JP2014007916A - Motor control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably control a motor.SOLUTION: An output section 25 generates and outputs to a fan motor 51 driving voltages SU, SV, SW. A rotational frequency estimation section 28c estimates a rotational frequency of the fan motor 51. A q axis current command setting section 28e performs control such that the rotational frequency of the fan motor 51 follows a rotational frequency command Vfg to set a q axis current command value Vq, which contributes to the torque of the fan motor 51. A d axis current command setting section 28f sets a d axis current command value Vd in response to the rotational frequency of the fan motor 51 such that the d axis current command value Vd, which does not contribute to the torque of the fan motor 51, increases with decreasing rotational frequency of the fan motor 51. A current control section 28g generates the driving voltages SU, SV, SW on the basis of the current command values Vq, Vd.

Description

  The present invention relates to a motor control device.

  In an air conditioner equipped with devices such as an outdoor fan and a compressor, a motor is often used as a power source for these devices, and the motor is controlled by a motor control device.

  As a motor control device, for example, as shown in Patent Document 1 (Japanese Patent Laid-Open No. 2003-259679), a device that performs so-called vector control (that is, magnetic field direction control of an AC motor: Field Oriented Control) is known. It has been. In the vector control, a motor current flowing through the motor is detected by driving the motor, and the motor is controlled based on the detected motor current.

  When the motor speed is relatively low and the load is low, the value of the motor current is small and the modulation rate of the motor drive voltage is also small. Then, as shown in the above-mentioned Patent Document 1, when the motor current is detected and the motor is controlled, the motor current at the time of low load may not be detected accurately. As a result, the control of the motor becomes unstable.

  Accordingly, an object of the present invention is to stably control a motor.

  A motor control device according to a first aspect of the present invention includes an output unit, a rotation speed deriving unit, a torque current command setting unit, and a non-torque current command setting unit. The output unit generates a drive signal for driving the motor and outputs the drive signal to the motor. The rotational speed deriving unit derives the rotational speed of the motor. The torque current command setting unit controls the motor rotation speed to follow the rotation speed command, and sets the torque current command value. The torque current command value is a command value of torque current that contributes to the torque of the motor. The non-torque current command setting unit sets a non-torque current command value according to the rotation speed of the motor. The non-torque current command value is a non-torque current command value that does not contribute to the motor torque. The output unit outputs a drive signal based on the torque current command value and the non-torque current command value to the motor. The non-torque current command setting unit sets the non-torque current command value so that the non-torque current command value increases as the rotational speed of the motor decreases.

  This motor control device drives and controls the motor by a drive signal based on the torque current command value and the non-torque current command value. In particular, when setting the non-torque current command value, the motor control device sets the non-torque current command value to a larger value as the rotational speed of the motor is lower. As a result, the lower the rotational speed of the motor, the more non-torque current flows, and as a result, the value of the motor current flowing through the motor increases. Therefore, it becomes easy to grasp the value of the motor current, and the modulation rate of the drive signal increases. Therefore, the motor is controlled stably. In addition, since a non-torque current command value is set according to the number of rotations of the motor, an appropriate motor current flows through the motor without performing motor control such that an excessive motor current flows through the motor. .

  The driving signal here includes a driving voltage and a driving current.

  A motor control device according to a second aspect of the present invention is the motor control device according to the first aspect, further comprising a current detection unit and a signal command setting unit. The current detection unit detects a motor current flowing through the motor. The signal command setting unit sets a signal command value such that the motor current becomes a current value corresponding to the torque current command value and the non-torque current command value. And an output part produces | generates a drive signal according to a signal command value.

  Here, a signal command value is set such that the motor current becomes a current value corresponding to the torque current command value and the non-torque current command value. At this time, the non-torque current command value is set to a larger value as the rotational speed of the motor is lower. Therefore, a relatively large amount of non-torque current is caused to flow, and as a result, the value of the motor current increases. Therefore, it becomes easy to detect the value of the motor current by the current detection unit, and the modulation rate of the drive signal generated based on the signal command value is increased and the motor current is appropriately supplied to the motor.

  The signal command value here includes a voltage command value and a current command value.

  A motor control device according to a third aspect of the present invention is the motor control device according to the first or second aspect, in which the non-torque current command setting unit is set only when the rotational speed of the motor is lower than a predetermined rotational speed. Set the torque current command value.

  Here, the non-torque current command value is set only when the load is low. In other words, this motor control device is a control that sets the non-torque current command value to a larger value as the motor rotational speed is lower in a low load state where the detection of the motor current value tends not to be performed accurately. I do. Thereby, only in the case of a low load state, the motor current can be increased by increasing the non-torque current, and the value of the motor current can be easily grasped. Therefore, in other cases than the low load state, for example, the non-torque current can be controlled as in the conventional manner to maintain efficient control, and the motor can be stably controlled even in the low load state. it can.

  A motor control device according to a fourth aspect of the present invention is the motor control device according to any one of the first to third aspects, wherein the motor includes a fan and a compressor included in the air conditioner, and a heat pump device. Is at least one drive source of a fan and a pump included.

  A motor that drives a fan or the like has a so-called square reduction torque characteristic in which the load torque is proportional to the square of the rotation speed of the motor. Therefore, the load torque of a motor having such characteristics is almost unique depending on the rotation speed. Will be decided. However, by controlling the motor having such characteristics so that the non-torque current command value is set to a larger value as the motor speed according to the present invention is lower, the load torque of the motor is affected. Therefore, it is possible to control the value of the motor current.

  According to the motor control device of the first aspect of the present invention, it is easy to grasp the value of the motor current, and the modulation rate of the drive signal also increases. Therefore, the motor is controlled stably. In addition, the motor is not controlled such that an excessive motor current flows through the motor, and an appropriate motor current flows through the motor.

  According to the motor control device of the second aspect of the present invention, it becomes easy to detect the value of the motor current by the current detection unit, the modulation factor of the drive signal generated based on the signal command value is increased, and the motor is appropriately applied. A large motor current is applied.

  According to the motor control device of the third aspect of the present invention, in the case of a low load state, while maintaining efficient control by controlling, for example, non-torque current as in the past, except in a low load state. In addition, the motor can be controlled stably.

  According to the motor control device of the fourth aspect of the present invention, it is possible to control the value of the motor current without affecting the load torque of the motor having the square reduction torque characteristic.

