WO2023007745A1 - モータ制御装置 - Google Patents
モータ制御装置 Download PDFInfo
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- WO2023007745A1 WO2023007745A1 PCT/JP2021/028485 JP2021028485W WO2023007745A1 WO 2023007745 A1 WO2023007745 A1 WO 2023007745A1 JP 2021028485 W JP2021028485 W JP 2021028485W WO 2023007745 A1 WO2023007745 A1 WO 2023007745A1
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- motor control
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- 238000001514 detection method Methods 0.000 claims abstract description 86
- 238000004804 winding Methods 0.000 claims abstract description 20
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- 238000010586 diagram Methods 0.000 description 22
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- 238000000034 method Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 238000002955 isolation Methods 0.000 description 5
- 239000004065 semiconductor Substances 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000003247 decreasing effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 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
- H02P6/20—Arrangements for starting
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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
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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
- H02P6/20—Arrangements for starting
- H02P6/22—Arrangements for starting in a selected direction of rotation
Definitions
- the disclosed embodiments relate to motor control devices.
- motor controllers for motors such as permanent magnet synchronous motors have been known that use the magnetic pole positions detected by hall sensors to control the rotational speed.
- the conventional technology described above requires a sensor input circuit that can respond to high-speed changes in signals, and there is room for improvement from the viewpoint of the cost of the motor control device.
- An object of one aspect of the embodiments is to provide a motor control device in which an input circuit with a low response speed can be applied as a sensor input circuit.
- a motor control device includes a first magnetic pole position detector, a second magnetic pole position detector, and a controller.
- the first magnetic pole position detection unit detects the positions of the magnetic poles of the rotor having the magnetic poles before the start of rotation based on the detection result of the magnetic pole sensor.
- a second magnetic pole position detector detects the position of the magnetic poles of the rotor based on the currents flowing through the plurality of drive windings that drive the rotor.
- the control unit controls to start the rotation of the rotor based on the detection result of the first magnetic pole position detection unit, and rotates the rotor after starting rotation based on the detection result of the second magnetic pole position detection unit. control and perform.
- a motor control device in which a low response speed input circuit can be applied as a sensor input circuit.
- FIG. 1 is a diagram showing a configuration example of a motor control device according to a first embodiment.
- FIG. 2 is a diagram showing an example of magnetic pole position detection by a magnetic pole sensor.
- FIG. 3 is a diagram showing a configuration example of a signal input circuit included in the motor control device.
- FIG. 4 is a diagram showing an example of wiring of a signal input circuit included in the motor control device.
- FIG. 5 is a diagram showing a wiring example of a signal input circuit included in the motor control device of the first embodiment.
- FIG. 6 is a diagram showing a configuration example of a motor control device according to the second embodiment.
- FIG. 7 is a diagram showing an example of magnetic pole position estimation according to the second embodiment.
- FIG. 8 is a diagram showing a configuration example of a motor control device according to the third embodiment.
- FIG. 9 is a block diagram showing a hardware configuration example.
- FIG. 1 is a diagram showing a configuration example of a motor control device according to a first embodiment.
- FIG. 1 is a block diagram showing a configuration example of the motor control device 1. As shown in FIG. In addition, the motor 10 is further described in the figure.
- This motor 10 is a synchronous motor and includes a stator 11 and a rotor 16.
- the stator 11 includes drive windings 12-14 and magnetic pole sensors 61-63.
- a motor 10 shown in the figure represents an example in which a rotating magnetic field is formed by applying a three-phase AC drive voltage to these drive windings 12 to 14 .
- a rotor 16 shown in FIG. Accordingly, it rotates around the rotating shaft 17 .
- the drive windings 12 to 14 are wired in a star connection in which one end of each is commonly connected in the stator 11 .
- the drive windings 12 to 14 may be wired in a delta connection.
- the drive windings 12 to 14 correspond to the U phase, which is the first phase of the three-phase AC, the V phase, which is the second phase, and the W phase, which is the third phase, respectively.
- "U”, "V” and “W” in the figure represent U-phase, V-phase and W-phase wiring.
- a three-phase AC current flows through the U-phase, V-phase, and W-phase drive windings.
- a rotating magnetic field can be formed in the motor 10 .
- the direction of rotation of the rotor 16 can be changed by reversing the phase order of the U-phase, V-phase, and W-phase drive windings to which the drive voltage is applied.
- the magnetic pole sensors 61 to 63 are sensors that detect the position of the magnetic pole 15 .
- Hall sensors can be applied to the magnetic pole sensors 61 to 63 .
- This Hall sensor is a sensor that detects the strength and polarity of a magnetic field, generates a signal corresponding to the strength of the magnetic field formed by the magnetic pole 15, and outputs the signal as a detection result.
- a plurality of magnetic pole sensors 61 and the like can be arranged in the motor control device 1 . The figure shows an example in which three magnetic pole sensors 61 to 63 are arranged. Further, the magnetic pole sensor 61 or the like can be arranged not only one for each of the drive windings 12 to 14, but also arranged at equal intervals between the drive windings 12 to 14. FIG. By arranging the magnetic pole sensors 61 and the like in this manner, the detection accuracy of the positions of the magnetic poles 15 of the rotor 16 can be improved.
