指令ｉｄ ＊は零値に設定されている。ただし、ｄ軸電流指令ｉｄ ＊は零値に限定されるものではなく、正値又は負値であっても良い。また、ｄ軸電流指令ｉｄ ＊は固定値であっても良く、又は可変値であっても良い。以下、ｄ軸電流指令ｉｄ ＊及びｑ軸電流指令ｉｑ ＊を総称して「ｄｑ軸電流指令」ということがある。 Here, the d-axis current command id * is set to a predetermined value. For example, the d-axis current command id * is set to zero. However, the d-axis current command id * is not limited to a zero value, and may be a positive value or a negative value. Further, the d-axis current command id * may be a fixed value or a variable value. Hereinafter, the d-axis current command i d * and the q-axis current command i q * may be collectively referred to as “dq-axis current command”.
　制御指令生成部２２は、当該取得されたｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊及び位置θｅに基づき、電圧指令演算部３０に対する制御指令（以下単に「制御指令」という。）を生成するものである。 Control command generating unit 22, the acquired dq axis current command i d *, based on i q * and the position theta e, the control command to the voltage command calculation unit 30 (hereinafter simply referred to as "control command".) To produce a It is a thing.
　すなわち、ｄ軸及びｑ軸による座標系（以下「ｄｑ座標系」という。）におけるブラシレスＤＣモータ２の電圧方程式は、以下の式（２）により与えられる。 That is, the voltage equation of the brushless DC motor 2 in the coordinate system based on the d-axis and the q-axis (hereinafter referred to as “dq coordinate system”) is given by the following equation (2).
Figure JPOXMLDOC01-appb-I000002
Figure JPOXMLDOC01-appb-I000002
　ここで、ｖｄ ＊はｄ軸における電圧指令（以下「ｄ軸電圧指令」という。）であり、ｖｄ ＊の単位はボルト（Ｖ）である。ｖｑ ＊はｑ軸における電圧指令（以下「ｑ軸電圧指令」という。）であり、ｖｑ ＊の単位はボルト（Ｖ）である。以下、ｄ軸電圧指令ｖｄ ＊及びｑ軸電圧指令ｖｑ ＊を総称して「ｄｑ軸電圧指令」ということがある。 Here, v d * is a voltage command on the d-axis (hereinafter referred to as “d-axis voltage command”), and the unit of v d * is volt (V). v q * is a voltage command on the q-axis (hereinafter referred to as “q-axis voltage command”), and the unit of v q * is volt (V). Hereinafter, the d-axis voltage command v d * and the q-axis voltage command v q * may be collectively referred to as “dq-axis voltage command”.
　また、ｉｄ ＊はｄ軸電流指令であり、ｉｄ ＊の単位はアンペア（Ａ）である。ｉｑ ＊はｑ軸電流指令であり、ｉｑ ＊の単位はアンペア（Ａ）である。 Further, i d * is a d-axis current command, and the unit of i d * is ampere (A). i q * is the q-axis current command, i q * units are ampere (A).
　また、Ｒａは電機子巻線抵抗であり、Ｒａの単位はオーム（Ω）である。 R a is the armature winding resistance, and the unit of R a is ohm (Ω).
　また、Ｌｄはｄ軸におけるインダクタンス（以下「ｄ軸インダクタンス」という。）であり、Ｌｄの単位はヘンリー（Ｈ）である。Ｌｑはｑ軸におけるインダクタンス（以下「ｑ軸インダクタンス」という。）であり、Ｌｑの単位はヘンリー（Ｈ）である。以下、ｄ軸インダクタンスＬｄ及びｑ軸インダクタンスＬｑを総称して「ｄｑ軸インダクタンス」ということがある。なお、ブラシレスＤＣモータ２が表面磁石型である場合、ｄｑ軸インダクタンスＬｄ，Ｌｑは互いに同等の値である。 Further, L d is the inductance on the d-axis (hereinafter referred to as “d-axis inductance”), and the unit of L d is Henry (H). L q is the inductance on the q-axis (hereinafter referred to as “q-axis inductance”), and the unit of L q is Henry (H). Hereinafter, the d-axis inductance L d and the q-axis inductance L q may be collectively referred to as “dq-axis inductance”. When the brushless DC motor 2 is a surface magnet type, the dq-axis inductances L d and L q have the same value.
　また、ωｅは電気角速度であり、ωｅの単位はラジアン毎秒（ｒａｄ／ｓ）である。なお、ωｅはθｅの時間微分値に対応するものである。 Further, ω e is an electrical angular velocity, and the unit of ω e is radian per second (rad / s). Note that ω e corresponds to the time differential value of θ e .
　また、φは電機子巻線鎖交磁束数であり、φの単位はボルト秒毎ラジアン（Ｖｓ／ｒａｄ）である。 Φ is the number of flux linkages in the armature winding, and the unit of Φ is radians per volt (Vs / rad).
　電機子巻線抵抗Ｒａ、ｄ軸インダクタンスＬｄ、ｑ軸インダクタンスＬｑ及び電機子巻線鎖交磁束数φの各々は、ブラシレスＤＣモータ２の仕様に応じた定数である。以下、電機子巻線抵抗Ｒａ、ｄ軸インダクタンスＬｄ、ｑ軸インダクタンスＬｑ及び電機子巻線鎖交磁束数φを総称して「モータ定数」ということがある。 The armature winding resistance R a , the d-axis inductance L d , the q-axis inductance L q, and the armature winding interlinkage magnetic flux number φ are constants according to the specifications of the brushless DC motor 2. Hereinafter, the armature winding resistance R a , the d-axis inductance L d , the q-axis inductance L q, and the armature winding interlinkage magnetic flux number φ may be collectively referred to as a “motor constant”.
　ｄ軸電流指令ｉｄ ＊が零値に設定されている場合（すなわちｉｄ ＊＝０である場合）、上記式（２）を整理することにより、以下の式（３）が得られる。 When the d-axis current command id * is set to a zero value (that is, when id * = 0), the following equation (3) is obtained by rearranging the above equation (2).
Figure JPOXMLDOC01-appb-I000003
Figure JPOXMLDOC01-appb-I000003
　電気角速度ωｅは、以下の式（４）により算出される。 The electrical angular velocity ω e is calculated by the following equation (4).
Figure JPOXMLDOC01-appb-I000004
Figure JPOXMLDOC01-appb-I000004
　ここで、θｅ（ｎ－１）は制御指令生成部２２により前回取得された位置θｅであり、θｅ（ｎ）は制御指令生成部２２により今回取得された位置θｅである。すなわち、ｎは、制御指令生成部２２による位置θｅの取得に係るサンプル番号である。 Here, θ e (n−1) is the position θ e previously acquired by the control command generation unit 22, and θ e (n) is the position θ e acquired this time by the control command generation unit 22. That is, n is a sample number related to the acquisition of the position θ e by the control command generation unit 22.
　また、ｄＴｐは制御指令演算部２０の制御周期である。すなわち、制御指令演算部２０は所定の制御周期ｄＴｐを有するものである。この周期ｄＴｐは、例えば、４ミリ秒（ｍｓ）に設定されている。以下、この周期ｄＴｐを「第１周期」ということがある。 Further, dT p is a control cycle of the control command calculation unit 20. That is, the control command calculator 20 has a predetermined control cycle dT p . The period dT p is set to 4 milliseconds (ms), for example. Hereinafter, this cycle dT p may be referred to as “first cycle”.
　以上の内容を踏まえて、制御指令生成部２２は、以下のように制御指令を生成する。すなわち、制御指令生成部２２には、ブラシレスＤＣモータ２の仕様を示す情報が予め記憶されている。制御指令生成部２２は、当該記憶されている情報が示す仕様に基づき、上記式（３）の計算に用いられるモータ定数Ｒａ，Ｌｄ，Ｌｑ，φの値を設定する。 Based on the above contents, the control command generation unit 22 generates a control command as follows. That is, the control command generation unit 22 stores in advance information indicating the specifications of the brushless DC motor 2. The control command generator 22 sets the values of the motor constants R a , L d , L q , and φ used in the calculation of the above equation (3) based on the specifications indicated by the stored information.
　また、制御指令生成部２２には、第１周期ｄＴｐを示す情報が予め記憶されている。制御指令生成部２２は、当該記憶されている情報が示す第１周期ｄＴｐ、今回取得された位置θｅ（ｎ）及び前回取得された位置θｅ（ｎ－１）に基づき、上記式（４）により電気角速度ωｅを算出する。このとき、制御指令生成部２２は、いわゆる「疑似微分器」を用いて電気角速度ωｅを算出するものであっても良い。 In addition, the control command generation unit 22 stores in advance information indicating the first cycle dT p . Based on the first cycle dT p indicated by the stored information, the position θ e (n) acquired this time, and the position θ e (n−1) acquired last time, the control command generation unit 22 calculates the above formula ( The electric angular velocity ω e is calculated according to 4). At this time, the control command generation unit 22 may calculate the electrical angular velocity ω e using a so-called “pseudo differentiator”.
　次いで、制御指令生成部２２は、当該設定されたモータ定数Ｒａ，Ｌｄ，Ｌｑ，φ、当該算出された電気角速度ωｅ及び今回取得されたｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊に基づき、上記式（３）によりｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を生成する。 Next, the control command generation unit 22 sets the set motor constants R a , L d , L q , φ, the calculated electrical angular velocity ω e, and the dq axis current commands i d * , i q * acquired this time . Based on the above, the dq axis voltage commands v d * , v q * are generated by the above equation (3).
　次いで、制御指令生成部２２は、当該生成されたｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊に基づき、以下の式（５）により、ｄｑ座標系における電圧ベクトルＶｒ ＊を算出する。また、制御指令生成部２２は、当該生成されたｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊に基づき、以下の式（６）により、ｄｑ座標系における電圧位相θｄｑを算出する。 Next, the control command generator 22 calculates the voltage vector V r * in the dq coordinate system by the following equation (5) based on the generated dq axis voltage commands v d * , v q * . Further, the control command generation unit 22 calculates the voltage phase θ dq in the dq coordinate system by the following formula (6) based on the generated dq axis voltage commands v d * , v q * .
Figure JPOXMLDOC01-appb-I000005
Figure JPOXMLDOC01-appb-I000005
Figure JPOXMLDOC01-appb-I000006
Figure JPOXMLDOC01-appb-I000006
　図６は、ｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊並びにｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊に対応する電圧ベクトルＶｒ ＊及び電圧位相θｄｑがｄｑ座標系にて極座標表示された状態の例を示す説明図である。なお、図中θは、θｄｑ＋θｅによる電気角を示している。制御指令生成部２２は、当該算出された電圧ベクトルＶｒ ＊の大きさ及び電圧位相θｄｑを含む制御指令を生成する。 In FIG. 6, the voltage vector V r * and the voltage phase θ dq corresponding to the dq-axis voltage commands v d * , v q * and the dq-axis voltage commands v d * , v q * are displayed in polar coordinates on the dq coordinate system. It is explanatory drawing which shows the example of a state. In the figure, θ indicates the electrical angle by θ dq + θ e . The control command generation unit 22 generates a control command including the magnitude of the calculated voltage vector V r * and the voltage phase θ dq .
　このように、ブラシレスＤＣモータ２の電圧方程式を用いることにより、ｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を生成するにあたり、ブラシレスＤＣモータ２の駆動電流の検出を不要とすることができるのはもちろんのこと、ブラシレスＤＣモータ２の駆動電流の推定も不要とすることができる。この結果、ブラシレスＤＣモータ２の駆動電流について、フィードフォワードによるベクトル制御を実現することができる。 As described above, by using the voltage equation of the brushless DC motor 2, it is not necessary to detect the drive current of the brushless DC motor 2 when generating the dq axis voltage commands v d * , v q *. Needless to say, it is not necessary to estimate the drive current of the brushless DC motor 2. As a result, the feed-forward vector control of the drive current of the brushless DC motor 2 can be realized.
　電流指令生成部２１及び制御指令生成部２２により、制御指令演算部２０が構成されている。上記のとおり、制御指令演算部２０は所定の制御周期ｄＴｐを有するものである。すなわち、電流指令生成部２１が位置指令θｅ＿ｄｉｒ及び位置θｅを取得する処理、電流指令生成部２１がｑ軸電流指令ｉｑ ＊を生成する処理、制御指令生成部２２がｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊及び位置θｅを取得する処理、並びに制御指令生成部２２が制御指令を生成する処理などは、第１周期ｄＴｐ毎に実行されるものである。 The current command generator 21 and the control command generator 22 constitute a control command calculator 20. As described above, the control command calculator 20 has a predetermined control cycle dT p . That is, the current command generation unit 21 acquires the position command θ e — dir and the position θ e , the current command generation unit 21 generates the q-axis current command i q * , and the control command generation unit 22 controls the dq-axis current command i. The process of acquiring d * , i q * and the position θ e , the process of generating the control command by the control command generation unit 22, and the like are executed every first cycle dT p .
