JP2014161201A - Motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily control a real motor with high precision in an operation period following an idle period from the beginning of the operation period although the real motor has the idle period.SOLUTION: A motor controller includes a detection part 30 which detects an operation state of a real motor 12, a virtual motor 60 which simulates the real motor 12 and estimates a future operation state of the real motor 12 to be actualized in response to an input control signal when the same control signal is output to the real motor 12, and a control part 64 which determines and outputs a control signal of the virtual motor 60 on the basis of the estimated operation state and the detected operation state of the real motor 12. The motor controller supplies the detection part, virtual motor, and control part with electric power not only in an operation period, but also in an idle period of the real motor precedent to the operation period, and thereby places the detection part, virtual motor, and control part in operation precedently to the start of operation of the real motor.

Description

  The present invention relates to a technique for controlling a 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 (see, for example, Patent Documents 1 and 2).

JP 2006-318200 A JP 2009-284737 A

  The present inventors have conducted various studies on the technology for controlling an actual motor, and have proposed a motor control device based on the research results. The motor control device includes: (a) a detection unit that detects an operating state of the actual motor; (b) a command value; and an actual motor according to the command value based on the detected operating state of the actual motor. And a control signal determining unit that sequentially determines a plurality of control signals to be supplied to the actual motor in order to control the motor.

  The present inventors have proposed (a) a virtual motor that simulates an actual motor as an example of the control signal determination unit, and the same control signal as the control signal is based on the input control signal. Estimating the future operating state of the actual motor that is realized in response to the control signal when it is also output to the motor, and (b) the estimated operating state of the actual motor and the detected actual state. A control unit that determines a common control signal for the real motor and the virtual motor based on the actual operating state of the motor and the command value, and outputs the common control signal to the real motor and the virtual motor, respectively. Is included.

  In the proposed motor control apparatus (hereinafter simply referred to as “proposed motor control apparatus”), the control signal determination unit sequentially performs a plurality of calculation cycles, thereby the plurality of control signals for an actual motor. Are sequentially determined.

  In each calculation cycle, for example, (a) an actual motor operating state is detected, and (b) a control signal to be output to the actual motor is determined based on the detected actual motor operating state. And (c) outputting the determined control signal to the motor, thereby operating the motor in sequence. In order to operate the real motor, it is necessary that the real motor and the power supply are in a conductive state at the time when the control signal is output to the real motor.

  In an example of the usage environment of the actual motor, the actual motor is electrically connected to a motor driving power source via a motor driving switch. In the ON state of the motor drive switch, the actual motor and the motor drive power supply are in an electrically conductive state, while in the OFF state of the motor drive switch, the actual motor and the motor drive The power supply is in a dormant state where they are electrically disconnected from each other. In this usage environment, there are a plurality of motor operation periods in which the actual motor and the motor driving power supply are mutually connected, and the actual motor and the motor driving power supply are mutually connected during two adjacent motor operation periods. There is a motor pause period that is interrupted.

  In this example of the usage environment, the operation of “actuating the actual motor” in the above-described proposed motor control apparatus, for example, activates the actual motor in a resting state or the operating state of the actual motor (for example, The rotational position of the actual motor).

  Here, paying attention to the operation of “actual data activation”, in order to activate the real motor, it is necessary to start supplying power to the real motor, that is, to turn on the power prior to that.

  In this connection, when examining a power management method for a normal motor control device, the conventional motor control device is designed so that the motor control device is turned on at the same time as the actual motor is turned on. A power management method is established.

  However, when the power supply of the proposed motor control device is managed using this conventional power management method, the motor control device starts simultaneously with the power supply to the actual motor. There may be no control signal. Therefore, the present inventors have noticed that there is a problem that there is a possibility that the actual motor cannot be started from the time when the power to the actual motor is turned on until the first control signal is determined.

  In order to solve this problem, the present inventors have proposed several countermeasures with the object of reducing the time required for determining the first control signal in the first calculation cycle.

  The first countermeasure is to store the control signal calculated in the last calculation cycle in the previous operation period preceding the suspension period, and in the first calculation cycle in the current operation period following the suspension period, The countermeasure is to read the last control signal stored and output it to the actual motor as the first control signal.

  The second countermeasure is to store the operating state of the actual motor detected in the last calculation cycle in the previous operation period preceding the suspension period, and the first calculation cycle in the current operation period subsequent to the suspension period. In this case, the stored operation state of the actual motor is read out, an initial control signal is determined based on the operation state of the actual motor, and the control signal is output to the actual motor.

  However, even if any countermeasure is taken, if the actual motor changes its operating state due to external force even though the power supply is cut off during the rest period, the stored control signal and The operating state of the actual motor is not compatible with the operating state of the actual motor at the start of the operation period. For this reason, it is not desirable to output the first control signal acquired by implementing the above-described countermeasures to the actual motor, because this may cause a decrease in the control accuracy of the actual motor at the beginning of the operation period.

  Against the background described above, the present invention makes it easy to control the actual motor with high accuracy from the beginning in the operation period following the suspension period, even though the suspension period of the actual motor exists. It was made as an issue.

  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 detection unit for detecting an operating state of the real motor;
A virtual motor that simulates the real motor, and is realized in response to the control signal when the same control signal as the control signal is output to the real motor based on the input control signal. Estimating the future operating state of the motor,
Based on the estimated operating state of the actual motor and the detected actual operating state of the actual motor, a common control signal is determined for the actual motor and the virtual motor, and the common control signal is determined. A control unit for outputting to each of the real motor and the virtual motor,
Electric power is supplied to the detection unit, the virtual motor, and the control unit not only during the operation period of the real motor but also during a rest period preceding the operation period, thereby the detection unit, the virtual motor, and the control unit. And a power supply control unit that operates the control unit prior to the start of operation of the actual motor.

  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.

  If a control signal is supplied to the virtual motor, for example, the output of the real motor, that is, the operation state of the movable part (for example, position, speed, acceleration, torque, etc.) is controlled in the same way as the control signal supplied to the virtual motor. The signal can be estimated prior to actually supplying the signal to the actual motor.

