JP2007295674A - Motor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor controller for relaxing impact dependent on the mechanical rotation angle of a load device for reducing sound or vibration. <P>SOLUTION: The motor controller employed in a motor 60 for rotary driving a compressor 50 having periodic load torque variation and controlling drive torque of a motor 60 depending on the characteristics of the compressor 50 comprises a means for estimating mechanical rotation angle θ of the compressor 50, and an impulse force relaxing means for reducing drive torque at rotation angles θA and θB predetermined based on the rotation angle θ. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a motor control device, and is suitable for application to a motor control device that drives and controls a motor for rotationally driving a load device such as a compressor.

  Conventionally, in a compressor driven by the rotation of an electric motor such as a motor, an impact generated at a mechanically determined rotation angle of the rotationally driven compressor is mechanically affected by a change in structural design or dispersion of impact force. What is reduced by carrying out is known (refer patent document 1 grade | etc.,). For example, in a scroll compressor, a revolving scroll and a fixed scroll are meshed with each other to form a sealed space, and the pressure is increased by sucking and compressing the refrigerant in the sealed space, and at the time of discharge, the refrigerant is pressurized in the sealed space To the outside.

  In the technology disclosed in Patent Document 1, the contact surface shapes of the orbiting scroll and the fixed scroll are devised in order to reduce the impact force at the timing when the orbiting scroll and the fixed scroll come into contact at the start of meshing.

  On the other hand, in the technology disclosed in Patent Document 2, in order to reduce the noise and vibration of the compressor, the driving torque of the motor unit has an opposite phase to the fluctuation of the load torque caused by the periodic load fluctuation of the compressor. The motor is controlled so that

In the technique disclosed in Patent Document 3, load torque and drive torque fluctuation data during one rotation of the compressor is stored, and the difference between the read data and the load torque and drive torque at the current rotation phase is reduced. By controlling so as to reduce the noise and vibration of the compressor.
Japanese Patent Laid-Open No. 10-18978 Japanese Patent Laid-Open No. 10-299682 Japanese Patent Laid-Open No. 10-148184

  In recent years, hybrid vehicles that have been put into practical use have an electric motor for traveling and an internal combustion engine, and when traveling with only the electric motor, traveling with only the internal combustion engine, and traveling with both the electric motor and the internal combustion engine. In some cases, only the compressor is driven in an idling state.

  In the prior art based on the mechanical countermeasure means of Patent Document 1 and the like, when the belt is driven by the internal combustion engine, the level is not problematic due to the noise of the internal combustion engine, but only the compressor as described above is driven. When applied to, there is a problem that the noise is relatively remarkably confirmed and becomes harsh.

  Further, in the prior art based on the motor control described in Patent Documents 2 and 3, etc., it is possible to suppress the imbalance between the load torque and the drive torque and to reduce the increase of the impact force. The viewpoint of effectively reducing the impact determined by the rotation angle is not sufficiently considered.

  The present invention has been made in consideration of such circumstances, and an object of the present invention is to provide a motor control device that reduces the impact determined by the mechanical rotation angle of the load device for reducing sound and vibration. There is.

  In order to achieve the above object, the present invention comprises the following technical means.

  That is, in the invention according to any one of claims 1 to 10, in a motor control device that is used for a motor that rotationally drives a drive target having periodic load torque fluctuations and controls the drive torque of the motor according to the characteristics of the drive target. A rotation angle estimating means for estimating the mechanical rotation angle of the drive target; and an impact force mitigating means for reducing the drive torque at a predetermined rotation angle determined in advance based on the rotation angle. To do.

  According to this, in response to an impact generated at a mechanically determined rotation angle of a drive target having periodic load torque fluctuations, a drive torque that is an output torque for rotating the drive target at the rotation angle is reduced. Is done. Therefore, since it is controlled so as to be a smooth impact, it is possible to mitigate the impact of the driven object that causes noise and vibration.

  In particular, in the invention described in claim 2, the impact force mitigation means has a map storing data for reducing the impact at a predetermined rotation angle of the drive target, and the drive torque is generated in one rotation cycle based on the map. It is characterized by controlling.

