CN100461615C - Motor control apparatus - Google Patents
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- CN100461615C CN100461615C CNB2006100942037A CN200610094203A CN100461615C CN 100461615 C CN100461615 C CN 100461615C CN B2006100942037 A CNB2006100942037 A CN B2006100942037A CN 200610094203 A CN200610094203 A CN 200610094203A CN 100461615 C CN100461615 C CN 100461615C
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Abstract
A motor control apparatus for controlling a motor with reduced noise and vibration includes a detecting means for detecting a rotational speed of the motor, a command signal processing means that generates a command signal for allowing the motor to rotate at a predetermined rotational speed, a drive means that generates a drive signal based on the command signal and supplies the drive signal to the motor, and a control signal generation means that generates a control signal for allowing the motor to produce a control torque having a frequency equal to one of frequencies of noise and vibration due to the motor. The frequency of the control torque corresponds to at least one of orders of the rotational speed detected by the detecting means. The command signal processing means generates the command signal based on the control signal.
Description
Technical Field
The present invention relates to a motor control apparatus for controlling a motor with reduced noise and vibration.
Background
Motor control apparatuses for driving ｃA brushless dc motor are disclosed in JP- ｃA-H11-275885 and JP- ｃA-2004-. The motor control apparatus includes an inverter circuit for converting a driving current supplied to an armature winding of the motor at a predetermined time so that the motor can be rotated. The motor control apparatus reduces noise and vibration generated by the motor.
In the motor control apparatus disclosed in JP- ｃA-H11-275885, the rotational speed range of the motor is divided into ｃA plurality of speed zones, and ｃA plurality of switching times corresponding to the respective speed zones are prestored in the storage device. For example, when the motor is driven in the first speed zone, a first switching time corresponding to the first speed zone is read from the memory device and the inverter circuit switches the driving current at the first switching time. The switching time is set to reduce as much as possible the vibrations of the motor or motor assembly or the structure surrounding the motor. The vibration is due to torque fluctuations caused by switching the drive current. Thus, in each speed region in the rotational speed range, noise and vibration due to torque fluctuation are reduced.
In the motor control apparatus disclosed in JP- ｃA-2004-. In this method, the driving torque generated at each rotation angle can track the load torque to reduce vibration due to a difference between the driving torque and the load torque.
It is well known that when the resonance frequency of a motor, a motor component, or a structure around the motor is equal to the order of the motor rotation speed (order), i.e., a harmonic of the motor rotation speed, the order component may cause noise and vibration.
The motor control apparatus disclosed in JP- ｃA-H11-275885 is used to reduce noise and fluctuation due to torque fluctuation, and the motor control apparatus disclosed in JP- ｃA-2004-19461 is used to reduce noise and vibration due to the difference between the driving torque and the load torque. Therefore, the motor control apparatuses disclosed in JP- ｃA-H11-275885 and JP- ｃA-2004-.
Disclosure of Invention
In view of the above-described problems, an object of the present invention is to provide a motor control apparatus that controls a motor to reduce noise and vibration due to the number of resonances in the rotational speed of the motor.
A motor control apparatus comprising: detection means for detecting a rotational speed of the motor; command signal processing means for generating a command signal for allowing the motor to rotate at a predetermined rotational speed; a driving device that generates a driving signal based on a command signal and supplies the driving signal to a motor; control signal generating means for generating a control signal for causing the motor to generate a control torque having a frequency equal to one of the frequencies of noise and vibration, and outputting the control signal to the command signal processing means. The frequency of the control torque corresponds to at least one of the number of rotational speeds (orders) detected by the detection means. The control signal includes a plurality of sinusoidal components.
