CN102013863A - Motor driving device and method for removing torque pulsation - Google Patents

Abstract

The present invention provides a motor driving device and a method for removing torque pulsation. A pulsation calculator (25) calculates the pulsation component of a dq axis current which is caused by a bias voltage of a current sensor (17) based on an output value of a rotating transformer (15) and an output value of a dq coordinate converter (19). A pulsation subtractor (41) subtracts the pulsation compoent from the dq axis current based on the calculation result of the pulsation calculator (25). On the other hand, a bias voltage calculator (31) calculates the bias voltage of the current sensor (17) based on the calculation result of the bias voltage calculator (31). A bias voltage compensator (33) subtracts a bias voltage calculation result from an output voltage of the current sensor (17). Therefore, the bias voltage of the current sensor (17) is compensated automatically. The torque pulsation caused by the bias voltage of the current sensor (17) is reduced along with the rotation of a rotating motor (11).

Description

The removal method of motor drive and torque pulsation

Technical field

This example relates to a kind of for example motor drive of elevator etc. and the removal method of torque pulsation of being used in.

Background technology

Be widely used from the outside to the technology that driven object drives by thrust as the torque of the rotary machine the motor or the driver as linear motor.Corresponding such device, if the composition of pulsation is arranged in torque or the thrust, then device is whole produces vibration, thereby is difficult to give specified action to driven object.

For example, for elevator device, cage according to cycle of torque pulsation by up-down vibration, diminish riding comfortableness like this.Concerning electric automobile, produce noise based on cycle of torque pulsation, make body oscillating, thereby make the obvious variation of the sensation of taking.Further, the pulsation of the thrust of linear servo motor becomes the main cause of speed shakiness, site error, and therefore, it becomes the reason that machining accuracy is worsened.

Here, the pulsation of the thrust of the torque pulsation of rotary machine, linear motor is caused by following reason: (a) caused by the motor body that contains reductor; (b) by the rotation detecting sensor of rotor, the position-detection sensor of moving element, the bias voltage by current sensor causes further.

Described (a) is various former thereby cause by the higher harmonics in the magnetic field of the off-centre of the operating accuracy of motor stator and rotor or moving element, rotor bearing or moving element supporting mechanism, motor inside and the installation accuracy of reductor etc.

Studied the reduction method of following method as torque pulsation.

A kind of like this method is arranged, promptly, be conceived to the torque pulsation that reductor produces, establish torque pulsation adjustment gain and be A, the rotational angle of reductor is θ, initial phase is α 1, correction signal (Tcomp=Asin (θ+α 1)) is carried out computing, synchronous by the rotation period that makes this correction signal and motor, be added to feedforward in the target torque indication, eliminate torque pulsation (for example, with reference to Japanese kokai publication hei 7-129251 communique).

Also has a kind of like this method, its rotational angle that is conceived to torque pulsation and motor has correlation, its correlation is stored in storage device, from storage device, read corresponding with it torque pulsation data based on the revolution angle, the value that to remove pulsation part gained from the torque indicated value is as new torque indicated value (for example, with reference to Japanese kokai publication hei 11-299277 communique).

Other has a kind of method, will be added to the method (for example, with reference to Japanese patent application 2005-104447 communique) in the torque indication of d axle and q axle by the cancelling signal that amplitude parameter and phase parameter are inferred out in study.

Further,, obtain the electric angle of stator and moving element, therefore, can adopt with the same method of rotary machine and reduce the thrust pulsation with the position of moving element for linear motor.

But for such method, many times each compensating parameter depends on and does each motor, for a plurality of motors being carried out the removal of torque pulsation, needs a lot of time, and the cost that will cost a lot of money.

For described (b), rotation detecting sensor, the caused torque pulsation of current sensor are pulsed as motor torque and showed, and be general and not obvious.But have such problem, if contain the caused pulsation of rotational angle of detected object in the output valve of rotation detecting sensor, the amplitude of pulsation and the angular speed of detected object become big pro rata, therefore, to the torque of motor, when velocity of rotation is controlled, it is big that the angular speed feedback oscillator can not become.

When driving the three-phase alternating current motor with so-called vector control, if current sensor has biasing, when then three-phase alternating current having been carried out the dq coordinate transform, pulsation is with the be added to electric current of its d axle and q axle of cycle of electric angle.Can produce such problem this moment, and the frequency and the velocity of rotation of irrelevant pulsation are proportional with exporting torque, therefore, even when no-load moves, also can excite the resonance frequency of driven object.

Corresponding problem of rotating detecting sensor has such method, if the detection rotational angle is θ, to do the angular speed that time diffusion obtains be ω to detecting rotational angle, the cycle of the rotational angle pulsation corresponding with revolution is n, adjust gain and be G, the adjustment phase place is ψ, calculates corrected value-ω Gsin (n θ+ψ), and add on the angular velocity omega of pulsation that corrected value removes pulsation (for example, with reference to Japanese patent application 2001-280030 communique) containing.

Also have by study these adjustment gains, adjustment phase place are carried out self-adjusting method (for example, with reference to Japanese patent application 2004-016072 communique).

On the other hand, for the caused torque pulsation of the bias voltage of current sensor, if use the little transducer of bias voltage just can easily solve.But such transducer price is higher, and environment for use condition harshness further, needs to check, the restrictive condition of maintenance etc. in addition.

Summary of the invention

[inventing problem to be solved]

As mentioned above, for the caused torque pulsation of the bias voltage of current sensor, the strategy of its solution has many restrictions, and the result causes the raising of the cost of system.Therefore, still do not implement the reduction of torque pulsation, thrust pulsation, but installation method, fixing means by motor, the perhaps soundproof device that removes the machinery of the vibration proof mechanism that shakes etc. comes torque pulsation inhibited, the thrust pulsation influence to driven object.

Yet, must append mechanical device, also to spend cost.And, if the device of machinery is increased vibration by the pulsation of torque pulsation, thrust, not only can make the lost of life of device, and the frequency that produces fault can increase also, make the reliability decrease of device.

The object of the invention is to provide a kind of motor drive and torque pulsation removal method, can reduce the caused torque pulsation of bias voltage of current sensor simply, suppress the vibrating noise of driven object, satisfy the function of device, and can reduce cost and improve reliability.

[method of dealing with problems]

The motor drive of this example is characterized in that, comprising: the actuating force generating unit is used for driven object is driven; Drive division provides three-phase alternating current and drives to this actuating force generating unit; Current detecting part detects the electric current by the two-phase at least of this drive division in the three-phase alternating current that described actuating force generating unit provides; The electric angle test section detects the electric angle of described actuating force generating unit; Coordinate converting section, output valve based on this electric angle test section, generation thrust direction to described actuating force generating unit is carried out coordinate transform to described three-phase alternating current, and to the direction that intersects vertically with this thrust generation direction described three-phase alternating current is carried out coordinate transform; Current control division carries out computing to the voltage after the coordinate transform and makes the output valve of this coordinate converting section restrain to preassigned desired value; Contrary coordinate converting section is transformed to three-phase alternating voltage with the output valve of this current control division and to described drive division output; The pulsation operational part based on the output valve of described coordinate converting section and the output valve of described electric angle test section, carries out computing to the ripple component that output valve contained of described coordinate converting section; Pulsation removal portion based on the operation result of this pulsation operational part, adjusts and removes ripple component to the output valve of described current control division; The bias voltage operational part, based on the operation result of described pulsation operational part, the bias voltage composition that is contained in the output valve to described current detecting part carries out computing; The bias voltage compensation section based on the operation result of this bias voltage operational part, is removed the bias voltage composition that is contained in the output valve of described current detecting part.

Again, the torque pulsation removal method of this example is characterized in that, this torque pulsation removal method is applied to motor drive, and this motor drive comprises: the actuating force generating unit is used for driven object is driven; Drive division provides three-phase alternating current and drives to this actuating force generating unit; Current detecting part detects the electric current by the two-phase at least of this drive division in the three-phase alternating current that described actuating force generating unit provides; The electric angle test section detects the electric angle of described actuating force generating unit; Coordinate converting section, output valve based on this electric angle test section, generation thrust direction to described actuating force generating unit is carried out coordinate transform to described three-phase alternating current, and to the direction that intersects vertically with this thrust generation direction described three-phase alternating current is carried out coordinate transform; Current control division carries out computing to the voltage after the coordinate transform and makes the output valve of this coordinate converting section restrain to preassigned desired value; Contrary coordinate converting section, the output valve of this current control division is transformed to three-phase alternating voltage and to described drive division output, described torque pulsation removal method, based on the output valve of described coordinate converting section and the output valve of described electric angle test section, the ripple component that is contained in the output valve to described coordinate converting section is carried out computing, operation result based on described ripple component, above-mentioned ripple component is adjusted and removed to the output valve of described current control division, and based on the operation result of described ripple component, the bias voltage composition that is contained in the output valve to described current detecting part carries out computing, based on the operation result of described bias voltage composition, remove the bias voltage composition that is contained in the output valve of described current detecting part.

