WO2022208912A1 - モータ制御装置、モータモジュールおよびモータ制御方法 - Google Patents
モータ制御装置、モータモジュールおよびモータ制御方法 Download PDFInfo
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- WO2022208912A1 WO2022208912A1 PCT/JP2021/022347 JP2021022347W WO2022208912A1 WO 2022208912 A1 WO2022208912 A1 WO 2022208912A1 JP 2021022347 W JP2021022347 W JP 2021022347W WO 2022208912 A1 WO2022208912 A1 WO 2022208912A1
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- 238000000034 method Methods 0.000 title claims description 36
- 238000004804 winding Methods 0.000 claims abstract description 38
- 230000007423 decrease Effects 0.000 claims description 4
- 239000004065 semiconductor Substances 0.000 description 65
- 238000010586 diagram Methods 0.000 description 29
- 238000005259 measurement Methods 0.000 description 4
- 239000003990 capacitor Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000005669 field effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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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
- 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, a motor module, and a motor control method.
- the brushless motor control device described in Patent Document 1 includes an inverter circuit, a rotor magnetic pole detector, a rotor position estimator, a current detector, and an electrical angle corrector.
- the electrical angle correction unit determines an electrical angle offset based on the variation in the power supply current value, and adds the electrical angle offset to the electrical angle indicated by the estimated rotor position signal, thereby correcting the estimated rotor position signal.
- the brushless motor control device described in Patent Document 1 requires a circuit for reading the power supply current, which may increase the size of the circuit.
- the present invention has been made in view of the above problems, and aims to provide a motor control device capable of correcting the positional deviation between the windings of each phase and the Hall sensor while suppressing the enlargement of the circuit.
- An object of the present invention is to provide a motor module and a motor control method.
- An exemplary motor control device of the present invention controls a motor.
- the motor includes a rotor, a stator, and Hall sensors.
- the stator has multi-phase windings.
- the Hall sensor detects the rotational position of the rotor.
- the motor control device includes an inverter circuit, an estimation section, an energization control section, and a correction section.
- the inverter circuit applies a driving voltage to the windings of the plurality of phases.
- the estimating section estimates the position of the rotor based on the change in the magnetic poles detected by the Hall sensors.
- the energization control unit controls energization timings for the windings of each phase based on the estimated position of the rotor.
- the correction unit corrects the energization timing based on a positional deviation between the windings of each phase and the Hall sensor.
- the correction unit determines a correction value based on the extreme value of the rotation speed when the set position of the Hall sensor is changed under open control.
- An exemplary motor module of the present invention includes the motor controller described above and a motor.
- the motor is controlled by the motor controller.
- the motor includes a rotor, a stator, and Hall sensors.
- the stator has multi-phase windings.
- the Hall sensor detects the rotational position of the rotor.
- An exemplary motor control method of the present invention controls a motor.
- the motor includes a rotor, a stator, and Hall sensors.
- the stator has multi-phase windings.
- the Hall sensor detects the rotational position of the rotor.
- the motor control method includes an acquisition step, a determination step, and a correction step under open control.
- the obtaining step the rotational speed of the motor is obtained by changing the set position of the Hall sensor.
- determining step a correction value is determined based on the obtained extreme value of the rotational speed.
- the correction step the energization timing of each phase winding is corrected based on the correction value.
- the exemplary present invention it is possible to correct the positional deviation between the windings of each phase and the Hall sensors while suppressing an increase in the size of the circuit.
- FIG. 1 is a block diagram of a motor module according to an embodiment of the invention.
- FIG. 2 is a circuit diagram showing an inverter circuit.
- FIG. 3 is a schematic diagram showing a motor.
- FIG. 4 is a diagram showing the back electromotive force and the Hall sensor signal.
- FIG. 5 is a diagram showing absolute values of rotational speed with respect to Hall sensor set positions.
- FIG. 6 is a diagram showing absolute values of rotational speed with respect to Hall sensor set positions.
- FIG. 7 is a diagram showing rotation speed.
- FIG. 8 is a diagram for explaining a method of determining the rotation speed.
- FIG. 9 is a diagram for explaining a method of determining the rotation speed.
- FIG. 10 is a diagram for explaining a method of determining the extreme value of the rotation speed.