  According to this, there is a map that stores data obtained by experiments in advance to reduce impact at a mechanically determined rotation angle of the drive target, and the drive torque is controlled in one rotation cycle based on this map. Therefore, it is possible to control the drive torque so that the impact is reduced according to the characteristics of the drive target.

  According to a third aspect of the present invention, the map sets an impact relaxation torque that corrects the driving torque in accordance with a predetermined rotation angle.

  According to this, the impact generated at the mechanically determined rotation angle of the drive target can be effectively reduced by the impact relaxation torque set corresponding to the predetermined rotation angle determined in advance in the map.

  According to a fourth aspect of the present invention, the impact relaxation torque is a torque command signal for reducing the drive torque in a rotation angle range with a predetermined rotation angle interposed therebetween.

  According to this, since the impact relaxation torque is a torque command signal of, for example, a triangle, a sector, or a square, that reduces the drive torque in a rotation angle range with a predetermined rotation angle interposed therebetween, Even if there is a variation in the estimation of the rotation angle, it is possible to perform control so as to surely reduce the impact according to the characteristics of the drive target.

  Further, the invention according to claim 5 is characterized in that the waveform of the torque command signal is set according to an impact state during one rotation.

  According to this, when a plurality of impact sounds are generated due to an impact during one rotation, it is possible to change to a waveform that reduces the drive torque according to the generation mechanism of the plurality of impact sounds.

  The invention according to claim 6 is provided with a predetermined rotation angle determination means for determining a predetermined rotation angle, and the predetermined rotation angle determination means has a predetermined rotation based on a plurality of detection information in the rotation angle detection information. It is characterized by determining a corner.

  According to this, since the predetermined rotation angle is determined based on a plurality of pieces of detection information, detection errors due to the influence of changes over time, the state of the drive target, and the like can be reduced, and accuracy can be improved. Therefore, it is possible to control with high accuracy so as to reduce the impact according to the characteristics of the driven object, regardless of the change over time and the state of the driven object.

  The invention according to claim 7 further comprises instruction means for instructing determination of a predetermined rotation angle, and the predetermined rotation angle determination means determines the predetermined rotation angle in response to an instruction from the instruction means. Features.

  Thus, for example, an instruction to instruct the determination of the predetermined rotation angle when the drive current, the drive voltage, the drive torque, and the rotation speed (rotation speed) used when determining the predetermined rotation angle satisfy the predetermined condition. Since the means can be operated, the predetermined rotation angle can be detected with high accuracy.

  In the invention according to claim 8, the predetermined rotation angle determining means selects a rotation angle at which an impact sound generated by an impact is equal to or higher than a predetermined sound pressure.

  As a result, the rotation angle is limited to the rotation angle at which the impact sound appears prominently, so that noise and vibration due to the impact are reduced, and torque fluctuation and rotation are performed at rotation angles other than the rotation angle that is higher than the predetermined sound pressure. It is possible to reduce noise and vibration generated by fluctuation.

  In the inventions according to claims 9 to 10, the driven object is a compressor that discharges the medium at a high pressure, and the compressor is a fixing member that forms a sealed space in which the medium is sucked and compressed. A fixed scroll) and a movable member (orbiting scroll), and according to the rotational drive of the motor, a sealed space is formed by contact of the fixed member and the movable member by meshing, etc. The medium is boosted by reducing the sealed space by movement.

  According to this, the drive target is applied to a so-called scroll compressor that discharges a medium such as a refrigerant of a refrigeration cycle of a vehicle air conditioner at a high pressure, for example, and noise generated from the compressor generated during operation of the motor And vibration can be effectively reduced.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a motor control device according to the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram showing the overall configuration of the motor control apparatus according to the present embodiment. FIG. 2 is a characteristic diagram showing a map for inputting the impact relaxation torque performed by the impact relaxation torque control signal unit in FIG. FIG. 3 is a schematic diagram showing the sound pressure characteristics accompanying the motor operation of the compressor in FIG. 1, and is a characteristic diagram showing the sound pressure fluctuation before using the motor control method of this embodiment. FIG. 4 is a schematic diagram showing the sound pressure characteristics associated with the motor operation of the compressor in FIG.

