JP2014128190A - Motor control device and motor control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the support of the design of an actual motor and/or an actual control system for the actual motor, and to facilitate the control of the actual motor.SOLUTION: The motor control device includes: a virtual motor 60 for simulating an actual motor 12; and a control part 50 for determining a control signal which is common to the actual motor 12 and the virtual motor 60 on the basis of a control target value, and for outputting the control signal to the actual motor 12 and the virtual motor 60. When the control signal is input, the virtual motor 60 estimates the operation state of the actual motor 12 to be achieved in response to the control signal on the basis of the control signal, and the control part 50 determines the control signal to allow the virtual motor 60 and the actual motor 12 to operate substantially in synchronization with each other in every calculation cycle on the basis of the control target value, a virtual motor operation state output from the virtual motor 60 in a previous calculation cycle and the actual operation state of the actual motor 12.

Description

  The present invention relates to a technique for controlling an actual motor that converts electrical energy into kinetic energy.

  An electrically driven motor is used to convert electrical energy into kinetic energy. This type of motor has a wide variety of applications. Examples of such applications include a drive source for a moving body such as an automobile, a robot, a machine tool, a transport machine, a cargo handling machine, and an air conditioner. There are drive sources (actuators) for motion generators such as equipment and office equipment.

  For example, in the case of an automobile, whether it is a type in which only a motor is mounted as a driving source or a type in which both a motor and a combustion engine are mounted as driving sources, the motor is mounted on the automobile as a driving source. It is popular. In this application, it is becoming increasingly necessary to control the motor as desired regardless of the type of motor and the environment in which the motor is used.

  When a motor is used, it is important to design a control system that controls the motor. In addition, in order to control the motor with high accuracy, it is necessary to design a control system suitable for the input / output characteristics of the motor.

  In addition, it may be difficult to use an actual motor in order to design a control system for the motor. In this case, a virtual motor that performs calculation that simulates the input / output characteristics of the actual motor may be used instead of the actual motor, and a control system for the actual motor may be designed using the virtual motor ( For example, see Patent Documents 1 and 2.)

  When designing the control system, if the input / output characteristics of the real motor are linear, the design of the control system and the design of the virtual motor are easy. This type of real motor generally uses magnets that use rare earths.

JP 2006-318200 A JP 2009-284737 A

  However, in recent years, it has become difficult to obtain rare earth elements, and there is an increasing demand for switching to motors that do not use magnets. There is also a desire to reduce the amount of use of magnets. A motor that uses a small amount of magnets may be used in a region that exceeds a rated output (for example, motor speed or motor torque) as the size and speed of the motor increase. There is also a desire to manufacture motors using inexpensive magnet materials.

  In any case, the input / output characteristics of the motor are likely to be non-linear, which makes it difficult to design a control system for such a motor.

  In many cases, a control system for a motor uses a sensor that detects an operating state of the motor (for example, a motor position or a motor current). In this case, it is important to reduce the number of sensors used in order to satisfy the desire to reduce the device cost and the desire to improve the reliability of the device by improving the reliability of the device.

  In view of the circumstances described above, the present invention has been made with the object of facilitating the support of the design of the actual motor and / or the actual control system for the actual motor, and facilitating the control of the actual motor. is there.

In order to solve the problem, according to the first aspect of the present invention, there is provided a motor control device that controls an actual motor that converts electrical energy into kinetic energy,
  A virtual motor that simulates the real motor;
  In each calculation cycle, a control signal common to the real motor and the virtual motor is determined based on the control target value, and the determined control signal is output to the real motor and the virtual motor, respectively. Department and
  Including
  When the control signal is input for each calculation cycle, the virtual motor estimates the operating state of the real motor realized in response to the control signal based on the input control signal, Output the estimated actual motor operating state as the operating state of the virtual motor,
  The control unit, based on the control target value in each calculation cycle, the virtual motor operating state output from the virtual motor in the previous calculation cycle, and the actual operating state of the real motor, There is provided a motor control device for determining the control signal such that the real motor and the actual motor operate substantially in synchronization with each other.

  According to a second aspect of the present invention, there is provided a motor control method for controlling an actual motor that converts electrical energy into kinetic energy,
  For each calculation cycle, based on a control target value, a determination step for determining a control signal common to the real motor and a virtual motor that simulates the real motor;
  An output step for outputting the determined control signal to each of the real motor and the virtual motor for each calculation cycle;
  For each calculation cycle, the control signal is input to the virtual motor, whereby the virtual motor is operated in response to the control signal based on the input control signal. An estimation process for estimating
  Including
  The determining step is based on the control target value in each calculation cycle, the actual motor operating state estimated by the virtual motor in the previous calculation cycle, and the actual operating state of the actual motor. There is provided a motor control method for determining the control signal such that the real motor and the actual motor operate substantially synchronously with each other.

  The following aspects are obtained by the present invention. Each aspect is divided into sections, each section is given a number, and is described in a form that cites other section numbers as necessary. This is to facilitate understanding of some of the technical features that the present invention can employ and combinations thereof, and the technical features that can be employed by the present invention and combinations thereof are limited to the following embodiments. Should not be interpreted. That is, it should be construed that it is not impeded to appropriately extract and employ the technical features described in the present specification as technical features of the present invention although they are not described in the following embodiments.

  Further, describing each section in the form of quoting the numbers of the other sections does not necessarily prevent the technical features described in each section from being separated from the technical features described in the other sections. It should not be construed as meaning, but it should be construed that the technical features described in each section can be appropriately made independent depending on the nature.

(1) A motor control device that controls an actual motor that converts electrical energy into kinetic energy,
A virtual motor that simulates the real motor;
A control unit that determines a control signal common to the real motor and the virtual motor based on a control target value, and outputs the determined control signal to the real motor and the virtual motor, respectively.
When the control signal is input to the virtual motor, the operating state of the real motor realized in response to the control signal is estimated as the operating state of the virtual motor based on the input control signal.
The control unit affects at least one of the real motor and the virtual motor based on at least the virtual motor operation state of the estimated virtual motor operation state and the operation state of the real motor. Motor control device.

  Throughout this specification, the phrase “virtual motor that simulates a real motor” means, for example, a virtual motor that has substantially the same input / output characteristics as the actual or target input / output characteristics of the real motor. It can be interpreted to mean a virtual motor that substantially shares the motor model defining the input / output characteristics and dynamic characteristics of the motor with the actual motor.

  In addition, the term “control signal” is input directly or indirectly to the real motor and the virtual motor, thereby changing the operation state of the real motor and the virtual motor. Means the signal to be given.

  The control signal in this sense is an input system in which, for example, when a first signal is input to a power converter such as an inverter or a power amplifier, electric energy corresponding to the first signal is input to the motor as a second signal. Can be interpreted as a term meaning the first signal or as a term meaning the second signal. This is because both the first signal and the second signal are signals for controlling the motor for the motor, and are signals that uniquely correspond to the operating state of the motor. .

(2) When the control signal is input, the virtual motor causes the processor to execute an analysis program for simulating the real motor, and the operation of the real motor is realized based on the input control signal. The motor control device according to item (1), wherein calculation for estimating the state is performed.

(3) The real motor has a response delay, but the virtual motor has substantially no response delay, so that when the control signal is input to the real motor and the virtual motor at the same time, The motor control device according to (1) or (2), wherein the virtual motor responds at a timing earlier than a timing at which the real motor responds to the control signal.

(4) The control target value is repeatedly input to the control unit at an input cycle,
The control unit repeatedly performs calculation for one cycle at a calculation period shorter than the input period, thereby performing calculation for a plurality of cycles during one input cycle of the control target value (1). The motor control device according to any one of items (3) to (3).

(5) The operating state of the actual motor includes an actual operating position of the actual motor,
The control unit is configured based on the control target value and the estimated virtual motor operating state so that the control target value is realized by the virtual motor, and the virtual operating position of the virtual motor is the actual operating position. The motor control device according to any one of (1) to (4), further including a control signal determining unit that determines the control signal on the assumption that the operating position coincides.

(6) The control unit repeatedly performs calculation for one cycle at a calculation cycle. In each calculation cycle, the control unit is in an operating state of the virtual motor and is acquired by the previous calculation of the virtual motor. By feeding back the calculated value, the control signal is determined based on the control target value, the actual motor operating state, and the previous calculated value of the virtual motor operating state (1) to (5) The motor control apparatus in any one.

(7) The control unit feeds back the previous calculated value of the virtual motor operating state in each calculation cycle, thereby enabling the control target value, the actual motor operating state, and the previous virtual motor operating state. Based on the calculated value, a temporary control signal common to the real motor and the virtual motor is determined, and phase delay compensation is performed on the determined temporary control signal, so that the real motor and the virtual motor And obtaining the final control signal common to the real motor and outputting the obtained final control signal to the real motor and the virtual motor, respectively, thereby operating the virtual motor at least once in each calculation cycle ( The motor control device according to item 6).

(8) The control unit operates the virtual motor at least twice in each calculation cycle,
In each calculation cycle, the control unit feeds back the previous calculated value of the virtual motor operating state for the first operation of the virtual motor, so that the current control target value and the actual motor Based on the current operating state and the previous calculated value of the virtual motor operating state, a temporary control signal for the virtual motor is determined, and the determined temporary control signal is not output to the real motor. , Output to the virtual motor, thereby estimating the current operating state of the virtual motor,
In each calculation cycle, the control unit feeds back the previous calculated value of the virtual motor operating state for the final operation of the virtual motor, whereby the current control target value and the real motor Based on the current operation state and the previous calculated value of the virtual motor operation state, a final control signal common to the real motor and the virtual motor is determined, and the determined final control signal is determined as the real motor. The motor control device according to item (6), which is output to each of the virtual motors.

