JP2010226827A - Motor control drive device and motor start positioning method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control drive device and a motor start positioning method which can complete initial positioning, in a normal manner, even when a rotor is positioned at a dead point, without indicating the negative value of a rotor angle value, based on the output from a rotary angle detection means. <P>SOLUTION: When the motor control means of the motor control drive device acquires an initial rotor angle value from a rotary angle detection means at initiation, the control means controls a permanent magnet synchronous motor so that the rotor has a first angle. When the rotor of the permanent magnet synchronous motor stops rotation, the control means acquires the first rotor angle value of the rotor as a positive value from the rotary angle detection means. Then, the control means controls the permanent magnet synchronous motor so that the rotor has a second angle; and when the rotor of the permanent magnet synchronous motor stops rotation, the control means calculates a second rotor angle value by adding the rotor rotary angle value acquired depending on the rotor rotation to the first rotor angle value, and sets the second rotor angle value as the initial reference angle value of the rotor. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a motor control drive device and a motor start positioning method.

  Currently, as a method of detecting the rotor initial angle at the start of the permanent magnet synchronous motor, a method of detecting the rotor initial angle uniquely determined by a rotor angle detection sensor (resolver, encoder, etc.), or direct current flowing in an arbitrary phase Generally, a method of pulling in the rotor (synchronous pulling) is employed. However, when a rotor angle detection sensor with a shaft angle multiplier of “2” is attached to a two-pole motor due to mechanical limitations or the like (a signal for two cycles is output by one rotation of the shaft), the output of the rotor angle detection sensor is Since the same value is shown every rotor angle 180 degrees, the rotor angle is not uniquely determined. Therefore, it is necessary to uniquely determine the rotor angle by performing synchronous pull-in. However, when synchronous pull-in is performed, the rotor start reference angle value calculated by the processor based on the output from the rotor angle detection sensor after synchronous pull-in may show a negative value depending on the rotor characteristics and initial angle. The phenomenon that the rotor rotates backward when the value becomes a negative value has occurred. When attempting to detect the initial position of the rotor by performing synchronous pull-in, if the rotor is positioned at a position where no torque is generated (dead point), the rotor cannot be pulled in, so positioning is completed. There was also a problem that it was not possible.

  As an invention for solving the problem that rotor positioning cannot be completed when positioned at a dead point, the following Patent Document 1 discloses that a rotor magnetic pole of a DC brushless motor that drives a compressor is positioned at a dead point. A compressor motor starting method capable of avoiding this is disclosed. In this compressor motor starting method, when starting a DC brushless motor, the rotor magnetic pole position detecting means causes a current to flow in an arbitrary phase 1 of the DC brushless motor, and then a current is supplied to a phase 2 different from the phase 1. The rotor is positioned and then the motor is driven.

  Further, in Patent Document 2 below, as one method for detecting the rotor angle, the rotor magnetic pole position can be detected without greatly rotating the rotor, so that the synchronous motor is attached to the machine. However, a method of detecting the rotor magnetic pole position of a synchronous motor that can detect the rotor magnetic pole position safely and easily is disclosed. In this rotor magnetic pole position detection method, a first step of applying a current to a predetermined excitation phase of a stator in a synchronous motor comprising a rotor provided with magnetic poles, a stator provided with excitation windings, and a sensor for detecting the rotor position. A second step of obtaining the moving direction of the rotor by applying the current, a third step of estimating the magnetic pole position of the rotor based on the obtained moving direction, and the next time based on the estimated magnetic pole position of the rotor A fourth step of specifying a predetermined excitation phase for applying a current to the first step, and a fifth step of repeating the first step, the second step, the third step, and the fourth step.

JP 2004-328850 A Japanese Patent No. 3408468

  By the way, the invention of the above-mentioned patent document 1 can solve the problem that the rotor positioning cannot be completed when the rotor of the permanent magnet synchronous motor is located at the dead point. The problem that the angle value based on the output from the detection sensor shows a negative value cannot be solved. The invention of Patent Document 2 can detect the rotor magnetic pole position. However, the calculation process in detecting the rotor magnetic pole position is complicated, and the calculation process is repeated to detect the rotor angle with high accuracy. There must be. For this reason, a large load is applied to the processor that executes the processing.

