JP2007288859A - Control method, and controller of motor and compressor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect and to correct whirling of a rotating shaft. <P>SOLUTION: The controller 2 is provided with a detector 21, a calculator 22, and a control unit 23. The detector 21 detects the primary component V1 of rotation of a motor 1 from voltages Vm1-Vm6, induced in the armature 12 through rotation of a field magneton 13. The amplitude A311 of the primary component V1 increases as the whirling angle θ increases. The calculator 22 calculates the whirling angle θ from the detected amplitude A311, based on the known correlation between the amplitude A311 of the primary component V1 and the whirling angle θ. The detector 21 further detects the position of the armature 12, in the circumferential direction where the induction voltages Vm1-Vm6 become smallest, at a detection time t as whirling position r(t). The control unit 23 controls the armature 12 to generate a magnetic field for correcting swirling of the rotating shaft 11, by feeding current to the armature 12, based on the whirling angle θ and the whirling position r(t). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to motor control, and more particularly, to detection and correction of runout of a rotating shaft.

  Conventionally, it has been studied to adopt an outer rotor type motor capable of realizing high output in a compressor or the like. In such a compressor or the like, both ends of the rotating shaft are supported by bearings in order to rotate the motor stably. However, when both ends of the rotating shaft are supported by bearings, the motor is increased in size, and thus the compressor and the like are increased in size.

  Therefore, in order to reduce the size of the motor and further the compressor and the like, a technique for supporting only one side of the rotating shaft of the motor with a bearing has been proposed.

  Patent Document 1 discloses an outer rotor type motor in which both ends of a rotating shaft are supported by bearings, and Patent Document 2 discloses an outer rotor type motor in which only one side is supported by a bearing. Has been.

JP 2004-64800 A JP 2004-301038 A

  However, when only one side of the rotating shaft is supported by the bearing, there is a problem that the rotating shaft is swung.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to detect the whirling of the rotating shaft. The other purpose is to correct the whirling.

  According to a first aspect of the present invention, there is provided a motor control method comprising: a bearing (14); a rotary shaft (11) rotatably provided on the bearing; and a field magnet fixed to the rotary shaft and rotating together with the rotary shaft. A motor (1) is provided that includes a child (13) and an armature (12) provided on the inner peripheral side with respect to the field element, wherein only one end side of the rotating shaft is supported by the bearing. (A) detecting a primary component (V1) of rotation of the motor of induced voltages (Vm1 to Vm6) generated in the armature by rotation of the field element, and (b) the primary Based on a known correlation between a component amplitude (A311) and a swing angle (θ) which is an inclination of the rotation shaft from the central axis (91) of the motor, the deflection is calculated from the detected amplitude. Find the turning angle.

  According to a second aspect of the present invention, there is provided a motor control method comprising: a bearing (14); a rotary shaft (11) rotatably provided on the bearing; and a field fixed to the rotary shaft and rotatable together with the rotary shaft. Controlling the motor (1), comprising a magneton (13) and an armature (12) provided on the inner peripheral side with respect to the field element, wherein only one end side of the rotating shaft is supported by the bearing. And detecting the primary component (V1) of the motor rotation of the induced voltage (Vm1 to Vm6) generated in the armature by the rotation of the field element, and the primary component is minimized. A position in the armature is detected as a swinging position (r (t)).

  According to a third aspect of the present invention, there is provided a motor control method comprising: a bearing (14); a rotary shaft (11) rotatably provided on the bearing; and a field fixed to the rotary shaft and rotatable together with the rotary shaft. Controlling the motor (1) comprising a magneton (13) and an armature (12) provided on the inner peripheral side with respect to the field element, wherein only one end side of the rotating shaft is supported by the bearing. The position in the armature at which the induced voltage (Vm1 to Vm6) generated in the armature due to the rotation of the field element is minimized is detected as the swing position (r (t)).

  A motor control method according to a fourth aspect of the present invention is the motor control method according to the second or third aspect, further executing the processes (a) and (b) according to the first aspect. The swing angle (θ) is obtained.

  A motor control method according to claim 5 of the present invention is the motor control method according to claim 4, wherein the swing angle (θ) and the swing position ( r (t)), the magnetic field is generated, and the whirling of the rotating shaft (11) is corrected.

  The motor control method according to claim 6 of the present invention is the motor control method according to claim 5, wherein the armature (12) has two sets of windings that can be controlled independently of each other. The one of the windings (C11 to C16) detects the induced voltage (Vm1 to Vm6), and the other of the windings generates the magnetic field.