(9) The control unit
A first control signal determining unit that determines the control signal based on the control target value and the operating state of the virtual motor, and outputs the determined control signal to the real motor and the virtual motor, respectively;
(1) to (8) including a correction unit that corrects input / output characteristics of the virtual motor based on a difference between the operating state of the real motor and the operating state of the virtual motor so as to reduce the difference. The motor control apparatus in any one of.

(10) The control unit
When the single drive mode is selected from the single drive mode for driving the virtual motor alone and the dual drive mode for driving the virtual motor together with the real motor, the virtual motor is operated based on the operating state of the virtual motor. When the virtual motor is controlled and the two-way drive mode is selected, the control signal is determined based on the control target value, and the determined control signal is output to the real motor and the virtual motor, respectively. The motor control device according to any one of (1) to (9), including a second control signal determination unit.

(11) A motor control method for controlling an actual motor that converts electrical energy into kinetic energy,
A determination step of determining a control signal common to the real motor and a virtual motor simulating the real motor based on a control target value;
An output step of outputting the determined control signal to the real motor and the virtual motor, respectively;
When the control signal is input to the virtual motor, based on the input control signal, an estimation step of estimating the operation state of the real motor realized in response to the control signal as the operation state of the virtual motor When,
An influence applying step that affects at least one of the virtual motor and the real motor based on at least the virtual motor operation state of the estimated virtual motor operation state and the actual motor operation state. Including motor control method.

(12) In the influence applying step, the determining step is set so as to determine the control signal based on the control target value, the estimated virtual motor operating state, and the actual motor operating state. The motor control method according to item (11), including a step.

(13) The correcting step of correcting the input / output characteristics of the virtual motor so that the difference decreases based on the difference between the estimated virtual motor operating state and the actual motor operating state. The motor control method according to item (11) or (12).

(14) A program executed by a computer to execute the motor control method according to any one of (11) to (13).

(15) A recording medium on which the program according to item (14) is recorded so as to be readable by a computer.

  This recording medium can adopt various formats, for example, a magnetic recording medium such as a flexible disk, an optical recording medium such as a CD and a CD-ROM, a magneto-optical recording medium such as an MO, and an unremovable storage such as a ROM. However, it is not limited to them.

(16) A system using an actual motor as a drive source,
A virtual motor that simulates the real motor;
A control unit that determines a control signal common to the real motor and the virtual motor based on a control target value, and outputs the determined control signal to the real motor and the virtual motor, respectively.
When the control signal is input to the virtual motor, based on the input control signal, the operating state of the virtual motor is estimated based on the operating state of the real motor realized in response to the control signal,
The control unit affects at least one of the real motor and the virtual motor based on at least the virtual motor operation state of the estimated virtual motor operation state and the operation state of the real motor. system.

(17) A motor control device that controls an actual motor that converts electrical energy into kinetic energy,
A virtual motor that simulates the real motor;
A first control signal is determined based on the control target value, and the actual motor is operated periodically by outputting the determined first control signal to the actual motor, and during the operation of the actual motor, A control unit that periodically operates the virtual motor by determining a second control signal based on the control target value and outputting the determined second control signal to the virtual motor;
When the second control signal is input, the virtual motor is estimated based on the input second control signal as an operating state of the virtual motor realized in response to the second control signal,
Prior to outputting the first control signal to the real motor, the control unit determines the second control signal and outputs the determined second control signal to the virtual motor. A motor control device that estimates an operating state of a virtual motor and determines the first control signal based on the estimated virtual motor operating state and the control target value.

  According to the present invention, since the real motor and the virtual motor are operated in parallel with each other in time, the real motor is controlled based on the operating state of the virtual motor, or conversely, based on the operating state of the real motor. Thus, the input / output characteristics of the virtual motor can be corrected.

FIG. 1 is a functional block diagram showing an entire system having a motor control device according to the first exemplary embodiment of the present invention. FIG. 2 is a circuit diagram schematically showing an example of the actual inverter / power amplifier shown in FIG. FIG. 3 is a functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. 1. FIG. 4 is a diagram schematically and mathematically describing an example of a motor model used by the virtual motor shown in FIG. FIG. 5A is a functional block diagram illustrating an example of the virtual motor control unit illustrated in FIG. 3, and FIG. 5B is a functional block diagram illustrating another example of the virtual motor control unit illustrated in FIG. is there. FIG. 6A is a timing chart showing the entire sequence of the virtual motor calculation unit shown in FIG. 3, and FIG. 6B shows a case where the virtual motor calculation unit adopts the configuration shown in FIG. FIG. 6C is a timing chart showing the operation when the virtual motor calculation unit adopts the configuration shown in FIG. 5B. FIG. 7 is a diagram schematically and mathematically describing an example of the virtual PWM inverter shown in FIG. FIG. 8 is a flowchart conceptually showing an example of the operation of the motor control device shown in FIG. FIG. 9 is a timing chart showing an example of the operation of the motor control device according to the second exemplary embodiment of the present invention. FIG. 10 is a flowchart conceptually showing an example of operation of the motor control device according to the second embodiment. FIG. 11 is a functional block diagram showing the entire system having the motor control device according to the third exemplary embodiment of the present invention. FIG. 12 is a functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. 11. FIG. 13 is a flowchart conceptually showing an example of the operation of the actual motor control unit shown in FIG. FIG. 14 is a flowchart conceptually showing an example of the operation of the virtual motor calculation unit shown in FIG. FIG. 15 is a flowchart conceptually showing an example of the operation of each of the comparison unit and the model correction unit shown in FIG. FIG. 16 is a functional block diagram showing the entire system having the motor control device according to the fourth exemplary embodiment of the present invention. FIG. 17 is a functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. 16. FIG. 18 is a flowchart conceptually showing an example of the operation of the control switching unit shown in FIG. FIG. 19 is a flowchart conceptually showing an example of the operation of the state signal switching unit shown in FIG.

  Hereinafter, some of the more specific and exemplary embodiments of the present invention will be described in detail with reference to the drawings.

<First Embodiment>

  FIG. 1 is a functional block diagram schematically illustrating a system 11 having a motor control device 10 according to a first exemplary embodiment of the present invention. The system 11 includes an actual motor 12 as a drive source for the system 11. Some specific examples of the system 11 include a moving body that moves relative to an absolute space and a motion imparting device that imparts motion to a movable member, as described above.

  The actual motor 12 generally has a multi-pole rotor (not shown), a multi-pole stator (not shown), and a magnetic flux forming section (not shown, but specifically, for example, a winding). Composed. As shown in FIG. 2, the actual motor 12 has a shaft 13 that rotates together with the rotor. The shaft 13 is a movable member (not shown, but specifically, for example, a vehicle wheel, a machine tool Mechanically coupled to a tool, robot arm, etc., thereby driving the movable member.

  Some specific examples of the actual motor 12 include a permanent magnet synchronous motor (PMSM) that rotates using a permanent magnet as a field magnet, and an induction motor (IM that rotates using an eddy current without using a permanent magnet). ), Switch reluctance motor (SRM), and the like. In the reluctance motor, since the rotor is composed of a ferromagnetic iron core without using a permanent magnet, the reluctance motor is a kind of non-commutator motor that does not use a permanent magnet.

  When the actual motor 12 has three-phase (U-phase, V-phase, and W-phase) windings, the following symbols are used to describe various physical quantities of the actual motor 12.

Vu, Vv, Vw: terminal voltage (also referred to as “winding voltage” or “phase voltage”) [V]
Iu, Iv, Iw: Phase current (also referred to as “winding current”) [A]
θm: Rotor (or shaft) angle (phase or rotational position, also called “motor angle” or “motor position”) [rad]
ωm: Angular speed of rotor (or shaft) (also called “motor speed”) [rad / sec]
T: Motor output torque [Nm]
Fu, Fv, Fw: Phase magnetic flux [Wb]

  In the present embodiment and the description of some embodiments described later, there are places where the same symbol is used alone and places where “*” is used at the end. In these embodiments, the same symbol means an actual value or a detected value when used alone, whereas when used in combination with “*”, it means a command value. When the same symbol is used alone, it means a physical quantity for the actual motor 12, whereas when used in combination with “*”, it is a physical quantity for the virtual motor 60 described later. Note that there is a usage that means something, but unless otherwise noted, the former usage is adopted.

  As shown in FIG. 1, the system 11 further includes a real inverter / power amplifier 14 for driving the real motor 12. The actual inverter / power amplifier 14 is configured to include an actual inverter or an actual power amplifier that supplies electric energy to the actual motor 12. The electrical energy supplied to the actual motor 12 is the terminal voltages Vu, Vv, and Vw when the actual motor 12 has three-phase (U-phase, V-phase, and W-phase) windings.

  FIG. 2 conceptually shows a circuit diagram of the actual inverter 16 when the actual inverter / power amplifier 14 includes the actual inverter 16. As is well known, the actual inverter 16 includes an input terminal 20 to which the DC voltage Vdc is applied, an output terminal 22 for outputting the terminal voltages Vu, Vv, and Vw to the actual motor 12, and these input terminals. 20 and a plurality of gates 24 connected between the output terminal 22, a resistor 26 for detecting the terminal voltages Vu, Vv, and Vw, and an analog that represents the terminal voltages Vu, Vv, and Vw by voltages acting on the resistor 26. It is comprised so that it may have ADC (AC / DC converter) 28 which converts a signal into a digital signal.

  The plurality of gates 24 are configured as a plurality of switching elements (that is, a plurality of upper arm switching elements and a plurality of lower arm switching elements), and the gates 24 are gates that are a plurality of pulse signals from the outside. Switching operation is performed according to the signals Gu, Gv, Gw, Gx, Gy, and Gw.