- FIG. 10 is a diagram for explaining a method of determining the extreme value of the rotation speed.
- FIG. 11A is a diagram showing Hall sensor setting positions.
- FIG. 11B is a diagram showing Hall sensor setting positions.
- FIG. 12 is a diagram for explaining a method of determining an extreme value of rotational speed.
- FIG. 13 is a diagram showing hall sensor setting positions.
- FIG. 14 is a diagram for explaining a method of determining an extreme value of rotational speed.
- FIG. 15 is a diagram for explaining a method of determining an extreme value of rotational speed.
- FIG. 16 is a flowchart illustrating a motor control method according to an embodiment of the invention.
- FIG. 1 is a block diagram of a motor module 200 according to an embodiment of the invention.
- FIG. 2 is a circuit diagram showing the inverter circuit 110.
- FIG. 3 is a schematic diagram showing the motor M. As shown in FIG.
- the motor module 200 includes a motor control device 100 and a motor M.
- Motor M is controlled by a motor control device 100 .
- Motor M is, for example, a brushless DC motor.
- Motor M has a U-phase, a V-phase and a W-phase.
- the motor control device 100 controls the motor M. Specifically, the motor control device 100 controls driving of the motor M.
- FIG. Motor control device 100 includes inverter circuit 110 and control device 120 .
- the motor control device 100 outputs a three-phase AC output.
- the motor control device 100 has three output terminals 102 .
- the three output terminals 102 include an output terminal 102u, an output terminal 102v, and an output terminal 102w.
- the three output terminals 102 output three-phase output voltages and three-phase output currents to the motor M.
- FIG. Specifically, output terminal 102u outputs to motor M a U-phase output voltage Vu and a U-phase output current Iu.
- Output terminal 102v outputs to motor M V-phase output voltage Vv and V-phase output current Iv.
- the output terminal 102w outputs to the motor M a W-phase output voltage Vw and a W-phase output current Iw.
- the inverter circuit 110 applies drive voltages to the windings of multiple phases. Multi-phase windings will be described later with reference to FIG.
- the motor control device 100 includes a first power terminal P, a second power terminal N, a capacitor C, and three series bodies 112 . More specifically, in this embodiment, the motor control device 100 includes an inverter circuit 110.
- the inverter circuit 110 includes a first power terminal P, a second power terminal N, a capacitor C, and three series bodies. 112.
- Inverter circuit 110 further includes a DC voltage source B. As shown in FIG. Note that the DC voltage source B may be outside the inverter circuit 110 .
- a first voltage V1 is applied to the first power supply terminal P.
- a first power supply terminal P is connected to a DC voltage source B;
- a second voltage V2 is applied to the second power supply terminal N.
- a second power supply terminal N is connected to a DC voltage source B. As shown in FIG. The second voltage V2 is lower than the first voltage V1.
- the capacitor C is connected between the first power terminal P and the second power terminal N.
- the semiconductor switching element is, for example, an IGBT (insulated gate bipolar transistor). Note that the semiconductor switching element may be another transistor such as a field effect transistor.
- the three series bodies 112 include a series body 112u, a series body 112v, and a series body 112w. The three series bodies 112 are connected in parallel with each other. Each of the three series bodies 112 is connected to the first power terminal P at one end. Each of the three series bodies 112 is connected to the second power terminal N at the other end.
- a rectifying element D is connected in parallel to each of these semiconductor switching elements, with the first power supply terminal P side (upper side of the paper) as a cathode and the second power supply terminal N side (lower side of the paper) as an anode. If a field effect transistor is used as the semiconductor switching element, a parasitic diode may be used as this rectifying element.
- Each of the three series bodies 112 has a first semiconductor switching element and a second semiconductor switching element.
- the series body 112u has a first semiconductor switching element Up and a second semiconductor switching element Un.
- Series body 112v has a first semiconductor switching element Vp and a second semiconductor switching element Vn.
- the series body 112w has a first semiconductor switching element Wp and a second semiconductor switching element Wn.
- the first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp are connected to the first power supply terminal P.
- the first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp are semiconductor switching elements on the high voltage side.
- the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are connected to the second power supply terminal N.
- the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are semiconductor switching elements on the low voltage side.
