JP2015023788A - Motor control device and motor control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate design support of a real motor and/or a real control system for the real motor.SOLUTION: A motor control device 300 for controlling a real motor 12 comprises: a virtual motor calculation part 50 which controls a virtual motor simulating the real motor together with the real motor and so as to operate the virtual motor substantially synchronously with the real motor; a real motor power calculation part 304 which acquires information required for calculating real power of the real motor from the real motor during a parallel operation period in which the real motor and the virtual motor are operated together; a virtual motor power calculation part 302 which acquires information required for calculating virtual power of the virtual motor from the virtual motor during the parallel operation period; and a mechanical loss calculation part 306 for acquiring a real mechanical loss of the real motor in association with a motor rotation angle on the basis of the information acquired by the calculation parts 304 and 302.

Description

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

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

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

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

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

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

JP 2006-318200 A JP 2009-284737 A

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

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

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

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

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

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

(1) A motor control device that controls an actual motor that converts electrical energy into kinetic energy,
A virtual motor that simulates the real motor;
For each calculation cycle, a control signal for at least the virtual motor of the real motor and the virtual motor is determined, and the determined control signal is used for at least the virtual motor of the real motor and the virtual motor. And a control unit that outputs to
When the control signal is input for each calculation cycle, the virtual motor is based on the input control signal, and when the same control signal as the control signal is output to the real motor, Estimating the operating state of the real motor realized in response, and outputting the estimated operating state as a virtual operating state of the virtual motor;
For each calculation cycle, the control unit substantially determines that the virtual motor is substantially the same as the real motor based on the virtual operation state output from the virtual motor in the previous calculation cycle and the actual operation state of the real motor. Determining the control signal to operate in synchronization with
The real motor is a motor control device that is operated together with the virtual motor based on at least one of a target signal for the real motor, a signal acquired from the virtual motor, and the control signal.

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

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

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

(2) When the control signal is input for each calculation cycle, the virtual motor, when the same control signal as the control signal is output to the real motor based on the input control signal. Estimating the actual current value of the real motor realized in response to the control signal, and outputting the estimated actual current value as a virtual current value of the virtual motor;
The control unit, for each calculation cycle, makes the virtual motor substantially different from the real motor based on the virtual current value output from the virtual motor in the previous calculation cycle and the actual rotation angle of the real motor. The motor control device according to (1), wherein the control signal is determined so as to operate in synchronization with the motor.

(3) For each calculation cycle, the control unit performs vector control with coordinate conversion to calculate the command current value of the virtual motor, and the coordinate conversion is based on the actual rotation angle of the real motor. The command current value is determined based on the target signal and the virtual current value output from the virtual motor in the previous calculation cycle by the vector control, and the determined command current value The motor control device according to item (2), wherein the control signal is determined based on the following.

(4) The control unit determines the control signal based on the target signal,
When the virtual current value is input as a target actual motor current value, the actual motor is controlled based on the input target current value,
The motor control device according to (2) or (3), wherein the control unit acts as a converter that converts the target signal into the target actual motor current value.

(5) When the virtual current value and the real current value of the real motor are input, the real motor is controlled based on the virtual current value and the real current value. Control device.

(6) The real motor is controlled based on what is substantially common to the control signal output to the virtual motor for each calculation cycle, whereby the real motor and the virtual motor are The motor control device according to item (1), which is controlled based on control signals that are substantially common to each other.

(7) The real motor is controlled based on what is substantially common to the target signal input to the virtual motor, whereby the real motor and the virtual motor are substantially common to the target. The motor control device according to item (1), which is controlled based on the signal.

(8) The control unit sequentially executes the first-stage and second-stage feedback control in each calculation cycle,
The control unit determines a virtual motor control signal for feedback control of the first stage by feeding back a previous estimated value output from the virtual motor in a previous calculation cycle based on a target signal. Outputting the determined virtual motor control signal to the virtual motor, thereby operating the virtual motor;
For the second-stage feedback control, the control unit feeds back a physical quantity representing the operating state of the actual motor based on the immediately preceding estimated value output from the virtual motor in the first-stage feedback control. And at least one of feedback of the immediately preceding estimated value based on the virtual motor control signal output to the virtual motor in the first-stage feedback control, The motor control device according to item (1), wherein a control signal is determined, and the determined actual motor control signal is output to the actual motor, thereby operating the actual motor.

(9) Furthermore,
Based on at least information acquired from the virtual motor among the real motor and the virtual motor during the period in which the real motor and the virtual motor are operating together, the actual operating characteristic of the real motor The motor control device according to any one of (1) to (8), wherein the motor control device functions as an actual motor operation characteristic output unit that obtains and outputs in association with a rotation angle of the virtual motor.

(10) The actual motor operating characteristic output unit acquires and outputs the virtual current value output from the virtual motor as the actual current value of the actual motor in association with the actual motor or the rotation angle of the virtual motor. The motor control device according to item (9), including a motor current acquisition unit.

(11) The actual motor operating characteristic output unit is information related to the actual motor acquired from the actual motor during a period in which the actual motor and the virtual motor are operating together, and the actual power of the actual motor is obtained. Based on what is necessary to calculate and virtual motor related information obtained from the virtual motor, which is necessary to calculate the virtual power of the virtual motor, the actual mechanical loss of the real motor, The motor control device according to (9), further including an actual motor mechanical loss acquisition unit that acquires and outputs the actual motor or the virtual motor in association with the rotation angle of the virtual motor.

(12) The actual motor mechanical loss acquisition unit calculates an actual power value of the actual motor based on the actual motor related information, calculates a virtual power value of the virtual motor based on the virtual motor related information, The motor according to (11), wherein the difference between the calculated actual power value and the virtual power value is acquired and output as an actual mechanical loss of the actual motor in association with the actual motor or the rotation angle of the virtual motor. Control device.

(13) The control unit repeatedly performs calculation for one calculation cycle at a predetermined calculation cycle, determines the control signal for each calculation cycle, and transmits the determined control signal to the actual motor. Output to at least the virtual motor of the virtual motor,
The motor control device further includes:
The difference decreases based on the difference between the actual operating state of the real motor and the operating state of the actual motor estimated by the virtual motor at a predetermined correction cycle so as to be longer than the calculation cycle. As described above, the motor control device according to any one of (1) to (12), including a correction unit that repeatedly corrects the input / output characteristics of the virtual motor.

(14) A motor control method for controlling an actual motor that converts electrical energy into kinetic energy,
For each calculation cycle, a determination step of determining a control signal for at least the virtual motor of the real motor and a virtual motor that simulates the real motor;
An output step of outputting the determined control signal to at least the virtual motor of the real motor and the virtual motor;
For each calculation cycle, when the control signal is input to the virtual motor, the virtual motor is activated, and based on the input control signal, the same control signal as the control signal is supplied to the real motor. Estimating the operating state of the real motor realized in response to the control signal when output, and outputting the estimated operating state as the virtual operating state of the virtual motor, and
In the determination step, for each calculation cycle, the virtual motor is substantially different from the real motor based on the virtual operation state output from the virtual motor in the previous calculation cycle and the actual operation state of the real motor. Determining the control signal to operate in synchronization with
The motor control method, wherein the real motor is operated together with the virtual motor based on at least one of a target signal for the real motor, a signal acquired from the virtual motor, and the control signal.

(15) A program executed by a computer to execute the motor control method according to (14).

(16) A non-transient recording medium on which the program according to item (15) 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.