  FIG. 5 is a diagram showing an embodiment of the operation process of the fixed scroll and the orbiting scroll of the compressor in FIG. 1, and FIG. 5 (a) shows that the ends of the fixed scroll and the orbiting scroll come into contact with each other and are sealed. FIG. 5B is a schematic diagram showing a state at a timing when the maximum pressure is reached in the sealed space defined by the fixed scroll and the orbiting scroll. 5A and 5B show a state where the compressor is rotating in the left rotation direction in the figure due to the drive rotation of the motor.

  As shown in FIG. 1, the motor control device is for controlling the driving of a motor 60 that is driven by a compressor 50, and includes a DC power supply unit 1, an inverter circuit 2, a rotation angle estimation unit 3, and a rotation speed. A (rotational speed) detection unit 4, a rotation command unit 5, a control calculation unit 6, a drive circuit unit 7, an impact relaxation torque control signal unit 8, and a map unit (hereinafter referred to as an impact relaxation torque map) 9 are configured. .

  The compressor 50 is a load device whose load state periodically changes, and the load state during one rotation of the compressor 50 changes one time. The compressor 50 is, for example, a scroll compressor that discharges a medium (for example, refrigerant) at a high pressure. As shown in FIG. 5, the compressor 50 meshes the fixed scroll 51 and the orbiting scroll 52 made of spiral parts to form a sealed space 53, and sucks and compresses the medium in the sealed space 53. The pressure Pi is increased by the pressure Pi, and at the time of discharge, the medium pressurized in the sealed space 53 is discharged to the outside with the discharge pressure Po.

  More specifically, the compressor 50 eliminates the gap dmin between the end (outermost peripheral side end) of the fixed scroll 51 and the orbiting scroll 52 at the rotation angle θA shown in FIG. Is formed. At the contact timing at which the gap dmin disappears (hereinafter referred to as meshing timing), the outer peripheral side end of the fixed scroll 51 and the orbiting scroll 52 slide while colliding with each other.

  Further, at the rotation angle θB shown in FIG. 5B, the pressure of the medium in the sealed space 53 at the center of the compressor 50 in the drawing becomes the maximum pressure. At this time, in the sealed space 53, the medium is discharged to the outside at the discharge pressure Po. The gap dmix between the outermost peripheral end of the fixed scroll 51 and the orbiting scroll 52 is substantially maximized, and an open space 54 for sucking the medium is formed. At the opening timing (hereinafter referred to as high pressure timing) when the gap dmix becomes large, the inner peripheral end sides of the fixed scroll 51 and the orbiting scroll 52 slide while colliding with each other due to the high pressure in the sealed space 53.

  In addition, since a force is generated in the axial direction due to the high pressure in the sealed space 53, the orbiting scroll 52 is movable not only in the rotational direction but also in the axial direction. This causes an axial collision.

  At predetermined rotation angles θA and θB, as shown in FIG. 3, the sound pressure fluctuation becomes maximum at the meshing timing and the high pressure timing. That is, it was found from the measurement result by sound vibration analysis that the noise level (noise energy) of the impact sound generated at the meshing timing and the high pressure timing becomes maximum at the predetermined rotation angles θA and θB.

  Here, the predetermined rotation angles θA and θB are mechanically determined by the component structure such as the fixed scroll 51 and the orbiting scroll 52 of the compressor 50. The motor control means for reducing the impact generated at the predetermined rotation angles θA and θB will be described later.

  In addition, the compressor 50 is disposed in a refrigeration cycle that constitutes an air conditioner for a vehicle. After the refrigerant in the refrigeration cycle is sucked from the evaporator (not shown) side and compressed to a high temperature and a high pressure. This is a well-known fluid machine that discharges to the condenser side. The compressor 50 is connected to the motor 60 and is operated by the driving force of the motor 60. For example, the compressor 50 is attached to an engine block or the like in the vehicle engine room.

  Here, the compressor 50 is rotated a plurality of times (in this embodiment, three times) during one cycle of the suction / compression stroke and the discharge stroke for sucking / compressing the medium (refrigerant), This series of operations is repeated at intervals of one rotation. Further, during the suction, compression, and discharge operation processes, the load state of the compressor 50 varies, that is, the load torque varies. Further, the compressor having the fixed scroll 51 and the orbiting scroll 52 includes the rotation preventing mechanism for the orbiting scroll 52 including the rotation preventing pin 56 and the ring 57 shown in FIG.

