JP2004201377A - Controller and control method for synchronous motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller for a synchronous motor which is suitable for current application control of 180° where it controls the current of the synchronous motor into sine waveform even if it uses position sensors arranged at irregular intervals. <P>SOLUTION: In the controller for a synchronous motor comprising a position detector for detecting the magnetic pole position of the synchronous motor, a motor control means for controlling the synchronous motor, using the position signal of the position detector, and an inverter for driving the synchronous motor, according to the drive signal outputted from the motor control means, the two or more position sensors of the position detector are arranged so that the angular interval between position signals obtained from this position sensor may be irregular, and when the signal intervals between the position signals A, B at irregular intervals outputted from the position detector are at the rate of 1 to n (n is an integer of 2 or over), a speed operation part 1 and a phase correction part 2 that the motor control means possesses use it as it is in case that the signal interval between the position signals is 1, and convert it into information (1/n) equivalent to 1 of the signal interval in case that the signal interval between the position signals is n prior to use. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control device and a control method for a synchronous motor that drives a synchronous motor 180 degrees (sine wave) using a position sensor, and more particularly to a synchronous motor control technology using position sensors arranged at unequal intervals. About.
[0002]
[Prior art]
Many motor control devices for driving a synchronous motor by 180 degrees by using a position sensor such as a Hall IC have been announced. Above all, in the 1999 IEEJ Tokyo Branch Ibaraki Branch Research Presentation Paper "Development of Inverter-Controlled Fully Automatic Washing Machine", the contents of adopting vector control and reducing noise by energizing 180 degrees are described.
As shown in FIG. 13, the control configuration of the motor described in the above paper calculates the rotational speed ωr of the synchronous motor using position signals U, V, and W from three Hall ICs arranged at equal intervals. Speed controller 1000, and the reference phase θdps of the synchronous motor is obtained from the position signals U, V, W of the Hall IC, the phase error between the reference phase θdps and the internal phase θd of the control device is calculated, and the correction signal ωp11 is output. A phase correction unit 2000 that calculates an internal phase θd from the rotation speed ωr and the correction signal ωp11; a speed control unit 4 that calculates a current command Iq * from the speed command ωr * and the rotation speed ωr; A vector calculator 5 for calculating voltage commands Vq *, Vd * to the synchronous motor from the speed ωr and the current commands Iq *, Id *, and applied voltage commands Vu, Vv, from the voltage commands Vq *, Vd * and the internal phase θd. It is composed of an applied voltage command creating unit 6 for calculating Vw. I have.
The Hall ICs for detecting the magnetic pole position of the synchronous motor are mounted at equal intervals of 120 electrical degrees. For this reason, the position for every 60 electrical degrees can be grasped using the position signal. FIG. 14 shows a position signal waveform.
Here, the phase error is a phase difference between the reference phase θdps and the internal phase θd of the control device. The rotation speed is obtained by measuring a time interval of the electrical angle of 60 degrees obtained every 60 electrical degrees, and calculating the rotational speed from the value.
[0003]
[Problems to be solved by the invention]
In the above control method, the phase correction unit 2000 calculates a phase error for each edge of the position signals U, V, and W and outputs a correction signal ωp11. In other words, the reference phase θdps and the internal phase θd are compared every 60 electrical degrees, and the correction signal ωp11 is calculated from the phase error. Further, a correction speed ω1 is created from the rotation speed ωr from the speed calculation unit 1000 and the correction signal ωp11, and the internal phase θd is calculated using the phase update unit 3. With the above configuration, a fine internal phase θd is created from position signals at electrical angle intervals of 60 degrees, and 180-degree energization control is performed.
On the other hand, motor control devices using position sensors such as Hall ICs are used in relatively inexpensive devices (fan motors, washing machines, electric bicycles, etc.), and reducing the number of parts and costs is an important issue. . Up to now, 120-degree energization drive has been the mainstream, but 180-degree energization drive has been promoted in order to improve added value.
Therefore, it is desired to divert the 120-degree conducting position detection board that has been used so far to the 180-degree conducting drive (transition period) of the relatively inexpensive motor control device. Further, by using a common position detection board, the cost of the position detection board can be reduced.