The command signal processing device generates a command signal based on the control signal and outputs the command signal to the driving device. Thus, the driving means may generate a driving signal capable of driving the motor to reduce noise and vibration due to the number of times of the rotational speed of the motor. The control signal generation means sets an amplitude and a phase angle and a frequency of a control signal based on a rotation speed of the motor, a rotation angle of the motor, or a physical quantity obtained from a load when the motor drives the load, and generates the control signal based on the amplitude, the phase angle and the frequency. The amplitude of the command signal is greater than the amplitude of the control signal. The load is a compressor that is connected to a motor and compresses a refrigerant used in a refrigeration cycle of the vehicle. The frequency includes a plurality of frequency components. The plurality of frequency components include at least a resonant frequency of the motor, a resonant frequency of a motor mounting structure to which the motor is fixed, and a resonant frequency of the refrigerant. Each of the plurality of sinusoidal components of the control signal corresponds to a different one of the plurality of frequency components.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description thereof, which proceeds with reference to the accompanying drawings. In the figure:
fig. 1 is a block diagram of a motor control apparatus according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of a Map (Map) included in the motor control apparatus of fig. 1;
FIG. 3 is a graph illustrating sound pressure levels observed when the motor is operating;
fig. 4A is a graph illustrating the relationship between the amplitude and the rotational speed, and fig. 4B is a graph illustrating the relationship between the phase angle and the rotational speed;
fig. 5A is a graph showing a load torque of the compressor of fig. 1, fig. 5B is a graph showing a driving current supplied to the motor of fig. 1, and fig. 5C is a graph showing a combined current of the driving current and a sinusoidal current supplied to the motor of fig. 1;
fig. 6 is a graph illustrating sound pressure levels observed when the motor control apparatus of fig. 1 drives a motor;
fig. 7 is a block diagram of a motor control apparatus according to a second embodiment of the present invention;
fig. 8A is a graph showing a load torque of the compressor of fig. 7, fig. 8B is a graph showing a driving voltage supplied to the motor of fig. 7, and fig. 8C is a graph showing a resultant voltage of the driving voltage and a sinusoidal voltage supplied to the motor of fig. 1;
fig. 9 is a block diagram of a motor control apparatus according to a third embodiment of the present invention;
fig. 10 is a mapping table (map) included in the motor control apparatus according to the fourth embodiment of the invention;
fig. 11 is a mapping table included in a motor control apparatus according to a fifth embodiment of the invention;
fig. 12 is a block diagram of a motor control apparatus according to a sixth embodiment of the invention;
FIG. 13 is a view showing forces acting on the compressor of FIG. 12;
fig. 14A is an X-direction map (X-direction map) included in the motor control apparatus of fig. 12, and fig. 14B is a Y-direction map included in the motor control apparatus of fig. 12;
fig. 15 is a block diagram of a motor control apparatus according to a seventh embodiment of the present invention; and
fig. 16 is a block diagram of a motor control apparatus according to an eighth embodiment of the present invention.
Detailed Description
A motor control apparatus 100 according to a first embodiment of the present invention will be described below with reference to fig. 1 to 6.
The motor control apparatus 100 serves to control the motor 60 that drives the compressor 50. The compressor 50 is a component of a vehicle air conditioner unit that uses a refrigeration cycle. In the refrigeration cycle, the compressor 50 draws refrigerant from an evaporator (not shown), compresses the refrigerant to a high temperature and a high pressure, and supplies the compressed refrigerant to a condenser (not shown). For example, the compressor 50 is mounted to an engine block as a mounting structure in an engine room of a vehicle.
The motor 60 is a three-phase (a-C phase) brushless Direct Current (DC) motor, and has stator coils corresponding to each of the a-C phases. A voltage is applied to the stator coil at each timing so that the motor 60 can rotate.
As shown in fig. 1, the motor control apparatus 100 includes a direct current power supply 1, an inverter circuit 2, a rotation angle detector 3, a rotation speed detector 4, a target speed setter 5, a processing unit 6, a drive circuit 7, and a sinusoidal torque generator 8.
The direct-current power supply 1 is supplied with alternating-current power from an alternating-current power supply (not shown), converts the alternating-current power into direct-current power, and then the direct-current power supply 1 supplies the direct-current power to the inverter circuit 2. The inverter circuit 2 includes conversion elements corresponding to the respective phases a to C, and the conversion elements perform conversion based on the PWM signals output from the drive circuit 7 at respective timings. The inverter circuit 2 thus converts the direct current, which is single-phase power, into three-phase power and supplies the three-phase power to the motor 60.
The rotation angle detector 3 measures at least one of the three-phase currents output from the inverter circuit 2, and estimates a rotation angle θ of the motor 60 based on the measured current and a predetermined estimation algorithmdAnd then outputs the rotation angle θ d to the rotation speed detector 4.
The rotation speed detector 4 detects the rotation speed based on the rotation angle θDThe rotation speed ω of the motor 60 is detected. The target speed setter 5 sets a desired rotation speed ω 0 of the motor 60. The deviation signal between the rotational speed ω and the desired rotational speed ω 0 is input to the processing unit 6.
The processing unit 6 generates a q-axis current signal IQ based on the deviation signal. The q-axis current signal IQ is a basic signal for driving the motor 60. The processing unit 6 synthesizes (combine) the q-axis current signal IQ and the sinusoidal current signal IS, which IS output from the sinusoidal torque generator 8, thus generating a synthesized current signal IQ + IS. The synthesized current signal IQ + IS output from the processing unit 6 to the drive circuit 7. The drive circuit 7 generates the PWM signal based on the synthesized current signal IQ + IS, and outputs the PWM signal to the inverter circuit 2.