  The motor 60 is configured by an electric motor such as a three-phase brushless DC motor, and is rotated by applying voltages to the U, V, and W phase stator coils at predetermined timings.

  The DC power supply unit 1 is a known device that converts electric power from an AC power supply into DC power and supplies it to the inverter circuit 2. The inverter circuit 2 converts DC power from the DC power supply unit 1 into three-phase power and supplies the three-phase power to the motor 60. The inverter circuit 2 outputs three-phase (U) based on the PWM voltage control signal output from the drive circuit unit 7. , V, W phase) upper and lower arm switching elements are switched at a predetermined timing.

  The rotation angle estimator 3 estimates the rotor rotation angle θ of the motor 60 by a predetermined estimation algorithm based on the drive current output from the inverter circuit 2 to the motor 60, and obtains information on the rotation angle θ as the rotation speed (rotation speed). ) Output to the estimation unit 4. The drive current to be detected may be at least one of the U, V, and W phases.

  The volume in the sealed space 53 formed by meshing the fixed scroll 51 and the orbiting scroll 52 is changed according to the rotation of the compressor 50 shown in FIGS. 5 (a) to 5 (b). Is increased, the pressure Pi increase value for each suction / compression stroke is associated with the rotation angle θ.

  Thereby, the rotation angle estimation unit 3 can estimate or calculate the load state of the compressor 50 such as the pressure increase process of the suction / compression stroke based on the detected rotation angle θ. That is, based on the rotation angle θ of the motor 60, it is possible to estimate or calculate the so-called collision timing, that is, the mesh timing and the high pressure timing corresponding to the rotation angles θA and θB of the compressor 50.

  The rotational speed (rotational speed) estimation unit 4 detects the rotational speed (rotational speed) (hereinafter, actual rotational speed) ωob of the motor 60 based on the rotational angle θ information from the rotational angle estimation unit 3.

  The control calculation unit 6 calculates the deviation between the actual rotation number ωob detected by the rotation number (rotation speed) estimation unit 4 and the target rotation number (target rotation speed) ω of the motor 60 set by the rotation number command unit 5. Based on this, for example, a q-axis current command value iq is generated as a basic control signal for driving the motor 60. Then, the control calculation unit 6 outputs a combined command value iq + is obtained by adding the conversion current command value is to the q-axis current command value iq to the drive circuit unit 7.

  That is, the control calculation unit 6 converts the q-axis current command value iq for generating a drive torque that follows the pulsation of the load torque and a conversion current command based on an impact relaxation torque generated at a predetermined rotation angle θ described later. The value is is generated, and the combined value i (q + s) is output to the drive circuit unit 7. In FIG. 2, the q-axis current command value iq is a current command value corresponding to the target rotational speed ω, and the conversion current command value is is obtained by taking the driving torque when controlled to the target rotational speed ω as one unit. This corresponds to the amount (hereinafter referred to as impact relaxation torque) ΔT subtracted from the unit (hereinafter referred to as basic drive torque).

  Next, the impact relaxation torque control signal unit 8 which is a main part of the present embodiment will be described with reference to FIGS.

  As shown in FIG. 1, the impact relaxation torque control signal unit 8 has an impact relaxation torque map 9, and based on the rotation angles θA and θB calculated by the rotation angle estimation unit 3, the rotation angle θA and θB. A torque signal for reducing the driving torque is generated. The impact relaxation torque map 9 stores the waveform shape of this torque signal (hereinafter referred to as an impact relaxation torque signal), and is associated with the rotation angles θA and θB. Specifically, as shown in FIG. 2, the waveform of the impact relaxation torque signal is formed in a triangular shape with the top in the lower part of the figure relative to the basic drive torque. The basic driving torque is reduced by the impact relaxation torque signal. Thereby, the impact force at the collision timing (engagement timing and high pressure timing) is reduced.

  Further, in the present embodiment, the triangular impact relaxation torque signal is set such that the drive torque is subtracted from the basic drive torque within a rotation angle range Δθ sandwiching the rotation angles θA and θB. As a result, even if there is a variation such as deviation between the rotation angles θA and θB and the actual collision timing (engagement timing and high pressure timing), the rotation angle range Δθ sandwiching the rotation angles θA and θB The driving torque can be reliably reduced.