The above-mentioned prior art is also inexpensive and can perform 180-degree energization driving with high accuracy. However, since the position signal is detected at every 60 degrees of electrical angle (equal intervals), the control configuration is constructed. It cannot cope with reduction of Hall IC. In other words, it cannot respond to signals from position sensors arranged at unequal intervals.
[0004]
In view of the above, an object of the present invention is to provide a synchronous motor control device and control suitable for 180-degree conduction control for controlling the current of a synchronous motor in a sine wave even when position sensors arranged at unequal intervals are used. It is to provide a method.
[0005]
[Means for Solving the Problems]
In order to solve the above problems, a position detection unit that detects a magnetic pole position of the synchronous motor, a motor control unit that controls the synchronous motor using a position signal of the position detection unit, and a drive signal output from the motor control unit In a motor control device including an inverter that drives a synchronous motor,
A plurality of position sensors of the position detector are arranged so that the angular intervals of the position signals obtained from the position sensors are unequal, and the signal intervals of the unequally spaced position signals output from the position detector are one pair. When the ratio is n (n is an integer of 2 or more), the motor control means uses the signal interval of the position signal as it is when it is 1, and when the signal interval of the position signal is n, the signal interval is equivalent to 1. It is used as information (1 / n).
In addition, a plurality of position sensors of the position detecting unit are arranged at equal intervals, and the motor control unit is configured to include q number of p (p is an integer of 3 or more) position sensors arranged at equal intervals of the position detecting unit. As information obtained using unequally-spaced position signals obtained when (1 ≦ q <p−1) fails, if the signal interval between position signals is 360 electrical degrees / (2 × p) degrees, It is used as it is, and when the signal interval of the position signal is an electrical angle of 360 / p degrees, it is used as 1 / (p−q).
Here, information obtained from unequally spaced position signals is averaged for one cycle of the electrical angle or an integral multiple thereof and used.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
One embodiment of the present invention will be described with reference to FIGS. 2 is a schematic diagram of a washing machine to which the present invention is applied, FIG. 3 is a configuration diagram of a motor control device A3 for driving a pulsator A1 and a washing drum A2 of the washing machine, and FIG. 4 is a synchronous diagram for driving the pulsator A1 and the washing drum A2. It is a schematic layout of the position sensor attached to the electric motor A4.
As shown in FIG. 3, the motor control device A3 of the present embodiment includes a rectifier circuit B1 for converting AC power, an inverter B2 for converting DC power into arbitrary AC power and driving a synchronous motor A4, and a synchronous motor A4. And a motor control means B3 for controlling the synchronous motor A4 using an inverter B2 in accordance with a position signal from a position sensor B4 attached to the motor.
As shown in FIG. 4, the position sensor B4 uses a Hall IC (B4A, B4B) that detects a magnetic flux of a permanent magnet disposed on the rotor of the synchronous motor and outputs a rectangular wave position signal. Two can be attached at intervals of degrees. Here, the synchronous motor of the present embodiment is a three-phase eight-pole non-salient-pole type permanent magnet synchronous motor, and therefore has a mechanical angle of 30 degrees. Further, the position sensor B4C is a substrate created for 120-degree conduction, and a substrate to which three Hall ICs can be attached.
FIG. 1 shows a control configuration diagram of the motor control means B3 of the present embodiment. This control uses a microcomputer, and all are realized by software. It should be noted that a digital signal processor (DSP) can be used instead of the microcomputer.
FIG. 5 shows a relationship diagram between the induced voltage of the permanent magnet synchronous motor A4 and the position signal of the Hall IC. This diagram is a relationship diagram in the case of rotation in the normal rotation (CW) direction, and also shows a relationship between a position detection pattern and a position detection number i used in control described later.
[0007]
The motor control means B3 of this embodiment shown in FIG. 1 will be described.
The motor control means B3 calculates the rotation speed ωr of the permanent magnet synchronous motor using the position signals A and B of the Hall IC, and obtains the reference phase θdps of the permanent magnet synchronous motor from the position signals A and B. A phase correction unit 2 that calculates a phase error between the reference phase θdps and the internal phase θd of the control device and outputs a correction signal ωp11, and a phase update unit 3 that calculates the internal phase θd from the rotation speed ωr and the correction signal ωp11. A speed controller 4 that calculates a current command Iq * from a speed command ωr * and a rotation speed ωr from a host controller, and a voltage command Vq * to a permanent magnet synchronous motor from the rotation speed ωr and the current commands Iq * and Id *. A vector operation unit 5 for calculating Vd * and an applied voltage command creating unit 6 for calculating applied voltage commands Vu, Vv, Vw to the inverter circuit from the voltage commands Vq *, Vd * and the internal phase θd.