　補正位置算出部３１は、制御指令生成部２２により生成された制御指令を制御指令生成部２２から取得するものである。また、補正位置算出部３１は、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得するとともに、不定周期速度算出部１３により算出された速度ωｅ＿ａｖｅを不定周期速度算出部１３から取得するものである。さらに、補正位置算出部３１は、更新パルス信号の入力を受け付けるものである。 The corrected position calculation unit 31 acquires the control command generated by the control command generation unit 22 from the control command generation unit 22. Further, the correction position calculation unit 31 acquires the position θ e calculated by the indefinite cycle position calculation unit 12 from the indefinite cycle position calculation unit 12, and also calculates the speed ω e_ave calculated by the indefinite cycle speed calculation unit 13 in the indefinite cycle. It is acquired from the speed calculation unit 13. Further, the corrected position calculation unit 31 receives the input of the update pulse signal.
　補正位置算出部３１は、当該取得された制御指令に含まれる電圧位相θｄｑ、当該取得された位置θｅ及び速度ωｅ＿ａｖｅ、並びに当該入力された更新パルス信号の値に基づき、以下の式（７）による計算及び以下の式（８）による計算を実行するものである。 The corrected position calculation unit 31 calculates the following equation based on the voltage phase θ dq included in the acquired control command, the acquired position θ e and the speed ω e_ave , and the value of the input update pulse signal. The calculation according to 7) and the calculation according to the following equation (8) are executed.
Figure JPOXMLDOC01-appb-I000007
Figure JPOXMLDOC01-appb-I000007
Figure JPOXMLDOC01-appb-I000008
Figure JPOXMLDOC01-appb-I000008
　ここで、ｄＴｃは電圧指令演算部３０の制御周期である。すなわち、電圧指令演算部３０は所定の制御周期ｄＴｃを有するものである。上記式（７）による計算及び上記式（８）による計算は、この周期ｄＴｃ毎に実行されるものである。この周期ｄＴｃは、例えば、０．５ミリ秒（ｍｓ）に設定されている。以下、この周期ｄＴｃを「第２周期」ということがある。第２周期ｄＴｃは、第１周期ｄＴｐ（例えば４ｍｓ）に比して短いものである。また、第２周期ｄＴｃは、更新パルスの出力周期に比して短くなり得るものである。 Here, dT c is the control cycle of the voltage command calculation unit 30. That is, the voltage command computation unit 30 are those having a predetermined control cycle dT c. The calculation by the above formula (7) and the calculation by the above formula (8) are executed for each period dT c . The period dT c is set to 0.5 milliseconds (ms), for example. Hereinafter, this cycle dT c may be referred to as a “second cycle”. The second period dT c is shorter than the first period dT p (for example, 4 ms). Further, the second cycle dT c can be shorter than the output cycle of the update pulse.
　また、ｉは、個々の第１周期ｄＴｐ内にて、第２周期ｄＴｃが経過する度に１が加算される（すなわちインクリメントされる）変数であり、かつ、更新パルス信号の値が１となる度に（すなわち更新パルスが出力される度に）零値にリセットされる変数である。例えば、第１周期ｄＴｐが４ｍｓに設定されており、かつ、第２周期ｄＴｃが０．５ｍｓに設定されている場合、変数ｉは０以上７以下の整数値を取り得るものである。また、Δθｄｑの上限値及び下限値は、位置パルス信号の仕様に応じた値である。例えば、更新パルスの出力周期が電気角６０度である場合（図５参照）、Δθｄｑの上限値は＋π／３ｒａｄであり、Δθｄｑの下限値は－π／３ｒａｄである。 Further, i is a variable in which 1 is added (that is, incremented) every time the second period dT c elapses within each first period dT p , and the value of the update pulse signal is 1 Is a variable that is reset to zero every time (i.e., whenever an update pulse is output). For example, when the first period dT p is set to 4 ms and the second period dT c is set to 0.5 ms, the variable i can take an integer value of 0 or more and 7 or less. The upper limit value and the lower limit value of Δθ dq are values according to the specifications of the position pulse signal. For example, when the output cycle of the update pulse is an electrical angle of 60 degrees (see FIG. 5), the upper limit value of Δθ dq is + π / 3rad and the lower limit value of Δθ dq is −π / 3rad.
　変数ｉのインクリメントの要否の判定には、例えば、ＳＲ（Ｓｅｔ　Ｒｅｓｅｔ）フリップフロップが用いられる。すなわち、当該ＳＲフリップフロップには、更新パルス信号と、第２周期ｄＴｃに対応する連続パルス状の信号とが入力される。補正位置算出部３１は、個々の第２周期ｄＴｃにおいて、当該ＳＲフリップフロップの出力値に基づき、変数ｉのインクリメントの要否を判定する。 For example, an SR (Set Reset) flip-flop is used to determine whether or not the variable i needs to be incremented. That is, the update pulse signal and the continuous pulse signal corresponding to the second period dT c are input to the SR flip-flop. The corrected position calculation unit 31 determines whether or not the variable i needs to be incremented in each second cycle dT c based on the output value of the SR flip-flop.
　また、変数ｉのインクリメントの要否の判定は、位置θｅ及び速度ωｅ＿ａｖｅの取得の要否の判定でもある。補正位置算出部３１は、更新パルスが出力される度に、すなわち変数ｉがインクリメントされる度に、位置θｅ及び速度ωｅ＿ａｖｅを取得する。補正位置算出部３１は、次回の更新パルスが出力されるまで、当該取得された速度ωｅ＿ａｖｅを上記式（７）による計算用に保持するともに、当該取得された位置θｅを上記式（８）による計算用に保持する。 The determination of whether or not the variable i needs to be incremented is also a determination of whether or not the position θ e and the velocity ω e_ave need to be acquired. The corrected position calculation unit 31 acquires the position θ e and the speed ω e_ave each time the update pulse is output, that is, each time the variable i is incremented. The corrected position calculation unit 31 holds the acquired speed ω e — ave for calculation by the above equation (7) and outputs the acquired position θ e until the next update pulse is output. ) For calculation.
　すなわち、上記式（８）による計算は、個々の第１周期ｄＴｐ内にて、電圧位相θｄｑに対応する電気角θ（図６参照）の値を第２周期ｄＴｃ毎に時間的に補間することにより、複数個の位置（以下「補正位置」ということがある。）θｅ ＊を順次算出するものである。また、上記式（７）による計算は、当該補間に用いられる値（以下「補間値」という。）Δθｄｑを第２周期ｄＴｃ毎に算出するものである。当該補間は位置θｅ及び補間値Δθｄｑに基づくものであり、補間値Δθｄｑは速度ωｅ＿ａｖｅに基づくものである。当該複数個の補正位置θｅ ＊の各々は、３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊の生成に用いられるものである。 That is, in the calculation by the above equation (8), the value of the electrical angle θ (see FIG. 6) corresponding to the voltage phase θ dq is temporally calculated for each second period dT c within each first period dT p . By interpolating, a plurality of positions (hereinafter sometimes referred to as “correction positions”) θ e * are sequentially calculated. In addition, the calculation by the above formula (7) is to calculate a value (hereinafter referred to as “interpolation value”) Δθ dq used for the interpolation for each second cycle dT c . The interpolation is based on the position θ e and the interpolation value Δθ dq , and the interpolation value Δθ dq is based on the speed ω e_ave . Each of the plurality of correction positions θ e * is used to generate the three-phase voltage commands v u * , v v * , v w * .
　当該補間により、位置センサ４が低分解能であるにもかかわらず、３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊の生成に用いられる位置θｅ ＊をソフトウェア的に高分解能にすることができる。この結果、モータ制御装置１００によるベクトル制御の精度の向上を図ることができる。また、この位置θｅ ＊を高分解能にしつつ、モータ制御装置１００のうちの電圧指令演算部３０を除く部位の制御周期（例えば制御指令演算部２０の制御周期ｄＴｐ）を電圧指令演算部３０の制御周期ｄＴｃに比して長くすることができる。この結果、モータ制御装置１００における演算負荷を低減することができる。 Due to the interpolation, the position θ e * used for generating the three-phase voltage commands v u * , v v * , v w * is made to have a high resolution by software even though the position sensor 4 has a low resolution. You can As a result, the accuracy of vector control by the motor control device 100 can be improved. Further, while the position θ e * is set to a high resolution, the control cycle (for example, the control cycle dT p of the control command calculation unit 20) of the portion of the motor control device 100 except the voltage command calculation unit 30 is set to the voltage command calculation unit 30. The control period dT c can be made longer. As a result, the calculation load on the motor control device 100 can be reduced.
　電圧指令生成部３２は、補正位置算出部３１により算出された個々の補正位置θｅ ＊を補正位置算出部３１から取得するものである。また、電圧指令生成部３２は、制御指令生成部２２により生成された制御指令を制御指令生成部２２から取得するものである。電圧指令生成部３２は、当該取得された個々の補正位置θｅ ＊、及び当該取得された制御指令に含まれる電圧ベクトルＶｒ ＊の大きさに基づき、以下の式（９）により３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊を生成するものである。 The voltage command generation unit 32 acquires the individual correction positions θ e * calculated by the correction position calculation unit 31 from the correction position calculation unit 31. Further, the voltage command generation unit 32 acquires the control command generated by the control command generation unit 22 from the control command generation unit 22. The voltage command generation unit 32 calculates the three-phase voltage by the following equation (9) based on the acquired individual correction position θ e * and the magnitude of the voltage vector V r * included in the acquired control command. The commands v u * , v v * , v w * are generated.
Figure JPOXMLDOC01-appb-I000009
Figure JPOXMLDOC01-appb-I000009
　ここで、ｖｕ＿ｎｏｒｍａｌ ＊及びｖｖ＿ｎｏｒｍａｌ ＊の各々は、片振幅の最大値が１に正規化された電圧指令（以下「正規化電圧指令」という。）である。電圧指令生成部３２には、電気角０～２πラジアン（ｒａｄ）の角度範囲に亘る、補正位置θｅ ＊の値と正規化電圧指令ｖｕ＿ｎｏｒｍａｌ ＊，ｖｖ＿ｎｏｒｍａｌ ＊の値との対応関係を示すテーブルが予め記憶されている。電圧指令生成部３２は、当該記憶されているテーブルに基づき、補正位置算出部３１により算出された個々の補正位置θｅ ＊の値に応じて、上記式（９）の計算に用いられる正規化電圧指令ｖｕ＿ｎｏｒｍａｌ ＊，ｖｖ＿ｎｏｒｍａｌ ＊の値を設定する。図７は、補正位置θｅ ＊の値と正規化電圧指令ｖｕ＿ｎｏｒｍａｌ ＊，ｖｖ＿ｎｏｒｍａｌ ＊の値との対応関係の例を示している。 Here, each of v u_normal * and v v_normal * is a voltage command in which the maximum value of one-sided amplitude is normalized to 1 (hereinafter referred to as “normalized voltage command”). The voltage command generation unit 32 shows the correspondence between the value of the correction position θ e * and the values of the normalized voltage commands v u_normal * , v v_normal * over the angular range of electrical angle 0 to 2π radian (rad). The table is stored in advance. The voltage command generation unit 32 uses the stored table to normalize the calculation of the above equation (9) according to the value of each correction position θ e * calculated by the correction position calculation unit 31. The values of the voltage commands v u_normal * and v v_normal * are set. FIG. 7 shows an example of the correspondence relationship between the value of the corrected position θ e * and the values of the normalized voltage commands v u_normal * , v v_normal * .
　電圧指令生成部３２は、当該生成された３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊を駆動回路３に出力するものである。駆動回路３は、上記のとおり、３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊に応じた電流を三相巻線に供給するものである。 The voltage command generator 32 outputs the generated three-phase voltage commands v u * , v v * , v w * to the drive circuit 3. As described above, the drive circuit 3 supplies a current according to the three-phase voltage commands v u * , v v * , v w * to the three-phase winding.
　補正位置算出部３１及び電圧指令生成部３２により、電圧指令演算部３０が構成されている。上記のとおり、制御指令演算部２０は所定の制御周期ｄＴｃを有するものである。すなわち、補正位置算出部３１が上記式（７）により補間値Δθｄｑを算出する処理、補正位置算出部３１が上記式（８）により補正位置θｅ ＊を算出する処理、及び電圧指令生成部３２が上記式（９）により３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊を生成する処理などは、第２周期ｄＴｃ毎に実行されるものである。 The corrected position calculation unit 31 and the voltage command generation unit 32 form a voltage command calculation unit 30. As described above, the control command calculator 20 has a predetermined control cycle dT c . That is, the correction position calculation unit 31 calculates the interpolation value Δθ dq by the above formula (7), the correction position calculation unit 31 calculates the correction position θ e * by the above formula (8), and the voltage command generation unit. The process of 32 generating the three-phase voltage commands v u * , v v * , v w * by the above equation (9) is executed every second cycle dT c .
　回転状態演算部１０、制御指令演算部２０及び電圧指令演算部３０により、モータ制御装置１００の要部が構成されている。ブラシレスＤＣモータ２、駆動回路３、位置センサ４及びモータ制御装置１００により、アクチュエータ装置２００の要部が構成されている。 The rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30 form a main part of the motor control device 100. The brushless DC motor 2, the drive circuit 3, the position sensor 4, and the motor control device 100 constitute a main part of the actuator device 200.