  A motor control method according to a seventh aspect of the present invention is the motor control method according to the fifth or sixth aspect, wherein the armature (12) and the armature (12) are moved at the swing position (r (t)). At the time (t0) when the attractive force is applied between the field element (13) and the winding (C11 to C16) arranged at the swing position (r (t0)), the swing of the rotating shaft is generated. A current larger than the current that flows when there is no current flows based on the swing angle (θ).

  A motor control method according to an eighth aspect of the present invention repeatedly executes the control according to the fourth aspect and the control according to any one of the fifth to seventh aspects.

  According to a ninth aspect of the present invention, there is provided a motor control method, wherein the control according to any one of the first to eighth aspects is executed by an inverter.

  A motor control device according to a tenth aspect of the present invention executes the control according to any one of the first to ninth aspects.

  A motor compressor according to an eleventh aspect of the present invention includes the motor control device (2) according to the tenth aspect and the motor (1).

  According to the motor control method of the first aspect of the present invention, since the primary component of the induced voltage depends on the swing angle, the swing can be easily evaluated from the outside. Therefore, it becomes easy to correct the swing and drive the motor stably.

  According to the motor control method of the second aspect of the present invention, the displacement of the primary component of the induced voltage at the position where the armature is located depends on the swing position, so that the swing position can be easily specified from the outside. . Therefore, it becomes easy to correct the swing and drive the motor stably.

  According to the motor control method of the third aspect of the present invention, the displacement of the induced voltage at the position where the armature is located depends on the swing position, so that the swing position can be easily specified from the outside. Therefore, it becomes easy to correct the swing and drive the motor stably.

  According to the motor control method of the fourth aspect of the present invention, it is possible to further stabilize the driving of the motor that has corrected the swing.

  According to the motor control method of the fifth aspect of the present invention, the rotation axis can be along the central axis.

  According to the motor control method of the sixth aspect of the present invention, the detection of the induced voltage and the generation of the magnetic field can be performed in parallel, so that the shake correction can be performed with high accuracy. In addition, since the windings are controlled independently of each other, there is no influence on other windings.

  According to the motor control method of the seventh aspect of the present invention, at the swing position at the time point, an attractive force larger than the force generated between the armature and the field element in a state where there is no swing is the electrical machine. Since it acts between the child and the field element, a force acts on the field element in the direction opposite to the direction in which the rotation axis is inclined, thereby correcting the rotation of the rotation axis.

  According to the motor control method of the eighth aspect of the present invention, it is possible to accurately correct the run-out.

  According to the motor control method of the ninth aspect of the present invention, the control according to the first to eighth aspects can be executed with high accuracy.

  According to the motor control apparatus of the tenth aspect of the present invention or the compressor according to the eleventh aspect of the present invention, the control of the first to ninth aspects can be executed.

1. FIG. 1 conceptually shows a compressor 4 according to the present invention. The compressor 4 includes a motor 1, a compression container 41, a compression element 42, and a bearing 14. The motor 1 is disposed above and the compression element 42 is disposed below. The central axis of the motor 1 is indicated by reference numeral 91.

  The bearing 14 is fixed to the compression container 41 via a main body portion 421 of the compression element 42 described later.

  FIG. 2 conceptually shows the motor 1 and its control device 2. In FIG. 2, the motor 1 is shown in a cross section at the position AA shown in FIG. 1.

  The motor 1 includes a rotating shaft 11, an armature 12, and a field element 13. The field element 13 is fixed to the rotating shaft 11 and rotates together with the rotating shaft 11. Specifically, the upper end portion of the field element 13 is fixed to the rotating shaft 11 via the fixing member 131.

  The rotating shaft 11 is rotatably provided on the bearing 14, and only the opposite side to the field element 13 is supported by the bearing 14.

  A field magnet 132 is embedded in the field element 13. Hereinafter, a case where the number of pole pairs of the field element 13 is 2 will be described.

  The armature 12 has teeth 1221 to 1226 and is provided on the inner peripheral side with respect to the field element 13. Specifically, each of the teeth 1221 to 1226 extends in the radial direction and faces the field element 13 from the inner peripheral side. Although not shown in FIG. 2, windings C11 to C16 are wound around the teeth 1121 to 1126, respectively.

