CN105683571A - Motor control device and refrigerating/air-conditioning device - Google Patents

Motor control device and refrigerating/air-conditioning device Download PDF

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Publication number
CN105683571A
CN105683571A CN201480058570.4A CN201480058570A CN105683571A CN 105683571 A CN105683571 A CN 105683571A CN 201480058570 A CN201480058570 A CN 201480058570A CN 105683571 A CN105683571 A CN 105683571A
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CN
China
Prior art keywords
motor
voltage
voltage waveform
drive current
motor drive
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CN201480058570.4A
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Chinese (zh)
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CN105683571B (en
Inventor
松下元士
今出雅士
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Sharp Corp
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Sharp Corp
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B35/00—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for
    • F04B35/04—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for the means being electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B2600/00—Control issues
    • F25B2600/02—Compressor control
    • F25B2600/021—Inverters therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B49/00—Arrangement or mounting of control or safety devices
    • F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
    • F25B49/025—Motor control arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
    • Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Air Conditioning Control Device (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A motor control device controls a motor for driving a load element having a periodical load torque variation and comprises: a voltage correction pattern storage unit (8) for storing a voltage correction pattern corresponding the angle of one period of the load torque variation; a motor drive voltage waveform creation unit (10) for generating a fundamental voltage waveform for driving the motor; and a motor drive voltage waveform correction unit (11) for correcting the fundamental voltage waveform by applying a correction coefficient to the voltage correction pattern. In the motor control device, the amount of the variation of motor drive current occurring when driving the motor by a motor drive signal generated by the motor drive voltage waveform correction unit (11) is detected to determine the correction coefficient using the amount of the variation of the motor drive current as an indicator.

Description

Motor control assembly and freezing, air-conditioning device
Technical field
The present invention relates to the motor control assembly controlling motor, particularly relate to the motor control assembly with inverter circuit. It is mounted with the refrigerating plant of motor control assembly, air-conditioning device (being generically and collectively referred to as freezing, air-conditioning device) additionally, the present invention relates to.
Background technology
In recent years, the variable-ratio driving the synchronous motor of the load factors with load torque fluctuation have employed inverter in controlling. As the device possessing the load factors with periodic load torque ripple, there are single rotor type compressor or reciprocating-type compressor etc. Single rotor type compressor or reciprocating-type compressor etc., as the compressor being loaded in the household appliances such as air conditioner and refrigerator, are widely used.
Figure 1A indicates that figure, Figure 1B of the load torque characteristic of single rotor type compressor indicate that the figure of the load torque characteristic of reciprocating-type compressor. In single rotor type compressor and reciprocating-type compressor, every 1 rotates into the compression circulation that row is made up of for 1 time the inhalation process of working media, compression section, ejection operation. Owing to before being about to ejection, working media is compressed, so load torque becomes big, owing to there is no working media after just spraying, so load torque diminishes. Therefore, if it is desired to making angular velocity one timing of compressor, current of electric produces pulsation according to load torque fluctuation, thus there is the problem that power loss increases.
As solution to the problems described above, there is following method: the mechanical angle according to compressor, be namely in which position, small electromotor torque according to the compression circulation being made up of the inhalation process of working media, compression section, ejection operation. Utilize described method, it is possible to according to load torque fluctuation small electromotor torque, reduce the pulsation of the current of electric that load torque fluctuation causes, it is achieved high efficiency.
Prior art literature
Patent documentation
Patent documentation 1: Japanese Laid-Open Patent Publication 2004-215434
Patent documentation 2: Japanese Laid-Open Patent Publication 2004-274841
Motor control assembly disclosed in patent documentation 1, applies the torque mode compensating torque to improve motor drive efficiency to reduce the pulsation of motor drive current. For application torque mode, it is necessary to judge the mechanical angle of load factors. Patent documentation 1 describes the waveform of induced voltage by each coil from brushless electric machine, the position of the rotor in detection motor, but does not record detection and the mechanical angle of load factors that motor connects. Therefore, when there is no the information about motor and the link position of load factors, it is impossible to the load torque fluctuation small electromotor torque according to load factors.
Motor control assembly disclosed in patent documentation 2, for position-sensor-free, the mechanicalness position of the pulsation detection rotor according to motor drive current, it is only judge the mechanical angle relative to load factors when but the number of poles of motor is many, which is the electrical angle of motor be in cycle, when so there is no the information about motor and the link position of load factors, it is impossible to become the motor torque of the load torque fluctuation compensating load factors.
Summary of the invention
In view of the above problems, it is an object of the invention to provide a kind of motor control assembly and load the freezing of described motor control assembly, air-conditioning device, during at position-sensor-free and not about the information of motor and the link position of load factors, also can realize high efficiency.
For reaching above-mentioned purpose, the motor control assembly of the present invention, control the motor for driving the load factors with periodic load torque ripple, described motor control assembly includes: voltage modification model storage part, stores the voltage modification model corresponding with the angle in 1 cycle of described load torque fluctuation; Motor driven voltage waveform generating unit, generates the fundamental voltage waveform for driving described motor; And motor driven voltage waveform modification portion, described voltage modification model is given correction factor, revises described fundamental voltage waveform, the undulate quantity of motor drive current when detecting by the motor drive signal that generated by the described motor driven voltage waveform modification portion described motor of driving, using the undulate quantity of described motor drive current as index, determine described correction factor (the first structure).
In motor control assembly preferably in above-mentioned first structure, described correction factor comprises the phase place of the described voltage modification model relative to described fundamental voltage waveform, using described phase place as different values, drive described motor time the result that compares of the undulate quantity of described motor drive current as index, determine described phase place (the second structure).
In motor control assembly preferably in the above-mentioned first or second structure, described correction factor comprises the gain of described voltage modification model, using described gain as different values, drive described motor time the result that compares of the undulate quantity of described motor drive current as index, determine described gain (the 3rd structure).
Preferably in the motor control assembly of arbitrary structures in the above-mentioned first～the 3rd, the shape of described voltage modification model is, based on the value of load torque values of each angle that the meansigma methods of the load torque in described 1 cycle of described load factors deducts described load factors, the shape (the 4th structure) of function that is integrated with the angle of described load factors.
Preferably in the motor control assembly of arbitrary structures in the above-mentioned first～the 3rd, measuring the angular velocity in load torque fluctuation 1 cycle when making described load factors rotate with certain torque to change, the shape of described voltage modification model is based on the shape of its fluctuation model (the 5th structure).
In motor control assembly preferably in above-mentioned 4th or the 5th structure, the shape of described voltage modification model is, described function based on comparing or described fluctuation model, the shape (the 6th structure) correction reduced.