　次に、図８を参照して、モータ制御装置１００の要部のハードウェア構成について説明する。 Next, with reference to FIG. 8, a hardware configuration of a main part of the motor control device 100 will be described.
　図８Ａに示す如く、モータ制御装置１００はプロセッサ４１及びメモリ４２を有している。メモリ４２には、回転状態演算部１０、制御指令演算部２０及び電圧指令演算部３０の機能を実現するためのプログラムが記憶されている。メモリ４２に記憶されているプログラムをプロセッサ４１が読み出して実行することにより、回転状態演算部１０、制御指令演算部２０及び電圧指令演算部３０の機能が実現される。 As shown in FIG. 8A, the motor control device 100 has a processor 41 and a memory 42. The memory 42 stores a program for realizing the functions of the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30. The functions of the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30 are realized by the processor 41 reading and executing the program stored in the memory 42.
　または、図８Ｂに示す如く、モータ制御装置１００は処理回路４３を有している。この場合、回転状態演算部１０、制御指令演算部２０及び電圧指令演算部３０の機能が専用の処理回路４３により実現される。 Alternatively, as shown in FIG. 8B, the motor control device 100 has a processing circuit 43. In this case, the functions of the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30 are realized by the dedicated processing circuit 43.
　または、モータ制御装置１００はプロセッサ４１、メモリ４２及び処理回路４３を有している（不図示）。この場合、回転状態演算部１０、制御指令演算部２０及び電圧指令演算部３０の機能のうちの一部の機能がプロセッサ４１及びメモリ４２により実現されて、残余の機能が専用の処理回路４３により実現される。 Alternatively, the motor control device 100 has a processor 41, a memory 42, and a processing circuit 43 (not shown). In this case, some of the functions of the rotation state calculation unit 10, the control command calculation unit 20, and the voltage command calculation unit 30 are implemented by the processor 41 and the memory 42, and the remaining functions are performed by the dedicated processing circuit 43. Will be realized.
　プロセッサ４１は、例えば、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、ＧＰＵ（Ｇｒａｐｈｉｃｓ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、マイクロプロセッサ、マイクロコントローラ又はＤＳＰ（Ｄｉｇｉｔａｌ　Ｓｉｇｎａｌ　Ｐｒｏｃｅｓｓｏｒ）のうちの少なくとも一つを用いたものである。 The processor 41 uses, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, and a DSP (Digital Signal Processor).
　メモリ４２は、例えば、半導体メモリ又は磁気ディスクのうちの少なくとも一方を用いたものである。より具体的には、メモリ４２は、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、フラッシュメモリ、ＥＰＲＯＭ（Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ＥＥＰＲＯＭ（Ｅｌｅｃｔｒｉｃａｌｌｙ　Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｒｅａｄ－Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）又はＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）のうちの少なくとも一つを用いたものである。 The memory 42 uses, for example, at least one of a semiconductor memory and a magnetic disk. More specifically, the memory 42 includes a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory-Memory), and an EEPROM (Electrically Integrated Memory). At least one of State Drive) or HDD (Hard Disk Drive) is used.
　処理回路４３は、例えば、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＰＬＤ（Ｐｒｏｇｒａｍｍａｂｌｅ　Ｌｏｇｉｃ　Ｄｅｖｉｃｅ）、ＦＰＧＡ（Ｆｉｅｌｄ－Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、ＳｏＣ（Ｓｙｓｔｅｍ－ｏｎ－ａ－Ｃｈｉｐ）又はシステムＬＳＩ（Ｌａｒｇｅ－Ｓｃａｌｅ　Ｉｎｔｅｇｒａｔｉｏｎ）のうちの少なくとも一つを用いたものである。 The processing circuit 43 may be, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), or a SoC (Sonication) system. At least one of the above is used.
　次に、図９のフローチャートを参照して、モータ制御装置１００の動作について、制御指令演算部２０及び電圧指令演算部３０の動作を中心に説明する。 Next, with reference to the flowchart of FIG. 9, the operation of the motor control device 100 will be described focusing on the operation of the control command calculation unit 20 and the voltage command calculation unit 30.
　なお、図９に示す処理のバックグラウンドにて、回転状態演算部１０による各処理が実行されている。すなわち、エッジ検出部１１による更新パルス信号の出力処理が連続的に実行されており、かつ、不定周期位置算出部１２による位置θｅの算出処理が不定周期に実行されており、かつ、不定周期速度算出部１３による速度ωｅ＿ａｖｅの算出処理が不定周期に実行されている。 It should be noted that each processing by the rotation state calculation unit 10 is executed in the background of the processing shown in FIG. 9. That is, the output processing of the update pulse signal by the edge detection unit 11 is continuously executed, the calculation processing of the position θ e by the indefinite cycle position calculation unit 12 is executed indefinitely, and the indefinite cycle is also generated. The calculation processing of the speed ω e_ave by the speed calculation unit 13 is executed in an indefinite cycle.
　図９Ａは、個々の第１周期ｄＴｐ（例えば４ｍｓ）における電流指令生成部２１の動作を示している。まず、ステップＳＴ１にて、電流指令生成部２１は、ＥＣＵ５により生成された位置指令θｅ＿ｄｉｒをＥＣＵ５から取得するとともに、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得する。次いで、ステップＳＴ２にて、電流指令生成部２１は、当該取得された位置指令θｅ＿ｄｉｒ及び位置θｅに基づき、古典制御（例えばＰＩＤ制御）により、位置偏差δθｅを零値に近づけるためのｑ軸電流指令ｉｑ ＊を生成する。 FIG. 9A shows the operation of the current command generator 21 in each first cycle dT p (for example, 4 ms). First, in step ST1, the current command generation unit 21 acquires the position command θ e_dir generated by the ECU 5 from the ECU 5, and at the same time calculates the position θ e calculated by the non-fixed cycle position calculation unit 12 in the non-fixed cycle position calculation unit 12. To get from. Next, in step ST2, the current command generation unit 21 performs q to bring the position deviation δθ e close to a zero value by classical control (for example, PID control) based on the acquired position command θ e_dir and position θ e. The axis current command i q * is generated.
　図９Ｂは、個々の第１周期ｄＴｐ（例えば４ｍｓ）における制御指令生成部２２の動作を示している。まず、ステップＳＴ１１にて、制御指令生成部２２は、電流指令生成部２１により生成されたｑ軸電流指令ｉｑ ＊（すなわちステップＳＴ２にて生成されたｑ軸電流指令ｉｑ ＊）を電流指令生成部２１から取得するとともに、所定値（例えば零値）のｄ軸電流指令ｉｄ ＊を電流指令生成部２１から取得する。また、ステップＳＴ１１にて、制御指令生成部２２は、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得する。また、ステップＳＴ１２にて、制御指令生成部２２は、上記式（３）の計算に用いられるモータ定数Ｒａ，Ｌｄ，Ｌｑ，φの値を設定する。 FIG. 9B shows the operation of the control command generation unit 22 in each first cycle dT p (for example, 4 ms). First, in step ST11, the control command generation unit 22 outputs the q-axis current command i q * generated by the current command generation unit 21 (that is, the q-axis current command i q * generated in step ST2) as a current command. The d-axis current command i d * having a predetermined value (for example, zero value) is acquired from the generation unit 21 and the current command generation unit 21. In step ST11, the control command generation unit 22 acquires the position θ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12. Further, in step ST12, the control command generation unit 22 sets the values of the motor constants R a , L d , L q , and φ used in the calculation of the above formula (3).
　次いで、制御指令生成部２２は、当該取得されたｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊、当該取得された位置θｅ（より具体的には前回のステップＳＴ１１にて取得された位置θｅ（ｎ－１）及び今回のステップＳＴ１１にて取得された位置θｅ（ｎ））、並びに当該設定されたモータ定数Ｒａ，Ｌｄ，Ｌｑ，φに基づき、制御指令を生成する。 Next, the control command generator 22 acquires the acquired dq axis current commands i d * , i q * , the acquired position θ e (more specifically, the position θ e acquired in the previous step ST11). A control command is generated based on (n−1) and the position θ e (n) acquired in step ST11 this time, and the set motor constants R a , L d , L q , and φ.
　すなわち、制御指令生成部２２は、上記式（４）により電気角速度ωｅを算出する（ステップＳＴ１３）。次いで、制御指令生成部２２は、上記式（３）によりｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を生成する（ステップＳＴ１４）。次いで、制御指令生成部２２は、上記式（５）により電圧ベクトルＶｒ ＊を算出するとともに、上記式（６）により電圧位相θｄｑを算出する（ステップＳＴ１５）。次いで、制御指令生成部２２は、当該算出された電圧ベクトルＶｒ ＊の大きさ及び電圧位相θｄｑを含む制御指令を生成する（ステップＳＴ１６）。 That is, the control command generator 22 calculates the electrical angular velocity ω e by the above equation (4) (step ST13). Next, the control command generating unit 22 generates the dq axis voltage commands v d * , v q * by the above equation (3) (step ST14). Next, the control command generation unit 22 calculates the voltage vector V r * by the above equation (5) and calculates the voltage phase θ dq by the above equation (6) (step ST15). Next, the control command generation unit 22 generates a control command including the magnitude of the calculated voltage vector V r * and the voltage phase θ dq (step ST16).
　図９Ｃは、個々の第１周期ｄＴｐ（例えば４ｍｓ）における補正位置算出部３１の動作を示している。まず、ステップＳＴ２１にて、補正位置算出部３１は、制御指令生成部２２により生成された制御指令（すなわちステップＳＴ１６にて生成された制御指令）を制御指令生成部２２から取得する。次いで、補正位置算出部３１は、以下のステップＳＴ２２～ＳＴ２４の処理を第２周期ｄＴｃ（例えば０．５ｍｓ）毎に繰り返し実行する。 FIG. 9C shows the operation of the correction position calculation unit 31 in each first cycle dT p (for example, 4 ms). First, in step ST21, the corrected position calculation unit 31 acquires the control command generated by the control command generation unit 22 (that is, the control command generated in step ST16) from the control command generation unit 22. Next, the corrected position calculation unit 31 repeatedly executes the processing of steps ST22 to ST24 described below every second cycle dT c (for example, 0.5 ms).
　すなわち、補正位置算出部３１は、更新パルス信号の値が１となった場合（すなわち更新パルスの出力があった場合）、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得するとともに、不定周期速度算出部１３により算出された速度ωｅ＿ａｖｅを不定周期速度算出部１３から取得する（ステップＳＴ２２）。なお、更新パルス信号の値が０のままである場合（すなわち更新パルスの出力がなかった場合）、ステップＳＴ２２の処理はスキップされる。 That is, when the value of the update pulse signal is 1 (that is, when the update pulse is output), the corrected position calculation unit 31 calculates the position θ e calculated by the indefinite cycle position calculation unit 12 as the indefinite cycle position calculation. The speed ω e — ave calculated by the indefinite period speed calculation unit 13 is acquired from the unit 12 as well as the indefinite period speed calculation unit 13 (step ST22). When the value of the update pulse signal remains 0 (that is, when the update pulse is not output), the process of step ST22 is skipped.
　次いで、補正位置算出部３１は、上記式（７）により補間値Δθｄｑを算出する（ステップＳＴ２３）。当該式（７）の計算に用いられる速度ωｅ＿ａｖｅは、今回の第２周期ｄＴｃにおけるステップＳＴ２２にて取得された速度ωｅ＿ａｖｅ、又は前回以前の第２周期ｄＴｃにおけるステップＳＴ２２にて取得されて計算用に保持されている速度ωｅ＿ａｖｅである。 Next, the correction position calculation unit 31 calculates the interpolation value Δθ dq by the above equation (7) (step ST23). Speed omega E_ave used in the calculation of the formula (7) is obtained this time in the second period dT rate acquired at step ST22 in the c ω e_ave, or previous step ST22 in a previous second cycle dT c Is the velocity ω e — ave that is retained for calculation.
　次いで、補正位置算出部３１は、上記式（８）により補正位置θｅ ＊を算出する（ステップＳＴ２４）。当該式（８）の計算に用いられる電圧位相θｄｑは、ステップＳＴ２１にて取得された制御指令に含まれるものである。当該式（８）の計算に用いられる位置θｅは、今回の第２周期ｄＴｃにおけるステップＳＴ２２にて取得された位置θｅ、又は前回以前の第２周期ｄＴｃにおけるステップＳＴ２２にて取得されて計算用に保持されている位置θｅである。 Next, the correction position calculation unit 31 calculates the correction position θ e * by the above equation (8) (step ST24). The voltage phase θ dq used in the calculation of the equation (8) is included in the control command acquired in step ST21. The position θ e used in the calculation of the equation (8) is acquired at the position θ e acquired in step ST22 in the second cycle dT c this time or in step ST22 in the second cycle dT c before the previous cycle. Position θ e held for calculation.