The sinusoidal torque generator 8 includes a memory 81 having a map M1 and reads data corresponding to the rotational speed ω detected by the rotational speed detector 4 from the map M1. Then, the sinusoidal torque generator 8 generates a sinusoidal current signal IS based on the data and outputs the sinusoidal current signal IS to the processing unit 6. The sinusoidal current signal IS causes the motor 60 to generate a sinusoidal torque Ts represented by the following equation:
TS＝KN·sin(N·θD-θN)…(1)
in equation (1), N represents the number of revolutions, i.e., the harmonic (harmonic), K, of the rotational speed ω of the motor 60NRepresents an amplitude corresponding to the degree N, and thetaNRepresenting the phase angle corresponding to the degree N.
The first number (N ═ 1) refers to the rotation speed ω of the motor 60. Each number of times thereafter corresponds to a multiple of the rotation speed ω. The second number (N ═ 2) is twice the rotational speed ω of the motor 60, the third number (N ═ 3) is three times the rotational speed ω of the motor 60, and so on. For example, when the motor 60 is rotated at a rotational speed of 4000rpm, 4000/60 revolutions per second (rps), the third number occurs at a frequency of 200 hertz.
As shown in fig. 2, the mapping table M1 includes a set of tables, each of which corresponds to each rotational speed ω of the motor 60. Each table has three columns and at least one row. In each table, the first column contains the number of times N and the second column contains the amplitude KNAnd the third column contains the phase angle thetaN. When the sinusoidal torque Ts has an amplitude KNAnd phase angle thetaNWhen this occurs, noise and vibration of the motor 60 are effectively reduced. Amplitude KNAnd phase angle thetaNAre determined in tests in which the motor 60 is mounted on a vehicle and operated under actual conditions.
Fig. 3 shows the results of the test in which the motor 60 was rotated at a rotation speed of 4000 rpm. As can be seen from fig. 3, the sound pressure level exceeds a predetermined threshold level LTAnd reaches a maximum at the eighteenth order, i.e., at a frequency of 1200 hertz. Therefore, in the table of the rotation speed ω corresponding to 4000rpm, the amplitude K corresponding to the eighteenth order is set18And phase angle theta18. Determining the amplitude K18And phase angle theta18The value of (d) and thus the peak sound pressure level may be reduced as much as possible.
Thus, noise and vibration of the motor 60 can be effectively reduced. Optionally, because the sound pressure level also exceeds the predetermined threshold level L at the twelfth frequency, i.e. at a frequency of 800 HzTThe table may have two rows, one corresponding to the twelfth degree and the other corresponding to the eighteenth degree. In this way, noise and vibration of the motor 60 can be more effectively reduced.
At each rotational speed ω of the motor 60, a sound pressure level exceeding a predetermined threshold level L is measuredTOr the number N of times at which the peak is reached. Then, the amplitude K corresponding to the number N of times is set in each table corresponding to each rotation speed ωNAnd phase angle thetaN. Thus, each table is completed, and thus the mapping table M1 can be completed. The mapping table M1 is stored in the storage 81. Alternatively, the number of times N set in each table of the mapping table M1 may correspond to the resonance frequency of the engine block, which is mounted with the compressor 50, the motor 60, or the refrigerant circulating in the refrigeration cycle. In this case, when the sinusoidal current signal IS has an amplitude larger than that of the q-axis current signal IQ, the motor 60 cannot rotate. In other words, the amplitude K of the sinusoidal torque Ts when generated by the sinusoidal current signal ISNGreater than the amplitude of the drive torque produced by the q-axis current signal IQ, the motor 60 cannot rotate. Thus, within the mapping table M1, the amplitude KNThe amplitude of the drive torque is set in a range larger than the sinusoidal torque Ts.
In addition to using the mapping table M1, the amplitude KNAnd phase angle thetaNEach of which may be calculated as a rotation speed ω of the motor 60, a rotation angle θ D of the motor 60, or a discharge pressure P such as described later in a fifth embodimentNAs a function of (c). As shown in fig. 4A, a first function fk(ω，θD) Gives the amplitude KN. First function fk(ω，θD) Can be used with the respective amplitudes K determined in the testNAnd obtaining a non-linear interpolation therebetween. Also, as shown in FIG. 4B, the second function fθ(ω，θD) Gives the phase angle thetaN. Second function fθ(ω，θD) The respective phase angles theta that can be determined in experimentsNObtained by non-linear interpolation. In such a method, the memory 81 does not have to store the mapping table M1 and thus the storage capacity required for the memory 81 can be reduced.
The operation of the motor control apparatus 100 will now be described. Motor control apparatus 100 starts motor 60 and controls motor 60 so that motor 60 is presentThe desired rotational speed ω 0 rotates. In particular, the sinusoidal torque generator 8 receives the rotational speed ω of the motor 60 from the rotational speed detector 4. The sinusoidal torque generator 8 then reads the amplitude K corresponding to the number N of times from the tableNSaid table being included in the mapping table M1 of the memory 81 and corresponding to the rotation speed ω. Based on amplitude KNAnd phase angle thetaNThe sinusoidal torque generator 8 generates a sinusoidal current signal IS which IS used to cause the motor 60 to generate a sinusoidal torque Ts represented by equation (1). The sinusoidal current signal IS output to the processing unit 6.