  If a certain control signal is supplied to the virtual motor, for example, an actual current flowing through the actual motor (for example, an actual drive current or an actual excitation current in the power running state of the actual motor and an actual generated current in the regenerative state) Can be estimated prior to actually supplying the same control signal as that supplied to the virtual motor to 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. .

  The term “actual motor operation period” means a period in which the actual motor and the power supply are electrically connected to each other, while “actual motor rest period” means that the actual motor and the power supply are mutually connected. It means the period when it is electrically cut off.

  In addition, the phrase “actual motor operation” is defined to include only the power running state that converts electrical energy into kinetic energy, or not only the power running state but also the actual motor acts as a generator, It can be defined to include a regenerative state that converts energy.

(2) A motor control device that controls a motor that converts electrical energy into kinetic energy,
The motor is electrically connected to a motor driving power source via a motor driving switch. When the motor driving switch is in an ON state, the motor and the motor driving power source are electrically connected to each other. On the other hand, in the off state of the motor driving switch, the motor is in a resting state in which the motor and the motor driving power source are electrically disconnected from each other,
The motor control device is operated by electric power supplied from a motor control power source which is the motor driving power source or a power source different from the motor driving power source,
The motor control device
A motor state detector for detecting an operating state of the motor;
Based on the command value and the detected motor state, a plurality of control signals to be supplied to the motor in order to control the motor according to the command value are sequentially determined, and these control signals are sent to the motor. A control signal determination unit for sequentially outputting to
A connection control unit that continuously or selectively realizes electrical connection between the motor control power source and the motor state detection unit and the control signal determination unit, wherein the motor drive switch is in an off state. A motor control device including: electrically connecting the motor control power source to the motor state detection unit and the control signal determination unit prior to switching from the on state to the on state.

(3) The motor control device according to item (2), wherein the connection control unit always electrically connects the motor control power source to the motor state detection unit and the control signal determination unit.

(4) The motor driving switch is always in the off state, and is configured to switch from the off state to the on state in response to a turn-on signal.
The connection control unit
A turn-on signal detector for detecting the turn-on signal;
A motor control switch provided between the motor control power source and the motor state detection unit and the control signal determination unit, which is always in an off state;
When the turn-on signal is detected, the switch for switching the motor control is turned on, and thereby the switch switching unit that activates the motor state detection unit and the control signal determination unit by power from the motor control power source; The motor control device according to item (2) including:

(5) The motor driving switch is always in the off state, and is configured to switch from the off state to the on state in response to a turn-on signal.
The connection control unit
A turn-on signal prediction unit that predicts the generation of the turn-on signal by detecting a predetermined event that occurs prior to the generation of the turn-on signal;
A motor control switch provided between the motor control power source and the motor state detection unit and the control signal determination unit, which is always in an off state;
When the generation of the turn-on signal is predicted, the switch for motor control is switched to an on state, thereby switching the switch for starting the motor state detection unit and the control signal determination unit by power from the motor control power source. The motor control device according to item (2), including:

(6) The control signal determination unit starts detecting the operating state of the motor and determining the plurality of control signals after the turn-on signal is generated or predicted, and includes an initial control signal The motor control according to (4) or (5), wherein output of the determined at least one head control signal to the motor is prohibited until at least one head control signal is determined. apparatus.

(7) The motor is an actual motor,
The control signal determining unit is
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, and outputs the determined control signal to the real motor and the virtual motor, respectively.
When the control signal is input, the virtual motor estimates the operating state of the real motor realized in response to the control signal based on the input control signal,
Based on the estimated operating state of the real motor, the actual operating state of the real motor detected by the motor state detecting unit, and the command value, the control unit is configured to control the real motor and the virtual motor. The motor control device according to any one of (2) to (6), wherein a common control signal is determined.

(8) 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 (7), which performs calculation for estimating a state.

(9) 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 simultaneously, The motor control device according to (7) or (8), wherein the virtual motor responds at a timing earlier than the timing at which the real motor responds to the control signal.

(10) The command value is repeatedly input to the control unit at an input cycle,
The control unit repeatedly performs calculation for one cycle at a calculation cycle shorter than the input cycle, thereby performing calculation for a plurality of cycles during one input cycle of the command value (7) to (9) The motor control device according to any one of items.

(11) The operating state of the actual motor includes an actual operating position of the actual motor,
The control unit is configured based on the command value and the estimated operating state of the actual motor so that the command 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 (7) to (10), further including a control signal determining unit that determines the control signal on the assumption that the operating position coincides.

(12) The control unit repeatedly performs calculation for one cycle at a calculation cycle. In each calculation cycle, the control unit is in the 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 command value, the actual motor operating state, and the previous calculated value of the virtual motor operating state. A motor control device according to claim 1.

(13) In each calculation cycle, the control unit feeds back the previous calculated value of the virtual motor operating state, thereby calculating the command value, the actual motor operating state, and the virtual motor operating state last time. A temporary control signal common to the real motor and the virtual motor is determined based on the value, and phase lag compensation is performed on the determined temporary control signal, so that the real motor and the virtual motor A common final control signal is acquired, and the acquired final control signal is output to the real motor and the virtual motor, respectively, so that the virtual motor is operated at least once in each calculation cycle (12 The motor control device according to the item.

(14) 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 command value and the current time of the real motor are Without determining the temporary control signal for the virtual motor based on the previous operation value in the virtual motor operating state, and outputting the determined temporary control signal 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, thereby obtaining the current command value and the current motor current value. A final control signal common to the real motor and the virtual motor is determined based on the operation state at the previous time and the previous calculated value of the virtual motor operation state, and the determined final control signal is determined as the real motor and the virtual motor. The motor control device according to item (12), which is output to each virtual motor.

(15) 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 that simulates the real motor based on a command 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 an operating state of the real motor realized in response to the control signal;
An influence 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 operation state of the real motor and the actual operation state of the real motor. A motor control method including an applying step.

(16) A program executed by a computer to execute the motor control method according to (15).

(17) A non-transient recording medium in which the program according to item (16) 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.