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

FIG. 1 is a functional block diagram showing an entire system having a motor control device according to the first exemplary embodiment of the present invention. FIG. 2 is a circuit diagram schematically showing an example of the actual inverter / power amplifier shown in FIG. 1 together with the actual motor. FIG. 3 is a functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. 1. FIG. 4 is a diagram schematically and mathematically describing an example of a motor model used by the virtual motor shown in FIG. FIG. 5A is a functional block diagram illustrating an example of the virtual motor control unit illustrated in FIG. 3, and FIG. 5B is a functional block diagram illustrating another example of the virtual motor control unit illustrated in FIG. is there. FIG. 6A is a timing chart showing the entire sequence of the virtual motor calculation unit shown in FIG. 3, and FIG. 6B shows a case where the virtual motor calculation unit adopts the configuration shown in FIG. FIG. 6C is a timing chart showing the operation when the virtual motor calculation unit adopts the configuration shown in FIG. 5B. FIG. 7 is a diagram schematically and mathematically describing an example of the virtual PWM inverter shown in FIG. FIG. 8 is a flowchart conceptually showing an example of the operation of the motor control device shown in FIG. FIG. 9 is a flowchart conceptually showing an example of the operation of the real controller 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 functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. 10. FIG. 12 is a flowchart conceptually showing an example of the operation of the motor control device shown in FIG. FIG. 13 is a flowchart conceptually showing an example of the operation of the real controller shown in FIG. FIG. 14 is a functional block diagram showing the entire system having the motor control device according to the third exemplary embodiment of the present invention. FIG. 15 is a functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. 14. FIG. 16 is a flowchart conceptually showing an example of the operation of the motor control device shown in FIG. FIG. 17 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. 18 is a functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. FIG. 19 is a flowchart conceptually showing an example of the operation of the motor control device shown in FIG. FIG. 20 is a flowchart conceptually showing an example of the operation of the real controller shown in FIG. FIG. 21 is a functional block diagram showing the entire system having the motor control device according to the fifth exemplary embodiment of the present invention. FIG. 22 is a functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. 21. FIG. 23 is a flowchart conceptually illustrating an example of operation of each of the comparison unit and the model correction unit illustrated in FIG. 21. FIG. 24 is a functional block diagram showing the entire system having the motor control device according to the sixth exemplary embodiment of the present invention. FIG. 25 is a flowchart conceptually showing an example of 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. As some specific examples of the system 11, as described above, there are a propulsion device for moving a moving body with respect to an absolute space, a motion imparting device for imparting motion to a movable member, and the like.

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

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

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

Vu, Vv, Vw: terminal voltage (also referred to as “winding voltage” or “phase voltage”) [V]
Iu, Iv, Iw: Phase current (also referred to as “winding current”) [A]
θm: Rotor (or shaft) angle (phase or rotational position, also called “motor angle” or “motor position”) [rad]
ωm: Angular speed of rotor (or shaft 13) (also called “motor speed”) [rad / sec]
T: Motor output torque [Nm]
Eu, Ev, Ew: Induced voltage [V]
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, while when used in combination with "*", a virtual motor 60 (see FIG. 3) described later is used. Note that the former usage is adopted unless otherwise specified.

  As shown in FIG. 1, the system 11 further includes a real controller 13, a real inverter / power amplifier (an example of a real driver) 14, and a real motor state detection unit 15 in order to drive the real motor 12. Yes.

  The actual motor state detection unit 15 is an angle sensor that detects the actual motor position (rotation angle) θm of the actual motor 12 as the operating state of the actual motor 12. The actual motor state detection unit 15 is configured to include, for example, a rotary encoder (not shown).

  By the way, in some embodiments described later, the actual motor state detection unit 15 includes a current sensor that detects actual three-phase currents Iu, Iv, and Iw of the actual motor 12, or the actual three-phase of the actual motor 12. Although it has a voltage sensor that detects the voltages Vu, Vv, and Vw, in this embodiment, it does not have at least a current sensor. Instead, the virtual motor calculation unit 50 described later uses a real three-phase current of the real motor 12. Iu, Iv, and Iw are estimated using the virtual motor 60.

  The real inverter / power amplifier 14 is configured to have a real inverter or a real power amplifier that supplies electric energy to the real 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, the system 11 includes a processor 40 for controlling the real motor 12. The processor 40 includes an arithmetic circuit (for example, a programmable logic device (PLD), a wired logic circuit) such as a field-programmable gate array (FPGA) or an application specific integrated circuit (ASIC) 42 and a CPU 44 of the computer. Has been. For example, the arithmetic circuit 42 performs a 32-bit floating point arithmetic operation in a first period of 1 μsec, and thereby performs a calculation by the virtual motor calculation unit 50. Further, the CPU 44 performs a process for controlling the entire system 11 with a second period of several tens of μsec, for example, which is longer than the first period. Examples of such processing include initialization, termination processing, and processing for inputting a target signal representing a control target value that is variable in time.

  A virtual motor calculator 50 is realized by the arithmetic circuit 42. As shown in FIG. 3, the virtual motor calculation unit 50 is configured mainly with the virtual motor 60, and calculates the operating state of the real motor 12 by using the virtual motor 60. When the virtual motor 60 receives a control signal from the virtual motor control unit 64, the virtual motor 60 causes the arithmetic circuit 42 (see FIG. 1) to execute an analysis program for simulating the real motor 12, thereby the same as the input control signal. When a control signal is output to the actual motor 12, a calculation for estimating an operating state realized by the actual motor 12 is performed in response to the control signal. That is, the virtual motor calculation unit 50 is configured to be capable of high-speed calculation by the calculation circuit 42.

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

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

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

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

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

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

  As shown in FIG. 4, the linkage flux vector ψ of the motor is equal to the sum of the linkage flux due to the phase current and the armature linkage flux. The interlinkage magnetic flux due to the phase current is expressed using an inductance matrix having “L (self-inductance)” and “M (mutual inductance)” as elements, and the armature interlinkage magnetic flux is represented by the vector φ (= [ φu, φv, φw]).

  The inductance matrix is expressed as a table in which each element L, M depends on at least one of the motor current and angle (position, phase), and the armature flux linkage vector φ It is expressed as a table that depends on at least one of current and angle (position, phase). With these tables, the non-linear characteristics of the motor can be expressed over the entire driving frequency of the motor in cooperation with the voltage equation.

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

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

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

  The motor model employed by the virtual motor 60 includes a Fleming equation describing its magnetic system and a motion equation describing its mechanical system (around the virtual rotor axis) in addition to the voltage equation describing its electrical system. Describe the balance of moments).

  The Fleming equation calculates the virtual torque Te * generated in the virtual motor 60 from the virtual motor current vector I * and the virtual armature flux linkage vector φ * according to Fleming's law. The equation of motion calculates a virtual motor speed ωm * from a virtual generated torque Te *, a virtual load torque Tm *, a virtual armature inertia J *, and a virtual damping coefficient F *, and further integrates it over time. Thus, the virtual motor position θm * is calculated.

  The actual motor 12 has a response delay because the movable member including the rotor has a mass (inertia) or resistance, but the virtual motor 60 has substantially no response delay. As a result, assuming that the same 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. .

  Accordingly, when it is necessary to supply a control signal to the actual motor 12 at a certain time t (i) based on a certain control target value, prior to the supply, the same control signal as this control signal (this paragraph and In the next paragraph, if the control signal supplied to the virtual motor 60 is indicated by adding “X”) to the virtual motor 60 only, the control signal is received before the time t (i) arrives. It is possible to operate the virtual motor 60 so that the response of the virtual motor 60 to X ends.

  Therefore, correcting the control signal X based on the relationship between the operating state of the virtual motor 60 at this time and the current control target value (for example, feedback control and phase delay compensation described later in the present embodiment) is performed at time t ( This can be done prior to 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 actual motor 12 can be supplied.

  As shown in FIG. 3, the virtual motor calculation unit 50 further includes a virtual motor state detection unit 62 that detects the operating state of the virtual motor 60.

  The virtual motor state detection unit 62 detects the virtual motor current vector I * acquired by the calculation of the virtual motor 60, that is, the virtual three-phase actual currents Iu *, Iv *, and Iw *, as the operating state of the virtual motor 60.

  As described above, since the virtual motor 60 is configured to output the virtual three-phase actual current signals Iu *, Iv *, and Iw *, the virtual motor state detection unit 62 is configured to output the virtual three-phase actual current Iu *, When it is necessary to detect Iv *, Iw * and supply it to the virtual motor control unit 64, the virtual three-phase actual current signals Iu *, Iv *, Iw * output from the virtual motor 60 are virtually What is necessary is just to transfer to the motor control part 64. Therefore, the virtual motor state detection unit 62 functions as a current sensor for the real motor 12.

  Therefore, in the present embodiment, the virtual motor state detection unit 62 configures an example of the “real motor operation characteristic output unit” and configures an example of the “real motor current acquisition unit”.

  As shown in FIG. 1, the virtual three-phase actual current signals Iu *, Iv *, and Iw * acquired by the virtual motor state detection unit 62 are supplied to the real controller 13 for controlling the real motor 12. For the real controller 13, the supplied virtual three-phase real current signals Iu *, Iv *, Iw * function as target current signals. The real controller 13 is configured so that the supplied virtual three-phase real current signals Iu *, Iv *, Iw * are realized by the real motor 12, and the gate signals (real motor control signals) Gu, Gv, Gw, Gx, Gy, and Gz are generated and supplied to the actual inverter / power amplifier 14.