　図９Ｄは、個々の第１周期ｄＴｐ（例えば４ｍｓ）における電圧指令生成部３２の動作を示している。まず、ステップＳＴ３１にて、電圧指令生成部３２は、制御指令生成部２２により生成された制御指令（すなわちステップＳＴ１６にて生成された制御指令）を制御指令生成部２２から取得する。次いで、電圧指令生成部３２は、以下のステップＳＴ３２～ＳＴ３４の処理を第２周期ｄＴｃ（例えば０．５ｍｓ）毎に繰り返し実行する。 FIG. 9D shows the operation of the voltage command generator 32 in each first cycle dT p (for example, 4 ms). First, in step ST31, the voltage command generator 32 acquires the control command generated by the control command generator 22 (that is, the control command generated in step ST16) from the control command generator 22. Next, the voltage command generation unit 32 repeatedly executes the processing of steps ST32 to ST34 described below every second cycle dT c (for example, 0.5 ms).
　すなわち、電圧指令生成部３２は、補正位置算出部３１により算出された補正位置θｅ ＊（すなわち今回の第２周期ｄＴｃにおけるステップＳＴ２４にて生成された補正位置θｅ ＊）を補正位置算出部３１から取得する（ステップＳＴ３２）。次いで、電圧指令生成部３２は、予め記憶されているテーブルに基づき、当該取得された補正位置θｅ ＊の値に応じて、上記式（９）の計算に用いられる正規化電圧指令ｖｕ＿ｎｏｒｍａｌ ＊，ｖｖ＿ｎｏｒｍａｌ ＊の値を設定する（ステップＳＴ３３）。次いで、電圧指令生成部３２は、当該式（９）により３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊を生成する（ステップＳＴ３４）。当該式（９）の計算に用いられる電圧ベクトルＶｒ ＊の大きさは、ステップＳＴ３１にて取得された制御指令に含まれるものである。 That is, the voltage command generation unit 32 calculates the corrected position θ e * calculated by the corrected position calculation unit 31 (that is, the corrected position θ e * generated in step ST24 in the second cycle dT c this time). It is acquired from the unit 31 (step ST32). Next, the voltage command generating unit 32, based on the table stored in advance, according to the value of the acquired correction position θ e * , the normalized voltage command v u_normal * used in the calculation of the above formula (9) . , V v_normal * are set (step ST33). Next, the voltage command generation unit 32 generates the three-phase voltage commands v u * , v v * , v w * by the equation (9) (step ST34). The magnitude of the voltage vector V r * used in the calculation of the equation (9) is included in the control command acquired in step ST31.
　なお、第１周期ｄＴｐは第２周期ｄＴｃに比して長い周期であれば良く、４ミリ秒に限定されるものではない。例えば、第１周期ｄＴｐは２ミリ秒に設定されているものであっても良い。また、第２周期ｄＴｃは第１周期ｄＴｐに比して短い周期であれば良く、０．５ミリ秒に限定されるものではない。 The first cycle dT p may be any cycle longer than the second cycle dT c and is not limited to 4 milliseconds. For example, the first period dT p may be set to 2 milliseconds. The second period dT c may be any period shorter than the first period dT p , and is not limited to 0.5 ms.
　また、アクチュエータ装置２００の用途は、車載用のバルブ装置１の開度制御に限定されるものではない。アクチュエータ装置２００は、従来のアクチュエータ装置と同様の種々の用途に用いることができる。 Further, the use of the actuator device 200 is not limited to the opening control of the vehicle-mounted valve device 1. The actuator device 200 can be used in various applications similar to the conventional actuator device.
　また、モータ制御装置１００の用途は、アクチュエータ装置２００におけるブラシレスＤＣモータ２の制御に限定されるものではない。ブラシレスＤＣモータ２は、従来のブラシレスＤＣモータと同様の種々の装置に用いることができる。モータ制御装置１００は、当該種々の装置におけるブラシレスＤＣモータ２の制御に用いることができる。例えば、モータ制御装置１００は、いわゆる「回転数制御」に用いられるものであっても良い。または、例えば、モータ制御装置１００は、フィードバックによらずにｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊を一定にする制御に用いられるものであっても良い。または、例えば、モータ制御装置１００は、ブラシレスＤＣモータ２を連続回転させる制御に用いられるものであっても良い。 Further, the use of the motor control device 100 is not limited to the control of the brushless DC motor 2 in the actuator device 200. The brushless DC motor 2 can be used in various devices similar to the conventional brushless DC motor. The motor control device 100 can be used to control the brushless DC motor 2 in the various devices. For example, the motor control device 100 may be used for so-called "rotation speed control". Alternatively, for example, the motor control device 100 may be used for control that makes the dq axis current commands i d * , i q * constant without relying on feedback. Alternatively, for example, the motor control device 100 may be used for control of continuously rotating the brushless DC motor 2.
　ただし、車載用のバルブ装置１の開度制御においては、アクチュエータ装置２００を安価に実現する観点から、低分解能な位置センサ４を用いることが要求される。また、制御周期の長い（すなわち処理速度の低い）プロセッサ４１又は処理回路４３を用いることが要求される。これに対して、実施の形態１に係るモータ制御装置１００は、低分解能な位置センサ４を用いてベクトル制御の精度の向上を図ることができ、かつ、電圧指令演算部３０を除く部位の制御周期を長くすることができる。このため、車載用のバルブ装置１の開度制御においては、実施の形態１に係るモータ制御装置１００及びアクチュエータ装置２００を用いるのが特に好適である。 However, in controlling the opening degree of the vehicle-mounted valve device 1, it is required to use the low-resolution position sensor 4 from the viewpoint of realizing the actuator device 200 at a low cost. Further, it is required to use the processor 41 or the processing circuit 43 having a long control cycle (that is, a low processing speed). On the other hand, the motor control device 100 according to the first embodiment can improve the accuracy of vector control by using the low-resolution position sensor 4, and control the parts other than the voltage command calculation unit 30. The cycle can be lengthened. For this reason, in controlling the opening degree of the vehicle-mounted valve device 1, it is particularly preferable to use the motor control device 100 and the actuator device 200 according to the first embodiment.
　また、制御指令演算部２０は、アクチュエータ装置２００内にてモータ制御装置１００外に設けられているものであっても良い。すなわち、回転状態演算部１０及び電圧指令演算部３０によりモータ制御装置１００の要部が構成されているものであっても良い。 The control command calculation unit 20 may be provided inside the actuator device 200 and outside the motor control device 100. That is, the main part of the motor control device 100 may be configured by the rotation state calculation unit 10 and the voltage command calculation unit 30.
　以上のように、実施の形態１に係るモータ制御装置１００は、ロータ用の位置センサ４を有するブラシレスＤＣモータ２に対する駆動電流を電流センサレス方式のベクトル制御により制御するモータ制御装置１００であって、位置センサ４の出力に対応する位置パルス信号を用いてロータの位置θｅ及びロータの速度ωｅ＿ａｖｅを算出する回転状態演算部１０と、電気角θの値を速度ωｅ＿ａｖｅに基づき時間的に補間することにより複数個の補正位置θｅ ＊を順次算出するとともに、個々の補正位置θｅ ＊に基づきブラシレスＤＣモータ２用の駆動回路３に対する３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊を生成する電圧指令演算部３０と、を備える。当該補間により、位置センサ４が低分解能であっても、３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊の生成に用いられる位置θｅ ＊をソフトウェア的に高分解能にすることができる。この結果、低分解能な位置センサ４を用いて、モータ制御装置１００によるベクトル制御の精度の向上を図ることができる。また、この位置θｅ ＊を高分解能にしつつ、モータ制御装置１００のうちの電圧指令演算部３０を除く部位の制御周期（例えば制御指令演算部２０の制御周期ｄＴｐ）を電圧指令演算部３０の制御周期ｄＴｃに比して長くすることができる。この結果、モータ制御装置１００における演算負荷を低減することができる。 As described above, the motor control device 100 according to the first embodiment is the motor control device 100 that controls the drive current for the brushless DC motor 2 having the rotor position sensor 4 by the vector control of the current sensorless system. A rotation state calculation unit 10 that calculates a rotor position θ e and a rotor speed ω e_ave using a position pulse signal corresponding to the output of the position sensor 4, and a value of an electrical angle θ is temporally interpolated based on the speed ω e_ave. By doing so, a plurality of correction positions θ e * are sequentially calculated, and three-phase voltage commands v u * , v v * , v w for the drive circuit 3 for the brushless DC motor 2 are calculated based on the individual correction positions θ e *. And a voltage command calculation unit 30 that generates * . By the interpolation, even if the position sensor 4 has a low resolution, the position θ e * used for generating the three-phase voltage commands v u * , v v * , v w * can have a high resolution by software. .. As a result, the precision of vector control by the motor control device 100 can be improved by using the low-resolution position sensor 4. Further, while the position θ e * is set to a high resolution, the control cycle (for example, the control cycle dT p of the control command calculation unit 20) of the portion of the motor control device 100 excluding the voltage command calculation unit 30 is set to the voltage command calculation unit 30. The control period dT c can be made longer. As a result, the calculation load on the motor control device 100 can be reduced.
　また、回転状態演算部１０は、位置パルス信号におけるエッジを検出して、エッジに対応する更新パルスを含む更新パルス信号を出力するエッジ検出部１１と、更新パルスの出力に応じて不定周期に位置θｅを算出する不定周期位置算出部１２と、更新パルスの出力に応じて不定周期に速度ωｅ＿ａｖｅを算出する不定周期速度算出部１３と、を有する。不定周期位置算出部１２が位置θｅを不定周期に算出することにより、ロータの磁極位置の検出漏れが発生するのを抑制することができる。不定周期速度算出部１３が速度ωｅ＿ａｖｅを不定周期に算出することにより、前回の更新パルスの出力時から今回の更新パルスの出力時までの区間における電気角速度ωｅの平均値、すなわち速度ωｅ＿ａｖｅを正確に算出することができる。 In addition, the rotation state calculation unit 10 detects an edge in the position pulse signal and outputs an update pulse signal including an update pulse corresponding to the edge, and an edge detection unit 11 that outputs the update pulse signal at an indefinite cycle according to the output of the update pulse. It has an indefinite cycle position calculation unit 12 that calculates θ e, and an indefinite cycle speed calculation unit 13 that calculates the speed ω e_ave in an indefinite cycle according to the output of the update pulse. By calculating the position θ e in an indefinite cycle by the indefinite cycle position calculating unit 12, it is possible to suppress the omission of detection of the magnetic pole position of the rotor. By calculating the speed ω e_ave in an indefinite cycle by the indefinite cycle speed calculation unit 13, the average value of the electrical angular speed ω e in the section from the output of the previous update pulse to the output of the current update pulse, that is, the speed ω e_ave Can be accurately calculated.
　また、位置パルス信号は、ロータが１回転する間に少なくとも１パルスが出力されるものである。かかる低分解能な位置センサ４を用いることにより、アクチュエータ装置２００を安価に実現することができる。 Also, the position pulse signal is such that at least one pulse is output during one rotation of the rotor. By using such a low-resolution position sensor 4, the actuator device 200 can be realized at low cost.
　また、モータ制御装置１００は、位置指令θｅ＿ｄｉｒに対する位置θｅの差分値（位置偏差δθｅ）に応じた電圧位相θｄｑを含む制御指令を生成する制御指令演算部２０を備え、電圧指令演算部３０は、電圧位相θｄｑに対応する電気角θの値を位置θｅ及び速度ωｅ＿ａｖｅに基づき時間的に補間することにより複数個の補正位置θｅ ＊を順次算出する。これにより、位置偏差δθｅに応じたベクトル制御を実現することができる。 Further, the motor control device 100 includes a control command calculation unit 20 that generates a control command including a voltage phase θ dq according to a difference value (position deviation δθ e ) of the position θ e with respect to the position command θ e_dir , and the voltage command calculation is performed. The unit 30 temporally interpolates the value of the electrical angle θ corresponding to the voltage phase θ dq based on the position θ e and the speed ω e_ave to sequentially calculate a plurality of correction positions θ e * . Thereby, vector control according to the position deviation δθ e can be realized.
　また、位置指令θｅ＿ｄｉｒは、モータ制御装置１００に対する上位の電子制御ユニット（ＥＣＵ５）により出力されるものであり、制御指令演算部２０は、差分値（位置偏差δθｅ）に応じたｑ軸電流指令ｉｑ ＊を生成する電流指令生成部２１と、ｑ軸電流指令ｉｑ ＊を含むｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊に応じた制御指令を生成する制御指令生成部２２と、を有する。ＥＣＵ５により出力された位置指令θｅ＿ｄｉｒを用いることにより、最大トルク制御などの任意の制御を実現することができる。 Further, the position command θ e_dir is output by a higher-order electronic control unit (ECU 5) for the motor control device 100, and the control command calculator 20 determines the q-axis current corresponding to the difference value (position deviation δθ e ). a current command generation unit 21 which generates a command i q *, dq axis current command including a q-axis current command i q * i d *, a control command generation unit 22 that generates a control command corresponding to i q *, a Have. By using the position command θ e — dir output by the ECU 5, it is possible to realize arbitrary control such as maximum torque control.
　また、制御指令生成部２２は、ブラシレスＤＣモータ２の電圧方程式を用いて制御指令を生成する。ブラシレスＤＣモータ２の電圧方程式を用いることにより、ブラシレスＤＣモータ２の駆動電流について、フィードフォワードによるベクトル制御を実現することができる。 The control command generation unit 22 also generates a control command using the voltage equation of the brushless DC motor 2. By using the voltage equation of the brushless DC motor 2, vector control by feedforward can be realized for the drive current of the brushless DC motor 2.
