JP2007006585A - Device and method for estimating initial magnetic pole of ac synchronous motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an initial magnetic pole position estimator which can estimate accurate magnetic pole position, by correcting the errors due to frictional conditions. <P>SOLUTION: This device is equipped with a command thrust or torque pattern generator 1, a mode switch 2 which switches the first cycle section and the second cycle section, first and second cycle section phase angle setters 3 and 7 which set magnetic pole position commands to: magnetic pole position command +45 or magnetic pole position command -45°, the first and second cycle section speed/position detectors 4 and 8 which detect the velocity and the position, the first and second mechanical constant/the second disturbance thrust or torque calculating parts 5 and 9 which calculate the first mechanical constant and the first disturbance thrust or torque, or the second mechanical constant and the second disturbance thrust or torque, and the first and second memory storages 6 and 10 which stores the velocity and position of an AC synchronous motor, the first and second mechanical constant, and the first and second disturbance thrust or torque. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

 The present invention relates to an initial magnetic pole estimation apparatus and method for an AC synchronous motor that performs initial magnetic pole estimation of an AC synchronous motor without using a magnetic pole detector (pole sensor) in a permanent magnet AC synchronous motor including a linear machine and a rotating machine.

A conventional initial magnetic pole estimation device for an AC synchronous motor selects a first or second cycle interval according to the results of the speed gain control unit and the mode interval determination unit, and if the first cycle interval is selected, the first torque calculation unit When the second period section is selected, the estimated magnetic pole position is calculated using the torque data obtained by the first and second torque calculation units by the calculation of the second torque calculation unit. (For example, there is a method disclosed in Patent Document 1 and Patent Document 2. The configuration is shown in FIG. 5).
In FIG. 5, 101 is a command speed pattern generation unit, 102 is a mode section determination section, 103 is a speed integral gain processing section, 104 is a mode switch, 1101 is a first period section, 1102 is a data acquisition speed section determination section, 1103 is a first command current calculation unit, 1104 is a first memory storage unit, 1201 is a second period interval, 1202 is a data acquisition speed interval determination unit, 1203 is a second command current calculation unit, and 1204 is a second memory storage unit. AC synchronous motor comprising a speed control unit that calculates a command torque (command current) from a command speed, a current control unit that drives the AC synchronous motor according to the command torque (command current), and a PWM power converter In the control device, a speed deviation calculator that calculates a speed deviation by subtracting the detected speed from the command speed generated from the command speed pattern generator, and a speed A speed gain control unit that calculates a command torque (command current) by multiplying the deviation by a speed gain, a mode zone determination unit that performs a mode zone (first cycle zone and second cycle zone) determination process from the command speed, and a mode When the mode switch for switching to one of the first period section and the second period section is selected according to the result of the section determination section, and when the first period section is selected, it is determined whether the command speed is the data acquisition speed section And a first command torque calculation unit (first command current data) for calculating first command torque data (first command current data) from command torque (command current) in the determined data acquisition speed zone. 1 command current calculation unit) and a second period section, a data acquisition speed section determination section that determines whether the command speed is a data acquisition speed section, A second command torque calculation unit (second command current calculation unit) that calculates second command torque data (second command current data) from the command torque (command current) in the operating speed section, and first command torque data (first The estimated initial magnetic pole position is calculated using information on the command current data) and the second command torque data (second command current data).
JP 2001-157482 A (page 16, FIG. 3) Japanese Unexamined Patent Publication No. 2003-111477 (page 16, FIG. 17, FIG. 18)

In the conventional AC synchronous motor initial magnetic pole estimation device, since speed control is performed, if the initial magnetic pole position is different from the setting, it will run out of control, requiring a runaway prevention function, resulting in an increase in estimation time. .
Further, when the friction condition is different in each section, there is a problem that the estimation error becomes large.
The present invention has been made in view of such problems, and since it does not run out of control without using a closed loop, the runaway detection function is omitted and the estimation time is shortened, and the friction and mechanical constants are simultaneously calculated at the time of initial magnetic pole estimation. An object of the present invention is to provide an initial magnetic pole position estimation device and an estimation method for an AC synchronous motor that can compensate for errors due to friction conditions and estimate an accurate magnetic pole position.

