CN108139229B - The rotor position detector abnormity determining device of control device of electric motor - Google Patents
The rotor position detector abnormity determining device of control device of electric motor Download PDFInfo
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- CN108139229B CN108139229B CN201680019668.8A CN201680019668A CN108139229B CN 108139229 B CN108139229 B CN 108139229B CN 201680019668 A CN201680019668 A CN 201680019668A CN 108139229 B CN108139229 B CN 108139229B
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- 238000001514 detection method Methods 0.000 claims abstract description 37
- 230000002159 abnormal effect Effects 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000000605 extraction Methods 0.000 claims description 9
- 239000004615 ingredient Substances 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 3
- 230000009466 transformation Effects 0.000 abstract description 19
- 230000005856 abnormality Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000006866 deterioration Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000518 rheometry Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Ac Motors In General (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Reliably determine that the information of rotor position detector (2) is abnormal due to mechanical vibrations, for example due to the bad generated vibration of the installation to motor (1).A kind of control device of electric motor, has: speed control system (velocity arithmetic portion (3), speed controlling portion (4)), controls speed using the detection information of rotor position detector (2)；And current control system (current control unit (8)), electric current is controlled according to the output for the dq transformation component (6) that the three-phase detection current of motor (1) is transformed to d-q axis on the basis of the detection information of the detector (2), wherein the control device of electric motor has: higher hamonic wave test section (11), and the vibration component (Id_h) of d shaft current is extracted from the d shaft current Id obtained with dq transformation component (6)；And encoder information abnormality determination unit (12), whether the vibration component for determining the d shaft current extracted as higher hamonic wave test section (11) is the vibration due to caused by mechanical main cause, in the case where being vibrated due to caused by mechanical main cause, when the vibration component continue for setting time or more, it is determined as that the detection information of rotor position detector (2) is abnormal.
Description
Technical field
The present invention relates to use the rotor position detectors such as rotary encoder to obtain the rotor-position of motor/speed letter
Breath, controls the rotor position detector abnormity determining device in the power-converting device of motor.
Background technique
As the detection information control electricity according to the rotor position detector (position/velocity sensor) for being installed on motor
The device of motivation, the control device of electric motor of the use vector control mode for example shown in Fig. 4 with position/velocity sensor.
In Fig. 4,1 is the motor of three-phase, and the rotor-position for being equipped with detection rotor-position (rotation angle) to motor 1 is examined
Survey device 2.3 be the velocity arithmetic portion according to the rotation speed of the detection signal operation motor of rotor position detector 2.4 be so that
The mode that the rotation speed calculated by velocity arithmetic portion 3 becomes the speed value in speed command portion 5 is controlled, and is exported
The speed controlling portion of current instruction value.
6 be the location information of the rotor to be obtained by rotor position detector 2, i.e. on the basis of phase information, to by unsteady flow
The detection of device (current sensor) 7 flows through three-phase detection current obtained from three-phase (u, v, w) electric current of motor 1 and carries out three-phase one or two
The dq transformation component of phase inversion, rotating coordinate transformation.
8 be so that d-q shaft current obtained from being converted as dq transformation component 6 becomes refers to from the electric current that speed controlling portion 4 exports
It enables the mode of value be controlled, and exports the current control unit of d-q shaft voltage instruction value.
9 be the location information of the rotor to be obtained by rotor position detector 2, i.e. on the basis of phase information, to from electric current
The d-q shaft voltage instruction value that control unit 8 exports carries out-three phase inversion of two-phase, and exports the three-phase of the voltage instruction of each phase of three-phase
Transformation component.
10 be the thyristor with the connection of such as three-phase bridge, according to the voltage instruction of three-phase transformation component 9 to horse
Up to the power converter (inverter) of 1 supply three-phase ac power, the PWM modulation portion omitted by diagram is to three phase inversion
The control signal (gate-control signal of thyristor) that the voltage instruction in portion 9 carries out PWM modulation and generates controls.
As described above, in the case where carrying out the vector controlled with position/velocity sensor (rotor position detector 2),
Speed control and current control are carried out using the location/velocity information of sensor.
Definition as illustrated in fig. 5 carries out the UVW three-phase in-two phase inversion of three-phase and the vector controlled of rotating coordinate transformation
Coordinate system, α β fixed coordinate system, dq rotating coordinate system.That is, each axis of three-phase current UVW is transformed by-two phase inversion of three-phase
To α β axis, d-q axis is converted to by rotating coordinate transformation.D-q axis is respectively DC quantity.
