CN1968001A - Control device of brushless electromotor - Google Patents
Control device of brushless electromotor Download PDFInfo
- Publication number
- CN1968001A CN1968001A CNA2006101467191A CN200610146719A CN1968001A CN 1968001 A CN1968001 A CN 1968001A CN A2006101467191 A CNA2006101467191 A CN A2006101467191A CN 200610146719 A CN200610146719 A CN 200610146719A CN 1968001 A CN1968001 A CN 1968001A
- Authority
- CN
- China
- Prior art keywords
- torque
- unit
- brushless motor
- value
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Provided is a DC control device of brushless electromotor driven by a load wherein loading torque exhibits a periodic variation, such as a compressor used for an air conditioner, with low input, low vibration and low noise. The device comprises a DC brushless electromotor used for rotatablely driving a load with a loading torque exhibiting a periodic variation; an inverter circuit used for PWM controlling said DC brushless electromotor; a rectification circuit used for commutating an industrial alternating current source and supplying it to said inverter circuit; a signal generating unit used for driving said inverter circuit; a unit used for detecting an induction voltage in the phase without electric current in the DC brushless electromotor and estimating the rotation position of said rotor; a unit used for measuring the required time between a start of a commutation and an end of the next commutation; a unit used for permuting the required time as sin ponderance and cos penderance by performing a fourier transform to the required time for rotating 360 DEG; a unit used for compensating for the induction voltage, on the basis of the sin ponderance and the cos ponderance.
Description
Technical field
The present invention relates to the control device of synchronous motor, particularly have the control device of the synchronous motor of the load elements that the generating period load torque changes.
Background technology
About having the control device of the synchronous motor that the periodic load torque changes, be the method for the driving synchronous motor of purpose to reduce power consumption, to suppress noise, known have a technology of being put down in writing in the patent documentation 1.
[patent documentation 1] spy opens the 2004-215434 communique
Summary of the invention
In the method for patent documentation 1 record, must be prepared in advance corresponding to a plurality of correction patterns of mean speed and operation mode, exist the research item in the development process many, the problem of versatility difference.In addition, in air conditioner, when the duct length that connects indoor set and off-premises station changed, the variation characteristic curve of load torque changed.Therefore, there are the following problems: even according to preprepared correction pattern, the voltage that is applied on the synchronous motor is proofreaied and correct, also can't obtain Expected Results.
The problem to be solved in the present invention is, the control device of DC brushless motor (DC Brushless Motor) is provided, and it can easily develop the control device that can drive the synchronous motor with periodic load torque variation with low input, low vibration, low noise.
The present invention realizes above-mentioned purpose by the control device that becomes following a kind of brushless motor, and the control device of this brushless motor has: rectification is carried out in interchange, produced the rectifier of direct current; Link to each other with this rectifier, the inverter of the power of pulse-width modulation has been carried out in output; Link to each other with this inverter, periodically variable load is rotated the brushless motor of driving to load torque; From the nothing energising mutually of this brushless motor, detect induced voltage, and the unit is inferred in the position of the position of rotation of infer rotor, the control device of this brushless motor possesses as lower unit: according to as described in the position infer that the output of unit controls change and reduce so that described brushless motor rotates electric current in 1 week.
In addition, the present invention realizes above-mentioned purpose by the control device that becomes following a kind of brushless motor, and the control device of this brushless motor has: rectification is carried out in interchange, produced the rectifier of direct current; Link to each other with this rectifier, the inverter of the power of pulse-width modulation has been carried out in output; Link to each other with this inverter, periodically variable load is rotated the brushless motor of driving to load torque; From the nothing energising mutually of this brushless motor, detect induced voltage, and the position of the position of rotation of infer rotor is inferred that unit, the control device of this brushless motor have described inverter is carried out the unit that the commutation required time till commutation next time is measured from commutating to; By the commutation required time that rotated for 1 week is carried out the unit that Fourier transform is replaced into Sin component and Cos component; And according to this Sin component and Cos component, the unit that the variation of induced voltage is compensated.
According to the present invention, a kind of control device of DC brushless motor can be provided, it can easily develop the control device that can drive the synchronous motor with periodic load torque variation with low input, low vibration, low noise.
Description of drawings
Fig. 1 is the summary structure chart of DC brushless motor control of the present invention.
Fig. 2 is the block diagram of the induced voltage compensating controller of Fig. 1.
Fig. 3 is the block diagram of the torque deviation calculating part of Fig. 2.
Fig. 4 is the block diagram of single-phase-dq coordinate conversion portion of Fig. 2.
Fig. 5 is the block diagram of the filter section of Fig. 2.
Fig. 6 is the block diagram of the integral control portion of Fig. 2.
Fig. 7 is that the dq-single-phase inversion of Fig. 2 changes the block diagram of portion.
Fig. 8 is the current on time correction chart master drawing of the torque controller of Fig. 1.
Fig. 9 is the block diagram of the torque controller of Fig. 1.
Figure 10 is the load torque characteristic curve chart of general single rotary compressor.
Figure 11 is the gas compression torque characteristic figure of compressor.
Figure 12 is the motor current oscillogram of induced voltage compensation control and torque control.
Figure 13 is the figure after carrying out graphically to the data relevant with induced voltage compensation control.
Symbol description
1 microcomputer, 2 inverter circuits, 3 compressors, 4 rectification circuits, 5 industrial powers, 6 induced voltage testing circuits, 7 D.C. current detecting circuits, 11 position of magnetic pole estimators, 12 direction selecting controllers, 13 speed controls, 14 drive signal generators, 15 induced voltage compensating controllers, 16 torque controllers, 17 direct current analyzers, 18PWM frequency selector, 61 resistance, 62 resistance, 71 resistance
Embodiment
Below, use accompanying drawing, one embodiment of the present of invention are described.
Fig. 1 is the summary structure chart of DC brushless motor control of the present invention.Fig. 2 is the block diagram of the induced voltage compensating controller of Fig. 1.Fig. 3 is the block diagram of the torque deviation calculating part of Fig. 2.Fig. 4 is the block diagram of single-phase-dq coordinate conversion portion of Fig. 2.Fig. 5 is the block diagram of the filter section of Fig. 2.Fig. 6 is the block diagram of the integral control portion of Fig. 2.Fig. 7 is that the dq-single-phase inversion of Fig. 2 changes the block diagram of portion.Fig. 8 is the current on time correction chart master drawing of the torque controller of Fig. 1.Fig. 9 is the block diagram of the torque controller of Fig. 1.Figure 10 is the load torque characteristic figure of general single rotary compressor.Figure 11 is the gas compression torque characteristic figure of single rotary compressor.Figure 12 is the figure that represents the result of induced voltage compensation control and torque control with the motor current waveform.Figure 13 is the figure after carrying out graphically to the data of the microcomputer inside relevant with induced voltage compensation control.
Fig. 1 is an embodiment of the invention, is the summary structure chart that 120 in the off-premises station of air conditioner degree energized DC brushless motor control device and single rotary compressor 3 are combined.
Inside at single rotary compressor 3 (being designated hereinafter simply as compressor) is equipped with, in single rotary cylinder with the pump portion of roller (roller) compression refrigerant with by connecting rod (Even Knot シ ヤ Off ト) with the direct-connected DC brushless motor of roller (being designated hereinafter simply as motor).In addition, the structure of the motor of embodiment is made of the stator (stator) of 6 grooves (slot) and the rotor (rotor) of 4 magnetic poles.In 120 degree energized Motor Control, under the situation that drives this motor, rotated for 1 week in order to make rotor, need 12 commutation actions.Therefore, in the electric angle in the inverter control (イ Application バ one system is driven), 360 degree are equivalent to rotor for * 2 times and rotated for 1 week, in mechanical angle, are equivalent to 360 degree.Therefore, inside at 120 degree energized control device of electric motor, in order to simplify the computing of using mechanical angle etc., 0 of mechanical angle is spent to 360 degree, between per 30 degree dividing regions (block), for each interval, give the number that " 0 " arrives " 11 ", mechanical angle is converted to easy angle information handles.The angle information that this is easy is called interval (block) number.Next, 120 degree energized control device of electric motor are described.
