JP2008236959A - Motor controller and motor system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor controller capable of reducing troubles involved in the manufacturing of a motor. <P>SOLUTION: The motor controller performs acquiring output reference information regarding the reference time of the output of a resolver reference signal output from the rotary sensor (step S3), acquiring signal output information regarding the time when the resolver reference signal is output from the rotary sensor (step S5), acquiring the mounting error amount of the rotary sensor relative to the motor based on the output reference information and the signal output information (step S6), and storing the mounting error amount in the storage unit (step S8). A control means corrects the control relative to the motor based on the mounting error amount stored in the storage unit. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a motor control device and a motor system including a rotation sensor.

  2. Description of the Related Art Conventionally, there is a motor control device that includes a rotation sensor installed in a motor such as an AC motor or a DC motor, detects the rotational position of the rotor of the motor by this rotation sensor, and controls the motor based on the detected value (for example, , See Patent Document 1).

  Examples of the rotation sensor include a resolver type and a Hall element. Such a rotation sensor has a fixed portion fixed to the stator of the motor and a rotating portion fixed to the rotor of the motor, and the magnetic pole of the motor is based on the positional relationship between the fixed portion and the rotating portion. Is detected as the position of the rotor.

In addition, this rotation sensor is provided with a fixed portion and a rotating portion in the motor so that a reference signal is output when the rotor and stator of the motor are in a predetermined positional relationship.
JP 2004-112942 A

  However, in such a rotation sensor, if an attachment error occurs in the attachment of the fixed portion and the rotation portion to the motor, the output value of the rotation sensor becomes inaccurate, which adversely affects the motor control. End up. Therefore, in such a case, it is necessary to perform a process of detecting the mounting error at the time of manufacturing and adjusting the characteristics of the motor so as to absorb the detected mounting error. There is a problem.

  Then, an object of this invention is to provide the motor control apparatus and motor system which can reduce the effort concerning manufacture of a motor.

  A first motor control device according to the present invention is attached to a motor, detects a rotational position of a rotor of the motor, outputs a reference signal, and outputs a reference signal output from the rotation sensor. First acquisition means for acquiring output reference information related to a reference time point, second acquisition means for acquiring signal output information related to a time point when the reference signal is output from the rotation sensor, the output reference information, and the Based on the signal output information, a third acquisition means for acquiring an attachment error amount that is an amount of the attachment error of the rotation sensor with respect to the motor, a storage device that stores the attachment error amount, and an output from the rotation sensor. Control means for controlling the motor by using an output value obtained from the motor, the control means based on the mounting error amount stored in the storage device. And correcting the control against.

  The second motor control device of the present invention comprises counting means for counting the phase of the induced voltage of the motor in the first motor control device, and the output reference information includes the induced voltage having a specified voltage value. The count value of the counting means corresponding to the time point when the reference signal is generated, and the signal output information is the count value of the counting means corresponding to the time point when the reference signal is output from the rotation sensor. The acquisition means acquires the difference between the count value as the output reference signal and the count value as the signal output information as the attachment error amount.

  According to a third motor control device of the present invention, in the first or second motor control device, when the attachment error amount is larger than a predetermined amount, the attachment of the rotation sensor is abnormal. A warning means for warning is provided.

  A first motor system according to the present invention includes a motor, and any one of the first to third motor control devices that controls the motor.

  According to the present invention, the control means corrects the control of the motor based on the rotation sensor mounting error amount stored in the storage device, thereby adjusting the characteristics of the motor at the time of manufacture and reducing the rotation sensor mounting error. Since it is not necessary to absorb, it is possible to reduce the labor required for manufacturing the motor.

  An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram showing a motor system according to the present embodiment, FIG. 2 is an explanatory diagram for explaining sensor mounting error detection processing executed by the sensor mounting error detecting device according to the present embodiment, and FIG. It is a flowchart which shows the flow of the sensor attachment error detection process which the sensor attachment error detection apparatus concerning this embodiment performs.

  As shown in FIG. 1, the motor system 1 includes a motor 2 and a motor control device 3 that controls the motor 2.

