CN103368499B - The control device of electric motor of motor protection against overheat is carried out by the temperature of presumption - Google Patents
The control device of electric motor of motor protection against overheat is carried out by the temperature of presumption Download PDFInfo
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- CN103368499B CN103368499B CN201310116357.1A CN201310116357A CN103368499B CN 103368499 B CN103368499 B CN 103368499B CN 201310116357 A CN201310116357 A CN 201310116357A CN 103368499 B CN103368499 B CN 103368499B
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Abstract
The control device of electric motor carrying out motor protection against overheat by the temperature of presumption of the present invention has and controls DC voltage conversion to be the alternating voltage of preset frequency for carrying out PWM, and by power-converting device (1) that it applies to motor; Control the electric electromechanics flow control part (2) flowing through the electric current of motor; The PWM frequency configuration part (3) of setting PWM frequency; The heating coefficient calculations portion (4) of heating coefficient is calculated according to PWM frequency; Detect the actual current value test section (5) flowing through the actual current value of motor; The storage part (6) of the thermal time constant of store electricity motivation; With the temperature estimation portion (7) of the temperature of the thermal time constant presumption motor according to heating coefficient, actual current value and motor, electric electromechanics flow control part, when the temperature that temperature estimation portion estimates exceedes predetermined threshold value, makes the electric current flowing through motor reduce to below predetermined value.
Description
Technical field
The present invention relates to control device of electric motor, the temperature particularly by estimating motor carries out the control device of electric motor of overtemperature protection.
Background technology
Even if in order to tackle in order to cutting down cost not in motor set temperature transducer situation or be provided with temperature sensor and the situation of the remarkable action of temperature sensor, known to carrying out double supervision, by the technology (such as with reference to Japanese patent application, JP 2007-253735 publication) of the temperature of software presumption motor.
Fig. 1 is the structure chart of the existing control device using software presumption motor temperature.First, caloric value calculating part 101 is according to the thermal time constant of motor current, motor, generate heat coefficient and environment temperature calculating caloric value.Then target current selection portion 109 setting becomes the current value of target.Finally, Current Feedback Control portion 93c controls the electric current to motor 82 output.In the control device of electric motor that Fig. 1 represents, according to the heating coefficient of fixed value and the caloric value of motor current value calculating motor, presumption motor temperature.
On the other hand, sometimes according to the size of electric current or the size etc. of speed, switch PWM frequency and control.When controlling drive motor by PWM, when with PWM frequency drive motor fixing all the time, the temperature estimation of motor can be carried out according to the heating coefficient corresponding with this PWM frequency and the actual current value flowing through motor.
For the ascending amount T of general motor temperature
up, when set motor actual current value as I, heating coefficient be K, thermal time constant is τ, time when being t, and formula (1) can be used to calculate.
T
up(this time)=K × I
2× (1-exp(-t/ τ))+T
up(last time) × exp (-t/ τ) (1)
Here, PWM frequency changes according to condition sometimes.In this case, for the heating COEFFICIENT K used in the formula (1), when for PWM frequency as fixed value to biding one's time, temperature rising T
upcomputational accuracy worsen.Now, use single heating coefficient to carry out temperature estimation, produce the problem that can not correctly estimate.
In addition, sometimes in current sensor exports, noise contribution is comprised.Because motor actual current is large by the impact of noise contribution, so sometimes do not use actual current and use current instruction value to carry out temperature estimation.In such a situation, when being fixed value for PWM frequency K, temperature rising T
upcomputational accuracy also can worsen.And then, when the modulation degree of PWM instruction is more than 1, due to the impact of high order harmonic component, in the temperature estimation that the formula of use (1) obtains, produce error.
Summary of the invention
The feature of the control device of electric motor of one embodiment of the present of invention is, having for carrying out PWM control, being the alternating voltage of preset frequency, and this alternating voltage being applied to the power-converting device of motor DC voltage conversion; Control the electric electromechanics flow control part flowing through the electric current of motor; The PWM frequency configuration part of setting PWM frequency; The heating coefficient calculations portion of heating coefficient is calculated according to PWM frequency; Detect the actual current value test section flowing through the actual current value of motor; The storage part of the thermal time constant of store electricity motivation; With the temperature estimation portion of the temperature of the thermal time constant presumption motor according to heating coefficient, actual current value and motor, electric electromechanics flow control part, the temperature deduced in temperature estimation portion exceedes predetermined threshold value, the electric current flowing through motor is made to reduce to below predetermined value.