Preferably in the motor control assembly of arbitrary structures in the above-mentioned first～the 6th, using the undulate quantity of described motor drive current as index, determine the candidate value of described correction factor, difference when described candidate value with the difference of value of described correction factor in the past, described candidate value and the value corresponding with the value of the described correction factor in past, time all more than setting, do not adopt described candidate value (the 7th structure).
The freezing of the present invention, air-conditioning device include: the motor control assembly of arbitrary structures in the above-mentioned first～the 7th; The synchronous motor driven by described motor control assembly; And the compressor (the 8th structure) of described synchronous machine drives.
According to the present invention, it is provided that also can realize motor control assembly and the loading freezing of described motor control assembly, the air-conditioning device of high efficiency during at position-sensor-free and not about the information of motor and the link position of load factors.
Accompanying drawing explanation
Figure 1A indicates that the figure of the load torque characteristic of single rotor type compressor.
Figure 1B indicates that the figure of the load torque characteristic of reciprocating-type compressor.
Fig. 2 indicates that the figure of the brief configuration of the motor control assembly of the 1st embodiment of the present invention.
Fig. 3 indicates that the figure of an example of voltage modification model.
Fig. 4 A indicates that the flow chart of the action in the motor driven voltage waveform modification portion in the 1st embodiment of the present invention.
Fig. 4 B indicates that the flow chart of the action in the motor driven voltage waveform modification portion in the 1st embodiment of the present invention.
Fig. 5 indicates that the figure of an example of revised motor driven voltage waveform.
Fig. 6 indicates that the figure of the motor drive current waveform of each phase of many cases.
Fig. 7 indicates that the figure of the pulsating quantity of motor drive current and an example of the relation of the phase pushing figure of voltage modification model.
Fig. 8 indicates that the figure of the pulsating quantity of motor drive current and an example of the relation of the modified gain of voltage modification model.
Fig. 9 A indicates that the flow chart of the action in the motor driven voltage waveform modification portion in the 2nd embodiment of the present invention.
Fig. 9 B indicates that the flow chart of the action in the motor driven voltage waveform modification portion in the 2nd embodiment of the present invention.
Figure 10 A indicates that the flow chart of the action in the motor driven voltage waveform modification portion in the 5th embodiment of the present invention.
Figure 10 B indicates that the flow chart of the action in the motor driven voltage waveform modification portion in the 5th embodiment of the present invention.
Figure 11 indicates that the figure of an example of the voltage modification model in the 6th embodiment of the present invention.
Detailed description of the invention
Referring to accompanying drawing, embodiments of the present invention are described.
<the 1st embodiment>
Fig. 2 illustrates the brief configuration of the motor control assembly of the 1st embodiment of the present invention. The motor control assembly of present embodiment possesses change-over circuit 2, inverter circuit 3, current sense resistor (shunt resistance) R1, current detection circuit 5 and microcomputer A1. The input side of change-over circuit 2 connects alternating current power supply 1, and the outlet side of inverter circuit 3 connects synchronous motor 4. Synchronous motor 4 drives the load factors with periodic load torque ripple.
2 alternating voltages from alternating current power supply 1 of change-over circuit are supplied to inverter circuit 3 after being converted to DC voltage. 3 DC voltages from change-over circuit 2 of inverter circuit are supplied to synchronous motor 4 after converting three-phase alternating voltage to. The outlet side of change-over circuit 2 and the input side of inverter circuit 3 are connected by positive DC line and negative DC line, and described negative DC line is provided with current sense resistor R1. The voltage that current detection circuit 5 produces according to the two ends of current sense resistor R1, the electric current of inverter circuit 3 is flow through in detection, and by the described Current amplifier detected, exports to microcomputer A1 as current signal. That is, current detection circuit 5 flows through the current sensing means function of the electric current of inverter circuit 3 as detection.
Microcomputer A1 is the circuit being driven synchronous motor 4 controlling, there is motor drive current inferring portion 6, motor drive current storage part 7, voltage modification model storage part 8, speed setting unit 9, motor driven voltage waveform generating unit 10, motor driven voltage waveform modification portion 11 and PWM waveform generating unit 12, perform the process of following description according to program.
Motor drive current inferring portion 6 has curent change partial arithmetic device (not shown) and distributive operation device (not shown), curent change partial arithmetic device obtains the changing unit of electric current according to the current signal of input, and distributive operation device calculates motor drive current according to the changing unit of current signal. Here, curent change partial arithmetic device and distributive operation device, it is possible to adopt the device recorded in flat No. 8-19263 of such as Japanese Laid-Open Patent Publication. When adopting the device recorded in flat No. 8-19263 of Japanese Laid-Open Patent Publication, curent change partial arithmetic device obtains its changing unit according to the current signal (the output signal of current detection circuit 5) before and after each switch driving element mutually of inverter circuit 3, the distributive operation device each switching sequence driving element mutually according to inverter circuit 3, the changing unit of current signal (the output signal of current detection circuit 5) is assigned to each phase, calculates the motor drive current of each phase. By arranging motor drive current inferring portion 6, do not use the current sensor for detecting motor drive current such as the current sensor being made up of coil and Hall element, current transformer, it becomes possible to calculate motor drive current, therefore can cut down cost.
The motor drive current of each phase that motor drive current storage part 7 is extrapolated according to motor drive current inferring portion 6, stores load torque fluctuation 1 cycle at least load factors by the current amplitude value of at least 1 phase and electrical angle.
The voltage modification model that the storage of voltage modification model storage part 8 is corresponding with the angle in load torque fluctuation 1 cycle in load factors. Voltage modification model such as can by the form storage of the tables of data of the corresponding relation representing angle and correction value, it is also possible to by the storage of the form of the function of the corresponding relation representing angle and correction value.
Voltage modification model sets according to the load torque characteristic in load factors. Fig. 3 illustrates an example of voltage modification model.
Voltage modification model can determine according to the function that the value obtained with the angle of load factors, the value of load torque that the meansigma methods from load torque 1 cycle of load factors deducted in each angle of the load factors that synchronous motor 4 drives is integrated. By such decision, can in the value of load torque less than in the angle of meansigma methods, by making the mode that the driving voltage of synchronous motor 4 rises be modified and accelerate, the driving electric current making synchronous motor 4 does not reduce, the value of this external load torque is more than in the angle of meansigma methods, by making the mode that the driving voltage of synchronous motor 4 reduces be modified and slow down, the driving electric current making synchronous motor 4 does not rise, such that it is able to suppress the drive current fluctuations of synchronous motor 4 that the periodic load torque ripple of load factors brings.