The block diagram which showed the structure of the whole system by which the motor control apparatus which concerns on this embodiment was employ | adopted, and the internal structure of a motor control apparatus. The figure which shows simply the structure of the outdoor unit which concerns on a heat pump apparatus. The block diagram which shows simply the structure of a sensorless control circuit. When the motor control method according to the present embodiment is adopted, the characteristics of the q-axis current Iq, the d-axis current Id, the torque generated in the fan motor, and the motor current flowing through the fan motor with respect to the rotational speed of the fan motor are conceptually shown. Graph shown in. In this embodiment, the graph which represents notionally q-axis current command value Vq set with respect to the rotation speed of a fan motor, and q-axis current Iq according to the set q-axis current command value Vq. 4 is a graph conceptually showing a d-axis current command value Vd set with respect to the rotation speed of the fan motor and a d-axis current Id corresponding to the set d-axis current command value Vd in the present embodiment. The flowchart for demonstrating operation | movement of the motor control apparatus which concerns on this embodiment. The block diagram which showed the whole structure of the system by which the motor control apparatus which concerns on the modification A was employ | adopted, and the internal structure of a motor control apparatus. The block diagram which shows simply the structure of the PWM control circuit which concerns on the modification A.

  Hereinafter, a motor control device according to the present invention will be described in detail with reference to the drawings. The following embodiments are specific examples of the present invention and do not limit the technical scope of the present invention.

(1) Overview FIG. 1 is a configuration diagram of an entire motor control system 100 including a brushless DC motor 51 and a motor control device 20 according to the present embodiment for controlling the brushless DC motor 51. The brushless DC motor 51 is a fan motor used as a drive source of an outdoor fan 15 which is one of the devices included in the outdoor unit 10 (see FIG. 2) of the heat pump apparatus, and is driven by application of an AC voltage. It is. The motor control device 20 is mounted in the outdoor unit 10 and controls the motor 51 based on a motor current that is a current flowing through the fan motor 51 (that is, a magnetic field direction control of an AC motor: Field Oriented Control). It is a device to do.

(1-1) Outdoor Unit Here, the outdoor unit 10 will be briefly described with reference to FIG. Here, as an example of the heat pump apparatus, an outdoor unit of a heat pump hot water heater will be described. The outdoor unit 10 mainly includes various devices such as a compressor 11, a water heat exchanger 12, an expansion valve 13, an evaporator 14, and an outdoor fan 15. The compressor 11, the water heat exchanger 12, the expansion valve 13 and the evaporator 14 are sequentially connected to constitute a refrigeration cycle. The compressor 11 compresses the refrigerant circulating in the refrigeration cycle. The water heat exchanger 12 is provided with a heat exchange water channel 16 through which water sent from a hot water storage tank unit (not shown) connected to the outdoor unit 10 passes, and water flowing through the heat exchange water channel 16 and Heat exchange can be performed with the refrigerant. The expansion valve 13 is an electrically controlled valve that depressurizes the refrigerant circulating in the refrigeration cycle. The evaporator 14 is for causing heat exchange between the refrigerant in the refrigerant cycle and the air to evaporate the refrigerant. The outdoor fan 15 is a propeller fan, for example, and guides air from the outside of the outdoor unit 10 to the evaporator 14 by rotation.

  In such an outdoor unit 10, by driving the compressor 11 and circulating the refrigerant, the water heat exchanger 12 can function as a condenser, and the water passing through the heat exchange channel 16 can be heated.

(1-2) Brushless DC Motor Next, the brushless DC motor 51 will be described. The brushless DC motor 51 according to the present embodiment is a three-phase motor, and includes a stator 52 and a rotor 53. The stator 52 includes U-phase, V-phase, and W-phase drive coils Lu, Lv, and Lw that are star-connected. One ends of the drive coils Lu, Lv, and Lw are connected to drive coil terminals TU, TV, and TW of U-phase, V-phase, and W-phase wirings extending from the inverter 26, respectively. The other ends of the drive coils Lu, Lv, and Lw are connected to each other as a terminal TN. These three-phase drive coils Lu, Lv, and Lw generate an induced voltage according to the rotational speed and the position of the rotor 53 as the rotor 53 rotates.

  The rotor 53 includes a plurality of permanent magnets including N poles and S poles, and rotates about the rotation axis with respect to the stator 52. The rotation of the rotor 53 is output to the outdoor fan 15 via an output shaft (not shown) that is on the same axis as the rotation shaft.

  Focusing on the structure of the rotor, the types of motors are roughly classified into a surface magnet type motor (Surface Permanent Magnet Motor: hereinafter referred to as SPM motor) and an embedded magnet type motor (Interior Permanent Magnet Motor: hereinafter referred to as IPM motor). To be described). In the following description, it is assumed that the brushless DC motor 51 is mainly a general SPM motor.

  Hereinafter, the brushless DC motor 51 is referred to as a fan motor 51.

(2) Configuration of Motor Control Device Next, the configuration of the motor control device 20 according to the present embodiment will be described. As shown in FIG. 1, the motor control device 20 according to the present embodiment includes a rectifier 21, a smoothing capacitor 22, a voltage detector 23, a current detector 24, an output unit 25, and a sensorless control circuit 28. And a microcomputer 29.

  These functional units constituting the motor control device 20 are mounted on, for example, one printed board.

(2-1) Rectifier The rectifier 21 is configured in a bridge shape by four diodes D1a, D1b, D2a, and D2b. Specifically, the diodes D1a and D1b and D2a and D2b are respectively connected in series. The cathode terminals of the diodes D1a and D2a are both connected to the plus side terminal of the smoothing capacitor 22 and function as the positive side output terminal of the rectifying unit 21. The anode terminals of the diodes D1b and D2b are connected to the minus side terminal of the smoothing capacitor 22 and function as the negative side output terminal of the rectifying unit 21. A connection point between the diodes D1a and D1b and a connection point between the diodes D2a and D2b are connected to the commercial power supply 91, respectively. That is, the connection point between the diodes D1a and D1b and the connection point between the diodes D2a and D2b each serve as an input to the rectifying unit 21.

  The rectifying unit 21 having such a configuration generates a DC power by rectifying the AC voltage output from the commercial power supply 91 and supplies the DC power to the smoothing capacitor 22.