The speed calculator 1 measures the time between the edges of the position signals A and B (corresponding to the electrical angles of 60 degrees and 120 degrees) (referred to as an interval time), and calculates the rotation speed ωr.
The phase correction unit 2 includes a ROM 21 and a correction signal calculation unit 22. The reference phase θdps output from the ROM 21 is a phase angle (30, 150, 210, 330 degrees) corresponding to each edge of the position signals A and B. The ROM 21 is set in advance corresponding to the position detection number i shown in FIG. Further, the calculation of the phase error between the reference phase θdps and the internal phase θd is performed for each edge of the position signals A and B as described above. The correction signal ωp11 is calculated by the correction signal calculation unit 22 using a proportional integral calculation using the average value of the phase error (for one electrical angle) (Σ / 6). Here, the proportional integral calculation is used to calculate the correction signal ωp11, but it is also possible to perform only the proportional calculation.
The phase update unit 3 calculates the internal phase θd by using the correction speed ω1, which is the sum of the rotation speed ωr and the correction signal ωp11, using Expression (1).
θd (n + 1) = θd (n) + ω1 × Δt (1)
Here, Δt is a calculation cycle, and more specifically, is a PWM half cycle of the inverter for executing the process of the phase update unit 3 for each PWM output process.
The speed control unit 4 calculates the current command Iq * using a proportional-integral operation. Since the permanent magnet synchronous motor of this embodiment is a motor having no saliency, the current command Id * is fixed to zero. Here, when the motor used has saliency, for example, means for calculating the current command Id * from the current command Iq * or calculating the current command Id * to maximize the efficiency are added.
The vector calculation unit 5 performs a calculation according to the motor model formula shown in Expression (2). Here, if the motor used has saliency, the motor model formula is used.
Vd * = r · Id * −ωr · L · Iq *
Vq * = ωr · L · Id * + r · Iq * + kE · ωr (2)
Here, Vd *: d-axis voltage command, Id *: d-axis current command Vq *: q-axis voltage command, Iq *: q-axis current command r: winding resistance, L: inductance kE: power generation constant, ωr: rotation The speed application voltage command creation unit 6 converts the voltage commands Vq *, Vd * calculated in the d-q coordinate system into a three-phase coordinate system, and calculates the applied voltage commands Vu, Vv, Vw. Specifically, an applied voltage calculator 61 for calculating the applied voltage value, a voltage phase calculator 62 for calculating the phase of the applied voltage from the internal phase θd and the load angle δ, and a phase difference between the applied voltage and the induced voltage. It comprises a δ calculation unit 63 for calculating the load angle δ.
[0008]
Next, a software configuration for realizing the control configuration of the motor control unit B3 of the present embodiment shown in FIG. 1 by software will be described with a flowchart. However, only the parts necessary for the description of the present invention are shown.
6 shows the entire software configuration, FIG. 7 shows the position detection process, FIG. 8 shows the operation of the position detection process, FIG. 9 shows the speed calculation process and the PWM process, and FIG. 10 shows the phase correction process.
[0009]
As shown in FIG. 6, the software configuration of this control includes a main process as a normal process, a position detection process as an interrupt process, a PWM process, and a control cycle process.
The interrupt processing is executed when each interrupt event occurs. The position detection processing is performed when each edge of the position signal is input, the PWM processing is performed during a PWM half cycle, and the control cycle processing is performed when a control cycle timer overflows. In the control cycle processing, a basic time of the control cycle is created, and processing to be executed periodically is started.
The main processing will be described below.
The main process performs a motor operation / stop determination process. If there is an operation command, a rotation speed command ωr * is read and a control cycle is checked. Next, when the control cycle elapses, a speed calculation process is performed to calculate the rotation speed ωr from the position signals A and B. Subsequently, a speed control process is performed from the rotation speed command ωr * and the rotation speed ωr, and a phase correction process is performed to calculate a correction signal ωp11 from a phase error between the reference phase θdps and the internal phase θd of the control device. If there is no operation command, stop processing is performed. The main process usually repeats the above process and forms an infinite loop.