D-q axis is respectively steady state value under stabilized speed, after change speed instruction, is transferred under the speed value
The such value of d-q axis value.During the transfer, d-q axis value has vibration component in a transient state.
In dq transformation component 6, d-q reference axis can be defined arbitrarily after carrying out uvw → dq transformation, but it is general and
Speech controls for ease of controlling the torque of motor to keep d axis consistent with the magnetic flux of motor.It is used for rotating coordinate system definition
When the coordinate of control, believed with the location information of the rotor obtained from such as rotary encoder (rotor position detector 2), i.e. phase
It is coordinately transformed on the basis of breath.D-q axis synchronously rotates in the case where synchronous motor with speed, in induction electric
It is rotated in the case where machine (IM) with the Frequency Synchronization of primary side.Electric current obtained from being coordinately transformed on d-q axis
Value is DC quantity.
As 2 use example of rotor position detector rotary encoder as shown in FIG. 6 (absolute encoder).In Fig. 6
In, 60 are arranged to the armature rotated freely by rotary shaft 61, which is formed with the disk rail of multiple tracks
Road D1~Dn(only showing the amount there are two track in the example shown).
Lens 62 are provided with light source 63 in the top position of armature 60, in lower position across with multiple solid
The fixed slit plate 64 for determining slit is equipped with light receiving element 65.
Via lens 62, disk track D1~DnAnd fixed slit plate 64, the light of light source 63, root are received in light receiving element 65
The absolute position signal of predetermined bit structure is obtained according to the output signal of each light receiving element 65.
In addition, proposing such as patent about exception and apparatus for diagnosing deterioration with the associated motor device of the present invention
The device that document 1 is recorded.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2003-156547 bulletin
Summary of the invention
As shown in figure 4, carrying out speed control using the detection information (location/velocity information) of rotor position detector 2
And in the device of current control, in the case where the detection information mistake of rotor position detector 2, also can not suitably it carry out
Speed control and current control.Therefore, in the case where speed fluctuation or load change sharply occurs, it is possible to produce
Over current fault or hypervelocity failure and device is destroyed.
In turn, in the case where the vibration of the location/velocity information of rotor position detector 2, include height in output electric current
Subharmonic ingredient and lose increase.In the case where permasyn morot (PM motor), there are it is increased loss become heat and
A possibility that temperature of rotor magnet rises and subtracts magnetic.
For example, there is rotation in the control device of the Fig. 4 for the rotary encoder for using Fig. 6 as rotor position detector 2
Turning encoder, there is a situation where install bad and motor 1 to be coupled abnormal situation, the vibration of the output signal of rotary encoder.
As shown in fig. 6, the armature 60 for being installed on rotary shaft 61 is movable part, other structures part is fixed, so
When rotary encoder itself is by mechanical vibrations, light source 63, lens 62, the fixed slit plate 64, light that should fix originally
The positional relationship of element 65 generates shake, so the output of rotary encoder generates the shake of phase.Therefore, it is input to dq transformation
The phase signal in portion 6 also generates shake.Therefore, because phase information used in coordinate transform is vibrated, so the electricity on d-q axis
Stream also vibrates.The vibration component becomes higher harmonic component, and the loss of motor increases.
In the case where permasyn morot (PM motor), when losing increase, the temperature of rotor magnet is possible to meeting
Rise and subtracts magnetic.Even if in the case where induction conductivity (IM), it is also possible to occur short circuit caused by the deterioration of insulant or certain
The scaling loss of kind substance.In addition, since control performance also deteriorates, so speed fluctuation sharply or the feelings of load change occur
Under condition, it is possible to produce over current fault, hypervelocity failure and device is destroyed.Under existing conditions, there are no in order to prevent this
No matter how and all a little problem, the types of rotary encoder determine whether the function of the exception such as faulty using encoder information.
The present invention solves the above subject, and its purpose is to provide one kind can reliably determine due to mechanical vibrations, example
As the information of rotor position detector is that abnormal Motor Control fills due to vibrating caused by the installation to motor is bad
The rotor position detector abnormity determining device set.