- the motor control device 1 includes a control section 20, a drive section 30, a first magnetic pole position detection section 40, a second magnetic pole position detection section 50, and a current sensor 64.
- a current sensor 64 detects the current flowing between the drive unit 30 and the motor 10 .
- the current sensor 64 can be configured to detect the current of each phase (U-phase, V-phase and W-phase) of a three-phase alternating current.
- the current sensor 64 can be configured to detect any two-phase current of a three-phase alternating current. As long as no zero-phase current occurs, the sum of the U-phase, V-phase, and W-phase currents is zero, so even when detecting two-phase currents, it is possible to obtain information on the currents of all the phases.
- the drive unit 30 is a circuit that supplies drive currents to the drive windings 12 to 14 under the control of the control unit 20 .
- the drive unit 30 includes, for example, an inverter circuit in which six switching elements are connected in a three-phase bridge connection, and an inverter circuit between each line for supplying an input to the drive unit 30 and each line for taking out an output from the drive unit 30.
- a matrix converter circuit connected by direction switches can be applied.
- the switching elements and both switches are composed of semiconductor elements such as power MOSFETs (Metal Oxide Semiconductor Field Effect Transistors) or IGBTs (Insulated Gate Bipolar Transistors), and are switched on and off according to drive signals.
- the drive unit 30 applies a drive voltage to the drive windings 12 to 14 by switching on and off the plurality of semiconductor elements based on the drive signal input from the control unit 20, thereby causing the drive current to flow. .
- FIG. 2 is a diagram showing an example of magnetic pole position detection by a magnetic pole sensor.
- the first magnetic pole position detector 40 detects the position of the magnetic pole 15 based on the detection results of the magnetic pole sensors 61-63.
- the magnetic pole sensors 61 to 63 for example, output an ON signal when the N pole of the magnetic pole 15 is closer to the magnetic pole sensor than the S pole of the magnetic pole 15, and the S pole of the magnetic pole 15 is closer to the S pole than the N pole of the magnetic pole 15. When it is nearer, it outputs an OFF signal.
- the first magnetic pole position detection unit 40 detects the position of the magnetic pole 15 in electrical angle units as shown in FIG.
- the first magnetic pole position detector 40 can detect the position of the magnetic pole 15 while the rotor 16 is stopped.
- the first magnetic pole position detection section 40 can also detect the positions of the magnetic poles 15 when the rotor 16 is rotating.
- first magnetic pole position detection section 40 in FIG. 1 is arranged in the function control section 240 . Also, the first magnetic pole position detector 40 is connected to the magnetic pole sensors 61 to 63 via the input signal setting section 230 .
- the function control section 240 and the input signal setting section 230 will be described later with reference to FIG.
- the second magnetic pole position detection section 50 detects the position of the magnetic pole 15 based on the current detected by the current sensor 64 . As described above, when the motor 10 is driven, a three-phase AC voltage is applied to the drive windings 12 to 14 and a three-phase AC current is supplied as the drive current. By detecting this drive current, the position of the magnetic pole 15 can be detected.
- the second magnetic pole position detection unit 50 calculates the phase error of the voltage command based on the voltage command and the detected value of the drive current from the drive unit 30 to the motor 10, and calculates the phase error of the voltage command based on the phase error of the voltage command.
- the position of the magnetic pole 15 is detected.
- the control unit 20 introduces a ⁇ coordinate system that rotates around the rotary shaft 17 in synchronization with the frequency command and an ⁇ coordinate system that is a fixed coordinate system, and calculates a voltage command V ⁇ and a value on each axis of the ⁇ coordinate system. Generate V ⁇ . Voltage commands V ⁇ and V ⁇ are generated based on current commands on the ⁇ -axis and the ⁇ -axis. The control unit 20 also converts the three-phase AC driving current detected by the current sensor 64 into values i ⁇ and i ⁇ on each axis of the ⁇ coordinate system.
- the second magnetic pole position detector 50 detects voltage commands V ⁇ and V ⁇ , drive currents i ⁇ and i ⁇ , winding resistance R of the motor 10, and inductances L ⁇ and L ⁇ on the ⁇ and ⁇ axes of the motor 10.
- the second magnetic pole position detector 50 calculates the phase error of the voltage command based on the phase of the induced voltage. For example, the second magnetic pole position detector 50 calculates the phase angle of the induced voltage vector with respect to the ⁇ axis in the ⁇ coordinate system as the phase error of the voltage command. This is based on the fact that when the ⁇ -axis points in the direction of the magnetic pole 15, the induced voltage is generated only on the ⁇ -axis and the ⁇ -axis component of the induced voltage becomes zero.
- the second magnetic pole position detection unit 50 detects the angle between the ⁇ coordinate system and the ⁇ coordinate system based on the integrated value of the frequency command with the position of the magnetic pole 15 detected by the first magnetic pole position detection unit 40 as the initial value.
- An estimated value of the position of the magnetic pole 15 is calculated by calculating the difference and adding the phase error ⁇ to the angle difference.
- the second magnetic pole position detector 50 can detect the position of the magnetic pole 15 .