- the first semiconductor switching element and the second semiconductor switching element are connected at the connection point 114 .
- the first semiconductor switching element Up and the second semiconductor switching element Un are connected at a connection point 114u.
- the first semiconductor switching element Vp and the second semiconductor switching element Vn are connected at a connection point 114v.
- the first semiconductor switching element Wp and the second semiconductor switching element Wn are connected at a connection point 114w.
- connection point 114 in each of the three series bodies 112 is connected to the three output terminals 102 .
- a connection point 114u in the series body 112u is connected to the output terminal 102u.
- a connection point 114v in the series body 112v is connected to the output terminal 102v.
- a connection point 114w in the series body 112w is connected to the output terminal 102w.
- a PWM signal is input to the first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp.
- a PWM signal is output from the controller 120 .
- the PWM signal input to the first semiconductor switching element Up may be referred to as "UpPWM signal”.
- the PWM signal input to the first semiconductor switching element Vp may be referred to as "Vp PWM signal”.
- a PWM signal input to the first semiconductor switching element Wp may be referred to as a "Wp PWM signal”.
- the first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp are switched on and off at a frequency higher than the frequency of the AC output.
- the first semiconductor switching element Up, the first semiconductor switching element Vp, and the first semiconductor switching element Wp are turned on when the UpPWM signal, the VpPWM signal, and the WpPWM signal are at HIGH level, respectively.
- the first semiconductor switching element Up, the first semiconductor switching element Vp and the first semiconductor switching element Wp are turned off when the UpPWM signal, the VpPWM signal and the WpPWM signal are at LOW level, respectively.
- a PWM signal is input to the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn.
- a PWM signal is output from the controller 120 .
- the PWM signal input to the second semiconductor switching element Un may be referred to as "UnPWM signal”.
- the PWM signal input to the second semiconductor switching element Vn may be referred to as "Vn PWM signal”.
- a PWM signal input to the second semiconductor switching element Wn may be referred to as a "Wn PWM signal”.
- the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are switched on and off at a frequency higher than the frequency of the AC output.
- the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are turned on when the UnPWM signal, the VnPWM signal, and the WnPWM signal are at HIGH level, respectively.
- the second semiconductor switching element Un, the second semiconductor switching element Vn, and the second semiconductor switching element Wn are turned off when the UnPWM signal, the VnPWM signal, and the WnPWM signal are at LOW level, respectively.
- the motor M includes a rotor 310, a stator 320, and three Hall sensors 330.
- the rotor 310 is arranged around a central axis AX extending in a direction perpendicular to the plane of the paper. That is, as an example, the motor M is an inner rotor type motor. Rotor 310 rotates around central axis AX. The rotor 310 is arranged inside the stator 320 in the radial direction RD.
- the stator 320 is arranged around a central axis AX extending in a direction perpendicular to the plane of the paper.
- the stator 320 faces the rotor 310 in the radial direction RD.
- Stator 320 has multi-phase windings 322 .
- stator 320 has three-phase windings 322 .
- the three Hall sensors 330 include a Hall sensor 332, a Hall sensor 334, and a Hall sensor 336.
- Hall sensor 332 is a U-phase Hall sensor.
- Hall sensor 334 is a V-phase Hall sensor.
- the Hall sensor 336 is a W-phase Hall sensor.
- Hall sensor 330 is, for example, a magnetic sensor. Hall sensor 330 detects the rotational position of rotor 310 .
- the motor control device 100 includes an estimation section 122, an energization control section 124, and a correction section 126. More specifically, in this embodiment, the motor control device 100 includes a control device 120 , and the control device 120 includes an estimation section 122 , an energization control section 124 and a correction section 126 .
- the control device 120 is a hardware circuit including a processor such as a CPU (Central Processing Unit) and an ASIC (Application Specific Integrated Circuit).
- the processor of the control device 120 functions as an estimation unit 122, an energization control unit 124, and a correction unit 126 by executing computer programs stored in the storage device.
- the control device 120 controls the inverter circuit 110 . Specifically, control device 120 controls inverter circuit 110 by generating a PWM signal and outputting the PWM signal. More specifically, controller 120 generates PWM signals that are input to each of the three series bodies 112 .