In order to solve the above problems, the 1st aspect according to the present invention, provides a kind of rotor-position of control device of electric motor
Detector abnormity determining device, the control device of electric motor is according to the detection information of the rotor position detector for being installed on motor
Motor is controlled, the rotor position detector abnormity determining device has:
Vibration component extraction unit is mentioned from the three-phase detection current of motor is transformed in d shaft current obtained from d-q axis
Take the vibration component of d shaft current；And
Rotor position detector Information abnormity determination unit determines the d shaft current extracted by the vibration component extraction unit
Vibration component whether be the vibration due to caused by mechanical main cause, be due to caused by mechanical main cause
In the case where vibration, when the vibration component continue for setting time or more, it is determined as the detection information of rotor position detector
It is abnormal.
According to above structure, according to the vibration of d shaft current obtained from the detection current transformation to d-q axis by motor at
Divide and carry out abnormal determination, so can reliably determine to be produced by mechanical vibrations, for example because the installation to motor is bad
The information of raw vibration and rotor position detector is abnormal.
In addition, the 2nd aspect according to the present invention, in the rotor position detector abnormity determining device of control device of electric motor
In, the rotor position detector Information abnormity determination unit has:
Virtual value operational part carries out operation to the virtual value of the vibration component of the d shaft current；
First comparing section, to the comparable electricity of noise other than being set as and being vibrated due to caused by mechanical main cause
First decision content of flow valuve and the virtual value calculated are compared；
Counter, the comparison result to the first comparing section are that virtual value when virtual value is greater than the first decision content is greater than first
The time of decision content is counted；And
Second comparing section, to the second decision content and the counter of the allowed time for being set to generate alternating component
Gate time is compared,
When the gate time that the comparison result of the second comparing section is counter is greater than the second decision content, it is determined as rotor position
The detection information for setting detector is abnormal.
According to above structure, because being provided with the first comparing section, can prevent due to by mechanical main cause
Noise and misinterpretation other than caused vibration.
In addition, can prevent because being provided with the second comparing section due within the allowed time for generating alternating component
The alternating component of generation for example generates the high-frequency current component generated when the speed fluctuation of instantaneity in the motor and judges by accident
It is fixed.
In addition, the 3rd aspect according to the present invention, in the rotor position detector abnormity determining device of control device of electric motor
In, the control device of electric motor has:
Speed control system controls speed according to the detection information of rotor position detector；And
Current control system, according on the basis of the detection information of rotor position detector that the three-phase detection of motor is electric
Rheology changes to the output control electric current of the coordinate converting section of d-q axis.
According to above structure, carried out according to the abnormal detection information of rotor position detector output speed control and
Current control can prevent exceed the speed limit failure and over current fault.
In addition, the 4th aspect according to the present invention, in the rotor position detector abnormity determining device of control device of electric motor
In, the vibration component extraction unit has high-pass filter.
In addition, the 5th aspect according to the present invention, in the rotor position detector abnormity determining device of control device of electric motor
In, the vibration component extraction unit has the bandpass filter for only making to pass through with the comparable frequency band of mechanical vibrations.
(1) according to the 1st~5 of invention the aspect, because according to obtained from the detection current transformation to d-q axis by motor
The vibration component of d shaft current carries out abnormal determination, so can reliably determine due to mechanical vibrations, for example because to electronic
Vibration caused by the installation of machine is bad and the information of rotor position detector is abnormal.
(2) the 2nd aspect according to the present invention, can prevent making an uproar other than vibrating due to caused by mechanical main cause
Misinterpretation caused by sound and the alternating component generated within the allowed time for generating alternating component, improves judgement precision.
(3) the 3rd aspect according to the present invention carries out speed according to the abnormal detection information of rotor position detector output
Control and current control can prevent exceed the speed limit failure and over current fault.
Detailed description of the invention
Fig. 1 is the block diagram for showing the structure of embodiments of the present invention example.
Fig. 2 is the block diagram for showing the details of major part of the embodiment of the present invention 1.
Fig. 3 is the block diagram for showing the details of major part of the embodiment of the present invention 2.
Fig. 4 is the block diagram for showing an example using control device of electric motor of the invention.
Fig. 5 is the explanatory diagram for showing the definition of the control reference axis in vector controlled.
Fig. 6 is the structure chart using absolute encoder of the invention.