  With this configuration, when the plurality of gate signals Gu, Gv, Gw, Gx, Gy, and Gw are input as control signals from the outside, the actual inverter 16 has a height corresponding to the control signal. The voltages Vu, Vv, Vw are generated by a PWM (pulse width modulation) method, and the generated terminal voltages Vu, Vv, Vw are supplied to the actual motor 12.

  When the actual inverter / power amplifier 14 includes the actual inverter 16, the control signal input from the outside to the actual inverter / power amplifier 14 is the plurality of gate signals as described above. When the amplifier 14 has an actual power amplifier (not shown), the number of analog signals is the same as the number of phases of the actual motor 12.

  As shown in FIG. 1, in order to monitor the operating state of the real motor 12, the system 11 detects the operating state of the real motor 12, and outputs an actual motor state signal representing the result. Is further provided. The actual motor state detection unit 30 can detect, for example, the actual three-phase currents Iu, Iv, Iw, the actual motor speed ωm, the actual motor position θm, and the like of the actual motor 12 as the operating state of the actual motor 12. When it is necessary to monitor the actual three-phase currents Iu, Iv, and Iw, the actual motor state detection unit 30 is configured to include a current sensor (not shown), and detects the actual motor position θm. When it is necessary to do so, the actual motor state detection unit 30 is configured to include, for example, a rotary encoder (not shown).

  As shown in FIG. 1, the system 11 includes a processor 40 for controlling the real motor 12. The processor 40 includes an arithmetic circuit (for example, a programmable logic device (PLD), a wired logic circuit) such as a field-programmable gate array (FPGA) or an application specific integrated circuit (ASIC) 42 and a CPU 44 of the computer. Has been. For example, the arithmetic circuit 42 performs a 32-bit floating point arithmetic operation in a first period of 1 μsec, and thereby performs a calculation by the virtual motor calculation unit 50. Further, the CPU 44 performs a process for controlling the entire system 11 with a second period of several tens of μsec, for example, which is longer than the first period. Examples of such processing include initialization, termination processing, and processing for inputting a target signal representing a control target value that is variable in time.

  A virtual motor calculator 50 is realized by the arithmetic circuit 42. As shown in FIG. 3, the virtual motor calculation unit 50 is configured mainly with the virtual motor 60, and calculates the operating state of the real motor 12 by using the virtual motor 60. When the control signal is input, the virtual motor 60 is realized based on the input control signal by causing the arithmetic circuit 42 (see FIG. 1) to execute an analysis program that simulates the real motor 12. Calculation for estimating the operating state of the motor 12 is performed. That is, the virtual motor calculation unit 50 is configured to be capable of high-speed calculation by the calculation circuit 42.

  As described in detail in the section “Background Art”, in the conventional technique, the virtual motor 60 replaces the real motor 12 until the test on the real motor 12 and the real controller that controls the real motor 12 is completed. Used in testing machines. Then, when the real motor 12 and the real controller are completed (specifications are determined), the real motor 12 is now mounted on the real machine as a substitute for the virtual motor 60. As described above, in the conventional technology, the virtual motor 60 is not mounted and operated together with the real motor 12 in both the test machine and the real machine.

  On the other hand, in the present embodiment, regardless of whether it is a test machine or a real machine, the virtual motor 60 is mounted together with the real motor 12 and is operated together. It is possible to control the real motor 12 using the teaching method, or to teach the virtual motor 60 using the real motor 12.

  The virtual motor calculation unit 50 is in a state where the actual motor 12 is stopped (in the case where the supply of electric energy to the actual motor 12 is unnecessary because the control signal input to the actual motor 12 does not change with time). Will continue to work.

  In the present embodiment, the portion of the system 11 that constitutes the virtual motor calculation unit 50 constitutes the motor control device 10, and the portion of the virtual motor calculation unit 50 that excludes the virtual motor 60 is the motor control device. 10 of “control units”.

  Here, the input / output characteristics of a general motor will be described. As shown in FIG. 4, the input / output characteristics of a three-phase winding motor can generally be described approximately by a voltage equation (voltage-current equation). Is already known. According to this fact, by solving the voltage equation, from the motor voltage vector v (= [vu, vv, vw]) representing the terminal voltage for each phase, the motor current vector i representing the phase current for each phase. (= [Iu, iv, iw]) can be calculated.

  To describe the definitions of various symbols in the voltage equation shown in FIG. 4, “Ra” represents the winding resistance of the motor, and “ψ” represents the flux linkage vector ψ (= [ψu, ψv) of the motor. , Ψw]), and “t” represents time.

  As shown in FIG. 4, the linkage flux vector ψ of the motor is equal to the sum of the linkage flux due to the phase current and the armature linkage flux. The interlinkage magnetic flux due to the phase current is expressed using an inductance matrix having “L (self-inductance)” and “M (mutual inductance)” as elements, and the armature interlinkage magnetic flux is represented by the vector φ (= [ φu, φv, φw]). The inductance matrix is expressed as a table in which each element L, M depends on at least one of the motor current and angle (position, phase), and the armature flux linkage vector φ It is expressed as a table that depends on at least one of current and angle (position, phase). With these tables, the non-linear characteristics of the motor can be expressed over the entire driving frequency of the motor in cooperation with the voltage equation.

  Therefore, if the nonlinear motor model expressed by the voltage equation shown in FIG. 4 is used, even if the input / output characteristics of the motor are nonlinear, the entire driving frequency of the motor is divided into a plurality of bands and is different for each band. Without using a linear motor model, it is possible to accurately represent a nonlinear motor characteristic that covers the entire drive frequency range of the motor substantially without omission with a single model.

  The voltage equation shown in FIG. 4 is also true for the real motor 12, and therefore the virtual motor 60 represents the terminal voltage for each phase of the virtual motor 60 as shown in FIG. 3 by solving the voltage equation. The virtual motor voltage vector V * (= [Vu *, Vv *, Vw *], which corresponds to the motor voltage vector v (= [vu, vv, vw]) shown in FIG. A virtual motor current vector I * (= [Iu *, Iv *, Iw *] representing a phase current for each phase, which corresponds to the motor current vector i (= [iu, iv, iw]) shown in FIG. ).

  Therefore, according to the present embodiment, the virtual motor 60 simulates the operation of the real motor 12 using the non-linear motor model expressed by the voltage equation shown in FIG. It is possible to accurately simulate the operation of the actual motor 12 over the entire 12 drive frequencies.

  The motor model employed by the virtual motor 60 includes a Fleming equation describing its magnetic system and a motion equation describing its mechanical system (around the virtual rotor axis) in addition to the voltage equation describing its electrical system. Describe the balance of moments). The Fleming equation calculates the virtual torque Te * generated in the virtual motor 60 from the virtual motor current vector I * and the virtual armature flux linkage vector φ * according to Fleming's law. The equation of motion calculates a virtual motor speed ωm * from a virtual generated torque Te *, a virtual load torque Tm *, a virtual armature inertia J *, and a virtual damping coefficient F *, and further integrates it over time. Thus, the virtual motor position θm * is calculated.

  The actual motor 12 has a response delay because the movable member including the rotor has a mass (inertia) or resistance, but the virtual motor 60 has substantially no response delay. As a result, when the control signal is simultaneously input to the real motor 12 and the virtual motor 60, the virtual motor 60 responds at a timing earlier than the timing at which the real motor 12 responds to the control signal.

  Therefore, when it is necessary to supply the same control signal to the real motor 12 and the virtual motor 60 substantially simultaneously at a certain time t (i) based on a certain control target value, If the same control signal as the control signal (in this paragraph and the next paragraph, the control signal supplied to the virtual motor 60 is indicated by “X”) is supplied only to the virtual motor 60, the time t (i The virtual motor 60 can be operated so that the virtual motor 60 responds to the control signal X before) arrives.

  Therefore, the control signal X is corrected based on the relationship between the operating state of the virtual motor 60 at this time and the current control target value (for example, phase delay compensation described later in the present embodiment or in the second embodiment described later). (Two feedback control) can be performed prior to time t (i). Therefore, prior to time t (i), the control signal to be supplied to the real motor 12 is optimized in relation to the input / output characteristics of the real motor 12, and the optimized control signal is sent to time t (i). The real motor 12 and the virtual motor 60 can be supplied.

  As shown in FIG. 3, the virtual motor calculation unit 50 further includes a virtual motor state detection unit 62 that detects the operating state of the virtual motor 60. For example, the virtual motor state detecting unit 62 operates as the virtual motor 60 as the virtual motor current vector I * obtained by calculation of the virtual motor 60, that is, the virtual three-phase real currents Iu *, Iv *, Iw *, virtual torque, and the like. (Virtual generation torque) Te *, virtual motor speed ωm *, virtual motor position θm *, virtual three-phase magnetic flux Fu *, Fv *, Fw *, etc. can be detected. As described above, since the virtual motor 60 is configured to output the virtual three-phase actual currents Iu *, Iv *, Iw *, the virtual motor state detection unit 62 is configured to output the virtual three-phase actual currents Iu *, Iv. When it is necessary to detect * and Iw * and supply them to the virtual motor control unit 64, the virtual three-phase real currents Iu *, Iv *, and Iw * output from the virtual motor 60 are directly controlled by the virtual motor. What is necessary is just to transfer to the part 64.

  As shown in FIG. 3, the virtual motor calculation unit 50 controls the virtual motor 60 by using the target signal and the actual motor state signal output from the actual motor state detection unit 30 (for example, the actual motor position θm). And a virtual motor control unit 64 that generates a plurality of control signals (the aforementioned gate signals Gu, Gv, Gw, Gx, Gy, Gw) based on the virtual motor state signal output from the virtual motor state detection unit 62. I have. The virtual motor control unit 64 outputs the generated control signal to the virtual motor 60 and simultaneously to the real motor 12.