(2-2) Smoothing Capacitor The smoothing capacitor 22 has one end connected to the positive output terminal of the rectifying unit 21 and the other end connected to the negative output terminal of the rectifying unit 21. The smoothing capacitor 22 smoothes the DC power supplied from the rectifying unit 21, that is, the voltage rectified by the rectifying unit 21. Hereinafter, for the convenience of explanation, the voltage after smoothing by the smoothing capacitor 22 is referred to as “smoothed voltage Vfl”. The smoothed voltage Vfl is a voltage having a ripple lower than that of the voltage related to the DC power supply, and is applied to the inverter 26 connected to the subsequent stage of the smoothing capacitor 22, that is, the output side.

  In addition, as a kind of capacitor | condenser, although an electrolytic capacitor, a ceramic capacitor, a tantalum capacitor, etc. are mentioned, in this embodiment, the case where an electrolytic capacitor is employ | adopted as the smoothing capacitor 22 is taken as an example.

(2-3) Voltage Detection Unit The voltage detection unit 23 is connected to the output side of the smoothing capacitor 22 and detects the voltage across the smoothing capacitor 22, that is, the value of the smoothed voltage Vfl.

  Although not shown, such a voltage detector 23 is configured by, for example, connecting two resistors connected in series to each other in parallel to the smoothing capacitor 22 and dividing the smoothed voltage Vfl. The voltage value at the connection point between the two resistors is input to the sensorless control circuit 28 as a value obtained by multiplying the smoothed voltage Vfl by a predetermined voltage dividing ratio. The predetermined voltage dividing ratio is determined by the resistance values directly connected to each other.

(2-4) Current Detection Unit The current detection unit 24 is connected between the smoothing capacitor 22 and the inverter 26 and connected to the negative output terminal side of the smoothing capacitor 22. The current detection unit 24 detects the motor current Im flowing through the fan motor 51 after the fan motor 51 is started.

  Although not shown, the current detection unit 24 includes an amplifier circuit using a shunt resistor and an operational amplifier that amplifies the voltage at both ends of the resistor, and the motor current Im has a voltage value multiplied by a predetermined value. Is input to the sensorless control circuit.

  Since current detection is performed between the smoothing capacitor 22 and the inverter 26, the waveform of the current detected by the current detection unit 24 is a stepped pulse-like current. The current detection unit 24 can obtain the motor current Im by detecting the pulsed current at a timing according to the waveform output state of the inverter 26.

(2-5) Output unit The output unit 25 uses drive voltages SU, SV, and SW (corresponding to drive signals), which are AC voltages for driving the fan motor 51, as voltage command values Vpwm (corresponding to signal command values). Is generated according to the above and output to the fan motor 51. The voltage command value Vpwm is a command value for determining parameters relating to the drive voltages SU, SV, SW, and is determined in association with a q-axis current command value Vq and a d-axis current command value Vd, which will be described later. 28. The parameters relating to the drive voltages SU, SV, SW include the duty, frequency, voltage value, etc. of each of the drive voltages SU, SV, SW. In this embodiment, the voltage command value Vpwm is the drive voltage SU, SV, SW. For example, the case where the fan motor 51 is PWM-controlled is taken as an example.

  The output unit 25 includes an inverter 26 and a gate drive circuit 27.

  The gate drive circuit 27 may be packaged together with the sensorless control circuit 28 in one integrated circuit package (specifically, an IC or HIC).

(2-5-1) Inverter The inverter 26 is connected to the output side of the smoothing capacitor 22. As shown in FIG. 1, the inverter 26 includes a plurality of insulated gate bipolar transistors (hereinafter simply referred to as transistors) Q3a, Q3b, Q4a, Q4b, Q5a, Q5b and a plurality of freewheeling diodes D3a, D3b, D4a, D4b, D5a and D5b are included. Transistors Q3a and Q3b, Q4a and Q4b, and Q5a and Q5b are connected in series with each other. Each of the diodes D3a to D5b is connected in parallel to each of the transistors Q3a to Q5b by connecting the collector terminal of the transistor and the cathode terminal of the diode and connecting the emitter terminal of the transistor and the anode terminal of the diode. ing.

  A smoothed voltage Vf1 from the smoothing capacitor 22 is applied to the inverter 26. The inverter 26 turns on and off each of the transistors Q3a to Q5b at a timing instructed by the gate drive circuit 27, thereby generating drive voltages SU, SV, and SW having a desired duty. The drive voltages SU, SV, SW are output to the fan motor 51 from the connection points NU, NV, NW of the transistors Q3a and Q3b, Q4a and Q4b, and Q5a and Q5b. That is, the inverter 26 supplies power to the fan motor 51.

(2-5-2) Gate Drive Circuit The gate drive circuit 27 changes the on / off states of the transistors Q3a to Q5b of the inverter 26 based on the voltage command value Vpwm from the sensorless control circuit 28. Specifically, the gate drive circuit 27 is configured so that the drive voltages SU, SV, and SW having the duty determined by the sensorless control circuit 28 are output from the inverter 26 to the fan motor 51, so that the gates of the transistors Q3a to Q5b. The gate control voltages Gu, Gx, Gv, Gy, Gw, and Gz to be applied to are generated. The generated gate control voltages Gu, Gx, Gv, Gy, Gw, Gz are applied to the gate terminals of the respective transistors Q3a to Q5b.

(2-6) Sensorless Control Circuit The sensorless control circuit 28 is connected to the voltage detection unit 23, the current detection unit 24, the gate drive circuit 27, and the microcomputer 29. The sensorless control circuit 28 is a circuit that drives the fan motor 51 by a rotor position sensorless system.

  Specifically, the fan motor 51 is first activated by a direct current excitation method or a forced drive method. In the direct current excitation method, direct current is applied to the fan motor 51 immediately before starting, so that the position of the rotor 53 in the motor 51 is temporarily fixed at a predetermined position, and the fan motor 51 is driven from the state in which the rotor 53 is fixed. It is a method to start. In the forced drive method, regardless of the position of the rotor 53, the fan motor 51 is forcibly applied by forcibly energizing the drive voltage SU, SV, SW having a certain voltage value and frequency to the fan motor 51. It is a method to start.

  The sensorless control circuit 28 estimates the position of the rotor 53 of the fan motor 51 after startup, and estimates the rotation speed of the fan motor 51 based on the estimated position of the rotor 53. The estimated rotational speed of the fan motor 51 is input to the microcomputer 29 as the rotational speed signal FG. Further, when an operation command including the rotation speed command Vfg is sent from the microcomputer 29, the sensorless control circuit 28 receives this operation command, the estimated position of the rotor 53, the estimated rotation speed, and the detection result of the voltage detector 23. Based on the detection result of the current detector 24, the duty of the drive voltages SU, SV, SW is determined by the rotor position sensorless method.