(18) A system for converting electrical energy into kinetic energy,
A motor drive power supply;
A motor drive switch;
The motor is electrically connected to the motor driving power source via the motor driving switch, and the motor and the motor driving power source are electrically connected to each other when the motor driving switch is on. On the other hand, when the motor drive switch is in an off state, the motor and the motor drive power source are in a dormant state where the motor and the motor drive power supply are electrically disconnected from each other;
A motor control device for controlling the motor, the motor control device being operated by electric power supplied from a motor control power source which is the power source for driving the motor or a different power source;
The motor control device
A motor state detector for detecting an operating state of the motor;
Based on the command value and the detected motor state, a plurality of control signals to be supplied to the motor in order to control the motor according to the command value are sequentially determined, and these control signals are sent to the motor. A control signal determination unit for sequentially outputting to
A connection control unit that continuously or selectively realizes electrical connection between the motor control power source and the motor state detection unit and the control signal determination unit, wherein the motor drive switch is in an off state. A system that electrically connects the motor control power source to the motor state detection unit and the control signal determination unit prior to switching from the on state to the on state.

(19) A motor control device for controlling an actual motor,
A virtual motor that simulates the real motor, based on the input control signal, the actual current that will flow to the real motor when the same control signal is also output to the real motor, Estimated prior to the same control signal being input to the actual motor as the actual drive current of the actual motor in the power running state of the actual motor and as the actual power generation current of the actual motor in the regenerative state of the actual motor, respectively. What to do,
An abnormality determination unit that determines whether the estimated value is actually abnormal or may be abnormal in the future;
A motor control device comprising: a correction operation unit that performs a correction operation on the actual motor when it is determined that the estimated value is actually abnormal or may become abnormal in the future.

(20) The abnormality determination unit includes a determination unit that determines whether or not a time integral value of the estimated value actually deviates from an allowable range or may deviate in the future. Motor control device.

  According to the present invention, the motor control device is activated during the stop period of the actual motor, that is, before the start of the operation period of the actual motor. As a result, the motor control device is started before the start of the operation period of the actual motor. Thus, the actual motor operating state is detected and the control signal is determined. Since the latest state of the actual motor is detected before the start of the actual motor operation period, control is performed so that the change is reflected even if the actual motor operating state changes during the stop period of the actual motor. A signal is determined.

  Therefore, according to the present invention, there is a high possibility that there is a control signal accurately determined by the motor control device from the beginning of the operation period of the actual motor. Therefore, according to the present invention, it is easy to control the actual motor with high accuracy from the beginning in the operation period subsequent to the suspension period even though the suspension period of the actual motor exists.

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 control signal determination unit illustrated in FIG. 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 control signal determination unit shown in FIG. 3, and FIG. 6B shows a case where the control signal determination unit adopts the configuration shown in FIG. 5A. FIG. 6C is a timing chart showing the operation when the control signal determining 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 entire sequence of the motor control device shown in FIG. FIG. 10 is a functional block diagram showing the entire system having the motor control device according to the second exemplary embodiment of the present invention. FIG. 11 is a flowchart conceptually showing an example of the operation of the motor control device shown in FIG. 12A is a timing chart showing an example of the entire sequence of the motor control device shown in FIG. 10, and FIG. 12B is a timing chart showing another example of the entire sequence of the motor control device. . FIG. 13 is a timing chart showing the overall sequence of the control signal determination unit in the motor control device according to the third exemplary embodiment of the present invention. FIG. 14 is a flowchart conceptually showing an example of operation of the motor control device according to the third embodiment. FIG. 15 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. 16 is a block diagram conceptually illustrating the principle of converting a virtual three-phase real current into a virtual DC current in the motor control device according to the fifth exemplary embodiment of the present invention. FIG. 17 is a flowchart conceptually showing an example of the operation of the motor control device 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. The rotor is an example of a movable part of the actual motor 12. 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: angle of rotor (or shaft 13) (phase or rotational position, also referred to as “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 described above, the actual motor state detection unit 30 detects, for example, the electric state quantity of the electric element of the real motor 12 and the magnetic state quantity of the magnetic element, or the movable part of the real motor 12 (that is, the machine It is possible to design so as to detect the physical state quantity of the target element.

  As shown in FIG. 1, the system 11 includes a battery 32 as a rechargeable power source.

  The battery 32 is electrically connected to the actual inverter / power amplifier 14 (and thus the actual motor 12) via the first power line 34, so that the battery 32 and the actual motor 12 are electrically connected. Energy exchange is possible. The real motor 12 switches between a power running state and a regenerative state. In the power running state, the power of the battery 32 is supplied to the real motor 12, whereas in the regenerative state, the real motor 12 acts as a generator. As a result, the electric power generated by the actual motor 12 is supplied to the battery 32, and as a result, the battery 32 is charged.

  A motor drive switch 36 is connected in the middle of the first power line 34. The motor drive switch 36 performs a switching operation electrically or electromagnetically in response to a command unit (not shown) to which an external command signal (external stimulus, turn-on signal) is input. And an operating unit (shown). The motor drive switch 36 can be mainly composed of, for example, an electromagnetic relay or a power transistor. The command unit converts, for example, an operation by an operator into an electric signal and outputs the electric signal to the operation unit, receives an electric signal output from another device, and converts the electric signal into the operation It is possible to use a format for outputting to a section.

  The motor drive switch 36 is always in an off state, and an external turn-on signal (for example, an intention that the operator of the system 11 wants to switch the motor drive switch 36 to an on state in order to activate the actual motor 12). In response to the signal indicating that the switch is turned off.

  Specifically, when a turn-on signal is input to the command unit of the motor drive switch 36, as will be described in detail later with reference to FIG. 9, there is a time delay with respect to the input of the turn-on signal, The operation unit switches from the off state to the on state, and as a result, the battery 32 and the actual inverter / power amplifier 14 are electrically connected to each other. On the other hand, when a turn-off signal is input from the outside to the command unit, the operation unit is switched from an on state to an off state. As a result, the battery 32 and the actual inverter / power amplifier 14 are electrically connected to each other. Blocked.

  Therefore, the actual motor 12 is electrically connected to the battery 32 via the operation unit of the motor drive switch 36. When the motor drive switch 36 is in the ON state, the actual motor 12 and the battery 32 are mutually connected. In an electrically conductive operating state (powering state or regenerative state), on the other hand, when the motor drive switch 36 is in an off state, the actual motor 12 and the battery 32 are electrically disconnected from each other. It is in.