- the estimator 122 estimates the position of the rotor 310 based on the magnetic pole change detected by the Hall sensor 330 .
- the energization control unit 124 controls the timing of energizing the windings 322 of each phase based on the estimated position of the rotor 310 .
- the correction unit 126 corrects the energization timing based on the positional deviation between the winding 322 of each phase and the Hall sensor 330 . Determination of the correction value will be described later with reference to FIGS. 5 and 6. FIG.
- FIG. 4 is a diagram showing the back electromotive force and the Hall sensor signal.
- the back electromotive force is indicated by a dashed line and the Hall sensor signal is indicated by a solid line.
- the waveform of the back electromotive force is sinusoidal.
- the positions of windings 322 of stator 320 correspond to the waveform of the back electromotive force.
- the Hall sensor signal is square wave shaped.
- ⁇ is a value determined by the positional relationship between the position of the winding 322 of the stator 320 and the Hall sensor 330 . Due to an installation error between the windings 322 of the stator 320 and the Hall sensor 330, a deviation ⁇ occurs in the Hall sensor signal.
- FIG. 5 is a diagram showing absolute values of rotational speed with respect to Hall sensor set positions.
- the horizontal axis indicates the Hall sensor set position.
- the vertical axis indicates the absolute value of the rotational speed.
- circles indicate the absolute value of the rotation speed when the motor M rotates in the CW direction (clockwise direction).
- the triangle mark indicates the absolute value of the rotation speed when the motor M rotates in the CCW direction (counterclockwise direction).
- Position P1 is a Hall sensor installation position at an electrical angle of 48 degrees.
- the rotation speed in the CCW direction reaches its extreme value at P2.
- the Hall sensor is installed at an electrical angle of 45 degrees.
- the correction unit 126 determines a correction value based on the extreme value of the rotational speed when the set position of the Hall sensor 330 is changed under open control. For example, the correction unit 126 acquires the rotation speed when the set position of the hall sensor 330 is changed under open control. Then, the correcting unit 126 sets the Hall sensor 330 set value to the position P3, which is the average of the position P1 at which the rotational speed in the CW direction is the extreme value and the position P2 at which the rotational speed in the CCW direction is the extreme value. Position P3 has an electrical angle of 46.5 degrees. The correction unit 126 sets the set position of the Hall sensor 330 to an electrical angle of 46.5 degrees and corrects the energization timing.
- the correction unit 126 determines the correction value based on the extreme value of the rotation speed when the set position of the Hall sensor 330 is changed under open control. Therefore, it is possible to correct the positional deviation between the windings of each phase and the Hall sensor 330 while suppressing an increase in the size of the circuit.
- FIG. 6 is a diagram showing absolute values of rotational speed with respect to Hall sensor set positions.
- the horizontal axis indicates the Hall sensor set position.
- the vertical axis indicates the absolute value of the rotational speed.
- circles indicate the absolute value of the rotation speed when the motor M rotates in the CW direction (clockwise direction).
- the triangle mark indicates the absolute value of the rotation speed when the motor M rotates in the CCW direction (counterclockwise direction).
- the data shown in FIG. 6 indicates data of the motor M different from the data shown in FIG.
- Position P1 is an installation position of the Hall sensor at an electrical angle of 28 degrees.
- the rotation speed in the CCW direction reaches its extreme value at P2.
- the Hall sensor is installed at an electrical angle of 37 degrees.
- the correction unit 126 determines a correction value based on the extreme value of the rotational speed when the set position of the Hall sensor 330 is changed under open control. For example, the correction unit 126 acquires the rotation speed when the set position of the hall sensor 330 is changed under open control. Then, the correcting unit 126 sets the Hall sensor 330 set value to the position P3, which is the average of the position P1 at which the rotational speed in the CW direction is the extreme value and the position P2 at which the rotational speed in the CCW direction is the extreme value. Position P3 has an electrical angle of 32.5 degrees. The correction unit 126 sets the set position of the Hall sensor 330 to an electrical angle of 32.5 degrees and corrects the energization timing.
- the correction unit 126 determines the correction value based on the extreme value of the rotation speed when the set position of the Hall sensor 330 is changed under open control. Therefore, it is possible to correct the positional deviation between the windings of each phase and the Hall sensor 330 while suppressing an increase in the size of the circuit.