The example representation of Fig. 3 voltage modification model corresponding with the load factors of the load torque characteristic with the reciprocating-type compressor shown in Figure 1B. Fig. 3 (a), for the load factors same with Figure 1B, illustrates the load torque curve A in 2 cycles. In Fig. 3 (a), load torque meansigma methods B is the value that the load torque values in 1 cycle by load torque curve A is average.
The curve C of Fig. 3 (b) is the value that the curve to Fig. 3 (a) obtains (load torque meansigma methods B)-(the load torque A) in each angle, and with curve that angle is integrated. This curve C is carried out drive motor as voltage modification model, when driving the load factors with load torque characteristic curve A, it is possible to suppress the drive current fluctuations of motor. Now, it is preferable that load torque curve A is consistent with the phase place of voltage modification model C, it is appropriate amount relative to load torque characteristic curve A and preferably by the voltage modification model C voltage increment carried out.
Therefore, using the curve C of Fig. 3 (b) as voltage modification model store voltage modification model storage part 8 time, angle, correction value are not with absolute value but store with relative value, when being revised motor driven voltage waveform by aftermentioned motor driven voltage waveform modification portion 11, impart the correction data of the correction factor of regulation preferably by the voltage modification model of storage in voltage modification model storage part 8, revise motor driven voltage waveform. As an example in Fig. 3 (b), the cycle in load torque fluctuation cycle 1 of the load factors clamped by dotted line is as voltage modification model, for angle axle (transverse axis) left end is set to 0 degree, right-hand member be set to 360 degree, correction (longitudinal axis) as by the correction in 1 cycle be on average set to 1 regular data, be stored in voltage modification model storage part 8.
It addition, voltage modification model can also as Suo Shi Fig. 3 (c), become the shape of the curve C of approximate diagram 3 (b). Owing to the shape of the load torque curve A shown in Fig. 3 (a) is because of the change such as load state and rotating speed, individual diversity is there is when these external volume production product, voltage modification model is formulated even if therefore strict as Suo Shi Fig. 3 (b), also only just can be consistent in specific condition. Therefore, even if adopting Fig. 3 (c) this approximate shape, the effect that actually big multipotency is close when obtaining and adopt the voltage modification model of Fig. 3 (b). On the other hand, by this approximate shapes of Fig. 3 (c), substantial amounts of table data can not be stored as voltage modification model data, if storage function formula, when giving the correction factor of regulation in addition because can correction function formula itself, it is possible to the high speed of the correcting process in the low capacity of expectation voltage modification model storage part 8 and motor driven voltage waveform modification portion 11. In later explanation, it is assumed that the modification model shown in Fig. 3 (d) based on the voltage modification model of Fig. 3 (c) is stored in voltage modification model storage part 8.
Speed setting unit 9 determines the forced excitation angular frequency corresponding with the rotational speed command value of target, and is exported to motor driven voltage waveform generating unit 10 by the forced excitation angular frequency of described decision. It addition, the rotational speed command value of target such as from be loaded in possess the motor control assembly of present embodiment, the equipment of the load factors of adjoint periodic load torque ripple that synchronous motor 4 and synchronous motor 4 drive and control the control portion of described equipment entirety and transmit to speed setting unit 9.
Motor driven voltage waveform generating unit 10 is previously stored with the sinusoidal wave data table being made up of the data amount check specified, according to forced excitation angular frequency, the each corresponding motor reading the motor coil terminals with synchronous motor 4 from sinusoidal wave data table drives fundamental voltage Wave data (three-phase, electrical angle offsets the sinusoidal wave data of 120 degree respectively), exports to motor driven voltage waveform modification portion 11. It addition, present embodiment uses sinusoidal wave data table to generate motor drives fundamental voltage waveform, but the invention is not restricted to this, for instance can not be sine wave, additionally can pass through computing generation motor and drive fundamental voltage waveform.
Motor driven voltage waveform modification portion 11 uses the voltage modification model imparting correction factor, revises motor and drives fundamental voltage waveform. Additionally, the motor drive current stored from motor drive current storage part 7, the undulate quantity of detection motor drive current, using the undulate quantity of motor drive current as index, determine the correction factor of voltage modification model. The concrete action in motor driven voltage waveform modification portion 11 is aftermentioned.
Revised each phase motor driven voltage Wave data that PWM waveform generating unit 12 exports from motor driven voltage waveform modification portion 11 is converted to each phase PWM waveform, and to the corresponding element that respectively drives of inverter circuit 3, (U phase upside drives element Q by each phase PWM waveform after described conversionU, U phase downside drives element Qx, V phase upside drives element QV, V phase downside drives element Qy, W phase upside drives element QW, W phase downside drives element Qz) output. Such as, PWM waveform generating unit 12 produces triangular wave with PWM carrier frequency, described triangular wave and revised each phase motor driven voltage waveform is compared, and by exporting High/Low according to described comparative result, exports the PWM waveform of each phase. Inverter circuit 3 is converted to the motor drive waveforms of each phase from the DC voltage of change-over circuit 2 according to the PWM waveform of each phase, and the motor drive waveforms of described each phase is applied to the motor coil of each phase of synchronous motor 4. So, the rotor making synchronous motor 4 rotates.
Then, the concrete action in motor driven voltage waveform modification portion 11 is described. Hereinafter, the situation that synchronous motor 4 is three-phase and quadrupole motor is described. Additionally, load torque fluctuation 1 cycle in load factors, it it is 1 turn of synchronous motor 4. Motor driven voltage waveform modification portion 11 starts the flow process action shown in Fig. 4 A and Fig. 4 B when starting synchronous motor 4.
First, the initial value of phase pushing figure θ is set to 0 by motor driven voltage waveform modification portion 11, and the initial value of modified gain M is set as 1 (step S10). Subsequently, voltage modification model (step S20) is read in from voltage modification model storage part 8 in motor driven voltage waveform modification portion 11.
Then, motor driven voltage waveform modification portion 11, the correction being respectively directed to each angle of voltage modification model is multiplied by modified gain M (step S30). Then, relative for the phase place of voltage modification model motor is driven phase offset θ ° (step S40) of fundamental voltage waveform.
Then, in all angles, (all angles can be discreteness value in motor driven voltage waveform modification portion 11, can also be seriality value), correction value according to voltage modification model, revise motor and drive amplitude and the angular velocity of fundamental voltage waveform, the correction value of voltage modification model is more big, then the amplitude of motor driving fundamental voltage waveform becomes more big and motor driving fundamental voltage waveform angular velocity and becomes more big, the correction value of voltage modification model is more little, then the amplitude of motor driving fundamental voltage waveform becomes more little and motor driving fundamental voltage waveform angular velocity and becomes more little (step S50).
