JP2004254467A - Device and method for motor drive control - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor drive control device that performs stable motor control without causing a control delay even if noise is superposed to the output signal of a rotor position detecting sensor. <P>SOLUTION: In a changeable position information determination part 14 and a determinate position information determination part 15; changeable position information at a present time and determinate position information at a preceding time, and determinate position information at the present time and the determinate position information at the preceding time, are compared, respectively. When there are signal patterns continuous to the rotative direction of the rotor of a motor 2 in either of the comparisons, a control signal output part 16 renews a control signal to an inverter circuit 3. When the determinate position information at the present time and the determinate position information at the preceding time coincide with each other, the control signal output part 16 also renews the control signal. Therefore, by renewing the control signal to the inverter circuit 3 at the change of the position information and by renewing the control signal again by using the subsequently determined position information, the control signal, even if erroneously outputted in the first renewal, is corrected at the subsequent renewal. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

【００２２】
更に、３相制御の電動機２を駆動するインバータ回路３を構成する２個ずつブリッジ接続された６個のスイッチング素子を、それぞれ「ｕｐｐｅｒＵ」、「ｌｏｗｅｒＵ」、「ｕｐｐｅｒＶ」、「ｌｏｗｅｒＶ」、「ｕｐｐｅｒＷ」、「ｌｏｗｅｒＷ」とすると、電動機２を回転制御するためには、回転子位置センサ２１のＵセンサ、Ｖセンサ、Ｗセンサの各出力に対して、６個のスイッチング素子「ｕｐｐｅｒＵ」、「ｌｏｗｅｒＵ」、「ｕｐｐｅｒＶ」、「ｌｏｗｅｒＶ」、「ｕｐｐｅｒＷ」、「ｌｏｗｅｒＷ」を、以下の表２に示すように制御する必要がある。また、回転子位置センサ２１の出力に対して、６個のスイッチング素子の制御を更新する位置は、図３に示すように、回転子位置センサ２１の出力が変化する位置が理想的である。
【００２３】
【表２】

【００２４】
次に、本実施の形態の電動機駆動制御装置の動作について、図面を参照して説明する。図４及び図５は、本実施の形態の電動機駆動制御装置の動作を示すフローチャートである。
図４において、まず制御部１の位置情報取得部１１は、電源投入後のリセット信号が解除されたか否かを判定し（ステップＳ１）、リセット信号が解除されるのを待つ（ステップＳ１のＮＯ）。
そして、位置情報取得部１１は、電源投入後のリセット信号が解除されたら（ステップＳ１のＹＥＳ）、次に電動機２の起動信号が入力されたか否かを判定し（ステップＳ２）、起動信号が入力されるのを待つ（ステップＳ２のＮＯ）。
【００２５】
次に、電動機２の起動信号が入力されたら（ステップＳ２のＹＥＳ）、位置情報取得部１１は、回転子位置センサ２１の出力する位置情報（出力信号）の１回目の情報（センサパターン１）を取得する（ステップＳ３）。
次に、位置情報取得部１１は、カウンタを”１”にリセットする（ステップＳ４）と同時に、タイマをスタートする（ステップＳ５）。
【００２６】
次に、位置情報取得部１１は、スタートさせたタイマにより、所定時間が経過したか否かを判定する（ステップＳ６）。
もし、ステップＳ６において、所定時間が経過していた場合（ステップＳ６のＹＥＳ）、位置情報取得部１１は、回転子位置センサ２１の出力する位置情報（出力信号）の２回目の情報（センサパターン２）を取得する（ステップＳ７）。なお、位置情報（出力信号）の２回目の情報（センサパターン２）を既に取得している場合は、回転子位置センサ２１の出力する位置情報（出力信号）の３回目の情報（センサパターン３）を取得する。
【００２７】
次に、位置情報取得部１１は、カウンタを”１”増加させる（ステップＳ８）。
そして、位置情報取得部１１は、カウンタが所定値に達したか否かを判定する（ステップＳ９）。
もし、ステップＳ９において、カウンタが所定値に達していない場合（ステップＳ９のＮＯ）、位置情報取得部１１は、改めてタイマをスタートさせ（ステップＳ１０）、ステップＳ６へ戻り、上述の動作を繰り返す。
また、ステップＳ９において、カウンタが所定値に達していた場合（ステップＳ９のＹＥＳ）、確定時位置情報保存部１３は、位置情報取得部１１が取得した位置情報を確定し、確定時位置情報としてこれを保存する（ステップＳ１１）。
【００２８】
そして、確定時位置情報判定部１５は、今回確定・保存された確定時位置情報が、正しい（あり得る）信号パターンであるか否か（信号パターンの内容は表１に示す正しいパターンか否か）を判定する（ステップＳ１２）。