  The virtual motor control unit 64 is based on the relationship between the control target value and the virtual motor operating state, and the virtual operating position of the virtual motor 60 (the operating position of the virtual rotor as a virtual movable member) is the actual motor 12. A control signal common to the real motor 12 and the virtual motor 60 is determined on the assumption that it coincides with the operation position (actual operation position of the actual rotor as the actual movable member). Thereby, the real motor 12 and the virtual motor 60 are driven together and substantially synchronized with each other with respect to the rotor position.

  A more specific configuration of the virtual motor control unit 64 will be described later with reference to FIG. 5. Prior to that, the operation of the virtual motor control unit 64 will be described with reference to the timing chart shown in FIG. An example will be described in detail.

  As illustrated in FIG. 6A, the control target value T0 is repeatedly input to the virtual motor control unit 64 at an input cycle Tin (for example, several tens of μsec). The virtual motor control unit 64 repeatedly performs the calculation for one cycle at a virtual motor calculation cycle Tv (for example, 1 μsec) shorter than the input cycle Tin, thereby, during one input cycle of the control target value T0, Calculate for multiple cycles. In the present embodiment, the input cycle Tin is set to have a length longer than the virtual motor calculation cycle Tv. Instead, the input cycle Tin has substantially the same length as the virtual motor calculation cycle Tv. Can be set.

  Briefly, as illustrated in FIG. 6B, the virtual motor control unit 64 repeatedly performs calculation for one cycle in the virtual motor calculation cycle Tv, and in each calculation cycle, control is performed. The target value T0 (i), the operating state θm (t) of the actual motor 12, and the operating state θm * (t) of the virtual motor 60 (represented simply as “θ (t)” in FIG. 6) The control signal Gu-Gz is determined based on the virtual motor 60 obtained by the previous calculation, and the determined control signal Gu-Gz is transmitted to the real motor 12 and the virtual motor 60 substantially simultaneously. Output.

  More specifically, as illustrated in FIG. 6B, the virtual motor control unit 64 first determines the control target value T0 (t) and the operating state θm ( t) and the operating state θ (t) of the virtual motor 60 and acquired by the previous calculation of the virtual motor 60 are captured. This processing is represented by “θm (t) input” in FIG.

  Next, a temporary control signal common to the real motor 12 and the virtual motor 60 is determined based on the fetched control target value T0 (t), actual motor state θm (t), and virtual motor state θ (t). . This process is represented by “θ (t) = θm (t) synchronization” in FIG.

  Thereafter, the determined temporary control signal is subjected to phase lag compensation based on the estimated change amount Δθ of the operating state of the real motor 12 during the virtual motor calculation cycle Tv, thereby the real motor 12 and the virtual motor. The final control signal Gu-Gz common to 60 is acquired. This process is represented by “θ (t) + Δθ control” in FIG.

  Subsequently, the obtained final control signal Gu-Gz is output to the real motor 12 and the virtual motor 60 substantially simultaneously. This process is represented by “Gu to Gz output” in FIG. In each calculation cycle, unlike the second embodiment described later, since the control signal is input to the virtual motor 60 only once, the virtual motor 60 operates only once.

  In FIG. 6B and FIG. 6C, the same timing as the timing at which the calculation cycle to which the control signal Gu-Gz belongs after the control signal Gu-Gz is supplied to the actual motor 12 ends. Thus, it is shown that the actual motor position θm (t) changes to θm (t + 1) (= θm (t) + Δθ). However, this is only an example for explanation, and actually, the actual motor position θm (t) changes to θm (t + 1) at a timing earlier or later than the timing.

  Next, an example of the configuration of the virtual motor control unit 64 will be specifically described with reference to FIG. However, when the same symbol is used alone, it means an actual value or a detected value for the virtual motor 60, while when used in combination with “*”, a command value for the virtual motor 60 is used. Means.

  The virtual motor control unit 64 performs magnetic flux-torque control on the dq coordinate system (rotation orthogonal two-axis dq coordinate system). Here, “d” represents the virtual magnetic flux of the virtual motor 60, and “q” represents the virtual torque of the virtual motor 60. In order to realize such control, the target signal is expressed as virtual dq-axis command currents Id *, Iq * (virtual d-axis command current Id * and virtual q-axis command current Iq *), and the virtual signal The motor state signals, that is, the virtual three-phase actual currents Iu, Iv, Iw are converted by the UVW-dq coordinate converter 68 into virtual dq-axis actual currents Id, Iq.

  As shown in FIG. 5A, the virtual motor control unit 64 feeds back the virtual dq-axis actual currents Id and Iq (an estimated value of the virtual motor operating state, that is, an example of the previous calculated value of the virtual motor operating state). The virtual dq-axis command voltages Vd * and Vq * are calculated so that the difference between the virtual dq-axis actual currents Id and Iq and the virtual dq-axis command currents Id * and Iq * approaches zero. Therefore, when the virtual d-axis command current Id * and the virtual d-axis actual current Id are input, the virtual motor control unit 64 converts the phase current from the three-phase coordinate system to dq using vector control (rotor position information). A current controller 70 for calculating a corresponding virtual d-axis command voltage Vd *, a virtual q-axis command current Iq *, and a virtual q-axis actual current Iq. And a current controller 72 for calculating a corresponding virtual q-axis command voltage Vq *.

  As shown in FIG. 5A, the virtual motor control unit 64 includes virtual dq axis command voltages Vd * and Vq *, virtual dq axis actual currents Id and Iq, and actual motor state detection unit 30 (see FIG. 1). Is further provided with a non-interacting controller 74 that corrects the virtual dq-axis command voltages Vd * and Vq * based on the actual motor status signal (actual motor position θm) supplied from.

  In the conventional technique that uses the virtual motor 60 separately from the real motor 12, the non-interacting controller 74 includes the virtual dq axis command voltages Vd * and Vq *, the virtual dq axis real currents Id and Iq, and the virtual motor 60. The virtual dq axis command voltages Vd * and Vq * are corrected based on the virtual motor position θm. On the other hand, in this embodiment, the non-interacting controller 74 uses the actual motor position θm instead of the virtual motor position θm.

  As a result, according to the present embodiment, the virtual dq axis command voltages Vd * and Vq * are corrected so that the virtual motor position θ of the virtual motor 60 and the real motor position θm of the real motor 12 coincide with each other. Will be.

  As shown in FIG. 5A, the virtual motor control unit 64 converts the virtual dq axis command voltages Vd * and Vq * into virtual three-phase command voltages Vu *, Vv *, and Vw * under the actual motor position θm. Further, a dq-UVW coordinate converter 76 for converting into the above is provided.

  In the conventional technique in which the virtual motor 60 is separated from the actual motor 12 and used, the dq-UVW coordinate converter 76 generates the virtual dq axis command voltages Vd * and Vq * under the virtual motor position θm of the virtual motor 60. Conversion into virtual three-phase command voltages Vu *, Vv *, Vw *. On the other hand, in this embodiment, the dq-UVW coordinate converter 76 uses the actual motor position θm instead of the virtual motor position θm.

  As a result, according to the present embodiment, the virtual three-phase command voltages Vu *, Vv *, and Vw * are set so that the virtual motor position θ of the virtual motor 60 and the real motor position θm of the real motor 12 coincide with each other. Will be acquired.

  Thus, in the present embodiment, in order to generate the control signal, the non-interacting controller 74 and the dq-UVW coordinate converter 76 refer to the actual motor position θm instead of the virtual motor position θ.

  However, for example, when the virtual motor 60 is taught to reproduce the input / output characteristics of the real motor 12 sufficiently accurately as in the third embodiment described later, the virtual motor position θ and the real motor position θm Are in good agreement with each other. In this case, even if the non-interacting controller 74 and the dq-UVW coordinate converter 76 refer to the virtual motor θ instead of the actual motor position θm, the control signal is the same as the virtual motor position θ of the virtual motor 60. The actual motor position θm of the actual motor 12 is acquired so as to coincide with each other.

  As shown in FIG. 5A, the virtual motor control unit 64 further includes a Δθ estimator 80 for performing the phase delay compensation.

  As illustrated in FIG. 6B, the virtual motor 60 is operated to determine the next control signal during one calculation cycle having the length of the virtual motor calculation period Tv. Meanwhile, if the actual motor position θm remains unchanged, the actual motor position θm (t) used for determining the next control signal and the determined next control signal start to be input to the actual motor 12. Since the actual motor position θm (t + 1) coincides with each other (or when the response of the actual motor 12 to the control signal is completed), the error of the control signal does not occur.

  However, if the actual motor position θm changes during this period, the actual motor position θm (t) used to determine the next control signal and the determined next control signal start to be input to the actual motor 12. Since the actual motor position θm (t + 1) does not coincide with each other (or when the response of the actual motor 12 to the control signal is completed), an error of the control signal occurs.

  Therefore, in the present embodiment, the Δθ estimator 80 is the time when the actual motor position θm is input and the time when the next control signal starts to be input to the actual motor 12 (or the response of the actual motor 12 to the control signal). The amount of change Δθ in which the actual motor position θm is expected to change during the period between the time when the motor is completed) is estimated.