- FIG. 7 is a diagram showing rotation speed.
- the horizontal axis indicates the elapsed time after the Hall sensor setting position is changed.
- the vertical axis indicates the absolute value of the rotational speed.
- the data shown in FIG. 7 is data when the Hall sensor setting position is changed from 30 electrical degrees to 31 electrical degrees, and the Hall sensor setting position is changed from 31 electrical degrees to 32 electrical degrees.
- the rotation speed converges as the time elapses after the Hall sensor setting position is changed. Therefore, when changing the setting position of the Hall sensor 330 to acquire the rotation speed, the correction unit 126 acquires the rotation speed after a certain period of time has passed since the setting position of the Hall sensor 330 was changed. Therefore, an accurate rotational speed can be obtained by obtaining a value at which the rotational speed converges.
- FIG. 8 and 9 are diagrams for explaining the method of determining the rotation speed.
- the horizontal axis indicates time
- the vertical axis indicates rotational speed.
- the correction unit 126 considers that the rotation speed has converged when the oscillation of the rotation speed falls within a certain range.
- the correction unit 126 When acquiring the rotation speed by changing the set position of the Hall sensor 330, the correction unit 126 stores at least one of the maximum value and the minimum value among a plurality of instantaneous speeds in a plurality of predetermined periods. In the present embodiment, the correction unit 126 stores the maximum value and the minimum value among a plurality of instantaneous velocities in a plurality of predetermined periods when changing the set position of the Hall sensor 330 to acquire the rotational speed. Note that, when acquiring the rotation speed by changing the setting position of the Hall sensor 330, the correction unit 126 may store only the maximum value among the plurality of instantaneous speeds in the plurality of predetermined periods. Alternatively, when acquiring the rotational speed by changing the set position of the Hall sensor 330, the correcting unit 126 may store only the minimum value among multiple instantaneous velocities in multiple predetermined periods.
- the correction unit 126 sets a predetermined period as a block BL, and stores the maximum value U1 and the minimum value L1 among the plurality of instantaneous velocities in each block BL.
- the correction unit 126 determines the rotation speed based on the maximum value and/or the minimum value when at least one of the variation in the maximum value and the variation in the minimum value in a plurality of predetermined periods falls within a certain range. to decide.
- the correcting unit 126 determines the rotational speed based on the maximum and minimum values when the maximum and minimum value variations in a plurality of predetermined periods fall within a certain range. It should be noted that the correction unit 126 may determine the rotation speed based on the maximum value when variations in the maximum value in a plurality of predetermined periods fall within a certain range. Alternatively, the correcting unit 126 may determine the rotation speed based on the minimum value when variations in the minimum value during a plurality of predetermined periods fall within a certain range.
- the maximum value is within ⁇ 0.1% of the intermediate value Umid between the maximum value Umax of the maximum value U1 and the minimum value Umin of the maximum value U1. It is considered that the rotation speed has converged when Umax and the minimum value Umin are within.
- correction unit 126 determines the rotation speed based on the maximum value and the minimum value. Specifically, when maximum value U1 and minimum value L1 converge, correction unit 126 determines intermediate value spd_mid between intermediate value Umid and intermediate value Lmid as the rotation speed. Therefore, even if the instantaneous rotation speed increases or decreases due to mechanical vibration, it is possible to obtain an accurate rotation speed. Furthermore, convergence of the rotational speed can be detected quickly.
- FIG. 10 is a diagram for explaining a method of determining the extreme value of the rotation speed.
- the Hall sensor setting position is first set to a typical value.
- a typical value indicates the position where the Hall sensor 330 should be installed.
- a typical value is a potential angle of 45 degrees.
- the rotation speed is obtained at the Hall sensor setting position P32 obtained by scanning ⁇ in the positive direction from the typical value P31. If it is smaller than the previous rotation speed, the scanning direction is reversed. Here, since it is smaller than the previous rotational speed, the scanning direction is reversed to the negative direction.
- the rotation speed is obtained at the Hall sensor setting position P33 obtained by scanning ⁇ in the negative direction from the typical value P31. Since it is greater than the previous rotation speed, the scanning direction is maintained in the negative direction.