Possess in the 120 degree energized control device of electric motor: the industrial power 5 with single phase alternating current (A.C.) is input, is converted to rectification (converter) circuit 4 of direct voltage; Inside has 6 switching transistors, inversion (invertor) circuit 2 of the motor of Driven Compressor 3 inside; Be used for detecting the induced voltage testing circuit 6 of variation of the induced voltage that motor produced of rotation; Be used for detecting the D.C. current detecting circuit 7 of the electric current that compressor 3 flows; The pulse width modulation ripple signal (being designated hereinafter simply as pwm signal) that will be used for drive motor exports the microcomputer 1 of inverter circuit 2 to as drive signal; The direct voltage branch of rectification circuit 4 outputs is depressed into 1/2, generates two resistance 61,62 that are used for induced voltage reference voltage relatively; And the resistance 71 that is used for detecting the electric current that the motor that is connected between inverter circuit 2 and the rectification circuit 4 flows.
In addition, have in microcomputer 1 inside: the position of magnetic pole estimator 11 of the position of magnetic pole of the rotor of deduction motor interior; The calculating optimum commutation phase is measured commutation direction selecting controller 12 constantly; Calculating is used to control the speed control 13 of current on time A of the average speed of motor; Calculating is applied to the voltage on the motor, on the basis of the conduction time that is converted to pwm signal, to the drive signal generator 14 of inverter circuit 2 output pwm signals; Detect motor and rotate that periodic load torque changes in 1 all processes, calculate and be used for changing the induced voltage compensating controller 15 of the current on time that the increase and decrease amount of synchronous induced voltage compensates with load torque; Calculating is used for the torque controller 16 of current on time that the load torque that produces because of variation of gas pressure is compensated; Mensuration is used to infer the direct current analyzer 17 of direct current of the load condition of compressor 3; And guarantee to infer the PWM frequency selector 18 of necessary time of position of magnetic pole by changing the PWM frequency.
Next, the action of present embodiment is described.In the Motor Control of 120 degree step modes, do not observe induced voltage mutually from there being energising, the variation and the reference voltage of induced voltage compared the anglec of rotation that thus can infer rotor.Therefore in the present embodiment, inside at induced voltage testing circuit 6, will be from there not being the induced voltage that energising obtains mutually, being depressed into the resulting reference voltage of 1/2 value with the direct voltage branch that rectification circuit 4 is exported compares, by the moment that the magnitude relationship that detects each voltage of commutation back is overturn, infer the anglec of rotation.And this is defined as constantly, in electric angle, the moment of rotor rotation 30 degree.Particularly,, come comparison induced voltage and reference voltage,, supply to position of magnetic pole estimator 11 being converted to the position of magnetic pole detection signal of digital signal by the comparator of induced voltage testing circuit 6 inside.Position of magnetic pole estimator 11, with the cycle of tens microseconds, monitor the commutation back from there not being the position of magnetic pole signal that energising extracts mutually, detect this position of magnetic pole signal and after commutation, be " Lo " from " Hi " upset, perhaps, infer position of magnetic pole thus from the moment of " Lo " upset for " Hi ".Detect the position of magnetic pole estimator 11 of the change point of position of magnetic pole signal, export position detection signal to direction selecting controller 12, commutation controller 12 is made the indication of preparing commutation action next time.Direction selecting controller 12 inside have timer, after receiving position detection signal, in the calculating optimum commutation constantly, and by internal timer, to measuring the time of delay till commutation of calculating gained.When the measurement of time of delay finishes, provide next interval number to drive signal generator 14, the switching of indication drive signal.And, send switch indication in, the commutation signal that provides notice to commutate to speed control 13.Speed control 13 is counted the quantity of the commutation signal in the stipulated time, measures mean speed.Then, the instruction rotating speed that obtains according to illustrated indoor set never and the deviation of mean speed, by current on time A is proofreaied and correct, indirectly correcting motor apply voltage, make the mean speed and the instruction rotating speed uniform operation of motor.
On the other hand, receive the drive signal generator 14 of interval number, will export inverter circuit 2 to,, carry out switch operation by upgrading the transistorized energising characteristic curve of internal switch corresponding to the drive signal of interval number.In addition, supply to the drive signal of inverter circuit 2, in order to make the voltage variable that applies of inverter circuit 2 output, and use pwm signal.
Next, the characteristic to present embodiment describes.Relation between the induced voltage of the load torque characteristic of compressor 3 and motor at first is described.Figure 10 represents the load torque characteristic of general single rotary compressor.The load torque of rotating in 1 week changes with the mechanical angle of rotor, and still, if conditions such as the rotating speed of rotor, gas inhalating pressure, discharge gas pressure do not change, then each rotation all presents identical load torque characteristic, has periodically.When with certain voltage that applies, drive when having the compressor of this periodic load torque characteristics, in the relation of motor torque and load torque, produce deviation.Therefore, the rotary speed of rotor also changes in rotation 1 all processes according to torque deviation.On the other hand, the induced voltage of motor increases and decreases according to the rotary speed of rotor, therefore, when the rotary speed of rotor changed in 1 week of rotation, induced voltage also synchronously changed with it, during the rotary speed quickening, induced voltage raises, otherwise, rotary speed slow down during, induced voltage reduces.
In Figure 10, when rotary compressor 3 carried out compressed action, load torque increased (part at " peak " among the figure).Rotate in 1 week at rotor, make to be applied to applying under the situation that voltage fixedly controls on the motor, the rotary speed of rotor slows down.Therefore, the induced voltage that occurs in the motor winding reduces.On the contrary, during the action of discharge/suction refrigerant, because load torque less (part of " paddy " among the figure), therefore when carrying out identical control, rotor speed is accelerated.So induced voltage during this period raises.
Thereby, even fixedly apply voltage owing to broken induced voltage and applied the equilibrium of voltage, rotary speed accelerate during, motor current excessively reduces, on the contrary, rotary speed slow down during, motor current excessively increases.The increase of electric electromechanics throughflow causes inverter losses or generator loss (particularly copper loss) to increase in vain, becomes the main cause that power consumption is excessively increased.
As another problem, when further in detail discussing the rotary speed of rotor, the rotary speed of rotor changes according to the load torque of this moment and the deviation of motor torque and the inertia (inertia) that rotor self is had.This inertia (inertia) changes with respect to the torque deviation ground that lags behind, and therefore, even the load torque of compressor changes, the rotary speed of rotor can instantaneous variation yet, and the ground that is bound to lag behind changes.So even load torque begins to reduce, motor current can not reduce moment yet, in addition, even load torque begins to increase, motor current can not increase moment yet.Thereby motor torque changes with respect to the variation of the load torque ground that lags behind, so become the velocity variations that promotes rotor, the main cause that the vibration of compressor is increased all the more.By last, when when applying driven and having the compressor of periodic load torque characteristic, having carried out inefficient Motor Control with certain.Therefore, by induced voltage compensation control, the variation of corresponding load torque compensates and applies voltage, flows through regularly by making the motor current in 1 week of rotation, realizes high efficiency Motor Control.