  In the present embodiment, the impact relaxation torque map 9 is a map that stores data obtained beforehand through experiments or the like, and controls drive torque in one rotation cycle. As a result, the torque of the drive torque of the motor 60 is corrected so as to reduce the impact force with respect to the basic drive torque. Therefore, the impact caused by the operation of the compressor 50 according to the characteristics caused by the structure of the compressor 50 and the like. It is possible to control the driving torque so as to be reduced.

  Furthermore, in the present embodiment, the motor control device sets the rotation angles θA and θB, which serve as a reference for inputting the impact relaxation torque signal, in the impact relaxation torque map 9, and the impact sound has a predetermined sound pressure (in this embodiment, It is preferable to select the rotation angle θ at which the absolute value of the sound pressure in FIG. Thereby, it can be limited to the rotation angle at which the impact sound generated by the impact appears remarkably.

  The effect of reducing the impact sound of the compressor 50 by controlling the driving torque of the motor 60 according to the present embodiment was verified from the measurement result of the sound pressure characteristics of the compressor 60 (see FIG. 4). In FIG. 4, the vertical axis represents the sound pressure, and the horizontal axis represents the rotation angle θ of the motor 60. The rotation angle θ on the horizontal axis indicates the rotation angle during one rotation from 0 to 360 for the convenience of drawing and the rotation angle reference (0) is arbitrarily determined.

  As shown in FIG. 4, the sound pressure characteristic of the present embodiment (solid line in FIG. 4) is different from the sound pressure characteristic of the conventional example (broken line in FIG. 4, see FIG. 3) by the difference ΔP1. , ΔP2 decreases.

  In the present embodiment described above, in the motor control device that controls the driving torque of the rotation driving motor 60 of the compressor 50 having periodic load torque fluctuations, mechanically determined rotation angles θA and θB of the compressor 50 are determined. Is controlled so that the driving torque, which is the output torque of the motor 60 for rotationally driving the compressor 50 at the rotation angles θA and θB, is reduced. Thereby, since the impact generated in the compressor 50 by the rotational drive of the motor 60 is controlled to be a smooth impact, the impact of the compressor 50 that causes noise and vibration can be reduced.

  Here, the rotation angle estimation unit 3 corresponds to the rotation angle estimation described in the claims, and the impact relaxation torque control signal unit 8 and the impact relaxation torque map 9 correspond to the impact force relaxation means described in the claims. To do. The impact relaxation torque signal corresponds to the torque command signal described in the claims.

  Further, in the present embodiment described above, the motor control device has a map in which data obtained by experiments or the like is stored in advance as the impact relaxation torque map 9, and the driving torque in one rotation cycle is based on this map. Control. As a result, the torque of the drive torque of the motor 60 is corrected so as to reduce the impact force with respect to the basic drive torque. Therefore, the impact caused by the operation of the compressor 50 according to the characteristics caused by the structure of the compressor 50 and the like. It is possible to control the driving torque so as to be reduced.

  In the embodiment described above, the impact relaxation torque map 9 is set with the impact relaxation torque ΔT for correcting the basic drive torque corresponding to the rotation angles θA and θB. As a result, the impact generated at the mechanically determined rotation angles θA and θB of the drive target is effectively reduced by the impact relaxation torque ΔT set corresponding to the predetermined rotation angles θA and θB determined in advance in the map. Can be relaxed.

  The impact relaxation torque ΔT is a triangular impact relaxation torque signal for reducing the drive torque from the basic drive torque within a rotation angle range Δθ between the rotation angles θA and θB. Thus, since the drive torque is set to be reduced from the basic drive torque in the rotation angle range Δθ between the rotation angles θA and θB, the rotation angles θA and θB and the actual collision timing (engagement timing and high pressure timing) are set. ) Even when there is a variation such as deviation, the driving torque can be reliably reduced in the rotation angle range Δθ across the rotation angles θA and θB, that is, the impact timing. Therefore, it is possible to control the drive torque so that the impact of the compressor 50 is reliably mitigated according to the characteristics of the compressor 50.