Description of drawings

Fig. 1 is the block diagram of formation of integral body that the motor drive of the 1st example is shown.

Fig. 2 is the block diagram of formation that the pulsation arithmetic unit of the motor drive that is arranged at same example is shown.

Fig. 3 is the block diagram of formation that the bias voltage arithmetic unit of the motor drive that is arranged at same example is shown.

Fig. 4 is the block diagram of formation that the bias voltage compensator of the motor drive that is arranged at same example is shown.

Fig. 5 is the block diagram of formation that the speed control unit of the motor drive that is arranged at same example is shown.

Fig. 6 illustrates the angular speed of same example and the figure figure of time relation.

Fig. 7 illustrates the torque instruction value of same example and the figure figure of time and torque output and time relation.

Fig. 8 is the block diagram of formation of integral body that the motor drive of the 2nd example is shown.

Fig. 9 is the block diagram of formation of integral body that the motor drive of the 3rd example is shown.

Symbol description

1,1A ... motor drive, 3 ... driven object (load), 5 ... speed control unit, 11 ... rotating motor, 13 ... drive unit, 15 ... resolver, 16 ... the number of pole-pairs multiplier, 17 ... the field type current sensor, 18,119,147 ... positive and negative gain multiplier, 19 ... the dq coordinate converter, 21 ... the torque current converter, 23 ... the current deviation arithmetic unit, 25 ... the pulsation arithmetic unit, 27 ... current control device, 29 ... the three-phase coordinate converter, 31 ... the bias voltage arithmetic unit, 33,33 ', 33 " ... bias voltage compensator; 35 ... three-phase alternating-current supply; 37 ... single phase alternating current power supply, 41,41 ' ... the pulsation subtracter, 43 ... the PI controller, 45 ... current transformer, 47 ... inverter, 51,93 ... electric angle linear function operational part, 53,95 ... sinusoidal operational part, 55,73,83,99,101,113,125,131,153,159,179,181 ... multiplier, 57 ... the analog differentiation device, 59 ... the signed magnitude arithmetic(al) device, 61 ... the electric angle integrator, 63 ... both phase integrator, 67 ... the integer gain multiplier, 69 ... phase regulator, 71,91 ... adder, 75,85,103,183,185 ... the time integral device, 77,79,105,107 ... 2 π sample retainers, 81,109,133,161,187,189 ... subtracter, 87,111,127,129,139,141,155,157,167,169,175,177 ... gain multiplier, 89 ... the phase place arithmetic unit, 97 ... the amplitude arithmetic unit, 115 ... d axle reference offset voltage operational device, 117 ... q axle reference offset voltage operational device, 121,149 ... the amplitude gain adjuster, 123,151 ... the tangent arithmetic unit, 135,163 ... constant adder, 137,165 ... the square root calculation device, 143,145,171,173 ... divider.

Embodiment

At first, before this example is described, caused torque pulsation of the bias voltage of current sensor and the principle of removing this torque pulsation are described.

Use the type of drive of vector control mode as the three-phase alternating current motor, the technology that when torque, thrust are controlled driven object is driven is widely used.At this moment, the electric current of the two-phase at least in the three-phase of needs detection three-phase alternating current motor.The three-phase alternating current motor comprises various kinds such as induction motor, synchronous motor, for simplicity, is that example describes with the permanet magnet type synchronous motor here.

Now consider U phase, V phase, W mutually the U in this three-phase current sensor is installed with W on mutually mutually.

The electric current that flows in mutually at U phase, V phase, W is respectively i _Ur, i _Vr, i _Wr

If the electric current of the static coordinate α axle of three-phase two phase inversion (α β conversion) is i _α, the electric current of this β axle is i _β, be that the electric current of d axle of the rotating coordinate system of the coordinate transform to rotational coordinates conversion (dq coordinate transform) of θ when making this static coordinate rotation is i with the electric angle of shifting magnetic field _d, the electric current of the q axle of this rotating coordinate system is i _q, then following relation is set up:

$\left[\begin{array}{c}{i}_{\mathrm{\αr}}\\ i_{\mathrm{\βr}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{ur}}\\ i_{\mathrm{vr}}\\ i_{\mathrm{wr}}\end{array}\right]---\left(1\right)$

$\left[\begin{array}{c}{i}_{\mathrm{dr}}\\ i_{\mathrm{qr}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\αr}}\\ i_{\mathrm{\βr}}\end{array}\right]---\left(2\right)$

Here, U phase current transducer is biased to i _Uo, V phase current transducer be biased to i _Vo, W phase current transducer be biased to i _Wo, it is carried out the d shaft current i that the dq coordinate transform obtains _dAnd q shaft current i _qBe shown below:

$\left\{\begin{array}{c}{i}_d=i_{\mathrm{dr}}+\sqrt{\frac{1}{6}}({2i}_{\mathrm{uo}}-i_{\mathrm{vo}}-i_{\mathrm{wo}})\cos \mathrm{\θ}+\sqrt{\frac{1}{2}}(i_{\mathrm{vo}}-i_{\mathrm{wo}})\sin \mathrm{\θ}\\ i_q=i_{\mathrm{qr}}+\sqrt{\frac{1}{2}}(i_{\mathrm{vo}}-i_{\mathrm{wo}})\cos \mathrm{\θ}-\sqrt{\frac{1}{6}}(2i_{\mathrm{uo}}-i_{\mathrm{vo}}-i_{\mathrm{wo}})\sin \mathrm{\θ}\end{array}\right.---\left(3\right)$

In the formula (3), the composition of the 2nd, the 3rd pulsation that expression is produced by the biasing of current sensor on the right side of the 1st formula, the 2nd formula.

There is not the neutral line in the three-phase coiling, when V does not have current sensor mutually, because of i _Vr=-i _Ur-i _Wr, then formula (1), (2) can be transformed to following formula:

$\left[\begin{array}{c}{i}_{\mathrm{dr}}\\ i_{\mathrm{qr}}\end{array}\right]=\left[\begin{array}{cc}\sin (\mathrm{\θ}+\frac{2}{3}\mathrm{\π})& -\sin \mathrm{\θ}\\ \cos (\mathrm{\θ}+\frac{2}{3}\mathrm{\π})& -\cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{ur}}\\ i_{\mathrm{wr}}\end{array}\right]---\left(4\right)$

Formula (3) also is the same, because i _Vo=-i _Uo-i _Wo, the current pulsation component i of d axle _Do, the q axle the current pulsation component i _QoBe shown below:

$\left\{\begin{array}{c}{i}_{\mathrm{do}}=\sqrt{\frac{3}{2}}{i}_{\mathrm{uo}}\cos \mathrm{\θ}-\sqrt{\frac{1}{2}}(i_{\mathrm{uo}}+2i_{\mathrm{wo}})\sin \mathrm{\θ}\\ i_{\mathrm{qo}}=-\sqrt{\frac{1}{2}}(i_{\mathrm{uo}}+2i_{\mathrm{wo}})\cos \mathrm{\θ}-\sqrt{\frac{3}{2}}{i}_{\mathrm{uo}}\sin \mathrm{\θ}\end{array}\right.---\left(5\right)$

If the amplitude of the d axle in the formula (5), the current pulsation composition of q axle is a _d, a _q, the phase difference of establishing with electric angle θ is ψ _d, ψ _q, then can do following replacement:

$\left\{\begin{array}{c}{i}_{\mathrm{do}}=a_d\sin (\mathrm{\&theta;}+{\mathrm{\&psi;}}_d)\underset{\&CenterDot;}{\&CenterDot;\&CenterDot;}{a}_d=\sqrt{\frac{{(i_{\mathrm{uo}}+2i_{\mathrm{wo}})}^2}{2}+\frac{3}{2}{i}_{\mathrm{<figure-callout\; id="2"\; label="uo"\; filenames="HSA00000231498600011.png,HSA00000231498600031.png"\; state="\{\{state\}\}">uo</figure-callout>}}^2},{\mathrm{\&psi;}}_d=-{\tan }^{-1}\frac{\sqrt{3}{i}_{\mathrm{uo}}}{i_{\mathrm{uo}}+2i_{\mathrm{wo}}}\\ i_{\mathrm{qo}}=a_q\sin (\mathrm{\&theta;}+{\mathrm{\&psi;}}_q)\underset{\&CenterDot;}{\&CenterDot;\&CenterDot;}{a}_q=\sqrt{\frac{{(i_{\mathrm{uo}}+2i_{\mathrm{wo}})}^2}{2}+\frac{3}{2}{i}_{\mathrm{<figure-callout\; id="2"\; label="uo"\; filenames="HSA00000231498600011.png,HSA00000231498600031.png"\; state="\{\{state\}\}">uo</figure-callout>}}^2},{\mathrm{\&psi;}}_q={\tan }^{-1}\frac{i_{\mathrm{uo}}+2i_{\mathrm{wo}}}{\sqrt{3}{i}_{\mathrm{uo}}}\end{array}\right.---\left(6\right)$

Therefore, the ripple component of detection and electric angle same period in the dq coordinate system, and if can infer phase place and amplitude, then can pacify the biasing of taking following formula (7) or following formula (8) calculating U picture and W current sensor mutually.

$\left\{\begin{array}{c}{i}_{\mathrm{uo}}=\frac{\sqrt{6}{a}_d\tan {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="3"\; label="d"\; filenames="HSA00000231498600031.png,HSA00000231498600051.png"\; state="\{\{state\}\}">d</figure-callout>}}}{3\sqrt{1+{\tan }^2{\mathrm{\&psi;}}_d}},i_{\mathrm{wo}}=-\frac{3\sqrt{2}{a}_d+\sqrt{6}{a}_d\tan {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="6"\; label="d"\; filenames="HSA00000231498600031.png"\; state="\{\{state\}\}">d</figure-callout>}}}{6\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="tan"\; filenames="HSA00000231498600011.png,HSA00000231498600031.png"\; state="\{\{state\}\}">tan</figure-callout>}}^2{\mathrm{\&psi;}}_d}}\\ i_{\mathrm{uo}}=-\frac{\sqrt{6}{a}_d\tan {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="3"\; label="d"\; filenames="HSA00000231498600031.png,HSA00000231498600051.png"\; state="\{\{state\}\}">d</figure-callout>}}}{3\sqrt{1+{\tan }^2{\mathrm{\&psi;}}_d}},i_{\mathrm{wo}}=\frac{3\sqrt{2}{a}_d+\sqrt{6}{a}_d\tan {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="6"\; label="d"\; filenames="HSA00000231498600031.png"\; state="\{\{state\}\}">d</figure-callout>}}}{6\sqrt{1+{\tan }^2{\mathrm{\&psi;}}_d}}\end{array}\right.---\left(7\right)$

Perhaps

$\left\{\begin{array}{c}{i}_{\mathrm{uo}}=-\frac{\sqrt{6}{a}_{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HSA00000231498600031.png,HSA00000231498600051.png"\; state="\{\{state\}\}">q</figure-callout>}}}{3\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="tan"\; filenames="HSA00000231498600011.png,HSA00000231498600031.png"\; state="\{\{state\}\}">tan</figure-callout>}}^2{\mathrm{\&psi;}}_q}},i_{\mathrm{wo}}=\frac{\sqrt{6}{a}_q-3\sqrt{2}{a}_q\tan {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="6"\; label="q"\; filenames="HSA00000231498600031.png"\; state="\{\{state\}\}">q</figure-callout>}}}{6\sqrt{1+{\mathrm{<figure-callout\; id="2"\; label="tan"\; filenames="HSA00000231498600011.png,HSA00000231498600031.png"\; state="\{\{state\}\}">tan</figure-callout>}}^2{\mathrm{\&psi;}}_q}}\\ i_{\mathrm{uo}}=\frac{\sqrt{6}{a}_{\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HSA00000231498600031.png,HSA00000231498600051.png"\; state="\{\{state\}\}">q</figure-callout>}}}{3\sqrt{1+\tan {\mathrm{\&psi;}}_q}},i_{\mathrm{wo}}=-\frac{\sqrt{6}{a}_q-3\sqrt{2}{a}_q\tan {\mathrm{\&psi;}}_{\mathrm{<figure-callout\; id="6"\; label="q"\; filenames="HSA00000231498600031.png"\; state="\{\{state\}\}">q</figure-callout>}}}{6\sqrt{1+{\tan }^2{\mathrm{\&psi;}}_q}}\end{array}\right.---\left(8\right)$

That is, can will be expressed as the biasing composition of current sensor with the synperiodic ripple component of the electric angle of dq shaft current.

Below, the presuming method of the ripple component of dq coordinate system is described.

If the electric angle of motor is θ, the phase difference of this electric angle θ and current pulsation is ψ, and the amplitude of current pulsation is a, and then ripple component is expressed as a sin (θ+ψ).It is multiply by has the contrast signal sin that infers phase difference ζ that (θ+ζ) carries out integration with the one-period of electric angle, the phase difference that the obtains being shown below (function of ψ-ζ).S is an integral result.

$s={\&Integral;}_0^{2\mathrm{\&pi;}}a\sin (\mathrm{\&theta;}+\mathrm{\&psi;})\sin (\mathrm{\&theta;}+\mathrm{\&zeta;})\mathrm{d\&theta;}=\mathrm{a\&pi;}\sin (-\mathrm{\&psi;}+\mathrm{\&zeta;}+\frac{\mathrm{\&pi;}}{2})---\left(9\right)$

Here, establish β and be gain, infer phase difference ζ and define according to following formula:

$\mathrm{\&zeta;}=-\mathrm{\&beta;}\&Integral;\mathrm{sd\&theta;}---\left(10\right)$

Then, according to formula (9), near ψ-ζ+pi/2=0, become

$\frac{\mathrm{d\&zeta;}}{\mathrm{d\&theta;}}=-\mathrm{\&beta;a\&pi;}\sin (-\mathrm{\&psi;}+\mathrm{\&zeta;}+\frac{\mathrm{\&pi;}}{2})\&ap;-\mathrm{\&beta;a\&pi;\&zeta;}+\mathrm{\&beta;a\&pi;}(\mathrm{\&psi;}-\frac{\mathrm{\&pi;}}{2})---\left(11\right)$

Therefore, inferring phase difference ζ can be expressed as:

$\mathrm{\&zeta;}=(\mathrm{\&psi;}-\frac{\mathrm{\&pi;}}{2})(-e^{-\mathrm{\&beta;a\&pi;\&theta;}})---\left(12\right)$

That is, if rotation motor and increase electric angle then converges to the value than slow 90 degree of the phase difference ψ of current pulsation.Therefore, the resulting phase difference ζ that infers of the formula of formula (11) adds that the phase difference of 90 degree converges on the phase difference ψ of current pulsation.

Obtain the phase difference of current pulsation with such method, then can calculate the amplitude presumed value α of current pulsation on the other hand with following formula.

$\mathrm{\&alpha;}=\frac{1}{\mathrm{\&pi;}}{\&Integral;}_0^{2\mathrm{\&pi;}}a\sin (\mathrm{\&theta;}+\mathrm{\&psi;})\sin (\mathrm{\&theta;}+\mathrm{\&phi;})\mathrm{d\&theta;}=a\cos (-\mathrm{\&psi;}+\mathrm{\&phi;})---\left(13\right)$

Here, (θ+φ) is a reference signal to sin, φ=ψ+pi/2.Can know that according to formula (13) along with the phase difference presumed value φ with electric angle converges on actual value, amplitude presumed value α also converges on the amplitude a of current pulsation.

In this wise, by the ripple component of the caused dq shaft current of the bias voltage of current sensor is used aforesaid method, can infer the amplitude and the phase difference of dq axle ripple component separately.