The feature of the control device of electric motor of another embodiment of the present invention is, for carrying out PWM control, DC voltage conversion being the alternating voltage of preset frequency and this alternating voltage being applied to the power-converting device of motor; Control the electric electromechanics flow control part flowing through the electric current of motor; The PWM frequency configuration part of setting PWM frequency; According to the heating coefficient calculations portion of said PWM frequency computation part heating coefficient; Detect the motor current command value test section of the motor current command value for determining the electric current flowing through motor; The storage part of the thermal time constant of store electricity motivation; With the temperature estimation portion of the temperature of the thermal time constant presumption motor according to heating coefficient, motor current command value and motor, electric electromechanics flow control part, the temperature deduced in temperature estimation portion exceedes predetermined threshold value, the electric current flowing through motor is made to reduce to below predetermined value.
In addition, by control device of electric motor according to the present invention, to the value of PWM frequency correction heating COEFFICIENT K, the computational accuracy of the temperature estimation of motor can be improved.
In addition, when using current instruction value to carry out temperature estimation, according to PWM frequency, K value being revised, and the correction of modulation degree is applied with to motor current instruction, the computational accuracy of the temperature estimation of motor can be improved thus.
Accompanying drawing explanation
Fig. 1 is the structure chart of existing control device of electric motor.
Fig. 2 is the structure chart of the control device of electric motor of the embodiment of the present invention 1.
Fig. 3 is the flow chart of the method for operating of control device of electric motor for illustration of the embodiment of the present invention 1.
Fig. 4 is the block diagram of the computational methods of the heating coefficient of control device of electric motor for illustration of the embodiment of the present invention 1.
Fig. 5 is the chart of the relation representing motor actual current when to change PWM frequency in the control device of electric motor of the embodiment of the present invention 1 and motor temperature.
Fig. 6 is the structure chart of the control device of electric motor of embodiments of the invention 2.
Fig. 7 is the flow chart of the method for operating of control device of electric motor for illustration of the embodiment of the present invention 2.
Fig. 8 is the block diagram of the computational methods of the heating coefficient of control device of electric motor for illustration of the embodiment of the present invention 2.
Fig. 9 is the chart of the relation representing motor current command value when to change PWM frequency in the control device of electric motor of the embodiment of the present invention 2 and motor temperature.
Figure 10 is the structure chart of the control device of electric motor of the embodiment of the present invention 3.
Figure 11 is the flow chart of the method for operating of control device of electric motor for illustration of the embodiment of the present invention 3.
Figure 12 is the block diagram of the computational methods of the heating coefficient of control device of electric motor for illustration of embodiments of the invention 3.
Figure 13 is the chart representing when the control device of electric motor of embodiments of the invention 3 has the correction corresponding with the modulation degree of PWM instruction and do not have with the modulation degree of PWM instruction during the correction that the modulation degree of PWM instruction is corresponding and the relation of motor temperature.
Embodiment
Control device of electric motor of the present invention is described with reference to the accompanying drawings.But wish that noticing technical scope of the present invention is not limited to those execution modes, and relate to the invention and equivalent thereof recorded in claims.
(embodiment 1)
Fig. 2 represents the structure chart of the control device of electric motor of embodiments of the invention 1.The feature of the control device of electric motor 100 of embodiments of the invention 1 is for having: for carrying out PWM control be the alternating voltage of preset frequency DC voltage conversion, by the power-converting device 1 that it applies to motor 20; Control the electric electromechanics flow control part 2 flowing through the electric current of motor 20; The PWM frequency configuration part 3 of setting PWM frequency; The heating coefficient calculations portion 4 of heating coefficient is calculated according to PWM frequency; Detect the actual current value test section 5 flowing through the actual current value of motor 20; The storage part 6 of the thermal time constant of store electricity motivation 20; With the temperature estimation portion 7 of the temperature of the thermal time constant presumption motor 20 according to heating coefficient, actual current value and motor 20, electric electromechanics flow control part 2, when the temperature that temperature estimation portion 7 estimates exceedes predetermined threshold value, makes the electric current flowing through motor 20 reduce to below predetermined value.Here, predetermined value such as can adopt and confirm that the temperature of motor is no more than the electric current of safe level rising in advance.