もし、今回確定・保存された確定時位置情報が、正しい信号パターンである場合（ステップＳ１２のＹＥＳ）、起動時位置情報確定済み判定部１８は、今回確定・保存された確定時位置情報について、起動時位置情報確定・保存済みか否か（起動時における信号パターンか、それとも起動時位置情報を確定した後の信号パターンであるか）を判定する（ステップＳ１３）。
【００２９】
ここで、ステップＳ１３において、起動時位置情報確定・保存済みである場合（ステップＳ１３のＹＥＳ）、確定時位置情報判定部１５は、今回確定・保存された確定時位置情報が起動時における信号パターンではなく、起動時位置情報を確定した後の信号パターンであるとして、今回確定・保存された確定時位置情報と前回確定・保存された確定時位置情報とを比較し、両者が同一、または電動機２の回転子の回転方向に連続する信号パターンであるか否か（信号パターンの連続性は図２に示す通りに正しいか否か）を判定する（ステップＳ１４）。
【００３０】
また、ステップＳ１４において、今回確定・保存された確定時位置情報と前回確定・保存された確定時位置情報とを比較し、両者が同一、または電動機２の回転子の回転方向に連続する信号パターンである場合（ステップＳ１４のＹＥＳ）、制御信号出力部１６は、インバータ回路３に対する制御信号を更新する（ステップＳ１５）。なお、起動時においては、制御信号出力部１６は、インバータ回路３に対する制御信号を出力する。
【００３１】
また、ステップＳ１３において、起動時位置情報確定済みでない場合（ステップＳ１３のＮＯ）、起動時位置情報確定部１９は、今回確定・保存された確定時位置情報が起動時位置情報を確定した後の信号パターンではなく、起動時における信号パターンであるとして、今回確定・保存された確定時位置情報について、起動時位置情報の確定を行い（ステップＳ１６）、ステップＳ１５へ進む。
【００３２】
なお、ステップＳ１２において、今回確定・保存された確定時位置情報が、正しい信号パターンではない場合（ステップＳ１２のＮＯ）、あるいはステップＳ１４において、今回確定・保存された確定時位置情報と前回確定・保存された確定時位置情報とを比較し、両者が同一、または電動機２の回転子の回転方向に連続する信号パターンでない場合（ステップＳ１４のＮＯ）、センサ出力判定部１７は、回転子位置センサ２１の異常と判定し（ステップＳ１７）、制御部１は電動機２の回転制御を終了する。
【００３３】
一方、図５において、位置情報取得部１１は、制御信号を出力または更新したら、回転子位置センサ２１の出力する位置情報の信号パターンが変化したか否かを判定する（ステップＳ１８）。
もし、ステップＳ１８において、回転子位置センサ２１の出力する位置情報の信号パターンが変化していた場合（ステップＳ１８のＹＥＳ）、位置情報取得部１１は、回転子位置センサ２１の出力する位置情報（出力信号）の１回目の情報（パターン１）を取得し、変化時位置情報とする（ステップＳ１９）。
次に、位置情報取得部１１は、カウンタを”１”にリセットする（ステップＳ２０）と同時に、タイマをスタートする（ステップＳ２１）。
【００３４】
そして、起動時位置情報確定済み判定部１８は、今回取得した変化時位置情報について、起動時位置情報確定済みか否かを判定する（ステップＳ２２）。
もし、ステップＳ２２において、起動時位置情報確定済みである場合（ステップＳ２２のＹＥＳ）、変化時位置情報判定部１４は、今回取得した変化時位置情報と前回確定・保存された確定時位置情報とを比較し、両者が電動機２の回転子の回転方向に連続する信号パターンであるか否か（信号パターンの連続性は図２に示す通りに正しいか否か）を判定する（ステップＳ２３）。
【００３５】
また、ステップＳ２３において、今回取得した変化時位置情報と前回確定・保存された確定時位置情報とを比較し、両者が電動機２の回転子の回転方向に連続する信号パターンである場合（ステップＳ２３のＹＥＳ）、制御信号出力部１６は、インバータ回路３に対する制御信号を更新する（ステップＳ２４）。
そして、ステップＳ６へ戻り、上述の動作を繰り返す。
【００３６】
一方、ステップＳ１８において、回転子位置センサ２１の出力する位置情報の信号パターンが変化していない場合（ステップＳ１８のＮＯ）、位置情報取得部１１は、タイマ動作中か否かを判定し（ステップＳ２５）、タイマが動作中でない場合（ステップＳ２５のＮＯ）、ステップＳ１８へ戻り、上述の動作を繰り返す。
また、ステップＳ２５において、タイマが動作中である場合（ステップＳ２５のＹＥＳ）、位置情報取得部１１は、ステップＳ６へ戻り、上述の動作を繰り返す。
【００３７】
なお、上述のステップＳ６において、所定時間が経過していない場合（ステップＳ６のＮＯ）、位置情報取得部１１は、ステップＳ１８へ進み、回転子位置センサ２１の出力する位置情報の信号パターンが変化するか否かの監視を行い、ステップＳ１８以降の動作を実行する。
【００３８】
以上の動作を更に図６に示す模式図を用いて説明する。なお、図６に示す例では、上述の位置情報取得部１１のタイマの時間（図４のステップＳ６における所定時間）を”５０［μｓｅｃ］”、カウンタの所定値（図４のステップＳ９における所定値）を”３”とした場合の動作である。また、回転子位置センサ２１のＵセンサ、Ｖセンサ、Ｗセンサがそれぞれ出力する信号が、ホールパターン番号２からホールパターン番号３へ変化する場合であって、Ｕセンサの信号にノイズが重畳された場合の動作を示す。
【００３９】
まず、Ｕセンサの信号が、時刻ｔ１において、”０”から”１”に変化すると、位置情報取得部１１は、カウンタを”１”にリセットすると同時に、タイマを再スタートし、この信号パターンをセンサパターン１とする。
また、位置情報取得部１１によるタイマが”５０［μｓｅｃ］”経過した時刻ｔ２において、この時各センサの信号に変化がなければ、位置情報取得部１１は、２回目の位置情報（センサパターン２）を取得し、カウンタを”１”増加すると共に、カウンタが所定値”３”に達していなければ、タイマを再スタートし、タイマが”５０［μｓｅｃ］”経過するのを待つ。
【００４０】
ところが、位置情報取得部１１によるタイマが次の”５０［μｓｅｃ］”を計時する前に、時刻ｔ３において、Ｕセンサの信号にノイズが重畳され、ノイズの立ち下がりで信号が”１”から”０”に変化すると、位置情報取得部１１は、１回目の位置情報（センサパターン１）を取得し、更にカウンタを”１”にリセットすると共に、タイマを再スタートする。
【００４１】
そして、変化時位置情報判定部１４が、今回取得された変化時位置情報と前回確定・保存された確定時位置情報とを比較し、両者が電動機２の回転子の回転方向に連続する信号パターンである場合、この時点で一度制御信号出力部１６によるインバータ回路３に対する制御信号が更新される。更に、ノイズの立ち上がりである時刻ｔ４も同様の処理が実行される。