- the method of detecting the magnetic poles 15 in the second magnetic pole position detection section 50 is not limited to the above method.
- the second magnetic pole position detector 50 may detect the position of the magnetic pole 15 by an observer that receives at least the drive current detected by the current sensor 64 and outputs the position of the magnetic pole 15 and the rotational speed of the magnetic pole 15 .
- the control unit 20 controls the rotation of the rotor 16 of the motor 10.
- This control unit 20 generates a drive current command and a frequency command for the motor 10 based on a control command from a host control device or an external setting device, or a control command set for the motor control device 1 as a parameter. do.
- the control unit 20 performs control by outputting a drive signal to the drive unit 30 based on the generated drive current command and frequency command.
- the control unit 20 generates the voltage commands V ⁇ and V ⁇ on the ⁇ coordinate system based on the drive current command in order to apply a current corresponding to the drive current command described above.
- the control unit 20 converts the voltage commands V ⁇ and V ⁇ based on the positions of the magnetic poles 15 of the rotor 16 into rotational coordinates to voltage commands on the ⁇ coordinate system.
- the position of the magnetic pole 15 detected by the first magnetic pole position detection unit 40 based on the outputs of the magnetic pole sensors 61 to 63, or the second magnetic pole position based on the frequency command and the output of the current sensor 64
- the position of the magnetic pole 15 detected by the position detector 50 is used.
- the control unit 20 converts the voltage command on the ⁇ coordinate axis into a drive voltage command by two-phase-to-three-phase conversion. As a result, for example, a three-phase AC drive voltage command is generated which has the amplitude and phase for directing the ⁇ -axis to the magnetic pole 15 and obtaining the output of the motor based on the control command.
- the control unit 20 Based on the drive voltage command, the control unit 20 generates a drive signal by, for example, the triangular wave comparison method or the space vector method, and sequentially outputs the drive signal to the drive unit 30 to control the rotation of the rotor 16 .
- the position of the magnetic pole 15 required to generate the drive voltage command is detected by the first magnetic pole position detector 40 and the second magnetic pole position detector 50 .
- the control unit 20 generates a drive voltage command based on the detection result of the first magnetic pole position detection unit 40 and performs control to start the rotation of the rotor 16 .
- the control unit 20 generates a drive voltage command based on the detection result of the second magnetic pole position detection unit 50, and controls the rotation of the rotor 16 after the start of rotation.
- FIG. 3 is a diagram showing a configuration example of a signal input circuit included in the motor control device 1.
- This signal input circuit 220 is a circuit that takes in an external signal.
- a signal input circuit 220 in the figure includes terminals 221 to 223 and isolation circuits 224 to 226 .
- Terminals 221 to 223 are terminals to which signal lines of external devices or the like are connected.
- the isolation circuits 224 to 226 are circuits that electrically isolate and transmit signals. Photocouplers, for example, can be used for these isolation circuits 224 to 226 .
- Terminals 221 to 223 are connected to the inputs of isolation circuits 224 to 226, respectively, through the load impedances of the input circuits represented by rectangles in the figure.
- Signal commons of the isolation circuits 224 to 226 are commonly connected to a low-potential terminal of the power supply unit 213, which will be described later.
- This input signal setting section 230 sets the application of the input signals connected to the terminals 221 to 223 .
- the input signal setting section 230 is arranged between the function control section 240 and the function control section 240 .
- the function control unit 240 represents a collection of function-specific control units 250 that implement each function of the motor control device 1 .
- the motor control device 1 can set the contents of the signals input from the terminals 221 to 223 to the input signal setting section 230 using parameters.
- the input signal setting section 230 outputs the signals input from the terminals 221 to 223 to any of the functional control sections 250 in the function control section 240 according to the content of the signal specified by the set parameters.
- each of the terminals 221 to 223 can be switched and used to transmit a plurality of signals with different contents.
- the input signal setting section 230 can also output signals input from the terminals 221 to 223 to a plurality of functional control sections 250 .
- the above-described first magnetic pole position detection section 40 can be arranged as one of the functional control sections 250 .
- the input/output power supply circuit 210 includes a power supply section 213 and terminals 211 and 212 .
- the power supply unit 213 supplies a DC power supply voltage, for example.
- a high potential terminal of the power supply section 213 is connected to the terminal 211 and a low potential terminal is connected to the terminal 212 .
- An input/output power supply circuit 210 can supply power for generating an output signal in an external device through terminals 211 and 212 .
- FIG. 4 is a diagram showing an example of wiring of a signal input circuit included in the motor control device. This figure shows an example of connecting the control device 2 to the signal input circuit 220 .
- a sequencer or the like that performs sequence control of the motor control device 1 can be applied to the control device 2 .
- the control device 2 outputs an UP command for increasing the speed of the motor 10 and a DOWN command for decreasing the speed of the motor 10 to the motor control device 1, and the signal line transmitting these two commands is controlled. It is wired between the device 2 and the motor control device 1 . These wires can be connected to terminals 221 and 222 . Power is supplied to the control device 2 from a power supply circuit 210 .
- the input signal setting unit 230 it is set that the contents of the input signals to the terminals 221 and 222 are the UP command and the DOWN command, respectively. Accordingly, the input signal setting section 230 sets the output destination of the signals from the terminals 221 and 222 to the external acceleration/deceleration control section 250A in the function control section 240.