Specific embodiment
Hereinafter, the embodiments of the present invention will be described with reference to the drawings, and the present invention is not limited to following embodiment party
Formula example.Fig. 1 shows the structure of present embodiment example, and part identical with Fig. 4 is indicated with the same symbol.
In Fig. 1, be to be provided with higher hamonic wave test section 11 (vibration component extraction unit) with the difference of Fig. 4, from by
The vibration component (alternating component) that d shaft current in d-q shaft current obtained from dq transformation component 6 converts extracts d shaft current is i.e. high
Subharmonic；And encoder information abnormality determination unit 12 (rotor position detector Information abnormity determination unit), determine by the height
Whether the vibration component for the d shaft current that subharmonic test section 11 extracts is the vibration due to caused by mechanical main cause
It is dynamic, in the case where being vibrated due to caused by mechanical main cause, it continue for setting time or more in the vibration component
When, it is determined as the detection information of rotor position detector 2 to be abnormal, other parts are configured to identical as Fig. 1.
In addition, as rotor position detector 2, use example rotary encoder as shown in FIG. 6, in the following description,
Sometimes rotor position detector is also referred to as encoder.
With 6 pairs of dq transformation component obtained from the electric current of motor 1 is flowed through in current transformer 7 (current sensor) detection electric currents
In current information after progress-two phase inversion of three-phase, rotating coordinate transformation, there are d shaft current detected value (Id) and the inspection of q shaft current
The two ingredients of measured value.In present embodiment example, it is configured to be encoded according to the information of d shaft current detected value as shown in Figure 1
The positive misinterpretation of device information.
It is DC quantity using the d shaft current detected value (Id) after the progress rotating coordinate transformation of dq transformation component 6, usually will not
Vibration.Therefore, the vibration component (Id_h) that d shaft current is extracted using higher hamonic wave test section 11 utilizes encoder information exception
Determination unit 12 determines whether the vibration component is the vibration due to caused by mechanical main cause, to carry out encoder information
Positive misinterpretation, for mistake in the case where, be determined as exception.
In embodiment 1 below, embodiment 2, above-mentioned higher hamonic wave test section 11 and encoder information is described in detail
Abnormality determination unit 12.
(embodiment 1)
Fig. 2 shows the detailed constructions of higher hamonic wave test section 11 and encoder information abnormality determination unit 12 in Fig. 1.
11a is that have to carry out high baseband processing to d shaft current detected value Id to extract the high-pass filtering of the vibration component Id_h of d shaft current
The higher hamonic wave test section of device (HPF).
The output of higher hamonic wave test section 11a is that the vibration component Id_h of d shaft current is the waveform of alternating component, is entered
To virtual value (RootMean Square:RMS, root mean square) operational part 21 of encoder information abnormality determination unit 12.Virtual value fortune
Calculation portion 21 carries out the virtual value operation of vibration component Id_h, takes out virtual value ingredient.
22 be the first comparing section, to the virtual value ingredient exported from virtual value operational part 21 and for preventing caused by noise
The first decision content (decision content 1) of misinterpretation is compared, and exports " 1 " when virtual value is bigger.In addition, the first comparing section 22 exists
" 0 " is exported when first decision content is bigger.
First decision content is set as the value of the amplitude relative to load current value such as 5% or so.That is, removing
Produced by vibration component based on velocity sensor (encoder: rotor position detector 2) and current sensor (current transformer 7)
D shaft current higher harmonic component other than, do not generate the higher harmonic component of d shaft current substantially.
Therefore, erroneous detection caused by the noise other than the vibration component due to caused by mechanical main cause in order to prevent
It surveys, misinterpretation, the first decision content is set as 5% or so of load current value.Judgement precision improves as a result,.
The output of first comparing section 22 is input into count-up counter 23 (counter), in increasing counter 23,
In the case that one comparing section 22 exports " 1 " (generating higher hamonic wave), operation (counting) is carried out to the state duration.
24 be the second comparing section, to the gate time exported from count-up counter 23 and for preventing from producing within the allowed time
The second decision content (decision content 2) of misinterpretation caused by raw alternating component is compared, in the bigger (higher hamonic wave of gate time
Generate the duration be more than the allowed time) in the case where export " 1 ", be determined as encoder information exception.In addition, the second comparing section
24 export " 0 " when the second decision content is bigger.