  In the present embodiment described above, the motor control device sets the rotation angles θA and θB, which are the reference for inputting the impact relaxation torque signal, in the impact relaxation torque map 9 so that the impact sound is equal to or higher than a predetermined sound pressure. The rotation angle θ is selected. As a result, the impact angle generated due to the impact is limited to the rotation angle at which the impact sound appears prominently. Therefore, noise and vibration due to the impact are reduced, and torque fluctuation and vibration at the rotation angle other than the rotation angle higher than the predetermined sound pressure are reduced. It is possible to reduce noise and vibration generated by rotational fluctuation.

(Second Embodiment)
Hereinafter, other embodiments to which the present invention is applied will be described. In the following embodiments, the same or equivalent components as those in the first embodiment are denoted by the same reference numerals, and description thereof will not be repeated.

  In the second embodiment, the waveform of the impact relaxation torque signal in the rotational speed command profile map 9 is given as a square waveform as shown in FIG. FIG. 6 is a characteristic diagram showing a map for inputting the impact relaxation torque according to the present embodiment.

  As shown in FIG. 6, the motor control device can perform control so that the drive torque is sharply reduced from the basic drive torque within a rotation angle range Δθ with the rotation angles θA and θB interposed therebetween. As a result, even if the rotation angles θA and θB and the actual collision timing vary, the driving torque for reducing the impact force can be reliably reduced at the impact timing of the compressor 50.

(Third embodiment)
In the third embodiment, the waveform of the impact relaxation torque signal is given as a sector waveform as shown in FIG. FIG. 7 is a characteristic diagram showing a map for inputting the impact relaxation torque according to the present embodiment.

  Thereby, it is possible to achieve both reduction of noise generated by impact and reduction of noise generated by torque fluctuation and rotation fluctuation.

(Other embodiments)
As mentioned above, although one Embodiment of this invention was described, this invention is limited to this embodiment and is not interpreted and can be applied to various embodiment in the range which does not deviate from the summary.

  (1) In this embodiment described above, the waveform of the impact relaxation torque signal is a triangular, fan-shaped, or rectangular waveform. The waveform of the impact relaxation torque signal is not limited to these waveforms, and the drive torque is reduced from the basic drive torque within the rotation angle range Δθ across the mechanical rotation angles θA and θB corresponding to the impact timing of the compressor 50. Any waveform shape may be used as long as the waveform can be set as follows.

  (2) Further, in the present embodiment described above, the waveform of the impact relaxation torque signal has a waveform shape corresponding to two impact timings of the meshing timing of the compressor 50 and the high pressure timing, and the signal is generated twice during one rotation. Set to occur. Not only this but an impact relaxation torque signal may be set so that a waveform and the number of signals may be changed according to the impact state of compressor 50 in one rotation.

  As a result, when a plurality of impact sounds are generated due to an impact during one rotation of the compressor 50, the waveform can be changed to a waveform that reduces the drive torque according to the generation mechanism of the generated impact sounds. It is.

  (3) In the present embodiment described above, the motor control device detects the rotation angles θA and θB corresponding to the impact timing as a method of detecting the rotation angle based on the drive current of the motor 60 in the rotation angle estimation unit 3. The angles θA and θB were estimated. Not only the method of detecting the rotation angles θA and θB with only such drive current, but also measuring at least two types of motor operation state index values among the drive current, drive voltage, drive torque, and rotation speed (rotation speed) And a predetermined rotation angle determination unit that determines the rotation angles θA and θB based on a plurality of index values (detection information).

  Thereby, when the rotation angles θA and θB are determined, they are determined based on a plurality of pieces of detection information, so that detection errors due to the influence of changes over time, the state of the drive target, and the like can be reduced, and accuracy can be improved. Therefore, it is possible to control with high accuracy so as to reduce the impact according to the characteristics of the compressor 50 regardless of the change with time and the state of the drive target.

  (4) In the case where the rotation angles θA and θB are determined based on the plurality of detection information, in addition to the predetermined rotation angle determination unit, an instruction unit that instructs determination of the rotation angles θA and θB is provided. Preferably, the predetermined rotation angle determination means is configured to determine the rotation angles θA and θB in response to an instruction from the instruction means.