  The present invention has been made in view of the circumstances described above, and is normal even if the rotor angle value based on the output from the rotation angle detection means does not show a negative value and the rotor is positioned at the dead point. The one that can complete the start positioning is provided.

  In order to achieve the above object, in the present invention, as a first solution means for a motor control drive device, a rotation angle detection means for detecting a rotation angle of a rotor of a permanent magnet synchronous motor, and a drive to the permanent magnet synchronous motor. A motor control drive device comprising: motor drive means for supplying current; and motor control means for controlling the motor drive means based on the detection result of the rotation angle detection means, wherein the motor control means is started Sometimes, when an initial rotor angle value, which is an initial angle at the time of starting the rotor, is obtained from the rotation angle detecting means, a driving current is supplied to the permanent magnet synchronous motor so that the rotor has a first angle. When the rotation of the rotor is stopped by reaching the first angle, the rotation angle detecting means has a positive value of the first value of the rotor. When the first rotor angle value is acquired, the rotor becomes the second angle which is the rotation direction in which a positive rotor rotation angle value is output from the rotation angle detecting means. When the rotation of the rotor is stopped by supplying a drive current to the motor drive unit and reaching the second angle, the rotor angle value acquired from the rotation angle detection means is the first rotor rotation angle value. The second rotor angle value is calculated by adding to the second rotor angle value, and the second rotor angle value is used as the starting reference angle value of the rotor.

  Further, in the present invention, as a first solving means related to the motor start positioning method, the rotation angle detection means is a motor start positioning method of a permanent magnet synchronous motor in which the rotation angle of the rotor is detected. When the initial rotor angle value, which is the initial angle at the time of starting the rotor, is obtained from the detection means, the permanent magnet synchronous motor is driven so that the rotor has the first angle, and the first angle is obtained. When the rotation of the rotor is stopped, a first step of acquiring a first rotor angle value of the rotor that is a positive value from the rotation angle detection means, and the first rotor angle value in the first step Once acquired, the permanent magnet is rotated so that the rotor is at a second angle which is a rotation direction in which a positive rotor rotation angle value is output from the rotation angle detection means. When the rotation of the rotor is stopped by driving the motor to reach the second angle, the rotor angle value acquired from the rotation angle detection means is added to the first rotor rotation angle value to obtain the second And a second step of calculating a rotor angle value and using the second rotor angle value as a starting start reference angle value of the rotor.

  According to the present invention, when the motor control means of the motor control drive device acquires the initial rotor angle value from the rotation angle detection means at the start, the permanent magnet synchronous motor is controlled so that the rotor has the first angle, When the rotation of the rotor of the permanent magnet synchronous motor stops, the first rotor angle value of the rotor, which is a positive value, is acquired from the rotation angle detection means, and then the permanent magnet synchronization is performed so that the rotor has the second angle. When the rotation of the rotor of the permanent magnet synchronous motor is stopped by controlling the motor, the second rotor angle value is calculated by adding the rotor rotation angle value acquired according to the rotation of the rotor to the first rotor angle value. The second rotor angle value is set as the starting reference angle value of the rotor.

  As described above, by operating the motor control drive device, even if it is a dead point angle at which the rotor cannot be set to the second angle at the start, the rotor is first set to the first angle, and thereafter Since the rotor is at the second angle, it is possible to solve the problem that the start positioning cannot be completed normally because the rotor is located at the dead point.

  Further, in the motor control drive device, as described above, when the rotation of the rotor stops when the rotor is at the first angle as described above, the rotation angle detection means has a positive first rotor angle value. After that, the rotor is rotated so that the second angle which is the rotation direction in which a positive value of the rotor rotation angle is output from the rotation angle detection means, the final starting reference angle value is It will never be negative.