- the external acceleration/deceleration control unit 250A increases the speed command of the motor 10 by a constant speed width while the UP command is ON, and holds the speed command at that time when the UP command is OFF.
- the external acceleration/deceleration control unit 250A decreases the speed command of the motor 10 by a constant speed width while the DOWN command is ON, and holds the speed command at that time when the DOWN command is OFF. As described above, the external acceleration/deceleration control unit 250A changes the speed command according to the UP command and the DOWN command, and outputs it to the control unit 20 to change the speed of the motor 10 according to the command from the control device 2.
- FIG. 5 is a diagram showing a connection example of the input circuit of the magnetic pole sensor of the first embodiment.
- This figure shows an example of connecting the magnetic pole sensors 61 to 63 to the signal input circuit 220 .
- the sensor outputs of magnetic pole sensors 61, 62 and 63 are connected to terminals 221, 222 and 223, respectively.
- Power is supplied from a power supply circuit 210 to the magnetic pole sensors 61 to 63 .
- wires from terminals 211 and 212 are connected to power supply input terminals of the magnetic pole sensors 61 to 63, respectively.
- power can be commonly supplied to the magnetic pole sensors 61 to 63 .
- FIG. 1 In the case of FIG.
- the input signal setting section 230 sets the output destination of the signals from the terminals 221 and 222 to the first magnetic pole position detection unit 40 corresponding to one of the function-specific control units 250 in the function control unit 240. set.
- the UP command and DOWN command from the control device 2 described in FIG. 4 are signals that change at a relatively low speed.
- the signal input circuit 220 of the motor control device 1 is normally used to input such signals, and is composed of a circuit that responds slowly to changes in signal status. Therefore, it cannot be applied to an input circuit for signals from the magnetic pole sensors 61 to 63 that detect the magnetic pole position while the motor 10 is rotating. This is because it cannot follow changes in the signal.
- signals from the magnetic pole sensors 61 to 63 can be input to the signal input circuit 220. Become.
- the signal input circuit that the motor control device 1 normally has can be applied to input signals from the magnetic pole sensors 61 to 63 .
- the power supply circuit 210 the magnetic pole sensors 61 to 63 and the control device 2 can share the power supply.
- the hardware resources of the motor control device 1 can be effectively utilized.
- the input signal setting unit 230 and setting the application of the input signal the signal input from the external device such as the control device 2 and the signal input from the magnetic pole sensor 61 can be switched by a software method. can be done. Thereby, the hardware configuration of the motor control device 1 can be simplified.
- the motor control device 1 of the first embodiment of the present disclosure uses the magnetic pole sensors 61 to 63 to detect the positions of the magnetic poles 15 of the rotor 16 before starting, thereby detecting the positions of the magnetic poles 15. It can be detected precisely. Since the magnetic pole sensors 61 to 63 are not used after startup, the signals from the magnetic pole sensors 61 to 63 can be input to the signal input circuit 220 intended for signals that change state only at a low speed compared to the magnetic pole sensors 61 to 63. can.
- FIG. 6 is a diagram showing a configuration example of a motor control device according to the second embodiment. This figure, like FIG. 1, is a block diagram showing a configuration example of the motor control device 1. As shown in FIG. The motor control device 1 shown in FIG. 1 is different from the motor control device 1 shown in FIG.
- the magnetic pole position estimator 70 estimates the positions of the magnetic poles 15 of the rotor 16 .
- the output signals of the magnetic pole sensors 61 to 63 and the speed estimation value from the control section 20 are input to the magnetic pole position estimating section 70 to estimate the stop position of the magnetic poles 15 when the rotor 16 is stopped.
- the magnetic pole position estimator 70 can adopt a method of estimating the stop position of the magnetic poles 15 when the rotation is stopped based on the rotation speed of the rotor 16, for example.
- the magnetic pole position holding section 71 holds the stop position of the magnetic pole 15 .
- the magnetic pole position holding section 71 holds the position of the magnetic pole 15 estimated by the magnetic pole position estimating section 70 .
- the held positions of the magnetic poles 15 are output to the control unit 20 when the motor 10 is next started.
- the detection unit 75 detects whether the values of the magnetic pole sensor 61 or the like have changed while the motor 10 is stopped. After the position of the magnetic pole 15 is estimated by the magnetic pole position estimation unit 70 and held by the magnetic pole position holding unit 71, when the rotary shaft 17 rotates due to the influence of an external force or the like, the position of the magnetic pole 15 held by the magnetic pole position holding unit 71 is changed. It cannot be used as the position of the magnetic pole 15 before starting. The detection unit 75 detects changes in the positions of the magnetic pole sensor 61 and the like. A detection result is output to the switching unit 76 .
- the switching section 76 switches between the output of the first magnetic pole position detection section 40 and the output of the magnetic pole position holding section 71 based on the detection result of the detection section 75 .
- the switching unit 76 performs control to switch the output of the first magnetic pole position detection unit 40 to the input of the control unit 20 when the detection unit 75 detects a change in the value of the magnetic pole sensor while the motor 10 is stopped.