　また、制御指令は、差分値（位置偏差δθｅ）に応じた電圧ベクトルＶｒ ＊の大きさを含むものであり、電圧指令演算部３０は、複数個の補正位置θｅ ＊を順次算出する補正位置算出部３１と、電圧ベクトルＶｒ ＊の大きさ及び個々の補正位置θｅ ＊に基づき３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊を生成する電圧指令生成部３２と、を有する。電圧ベクトルＶｒ ＊の大きさ及び電圧位相θｄｑを含む制御指令を用いることにより、電圧指令演算部３０による上記式（７）の計算、上記式（８）の計算及び上記式（９）の計算を実現することができる。 Further, the control command includes the magnitude of the voltage vector V r * according to the difference value (positional deviation δθ e ), and the voltage command calculation unit 30 sequentially calculates a plurality of correction positions θ e *. A correction position calculation unit 31, and a voltage command generation unit 32 that generates three-phase voltage commands v u * , v v * , v w * based on the magnitude of the voltage vector V r * and each correction position θ e * . Have. By using the control command including the magnitude of the voltage vector V r * and the voltage phase θ dq , the voltage command calculation unit 30 calculates the formula (7), the formula (8), and the formula (9). Calculation can be realized.
　また、実施の形態１に係るアクチュエータ装置２００は、モータ制御装置１００と、ブラシレスＤＣモータ２と、駆動回路３と、位置センサ４を、を備える。これにより、モータ制御装置１００を用いたアクチュエータ装置２００を実現することができる。 Further, the actuator device 200 according to the first embodiment includes the motor control device 100, the brushless DC motor 2, the drive circuit 3, and the position sensor 4. Thereby, the actuator device 200 using the motor control device 100 can be realized.
　また、アクチュエータ装置２００は、車載用のバルブ装置１の開度制御に用いられるものである。上記のとおり、車載用のバルブ装置１の開度制御においては、モータ制御装置１００及びアクチュエータ装置２００を用いるのが特に好適である。 Further, the actuator device 200 is used for controlling the opening degree of the valve device 1 mounted on the vehicle. As described above, it is particularly preferable to use the motor control device 100 and the actuator device 200 in controlling the opening degree of the vehicle-mounted valve device 1.
　また、実施の形態１に係るモータ制御方法は、ロータ用の位置センサ４を有するブラシレスＤＣモータ２に対する駆動電流を電流センサレス方式のベクトル制御により制御するモータ制御方法であって、回転状態演算部１０が、位置センサ４の出力に対応する位置パルス信号を用いて、ロータの位置θｅ及びロータの速度ωｅ＿ａｖｅを算出し、電圧指令演算部３０が、電気角θの値を速度ωｅ＿ａｖｅに基づき時間的に補間することにより複数個の補正位置θｅ ＊を順次算出するとともに、個々の補正位置θｅ ＊に基づきブラシレスＤＣモータ２用の駆動回路３に対する３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊を生成する。これにより、モータ制御装置１００による上記効果と同様の効果を得ることができる。 Further, the motor control method according to the first embodiment is a motor control method in which the drive current for the brushless DC motor 2 having the position sensor 4 for the rotor is controlled by vector control of the current sensorless type, and the rotation state calculation unit 10 Calculates the rotor position θ e and the rotor speed ω e_ave using the position pulse signal corresponding to the output of the position sensor 4, and the voltage command calculator 30 determines the value of the electrical angle θ based on the speed ω e_ave . A plurality of correction positions θ e * are sequentially calculated by temporal interpolation, and the three-phase voltage commands v u * , v v to the drive circuit 3 for the brushless DC motor 2 are calculated based on the individual correction positions θ e *. Generate * , v w * . As a result, it is possible to obtain the same effect as the above effect by the motor control device 100.
実施の形態２．
　図１０は、実施の形態２に係るモータ制御装置を含むアクチュエータ装置の要部を示すブロック図である。図１１は、実施の形態２に係るモータ制御装置における制御指令演算部の要部を示すブロック図である。図１０及び図１１を参照して、実施の形態２に係るモータ制御装置１００ａ及びアクチュエータ装置２００ａについて説明する。なお、図１０において、図１に示すブロックと同様のブロックには同一符号を付して説明を省略する。また、図１１において、図３に示すブロックと同様のブロックには同一符号を付して説明を省略する。 Embodiment 2.
FIG. 10 is a block diagram showing a main part of an actuator device including the motor control device according to the second embodiment. FIG. 11 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the second embodiment. A motor control device 100a and an actuator device 200a according to the second embodiment will be described with reference to FIGS. 10 and 11. In FIG. 10, the same blocks as those shown in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted. Also, in FIG. 11, the same blocks as the blocks shown in FIG.
　実施の形態２に係るモータ制御装置１００ａは、実施の形態１に係るモータ制御装置１００に対して、ｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊の生成に用いられる電圧方程式が異なるものである。すなわち、モータ制御装置１００における制御指令生成部２２は、上記式（２）に示す電圧方程式をｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊の生成に用いるものであった。これに対して、モータ制御装置１００ａにおける制御指令生成部２２ａは、以下の式（１０）に示す電圧方程式をｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊の生成に用いるものである。 The motor control device 100a according to the second embodiment is different from the motor control device 100 according to the first embodiment in the voltage equation used for generating the dq axis voltage commands v d * , v q * . That is, the control command generator 22 in the motor control device 100 uses the voltage equation shown in the above equation (2) to generate the dq axis voltage commands v d * , v q * . On the other hand, the control command generation unit 22a in the motor control device 100a uses the voltage equation represented by the following Expression (10) to generate the dq axis voltage commands v d * , v q * .
Figure JPOXMLDOC01-appb-I000010
Figure JPOXMLDOC01-appb-I000010
　ここで、Ｔｃは、ｄｑ座標系における電流応答時定数である。すなわち、上記式（１０）に示す電圧方程式は、上記式（２）に示す電圧方程式に対して、「１／（１＋Ｔｃｓ）」によるフィルタが追加されたものである。電流応答時定数Ｔｃの値を設定することにより、ブラシレスＤＣモータ２の駆動電流の制御において、任意の時間応答を実現することができる。 Here, T c is a current response time constant in the dq coordinate system. That is, the voltage equation shown in the equation (10) is obtained by adding a filter based on “1 / (1 + T c s)” to the voltage equation shown in the equation (2). By setting the value of the current response time constant T c , it is possible to realize an arbitrary time response in controlling the drive current of the brushless DC motor 2.
　電流指令生成部２１及び制御指令生成部２２ａにより、制御指令演算部２０ａが構成されている。回転状態演算部１０、制御指令演算部２０ａ及び電圧指令演算部３０により、モータ制御装置１００ａの要部が構成されている。ブラシレスＤＣモータ２、駆動回路３、位置センサ４及びモータ制御装置１００ａにより、アクチュエータ装置２００ａの要部が構成されている。 The current command generator 21 and the control command generator 22a form a control command calculator 20a. The rotation state calculation unit 10, the control command calculation unit 20a, and the voltage command calculation unit 30 form a main part of the motor control device 100a. The brushless DC motor 2, the drive circuit 3, the position sensor 4, and the motor control device 100a constitute a main part of the actuator device 200a.
　モータ制御装置１００ａの要部のハードウェア構成は、実施の形態１にて図８を参照して説明したものと同様であるため、図示及び説明を省略する。すなわち、回転状態演算部１０、制御指令演算部２０ａ及び電圧指令演算部３０の各々の機能は、プロセッサ４１及びメモリ４２により実現されるものであっても良く、又は専用の処理回路４３により実現されるものであっても良い。 Since the hardware configuration of the main part of the motor control device 100a is the same as that described in Embodiment 1 with reference to FIG. 8, illustration and description thereof will be omitted. That is, the functions of the rotation state calculation unit 10, the control command calculation unit 20a, and the voltage command calculation unit 30 may be realized by the processor 41 and the memory 42, or by a dedicated processing circuit 43. It may be one.
　次に、図１２のフローチャートを参照して、モータ制御装置１００ａの動作について、制御指令生成部２２ａの動作を中心に説明する。 Next, the operation of the motor control device 100a will be described focusing on the operation of the control command generation unit 22a with reference to the flowchart in FIG.
　なお、電流指令生成部２１の動作は、実施の形態１にて図９Ａを参照して説明したものと同様であるため、図示及び説明を省略する。補正位置算出部３１の動作は、実施の形態１にて図９Ｃを参照して説明したものと同様であるため、図示及び説明を省略する。電圧指令生成部３２の動作は、実施の形態１にて図９Ｄを参照して説明したものと同様であるため、図示及び説明を省略する。 Note that the operation of the current command generator 21 is the same as that described in Embodiment 1 with reference to FIG. 9A, and therefore illustration and description thereof will be omitted. The operation of the corrected position calculation unit 31 is the same as that described in the first embodiment with reference to FIG. 9C, and therefore, illustration and description thereof will be omitted. The operation of the voltage command generator 32 is the same as that described in the first embodiment with reference to FIG. 9D, and therefore, illustration and description thereof will be omitted.
　図１２は、個々の第１周期ｄＴｐ（例えば４ｍｓ）における制御指令生成部２２ａの動作を示している。まず、ステップＳＴ１１にて、制御指令生成部２２ａは、電流指令生成部２１により生成されたｑ軸電流指令ｉｑ ＊を電流指令生成部２１から取得するとともに、所定値（例えば零値）のｄ軸電流指令ｉｄ ＊を電流指令生成部２１から取得する。また、ステップＳＴ１１にて、制御指令生成部２２ａは、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得する。また、ステップＳＴ１２ａにて、制御指令生成部２２ａは、上記式（１０）の計算に用いられるモータ定数Ｒａ，Ｌｄ，Ｌｑ，φの値を設定するとともに、上記式（１０）の計算に用いられる電流応答時定数Ｔｃの値を設定する。 FIG. 12 shows the operation of the control command generator 22a in each first cycle dT p (for example, 4 ms). First, in step ST11, the control command generation unit 22a acquires the q-axis current command i q * generated by the current command generation unit 21 from the current command generation unit 21 and sets a predetermined value (for example, zero value) d. The axis current command i d * is acquired from the current command generation unit 21. In step ST11, the control command generation unit 22a acquires the position θ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12. Further, in step ST12a, the control command generating unit 22a, the motor constants R a to be used in the calculation of the equation (10), L d, L q, sets the value of phi, the calculation of the equation (10) The value of the current response time constant T c used for is set.
　次いで、制御指令生成部２２ａは、当該取得されたｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊、当該取得された位置θｅ（より具体的には前回のステップＳＴ１１にて取得された位置θｅ（ｎ－１）及び今回のステップＳＴ１１にて取得された位置θｅ（ｎ））、当該設定されたモータ定数Ｒａ，Ｌｄ，Ｌｑ，φ、並びに当該設定された電流応答時定数Ｔｃに基づき、制御指令を生成する。 Next, the control command generation unit 22a determines the acquired dq axis current commands i d * , i q * , the acquired position θ e (more specifically, the position θ e acquired in the previous step ST11). (N−1) and the position θ e (n) acquired in step ST11 this time, the set motor constants R a , L d , L q , and φ, and the set current response time constant T. A control command is generated based on c .
　すなわち、制御指令生成部２２ａは、上記式（４）により電気角速度ωｅを算出する（ステップＳＴ１３）。次いで、制御指令生成部２２ａは、上記式（１０）によりｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を生成する（ステップＳＴ１４ａ）。次いで、制御指令生成部２２ａは、上記式（５）により電圧ベクトルＶｒ ＊を算出するとともに、上記式（６）により電圧位相θｄｑを算出する（ステップＳＴ１５）。次いで、制御指令生成部２２ａは、当該算出された電圧ベクトルＶｒ ＊の大きさ及び電圧位相θｄｑを含む制御指令を生成する（ステップＳＴ１６）。 That is, the control command generator 22a calculates the electrical angular velocity ω e by the above equation (4) (step ST13). Next, the control command generator 22a generates the dq axis voltage commands v d * , v q * by the above equation (10) (step ST14a). Next, the control command generation unit 22a calculates the voltage vector V r * by the equation (5) and the voltage phase θ dq by the equation (6) (step ST15). Next, the control command generation unit 22a generates a control command including the magnitude of the calculated voltage vector V r * and the voltage phase θ dq (step ST16).
　なお、モータ制御装置１００ａは、実施の形態１にて説明したものと同様の種々の変形例、すなわちモータ制御装置１００と同様の種々の変形例を採用することができる。 Note that the motor control device 100a can employ various modifications similar to those described in the first embodiment, that is, various modifications similar to the motor control device 100.
　以上のように、実施の形態２に係るモータ制御装置１００ａにおいて、電圧方程式は、電流応答時定数Ｔｃに応じたフィルタを含むものである。電流応答時定数Ｔｃの値を設定することにより、ブラシレスＤＣモータ２の駆動電流の制御において、任意の時間応答を実現することができる。 As described above, in the motor control device 100a according to the second embodiment, the voltage equation includes the filter according to the current response time constant T c . By setting the value of the current response time constant T c , it is possible to realize an arbitrary time response in controlling the drive current of the brushless DC motor 2.