Here, in formula (9) and formula (13), separately reference signal be multiply by the synperiodic ripple component with electric angle θ.To comprise flip-flop, be calculated signal and in the scope of one-period during to its integration, its integral result is zero with the frequency content beyond the cycle as taking advantage of with electric angle θ.Therefore, in formula (9) and formula (13), can be with the current i of dq axle _d, i _qItself is as being taken advantage of the calculation signal to use.Here, if with i _d, i _qThe unified i that is expressed as _Dq, then formula (9) and formula (13) are shown below:

$s={\&Integral;}_0^{2\mathrm{\&pi;}}{i}_{\mathrm{dq}}\sin (\mathrm{\&theta;}+\mathrm{\&zeta;})\mathrm{d\&theta;}=\mathrm{a\&pi;}\sin (-\mathrm{\&psi;}+\mathrm{\&zeta;}+\frac{\mathrm{\&pi;}}{2})---\left(14\right)$

$\mathrm{\&alpha;}=\frac{1}{\mathrm{\&pi;}}{\&Integral;}_0^{2\mathrm{\&pi;}}{i}_{\mathrm{dq}}\sin (\mathrm{\&theta;}+\mathrm{\&phi;})\mathrm{d\&theta;}=a\cos (-\mathrm{\&psi;}+\mathrm{\&phi;})---\left(15\right)$

As mentioned above, the amplitude of ripple component and phase difference can through type (14) and formula (15) infer.Therefore, through type (7) or formula (8) can obtain the biasing presumed value of current sensor, can reduce torque pulsation by deduct this biasing presumed value from the output valve of current sensor.

Below, with reference to accompanying drawing each example is elaborated.

(the 1st example)

(1) all structures

Fig. 1 is the integrally-built block diagram that the motor drive of the 1st example is shown, the integral body of the symbol 1 expression motor drive among the figure.Straight line is represented power line, and arrow line is represented holding wire.

Motor drive 1 is connected with driven object (load) 3.If elevator, then driven object 3 is to make cage make the hoist engine of lifting action.Speed control unit 5 makes the torque indication of this driven object 3 with the target velocity motion of regulation to motor drive 1 output.

In this example, motor drive 1 comprises: rotating motor 11, drive unit 13, resolver 15, number of pole-pairs multiplier 16, field type current sensor 17, positive and negative gain multiplier 18, dq coordinate converter 19, torque current converter 21, current deviation arithmetic unit 23, pulsation arithmetic unit 25, current control device 27, three-phase coordinate converter 29, bias voltage arithmetic unit 31 and bias voltage compensator 33.

Jie provides the three-phase alternating-current supply 35 of electric power by drive unit 13 to rotating motor 11, is connected with motor drive 1 from outside with the power supply 37 that action electric power is provided to motor drive 1.

Rotating motor 11 drives driven object 3 as the actuating force generating unit.This rotating motor 11 has alternation magnetic pole and movable part not shown in the figures.

Drive unit 13 is used as driver element, and it provides three-phase alternating current that rotating motor 11 is driven.Specifically, the alternation magnetic pole of rotating motor 11 is applied the three-phase AC excitation voltage that equates with the input value of stipulating, the alternation magnetic pole excitation is driven by three-phase alternating current.

Resolver 15 is used as the electric angle detecting unit, and the alternation magnetic pole of detection rotating motor 11 and the electric angle of movable part are as rotational angle.The number of pole-pairs that the rotational angle of 16 pairs of resolvers 15 of number of pole-pairs multiplier multiply by rotating motor 11 is exported electric angle after doubly.

Field type current sensor 17 is used as current detecting unit, and the electric current of the two-phase at least in the three-phase alternating current that is provided for rotating motor 11 is detected.The magnetic field that the power line that this field type current sensor 17 is flowed through according to the output current of circulation drive unit 13 is produced is on every side detected this output current.The output valve of 18 pairs of number of pole-pairs multipliers 16 of positive and negative gain multiplier multiply by-1.

Dq coordinate converter 19 is used as coordinate transformation unit, carries out the dq coordinate transform based on the output valve of resolver 15 and current sensor 17, output d shaft current and q shaft current.Specifically, output valve based on resolver 15, the three-phase alternating current of electromagnetic force that generation is acted on the movable part of rotating motor 11 flows to the thrust that is moved by the formed shifting magnetic field of alternation magnetic pole and produces the direction coordinate transform, and this three-phase alternating current flowed to this thrust produces direction coordinate transform and the output that direction intersects vertically.

Torque current converter 21 will be transformed to the current instruction value of dq axle from the torque instruction value of speed control unit 5 outputs.

Current deviation arithmetic unit 23 deducts the output valve of dq coordinate converter 19 from the d axle of torque current converter 21, the output valve of q axle (preassigned desired value).

Pulsation arithmetic unit 25 is used as the pulsation arithmetic element, based on the output valve of dq coordinate converter 19 and the output valve of resolver 15, the ripple component that is contained in the electric current as the dq axle of the output valve of dq coordinate converter 19 is carried out computing.

Current control device 27 is used as current control unit, operation result to its input pulsation arithmetic unit 25, and the output valve of the output valve of input torque power pack 21 and dq coordinate converter 19, the voltage of computing dq axle converges to from the current instruction value of the dq axle of torque current converter 21 outputs the output valve of dq coordinate converter 19.

Three-phase coordinate converter 29 is used as contrary coordinate transformation unit, will be transformed to three-phase alternating voltage from the dq shaft voltage of current control device 27 outputs and output to drive unit 13 again.

Bias voltage arithmetic unit 31 is used as the bias voltage arithmetic element, and the bias voltage composition that is contained in the output valve of output valve to current sensor 17 based on pulsation arithmetic unit 25 carries out computing.

Bias voltage compensator 33 is used as the bias voltage compensating unit, removes the bias voltage composition that is contained in the output valve of current sensor 17 based on the output valve of bias voltage arithmetic unit 31.

Below, the structure to described current control device 27, drive unit 13, pulsation arithmetic unit 25, bias voltage arithmetic unit 31, bias voltage compensator 33 and speed control unit 5 is described in detail further.

(2) structure of current control device 27

Current control device 27 also comprises pulsation subtracter 41 and PI controller 43 except current deviation arithmetic unit 23.

Pulsation subtracter 41 is removed the unit as pulsation and is used, by deducting the ripple component that pulsation is calculated in the arithmetic unit 25 current deviation that is calculated from current deviation arithmetic unit 23, make it can the output ripple composition to the output valve adjustment of current control device 27.

PI controller 43 will be pulsed the output valve of subtracter 41 as input, and the gain that this input value be multiply by the regulation ratio, and to this input value integration be multiply by the storage gain of regulation to its integral result, export these two multiplication results and.

(3) structure of drive unit 13

Drive unit 13 comprises current transformer 45 and inverter 47.

Current transformer 45 is connected to three-phase alternating-current supply 35, and alternating voltage is converted to direct voltage.Inverter 47 is connected in this current transformer 45, and the three-phase not shown in the figures coiling of rotating motor 11 is applied the three-phase alternating voltage that the three-phase alternating voltage value exported with three-phase coordinate converter 29 equates.

(4) structure of pulsation arithmetic unit 25

Fig. 2 is the block diagram that the structure of pulsation arithmetic unit 25 is shown.

As shown in Figure 2, pulsation arithmetic unit 25 comprises: electric angle linear function operational part 51, sinusoidal operational part 53, multiplier 55, analog differentiation device 57, signed magnitude arithmetic(al) device 59, electric angle integrator 61 and both phase integrator 63.

Electric angle linear function operational part 51 is used as the 1st electric angle linear function arithmetic element, it comprises phase regulator 69,69 pairs of linear functions as the output valve of the resolver 15 of electric angle detecting unit of this phase regulator carry out computing, and can set the intercept of this linear function with adjusting.

Sinusoidal operational part 53 is used as the 1st trigonometric function operation unit, and the sine value of the output valve of relevant electric angle linear function operational part 51 is calculated.Multiplier 55 multiply by the output valve of sinusoidal operational part 53 on the output valve of current deviation arithmetic unit 23.57 pairs of electric angles that obtain from electric angle linear function operational part 51 of analog differentiation device are carried out time diffusion.The absolute value of the output valve of 59 pairs of analog differentiation devices 57 of signed magnitude arithmetic(al) device carries out computing.