制御部１では、この時刻ｔ３における回転子位置センサ２１の出力に基づいて制御信号を更新しても、時刻ｔ６においてすぐに正常な制御信号に戻すことができる。
【００４２】
更に、時刻ｔ５においてセンサパターン２を取得し、更に位置情報取得部１１によるタイマが次の”５０［μｓｅｃ］”を計時すると、タイマが”５０［μｓｅｃ］”経過した時刻ｔ６において、この時各センサの信号に変化がなければ、位置情報取得部１１は、３回目の位置情報（センサパターン３）を取得し、カウンタを”１”増加すると共に、カウンタが所定値”３”に達するので、このセンサパターン３を確定時位置情報として保存する。
【００４３】
そして、確定時位置情報判定部１５が、確定時位置情報を回転子位置センサ２１の出力として正しいと判定し、更に確定時位置情報判定部１５が、今回確定・保存された確定時位置情報と前回確定・保存された確定時位置情報とを比較し、両者が同一であるか、あるいは電動機２の回転子の回転方向に連続する信号パターンである場合、この時点で一度制御信号出力部１６によるインバータ回路３に対する制御信号が更新されるので、もし時刻ｔ３における制御信号の更新が誤りであったとしても、時刻ｔ４で正常な信号パターンに戻った１００［μｓｅｃ］後の時刻ｔ６において、正確な制御信号の更新を実行することができる。
【００４４】
以上説明したように、本実施の形態の電動機駆動制御装置によれば、変化時位置情報判定部１４、あるいは確定時位置情報判定部１５において、今回の変化時位置情報と前回の確定時位置情報、及び今回の確定時位置情報と前回の確定時位置情報とをそれぞれ比較し、どちらか一方でも電動機２の回転子の回転方向に連続する信号パターンであった場合には、制御信号出力部１６はインバータ回路３に対する制御信号を更新する。また、今回の確定時位置情報と前回の確定時位置情報とが同一の場合も制御信号出力部１６はインバータ回路３に対する制御信号を更新する。これにより、位置情報の変化時に正当な信号パターンを取得できた場合には、まずインバータ回路３に対する制御信号を更新する。次に、確定した位置情報が正当な信号パターンであった場合には、再度インバータ回路３に対する制御信号を更新するので、もし最初の更新において誤った制御信号が出力されても、次の更新において制御信号は正しいものとなる。
【００４５】
また、確定時位置情報保存部１３は、同一信号パターンの位置情報が所定時間毎に所定回数連続して取得された場合に、該信号パターンを前記位置情報が示す正しい信号パターンとして確定することで、回転子位置センサ２１の出力信号に重畳されたノイズに影響されることなく、位置情報の信号パターンを効率良く、かつ正しく確定することができる。
【００４６】
更に、確定時位置情報判定部１５、センサ出力判定部１７により、前回確定・保存された確定時位置情報に対して今回確定・保存された確定時位置情報が、同一もしくは前記回転子の回転方向に連続する信号パターンではなかった場合、あるいは今回確定・保存された確定時位置情報が、位置検出センサの出力として正しくない（あり得ない）信号パターンであった場合に、回転子位置センサ２１は異常であると判定することで、制御に対する信頼性を高めることができる。
【００４７】
従って、回転子位置センサ２１の出力する信号に対して、重畳されたノイズの除去処理を行うことによる制御遅延の発生を抑制し、正確に回転子位置センサ２１の出力する信号を電動機２の回転数を示す信号へ変換すると共に、パルス幅変調波形信号の更新を、検出された回転子の位置に対応する適切な位置で行い、電動機２の効率を悪化させずに安定した電動機制御を行う電動機駆動制御装置を実現することができるという効果が得られる。
【００４８】
【発明の効果】
以上の如く、本発明によれば、今回の変化時位置情報と前回の確定時位置情報、または今回の確定時位置情報と前回の確定時位置情報のどちらか一方でも電動機の回転子の回転方向に連続する信号パターンであった場合には、インバータ回路に対する制御信号を更新する。また、今回の確定時位置情報と前回の確定時位置情報とが同一の場合もインバータ回路に対する制御信号を更新する。これにより、位置情報の変化時に正当な信号パターンを取得できた場合には、まずインバータ回路に対する制御信号を更新する。次に、確定した位置情報が正当な信号パターンであった場合には、再度インバータ回路に対する制御信号を更新し、もし最初の更新において誤った制御信号が出力されても、次の更新において制御信号を修正する。
【００４９】
また、同一信号パターンの位置情報が所定時間毎に所定回数連続して取得された場合に、該信号パターンを前記位置情報が示す正しい信号パターンとして確定することで、位置情報の信号パターンを効率良く、かつ正しく確定することができる。更に、前回の確定時位置情報に対して今回の確定時位置情報が、同一もしくは前記回転子の回転方向に連続する信号パターンではなかった場合、あるいは今回の確定時位置情報が、位置検出センサの出力として正しくない（あり得ない）信号パターンであった場合に、位置検出センサは異常であると判定することで、制御に対する信頼性を高めることができる。
【００５０】
従って、位置検出センサの出力する信号に対して、重畳されたノイズの除去処理を行うことによる制御遅延の発生を抑制し、正確に位置検出センサの出力する信号を電動機の回転数を示す信号へ変換すると共に、パルス幅変調波形信号の更新を、検出された回転子の位置に対応する適切な位置で行い、電動機の効率を悪化させずに安定した電動機制御を行う電動機駆動制御装置を実現することができるという効果が得られる。
【図面の簡単な説明】
【図１】本発明の一実施の形態の電動機駆動制御装置を示すブロック図である。
【図２】同実施の形態の電動機駆動制御装置が制御する電動機に備えられた回転子位置センサの出力信号を示す図である。
【図３】同実施の形態の電動機駆動制御装置が制御する電動機に備えられた回転子位置センサの出力タイミングを示す図である。
【図４】同実施の形態の電動機駆動制御装置の動作を示すフローチャートである。
【図５】同実施の形態の電動機駆動制御装置の動作を示すフローチャートである。
【図６】同実施の形態の電動機駆動制御装置の動作を示す模式図である。
【符号の説明】
１ 制御部
２ 電動機
３ インバータ回路
４ 電源
１１ 位置情報取得部
１３ 確定時位置情報保存部
１４ 変化時位置情報判定部
１５ 確定時位置情報判定部
１６ 制御信号出力部
１７ センサ出力判定部
１８ 起動時位置情報確定済み判定部
１９ 起動時位置情報確定部
２１ 回転子位置センサ[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a motor drive control device and a motor drive control method for controlling driving of a motor.