  The control device 2 includes a detection unit 21, a calculation unit 22, and a control unit 23. The detection unit 21 and the calculation unit 22 detect the swing of the rotating shaft 11, and the control unit 23 corrects the swing and the motor 1. Control the drive. Details will be described later.

  The compression element 42 has a cylindrical structure and includes a main body 421 and a roller 422. The main body 421 is fixed to the compression container 41. The roller 422 is fitted to an eccentric shaft portion 111 provided on the rotation shaft 11. A compression chamber 423 is provided between the main body 421 and the roller 422. A suction pipe 43 inserted from the outside of the compression container 42 is connected to the compression chamber 423, and the refrigerant is introduced into the compression chamber 423 from the outside of the compressor 4 through the suction pipe 43. The eccentric shaft portion 111 rotates eccentrically (or revolves) by the rotation of the rotating shaft 11, and the main body portion 421 and the roller 422 compress the refrigerant introduced into the compression chamber 423.

  A discharge pipe 44 is inserted from the outside of the compression container 41 above the motor 1, and the compressed refrigerant is discharged to the outside of the compressor 4 through the discharge pipe 44.

2. FIG. 2 shows a case where the rotating shaft 11 has run out. The case where no whirling has occurred is indicated by a broken line. When the whirling occurs, the rotating shaft 11 is inclined with respect to the central axis 91 of the motor 1 (this coincides with the center 92 of the rotating shaft 11 when no whirling occurs), and the central shaft remains tilted. The rotating shaft 11 rotates around 91. In FIG. 2, the trajectory of the center 92 of the rotating shaft 11 is represented by a broken line.

  FIG. 3 shows a cross section of the motor 1 at a position including the center shaft 91 and the center 92. In FIG. 3, the inclination of the rotation shaft 11 from the central axis 91 is represented by the symbol θ, which is referred to as a swing angle θ. Hereinafter, the detection of the swing around by the control device 2 will be described.

<Detection of swing angle>
The detector 21 detects the induced voltages Vm1 to Vm6 generated in the windings C11 to C16 by the rotation of the field element 13, respectively. For the detection unit 21, for example, a winding current or voltage detection means in the inverter, a Hall sensor, or the like can be adopted. Hereinafter, a method for detecting the swing angle based on the induced voltages Vm1 to Vm6 will be described.

  FIG. 4 is a graph 31 showing a time change of the induced voltage Vm1 when the whirling occurs. When the whirling has occurred, the induced voltage Vm1 includes a component induced based on the whirling of the rotating shaft 11. Since the rotating shaft 11 rotates around the central axis 91 at the same rotational speed as the rotational speed of the field element 13, such a component is included as a primary component V1 of the rotation of the field element 13 in the induced voltage Vm1. The primary component V1 is shown by a graph 311 in FIG. The amplitude A311 increases as the swing angle θ increases.

  In addition, the induced voltage Vm1 includes a component that is induced based on the rotation of the field element 13 even when there is no swing. Since the number of pole pairs of the field element 13 is 2, the period of this component is ½ times the rotation period T of the field element 13. Therefore, this component is included as the secondary component V2 of the rotation of the field element 13 in the induced voltage Vm1. The secondary component V2 is indicated by a graph 312 in FIG.

  The induced voltages Vm2 to Vm6 are not shown, but have the same waveform as the induced voltage Vm1. However, there is a phase difference between each of the induced voltages Vm1 to Vm6.

  The detection unit 21 extracts the primary component V1 of the detected induced voltage Vm1. The extracted primary component V1 is given to the calculation unit 22. The primary component V1 may be extracted from any of the induced voltages Vm2 to Vm6. This is because the rotation axis 92 swings around the central axis 91, and the primary component V1 can obtain the same waveform although the phase is different in any of the induced voltages Vm1 to Vm6.

  When the motor 1 is driven by the control unit 23, the voltage applied to each of the windings C11 to C16 and the induced voltages Vm1 to Vm6 are superimposed and detected by the detection unit 21. Even in this case, it is possible to obtain only the primary components V1 of the induced voltages Vm1 to Vm6 by filtering the voltage detected by the detection unit 21, for example.

  The calculation unit 22 calculates the swing angle θ from the detected amplitude A311 based on a known correlation between the amplitude A311 of the primary component V1 and the swing angle θ (FIG. 3).

  According to this control, it is possible to easily evaluate the swing from the outside based on the primary component V1 of the induced voltage Vm1 (or any one of the induced voltages Vm2 to Vm6). Therefore, as described later, it is easy to stably drive the motor 1 by correcting the swinging.