  The battery 32 is further electrically connected to the actual motor state detection unit 30 and the processor 40 via the second power line 38. The control signal determination unit 50 is realized by the processor 40. The control signal determining unit 50 is roughly described based on a command value (e.g., represented by a target signal) and the operating state of the actual motor 12 detected by the actual motor state detecting unit 30. In order to control the actual motor 12 according to the command value, a plurality of control signals to be supplied to the actual motor 12 are sequentially determined, and these control signals are sequentially output to the actual motor 12.

  Here, the “command value” is, for example, a command value representing a physical quantity (for example, speed or acceleration) related to the position of the rotor of the actual motor 12, or a physical quantity related to the force acting on the rotor of the actual motor 12 (for example, Torque)) or a combination of these two types of command values.

  Therefore, in the present embodiment, the same battery 32 is used for both driving the actual motor 12 and controlling the actual motor 12, and as a result, the battery 32 is not only used as a motor driving power source but also for motor control. Used to function as a power source.

  Unlike the first power line 34, the second power line 38 does not have a switch in the middle thereof. Therefore, the second power line 38 functions as a power supply control unit and a connection control unit that electrically connect the battery 32 to the actual motor state detection unit 30 and the control signal determination unit 50 at all times. The second power line 38 realizes the electrical connection between the battery 32 and the actual motor state detection unit 30 and the control signal determination unit 50 continuously, not selectively.

  Therefore, the battery 32 detects the actual motor state before the operating part of the motor drive switch 36 is switched from the off state to the on state (that is, before the actual motor 12 shifts from the rest state to the operating state). The unit 30 and the control signal determination unit 50 are electrically connected.

  As shown in FIG. 1, the system 11 includes the 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. The arithmetic circuit 42 performs, for example, a 32-bit floating point arithmetic operation with a first period of 1 μsec, and thereby performs calculation by the control signal determination 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, command value) that is variable in time.

  The control circuit determination unit 50 is realized by the arithmetic circuit 42. As shown in FIG. 3, the control signal determination unit 50 is configured mainly with a 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 control signal determination unit 50 is configured to be capable of high-speed calculation by the calculation circuit 42.

  In the conventional technique, the virtual motor 60 is used in the test machine as a substitute for the real motor 12 until the test on the real motor 12 and the real controller that controls the real motor 12 is completed. 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.

  In the present embodiment, the actual motor state detection unit 30, the control signal determination unit 50, and the second power line 38 cooperate with each other to constitute the motor control device 10, and the control signal determination unit 50 includes the virtual motor 60, The portion excluding the virtual motor 60 and the portion of the control signal determination unit 50 excluding the virtual motor 60 constitute an example of the “control unit” in the section (1).

  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 control signal determination 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 control signal determination 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, when the virtual motor 60 is taught to reproduce the input / output characteristics of the real motor 12 with sufficient accuracy, the virtual motor position θ and the real motor position θm are sufficiently coincident 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 control signal determination unit 50 further includes a virtual PWM inverter 90 to which the control signal is input. By the way, the control signal is a plurality of gate signals Gu, Gv, Gw, Gx, Gy, and Gw, and among these gate signals, the gate signals Gu, Gv, and Gw are above the UVW phases belonging to the actual inverter 16. The gate signals Gx, Gy, and Gw are respectively supplied to the lower arm switching element 24 of each phase of the UVW belonging to the actual inverter 16. It is.

  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.

  In the present embodiment, in the power running state of the real motor 12, the drive torque of the real motor 12 is generated using the electric power from the battery 32, thereby discharging the battery 32 and driving the real motor 12. Torque is controlled using the virtual motor 60. Further, in the regenerative state of the real motor 12, the braking torque of the real motor 12 is controlled using the virtual motor 60, and the current generated by the real motor 12 acting as a generator this time is accumulated in the battery 32. Thereby, the battery 32 is charged.

  FIG. 8 is a flowchart illustrating an example of the operation of the motor control device 10. This flowchart represents step S1 executed by the CPU 44 and steps S2-S10 executed repeatedly by the arithmetic circuit 42. Step S1 is executed when an interrupt occurs every time an input cycle Tin (for example, several tens of microseconds) elapses. On the other hand, the remaining steps S2-S10 are executed once at a virtual motor calculation cycle Tv (for example, 1 μsec), thereby realizing one calculation cycle and determining one control signal. .

  As described above, the process shown in FIG. 8 is repeatedly executed regardless of whether the motor drive switch 36 is in the on state or the off state. For example, if the system 11 is a car that is driven by a driver, whether or not the driver is in the car, that is, the driver is the main switch (ie, motor) of the car. The process shown in FIG. 8 is repeatedly executed regardless of whether the driving state is after the switch (which corresponds to the command unit of the drive switch 36) is turned on or the sleep state before the switch is turned on.

  Therefore, as illustrated in FIG. 9, in the system 11, after the motor drive switch 36 is switched from the off state to the on state, for example, a control target value is designated by the operator, and the designated control target value is set. The real motor 12 is driven so that is realized. However, in the system 11, the virtual motor 60 is repeatedly operated regardless of whether the motor drive switch 36 is in an on state or an off state, whereby a plurality of control signals are sequentially determined. Of these control signals, only those appearing after the motor drive switch 36 is switched from the off state to the on state are output to the actual motor 12.

  Specifically, when each execution of the process shown in FIG. 8 is started, first, the current target value is input in step S1. The target value naturally exists in the operation state of the system 11, but usually does not exist in the sleep state of the system 11. Therefore, in the present embodiment, it is assumed that the target value is a predetermined value (for example, 0) in the resting state of the system 11, thereby avoiding occurrence of a period in which the target value does not exist.

  Next, in step S 2, data input is performed. Specifically, the virtual motor states Iu *, Iv *, and Iw * are obtained from the virtual motor state detection unit 62, and the actual motor state is obtained from the real motor state detection unit 30. Each θm is input.