The processing unit 6 generates a q-axis current signal IQ for causing the motor 60 to generate a driving torque which follows the ripple (ripple) in the load torque required to drive the compressor 50. Then, in the processing unit 6, the q-axis current signal IQ and the sinusoidal current signal IS are combined into a composite current signal IQ + IS. The resultant current signal IQ + IS output to the drive circuit 7.
Since the load torque varies in the period of time T1 as shown in fig. 5A, the rotation speed ω of the motor 60 varies accordingly. The generation of the q-axis current signal IQ by the processing unit 6 causes the motor 60 to supply a drive current corresponding to the drive torque. As shown in fig. 5B, the driving current varies so that the driving torque of the motor 60 follows the variation in the load torque. So that the rotational speed ω of the motor 60 can be reduced. The sinusoidal current signal IS supplies the motor 60 with a torque corresponding to the sinusoidal torque TSAnd a sinusoidal current that varies over a time period T2. Thus, the combined current signal IQ + IS causes the motor 60 to supply a combined current as shown in fig. 5C.
Fig. 6 is a graph showing sound pressure levels observed when the motor 60 is rotated at a rotation speed ω of 4000 rpm. In fig. 6, the dashed line represents the first case: motor 60 is not supplied with sinusoidal current; the solid line represents the second case: the motor 60 is supplied with a sinusoidal current having frequency components of 800 hertz and 1200 hertz. It can be seen from the graph that the sound pressure level decreases at the twelfth and eighteenth times, i.e. at frequencies of 800 hz and 1200 hz. In this case, based on the synthesized signal of the sinusoidal current signal IS corresponding to the twelfth order and the sinusoidal current signal IS corresponding to the eighteenth order, a sinusoidal current having frequency components of 800 hz and 1200 hz can be generated.
Thus, noise and vibration due to the number N of resonances can be reduced by supplying a sinusoidal current of frequency, amplitude and phase angle corresponding to the number N of resonances.
A motor control apparatus 200 according to a second embodiment of the present invention will be described below with reference to fig. 7 and 8.
In the motor control apparatus 200, the processing unit 6 generates a q-axis voltage signal VQ for causing the motor 60 to generate a driving torque that follows the pulsation in the load torque required to drive the compressor 50. The sinusoidal torque generator 8 receives the rotational speed ω of the motor 60 from the rotational speed detector 4. The sinusoidal torque generator 8 then reads the amplitude K corresponding to the number N of times from the tableNAnd phase angle thetaNSaid table being included in the mapping table M1 of the memory 81 and corresponding to the rotation speed ω. Based on amplitude KNAnd phase angle thetaNThe sinusoidal torque generator 8 generates a sinusoidal voltage signal VS for causing the motor 60 to generate a sinusoidal torque Ts represented by equation (1). The sinusoidal voltage signal VS is output to the processing unit 6.
In the processing unit 6, the q-axis voltage signal VQ and the sinusoidal voltage signal VS are combined into a composite voltage signal VQ + VS. The resultant voltage signal VQ + VS is output to the drive circuit 7.
Since the load torque changes during the period of time T3 as shown in fig. 8A, the rotation speed ω of the motor 60 changes accordingly. The generation of the q-axis voltage signal VQ by the processing unit 6 causes the motor 60 to be supplied with a drive voltage corresponding to the drive torque. As shown in fig. 8B, the driving voltage varies so that the driving torque of the motor 60 follows the variation in the load torque. So that the rotational speed ω of the motor 60 can be reduced. The sinusoidal voltage signal VS supplies the motor 60 with a torque corresponding to a sinusoidal torque TSAnd varying during the time period T4. Thus, the combined voltage signal VQ + VS causes the motor 60 to supply the combined voltage as shown in fig. 8C.
A motor control apparatus 300 according to a second embodiment of the present invention will now be described with reference to fig. 9.
In the motor control apparatus 300, the sinusoidal torque generator 8 generates a sinusoidal rotational speed signal ω S for allowing the motor 60 to generate a sinusoidal torque Ts represented by equation (1). The sinusoidal rotational speed signal ω S and the signal indicating the desired rotational speed ω 0 are combined into a composite speed signal ω 0+ ω S. As shown in fig. 9, a deviation signal between the synthesized speed signal ω 0+ ω S and the signal indicating the rotation speed ω is input to the processing unit 6. The control operation signal 6 generates a q-axis current signal IQ based on the deviation signal and outputs the q-axis current signal IQ to the drive circuit 7. The drive circuit 7 generates a PWM signal based on the q-axis current signal IQ and outputs the PWM signal to the inverter circuit 2.