  The motor 2 is a three-phase AC motor and has a U phase, a V phase, and a W phase. The motor 2 includes a fixed portion 4 and a rotating portion 5 provided to be rotatable with respect to the fixed portion 4. The fixed part 4 is composed of a housing, a stator, and the like, while the rotating part is composed of a rotor, an output shaft, and the like.

  The motor control device 3 includes a rotation sensor 6 installed in the motor 2, a sensor attachment error detection device 7 that detects an attachment error of the rotation sensor 6 with respect to the motor 2, an inverter 8 that supplies electric power to the motor 2, and an inverter 8 And a control circuit unit 9 which is a control means for controlling the motor 2 by controlling the motor 2.

  The rotation sensor 6 is a resolver type and includes a sensor fixing unit 10 fixed to the fixing unit 4 of the motor 2 and a sensor rotating unit 11 fixed to the rotating unit 5 of the motor 2. The rotation sensor 6 detects the rotational position of the rotating unit 5 of the motor 2 and outputs a resolver reference signal as a reference signal once for each rotation of the motor 2.

  The sensor mounting error detection device 7 includes an arithmetic circuit unit 12 that performs various calculations, a voltage detector 13 that detects an induced voltage of the motor 2, and a voltage to which voltage information output from the voltage detector 13 is input. A value input circuit unit 14, a sensor input circuit unit 15 to which information output from the rotation sensor 6 is input, a phase counter 16 as coefficient means for coefficienting the phase of the induced voltage of the motor 2, and a rotation sensor for the motor 2 6 is provided with a storage device 17 that stores an attachment error amount that is the amount of attachment error 6 and an output circuit unit 18 that outputs information to an external device (not shown). The sensor mounting error detection device 7 functions as first to third acquisition means and warning means, as will be described in detail later.

  The arithmetic circuit unit 12 is a computer having a CPU, a ROM, a RAM (not shown), and the like. The arithmetic circuit unit 12 includes a voltage value input circuit unit 14, a sensor input circuit unit 15, a phase counter 16, and a storage. The device 17 and the output circuit unit 18 are connected. The storage device 17 is, for example, an EEPROM. When the resolver reference signal is input from the rotation sensor 6, the sensor input circuit unit 15 holds output presence information indicating that the resolver reference signal is output.

  The control circuit unit 9 is a computer having a CPU, a ROM, a RAM (all not shown), and the like. The control circuit unit 9 is connected to the storage device 17 and can read information stored in the storage device 17.

  Next, sensor attachment error detection processing performed by the arithmetic circuit unit 12 of the sensor attachment error detection device 7 will be described. First, an outline of the sensor attachment error detection process will be described with reference to FIG. The motor 2 outputs a resolver reference signal once during one rotation of the motor 2, and this resolver reference signal is a specified induced voltage (hereinafter referred to as a control reference voltage) in which a certain phase of the motor 2 becomes a control reference in design. Output at a time different from the time when the induced voltage is generated by the prescribed phase of the induced voltage. That is, a design phase difference (hereinafter also referred to as a design phase difference) χ ° is set between the time when the motor 2 generates the control reference voltage and the time when the rotation sensor 6 outputs the resolver reference signal. Yes. In other words, the time when the induced voltage shifted from the control reference voltage by the phase difference χ ° is output from the motor 2 is the same as the time when the rotation sensor 6 outputs the resolver reference signal. Therefore, the time point when the induced voltage shifted by the phase difference χ ° from the control reference voltage is output from the motor 2 and the time point when the rotation sensor 6 outputs the resolver reference signal is detected, and the phase difference between these time points ( Hereinafter, the phase error) may be calculated, and this phase error may be acquired as an attachment error amount.

  Here, in this embodiment, the voltage at the time of rising of the W-phase voltage, that is, the minimum voltage of the induced voltage is adopted as the control reference voltage generated by the motor 2, and the design phase difference χ ° is set to 90 °. In this case, the design output time of the resolver reference signal of the rotation sensor 6 is the time when the W-phase induced voltage becomes zero in the rising process, that is, the time when the W-phase induced voltage crosses zero in the rising process. Therefore, in this case, the phase error between the time when the W-phase induced voltage actually zero-crosses in the rising process and the time when the rotation sensor 6 outputs the resolver reference signal is the attachment error amount. The sensor attachment error detection process under the above design conditions will be described in detail below along the flowchart of FIG.