- the switching unit 76 switches the output of the magnetic pole position holding unit 71 to the input of the control unit 20 when the detection unit 75 does not detect a change in the value of the magnetic pole sensor while the motor 10 is stopped.
- the output of the first magnetic pole position detection unit 40 is used as the position of the magnetic pole 15, and the position of the magnetic pole 15 is detected. can prevent the error from increasing.
- the magnetic pole position estimation unit 70 and the detection unit 75 correspond to one of the functional control units 250 shown in FIG. , and the input signal setting section 230 sets the output destinations of the signals from the terminals 221 and 222 to the first magnetic pole position detecting section 40 , the magnetic pole position estimating section 70 and the detecting section 75 .
- the control unit 20 shown in the figure detects the positions of the magnetic poles 15 based on the detection results of the magnetic pole sensors 61 to 63 and the positions of the magnetic poles 15 held by the magnetic pole position holding unit 71, and rotates the rotor 16 based on the detection results. Control to start rotation. Further, the control unit 20 performs control to rotate the rotor 16 after the rotation is started based on the detection result of the second magnetic pole position detection unit 50 .
- FIG. 7 is a diagram showing an example of magnetic pole position estimation according to the second embodiment.
- This figure is a diagram for explaining the estimation of the positions of the magnetic poles 15 of the rotor 16 in the magnetic pole position estimating section 70 .
- the upper side of the figure is a graph showing the relationship between the rotation speed of the rotor 16 and time.
- the vertical axis of this graph represents the speed of rotation of the rotor 16 .
- the horizontal axis represents time.
- a graph 401 in the figure represents the change in speed immediately before the rotor 16 stops.
- the lower part of the figure represents waveforms obtained by binarizing the output signals of the magnetic pole sensors 61, 62 and 63 according to the ON state and the OFF state.
- the output of each magnetic pole sensor changes according to the position (angle) of the rotor 16 .
- the magnetic pole position estimator 70 acquires the rotational speed estimated value of the rotor 16 from the controller 20 in each control cycle of the controller 20 while the rotor 16 is stopped and decelerated. A frequency command value is used as the rotation speed estimation value.
- the magnetic pole position estimator 70 calculates the rotational speed estimated value at that time and the rotation acquired in the previous control cycle (previous cycle).
- a rotation speed change rate is calculated from the speed estimate.
- Vpr represents the rotational speed estimated value of the current cycle.
- Vpa represents the rotational speed estimate of the previous cycle.
- Tc represents the control cycle time.
- the stop position displacement Pdev estimated by the above equation is the displacement angle from the position where any one of the output signals of the magnetic pole sensors 61 to 63 changes to the stop position of the magnetic pole 15 .
- the magnetic pole position estimator 70 repeats calculation of the stop position displacement Pdev, for example, each time one of the output signals of the magnetic pole sensors 61 to 63 changes.
- the magnetic pole position estimator 70 determines that the rotor 16 has stopped when all the output signals of the magnetic pole sensors 61 to 63 have not changed within a predetermined time, and the stop position displacement Pdev at that time is finally is determined as a typical stop position displacement Pdev.
- the position of the magnetic pole 15 when any of the output signals of the magnetic pole sensors 61 to 63 changes can be determined as shown in FIG. 2, for example. Therefore, the magnetic pole position estimating unit 70 monitors how the output signal of which sensor among the magnetic pole sensors 61 to 63 changes (from ON to OFF or from OFF to ON), and detects the magnetic pole sensor 61 according to FIG. 63 changes the position of pole 15 can be determined.
- the magnetic pole position estimator 70 calculates an estimated value of the stop position of the magnetic pole 15 by adding the position where any one of the output sensors of the magnetic pole sensors 61 to 63 changes to the stop position displacement Pdev. In the example shown in the figure, the position of the magnetic pole 15 can be estimated at approximately 150°.
- the rotational speed estimated value is not limited to this example.
- the rotational speed of the magnetic pole 15 output by the observer may be used as the rotational speed estimation value.
- the motor control device 1 of the second embodiment of the present disclosure maintains the positions of the magnetic poles 15 of the rotor 16 at the time of stop and applies them to the next startup, thereby improving the detection accuracy of the magnetic pole positions.
- FIG. 8 is a diagram showing a configuration example of a motor control device according to the third embodiment. This figure, like FIG. 1, is a block diagram showing a configuration example of the motor control device 1. As shown in FIG. The motor control device 1 shown in FIG. 1 is different from the motor control device 1 shown in FIG.
- the failure detection unit 72 detects failures of the magnetic pole sensors 61 to 63. Failure of the magnetic pole sensors 61 to 63 corresponds to disconnection of a signal line or the like.
- the failure detector 72 can detect failure by monitoring the output signals of the magnetic pole sensors 61 to 63, for example. Specifically, the failure detection unit 72 can detect failure of the magnetic pole sensors 61 to 63 by detecting that the output signals of the magnetic pole sensors 61 to 63 are all OFF or all ON.
- the failure detection unit 72 outputs a magnetic pole sensor failure signal to the selection unit 270 when detecting a failure of the magnetic pole sensors 61 to 63 .