[0010]
Next, processing for executing the contents of the present invention will be described in detail.
FIG. 7 is a flowchart (FIG. 7A) of a position detection process, which is an interruption process, and a method of storing data stored in this process (FIGS. 7B and 7C). FIG.
This process is a process of a part of the speed calculation unit 1 and the phase correction unit 2 shown in FIG. 1, and is a process of calculating the time (interval time) between the position detection edges and the phase error used above.
As described above, the position detection process is started as an interrupt process for each edge of the position signals A and B of the Hall IC.
First, in (A), the position detection number i is set according to the read position detection pattern and the number of position detections is updated. Here, the position detection number i is a phase number assigned to each edge of the position detection signal as shown in FIG. Further, the number of position detections indicates the number of position detection interrupts within the control cycle time.
Then, in (a), the position detection time is read and updated. In this interrupt processing, the edge interrupt of the position signal is performed using the input capture interrupt, so that the time at the edge interrupt of the position signal is automatically secured. In this case, the time is read from a register and stored in a dedicated RAM area.
In (c), the interval time is calculated from the position detection time read as described above and the previous value, and the value is stored in a dedicated RAM area.
As shown in FIG. 7B, there are six interval time storage areas (360 electrical degrees), and the latest interval time of 60 degrees is stored at the top. In other words, an interval time corresponding to one cycle of the electrical angle can be secured and erased after one cycle.
Next, in (d), a preset reference phase θdps is read, and in (e), a phase error is calculated using the reference phase θdps and the internal phase θd, and the value is stored in a dedicated RAM area. FIG. 7C shows the storage area. The contents are the same as the interval time.
[0011]
Here, a method of creating an interval time and a phase error for an electrical angle of 60 degrees from unequally spaced position signals will be described with reference to FIG. FIG. 8 is an operation explanatory diagram showing the relationship between the position signals A and B, the interval times (T0, T1...) Obtained from the signals, and the phase errors (E0, E1...).
As shown in FIG. 8, since the phase difference between the position signals A and B has an electrical angle of 120 degrees, the interval time and the phase error at the position θ1 are values of 120 electrical degrees, and at the position θ2, the electrical angle is 60 degrees. Value. (After that, it repeats alternately.)
In this manner, data at equal angles (equal intervals) cannot be obtained with position signals at unequal intervals. If this data is used as it is, it is necessary to provide the above-described data determination processing in the speed calculation and phase correction calculation described later, or to add processing in another loop. In other words, the control software becomes complicated.
In the present embodiment, the interval time and the phase error can be handled as data for an electrical angle of 60 degrees so that the control software is simplified and the processes such as the speed calculation and the phase correction calculation described below can be executed without complicating the processing. Change to
In FIG. 8, at the position θ1, as described above, the value (T0, E0) corresponding to the electrical angle of 120 degrees is used. (T0 / 2, T0 / 2) are stored. At the position θ2, the value (T1, E1) for the electrical angle of 60 degrees is stored as it is as the value (T1) for the electrical angle of 60 degrees. The number of times of position detection described above is also increased by two when a value corresponding to an electrical angle of 120 degrees is stored.
In this manner, a value corresponding to an electrical angle of 120 degrees can be handled as data of an electrical angle of 60 degrees, and can be executed by simple processing without complicating speed calculation and phase correction calculation described later. In other words, the processing can be performed as if the position sensors arranged at regular intervals are used even if the position sensors at irregular intervals are used.
The above is the content of the position detection processing. By executing this process, the interval time and the phase error for the electrical angle of 60 degrees are calculated.
[0012]
Next, the speed calculation process, the phase correction process, and the PWM process for updating the internal phase θd that are executed in a predetermined cycle will be described with reference to FIGS.
FIG. 9A shows a flowchart of the speed calculation process. This process is a process of reading and clearing the number of times of position detection described above, and calculating the rotation speed ωr using the interval time obtained in the position detection process. This is a process of the speed calculation unit 1 shown in FIG.
In the speed calculation, the rotation speed ωr is calculated as a 360-degree time (one electrical angle cycle) using six interval times (T0 / 2, T0 / 2, T1, T2 / 2, T2 / 2, T3). As the rotation speed calculation method, the rotation speed ωr is calculated from the interval time for 60 electrical degrees, and the rotation speed ωr is averaged using six values. In the case of low speed rotation, the rotation speed is calculated from an even number of interval times. A method of calculating the speed ωr may be considered. In any of the above-described methods, it is possible to calculate a stable rotation speed ωr while suppressing a variation in the position signal. Also, it is cleared every one cycle of the electrical angle.