In the fourth embodiment according to the present invention, the memory 81 includes the mapping table M2 shown in fig. 10 instead of the mapping table M1 shown in fig. 2. In each of the mapping tables M2, the first column contains the frequency FNInstead of the order N, the second column contains the frequency FNAmplitude KF ofNAnd the third column contains the frequency FNPhase angle of (theta)NWherein N is a positive integer. For example, in the table corresponding to the rotation speed ω of 4000rpm, the frequency F1May be 800 hz and frequency F2May be 1200 hz. Alternatively, the frequency F set in each of the mapping tables M2NMay correspond to a resonant frequency of an engine block, which is mounted with the compressor 50, the motor 60, or a refrigerant circulating in a refrigeration cycle.
The sinusoidal torque generator 8 reads the frequency F from the mapping table M2NAmplitude KFNAnd phase angle θ FN. The sinusoidal torque generator 8 then generates a sinusoidal current signal IS which IS used to generate a current having a frequency F for the motor 60NAmplitude KFNAnd phase angle θ FNTs. Alternatively, the sinusoidal torque generator 8 may generate a sinusoidal voltage signal VS, which may beInput to the processing unit 6. Alternatively, the sinusoidal torque generator 8 may generate a sinusoidal rotational speed signal ω S and a deviation signal between the resulting speed signal ω 0+ ω S and the signal indicative of the rotational speed ω is input to the processing unit 6.
In the fifth embodiment according to the present invention, the memory 81 includes the mapping table M3 shown in fig. 11 instead of the mapping table M1 shown in fig. 2. The mapping table M3 has a set of tables, each of which also corresponds to the discharge pressure P of the compressor 50N. For example, a pressure sensor (not shown) detects the discharge pressure PN. Optionally, the discharge pressure PNMay be estimated by, for example, the current flowing through the motor 60 or the driving torque of the motor 60.
The sinusoidal torque generator 8 reads from the map M3 the map corresponding to the discharge pressure PNAmplitude of (KP)NAnd phase angle θ PN. The sinusoidal torque generator 8 then generates a sinusoidal current signal IS which IS used to generate a current having an amplitude KP for the motor 60NAnd phase angle θ PNTs. Alternatively, the sinusoidal torque generator 8 may generate a sinusoidal voltage signal VS, which may be input to the processing unit 6. Alternatively, the sinusoidal torque generator 8 may generate a sinusoidal rotational speed signal ω S and a deviation signal between the resulting speed signal ω 0+ ω S and the signal representing the rotational speed ω is input to the processing unit 6.
The discharge pressure P even when the rotational speed ω of the motor 60 is constantNMay also vary. By using the map M3, due to the discharge pressure PNThe varying noise and vibration can be effectively reduced.
A motor control apparatus 400 according to a sixth embodiment of the present invention will now be described with reference to fig. 12 to 14B. The motor control apparatus 400 includes the control signal generator 88 instead of the sinusoidal torque generator 8.
When the compressor 50 is a scroll compressor, it acts on a compression portion (i.e., an orbiting scroll) of the compressor 50 at point aCan be represented as shown in fig. 13. In FIG. 13, TDRepresents the driving torque of the motor 60, and R represents the eccentric radius, i.e., the distance between the point a and the center of the driving shaft of the motor 60. In this case, the driving torque TDGiven by the following equation:
ΓD＝F·R…(2)
as shown in FIG. 13, the force F is decomposed into an X-axis component force FXAnd Y-axis component force FY. Component force F in the X-axis directionXAnd Y-axis component force FYThe forces acting in the X-axis direction and the Y-axis direction of fig. 14, respectively. In the motor 60 or a mounting bracket (i.e., an engine block) including the motor 60, noise and vibration tend to occur in the X-axis direction and the Y-axis direction. In particular, the X-axis component FXAnd Y-axis component force FYGenerates noise and vibration having a frequency corresponding to the frequency component.
The control signal generator 88 generates a current control signal ISS that is used to cause the motor 60 to generate a control torque TCSaid control torque TCFor generating sinusoidal forces. The sinusoidal force having a component F in the X-axis directionXAnd Y-axis component force FYThe frequency components of (a) are opposite phases. Thus, noise and vibration generated by the frequency components can be reduced.
The control signal generator 88 has a memory 81 storing a mapping table M4, including a mapping table MX shown in fig. 14A and a mapping table MY shown in fig. 14B. The mapping table MX is used for reduction of noise and vibration in the X-axis direction, and the mapping table MY is used for reduction of noise and vibration in the Y-axis direction. Each of the mapping tables MX and MY has a set of tables, each of which corresponds to each rotational speed ω of the motor 60. Each table of the mapping tables MX and MY has three columns and at least one row.