In addition, the electric current exported from power-converting device 1 is inputed to motor 20, drive motor 20.Further, detected the speed of motor 20 by sensor (not shown), compare with speed value in the first adder 9, comparative result is sent to speed controlling portion 8 and carries out speeds control.In addition, the motor current command value that the electric current exported from power-converting device 1 is specified with speed controlling portion 8 in the second adder 10 is compared, comparative result is sent to electric electromechanics flow control part 2.In addition, temperature estimation portion 7 has low-pass first order filter (LPF) 7a, and time constant is τ.
The method of operating of the control device of electric motor of embodiments of the invention 1 is then described.Fig. 3 is the flow chart of the method for operating of control device of electric motor for illustration of embodiments of the invention 1.First, in step S101, heating coefficient calculations portion 4 reads heating COEFFICIENT K from storage part 6
conl.As aftermentioned, heating COEFFICIENT K
conlbe the constant not depending on PWM frequency, be stored in storage part 6.
Then in step S102, according to the PWM frequency F that PWM frequency configuration part 3 sets, heating coefficient calculations portion 4 calculates the adjusted coefficient K based on this PWM frequency F
freq(F).Here, K
freq(F) be correction factor according to PWM frequency F change, preferably set like that for PWM frequency F is inversely proportional.
Then, in step S103, actual current test section 5 detects motor actual current I.
Then in step S104, square I of temperature estimation portion 7 calculating motor actual current I
2.
Then in step S105, temperature estimation portion 7 is according to heating coefficient (K
conl+ K
freq(F)), actual current value I and the thermal time constant τ of motor that stores in storage part 6, according to following formula (2) accounting temperature ascending amount T
up1.
T
up1=I
2×（K
conl+K
freq（F））×(1－exp（－t/τ））+T
up1’×exp（－t/τ）
（2）
In formula, F represents PWM frequency, T
up1represent this temperature rise of the ring of accounting temperature ascending amount, t represents the time, T
up1' represent this previous temperature rise of the ring of accounting temperature ascending amount.
Fig. 4 represents the block diagram of the derivation process of above-mentioned formula (2).As shown in Figure 4, heating coefficient, by not according to PWM frequency change composition K
conlwith the adjusted coefficient K changed according to PWM frequency
freq(F) sum represents.Because PWM frequency is higher, the higher harmonic component (composition of the integral multiple of frequency and sideband components thereof) comprised in motor actual current is less, so relatively diminish as the caloric value of motor.Therefore, using the heating coefficient of heating COEFFICIENT K as the such form of formula (3), calculating motor temperature as the block diagram of Fig. 4.
K=K
conl+K
freq（F）（3）
In formula, as mentioned above, K
conlnot according to the heating coefficient of PWM frequency change, K
freq(F) be the correction factor changed according to PWM frequency, F is PWM frequency.
In addition, K is preferably set to
freq(F) inversely proportional for PWM frequency F.Such as, as K
freq(F) function, prestores the PWM frequency F0 that becomes benchmark and the heating COEFFICIENT K under this PWM frequency F0
freq0if current PWM frequency is F, then consider to provide like that such as formula (4).
K
freq（F）=K
freq0×F0/F（4）
Carried out the heating COEFFICIENT K changed by PWM frequency by use
freq(F), to become Fig. 5 such for the relation of the quadratic sum motor temperature of motor actual current.
Then, in step S106, temperature estimation portion 7 uses following formula (5) to estimate motor temperature T
m1.
T
m1=T
up1+T
m0（5）
In formula, T
up1represent temperature rise, T
m0be make the ring of accounting temperature ascending amount just started before motor temperature, normally outside ambient temperature.
Then, in step S107, electric electromechanics flow control part 2 judges motor temperature T
m1whether exceed threshold value T
th.Here, threshold value T
thbe the remarkable action in order to detect motor and the temperature preset.
At motor temperature T
m1be no more than threshold value T
thwhen, return step S102, continue the presumption of motor temperature.
On the other hand, at motor temperature T
m1exceed threshold value T
thwhen, in step S108, electric electromechanics flow control part 2 makes motor current be reduced to below predetermined value.Here, reducing in motor current, to comprise the situation stopping motor current becoming 0.