を用いて、誤差角がゼロとなるように磁極位置を調整することを特徴としている。
また、請求項４に記載の発明は、前記第１機械定数・第１外乱推力あるいはトルク演算部および第２機械定数・第２外乱推力あるいはトルク演算部は、

に基づいていることを特徴としている。
また、請求項５に記載の発明は、前記算出した第１機械定数、第１外乱推力あるいはトルクおよび第２機械定数、第２外乱推力あるいはトルクを用いて、磁極位置を補正することを特徴としている。 In order to achieve the above object, an invention according to claim 1 is directed to an initial magnetic pole estimation device for an AC synchronous motor that does not use a magnetic pole position detector, and includes a command thrust or torque pattern generator and a command thrust or torque pattern. A mode switch that switches between the 1 cycle interval and the 2nd cycle interval, and a first cycle interval phase angle setting unit that sets the magnetic pole position command value to +45 degrees when the first cycle interval is selected from the mode switch; Using the first period section speed / position detection unit that detects the speed and position of the synchronous motor while operating the AC synchronous motor with the command thrust or torque pattern, and the speed and position detection value in the first period section, A first mechanical constant / first disturbance thrust / torque calculation unit for calculating a first mechanical constant / first disturbance thrust / torque; When the second period section is selected from the first memory storage unit for storing the speed, position, first mechanical constant and first disturbance thrust or torque, and the mode switch, the magnetic pole position command value − A second period interval phase angle setting unit for 45 degrees, a second period interval speed / position detection unit for detecting the speed and position of the synchronous motor while operating the AC synchronous motor with the command thrust or torque pattern, A second mechanical constant / second disturbance thrust or torque calculation unit for calculating a second mechanical constant, second disturbance thrust or torque using the speed and position detection values in two period sections, and the speed and position of the AC synchronous motor And a second memory constant storing second mechanical constant and second disturbance thrust or torque.
Further, the invention according to claim 2 is characterized in that, in the command thrust or torque pattern generator, the command thrust or torque pattern is a trapezoidal wave or a rectangular wave and includes at least one positive and negative polarity change. .
According to a third aspect of the present invention, when the command thrust or torque pattern generator generates the command thrust or torque pattern,

Is used to adjust the magnetic pole position so that the error angle becomes zero.
According to a fourth aspect of the present invention, the first mechanical constant / first disturbance thrust or torque calculator and the second mechanical constant / second disturbance thrust or torque calculator are:

It is characterized by being based on.
The invention according to claim 5 is characterized in that the magnetic pole position is corrected using the calculated first mechanical constant, first disturbance thrust or torque and second mechanical constant, second disturbance thrust or torque. Yes.

を用いて計算される補正推力あるいはトルクを指令することを特徴としている。 According to a sixth aspect of the present invention, in the first period interval speed / position detection unit and the second period interval speed / position detection unit, the AC synchronous motor is being operated with a command thrust or torque pattern in the first period interval. The timing for detecting the speed and position of the synchronous motor and the timing for detecting the speed and position of the synchronous motor during operation of the AC synchronous motor with the command thrust or torque pattern in the second cycle interval are correct. It is characterized by the point of switching from negative to negative or from negative to positive.
According to a seventh aspect of the present invention, when the AC synchronous motor is operated with the command thrust or the command thrust or torque pattern from the torque pattern generator in both the first period and the second period, the AC synchronous motor When the motor does not rotate, the AC synchronous motor is operated by adding 45 degrees to the magnetic pole position when the AC synchronous motor does not rotate in both the first period and the second period.
According to the eighth aspect of the present invention, in the initial magnetic pole estimation device for the AC synchronous motor, when the AC synchronous motor enters a range where it cannot be mechanically operated, a command for moving to a position where the initial magnetic pole estimation can be performed. The initial magnetic pole estimation is performed by inputting a thrust or torque pattern.
According to a ninth aspect of the present invention, in the first period interval speed / position detection unit and the second period interval speed / position detection unit, the command thrust or torque changes in polarity from positive to negative or from negative to positive. When detecting the speed and position of the AC synchronous motor, the command thrust or torque pattern is set to a predetermined magnification α and detected.
In the invention according to claim 10, the command thrust or torque pattern generation unit changes the polarity of the command thrust or torque pattern from positive to negative or from negative to positive before the initial magnetic pole estimation is started. To return to the position

The correction thrust or torque calculated using the command is commanded.