  Thereafter, in steps S3 to S5, the virtual motor control unit 64 is operated. Specifically, first, in step S3, 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 S4, 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 S5, 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 S6, it is determined whether or not the operating portion of the motor drive switch 36 is in an on state, that is, whether or not the battery 32 and the actual inverter / power amplifier 16 are electrically connected to each other. The

  This time, assuming that the operating part of the motor drive switch 36 is in an ON state (that is, the actual motor 12 is in an operating state), the determination in step S6 is YES, and in step S7, acquired in step S5. The PWM signals Gu, Gv, Gw, Gx, Gy, and Gz 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 substantially the same timing as the output timing. Thereby, virtual motor terminal voltages Vu, Vv, Vw are calculated.

  On the other hand, this time, assuming that the operation unit of the motor drive switch 36 is in an off state (that is, the actual motor 12 is in a resting state), the determination in step S6 is NO and step S7 is skipped. The Subsequently, in step S8, the PWM signals Gu, Gv, Gw, Gx, Gy, Gz acquired in step S5 are output to the virtual PWM inverter 90. Thereby, virtual motor terminal voltages Vu, Vv, Vw are calculated.

  In any case, subsequently, in step S9, the calculated virtual motor terminal voltages Vu, Vv, and Vw are output to the virtual motor 60, whereby the virtual motor is used by using the motor model described above. The current vector I *, ie the virtual 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. Then, it returns to step S1 for the calculation in the next calculation cycle.

  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 change in the characteristics of the real motor 12 with time, the system The control signal is determined so as to absorb an adverse effect or the like due to disturbance to the motor 11.

  In the present embodiment, feedback control for the virtual motor 60 is performed using the previously calculated 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. 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-completion of the system 11 is improved, and as a result, the control stability of the system 11 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 S4, 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 S3. 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.

  In the system 11 including the motor control device 10 according to the first embodiment, as shown in FIG. 1, the battery 32 is always electrically connected to the actual motor state detection unit 30 and the control signal determination unit 50, thereby The electrical connection between the battery 32 and the actual motor state detection unit 30 and the control signal determination unit 50 is continuously realized.

  On the other hand, in the system 102 including the motor control device 100 according to the present embodiment, as shown in FIG. 10, the electrical connection between the battery 32 and the actual motor state detection unit 30 and the control signal determination unit 50 is performed. Selectively realized. Specifically, a connection control unit 110 is added, and the connection control unit 110 is always connected to the battery 32 via the third power line 112. As a result, the connection control unit 110 can always monitor the operating state of the motor drive switch 36. The connection control unit 110 is operated by a processor (not shown) different from the processor 40.

  As shown in FIG. 10, the connection control unit 110 includes a turn-on detection unit 120 that detects a turn-on signal input to the command unit of the motor drive switch 36, a switch switching unit 122, and a motor control switch 124. Configured to include.

  The motor control switch 124 includes a command unit to which an external command signal is input and an operation unit that operates electrically or electromagnetically in accordance with the command signal. For example, the motor control switch 124 can be configured mainly with a transistor that handles a current smaller than a power transistor. The motor control switch 124 is always in an off state, thereby electrically disconnecting the battery 32 from the actual motor state detection unit 30 and the control signal determination unit 50. In this cut-off state, a small amount of power of the battery 32 is consumed by the connection control unit 110, but is not consumed by the actual motor state detection unit 30 and the control signal determination unit 50.

  When the turn-on detection unit 120 detects the turn-on signal, the switch switching unit 122 switches the motor control switch 124 from the off state to the on state, whereby the actual motor state detection unit 30 and the control signal are generated by the electric power from the battery 32. The determination unit 50 is activated.

  FIG. 11 is a flowchart illustrating an example of the operation of the motor control device 100. This flowchart shows steps S101, S102 and S117 executed by the other processor of the connection control unit 110, steps S103 and S104 executed by the CPU 44, and steps S105 to S116 executed repeatedly by the arithmetic circuit 42. Represents. Step S101 is executed every time a monitoring cycle (for example, several tens of μsec) elapses. Step S104 is executed when an interrupt occurs every time an input cycle Tin (for example, several tens of microseconds) elapses. On the other hand, steps S105 to S116 are executed once every virtual motor calculation cycle Tv (for example, 1 μsec), thereby realizing one calculation cycle and determining a control signal for one time.

  Therefore, as commonly illustrated in FIGS. 12A and 12B, in the system 102, when the turn-on signal is generated, first, the motor control switch 124 is switched from the OFF state to the ON state. As a result, the actual motor state detection unit 30 and the control signal determination unit 50 are activated, and the virtual motor 60 is also activated. As a result, detection of the operating state of the actual motor 12 and generation of the control signal are started.

  When the time delay of the motor drive switch 36 elapses after the turn-on signal is generated, the motor drive switch 36 is switched from the off state to the on state, and then the generated control signal is output to the actual motor 12. As a result, the actual motor 12 is started.

  In the example shown in FIG. 12A, the motor drive switch 36 is switched from the off state to the on state before the start of the first calculation cycle for generating the first control signal. In the present embodiment, The output to the actual motor 12 is started from the first control signal.

  In the example shown in FIG. 12B, the motor drive switch 36 is switched from the off state to the on state after the completion of the first calculation cycle for generating the first control signal. At the time when the generation of the first control signal in the cycle is completed, the motor drive switch 36 is in the OFF state, so that the first control signal is not output to the actual motor 12 and the actual control signal is output from the second control signal. Output to the motor 12 is started.

  As described above, in the present embodiment, when the time when the motor drive switch 36 switches from the off state to the on state is later than the execution time of the first calculation cycle, the larger the degree, the larger the number of times. The output of the control signal to the actual motor 12 is prohibited.

  In the latter example, among the plurality of control signals sequentially generated after the virtual motor 60 is started, at least one of the first control signals including the first control signal whose accuracy is likely to be lower than the other control signals. Thus, output to the actual motor 12 is prohibited, thereby preventing a reduction in control accuracy when the actual motor 12 is started.

  Specifically, when each execution of the process shown in FIG. 11 is started, first, in step S101, the turn-on detection unit 120 waits for the turn-on signal to be input to the motor drive switch 36. When the turn-on signal is input, in step S102, the switch switching unit 122 switches the motor control switch 124 from the off state to the on state.