  The induced voltages Vm1 to Vm6 depend on the number of turns of the windings C11 to C16. For this reason, the above-described content is particularly desirable when the windings are wound around the teeth 1121 to 1126 with the same number of turns.

  Even when the number of turns differs from winding to winding, the induced voltage per unit winding, that is, Vm1 / N1 to Vm6 / N6 is calculated for each winding, and the amplitude A311 of the primary component V1 can be detected. For example, the technique described above can be applied. Here, symbols N1 to N6 represent the number of turns of the windings C11 to C16, respectively.

<Detection of swing position>
Further, the detection unit 21 swings the position of the windings C11 to C16 where the induced voltage is maximum at the detection time t, in other words, the position in the circumferential direction of the armature 12 where the induced voltages Vm1 to Vm6 are minimum. It detects as a position r (t).

  FIG. 6 shows time changes of the induced voltages Vm1 to Vm6 by graphs 31 to 36, respectively. Between time t1 and time t2, induced voltage Vm1 (graph 31) shows the smallest value among induced voltages Vm1 to Vm6. This indicates that the field element 13 moves away from the winding C31 when the rotating shaft 11 is inclined toward the teeth 1121 between the time t1 and the time t2.

  Therefore, between time t1 and time t2, the detection unit 21 detects the position of the tooth 1121 around which the winding C11 is wound in the armature 12 as the swing position r (t). In FIG. 2, the swing position r (t) is shown at the center position of the surface of the tooth 1121 facing the field element 13.

  Similarly, since the induced voltage Vm2 (graph 32) of the induced voltages Vm1 to Vm6 is minimized between the time t2 and the time t3, the position of the tooth 1122 around which the winding C12 is wound in the armature 12 Is detected as the swing position r (t).

  Between the time t3 and the time t4, the induced voltage Vm3 (graph 33) of the induced voltages Vm1 to Vm6 is minimized, so that the position of the tooth 1123 around which the winding C13 is wound in the armature 12 is swung around. Detect as r (t).

  Between the time t4 and the time t5, the induced voltage Vm4 (graph 34) of the induced voltages Vm1 to Vm6 is minimized, so that the position in the armature 12 of the tooth 1124 around which the winding C14 is wound is swung. Detect as r (t).

  Between the time t5 and the time t6, the induced voltage Vm5 (graph 35) among the induced voltages Vm1 to Vm6 is minimized, so that the position of the tooth 1125 around which the winding C15 is wound in the armature 12 is swung around. Detect as r (t).

  Between the time t6 and the time t7, the induced voltage Vm6 (graph 36) of the induced voltages Vm1 to Vm6 is minimized, so that the position of the tooth 1126 around which the winding C16 is wound in the armature 12 is swung around. Detect as r (t).

  According to such control, the swing position r (t) can be easily specified from the outside based on the displacement of the induced voltage at a position where the armature 12 is located. Therefore, as described later, it is easy to stably drive the motor 1 by correcting the swinging.

  For example, the swing position r (t) may be specified using the primary components V1 of the induced voltages Vm1 to Vm6. FIG. 7 shows the primary components V1 of the induced voltages Vm1 to Vm6 as graphs 311 to 361, respectively.

  Between time t11 and time t12, the primary component V1 (graph 311) of the induced voltage Vm1 shows the smallest value. This is because the field element 13 moves away from the winding C11 when the rotating shaft 11 is inclined toward the teeth 1121 between the time t11 and the time t12.

  Therefore, between time t11 and time t12, the detection unit 21 detects the position of the tooth 1121 around which the winding C11 is wound in the armature 12 as the swing position r (t).

  Similarly, since the primary component V1 (graph 312) of the induced voltage Vm2 is minimized between time t12 and time 13, the position of the tooth 1122 around which the winding C12 is wound in the armature 12 fluctuates. This is detected as the rotation position r (t).

  Between the time t13 and the time 14, the primary component V1 (graph 313) of the induced voltage Vm3 is minimized, so that the position of the tooth 1123 around which the winding C13 is wound in the armature 12 is changed to the swing position r ( t).

  Between the time t14 and the time 15, the primary component V1 (graph 314) of the induced voltage Vm4 is minimized, so that the position of the tooth 1124 around which the winding C14 is wound in the armature 12 is swung around the position r ( t).