を用いて誤差角がゼロとなるように磁極位置を調整することを特徴としている。 According to an eleventh aspect of the present invention, in the initial synchronous magnetic pole estimation method for an AC synchronous motor that does not use a magnetic pole position detector, the first cycle interval and the first periodic interval are determined by the command thrust or torque pattern generation step, and the command thrust or torque pattern. A mode switch for switching between two cycle sections, and a first cycle section phase angle setting step for setting the magnetic pole position command value to +45 degrees when the first cycle section is selected from the mode switch, and the command thrust or torque Using a first period section speed / position detection step for detecting the speed and position of the synchronous motor during operation of the AC synchronous motor in a pattern, and using the speed and position detection values in the first period section, A first mechanical constant / first disturbance thrust or torque calculating step for calculating a first disturbance thrust or torque; A first memory storage step for storing the motor speed, position, first mechanical constant and first disturbance thrust or torque, and when the second period section is selected from the mode switch, the magnetic pole position command value is given as a magnetic pole command A second period section phase angle setting step with a value of −45 degrees; a second period section speed / position detection step for detecting the speed and position of the synchronous motor while operating the AC synchronous motor with the command thrust or torque pattern; A second mechanical constant, a second disturbance thrust or a torque calculating step for calculating a second mechanical constant, a second disturbance thrust or a torque using the speed and position detection value in the second period section, and the speed of the AC synchronous motor And a second memory storage step for storing a position, a second mechanical constant, and a second disturbance thrust or torque, the first memory storage step. And it is characterized in that based on the storage contents of the second memory storing step of estimating the initial magnetic pole position.
The invention according to claim 12 is characterized in that, in the command thrust or torque pattern generation step, the command thrust or torque pattern is a trapezoidal wave or a rectangular wave and includes at least one positive and negative polarity change. .
In the invention according to claim 13, in the case where the command thrust or torque pattern is generated in the command thrust or torque pattern generation step,

Is used to adjust the magnetic pole position so that the error angle becomes zero.

に基づいていることを特徴としている。
また、請求項１５に記載の発明は、前記算出した第１機械定数、第１外乱推力あるいはトルクおよび第２機械定数、第２外乱推力あるいはトルクを用いて、磁極位置を補正することを特徴としている。
また、請求項１６に記載の発明は、前記第１周期区間速度・位置検出ステップおよび第２周期区間速度・位置検出ステップにおいて、第１周期区間で指令推力あるいはトルクパターンでＡＣ同期モータを運転中に同期モータの速度および位置を検出するタイミングと、第２周期区間で指令推力あるいはトルクパターンでＡＣ同期モータを運転中に同期モータの速度および位置を検出するタイミングは、前記指令推力あるいはトルクが正から負あるいは負から正へ切り替わる点とすることを特徴としている。
また、請求項１７に記載の発明は、前記第１周期区間および第２周期区間共に、前記指令推力あるいはトルクパターン発生ステップからの指令推力あるいはトルクパターンでＡＣ同期モータを運転した場合、ＡＣ同期モータが回転しない場合に前記第１周期区間、第２周期区間ともに前記ＡＣモータが回転しない場合の磁極位置に４５度加算して前記ＡＣ同期モータを運転することを特徴としている。 The invention according to claim 14 is characterized in that the first mechanical constant / first disturbance thrust or torque calculating step and the second mechanical constant / second mechanical constant / second disturbance thrust or torque calculating step are:

It is characterized by being based on.
The invention according to claim 15 is characterized in that the magnetic pole position is corrected using the calculated first mechanical constant, first disturbance thrust or torque and second mechanical constant, second disturbance thrust or torque. Yes.
According to a sixteenth aspect of the present invention, in the first period interval speed / position detection step and the second period interval speed / position detection step, the AC synchronous motor is being operated with a command thrust or torque pattern in the first period interval. The timing for detecting the speed and position of the synchronous motor and the timing for detecting the speed and position of the synchronous motor during operation of the AC synchronous motor with the command thrust or torque pattern in the second cycle interval are correct. It is characterized by the point of switching from negative to negative or from negative to positive.
In the invention according to claim 17, when the AC synchronous motor is operated by the command thrust or the torque pattern from the torque pattern generation step in both the first period and the second period, the AC synchronous motor When the motor does not rotate, the AC synchronous motor is operated by adding 45 degrees to the magnetic pole position when the AC motor does not rotate in both the first period and the second period.

を用いて計算される補正推力あるいはトルクを指令することを特徴としている。 According to the eighteenth aspect of the present invention, in the initial magnetic pole estimation device for the AC synchronous motor, when the AC synchronous motor enters a range where it cannot be mechanically operated, a command for moving to a position where the initial magnetic pole estimation can be performed. The initial magnetic pole estimation is performed by inputting a thrust or torque pattern.
According to a nineteenth aspect of the present invention, in the first period interval speed / position detection step and the second period interval speed / position detection step, the command thrust or torque changes in polarity from positive to negative or from negative to positive. When detecting the speed and position of the synchronous motor, the command thrust or torque pattern is set at a predetermined magnification α and detected.
According to the twentieth aspect of the present invention, in the command thrust or torque pattern generation step, the command position or torque pattern is changed from positive to negative or from negative to positive. To return to the position

The correction thrust or torque calculated using the command is commanded.