Electric angle integrator 61 is used as integral unit, output valve and the output valve of signed magnitude arithmetic(al) device 59 and the electric angle that from electric angle linear function operational part 51, obtains based on multiplier 55, in the multiple of the regulation of the one-period of electric angle interval, with regard to the output valve integration of electric angle to multiplier 55 as one times.Both phase integrator 63 is used as the phase integral unit, and with regard to the output valve integration of electric angle to electric angle integrator 61, the gain of multiply by regulation is exported again.

Described electric angle linear function operational part 51 comprises integer gain multiplier 67, phase regulator 69 and adder 71.

The output valve of 67 pairs of positive and negative gain multiplier 18 of integer gain multiplier multiply by the multiple of regulation, as one times.Phase regulator 69 is used as phasing unit, the phase difference of output and the regulation of the electric angle of this integer gain multiplier 67 outputs.Adder 71 is with the output valve of integer multiplier 67 and the output valve addition of phase regulator 69.

Described electric angle integrator 61 comprises: angular speed multiplier 73, time integral device 75, the one 2 π sample retainers 77, the 22 π sample retainer 79 and subtracters 81.

Angular speed multiplier 73 multiply by the output valve of multiplier 55 output valve of signed magnitude arithmetic(al) device 59.The output valve of 75 pairs of these angular speed multipliers 73 of time integral device is carried out time integral.

The one 2 π sample retainer 77 carries out sample in each 2 π interval of the electric angle of integer gain multiplier 67 outputs to the output valve of time integral device 75 and keeps.The 22 π sample retainer 79 carries out sample in each 2 π interval of the electric angle of integer multiplier 67 outputs to the output valve of the one 2 π sample retainer 77 and keeps.Subtracter 81 deducts the output valve of the 22 π sample retainer 79 from the output valve of the one 2 π sample retainer 77.

Described both phase integrator 63 comprises angular speed multiplier 83, time integral device 85, gain multiplier 87.

Angular speed multiplier 83 multiply by the output valve of electric angle integrator 61 output valve of signed magnitude arithmetic(al) device 59.The output valve of 85 pairs of these angular speed multipliers 83 of time integral device is carried out time integral.At this moment, the output valve of 87 pairs of integrators 85 of the gain multiplier gain of multiply by regulation.

The output valve of both phase integrator 63 is set at the setting of phase regulator 69.Here, the function f (θ (t)) that the integrated value of the function f arbitrarily (θ) of electric angle θ is equaled time t multiply by the time integral value behind the angular speed.Promptly,

${\&Integral;}_{{\mathrm{\&theta;}}_1}^{{\mathrm{\&theta;}}_2}f\left(\mathrm{\&theta;}\right)\mathrm{d\&theta;}={\&Integral;}_{t_1}^{t_2}f\left(\mathrm{\&theta;}\left(t\right)\right)\frac{\mathrm{d\&theta;}}{\mathrm{dt}}\mathrm{dt}---\left(16\right)$

Therefore, even electric angle integrator 61 and both phase integrator integrator 63 service time 75,85 also can carry out integration with regard to electric angle.

Described pulsation arithmetic unit 25 comprises phase place arithmetic unit 89, the 2 electric angle linear function operational parts 93, the 2 sinusoidal operational part 95 and amplitude arithmetic units 97.

Phase place arithmetic unit 89 is used as the phase place arithmetic element, and the output valve of phase regulator 69 is added the phase difference of regulation, as pi/2, and the phase difference of the electric angle of the ripple component that is contained in the output valve of output with respect to current deviation arithmetic unit 23.

The 2nd electric angle linear function operational part 93 is used as the 2nd electric angle linear function arithmetic element, uses the output valve addition of adder 91 with phase place arithmetic unit 89 and integer gain multiplier 67, and the linear function about electric angle is carried out computing.

The 2nd sinusoidal operational part 95 is used as the 2nd trigonometric function operation unit, calculates based on the output valve offset of sinusoidal value of the 2nd electric angle linear function operational part 93.Amplitude arithmetic unit 97 is used as the amplitude arithmetic element, based on the output valve of the output valve of the 2nd sinusoidal operational part 95 and the dq coordinate converter 19 that obtains via current deviation arithmetic unit 23, the amplitude of the ripple component that is contained in the output valve to this dq coordinate converter 19 carries out computing.

Described amplitude arithmetic unit 97 comprises: multiplier 99, multiplier 101, time integral 103, the one 2 π sample retainers 105, the 22 π sample retainer 107 and gain multiplier 111.

Multiplier 99 multiply by the output valve of current deviation arithmetic unit 23 on the output valve of sinusoidal operational part 95.Multiplier 101 multiply by the operation result of multiplier 99 output valve of signed magnitude arithmetic(al) device 59.The output valve of 103 pairs of these multipliers 101 of time integral device is carried out time integral.

The one 2 π sample retainer 105 carries out the sample maintenance with regard to each 2 π of the electric angle of integer gain multiplier 67 outputs to the output valve of time integral device 103.The 22 π sample retainer 107 carries out the sample maintenance with regard to each 2 π of the electric angle of integer gain multiplier 67 outputs to the output valve of the one 2 π sample retainer 105.

Subtracter 109 deducts the output valve of the 22 π sample retainer 107 from the output valve of the one 2 π sample retainer 105.The gain that the output valve of 111 pairs of subtracters 109 of gain multiplier multiply by regulation is as 1/ π.

To multiply each other as the amplitude of the ripple component of the operation result of gain multiplier 111 and the electric angle SIN function of sinusoidal operational part 95 by multiplier 113, and can obtain the ripple component that contained in d shaft current that current deviation arithmetic unit 23 exported and the q shaft current thus.

Promptly, d shaft current value and q shaft current value that rotational angle detected value that pulsation arithmetic unit 25 input resolvers 15 are exported and dq coordinate converter 19 are exported, and ripple component that is wherein contained by 25 outputs of pulsation arithmetic unit and pulsation with respect to the phase difference of electric angle and the amplitude of pulsation.

For d shaft current and q shaft current, pulsation arithmetic unit 25 all is same structure, and therefore, Fig. 2 only shows one structure.

(5) structure of bias voltage arithmetic unit 31

Fig. 3 is the block diagram that the structure of bias voltage arithmetic unit 31 is shown.

As shown in Figure 3, bias voltage arithmetic unit 31 comprises d axle reference offset voltage operational device 115 and q axle reference offset voltage operational device 117.

D axle reference offset voltage operational device 115 is poor based on pulse amplitude and pulsation phase from the d shaft current of pulsation arithmetic unit 25 input, according to described formula (7) bias voltage that is contained in the U phase current detected value of current sensor 17 and the W phase current detected value is carried out computing.

Q axle reference offset voltage operational device 117 is poor based on pulse amplitude and pulsation phase from the q shaft current of pulsation arithmetic unit 25 input, according to described formula (8) bias voltage that is contained in the U phase current detected value of current sensor 17 and the W phase current detected value is carried out computing.

Described d axle reference offset voltage operational device 115 comprises: positive and negative gain multiplier 119, amplitude gain adjuster 121, tangent arithmetic unit 123, multiplier 125, gain multiplier 127, gain multiplier 129, multiplier 131, constant adder 135, square root calculation device 137, gain multiplier 139, gain multiplier 141, divider 143 and divider 145.

In order to eliminate the influence that pulsation arithmetic unit 25 is situated between and is brought by the output valve of current deviation arithmetic unit 23 input dq coordinate converters 19, the phase difference of 119 pairs of d shaft current pulsation of positive and negative gain multiplier multiply by-1.

For when the phase difference of the bias voltage that output valve contained of current sensor 17 and the pulsation of d shaft current and amplitude change respectively, can keep the continuity of the output valve of this d axle reference offset voltage operational device 115, the amplitude of 121 pairs of d shaft current pulsation of amplitude gain adjuster multiply by 1 or-1.

The tangent of the output valve of 123 pairs of positive and negative gain multiplier 119 of tangent arithmetic unit carries out computing.The output valve of 125 pairs of tangent arithmetic units 123 of multiplier square carry out computing.The output valve of 127 pairs of amplitude gain adjusters 121 of gain multiplier multiply by Doubly.The output valve of 129 pairs of amplitude gain adjusters 121 of gain multiplier multiply by

Doubly.

Multiplier 131 multiply by the output valve of tangent arithmetic unit 123 on the output valve of gain multiplier 127.Subtracter 133 deducts the output valve of multiplier 131 from the output valve of gain multiplier 129.The output valve of 135 pairs of multipliers 125 of constant adder adds 1.