  Here, the rotor position sensorless system means various parameters indicating the characteristics of the fan motor 51, the smoothed voltage Vfl (that is, the detection result of the voltage detection unit 23), and the motor current Im (that is, the detection result of the current detection unit 24). , And a predetermined mathematical model related to the control of the fan motor 51, etc., to perform estimation of the position of the rotor 53, estimation of the rotational speed, PI control for the rotational speed, PI control for the motor current Im, and the like. Examples of various parameters indicating the characteristics of the fan motor 51 include the winding resistance, inductance component, induced voltage, and number of poles of the fan motor 51 used.

  As shown in FIG. 3, the sensorless control circuit 28 that performs the above-described control mainly includes a motor model calculation unit 28a, a rotor position estimation unit 28b, a rotation number estimation unit 28c (corresponding to a rotation number derivation unit), an LPF 28d, and a q axis. A current command setting unit 28e (corresponding to a torque current command setting unit), a d-axis current command setting unit 28f (corresponding to a non-torque current command setting unit), and a current control unit 28g (corresponding to a signal command setting unit). ing. FIG. 3 simply shows the configuration of the sensorless control circuit 28 that performs the rotor position sensorless control in consideration of the mathematical model.

  In actual sensorless control, a coordinate conversion operation for converting a three-phase current (or voltage) such as a motor current Im into a coordinate system on a model is performed. However, in this embodiment and FIG. For simplicity, this operation is omitted.

(2-6-1) Motor Model Calculation Unit The motor model calculation unit 28a includes the voltage command value Vpwm output to the output unit 25, the position of the rotor 53 estimated by the rotor position estimation unit 28b, and the rotation speed estimation unit 28c. The rotational speed of the fan motor 51 estimated by the above is input. The motor model calculation unit 28a calculates an ideal value of the motor current Im from various information input to the calculation unit 28a using various parameters indicating the characteristics of the fan motor 51 as a motor model.

(2-6-2) Rotor Position Estimator The rotor position estimator 28b includes an ideal value of the motor current Im calculated by the motor model calculator 28a and a motor current Im actually detected by the current detector 24. The result of the subtraction process is input. The rotor position estimation unit 28b estimates the position of the rotor 53 at the present time using the input result.

  The position of the rotor 53 is not only input to the rotation speed estimation unit 28c but also fed back to the motor model calculation unit 28a. The position of the rotor 53 fed back to the motor model calculation unit 28a is corrected by the motor model calculation unit 28a so that the difference between the ideal value Im of the motor current and the actual motor current Im becomes “0”, and the motor Used for model correction.

(2-6-3) Rotational Speed Estimator The rotational speed estimator 28c estimates the current rotational speed of the fan motor 51 using the position of the rotor 53 estimated by the rotor position estimator 28b.

  The estimated rotation speed of the fan motor 51 is not only input to the LPF 28d but also fed back to the motor model calculation unit 28a. Similar to the estimated position of the rotor 53, the estimated rotational speed of the fan motor 51 is such that the difference between the ideal value of the motor current Im and the actual motor current Im is “0” in the motor model calculation unit 28a. Correction processing and motor model correction.

  Further, the estimated rotation number of the motor 51 is also input to the d-axis current command setting unit 28f.

(2-6-4) LPF
The LPF 28d removes noise components and harmonic components from the estimated rotational speed of the fan motor 51.

  The rotational speed of the fan motor 51 after passing through the LPF 28d becomes a desired rotational speed signal FG by the waveform shaping section 28h and is output to the microcomputer 29. The rotational speed signal FG is a pulse signal having a period corresponding to the rotational speed of the fan motor 51, or a pulse signal having a fixed frequency but a duty corresponding to the rotational speed of the motor 51.

(2-6-5) q-axis current command setting unit The q-axis current command setting unit 28e includes a rotation speed command Vfg included in the operation command sent from the microcomputer 29 and a fan motor after passing through the LPF 28d. The result after being subtracted from the number of rotations 51 is input. The q-axis current command setting unit 28e performs PI control on the rotation speed of the fan motor 51 using the input result, thereby controlling the rotation speed of the fan motor 51 to follow the rotation speed command Vfg. .

  Then, the q-axis current command setting unit 28e according to the present embodiment sets the q-axis current command value Vq as the control result. The q-axis current command value Vq (corresponding to the torque current command value) is a command value of the q-axis current Iq that contributes to the torque of the fan motor 51.

  In the present embodiment, a dq coordinate system is used in which the direction of magnetic flux created by the permanent magnet of the rotor 53 is defined as the d axis, and the direction advanced by π / 2 is defined as the q axis. The q-axis current Iq means a current component in the q-axis direction, specifically a torque current that is a component that generates the rotational torque of the fan motor 51. Therefore, since the q-axis current command value Vq can be said to be a value directly related to the torque and the rotational speed of the fan motor 51, it can also be said to be an effective current command value.

  As shown in FIG. 4C, the fan motor 51, which is the drive source of the outdoor fan 15, has a characteristic that its torque increases in proportion to the square of the rotation speed, that is, a square reduction torque characteristic. Therefore, as shown in FIG. 4A, like the torque, the q-axis current Iq (and the q-axis current command value Vq) is set to increase as the rotational speed increases. Specifically, the q-axis current Iq (and the q-axis current command value Vq) is set so as to increase in proportion to the square of the rotational speed.

(2-6-6) d-axis current command setting unit The d-axis current command setting unit 28f sets the d-axis current command value Vd according to the estimated rotational speed. The d-axis current command value Vd (corresponding to the non-torque current command value) is a command value for the d-axis current Id that does not contribute to the torque of the fan motor 51.

  The d-axis current Id is a current component in the d-axis direction that is a direction delayed by π / 2 from the q-axis. Therefore, the d-axis current Id is not a component that generates the rotational torque of the fan motor 51, but an excitation current component that is a component that generates magnetic flux, contrary to the q-axis current Iq. Accordingly, when the q-axis current command value Vq is referred to as an active current command value, the d-axis current command value Vd can be referred to as a reactive current command value. In general, in an SPM motor, the d-axis current command value Vd is often set to “0” in the entire operation range.