Fig. 2 represents the block diagram of induced voltage compensating controller 15.At first the commutation required time in 1 week is rotated in explanation.This commutation required time refers to, and sends commutation indication from direction selecting controller 12 to drive signal generator 14, to send next commutate indicate till the needed time, the time that is to use the timer in the direction selecting controller 12 to record.And this commutation required time has identical meaning with the 30 required times of degree of rotor rotating machinery angle.In addition, the commutation required time is corresponding with the mechanical angle of rotor, and 12 intervals of METHOD FOR CONTINUOUS DETERMINATION are combined as 1 group with it, are called the commutation required time that rotated for 1 week.
Next, the summary of induced voltage compensating controller 15 is described.Inside at induced voltage compensating controller 15, constitute by torque deviation calculating part, single-phase-dq coordinate conversion portion, filter section, integral control portion and the dq-single-phase inversion portion of changing, induced voltage compensating controller 15, commutation required time according to 1 week of rotation that provides from direction selecting controller 12, automatically detection has periodic load torque, calculates the current on time of the variation that is used for complementary induction voltage.
In Figure 10, the part at " peak ", owing to induced electricity forces down, thus increase with the difference that applies voltage, so electric current increases.This electric current increases copper loss, therefore need reduce electric current.So, during this period, make by the pulse duration of dwindling PWM to apply voltage and reduce.
On the other hand, in the part of " paddy ", because the induced voltage height, so reduce with the difference that applies voltage, so electric current reduces.Thereby, for the current value that rotor is rotated in 1 week carries out equalization, increase the pulse duration of PWM, electric current is increased.
When carrying out this control, load torque big during, reduce electric current, on the contrary, load torque little during, electric current is increased, so rotor rotates the variation of the rotary speed in 1 week, controlled in the direction that increases.But, can reduce power consumption by the equalization of current value.Below, describe this control in detail.
Fig. 3 represents the block diagram of torque deviation calculating part.At this, the step of load torque shown in Figure 10 is tried to achieve in expression.In the torque deviation calculating part, at first, calculate the mean value of the commutation required time in 1 week of rotation at the average speed calculating part.Then, according to this result of calculation, the average speed of rotor is scaled frequency asks for.Then, in phase difference calculating portion, according to the deviation of the commutation required time in the commutation mean value of required time and each interval, the velocity deviation that each is interval is asked for as the phase difference with respect to mean angular velocity.Then, at the torque deviation calculating part,, ask for the torque deviation in 12 intervals according to the average speed and the phase difference of rotor.
Try to achieve the commutation required time in each such shown in Figure 13 (b) interval.The commutation required time is short, means that the rotary speed of rotor is fast, and load torque is little.On the contrary, commutation required time length means that the rotary speed of rotor is slow, and load torque is big.Among Figure 13 (b), with transverse axis as time (exactly, being the anglec of rotation of motor rotor), with the commutation required time of the longitudinal axis as each interval.For example, the interval number of Figure 13 (a) be 5 during, the commutation required time the shortest, on the contrary, interval number be 11 during, the commutation required time the longest.That is, interval number be 5 during, load torque minimum (" paddy " of Figure 10 during), interval number be 11 during, load torque maximum (" peak " of Figure 10 during).
The torque deviation in 12 intervals of trying to achieve by the torque deviation calculating part rotates the digital signal that only changes the alternating current component of one-period during 1 week for rotor.Therefore, can use the mechanical angle of rotor to carry out Fourier transform, be decomposed into Sin component and Cos component, two components that decomposite can be handled as DC component.By as DC component treatment, easily therefore the calculation correction amount, carries out this calculating by single-phase-dq coordinate conversion portion.The block diagram of Fig. 4 represents single-phase-dq coordinate conversion portion.The calculating content is, on the torque deviation in 12 intervals, multiply by Sin value and Cos value corresponding to each mechanical angle, tries to achieve as the q shaft torque deviation (Δ Tmq) of Sin component with as the d shaft torque deviation (Δ Tmd) of Cos component.
Above q shaft torque deviation of trying to achieve and d shaft torque deviation are the torque deviations in specific 1 week of rotation.Therefore, may contain the error in the moment of the change point that detects the position of magnetic pole signal, so cannot in correction calculation, directly use this value.Therefore, in order to reduce this error,, try to achieve the mean value in the stipulated time by filter section shown in Figure 5.Particularly, at first calculate the mean value in 1 week of rotation, calculate by carrying out first-order lag filtering then, try to achieve the mean value in the stipulated time.Then, offer integral control portion, the calculation correction amount with what try to achieve as the Δ Tmq mean value of the mean value of q shaft torque deviation with as the Δ Tmd mean value of the mean value of d value torque deviation.
Fig. 6 represents the block diagram of integral control portion.In integral control portion, have and be respectively applied for the incomplete integral controller that the mean value of q shaft torque deviation and d shaft torque deviation is proofreaied and correct, also be provided with: amplitude limiter (limtter) selection portion of selecting the maximum correction amount; According to the mean value of q shaft torque deviation and the mean value of d shaft torque deviation, calculating rotation 1 all internal burden torques is arc tangent (arctangent) calculator of the mechanical angle of maximum; Try to achieve the Sin/Cos calculator of Sin value and the Cos value corresponding with mechanical angle.
At first, the function to incomplete integrator describes.By adder, try to achieve the q shaft torque deviation mean value that calculates with filter section and as desired value zero between deviation, this value is offered incomplete integrator.Then, calculate, calculate integral correction amount, i.e. q shaft torque offset correction amount (Δ Tmq correcting value) for q shaft torque deviation mean value by carrying out integral compensation.For d shaft torque deviation, also carry out same calculating, try to achieve d shaft torque offset correction amount (Δ Tmd correcting value).
Δ Tmq correcting value and Δ Tmd correcting value are to be used to make as the Δ Tmq mean value of feedback quantity and Δ Tmd mean value be respectively " 0 " and the correcting value controlled.Therefore, this value load torque rise than average torque (motor torque) during (" peak " of Figure 10 during, during " peak " among Figure 13 (b)), electric current is increased, make that the deviation with average torque (motor torque) reduces; Average torque descend than load torque during (" paddy " of Figure 10 during, during " paddy " among Figure 13 (b)), electric current is reduced, deviation is reduced.
At this, the purpose to induced voltage compensation control describes again.The main purpose that the induced voltage compensation is controlled is by making the flow that rotates the motor current in 1 week even, to make the motor torque in 1 week of rotation keep certain, the reduction power consumption.
Above-mentioned incomplete integrator, output load torque big during the increasing motor torque, load torque little during reduce the value of motor torque.That is, not exclusively integrator output compensates the opposite value of controlling of purpose with induced voltage.This be because, be used for trying to achieve the absolute value of the compensation rate of induced voltage compensation control by incomplete integrator.In order to make this compensation rate become the corresponding to value of controlling with the induced voltage compensation of purpose, make the operation of phase shifting 180 degree of mechanical angle, be described in detail in the back.By this operation, the direction control motor that increases to the deviation of torque, therefore, the situation that exists the compensation rate of incomplete integrator output to increase.
In other words, remaining torque deviation after having compensated induced voltage may increase necessary above correcting value to the integral correction amount.Therefore, by not exclusively in the integral controller correcting value being limited, can prevent problem here.The following describes its content.
In Fig. 6, in the inside of amplitude limiter selection portion, prepared a plurality of amplitude limiter values that correcting value is limited of being used for, for each operation mode, store predetermined value.The amplitude limiter selection portion, never illustrated indoor set obtains operation mode, selects and the corresponding amplitude limiter value of current operation mode from a plurality of amplitude limiter values.But this amplitude limiter value is defined as rotor and rotates maximum current on time correcting value in 1 week, is the value that does not have angle-dependence.Therefore, can't be directly and the Sin component on the dq coordinate or Cos component relatively.So, the amplitude limiter value is decomposed into Sin component and Cos component, be transformed to the corresponding respectively amplitude limiter value of q shaft torque offset correction amount and d shaft torque offset correction amount and use.