According to the first to sixth aspects of the invention, since no runaway occurs without using a closed loop, the runaway detection function is omitted to shorten the estimation time, and the friction and mechanical constant are simultaneously calculated at the time of initial magnetic pole estimation to compensate for errors due to friction conditions. An accurate magnetic pole position can be estimated.
In addition, according to the seventh to eighth and the seventeenth to eighteenth aspects of the present invention, it is possible to expand the range of the magnetic pole position estimation start and reduce the failure of the magnetic pole position estimation.
According to the ninth and nineteenth aspects of the present invention, the position / velocity detection process can be facilitated to shorten the estimation processing time.
Moreover, according to the invention of Claim 10 and Claim 20, the precision of magnetic pole position estimation can be improved.
According to the invention described in claims 11 to 16, since no runaway occurs without using a closed loop, the runaway detection function is omitted to reduce the estimation time, and the friction and the mechanical constant are calculated simultaneously at the time of initial magnetic pole estimation to compensate for errors due to friction conditions. An accurate magnetic pole position can be estimated.

  Hereinafter, specific examples of the method of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing a configuration of an initial magnetic pole estimating apparatus for an AC synchronous motor according to the present invention.
In FIG. 1, a command thrust or torque pattern is generated by a command thrust or torque pattern generation unit 1, and a magnetic pole position estimation operation mode (the magnetic pole position estimation operation mode includes 1 period section mode and 2 period section mode) are determined, and a selection signal for the first period section or a selection signal for the second period section is output. When the selection signal for the first period interval is output, the first period interval phase angle setting unit 3 sets the magnetic pole position command value to the magnetic pole position command value +45 degrees. The AC synchronous motor is operated based on the thrust command or torque pattern and the magnetic pole position command value, and the magnetic pole position estimation is started.
When the AC synchronous motor is operated by the thrust command or the torque pattern and the magnetic pole position command value, the speed and position of the AC synchronous motor are detected by the first period section speed / position detection unit 4. The first mechanical constant, the first disturbance thrust, or the torque calculation unit 5 uses the speed and position of the AC synchronous motor detected by the first period section speed / position detection unit 4 and the following equation (2). One mechanical constant, first disturbance thrust or torque is calculated.

第１周期区間速度、位置検出部４にて、検出したＡＣ同期モータの速度、位置と、第１機械定数、第１外乱推力あるいはトルク演算部５において算出した第１機械定数、第１外乱推力あるいはトルクは、第１メモリ記憶部６にてメモリに格納する。

The speed and position of the AC synchronous motor detected by the first period section speed / position detection unit 4 and the first mechanical constant, the first disturbance thrust calculated by the torque calculation unit 5 or the first mechanical constant, the first disturbance thrust. Alternatively, the torque is stored in the memory in the first memory storage unit 6.

Next, when the selection signal of the second period section is output, the second period section phase angle setting unit 7 sets the magnetic pole position command value to -45 degrees and sets the thrust command or torque pattern. And the magnetic pole position command value, the AC synchronous motor is operated, and the magnetic pole position estimation is started. When the AC synchronous motor is operated by the thrust command or the torque pattern and the magnetic pole position command value, the speed and position of the AC synchronous motor are detected by the second period section speed / position detecting means 8 as before. Using the speed and position of the AC synchronous motor detected by the second period section speed / position detecting means 8 and the equation (2), the second machine constant, the second disturbance thrust or the torque calculating means 9 A constant, second disturbance thrust or torque is calculated.
The speed and position of the AC synchronous motor detected by the second period section speed / position detecting means 8 and the second mechanical constant, second disturbance constant calculated by the second mechanical constant, second disturbance thrust or torque calculating means 9 and second disturbance The thrust or torque is stored in the memory by the second memory storage means 10.