  Subsequently, in step S103, a counter N (integer value) is initialized to zero. Thereafter, Steps S104 to S108 are executed in the same manner as Steps S1 to S5 shown in FIG. 8, whereby one calculation cycle is executed. Subsequently, in step S109, it is determined whether or not the current calculation cycle is the first calculation cycle using the virtual motor 60 by determining whether or not the value of the counter N is zero.

  Since the current calculation cycle is the first calculation cycle and the value of the counter N is 0, the determination in step S109 is YES, and steps S112 to S114 are executed in the same manner as steps S8 to S10 shown in FIG. Is done. This time, the output of the control signal (PWM signal) generated by the previous execution of step S108 to the actual motor 12 is prohibited. Thereafter, in step S115, the value of the counter N is incremented by one.

  Subsequently, in step S116, it is determined whether or not the motor drive switch 36 has been switched from the on state to the off state, that is, whether or not the actual motor 12 has shifted from the operating state to the resting state. This time, assuming that the motor drive switch 36 is in the ON state, the determination in step S116 is NO, and then the process returns to step S104 to start the second calculation cycle.

  Thereafter, when it is determined in step S109 whether or not the current calculation cycle is the first calculation cycle, the value of the counter N is 1, so the determination in step S109 is NO this time. Subsequently, in step S110, it is determined whether or not the motor drive switch 36 has been switched from the off state to the on state, that is, whether or not the actual motor 12 has shifted from the rest state to the operating state. Assuming that the motor drive switch 36 is still in the OFF state, the determination in step S110 is NO, and the process proceeds to step S112. Again, the output of the control signal (PWM signal) generated by the previous execution of step S108 to the actual motor 12 is prohibited.

  On the other hand, assuming that the motor drive switch 36 is switched from the off state to the on state, the determination in step S110 is YES, and in step S111, in the same manner as step S7 shown in FIG. The control signal (PWM signal) generated by the execution of is output to the real motor 12, and thereby the real motor 12 is started. Thereafter, the process proceeds to step S112.

  Eventually, when the motor drive switch 36 switches from the on state to the off state, the determination in step S116 becomes NO. Subsequently, in step S117, the switch switching unit 122 causes the motor control switch 124 to change from the on state to the off state. Can be switched to. As a result, the actual motor state detection unit 30 and the control signal determination unit 50 shift to a pause state. This completes the execution of the process shown in FIG.

  In the present embodiment, the turn-on detection unit 120 detects the turn-on signal, but in another example, the turn-on detection unit 120 detects a predetermined event that occurs before the generation of the turn-on signal. Thus, the turn-on signal predicting unit that predicts the generation of the turn-on signal is replaced.

  In another example, the generation of the turn-on signal is predicted by the turn-on signal prediction unit at a time earlier than the time at which the turn-on signal is actually generated. When the generation of the turn-on signal is predicted, the switch switching unit 122 switches the motor control switch 124 to the on state, thereby starting the actual motor state detection unit 30 and the control signal determination unit 50. According to this example, the actual motor state detection unit 30 and the control signal determination are performed at an earlier time than when the switch switching unit 122 activates the actual motor state detection unit 30 and the control signal determination unit 50 in response to the generation of the turn-on signal. The unit 50 is activated so that the first control signal can be generated early.

  Here, the “predetermined event that occurs prior to the generation of the turn-on signal” means that, for example, when the turn-on signal occurs in response to an operation by the operator, the operator normally performs the operation prior to the operation. Can be selected as another expected operation.

  For example, when the actual motor 12 is used as a power source for a vehicle, a driver who is an operator opens the door of the vehicle and sits in the driver's seat to start the vehicle, and then the main motor A scenario in which the switch (motor drive switch 36) is turned on is expected. Therefore, in this example, as another operation, the door switch detects that the door is opened in the off state of the main switch, the driver's seat is deformed in the off state of the main switch, The seating switch can detect that the pressure acting on the seat has increased.

<Third Embodiment>

  Next, a motor control device 150 according to a third embodiment of the present invention will be described with reference to FIGS. 13 and 14. However, since the present embodiment has elements common to the second embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant explanation and only different elements. This will be described in detail.

  First, as schematically illustrated, as shown in the exemplary timing chart of FIG. 13, in this embodiment, the control signal determination unit 50 operates the virtual motor 60 twice in each calculation cycle.

  Specifically, the control signal determination unit 50 performs the current control target value and the current operation of the actual 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 control signal determination unit 50 determines the current control target value and the actual motor 12 for the final operation (second control in this embodiment) of the virtual motor 60 in each calculation cycle (feedback control). 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 control signal determination unit 50 determines the current control target value, the current operating state θm2 of the real motor 12, and the virtual motor 60 for the second operation of 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 control signal determination unit 50 causes the virtual motor 60 to cancel the influence of the temporary control signal in the virtual motor 60 in a state before the temporary control signal is input, that is, the previous calculation cycle. Is restored to the state at the time of completion.

  Furthermore, the control signal determination unit 50 determines the final control signal by correcting the determined temporary control signal with the control signal correction amount. Then, the control signal determination 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. 14, in this embodiment, steps S201 to S203 are the same as steps S101 to S103 shown in FIG. 11 for the second embodiment. To be executed.

  Subsequently, steps S204 to S208 are executed in the same manner as steps S104 to S108 shown in FIG. 11 for the second embodiment. However, in this embodiment, “input 1” in FIG. 13 is executed in step S204, the virtual motor state I1 and the actual motor state θm1 are input, and in step S208, the PWM signal is subjected to the temporary control. Generated as a signal.

  Thereafter, steps S209 to S211 are executed in the same manner as steps S112 to S114 shown in FIG. 11 for the second embodiment. However, in this embodiment, “output 1” in FIG. 13 is executed in step S209, and the virtual motor current I2 is output in step S211. In the present embodiment, unlike the second 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. In steps S205 to S211, the “first feedback control by the virtual motor” shown in FIG. 13 is executed.

  Thereafter, “second feedback control by the virtual motor” shown in FIG. 13 is executed in steps S212 to S221.

  Specifically, first, “input 2” in FIG. 13 is executed in step S212, and the virtual motor state I2 and the actual motor state θm2 are input in the same manner as in step S205. Next, in step S213, a virtual dq axis command voltage signal is generated in the same manner as in step S206, and in step S214, a virtual three-phase command voltage signal is generated in the same manner as in step S207.