It is a functional block diagram of motor control drive device A concerning one embodiment of the present invention. It is a flowchart which shows operation | movement of the motor control drive apparatus A which concerns on one Embodiment of this invention. It is a figure which shows an example of rotation of the rotor of the permanent magnet synchronous motor B by the motor control drive apparatus A which concerns on one Embodiment of this invention. It is a figure which shows an example of starting positioning of the rotor of the permanent magnet synchronous motor B of the angle which is a dead point by the motor control drive device A which concerns on one Embodiment of this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
First, the functional configuration of the motor control drive device A will be described with reference to FIG. FIG. 1 is a functional block diagram of a motor control drive device A according to the present embodiment.
The motor control drive device A rotates a permanent magnet synchronous motor B that is a load, and as shown in FIG. 1, a rotation angle detection sensor 1, a rotor angle calculation circuit 2, a motor drive unit 3, and a U-phase current detection. 4a, a V-phase current detector 4b, a W-phase current detector 4c, and a motor controller 5. The permanent magnet synchronous motor B is a two-pole synchronous motor, and the rotor rotates under the control of the motor control drive device A.

  The rotation angle detection sensor 1 is composed of a resolver having a shaft double angle “2”, and outputs an analog rotor angle signal indicating the rotation angle to the rotor angle calculation circuit 2. The resolver with the shaft angle multiplier “2” outputs a rotor angle signal of two cycles in one rotation of the rotor of the permanent magnet synchronous motor B. Therefore, the rotation angle detection sensor 1 outputs a rotor angle signal corresponding to the rotation angle from 0 to 180 degrees, and the rotation angle is from 0 to 180 degrees between 180 and 360 degrees. The same rotor angle signal is output. That is, the rotation angle detection sensor 1 outputs the same rotor angle signal at a rotor angle different by 180 degrees.

  The rotor angle calculation circuit 2 includes an R / D (resolver / digital) converter, converts an analog signal input from the rotation angle detection sensor 1 into a digital signal, and outputs the digital signal to the motor control unit 5. . The rotation angle detection sensor 1 and the rotor angle calculation circuit 2 constitute rotation angle detection means in the present embodiment.

As shown in FIG. 1, the motor drive unit 3 includes a DC power source 3a, a booster circuit 3b, and an inverter 3c.
The DC power supply 3a is one in which one or a plurality of batteries are connected in series, and outputs a predetermined DC power supply voltage to the booster circuit 3b.
The booster circuit 3b is, for example, a DC / DC converter, boosts the DC power supply voltage supplied from the DC power supply 3a, and supplies the boosted voltage to the inverter 3c.
The inverter 3c switches the DC voltage supplied from the booster circuit 3b on the basis of a PWM (Pulse Width Modulation) signal supplied from the motor control unit 5, so that a three-phase composed of a U phase, a V phase, and a W phase. A motor drive current is generated and supplied to the permanent magnet synchronous motor B.

The U-phase current detection unit 4a is provided on the U-phase drive signal line that connects the inverter 3c and the U-phase winding of the permanent magnet synchronous motor B, and receives the motor drive current Iu flowing from the inverter 3c to the U-phase winding. Detect and output to the motor control unit 5.
The V-phase current detection unit 4b is provided on the V-phase drive signal line, detects the motor drive current Iv flowing from the inverter 3c to the V-phase winding, and outputs it to the motor control unit 5.
The W-phase current detection unit 4c is provided on the W-phase drive signal line, detects the motor drive current Iw flowing from the inverter 3c to the W-phase winding, and outputs it to the motor control unit 5.

  The motor control unit 5 drives the inverter 3c to rotate the permanent magnet synchronous motor B by PWM control of the inverter 3c. As shown in FIG. 1, the motor control unit 5 has a three-phase / two-phase conversion unit 5a and a current control unit 5b. It comprises a 2-phase / 3-phase converter 5c, a PWM signal generator 5d, and an excitation phase calculator 5e.

  The three-phase / two-phase converter 5a includes U-phase, V-phase, and W-phase motor drive currents Iu, Iv detected by the U-phase current detector 4a, the V-phase current detector 4b, and the W-phase current detector 4c, respectively. , Iw and q-axis drive current detection amount Iq and d-axis drive current detection amount on a two-dimensional coordinate system (coordinate system consisting of q-axis and d-axis) fixed on the rotor of the permanent magnet synchronous motor B Id is calculated, and the q-axis drive current detection amount Iq and the d-axis drive current detection amount Id are output to the current control unit 5b.