- the failure detection unit 72 corresponds to one of the function-specific control units 250 shown in FIG.
- the input signal setting section 230 sets the output destinations of the signals from the terminals 221 and 222 to the first magnetic pole position detection section 40 and the fault detection section 72 .
- the initial magnetic pole position estimator 260 estimates the positions of the magnetic poles 15 when the rotor 16 starts rotating without using the magnetic pole sensors 61 to 63 .
- a method of detecting the positions of the magnetic poles 15 of the rotor 16 by a high frequency superposition method can be applied.
- the initial magnetic pole position estimating section 260 causes the driving section 30 to supply the motor 10 with a high-frequency search output that the rotor 16 cannot follow.
- the initial magnetic pole position estimation unit 260 generates a high-frequency search voltage (search output) command instead of the control unit 20, and outputs a drive signal to the drive unit 30 based on this search voltage command. Therefore, the drive unit 30 applies a search voltage corresponding to the search voltage command to the motor 10 .
- the initial magnetic pole position estimator 260 detects the position of at least one magnetic pole 15 based on the search current supplied to the motor 10 by applying the search voltage.
- the initial magnetic pole position estimator 260 determines a pulse supply phase based on the detected position of the magnetic pole 15, for example.
- a voltage is applied from the drive unit 30 to the motor 10 .
- the positive pulse voltage is a pulse voltage that has the same phase as the pulse supply phase
- the negative pulse voltage is a pulse voltage that is 180° out of phase with the positive pulse voltage.
- the initial magnetic pole position estimator 260 evaluates the difference (response difference) between the positive current supplied to the motor 10 in response to the positive pulse voltage and the negative current supplied to the motor 10 in response to the negative pulse voltage. Positive and negative currents can be detected by current sensor 64 .
- the initial magnetic pole position estimator 260 may be the result of subtracting the magnitude of the negative current from the magnitude of the positive current, or the result of subtracting the magnitude of the negative current from the time integral value of the positive current. can be evaluated as the response difference. If the sign of this response difference is positive, it can be determined that the N pole is present at the position of the previously detected magnetic pole 15 . On the other hand, if the sign of the response difference is negative, it can be determined that the S pole is at the position of the previously detected magnetic pole 15 and the N pole is at a position shifted by 180 degrees in electrical angle. In this manner, the initial magnetic pole position estimator 260 estimates the positions of the magnetic poles 15 when the rotor 16 starts rotating.
- the selection unit 270 selects the magnetic pole position output from the first magnetic pole position detection unit 40 as the position of the magnetic pole 15 at the start of rotation, and controls the control unit 20. , and selects the drive signal output from the control section 20 as the drive signal and inputs it to the drive section 30 . Further, when the magnetic pole sensor failure signal is input from the failure detection unit 72, the selection unit 270 selects the magnetic pole position output from the initial magnetic pole position estimation unit 260 as the position of the magnetic pole 15 at the start of rotation, and selects the magnetic pole position output from the control unit. 20 , and selects the drive signal output from the initial magnetic pole position estimation unit 60 as the drive signal and inputs it to the drive unit 30 . As a result, when the magnetic pole sensors 61 to 63 fail, the initial magnetic pole position estimator 260 operates to detect the position of the magnetic pole 15 at the start of rotation.
- the motor control device 1 of the third embodiment of the present disclosure can perform alternative detection of the position of the magnetic pole 15 when the magnetic pole sensors 61 to 63 fail. Thereby, the reliability of the motor control device 1 can be improved.
- FIG. 9 is a schematic diagram showing a hardware configuration example that implements the first to third embodiments.
- hardware that implements the first to third embodiments includes one or more processors 291, a memory 292, a storage 293, an input/output port 294, and a switching control circuit 295.
- the storage 293 has a computer-readable storage medium such as a non-volatile semiconductor memory.
- the storage 293 includes the control unit 20, the first magnetic pole position detection unit 40, the second magnetic pole position detection unit 50, the magnetic pole position estimation unit 70, the magnetic pole position holding unit 71, the failure detection unit 72, the initial magnetic pole position estimation unit 260 and a program for configuring functional blocks such as the selection unit 270 .
- the memory 292 temporarily stores the program loaded from the storage medium of the storage 293 and the calculation result by the processor 291 .
- the processor 291 configures each functional block by executing the above program in cooperation with the memory 292 .
- the input/output port 294 inputs and outputs electrical signals to and from the magnetic pole sensors 61 to 63, the current sensor 64, and external devices according to instructions from the processor 291.
- the power supply circuit 210 and signal input circuit 220 form part of the input/output port 294 .
- the switching control circuit 295 supplies drive currents to the drive windings 12 to 14 by switching on and off the plurality of semiconductor elements in the drive section 30 according to instructions from the processor 291 .
- each functional block is not necessarily limited to programs.
- at least part of the functions may be configured by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) integrated with this.