In each of the tables MX, the first column contains the degree N and the second column contains the amplitude KX corresponding to the degree NNAnd the third column contains a phase angle thetax corresponding to the degree NNWherein N isA positive integer. Similarly, in each table of the mapping table MY, the first column contains the number M and the second column contains the amplitude KY corresponding to the number MMAnd the third column contains a phase angle θ Y corresponding to the degree MMWherein M is a positive integer.
When the current control signal ISS generated by the control signal generator 88 has an amplitude KXNAnd KYNAnd phase angle thetaxNAnd θ YNWhen the noise and vibration of the motor 60 are reduced. Amplitude KXNAnd KYNAnd phase angle thetaxNAnd θ YNAre determined in tests in which the motor 60 is mounted on a vehicle and operated under actual conditions.
For example, as shown in FIG. 14A, when the motor 60 rotates at a rotational speed ω of ω 1 and the sound pressure level in the X-axis direction exceeds a predetermined threshold level at a first number of times, the amplitude KX corresponding to the first number of times1And phase angle thetax1Set in a table contained in the mapping table MX and corresponding to the rotation speed ω of ω 1. In this case, if the sound pressure level in the Y-axis direction exceeds the predetermined threshold level at the first and third times, the amplitudes KY corresponding to the first and third times1And KY3And phase angle theta Y1And θ Y3The rotation speeds ω included in the tables MY and corresponding to ω 1 are set, respectively.
In such a method, the sound pressure level in each of the X-axis direction and the Y-axis direction is reduced so that the noise and vibration of the motor 60 can be effectively reduced. Alternatively, the times N and M may correspond to a resonance frequency of the motor 60 combined with the compressor 50 or a mounting structure including the motor 60 connected with the compressor 50 or a refrigerant circulating in a refrigeration cycle. By using the mapping table M4, the current control signal ISS can be easily calculated in a short time.
The control signal generator 88 receives the rotation speed ω of the motor 60 from the rotation speed detector 4. The control signal generator 88 then reads the amplitude KX corresponding to the number of times N from the tableNAnd phase angle thetaxNSaid table being included in a memory81 in the mapping table MX and corresponding to the rotation speed ω. Based on amplitude KXNAnd phase angle thetaxNThe control signal generator 88 generates an X-axis component signal ISS of the current control signal ISSXThe said X-axis partial signal ISSXExpressed by the following equation:
likewise, the control signal generator 88 also reads the amplitude KY corresponding to the number M from the tableMAnd phase angle θ YMSaid table being contained in a mapping table MY of the memory 81 and corresponding to said rotation speed ω. Based on amplitude KYMAnd phase angle θ YMThe control signal generator 88 generates a Y-axis component signal ISS of the current control signal ISSYSaid Y-axis partial signal ISSYRepresented by the following equation:
the X-axis partial signal ISSXAnd Y-axis component signal ISSYCombined into a current control signal ISS.
The operation of the motor control apparatus 400 will now be described. The motor control apparatus 400 starts the motor 60 and controls the motor 60 so that the motor 60 rotates at a desired rotation speed ω 0. In particular, the processing unit 6 generates a q-axis current signal IQ and receives a current control signal ISS from the control signal generator 88. In the processing unit 6, the q-axis current signal IQ and the current control signal ISS are combined to a composite signal IQ + ISS. The processing unit 6 outputs the synthesized signal IQ + ISS to the drive circuit 7. The drive circuit 7 generates a PWM signal based on the synthesized signal IQ + ISS and outputs the PWM signal to the inverter circuit 2. So that the motor 60 generates the control torque T for generating the sinusoidal forceC. The sinusoidal force having a component F in the X-axis directionXAnd Y-axis component force FYThe frequency components of (a) are opposite phases. Thus, noise and vibration generated by the frequency components can be reduced.
In this case, when the amplitude of the current control signal ISS is larger than the amplitude of the q-axis current signal IQ, the motor 60 cannot rotate. Therefore, the amplitude of the current control signal ISS is set so that the amplitude of the current control signal ISS is smaller than the amplitude of the q-axis current signal IQ.
A motor control apparatus 500 according to a sixth embodiment of the present invention will now be described with reference to fig. 15.
In the motor control apparatus 500, the control signal generator 88 generates a q-axis voltage signal VQ. The control signal generator 88 receives the rotation speed ω of the motor 60 from the rotation speed detector 4. Then, the control signal generator 88 reads the amplitude KX corresponding to the number of times N from the tableNAnd phase angle thetaxNSaid table being contained in a mapping table MX of the memory 81 and corresponding to the rotation speed ω. Further, the control signal generator 88 also reads the amplitude KY corresponding to the number M from the tableMAnd phase angle θ YMSaid table being contained in a mapping table MY of the memory 81 and corresponding to the rotation speed ω. Based on amplitude KXNAnd amplitude KYMAnd phase angle thetaxNAnd θ YMThe control signal generator 88 generates a voltage control signal VSS for causing the motor 60 to generate the control torque TC. The voltage control signal VSS is output to the processing unit 6.