The square root of the output valve of square root calculation device 137 computation adder 135.Gain multiplier 139 multiply by 3 times with the output valve of square root calculation device 137.Gain multiplier 141 multiply by 6 times with the output valve of square root calculation device 137.Divider 143 is with the output valve of multiplier 131 output valve divided by gain multiplier 139.Divider 145 is with the output valve of subtracter 133 output valve divided by gain multiplier 141.

Described q axle reference offset voltage operational device 117 comprises: positive and negative gain multiplier 147, amplitude gain adjuster 149, tangent arithmetic unit 151, multiplier 153, gain multiplier 155, gain multiplier 157, multiplier 159, subtracter 161, constant adder 163, square root calculation device 165, gain multiplier 167, gain multiplier 169, divider 171 and divider 173.

In order to eliminate the influence that Jie is brought by the output valve of 23 pairs of pulsation arithmetic units of current deviation arithmetic unit, 25 input dq coordinate converters 19, the phase difference of 147 pairs of q shaft current pulsation of positive and negative gain multiplier multiply by-1.For when the phase difference of the bias voltage that output valve contained of current sensor 17 and the pulsation of q shaft current and amplitude change respectively, can keep the continuity of the output valve of this q axle reference offset voltage operational device 117, the amplitude of 149 pairs of q shaft current pulsation of amplitude gain adjuster multiply by 1 or-1.

The tangent of the output valve of 151 pairs of positive and negative gain multiplier 147 of tangent arithmetic unit carries out computing.The output valve of 153 pairs of tangent arithmetic units 151 of multiplier square carry out computing.The output valve of 155 pairs of amplitude gain adjusters 149 of gain multiplier multiply by

Doubly.The output valve of 157 pairs of amplitude gain adjusters 149 of gain multiplier multiply by

Doubly.

Multiplier 159 multiply by the output valve of tangent arithmetic unit 151 on the output valve of gain multiplier 157.Subtracter 161 deducts the output valve of multiplier 159 from the output valve of gain multiplier 155.The output valve of 163 pairs of multipliers 153 of constant adder adds 1.

The square root of the output valve of square root calculation device 165 computation adder 163.The output valve of 167 pairs of square root calculation devices 165 of gain multiplier multiply by-3 times.The output valve of 169 pairs of square root calculation devices 165 of gain multiplier multiply by 6 times.Divider 171 is with the output valve of gain multiplier 155 output valve divided by gain multiplier 167.Divider 173 is with the output valve of subtracter 161 output valve divided by gain multiplier 169.

(6) structure of bias voltage compensator 33

Fig. 4 is the block diagram that the structure of bias voltage compensator 33 is shown.

As shown in Figure 4, in bias voltage compensator 33, import d axle reference offset voltage operationals i as a result from bias voltage arithmetic unit 31 _WoWith q axle reference offset voltage operational device i as a result _Uo

33 couples of these 2 bias voltage operation result i of bias voltage compensator _WoAnd i _UoMultiply by after the gain of regulation, with regard to electric angle to its integration.Bias voltage compensator 33 is by deducting i from the U phase current detected value of field type current sensor 17 _UoIntegral result, from the W phase current detected value of field type current sensor 17, deduct i _WoIntegral result, the detected value of field type current sensor 17 is carried out the compensation of inherent bias voltage.U phase current detected value after the compensation and W phase current detected value are imported into dq coordinate converter 19.

Specifically, bias voltage compensator 33 comprises: gain multiplier 175, gain multiplier 177, multiplier 179,181, time integral device 183,185, subtracter 187 and subtracter 189.

175 pairs of d axles of gain multiplier reference offset voltage operational is i as a result _WoMultiply by the gain of regulation.177 pairs of q axles of gain multiplier reference offset voltage operational is i as a result _UoMultiply by the gain of regulation.Multiplier 179 multiply by the electric angle angular speed of signed magnitude arithmetic(al) device 59 outputs on the output valve of gain multiplier 175.Multiplier 181 multiply by the electric angle angular speed of signed magnitude arithmetic(al) device 59 outputs on the output valve of gain multiplier 177.

The output valve of 183 pairs of multipliers 179 of time integral device is carried out time integral.The output valve of 185 pairs of multipliers 181 of time integral device is carried out time integral.Subtracter 187 deducts the output valve of time integral device 183 from the W phase detected value of field type current sensor 17.Subtracter 189 deducts the output valve of time integral device 185 from the U phase detected value of field type current sensor 17.

(7) structure of speed control unit 5

Fig. 5 is the block diagram that the structure of speed control unit 5 is shown.

As shown in Figure 5, speed control unit 5 comprises: angular speed targeted graphical maker 191 and torque indication operational part 193.This speed control unit 5 and motor drive 1 be the same to be connected with power supply 37 and to work.

The angular speed of angular speed targeted graphical maker 191 output rotating motors 11 should chase after from the angular speed targeted graphical.Torque indication operational part 193 is based on the output valve of angular speed targeted graphical maker 191 and resolver 15, carries out computing to making the velocity of rotation of rotating motor 11 chase after from the torque indicated value in targeted graphical.

(action specification)

Below, with reference to Fig. 6 and Fig. 7, the action of motor drive 1 is described.

Fig. 6 is the figure figure that angular speed and time relation are shown, and Fig. 7 is the figure figure that torque indicated value and time and torque output and time relation are shown.

When motor drive 1 is in holding state, specifically, be that connection by three-phase alternating-current supply 35 and single phase alternating current power supply 37 makes motor drive 1 and speed control unit 5 in running order, but when angular speed targeted graphical maker 191 was output as zero, it was zero state that rotating motor 11 is kept angular speed always.And when initial starting, phase regulator 69 for example is set at zero.

When angular speed targeted graphical maker 191 output devices of speed control unit 5 had the desired value of angular speed of trapezoidal figure as shown in Figure 6, the angular speed of the present rotating motor 11 that torque indication operational part 193 is exported based on resolver 15 and the angular speed desired value of angular speed targeted graphical maker 191 were calculated the torque indicated value for rotating motor 11.Operation result is imported in the torque current converter 21.Thus, as shown in Figure 5, be situated between by current sensor 17, number of pole-pairs multiplier 16, dq coordinate converter 19, current control device 27, three-phase coordinate converter 29 and drive unit 13 carry out vector control, and drive rotating motor 11 according to the torque indicated value.

Along with the driving of this rotating motor 11, beginning rotating drive object 3.Rotation by 15 pairs of rotating motors 11 of resolver detects, and is transformed to angular velocity signal once more and feeds back to torque instruction operational part 193.Thus, make the velocity of rotation (angular speed) of driven object 3 as the actual value of Fig. 6, chase after from desired value.

At this moment, if contain bias voltage in the detected value of current sensor 17, then during the dq coordinate transform of vector control, can sneak into the electric angle θ synchronous ripple component i represented in the electric current of d axle and q axle with described formula (5) _Do, i _Qo

Particularly, when rotating motor 11 was the permanent magnet syncmotor, torque, the thrust of q shaft current and motor were proportional, therefore produced and ripple component i _QoThe proportional torque pulsation of amplitude.At this moment, the output torque of rotating motor 11 becomes the such state of Fig. 7 (b) with respect to the indicated value of Fig. 7 (a).The result causes rotating motor 11 to produce vibration, noise, and makes the operation precision reduction of driven object 3 and cause breakage etc., makes that reliability is lowered significantly.

The output valve that the motor drive 1 of this example will be located at the current deviation arithmetic unit 23 of current control device 27 is input to pulsation arithmetic unit 25, and the ripple component that d shaft current and q shaft current are contained is carried out computing.Give pulsation subtracter 41 with this operation result, from the output valve of current deviation arithmetic unit 23, deduct ripple component.

Specifically, the output valve of resolver 15 is imported in the number of pole-pairs multiplier 16, multiply by the number of pole-pairs of rotating motor 11, and removes the influence of the subtraction of current deviation arithmetic unit 23 by positive and negative gain multiplier 18.