Here, Fig. 5 illustrates an example of motor driven voltage waveform Vu, Vv, Vw of revised each phase. Fig. 5 also illustrates voltage modification model P together with motor driven voltage waveform Vu, Vv, Vw of revised each phase. It addition, due to the motor that synchronous motor 4 is three-phase and quadrupole in Fig. 5 example, so the motor electrical angle of 1 week becomes 720 °, namely Vu, Vv, Vw bis-circulates and becomes motor 1 week. Motor driven voltage waveform Vu, Vv, Vw of revised each phase shown in Fig. 5, is in all angles correction value according to voltage modification model P, only have modified the waveform of the amplitude of motor driven voltage waveform. As it is shown in figure 5, by the amplitude of motor driven voltage waveform being modified according to the correction value of voltage modification model in all angles, can obtain in motor driven voltage waveform in the interval that y direction amplifies and the interval reduced. Although additionally, eliminate diagram, but by the angular velocity of motor driven voltage waveform being modified according to the correction value of voltage modification model in all angles, can obtain in motor driven voltage waveform in the interval that X direction is amplified and the interval reduced.
In the follow-up step S60 of step S50, the motor driven voltage waveform modification portion 11 motor driven voltage waveform according to each phase revised in the process of step S50, the motor drive current of each phase in reading in synchronous motor 4 driving condition in load torque fluctuation 1 cycle 1 turn of motor i.e. load factors from motor drive current storage part 7, and calculate the pulsating quantity (undulate quantity) of motor drive current waveform. The motor drive current value of each phase obtains by reading the value in the angle of the regulation each phase from the motor drive current of each phase inferred by motor drive current inferring portion 6. According to motor driven voltage waveform, the angle of regulation preferably infers that motor drive current reaches maximum angle. Such as, the angle of value of motor drive current is read, it is possible to be that the motor of each phase drives fundamental voltage waveform to reach the angle of peak value. That is, in Figure 5, for instance by read electrical angle 90 °, 270 °, 450 °, 630 ° time the value of electric current of U phase, it is possible to obtain the motor drive current value of U phase. Equally, read the value of motor drive current of V phase, W phase, the value minimum and maximum from the data decimation of 12 of the value of the motor drive current waveform of three-phase and poor, such that it is able to obtain the pulsating quantity of motor drive current waveform. In addition, know when maybe can infer relative to the phase-delay quantity of the motor drive current of motor driven voltage waveform, read the angle of value of motor drive current, it is possible to be drive fundamental voltage waveform to become in the angle of peak value the angle plus above-mentioned phase-delay quantity at the motor of each phase. In such manner, it is possible to read the value of motor drive current in the closer angle of angle become peak value with motor drive current waveform, it is possible to high accuracy obtains the pulsating quantity of motor drive current waveform further.
It addition, the reading of motor drive current waveform is not limited to this, for instance the pulsating quantity of motor drive current waveform from 6 points of the value that motor drive current is plus or minus, can be calculated. Additionally, the angle read not only is determined by the angle of the motor driven voltage waveform based on each phase, moreover it is possible to motor drive current zero passage or become the angle of peak value for benchmark decision.
Fig. 6 (a) represents the voltage modification model that the modification model shown in Fig. 3 (d) gives phase pushing figure θ=0 °, modified gain M=1, and have modified the example of motor drive current during motor driven voltage waveform according to it. It addition, in Fig. 6 motor driven and load factors and the motor of Fig. 3 and the load factors of obtaining voltage modification model, it is assumed that it is different individualities. In the example of Fig. 6 (a), there is bigger difference between maximum (absolute value of Iw2) and the minima (absolute value of Iu4) of motor drive current waveform of motor drive current waveform, motor drive current is significantly pulsed.
Then, motor driven voltage waveform modification portion 11 judges that (θ+Δ θ) is whether more than 360 ° (step S70). Here, Δ θ is the phase-shifted amplitude of voltage modification model, if reducing described value, it is possible to high accuracy obtains the phase only pupil filter coefficient of voltage modification model further. If additionally, strengthen described value, it is possible to reduce for obtaining the tentative number of times (the execution number of times of step S40～S80) of the phase-shifted correction factor of voltage modification model. In the present embodiment, due to Δ θ=2 °, so performing 180 step S40～S80.
If (θ+Δ θ) is less than 360 ° (step S70's is no), current θ value is added that the value of Δ θ is set as new θ value (step S80) by motor driven voltage waveform modification portion 11, is then returned to step S40. On the other hand, (if θ+Δ θ) more than 360 ° (step S70 is), such as can obtain the pulsating quantity of the motor drive current shown in Fig. 7 and the relation of the phase pushing figure of voltage modification model, so the pulsating quantity of motor drive current is become the phase pushing figure of minimum voltage modification model by motor driven voltage waveform modification portion 11, it is set as the phase only pupil filter coefficient θ 0 (step S90) of voltage modification model. In example shown in Fig. 7, during due to θ=60 °, the pulsating quantity of motor drive current is minimum, so the phase only pupil filter coefficient θ 0 of voltage modification model is set as 60 °.
As long as the driving of synchronous motor 4 continues, then the pulsating quantity of motor drive current becomes that value minimum, voltage modification model phase pushing figure is typically not significantly to be changed. Therefore, in the phase only pupil filter coefficient of the step S90 voltage modification model determined, can not reset the rotation of synchronous motor 4 drives duration. Therefore, in the flow chart of Fig. 4 A and Fig. 4 B, the process of step S90 only implements 1 time. According to load factors, and according to load torque amount and rotating speed, the value of the phase pushing figure that the pulsating quantity of motor drive current becomes minimum voltage modification model also can change sometimes, now, as long as re-starting the phase only pupil filter coefficient setting process from the step S10 voltage modification model started under this condition.
In the follow-up step S100 of step S90, the phase place of voltage modification model is driven the phase place of fundamental voltage waveform by motor driven voltage waveform modification portion 11 relative to motor, and skew is in the step S90 phase only pupil filter coefficient θ 0 obtained.
Then, each correction of all angles of voltage modification model is multiplied by modified gain M (step S110) by motor driven voltage waveform modification portion 11. then, in all angles, (all angles can be discreteness value in motor driven voltage waveform modification portion 11, can also be seriality value), according to being multiplied by modified gain M, the correction value of the voltage modification model of phase offset phase only pupil filter coefficient θ 0, revise amplitude and the angular velocity of motor driven voltage waveform, the correction value of the voltage modification model in all angles is more big, then the amplitude of motor driven voltage waveform becomes more big and motor driven voltage waveform angular velocity and becomes more big, the correction value of voltage modification model is more little, then the amplitude of motor driven voltage waveform becomes more little and motor driven voltage waveform angular velocity and becomes more little (step S120).