Below, concrete calculation process is described.At first, according to q shaft torque deviation mean value and d shaft torque deviation mean value,, try to achieve the mechanical angle (θ max) that produces the maximum load torque by the arctangent computation device.On this angle, add 180 degree, try to achieve the mechanical angle (θ min) that produces the minimum load torque.Represent its formula below.
(producing the mechanical angle of minimum load torque)=Tan
-1(q shaft torque deviation mean value/d shaft torque deviation mean value)+180 degree
Then, calculate the Sin value and the Cos value of the mechanical angle (θ min) of the generation minimum load torque of being tried to achieve, multiply by respectively, become Sin component amplitude limiter value and Cos component amplitude limiter value by the selected amplitude limiter value of amplitude limiter selection portion.In incomplete integral controller, after the integral compensation of explanation is calculated in front, result of calculation and this amplitude limiter value are compared, and limited, so that result of calculation is no more than this amplitude limiter value.
At last, change portion, the q shaft torque offset correction amount and the d shaft torque offset correction amount that calculate by above process are synthesized, try to achieve the correcting value of alternating current component at the dq-single-phase inversion.Then, the content that the dq-single-phase inversion is changed portion describes.
The main function that the dq-single-phase inversion changes portion is that q shaft torque offset correction amount and d shaft torque offset correction amount are synthesized a correcting value.But,, therefore can't become the correcting value that is used for complementary induction voltage if merely synthetic these two correcting values then as previously mentioned, are obtained a result as being used for compensating torque correction for drift amount.
Therefore, when synthetic, calculate by about 180 degree of the phase deviation that makes mechanical angle, can be in the hope of being used for the correcting value of complementary induction voltage.In addition,, in the scope of tens degree, the about 180 phasing angles of spending are increased and decreased, can make the reduction maximum of power consumption thus according to mean speed.
Fig. 7 represents that the dq-single-phase inversion changes the block diagram of portion.Change in the portion at the dq-single-phase inversion, be provided with final phasing angle calculation portion, mechanical angle converter and Sin/Cos calculator.The following describes the flow process of calculating.The mechanical angles of predetermined about 180 degree are set at the phasing angle, and corresponding mean speed of trying to achieve by speed control 13 offers final phasing angle calculation portion.In final phasing angle calculation portion, have the meter constant that is used for phase calibration correction angle, use this meter constant and mean speed, the phasing angle is proofreaied and correct, try to achieve final phasing angle.The mechanical angle converter calculates and the corresponding mechanical angle of interval number " 0 " to " 11 ", but only has been offset the result of final phasing angle.Then, the Sin/Cos calculator is tried to achieve Sin value corresponding with this mechanical angle and Cos value.At last, will be corresponding to the Sin value and the Cos value of each interval number, multiply each other respectively with as the q shaft torque offset correction amount of Sin component with as the d shaft torque offset correction amount of Cos component.Then, by addition, calculate and to be used for current on time correcting value that the induced voltage in each interval is proofreaied and correct.Then, the current on time correcting value in this 12 interval becomes current on time B.
Next drive signal generator 14 is described, it calculates the energising turn-on time to the pwm signal of inverter circuit 2 outputs according to current on time A that is calculated by speed control 13 and the current on time B that is calculated by induced voltage compensating controller 15.Drive signal generator 14 is according to current on time A and current on time B, current PWM cycle, commutation required time, the energising turn-on time of calculating the pwm signal of the reality that outputs to inverter circuit 2.At first, drive signal generator 14 according to commutation required time and the current PWM cycle, calculates during rotor mechanical angle rotation 30 degree, has exported the connection signal of switching on several times (below, abbreviate the output of energising connection signal as copped wave (chopping)).Drive signal generating unit 14 next will be corresponding to the current on time B and the current on time A addition of current interval number, and multiplied each other the cycle time of the pwm signal of its result and current output, calculates energising turn-on time.And, calculate current energising turn-on time and the deviation of energising turn-on time of trying to achieve by calculating, with this deviation time divided by the copped wave number of times, try to achieve correction time.In addition, drive signal generator 14 after each commutation, calculates this correction time, correction time energising is proofreaied and correct turn-on time, determines the energising turn-on time of final pwm signal in each copped wave thus.By carrying out above processing, the current on time B that will try to achieve in each interval is transformed to the linear correcting value that applies voltage.
For the action of so far illustrated induced voltage compensation control, use Figure 13 further to describe.Figure 13 is, carries out induced voltage compensation control in the present embodiment, and the data of microcomputer inside are observed and the figure that obtains.As making compressor with 2000min
-1The curve chart that running is measured interval number, commutation required time simultaneously and switched on turn-on time, the variation of the interval number of expression in Figure 13 (a), the variation of expression commutation required time in Figure 13 (b), the variation that expression is switched on turn-on time in Figure 13 (c).
According to this measurement result, carry out induced voltage compensation control, so that become the fastest mechanical angle (interval number be 5 during) in the speed of rotor, energising be maximum (electric current is big) turn-on time, on the contrary, become the slowest mechanical angle (interval number be 11 during) in the speed of rotor, energising turn-on time be a minimum (electric current is little).By this operation, variation that can complementary induction voltage.
Next, in Figure 12 (a) and (b), the device of present embodiment is used in expression, measures the result of the variation that has or not the motor current that is caused of induced voltage compensation control.Figure 12 (a) is a motor current waveform existing, when not carrying out induced voltage compensation control, and Figure 12 (b) is the motor current waveform when carrying out induced voltage compensation control.
Under the same conditions, the rotating speed and the load of compressor 3 are measured.Motor current waveform and load torque when not carrying out induced voltage compensation control are synchronous, cause that owing to induced voltage changes motor current changes greatly.On the other hand, the motor current waveform when carrying out induced voltage compensation control even load torque changes, owing to compensated the variation of induced voltage, flows through roughly uniform motor current.Can confirm according to this measurement result, still when having implemented induced voltage compensation control, can suppress generator loss, control motor expeditiously.In addition and since rotor rotate 1 week during output motor torque equably, so vibration is to a certain degree reduced.
In the present embodiment, commutation required time calculating torque deviation according to 1 week of rotation, this result of calculation is carried out Fourier transform, try to achieve the induced voltage compensation rate thus, yet directly the commutation required time that rotated for 1 week is not carried out Fourier transform by not calculating torque deviation, also can be in the hope of the induced voltage compensation rate.
Next, for according to variation of gas pressure, the torque control of calculating the current on time of the load torque that is used to compensate generation describes.Figure 11 is the load torque characteristic figure of employed compressor 3 among this embodiment.Load torque characteristic when the load torque characteristic when (a) load torque characteristic when being high capacity of Figure 11, Figure 11 (b) are the middle loads of identical compressor 3, Figure 11 (c) are low loads.Can judge according to these 3 curves, when compressor 3 changed when the condition of gas inhalating pressure and discharge gas pressure, load torque characteristic changed significantly, and the mechanical angle that produces the maximum load torque also changes.But it is identical all being expressed as on the leg-of-mutton load torque characteristic this point in load torque.This torque control is conceived to this point, can obtain good control characteristic.Next, the contents processing of torque control is described.