Second decision content is set as the value of minute unit.That is, when instantaneity speed fluctuation occurring for example in motor 1
High-frequency current component is generated, but the electrical time constant of motor will not grow to a minute unit.Therefore, by setting the second decision content
Be set to a minute unit, will not due to the motor instantaneity speed fluctuation and misinterpretation occurs, can judge be encoder (turn
Sub- position detector 2) mechanical installation caused by abnormal vibration.Judgement precision improves as a result,.
In the case where determining the encoder information exception, it is able to carry out and is disposed such as stopping motor 1.
According to the present embodiment 1, using the abnormal detection information that rotor position detector 2 exports carry out speed control and
Current control can prevent exceed the speed limit failure and over current fault.
(embodiment 2)
The output of higher hamonic wave test section 11 be the vibration component Id_h of d shaft current be not alternating component as noise and
It is the frequency close to the frequency band of the output frequency ingredient of motor.That is, vibration will not be at due to caused by mechanical main cause
For radio-frequency component as noise.
Therefore, in the present embodiment 2, the higher hamonic wave test section 11a of embodiment 1 (Fig. 2) is not used, but such as Fig. 3 institute
Show that, using the higher hamonic wave test section 11b for having bandpass filter (BPF), which has for low frequency range
The passband that domain takes out the vibration component of d shaft current, ends frequency band as noise for high-frequency region.In Fig. 3, coding
Device Information abnormity determination unit 12 is configured to identical as Fig. 2.
In the structure in figure 3, it also works in the same manner as described Fig. 2, transforms to d-q from by the three-phase detection current of motor 1
The vibration component (Id_h) that d shaft current is extracted in d shaft current (Id) obtained from axis, determine the vibration component whether be due to
Vibration caused by mechanical main cause, the vibration component when being vibrated due to caused by mechanical main cause are continued
In the case that time is more than the allowed time, it can be determined that the detection information of encoder (rotor position detector 2) is abnormal.
As previously discussed, example according to the present embodiment can monitor that encoder installation is abnormal, suitable according to abnormal determination result
Locality carries out motor control.
In addition, the loss of motor increases when generating the installation exception of encoder.In the feelings of permasyn morot (PM)
Under condition, when losing increase, the temperature of rotor magnet is possible to rise and subtract magnetic, in the case where induction conductivity (IM)
Short circuit caused by the deterioration of insulant or the scaling loss of certain substance, but example according to the present embodiment may occur, can protect
Motor is from these influences.
Additionally, this invention is not limited to control device of electric motor shown in FIG. 1, and can also be applied to the electronic of other structures
Machine control device also functions to and same effect described above, effect in this case.
Claims (4)
1. a kind of rotor position detector abnormity determining device of control device of electric motor, the control device of electric motor is according to installation
Motor, the rotor-position detection of the control device of electric motor are controlled in the detection information of the rotor position detector of motor
Device abnormity determining device has:
Vibration component extraction unit extracts d from the three-phase detection current of motor is transformed in d shaft current obtained from d-q axis
The vibration component of shaft current；And
Rotor position detector Information abnormity determination unit determines the vibration of the d shaft current extracted by the vibration component extraction unit
Whether dynamic ingredient is the vibration due to caused by mechanical main cause, is being the vibration due to caused by mechanical main cause
In the case where, when the vibration component continue for setting time or more, it is determined as that the detection information of rotor position detector is abnormal,
Wherein, the rotor position detector Information abnormity determination unit has:
Virtual value operational part carries out operation to the virtual value of the vibration component of the d shaft current；
First comparing section, to the comparable current value of noise other than being set as and being vibrated due to caused by mechanical main cause
The first decision content and the virtual value that calculates be compared；
Counter, the comparison result to the first comparing section are that virtual value when virtual value is greater than the first decision content is greater than the first judgement
The time of value is counted；And
Second comparing section, the counting to the second decision content and the counter of the allowed time for being set to generate alternating component
Time is compared,
When the gate time that the comparison result of the second comparing section is counter is greater than the second decision content, the rotor-position detection
Device Information abnormity determination unit is determined as that the detection information of rotor position detector is abnormal.
2. the rotor position detector abnormity determining device of control device of electric motor according to claim 1, wherein
The control device of electric motor has:
Speed control system controls speed according to the detection information of rotor position detector；And
Current control system becomes the three-phase detection current of motor according on the basis of the detection information of rotor position detector
Change to the output control electric current of the coordinate converting section of d-q axis.