In the follow-up step S130 of step S120, the motor driven voltage waveform modification portion 11 motor driven voltage waveform according to each phase revised in the process of step S120, the motor drive current of each phase in reading in synchronous motor 4 driving condition in load torque fluctuation 1 cycle 1 turn of motor i.e. load factors from motor drive current storage part 7, and calculate the pulsating quantity (undulate quantity) of motor drive current waveform.
Then, the pulsating quantity of this motor drive current waveform and the pulsating quantity of previous motor drive current waveform are compared by motor driven voltage waveform modification portion 11, it is judged that whether its difference is below setting (step S140). If difference is (step S140's is no) not below setting, it is judged that do not find the minima of the pulsating quantity of motor drive current waveform, enter step S150. On the other hand, if difference (step S140 is) below setting, it is judged that found the minima of the pulsating quantity of motor drive current waveform, entered step S200.
The pulsating quantity of the pulsating quantity of this motor drive current waveform and previous motor drive current waveform is compared by step S150, it is judged that whether its difference is below setting. Here, in the judgement of step S150 adopt setting, be set greater than in the judgement of step S140 adopt setting. If difference is (step S150 is) below setting, judge that current modified gain M becomes the gain-boosted op amp coefficient M0 of minima close to the pulsating quantity of motor drive current waveform, the amount making the scale magnitude Δ M of modified gain M becomes half (step S160), is subsequently transferred to step S170. On the other hand, if difference is not up to (step S150's is no) below setting, it is judged that current modified gain M also farther out, transfers to step S170 when maintaining the amount of scale magnitude Δ M of modified gain M.
In step S170, it is judged that whether the pulsating quantity of this motor drive current waveform is less than the pulsating quantity of previous motor drive current waveform. If this pulsation of current amount is more than previous pulsation of current amount (step S170's is no), then makes the increase and decrease direction of the modified gain M of next time become and previous rightabout (step S180), and transfer to step S190. On the other hand, if this pulsation of current amount is less than previous pulsation of current amount (step S170 is), then makes the increase and decrease direction of the modified gain M of next time keep and previous equidirectional, and transfer to step S190. In step S190, M is only changed the scale magnitude Δ M of modified gain M, and returns step S110.
Modified gain M is set as the gain-boosted op amp coefficient M0 of voltage modification model by step S200. In example shown in Fig. 8, because the pulsating quantity of motor drive current becomes minimum during M=2, so the gain-boosted op amp coefficient M0 of voltage modification model is set as 2.
Fig. 6 (b) represents the voltage modification model that the modification model shown in Fig. 3 (d) gives phase pushing figure θ=60 °, modified gain M=2, and have modified the example of motor drive current during motor driven voltage waveform according to it. In the example of Fig. 6 (b), the wave height value of motor drive current waveform is all consistent, and motor drive current does not pulse (in Fig. 8 pulsating quantity=0).
In the follow-up step S210 of step S200, the motor driven voltage waveform modification portion 11 motor driven voltage waveform according to each phase of the voltage modification model correction imparting phase only pupil filter coefficient θ 0, gain-boosted op amp coefficient M0, read in the motor drive current of each phase in synchronous motor 4 driving condition that 1 turn of motor is load torque fluctuation 1 cycle load factors from motor drive current storage part 7, and calculate the peak swing value from motor drive current and deduct the value pulsating quantity (undulate quantity) as motor drive current waveform of minimum amplitude value. In step S220 subsequently, it is judged that whether the pulsating quantity of the motor drive current waveform calculated is below setting. If pulsating quantity is (step S220 is) below setting, it is judged that motor driven voltage waveform has been adapted to the best, return step S210. If pulsating quantity is (step S220's is no) not below setting, judge that motor driven voltage waveform is not also adapted to the best, gain-boosted op amp coefficient M0 is substituted into modified gain M (step S230), returns step S110, carry out detecting again of gain-boosted op amp coefficient M0.
It addition, step of replacing S210～S230 or in addition, for instance can arrange often through the stipulated time mandatory step detected again carrying out gain-boosted op amp coefficient M0. Additionally, step S210 can carry out at any time, it is also possible to intermittently carry out by the time of regulation.
Additionally, according to load factors, and according to load torque amount and rotating speed, the value of the phase pushing figure that the pulsating quantity of motor drive current becomes minimum voltage modification model also can change sometimes, so now, when step S220 no, it is possible to return step S10.
Motor driven voltage waveform modification portion 11 carries out the action of the flow process shown in above-mentioned Fig. 4 A and Fig. 4 B, even if thus the information of position-sensor-free and the link position of load factors that do not drive about synchronous motor 4 and synchronous motor 4, the information of the relation of the mechanical angle of load factors that namely drives about the electrical angle of synchronous motor 4 and synchronous motor 4, it also is able to reduce the pulsating quantity (being zero ideally) of motor drive current, it is possible to high efficiency drives synchronous motor 4.
In addition, motor driven voltage waveform modification portion 11 carries out the action of the flow process shown in above-mentioned Fig. 4 A and Fig. 4 B, thus even without the information of the fluctuation about load torque amount, it also is able to the fluctuation according to load torque amount and reduces the pulsating quantity (being zero ideally) of motor drive current, it is possible to high efficiency drives synchronous motor 4.
In addition, motor driven voltage waveform modification portion 11 carries out the action of the flow process shown in above-mentioned Fig. 4 A and Fig. 4 B, thus can with two correction factor (phase only pupil filter coefficients, gain-boosted op amp coefficient) revise a voltage modification model to control the motor torque of synchronous motor 4, so can easy and continuous control motor.
<the 2nd embodiment>
The brief configuration of the motor control assembly of the 2nd embodiment of the present invention is identical with the brief configuration of the motor control assembly of the 1st embodiment of the present invention.
Motor driven voltage waveform modification portion 11 carries out the action of the flow process shown in Fig. 9 A and Fig. 9 B in the present embodiment. Flow process shown in Fig. 9 A and Fig. 9 B, relative to the flow process shown in Fig. 4 A and Fig. 4 B, implements the first change that step S70 and S80 is replaced into step S61～S66, and step S90 is replaced into second change of step S91. Carried out the action of the flow process shown in Fig. 9 A and Fig. 9 B by motor driven voltage waveform modification portion 11, the motor control assembly of present embodiment plays the effect same with the motor control assembly of the 1st embodiment of the present invention.
Below, illustrate to change and the action in the second motor driven voltage waveform modification portion 11 changed about first, change about first and second change beyond the action in motor driven voltage waveform modification portion 11, description will be omitted due to identical with the 1st embodiment of the present invention.