The electric angle that positive and negative gain multiplier 18 is exported multiply by the gain according to the regulation of being obtained with respect to the higher harmonics cycle of the electric angle of torque pulsation, and the result is from the electric angle proportional value of integer gain multiplier 67 outputs with rotating motor 11.Then, with the output valve addition of adder 71, calculate linear function about electric angle with the output valve and the integer gain multiplier 67 of phase regulator 69.The output valve of adder 71 is imported in the sinusoidal operational part 53, by multiplier 55 sine value of described linear function be multiply by the output valve of current deviation arithmetic unit 23, electric angle integrator 61 calculates the integration of the one-period of electric angle θ for the multiplication result of multiplier 55.In this step, use the described formula (9) that output valve with phase regulator 69 is designated as ζ and carry out computing.

The operation result s of electric angle integrator 61 is imported in the both phase integrator 63, and the setting of gain multiplier 87 is-β, and the electric angle θ of described formula (10) is carried out integration.This operation result directly is set at the output valve of phase regulator 69.Therefore, the differential equation of described formula (11) is set up, and the output valve of phase regulator 69 as described formula (12) expressed converge to value with respect to phase difference ψ 90 degree in evening.

On the other hand, in the 2nd electric angle linear function operational part 93, add phase angle difference 90 degree by 89 pairs of phase regulator 69 output valves of phase place arithmetic unit.Therefore, it is consistent with described formula (13) output valve of sinusoidal operational part 95 to be carried out the output valve of amplitude arithmetic unit 97 of integral operation of one-period to electric angle θ.Therefore, along with restraining to the electric angle θ of phase regulator 69 output valves and the phase difference ψ of ripple component, the output valve of amplitude arithmetic unit 97 is to the amplitude a of ripple component convergence.

So, the ripple component of calculating by pulsation arithmetic unit 25 is given to the pulsation subtracter 41 of current control device 27.Thus, the current deviation of being exported from current deviation arithmetic unit 23 deducts this ripple component, removes the torque pulsation that rotating motor 11 is produced.

Further, the ripple component of being calculated by pulsation arithmetic unit 25 is given to bias voltage arithmetic unit 31.Bias voltage arithmetic unit 31 carries out the computing of described formula (8) according to by the amplitude and the phase place of pulsation arithmetic unit 25 resulting ripple components the d shaft current being carried out the computing of described formula (7) to the q shaft current, obtains the bias voltage i of current sensor 17 _Uo, i _Wo

Subtracter 187,189 by voltage compensator 33 deducts the bias voltage i that obtains from the current detection value of current sensor 17 _Uo, i _Wo, remove the bias voltage of the reality that is kept in the current sensor senses value.

At this moment, the bias voltage that contained in the W of current sensor 17 phase detected value of bias voltage compensator 33 is imported the i of described formula (7) _Wo, the bias voltage that is contained to U phase detected value is imported the i of described formula (8) _Uo

At the bias voltage i of gain multiplier 175,177 to these inputs _Uo, i _WoMultiply by the gain of regulation, the output valve of gain multiplier 175,177 respectively to electric angle θ integration, is input to subtracter 187,189.Therefore, the output valve of the phase regulator 69 of pulsation arithmetic unit 25 fully converges on the phase difference of actual ripple component, therefore the compensation of the detected value of current sensor 17 can be carried out gradually, thereby the change of the phase difference that the compensation of detected value follows can be avoided.

And, by U mutually and in the offset of W bias voltage mutually use based on the amplitude of the d pulsator shaft composition of described formula (7), formula (8) and the amplitude and the phase difference of phase difference and q pulsator shaft composition,, can make by not being to take place simultaneously mutually with W mutually at the singular point of the tangent computing that in the convergence process of actual value, is produced to bias voltage i at U _Uo, i _WoThe convergence of actual value more reliable.

Therefore, the ripple component that the output torque of the rotating motor 11 of Fig. 7 (b) is contained is removed along with the increase of the rotation of rotating motor 11, result, the output torque cunning that flattens shown in figure (7).Thus, can prevent by the reduction of the operation precision of the caused driven object 3 of torque pulsation or the breakage of driven object 3.

According to aforesaid the 1st example, can be so that cause and the torque pulsation of the rotating motor 11 that produces reduces by the bias voltage of current sensor 17, and can automatically compensate its bias voltage itself.Thus, vibration, the noise that can reduce driven object or motor body easily and effectively and produced in the running of device can also improve reliability when satisfying the function of device.

In described the 1st example, during to electric angle θ integral operation, will be integrated function and multiply by electric angle angular speed and carry out time integral again, but be not limited to such operation method.For example, sample to being integrated function f (θ) at each electric angle Δ θ that is quantized, and also be fine according to the method for following formula computing.

${\&Integral;}_{{\mathrm{\&theta;}}_0}^{2\mathrm{\&pi;}+{\mathrm{\&theta;}}_0}f\left(\mathrm{\&theta;}\right)\mathrm{d\&theta;}=\underset{k=1}{\overset{n}{\mathrm{\&Sigma;}}}f({\mathrm{\&theta;}}_0+\mathrm{k\&Delta;\&theta;})\mathrm{\&Delta;\&theta;}\underset{\&CenterDot;}{\&CenterDot;\&CenterDot;}n=\frac{2\mathrm{\&pi;}}{\mathrm{\&Delta;\&theta;}}---\left(17\right)$

Again, use field type current sensor 17, detect the electric current electric current but also can descend by for example voltage at resistor two ends as current detecting unit.Further, use resolver 15, but for example also can use pulse generator etc. as the electric angle detecting unit.Again, motor drive 1 comprises rotating motor 11, but is not the kind that limits motor thus, also can use linear motor.

And, in Fig. 2, sinusoidal operational part 53,95 is set as the trigonometric function operation unit in the arithmetic unit 25 in pulsation, but the operational part that also can use the cosine value to the output valve of electric angle linear function operational part 51,91 to carry out computing.

(the 2nd example)

Below, the 2nd example is described.

The structure of described the 1st example is, be assumed to be the bigger driven object of speed of service change of motor as elevator, use pulsation arithmetic unit 25, bias voltage arithmetic unit 31, bias voltage compensator 33, thereby the caused torque pulsation of voltage bias of reduction current sensor 17.But, when moving continuously, might not need bias voltage arithmetic unit 31, bias voltage compensator 33 with certain speed, also can be following form.

Fig. 8 is the block diagram of structure of integral body that the motor drive of the 2nd example is shown.Again, the part mark identical symbol identical with last note the 1st example, it illustrates omission.The identical symbol of local mark of same function, additional letter is distinguished when having difference.

In Fig. 8, the integral body of the motor drive of the 2nd example is shown 1A.The prerequisite of this motor drive 1A is to turn round continuously with certain speed.

In this example, motor drive 1A comprises: rotating motor 11, drive unit 13, resolver 15, number of pole-pairs multiplier 16, field type current sensor 17, positive and negative gain multiplier 18, dq coordinate converter 19, torque current converter 21, current deviation arithmetic unit 23, pulsation arithmetic unit 25, current control device 27, three-phase coordinate converter 29, and as the employed pulsation subtracter 41 ' in pulsation removal unit.

Jie is provided the three-phase alternating-current supply 35 of electric power and provides the power supply 37 of action electric power to be connected to motor drive 1A from the outside to motor drive 1A to rotating motor 11 by drive unit 13.

Here, motor drive 1A turns round continuously with certain speed, and therefore the desired value from speed control unit 5 (specifically being the angular speed targeted graphical generator 191 of Fig. 5) output is certain, and the output valve of dq coordinate converter 19 does not produce change yet.Therefore, can come the output valve of place of current deviation computing 23 to the output valve of pulsation arithmetic unit 25 input dq coordinate converters 19.

At this moment, positive and negative gain multiplier 18 is set 1 and be used as positive and negative gain.And, because the also not change of the output valve of dq coordinate converter 19, so the amplitude of the current pulsation composition of dq axle, also can not change with respect to the phase difference of electric angle.

Therefore, the d shaft current that arithmetic unit 25 is calculated as long as will pulse and the ripple component of q shaft current are input to the pulsation subtracter 41 ' of removing the unit as pulsation, and the ripple component that in the output valve of the outside of current control device 27 counteracting dq coordinate converter 19, is contained, the torque pulsation that just can easily remove rotating motor 11.

Further, the operation result of bias voltage arithmetic unit 31 is imported to bias voltage display 195, just can read the operation result of bias voltage arithmetic unit 31 by this bias voltage display 195.