  Between the time t15 and the time 16, the primary component V1 (graph 315) of the induced voltage Vm5 is minimized, so that the position of the tooth 1125 around which the winding C15 is wound in the armature 12 is swung around the position r ( t).

  Between the time t16 and the time 17, the primary component V1 (graph 316) of the induced voltage Vm6 is minimized, so that the position of the tooth 1126 around which the winding C16 is wound in the armature 12 is swung around the position r ( t).

  Note that other means such as inductance detection may be employed for detection of the swing around, but it is desirable to use the windings C11 to C16 of the motor 1 as described above.

3. Swing-around Correction The swing-angle θ calculated by the calculation unit 22 and the swing-around position r (t) detected by the detection unit 21 are given to the control unit 23 (FIG. 2).

  The control unit 23 causes the armature 12 to generate a magnetic field in which the swing of the rotating shaft 11 is corrected by passing a current through the armature 12 based on the swing angle θ and the swing position r (t). Thereby, the rotating shaft 11 can be along the central axis 91.

  The current for correcting the swing can be applied to the armature 12 so as to be superimposed on the current for driving the motor 1. By superimposing, driving of the motor 1 and swing correction can be performed in parallel.

  For example, at the time t0 when the attractive force is applied between the armature 12 and the field element 13 at the swing position r (t), the rotating shaft 11 is placed on the windings C11 to C16 disposed at the swing position r (t0). The control unit 23 flows a current larger than the current that flows when no swinging occurs based on the swinging angle θ.

  According to this control, at the swing position r (t0) at the time point t0, an attractive force larger than the force generated between the armature 12 and the field element 13 without swinging is generated. Since it acts between the child 13, a force acts on the field element 13 in the direction opposite to the direction in which the rotating shaft 11 is inclined. Therefore, the swing of the rotating shaft 11 is corrected.

  For example, an auxiliary winding may be provided in the armature separately from the windings C11 to C16, and the swing of the rotating shaft 11 may be corrected by passing a current through the auxiliary winding. It is desirable that the current passed through the auxiliary windings be controlled independently of the currents passed through the windings C11 to C16 from the viewpoint of easy control of the current passed through them.

  At time t0, a repulsive force greater than a repulsive force that occurs when there is no swinging may be generated at a position opposite to the position r (t0) of the armature 12. Also in this case, since the force acts on the field element 13 in the direction opposite to the direction in which the rotation shaft 11 is inclined, the swing of the rotation shaft 11 can be corrected.

  When both the detection and correction of the swing are performed with the windings C11 to C16, the swing cannot be corrected during the period in which the swing is detected. In this case, the shake correction is performed after the shake detection. On the other hand, the shake cannot be detected during the shake correction period. In this case, the shake detection is executed after the shake correction.

  Therefore, the windings C11 to C16 may be used for detection of swinging, and another winding for correcting swinging may be provided in the armature 12. As a result, the detection of the shake and the correction of the shake can be executed in parallel, so that the shake can be accurately suppressed.

  In addition, it is desirable to independently control the windings C11 to C16 and the swing correction winding. This is because they are not influenced by each other, and control becomes easy.

  It is desirable that the above-described detection and correction of the shake around are repeatedly executed alternately. Specifically, the detection and correction of the shake are repeatedly performed while performing feedback so that the primary component V1 of the induced voltages Vm1 to Vm6 becomes small. According to such control, the whirling can be corrected with high accuracy.

  The swinging angle θ and the swinging position r (t) may be detected in advance by the detection device 2, and the swinging may be corrected based on the swinging angle θ and the swinging position r (t). The swing angle θ and the swing position r (t) detected in advance are stored, for example, in the storage unit.

  According to such control, since it is not necessary to detect the swing angle θ and the swing position r (t) in parallel with the driving of the motor 1, the control is simplified. In addition, the winding for detecting the swing is not necessary, and the space factor of the winding for driving the motor 1 can be improved.

  The case where the number of pole pairs of the field element 13 is 2 and the number of teeth of the armature 12 is 6 has been described. However, the present invention is not limited to this, and can be applied to, for example, a motor having three pole pairs and nine armatures 12 teeth.

  The technique according to the present invention can also be applied to, for example, a motor (FIG. 8) in which the lower end portion of the field element 13 is fixed to the rotating shaft 11 via the fixing member 131. Further, the present invention can be applied not only to an embedded magnet type motor but also to a surface magnet type motor (FIG. 9).