In step S61, the pulsating quantity of the pulsating quantity of this motor drive current waveform Yu previous motor drive current waveform is compared by motor driven voltage waveform modification portion 11, it is judged that whether its difference is below setting. If difference is (step S61's is no) not below setting, it is judged that do not find the minima of the pulsating quantity of motor drive current waveform, enter step S62. On the other hand, if difference (step S61 is) below setting, then judge the minima having found the pulsating quantity of motor drive current waveform, enter step S91.
In step S62, the pulsating quantity of the pulsating quantity of this motor drive current waveform Yu previous motor drive current waveform is compared, it is judged that whether its difference is below setting. Here, the setting adopted in the judgement of step S62, it is set as the value bigger than the setting adopted in the judgement of step S61. If difference is below setting (step S62 is), judge that current phase pushing figure θ becomes the phase pushing figure θ 0 of minima close to the pulsating quantity of motor drive current waveform, the amount of the scale magnitude Δ θ of the amount of dephasing θ becomes half (step S63), is subsequently transferred to step S64. On the other hand, if difference is not up to (step S62's is no) below setting, it is judged that current phase pushing figure θ also farther out, transfers to step S64 when maintaining the amount of scale magnitude Δ θ of phase pushing figure θ.
In step S64, it is judged that whether the pulsating quantity of this motor drive current waveform is less than the pulsating quantity of previous motor drive current waveform. If this pulsation of current amount is more than previous pulsation of current amount (step 64 no), then makes the increase and decrease direction of the phase pushing figure θ of next time become and previous rightabout (step S65), and transfer to step S66. On the other hand, if this pulsation of current amount is less than previous pulsation of current amount (step S64 is), then makes the increase and decrease direction of the phase pushing figure θ of next time keep and previous equidirectional, and transfer to step S66. In step S66, θ is only changed the scale magnitude Δ θ of phase pushing figure θ, and returns step S40. So, if below the setting that the difference of the pulsating quantity of the pulsating quantity of this motor drive current waveform and previous motor drive current waveform sets in step S61, even if load torque fluctuation 1 cycle that 1 turn of the motor of the program of step S40～step S66 is in load factors does not terminate, also can jump out from the program of step S40～step S66, therefore can realize shortening and process the time.
In step S91, phase pushing figure θ is set as the phase only pupil filter coefficient θ 0 of voltage modification model by motor driven voltage waveform modification portion 11.
<the 3rd embodiment>
In 3rd embodiment of the present invention, the definition method of voltage modification model is different with the 1st embodiment of the present invention, identical with the 1st embodiment of the present invention in addition.
In the present embodiment, when making load factors rotate with certain torque (motor torque is certain), measure the angular velocity change in load torque fluctuation 1 cycle, and determine voltage modification model according to its fluctuation model.
During by certain torque actuated load factors, angular velocity speedup in load torque is less than the mechanical angle of average load torque, in load torque is more than the mechanical angle of average load torque, angular velocity slows down. Velocity energy is become, even so the voltage modification model defined according to the definition method in present embodiment, the voltage modification model same with the 1st embodiment of the present invention also can be obtained during owing to power being integrated. Therefore, the effect that the motor control assembly of present embodiment plays and the motor control assembly of the 1st embodiment of the present invention is same, even and if do not measure load torque curve and also can obtain modification model, so having the advantage that can define voltage modification model easily than the 1st embodiment of the present invention.
<the 4th embodiment>
In 4th embodiment of the present invention, the definition method of voltage modification model is different with the 1st embodiment of the present invention and the 3rd embodiment, identical with the 1st embodiment of the present invention and the 3rd embodiment in addition.
Comparing the voltage modification model of definition in the 1st embodiment or the 3rd embodiment of the present invention, present embodiment defines the voltage modification model that the correction (correction during modified gain amount M=1) of voltage modification model itself diminishes. Such as, the voltage modification model of definition in the 1st embodiment of the present invention can be multiplied by the pattern voltage modification model as present embodiment of the modified gain amount of the regulation bigger and less than 1 than 0, it is also possible to the voltage modification model of definition in the 3rd embodiment of the present invention is multiplied by the pattern voltage modification model as present embodiment of the modified gain amount of the regulation bigger and less than 1 than 0.
So, when detecting phase only pupil filter coefficient (step S10～S90) with M=1, it is possible to prevent voltage increment excessive and make motor drive instability, situation about even lacking of proper care. Additionally, when detecting gain-boosted op amp coefficient (step S100～S200), owing to gain-boosted op amp coefficient is determined substantially more than 1, so having the advantage can omitted step S170 and S180, can faster obtain gain-boosted op amp coefficient. Additionally, the definition of voltage modification model is not changed from the 1st embodiment of the present invention or the 3rd embodiment, and initial modified gain amount M during by phase only pupil filter coefficient and gain-boosted op amp coefficient being detected is set to less than 1, it is also possible to obtain and above-mentioned same effect.
The correction (correction during modified gain amount M=1) of the voltage modification model preferably defined in the present embodiment itself, is less than half of correction (correction during modified gain amount M=1) of the voltage modification model defined in the 1st embodiment of the present invention or the 3rd embodiment itself. Now, owing to more than 2 can be become by prediction gain correction factor, so also materials'use can be judged as when detecting gain-boosted op amp coefficient (step S100～S200).
<the 5th embodiment>
The brief configuration of the motor control assembly of the 5th embodiment of the present invention is identical with the brief configuration of the motor control assembly of the 1st embodiment of the present invention.
Motor driven voltage waveform modification portion 11 carries out the action of the flow process shown in Figure 10 A and 10B in the present embodiment. Relative to the flow process shown in Fig. 4 A and 4B, step S90 is replaced into the 3rd change of step S92～S95 by the flow implementation shown in Figure 10 A and 10B.
Hereinafter, illustrating about the 3rd action in motor driven voltage waveform modification portion 11 changed, the action in the motor driven voltage waveform modification portion 11 beyond relevant 3rd change, description will be omitted due to identical with the 1st embodiment of the present invention.
In step S92, the pulsating quantity that motor driven voltage waveform modification portion 11 sets motor drive current becomes the phase pushing figure θ 1 of minimum voltage modification model.
In the follow-up step S93 of step S92, motor driven voltage waveform modification portion 11 judges the difference of phase pushing figure θ 1 and the difference of phase only pupil filter coefficient value in the past, phase pushing figure θ 1 and the value corresponding with the phase only pupil filter coefficient value in past, if all more than setting (such as 10 °).