  The amount of change Δθ is, for example, the time when the actual motor position θm is input and the time when the next control signal starts to be input to the actual motor 12 (or the time when the response of the actual motor 12 to the control signal is completed). Paying attention to the fact that the length of the period between and the virtual motor calculation period Tv does not exceed or substantially approximate the length of the virtual motor calculation period Tv, it is estimated as the product of the length of the virtual motor calculation period Tv and the angular velocity ωm of the actual motor 12. Or estimated according to the length of the virtual motor calculation cycle Tv (if the length of the virtual motor calculation cycle Tv is variable, the longer it is, the more likely the variation Δθ is) It is possible to estimate according to the angular velocity ωm of the actual motor 12 (because the higher the angular velocity ωm of the actual motor 12 is, the higher the change amount Δθ is likely).

  As shown in FIG. 5A, the virtual motor control unit 64 includes a Δθ estimator 80. When the Δθ estimator 80 acquires the change amount Δθ as described above, the change amount is obtained. Δθ is added to the actual motor position θm acquired at the beginning of the same calculation cycle, so that the motor position input to the dq-UVW coordinate converter 76 becomes equal to θm + Δθ. It is corrected to follow the operation.

  As shown in FIG. 5A, the dq-UVW coordinate converter 76 converts the virtual dq axis command voltages Vd * and Vq * to the virtual three-phase command voltage Vu * under the motor position corrected as described above. , Vv *, and Vw *, and as a result, the virtual three-phase command voltages Vu *, Vv *, and Vw * are acquired as values that allow for the variation Δθ. As a result, the control signal is determined by predicting a future change in the actual motor position θm, so that the above-described phase delay compensation is performed as a kind of feedforward control.

  As shown in FIG. 3, the virtual motor calculation unit 50 further includes a virtual PWM inverter 90 to which the control signal is input. The control signals are a plurality of gate signals Gu, Gv, Gw, Gx, Gy, Gw, and among these gate signals, the gate signals Gu, Gv, Gw are upper arms of each UVW phase belonging to the virtual PWM inverter 90. The pulse signals supplied to the switching elements 24 respectively. On the other hand, the gate signals Gx, Gy, Gw are the pulse signals supplied to the lower arm switching elements 24 of the UVW phases belonging to the virtual PWM inverter 90, respectively. It is. This also applies to the actual inverter 16.

  Each gate signal Gu, Gv, Gw, Gx, Gy, Gw is a pulse signal, and has each duty ratio Du, Dv, Dw, Dx, Dy, Dz. Further, the virtual PWM inverter 90 is applied with a DC voltage Vdc.

  As shown in FIG. 7, the virtual motor terminal voltages Vu, Vv, Vw input to the virtual motor 60 for each phase are described by three equations. Therefore, the virtual PWM inverter 90 samples the gate signals Gu, Gv, Gw, Gx, Gy, Gw input to each gate at a predetermined sampling period (for example, 10 ns), and uses the sampling result to determine the duty ratio. Du, Dv, Dw, Dx, Dy, Dz are calculated. Each duty ratio D can be calculated, for example, by dividing the length of the on-time Ton of each pulse by the pulse period (= Ton + Toff). The virtual PWM inverter 90 calculates the calculated values of the duty ratios Du, Dv, Dw, Dx, Dy, Dz (numerical values from 0 to 1) and the value of the DC voltage Vdc (for example, a fixed value) from the above three formulas. By substituting into, virtual motor terminal voltages Vu, Vv, and Vw are calculated.

  FIG. 8 is a flowchart illustrating an example of the operation of the motor control device 10. This flowchart represents steps S1 and S2 executed by the CPU 44 and steps S3-S11 executed repeatedly by the arithmetic circuit 42. These steps S3-S11 are executed once to achieve one calculation cycle.

  First, in step S1, initialization is performed. Specifically, for example, the actual motor state detection unit 30 acquires the initial actual motor position θinit, and the same position is set as the initial virtual motor position θinit of the virtual motor 60.

  Next, every time an input cycle Tin (for example, several tens of microseconds) elapses, an interrupt is generated and step S2 is executed. In step S2, the current control target value T0 is input.

  Subsequently, in step S3, data input is performed. Specifically, the virtual motor state Iu *, Iv *, and Iw * are received from the virtual motor state detection unit 62, and the actual motor state is received from the real motor state detection unit 30. Each θm is input.

  Thereafter, in steps S4 to S6, the virtual motor control unit 64 is operated. Specifically, first, in step S4, the virtual dq axis command voltage is set so that the virtual motor 60 and the real motor 12 are synchronized with each other with respect to the motor position by the current controllers 70 and 72 and the non-interacting controller 74. Signals Vd * and Vq * are generated.

  Next, in step S5, the change amount Δθ is estimated by the Δθ estimator 80, the actual motor position θm is corrected based on the estimated change amount Δθ, and the dq-UVW coordinate converter 76 calculates the change amount Δθ. Under the corrected actual motor position θm, the virtual dq-axis command voltage signals Vd * and Vq * are converted into virtual three-phase command voltage signals Vu *, Vv * and Vw *. Subsequently, in step S6, the PWM signal generator 78 converts the virtual three-phase command voltage signals Vu *, Vv *, Vw * into PWM signals Gu, Gv, Gw, Gx, Gy, Gz.

  Thereafter, in step S7, the PWM signals Gu, Gv, Gw, Gx, Gy, Gz thus acquired are output to the actual inverter / power amplifier 14, thereby driving the actual motor 12. Subsequently, the same PWM signals Gu, Gv, Gw, Gx, Gy, Gz are output to the virtual PWM inverter 90 at step S8 at substantially the same timing as the output timing. Thereby, virtual motor terminal voltages Vu, Vv, Vw are calculated.

  Subsequently, in step S9, the calculated virtual motor terminal voltages Vu, Vv, Vw are output to the virtual motor 60, so that the virtual motor current vector I *, that is, the virtual, is obtained by using the motor model described above. Motor states Iu *, Iv *, Iw * are calculated.

  Thereafter, in step S10, the virtual motor state detection unit 62 outputs the virtual motor current vector I *, that is, the virtual motor states Iu *, Iv *, and Iw *. The virtual motor current vector I * is temporarily stored in a specific memory (not shown) in preparation for calculation in the next calculation cycle.

  Subsequently, in step S11, it is determined whether or not a main power source (not shown) of the system 11 is turned off. If the main power supply is still on, the determination is no and the process returns to step S3 for calculation in the next calculation cycle. On the other hand, when the main power supply is turned off, the determination in step S11 is YES, and the operation of the motor control device 10 is thus completed.

  In the present embodiment, the motor control device 10 generates a control signal for the virtual motor 60 based on the control target value for the real motor 12 in the first place. First, the actual motor 12 is also output at substantially the same time, thereby controlling the actual motor 12.

  The present invention can be implemented in another mode in which the same control signal is output to the virtual motor 60 first and then to the real motor 12 later. On the other hand, when the same control signal is output to the virtual motor 60 and the real motor 12 at substantially the same time as in the present embodiment, the control signal is sent to the real motor 12 in the other mode. The control signal is supplied to the actual motor 12 at a timing earlier than the supplied timing. As a result, it becomes easy to shorten the control cycle of the actual motor 12, and as a result, finer control of the actual motor 12 is achieved. It becomes easy.

  The motor control device 10 refers to the operation state quantity of the real motor 12 in order to generate a control signal for the virtual motor 60 in the first place, but in this embodiment, the only operation state quantity for the real motor 12 is That is, only the actual motor position θm is referred to. Therefore, compared to a case where a plurality of operating state quantities for the actual motor 12 must be referred to, the system design can be simplified, and the apparatus cost can be reduced and the reliability and stability of the apparatus can be easily improved.

  In the present embodiment, the control target value, the operating state of the actual motor 12, and the feedback of the previous calculated value obtained by the previous calculation of the virtual motor 60 in the operating state of the virtual motor 60, The control signal is determined based on the previous calculated value of the virtual motor operating state. As a result, the virtual motor 60 is feedback-controlled. As a result, the error of the motor model of the virtual motor 60, the control error of the real motor 12, the individual variation of the characteristics of the real motor 12, the time-dependent change of the characteristics of the real motor 12, The control signal is determined so that an adverse effect caused by a disturbance on the system is absorbed.

  In the present embodiment, as in the second embodiment to be described later, the feedback control for the virtual motor 60 performs the previous calculation value of the virtual motor 60 and the actual motor position θm that is an example of the operating state of the actual motor 12. It is done using. Although the previous calculated value of the virtual motor 60 is used as a feedback signal fed back to the virtual motor 60, the actual motor position θm is not used as a feedback signal, but in the above-described dq axis control for the virtual motor 60. Used for coordinate transformation.

  Thus, in the present embodiment, the feedback signal is designed so as not to include a signal other than the output signal of the virtual motor 60, that is, the output signal of the real motor 12, so that the feedback signal is Compared with the case where the output signal of the actual motor 12 is included, the self-containment of the system is improved, and the control stability of the system is improved.

  In addition, there are various modifications in this embodiment. Some of these modified examples will be described by way of example. In the first modified example, the virtual motor control unit 64 determines the control signal in a Ford forward manner without performing the above-described phase delay compensation. .

  Specifically, the motor control device 10 according to the first modification has a configuration that is basically the same as that of the first embodiment described above, but the virtual motor control unit 64 is the one shown in FIG. Changed to

  Specifically, in the first modification, the virtual motor control unit 64 does not include the Δθ estimator 80, and the dq-UVW coordinate converter 76 is acquired at the beginning of the same calculation cycle. Under the actual motor position θm, the virtual dq-axis command voltages Vd * and Vq * are converted into virtual three-phase command voltages Vu *, Vv * and Vw *, and as a result, these virtual three-phase command voltages Vu * and Vv * And Vw * are acquired as values ignoring the variation Δθ.