  In particular, the d-axis current command setting unit 28f according to the present embodiment, as shown in FIGS. 4B and 6, when the rotational speed of the fan motor 51 is lower than a predetermined rotational speed, The command value Vd is set so that the d-axis current command value Vd increases as the rotational speed decreases, and the d-axis current Id increases as the rotational speed of the fan motor 51 decreases below the predetermined rotational speed. For example, when the fan motor 51 is activated, the rotational speed of the fan motor 51 gradually increases. Therefore, the d-axis current command setting unit 28f, when the rotational speed of the fan motor 51 is still lower than the predetermined rotational speed, causes the d-axis current command setting unit 28f to gradually increase as the rotational speed of the fan motor 51 gradually increases. The value Vd is set gradually smaller and the d-axis current Id is gradually decreased. Eventually, when the rotational speed of the fan motor 51 becomes as close as possible to the predetermined rotational speed, the d-axis current command setting unit 28f should set the d-axis current command value Vd as close as possible to “0”. When the d-axis current Id is brought close to “0” and the rotational speed of the fan motor 51 becomes equal to or higher than the predetermined rotational speed, the d-axis current command value Vd is set to “0”, thereby setting the d-axis current Id to “0”. " Therefore, in this embodiment, it can be said that such setting control of the d-axis current command value Vd is performed only when the rotational speed of the fan motor 51 is equal to or lower than the predetermined rotational speed.

  That is, the d-axis current command setting unit 28f according to the present embodiment intentionally sets the d-axis current so that the d-axis current Id is not “0” while the rotation speed of the fan motor 51 is equal to or less than the predetermined rotation speed. The command value Vd is varied according to the rotational speed of the fan motor 51. This is because the fan motor 51 having the square reduction torque characteristic has a low rotation speed, and therefore it can be said that the fan motor 51 is in a low load state. Therefore, in the state where the d-axis current Id is not applied, the q-axis that is originally necessary Only with the current Iq, the value of the motor current Im, which is a combined current of the q-axis current Iq and the d-axis current Id, is small. At this time, the modulation rate of the drive voltage is also lowered, so that the pulse width of the detected current (specifically, the motor current Im) is narrowed. Therefore, it is difficult to set the timing for detecting the current, the detection timing is easily shifted, and the current detection unit 24 cannot accurately detect the value of the motor current Im. Therefore, the control of the fan motor 51 is unstable. Because it becomes. Therefore, in the present embodiment, when the fan motor 51 is in a low rotational speed state (that is, when the load is low), the lower the rotational speed of the motor 51, the larger the d-axis current Id is caused to flow. While increasing the value of the current Im and increasing the modulation rate of the drive voltages SU, SV, SW, the current detector 24 can easily detect the value of the motor current Im. Thereby, control of the fan motor 51 is stabilized. Further, in the present embodiment, since the d-axis current command value Vd is set according to the rotation speed of the fan motor 51, control such that the motor current Im flows more than necessary is not performed, and the fan motor 51. In this case, an appropriate motor current Im flows.

  Here, the “predetermined number of rotations” described above is appropriately set according to the detection accuracy of the current detection unit 24 in addition to the characteristics of the fan motor 51. For example, the “predetermined number of rotations” is the number of rotations of the fan motor 51 (that is, the minimum number of rotations of the fan motor 51) when the motor current Im becomes a value that can be detected by the current detection unit 24. Can be set. As described above, it is preferable that the “predetermined number of rotations” is set to a predetermined value in advance by desktop calculation, simulation, experiment, or the like in consideration of the detection accuracy of the current detection unit 24. Specifically, the “predetermined number of rotations” according to the present embodiment can be, for example, a number of rotations that is about 20% of the maximum rating of the number of rotations of the fan motor 51. The “low rotation” state includes about 10 to 20% with respect to the maximum rating of the rotation speed of the fan motor 51.

Next, the case where the setting control of the d-axis current command value Vd according to the present embodiment is performed will be described. Examples of the case where the setting control of the d-axis current command value Vd according to the present embodiment is performed include the following (I) to (V).
(I) When the fan motor 51 is activated (II) When the outdoor unit 10 is restored from the defrosting operation to the normal state (III) When the outdoor unit 10 is thermo-off (IV) The heat pump device When cooling / heating switching is performed (V) When the temperature of the outside air is low but the outdoor unit 10 is performing cooling operation When the above (I) to (V) are put together, the fan motor 51 needs to rotate at a low rotational speed. It can be said that the setting control of the d-axis current command value Vd according to the present embodiment is performed. Thus, in the case of (I) to (V) above, by performing the setting control of the d-axis current command value Vd according to the present embodiment, the heat pump device can perform low-output refrigerant control. It is possible to avoid the start / stop operation.

  If only the current detection is considered accurately, the d-axis current command setting unit 28f allows the d-axis current value (absolute value) to be accurately detected to flow the d-axis current value. The current command value Vd may be set. However, particularly in the case of the above (I) (that is, when the fan motor 51 is being started), when the forced drive method is performed, a component of the d-axis current Id exists as a result. Therefore, the d-axis current command setting unit 28f sets the d-axis current command value Vd to be the same as the sign (orientation) of the component of the d-axis current Id when performing forced driving, so that the rotor becomes smoother. The operation can be shifted to a position sensorless system.

(2-6-7) Current Control Unit The current control unit 28g includes a q-axis current command value Vq, which is a control result of the q-axis current command setting unit 28e, and a d-axis set by the d-axis current command setting unit 28f. The current command value Vd and the smoothed voltage Vfl detected by the voltage detector 23 are input. The current control unit 28g performs current control based on the input current command values Vq and Vd and the smoothed voltage Vfl so that the motor current Im becomes a current value corresponding to the current command values Vq and Vd. A correct voltage command value Vpwm is set.

  For example, when the rotational speed of the fan motor 51 is lower than a predetermined rotational speed, the current control unit 28g determines the motor according to the q-axis current command value Vq and the d-axis current command value Vd that is not “0”. Current control is performed on the current Im. When the rotational speed of the fan motor 51 is equal to or higher than the predetermined rotational speed, the current control unit 28g responds to the q-axis current command value Vq that is not “0” and the d-axis current command value Vd that is “0”. Then, current control is performed on the motor current Im.