[0002]
[Prior art]
Conventionally, when driving a motor such as a brushless motor, a position detection sensor for detecting the position of a rotor is provided in the motor, and a signal output from the position detection sensor is converted into a signal indicating the number of rotations of the motor. By generating a control signal for controlling the rotation speed of the electric motor from the difference from the target rotation speed, the rotation speed of the electric motor is controlled to the target rotation speed. In such a control device for controlling the rotation of the motor, the duty ratio of the pulse width modulation waveform signal (PWM waveform signal) generated by the control circuit is changed so that the obtained rotation speed of the motor becomes the target rotation speed. , And controls the number of revolutions of the electric motor via the inverter circuit. Further, in the case where the signal output from the position detection sensor is converted into a signal indicating the number of rotations of the electric motor and used as described above, noise is superimposed on the signal output from the position detection sensor. A filter for removal is required (for example, see Patent Document 1).
[0003]
Also, in such a control device for controlling the rotation of the electric motor, the pulse width modulation waveform signal is monitored and the pulse width modulation waveform signal is stopped in case the pulse width modulation waveform signal output from the control circuit stops. In such a case, there is a technique in which the motor is driven by the output of a separately provided oscillation circuit to continue the rotation of the motor (for example, see Patent Document 2).
[0004]
[Patent Document 1]
JP-A-2000-78881
[Patent Document 2]
Japanese Patent No. 3029535
[0005]
[Problems to be solved by the invention]
By the way, in the conventional control device, the signal output from the position detection sensor is filtered to remove the noise superimposed on the signal, thereby accurately outputting the signal output from the position detection sensor to the rotation speed of the electric motor. Although the signal can be converted to the indicated signal, a control delay occurs due to transmission of the signal through the filter, and the update of the pulse width modulation waveform signal occurs at a position different from the detected position of the rotor. However, there is a problem that an unnecessary magnetic field is applied to the rotor, thereby deteriorating the efficiency of the motor.
[0006]
SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and in controlling the rotation speed of an electric motor, even if noise is superimposed on an output signal of a position detection sensor that detects a position of a rotor, it is stable without generating a control delay. It is an object to provide a motor drive control device and a motor drive control method for performing the above-described motor control.
[0007]
[Means for Solving the Problems]
In order to solve the above problem, an electric motor drive control device according to the invention of claim 1 includes a rotor position detection sensor (for example, the rotor position sensor 21 of the embodiment) and an inverter circuit (for example, the embodiment). A motor drive control device for controlling a motor (for example, the motor 2 of the embodiment) driven by an AC voltage output from the inverter circuit 3), and acquires position information of the rotor from the position detection sensor. A position information acquisition unit (for example, the position information acquisition unit 11 of the embodiment) that uses a signal pattern of the position information acquired when the position information changes as position information at the time of change; A position information storage unit (for example, the position information storage unit 13 of the embodiment) for storing the signal pattern of A change-time position information determining unit that compares the position information with the previously-determined position information at the time of determination and determines whether or not both are signal patterns that are continuous in the rotation direction of the rotor (for example, a change in the embodiment). The time position information determination unit 14) compares the currently determined fixed position information with the previously determined fixed position information, and determines whether the two are the same or continuous signal patterns in the rotation direction of the rotor. A determination-time position information determination unit (for example, the determination-time position information determination unit 15 of the embodiment), and the change-time position information with respect to the previously determined determination-time position information is used to determine the rotation direction of the rotor. When the signal pattern is determined to be a continuous signal pattern, the position information at the time of finalization determined this time with respect to the position information at the time of finalization previously determined is the same or a signal pattern that is continuous in the rotation direction of the rotor. If it is determined that, characterized in that a control signal output means for updating the control signals (e.g., control signal output unit 16 of the embodiment) with respect to the inverter circuit.
[0008]
In the motor drive control device having the above-described configuration, the change-time position information determination means or the determination-time position information determination means obtains the current change-time position information and the previous determination-time position information acquired by the position information acquisition means, and The current determined position information stored by the determined position information storage unit is compared with the previous determined position information. Then, the control signal output means updates the control signal for the inverter circuit when either one of the signal patterns is continuous in the rotation direction of the rotor of the electric motor. The control signal output means also updates the control signal for the inverter circuit when the current fixed position information and the previous fixed position information are the same. Thus, when a signal pattern that is continuous in the rotation direction of the rotor can be obtained when the position information changes, the control signal for the inverter circuit is updated first. Next, if the position information determined this time is the same as the position information at the time of the previous determination or a signal pattern continuous in the rotation direction of the rotor, the control signal for the inverter circuit is updated again. Even if an erroneous control signal is output in the update of, the control signal will be correct in the next update.
[0009]
A motor drive control device according to a second aspect of the present invention is the motor drive control device according to the first aspect, wherein the position information storage unit at the time of confirmation is configured such that the position information of the same signal pattern is stored for a predetermined time by the position information acquisition unit. The signal pattern is stored as the fixed-time position information when the signal pattern is continuously acquired a predetermined number of times.
The motor drive control device having the above configuration inspects whether the same signal has been detected a plurality of times at predetermined time intervals, without being affected by noise superimposed on the output signal of the position detection sensor. The signal pattern of the position information can be correctly determined.
[0010]
A motor drive control device according to a third aspect of the present invention is the electric motor drive control device according to the first or second aspect, wherein the position information obtaining means performs a reset process at power-on or a stop of the motor. The acquisition of the position information is started when a start signal is input during the operation.
The motor drive control device having the above configuration can acquire the position information of the rotor only while the motor is operating.