Fig. 8 represents that torque controller 16 is tried to achieve by calculating, and the current on time that is used for the compensating load torque is proofreaied and correct pattern.The load torque characteristic of compressor 3 is subtriangular, and in addition, according to the gas inhalating pressure and the condition of discharging gas pressure of compressor 3, leg-of-mutton shape changes.Therefore, in torque controller 16, will be divided into two parts with the current on time correction pattern that leg-of-mutton load torque characteristic is similar to and calculate.The part that will be equivalent to average load torque is calculated with approximate trapezoid as basic courses department, and the part that will be equivalent to local load torque is calculated with subtriangular as apex.Then, according to the load condition of compressor 3, try to achieve the correcting value of each several part.In addition, use direct current mean value and mean speed, can roughly infer the load condition of compressor 3.Direct current mean value under the certain situation of the mean speed of compressor 3, increases when load increases, and reduces when load reduces.In addition, under the certain situation of load, when mean speed raises, increase, when mean speed reduces, reduce.This characteristic changes in each compressor, but by experimentizing in advance or simulating, can find out.Therefore, in torque controller 16, use the direct current mean value that records by direct current analyzer 17 and the mean speed of the rotor that provides from speed control 13, try to achieve and the corresponding correcting value of the load condition of compressor 3.In addition, proofread and correct in the pattern, in 1 week of rotation of rotor, have definite correction reference angle that begins to proofread and correct from which mechanical angle at this current on time.This correction reference angle, owing to the mechanical angle that produces the maximum load torque and the inertia (inertia) of rotor are affected, so the mechanical angle of the generation minimum load torque of being tried to achieve according to the mean speed of the rotor of being tried to achieve by speed control 13 with by induced voltage compensating controller 15 is obtained this correction reference angle.And, the existing interval number of this correction reference angle is defined as between reference region.Next, the calculation process of torque control is described.
Fig. 9 represents the block diagram of torque controller 16.Be provided with in the torque controller 16: basic courses department's correcting value desired value calculating part, apex correcting value desired value calculating part, correction reference angle calculation portion, Yi Rather-late れ of first-order lag filter (Off イ Le ), the synthetic portion of correcting value.Basic courses department's correcting value desired value calculating part, the mean speed of the rotor that provides according to the direct current mean value that is recorded by direct current analyzer 17 with by speed control 13 calculates basic courses department's correcting value desired value.Following formula is represented its content.
(basic courses department's correcting value desired value)=(direct current mean value) * (Kid1)-(mean speed) * (Ksp)
The Kid1 of this formula is the basic courses department's computing multiplier for direct current mean value, and in addition, Ksp is the computing multiplier for mean speed.All use predetermined setting.Then, will compare, and make basic courses department's correcting value desired value be no more than limits value ground and limit by calculating the basic courses department's correcting value desired value and the predetermined prescribed limits value of being tried to achieve.In addition, in apex correcting value desired value calculating part,, calculate apex correcting value desired value according to the direct current mean value that records by direct current analyzer 17.Following formula is represented its content.
(apex correcting value desired value)=(direct current mean value) * (Kid2)
The Kid2 of this formula is the apex computing multiplier for direct current mean value, uses predetermined setting.Then, will compare, make apex correcting value desired value be no more than limits value ground and limit by apex correcting value desired value and the predetermined prescribed limits value that calculating is tried to achieve.In addition, described limits value has basic courses department's correcting value respectively and calculates with limits value and apex correcting value calculating limits value.
Basic courses department's correcting value desired value that calculates in the described formula and apex correcting value desired value are the correcting values that calculates according to the direct current mean value during the part and mean speed, are the values for the movement response sensitivity of motor.Therefore, when in direct FEEDBACK CONTROL, using this correcting value desired value, there is motor torque situation jumpy.In the transitional period that the rotating speed of rotor or load torque change, become the unsettled main cause of the action that makes other control system, according to circumstances, become and cause that motor is out of control, cause the poor prognostic cause that compressor 3 stops.Therefore, by making up the FEEDBACK CONTROL of using the first-order lag filter, can avoid this bad.By using this first-order lag filter, can avoid bringing harmful effect in the hope of the average correcting value during time rotation of rotor hundreds of to stabilisation and other control system of motor torque.Particularly, provide the correcting value desired value, result of calculation as the correcting value fiducial value, is obtained the mean value of specified time limit to first-order lag filter with predetermined stipulated time constant.
Next, describe for correction reference angle calculation portion.The correction reference angle of asking in the correction reference angle calculation portion enters the angle that current on time is proofreaied and correct pattern during being meant in 1 week of rotation that is shown in rotor which.Therefore, in correction reference angle calculation portion,, consider the inertia (inertia) of rotor, in preceding phase place, calculate the correction reference angle according to the mechanical angle that produces the maximum load torque.Concrete calculating content is described.
At first,, calculate the correction angle of the inertia of having considered rotor, try to achieve inertia and proofread and correct angle by following formula.
(inertia correction angle)=(θ th)-(Nb-mean speed) * (Km)
In the formula, θ th is that the master phase of inertia part is proofreaied and correct angle, and Nb is used to proofread and correct the reference rotation speed constant that master phase is proofreaied and correct angle, and Km is used to proofread and correct the computing multiplier that master phase is proofreaied and correct angle, uses predetermined setting respectively.Mean speed is provided by the value that is provided by speed control 13, and in addition, for " Nb-mean speed " item, under the situation of result of calculation deficiency " zero ", substitution once more " zero " is calculated in result of calculation.Then, deduct inertia the mechanical angle (θ max) by the generation maximum load torque of trying to achieve and proofread and correct angle, try to achieve the correction reference angle from induced voltage compensating controller 15.
(correction reference angle)=(producing the mechanical angle of maximum load torque)-(inertia correction angle)
Illustrate that at last correcting value synthesizes portion.In the synthetic portion of correcting value,, calculate current on time and proofread and correct pattern according to the correcting range of basic courses department's correcting value fiducial value, apex correcting value fiducial value, correction reference angle, basic courses department and apex.In addition, the correcting range of basic courses department and apex uses predetermined setting.Next, concrete calculation process is described.At first, the correction reference angle divided by mechanical angle 30 degree, is tried to achieve between the reference region corresponding with interval number, then, according to the correcting value of the order computation each several part on the left side, central authorities, the right.On the left side, for being the interval in the left side of benchmark between reference region, the calculation correction amount.By following formula calculation deviation L, along with basic courses department's correcting value fiducial value enters the interval on the left side, reduce deviation L part, calculate each interval correcting value.
(deviation L)=(basic courses department's correcting value fiducial value) ÷ (correcting range on the basic courses department left side+1)
In central authorities, for the interval that has comprised the central authorities between reference region, the calculation correction amount.The calculating of correcting value is divided into basic courses department and apex is carried out.In basic courses department, only set basic courses department's correcting value fiducial value with the quantity between the correction zone of central authorities.In apex, according to predetermined apex interval number, by following formula calculation deviation S1, making apicad, the correcting value of interval cumulative departure S1 increases.In addition, the interval on the right between apex region by following formula calculation deviation S2, along with the interval that enters the right, is reduced the part of deviation S2 and is calculated.
(deviation S1)=(apex correcting value fiducial value) ÷ (summit interval number)
(deviation S2)=(apex correcting value fiducial value) ÷ (the correcting range one summit interval numbers of central authorities of basic courses department)
At last, with the correcting value addition of basic courses department central authorities and apex central authorities, with aggregate value as correcting value.On the right, for the interval from the final interval right side of central authorities, calculation correction amount.Calculated deviation R by following formula,, reduced the part of deviation R, calculated each interval correcting value along with basic courses department's correcting value fiducial value enters the interval on the right side.
(deviation R)=(basic courses department's correcting value fiducial value) ÷ (correcting range+1 on basic courses department the right)
By each interval correcting value that calculating is so far tried to achieve, the correction reference angle with respect to standard contains phase deviation.Its reason be because, when asking between reference region that the correction reference angle is divided by mechanical angle 30 degree, corresponding with interval number with the correction reference angle, be that easy mechanical angle calculates with the correction reference angular transformation of standard.Complementary angle degree phase calibration deviation when therefore, use is divided by with 30 degree.Particularly, try to achieve mobile ratio, this is moved ratio and correcting value that each is interval multiplies each other, calculate the correcting value that move in the interval of phase place forward thus by following formula.Then, from each interval correcting value, deduct the correcting value of phase shifts forward, with the interval addition of this part and preceding phase place, phase calibration deviation thus.