As mentioned above, according to the control device of electric motor of embodiments of the invention 1, because calculate heating coefficient according to PWM frequency, even if so also correctly motor temperature can be estimated, the exception of the action of the motor that can prevent the rising due to motor temperature from causing when changing PWM frequency.
(embodiment 2)
The control device of electric motor of embodiments of the invention 2 is then described.When comprising noise contribution during current sensor exports and being such, not detect motor actual current as embodiment 1, but the motor current command value using noise effect little, carry out the temperature estimation of motor, sometimes even more ideal.In this case, if do not consider the higher harmonic component of the modulation degree of PWM instruction more than the electric current in the region of 1, high-precision temperature estimation cannot be carried out.Now, consider PWM frequency, to carry out temperature estimation be effective to the modulation degree of current instruction value and PWM instruction.
Fig. 6 represents the structure chart of the control device of electric motor of embodiments of the invention 2.The feature of the control device of electric motor 200 of embodiments of the invention 2 is for having: be the alternating voltage of preset frequency in order to carry out PWM control DC voltage conversion, by the power-converting device 1 that this alternating voltage applies to motor 20; Control the electric electromechanics flow control part 2 flowing through the electric current of motor 20; The PWM frequency configuration part 3 of setting PWM frequency; The heating coefficient calculations portion 4 of heating coefficient is calculated according to PWM frequency; Detect the motor current command value test section 11 of the motor current command value for determining the electric current flowing through motor 20; The storage part 6 of the thermal time constant of store electricity motivation 20; With the temperature estimation portion 7 of the temperature of the thermal time constant presumption motor 20 according to heating coefficient, motor current command value and motor 20, electric electromechanics flow control part 2, when the temperature that temperature estimation portion 7 estimates exceedes predetermined threshold value, makes the electric current flowing through motor 20 reduce to below predetermined value.Here, the electric current that predetermined value can adopt the temperature confirming motor in advance to rise.The temperature of the actual current presumption motor of motor is used in the control device of electric motor 100 of embodiment 1.To this, the feature of the control device of electric motor 200 of embodiment 2 is, uses this point of temperature of motor current command value presumption motor.In the structure of the control device of electric motor 200 of embodiment 2, the structure that the structure for the control device of electric motor 100 with embodiment 1 is identical, represents with prosign, omits detailed description.
The method of operating of the control device of electric motor of embodiments of the invention 2 is then described.Fig. 7 is the flow chart of the method for operating of control device of electric motor for illustration of embodiments of the invention 2.First, in step S201, heating coefficient calculations portion 4 reads heating COEFFICIENT K from storage part 6
conl.As described later, heating COEFFICIENT K
conlbe the constant not depending on PWM frequency, be stored in storage part 6.
Then in step S202, according to the PWM frequency F set by PWM frequency configuration part 3, heating coefficient calculations portion 4 calculates the adjusted coefficient K based on PWM frequency F
freq(F).Here, K
freq(F) be the correction factor changed according to PWM frequency F, be preferably set to for PWM frequency F inversely proportional.
Then, in step S203, motor current command value test section 11 detects the motor current command value I for determining the electric current flowing through motor 20
cmd.
Then in step S204, temperature estimation portion 7 calculating motor current instruction value I
cmdsquare I
cmd 2.
Then in step S205, temperature estimation portion 7 is according to heating coefficient (K
conl+ K
freq(F)), motor current command value I
cmd, and the thermal time constant τ of motor that stores in storage part 6, according to following formula (6) accounting temperature ascending amount T
up2.
T
up2=I
cmd 2×（K
conl+K
freq（F））×(1－exp（－t/τ））+T
up2’×exp（－t/τ）
（6）
In formula, F represents PWM frequency, T
up2represent this temperature rise of the ring of accounting temperature ascending amount, t represents the time respectively.T
up2' represent this previous temperature rise of the ring of accounting temperature ascending amount.
Fig. 8 represents the block diagram of the derivation process of above-mentioned formula (6).As shown in Figure 8, about heating coefficient, by not according to PWM frequency change composition K
conlwith the adjusted coefficient K changed according to PWM frequency
freq(F) sum represents.Because K
freq(F) establishing method is identical with during embodiment 1 so omit detailed description.