  As shown in FIG. 3, the motor control device 10 includes a display 66. The display 66 is, for example, a liquid crystal type, and includes a screen that can visualize and display information. The motor control device 10 converts the virtual three-phase actual current values Iu *, Iv *, and Iw * acquired by the virtual motor state detection unit 62 into the actual three-phase actual current values Iu, Iv, The estimated value of Iw can be displayed on the screen of the display 66.

  As shown in FIG. 3, the virtual motor calculation unit 50 controls the virtual motor 60 by using the target signal, the actual motor position θm output from the actual motor state detection unit 15, and the virtual motor state detection unit 62. A plurality of control signals (gate signals Gu, Gv, Gw, Gx, Gy, Gw) are generated based on the virtual motor state signal (for example, virtual three-phase actual currents Iu *, Iv *, Iw *) output from A virtual motor control unit 64 is provided. The virtual motor control unit 64 outputs the generated control signals (gate signals) Gu, Gv, Gw, Gx, Gy, Gw to the virtual PWM inverter 90 that is a virtual driver for the virtual motor 60.

  Specifically, as will be described in detail later with reference to FIG. 5, the virtual motor control unit 64 generates a target current signal based on the target signal (a virtual dq axis command current described later representing a control target value of the virtual motor 60). Id *, Iq *) is tentatively generated, and the virtual target state current signal is subjected to coordinate conversion from the virtual motor state signal (virtual three-phase real currents Iu, Iv, Iw output from the virtual motor 60). The virtual dq-axis actual currents Id and Iq) are fed back to correct the provisional target current signal and generate a final target current signal. Furthermore, the virtual motor control unit 64 performs vector control of the motor current, and therefore performs coordinate conversion between the dq coordinate system and the UVW coordinate system, and the coordinate conversion is performed based on the rotation angle θm of the real motor 12. To do.

  On the other hand, in the present embodiment, the same control signal is not supplied to the real motor 12 and the virtual motor 60, but as a result, the control signal is substantially common due to the characteristics of the control system. Is supplied to the real motor 12 and the virtual motor 60. Further, as described above, the virtual motor control unit 64 performs coordinate conversion for vector control of the motor current based on the rotation angle θm of the real motor 12. Thus, 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 (represented by the target signal) T ₀ 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 a calculation for one cycle at a virtual motor calculation period Tv (for example, 1 μsec) shorter than the input period Tin, and thereby, during one input cycle of the control target value T _0. Calculate for multiple cycles. In this 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.

Here, the “control target value T ₀ ” is, for example, a command value of a physical quantity related to the output from the actual motor 12 (for example, a physical quantity related to the position of the rotor of the actual motor 12 (for example, position, speed, acceleration)). A command value or a physical value (for example, a command value of a torque or axial force) relating to the force acting on the rotor of the actual motor 12, or a command value of an electrical or magnetic physical value generated in the actual motor 12 (for example, The current is a three-phase command current signal Iu *, Iv *, Iw * or a dq-axis command current signal Id *, Iq *, and the voltage is a three-phase command voltage signal Vu *, Vv *, Vw * or dq. Axis command voltage signals Vd *, Vq *) or any combination of these plural types of command values.

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. Target value T ₀ (i), actual motor position θm (t), virtual motor currents Iu *, Iv *, Iw * acquired by the previous calculation of virtual motor 60 (latest virtual motor current The control signal Gu-Gz is determined based on (Iu *, Iv *, Iw *), and the determined control signal Gu-Gz is output to the virtual motor 60.

Specifically, as illustrated in FIG. 6B, the virtual motor control unit 64 first calculates the latest control target value T ₀ (t) and the latest actual motor position in each calculation cycle. θm (t) and the latest virtual motor currents Iu *, Iv *, Iw *, which are obtained 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 for the virtual motor 60 is determined based on the acquired control target value T ₀ (t), actual motor position θm (t), and virtual motor currents Iu *, Iv *, Iw *. . This process is represented by “θ (t) = θm (t) synchronization” in FIG.

  Thereafter, phase delay compensation is performed on the determined temporary control signal 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 final control signal Gu-Gz is acquired. This process is represented by “θ (t) + Δθ control” in FIG.

  Subsequently, the acquired final control signal Gu-Gz is output to the virtual motor 60. This process is represented by “Gu to Gz output” in FIG. In each calculation cycle, since the control signal is input to the virtual motor 60 only once, the virtual motor 60 operates only once.

  The latest virtual motor currents Iu *, Iv *, Iw * used to generate the final control signal Gu-Gz at substantially the same timing as the final control signal Gu-Gz is output to the virtual motor 60. Is supplied to the actual controller 13 shown in FIG. The real controller 13 generates a control signal Gu-Gz for the real inverter / power amplifier 14 based on the supplied virtual motor currents Iu *, Iv *, Iw * and supplies the control signal Gu-Gz to the real inverter / power amplifier 14. .

  Therefore, the latest control signal input to the virtual motor 50 and the latest control signal input to the actual motor 12 are performed at substantially the same timing. However, since the actual motor 12 is less responsive than the virtual motor 60, the position θ of the virtual motor 60 changes from θ (t) to θ (t + 1) (= θ (t) + Δθ) by the latest control signal. This timing tends to be earlier than the timing at which the position θ of the actual motor 12 changes from θm (t) to θm (t + 1) (= θm (t) + Δθ) by the latest control signal.

  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.

  Briefly described, the virtual motor control unit 64 performs vector control with coordinate transformation to calculate the target current value of the virtual motor 60 for each calculation cycle, and performs the coordinate transformation on the actual motor 12. The control signal is determined based on the target signal and the virtual current value output from the virtual motor 60 in the previous calculation cycle.

  Specifically, 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 *).

  Further, 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 the vector control (rotor position information). The coordinates are converted into a coordinate system and the dq-axis current of the stator is controlled).

  The virtual motor control unit 64 includes a UVW-dq coordinate converter 68. The UVW-dq coordinate converter 68 generates the virtual motor state signal, that is, the virtual three-phase actual currents Iu, Iv, Iw (represented by “Iu *, Iv *, Iw *” in FIG. 1), Based on the actual motor position θm of the actual motor 12, it is converted into virtual dq-axis actual currents Id and Iq.

  In the conventional technique in which the virtual motor 60 is used separately from the real motor 12, the UVW-dq coordinate converter 68 uses the virtual three-phase real currents Iu, Iv, Iw under the virtual dq axis real under the virtual motor position θ. Conversion to currents Id * and Iq *. On the other hand, in this embodiment, the UVW-dq coordinate converter 68 uses the actual motor position θm instead of the virtual motor position θ.

  As a result, according to the present embodiment, the virtual dq-axis actual currents Id * and Iq * are acquired so that the virtual motor position θ and the actual motor position θm coincide with each other.

  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 currents Id * and Iq * are corrected 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.

  The virtual motor control unit 64 calculates a virtual d-axis command voltage Vd * corresponding to the corrected virtual d-axis command current Id *, and a virtual controller corresponding to the corrected virtual q-axis command current Iq *. and a current controller 72 for calculating the q-axis command voltage Vq *.

  As shown in FIG. 5A, the virtual motor control unit 64 further includes a non-interacting controller 74. The non-interference controller 74 is output from the UVW-dq coordinate converter 68 based on the actual motor state signal (actual motor position θm) supplied from the actual motor state detector 15 (see FIG. 1). Based on the virtual dq-axis actual currents Id and Iq, the virtual dq-axis command voltages Vd * and Vq * output from the current controllers 70 and 72 are corrected.

  In the conventional technique that uses the virtual motor 60 separated from the real motor 12, the non-interacting controller 74 uses the virtual dq-axis actual voltage Id, Iq based on the virtual dq-axis actual current Id and Iq under the virtual motor position θ. Correct Vd * and Vq *. On the other hand, in this embodiment, the non-interacting controller 74 uses the actual motor position θm instead of the virtual motor position θ.

  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 and the actual motor position θm coincide with each other.

  As shown in FIG. 5A, the virtual motor control unit 64 further includes a dq-UVW coordinate converter 76. The dq-UVW coordinate converter 76 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.

  In the conventional technique in which the virtual motor 60 is used separately from the real motor 12, the dq-UVW coordinate converter 76 uses the virtual dq axis command voltages Vd * and Vq * based on the virtual motor position θ as a virtual three-phase command. The voltage is converted to 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 θ.