(mobile ratio)=(complementary angle degree) ÷ (30 degree)
Proofreaied and correct each interval correcting value of this phase deviation, be the result of calculation of torque controller 16, and the current on time correcting value in this 12 interval is current on time C.
Current on time C by above calculating is tried to achieve is sent to drive signal generator 14.Then, drive signal generator 14 with current on time B and current on time C addition, then, by the computing of explanation formerly, is tried to achieve the energising turn-on time of pwm signal in each interval.Thus, the current on time C that tries to achieve in each interval that torque controller 16 is calculated is transformed to the linear correcting value that applies voltage.
Use the device of present embodiment, measured the variation that has or not the motor current that causes of torque control.Figure 12 (a) and (b), (c) represent its result.Figure 12 (a) and (b) are the motor current waveform that formerly illustrates.And, the motor current waveform of Figure 12 (c) when carrying out induced voltage compensation control and torque control, 3 waveforms be under the same conditions the rotating speed of compressor 3 and load are measured and waveform.In Figure 12 (b), motor current roughly flows through equably, and is relative therewith, can confirm in Figure 12 (c), flows through the motor current that is used for the compensating load torque more greatly.In addition, can confirm the mechanical angle difference when flowing through motor current greatly by relatively Figure 12 (a) and Figure 12 (c).And, can confirm about vibration, reduce in turn with the relation of Figure 12 (a)＞Figure 12 (b)＞Figure 12 (c), reduced vibration by this torque control.
At first, the shortcoming for general torque control describes.Torque control is for vibration and the noise that reduces compressor 3, and to be used to reduce the control that torque changes.Therefore, during load torque increases, carry out the control of increasing motor torque, on the contrary, during load torque reduces, reduce the control of motor torque.Like this, in order to reduce vibration and noise, power consumption has the trend of increase.
On the other hand, the inertia of the vibration of compressor 3 and noise and rotor is inversely prroportional relationship, and when the mean speed of rotor raise, vibration and noise reduced, and when the mean speed of rotor reduced, vibration and noise increased.Therefore, not along with the mean speed rising of rotor and the necessity of carrying out torque control.And, for the necessity of torque control, if consider then can followingly to illustrate from other viewpoint.
In the general freezing cycle device that uses compressor 3, have the vibration and the noise that are used to absorb compressor 3, reduce the vibration of device integral body and the structure member of noise.And,, can reduce the vibration and the noise of device integral body by carrying out the optimization of this structure member.
Below, enumerate object lesson and describe.The parts of fixing compressor 3, the general elastomeric material that uses, but pass through according to employed compressor 3, change the shape or the material of fixed part, can absorb vibration a certain amount ofly, shape or material by the connecting tube between change compressor 3 and the heat exchanger also can absorb vibration a certain amount ofly.In addition,, be wrapped in the shape or the material of sound panel on the compressor 3 etc., can reduce noise by change for the noise of compressor 3.Therefore, in freezing cycle device, also there is the situation of the performance that need not bring into play torque control to greatest extent.
Therefore, in the present embodiment,, can adjust the current on time correcting value that is used for the compensated motor torque of torque control, prevent that power consumption from increasing in vain according to the mean speed of compressor 3 or the operation mode of freezing cycle device.Below, specify its content.
The current on time correcting value that is used for the compensated motor torque of torque control by the basic courses department's correcting value desired value calculating part of adjustment torque controller 16 and the limits value of apex correcting value desired value calculating part, can change.If set limits value less, then the current on time correcting value also diminishes, if set greatlyyer, then the current on time correcting value also becomes big.So in basic courses department's correcting value desired value calculating part, the mean speed according to speed control 13 is tried to achieve changes limits value.Particularly, surpass at mean speed under the situation of the rotating speed of stipulating, in limits value, set " zero ".In apex correcting value desired value calculating part, also carry out same processing, be " zero " by the current on time correcting value that makes torque controller 16, reduce power consumption.
In addition, in following content, enforcement is corresponding to the adjustment of the current on time of the operation mode of freezing cycle device.Between not shown remote controller and indoor set, determine and the relevant operation mode of torque control that indoor set offers torque controller 16 with this operation mode.In basic courses department's correcting value desired value calculating part and apex correcting value desired value calculating part, from pre-prepd a plurality of limits values, the corresponding limits value of operation mode of selecting and setting and provide.For example,, set bigger limits value, under the situation of having set the energy-saving operation pattern on the remote controller, set less limits value having set on the remote controller under the situation that makes the operation mode that freezing cycle device undisturbedly works.In addition, surpass at mean speed under the situation of regulation rotating speed, in limits value, be set in " zero " of explanation earlier.By as above like this, can adjust the current on time correcting value that is used for the compensating load torque deviation according to the mean speed of compressor 3 or the operation mode of freezing cycle device.
Then explanation solves the embodiment of other problem.In this 120 degree energized control device of electric motor, position of magnetic pole estimator 11, cycle with tens microseconds monitors the position of magnetic pole signal that extracts from do not have energising mutually after commutation, overturn to the moment of " Hi " for " Lo " or from " Lo " from " Hi " upset after commutation by detecting this position of magnetic pole signal, infer position of magnetic pole.But, can monitor the position of magnetic pole signal variation during, be limited in energising turn-on time of pwm signal.In energising turn-on time of pwm signal, owing to do not apply from the direct voltage of rectifier output, so in this circuit structure, can't reasonably obtain induced voltage on the coil in motor.On the other hand, when compressor 3 is turned round with the slow-speed of revolution, owing to necessary average electrical engine torque reduces, so energising shortening turn-on time of pwm signal.In addition, under this state, when carrying out induced voltage compensation control or torque control because the average energising of rotating for 1 week is proofreaied and correct turn-on time, so produce energising turn-on time further shortening during.Therefore, there are the following problems,, along with the instruction rotating speed reduces, is difficult to infer position of magnetic pole that is, can't according to circumstances infer position of magnetic pole and compressor 3 is stopped.
Therefore,, the frequency of pwm signal is switched to low frequency, be easy to infer the position of magnetic pole in the low rotation speed area for head it off.Below, concrete content is described.
The frequency of pwm signal at first, is described.The frequency of pwm signal generally be the frequency that makes the resonance sound minimizing of compressor 3, and rotation makes the value of inverter efficiency or motor efficiency raising.In the present embodiment,, also set the frequency that satisfies above-mentioned condition, this frequency is defined as conventional frequency in the inside of drive signal generator 14.
But if only with this conventional frequency control motor, then as previously mentioned, the instruction rotating speed reduction along with compressor 3 is difficult to infer position of magnetic pole.Therefore, prepare low territory frequency in addition, set in the inside of drive signal generator 14 than conventional frequency low frequency.Should control motor with frequency in low territory if use, then compare when using conventional frequency,, for reaching the basic goal of Motor Control, under the situation that the instruction rotating speed of compressor 3 reduces, use low territory frequency although the resonance sound slightly raises.Then, concrete change action is described.