[0011]
A motor drive control device according to a fourth aspect of the present invention is the motor drive control device according to any one of the first to third aspects, wherein the fixed-time position information determination means uses the fixed-time position information determined last time. On the other hand, if it is determined that the determined position information determined this time is not the same or a signal pattern that is continuous in the rotation direction of the rotor, a sensor output determination unit that determines that the position detection sensor is abnormal (for example, It is characterized by including the sensor output determination unit 17) of the embodiment.
The motor drive control device having the above configuration can determine the abnormality of the position detection sensor including the wiring and the like.
[0012]
A motor drive control device according to a fifth aspect of the present invention is the motor drive control device according to any one of the first to fourth aspects, wherein the fixed-position information determining means detects the position of the fixed-position information. It further comprises means for determining whether or not the output of the sensor is a correct signal pattern, and the determined position information determining means determines that the determined position information is not a correct signal pattern as the output of the position detection sensor. In this case, the sensor output determination means determines that the position detection sensor is abnormal.
The motor drive control device having the above configuration can determine the abnormality of the position detection sensor including the wiring and the like.
[0013]
A motor drive control method according to a sixth aspect of the present invention is a motor drive control method for controlling a motor that is provided with a rotor position detection sensor and is driven by an AC voltage output from an inverter circuit. While acquiring the position information of the rotor from the detection sensor, a position information acquisition process that uses a signal pattern of the position information acquired when the position information changes as position information at the time of change, and a position information acquisition process that satisfies a predetermined condition. A signal pattern, a fixed position information storing process for storing as fixed position information, a comparison between the change position information and the fixed position information previously determined, and both of the signals are continuous in the rotation direction of the rotor. The change-time position information determination processing for determining whether the pattern is a pattern, and comparing the currently determined final position information with the previously determined final position information, Determined position information determination processing for determining whether the signal pattern is the same or continuous in the rotation direction of the rotor, and the change position information is the rotor position information with respect to the previously determined determined position information. If the signal pattern is determined to be a signal pattern that is continuous in the rotation direction of the rotor, and the position information at the time of determination that is currently determined with respect to the position information at the time of determination that was previously determined, And a control signal output process for updating a control signal for the inverter circuit when the pattern is determined to be a pattern.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a motor drive control device according to one embodiment of the present invention.
In FIG. 1, reference numeral 1 denotes a control unit of the motor drive control device according to the present embodiment. The control unit 1 outputs a pulse width modulation waveform signal (PWM waveform signal) to an inverter circuit 3 for driving the electric motor 2. Here, the electric motor 2 is, for example, an induction motor of three-phase control or a DC brushless motor, and includes a rotor position sensor 21 for measuring a position of a rotor of the electric motor 2. The position information of the rotor is output to the control unit 1. The inverter circuit 3 is a circuit configured by, for example, bridging six switching elements between the positive and negative terminals of the power supply 4 two by two, and converts the DC voltage supplied from the power supply 4 to the control unit 1. To convert the voltage into an AC voltage based on the pulse width modulated waveform signal input from the controller 2 to drive the electric motor 2.
[0015]
In addition, the control unit 1 acquires the position information of the rotor of the electric motor 2 from the rotor position sensor 21 and acquires the position information as the change-time position information using the signal pattern of the position information acquired when the position information changes. The apparatus includes a unit 11 and a determined position information storage unit 13 that determines and stores a signal pattern of position information satisfying a predetermined condition as determined position information. The conditions for the determination-time position information storage unit 13 to determine the signal pattern indicated by the position information will be described later in detail.
[0016]
Further, the control unit 1 compares the currently acquired change-time position information with the previously-confirmed / stored confirmed-time position information to determine whether or not both are signal patterns that are continuous in the rotation direction of the rotor. The change-time position information determination unit 14 determines whether or not the currently-determined and stored determined-time position information is a correct (possible) signal pattern as an output of the rotor position sensor 21, and The determined-position information determining unit 15 compares the determined-position information with the previously determined / stored determined-position information to determine whether they are the same or continuous signal patterns in the rotation direction of the rotor. It has.
[0017]
Further, the control unit 1 determines whether the change-time position information is a signal pattern that is continuous in the rotation direction of the rotor of the electric motor 2 with respect to the previously-determined and stored determined-time position information, A control signal for the inverter circuit 3 when the determined final position information is determined to be the same or a continuous signal pattern in the rotation direction of the rotor with respect to the stored final position information Is provided.
[0018]
Also, if it is determined that the current determined / stored final position information is not the same or a continuous signal pattern in the rotation direction of the rotor with respect to the previous finalized / stored final position information, or -It is determined that the stored final position information is not a correct signal pattern as an output of the rotor position sensor 21 (a signal pattern that cannot be an output of the rotor position sensor 21 and is not a correct signal pattern). In such a case, the rotor position sensor 21 also includes a sensor output determination unit 17 that determines that the rotor position sensor 21 is abnormal.
[0019]
Further, the control unit 1 determines whether or not the start-time position information has been determined and stored for the determined-time position information or the changed-time position information, that is, whether the determined-time position information or the changed-time position information is a signal pattern at the time of startup, or A start-time position information-determined determination unit 18 that determines whether the signal pattern has been determined after the start-time position information has been determined, and if the determined-time position information or the change-time position information has been determined, If the signal pattern is not a signal pattern but is a signal pattern at the time of startup, a startup position information determination unit 19 that determines the startup position information is provided.
[0020]
In addition, the rotor position sensor 21 will be described. The rotor position sensor 21 includes, for example, three sensors of a U sensor, a V sensor, and a W sensor corresponding to the electric motor 2 of three-phase control. Accordingly, six positions of the rotor of the electric motor 2 can be detected. When the six signal patterns output from the rotor position sensor 21 are identified by assigning hole pattern numbers, the rotor position sensor 21 outputs values as shown in Table 1 below. As shown in FIG. 2, the output order of the hole patterns is 0, 1, 2, 3, 4, 5 in accordance with the rotation of the rotor of the motor 2. The signal of the hole pattern number 0 is output next to the signal of (1), and is repeatedly output in this pattern.