実施の形態３．
　図１３は、実施の形態３に係るモータ制御装置を含むアクチュエータ装置の要部を示すブロック図である。図１４は、実施の形態３に係るモータ制御装置における制御指令演算部の要部を示すブロック図である。図１３及び図１４を参照して、実施の形態３に係るモータ制御装置１００ｂ及びアクチュエータ装置２００ｂについて説明する。なお、図１３において、図１に示すブロックと同様のブロックには同一符号を付して説明を省略する。また、図１４において、図３に示すブロックと同様のブロックには同一符号を付して説明を省略する。 Embodiment 3.
FIG. 13 is a block diagram showing a main part of an actuator device including the motor control device according to the third embodiment. FIG. 14 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the third embodiment. A motor control device 100b and an actuator device 200b according to the third embodiment will be described with reference to FIGS. 13 and 14. Note that, in FIG. 13, the same blocks as the blocks shown in FIG. Also, in FIG. 14, the same blocks as the blocks shown in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted.
　図１３に示す如く、ブラシレスＤＣモータ２に温度センサ６が設けられている。温度センサ６は、ブラシレスＤＣモータ２における電機子巻線の温度Ｔｅｍｐを検出するものである。 As shown in FIG. 13, the brushless DC motor 2 is provided with a temperature sensor 6. The temperature sensor 6 detects the temperature Temp of the armature winding in the brushless DC motor 2.
　制御指令生成部２２ｂは、実施の形態１に係るモータ制御装置１００における制御指令生成部２２と同様に、ｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊及び位置θｅを取得するものである。これに加えて、制御指令生成部２２ｂは、温度センサ６により検出された温度Ｔｅｍｐを温度センサ６から取得するものである。制御指令生成部２２ｂは、上記式（２）に示す電圧方程式に代えて、以下の式（１１）に示す電圧方程式をｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊の生成に用いるものである。 The control command generation unit 22b acquires the dq axis current commands i d * , i q * and the position θ e similarly to the control command generation unit 22 in the motor control device 100 according to the first embodiment. In addition to this, the control command generation unit 22b acquires the temperature Temp detected by the temperature sensor 6 from the temperature sensor 6. The control command generator 22b uses the voltage equation shown in the following equation (11) instead of the voltage equation shown in the above equation (2) to generate the dq axis voltage instructions v d * , v q * .
Figure JPOXMLDOC01-appb-I000011
Figure JPOXMLDOC01-appb-I000011
　すなわち、上記式（１１）に示す電圧方程式においては、電機子巻線抵抗Ｒａ、ｄ軸インダクタンスＬｄ、ｑ軸インダクタンスＬｑ及び電機子巻線鎖交磁束数φの各々が温度Ｔｅｍｐの関数である。そこで、制御指令生成部２２ｂは、以下のように、上記式（１１）の計算に用いられるモータ定数Ｒａ，Ｌｄ，Ｌｑ，φの値を設定する。 That is, in the voltage equation shown in the above equation (11), each of the armature winding resistance R a , the d-axis inductance L d , the q-axis inductance L q, and the armature winding interlinkage magnetic flux number φ is a function of the temperature Temp. Is. Therefore, the control command generation unit 22b sets the values of the motor constants R a , L d , L q , and φ used in the calculation of the above formula (11) as follows.
　制御指令生成部２２ｂには、温度Ｔｅｍｐの値と電機子巻線抵抗Ｒａの値との対応関係を示すマップ、すなわち関数Ｒａ（Ｔｅｍｐ）を示すマップが予め記憶されている。制御指令生成部２２ｂは、当該記憶されているマップに基づき、温度センサ６により検出された温度Ｔｅｍｐの値に応じて、上記式（１１）の計算に用いられるモータ定数Ｒａの値を設定する。 The control command generation unit 22b stores in advance a map showing the correspondence between the value of the temperature Temp and the value of the armature winding resistance R a , that is, the map showing the function R a (Temp). The control command generation unit 22b sets the value of the motor constant R a used for the calculation of the above formula (11) according to the value of the temperature Temp detected by the temperature sensor 6 based on the stored map. ..
　同様に、制御指令生成部２２ｂには、温度Ｔｅｍｐの値とｄ軸インダクタンスＬｄの値との対応関係を示すマップ、すなわち関数Ｌｄ（Ｔｅｍｐ）を示すマップが予め記憶されている。制御指令生成部２２ｂは、当該記憶されているマップに基づき、温度センサ６により検出された温度Ｔｅｍｐの値に応じて、上記式（１１）の計算に用いられるモータ定数Ｌｄの値を設定する。 Similarly, the control command generator 22b stores in advance a map showing the correspondence between the value of the temperature Temp and the value of the d-axis inductance L d , that is, the map showing the function L d (Temp). The control command generation unit 22b sets the value of the motor constant L d used for the calculation of the above formula (11) according to the value of the temperature Temp detected by the temperature sensor 6 based on the stored map. ..
　同様に、制御指令生成部２２ｂには、温度Ｔｅｍｐの値とｑ軸インダクタンスＬｑの値との対応関係を示すマップ、すなわち関数Ｌｑ（Ｔｅｍｐ）を示すマップが予め記憶されている。制御指令生成部２２ｂは、当該記憶されているマップに基づき、温度センサ６により検出された温度Ｔｅｍｐの値に応じて、上記式（１１）の計算に用いられるモータ定数Ｌｑの値を設定する。 Similarly, the control command generation unit 22b stores in advance a map showing the correspondence relationship between the value of the temperature Temp and the value of the q-axis inductance L q , that is, the map showing the function L q (Temp). The control command generation unit 22b sets the value of the motor constant L q used for the calculation of the above formula (11) according to the value of the temperature Temp detected by the temperature sensor 6 based on the stored map. ..
　同様に、制御指令生成部２２ｂには、温度Ｔｅｍｐの値と電機子巻線鎖交磁束数φの値との対応関係を示すマップ、すなわち関数φ（Ｔｅｍｐ）を示すマップが予め記憶されている。制御指令生成部２２ｂは、当該記憶されているマップに基づき、温度センサ６により検出された温度Ｔｅｍｐの値に応じて、上記式（１１）の計算に用いられるモータ定数φの値を設定する。 Similarly, the control command generator 22b stores in advance a map showing the correspondence between the value of the temperature Temp and the value of the armature winding interlinkage magnetic flux number φ, that is, the function φ (Temp). . The control command generation unit 22b sets the value of the motor constant φ used for the calculation of the above formula (11) according to the value of the temperature Temp detected by the temperature sensor 6 based on the stored map.
　電流指令生成部２１及び制御指令生成部２２ｂにより、制御指令演算部２０ｂが構成されている。回転状態演算部１０、制御指令演算部２０ｂ及び電圧指令演算部３０により、モータ制御装置１００ｂの要部が構成されている。ブラシレスＤＣモータ２、駆動回路３、位置センサ４、温度センサ６及びモータ制御装置１００ｂにより、アクチュエータ装置２００ｂの要部が構成されている。 The current command generator 21 and the control command generator 22b constitute a control command calculator 20b. The rotation state calculation unit 10, the control command calculation unit 20b, and the voltage command calculation unit 30 form a main part of the motor control device 100b. The brushless DC motor 2, the drive circuit 3, the position sensor 4, the temperature sensor 6, and the motor control device 100b constitute a main part of the actuator device 200b.
　モータ制御装置１００ｂの要部のハードウェア構成は、実施の形態１にて図８を参照して説明したものと同様であるため、図示及び説明を省略する。すなわち、回転状態演算部１０、制御指令演算部２０ｂ及び電圧指令演算部３０の各々の機能は、プロセッサ４１及びメモリ４２により実現されるものであっても良く、又は専用の処理回路４３により実現されるものであっても良い。 Since the hardware configuration of the main part of the motor control device 100b is the same as that described in Embodiment 1 with reference to FIG. 8, illustration and description thereof will be omitted. That is, the functions of the rotation state calculation unit 10, the control command calculation unit 20b, and the voltage command calculation unit 30 may be realized by the processor 41 and the memory 42, or by a dedicated processing circuit 43. It may be one.
　次に、図１５のフローチャートを参照して、モータ制御装置１００ｂの動作について、制御指令生成部２２ｂの動作を中心に説明する。 Next, the operation of the motor control device 100b will be described focusing on the operation of the control command generation unit 22b with reference to the flowchart of FIG.
　なお、電流指令生成部２１の動作は、実施の形態１にて図９Ａを参照して説明したものと同様であるため、図示及び説明を省略する。補正位置算出部３１の動作は、実施の形態１にて図９Ｃを参照して説明したものと同様であるため、図示及び説明を省略する。電圧指令生成部３２の動作は、実施の形態１にて図９Ｄを参照して説明したものと同様であるため、図示及び説明を省略する。 Note that the operation of the current command generator 21 is the same as that described in Embodiment 1 with reference to FIG. 9A, and therefore illustration and description thereof will be omitted. The operation of the corrected position calculation unit 31 is the same as that described in the first embodiment with reference to FIG. 9C, and therefore, illustration and description thereof will be omitted. The operation of the voltage command generator 32 is the same as that described in the first embodiment with reference to FIG. 9D, and therefore, illustration and description thereof will be omitted.
　図１５は、個々の第１周期ｄＴｐ（例えば４ｍｓ）における制御指令生成部２２ｂの動作を示している。まず、ステップＳＴ１１ｂにて、制御指令生成部２２ｂは、電流指令生成部２１により生成されたｑ軸電流指令ｉｑ ＊を電流指令生成部２１から取得するとともに、所定値（例えば零値）のｄ軸電流指令ｉｄ ＊を電流指令生成部２１から取得する。また、ステップＳＴ１１ｂにて、制御指令生成部２２ｂは、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得する。さらに、ステップＳＴ１１ｂにて、制御指令生成部２２ｂは、温度センサ６により検出された温度Ｔｅｍｐを温度センサ６から取得する。 FIG. 15 shows the operation of the control command generator 22b in each first cycle dT p (for example, 4 ms). First, in step ST11b, the control command generation unit 22b acquires the q-axis current command i q * generated by the current command generation unit 21 from the current command generation unit 21, and at the same time, sets a predetermined value (for example, zero value) d. The axis current command i d * is acquired from the current command generation unit 21. In step ST11b, the control command generation unit 22b acquires the position θ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12. Furthermore, in step ST11b, the control command generator 22b acquires the temperature Temp detected by the temperature sensor 6 from the temperature sensor 6.
　次いで、ステップＳＴ１２ｂにて、制御指令生成部２２ｂは、当該取得された温度Ｔｅｍｐの値に応じて、上記式（１１）の計算に用いられるモータ定数Ｒａ，Ｌｄ，Ｌｑ，φの値を設定する。 Next, in step ST12b, the control command generation unit 22b determines the values of the motor constants R a , L d , L q , and φ used in the calculation of the equation (11) according to the value of the acquired temperature Temp. To set.
　次いで、制御指令生成部２２ｂは、当該取得されたｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊、当該取得された位置θｅ（より具体的には前回のステップＳＴ１１ｂにて取得された位置θｅ（ｎ－１）及び今回のステップＳＴ１１ｂにて取得された位置θｅ（ｎ））、並びに当該設定されたモータ定数Ｒａ，Ｌｄ，Ｌｑ，φに基づき、制御指令を生成する。 Next, the control command generation unit 22b acquires the acquired dq axis current commands i d * , i q * , the acquired position θ e (more specifically, the position θ e acquired in the previous step ST11b). A control command is generated based on (n-1) and the position θ e (n) acquired in step ST11b this time, and the set motor constants R a , L d , L q , and φ.
　すなわち、制御指令生成部２２ｂは、上記式（４）により電気角速度ωｅを算出する（ステップＳＴ１３）。次いで、制御指令生成部２２ｂは、上記式（１１）によりｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を生成する（ステップＳＴ１４ｂ）。次いで、制御指令生成部２２ｂは、上記式（５）により電圧ベクトルＶｒ ＊を算出するとともに、上記式（６）により電圧位相θｄｑを算出する（ステップＳＴ１５）。次いで、制御指令生成部２２ｂは、当該算出された電圧ベクトルＶｒ ＊の大きさ電圧位相θｄｑを含む制御指令を生成する（ステップＳＴ１６）。 That is, the control command generator 22b calculates the electrical angular velocity ω e by the above equation (4) (step ST13). Next, the control command generator 22b generates the dq axis voltage commands v d * , v q * by the above equation (11) (step ST14b). Next, the control command generation unit 22b calculates the voltage vector V r * by the equation (5) and the voltage phase θ dq by the equation (6) (step ST15). Next, the control command generation unit 22b generates a control command including the magnitude voltage phase θ dq of the calculated voltage vector V r * (step ST16).