  More specifically, the three-phase / two-phase converter 5a performs a predetermined coordinate conversion on the motor driving currents Iu, Iv, Iw on the three-dimensional coordinate system including the U phase, the V phase, and the W phase, thereby performing the above 2 operation. A q-axis drive current detection amount Iq and a d-axis drive current detection amount Id on the dimensional coordinate system are calculated. The d-axis is a coordinate axis set in the direction of the magnetic flux of the permanent magnet on the rotating surface of the rotor, and the q-axis is a coordinate axis orthogonal to the d-axis described above.

  The current control unit 5b is a kind of PID control unit, and a difference between an angular velocity command value ω0 supplied from an ECU (Engine Control Units) which is a host controller and an angular velocity ωk of the permanent magnet synchronous motor B is determined as a speed error Δω. The q-axis current manipulated variable Iqs is calculated according to the speed error Δω by performing a predetermined proportional integral / derivative operation on the speed error Δω, and the q-axis current manipulated variable Iqs and the three-phase / 2-phase converter An error current ΔIq is calculated as a difference from the q-axis drive current detection amount Iq supplied from 5a, and a voltage operation amount Vq is calculated by subjecting the error current ΔIq to predetermined proportional integration / differentiation operations. The manipulated variable Vq is output to the 2-phase / 3-phase converter 5c. Further, the current control unit 5b is configured to detect the d-axis current operation amount Ids based on the d-axis current operation amount Ids supplied from the ECU and the d-axis drive current detection amount Id input from the three-phase / two-phase conversion unit 5a. The d-axis voltage manipulated variable Vd is calculated according to the above and the d-axis voltage manipulated variable Vd is output to the 2-phase / 3-phase converter 5c.

The 2-phase / 3-phase converter 5c converts the q-axis voltage manipulated variable Vq and the d-axis voltage manipulated variable Vd input from the current controller 5b on a three-dimensional coordinate system composed of the U phase, the V phase, and the W phase. The voltage manipulated variables Vu, Vv, and Vw are converted, and the voltage manipulated variables Vu, Vv, and Vw are output to the PWM signal generator 5d.
The PWM signal generator 5d generates a PWM signal for switching the inverter 3c based on the voltage operation amounts Vu, Vv, Vw and outputs the PWM signal to the inverter 3c. The motor control unit 5 operates based on a sine wave energization method. Therefore, the PWM signal generation unit 5d is configured so that the inverter 3c outputs a motor drive signal over the entire rotation angle (360 degrees) of the permanent magnet synchronous motor B. A PWM signal is output so as to be output.

  The excitation phase calculation unit 5e is based on the digital signals input from the rotor angle calculation circuit 2 and the excitation phases (excitation timings) of the stator U-phase winding, V-phase winding, and W-phase winding of the permanent magnet synchronous motor B. ) And outputs the calculation result to the 2-phase / 3-phase converter 5c.

Next, the operation of the motor control drive device A configured as described above will be described in detail with reference to FIG. FIG. 2 is a flowchart showing the operation of the motor control drive device A according to the present embodiment.
In the motor control drive device A, at the time of starting, that is, when the power is turned on, the rotation angle detection sensor 1 calculates an initial rotor angle detection signal of an analog signal indicating an angle of the rotor of the initial permanent magnet synchronous motor B at the time of starting the rotor angle. Output to circuit 2. Then, the rotor angle calculation circuit 2 converts the initial rotor angle detection signal as an analog signal into initial rotor angle value data as a digital signal, and outputs the initial rotor angle value data to the excitation phase calculation unit 5e.