Using the speed, position, first mechanical constant, first disturbance thrust, second mechanical constant, and second disturbance thrust of the AC synchronous motor stored in the first memory storage means 6 and the second memory storage means 10, The command thrust or torque pattern generated in the thrust or torque pattern generating means 1 is corrected.
FIG. 4 is a command thrust or torque pattern diagram applied to the method of the present invention.
The pattern in FIG. 4 is an example of a command thrust or torque pattern for magnetic pole position estimation. In the figure, the period from 0 to t5 is a first period section in which the estimated angle θ is + 45 °, and the period from t5 to t10 is a second period section in which the estimated angle θ is −45 °. In addition, the command thrust is a section in which a section between t1 to t2 (single rated thrust A-2) and t6 to t7 (single rated thrust B-2) is a magnification α = 1, and t2 to t4. The section between (1.5 times rated thrust A-3) and t7 to t9 (-1.5 times rated thrust B-3) is the section where the magnification α = −1.5, and t4 to t5 ( The section between 1.5 times rated thrust A-4) and t9 to t10 (1.5 times rated thrust B-4) is the section where the magnification α = + 1.5.
As described above, in the present invention, the position / velocity detection timing is performed at the timing of the polarity change of the command thrust compared to the prior art disclosed in the patent document, and at the time of detection, α is changed by 1 to 1.5 times. Thus, the detection processing is facilitated to improve the processing time.

  The above operation is repeated, and when the operation of the AC synchronous motor has settled, the magnetic pole position estimation is terminated, and the position of the AC synchronous motor stored in the first memory storage means 6 and the second memory storage means 10 and the next Formula (1) can be used to estimate the magnetic pole position of the AC synchronous motor.

以上のように、本発明では、初期磁極推定処理を行う場合に検出タイミングを指令推力の極性が変化するタイミングで、α＝１．５として検出を行うと共に、式（２）に示すように、摩擦条件による誤差を補償するので、これによって特許文献１、２の従来技術のような、摩擦の条件が区間で異なる場合の推定誤差の拡大を防止して正確な推定を可能にするように、改良するものである。
また、特許文献１、２に示した従来技術では、図５に示した積分ゲインの処理部１０３を設けて、暴走防止機能を付加しているが、本発明では、この点を改良して閉ループを用いないので、暴走防止機構を削減できると共に、磁極推定処理の手順を簡単化して処理時間を短縮できるように、従来技術を改良している。

As described above, in the present invention, when the initial magnetic pole estimation process is performed, detection is performed with α = 1.5 at the timing when the polarity of the command thrust changes, and, as shown in Expression (2), Since the error due to the friction condition is compensated, as in the prior arts of Patent Documents 1 and 2, this prevents the estimation error from expanding when the friction condition is different in the section, and enables accurate estimation. It is an improvement.
Further, in the prior arts shown in Patent Documents 1 and 2, the integral gain processing unit 103 shown in FIG. 5 is provided and a runaway prevention function is added. Therefore, the conventional technology has been improved so that the runaway prevention mechanism can be reduced and the magnetic pole estimation process can be simplified to shorten the processing time.

FIG. 2 is a flowchart showing the processing procedure of the estimation method in the magnetic pole estimation apparatus of the present invention. Hereinafter, the present invention will be described in detail with reference to FIG.
First, in each test initialization step 11 (shown as step = S in FIG. 2), each test is initialized, the current position is stored in the position offset, and the test angle = 45 degrees. Next, in the magnetic pole position estimation time discrimination processing step 12, the magnetic pole position estimation time is discriminated. If it is within the time set in the magnetic pole position estimation time discrimination step 12, the initialization step 11 of each test is executed, and the magnetic pole position estimation is performed. When the time set in the time determination step 12 is exceeded (for example, when time> T0 + 0.005 and t1 in FIG. 4 is reached), the process proceeds to step 13 where the thrust is set to 1 times the rated thrust, and the rated thrust The AC synchronous motor is operated with a single thrust (α = 1).
Subsequently, in the magnetic pole position estimation time determination step 14, the magnetic pole estimation time is determined, and if it is within the time set in the magnetic pole position estimation time determination step 14, step 13 for setting a thrust that is one time the rated thrust is executed. The AC synchronous motor is operated with a thrust that is one time the rated thrust.

にて、推力補正を行う。 When the time set in the magnetic pole position estimation time determination step 14 (time> T0 + 0.01) is exceeded, the process proceeds to the movement distance determination step 15, and when it is smaller than the set distance (distance <1 μm), the estimated angle = + 45 degrees. In step 16, the estimated angle = estimated angle + 45 degrees is set, all variables are initialized, and the process returns to the magnetic pole position estimated time determination step 12. If it is larger than the set value, the maximum movement distance and maximum speed are detected in the maximum movement distance / maximum speed discrimination step 17. Next, in step 18 for setting a thrust command of -1.5 times the rated thrust, a thrust command of -1.5 times the rated thrust is given to the AC synchronous motor, and the AC synchronous motor is operated. (For example, when the distance <1 μm is reached and t2 is reached, the polarity change timing is reached, and the direction, position and speed are detected).
In the moving direction determination step 19, the moving direction of the AC synchronous motor is determined, and if it moves in the positive direction, step 18 is executed to set a thrust command of -1.5 times the rated thrust. The process proceeds to step 20 to check the maximum moving distance. In the reverse speed = maximum speed determination step 21, if the reverse speed = not the maximum speed, the reverse speed = maximum speed determination step 21 is repeated. When the reverse speed = maximum speed, the process proceeds to the thrust command correction step 22. Therefore, according to the following equation (4),

Then, thrust correction is performed.