Drive signal generator 14 according to current on time A, current on time B, current on time C, calculates the energising turn-on time to the pwm signal of inverter circuit 2 outputs.This is switched on turn-on time, rotor rotate 1 week during change linearly.Therefore, drive signal generator 14 in the commutation of rotating the regulation in 1 week constantly, detects energising turn-on time the shortest in 1 week of rotation (being designated hereinafter simply as minimum the energising turn-on time), and this value is offered PWM frequency selector 18.In PWM frequency selector 18, minimum energising turn-on time and the predetermined frequency switching judging time that is provided is compared, judge switching instant.When moving with conventional frequency and low territory is with being switched and determined time ratio, under energising turn-on time of delivering to situation little than this time, carries out the frequency switching.When moving with frequency with low territory in addition, be switched and determined time ratio, when energising turn-on time of delivering to is big than this time, carry out the frequency switching with commonly used.And, when switching, in the frequency after drive signal generator 14 provides switching,, be revised as energising turn-on time corresponding to the frequency after switching with the energising turn-on time of current output.By implementing this action during 1 week, can carry out frequency all the time and switch in every rotation.In addition, described slow-revving switching determination time and the setting of switching determination time commonly used of being used for for being scheduled to.
In the present embodiment, energising according to pwm signal is switched and determined turn-on time, but, even if the value that the rotary speed of rotator etc. that uses the mean speed of compressor 3 or rotated for 1 week is associated with average motor torque also can be carried out same switching determination.
As mentioned above, according to present embodiment, have: periodically variable load is rotated the DC brushless motor of driving to load torque; This DC brushless motor is carried out the inverter circuit of PWM control; To industrial AC power rectification, offer the rectification circuit of this inverter circuit; Drive the pwm signal generating unit of this inverter circuit; Detect induced voltage, the unit of the position of rotation of infer rotor mutually from the nothing energising of this DC brushless motor; To from implementing the commutation back to unit that the commutation required time of implementing till commutation next time is measured; By the commutation required time that rotated for 1 week is carried out Fourier transform, be transformed to the unit of Sin component and Cos component; According to this Sin component and Cos component, the unit of the variation of complementary induction voltage.
Thus, the computing that offers the correcting value of pwm signal generating unit is simplified, and according to the characteristic curve of load torque, rotating speed etc., the work such as form that suitably generate correcting value have obtained simplifying significantly.And, the motor waveform when carrying out induced voltage compensation control, even load torque changes, owing to compensated the variation of induced voltage, motor current also roughly flows through equably.Can confirm according to this result, still when having implemented induced voltage compensation control, can suppress generator loss, control motor efficiently.
In addition and since rotor rotate 1 week during, output motor torque equably, thus also can to a certain degree make the vibration reduce.In addition, owing to do not flow through excessive electric current,, power consumption is increased so can not increase generator loss (copper loss, iron loss) in vain.Therefore, can obtain the control device of DC brushless motor, it can easily be developed, and can drive the control device of the periodically variable load of load torque with low input, low vibration, low noise.
In addition, have, infer the unit of the mechanical angle that the maximum load torque takes place and come the torque control unit of correcting motor torque according to the mechanical angle of inferring according to described Sin component and Cos component.
Thus, the motor current waveform when carrying out torque control is because big motor current is flow through in the compensating load torque.In addition, the mechanical angle when flowing through big motor current, unanimous on the whole with the position of maximum load torque.And vibration also reduces.Therefore, can obtain to reduce to load torque the control device of the DC brushless motor of vibration when periodically variable load drives, noise.
In addition, the unit that has the motor torque correcting value of the described torque control unit of restriction.
In household electrical appliance, have reducing of the input of comparing, more pursue the product of low vibration, low noise, in this case,, can realize lower vibration, the technology of low noise more though require to increase slightly input.
Because this situation, according to the service performance curve, can select to use respectively according to the purpose of freezing cycle device, give full play to the low vibration/etiquette mode of the effect that induced voltage compensation control and torque control; With the effect of torque-limiting control, with the pattern that the effect of induced voltage compensation control is sought the reduction of power consumption, promptly power consumption reduces pattern.According to operation mode, certain pattern is offered torque controller, can the current on time correcting value that be used for the compensating load torque deviation be limited according to pattern thus, can use low vibration/etiquette mode and power consumption to reduce pattern respectively.
Therefore can obtain the control device of DC brushless motor, it is by the service performance curve of prediction load in advance, can set the control of DC brushless motor, so that meet the attention degree of the energy-conservation attention degree corresponding, low vibration low noise with the service performance curve.
In addition, in the control device of DC brushless motor, have when PWM conduction time when setting is following, the PWM frequency is switched to more low-frequency unit.
Thus, when the rotation of motor reduced, the torque of load also reduced, and therefore, shorten the conduction time during pulse width modulation.So the induced voltage compensation control and treatment time of microcomputer is not enough, improper.For fear of this situation, reduce pulse-width modulation frequency, the conduction time when prolonging pulse width modulation.So, compressor from a high speed in the relative broad range of low speed, can suitably carry out PWM control, the control device of the DC brushless motor that has good stability in the time of can obtaining low load operation.
Also have: the control device of DC brushless motor, with the DC brushless motor of this control device control with this DC brushless motor compressor driven.
Thus, owing to seek to rotate energy-conservation, low vibration, the low noiseization that load torque in 1 week changes compression set greatly, so energy-conservation, low vibration that can the equipment of accomplished lift-launch on compression set, the compression set of low noiseization.
In addition, present embodiment is illustrated for the control of the motor of the single cylinder rotary compressor that drives air conditioner, but also can be applied to employed reciprocating compressor in freezer or the freezer.
Claims (6)
1. the control device of a brushless motor possesses: rectification is carried out in interchange, produced the rectifier of direct current; Link to each other with this rectifier, the inverter of the power of pulse width modulation has been carried out in output; Link to each other with this inverter, periodically variable load is rotated the brushless motor of driving to load torque; And from the nothing energising mutually of this brushless motor, detect induced voltage, and the unit is inferred in the position of the position of rotation of infer rotor, it is characterized in that,
Have as lower unit: according to as described in the position infer that the output of unit controls so that the electric current in 1 week of rotation of described brushless motor changes the unit that reduces.
2. the control device of brushless motor according to claim 1 is characterized in that,
Make the electric current in 1 week of rotation of described brushless motor change the unit of controlling, be that load torque changes the unit that the direction that increases is controlled in 1 week of rotation of described brushless motor with reducing.
3. the control device of a brushless motor possesses: rectification is carried out in interchange, produced the rectifier of direct current; Link to each other with this rectifier, the inverter of the power of pulse width modulation has been carried out in output; Link to each other with this inverter, periodically variable load is rotated the brushless motor of driving to load torque; And from the nothing energising mutually of this brushless motor, detect induced voltage, the unit is inferred in the position of the position of rotation of infer rotor, it is characterized in that having:
Mensuration commutates to the unit that carries out the commutation required time till commutate next time from described inverter;
By the commutation required time that rotated for 1 week is carried out Fourier transform, be replaced into the unit of Sin component and Cos component; With
According to this Sin component and Cos component, the unit of the variation of complementary induction voltage.
4. the control device of brushless motor according to claim 3 is characterized in that, has:
According to described Sin component and Cos component, infer the unit of the mechanical angle that produces the maximum load torque; With
According to the mechanical angle of inferring, the torque control unit of correcting motor torque.
5. the control device of brushless motor according to claim 4 is characterized in that,
Has the unit that the motor torque correcting value to described torque control unit limits.