　なお、図１６に示す如く、ブラシレスＤＣモータ２に代えて駆動回路３に温度センサ６が設けられているものであっても良い。この場合、温度センサ６は、駆動回路３におけるパワー半導体の温度Ｔｅｍｐ、すなわち３相に対応するスイッチング素子の温度Ｔｅｍｐを検出するものであっても良い。 Note that as shown in FIG. 16, the temperature sensor 6 may be provided in the drive circuit 3 instead of the brushless DC motor 2. In this case, the temperature sensor 6 may detect the temperature Temp of the power semiconductor in the drive circuit 3, that is, the temperature Temp of the switching element corresponding to the three phases.
　また、図１７に示す如く、ブラシレスＤＣモータ２に代えてバルブ装置１に温度センサ６が設けられているものであっても良い。この場合、温度センサ６は、バルブ装置１における流路内の温度Ｔｅｍｐを検出するものであっても良い。 Further, as shown in FIG. 17, the temperature sensor 6 may be provided in the valve device 1 instead of the brushless DC motor 2. In this case, the temperature sensor 6 may detect the temperature Temp in the flow path of the valve device 1.
　また、バルブ装置１、ブラシレスＤＣモータ２又は駆動回路３のうちのいずれか二つ以上の各々に温度センサ６が設けられているものであっても良い（不図示）。この場合、制御指令生成部２２ｂは、これらの温度センサ６により検出された温度Ｔｅｍｐに基づき、バルブ装置１の使用環境温度、すなわちアクチュエータ装置２００ｂの使用環境温度を推定するものであっても良い。制御指令生成部２２ｂは、当該推定された温度の値に応じて、モータ定数Ｒａ，Ｌｄ，Ｌｑ，φの値を設定するものであっても良い。 Further, the temperature sensor 6 may be provided in each of two or more of the valve device 1, the brushless DC motor 2, and the drive circuit 3 (not shown). In this case, the control command generator 22b may estimate the operating environment temperature of the valve device 1, that is, the operating environment temperature of the actuator device 200b, based on the temperature Temp detected by the temperature sensor 6. The control command generation unit 22b may set the values of the motor constants R a , L d , L q , and φ according to the estimated temperature value.
　また、制御指令生成部２２ｂは、実施の形態２に係るモータ制御装置１００ａにおける制御指令生成部２２ａと同様の処理を実行するものであっても良い。すなわち、制御指令生成部２２ｂは、電流応答時定数Ｔｃの値を設定するものであっても良い。制御指令生成部２２ｂは、上記式（１１）に示す電圧方程式に代えて、以下の式（１２）に示す電圧方程式をｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊の生成に用いるものであっても良い。当該式（１２）に示す電圧方程式は、上記式（１１）に示す電圧方程式に対して、「１／（１＋Ｔｃｓ）」によるフィルタが追加されたものである。 Further, control command generation unit 22b may execute the same process as control command generation unit 22a in motor control device 100a according to the second embodiment. That is, the control command generator 22b may set the value of the current response time constant Tc . The control command generation unit 22b uses the voltage equation shown in the following equation (12) instead of the voltage equation shown in the above equation (11) to generate the dq axis voltage instructions v d * , v q *. Is also good. The voltage equation shown in the equation (12) is obtained by adding a filter based on “1 / (1 + T c s)” to the voltage equation shown in the equation (11).
Figure JPOXMLDOC01-appb-I000012
Figure JPOXMLDOC01-appb-I000012
　また、モータ制御装置１００ｂは、実施の形態１にて説明したものと同様の種々の変形例、すなわちモータ制御装置１００と同様の種々の変形例を採用することができる。 Further, the motor control device 100b can adopt various modifications similar to those described in the first embodiment, that is, various modifications similar to the motor control device 100.
　以上のように、実施の形態３に係るモータ制御装置１００ｂにおいては、ブラシレスＤＣモータ２に温度センサ６が設けられており、制御指令生成部２２ｂは、温度センサ６により検出された温度Ｔｅｍｐの値に応じて電圧方程式におけるモータ定数Ｒａ，Ｌｄ，Ｌｑ，φの値を設定する。これにより、ブラシレスＤＣモータ２の駆動電流の制御において、アクチュエータ装置２００の使用環境温度、すなわちバルブ装置１の使用環境温度による電流応答のばらつきが発生するのを抑制することができる。 As described above, in the motor control device 100b according to the third embodiment, the brushless DC motor 2 is provided with the temperature sensor 6, and the control command generation unit 22b causes the value of the temperature Temp detected by the temperature sensor 6. The values of the motor constants R a , L d , L q , and φ in the voltage equation are set according to As a result, in the control of the drive current of the brushless DC motor 2, it is possible to suppress the occurrence of variations in current response due to the operating environment temperature of the actuator device 200, that is, the operating environment temperature of the valve device 1.
参考例１．
　図１８は、参考例１に係るモータ制御装置を含むアクチュエータ装置の要部を示すブロック図である。図１９は、参考例１に係るモータ制御装置における回転状態演算部の要部を示すブロック図である。図２０は、参考例１に係るモータ制御装置における制御指令演算部の要部を示すブロック図である。図２１は、参考例１に係るモータ制御装置における電圧指令演算部の要部を示すブロック図である。図１８～図２１を参照して、参考例１に係るモータ制御装置１００ｃ及びアクチュエータ装置２００ｃについて説明する。なお、図１８～図２１において、図１～図４に示すブロックと同様のブロックには同一符号を付して説明を省略する。 Reference example 1.
FIG. 18 is a block diagram showing a main part of an actuator device including the motor control device according to the first reference example. FIG. 19 is a block diagram illustrating a main part of a rotation state calculation unit in the motor control device according to the first reference example. FIG. 20 is a block diagram showing a main part of a control command calculation unit in the motor control device according to the first reference example. FIG. 21 is a block diagram showing a main part of a voltage command calculation unit in the motor control device according to the first reference example. A motor control device 100c and an actuator device 200c according to Reference Example 1 will be described with reference to FIGS. 18 to 21, the same blocks as the blocks shown in FIGS. 1 to 4 are designated by the same reference numerals, and the description thereof will be omitted.
　図１９に示す如く、回転状態演算部１０ｃはエッジ検出部１１及び不定周期位置算出部１２を有するものである。すなわち、回転状態演算部１０ｃは不定周期速度算出部１３を有しないものである。これにより、回転状態演算部１０ｃにおける演算負荷を低減することができる。 As shown in FIG. 19, the rotation state calculation unit 10c has an edge detection unit 11 and an indefinite period position calculation unit 12. That is, the rotation state calculation unit 10c does not include the indefinite period speed calculation unit 13. As a result, the calculation load on the rotation state calculation unit 10c can be reduced.
　制御指令生成部２２ｃは、電流指令生成部２１により生成されたｑ軸電流指令ｉｑ ＊を電流指令生成部２１から取得するとともに、所定値（例えば零値）のｄ軸電流指令ｉｄ ＊を電流指令生成部２１から取得するものである。制御指令生成部２２ｃは、モータ定数Ｒａ，Ｌｑの値を設定するとともに、電流応答時定数Ｔｃの値を設定するものである。 The control command generation unit 22c acquires the q-axis current command i q * generated by the current command generation unit 21 from the current command generation unit 21 and also outputs the d-axis current command i d * having a predetermined value (for example, zero value). It is acquired from the current command generator 21. The control command generator 22c sets the values of the motor constants R a and L q and also sets the value of the current response time constant T c .
　制御指令生成部２２ｃは、当該取得されたｄｑ軸電流指令ｉｄ ＊，ｉｑ ＊、当該設定されたモータ定数Ｒａ，Ｌｑ、及び当該設定された電流応答時定数Ｔｃに基づき、以下の式（１３）によりｖｄ＿ｄｕｍｍｙ ＊及びｖｑ＿ｄｕｍｍｙ ＊を算出するものである。すなわち、制御指令生成部２２ｃは、上記式（１０）に示す電圧方程式のうちの速度ωｅ＿ａｖｅを含まない項のみを計算することにより、ｖｄ＿ｄｕｍｍｙ ＊及びｖｑ＿ｄｕｍｍｙ ＊を算出するものである。なお、当該式（１３）は、ｉｄ ＊＝０の場合における式である。また、当該式（１３）は、ブラシレスＤＣモータ２における突極性が小さい場合、すなわちＬｑ≒Ｌｄの場合を想定した式である。 Based on the acquired dq axis current commands i d * , i q * , the set motor constants R a , L q , and the set current response time constant T c , the control command generation unit 22 c calculates Equation 13 is used to calculate v d_dummy * and v q_dummy * . That is, the control command generation unit 22c calculates v d_dummy * and v q_dummy * by calculating only the term that does not include the speed ω e_ave in the voltage equation shown in the above equation (10). The equation (13) is an equation in the case of i d * = 0. Further, the equation (13) is an equation assuming a case where the brushless DC motor 2 has a small saliency, that is, L q ≈L d .
Figure JPOXMLDOC01-appb-I000013
Figure JPOXMLDOC01-appb-I000013
　制御指令生成部２２ｃは、当該算出されたｖｄ＿ｄｕｍｍｙ ＊及びｖｑ＿ｄｕｍｍｙ ＊を含む制御指令を生成するものである。 The control command generation unit 22c is configured to generate a control command including the calculated v d_dummy * and v q_dummy * .
　電圧指令生成部３２ｃは、不定周期位置算出部１２により算出された位置θｅを不定周期位置算出部１２から取得するものである。電圧指令生成部３２ｃは、当該取得された位置θｅに基づき、以下の式（１４）により、ロータの速度ωｅを算出するものである。ここで、ωｅは電気角速度であり、ωｅの単位はラジアン毎秒（ｒａｄ／ｓ）である。 The voltage command generation unit 32 c acquires the position θ e calculated by the indefinite period position calculation unit 12 from the indefinite period position calculation unit 12. The voltage command generator 32c calculates the rotor speed ω e by the following equation (14) based on the acquired position θ e . Here, ω e is an electrical angular velocity, and the unit of ω e is radian per second (rad / s).
Figure JPOXMLDOC01-appb-I000014
Figure JPOXMLDOC01-appb-I000014
　ここで、θｅ（ｎ－１）は電圧指令生成部３２ｃにより前回取得された位置θｅであり、θｅ（ｎ）は電圧指令生成部３２ｃにより今回取得された位置θｅである。すなわち、ｎは、電圧指令生成部３２ｃによる位置θｅの取得に係るサンプル番号である。また、ｄＴｃは電圧指令演算部３０ｃの制御周期（例えば０．５秒）である。 Here, θ e (n−1) is the position θ e previously acquired by the voltage command generation unit 32c, and θ e (n) is the position θ e acquired this time by the voltage command generation unit 32c. That is, n is a sample number related to the acquisition of the position θ e by the voltage command generation unit 32c. Further, dT c is a control cycle (for example, 0.5 seconds) of the voltage command calculation unit 30c.
　すなわち、上記式（１４）による計算は、ロータの位置θｅを第２周期ｄＴｃ毎に時間微分することにより、ロータの速度ωｅを算出するものである。なお、電圧指令生成部３２ｃは、当該式（１４）の計算に疑似微分器を用いるものであっても良い。 That is, the calculation by the above formula (14) is to calculate the rotor speed ω e by differentiating the rotor position θ e with respect to each second period dT c . The voltage command generator 32c may use a pseudo differentiator for the calculation of the equation (14).
　また、電圧指令生成部３２ｃは、制御指令生成部２２ｃにより生成された制御指令を制御指令生成部２２ｃから取得するものである。電圧指令生成部３２ｃは、モータ定数φの値を設定するものである。電圧指令生成部３２ｃは、当該取得された制御指令に含まれるｖｄ＿ｄｕｍｍｙ ＊及びｖｑ＿ｄｕｍｍｙ ＊、当該設定されたモータ定数φ、並びに上記式（１４）により算出された速度ωｅに基づき、以下の式（１５）により、ｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を生成するものである。 In addition, the voltage command generation unit 32c acquires the control command generated by the control command generation unit 22c from the control command generation unit 22c. The voltage command generator 32c sets the value of the motor constant φ. The voltage command generation unit 32c calculates the following based on v d_dummy * and v q_dummy * included in the acquired control command, the set motor constant φ, and the speed ω e calculated by the above equation (14). The dq axis voltage commands v d * and v q * are generated by the equation (15).
Figure JPOXMLDOC01-appb-I000015
Figure JPOXMLDOC01-appb-I000015
　２軸３相変換部３３は、電圧指令生成部３２ｃにより生成されたｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を電圧指令生成部３２ｃから取得するものである。２軸３相変換部３３は、所定の変換行例を用いて、当該取得されたｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊に変換するものである。ｄｑ軸電圧指令ｖｄ ＊，ｖｑ ＊を３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊に変換するための変換行列は公知である。このため、当該変換行列についての詳細な説明は省略する。 The two-axis three-phase conversion unit 33 acquires the dq-axis voltage commands v d * , v q * generated by the voltage command generation unit 32 c from the voltage command generation unit 32 c. The 2-axis 3-phase conversion unit 33 converts the acquired dq-axis voltage commands v d * , v q * into 3-phase voltage commands v u * , v v * , v w * by using a predetermined conversion example. It is to convert. A conversion matrix for converting the dq axis voltage commands v d * , v q * into the three-phase voltage commands v u * , v v * , v w * is known. Therefore, detailed description of the conversion matrix is omitted.