Whether or not the correction value is within the range of the thrust limit value is determined in the thrust command determination step 23. If the correction value is larger than the thrust limit value, the thrust command is set to the thrust limit value in the thrust command limit step 24.
Next, the moving direction determination step 25, the magnetic pole position estimation time determination step 26, and the operation determination step 27 check the movement direction of the AC synchronous motor, the magnetic pole position estimation time, and the number of times the AC synchronous motor does not operate, respectively. Is YES, the process shifts to the magnetic pole position estimation calculation step 28 to calculate the magnetic pole position estimated value.
By repeating the above, the magnetic pole position can be estimated.

Thus, at the time of detection, by raising α to 1.5 times, the direction, position / velocity detection processing is facilitated, the magnetic pole estimation processing time is shortened, and the error due to the friction condition of the section is compensated. It enables accurate magnetic pole estimation.
In addition, although the flow of FIG. 2 mainly shows the detection process of the first period section as an example, the direction, the position / velocity are detected in the same procedure as a matter of course for the second period section, Finally, the magnetic pole is estimated by the calculation of Expression (1) by the process of S28.

Next, a second embodiment of the present invention will be described.
FIG. 3 is a flowchart showing a processing procedure of the initial magnetic pole estimation apparatus according to the second embodiment of the present invention.
The estimation method corresponding to claims 8 and 18 of the present invention will be described in order with reference to FIG. First, in the rated thrust command step 29, the rated thrust command is given to the AC synchronous motor, and the motor is operated. In operation determination step 30, it is determined whether or not the motor moves. If not moving, the estimated angle = + 45 degrees In step 31, the test angle = test angle + 45 degrees, and the operation determination step B30 is repeated. In the case of movement, a limit direction determination step 32 determines the direction with the limit.
In the case of the rear limit, the determination result of the movement direction determination step 33 is the positive direction, and the process proceeds to the next rated thrust step 36. The determination result of the moving direction determination step 33 is the reverse direction, the estimated angle = + 180 degrees is set to the estimated angle = 180 degrees in the step 35, and the process proceeds to the next rated thrust step 36.
In the case of the front limit, the determination result of the movement direction determination step 34 is the reverse direction, and the process proceeds to the next rated thrust step 36. The determination result of the moving direction determination step 34 is the positive direction, the estimated angle = + 180 degrees is set to the estimated angle = estimated angle + 180 degrees in the step 35, and the process proceeds to the next rated thrust step 36. The moving distance is determined in the moving distance determining step 37, and the moving distance determining step 37 is repeated until the set moving distance is moved. When the set moving distance is moved, the routine proceeds to the magnetic pole position estimation start step 38, and the normal magnetic pole position is determined. Make an estimate.

In the case of the second embodiment corresponding to the eighth and eighteenth aspects, for example, in the case of a linear motor or the like, it is a process in a case where it is mechanically inoperable due to the positions of the front limit and the rear limit.
Further, the case where the AC synchronous motor corresponding to claims 7 and 17 does not rotate corresponds to the case where the AC synchronous motor does not rotate, for example, due to electromagnetic action as in the case of a phase error of 90 degrees, and the + 45 ° of S31. This is a case where the process can be rotated.

  According to the present invention, it is possible to detect an initial magnetic pole of an AC synchronous motor without using magnetic pole detection, and an initial magnetic pole detection device for a linear motor having a structure without a magnetic pole detector or a brushless DC motor requiring cost reduction. Available as

It is a block diagram which shows the structure of the initial stage magnetic pole estimation apparatus of the AC synchronous motor to which the method of this invention is applied. It is a flowchart which shows the process sequence of the estimation method in the initial stage magnetic pole estimation apparatus shown in FIG. It is a flowchart which shows the process sequence of the estimation method which concerns on 2nd Example of this invention. It is a figure which shows the command thrust or torque pattern figure applied to the estimation method of the initial stage magnetic pole estimation apparatus shown in FIG. It is a block diagram which shows the structure of the initial stage magnetic pole estimation apparatus of the conventional AC synchronous motor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Command thrust or torque pattern generation part 2 Mode switch 3 1st period area phase angle setting part 4 1st period area speed, position detection part 5 1st mechanical constant, 1st disturbance thrust or torque calculation part 6 1st memory storage part 7 Second period section phase angle setting section 8 Second period section speed, position detection section 9 Second mechanical constant, second disturbance thrust or torque calculation section 10 Second memory storage section