  A voltage command value Vpwm including the duty of each of the drive voltages SU, SV, and SW, which is a control result by the current control unit 28g, is input to the gate drive circuit 27. The voltage command value Vpwm is also input to the motor model calculation unit 28a, and in the motor model calculation unit 28a, as with the estimated position of the rotor 53 and the estimated number of rotations, the ideal value of the motor current Im and the actual value are calculated. It is used for correction processing in which the difference from the motor current Im becomes “0”, and correction of the motor model.

(2-7) Microcomputer The microcomputer 29 is mainly connected to the sensorless control circuit 28 as shown in FIG. Although not shown, the microcomputer 29 is also connected to an outdoor unit side control unit that controls each device of the outdoor unit 10 in an integrated manner.

  For example, the microcomputer 29 monitors the rotation speed signal FG indicating the rotation speed of the fan motor 51 or outputs an operation command including the rotation speed command Vfg to the sensorless control circuit 28.

(3) Operation Next, the operation of the motor control device 20 of the present embodiment will be described with reference to FIG. FIG. 7 is a flowchart showing the operation performed by the motor control device 20, and as an example, represents a case where the setting control of the d-axis current command value Vd according to the present embodiment is performed when the fan motor 51 is started. .

  Steps S1 to S2: When the microcomputer 29 obtains an operation start instruction for the outdoor fan 15 from the outdoor unit side control unit of the outdoor unit 10 (Yes in S1), the motor control device 20 activates the fan motor 51 (S2). ), Vector control of the fan motor 51 (that is, field-oriented control of an AC motor) and control based on the rotor position sensorless system.

  Steps S3 to S4: When the rotational speed of the fan motor 51 is smaller than the predetermined rotational speed (Yes in S3), the d-axis current command setting unit 28f has a lower rotational speed of the fan motor 51 as shown in FIG. The d-axis current command value Vd is set to a large value. As shown in FIG. 5, the q-axis current command setting unit 28e sets a q-axis current command value Vq according to the rotational speed of the fan motor 51 (S4). As a result, drive voltages SU, SV, SW having a duty such that the motor current Im becomes a current value corresponding to the current command values Vq, Vd are output from the inverter 26 to the fan motor 51. Accordingly, not only the q-axis current Iq but also the d-axis current Id has a value corresponding to the rotational speed of the fan motor 51. In particular, the motor current Im becomes a value caused not only by the q-axis current Iq but also by the d-axis current Id, and increases by the d-axis current Id as compared to the case where the d-axis current Id is not passed as in the conventional case.

  Step S5: However, in step S3, when the rotation speed of the fan motor 51 becomes equal to or higher than the predetermined rotation speed (No in S3), the d-axis current command setting unit 28f displays the fan motor 51 as shown in FIG. Regardless of the rotation speed, the d-axis current command value Vd is set to “0”. As shown in FIG. 5, the q-axis current command setting unit 28e sets a q-axis current command value Vq according to the rotational speed of the fan motor 51 (S5). As a result, drive voltages SU, SV, SW having a duty such that the motor current Im becomes a current value corresponding to the current command values Vq, Vd are output from the inverter 26 to the fan motor 51. The q-axis current Iq has a value corresponding to the rotational speed of the fan motor 51, but the d-axis current Id does not flow. Therefore, the motor current Im is a value caused only by the q-axis current Iq.

  Steps S6 to S7: When the rotational speed of the fan motor 51 eventually reaches the rotational speed command Vfg included in the operation command (Yes in S6), the motor control device 20 determines that the fan motor 51 has reached the normal rotational state. Judgment is made (S7). If the rotation speed of the fan motor 51 has not yet reached the rotation speed command Vfg (No in S6), the motor control device 20 performs the operation from step S3.

  Steps S8 to S9: Until the microcomputer 29 obtains an instruction to stop driving the outdoor fan 15 (No in S8), the motor control device 20 performs vector control on the fan motor 51 (that is, magnetic field direction control of the AC motor). : Field Oriented Control) and the control by the rotor position sensorless system are continuously performed. When the microcomputer 29 receives an instruction to stop driving the outdoor fan 15 (Yes in S8), the output of the drive voltages SU, SV, SW to the fan motor 51 by the inverter 26 is stopped, and the fan motor 51 stops driving. (S9).

(4) Features (4-1)
The motor control device 20 according to the present embodiment drives the fan motor 51 with drive voltages SU, SV, SW based on a q-axis current command value Vq that contributes to torque and a d-axis current command value Vd that does not contribute to torque. In particular, when setting the d-axis current command value Vd, the motor control device 20 sets the d-axis current command value Vd to a larger value as the rotational speed of the fan motor 51 is lower.

  As a result, the lower the rotational speed of the fan motor 51, the more d-axis current Id flows, and as a result, the value of the motor current Im increases. Therefore, it becomes easy to grasp the value of the motor current Im, and the modulation rate of the drive voltages SU, SV, SW increases. Therefore, the control of the fan motor 51 is stably performed.

  Further, since the d-axis current command value Vd is set in accordance with the rotation speed of the fan motor 51, the fan motor 51 is not controlled such that an unnecessarily large motor current Im flows through the fan motor 51. In 51, an appropriate motor current Im flows.

(4-2)
In particular, the motor control device 20 according to the present embodiment sets the voltage command value Vpwm such that the motor current Im becomes a current value corresponding to the q-axis current command value Vq and the d-axis current command value Vd. At this time, the d-axis current command value Vd is set to a larger value as the rotational speed of the fan motor 51 is lower, so that a relatively large amount of the d-axis current Id flows. As a result, the value of the motor current Im And the pulse width of the current detected by the current detection unit 24 also increases. Accordingly, the value of the motor current Im can be easily detected by the current detection unit 24, the modulation factor of the drive voltages SU, SV, SW generated according to the voltage command value Vpwm is increased, and an appropriate motor for the fan motor 51 is obtained. The current Im is energized.

(4-3)
In addition, the motor control device 20 according to the present embodiment sets the d-axis current command value Vd only when the load is low. That is, the motor control device 20 increases the d-axis current command value Vd as the rotational speed of the fan motor 51 decreases in a low load state where the detection of the value of the motor current Im does not tend to be performed accurately. Control to set to.

  Thus, only in the case of a low load state, the motor current Im can be increased by increasing the d-axis current Id, and the value of the motor current Im can be easily grasped. Therefore, in a state other than the low load state, the d-axis current Id is controlled as in the conventional case, and efficient control is maintained, and the fan motor 51 is stably controlled even in the low load state. be able to.