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

  Thus, in this embodiment, in order to generate the control signal, the UVW-dq coordinate converter 68, the non-interacting controller 74, and the dq-UVW coordinate converter 76 are replaced with the virtual motor position θ. Refer to the actual motor position θm.

  However, when the virtual motor 60 is taught to reproduce the input / output characteristics of the real motor 12 sufficiently accurately, the virtual motor position θ and the real motor position θm are sufficiently coincident with each other. In this case, even if the UVW-dq coordinate converter 68, the non-interacting controller 74, and the dq-UVW coordinate converter 76 refer to the virtual motor position θ instead of the actual motor position θm, the control signal is The virtual motor position θ and the actual motor position θm are 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 actual motor position θm input to the dq-UVW coordinate converter 76 becomes equal to θm + Δθ. 12 is corrected to follow the operation of 12.

  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 under the actual motor position θm corrected as described above. As a result, the virtual three-phase command voltages Vu *, Vv *, and Vw * are acquired as values that allow for the amount of change Δθ. As a result, the control signal is determined by predicting a future change in the actual motor position θm, so that the above-described phase delay compensation is performed as a kind of feedforward control.

  As shown in FIG. 3, the virtual motor calculation unit 50 further includes a virtual PWM inverter 90 to which the control signal is input. The control signals are a plurality of gate signals Gu, Gv, Gw, Gx, Gy, Gw, and among these gate signals, the gate signals Gu, Gv, Gw are upper arms of each UVW phase belonging to the virtual PWM inverter 90. A pulse signal supplied to each of the switching elements (corresponding to the three upper arm switching elements 24 shown in FIG. 2), whereas the gate signals Gx, Gy, Gw are UVWs belonging to the virtual PWM inverter 90 These are pulse signals respectively supplied to the lower arm switching elements (corresponding to the three lower arm switching elements 24 shown in FIG. 2) of each phase. This also applies to the actual inverter 16.

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

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

  FIG. 8 is a flowchart illustrating an example of the operation of the motor control device 10. This flowchart represents step S1 executed by the CPU 44 and steps S2-S11 executed repeatedly by the arithmetic circuit 42. These steps S2-S11 are executed once to achieve one calculation cycle. FIG. 8 schematically shows a virtual motor control program executed by the processor 40 for operating the motor control device 10 in a flowchart.

  When this virtual motor control program is executed, first, initialization is performed in step S1. Specifically, for example, the actual motor state detection unit 15 acquires the initial actual motor position θinit, and the same position is set as the initial virtual motor position θinit of the virtual motor 60.

Next, step S2 is executed once every time an input cycle Tin (for example, several tens of μsec) elapses. In this step S2, the current target signal (control target value T ₀ ) is input. On the other hand, steps S3-S11 are executed once each time the virtual motor calculation cycle Tv elapses.

  Subsequently, in step S3, data is input. Specifically, the virtual motor current signals Iu *, Iv *, and Iw * are output from the virtual motor state detection unit 62, and the actual motor state detection unit 15 outputs the actual motor. Each of the position signals θm is input.

  Thereafter, in steps S4 to S6, the virtual motor control unit 64 is operated. Specifically, first, in step S4, the UVW-dq coordinate converter 68, the current controllers 70 and 72, and the non-interacting controller 74 are used as a reference for the actual motor position signal θm (value before correction). Virtual dq axis command voltage signals Vd * and Vq * are generated so that virtual motor 60 and real motor 12 are synchronized with each other with respect to the motor position (phase).

  Next, in step S5, the change amount Δθ is estimated by the Δθ estimator 80, and the actual motor position θm is corrected based on the estimated change amount Δθ. Thereafter, the virtual dq-axis command voltage signals Vd *, Vq * are converted into virtual three-phase command voltage signals Vu *, Vv *, Vw * by the dq-UVW coordinate converter 76 under the corrected actual motor position θm. Is converted to

  In step S6, the PWM signal generator 78 converts the virtual three-phase command voltage signals Vu *, Vv *, Vw * into PWM signals (virtual motor control signals) Gu, Gv, Gw, Gx, Gy, Gz. Is done.

  Thereafter, in step S7, the PWM signals Gu, Gv, Gw, Gx, Gy, Gz acquired in this way are output to the virtual PWM inverter 90. As a result, the virtual PWM inverter 90 generates virtual motor voltage signals Vu *, Vv *, Vw * (representing virtual motor terminal voltages Vu, Vv, Vw of the virtual motor 60).

  Subsequently, in step S8, the generated virtual motor voltage signals Vu *, Vv *, Vw * are output to the virtual motor 60, whereby the virtual motor current signal Iu is used by using the motor model described above. *, Iv *, and Iw * are generated.

  Thereafter, in step S9, the virtual motor state detection unit 62 outputs the generated virtual motor current signals Iu *, Iv *, Iw *. Specifically, the virtual motor current signals Iu *, Iv *, and Iw * are temporarily stored in a specific memory (not shown) in preparation for calculation in the next calculation cycle. Further, the same virtual motor current signals Iu *, Iv *, and Iw * are output to the real controller 13, thereby controlling the real motor 12.

  Subsequently, in step S10, the virtual motor current signals Iu *, Iv *, Iw * (virtual motor current values for each phase) output from the virtual motor state detection unit 62 are displayed on the screen of the display 66 for each phase. They are displayed in association with each other and in time series and in the form of a table or graph. Thereby, the estimated value of the temporal transition of the actual motor current values Iu, Iv, and Iw of the actual motor 12 is visualized for each phase.

  Thereafter, in step S11, it is determined whether or not a main power supply (not shown) of the system 11 is turned off. If the main power supply is still on, the determination is no and the process returns to step S2 for calculation in the next calculation cycle. On the other hand, when the main power supply is turned off, the determination in step S11 is YES, and the operation of the motor control device 10 is thus completed.

  In addition, there are various modifications in this embodiment. In one modification, 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 this 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 changed to that shown in FIG. The

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

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

  For this modification, the timing chart representing an example of the operation of the motor control device 10 is changed to that shown in FIG. 6C, and a flowchart showing an example of the operation of the motor control device 10 is shown in FIG. Although basically the same as that shown in the flowchart, in step S5, the estimation of the change amount Δθ by the Δθ estimator 80 is omitted, and the dq-UVW coordinate converter 76 uses the actual motor position θm in step S4. The generated virtual dq axis command voltage signal is converted into a virtual three-phase command voltage signal.

  FIG. 9 conceptually shows, in a flowchart, an actual motor control program that is repeatedly executed by a processor (not shown) in the actual controller 13 in order to control the actual motor 12. By executing this real motor control program repeatedly, as shown in FIG. 6A, the control of the real motor 12 (real motor control) is repeated at the same control cycle as the virtual motor calculation cycle Tv. .

  When the actual motor control program is executed, first, in step S51, the latest virtual motor current signals Iu *, Iv *, and Iw * are input from the virtual motor calculation unit 50.

  Next, in step S52, on the basis of the inputted virtual motor current signals Iu *, Iv *, Iw *, a target physical quantity represented by these virtual motor current values Iu *, Iv *, Iw * is realized. PWM signals (actual motor control signals) Gu, Gv, Gw, Gx, Gy, and Gz for an appropriate actual motor 12 are generated.

  Subsequently, in step S53, the generated PWM signals Gu, Gv, Gw, Gx, Gy, Gz are output to the actual inverter / power amplifier 14, thereby controlling the actual motor 12.

  Thereafter, in step S54, the actual operating state of the actual motor 12 (in the present embodiment, the actual motor position θm) is detected by the actual motor state detection unit 15. A signal representing the detected actual motor operating state is output to the virtual motor calculation unit 50.

  Thus, the actual motor control for one control cycle is completed, and then the process returns to step S51 to start the actual motor control for the next control cycle.

  According to the present embodiment, as long as there is an angle sensor that detects the rotation angle of the actual motor 12, it is possible to replace such a current sensor without adding a current sensor that is usually more expensive than the angle sensor to the actual motor 12. By using the virtual motor 60, the current of the actual motor 12 can be detected at a low cost.

  In the present embodiment, the virtual motor state detection unit 62 detects virtual motor current values Iu *, Iv *, and Iw * calculated by the virtual motor 60 as the operating state of the virtual motor 60.

  Another example of the virtual motor state detection unit 62 is based on the virtual motor current values Iu *, Iv *, Iw * and the above-described motion based on the virtual motor current values Iu *, Iv *, Iw *. Other physical quantities calculated by using equations, voltage equations and Fleming equations, for example, virtual torque Te *, virtual motor speed ωm *, virtual motor position θm *, virtual three-phase induced voltages Eu *, Ev *, Ew * Virtual three-phase magnetic fluxes Fu *, Fv *, Fw *, etc. can be detected.