6. the control device of brushless motor according to claim 3 is characterized in that,
Have as lower unit: when as described in pulse duration when setting is following, pulse-width modulation frequency is switched to low-frequency unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005331029A JP5010827B2 (en) | 2005-11-16 | 2005-11-16 | Brushless motor control device |
| JP2005331029 | 2005-11-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1968001A true CN1968001A (en) | 2007-05-23 |
| CN100464490C CN100464490C (en) | 2009-02-25 |
Family
ID=38076599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101467191A Expired - Fee Related CN100464490C (en) | 2005-11-16 | 2006-11-16 | Control device of brushless electromotor |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5010827B2 (en) |
| CN (1) | CN100464490C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102215023A (en) * | 2010-04-09 | 2011-10-12 | 日立空调·家用电器株式会社 | Motor control device and phase current detection method by using the motor control device |
| CN103780185A (en) * | 2012-10-19 | 2014-05-07 | 浙江盾安人工环境股份有限公司 | Compressor torque control method and torque control device |
| CN104038115A (en) * | 2014-06-09 | 2014-09-10 | 江苏仁源电气有限公司 | Sine-wave current driving system of single-winding brushless direct current motor and control method thereof |
| CN108762236A (en) * | 2012-06-29 | 2018-11-06 | 株式会社日立产机系统 | The management system of mechanical equipment |
| CN111102196A (en) * | 2020-01-15 | 2020-05-05 | 珠海格力电器股份有限公司 | Compressor torque compensation method and air conditioner |
| CN114144585A (en) * | 2019-11-22 | 2022-03-04 | 松下知识产权经营株式会社 | Motor driving device and refrigerator using the same |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8766578B2 (en) | 2012-02-27 | 2014-07-01 | Canadian Space Agency | Method and apparatus for high velocity ripple suppression of brushless DC motors having limited drive/amplifier bandwidth |
| KR102136804B1 (en) * | 2013-01-23 | 2020-07-22 | 엘지전자 주식회사 | Motor control apparatus and method thereof |
| JP6198676B2 (en) * | 2014-05-27 | 2017-09-20 | ミネベアミツミ株式会社 | Motor drive control method and motor drive control device |
| JP6204385B2 (en) * | 2015-01-22 | 2017-09-27 | ミネベアミツミ株式会社 | Motor current control device and motor current control method |
| JP6272797B2 (en) * | 2015-05-27 | 2018-01-31 | ミネベアミツミ株式会社 | Motor drive control device and motor drive control method |
| JP6272798B2 (en) * | 2015-06-05 | 2018-01-31 | ミネベアミツミ株式会社 | Motor drive control device and motor drive control method |
| CN105978412A (en) * | 2016-06-24 | 2016-09-28 | 国网甘肃省电力公司电力科学研究院 | Brushes motor drive controller for new energy automobile and device of brushes motor drive controller |
| CN105978421B (en) * | 2016-06-27 | 2019-04-26 | 深圳怡化电脑股份有限公司 | Motor operation controller, method and system |
| JP7039518B2 (en) * | 2019-04-17 | 2022-03-22 | 株式会社 日立パワーデバイス | Outdoor unit of motor drive device and air conditioner using it |
| JP7213196B2 (en) * | 2020-02-28 | 2023-01-26 | 株式会社 日立パワーデバイス | MOTOR DRIVE DEVICE, OUTDOOR UNIT OF AIR CONDITIONER USING THE SAME, MOTOR DRIVE CONTROL METHOD |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0767381A (en) * | 1993-08-25 | 1995-03-10 | Toshiba Corp | Drive controller and driving method for dc brushless motor |
| JP3832257B2 (en) * | 2001-02-26 | 2006-10-11 | 株式会社日立製作所 | Synchronous motor start control method and control device |
| JP4274800B2 (en) * | 2003-01-07 | 2009-06-10 | シャープ株式会社 | Motor control device, air conditioner and refrigerator using the control device |
-
2005
- 2005-11-16 JP JP2005331029A patent/JP5010827B2/en not_active Expired - Fee Related
-
2006
- 2006-11-16 CN CNB2006101467191A patent/CN100464490C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102215023A (en) * | 2010-04-09 | 2011-10-12 | 日立空调·家用电器株式会社 | Motor control device and phase current detection method by using the motor control device |
| CN102215023B (en) * | 2010-04-09 | 2014-07-16 | 日立空调·家用电器株式会社 | Motor control device and phase current detection method by using the motor control device |
| CN108762236A (en) * | 2012-06-29 | 2018-11-06 | 株式会社日立产机系统 | The management system of mechanical equipment |
| CN103780185A (en) * | 2012-10-19 | 2014-05-07 | 浙江盾安人工环境股份有限公司 | Compressor torque control method and torque control device |
| CN104038115A (en) * | 2014-06-09 | 2014-09-10 | 江苏仁源电气有限公司 | Sine-wave current driving system of single-winding brushless direct current motor and control method thereof |
| CN104038115B (en) * | 2014-06-09 | 2017-02-01 | 江苏仁源电气有限公司 | Sine-wave current driving system of single-winding brushless direct current motor and control method thereof |
| CN114144585A (en) * | 2019-11-22 | 2022-03-04 | 松下知识产权经营株式会社 | Motor driving device and refrigerator using the same |
| CN114144585B (en) * | 2019-11-22 | 2024-07-23 | 松下知识产权经营株式会社 | Motor driving device and refrigerator using the same |
| CN111102196A (en) * | 2020-01-15 | 2020-05-05 | 珠海格力电器股份有限公司 | Compressor torque compensation method and air conditioner |
| CN111102196B (en) * | 2020-01-15 | 2020-10-27 | 珠海格力电器股份有限公司 | Compressor torque compensation method and air conditioner |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5010827B2 (en) | 2012-08-29 |
| JP2007143237A (en) | 2007-06-07 |
| CN100464490C (en) | 2009-02-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1968001A (en) | Control device of brushless electromotor | |
| CN1127197C (en) | Method and device for controlling speed of a washing machine motor | |
| CN1180956A (en) | Motor control apparatus, and motor drive apparatus and air-condictioner | |
| CN1200506C (en) | Starting control method and control apparatus for synchronous motor and its application | |
| CN1279688C (en) | Speed controller for synchronous machine | |
| JP3554269B2 (en) | Linear motor drive, medium, and information aggregate | |
| US7969108B2 (en) | Control circuit for a brushless DC motor and method therefor | |
| CN1293701C (en) | Step failing out detecting apparatus and method for synchronous motor, driving apparatus for motor | |
| CN1778032A (en) | Motor controlling device, compressor, air conditioner and refrigerator | |
| US7477032B2 (en) | Compressor and a driving method thereof | |
| CN1767361A (en) | Motor driving apparatus and motor driving method | |
| RU2008121994A (en) | DEVICE AND METHOD FOR REGULATING THE DRIVE SYSTEM FROM THE MOTOR | |
| CN101064483A (en) | Device and method for controlling power converting device | |
| CN1133510A (en) | Controller for transducer | |
| CN1320297A (en) | Controller for PWM/PAM motor and method for controlling air conditioner and motor having controller | |
| CN1282138A (en) | Method and device for braking washing machine | |
| CN1534859A (en) | Frequency changer controller for driving motor and air-conditioner | |
| CN110138310A (en) | Control device of electric motor, pile defection device and method for detecting open phase | |
| CN1306693C (en) | Drive device for motor and air conditioner using same | |
| CN102624298B (en) | Motor | |
| CN1728542A (en) | Control process and control device of induction motor ind. appts. | |
| US20080152325A1 (en) | Apparatus and method for controlling BLDC motor | |
| JP6329504B2 (en) | Motor drive control device and motor drive control method | |
| CN101047358A (en) | Sinusoidal DC conversion control method and equipment and equipment for one-drives-two air conditioner | |
| JP2006149097A (en) | Motor controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160818 Address after: Hongkong, China Patentee after: Johnson Controls Hitachi air conditioning technology (Hong Kong) Co.,Ltd. Address before: Tokyo, Japan Patentee before: Hitachi Appliances, Inc. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180615 Address after: Tokyo, Japan Patentee after: HITACHI-JOHNSON CONTROLS AIR CONDITIONING, Inc. Address before: Hongkong, China Patentee before: Johnson Controls Hitachi air conditioning technology (Hong Kong) Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090225 Termination date: 20211116 |