  Thereafter, in step S215, the PWM signal is generated in the same manner as in step S208. The PWM signal is handled as the control signal correction amount, and the temporary control signal generated by executing step S211 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, steps S216 and S217 are executed in the same manner as steps S109 and S110 shown in FIG. 11 for the second embodiment.

  If the current calculation cycle is not the first calculation cycle and the motor drive switch 36 is in the ON state, in step S218, the final control signal, that is, the same as the step S111 in the second embodiment, that is, The second PWM signals Gu, Gv, Gw, Gx, Gy, Gz are output to the actual inverter / power amplifier 14, thereby driving the actual motor 12. This step S218 corresponds to “output 2” in FIG.

  Subsequently, the same PWM signals Gu, Gv, Gw, Gx, Gy, and Gz are output to the virtual PWM inverter 90 in step S219 in the same manner as in step S209 at substantially the same output timing. . Thereby, virtual motor terminal voltages Vu, Vv, Vw are calculated. This step S219 also corresponds to “output 2” in FIG.

  Thereafter, in step S220, the calculated virtual motor terminal voltages Vu, Vv, and Vw are output to the virtual motor 60 in the same manner as in step S210, so that the virtual motor is used by using the motor model described above. A current vector I3 is calculated.

  Subsequently, in step S221, the virtual motor current vector I3 is output by the virtual motor state detection unit 62 in the same manner as in step S211. The virtual motor current vector I3 is temporarily stored in the specific memory in preparation for calculation in the next calculation cycle.

  Thereafter, steps S222 to S224 are executed in the same manner as steps S115 to S117 shown in FIG. 11 for the second embodiment.

<Fourth embodiment>

  Next, a motor control device 200 according to a fourth embodiment of the present invention will be described with reference to FIG. However, since the present embodiment has elements common to the second or third embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant descriptions and differing. Only the elements are described in detail.

  In the system 202 including the motor control device 200 according to the present embodiment, the motor control device 200 is common to the motor control device 100 according to the second embodiment or the motor control device 150 according to the third embodiment. Instead of the battery 32, the power source for driving is replaced with a commercial power source 210 that is different from the battery 32 and that outputs an AC voltage. Further, between the commercial power source 210 and the actual inverter / power amplifier 14, An AC / DC converter 212 that converts an AC voltage output from the commercial power supply 210 into a DC voltage is connected.

<Fifth Embodiment>

  Next, a motor control device 300 according to a fifth embodiment of the present invention will be described with reference to FIGS. 16 and 17. However, in this embodiment, since there is an element common to any one of the first to third embodiments in which the battery 32 can be charged by the actual motor 12, the same reference numeral or name is assigned to the common element. Thus, the duplicate description is omitted, and only different elements will be described in detail.

  In the system 302 including the motor control device 300 according to the present embodiment, the driving torque of the real motor 12 is generated using the electric power from the battery 32 in the power running state of the real motor 12. While being discharged, the driving torque of the real motor 12 is controlled using the virtual motor 60. Further, in the regenerative state of the real motor 12, the braking torque of the real motor 12 is controlled using the virtual motor 60, and the current generated by the real motor 12 is accumulated in the battery 32. Charged.

  In the present embodiment, as in the first to third embodiments, a control signal to be supplied to the actual motor 12 is transmitted to the virtual motor 60 regardless of whether the actual motor 12 is in a power running state or a regenerative state. And by executing the process shown in FIG. 8, FIG. 11 or FIG.

  However, in the present embodiment, unlike the first to third embodiments, the actual motor 12 that flows to the real motor 12 using the virtual motor 60 regardless of whether the real motor 12 is in a power running state or a regenerative state. Current is estimated. The actual current is an actual drive current or an actual excitation current for the actual motor 12 and an actual discharge current for the battery 32 when the actual motor 12 is in the power running state. On the other hand, the actual current is an actual generated current for the actual motor 12 and an actual charging current for the battery 32 in the regenerative state of the actual motor 12.

  In the present embodiment, as conceptually shown in FIG. 16, the virtual three-phase actual currents Iu *, Iv *, Iw * (three-phase alternating current) estimated using the virtual motor 60 are the battery 32. Is converted into an instantaneous DC current value IDC as one combined value for convenience for estimating the discharge current from the battery and the charging current to the battery 32. The instantaneous DC current value IDC has a negative value when the actual motor 12 is in the power running state, and has a positive value when the actual motor 12 is in the regenerative state.

  In the present embodiment, the remaining charge of the battery 32 (hereinafter referred to as “SOC (State Of Charge)”) is obtained by time-integrating the instantaneous DC current value IDC of the actual motor 12 by the so-called coulomb counting method. Calculated. Specifically, the current integrated value of the instantaneous DC current value IDC in the latest motor control cycle may be an SOC change ΔSOC (increase or decrease) in addition to the current SOC value. The current value of the SOC is updated.

  By the way, in the present embodiment, as described above, the three-phase voltages Vu, Vv, Vw (instantaneous voltage) supplied to the actual motor 12 have been changed from the previous control signal supplied to the actual motor 12. The motor control cycle for one time until the control signal is supplied to the real motor 12 (the above-mentioned calculation cycle in which the calculation is performed using the virtual motor 60 is not completely in phase, but the virtual motor Since it has a period of substantially the same length as the calculation period Tv, it changes in a pulse shape during the following description (referred to as “virtual motor calculation cycle”).

  Therefore, in the present embodiment, as conceptually shown in FIG. 16, the instantaneous DC current value IDC for one virtual motor calculation cycle is the virtual three-phase actual current Iu detected by the virtual motor state detection unit 62. *, Iv *, Iw * and the aforementioned six duty ratios Du, Dv, Dw, Dx, Dy, Dz used in the virtual PWM inverter 90 shown in FIG. The calculation is performed using the two existing gate signals Gu, Gv, Gw, Gx, Gy, and Gw. In FIG. 16, “310” is a multiplier, and “312” indicates an adder that adds three output values from the three multipliers 310. The adder 312 outputs the instantaneous DC current value IDC for each virtual motor calculation cycle.