  As is apparent from the above description, in this embodiment, when the virtual motor 60 receives a virtual motor control signal for each calculation cycle, the virtual motor 60 is based on the input virtual motor control signal. When the same real motor control signal as the control signal is output to the real motor 12, the operating state of the real motor 12 realized in response to the real motor control signal is estimated, and the estimated operating state is estimated for the virtual motor 60. Output as a virtual operating state. Here, examples of the “virtual operating state” are virtual motor currents Iu *, Iv *, and Iw *.

  Further, the virtual motor control unit 64 determines the virtual motor control signal for each calculation cycle by feeding back the virtual operation state output from the virtual motor 60 in the previous calculation cycle based on the target signal. To do.

  Further, in a control cycle synchronized with the same calculation cycle, the real controller 13 determines an actual motor control signal based on a signal acquired from the virtual motor 60, and uses the determined actual motor control signal as the actual motor 12. Output to. Here, an example of the “signal acquired from the virtual motor 60” is the latest virtual motor current Iu *, Iv *, Iw *, and the virtual motor control unit 64 determines the latest virtual motor control signal. It is the same as the reference.

  Alternatively, in another example, the “signal obtained from the virtual motor 60” is another physical quantity that replaces or is added to the latest virtual motor currents Iu *, Iv *, Iw *, ie, its Another physical quantity calculated by the virtual motor state detection unit 62 at substantially the same timing as when the latest virtual motor currents Iu *, Iv *, Iw * are output from the virtual motor 60, for example, as described above. At least one of virtual torque Te *, virtual motor speed ωm *, virtual motor position θm *, virtual three-phase induced voltage Eu *, Ev *, Ew *, virtual three-phase magnetic flux Fu *, Fv *, Fw *, etc. It is.

  Both the first physical quantity referred to determine the virtual motor control signal and the second physical quantity referred to determine the actual motor control signal are physical quantities obtained directly or indirectly from the virtual motor 60. Even if there is, it is not indispensable that the first physical quantity and the second physical quantity coincide with each other with respect to the type, and they are physical quantities acquired directly or indirectly from the virtual motor 60 at substantially the same timing. It only needs to meet the conditions. This is because as long as they are such physical quantities, they are physically equivalent to each other and can be replaced with each other.

Second Embodiment

  Next, a motor control device 100 according to a second embodiment of the present invention will be described with reference to FIGS. 10 to 13. 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 first embodiment described above, the virtual motor state detector 62 detects the virtual three-phase actual current values Iu *, Iv *, and Iw * as the actual three-phase actual current values Iu, Iv, and Iw of the actual motor 12. Functions as a current sensor.

  In contrast, in the present embodiment, the virtual motor state detection unit 62 not only functions as a current sensor, but also functions as an input voltage sensor, a torque sensor, and an induced voltage sensor.

  The input voltage sensor applies a virtual three-phase input voltage Vu *, Vv *, Vw *, which is a voltage applied to each phase virtual winding of the virtual motor 60, to a voltage applied to each phase real winding of the real motor 12. Are detected as actual three-phase input voltages Vu, Vv, and Vw.

  The torque sensor detects a virtual torque Te * that is a torque acting on a virtual shaft of the virtual motor 60 (corresponding to the shaft 13 of the real motor 12) as a real torque Te that is a torque acting on the shaft 13 of the real motor 12. To do.

  The induced voltage sensor generates a virtual three-phase induced voltage Eu *, Ev *, Ew *, which is a voltage induced in each phase virtual winding of the virtual motor 60, and a voltage induced in each phase actual winding of the real motor 12. Are detected as actual three-phase induced voltages Eu, Ev, Ew.

  Furthermore, in the above-described first embodiment, the real controller 13 is configured to output a PWM signal (real signal) for the real motor 12 based on the virtual motor current signals Iu *, Iv *, Iw * output from the virtual motor calculation unit 50. Motor control signals) Gu, Gv, Gw, Gx, Gy, Gz are determined.

  On the other hand, in the present embodiment, the real controller 13 is based on the same target signal as the target signal input to the virtual motor calculation unit 50, and the PWM signals Gu, Gv, Gw, Gx, Gy for the real motor 12 are used. , Gz.

  FIG. 11 conceptually shows a virtual motor calculation unit 50 according to the present embodiment in a functional block diagram. This virtual motor calculation unit 50 is different from the virtual motor calculation unit 50 (FIG. Y3) according to the first embodiment in that the virtual motor state detection unit 62 has virtual motor current signals Iu *, Iv *, Iw * and a virtual motor voltage signal. Vu *, Vv *, Vw *, virtual motor torque Te *, virtual motor induced voltage signals Eu *, Ev *, Ew * are output to the display 66, and the virtual motor state detection unit 62 has a virtual motor current. The signals Iu *, Iv *, and Iw * are common except that they are not output to the actual controller 13.

  FIG. 12 conceptually shows a virtual motor control program executed by the processor 40 in order to operate the motor control device 100 in a flowchart. This virtual motor control program has many steps in common with those shown in FIG. 8, and the only difference is that step S9 is replaced with step 9a and step S10 is replaced with step S10a.

  In step S9a, in accordance with step S9, the virtual motor state detector 62 causes the virtual motor current signals Iu *, Iv *, Iw *, the virtual motor voltage signals Vu *, Vv *, Vw *, and the virtual motor torque. Te * and virtual motor induced voltage signals Eu *, Ev *, Ew * are output. In step S10a, in accordance with step S10, a plurality of virtual motor state quantities detected by the virtual motor state detection unit 62 are displayed on the screen of the display 66.

  FIG. 13 conceptually shows a real motor control program executed by a processor (not shown) in the real controller 13 for controlling the real motor 12 in a flowchart. This actual motor control program is basically the same as that shown in FIG.

  Specifically, when the actual motor control program is executed, first, in step S56, the target signal is input.

  Next, in step S57, based on the inputted target signal, PWM signals (actual motor control signals) Gu, Gv, Gu for the real motor 12 that are suitable for realizing the physical quantity represented by the target signal. Gw, Gx, Gy, and Gz are generated.

  Subsequently, in step S58, the generated PWM signals Gu, Gv, Gw, Gx, Gy, Gz are output to the actual inverter / power amplifier 14, thereby controlling the actual motor 12. Thereafter, in step S59, the actual operating state of the actual motor 12 (in the present embodiment, the actual motor position θm) is detected by the actual motor state detection unit 15. A signal representing the detected actual motor operating state is output to the virtual motor control unit 64.

  Thus, the actual motor control for one control cycle is completed, and then the process returns to step S56, and the actual motor control for the next control cycle is started.

<Third Embodiment>

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

  In the first embodiment described above, the real controller 13 uses the PWM signal (control signal) for the real motor 12 based on the virtual motor current signals Iu *, Iv *, and Iw * output from the virtual motor calculation unit 50. Gu, Gv, Gw, Gx, Gy, and Gz are determined. On the other hand, the virtual motor control unit 64 generates a PWM signal (virtual motor control signal) for the virtual motor 60 based on the target signal, the virtual motor current signals Iu *, Iv *, Iw *, and the actual motor position θm. ) Determine Gu, Gv, Gw, Gx, Gy, Gz. Therefore, PWM signals (real motor control signals) Gu, Gv, Gw, Gx, Gy, Gz supplied to the real motor 12 and PWM signals (virtual motor control signal) supplied to the virtual motor 60 for the same control cycle. Gu, Gv, Gw, Gx, Gy, and Gz do not completely match each other.

  On the other hand, in this embodiment, as shown in FIGS. 14 and 15, the virtual motor control unit 64 performs the target signal and the virtual motor current signals Iu *, Iv *, When PWM signals (virtual motor control signals) Gu, Gv, Gw, Gx, Gy, Gz for the virtual motor 60 are determined based on Iw * and the actual motor position θm, the PWM signals Gu, Gv, Gw, Gx, Gy, Gz are output to the virtual motor 60 via the virtual PWM inverter 90, and the actual inverter / power amplifier 14 uses the completely same PWM signals Gu, Gv, Gw, Gx, Gy, Gz as actual motor control signals. To the actual motor 12 via.