  In the motor 1 shown in FIGS. 1, 8, and 9, when runout occurs, the runout width of the rotary shaft 11 from the central axis 91 increases as the distance from the bearing 14 increases along the central axis 91. For this reason, there exists a possibility that the width | variety of a gap may become large and the magnetic flux linked to winding C11-C16 may reduce.

  However, by reducing the width of the gap between the armature 12 and the field element 13 on the side opposite to the bearing 14 (FIG. 10), it is possible to suppress the gap width from being widened, thereby Reduction can be prevented.

It is sectional drawing which shows notionally the compressor concerning this invention. FIG. 2 is a diagram conceptually showing a motor 1 and a control device 2. 2 is a view showing a cross section of the motor 1 at a position including a central axis 91 and a center 92. FIG. It is a figure which shows the time change of the induced voltage Vm1. It is a figure which shows the primary component V1 and the secondary component V2 of the induced voltage Vm1. It is a figure which shows the time change of the induced voltages Vm1-Vm6. It is a figure which shows the time change of each primary component of the induced voltages Vm1-Vm6. It is sectional drawing which shows notionally the compressor concerning this invention. It is sectional drawing which shows notionally the compressor concerning this invention. It is sectional drawing which shows notionally the compressor concerning this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor 2 Control apparatus 11 Rotating shaft 12 Armature 13 Field element 14 Bearing 91 Central axis (theta) Swing angle r (t) Swing position C11-C16 Winding time t0
Vm1 to Vm6 Induced voltage V1 Primary component A311 Amplitude

Claims (11)

A bearing (14);
A rotating shaft (11) rotatably provided on the bearing;
A field element (13) fixed to the rotating shaft and rotating together with the rotating shaft;
An armature (12) provided on the inner peripheral side with respect to the field element,
A method of controlling the motor (1), wherein only one end side of the rotating shaft is supported by the bearing,
(A) detecting a primary component (V1) of rotation of the motor of induced voltages (Vm1 to Vm6) generated in the armature by rotation of the field element;
(B) Based on a known correlation between the amplitude (A311) of the primary component and a swing angle (θ) that is an inclination of the rotation axis from the central axis (91) of the motor. A motor control method for obtaining the swing angle from the amplitude. A bearing (14);
A rotating shaft (11) rotatably provided on the bearing;
A field element (13) fixed to the rotating shaft and rotatable with the rotating shaft;
An armature (12) provided on the inner peripheral side with respect to the field element,
A method of controlling the motor (1), wherein only one end side of the rotating shaft is supported by the bearing,
Detecting the primary component (V1) of the rotation of the motor of the induced voltage (Vm1 to Vm6) generated in the armature by the rotation of the field element;
A method for controlling a motor, wherein a position in the armature at which the primary component is minimized is detected as a swinging position (r (t)). A bearing (14);
A rotating shaft (11) rotatably provided on the bearing;
A field element (13) fixed to the rotating shaft and rotatable with the rotating shaft;
An armature (12) provided on the inner peripheral side with respect to the field element,
A method of controlling the motor (1), wherein only one end side of the rotating shaft is supported by the bearing,
A method for controlling a motor, wherein a position in the armature at which an induced voltage (Vm1 to Vm6) generated in the armature by rotation of the field element is minimized is detected as a swing position (r (t)).   The motor control method according to claim 2 or 3, wherein the processing of (a) and (b) according to claim 1 is further executed to determine the swivel angle (θ).   The armature (12) is used to generate the magnetic field based on the swing angle (θ) and the swing position (r (t)), and correct the swing of the rotating shaft (11). Item 5. A motor control method according to Item 4. The armature (12) has two sets of windings that can be controlled independently of each other,
One of the windings (C11 to C16) detects the induced voltage (Vm1 to Vm6),
The motor control method according to claim 5, wherein the magnetic field is generated in the other of the windings. At the time point (t0) when an attractive force acts between the armature (12) and the field element (13) at the swing position (r (t)),
Based on the swirl angle (θ), a current larger than the current that flows when the swirl of the rotating shaft does not occur in the windings (C11 to C16) arranged at the swirl position (r (t0)). The motor control method according to claim 5 or 6, wherein Control according to claim 4;
A motor control method for repeatedly executing the control according to any one of claims 5 to 7.   A motor control method, wherein the control according to any one of claims 1 to 8 is executed by an inverter.   A motor control device that executes the control according to any one of claims 1 to 9. A motor control device (2) according to claim 10,
A compressor comprising the motor (1).

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