In the processing unit 6, the q-axis voltage signal VQ and the voltage control signal VSS are combined into a combined voltage signal VQ + VSS. The resultant voltage signal VQ + VSS is output to the drive circuit 7. The drive circuit 7 generates a PWM signal based on the synthesized voltage signal VQ + VSS, and outputs the PWM signal to the inverter circuit 2. So that the motor 60 generates the control torque T for generating the sinusoidal forceC. The sinusoidal force having a component F in the X-axis directionXAnd Y-axis component force FYThe frequency components of (a) are opposite phases. Thus, noise and vibration generated by the frequency components can be reduced.
A motor control apparatus 600 according to an eighth embodiment of the present invention will be described below with reference to fig. 16.
In the motor control apparatus 600, the control signal generator 88 generates a rotational speed control signal ω SS for causing the motor 60 to generate a control torque TC. The rotational speed control signal ω SS and the signal indicating the desired rotational speed ω 0 are combined into a composite speed signal ω 0+ ω SS. As shown in fig. 16, a deviation signal between the synthesized speed signal ω 0+ ω SS and a signal indicating the rotational speed signal ω of the motor 60 is input to the processing unit 6. The processing unit 6 is based onThe deviation signal generates a q-axis current signal IQ, and outputs the q-axis current signal IQ to the drive circuit 7. The drive circuit 7 generates a PWM signal based on the q-axis current signal IQ and outputs the PWM signal to the inverter circuit 2. So that the motor 60 generates the control torque T for generating the sinusoidal forceC. The sinusoidal force having a component F in the X-axis directionXAnd Y-axis component force FYThe frequency components of (a) are opposite phases. Thus, noise and vibration generated by the frequency components can be reduced.
The embodiments described above may be modified in different ways. For example, the number of times may be replaced with a frequency corresponding to the number of times.
In addition to using the maps 2 to 4, as shown in fig. 4A and 4B, each of the amplitude and the phase angle may be set to the rotation angle θ of the motor 60DOr a function of the rotational speed omega. In such a method, the storage capacity required for the memory 81 can be reduced.
The amplitude and the phase angle corresponding to the number of times may be set based on physical quantities obtained from the compressor 50 when the motor 60 drives the compressor 50. For example, the amplitude and phase angle corresponding to the number of times may be set based on the pressure or temperature of the refrigerant circulating in the refrigeration cycle. In such a method, noise and vibration due to a change in the physical quantity can be reduced.
The motor 60 may drive various types of fluid machines such as a hydraulic pump used to pump refrigerant in a rankine cycle. The compressor 50 may also be a component of a domestic air conditioning unit.
Controlling the torque TCA force may be generated that acts in a direction in which a resonant amplitude of a resonant mode of the motor 60 or a mounting structure including the motor 60 exceeds a predetermined threshold level.
Each of signals IS, ISs, VS, VSs, ω S and ω SS may decrease in amplitude over time. Each of the signals IS, ISs, VS, VSs, ω S, and ω SS may be a rectangular wave signal compounded by a plurality of sinusoidal signals.
Such changes and modifications are to be understood as being within the scope of the present invention as defined by the appended claims.
Claims (17)
1. A motor control apparatus that supplies a drive signal to a motor (60) for driving a load (50) and controls the motor (60) to reduce noise or vibration due to operation of the motor (60), comprising:
-detection means (4), said detection means (4) being intended to detect the rotation speed of the motor (60);
command signal processing means (6), said command signal processing means (6) generating a command signal for rotating the motor (60) at a predetermined rotational speed;
a drive device (7), the drive device (7) generating a drive signal based on the instruction signal and supplying the drive signal to the motor (60); and
a control signal generating device (8, 88), the control signal generating device (8, 88) generating a control signal for causing the motor (60) to generate a control torque having a frequency equal to one of the frequencies of noise and vibration, and outputting the control signal to the instruction signal processing device (6), wherein:
the control signal comprises a plurality of sinusoidal components;
the command signal processing device (6) generates a command signal based on the control signal and outputs the command signal to the driving device (7);
the control signal generation means (8, 88) sets the amplitude and phase angle and frequency of a control signal based on the rotational speed of the motor (60), the rotational angle of the motor (60), or a physical quantity obtained from the load (50) when the motor (60) drives the load (50), and generates the control signal based on the amplitude, phase angle and frequency;
the amplitude of the command signal is greater than the amplitude of the control signal;
the load (50) is a compressor (50) that is connected to a motor (60) and compresses a refrigerant used in a refrigeration cycle of the vehicle;
the frequency includes a plurality of frequency components;
the plurality of frequency components include at least a resonant frequency of the motor (60), a resonant frequency of a motor mounting structure to which the motor (60) is fixed, and a resonant frequency of the refrigerant; and is
Each of the plurality of sinusoidal components of the control signal corresponds to a different one of the plurality of frequency components.