  Thus, in this embodiment, since the virtual motor calculation unit 50 completely controls the real motor 12, there is no element corresponding to the real controller 13. On the other hand, in the first embodiment, since the virtual motor calculation unit 50 controls the real motor 12 only partially, the real controller 13 is added.

  FIG. 16 conceptually shows a virtual motor control program executed by the processor 40 to operate the motor control device 200 in a flowchart. This virtual motor control program has many steps in common with those shown in FIG. 8, and the only difference is that step S6a is added between steps S6 and S7. This step S6a is added to output the PWM signals Gu, Gv, Gw, Gx, Gy, Gz determined in step S6 to the actual inverter / power amplifier 14.

<Fourth embodiment>

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

1. Functions of the actual motor state detection unit 15

  In the first embodiment described above, the actual motor state detection unit 15 detects the actual motor position θm. In contrast, in the present embodiment, as shown in FIG. 17, the actual motor state detection unit 15 performs not only the actual motor position θm but also the actual three-phase actual current values Iu, Iv, Iw and the actual motor 12. Three-phase actual voltage values Vu, Vv, and Vw are also detected. Therefore, the actual motor state detection unit 15 is designed to have not only a rotary encoder but also a normal current sensor and voltage sensor.

2. About the function of the actual controller 13

  In the first embodiment described above, the real controller 13 uses the PWM signal (control signal) for the real motor 12 based on the virtual motor current signals Iu *, Iv *, and Iw * output from the virtual motor calculation unit 50. Gu, Gv, Gw, Gx, Gy, and Gz are determined. On the other hand, the virtual motor control unit 64 generates a PWM signal (control signal) Gu for the virtual motor 60 based on the target signal, the virtual motor current signals Iu *, Iv *, Iw *, and the actual motor position θm. , Gv, Gw, Gx, Gy, Gz are determined. Therefore, PWM signals (real motor control signals) Gu, Gv, Gw, Gx, Gy, Gz supplied to the real motor 12 and PWM signals (virtual motor control signal) supplied to the virtual motor 60 for the same control cycle. Gu, Gv, Gw, Gx, Gy, and Gz do not completely match each other.

  On the other hand, in the present embodiment, as shown in FIGS. 17 and 18, the virtual motor control unit 64 performs the target signal and the virtual motor current signals Iu *, Iv *,. Based on Iw * and the actual motor position θm, PWM signals (virtual motor control signals) Gu, Gv, Gw, Gx, Gy, Gz for the virtual motor 60 are determined and the PWM signals Gu, Gv, Gw are determined. , Gx, Gy, Gz are output to the real controller 13 as virtual motor current signals Iu *, Iv *, Iw * used to determine.

  Further, in the present embodiment, the real controller 13 uses the virtual motor current signals Iu *, Iv *, Iw * output from the virtual motor control unit 64 as the target current signal, and from the real motor state detection unit 15. By feeding back the actual motor current values Iu, Iv, and Iw of the actual motor 12, the PWM signals (actual motor control signals) Gu, Gv, Gw, Gx, Gy, and Gz for the actual motor 12 are determined. .

3. Function of virtual motor state detection unit 62

  In the first embodiment described above, the virtual motor state detection unit 62 detects the virtual motor current values Iu *, Iv *, Iw * as the estimated values of the actual motor current values Iu, Iv, Iw of the real motor 12. Functions as a sensor. Thereby, by using the virtual motor 60, the current characteristic of the real motor 12 is output as the actual operation characteristic of the real motor 12.

  In contrast, in the present embodiment, as shown in FIGS. 17 and 18, the virtual motor state detection unit 62 not only functions as a current sensor, but also uses virtual motor voltage values Vu *, Vv *, and Vw *. It also functions as a voltage sensor that detects actual motor voltage values Vu, Vv, Vw of the actual motor 12 as estimated values. Thus, in the present embodiment, by using the virtual motor 60, not only the current characteristic of the real motor 12 but also the voltage characteristic is output as the actual operating characteristic of the real motor 12.

4). About estimation of mechanical loss of actual motor 12

  As shown in FIGS. 17 and 18, the motor control device 300 further includes a virtual motor power calculation unit 302. The virtual motor power calculation unit 302 calculates the product of the virtual motor current values Iu *, Iv *, Iw * and the virtual motor voltage values Vu *, Vv *, Vw * output from the virtual motor state detection unit 62 as The virtual motor power Pv is calculated for each phase and for each rotation angle θm of the real motor 12.

  As shown in FIG. 17, the motor control device 300 further includes an actual motor power calculation unit 304. The actual motor power calculation unit 304 calculates the actual motor current values Iu, Iv, Iw output from the actual motor state detection unit 15 and the actual motor voltage values Vu, Vv, Vw for each phase and The actual motor power Pm is calculated for each rotation angle θm of the motor 12.

  As shown in FIG. 17, the motor control device 300 further includes a mechanical loss calculation unit 306.

  As is well known, the actual motor 12 is a machine that converts electrical energy into mechanical energy. During the energy conversion, part of the input electrical energy is converted into heat energy inside the actual motor 12. Is consumed. The electric energy thus consumed is the total loss of the actual motor 12.

  This total loss is classified into iron loss, copper loss and mechanical loss. The load loss is classified as copper loss. They are classified into fixed loss that does not depend on the load factor of the actual motor 12, load loss that depends on the load factor, stray load loss, and the like. Fixed loss is classified as iron loss and mechanical loss, and load loss is classified as copper loss.

  The iron loss is a loss generated when an eddy current is generated in the iron core (core) of the actual motor 12, and becomes significant in a high speed / low torque region. The iron loss is a kind of fixed loss that does not depend on the load factor of the actual motor 12.

  The mechanical loss is a loss caused by a mechanical factor when the actual motor 12 is rotated. The loss due to the frictional resistance of the bearing between the rotor and the stator, the windage loss due to the air resistance, the inappropriate air gap, etc. Etc. The mechanical loss includes an element that does not depend on the load factor of the actual motor 12 and an element that depends on the element.

  The copper loss is a loss generated by the electrical resistance of the copper winding of the rotor and the copper winding of the stator, and becomes significant in the low speed / high torque range. Copper loss is a type of load loss that depends on the load factor of the actual motor 12.

  Here, it is possible to assume that the total loss of the actual motor 12 is equal to the sum of the loss caused by electrical factors such as iron loss and copper loss and the mechanical loss caused by mechanical factors. On the other hand, the input / output characteristics of the virtual motor 60 are designed to reflect the iron loss and the copper loss of the actual motor 12, but the mechanical loss is not taken into consideration. Therefore, it can be assumed that the total loss of the virtual motor 60 is equal to the loss caused by the electrical factors of iron loss and copper loss.

  On the other hand, the portion of the electrical energy input to the actual motor 12 that has been converted to mechanical energy can be calculated as the actual motor power Pm that is the power of the actual motor 12. Similarly, the portion of the electrical energy input to the virtual motor 60 that has been converted to mechanical energy can be calculated as the virtual motor power Pv that is the power of the virtual motor 60.

  The calculated value of the virtual motor power Pv does not include the mechanical loss of the actual motor 12. Therefore, the value ΔP (= Pv−Pm) obtained by subtracting the actual motor power Pm from the virtual motor power Pv means an estimated value of the mechanical loss ML of the actual motor 12.

  Based on such knowledge, in this embodiment, the mechanical loss calculation unit 306 uses the actual motor power Pm calculated by the actual motor power calculation unit 304 from the virtual motor power Pv calculated by the virtual motor power calculation unit 302. , The estimated value of the mechanical loss ML of the actual motor 12 is calculated for each phase and for each rotation angle θm of the actual motor 12.

  In the present embodiment, the virtual motor 60 is controlled so as to be substantially synchronized with the real motor 12 with respect to the phase, as in some of the other embodiments described above. Thanks to this synchronization, the virtual motor power Pv (latest value) and the actual motor power Pm (latest value) acquired at substantially the same timing are the virtual motor position θ of the virtual motor 60 and the real motor position of the real motor 12. It is guaranteed that θm is acquired in a situation where they substantially match each other. Therefore, the accuracy in which the difference between the virtual motor power Pv and the actual motor power Pm represents the mechanical loss ML of the actual motor 12 is improved.

  As described above, in this embodiment, the estimated value of the mechanical loss ML of the actual motor 12 is expressed as a function f (θm) having the rotation angle θm of the actual motor 12 as a parameter. The estimated value of the mechanical loss ML of the actual motor 12 can be expressed as a function g (θm, R) having the rotation angle θm of the actual motor 12 and the load factor R of the actual motor 12 as parameters. .