　２軸３相変換部３３は、当該変換された３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊を駆動回路３に出力するものである。駆動回路３は、上記のとおり、３相電圧指令ｖｕ ＊，ｖｖ ＊，ｖｗ ＊に応じた電流を三相巻線に供給するものである。 The two-axis / three-phase conversion unit 33 outputs the converted three-phase voltage commands v u * , v v * , v w * to the drive circuit 3. As described above, the drive circuit 3 supplies a current according to the three-phase voltage commands v u * , v v * , v w * to the three-phase winding.
　エッジ検出部１１及び不定周期位置算出部１２により、回転状態演算部１０ｃが構成されている。電流指令生成部２１及び制御指令生成部２２ｃにより、制御指令演算部２０ｃが構成されている。電圧指令生成部３２ｃ及び２軸３相変換部３３により、電圧指令演算部３０ｃが構成されている。回転状態演算部１０ｃ、制御指令生成部２２ｃ及び電圧指令演算部３０ｃにより、モータ制御装置１００ｃの要部が構成されている。ブラシレスＤＣモータ２、駆動回路３、位置センサ４及びモータ制御装置１００ｃにより、アクチュエータ装置２００ｃの要部が構成されている。 The edge detection unit 11 and the indefinite period position calculation unit 12 constitute a rotation state calculation unit 10c. The current command generator 21 and the control command generator 22c constitute a control command calculator 20c. The voltage command generator 32c and the biaxial three-phase converter 33 configure a voltage command calculator 30c. The rotation state calculation unit 10c, the control command generation unit 22c, and the voltage command calculation unit 30c constitute a main part of the motor control device 100c. The brushless DC motor 2, the drive circuit 3, the position sensor 4, and the motor control device 100c constitute a main part of the actuator device 200c.
　モータ制御装置１００ｃの要部のハードウェア構成は、実施の形態１にて図８を参照して説明したものと同様であるため、図示及び説明を省略する。すなわち、回転状態演算部１０ｃ、制御指令演算部２０ｃ及び電圧指令演算部３０ｃの各々の機能は、プロセッサ４１及びメモリ４２により実現されるものであっても良く、又は専用の処理回路４３により実現されるものであっても良い。 Since the hardware configuration of the main part of the motor control device 100c is the same as that described in Embodiment 1 with reference to FIG. 8, illustration and description thereof will be omitted. That is, the functions of the rotation state calculation unit 10c, the control command calculation unit 20c, and the voltage command calculation unit 30c may be realized by the processor 41 and the memory 42, or by a dedicated processing circuit 43. It may be one.
　参考例１に係るモータ制御装置１００ｃは、上記のとおり、回転状態演算部１０ｃにおいて、ロータの速度ωｅ＿ａｖｅを不定周期に算出する処理を不要とすることができる。これにより、回転状態演算部１０ｃにおける演算負荷を低減することができる。また、電圧指令演算部３０ｃにおいて、電圧位相θｄｑに対応する電気角θの値を時間的に補間する処理を不要とすることができる。この結果、電圧指令演算部３０ｃにおける演算負荷を低減することができる。 As described above, the motor control device 100c according to Reference Example 1 can eliminate the need for the rotation state calculation unit 10c to perform the process of calculating the rotor speed ω e_ave in an indefinite cycle. As a result, the calculation load on the rotation state calculation unit 10c can be reduced. Further, in the voltage command calculation unit 30c, the process of temporally interpolating the value of the electrical angle θ corresponding to the voltage phase θ dq can be eliminated. As a result, the calculation load on the voltage command calculation unit 30c can be reduced.
　なお、本願発明はその発明の範囲内において、各実施の形態の自由な組み合わせ、あるいは各実施の形態の任意の構成要素の変形、もしくは各実施の形態において任意の構成要素の省略が可能である。 It should be noted that, within the scope of the invention, the invention of the present application is capable of freely combining the embodiments, modifying any constituent element of each embodiment, or omitting any constituent element in each embodiment. ..
　本発明のモータ制御装置及びモータ制御方法は、例えば、アクチュエータ装置におけるブラシレスＤＣモータの制御に用いることができる。本発明のアクチュエータ装置は、例えば、車載用のバルブ装置の開度制御に用いることができる。 The motor control device and the motor control method of the present invention can be used, for example, for controlling a brushless DC motor in an actuator device. The actuator device of the present invention can be used, for example, for controlling the opening of a vehicle-mounted valve device.
　１　バルブ装置、２　ブラシレスＤＣモータ、３　駆動回路、４　位置センサ、５　電子制御ユニット（ＥＣＵ）、６　温度センサ、１０，１０ｃ　回転状態演算部、１１　エッジ検出部、１２　不定周期位置算出部、１３　不定周期速度算出部、２０，２０ａ，２０ｂ，２０ｃ　制御指令演算部、２１　電流指令生成部、２２，２２ａ，２２ｂ，２２ｃ　制御指令生成部、３０，３０ｃ　電圧指令演算部、３１　補正位置算出部、３２，３２ｃ　電圧指令生成部、３３　２軸３相変換部、４１　プロセッサ、４２　メモリ、４３　処理回路、１００，１００ａ，１００ｂ，１００ｃ　モータ制御装置、２００，２００ａ，２００ｂ，２００ｃ　アクチュエータ装置。 1 valve device, 2 brushless DC motor, 3 drive circuit, 4 position sensor, 5 electronic control unit (ECU), 6 temperature sensor, 10 and 10c rotation state calculation unit, 11 edge detection unit, 12 indeterminate cycle position calculation unit, 13 Indefinite cycle speed calculator, 20, 20a, 20b, 20c control command calculator, 21 current command generator, 22, 22a, 22b, 22c control command generator, 30, 30c voltage command calculator, 31 correction position calculator, 32, 32c voltage command generation unit, 33 2-axis 3-phase conversion unit, 41 processor, 42 memory, 43 processing circuit, 100, 100a, 100b, 100c motor control device, 200, 200a, 200b, 200c actuator device.

Claims (12)

  1. 　ロータ用の位置センサを有するブラシレスＤＣモータに対する駆動電流を電流センサレス方式のベクトル制御により制御するモータ制御装置であって、
    　前記位置センサの出力に対応する位置パルス信号を用いて前記ロータの位置及び前記ロータの速度を算出する回転状態演算部と、
    　電気角の値を前記速度に基づき時間的に補間することにより複数個の補正位置を順次算出するとともに、個々の前記補正位置に基づき前記ブラシレスＤＣモータ用の駆動回路に対する３相電圧指令を生成する電圧指令演算部と、
    　を備えることを特徴とするモータ制御装置。     A motor control device for controlling a drive current for a brushless DC motor having a position sensor for a rotor by vector control of a current sensorless system,
    A rotation state calculator that calculates the position of the rotor and the speed of the rotor using a position pulse signal corresponding to the output of the position sensor;
    A plurality of correction positions are sequentially calculated by temporally interpolating the value of the electrical angle based on the speed, and a three-phase voltage command to the drive circuit for the brushless DC motor is generated based on each of the correction positions. A voltage command calculator,
    A motor control device comprising:
  2. 　前記回転状態演算部は、
    　前記位置パルス信号におけるエッジを検出して、前記エッジに対応する更新パルスを含む更新パルス信号を出力するエッジ検出部と、
    　前記更新パルスの出力に応じて不定周期に前記位置を算出する不定周期位置算出部と、
    　前記更新パルスの出力に応じて不定周期に前記速度を算出する不定周期速度算出部と、を有する
    　ことを特徴とする請求項１記載のモータ制御装置。     The rotation state calculation unit,
    An edge detection unit that detects an edge in the position pulse signal and outputs an update pulse signal including an update pulse corresponding to the edge,
    An indefinite cycle position calculation unit that calculates the position in an indefinite cycle according to the output of the update pulse,
    The motor control device according to claim 1, further comprising an indefinite period speed calculation unit that calculates the speed in an indefinite period according to the output of the update pulse.
  3. 　前記位置パルス信号は、前記ロータが１回転する間に少なくとも１パルスが出力されるものであることを特徴とする請求項１記載のモータ制御装置。 The motor control device according to claim 1, wherein the position pulse signal outputs at least one pulse during one rotation of the rotor.
  4. 　位置指令に対する前記位置の差分値に応じた電圧位相を含む制御指令を生成する制御指令演算部を備え、
    　前記電圧指令演算部は、前記電圧位相に対応する前記電気角の値を前記位置及び前記速度に基づき時間的に補間することにより複数個の前記補正位置を順次算出する
    　ことを特徴とする請求項１記載のモータ制御装置。     A control command calculation unit that generates a control command including a voltage phase according to a difference value of the position with respect to the position command;
    The voltage command calculation unit sequentially calculates a plurality of the correction positions by temporally interpolating the value of the electrical angle corresponding to the voltage phase based on the position and the speed. 1. The motor control device according to 1.
  5. 　前記位置指令は、当該モータ制御装置に対する上位の電子制御ユニットにより出力されるものであり、
    　前記制御指令演算部は、
    　前記差分値に応じたｑ軸電流指令を生成する電流指令生成部と、
    　前記ｑ軸電流指令を含むｄｑ軸電流指令に応じた前記制御指令を生成する制御指令生成部と、を有する
    　ことを特徴とする請求項４記載のモータ制御装置。     The position command is output by a higher-order electronic control unit for the motor control device,
    The control command calculation unit,
    A current command generator that generates a q-axis current command according to the difference value;
    The motor control device according to claim 4, further comprising: a control command generation unit that generates the control command in accordance with a dq-axis current command including the q-axis current command.
  6. 　前記制御指令生成部は、前記ブラシレスＤＣモータの電圧方程式を用いて前記制御指令を生成することを特徴とする請求項５記載のモータ制御装置。 The motor control device according to claim 5, wherein the control command generation unit generates the control command using a voltage equation of the brushless DC motor.
  7. 　前記電圧方程式は、電流応答時定数に応じたフィルタを含むものであることを特徴とする請求項６記載のモータ制御装置。 7. The motor control device according to claim 6, wherein the voltage equation includes a filter according to a current response time constant.
  8. 　前記ブラシレスＤＣモータに温度センサが設けられており、
    　前記制御指令生成部は、前記温度センサにより検出された温度の値に応じて前記電圧方程式におけるモータ定数の値を設定する
    　ことを特徴とする請求項６又は請求項７記載のモータ制御装置。     The brushless DC motor is provided with a temperature sensor,
    The motor control device according to claim 6 or 7, wherein the control command generation unit sets the value of the motor constant in the voltage equation in accordance with the value of the temperature detected by the temperature sensor.
  9. 　前記制御指令は、前記差分値に応じた電圧ベクトルの大きさを含むものであり、
    　前記電圧指令演算部は、
    　複数個の前記補正位置を順次算出する補正位置算出部と、
    　前記電圧ベクトルの大きさ及び個々の前記補正位置に基づき前記３相電圧指令を生成する電圧指令生成部と、を有する
    　ことを特徴とする請求項４記載のモータ制御装置。     The control command includes a magnitude of a voltage vector according to the difference value,
    The voltage command calculation unit,
    A correction position calculation unit that sequentially calculates a plurality of correction positions;
    The motor control device according to claim 4, further comprising: a voltage command generation unit that generates the three-phase voltage command based on the magnitude of the voltage vector and each of the correction positions.
  10. 　請求項１から請求項４のうちのいずれか１項記載のモータ制御装置と、前記ブラシレスＤＣモータと、前記駆動回路と、前記位置センサと、を備えることを特徴とするアクチュエータ装置。 An actuator device comprising the motor control device according to any one of claims 1 to 4, the brushless DC motor, the drive circuit, and the position sensor.
  11. 　車載用のバルブ装置の開度制御に用いられるものであることを特徴とする請求項１０記載のアクチュエータ装置。 11. The actuator device according to claim 10, wherein the actuator device is used for controlling the opening of a valve device mounted on a vehicle.
  12. 　ロータ用の位置センサを有するブラシレスＤＣモータに対する駆動電流を電流センサレス方式のベクトル制御により制御するモータ制御方法であって、
    　回転状態演算部が、前記位置センサの出力に対応する位置パルス信号を用いて前記ロータの位置及び前記ロータの速度を算出し、
    　電圧指令演算部が、電気角の値を前記速度に基づき時間的に補間することにより複数個の補正位置を順次算出するとともに、個々の前記補正位置に基づき前記ブラシレスＤＣモータ用の駆動回路に対する３相電圧指令を生成する
    　ことを特徴とするモータ制御方法。     A motor control method for controlling a drive current for a brushless DC motor having a position sensor for a rotor by current sensorless type vector control,
    The rotation state calculation unit calculates the position of the rotor and the speed of the rotor using the position pulse signal corresponding to the output of the position sensor,
    The voltage command calculation unit sequentially calculates a plurality of correction positions by temporally interpolating the value of the electrical angle based on the speed, and 3 for the drive circuit for the brushless DC motor based on each of the correction positions. A motor control method characterized by generating a phase voltage command.
PCT/JP2018/042146 2018-11-14 2018-11-14 Motor control device, actuator device, and motor control method WO2020100234A1 (en)

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