- motor control device 10 motor 11 stator 15 magnetic pole 16 rotor 20 control section 40 first magnetic pole position detection section 50 second magnetic pole position detection section 61 to 63 magnetic pole sensors 64 current sensor 70 magnetic pole position estimation section 71 magnetic pole position holding Unit 72 Failure detection unit 75 Detection unit 76 Switching unit 210 Power supply circuit 220 Signal input circuit 230 Input signal setting unit 240 Function control unit 250 Control unit by function 250A External acceleration/deceleration control unit 260 Initial magnetic pole position estimation unit 270 Selection unit
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
[モータ制御装置の構成]
図1は、第1の実施形態のモータ制御装置の構成例を示す図である。同図は、モータ制御装置1の構成例を表すブロック図である。なお、同図には、モータ10を更に記載した。
εγ=Vγ-R×iγ+ω×Lδ×iδ
εδ=Vδ-ω×Lγ×iγ-R×iδ
Δθ=-tan-1(εd/εq)
図3は、モータ制御装置1が有する信号入力回路の構成例を表す図である。この信号入力回路220は、外部の信号を取り込む回路である。同図の信号入力回路220は、端子221乃至223と、絶縁回路224乃至226とを備える。同図は、3つの信号を取り込む場合の例を表したものである。端子221乃至223は、外部の機器等の信号線が接続される端子である。絶縁回路224乃至226は、信号を電気的に絶縁して伝達する回路である。これら絶縁回路224乃至226には、例えば、フォトカプラを使用することができる。端子221乃至223は、それぞれ同図の矩形により表した入力回路の負荷インクピーダンスを介して絶縁回路224乃至226の入力に接続される。また、絶縁回路224乃至226の信号コモンは、後述する電源部213の低電位端子に共通に接続される。このような信号入力回路220を配置することにより、外部からの信号線の接続を容易に行うことができる。
図4は、モータ制御装置が有する信号入力回路の結線例を示す図である。同図は、制御装置2を信号入力回路220に接続する場合の例を表した図である。この制御装置2には、例えば、モータ制御装置1をシーケンス制御するシーケンサ等を適用することができる。図4に示す例では制御装置2は、モータ10の速度を上昇させるUP指令とモータ10速度を下降させるDOWN指令とをモータ制御装置1に出力し、これら二つの指令を伝達する信号線が制御装置2とモータ制御装置1との間に配線される。これらの配線は、端子221及び222に接続することができる。また、制御装置2には、電源供給回路210から電源が供給される。
図5は、第1の実施形態の磁極センサの入力回路の結線例を示す図である。同図は、磁極センサ61乃至63を信号入力回路220に接続する場合の例を表した図である。磁極センサ61、62及び63のセンサ出力は、それぞれ端子221、222及び223に接続される。また、磁極センサ61乃至63には、電源供給回路210から電源が供給される。具体的には、磁極センサ61乃至63の電源入力端子の各々に端子211及び212からの配線が接続される。これにより、磁極センサ61乃至63に共通に電源を供給することができる。同図の場合には、入力信号設定部230に信号入力回路220からの入力信号の内容が磁極センサ61等の検出結果であることが設定される。また、このとき入力信号設定部230は、端子221及び222からの信号の出力先を、機能制御部240の中の機能別制御部250の一つに該当する第1の磁極位置検出部40に設定する。
[モータ制御装置の構成]
図6は、第2の実施形態のモータ制御装置の構成例を示す図である。同図は、図1と同様に、モータ制御装置1の構成例を表すブロック図である。同図のモータ制御装置1は、磁極位置推定部70、磁極位置保持部71、検出部75及び切替部76を更に備える点で、図1のモータ制御装置1と異なる。
図7は、第2の実施形態の磁極位置の推定の一例を示す図である。同図は、磁極位置推定部70における回転子16の磁極15の位置の推定を説明する図である。同図の上側は、回転子16の回転の速度及び時間の関係を表すグラフである。このグラフの縦軸は、回転子16の回転の速度を表す。また、横軸は、時間を表す。同図のグラフ401は、回転子16が停止する直前の速度の変化を表す。また、同図の下側は、磁極センサ61、62及び63の出力信号をON状態及びOFF状態により2値化した波形を表す。
α=(Vpa-Vpr)/Tc
ここで、Vprは、今回サイクルの回転速度推定値を表す。Vpaは、前回サイクルの回転速度推定値を表す。Tcは、制御サイクル時間を表す。
Pdev=Vpr2/(2×α)
上式で推定される停止位置変位Pdevは磁極センサ61乃至63の出力信号のいずれかが変化した位置から磁極15の停止位置までの変位角度である。磁極位置推定部70は、例えば、磁極センサ61乃至63の出力信号のいずれかが変化するたびに、停止位置変位Pdevの算出を繰り返す。そして、磁極位置推定部70は、磁極センサ61乃至63の出力信号の全てが所定の時間内に変化しなかったときに、回転子16は停止したと判断し、その時の停止位置変位Pdevを最終的な停止位置変位Pdevとして確定する。