  Further, in the present embodiment, as shown in FIG. 17, the motor control device 300 further includes a memory 310. The estimated value of the mechanical loss ML calculated by the mechanical loss calculation unit 306 is stored in the memory 310 as a function f (θm) having the rotation angle θm of the actual motor 12 as a parameter.

  If the mechanical loss ML of the actual motor 12 can be estimated, it becomes easy to change the design of the actual motor 12 and improve the manufacturing process so that the mechanical loss ML is reduced. Specifically, for example, in the actual motor 12, the grease to be used is changed to one with low loss, the frictional resistance of the bearing is optimized, the number of coils, the orientation and the arrangement are optimized, the air gap is It becomes easy to optimize and optimize the heat flow.

  As is clear from the above description, in the present embodiment, the real motor state detection unit 15, the virtual motor state detection unit 62, the virtual motor power calculation unit 302, the real motor power calculation unit 304, and the mechanical loss calculation The unit 306 cooperates with each other to configure an example of the “actual motor operating characteristic output unit” and configure an example of the “actual motor mechanical loss acquisition unit”.

  In FIG. 19, a virtual motor control program executed by the processor 40 for operating the motor control device 300 is conceptually shown in a flowchart. This virtual motor control program has many steps in common with those shown in FIG. 8, and the only difference is that step S10 is replaced with a series of steps S21 to S27.

  In step S 21, the virtual motor current values Iu *, Iv *, Iw * and virtual motor voltage values Vu *, Vv *, Vw * output from the virtual motor state detection unit 62 are input to the virtual motor power calculation unit 302. The

  Next, in step S22, the virtual motor power calculation unit 302 calculates the product of the virtual motor current values Iu *, Iv *, Iw * and the virtual motor voltage values Vu *, Vv *, Vw * for each phase. A virtual motor power Pv is calculated. The calculated virtual motor power Pv is output to the mechanical loss calculator 306.

  Subsequently, in step S23, as in step S21, the actual motor current values Iu, Iv, Iw and the actual motor voltage values Vu, Vv, Vw output from the actual motor state detection unit 15 are converted into the actual motor power calculation unit 304. Is input.

  Thereafter, in step S24, as in step S22, the actual motor power calculation unit 304 calculates the actual motor current values Iu, Iv, Iw and the actual motor voltage values Vu, Vv, Vw for each phase. A motor power Pm is calculated. The calculated actual motor power Pm is output to the mechanical loss calculation unit 306.

  Subsequently, in step S25, the mechanical loss calculation unit 306 subtracts the actual motor power Pm calculated by the actual motor power calculation unit 304 from the virtual motor power Pv calculated by the virtual motor power calculation unit 302. An estimated value of the mechanical loss ML of the actual motor 12 is calculated for each phase.

  Thereafter, in step S26, the latest actual motor angle (that is, actual motor position) θm is input from the actual motor state detector 15.

  Subsequently, in step S27, the estimated value of the mechanical loss ML of the actual motor 12 is stored in the memory 310 as a function f (θm) having the rotation angle θm of the actual motor 12 as a parameter for each phase. That is, the latest mechanical loss ML is stored in the memory 310 in association with the latest actual motor position θm. Thereafter, the process proceeds to step S11.

  FIG. 20 conceptually shows, in a flowchart, an actual motor control program that is repeatedly executed by a processor (not shown) in the actual controller 13 in order to control the actual motor 12. This actual motor control program is basically the same as that shown in FIG.

  Specifically, when the actual motor control program is executed, first, in step S61, the latest virtual motor current signals Iu *, Iv *, Iw * are obtained from the virtual motor calculation unit 50 in the same manner as in step S51. Input as target current signal.

  Next, in step S62, the latest actual motor current signals Iu, Iv, Iw are input from the actual motor state detector 15. Subsequently, in step S63, the physical quantity represented by the target current signal is realized based on the inputted virtual motor current signals Iu *, Iv *, Iw * and the actual motor current signals Iu, Iv, Iw. PWM signals (actual motor control signals) Gu, Gv, Gw, Gx, Gy, and Gz for the actual motor 12 are generated.

  Subsequently, in step S64, the generated PWM signals Gu, Gv, Gw, Gx, Gy, Gz are output to the actual inverter / power amplifier 14, thereby controlling the actual motor 12. Thereafter, in step S65, the actual operating state of the actual motor 12 (in the present embodiment, the actual motor position θm, the actual motor current values Iu, Iv, Iw, the actual motor voltage values Vu, Vv, Vw) is determined as the actual motor state. It is detected by the detector 15. A plurality of signals representing the detected actual motor operating state are respectively output to the corresponding elements.

  Thus, the actual motor control for one control cycle is completed, and then the process returns to step S61 to start the actual motor control for the next control cycle.

<Fifth Embodiment>

  Next, a motor control device 400 according to a fifth embodiment of the present invention will be described with reference to FIGS. However, since this embodiment has elements that are common to the fourth embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant description and only different elements. This will be described in detail.

  In the fourth embodiment described above, focusing on the fact that the difference between the real motor power Pm of the real motor 12 and the virtual motor power Pv of the virtual motor 60 may reflect the mechanical loss of the real motor 12, The mechanical loss of the real motor 12 is estimated using the power difference between the motor 12 and the virtual motor 60.

  On the other hand, in this embodiment, if there is a difference between the actual operating state quantity of the real motor 12 and the operating state quantity of the virtual motor 60, that is, the estimated value of the operating state quantity of the real motor 12, the difference is Assuming that it is caused by the teaching error of the motor 60, the motor model expressed by the virtual motor 60 is automatically corrected so that the difference decreases under the assumption.

  As shown in FIG. 21, for such automatic model correction, the motor control device 400 replaces the virtual motor power calculation unit 302, the actual motor power calculation unit 304, the mechanical loss calculation unit 306, and the memory 310 shown in FIG. Thus, a comparison unit 402 and a model correction unit 404 are provided.

  The comparison unit 402 calculates a current error ΔI that is a difference between the current value represented by the actual motor current signals Iu, Iv, and Iw and the current value represented by the virtual motor current signals Iu *, Iv *, and Iw *. Calculate for each phase. The model correction unit 404 automatically corrects the motor model of the virtual motor 60 so that the calculated current error ΔI decreases. The comparison unit 402 and the model correction unit 404 are executed by the CPU 44.

  Specifically, the model correction unit 404 determines the motor model (see FIG. 4) that defines the input / output characteristics of the virtual motor 60 based on the calculated current error ΔI so that the current error ΔI decreases. Correct it. For example, based on the calculated current error ΔI, the model correction unit 404 sets the corresponding element in the inductance matrix shown in FIG. 4 to a predetermined relationship between the current error ΔI and the value of the element (for example, (Acquired empirically or experimentally). The model correcting unit 404 executes teaching that teaches the virtual motor 60 the actual input / output characteristics of the real motor 12 by operating the virtual motor 60 and the real motor 12 together.

  FIG. 22 conceptually shows a virtual motor calculation unit 50 according to the present embodiment in a functional block diagram. The virtual motor calculation unit 50 is different from the virtual motor calculation unit 50 according to the fourth embodiment except that the virtual motor state detection unit 62 outputs virtual motor current signals Iu *, Iv *, and Iw * to the comparison unit 402. , In common.

  FIG. 23 conceptually shows an example of operations of the comparison unit 402 and the model correction unit 404 in a flowchart. The comparison unit 402 and the model correction unit 404 are repeatedly executed by the CPU 44 at an error monitoring calculation period Tc (for example, several tens of μsec).

  Specifically, first, in step S121, the comparison unit 402 causes the virtual motor current values Iu *, Iv *, Iw * of the virtual motor 60 to be different from the actual motor current values Iu, Iv, Iw of the real motor 12. Is calculated for each phase U, V, and W, and the absolute value of the calculated current error ΔI is a predetermined threshold value for at least one of the three phases. It is determined whether or not it is greater than ΔIth. This time, assuming that the calculated value of the current error ΔI is equal to or less than the threshold value ΔIth for any phase, the determination in step S121 is NO, and the same step S121 is executed again.

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

  In step S122, the comparison unit 402 calculates a correction amount for correcting the motor model so that the current error ΔI does not exceed the threshold value ΔIth for any phase.