  In the first modification, the length of the virtual motor calculation cycle Tv is short and / or the angular speed of the real motor 12 is low, so that there is no problem even if the change amount Δθ is ignored. In this case, it is advantageous in that the Δθ estimator 80 can be omitted.

  About this 1st modification, the timing chart showing an example of operation of motor control device 10 is changed into what is shown in Drawing 6 (c), and the flowchart showing an example of operation of motor control device 10 is as follows. Although common to the flowchart shown in FIG. 8, in step S5, the estimation of the change amount Δθ by the Δθ estimator 80 is omitted, and the dq-UVW coordinate converter 76 uses the actual motor position θm in step S4. The generated virtual dq axis command voltage signal is converted into a virtual three-phase command voltage signal.

  On the other hand, in the second modified example, since the virtual motor 60 is designed to accurately reproduce the operation of the real motor 12, the virtual motor position θ sufficiently matches the real motor position θm. The control signal is generated by referring to the virtual motor position instead of the actual motor position θm. According to the second modification, the motor control device 10 can generate the control signal without using a sensor that detects the operating state of the actual motor 12. That is, the actual motor 12 can be controlled in a sensorless manner.

Second Embodiment

  Next, a motor control device 100 according to a second embodiment of the present invention will be described with reference to FIGS. However, since this embodiment has elements common to the first embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant descriptions and only different elements. This will be described in detail.

  First, as schematically illustrated, as shown in the exemplary timing chart of FIG. 9, in this embodiment, the virtual motor calculation unit 50 operates the virtual motor 60 twice in each calculation cycle.

  Specifically, the virtual motor calculation unit 50 performs the current control target value and the current operation of the real motor 12 for the first operation (feedback control) of the virtual motor 60 in each calculation cycle. A temporary control signal for the virtual motor 60 is determined based on the state θm1 and the operating state I1 of the virtual motor 60 and obtained by the previous calculation of the virtual motor 60, and the determined temporary control The signal is output to the virtual motor 60 without being output to the real motor 12, thereby estimating the current operating state of the virtual motor 60.

  The virtual motor calculation unit 50 determines the current control target value and the actual motor 12 for the operation (feedback control) for the last time (second time in the present embodiment) for the virtual motor 60 in each calculation cycle. The final control signal common to the real motor 12 and the virtual motor 60 based on the current operation state θm2 of the virtual motor 60 and the virtual motor 60 operating state I2 obtained by the previous calculation of the virtual motor 60 And the final control signal thus determined is output to the real motor 12 and the virtual motor 60 substantially simultaneously.

  In this embodiment, before the final control signal is output to the real motor 12 and the virtual motor 60, the temporary control signal is output to the virtual motor 60. As a result, the virtual motor 60 includes the main control signal. Both the control signal and the final control signal are output. If this is the case, the control amount of the actual motor 12 and the total control amount of the virtual motor 60 will not match.

  Therefore, in the present embodiment, the virtual motor calculation unit 50 performs the second operation on the virtual motor 60, the current control target value, the current operating state θm <b> 2 of the real motor 12, and the virtual motor 60. The control signal is determined in accordance with the same rule as before based on the operation state I2 of the virtual motor 60 obtained by the previous calculation of the virtual motor 60, but this control signal is not the final control signal, Treated as a control signal correction amount.

  In addition, the virtual motor calculation unit 50 causes the virtual motor 60 to cancel the influence of the temporary control signal in the virtual motor 60 in the state before the temporary control signal is input, that is, the previous calculation cycle. Is restored to the state at the time of completion.

  Further, the virtual motor calculation unit 50 determines the final control signal by correcting the determined temporary control signal with the control signal correction amount. Then, the virtual motor calculation unit 50 outputs the determined final control signal to the real motor 12 and the virtual motor 60 substantially simultaneously. As a result, the same situation as that in which the final control signal is input from the beginning is reproduced in the virtual motor 60 in the current calculation cycle.

  Next, specifically, as shown in the exemplary flowchart of FIG. 10, in this embodiment, steps S1-S6 are executed in the same manner as in the first embodiment. However, in the present embodiment, “input 1” in FIG. 9 is executed in step S3, the virtual motor state I1 and the actual motor state θm1 are input, and in step S6, the PWM signal is subjected to the temporary control. Generated as a signal.

  Subsequently, Steps S8 to S10 are executed in the same manner as in the first embodiment. In Step S8, “Output 1” in FIG. 9 is executed, and in Step S10, the virtual motor current I2 is output. Is done. In the present embodiment, unlike the first embodiment, the PWM signal is output to the virtual motor 60 via the virtual PWM inverter 90 as the temporary control signal, but is not output to the real inverter / power amplifier 14. . As a result, the virtual motor 60 is controlled, but the real motor 12 is not controlled. Through steps S3 to S10, the “first feedback control by the virtual motor” shown in FIG. 9 is executed.

  Thereafter, the “second feedback control by the virtual motor” shown in FIG. 9 is executed in steps S21 to S28.

  Specifically, first, “input 2” in FIG. 9 is executed in step S21, and the virtual motor state I2 and the actual motor state θm2 are input in the same manner as in step S3. Next, in step S22, a virtual dq axis command voltage signal is generated in the same manner as in step S4, and in step S23, a virtual three-phase command voltage signal is generated in the same manner as in step S5.

  Thereafter, in step S24, the PWM signal is generated in the same manner as in step S6. The PWM signal is handled as the control signal correction amount, and the temporary control signal generated by the execution of step S10 is Correction is performed by the control signal correction amount, whereby the final control signal is generated.

  This final control signal is generated to reflect the result of the first feedback control by the virtual motor 60 (so that the control error is reduced). As a result, this final control signal is more accurate than the temporary control signal. improves. Moreover, since this final control signal is generated based on the virtual motor state I2 and the actual motor state θm2 which are the latest information, not the virtual motor state I1 and the actual motor state θm1 which are the first information, the virtual motor 60 The latest state of the real motor 12 is reflected, and actual changes in the virtual motor 60 and the real motor 12 are followed in real time. As a result, the accuracy of the control signal is improved as compared with the case where the control signal is generated on the assumption that neither the virtual motor 60 nor the actual motor 12 changes during one calculation cycle.

  Thereafter, in step S25, as in step S7 in the first embodiment, the final control signal, that is, the second PWM signal Gu, Gv, Gw, Gx, Gy, Gz is sent to the actual inverter / power amplifier 14. Thus, the actual motor 12 is driven. This step S25 corresponds to “output 2” in FIG.

  Subsequently, the same PWM signals Gu, Gv, Gw, Gx, Gy, Gz are output to the virtual PWM inverter 90 in step S26 in the same manner as in step S8 at substantially the same output timing. . Thereby, virtual motor terminal voltages Vu, Vv, Vw are calculated. This step S26 also corresponds to “output 2” in FIG.

  Thereafter, in step S27, the calculated virtual motor terminal voltages Vu, Vv, and Vw are output to the virtual motor 60 in the same manner as in step S9, so that the virtual motor is used by using the motor model described above. A current vector I3 is calculated.

  Subsequently, in step S28, the virtual motor current vector I3 is output by the virtual motor state detection unit 62 in the same manner as in step S10. The virtual motor current vector I3 is temporarily stored in a specific memory in preparation for calculation in the next calculation cycle.

  Thereafter, in step S11, it is determined whether or not a main power supply (not shown) of the system 11 is turned off. If the main power is still on, the determination is no and the process returns to step S3 for calculation in the next calculation cycle. On the other hand, when the main power supply is turned off, the determination in step S11 is YES, and the operation of the motor control device 10 is thus completed.

<Third Embodiment>

  Next, a motor control device 200 according to a third embodiment of the present invention will be described with reference to FIGS. However, since this embodiment has elements common to the first embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant descriptions and only different elements. This will be described in detail.

  As shown in FIG. 11, the motor control device 200 is provided in the system 202. The system 202 includes the actual motor 12, the actual inverter / power amplifier 14, and the actual motor state detection unit 30 that act as a drive source of the system 202, as in the first embodiment. The state detection unit 30 can detect actual motor currents Iu, Iv, Iw of the actual motor 12, an actual motor speed ωm, an actual motor position θm, and the like.

  As shown in FIG. 11, the motor control device 200 further includes a virtual motor calculation unit 210 and a real motor control unit 220. The virtual motor calculation unit 210 (however, in this embodiment, the comparison unit 222 and the model correction unit 224 shown in FIG. 12 and step S111 shown in FIG. 14 described later are executed by the CPU 44) and actual motor control. The unit 220 is configured to be capable of high-speed calculation by the calculation circuit 42.

  However, only the virtual motor calculation unit 210 is configured to be capable of high-speed calculation by the calculation circuit 42, and is different from the actual motor control unit 220 in another calculation circuit (not shown) or CPU 44 that performs calculation at a lower speed than the calculation circuit 42. It is also possible to execute by.

  The real motor control unit 220 determines a control signal common to the real motor 12 and the virtual motor 60 based on the operating state of the virtual motor 60. Therefore, the real motor control unit 220 has a configuration common to the virtual motor control unit 64 in the first embodiment. In this embodiment, the virtual motor control unit 64 does not have the Δθ estimator 80 and does not perform phase delay compensation as shown in FIG. You may change so that it may have the circuit structure shown.

  As shown in FIG. 12, the virtual motor calculation unit 210 includes a virtual PWM inverter 90, a virtual motor 60, and a virtual motor state detection unit 62, as in the first embodiment. The virtual three-phase actual currents Iu *, Iv *, Iw * calculated by the virtual motor 60 are detected, and the virtual motor torque Te is detected from the detected values of the virtual three-phase actual currents Iu *, Iv *, Iw *. *, Virtual motor speed ωm *, virtual motor position θm *, virtual three-phase magnetic flux Fu *, Fv *, Fw *, etc. are calculated. The virtual motor calculation unit 210 further includes a comparison unit 222 and a model correction unit 224.