FIG. 9B shows a flowchart of the PWM processing. In this process, the internal phase θd is updated and the normal PWM output process is performed. The output stages of the phase updating unit 3 and the voltage command creating unit 6 shown in FIG. 1 are also included in this processing. The description of the PWM output processing is omitted.
The PWM process is a process executed in a minimum time period in the present control process. Therefore, the internal phase θd is updated in this processing. The contents of the execution are as shown in the above equation (1).
[0013]
FIG. 10 shows a flowchart of the phase correction processing. This process is a process of calculating the correction signal ωp11 from the phase error between the reference phase θdps and the internal phase θd, and is a central process of the phase configuration unit 2 shown in FIG.
First, in (f), it is checked whether one cycle of the electrical angle has elapsed. If the motor has rotated one cycle during the predetermined cycle, the process proceeds to (G). If not, the process ends (returns to the main process).
In (g), the average phase error is calculated using the values of the six phase error storage areas shown in FIG. Specifically, all data is summed and divided by six.
In (h), since the phase error is used in the above, all the data are cleared.
In (g), the correction signal ωp11 is calculated using the average phase error obtained above. As described above, the calculation is performed using the proportional-integral calculation.
By repeatedly performing the above processing, it is possible to control the speed of the electric motor. By averaging and calculating the speed calculation processing and the phase correction processing for one cycle of the electrical angle, even if the position signal varies, It is possible to control the electric motor stably by absorbing the variation.
[0014]
Although this embodiment has been described with reference to an example in which the present invention is applied to a washing machine, the present invention is also applicable to a fan motor, a pump drive motor, an electric vehicle, and the like. The reason is that 180-degree energization control is possible with an inexpensive circuit configuration, and low vibration and low noise of the motor and the mounting unit can be achieved.
FIG. 11 is a schematic view of an installation when applied to an outdoor fan motor of an air conditioner, and FIG. 12 is a cross-sectional view of the outdoor fan motor. 11, 100 is an outdoor fan, 200 is a compressor control board, 300 is a compressor, and 400 is an outdoor unit. A control board 900 is incorporated in the fan motor of FIG. Here, 500 is a motor stator, 600 is a rotor, 700 and 701 are bearings, 800 is a motor shaft, 901 is a control microcomputer, 902 is an inverter, and 903 is a Hall IC. Fan 100 shown in FIG. 11 is directly connected to shaft 800.
The reason why two position sensors are used is to detect the rotation direction.
[0015]
As described above, according to the present invention, it is possible to reduce the number of position sensors by using the 120-degree conducting position detection board that has been used up to now. Since this can be solved, the cost of the position detection part can be reduced.
Furthermore, not only can the configuration of the control software be simplified, the development efficiency can be improved, but also the control software can be shared, so that the motor can be driven in both the case of three position sensors and the case of two position sensors. Become.
[0016]
Here, as an embodiment of the present invention, the signal interval of the unequally spaced position signals output from the position detection unit has been described as being 1: 2, but the signal interval of the unequally spaced position signals is 1: n. (n is an integer of 2 or more). In this case, if the signal interval of the position signal is 1, the signal interval is used as it is, and if the signal interval of the position signal is n, the signal interval is 1 It is used as considerable information (1 / n).
[0017]
As described above, in the embodiment of the present invention, the case where the position sensors in which the angular intervals of the position detection signals are arranged at unequal intervals has been described, but in the present invention, the angular intervals of the position detection signals are arranged at equal intervals. The present invention is also applicable to a case where a position sensor is used. In other words, when a part of the position sensor fails, a circuit or a process for detecting each failure of the position sensor is added, so that the number of position sensors used can be automatically changed to drive the electric motor. .
Specifically, when three position sensors of the position detection unit are arranged at equal intervals, and when one of the three position sensors arranged at equal intervals fails, the angle interval of the position detection signal is changed. The intervals will be unequal. The unequally-spaced position signals have two types of angle intervals of 60 degrees and 120 degrees in electrical angle. In this case, when the signal interval of the position signal is 60 electrical degrees, the signal is used as it is. When the signal interval of the position signal is 120 electrical degrees, the signal interval is reduced to 1/2 and used as the electrical angle of 60 degrees.