When the initial rotor angle value data of the digital signal is input from the rotor angle calculation circuit 2, the excitation phase calculation unit 5e acquires the initial rotor angle value of the initial rotor angle value data (step S1), and then synchronizes with the permanent magnet. Excitation of the U-phase winding, V-phase winding, and W-phase winding of the stator of the permanent magnet synchronous motor B so that the N pole of the permanent magnet of the rotor of the motor B faces the W-phase winding of the stator The phase is calculated, and the calculation result is output to the 2-phase / 3-phase converter 5c. The 2-phase / 3-phase converter 5c causes the PWM signal generator 5d to output a PWM signal based on the calculation result input from the excitation phase calculator 5e, so that the N pole of the permanent magnet of the rotor is the stator. The permanent magnet synchronous motor B is controlled so as to be in a position facing the W-phase winding (step S2).
The rotor of the permanent magnet synchronous motor B rotates so that the N pole of the internal permanent magnet is at a position facing the W-phase winding of the stator.

When the rotor of the permanent magnet synchronous motor B rotates, the rotation angle detection sensor 1 outputs a rotor rotation angle detection signal of an analog signal corresponding to the rotation angle amount of the rotor to the rotor angle calculation circuit 2. The rotor angle calculation circuit 2 converts the rotor rotation angle signal, which is an analog signal, into rotor rotation angle value data, which is a digital signal, and outputs the rotor rotation angle value data to the excitation phase calculation unit 5e.
The excitation phase calculation unit 5e reads the rotor rotation angle value of the rotor rotation angle value data input from the rotor angle calculation circuit 2 (step S3), and the rotation of the rotor of the permanent magnet synchronous motor B is performed based on the rotor rotation angle value. It is determined whether or not it has stopped (step S4). In step S3, the excitation phase calculator 5e recognizes the rotor rotation angle value by reading the A-phase, B-phase, and Z-phase pulse signals input from the rotor angle calculation circuit 2 with a pulse counter. .

  If the excitation phase calculation unit 5e determines “NO” in step S4, that is, if the rotation of the rotor has not stopped, the process proceeds to step S3, and if “YES” is determined in step S4. That is, when the rotation of the rotor is stopped by rotating the N pole of the permanent magnet of the rotor of the permanent magnet synchronous motor B to the position facing the W-phase winding of the stator, the permanent magnet synchronous motor B is transferred from the inverter 3c. The PWM signal generator 5d is controlled by the 2-phase / 3-phase converter 5c so as to stop the current supplied to (step S5).

  Then, after step S5, the excitation phase calculation unit 5e calculates the first rotor angle value by adding the rotor rotation angle value of the rotor rotation angle value data to the initial rotor angle value of the initial rotor angle value data. (Step S6), and thereafter, a positive first rotor angle value is obtained from the rotor angle calculation circuit 2 (Step S7).

The above processing will be specifically described with reference to FIG. FIG. 3 is a diagram illustrating an example of rotation of the rotor of the permanent magnet synchronous motor B by the motor control drive device A.
For example, when the N pole of the permanent magnet of the permanent magnet synchronous motor B is 60 degrees clockwise from the U-phase winding as shown in FIG. In step S <b> 1, the phase calculation unit 5 e acquires “120 degrees” as the initial rotor angle value because the rotation angle detection sensor 1 is configured by the resolver having the shaft angle multiplier “2”. At this time, the rotation angle detection sensor 1 detects the angle of the rotor by setting the case where the N pole of the permanent magnet of the rotor is the position of the U-phase winding and the position facing it as “0 degree”.

  Then, after step S1, as shown in FIG. 3B, the N pole of the permanent magnet of the rotor of the permanent magnet synchronous motor B rotates to a position facing the W-phase winding, that is, rotates clockwise. The excitation phase calculation unit 5e acquires “−60 degrees” as the rotor rotation angle value by reading the rotor rotation angle value of the rotor rotation angle value data in step S3. The rotor rotation angle value is a negative value, that is, the rotation direction of the rotor, that is, the clockwise direction is the decrement direction shown in FIG. 3A. Conversely, the rotor rotation angle value is positive. The rotation direction of the rotor showing the value, that is, the counterclockwise direction is the increment direction shown in FIG.

  In step S6, the excitation phase calculator 5e adds “−60 degrees” as the rotor rotation angle value to “120 degrees” as the initial rotor angle value, thereby obtaining “ 60 degrees ”is calculated, and thereafter, in step S7,“ 60 degrees ”is acquired from the rotor angle calculation circuit 2 as the first rotor angle value having a positive value.