Owing to phase only pupil filter coefficient becomes the angle determined (such as in theory, when the motor of three-phase and quadrupole, phase only pupil filter coefficient only takes two values of separately 180 ° in theory), so the phase only pupil filter coefficient detected in the past being stored in non-volatile storage part etc., difference as phase pushing figure θ 1 and phase only pupil filter coefficient value in the past, phase pushing figure θ 1 and the value corresponding with the phase only pupil filter coefficient value in past are (such as, when the motor of three-phase and quadrupole, separate the value of 180 ° from the phase only pupil filter coefficient value in past) difference, time all more than setting (such as 10 °), judge load factors not within normal range (such as, the load of refrigeration unit is under overload state, the pressure and temperature of the cold-producing medium entering compressor (load factors) is too high), until judging that load factors is in normal range, phase pushing figure θ 1 is not set as new phase only pupil filter coefficient. the following process of concrete execution.
If the difference of phase pushing figure θ 1 and the difference of phase only pupil filter coefficient value in the past, phase pushing figure θ 1 and the value corresponding with the phase only pupil filter coefficient value in past, all more than setting (step S93 is), then judge whether step S92 performs stipulated number (step S94). (step S94 is) the process ends action when step S92 performs stipulated number, drives synchronous motor 4 when without voltage modification model correction motor driving fundamental voltage waveform. When step S92 is not carried out stipulated number (step S94's is no), return step S10 again carries out phase place and detects.
If at least one of the difference of phase pushing figure θ 1 and the difference of phase only pupil filter coefficient value in the past, phase pushing figure θ 1 and the value corresponding with the phase only pupil filter coefficient value in past is less than setting (step S93's is no), then phase pushing figure θ 1 is set to the phase only pupil filter coefficient θ 0 (step S95) of voltage modification model.
Present embodiment is prevented from the correction factor optimization of voltage modification model when load factors is not within normal range. In addition, in this condition, the rotating speed of synchronous motor 4 can be controlled at the rotating speed (such as maintenance rotating speed during electric motor starting) being not less than regulation, now when load factors is not within normal range, it is possible to prevent the rotating speed of the not enough regulation of synchronous motor 4, thus preventing vibration and imbalance.
It addition, step of replacing S94, it is possible to arrange and the elapsed time starting from flow process action is carried out timing and judges the step whether described elapsed time exceed schedule time. In addition, when being judged as that step S92 performs stipulated number and be judged as from the flow process of Figure 10 A and Figure 10 B start elapsed time exceeded the stipulated time time, can not process ends action, and using the phase only pupil filter coefficient in the past phase only pupil filter coefficient θ 0 as this and transfer to step S100.
<the 6th embodiment>
As an example of voltage modification model in 1st embodiment of the present invention, describing the voltage modification model that correspondence has the load factors of this load torque characteristic of the reciprocating-type compressor shown in Fig. 3, the 6th embodiment of the present invention adopts the voltage modification model of the corresponding load factors with the single rotor this load torque characteristic of type compressor shown in Figure 1A.
Figure 11 (a), for the load factors with the single rotor this load torque characteristic of type compressor shown in Figure 1A, illustrates the load torque characteristic in 1 cycle. In Figure 11 (a), load torque meansigma methods B be the load torque values in 1 cycle by load torque curve A average after value.
The curve C of Figure 11 (b) is in the curve of Figure 11 (a), obtains the value of (load torque meansigma methods B)-(load torque A) in each angle, and with curve that angle is integrated. Owing to load torque curve A is close to sinusoidal wave shape, if so can be sinusoidal wave (sin θ) by load torque curve approximation, then the curve of Figure 11 (c) approximate for curve C can be made to become cosine wave shape (=cos θ).
The brief configuration of the motor control assembly of present embodiment, identical with the brief configuration of the motor control assembly of the 1st embodiment of the present invention, because the action in motor driven voltage waveform modification portion 11 is also identical with any one of the 1st embodiment～the 5th embodiment of the present invention, so omitting the description here.
<compressor drive apparatus and freezing, air-conditioning device>
In the compressor used in freezing, air-conditioning device etc., owing to inside is in the condition of high temperature, it is difficult to be arranged to the position sensor of the rotor-position of detection Hall integrated circuit etc., so needing to drive synchronous motor with position-sensor-free. At this, the motor control assembly of the present invention is used to drive the synchronous motor of compressor drive apparatus. This way it is not necessary to the current sensor that the current sensor being made up of coil and Hall element, current transformer etc. are for detecting alternating current, and do not need position sensor. Namely, even the mechanical angle information such as the top dead centre of compressor are not clear and do not possess the compressor even load key element understanding the sensor needed for mechanical angle, by connecting arbitrary synchronous motor and controlling with the motor control assembly of the present invention, it is possible to high efficiency drives synchronous motor.
And, will be provided with the compressor drive apparatus of the motor control assembly of the described present invention and be loaded in freezing, air-conditioning device. in such manner, it is possible to make the freezings such as refrigerator, freezer, air conditioner, the operating of air-conditioning device. such as, when air conditioner, compressor is connected at least provided with by refrigerant piping, outdoor heat converter, the refrigerant loop of expansion gear and indoor heat converter, compressor is driven by the compressor drive apparatus of the motor control assembly possessing the present invention, and switch four limit valves, thus make the flow direction of the cold-producing medium in refrigerant loop become the direction of compressor → outdoor heat converter → expansion gear → indoor heat converter → compressor when carrying out cooling operation, the flow direction making the cold-producing medium in refrigerant loop when carrying out heating operating becomes the direction of compressor → indoor heat converter → expansion gear → outdoor heat converter → compressor.
Additionally, the purposes of the motor control assembly of the present invention is not limited in freezing, air-conditioning device etc. the motor driving of the compressor used, it is possible to use the motor control assembly of the present invention with the variable-ratio of the synchronous motor of the load factors of periodic load torque ripple in all drivings control. By adopting the motor control assembly of the present invention, it is possible to achieve high efficiency and stable driving.
<summary>
This concludes the description of embodiments of the present invention, but the scope of the present invention is not limited to this, various change can be applied in the scope without departing from the invention thought of the present invention. For example, it is possible to realized the function identical with microcomputer A1 by multiple microcomputers, it is also possible to realized part or all of function of microcomputer A1 by special electric wiring etc. Furthermore it is possible to multiple embodiments are implemented in combination. Implement for example, it is possible to the 2nd embodiment and the 3rd embodiment are combined.