Here, the same applies when three position sensors arranged at equal intervals are p (p is an integer of 3 or more) and one failed position sensor is q (1 ≦ q <p−1). . In this case, if the signal interval of the position signal is 360 / (2 × p) electrical degrees, the signal is used as it is, and if the signal interval of the position signal is 360 / p electrical angle, 1 / (p−q) is used. To use.
In this way, when using position sensors in which the angular intervals of the position detection signals are arranged at equal intervals, it is possible to construct a motor drive system that can drive the motor even if a part of the position sensor fails.
When this motor drive system is applied to an electric vehicle or the like, the drive system becomes a safer system. In the case of a driving motor for a device that is operating continuously, the frequency of stopping the operation can be reduced.
[0018]
Further, in the embodiment of the present invention, when the interval between the position signals is an electrical angle of 60, the information is used as it is, and when the electrical angle is 120 degrees, the information is １ ／ (converted to information of 60 electrical degrees). ) Was used, but when the position signal interval was an electrical angle of 60, the information was doubled (converted to information for 120 electrical degrees) and used, and the electrical angle was 120 degrees. In that case, the information can be used as it is.
[0019]
【The invention's effect】
As described above, according to the present invention, even if a position sensor in which the angular intervals of the position detection signals are arranged at unequal intervals, the calculation of the correct phase can be executed by simple processing, It is possible to realize 180-degree conduction control for controlling the electric current of the electric motor in a sine wave shape.
In addition, the configuration of the control software is simplified, so that not only the development efficiency can be improved, but also the control software can be shared. For example, the motor can be driven in either case of three position sensors or two position sensors. can do.
Also, by averaging information obtained from the position signal for one electrical angle cycle, it is possible to absorb a variation in the position signal caused by a mounting error of the position sensor and realize a stable motor drive.
In addition, it is possible to reduce the number of position sensors by using, for example, a 120-degree energization position detection board that has been used so far, and it is possible to reduce the cost of the position detection portion.
Also, by detecting individual failures of the position sensor and automatically changing the number of position sensors used, in other words, building a motor drive system that can drive the motor even if part of the position sensor fails. can do. As a result, in a driving device such as an electric vehicle, even if a part of the position sensor fails, the motor can be driven safely, and in the case of a driving motor of a continuously operating device, the operation is stopped. Frequency can be reduced.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a synchronous motor control device showing an embodiment of the present invention; FIG. 2 is a schematic diagram of a washing machine to which the present invention is applied; FIG. 3 is a configuration diagram of a motor drive control of the present invention; FIG. 5 is a schematic diagram of the arrangement of the position sensor of the present invention. FIG. 5 is a diagram showing the relationship between the induced voltage and the position signal of the Hall IC of the present invention. FIG. 6 is an overall configuration diagram of the software of the present invention. FIG. 8 is an explanatory diagram of the operation of the position detection process of the present invention. FIG. 9 is a flowchart of a speed calculation process and a PWM process of the present invention. FIG. 10 is a flowchart of a phase correction process of the present invention. Schematic diagram of air conditioner [FIG. 12] Cross-sectional view of outdoor fan motor to which the present invention is applied [FIG. 13] Conventional motor control configuration diagram [FIG. 14] Position signal waveform of conventional motor control device [Description of symbols]
1, 1000: speed calculation unit, 2, 2000: phase correction unit, 21: ROM, 22: correction signal calculation unit, 3: phase update unit, 4: speed control unit, 5: vector calculation unit, 6: voltage command generation , 61... Applied voltage command creation unit, 62... Voltage phase calculation unit, 63... Load angle calculation unit, 400... Motor stator, 500. Motor rotor, 600 601 bearing, 700. Motor control board, 801 control microcomputer, 802 inverter, 803 hall IC, A1 pulsator, A2 washing drum, A3 motor controller, A4 synchronous motor, B1 rectifier circuit, B2 inverter B3: electric motor control means, B4: position sensor

Claims (9)

A position detection unit that detects a magnetic pole position of the synchronous motor; a motor control unit that controls the synchronous motor using a position signal of the position detection unit; and a drive unit that drives the synchronous motor according to a drive signal output from the motor control unit. In the synchronous motor control device consisting of an inverter