By using not according to the heating COEFFICIENT K of PWM frequency change
freq(F), to become Fig. 9 such for the relation of the quadratic sum motor temperature of motor current command value.
Then, in step S206, temperature estimation portion 7 uses following formula (7) to estimate motor temperature T
m2.
T
m2=T
up2+T
m0（7）
In formula, T
up2represent temperature rise, T
m0be make the ring of accounting temperature ascending amount just started before motor temperature, normally outside ambient temperature.
Then, in step S207, electric electromechanics flow control part 2 judges motor temperature T
m2whether exceed threshold value T
th.Here, threshold value T
thit is the temperature that the remarkable action for detecting motor presets.
At motor temperature T
m2be no more than threshold value T
thwhen, return step S202, continue the presumption of motor temperature.
On the other hand, at motor temperature T
m2exceed threshold value T
thwhen, in step S208, electric electromechanics flow control part 2 makes motor current be reduced to below predetermined value.Here, in reduction motor current, comprise stopping motor current and become 0.In addition, the electric current that predetermined value such as can adopt the temperature confirming motor in advance can not exceed safe level and rise.
As mentioned above, according to the control device of electric motor of embodiments of the invention 2, use motor current command value, calculate heating coefficient according to PWM frequency.Therefore, even if when changing PWM frequency comprise the situation of noise contribution in motor current under, also correctly motor temperature can be estimated.As a result, the remarkable action of the motor that can prevent the rising due to motor temperature from causing.
(embodiment 3)
The control device of electric motor of embodiments of the invention 3 is then described.Figure 10 represents the structure chart of the control device of electric motor of embodiments of the invention 3.The feature of the control device of electric motor 300 of embodiments of the invention 3 is except the control device of electric motor 200 of embodiment 2, also have: detect the PWM vector modulation degree test section 13 of the modulation degree of PWM instruction and use the function of the relation representing the modulation degree of PWM instruction and the higher harmonic component of motor actual current, by the higher harmonic component correction motor current command value I calculated according to this function
cmdmotor current command value correction portion 12.In the structure of the control device of electric motor 300 of embodiment 3, the structure that the structure for the control device of electric motor 200 with embodiment 2 is identical, represents with prosign, omits detailed description.
Then, the method for operating of the control device of electric motor of embodiments of the invention 3 is described.Figure 11 is the flow chart of the method for operating of control device of electric motor for illustration of embodiments of the invention 3.First, in step S301, heating coefficient calculations portion 4 reads heating COEFFICIENT K from storage part 6
conl.As aftermentioned, heating COEFFICIENT K
conlbe the constant not depending on PWM frequency, be stored in storage part 6.
Then in step S302, according to the PWM frequency F that PWM frequency configuration part 3 sets, heating coefficient calculations portion 4 calculates the adjusted coefficient K based on PWM frequency F
freq(F).Here, K
freq(F) be the correction factor changed according to PWM frequency F, be preferably set to for PWM frequency F inversely proportional.
Then, the modulation degree M of PWM instruction is detected in step S303, PWM vector modulation degree test section 13.Then, in step S304, motor current command value correction portion 12 calculates the function K of the relation representing the modulation degree M of PWM instruction and the higher harmonic component of motor actual current
mod(M).When modulation degree M large (the modulation degree M>1) of PWM instruction, because the higher harmonic component comprised in motor actual current is (relative to first-harmonic, 5 times, 7 times, 11 inferior high order harmonic components) become large, so relatively become large as the caloric value of motor.When carrying out motor temperature presumption with motor current instruction value, need to consider above-mentioned higher harmonic component.Therefore, the function K calculating higher harmonic component according to modulation degree M is prepared
mod(M), calculating motor temperature as the block diagram of Figure 12.As K
mod(M) administration way of function is such as the value 0 when modulation degree M is below 1, gets the function of the value larger than 0 when modulation degree M is greater than 1.According to the coefficient G of the modulation degree of the higher harmonic component of motor actual current and PWM instruction, can provide like that such as formula (8).