  As shown in FIG. 3, the arithmetic circuit unit 12 determines whether the W-phase induced voltage is zero during the increase process, that is, whether the W-phase induced voltage is zero-crossed during the increase process (steps S <b> 1 to S <b> 2). Specifically, the subsequent processing is not performed until the induced voltage of the W phase becomes zero (NO in step S1), and when it is determined that the induced voltage of the W phase has become zero (YES in step S1). Then, it is determined whether or not the induced voltage detected last time (most recent) at the time when this zero is detected is smaller than zero (whether it is a negative value) (step S2). Here, the previous induced voltage value is stored in the RAM of the arithmetic circuit unit 12. When it is determined that the previously detected induced voltage is smaller than zero (negative value) (YES in step S2), the count value (phase) of the phase counter 16 of the arithmetic circuit unit 12 is read, and The count value is stored as a first count value in the RAM of the arithmetic circuit unit 12 (step S3). On the other hand, when it is determined in step S2 that the previously detected induced voltage is not smaller than zero (plus value) (NO in step S2), the process is performed again from step S1, and the induced voltage of the W phase is The above processing is repeated until it is determined that the zero cross has occurred during the ascending process. Here, the first count value acquired in step S3 is the count value of the phase counter 16 corresponding to the time point when the induced voltage of the specified voltage value is generated from the motor, and functions as output reference information. The function of the 1st acquisition means which acquires the output reference information regarding the reference | standard time of the output of the resolver reference signal output from the rotation sensor 6 by the above steps S1-S3 is performed.

  After executing step S3, the arithmetic circuit unit 12 determines whether or not a resolver reference signal is output from the rotation sensor 6 using the sensor input circuit unit 15 (step S4). Specifically, when output presence information indicating that the resolver reference signal is output is held in the sensor input circuit unit 15, it is determined that the resolver reference signal is output from the rotation sensor 6, while the sensor When the output presence information is not held in the input circuit unit 15, it is determined that the resolver reference signal is not output from the rotation sensor 6. If it is determined that the resolver reference signal is not output from the rotation sensor 6 (NO in step S4), the process is performed again from step S1 without performing the subsequent processes. When it is determined that the resolver reference signal is output from the rotation sensor 6 (YES in step S4), the count value of the phase counter 16 at this time is read, and the count value is stored in the RAM of the arithmetic circuit unit 12 in the second. Is stored as a count value (step S5). Here, the second count value is the count value of the phase counter 16 corresponding to the time when the resolver reference signal is output from the rotation sensor 6 and functions as signal output information. Through the above steps S4 and S5, the function of the second acquisition means for acquiring the signal output information relating to the time when the resolver reference signal is output from the rotation sensor 6 is executed.

  Next, the arithmetic circuit unit 12 calculates an attachment error of the rotation sensor 6 with respect to the motor 2 (step S6). Specifically, the first count value acquired in step S3 is divided from the second count value acquired in step S5 to obtain a phase error as an attachment error amount that is the difference between them. By this step S6, the function of the third acquisition means for acquiring the amount of attachment error, which is the amount of attachment error of the rotation sensor 6 with respect to the motor 2, is executed based on the output reference information and signal output information.

  Next, the arithmetic circuit unit 12 determines whether or not the phase error calculated in step S6 is equal to or smaller than a reference phase difference that is a predetermined reference amount (step S7). The reference phase difference is a design tolerance, and when the phase error is equal to or less than the reference phase difference, the apparatus is designed so that the function can be exhibited without any problem. The phase error at this time is indicated by α ° in FIG. If the phase error is equal to or smaller than the reference phase difference (YES in step S7), the phase error (mounting error amount) is stored as a learning value in the storage device 17 (step S8).

  On the other hand, if the phase error calculated in step S6 is larger than the reference phase difference in step S7 (NO in step S7), an assembly abnormality flag indicating that the rotation sensor 6 is abnormally attached is output. It outputs to an external device via 18 and warns that the attachment of the rotation sensor 6 is abnormal (step S9). The phase error at this time is indicated by β ° in FIG. In step S9, when the attachment error amount is larger than a predetermined reference amount, a warning means function for warning that the attachment of the rotation sensor 6 is abnormal is executed.