  However, the excitation phase calculator 5e does not necessarily have a positive value for the first rotor angle value calculated in step S6. For example, when the N pole of the permanent magnet of the rotor of the permanent magnet synchronous motor B is located at 10 degrees in the counterclockwise direction of the U-phase winding when the power is turned on, the N pole of the rotor permanent magnet is W If it rotates to the position facing a phase winding, the 1st rotor angle value which the excitation phase calculating part 5e calculates in step S6 will be "minus 120 degree | times." In such a case, when the excitation phase calculation unit 5e executes Step S7, “240 degrees” is acquired from the rotor angle calculation circuit 2 as a positive first rotor angle value.

Then, after step S7, the excitation phase calculation unit 5e sets the stator of the permanent magnet synchronous motor B so that the N pole of the permanent magnet of the rotor of the permanent magnet synchronous motor B faces the U phase winding of the stator. The excitation phases of the U-phase winding, V-phase winding, and W-phase winding are calculated, and the calculation result is output to the 2-phase / 3-phase converter 5c. The 2-phase / 3-phase converter 5c causes the PWM signal generator 5d to output a PWM signal based on the calculation result input from the excitation phase calculator 5e, so that the N pole of the permanent magnet of the rotor is the stator. The permanent magnet synchronous motor B is controlled so as to face the U-phase winding (step S8).
As shown in FIG. 3C, the rotor of the permanent magnet synchronous motor B rotates so that the N pole of the internal permanent magnet is at a position facing the U-phase winding of the stator.

  Then, the excitation phase calculation unit 5e reads the rotor rotation angle value of the rotor rotation angle value data input from the rotor angle calculation circuit 2 by the rotation of the rotor of the permanent magnet synchronous motor B (step S9), and sets the rotor rotation angle value. Based on this, it is determined whether or not the rotation of the rotor of the permanent magnet synchronous motor B is stopped (step S10). If the excitation phase calculation unit 5e determines “NO” in step S10, that is, if the rotation of the rotor has not stopped, the process proceeds to step S9, and if “YES” is determined in step S10. That is, when the rotation of the rotor is stopped by rotating the N pole of the permanent magnet of the rotor of the permanent magnet synchronous motor B to the position facing the U-phase winding of the stator, the permanent magnet synchronous motor B is transferred from the inverter 3c. The PWM signal generator 5d is controlled by the 2-phase / 3-phase converter 5c so as to stop the current supplied to (step S11).

  Then, after step S11, the excitation phase calculation unit 5e calculates the second rotor angle value by adding the rotor rotation angle value of the rotor rotation angle value data to the first rotor angle value. The rotor angle value of 2 is used as the starting reference angle value, which is “0 degree” in one rotation of the rotor, that is, “0 degree” in 360 degrees.

  As described above, according to the present embodiment, in the motor control drive device A, when the excitation phase calculation unit 5e acquires the initial rotor angle value of the initial rotor angle value data from the rotor angle calculation circuit 2 during startup, The two-phase / three-phase converter 5c is controlled so that the N pole of the permanent magnet of the rotor of the magnet synchronous motor B faces the W phase winding of the stator, and the rotation of the rotor of the permanent magnet synchronous motor B is stopped. Then, the first rotor angle value is calculated by adding the rotor rotation angle value acquired according to the rotation of the rotor to the initial rotor angle value, and then the first rotor having a positive value from the rotor angle calculation circuit 2 is calculated. Get the angle value.

  Thereafter, the excitation phase calculation unit 5e controls the two-phase / three-phase conversion unit 5c so that the N pole of the permanent magnet of the rotor of the permanent magnet synchronous motor B is located at a position facing the U-phase winding of the stator. When the rotation of the rotor of the permanent magnet synchronous motor B stops, the second rotor angle value is calculated by adding the rotor rotation angle value acquired according to the rotation of the rotor to the first rotor angle value, The rotor angle value of 2 is set as the starting reference angle value.