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

  Subsequently, in step S123, the model correction unit 404 corrects the motor model that defines the input / output characteristics of the virtual model 60 based on the calculated correction amount (for example, a plurality of elements of the inductance matrix). The correction factor acquired in common or the correction factor acquired for each element is multiplied by the original value of those elements). Teaching of the virtual model 60 is performed based on the calculated value of the current error ΔI, and as a result, the input / output characteristics of the virtual model 60 more accurately reflect the input / output characteristics of the actual motor 12. Thereafter, the process returns to step S121.

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

  As is clear from the above description, according to the present embodiment, the actual input / output characteristics of the actual motor 12 can be obtained regardless of whether the system 11 is in a trial operation state or a full-scale operation state. As reflected, the input / output characteristics of the virtual motor 60, that is, the motor model can be individually tuned.

  Therefore, according to the present embodiment, in the manufacturing stage of the system 11, the input / output characteristics of the virtual motor 60, that is, the motor model is individually tuned to reflect individual variations in the input / output characteristics of the actual motor 12. Is possible.

  In addition, after the system 11 is shipped, when the user actually uses the system 11, the input / output characteristics of the actual motor 12 are deteriorated with time or due to an external environment (for example, a temperature environment). It is possible to automatically tune the input / output characteristics of the virtual motor 60, that is, the motor model, individually and in parallel with the original application so as to reflect changes and the like.

  The motor model so tuned can be employed in some of the other embodiments described above or in some of the other embodiments described below.

  As is clear from the above description, in the present embodiment, the comparison unit 402 and the model correction unit 404 together form an example of the “correction unit”.

<Sixth Embodiment>

  Next, a motor control device 500 according to a sixth embodiment of the present invention will be described with reference to FIGS. However, since this embodiment has elements that are common to the fourth embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant description and only different elements. This will be described in detail.

  In the above-described fourth embodiment, as shown in FIGS. 17 and 18, the virtual motor control unit 64 calculates the previous estimated values of the virtual motor current signals Iu *, Iv *, and Iw * based on the target signal. The PWM signals (virtual motor control signals) Gu, Gv, Gw, Gx, Gy, Gz for the virtual motor 60 are determined by performing feedback and performing coordinate conversion under the latest actual motor position θm. To do. Further, the virtual motor control unit 64 sends the virtual motor current signals Iu *, Iv *, Iw * used to determine the virtual motor control signals Gu, Gv, Gw, Gx, Gy, Gz to the real controller 13. Output.

  Further, in the fourth embodiment, the real controller 13 uses the virtual motor current signals Iu *, Iv *, Iw * output from the virtual motor control unit 64 as the target current signal, and the real motor state detection unit 15 By feeding back the actual motor current values Iu, Iv, Iw of the actual motor 12 output from PWM, PWM signals (actual motor control signals) Gu, Gv, Gw, Gx, Gy, Gz for the actual motor 12 are generated. To do.

  As described above, in the fourth embodiment, in order to determine the actual motor control signal, the first-stage feedback control in the virtual motor control unit 64 and the second-stage feedback control in the actual controller 13 are performed.

  On the other hand, in the present embodiment, as shown in FIG. 24, the two-stage feedback control is performed only in the virtual motor control unit 64, and as a result, the virtual motor control unit 64 has only the virtual motor control signal. The actual motor control signal is also determined, and the determined actual motor control signal is output to the actual inverter / power amplifier 14. Therefore, in the present embodiment, there is no element corresponding to the actual controller 13.

  FIG. 25 conceptually shows a virtual motor control program executed by the processor 40 to operate the motor control device 500 in a flowchart. This virtual motor control program has many steps in common with those shown in FIG. 19. The difference is that step S6 generates a PWM signal as a virtual motor control signal, and step S7 is a virtual motor control signal. The PWM signal is output to the virtual PWM inverter 90, and the series of steps S21 to S27 is replaced with the series of steps S41 to S43.

  In the present embodiment, steps S2-S9 are executed for the above-described first-stage feedback control, and steps S41-S43 are executed for the above-described second-stage feedback control.

  In step S41, the latest actual motor current signals Iu, Iv, Iw are input from the actual motor state detector 15.

  Subsequently, in step S42, the latest virtual motor current signals Iu *, Iv *, Iw * input in step S9, which reflect the effect of the first-stage feedback control, that is, the error, are the targets. The actual motor control signals Gu, Gv, Gw, Gx, Gy, and Gz are generated by referring to the current signals and feeding back the input actual motor current signals Iu, Iv, and Iw. Thereby, the above-mentioned second-stage feedback control is executed.

  Thereafter, in step S43, the generated actual motor control signals Gu, Gv, Gw, Gx, Gy, and Gz are output to the actual inverter / power amplifier 14, thereby controlling the actual motor 12. Subsequently, the process proceeds to step S11.

  As is apparent from the above description, in the present embodiment, the virtual motor control unit 64 sequentially executes the first-stage feedback control and the second-stage feedback control in each calculation cycle. Specifically, the virtual motor control unit 64 performs the previous estimated value (for example, virtual motor current) output from the virtual motor 60 in the previous calculation cycle based on the target signal for the first-stage feedback control. The signals Iu *, Iv *, Iw *) are fed back. Thereby, the virtual motor control unit 64 determines a virtual motor control signal, outputs the determined virtual motor control signal to the virtual motor 60, and thereby operates the virtual motor 60.

  Further, the virtual motor control unit 64 performs an immediately preceding estimated value output from the virtual motor 60 in the first-stage feedback control (for example, virtual motor current signals Iu *, Iv *, Iw *) and the operating state of the actual motor 12 (for example, actual motor current signals Iu, Iv, Iw) is fed back. Thereby, the virtual motor control unit 64 determines an actual motor control signal, outputs the determined actual motor control signal to the actual motor 12, and thereby operates the actual motor 12.

  Instead, the virtual motor control unit 64 uses the virtual motor control signal output to the virtual motor 60 in the first-stage feedback control for the second-stage feedback control, and calculates the immediately preceding estimated value. It is possible to change to determine the actual motor control signal by feeding back. According to this aspect, since it is not necessary to refer to the actual motor current signals Iu, Iv, and Iw of the actual motor 12, it is impossible or difficult to detect the actual motor current signals Iu, Iv, and Iw. Effective in some cases.

  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 (6)

A motor control device that controls an actual motor that converts electrical energy into kinetic energy,
A virtual motor that simulates the real motor;
A controller that controls the virtual motor to operate in conjunction with the real motor and in substantial synchronization with the real motor;
Real motor related information acquisition for acquiring real motor related information necessary to calculate the real power of the real motor from the real motor during a parallel operation period in which the real motor and the virtual motor are operating together. And
During the parallel operation period, from the virtual motor, a virtual motor related information acquisition unit that acquires virtual motor related information necessary for calculating virtual power of the virtual motor;
An actual motor mechanical loss acquisition unit that acquires and outputs the actual mechanical loss of the actual motor in association with the actual motor or the rotation angle of the virtual motor based on the acquired actual motor related information and virtual motor related information; Including a motor control device.   The actual motor mechanical loss acquisition unit calculates the actual power value of the actual motor based on the actual motor related information, calculates the virtual power value of the virtual motor based on the virtual motor related information, and these are calculated. The motor control device according to claim 1, wherein the difference between the actual power value and the virtual power value is acquired and output as an actual mechanical loss of the actual motor in association with the actual motor or the rotation angle of the virtual motor. A motor control method for controlling an actual motor that converts electrical energy into kinetic energy,
A control step for controlling a virtual motor that simulates the real motor so as to operate together with the real motor and substantially in synchronization with the real motor;
Real motor related information acquisition for acquiring real motor related information necessary for calculating real power of the real motor from the real motor during a parallel operation period in which the real motor and the virtual motor are operating together Process,
During the parallel operation period, a virtual motor related information acquisition step of acquiring virtual motor related information necessary for calculating virtual power of the virtual motor from the virtual motor;
An actual motor mechanical loss acquisition step of acquiring and outputting an actual mechanical loss of the real motor in association with the rotation angle of the real motor or the virtual motor based on the acquired actual motor related information and virtual motor related information; A motor control method including:   The actual motor mechanical loss acquisition step calculates the actual power value of the actual motor based on the actual motor related information, calculates the virtual power value of the virtual motor based on the virtual motor related information, and these are calculated. The motor control method according to claim 3, wherein the difference between the actual power value and the virtual power value is acquired and output as an actual mechanical loss of the actual motor in association with the actual motor or the rotation angle of the virtual motor.   A program executed by a computer to execute the motor control method according to claim 3 or 4.   A recording medium in which the program according to claim 5 is recorded so as to be readable by a computer.

Images