  And the phase error of the rotation sensor 6 memorize | stored in the memory | storage device 17 by the above sensor attachment error detection process is used when the control circuit part 9 controls the motor 2. FIG. For example, the control circuit unit 9 corrects the output value output from the rotation sensor 6 based on the phase error stored in the storage device 17, and controls the motor 2 using the corrected output value. Here, the correction performed by the control circuit unit 9 is, for example, correction for shifting the phase of the output value of the rotation sensor 6 so as to cancel out the phase error.

  As described above, in the present embodiment, the control circuit unit 9 corrects the control for the motor 2 based on the phase error that is the amount of mounting error of the rotation sensor 6 stored in the storage device 17. Sometimes it is not necessary to adjust the characteristics of the motor 2 to absorb the mounting error of the rotation sensor 6, so that it is possible to reduce the labor required for manufacturing the motor 2.

  In the present embodiment, in the sensor attachment error detection process, the third acquisition means is a phase error that is a difference between the first count value as the output resolver reference signal and the second count value as the signal output information. Is acquired as the amount of attachment error, the output value of the rotation sensor 6 can be easily corrected using the phase error.

  In the present embodiment, in the sensor attachment error detection process, if the phase error (amount of attachment error) is larger than a predetermined reference phase difference, it is indicated that the attachment of the rotation sensor 6 is abnormal. Since the detection device 7 gives a warning, defective products can be extracted by performing sensor attachment error detection processing at the manufacturing stage.

  The present invention can be embodied in another embodiment as follows. In other embodiments described below, the same operations and effects as in the above embodiments can be obtained.

  (1) In each of the above embodiments, the example in which the count value of the phase counter 16 at the time when the W-phase induced voltage becomes zero has been described as the output reference information. However, the present invention is not limited to this. For example, the count value of the phase counter 16 at the time when an arbitrary voltage of a prescribed phase of the motor 2 is generated may be used.

The block diagram which shows the motor system concerning one Embodiment of this invention. Explanatory drawing for demonstrating the sensor attachment error detection process which the sensor attachment error detection apparatus concerning one Embodiment of this invention performs. The flowchart which shows the flow of the sensor attachment error detection process which the sensor attachment error detection apparatus concerning one Embodiment of this invention performs.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor system 2 Motor 3 Motor control apparatus 5 Rotating part 6 Rotation sensor 7 Sensor attachment error detection apparatus (1st-3rd acquisition means, warning means)
9 Control circuit (control means)
16 Phase counter (counting means)
17 Storage device

Claims (4)

A rotation sensor attached to the motor for detecting the rotational position of the rotor of the motor and outputting a reference signal;
First acquisition means for acquiring output reference information related to a reference time point of the reference signal output from the rotation sensor;
Second acquisition means for acquiring signal output information relating to the time point when the reference signal is output from the rotation sensor;
Third acquisition means for acquiring an attachment error amount, which is an amount of an attachment error of the rotation sensor with respect to the motor, based on the output reference information and the signal output information;
A storage device for storing the mounting error amount;
Control means for controlling the motor using an output value output from the rotation sensor;
With
The said control means correct | amends the control with respect to the said motor based on the said attachment error amount memorize | stored in the said memory | storage device, The motor control apparatus characterized by the above-mentioned. Comprising counting means for counting the phase of the induced voltage of the motor;
The output reference information is a count value of the counting means corresponding to a point in time when the induced voltage of a specified voltage value is generated,
The signal output information is a count value of the counting means corresponding to the time point when the reference signal is output from the rotation sensor,
2. The motor according to claim 1, wherein the third acquisition unit acquires a difference between the count value as the output reference signal and the count value as the signal output information as the attachment error amount. Control device.   3. The motor control according to claim 1, further comprising warning means for warning that the attachment of the rotation sensor is abnormal when the attachment error amount is larger than a predetermined reference amount. apparatus. A motor,
The motor control device according to any one of claims 1 to 3, which controls the motor;
A motor system comprising:

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