  Thus, by operating the motor control drive device A, even if the rotor is positioned at an angle that is a dead point with respect to the U-phase winding at the time of starting, the starting positioning can be completed normally. . For example, as shown in FIG. 4A, the N pole of the permanent magnet is positioned 90 degrees clockwise from the U-phase winding, that is, the rotor is positioned at the dead point with respect to the U-phase winding. Suppose you were. Even in such a case, in the motor control drive device A, as shown in FIG. 4B, after the rotor is rotated so that the N pole of the permanent magnet is located at the position facing the W-phase winding of the stator. Because the rotor is rotated so that the N pole of the permanent magnet faces the U-phase winding of the stator, the start positioning cannot be completed normally because the rotor is located at the dipping point. The problem can be solved.

  Further, in the motor control drive device A, as described above, when the N pole of the permanent magnet of the rotor is at a position facing the W-phase winding of the stator, a positive first value is obtained from the rotor angle calculation circuit 2. To obtain the rotor angle value, and then rotate the rotor so that the N pole of the permanent magnet faces the U phase winding, which is the increment direction of the W phase winding. The value never becomes negative.

As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, For example, the following modifications can be considered.
(1) In the above embodiment, the excitation phase calculation unit 5e rotates the rotor so that the N pole of the permanent magnet faces the W phase winding of the stator, and then the N pole of the permanent magnet Although the rotor is rotated so as to face the U-phase winding, the present invention is not limited to this.

  For example, the excitation phase calculation unit 5e rotates the rotor so that the N pole of the permanent magnet faces the V phase winding of the stator, and then the N pole of the permanent magnet faces the W phase winding of the stator. The rotor may be rotated so that the N pole of the permanent magnet is positioned so as to face the U-phase winding of the stator, and then the N pole of the permanent magnet is moved to the stator. The rotor may be rotated so as to be in a position facing the V-phase winding. In other words, the excitation phase calculation unit 5e may be any combination as long as the second rotation of the rotor is a combination of rotations in the increment direction.

(2) In the above embodiment, the motor control unit 5 includes the three-phase / two-phase conversion unit 5a and the current control unit 5b, but the three-phase / two-phase conversion unit 5a and the current control unit 5b You may make it the structure which is not. In that case, the U-phase current detection unit 4a, the V-phase current detection unit 4b, and the W-phase current detection unit 4c are not necessary, and an instruction from the ECU is received by the 2-phase / 3-phase conversion unit 5c.

(3) In the above embodiment, three current detection units, that is, the U-phase current detection unit 4a, the V-phase current detection unit 4b, and the W-phase current detection unit 4c are provided, but the present invention is not limited to this. For example, any two of the U-phase current detection unit 4a, the V-phase current detection unit 4b, and the W-phase current detection unit 4c are arranged in the motor control drive device A. The motor control unit 5 may calculate the remaining one-phase motor drive current from the two-phase motor drive currents input from the two current detection units.

(4) In the above embodiment, the current control unit 5b is supplied with the d-axis current manipulated variable Ids from the ECU, but the present invention is not limited to this.
For example, the current control unit 5b may store the d-axis current operation amount Ids as a predetermined value in the internal memory, and calculate the d-axis voltage operation amount Vd based on the d-axis current operation amount Ids. Good. Further, the current control unit 5b may calculate the d-axis current manipulated variable Ids as a value proportional to the angular velocity command value ω0 based on the angular velocity command value ω0 supplied from the ECU. Further, the current control unit 5b may calculate the d-axis current manipulated variable Ids as a value proportional to the speed error Δω based on the speed error Δω.

(5) In the permanent magnet synchronous motor B connected to the motor control drive device A according to the above embodiment, for example, the rotor core has two plate-shaped permanent magnets, and one of the N poles faces the outer peripheral side of the rotor core. The other is a two-pole synchronous motor constituted by a rotor embedded at a position opposed to 180 ° so that the S pole faces the outer peripheral side of the rotor core.

  In addition, the permanent magnet synchronous motor B is not limited to the above-described one. In the permanent magnet synchronous motor B, two curved plate-shaped permanent magnets are embedded in the rotor core so that one of the N poles faces the outer peripheral side of the rotor core, and the other is It may be a two-pole synchronous motor constituted by a rotor embedded at a position opposed to 180 ° so that the S pole faces the outer peripheral side of the rotor core.