- the rotation speed is obtained at the Hall sensor setting position P34 scanned by ⁇ in the negative direction from the Hall sensor setting position P33. Since it is greater than the previous rotation speed, the scanning direction is maintained in the negative direction.
- the rotation speed is obtained at the Hall sensor setting position P34 scanned by ⁇ in the negative direction from the Hall sensor setting position P34. Since it is smaller than the previous rotation speed, the scanning direction is reversed to the forward direction.
- the rotational speed is obtained at the Hall sensor setting position P36 scanned in the positive direction from the Hall sensor setting position P34 by ⁇ /2.
- the extreme value of the rotational speed can be determined.
- the Hall sensor setting positions corresponding to the extreme values of the rotational speed can be determined.
- FIGS. 11A and 11B are diagrams showing Hall sensor setting positions.
- FIG. 11A shows the measurement result of the Hall sensor setting position in the CW direction (clockwise direction).
- FIG. 11B shows the measured Hall sensor settings in the CCW direction (counterclockwise direction).
- the horizontal axis indicates the number of scans of the Hall sensor set position.
- the vertical axis indicates the Hall sensor setting position.
- the initial values of the Hall sensor setting positions are 52 electrical degrees, 50 electrical degrees, 48 electrical degrees, 46 electrical degrees, 44 electrical degrees, 42 electrical degrees, 40 electrical degrees, and the measurement result of the Hall sensor setting value when the electricity is 38 degrees.
- the Hall sensor setting position can be converged within the range of ⁇ 1 degree electrical angle. That is, regardless of the magnitude of the deviation from the typical value, the Hall sensor set position of the motor M to be corrected can be obtained correctly.
- FIG. 12 is a diagram for explaining a method of determining an extreme value of rotational speed.
- the correction unit 126 acquires a plurality of rotation speeds by scanning the set positions of the Hall sensor 330 near the typical value. In this embodiment, the correction unit 126 acquires the rotation speed within the range of ⁇ 10 electrical degrees of the typical value P5. The correcting unit 126 calculates the set position of the Hall sensor 330 corresponding to the extreme value by approximating the plurality of rotational speeds with a second-order or higher polynomial. In the present embodiment, the correcting unit 126 calculates the set position of the Hall sensor 330 corresponding to the extreme value by parabolically approximating a plurality of rotational speeds. Parabolic approximation is performed, for example, by the method of least squares.
- the correction unit 126 may calculate the set position of the Hall sensor 330 corresponding to the extreme value by approximating a plurality of rotational speeds with a third-order or higher polynomial.
- the correction unit 126 determines a correction value based on the calculated set position of the Hall sensor 330 . Therefore, it is possible to appropriately determine the correction value.
- FIG. 13 is called a QQ plot (Quantile-Quantile Plot), and is a diagram showing the distribution of Hall sensor setting positions according to the number of trials.
- the determination of the Hall sensor setting position is attempted as many times as the number of plots, and the horizontal axis indicates the Hall sensor setting position obtained in each trial.
- the vertical axis indicates normal distribution probability (%).
- the Hall sensor setting position can be converged within the range of ⁇ 0.38 electrical degrees with a probability of 96%. Therefore, it is possible to appropriately determine the correction value.
- FIG. 14 and 15 are diagrams for explaining the method of determining the extreme value of the rotation speed.
- FIG. 14 shows the absolute value of the rotation speed when the motor M rotates in the CW direction (clockwise direction).
- FIG. 15 shows the absolute value of the rotation speed when the motor M rotates in the CCW direction (counterclockwise direction).
- the correction unit 126 scans the set position of the Hall sensor 330 from the retarded angle side. Specifically, for example, scanning of set positions is started from a position P11 that is 14 electrical degrees smaller than the typical value. Then, by calculating the inclination of the rotational speed of the open control with respect to the setting positions of the hall sensor 330 at two or more points in the immediate vicinity, the point where the absolute value of the rotational speed changes from decreasing to increasing is detected. Specifically, the absolute value of the rotational speed increases from position P11 to position P12. The absolute value of the rotational speed decreases from position P12 to position P14.