  First, as schematically illustrated, the actual motor control unit 220, as shown in FIG. 11, controls the control target value (for example, the motor speed command ωm_ref) and the operating state of the virtual motor 60 (for example, the virtual three-phase actual current). Control signals Gu, Gv, Gw, Gx, Gy, Gz that are common to the virtual motor 60 and the real motor 12 based on Iu *, Iv *, Iw *, virtual motor speed ωm *, virtual motor position θm *). And the determined control signal is output to the real motor 12 and the virtual motor 60 substantially simultaneously.

  In one example, the actual motor control unit 220 may calculate a motor speed command ωm_ref and a virtual motor speed ωm * (for example, a time differential value of the virtual motor position θm *) by a speed controller (not shown). Virtual dq-axis command currents Id * and Iq * are calculated based on the difference between the virtual d-axis command current Id * and the current q-axis command current Iq *. Supply. The actual motor control unit 220 supplies the virtual motor position θm * to the coordinate converter 68, the non-interacting controller 74, and the coordinate converter 76 instead of the actual motor position θm.

  The real motor control unit 220 determines a control signal common to the real motor 12 and the virtual motor 60 based on the control target value, and outputs the control signal to the motors 12 and 60 substantially simultaneously. Although common to the virtual motor control unit 64 in the first embodiment, it is different in that a virtual motor state signal is used instead of the actual motor state signal in order to determine a control signal.

  The virtual motor calculation unit 210 is in a state where the actual motor 12 is stopped (when the supply of electric energy to the actual motor 12 is unnecessary because the control signal input to the actual motor 12 does not change with time). Also, the operation continues based on the control signal from the actual motor control unit 220.

  As shown in FIG. 12, the comparison unit 222 operates the actual motor 12 (for example, the real three-phase actual currents Iu, Iv, Iw) and the virtual motor 60 (for example, the virtual three-phase actual current Iu *, Iv *, Iw *) are compared with each other, and the difference between the two is calculated as a current error ΔI for each phase.

  As shown in FIG. 12, the model correction unit 224 defines the input / output characteristics of the virtual motor 60 based on the calculated current error ΔI so that the current error ΔI decreases (see FIG. 4). ). For example, based on the calculated current error ΔI, the model correction unit 224 sets a corresponding element in the inductance matrix shown in FIG. 4 to a predetermined relationship between the current error ΔI and the value of the element (for example, (Acquired empirically or experimentally).

  The model correction unit 224 performs teaching that teaches the virtual motor 60 the input / output characteristics of the real motor 12 by actually driving the real motor 12, and as a result, the operating state of the real motor 12 and the virtual motor 60. , That is, the calculation result of the virtual motor 60 agrees with each other, eventually, the real motor control unit 220 determines that the control target value and the operation state of the real motor 12 are the same as in the first embodiment. This is considered to be equivalent to determining a control signal common to the real motor 12 and the virtual motor 60 and outputting the determined control signal to the real motor 12 and the virtual motor 60 substantially simultaneously.

  FIG. 13 conceptually shows an example of the operation of the actual motor control unit 220 in a flowchart. The actual motor control unit 220 performs calculations periodically and repeats the calculation for one cycle at an actual motor calculation cycle Tm (for example, several tens of μsec) longer than the virtual motor calculation cycle Tv.

  Specifically, first, in step S101, data input is performed. Specifically, the current control target value T0 (for example, the motor speed command ωm_ref) is, for example, a controller (not shown) installed in the system 11. ) Or an external controller (not shown). Further, virtual three-phase real current signals Iu *, Iv *, Iw *, virtual motor speed ωm *, and virtual motor position θm * are input from the virtual motor state detector 62 as virtual motor states.

  Thereafter, in step S102, the input control target value T0 is converted into virtual dq-axis command current signals Id * and Iq * by using a predetermined conversion table. Further, the inputted virtual three-phase actual current signals Iu *, Iv *, Iw * are converted into virtual dq-axis actual current signals Id, Iq by the UVW-dq coordinate converter 68 shown in FIG.

  In step S102, the virtual dq-axis command current signals Id * and Iq * and the virtual dq-axis actual current signals Id and Iq are further converted by the current controllers 70 and 72 and the non-interacting controller 74 shown in FIG. The virtual motor 60 and the real motor 12 are converted into virtual dq axis command voltage signals Vd * and Vq * so as to be synchronized with each other with respect to the motor position (defined in this embodiment by the virtual motor position θm *). The

  In this step S102, the generated virtual dq axis command voltage signals Vd * and Vq * are further converted into a motor position (in this embodiment, a virtual motor position by the dq-UVW coordinate converter 76 shown in FIG. converted to virtual dq axis command voltage signals Vd * and Vq *.

  Subsequently, in step S103, data output is performed. Specifically, the generated virtual dq axis command voltage signals Vd * and Vq * are generated by the PWM signal generator 78 shown in FIG. Converted to Gv, Gw, Gx, Gy, Gz. The generated PWM signals Gu, Gv, Gw, Gx, Gy, Gz are input to the actual inverter / power amplifier 14, thereby driving the actual motor 12. Then, it returns to step S101.

  These steps S101 to S103 are repeatedly executed at the actual motor calculation cycle Tm.

  FIG. 14 conceptually shows an example of the operation of the virtual motor calculation unit 210 in a flowchart. The virtual motor calculation unit 210 performs calculations periodically and repeats the calculation for one cycle at a virtual motor calculation cycle Tv (for example, several 1 μsec) shorter than the actual motor calculation cycle Tm.

  Specifically, first, initialization is performed in step S111. Specifically, for example, the actual motor state detection unit 30 acquires the initial actual motor position θinit, and the same position is set as the initial virtual motor position θinit of the virtual motor 60.

  Next, in step S112, data input is performed. Specifically, the timing at which the generated PWM signals Gu, Gv, Gw, Gx, Gy, Gz are output to the actual inverter / power amplifier 14. Is input to the virtual PWM inverter 90 shown in FIG. The virtual motor inverter voltage signal Vu, Vv, Vw is generated by the operation of the virtual PWM inverter 90, that is, calculation.

  Subsequently, in step S113, the calculated virtual motor terminal voltage signals Vu, Vv, Vw are output to the virtual motor 60, whereby the operation of the virtual motor 60, that is, the above-described motor model is used. A calculation is performed, whereby a virtual motor current vector I *, that is, a virtual three-phase real current Iu *, Iv *, Iw * is calculated, and further, the virtual three-phase real currents Iu *, Iv *, Iw * are calculated. From the values, the virtual motor speed ωm * and the virtual motor position θm * are also calculated.

  Thereafter, in step S114, data is output. Specifically, the virtual motor state detector 62 calculates the calculated virtual motor current vector I *, that is, the virtual three-phase actual current values Iu *, Iv *, Iw *. The virtual motor speed ωm * and the virtual motor position θm * are output. The calculated values of the virtual three-phase actual currents Iu *, Iv *, Iw *, the virtual motor speed ωm *, and the virtual motor position θm * are stored in a specific memory (not shown) in preparation for the next calculation by the real motor control unit 220. ) Temporarily saved. Thereafter, the process returns to step S112.

  The group of steps from S112 to S114 is repeatedly executed at the virtual motor calculation cycle Tv.

  FIG. 15 conceptually shows an example of the operation of the comparison unit 222 and the model correction unit 224 in a flowchart. The comparison unit 222 and the model correction unit 224 are repeatedly executed by the CPU 44 at an error monitoring calculation period Tc (for example, several tens of μsec).

  Specifically, first, in step S121, a current error ΔI that is an error of the phase current of the virtual motor 60 from the phase current of the actual motor 12 is calculated for each of the phases U, V, and W. It is determined whether at least one of the absolute values of the calculated current error ΔI is greater than a predetermined threshold value ΔIth. This time, assuming that the calculated value of the current error ΔI is equal to or less than the threshold value ΔIth for any phase, the determination in step S121 is NO, and the same step S121 is executed again.

  On the other hand, this time, assuming that the calculated value of the current error ΔI exceeds the threshold value ΔIth for at least one phase, the determination in step S121 is YES, and the process proceeds to step S122.

  In step S122, the comparison unit 222 is operated. Specifically, a correction amount for correcting the motor model is calculated so that the current error ΔI does not exceed the threshold value ΔIth for any phase.

  In an example of the calculation method, among the plurality of discrete representative values that can be taken by the current error ΔI for each phase, the element to be corrected among the elements L and M in the inductance matrix, The correction amount (original value) corresponding to the actual calculated value of the current error ΔI according to a predetermined relationship with the correction amount (for example, stored in the memory for the processor 40 in advance as a table). Or a coefficient that is multiplied by the original value).

  Subsequently, in step S123, the model correction unit 224 is operated. Specifically, the motor model that defines the input / output characteristics of the virtual model 60 is corrected based on the calculated correction amount (for example, a correction coefficient acquired in common with a plurality of elements of the inductance matrix or The correction factor obtained for each element is multiplied by the original value of those elements). Teaching of the virtual model 60 is performed based on the calculated value of the current error ΔI, and as a result, the input / output characteristics of the virtual model 60 more accurately reflect the input / output characteristics of the actual motor 12. Thereafter, the process returns to step S121.

  These steps S121 to S123 are repeatedly executed with an error monitoring period (which is also a teaching period) Tc longer than the virtual motor calculation period Tv.

  As is apparent from the above description, according to the present embodiment, the actual input of the actual motor 12 can be performed regardless of whether the system 202 is in a state of being operated on a trial basis or in a state of being actually operated. The input / output characteristics of the virtual motor 60, that is, the motor model can be individually tuned to reflect the output characteristics.