  In the permanent magnet synchronous motor B, two curved plate-shaped permanent magnets are installed on the rotor core such that one of the N poles faces the outer peripheral side of the rotor core and the other has the S pole on the rotor core. It may be a two-pole synchronous motor constituted by a rotor installed on a rotor surface that is 180 ° opposite so as to face the outer peripheral side of the motor. That is, an SPM (Surface Permanent Magnet) motor (surface magnet synchronous motor) may be used.

(6) In the above embodiment, from the motor drive currents Iu, Iv, Iw detected by the U-phase current detection unit 4a, the V-phase current detection unit 4b, and the W-phase current detection unit 4c, the three-phase / two-phase conversion unit 5a The q-axis drive current detection amount Iq and the d-axis drive current detection amount Id are calculated.
However, if there is only one A / D converter (not shown), there will be a delay in sampling the motor drive currents Iu, Iv, Iw. In such a case, the sampling correction circuit is provided between the U-phase current detection unit 4a, the V-phase current detection unit 4b, the W-phase current detection unit 4c, and the 3-phase / 2-phase conversion unit 5a, thereby sampling. The delay may be corrected.

DESCRIPTION OF SYMBOLS A ... Motor control drive device, B ... Permanent magnet synchronous motor, 1 ... Rotation angle detection sensor, 2 ... Rotor angle calculation circuit, 3 ... Motor drive part, 3a ... DC power supply, 3b ... Booster circuit, 3c ... Inverter, 4a ... U-phase current detection unit, 4b ... V-phase current detection unit, 4c ... W-phase current detection unit, 5 ... motor control unit, 5a ... 3-phase / 2-phase conversion unit, 5b ... current control unit, 5c ... 2-phase / 3 Phase converter 5d PWM signal generator 5e Excitation phase calculator

Claims (2)

Rotation angle detection means for detecting the rotation angle of the rotor of the permanent magnet synchronous motor, motor drive means for supplying a drive current to the permanent magnet synchronous motor, and the motor drive means based on the detection result of the rotation angle detection means. A motor control drive device comprising motor control means for controlling,
When the motor control means acquires an initial rotor angle value, which is an initial angle at the time of starting the rotor, from the rotation angle detection means at the time of starting, the motor control means sends the permanent magnet synchronous motor so that the rotor has a first angle. When the rotation of the rotor is stopped by supplying a drive current to the motor drive unit and reaching the first angle, a first rotor angle value of the rotor that is a positive value is obtained from the rotation angle detection means. When the first rotor angle value is acquired, the motor driving unit is configured so that the rotor is at a second angle that is a rotation direction in which a positive rotor rotation angle value is output from the rotation angle detection unit. When the rotation of the rotor is stopped by supplying the drive current to the second angle, the rotor angle value acquired from the rotation angle detecting means is used as the first rotor rotation angle. A second rotor angle value calculated by adding the value, the motor drive control device according to claim the second rotor angle values to the starting reference angle value of the rotor. A motor start positioning method of a permanent magnet synchronous motor in which a rotation angle detection means detects a rotation angle of a rotor,
Upon starting, when an initial rotor angle value, which is an initial angle at the time of starting the rotor, is obtained from the rotation angle detecting means, the permanent magnet synchronous motor is driven so that the rotor has a first angle, and the first A first step of obtaining a first rotor angle value of the rotor that is a positive value from the rotation angle detecting means when the rotation of the rotor is stopped by becoming an angle of
When the first rotor angle value is acquired in the first step, the rotor is set to a second angle which is a rotation direction in which a positive rotor rotation angle value is output from the rotation angle detecting means. When the rotation of the rotor is stopped by driving the permanent magnet synchronous motor to reach the second angle, the rotor angle value acquired from the rotation angle detection means is added to the first rotor rotation angle value. A second step of calculating a second rotor angle value and setting the second rotor angle value as a starting start reference angle value of the rotor;
A motor start positioning method comprising:

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