  In the present embodiment, the above-described ΔSOC is calculated as the product of the instantaneous DC current value IDC thus calculated and the virtual motor calculation cycle Tv.

  Furthermore, in the present embodiment, based on the comparison result between the instantaneous DC current value IDC and the first allowable range, a first abnormality determination for determining whether or not the actual current of the actual motor 12 is abnormal (that is, A first abnormality diagnosis (i.e., a second self-diagnosis) for determining whether or not the state of charge of the battery 32 is abnormal based on a comparison result between the SOC and the second allowable range. Is done.

  For example, in the first abnormality determination, it is determined whether or not the instantaneous DC current value IDC exceeds the first allowable upper limit value, so that overcurrent may actually occur in the actual motor 12 or may occur in the future. On the other hand, in the second abnormality determination, the battery 32 is actually overcharged by determining whether or not the SOC exceeds the second allowable upper limit value. This is done to determine whether it has occurred or is likely to occur in the future.

  Further, in the present embodiment, when it is determined that there is an abnormality in the first abnormality determination, the first motor 12 performs a first correction operation to normalize the abnormality or prevent it from falling into an abnormality. Against. For example, if it is determined that an overcurrent of the actual motor 12 may occur in the future, the subsequent control signal indicates that the future actual drive current is suppressed, that is, the duty ratio D is determined. It is corrected to the direction in which the quantity is lowered, and then supplied to the actual motor 12.

  Further, in the present embodiment, when it is determined that there is an abnormality in the second abnormality determination, the second correction operation for normalizing or preventing the abnormality from being performed is performed by the actual motor 12 and This is performed on the battery 32. For example, if it is determined that there is a possibility that overcharge of the battery 32 will occur in the future, the subsequent control signal indicates that the future actual power generation current is suppressed, that is, the duty ratio D is a predetermined amount. It is corrected to the decreasing direction, and then supplied to the actual motor 12.

  FIG. 17 conceptually shows, in a flowchart, a process in which the motor control device 300 performs estimation of the actual motor current and SOC, abnormality determination (that is, self-diagnosis), and correction operation as described above.

  When this process is executed by the processor 40, first, in step S301, it is waited for the motor drive switch 36 to switch from the off state to the on state. When the motor drive switch 36 is switched on, the current value of the SOC is set to the initial value SOCin in step S302. In this embodiment, every time the motor drive switch 36 is switched from the on state to the off state, the SOC value at that time (the SOC final value in the previous operation period) is stored in the specific memory. The initial value SOCin is obtained by reading from the specific memory.

  Subsequently, in step S303, the latest values of the virtual three-phase actual currents Iu *, Iv *, and Iw * are fetched from the specific memory. Thereafter, in step S304, the latest values of the duty ratios Du, Dv, Dw, Dx, Dy, Dz are fetched from the specific memory. Subsequently, in step S305, the instantaneous DC current value IDC is calculated as described above.

  Thereafter, in step S306, when the first abnormality determination described above is performed and it is determined that the instantaneous DC current value IDC is actually abnormal or may become abnormal in the future, the determination in step S307 becomes YES, In step S308, the first correction operation described above is performed. Thereafter, the process proceeds to step S309.

  On the other hand, if it is determined that the instantaneous DC current value IDC is not actually abnormal and is not likely to become abnormal in the future, the determination in step S307 is NO and step S308 is skipped. Subsequently, in step S309, ΔSOC is calculated as the product of the instantaneous DC current value IDC and the virtual motor calculation cycle Tv.

  Thereafter, in step S310, the calculated ΔSOC is added to the current SOC value, thereby updating the current SOC value. Subsequently, in step S311, the above-described second abnormality determination is performed, and when it is determined that the SOC is actually abnormal or may become abnormal in the future, the determination in step S312 is YES, and in step S313 The second correction operation described above is performed. Thereafter, the process returns to step S303.

  On the other hand, if it is determined that the SOC is not actually abnormal and there is no possibility that it will become abnormal in the future, the determination in step S312 is NO and step S313 is skipped. Thereafter, the process returns to step S303.

  As is clear from the above description, according to the present embodiment, the future values of the actual motor current and the SOC are estimated by using the virtual motor 60 that predicts the future operating state of the actual motor 12. Based on these estimated values, the abnormality determination (that is, self-diagnosis) and the correction operation for the actual motor 12 and the battery 32 are performed earlier than when the self-diagnosis is performed with reference to the current operating state of the actual motor 12. . Thereby, it becomes easy to foresee and prevent the abnormality of the actual motor 12 and the battery 32.

  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 (3)

A motor control device that controls an actual motor that converts electrical energy into kinetic energy,
An actual motor state detector for detecting the operating state of the actual motor;
A virtual motor that simulates the real motor, and is realized in response to the control signal when the same control signal as the control signal is output to the real motor based on the input control signal. Estimating the future operating state of the motor,
Based on the control target value to be realized by the real motor, the estimated operating state of the real motor, and the detected actual operating state of the real motor, the control signal of the virtual motor is determined, A control signal determining unit for outputting the control signal to the virtual motor ;
Electric power is supplied to the actual motor state detection unit, the virtual motor, and the control signal determination unit not only during the operation period of the actual motor but also during a rest period preceding the operation period, thereby the actual motor state A power supply control unit that operates the detection unit, the virtual motor, and the control signal determination unit prior to the start of operation of the real motor, and
The control signal determination unit activates the virtual motor during the stop period of the real motor, thereby causing the control target value, the operation state of the real motor estimated by the virtual motor, and the real motor state. Based on the actual operating state of the real motor detected by the detection unit, the control signal is determined, and the determined control signal is supplied to the virtual motor, thereby operating the virtual motor ,
The real motor is a motor control device controlled using the virtual motor .   The control signal determining unit determines the control signal on the assumption that the control target value is a predetermined value when the control target value is not designated during the stop period of the actual motor. The motor control device described in 1. The actual operating state of the actual motor includes the rotation angle of the actual motor,
The control signal determination unit performs vector control of the operating state of the virtual motor based on the control target value and an estimated operating state that is an operating state estimated by the virtual motor. The motor control device according to claim 1, wherein the control signal is determined by using a rotation angle of the actual motor, thereby determining the control signal.

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