- the correction unit 126 determines the correction value by approximating the relationship between the set position of the Hall sensor 330 and the rotational speed of the open control until the rotational speed starts to increase by polynomial approximation of second or higher degree.
- the absolute value of the rotational speed increases from position P14 to position P15.
- the correction unit 126 determines a correction value by approximating the relationship between the set position of the Hall sensor 330 on the side of the slow angle (small side) including the position P13 and the rotational speed of the open control by polynomial approximation of second or higher order.
- the correction unit 126 determines the correction value by parabolically approximating the relationship between the set position of the Hall sensor 330 on the side of the slow angle (small side) including the position P13 and the rotation speed of the open control. Therefore, it is possible to appropriately determine the correction value.
- the correction unit 126 determines the correction value by approximating the relationship between the set position of the Hall sensor 330 on the side where the angle is slow (small side) including the position P13 and the rotational speed of the open control by polynomial approximation of third or higher degree.
- the rotation speed is measured up to the position P15, which is necessary for determining the range in which the parabolic approximation is to be performed, and the subsequent scanning is not performed. Thereby, the time required for determining the correction value can be shortened.
- the correction unit 126 scans the set position of the Hall sensor 330 from the retarded angle side. Specifically, for example, scanning of set positions is started from position P21, which is 14 electrical degrees larger than the typical value. Then, by calculating the inclination of the rotational speed of the open control with respect to the setting positions of the Hall sensor 330 at two or more points in the immediate vicinity, the point where the absolute value of the rotational speed turns from decreasing to increasing is detected. Specifically, the absolute value of the rotational speed increases from position P21 to position P22. The absolute value of the rotational speed decreases from position P22 to position P24.
- the correction unit 126 determines a correction value by approximating the relationship between the set position of the Hall sensor 330 and the rotational speed of the open control until the rotational speed starts increasing with a second-order or higher polynomial. Specifically, the absolute value of the rotational speed increases from position P24 to position P25.
- the correction unit 126 determines a correction value by approximating the relationship between the set position of the Hall sensor 330 on the side of the slow angle (large side) including the position P23 and the rotational speed of the open control by polynomial approximation of second or higher degree.
- the correction unit 126 determines the correction value by parabolically approximating the relationship between the set position of the Hall sensor 330 on the side of the slow angle (large side) including the position P23 and the rotational speed of the open control. Therefore, it is possible to appropriately determine the correction value.
- the correction unit 126 determines the correction value by approximating the relationship between the set position of the Hall sensor 330 on the slow side (large side) of the angle including the position P23 and the rotational speed of the open control by polynomial approximation of third or higher degree.
- the rotation speed is measured up to the position P25, which is necessary for determining the range in which the parabolic approximation should be performed, and the subsequent scanning is not performed. Thereby, the time required for determining the correction value can be shortened.
- FIG. 16 is a flowchart illustrating a motor control method according to an embodiment of the invention. Motor control is performed by executing the processing of steps S102 to S106 under open control.
- Step S102 The correction unit 126 acquires the rotational speed of the motor M by changing the set position of the hall sensor 330. The process proceeds to step S104. Note that step S102 is an example of the "acquisition step”.
- Step S104 The correction unit 126 determines a correction value based on the obtained extreme value of the rotation speed. The process proceeds to step S106. Note that step S104 is an example of a "determining step.”
- Step S106 The correction unit 126 corrects the energization timing of each phase winding based on the correction value. Processing ends. Note that step S106 is an example of a "correction step.”
- the motor control method includes an acquisition process, a determination process, and a correction process.
- the correction step the energization timing of each phase winding is corrected based on the correction value. Therefore, it is possible to correct the positional deviation between the winding 322 of each phase and the Hall sensor 330 while suppressing the increase in size of the circuit.
- FIGS. 1 to 16 The embodiments of the present invention have been described above with reference to the drawings (FIGS. 1 to 16). However, the present invention is not limited to the above-described embodiments, and can be implemented in various aspects without departing from the gist of the present invention.
- the drawings schematically show each component mainly, and the thickness, length, number, etc. of each component illustrated are different from the actual ones due to the convenience of drawing. .
- the material, shape, dimensions, etc. of each component shown in the above embodiment are examples and are not particularly limited, and various changes are possible within a range that does not substantially deviate from the effects of the present invention. be.