Motor control assembly described above, control the motor (4) for driving the load factors with periodic load torque ripple, described motor control assembly includes: voltage modification model storage part (8), stores the voltage modification model corresponding with the angle in 1 cycle of described load torque fluctuation; Motor driven voltage waveform generating unit (10), generates and is used for driving the fundamental voltage waveform of described motor (4); And motor driven voltage waveform modification portion (11), described voltage modification model is given correction factor, revises described fundamental voltage waveform, detect the undulate quantity being driven motor drive current during described motor (4) by the motor drive signal that generated by described motor driven voltage waveform modification portion (11), using the undulate quantity of described motor drive current as index, determine described correction factor (the first structure).
According to this configuration, even if position-sensor-free and not about the information of motor and the link position of motor-driven load factors namely about the information of the electrical angle of motor and the relation of the mechanical angle of load factors, it also is able to reduce the pulsating quantity (being zero ideally) of motor drive current, such that it is able to high efficiency drive motor.
In motor control assembly preferably in above-mentioned first structure, described correction factor comprises the phase place of the described voltage modification model relative to described fundamental voltage waveform, using described phase place as different values, drive described motor time the result that compares of the undulate quantity of described motor drive current as index, determine described phase place (the second structure).
According to this configuration, even without the information of the relation of the mechanical angle about the electrical angle of motor and load factors, it is also possible to determine to be suitable for the phase place of the voltage modification model of the relation of the mechanical angle of the electrical angle of motor and load factors, it is possible to high efficiency drive motor.
In motor control assembly preferably in the above-mentioned first or second structure, described correction factor comprises the gain of described voltage modification model, using described gain as different values, drive described motor time the result that compares of the undulate quantity of described motor drive current as index, determine described gain (the 3rd structure).
According to this configuration, even without the information of the fluctuation about load torque amount, it is also possible to the fluctuation of corresponding load torque amount, reduce the pulsating quantity (being zero ideally) of motor drive current, such that it is able to high efficiency drive motor.
Preferably in the motor control assembly of arbitrary structures in the above-mentioned first～the 3rd, the shape of described voltage modification model is, based on the value of load torque values of each angle that the meansigma methods of the load torque in described 1 cycle of described load factors deducts described load factors, the shape (the 4th structure) of function that is integrated with the angle of described load factors.
According to this configuration, the general shape of voltage modification model can be made to be similar to the general shape accurately of velocity perturbation pattern of rotor of motor, so the high precision int that motor torque controls can be expected.
Preferably in the motor control assembly of arbitrary structures in the above-mentioned first～the 3rd, measuring the angular velocity in load torque fluctuation 1 cycle when making described load factors rotate with certain torque to change, the shape of described voltage modification model is based on the shape of its fluctuation model (the 5th structure).
According to this configuration, even if not measuring load torque curve also can obtain modification model, voltage modification model can therefore be defined easily.
In motor control assembly preferably in above-mentioned 4th or the 5th structure, the shape of described voltage modification model is, described function based on comparing or described fluctuation model, the shape (the 6th structure) correction reduced.
According to this configuration, it is possible to prevent voltage increment excessive and make motor drive instability, situation about even lacking of proper care.
Preferably in the motor control assembly of arbitrary structures in the above-mentioned first～the 6th, determine the candidate value of described correction factor, difference when described candidate value with the difference of value of described correction factor in the past, described candidate value and the value corresponding with the value of the described correction factor in past, time all more than setting, do not adopt described candidate value (the 7th structure).
According to this configuration, owing to can prevent the correction factor optimization of voltage modification model when load factors is not within normal range, so in the load factors not state within normal range, it is possible to prevent motor to reach the rotating speed (the maintenance rotating speed during startup of such as motor) of regulation below, thus preventing vibration and imbalance.
Freezing described above, air-conditioning device include: the motor control assembly of arbitrary structures in the above-mentioned first～the 7th; The synchronous motor (4) driven by described motor control assembly; And the compressor (the 8th structure) that described synchronous motor (4) drives.
The explanation of accompanying drawing labelling
1 alternating current power supply
2 change-over circuits
3 inverter circuits
4 synchronous motors
5 current detection circuits
6 motor drive current inferring portion
7 motor drive current storage parts
8 voltage modification model storage parts
9 speed setting unit
10 motor driven voltage waveform generating units
11 motor driven voltage waveform modification portions
12PWM waveform generating unit
A1 microcomputer
R1 current sense resistor (shunt resistance)

Claims (5)

1. a motor control assembly, controls the motor for driving the load factors with periodic load torque ripple, and described motor control assembly is characterised by,
Including:
Voltage modification model storage part, stores the voltage modification model corresponding with the angle in 1 cycle of described load torque fluctuation;
Motor driven voltage waveform generating unit, generates the fundamental voltage waveform for driving described motor; And
Motor driven voltage waveform modification portion, gives correction factor to described voltage modification model, revises described fundamental voltage waveform,
The undulate quantity of motor drive current when detecting by the motor drive signal that generated by the described motor driven voltage waveform modification portion described motor of driving, using the undulate quantity of described motor drive current as index, determines described correction factor.
2. motor control assembly according to claim 1, it is characterized in that, described correction factor comprises the phase place of the described voltage modification model relative to described fundamental voltage waveform, using described phase place as different values, drive described motor time the result that compares of the undulate quantity of described motor drive current as index, determine described phase place.
3. motor control assembly according to claim 1 and 2, it is characterized in that, described correction factor comprises the gain of described voltage modification model, using described gain as different values, drive described motor time the result that compares of the undulate quantity of described motor drive current as index, determine described gain.
4. the motor control assembly according to any one in claims 1 to 3, it is characterized in that, the shape of described voltage modification model is, based on the value of load torque values of each angle that the meansigma methods of the load torque in described 1 cycle of described load factors deducts described load factors, the shape of function that is integrated with the angle of described load factors.
5. a freezing, air-conditioning device, it is characterised in that including:
Motor control assembly described in any one in Claims 1 to 4;
The synchronous motor driven by described motor control assembly; And
The compressor of described synchronous machine drives.
CN201480058570.4A 2013-11-19 2014-08-21 Motor control assembly and freezing, air-conditioning device Active CN105683571B (en)

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CN110296065A (en) * 2019-07-15 2019-10-01 深圳市锐钜科技有限公司 A kind of compressor torque compensation method inhibiting DC bus-bar voltage fluctuation
CN110296065B (en) * 2019-07-15 2020-12-18 深圳市锐钜科技有限公司 Compressor torque compensation method for inhibiting voltage fluctuation of direct-current bus
CN112994571A (en) * 2019-12-17 2021-06-18 广东美芝制冷设备有限公司 Compressor, control method thereof, torque compensation method, torque compensation device and storage medium
CN112994571B (en) * 2019-12-17 2023-03-14 广东美芝制冷设备有限公司 Compressor, control method thereof, torque compensation method, torque compensation device and storage medium
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