3. the rotor position detector abnormity determining device of control device of electric motor according to claim 1 or 2,
In,
The vibration component extraction unit has high-pass filter.
4. the rotor position detector abnormity determining device of control device of electric motor according to claim 1 or 2,
In,
The vibration component extraction unit has the bandpass filter for only making to pass through with the comparable frequency band of mechanical vibrations.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-075713 | 2015-04-02 | ||
| JP2015075713A JP6052323B2 (en) | 2015-04-02 | 2015-04-02 | Rotor position detector abnormality determination device for motor control device |
| PCT/JP2016/060002 WO2016158892A1 (en) | 2015-04-02 | 2016-03-29 | Rotor position detector abnormality determination apparatus in electric motor control apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108139229A CN108139229A (en) | 2018-06-08 |
| CN108139229B true CN108139229B (en) | 2019-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680019668.8A Active CN108139229B (en) | 2015-04-02 | 2016-03-29 | The rotor position detector abnormity determining device of control device of electric motor |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6052323B2 (en) |
| CN (1) | CN108139229B (en) |
| RU (1) | RU2658660C1 (en) |
| WO (1) | WO2016158892A1 (en) |
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| CN111293930B (en) * | 2018-12-07 | 2023-07-11 | 施耐德电气工业公司 | Method and device for controlling an electric machine |
| JP2020153965A (en) * | 2019-03-15 | 2020-09-24 | オムロン株式会社 | Abnormality diagnosis device and abnormality diagnosis method |
| US11988546B2 (en) | 2019-04-12 | 2024-05-21 | Satake Corporation | Sieving device |
| US11353345B2 (en) | 2019-07-22 | 2022-06-07 | Boston Dynamics, Inc. | Magnetic encoder calibration |
| DE112021006951T5 (en) * | 2021-06-25 | 2023-12-28 | Hitachi Industrial Equipment Systems Co., Ltd. | Wear diagnosis device, wear diagnosis method and electric motor control device. |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1741368A (en) * | 2004-08-27 | 2006-03-01 | 三菱电机株式会社 | Electromotive power steering system |
| CN101102089A (en) * | 2006-07-07 | 2008-01-09 | 三洋电机株式会社 | Motor control device |
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| JP3671369B2 (en) * | 2001-11-26 | 2005-07-13 | エイテック株式会社 | Electrical equipment abnormality and deterioration diagnosis device |
| AU2003289041A1 (en) * | 2002-12-12 | 2004-06-30 | Nsk Ltd. | Motor drive-controlling device and electric power-steering device |
| JP2005057817A (en) * | 2003-08-01 | 2005-03-03 | Aisin Aw Co Ltd | Motor drive controller, motor drive controlling method, and its program |
| DE10355423A1 (en) * | 2003-11-27 | 2005-07-14 | Siemens Ag | A method for detecting a faulty rotor position angle signal and means for carrying out the method |
| JP2006129636A (en) * | 2004-10-29 | 2006-05-18 | Daihatsu Motor Co Ltd | Fault-detecting method and fault-detecting device of motor rotation detection |
| RU2397600C1 (en) * | 2006-07-24 | 2010-08-20 | Кабусики Кайся Тосиба | Drive system of motor with varying magnetic flow |
| JP5091535B2 (en) * | 2007-04-26 | 2012-12-05 | 三洋電機株式会社 | Motor control device |
| FR2954020B1 (en) * | 2009-12-11 | 2012-02-24 | Hispano Suiza Sa | DEVICE FOR CONTROLLING A MSAP |
| JP5933844B2 (en) * | 2013-08-26 | 2016-06-15 | 三菱電機株式会社 | Angular error correction device and angular error correction method for position detector |
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| CN1741368A (en) * | 2004-08-27 | 2006-03-01 | 三菱电机株式会社 | Electromotive power steering system |
| CN101102089A (en) * | 2006-07-07 | 2008-01-09 | 三洋电机株式会社 | Motor control device |
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| JP2016197015A (en) | 2016-11-24 |
| WO2016158892A1 (en) | 2016-10-06 |
| JP6052323B2 (en) | 2016-12-27 |
| CN108139229A (en) | 2018-06-08 |
| RU2658660C1 (en) | 2018-06-22 |
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