K
mod（M）=MAX（0，G（M））（8）
That is, can be rewritten as
(when M≤1) K
mod(M)=0(9)
(when M>1) K
mod(M)=G(M) (G(M) >0) (10)
In formula, K
mod(M) be the function of modulation degree M of PWM instruction, G(M) be the multinomial of the modulation degree M of PWM instruction, M is the modulation degree of PWM instruction.As aftermentioned, temperature estimation portion 7 uses function K
mod(M) the higher harmonic component correction motor current command value I, by calculating according to this function
cmd.
Then, in step S305, motor current command value test section 11 detects the motor current command value I for determining the electric current flow through in motor 20
cmd.
Then, in step S306, temperature estimation portion 7 calculating motor current instruction value I
cmdsquare I
cmd 2.
Then in step S307, temperature estimation portion 7 is according to heating coefficient (K
conl+ K
freq(F)), motor current command value I
cmdand the thermal time constant τ of the motor stored in storage part 6, according to following formula (11) accounting temperature ascending amount T
up3.
T
up3=（I
cmd 2+K
mod（M））×（K
conl+K
freq（F））×(1－exp（－t/τ））+T
up3’×exp（－t/τ）(11）
In formula, F represents PWM frequency, T
up3represent this temperature rise of the ring of accounting temperature ascending amount, t represents the time.T
up3' represent the ring of accounting temperature ascending amount this time before temperature rise once.
Figure 12 represents the block diagram of the derivation process for representing above-mentioned formula (11).As shown in figure 12, heating coefficient, by not according to PWM frequency F change composition K
conlwith the adjusted coefficient K changed according to PWM frequency F
freq(F) sum represents.In the present embodiment, feature is the modulation degree M that PWM vector modulation degree test section 13 detects PWM instruction, and motor current command value correction portion 12 uses the function K of the relation representing the modulation degree M of PWM instruction and the higher harmonic component of motor actual current detected
mod(M) the higher harmonic component correction motor current command value I, by calculating according to this function
cmdthis point.
Figure 13 represents the modulation degree M of PWM instruction and the relation of motor temperature.When modulation degree M is below 1, be regarded as constant with the modulation degree M motor temperature that has nothing to do.On the other hand, when modulation degree M is more than 1, can think that the rising motor temperature with modulation degree rises.Revised like that by the present invention, can consider that the presumption of motor temperature is correctly carried out in the impact of modulation degree M.
Then, in step S308, temperature estimation portion 7 uses following formula (12) to estimate motor temperature T
m3.
T
m3=T
up3+T
m0（12）
In formula, T
up3represent temperature rise, T
m0be make the ring of accounting temperature ascending amount just started before motor temperature, normally outside ambient temperature.
Then, in step S309, electric electromechanics flow control part 2 judges motor temperature T
m3whether exceed threshold value T
th.Here, threshold value T
thit is the temperature that the remarkable action for detecting motor presets.
At motor temperature T
m3do not exceed threshold value T
thwhen, return step S302, continue the presumption of motor temperature.
On the other hand, at motor temperature T
m3exceed threshold value T
thwhen, in step S310, electric electromechanics flow control part 2 makes motor current be reduced to below predetermined value.Here, reducing in motor current, to comprise the situation stopping motor current becoming 0.In addition, the electric current that predetermined value such as can adopt the temperature confirming motor in advance can not exceed safe level and rise.
As mentioned above, according to the control device of electric motor of embodiments of the invention 3, use the heating COEFFICIENT K changed according to the modulation degree M of PWM instruction
mod(M), even if when the modulation degree change making PWM instruction, also correctly motor temperature can be estimated, can prevent the exception of the action of the motor caused by the rising of motor temperature.
Claims (5)
1. a control device of electric motor, is characterized in that, has:
For carrying out PWM control, being the alternating voltage of preset frequency DC voltage conversion, and this alternating voltage being applied to the power-converting device of motor;
Control the electric electromechanics flow control part flowing through the electric current of motor;
The PWM frequency configuration part of setting PWM frequency;
According to the heating coefficient calculations portion of said PWM frequency computation part heating coefficient;
Detect the actual current value test section flowing through the actual current value of motor;
The storage part of the thermal time constant of store electricity motivation; With
According to the temperature estimation portion of the temperature of the thermal time constant presumption motor of above-mentioned heating coefficient, above-mentioned actual current value and above-mentioned motor,
Above-mentioned electric electromechanics flow control part, when the temperature that said temperature presumption unit deduces exceedes predetermined threshold value, makes the electric current flowing through motor reduce to below predetermined value.