- the present invention can be suitably used for power conversion devices, motor modules, and motor control methods.
- Motor control device 110 Inverter circuit 120
- Control device 122 Estimation unit 124
- Motor module 310 Rotor 320 Stator 322 Windings 330, 332, 334, 336 Hall sensor M Motor
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
110 インバータ回路
120 制御装置
122 推定部
124 通電制御部
126 補正部
200 モータモジュール
310 ロータ
320 ステータ
322 巻線
330、332、334、336 ホールセンサ
M モータ
Claims (8)
- モータを制御するモータ制御装置であって、
前記モータは、
ロータと、
複数相の巻線を有するステータと、
前記ロータの回転位置を検出するホールセンサとを備え、
前記モータ制御装置は、
前記複数相の巻線に駆動電圧を印加するインバータ回路と、
前記ホールセンサによって検出された磁極の変化に基づいて、前記ロータの位置を推定する推定部と、
前記ロータの推定位置に基づいて各相の巻線への通電タイミングを制御する通電制御部と、
各相の巻線と前記ホールセンサとの位置ずれに基づいて前記通電タイミングを補正する補正部とを備え、
前記補正部は、オープン制御下で前記ホールセンサの設定位置を変化させたときの回転速度の極値に基づいて補正値を決定する、モータ制御装置。 - 前記補正部は、前記ホールセンサの設定位置を変化させて前記回転速度を取得するとき、前記ホールセンサの設定位置を変化させてから一定時間経過後に前記回転速度を取得する、請求項1に記載のモータ制御装置。
- 前記補正部は、前記ホールセンサの設定位置を変化させて前記回転速度を取得するとき、複数の所定の期間における複数の瞬時速度のうち最大値および最小値の少なくとも一方を記憶し、複数の所定の期間における前記最大値のばらつきおよび前記最小値のばらつきの少なくとも一方が一定の範囲に収まる場合に、前記最大値および/または前記最小値に基づき前記回転速度を決定する、請求項1または請求項2に記載のモータ制御装置。
- 前記補正部は、前記ホールセンサの設定位置を変化させて前記回転速度を取得するとき、複数の所定の期間における複数の瞬時速度のうち最大値および最小値を記憶し、複数の所定の期間における前記最大値のばらつきおよび前記最小値のばらつきが一定の範囲に収まる場合に、前記最大値および前記最小値に基づき前記回転速度を決定する、請求項3に記載のモータ制御装置。
- 前記補正部は、典型値の近傍の前記ホールセンサの設定位置を走査することによって複数の前記回転速度を取得し、複数の前記回転速度を2次以上の多項式近似することによって、前記極値に対応する前記ホールセンサの設定位置を算出し、前記算出された前記ホールセンサの設定位置に基づいて前記補正値を決定する、請求項1から請求項4のいずれか1項に記載のモータ制御装置。
- 前記補正部は、前記ホールセンサの設定位置の走査を前記ホールセンサの設定位置が遅角側から行い、直近2点以上の前記ホールセンサの設定位置に対してオープン制御の前記回転速度の傾きを算出することによって、前記回転速度の絶対値が減少から増加に転じる箇所を検出し、増加に転じるまでの前記ホールセンサの設定位置とオープン制御の前記回転速度との関係を2次以上の多項式近似することによって前記補正値を決定する、請求項5に記載のモータ制御装置。
- 請求項1から請求項6のいずれか1項に記載のモータ制御装置と、
前記モータ制御装置によって制御されるモータとを備え、
前記モータは、
ロータと、
複数相の巻線を有するステータと、
前記ロータの回転位置を検出するホールセンサとを備える、モータモジュール。 - モータを制御するモータ制御方法であって、
前記モータは、
ロータと、
複数相の巻線を有するステータと、
前記ロータの回転位置を検出するホールセンサとを備え、
前記モータ制御方法はオープン制御下において、
前記ホールセンサの設定位置を変化させて前記モータの回転速度を取得する取得工程と、
取得した前記回転速度の極値に基づいて補正値を決定する決定工程と、
前記補正値に基づいて各相の巻き線への通電タイミングを補正する補正工程とを包含する、モータ制御方法。
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