図8は、第3の実施形態のモータ制御装置の構成例を示す図である。同図は、図1と同様に、モータ制御装置1の構成例を表すブロック図である。同図のモータ制御装置1は、故障検出部72、初期磁極位置推定部260及び選択部270を更に備える点で、図1のモータ制御装置1と異なる。
10 モータ
11 固定子
15 磁極
16 回転子
20 制御部
40 第1の磁極位置検出部
50 第2の磁極位置検出部
61~63 磁極センサ
64 電流センサ
70 磁極位置推定部
71 磁極位置保持部
72 故障検出部
75 検出部
76 切替部
210 電源供給回路
220 信号入力回路
230 入力信号設定部
240 機能制御部
250 機能別制御部
250A 外部加減速制御部
260 初期磁極位置推定部
270 選択部
Claims (11)
- 磁極を有する回転子における回転起動前の前記磁極の位置を磁極センサの検出結果に基づいて検出する第1の磁極位置検出部と、
前記回転子を駆動する複数の駆動巻線に流れる電流に基づいて前記回転子の磁極の位置を検出する第2の磁極位置検出部と、
前記第1の磁極位置検出部の検出結果に基づいて前記回転子を回転起動させる制御と前記第2の磁極位置検出部の検出結果に基づいて回転起動後の前記回転子を回転させる制御とを行う制御部と
を備えることを特徴とするモータ制御装置。 - 前記磁極センサは、ホールセンサであること
を特徴とする請求項1に記載のモータ制御装置。 - 前記磁極センサは、前記複数の駆動巻線当たり1つ又は複数配置されること
を特徴とする請求項1に記載のモータ制御装置。 - 前記磁極センサは、前記複数の駆動巻線の間に等間隔に複数配置されること
を特徴とする請求項1に記載のモータ制御装置。 - 前記回転子の停止時の前記磁極の位置を推定する磁極位置推定部と、
前記推定した磁極の位置を保持する磁極位置保持部と
を更に備え、
前記制御部は、前記磁極センサの検出結果及び前記保持された磁極の位置に基づいて前記回転子を回転起動させる制御を行うこと
を特徴とする請求項1に記載のモータ制御装置。 - 前記磁極位置推定部は、前記回転子の回転速度に基づいて前記磁極の位置を推定すること
を特徴とする請求項5に記載のモータ制御装置。 - 前記回転子の停止中に磁極センサの値の変化を検出する検出部と、
前記検出部の検出結果に基づいて前記第1の磁極位置検出部の検出結果の前記磁極の位置及び前記磁極位置保持部に保持された磁極の位置を切り替えて前記制御部に伝達する切替部と
を更に備え、
前記制御部は、前記切替部により伝達される磁極の位置に基づいて前記回転子を回転起動すること
を特徴とする請求項6に記載のモータ制御装置。 - 前記磁極センサの故障を検出する故障検出部と、
前記故障検出部が前記故障を検出した際に前記磁極の位置を推定する初期磁極推定部と
を更に備え、
前記推定した磁極の位置に基づいて前記回転子を起動させる制御を更に行うこと
を特徴とする請求項1に記載のモータ制御装置。 - 前記制御部に外部からの信号を入力する信号入力回路
を更に備え、
前記磁極センサは、前記信号入力回路を介して前記検出結果を前記第1の磁極位置検出部に伝達すること
を特徴とする請求項1に記載のモータ制御装置。 - 前記信号入力回路における信号の用途を磁極の位置検出用に設定する入力信号設定部を更に備えること
を特徴とする請求項9に記載のモータ制御装置。 - 前記外部に入出力用電源を供給する電源供給回路
を更に備え、
前記磁極センサは、前記電源供給回路を介して自身の電源が供給されること
を特徴とする請求項9に記載のモータ制御装置。
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JP2010233342A (ja) * | 2009-03-27 | 2010-10-14 | Mitsuba Corp | モータ制御装置、およびサンルーフ駆動装置 |
JP2013059258A (ja) * | 2012-12-26 | 2013-03-28 | Jtekt Corp | モータ制御装置 |
JP2015122823A (ja) * | 2013-12-20 | 2015-07-02 | 日立工機株式会社 | モータ駆動制御装置、電動工具及びモータ駆動制御方法 |
JP2019024284A (ja) * | 2017-07-24 | 2019-02-14 | 株式会社デンソー | 尿素噴射制御装置 |
CN110011576A (zh) | 2019-03-07 | 2019-07-12 | 常州猛犸电动科技有限公司 | Bldc电机foc控制方法、装置及控制器、存储介质 |
JP6901651B1 (ja) * | 2020-10-02 | 2021-07-14 | 株式会社ハアーモニー | 開閉体の開閉装置 |
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Patent Citations (6)
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JP2010233342A (ja) * | 2009-03-27 | 2010-10-14 | Mitsuba Corp | モータ制御装置、およびサンルーフ駆動装置 |
JP2013059258A (ja) * | 2012-12-26 | 2013-03-28 | Jtekt Corp | モータ制御装置 |
JP2015122823A (ja) * | 2013-12-20 | 2015-07-02 | 日立工機株式会社 | モータ駆動制御装置、電動工具及びモータ駆動制御方法 |
JP2019024284A (ja) * | 2017-07-24 | 2019-02-14 | 株式会社デンソー | 尿素噴射制御装置 |
CN110011576A (zh) | 2019-03-07 | 2019-07-12 | 常州猛犸电动科技有限公司 | Bldc电机foc控制方法、装置及控制器、存储介质 |
JP6901651B1 (ja) * | 2020-10-02 | 2021-07-14 | 株式会社ハアーモニー | 開閉体の開閉装置 |
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