Claims (20)

In an initial magnetic pole estimation apparatus for an AC synchronous motor that does not use a magnetic pole position detector,
A command thrust or torque pattern generator, a mode switch that switches between the first cycle interval and the second cycle interval according to the command thrust or torque pattern, and when the first cycle interval is selected from the mode switch, the magnetic pole position command value is changed to the magnetic pole A first period section phase angle setting section for setting the position command value to +45 degrees, and a first period section speed / position detection section for detecting the speed and position of the synchronous motor while operating the AC synchronous motor with the command thrust or torque pattern. A first mechanical constant, a first disturbance thrust or a torque calculator for calculating a first mechanical constant, a first disturbance thrust or a torque using the speed and position detection value in the first period section, and the AC synchronous motor A first memory storage unit for storing the speed, position, first mechanical constant, and first disturbance thrust or torque of
When the second period section is selected from the mode switch, the second period section phase angle setting unit that sets the magnetic pole position command value to −45 degrees and the AC synchronous motor is operated with the command thrust or torque pattern. The second mechanical constant, second disturbance thrust or torque is calculated using the second period section speed / position detection unit for detecting the speed and position of the synchronous motor and the speed and position detection value in the second period section. A second mechanical constant / second disturbance thrust or torque calculating section, and a second memory storage section for storing the speed, position, second mechanical constant and second disturbance thrust or torque of the AC synchronous motor. A device for estimating an initial magnetic pole of an AC synchronous motor.   2. The initial magnetic pole of an AC synchronous motor according to claim 1, wherein in the command thrust or torque pattern generator, the command thrust or torque pattern is a trapezoidal wave or a rectangular wave and includes at least one positive and negative polarity change. Estimating device. When generating the command thrust or torque pattern in the command thrust or torque pattern generation unit,

The apparatus for estimating an initial magnetic pole of an AC synchronous motor according to claim 1, wherein the magnetic pole position is adjusted so that the error angle becomes zero. The first mechanical constant / first disturbance thrust or torque calculator and the second mechanical constant / second disturbance thrust or torque calculator are:

2. The apparatus for estimating an initial magnetic pole of an AC synchronous motor according to claim 1, wherein:   5. The AC according to claim 1, wherein the magnetic pole position is corrected using the calculated first mechanical constant, first disturbance thrust or torque, and second mechanical constant, second disturbance thrust or torque. Initial magnetic pole estimation device for synchronous motor.   Timing for detecting the speed and position of the synchronous motor during operation of the AC synchronous motor with the command thrust or torque pattern in the first period section in the first period section speed / position detector and the second period section speed / position detector And the timing for detecting the speed and position of the synchronous motor while operating the AC synchronous motor with the command thrust or torque pattern in the second cycle section is the point at which the command thrust or torque is switched from positive to negative or from negative to positive. The initial magnetic pole estimation apparatus for an AC synchronous motor according to claim 1.   When the AC synchronous motor is operated with the command thrust or the torque pattern from the torque pattern generator and the AC synchronous motor does not rotate in both the first cycle section and the second cycle section, The initial magnetic pole estimation apparatus for an AC synchronous motor according to claim 1, wherein the AC synchronous motor is operated by adding 45 degrees to a magnetic pole position when the AC synchronous motor does not rotate in two period sections.   In the initial magnetic pole estimation device for the AC synchronous motor, when the AC synchronous motor enters a range where it cannot be mechanically operated, a command thrust or torque pattern for moving to a position where the initial magnetic pole estimation can be performed is input, and initial magnetic pole estimation is performed. The initial magnetic pole estimation apparatus for an AC synchronous motor according to claim 1, wherein:   The first period section speed / position detection section and the second period section speed / position detection section detect the speed and position of the AC synchronous motor at the timing when the command thrust or torque changes polarity from positive to negative or from negative to positive. 7. The initial magnetic pole estimating apparatus for an AC synchronous motor according to claim 1, wherein the command thrust or torque pattern is detected by setting the multiplication factor α times. In the command thrust or torque pattern generator, the command thrust or torque pattern is changed from positive to negative or from negative to positive so that the moving position is returned to the original position before starting the initial magnetic pole estimation.