[0021]
[Table 1]

[0022]
Further, six switching elements, each of which is bridge-connected two by two, constituting an inverter circuit 3 that drives the three-phase control motor 2 are respectively referred to as “upperU”, “lowerU”, “upperV”, “lowerV”, and “upperW”. , And “lowerW”, in order to control the rotation of the electric motor 2, six switching elements “upperU”, “lowerU” for each output of the U sensor, V sensor and W sensor of the rotor position sensor 21. , "UpperV", "lowerV", "upperW", and "lowerW" need to be controlled as shown in Table 2 below. Further, as shown in FIG. 3, the position at which the output of the rotor position sensor 21 changes is ideal for updating the control of the six switching elements with respect to the output of the rotor position sensor 21.
[0023]
[Table 2]

[0024]
Next, the operation of the motor drive control device according to the present embodiment will be described with reference to the drawings. 4 and 5 are flowcharts showing the operation of the motor drive control device according to the present embodiment.
In FIG. 4, first, the position information acquisition unit 11 of the control unit 1 determines whether or not the reset signal after the power is turned on is released (step S1), and waits until the reset signal is released (NO in step S1). ).
Then, when the reset signal after the power is turned on is released (YES in step S1), the position information acquisition unit 11 determines whether or not a start signal of the electric motor 2 has been input (step S2). Wait for an input (NO in step S2).
[0025]
Next, when the start signal of the electric motor 2 is input (YES in step S2), the position information acquisition unit 11 outputs the first information (sensor pattern 1) of the position information (output signal) output from the rotor position sensor 21. Is acquired (step S3).
Next, the position information acquisition unit 11 resets the counter to “1” (step S4), and simultaneously starts a timer (step S5).
[0026]
Next, the position information acquiring unit 11 determines whether or not a predetermined time has elapsed by using the started timer (step S6).
If the predetermined time has elapsed in step S6 (YES in step S6), the position information obtaining unit 11 outputs the second information (sensor pattern) of the position information (output signal) output from the rotor position sensor 21. 2) is acquired (step S7). When the second information (sensor pattern 2) of the position information (output signal) has already been acquired, the third information (sensor pattern 3) of the position information (output signal) output from the rotor position sensor 21 is output. ) To get.
[0027]
Next, the position information acquisition unit 11 increases the counter by "1" (step S8).
Then, the position information acquiring unit 11 determines whether or not the counter has reached a predetermined value (Step S9).
If the counter has not reached the predetermined value in step S9 (NO in step S9), the position information acquisition unit 11 restarts the timer (step S10), returns to step S6, and repeats the above operation.
When the counter has reached the predetermined value in step S9 (YES in step S9), the fixed-position information storage unit 13 determines the position information acquired by the position information acquisition unit 11 and sets the acquired position information as the fixed-position information. This is stored (step S11).
[0028]
Then, the fixed-position information determination unit 15 determines whether the fixed-position information determined and stored this time is a correct (possible) signal pattern (whether the content of the signal pattern is a correct pattern shown in Table 1). ) Is determined (step S12).
If the currently determined / stored determined position information is a correct signal pattern (YES in step S12), the start-time position information determined completion determination unit 18 determines whether the currently determined / stored determined position information is: It is determined whether or not the start-time position information has been determined and stored (whether the signal pattern is at the start or the signal pattern after the start-time position information has been determined) (step S13).
[0029]
Here, in step S13, when the start-time position information has been determined and stored (YES in step S13), the determined-position information determination unit 15 determines that the current-determined and stored determined-position information is the signal pattern at the start. Instead, assuming that the signal pattern is after the start-time position information is determined, the current-determined / stored final-position information is compared with the last-determined / stored final-position information. It is determined whether or not the signal pattern is continuous in the rotation direction of the second rotor (whether or not the continuity of the signal pattern is correct as shown in FIG. 2) (step S14).
[0030]
Further, in step S14, the currently determined / stored determined position information is compared with the previously determined / stored determined position information, and the signal patterns are the same or continuous in the rotation direction of the rotor of the electric motor 2. (YES in step S14), the control signal output unit 16 updates the control signal for the inverter circuit 3 (step S15). At the time of startup, the control signal output unit 16 outputs a control signal to the inverter circuit 3.
[0031]
If the start-time position information is not determined in step S13 (NO in step S13), the start-time position information determination unit 19 determines whether the start-time position information determined and stored this time has determined the start-time position information. Assuming that the signal pattern is not a signal pattern but a signal pattern at the time of activation, the position information at the time of activation is determined for the position information at the time of finalization determined and stored this time (step S16), and the process proceeds to step S15.
[0032]
In step S12, if the current position information determined / stored is not a correct signal pattern (NO in step S12), or in step S14, the current position information determined / stored and the previous position information The stored position information is compared with the stored position information, and if the two are not the same or are not continuous signal patterns in the rotation direction of the rotor of the electric motor 2 (NO in step S14), the sensor output determination unit 17 determines whether the rotor position sensor 21 is determined to be abnormal (step S17), and the control unit 1 ends the rotation control of the electric motor 2.
[0033]
On the other hand, in FIG. 5, after outputting or updating the control signal, the position information acquisition unit 11 determines whether the signal pattern of the position information output from the rotor position sensor 21 has changed (Step S18).
If the signal pattern of the position information output from the rotor position sensor 21 has changed in Step S18 (YES in Step S18), the position information acquisition unit 11 outputs the position information ( The first information (pattern 1) of the output signal) is obtained and used as change-time position information (step S19).
Next, the position information acquisition unit 11 resets the counter to "1" (step S20), and simultaneously starts a timer (step S21).
[0034]
Then, the start-time position information finalized determination unit 18 determines whether or not the start-time position information has been finalized for the currently acquired change-time position information (step S22).
If it is determined in step S22 that the start-time position information has been determined (YES in step S22), the change-time position information determination unit 14 determines whether the change-time position information obtained this time and the change-time position information previously determined and stored have been determined. To determine whether or not both are signal patterns that are continuous in the rotation direction of the rotor of the electric motor 2 (whether or not the continuity of the signal patterns is correct as shown in FIG. 2) (step S23).