(4-4)
The object to be controlled by the motor control device 20 according to the present embodiment is a fan motor 51 that drives the outdoor fan 15 included in the outdoor unit 10 of the heat pump device. The fan motor 51 has a so-called square reduction torque characteristic in which the load torque is proportional to the square of the rotation speed of the fan motor 51. Therefore, the load torque of the fan motor 51 is almost uniquely determined by the rotational speed.

  However, the motor control device 20 according to the present embodiment performs control for setting the d-axis current command value Vd to a larger value as the rotational speed of the fan motor 51 is lower with respect to the fan motor 51 having the square reduction torque characteristic. ing. As a result, the value of the motor current Im can be controlled without affecting the load torque of the fan motor 51.

(5) Modifications The embodiments of the present invention and the modifications thereof have been described with reference to the drawings. However, the specific configuration is not limited to these embodiments and the modifications, and the gist of the invention is described. Changes can be made without departing from the scope.

(5-1) Modification A
In the above embodiment, the case where the motor control device 20 controls the driving of the fan motor 51 by the rotor position sensorless method has been described.

  However, the motor control device according to the present invention does not perform control in a rotor position sensorless system, but for a fan motor in which a position detection sensor (for example, a hall element) that detects the position of the rotor 53 is mounted. Control based on the detection result of the sensor may be performed.

  The motor control system 200 in this case includes a brushless DC motor 151 and a motor control device 120 as shown in FIG.

  The brushless DC motor 151 is a three-phase AC fan motor used as a drive source for the outdoor fan 15, similar to the brushless DC motor 51 according to the above embodiment. However, in addition to the stator 152 and the rotor 153, three more holes are provided. Elements 154u, 154v, and 154w are included. The hall elements 154u, 154v, and 154w are provided so as to correspond to the U-phase, V-phase, and W-phase drive coils Lu, Lv, and Lw constituting the stator 152, respectively. The hall elements 154u, 154v, 154w detect the position of the rotor 153 with respect to the stator 152 based on the induced voltages generated in the corresponding drive coils Lu, Lv, Lw.

  The motor control device 120 is a device that performs vector control of the motor 51 based on the motor current Im that flows through the fan motor 151 (that is, the magnetic field direction control of the AC motor: Field Oriented Control), as in the above embodiment. The motor control device 20 is different from the motor control device 20 according to the above-described embodiment in that the rotor position sensorless control described in the embodiment is not performed.

  Specifically, the motor control device 120 includes a rectifying unit 121, a smoothing capacitor 122, a voltage detecting unit 123, a current detecting unit 124, an output unit 125 having an inverter 126 and a gate drive circuit 127, and a rotation speed detecting unit. 128 (corresponding to a rotation speed deriving unit), a PWM control circuit 129, and a microcomputer 130. The rectifying unit 121, the smoothing capacitor 122, the voltage detecting unit 123, the current detecting unit 124, the output unit 125, and the microcomputer 130 are the rectifying unit 21, the smoothing capacitor 22, the voltage detecting unit 23, the current detecting unit 24, The output unit 25 and the microcomputer 29 are the same.

  Position detection signals Hu, Hv, Hw indicating the position of the rotor 153 detected by the Hall elements 154u, 154v, 154w are input to the rotation speed detection unit 128. The rotational speed detection unit 128 detects the rotational speed of the rotor 153 using the position detection signals Hu, Hv, and Hw.

  In the PWM control circuit 129, the position detection signals Hu, Hv, Hw, the smoothed voltage Vfl detected by the voltage detection unit 123, the motor current Im detected by the current detection unit 124, and the rotation number detection unit 128 are detected. A rotation speed signal FG indicating the rotation speed of the fan motor 151 and a rotation speed command Vfg from the microcomputer 130 are input. The PWM control circuit 129 determines the modulation rate of the drive voltages SU, SV, and SW based on the various signals that are input, and uses the voltage command value Vpwm (corresponding to the signal command value) corresponding to this modulation rate to the gate drive circuit. To 127. That is, since the PWM control circuit 129 does not perform rotor position sensorless control, it does not perform estimation control of the rotor position and rotation speed of the fan motor 51, but other rotation speed control, current control, and various current commands. Perform setting control.

  FIG. 9 is a diagram simply showing an example of the configuration of the PWM control circuit 129. For example, as shown in FIG. 9, the PWM control circuit 129 mainly includes a q-axis current command setting unit 129a, a d-axis current command setting unit 129b, and a current control unit 129c (corresponding to a signal command setting unit).

  The q-axis current command setting unit 129a performs control so that the rotational speed of the fan motor 51 follows the rotational speed command Vfg using the result after the subtraction processing is performed between the rotational speed command Vfg and the rotational speed signal FG. As a result, the q-axis current command value Vq is set in the same manner as in FIGS. 4A and 5 according to the above embodiment. The d-axis current command setting unit 129b sets the d-axis current command value Vd according to the rotation speed signal FG. In particular, the d-axis current command setting unit 129b is similar to the d-axis current command setting unit 28f according to the above-described embodiment, as illustrated in FIGS. 4B and 6, the rotational speed of the fan motor 151 is equal to or less than a predetermined rotational speed. Only in this case, a larger d-axis current command value Vd is set as the rotational speed is lower. The current control unit 129c performs current control based on the current command values Vq, Vd, the position detection signals Hu, Hv, Hw, and the smoothed voltage Vfl, and the motor current Im corresponds to the current command values Vq, Vd. A voltage command value Vpwm is set to be a value.

  Thus, even when the rotor position sensorless control is not performed, the motor control device 2120 contributes to the q-axis current command value Vq that contributes to the torque and the torque, as in FIGS. 4 to 6 according to the above embodiment. By setting the d-axis current command value Vd not to be performed, current detection can be performed accurately, and the fan motor 151 can be controlled stably.

  In the above description, the case where the number of Hall elements 154u, 154v, and 154w is three has been described as an example. However, the number of Hall elements is not limited to three and may be two or one. In this case, the same effect as described above can be obtained.

(5-2) Modification B
When the rotor position sensorless method is employed as in the above embodiment, it is difficult for the rotation speed estimation unit 28c to accurately estimate the rotation speed of the fan motor 51 immediately after the start of the start of the fan motor 51.

  Therefore, a rotation speed detection unit for deriving the rotation speed of the fan motor 51 immediately after the start of the fan motor 51 may be provided separately from the sensorless control circuit 28. Examples of such a rotation speed detection unit include a method of deriving the rotation speed using induced voltages generated in the drive coils Lu, Lv, and Lw of the fan motor 51 as the fan motor 51 rotates.