10. The initial magnetic pole estimation device for an AC synchronous motor according to claim 1 or 9, wherein a correction thrust or torque calculated using the command is commanded. In an initial magnetic pole estimation method of an AC synchronous motor without using a magnetic pole position detector,
A command thrust or torque pattern generation step; a mode switch that switches between the first and second cycle intervals according to the command thrust or torque pattern; and when the first cycle interval is selected by the mode switch, the magnetic pole position command value is A first period interval phase angle setting step for setting the position command value to +45 degrees; and a first period interval speed / position detection step for detecting the speed and position of the synchronous motor while the AC synchronous motor is operating with the command thrust or torque pattern; A first mechanical constant, a first disturbance thrust or a torque calculating step for calculating a first mechanical constant, a first disturbance thrust or a torque using the speed and position detection value in the first period section, and the AC synchronous motor A first memory storage step for storing the speed, position, first mechanical constant and first disturbance thrust or torque of When the second cycle section is selected from the mode switch, a second period section phase angle setting step in which the magnetic pole position command value is -45 degrees and the command synchronous force or torque pattern is used as the AC synchronous motor. A second period constant speed / position detection step for detecting the speed and position of the synchronous motor during operation, and a second mechanical constant, a second disturbance thrust or torque using the speed and position detection value in the second period section A second mechanical constant / second disturbance thrust or torque calculating step, and a second memory storage step for storing the speed, position, second mechanical constant and second disturbance thrust or torque of the AC synchronous motor. An AC synchronous motor characterized by estimating an initial magnetic pole position based on the storage contents of the first memory storage step and the second memory storage step Initial magnetic pole estimation method.   12. The initial magnetic pole of an AC synchronous motor according to claim 11, wherein in the command thrust or torque pattern generation step, the command thrust or torque pattern is a trapezoidal wave or a rectangular wave and includes at least one positive and negative polarity change. Estimation method. In the case where the command thrust or torque pattern is generated in the command thrust or torque pattern generation step,

12. The method of estimating an initial magnetic pole of an AC synchronous motor according to claim 11, wherein the magnetic pole position is adjusted so that the error angle becomes zero using. The first mechanical constant / first disturbance thrust or torque calculation step and the second mechanical constant / second mechanical constant / second disturbance thrust or torque calculation step are:

12. The method for estimating an initial magnetic pole of an AC synchronous motor according to claim 11, wherein:   15. The AC according to claim 11, wherein the magnetic pole position is corrected using the calculated first mechanical constant, first disturbance thrust or torque, and second mechanical constant, second disturbance thrust or torque. A method for estimating an initial magnetic pole of a synchronous motor.   Timing for detecting the speed and position of the synchronous motor while operating the AC synchronous motor with the command thrust or torque pattern in the first period section in the first period section speed / position detection step and the second period section speed / position detection step And the timing for detecting the speed and position of the synchronous motor while operating the AC synchronous motor with the command thrust or torque pattern in the second cycle section is the point at which the command thrust or torque is switched from positive to negative or from negative to positive. The initial magnetic pole estimation method for an AC synchronous motor according to claim 11.   When the AC synchronous motor is operated with the command thrust or the torque pattern from the command thrust or torque pattern generation step in both the first cycle section and the second cycle section, the first cycle section, 12. The method for estimating an initial magnetic pole of an AC synchronous motor according to claim 11, wherein the AC synchronous motor is operated by adding 45 degrees to a magnetic pole position when the AC motor does not rotate during the second period.   In the initial magnetic pole estimation device for the AC synchronous motor, when the AC synchronous motor is in a range where it cannot be mechanically operated, a command thrust or torque pattern for moving to a position where the initial magnetic pole estimation can be performed is input, and initial magnetic pole estimation is performed. The initial magnetic pole estimation method for an AC synchronous motor according to claim 11, wherein:   The first period interval speed / position detection step and the second period interval speed / position detection step are for detecting the speed and position of the synchronous motor at the timing when the command thrust or torque changes polarity from positive to negative or from negative to positive. 17. The method for estimating an initial magnetic pole of an AC synchronous motor according to claim 11, wherein the command thrust or torque pattern is detected by setting a predetermined multiplication factor α. The command thrust or torque pattern generation step returns the moving position to the original position before starting the initial magnetic pole estimation after changing the polarity of the command thrust or torque pattern from positive to negative or from negative to positive.

20. The method for estimating an initial magnetic pole of an AC synchronous motor according to claim 11 or 19, wherein a corrected thrust or torque calculated by using the command is commanded.

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