[0035]
Further, in step S23, the currently acquired change-time position information is compared with the previously-determined / stored confirmed-time position information, and if both are signal patterns that are continuous in the rotation direction of the rotor of the electric motor 2 (step S23). YES), the control signal output unit 16 updates the control signal for the inverter circuit 3 (Step S24).
Then, the process returns to step S6 to repeat the above operation.
[0036]
On the other hand, in step S18, when the signal pattern of the position information output from the rotor position sensor 21 has not changed (NO in step S18), the position information acquisition unit 11 determines whether or not the timer is operating (step S18). S25) If the timer is not operating (NO in step S25), the process returns to step S18, and the above operation is repeated.
If the timer is operating in step S25 (YES in step S25), the position information acquisition unit 11 returns to step S6 and repeats the above-described operation.
[0037]
If the predetermined time has not elapsed in step S6 (NO in step S6), the position information acquiring unit 11 proceeds to step S18, and the signal pattern of the position information output from the rotor position sensor 21 changes. It monitors whether or not to perform the operation, and executes the operation after step S18.
[0038]
The above operation will be further described with reference to the schematic diagram shown in FIG. In the example shown in FIG. 6, the time of the timer (the predetermined time in step S6 in FIG. 4) of the above-described position information acquisition unit 11 is set to “50 [μsec]”, and the predetermined value of the counter (the predetermined time in step S9 in FIG. 4). Value) is “3”. The signals output from the U sensor, the V sensor, and the W sensor of the rotor position sensor 21 change from the hole pattern number 2 to the hole pattern number 3, and noise is superimposed on the signal of the U sensor. The operation in the case is shown.
[0039]
First, when the signal of the U sensor changes from “0” to “1” at time t1, the position information acquisition unit 11 resets the counter to “1”, restarts the timer at the same time, and changes this signal pattern. Let it be sensor pattern 1.
At time t2 when the timer of the position information acquisition unit 11 has passed “50 [μsec]”, if there is no change in the signal of each sensor at this time, the position information acquisition unit 11 performs the second position information (sensor pattern 2 ) Is obtained, the counter is incremented by "1", and if the counter has not reached the predetermined value "3", the timer is restarted and the timer waits for "50 [μsec]" to elapse.
[0040]
However, before the timer of the position information acquisition unit 11 measures the next “50 [μsec]”, at time t3, noise is superimposed on the signal of the U sensor, and the signal changes from “1” at the fall of the noise. When it changes to "0", the position information acquisition unit 11 acquires the first position information (sensor pattern 1), resets the counter to "1", and restarts the timer.
[0041]
Then, the change-time position information determination unit 14 compares the change-time position information acquired this time with the previously-determined / stored fixation-time position information, and both of the signal patterns continue in the rotation direction of the rotor of the electric motor 2. In this case, the control signal for the inverter circuit 3 by the control signal output unit 16 is once updated at this time. Further, the same processing is executed at time t4 when the noise rises.
Even if the control unit 1 updates the control signal based on the output of the rotor position sensor 21 at the time t3, it can immediately return to the normal control signal at the time t6.
[0042]
Further, at time t5, the sensor pattern 2 is acquired, and when the timer of the position information acquiring unit 11 measures the next "50 [μsec]", at time t6 when "50 [μsec]" has elapsed, If there is no change in the sensor signal, the position information acquisition unit 11 acquires the third position information (sensor pattern 3), increments the counter by “1”, and the counter reaches a predetermined value “3”. This sensor pattern 3 is stored as position information at the time of finalization.
[0043]
Then, the determined-position information determining unit 15 determines that the determined-position information is correct as the output of the rotor position sensor 21, and furthermore, the determined-position information determining unit 15 determines the determined and stored determined-position information. The position information is compared with the previously determined and stored position information at the time of determination, and if both are the same or a signal pattern that is continuous in the rotation direction of the rotor of the electric motor 2, the control signal output unit 16 once performs this time. Since the control signal for the inverter circuit 3 is updated, even if the update of the control signal at the time t3 is erroneous, at the time t6 100 [μsec] after returning to the normal signal pattern at the time t4, an accurate control signal is obtained. An update of the control signal can be performed.
[0044]
As described above, according to the motor drive control device of the present embodiment, the change-time position information determination unit 14 or the determination-time position information determination unit 15 uses the current change-time position information and the previous determination-time position information. , And the current determined position information and the previous determined position information are compared, and if either one of the signal patterns is continuous in the rotation direction of the rotor of the electric motor 2, the control signal output unit 16 Updates the control signal for the inverter circuit 3. The control signal output unit 16 also updates the control signal for the inverter circuit 3 when the current fixed position information and the previous fixed position information are the same. Thus, when a valid signal pattern can be obtained when the position information changes, the control signal for the inverter circuit 3 is updated first. Next, when the determined position information is a valid signal pattern, the control signal for the inverter circuit 3 is updated again. Therefore, even if an erroneous control signal is output in the first update, the control signal is not updated in the next update. The control signal will be correct.
[0045]
In addition, when the position information of the same signal pattern is obtained a predetermined number of times continuously at a predetermined time interval, the position information storage unit 13 determines the signal pattern as a correct signal pattern indicated by the position information. The signal pattern of the position information can be determined efficiently and correctly without being affected by noise superimposed on the output signal of the rotor position sensor 21.
[0046]
Further, the determined position information determined this time is the same as the previously determined and stored determined position information by the determined position information determining unit 15 and the sensor output determining unit 17 or the rotation direction of the rotor. If the signal pattern is not a continuous signal pattern, or if the position information determined and stored this time is an incorrect (impossible) signal pattern as an output of the position detection sensor, the rotor position sensor 21 By determining that the control is abnormal, the reliability of the control can be increased.