(5-3) Modification C
In the above embodiment, the case where the motor control device 20 according to the present invention is used as a device for controlling the fan motor 51 that is the drive source of the outdoor fan 15 of the heat pump device has been described.

  However, the use of the motor control device according to the present invention is not limited to the control of the drive source of the outdoor fan 15. Other applications of the motor control device include control of a compressor 11 or an outdoor fan included in an air conditioner, a drive source of an indoor fan, in addition to a compressor 11 or a pump drive source included in the heat pump device. In particular, when the motor control device is used as a drive source for the indoor fan, the motor control device needs to hardly consider the increase in the load of the indoor fan due to an external force, so that the control according to the present invention is more effective. Applies to

  As a specific case where the setting control of the d-axis current command value Vd according to the above-described embodiment is performed on the motor that is the drive source of the compressor or the outdoor fan included in the air conditioner, it has already been described in the above-described embodiment. Examples of the above (I) to (V) are also included. In such a case, setting control of the d-axis current command value Vd is performed, whereby the air conditioner can perform low-output refrigerant control and can also avoid the start / stop operation of the air conditioner. Therefore, comfort is improved.

(5-4) Modification D
In the above embodiment, the case where the voltage command value Vpwm is a command value for determining the duty of the drive voltages SU, SV, SW, that is, the case where the fan motor 51 is PWM-controlled has been described. However, the present invention is not limited to the case where the fan motor 51 is PWM-controlled, and the voltage command value Vpwm may be a command value for determining the frequency and / or voltage value of the drive voltages SU, SV, SW.

(5-5) Modification E
In the above-described embodiment, a so-called voltage source inverter in which a voltage is directly controlled by setting the voltage set value Vpwm has been described as an example. However, even if the motor control device according to the present invention is applied to a so-called current source inverter that directly controls the motor current Im, the same effect can be obtained. In the case of the current source inverter, the motor control device controls the motor current Im to output a drive current corresponding to the q-axis current command value Vq and the d-axis current command value Vd to the fan motor 51. That is, the motor control device sets a current command value such that the motor current Im becomes a current value corresponding to the q-axis current command value Vq and the d-axis current command value Vd, and sets the drive current according to the command value. Generate.

  The drive current in this case corresponds to the “drive signal” according to the present invention, and the current command value corresponds to the “signal command value” according to the present invention.

(5-6) Modification F
In the above embodiment, the case where the brushless DC motor 51 is an SPM motor has been described. However, the type of the brushless DC motor 51 according to the present invention is not limited to the SPM motor. When the brushless DC motor 51 is an IPM motor, control may be performed such that a predetermined d-axis current Id flows in order to obtain a current phase at which the maximum torque can be output. In order to obtain a current phase, a d-axis current Id corresponding to the q-axis current Iq is passed, and the value of the d-axis current Id increases as the rotational speed of the brushless DC motor 51 increases. Therefore, the problem that it is difficult to accurately detect the current at low load is the same as the problem according to the present invention, and the same effect as the present invention can be obtained.

  In order to expand the voltage output range, so-called flux-weakening control, in which the d-axis current Id is allowed to flow, particularly in a high load region, may be performed. In this case as well, the d-axis current value Id is usually the number of rotations of the motor. Since the higher the value, the larger the value, the same effect as the present invention can be expected.

  As described above, according to the present invention, the motor can be stably controlled. The motor control device according to the present invention is a motor driven by vector control (that is, field-oriented control of an AC motor), and further, as a device for controlling a motor having a square reduction torque characteristic, Can be applied.

DESCRIPTION OF SYMBOLS 10 Outdoor unit 15 Outdoor fan 20, 120 Motor controller 21, 121 Rectifier 22, 22, Smoothing capacitor 23, 123 Voltage detector 24, 124 Current detector 25, 125 Output unit 26, 126 Inverter 27, 127 Gate drive circuit 28 Sensorless control circuit 28a Motor model computer 28b Rotor position estimator 28c Rotational speed estimator 28d LPF
28e, 129a q-axis current command setting unit 28f, 129b d-axis current command setting unit 28g, 129c Current control unit (signal command setting unit)
28h Waveform shaping section 29, 130 Microcomputer 51, 151 Fan motor 128 Rotational speed detection section 129 PWM control circuit 100, 200 Motor drive control system Vfg Rotational speed command Vpwm Voltage command value (signal command value)
FG Rotational speed signal Im Motor current Vfl Smoothed voltage Iq q-axis current Vq q-axis current command value Id d-axis current Vd d-axis current command value Hu, Hv, Hw Position detection signals SU, SV, SW Drive voltage (drive signal)

JP 2003-259679 A

Claims (4)

An output unit (25, 125) for generating a drive signal (SU, SV, SW) for driving the motor (51, 151) and outputting it to the motor;
A rotational speed deriving section (28c, 128) for deriving the rotational speed of the motor;
Torque current command setting units (28e, 129a) that set the torque current command value (Vq) of the torque current (Iq) that contributes to the torque of the motor by controlling the rotational speed of the motor to follow the rotational speed command. )When,
A non-torque current command setting unit (28f, 129b) that sets a non-torque current command value (Vd) of a non-torque current (Id) that does not contribute to the torque of the motor according to the rotational speed of the motor;
With
The output unit outputs the drive signal (SU, SV, SW) based on the torque current command value and the non-torque current command value to the motor,
The non-torque current command setting unit (28f, 129b) sets the non-torque current command value such that the non-torque current command value increases as the rotational speed of the motor decreases.
Motor control device (20, 120). A current detector (24, 124) for detecting a motor current (Im) flowing through the motor;
A signal command setting unit (28g, 129c) for setting a signal command value such that the motor current becomes a current value corresponding to the torque current command value and the non-torque current command value;
Further comprising
The output unit (25, 125) generates the drive signal according to the signal command value.
The motor control device (20, 120) according to claim 1. The non-torque current command setting unit (28h, 129b) sets the non-torque current command value only when the rotational speed of the motor is lower than a predetermined rotational speed.
The motor control device (20, 120) according to claim 1 or 2. The motors (51, 151) are at least one drive source of a fan and a compressor included in an air conditioner and a fan and a pump included in a heat pump device.
The motor control device (20, 120) according to any one of claims 1 to 3.

Images