2. a control device of electric motor, is characterized in that, has:
For carrying out PWM control, being the alternating voltage of preset frequency DC voltage conversion, and this alternating voltage being applied to the power-converting device of motor;
Control the electric electromechanics flow control part flowing through the electric current of motor;
The PWM frequency configuration part of setting PWM frequency;
According to the heating coefficient calculations portion of said PWM frequency computation part heating coefficient;
Detect the motor current command value test section of the motor current command value for determining the electric current flowing through motor;
The storage part of the thermal time constant of store electricity motivation; With
According to the temperature estimation portion of the temperature of the thermal time constant presumption motor of above-mentioned heating coefficient, above-mentioned motor current command value and motor,
Above-mentioned electric electromechanics flow control part, when the temperature that said temperature presumption unit deduces exceedes predetermined threshold value, makes the electric current flowing through motor reduce to below predetermined value.
3. control device of electric motor according to claim 2, is characterized in that,
Also have: the PWM vector modulation degree test section detecting the modulation degree of PWM instruction; And
Use the function of the relation representing the modulation degree of said PWM instruction and the higher harmonic component of motor actual current, according to the motor current command value correction portion of the above-mentioned motor current command value of the higher harmonic component correction calculated by this function.
4. control device of electric motor according to claim 1 and 2, is characterized in that,
The heating coefficient that above-mentioned heating coefficient calculations portion calculates is not according to heating coefficient and the correction factor sum changed like that for PWM frequency inverse proportion of PWM frequency change, uses following formula to calculate,
K＝K
conl+K
freq(F)
K
conl: not according to the heating coefficient of PWM frequency change,
K
freq(F): the correction factor that PWM frequency inverse proportion is changed like that,
F:PWM frequency.
5. control device of electric motor according to claim 3, is characterized in that,
For calculating the function of the higher harmonic component of above-mentioned motor actual current, be when the modulation degree of PWM instruction is below 1 value 0, get the function of the value larger than 0 when modulation degree is more than 1, represent with following formula,
When M≤1, K
mod(M)=0
When M>1, K
mod(M)=G (M), G (M) >0
K
mod(M): the function of the modulation degree of PWM instruction,
G (M): the multinomial of the modulation degree of PWM instruction,
The modulation degree of M:PWM instruction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012085762A JP5502925B2 (en) | 2012-04-04 | 2012-04-04 | Motor controller that protects the motor from overheating based on the estimated motor temperature |
| JP2012-085762 | 2012-04-04 |
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| Publication Number | Publication Date |
|---|---|
| CN103368499A CN103368499A (en) | 2013-10-23 |
| CN103368499B true CN103368499B (en) | 2016-02-10 |
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| CN201310116357.1A Active CN103368499B (en) | 2012-04-04 | 2013-04-03 | The control device of electric motor of motor protection against overheat is carried out by the temperature of presumption |
| CN2013201632052U Withdrawn - After Issue CN203251270U (en) | 2012-04-04 | 2013-04-03 | Motor control device carrying out motor protection against overheat according to presumptive temperature |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013201632052U Withdrawn - After Issue CN203251270U (en) | 2012-04-04 | 2013-04-03 | Motor control device carrying out motor protection against overheat according to presumptive temperature |
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| JP5502925B2 (en) * | 2012-04-04 | 2014-05-28 | ファナック株式会社 | Motor controller that protects the motor from overheating based on the estimated motor temperature |
| JP5902767B2 (en) * | 2014-07-09 | 2016-04-13 | ファナック株式会社 | Machine tool controller for estimating motor overheating |
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| JP2009210282A (en) * | 2008-02-29 | 2009-09-17 | Nissan Motor Co Ltd | Temperature measuring device, temperature measuring method, and abnormality detection method of temperature measuring device |
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| CN203251270U (en) * | 2012-04-04 | 2013-10-23 | 发那科株式会社 | Motor control device carrying out motor protection against overheat according to presumptive temperature |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5502925B2 (en) | 2014-05-28 |
| CN203251270U (en) | 2013-10-23 |
| CN103368499A (en) | 2013-10-23 |
| JP2013219846A (en) | 2013-10-24 |
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