2. The motor control apparatus according to claim 1, wherein:
the frequency of the control torque corresponds to the number of rotational speeds detected by the detection means (4).
3. The motor control apparatus according to claim 1 or 2, wherein:
the control torque generates a force acting on the load (50) in a predetermined direction.
4. The motor control apparatus according to claim 1, wherein:
the control signal causes the motor (60) to generate a control torque that reduces noise or vibration as much as possible.
5. The motor control apparatus according to claim 1, wherein:
the control signal generating means (8, 88) comprises a mapping table (M1-M4) having a plurality of tables;
each table corresponds to each rotational speed of the motor (60), each rotational angle of the motor (60), or each physical quantity, and includes the amplitude, the phase angle, and the frequency; and
the control signal generating means (8, 88) reads the amplitude, phase angle and frequency from a mapping table (M1-M4) to generate a control signal.
6. The motor control apparatus according to claim 1, wherein:
the amplitude is set as a first function of a rotational speed of the motor (60), a rotational angle of the motor (60), or a physical quantity.
7. The motor control apparatus according to claim 1, wherein:
the phase angle is set as a second function of the rotational speed of the motor (60), the rotational angle of the motor (60), or a physical quantity.
8. The motor control apparatus according to claim 1, wherein:
the frequency is a frequency of noise having a sound pressure level greater than a predetermined pressure level at a predetermined position.
9. The motor control apparatus according to claim 3, wherein:
the sound pressure level of the noise or vibration exceeds the predetermined pressure level at a predetermined position in a predetermined direction.
10. The motor control apparatus according to claim 3, wherein:
the motor (60) has a first resonance mode in which resonance occurs in a predetermined direction; and
the amplitude of the resonance exceeds a predetermined amplitude level.
11. The motor control apparatus according to claim 3, wherein:
a mounting structure including a motor (60) having a second resonance mode in which resonance occurs along the predetermined direction; and
the amplitude of the resonance exceeds a predetermined amplitude level.
12. The motor control apparatus according to claim 3, wherein:
the amplitude of the vibration due to the operation of the motor (60) exceeds a predetermined amplitude level in a predetermined direction.
13. The motor control apparatus according to claim 1, wherein:
the control signal contains information relating to the current used to drive the motor (60).
14. The motor control apparatus according to claim 1, wherein:
the control signal contains information relating to the voltage used to drive the motor (60).
15. The motor control apparatus according to claim 1, wherein:
the control signal contains information relating to the rotational speed of the motor (60).
16. The motor control apparatus according to claim 1, wherein:
the control signal decreases in amplitude over time.
17. The motor control apparatus according to claim 1, further comprising:
a pressure detecting device for detecting pressure; wherein,
the load (50) is a compressor (50) used in a refrigeration cycle;
the pressure detection device (4) detects the discharge pressure of the compressor (50); and
the physical quantity is the detected pressure.
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| JP2005187010 | 2005-06-27 | ||
| JP2005187010 | 2005-06-27 | ||
| JP2006118529 | 2006-04-21 |
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| CN100461615C true CN100461615C (en) | 2009-02-11 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| BRPI0902347A2 (en) * | 2009-07-22 | 2011-04-05 | Whirlpool Sa | anticipatory control method for electric motors applied to cyclic loads |
| BRPI0902349A2 (en) * | 2009-07-22 | 2011-08-23 | Whirlpool Sa | control method for electric motors applied to cyclic loads |
| KR101981366B1 (en) * | 2012-06-26 | 2019-08-28 | 아틀라스 콥코 인더스트리얼 테크니크 에이비 | Method and apparatus for combining torque and angle representations |
| CN104344535B (en) * | 2013-08-02 | 2017-01-25 | 广东美的制冷设备有限公司 | Method and device for adaptively adjusting frequency of conditioner motor and air conditioner |
| CN104654548B (en) * | 2013-11-21 | 2018-01-16 | 珠海格力电器股份有限公司 | Noise reduction method for air conditioner movement mechanism |
| JP6380319B2 (en) * | 2015-09-29 | 2018-08-29 | 株式会社デンソー | Electric compressor |
| EP3199809B1 (en) * | 2016-01-28 | 2021-06-09 | ABB Schweiz AG | Control method for a compressor system |
| US10128776B2 (en) * | 2016-07-11 | 2018-11-13 | Mitsubishi Electric Corporation | Inverter device |
| CN107387382B (en) * | 2017-08-31 | 2019-06-04 | 广东美芝制冷设备有限公司 | Control method, compressor assembly and the refrigeration equipment of compressor amplitude |
| CN109412474B (en) * | 2018-12-12 | 2020-10-27 | 上海航天控制技术研究所 | Control method for sinusoidal torque output of brushless direct current motor |
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