A plurality of position sensors of the position detection unit are arranged such that angular intervals of position signals obtained from the position sensors are unequal intervals, and a signal interval of unequally spaced position signals output from the position detection unit is When the ratio is 1: n (n is an integer of 2 or more), the motor control means uses the signal interval of the position signal as it is when it is 1, and uses the signal when the signal interval of the position signal is n. A control device for a synchronous motor, wherein an interval (1 / n) corresponding to 1 is used. A position detection unit that detects a magnetic pole position of the synchronous motor; a motor control unit that controls the synchronous motor using a position signal of the position detection unit; and a drive unit that drives the synchronous motor according to a drive signal output from the motor control unit. In the synchronous motor control device consisting of an inverter
The plurality of position sensors of the position detection unit are arranged so that the angle intervals of position signals obtained from the position sensors are two types of intervals corresponding to an electrical angle of 60 degrees and 120 degrees, and the motor control unit includes: As the information obtained from the position signal, if the signal interval of the position signal is equivalent to an electrical angle of 60 degrees, it is used as it is, and if the signal interval of the position signal is equivalent to an electrical angle of 120 degrees, １ ／ (the signal interval is A control device for a synchronous motor, wherein the control device is used at an electrical angle of 60 degrees. 3. The control device for a synchronous motor according to claim 1, wherein the motor control means averages information obtained from the position signal for one cycle of an electrical angle or an integral multiple thereof. The motor control means according to any one of claims 1 to 3, further comprising a phase correction unit, wherein the phase correction unit uses the unequally-spaced position signals output by the position detection unit to control the synchronous motor. A phase signal is generated, a phase error between the reference phase and the internal phase of the control device is calculated, and the phase error is averaged for one electrical angle period or an integral multiple thereof to output a correction signal for correcting the internal phase. A control device for a synchronous motor. 5. The motor control device according to claim 1, wherein the motor control unit includes a speed calculation unit, and the speed calculation unit calculates a rotation speed using unequally spaced position signals output from the position detection unit. A synchronous motor control device for calculating the rotational speed based on a time corresponding to one cycle of the electrical angle or an integral multiple of the electrical angle. 2. The motor control means according to claim 1, wherein the motor control means uses the signal interval as information corresponding to n when the signal interval of the position signal is 1, and uses the signal interval of the position signal as information obtained from the position signal. When n is n, the control device for a synchronous motor is used as it is. A position detection unit that detects a magnetic pole position of the synchronous motor; a motor control unit that controls the synchronous motor using a position signal of the position detection unit; and a drive unit that drives the synchronous motor according to a drive signal output from the motor control unit. Motor control device consisting of an inverter
The plurality of position sensors of the position detection unit are arranged at equal intervals, and the electric motor control unit is configured such that the electric motor control unit has q number of p (p is an integer of 3 or more) position sensors arranged at equal intervals of the position detection unit. As information obtained using unequally spaced position signals obtained when (1 ≦ q <p−1) fails, the signal interval between the position signals is an electrical angle of 360 / (2 × p) degrees Is used as it is, and when the signal interval between the position signals is an electrical angle of 360 / p degrees, 1 / (pq) is used. In the synchronous motor control method of detecting the magnetic pole position of the synchronous motor and controlling the synchronous motor using the detected position signal,
A plurality of position sensors for detecting the position signals are arranged such that the angular intervals of the position signals obtained from the position sensors are unequal, and the signal intervals of the unequally spaced position signals are 1: n (n is When the signal interval of the position signal is 1, when the signal interval of the position signal is 1, the signal interval is equivalent to 1 when the signal interval of the position signal is n. A method for controlling a synchronous motor, wherein the method is used as information (1 / n). In the synchronous motor control method of detecting the magnetic pole position of the synchronous motor and controlling the synchronous motor using the detected position signal,
A plurality of position sensors for detecting the position signal are arranged at equal intervals, and q (1 ≦ q <p−1) among the p (p is an integer of 3 or more) position sensors arranged at the same intervals. (Integer) as information obtained using unequally-spaced position signals obtained when a failure occurs, if the signal interval of the position signals is an electrical angle of 360 / (2 × p) degrees, it is used as it is, A method for controlling a synchronous motor, wherein a signal interval is 1 / (pq) when an electrical angle is 360 / p degrees.

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