But, running at rotating motor 11 finishes, turns round once more when beginning, therefore pulsation arithmetic unit 25 before the output valve of pulsation arithmetic unit 25 converges on actual value fully, all can produce torque pulsation from the computing of the amplitude and the phase difference that begin to carry out ripple component at first.

In this example, bias voltage demonstration 195, bias voltage setting apparatus 197 are set, reach subtracter 199 as the voltage compensation unit, constitute bias voltage compensator 33 ' by these.

Therefore, before the end of run of rotating motor, read the bias voltage that bias voltage display 195 shown U reach the W phase mutually, the value that is read is input in the bias voltage setting apparatus 197, come the bias voltage of field type current sensor 17 is compensated.

That is, utilize subtracter 199 from the U of field type current sensor 17 reaches the detected value of W phase mutually, to deduct the output valve of bias voltage setting apparatus 197, offset this bias voltage thus.So, even the running of rotating motor 17 finishes, U reaches the bias voltage value of W phase mutually and still stays in the bias voltage setting apparatus 197, even if begin the running of rotating motor 11 once more, also dq coordinate converter 19 can be input to from the initial current detection value that has compensated bias voltage, just torque pulsation can be do not produced.

In this wise, according to the 2nd example, can simplify the structure of motor drive significantly.And, can be at the easily in service of device and the vibration, the noise that reduce driven object or motor body effectively and produced, can also when satisfying the function of device, reduce cost and improve reliability.

(the 3rd example)

Further, based on Fig. 9 the 3rd example is described.

Fig. 9 is the block diagram of structure of integral body that the motor drive of the 3rd example is shown.Again, the part mark identical symbol identical with last note the 1st and the 2nd example, it illustrates omission.The identical symbol of local mark of same function, additional letter is distinguished when having difference.

In the 3rd example, as the bias voltage compensator 33 of bias voltage compensating unit " comprise the bias voltage compensator 33 that is used in described the 1st example and be used in bias voltage display 195, bias voltage setting apparatus 197 and the subtracter 199 of described the 2nd example.

For such structure, in bias voltage setting apparatus 197, import the words of the bias of obtaining in service last time, have the pulsation computing of quickening when moving once more and this advantage of convergence of biasing computing, can improve the reliability of the device when reruning.

In described the 1st to the 3rd example, the computing action to integral body from the hardware is illustrated, but also can carry out processing on the software to these computings actions.

Can reduce the caused torque pulsation of bias voltage of current sensor easily according to described each example.Thus, when the vibrating noise that suppresses driven object satisfies the function of device, can realize the reduction of cost by the simplification of adjusting operation.And too much vibration can not take place in driven object, cracky not, the raising of reliability that can implement device.

The present invention describes a plurality of examples, but these examples just are suggested as an example, is not to be used to limit scope of invention.These new examples can be implemented with other various forms, in the scope of the main idea that does not break away from invention, can carry out various omissions, replacement, change.When these examples and distortion thereof are contained in the scope of invention, main idea, also be contained in the invention that is recorded in claims and the equal scope thereof.

Claims (8)

1. a motor drive is characterized in that, comprising:

The actuating force generating unit is used for driven object is driven;

Drive division provides three-phase alternating current and drives to this actuating force generating unit;

Current detecting part detects the electric current by the two-phase at least of this drive division in the three-phase alternating current that described actuating force generating unit provides;

The electric angle test section detects the electric angle of described actuating force generating unit;

Coordinate converting section, output valve based on this electric angle test section, generation thrust direction to described actuating force generating unit is carried out coordinate transform to described three-phase alternating current, and to the direction that intersects vertically with this thrust generation direction described three-phase alternating current is carried out coordinate transform;

Current control division carries out computing to the voltage after the coordinate transform and makes the output valve of this coordinate converting section restrain to preassigned desired value;

Contrary coordinate converting section is transformed to three-phase alternating voltage with the output valve of this current control division and to described drive division output;

The pulsation operational part based on the output valve of described coordinate converting section and the output valve of described electric angle test section, carries out computing to the ripple component that output valve contained of described coordinate converting section;

Pulsation removal portion based on the operation result of this pulsation operational part, adjusts and removes ripple component to the output valve of described current control division;

The bias voltage operational part, based on the operation result of described pulsation operational part, the bias voltage composition that is contained in the output valve to described current detecting part carries out computing;

The bias voltage compensation section based on the operation result of this bias voltage operational part, is removed the bias voltage composition that is contained in the output valve of described current detecting part.

2. motor drive as claimed in claim 1 is characterized in that,

Described pulsation operational part comprises:

The 1st electric angle linear function operational part has the phase place adjustment part, and computing is carried out to the linear function of the output valve of described electric angle test section in this phase place adjustment part, and can set the intercept of this linear function with adjusting;

The 1st trigonometric function operation portion carries out computing to the sine value or the cosine value of the output valve of described electric angle linear function operational part;

Integration part will deduct the output valve with described the 1st trigonometric function operation portion on duty after the output valve of described coordinate converting section from preassigned desired value, with regard to described electric angle this multiplication result be carried out integration in the interval of the integral multiple of the one-period of described electric angle;

Phase integral portion carries out integration with regard to electric angle to the output valve of described integration part further, and will multiply by integral result after the gain of regulation as the output of described phase place adjustment part.

3. motor drive as claimed in claim 1 is characterized in that,

Described pulsation operational part comprises:

The phase place operational part adds the phase difference of regulation on the output valve of described phase place adjustment part, output is with respect to the phase difference of the electric angle of the ripple component that is contained in the described current detecting part;

The 2nd electric angle linear function operational part carries out computing to the linear function of the output valve of described electric angle test section, and with the output as described phase place operational part of the intercept of this linear function;

The 2nd trigonometric function operation portion carries out computing to the sine value or the cosine value of the output valve of described the 2nd electric angle linear function operational part;

The amplitude operational part, to deduct the output valve with described the 2nd trigonometric function operation portion on duty after the output valve of described coordinate converting section from preassigned desired value, interval at the integral multiple of the one-period of described electric angle is carried out integration with regard to described electric angle to this multiplication result, and the gain that integral result be multiply by regulation, the amplitude of the ripple component that contained in the described current detecting part is carried out computing.

4. motor drive as claimed in claim 1 is characterized in that,

Described coordinate converting section has the function of carrying out the dq coordinate transform.

5. motor drive as claimed in claim 4 is characterized in that,

Described pulsation operational part carries out computing to the ripple component that is contained in d shaft current and the q shaft current.

6. motor drive as claimed in claim 5 is characterized in that,

The ripple component that is contained in the d shaft current that calculated by described pulsation operational part and the q shaft current is removed by described pulsation removal portion.

7. motor drive as claimed in claim 1 is characterized in that,

Described bias voltage compensation section comprises:

Integrator carries out integration with regard to described electric angle to the bias voltage composition of described biasing operational part institute computing;

Subtracter deducts the operation result of this integration after the gain of multiply by regulation from the output valve of described current detecting part.

8. a torque pulsation removal method is characterized in that,

This torque pulsation removal method is applied to motor drive, and this motor drive comprises:

The actuating force generating unit is used for driven object is driven;

Drive division provides three-phase alternating current and drives to this actuating force generating unit;

Current detecting part detects the electric current by the two-phase at least of this drive division in the three-phase alternating current that described actuating force generating unit provides;

The electric angle test section detects the electric angle of described actuating force generating unit;

Coordinate converting section, output valve based on this electric angle test section, generation thrust direction to described actuating force generating unit is carried out coordinate transform to described three-phase alternating current, and to the direction that intersects vertically with this thrust generation direction described three-phase alternating current is carried out coordinate transform;

Current control division carries out computing to the voltage after the coordinate transform and makes the output valve of this coordinate converting section restrain to preassigned desired value;

Contrary coordinate converting section is transformed to three-phase alternating voltage with the output valve of this current control division and to described drive division output,

Described torque pulsation removal method, based on the output valve of described coordinate converting section and the output valve of described electric angle test section, the ripple component that is contained in the output valve to described coordinate converting section is carried out computing,

Based on the operation result of described ripple component, above-mentioned ripple component is adjusted and removed to the output valve of described current control division,

And based on the operation result of described ripple component, the bias voltage composition that is contained in the output valve to described current detecting part carries out computing,

Based on the operation result of described bias voltage composition, remove the bias voltage composition that is contained in the output valve of described current detecting part.

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