  Thus, when the drive current, drive voltage, drive torque, and rotation speed (rotation speed) used when determining the rotation angles θA and θB satisfy predetermined conditions, the determination of the rotation angles θA and θB is instructed. Therefore, the rotation angle θA and θB can be detected with high accuracy.

  (5) Further, in the present embodiment described above, the drive target that is rotationally driven by the motor 60 is the compressor 50. Not limited to this, the drive target is a load device having a periodic load torque fluctuation, and noise and vibration due to an impact generated in the load device are associated with a mechanical rotation angle of the load device. Any may be used.

1 is a block diagram illustrating an overall configuration of a motor control device according to a first embodiment of the present invention. It is a characteristic view which shows the map for inputting the impact relaxation torque performed by the impact relaxation torque control signal part in FIG. It is a schematic diagram which shows the sound pressure characteristic accompanying the motor driving | operation of the compressor in FIG. 1, Comprising: It is a characteristic view which shows the sound pressure fluctuation | variation before using the motor control method of a present Example. It is a schematic diagram which shows the sound pressure characteristic accompanying the motor driving | operation of the compressor in FIG. 1, Comprising: It is a characteristic view which shows the sound pressure fluctuation | variation when using the motor control method of a present Example. FIG. 5 is a diagram illustrating an embodiment of the operation process of the fixed scroll and the orbiting scroll of the compressor in FIG. 1, and FIG. 5A is a diagram in which the ends of the fixed scroll and the orbiting scroll are in contact with each other to form a sealed space. FIG. 5B is a schematic diagram showing a state in which the inside of the sealed space defined by the fixed scroll and the orbiting scroll is at the maximum pressure. It is a characteristic view which shows the map for inputting the impact relaxation torque concerning 2nd Embodiment. It is a characteristic view which shows the map for inputting the impact relaxation torque concerning 3rd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 DC power supply part 2 Inverter circuit 3 Rotation angle estimation part 4 Estimated rotational speed detection part 5 Rotational speed command part 6 Control operation part 7 Drive circuit part 8 Impact relaxation torque control signal part 9 Map part

Claims (10)

Used for a motor that rotationally drives a drive object having periodic load torque fluctuations,
In the motor control device that controls the driving torque of the motor according to the characteristics of the driving target,
Rotation angle estimation means for estimating a mechanical rotation angle of the drive target;
Impact force relaxation means for reducing the driving torque at a predetermined rotation angle determined in advance based on the rotation angle;
A motor control device comprising:   The impact force alleviating means has a map storing data for reducing the impact of the drive target at the predetermined rotation angle, and controls the drive torque in one rotation cycle based on the map. The motor control device according to claim 1.   3. The motor control device according to claim 1, wherein the map sets an impact relaxation torque for correcting the driving torque in accordance with the predetermined rotation angle. .   The motor control device according to claim 3, wherein the impact relaxation torque is a torque command signal for reducing the drive torque in a rotation angle range with the predetermined rotation angle interposed therebetween.   The motor control device according to claim 4, wherein the waveform of the torque command signal is set according to an impact state during one rotation. A predetermined rotation angle determining means for determining the predetermined rotation angle;
The said predetermined rotation angle determination means determines the said predetermined rotation angle based on the said several detection information in the detection information of the said rotation angle, The said any one of Claim 1-5 characterized by the above-mentioned. The motor control apparatus described. Instructing means for instructing determination of the predetermined rotation angle,
The motor control device according to claim 6, wherein the predetermined rotation angle determination unit determines the predetermined rotation angle in response to an instruction from the instruction unit.   The motor control device according to claim 6 or 7, wherein the predetermined rotation angle determination unit selects a rotation angle at which an impact sound generated by an impact is equal to or higher than a predetermined sound pressure. The driving object is a compressor that discharges the medium at a high pressure,
The compressor includes a fixed member and a movable member that form a sealed space for sucking and compressing a medium therein,
According to the rotation of the motor, the sealed member is formed by bringing the movable member into contact with the fixed member, and the medium is boosted by reducing the sealed space by relative movement of the fixed member and the movable member. The motor control device according to claim 1, wherein the motor control device is a motor control device.   The fixed member and the movable member include a fixed scroll, a fixed scroll, and a revolving scroll that can mesh with the fixed scroll and revolve around the fixed scroll. 9. The motor control device according to 9.

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