[0047]
Therefore, it is possible to suppress the occurrence of control delay caused by performing a process of removing superimposed noise on the signal output from the rotor position sensor 21 and accurately output the signal output from the rotor position sensor 21 to the rotation of the electric motor 2. A motor that converts the signal into a signal indicating the number and updates the pulse width modulated waveform signal at an appropriate position corresponding to the detected position of the rotor, thereby performing stable motor control without deteriorating the efficiency of the motor 2. The effect that a drive control device can be realized is obtained.
[0048]
【The invention's effect】
As described above, according to the present invention, the rotation direction of the rotor of the electric motor is either one of the current position information at the time of change and the previous position information at the time of confirmation, or the current position information at the time of confirmation and the position information at the previous time. Is updated, the control signal for the inverter circuit is updated. Also, the control signal for the inverter circuit is updated when the current determined position information is the same as the previous determined position information. Thus, when a valid signal pattern can be obtained when the position information changes, the control signal for the inverter circuit is updated first. Next, if the determined position information is a valid signal pattern, the control signal for the inverter circuit is updated again. Even if an erroneous control signal is output in the first update, the control signal is output in the next update. To correct.
[0049]
Further, when the position information of the same signal pattern is continuously obtained a predetermined number of times at a predetermined time, the signal pattern is determined as a correct signal pattern indicated by the position information, so that the signal pattern of the position information can be efficiently obtained. , And can be determined correctly. Further, when the current determined position information is not the same or a continuous signal pattern in the rotation direction of the rotor with respect to the previous determined position information, or the current determined position information is If the signal pattern is incorrect (impossible) as an output, the position detection sensor determines that the signal is abnormal, thereby increasing the reliability of the control.
[0050]
Therefore, it is possible to suppress the occurrence of control delay caused by performing a process of removing superimposed noise on the signal output from the position detection sensor, and to accurately convert the signal output from the position detection sensor into a signal indicating the rotation speed of the electric motor. A motor drive control device that performs the conversion and updates the pulse width modulated waveform signal at an appropriate position corresponding to the detected position of the rotor and performs stable motor control without deteriorating the efficiency of the motor is realized. The effect that it can be obtained is obtained.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a motor drive control device according to an embodiment of the present invention.
FIG. 2 is a diagram showing output signals of a rotor position sensor provided in the electric motor controlled by the electric motor drive control device of the embodiment.
FIG. 3 is a diagram showing output timings of a rotor position sensor provided in the electric motor controlled by the electric motor drive control device of the embodiment.
FIG. 4 is a flowchart showing an operation of the motor drive control device of the embodiment.
FIG. 5 is a flowchart showing an operation of the motor drive control device of the embodiment.
FIG. 6 is a schematic diagram showing an operation of the motor drive control device of the embodiment.
[Explanation of symbols]
1 control unit
2 Electric motor
3 Inverter circuit
4 Power supply
11 Location information acquisition unit
13 Location information storage unit when confirmed
14 Position information judgment part at the time of change
15 Position information judgment part at the time of confirmation
16 Control signal output section
17 Sensor output judgment section
18 Start-up location information determined completion judgment unit
19 Start-up position information determination section
21 Rotor position sensor

Claims (6)

A motor drive control device for controlling a motor driven by an AC voltage output by an inverter circuit, including a rotor position detection sensor,
Position information obtaining means for obtaining the position information of the rotor from the position detection sensor, and using the signal pattern of the position information obtained when the position information changes as the change-time position information,
A signal pattern of the position information that satisfies a predetermined condition, a fixed position information storage unit that stores the fixed position information,
A change-time position information determining unit that compares the change-time position information and the previously-determined fixed-time position information and determines whether both are signal patterns that are continuous in the rotation direction of the rotor.
The determined position information is determined by comparing the determined position information determined this time with the determined position information determined last time to determine whether the two are the same or continuous signal patterns in the rotation direction of the rotor. Means,
When the position information at the time of change is determined to be a signal pattern that is continuous in the rotation direction of the rotor with respect to the position information at the time of last determination, Control signal output means for updating a control signal for the inverter circuit when the determined position information at the time of determination is determined to be the same or a signal pattern continuous in the rotation direction of the rotor. Characteristic motor drive control device. The determined position information storage means stores the signal pattern as the determined position information when the position information of the same signal pattern is continuously obtained a predetermined number of times at predetermined time intervals by the position information obtaining means. The motor drive control device according to claim 1, wherein: 3. The method according to claim 1, wherein the position information acquisition unit starts acquiring the position information after a reset process at power-on or when a start signal is input while the motor is stopped. 4. An electric motor drive control device as described in the above. When the determined position information determining means determines that the determined position information determined this time with respect to the previously determined determined position information is not the same or a continuous signal pattern in the rotation direction of the rotor. 4. The motor drive control device according to claim 1, further comprising a sensor output determination unit that determines that the position detection sensor is abnormal. The fixed-time position information determination means further includes means for determining whether the output of the position detection sensor is a correct signal pattern with respect to the fixed-time position information,
The sensor output determination unit determines that the position detection sensor is abnormal when the determined position information determination unit determines that the determined position information is not a correct signal pattern as an output of the position detection sensor. The motor drive control device according to any one of claims 1 to 4, wherein: A motor drive control method for controlling a motor driven by an AC voltage output by an inverter circuit, including a rotor position detection sensor,
Acquiring the position information of the rotor from the position detection sensor, and position information acquisition processing to use the signal pattern of the position information acquired when the position information changes, as the position information at the time of change,
A signal pattern of the position information that satisfies a predetermined condition, a fixed-time position information saving process of saving as the fixed-time position information,
A change-time position information determination process that compares the change-time position information with the previously determined fix-time position information and determines whether both are signal patterns that are continuous in the rotation direction of the rotor.
The determined position information is determined by comparing the determined position information determined this time with the determined position information determined last time to determine whether the two are the same or continuous signal patterns in the rotation direction of the rotor. Processing,
When the position information at the time of change is determined to be a signal pattern that is continuous in the rotation direction of the rotor with respect to the position information at the time of last determination, A control signal output process for updating a control signal for the inverter circuit when the determined position information at the time of determination is determined to be the same or a signal pattern that is continuous in the rotation direction of the rotor. Motor drive control method.

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