  Therefore, according to the present embodiment, in the manufacturing stage of the system 202, the input / output characteristics of the virtual motor 60, that is, the motor model, are individually tuned so as to reflect individual variations in the input / output characteristics of the actual motor 12 and the like. Is possible. In addition, after the system 202 is shipped, when the user actually uses the system 202, the input / output characteristics of the actual motor 12 are deteriorated with time or due to an external environment (for example, a temperature environment). It is possible to automatically tune the input / output characteristics of the virtual motor 60, that is, the motor model, individually and in parallel with the original application so as to reflect changes and the like. The motor model tuned in such a manner can be employed in the first or second embodiment described above or can be employed in a fourth embodiment described later.

<Fourth embodiment>

  Next, a motor control device 300 according to a fourth embodiment of the present invention will be described with reference to FIGS. However, since this embodiment has elements common to the first embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant descriptions and only different elements. This will be described in detail.

  As shown in FIG. 16, the motor control device 300 is provided in a system 302. Similar to the first embodiment, the system 302 includes an actual motor 12 that functions as a drive source of the system 302, an actual inverter / power amplifier 14, and an actual motor state detection unit 30, but the actual motor The state detection unit 30 can detect actual motor currents Iu, Iv, Iw of the actual motor 12, an actual motor speed ωm, an actual motor position θm, and the like.

  As illustrated in FIG. 16, the motor control device 300 further includes a virtual motor calculation unit 310 and a real motor control unit 320. The virtual motor calculation unit 310 (in this embodiment, a control switching unit 322 and a state signal switching unit 324 shown in FIG. 17, which will be described later, are executed by the CPU 44) and the actual motor control unit 320 are an arithmetic circuit. 42 is configured to be capable of high-speed computation.

  However, only the virtual motor calculation unit 310 is configured to be capable of high-speed calculation by the calculation circuit 42, and the actual motor control unit 320 is another calculation circuit (not shown) or a CPU 44 that performs calculation at a lower speed than the calculation circuit 42. It is also possible to execute by.

  The real motor control unit 320 determines a control signal common to the real motor 12 and the virtual motor 60 or a control signal supplied only to the virtual motor 60 based on the operating state of the real motor 12 or the virtual motor 60. Therefore, the real motor control unit 320 has a configuration common to the virtual motor control unit 64 in the first embodiment. In this embodiment, the virtual motor control unit 64 does not have the Δθ estimator 80 and does not perform phase delay compensation as shown in FIG. You may change so that it may have the circuit structure shown.

  As in the third embodiment, the actual motor control unit 320 operates according to the procedure conceptually shown in the flowchart of FIG. However, in the present embodiment, in step S101, as in the third embodiment, the virtual motor state detection unit 62 receives the virtual three-phase real current signals Iu *, Iv *, Iw *, virtual motor as the virtual motor state. In addition to the possibility that the speed ωm * and the virtual motor position θm * are input, unlike the third embodiment, the actual motor state is detected from the actual motor state detection unit 30 as the actual three-phase actual current signals Iu, Iv, There is a possibility that Iw, actual motor speed ωm, and actual motor position θm may be input.

  As shown in FIG. 17, the virtual motor calculation unit 310 includes a virtual PWM inverter 90, a virtual motor 60, and a virtual motor state detection unit 62, as in the first embodiment. The virtual three-phase actual currents Iu *, Iv *, Iw * calculated by the virtual motor 60 are detected, and the virtual motor torque Te is detected from the detected values of the virtual three-phase actual currents Iu *, Iv *, Iw *. *, Virtual motor speed ωm *, virtual motor position θm *, virtual three-phase magnetic flux Fu, Fv, Fw, etc. are calculated. The virtual motor calculation unit 310 further includes a control switching unit 322 and a state signal switching unit 324.

  By the way, in the development stage of the system 302, it is necessary to test each of the real motor 12, the virtual motor 60, and the real control system that constitute the system 302. When the motor 12 is used, the actual motor 12 may be damaged due to insufficient tuning of the control system. For this reason, there is a demand for testing the control system by using the virtual motor 60 instead of the actual motor 12.

  Further, after the test of the control system is completed, in order to confirm the performance of the control system in an actual use environment, that is, an environment in which the real motor 12 and the virtual motor 60 are operated together, There is a demand to make a diagnosis in an environment where both the motor 12 and the virtual motor 60 operate. Of course, in the actual use environment of the system 302, the control system is used in an environment where the real motor 12 and the virtual motor 60 operate together.

  Therefore, in the present embodiment, the virtual motor calculation unit 310 receives an operation (for example, a switch operation) by an operator or a developer or a signal generator that automatically generates a state switching signal when a specific condition is satisfied. In response to the state switching signal, one of a single drive mode for driving the virtual motor 60 alone and a dual drive mode for driving the virtual motor 60 together with the real motor 12 is selected.

  When the single drive mode is selected, the real motor control unit 320 can be tested using the virtual motor 60 even if the real motor 12 is not mounted on the system 302. Therefore, it is possible to test and develop the actual motor control unit 320 without waiting for completion of development of the actual motor 12. As a result, the development of the actual motor 12 and the test / development of the actual motor control unit 320 can be performed independently of each other and in parallel with each other.

  On the other hand, when the two-way drive mode is selected, the system 302 is diagnosed with both the actual motor control unit 320 and the actual motor 12 mounted, components constituting the system 302 in a fully assembled state, or Among the components connected to the system 302, it is possible to diagnose a component that has not been tested in the single drive mode.

  FIG. 18 conceptually shows an example of the operation of the control switching unit 322 in the virtual motor calculation unit 310 in a flowchart.

  When the control switching unit 322 is executed, first, in step S201, a mode switching signal for switching between the single drive motor and the dual drive mode is input. Next, in step S202, it is determined whether or not the single drive mode has been selected based on the input mode switching signal. If the single drive mode is selected, the determination in step S202 is YES, and the control signal output from the real motor control unit 320 is output only to the virtual motor 60 in step S203. Thereafter, the process returns to step S201.

  On the other hand, when the both-side drive mode is selected by the input mode switching signal, the determination in step S202 is NO, and in step S204, the control signal output from the actual motor control unit 320 is sent to the actual motor 12. After that, almost at the same time, the same control signal is also output to the virtual motor 60 in step S205. Thereafter, the process returns to step S201.

  If the control signal is supplied to the actual inverter / power amplifier 14 when the two-way drive mode is selected, the actual motor 12 is operated, and the actual motor state detection unit 30 detects the actual motor state. In this case, the actual motor 12 does not operate. Further, in any mode selection, if the control signal is supplied to the virtual PWM inverter 90, the virtual motor 60 is operated according to the procedure conceptually shown in the flowchart in FIG. 62 detects the virtual motor state.

  FIG. 19 conceptually shows an example of the operation of the state signal switching unit 324 in the virtual motor calculation unit 310 in a flowchart.

  When the state signal switching unit 324 is executed, first, in step S301, the mode switching signal is input. Next, in step S302, it is determined whether or not the single drive mode is selected based on the input mode switching signal. If the single drive mode is selected, the determination in step S302 is YES, and the virtual motor state signal input from the virtual motor state detection unit 62 is output to the real motor control unit 320 in step S303. Then, it returns to step S301.

  On the other hand, when the two-side drive mode is selected by the input mode switching signal, the determination in step S302 is NO, and in step S304, the actual motor state signal input from the actual motor state detection unit 30 is actual. It is output to the motor control unit 320. Then, it returns to step S301.

  In the single drive mode, the real motor control unit 320 determines the control signal based on the virtual motor state signal input from the virtual motor state detection unit 62, while in the dual drive mode, the real motor control unit 320 Then, the control signal is determined based on the actual motor state signal input from the actual motor state detection unit 30.

  As described above, some of the embodiments of the present invention have been described in detail with reference to the drawings. However, these are exemplifications, and are based on the knowledge of those skilled in the art including the aspects described in the section of [Summary of the Invention]. The present invention can be implemented in other forms with various modifications and improvements.

Claims (4)

A motor control device that controls an actual motor that converts electrical energy into kinetic energy,
A virtual motor that simulates the real motor;
In each calculation cycle, a control signal common to the real motor and the virtual motor is determined based on the control target value, and the determined control signal is output to the real motor and the virtual motor, respectively. Part and
When the control signal is input for each calculation cycle, the virtual motor estimates the operating state of the real motor realized in response to the control signal based on the input control signal , Output the estimated actual motor operating state as the operating state of the virtual motor ,
The control unit, based on the control target value in each calculation cycle, the virtual motor operating state output from the virtual motor in the previous calculation cycle, and the actual operating state of the real motor, And a motor control device for determining the control signal such that the actual motor and the actual motor operate substantially in synchronization with each other . A motor control method for controlling an actual motor that converts electrical energy into kinetic energy,
  For each calculation cycle, based on a control target value, a determination step for determining a control signal common to the real motor and a virtual motor that simulates the real motor;
  An output step for outputting the determined control signal to each of the real motor and the virtual motor for each calculation cycle;
  For each calculation cycle, the control signal is input to the virtual motor, whereby the virtual motor is operated in response to the control signal based on the input control signal. An estimation process for estimating
  Including
  The determining step is based on the control target value in each calculation cycle, the actual motor operating state estimated by the virtual motor in the previous calculation cycle, and the actual operating state of the actual motor. Motor control method for determining the control signal so that the actual motor and the actual motor operate substantially in synchronization with each other. A program executed by a computer to execute the motor control method according to claim 2. A recording medium on which the program according to claim 3 is recorded so as to be readable by a computer.

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