JP2015104291A - Motor controller, motor control method, and program for motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor controller which can be actuated reliably while maintaining a high torque axis current during heavy load, and can be switched from a synchronous operation mode to a position detection operation mode within a desired time by suppressing the torque axis current during light load.SOLUTION: A motor controller 100 configured to be switched from a synchronous operation mode where the estimation speed estimated based on the information that can be acquired from a motor M is not fed back to a position detection operation mode where the estimation speed is fed back includes a pseudo velocity output section 3 for outputting a pseudo velocity calculated based on a pseudo velocity function that is a function of the time, and a velocity control section 24 for generating a torque command or a torque axis current based on the velocity deviation calculated from a command velocity and the pseudo velocity outputted from the pseudo velocity output section 3 in the synchronous operation mode.

Description

  The present invention relates to a motor control device that controls a motor by sensorless control and is configured to be switched from a synchronous operation mode in which an estimated speed is not fed back to a position detection operation mode in which the estimated speed is fed back. .

  For example, in washing machines, etc., motor control is performed without a position sensor that does not use sensors to measure the angular velocity and phase of the motor in order to reduce manufacturing costs and secure internal space, and various control methods are proposed. Has been. In such position sensorless control, when the motor is rotating at an angular velocity equal to or higher than a predetermined value, the angular velocity of the motor is estimated based on, for example, a command voltage to the motor or a current flowing through the motor. Control is performed in a position detection operation mode by a closed loop that feeds back a value. On the other hand, when starting from a state where the motor is stopped, since the estimation accuracy of the angular velocity and phase is low, control in the synchronous operation mode by the open loop in which the estimated angular velocity and phase are not fed back is performed.

  When starting the motor as disclosed in Patent Document 1, first, the motor is controlled in the synchronous operation mode to determine whether the angular velocity and phase can be estimated with sufficient accuracy, and the conditions are satisfied. In this case, a control method for switching to the position detection operation mode has been proposed.

  More specifically, in the motor control device 100A described in Patent Document 1, when the synchronous operation mode is entered as shown in FIG. 10, the speed feedback loop is opened, and instead the synchronous operation torque axis command input unit 3A performs current feedback. A command is input so as to increase the inverter frequency with a constant gradient to the loop. In other words, in the synchronous operation mode of the motor control device 100A, the motor control is performed on the assumption that the actual angular velocity of the motor is rising at a constant gradient.

  However, with such a startup control method, the torque shaft current cannot be maintained at a large value when a high load is applied to the motor, and the torque shaft current may gradually decrease, leading to a startup failure. There is.

  In addition, when the load on the motor is light, it is known that the estimated angular velocity tends to converge to the correct value in a short time if the torque shaft current is reduced. It takes time for the current to decrease, which causes excessive start-up current and reduced response performance.

  In addition, since the control method is controlled only in the current control loop without using the speed controller in the synchronous operation mode, there is a control discontinuity in switching to the position detection operation mode in which the speed controller is used. There will be points, and there is a possibility of stepping out.

Japanese Patent Laid-Open No. 2003-219865

  Therefore, the present invention has been made in view of the above-described problems, and can be reliably started while maintaining a high torque shaft current at a high load, and within a desired time by suppressing the torque shaft current at a light load. It is an object of the present invention to provide a motor control device, a motor control method, and a motor control device program that can be switched from a synchronous operation mode to a position detection operation mode.

  That is, the motor control device of the present invention shifts from the synchronous operation mode in which the estimated speed or estimated phase estimated based on information obtainable from the motor is not fed back to the position detection operation mode in which the estimated speed or estimated phase is fed back. A motor control device configured to be switched, a pseudo speed output unit that outputs a pseudo speed calculated based on a pseudo speed function that is a function of time, and a command speed and the pseudo speed in the synchronous operation mode And a speed control unit that generates a torque command or a torque shaft current command based on a speed deviation calculated from the pseudo speed output from the output unit.

  If this is the case, the pseudo speed output unit does not assume a simple state in which the angular speed of the motor rises with a constant gradient by the pseudo speed function, but does not assume a pseudo state where a more complicated speed change is assumed. The speed can be output. Therefore, the speed control unit can generate a torque command or a torque shaft current command indicating a complicated change suitable for both high load and low load from the speed deviation between the pseudo speed and the command speed. It becomes.

  More specifically, the pseudo speed output unit can output a pseudo speed that changes exponentially so that a speed gradient increases with time by the pseudo speed function. In this case, since the pseudo speed is much smaller than the command speed and the speed deviation is a sufficiently large value with a positive value in a certain period immediately after the start, the speed control unit is a torque command or torque shaft. Output a current command with a sufficiently large value. Accordingly, since the torque shaft current is maintained in a high state for a certain period immediately after the start, the start can be surely performed even at a high load.

  On the other hand, when a certain amount of time has elapsed since startup, the pseudo speed increases exponentially with respect to the command speed as time elapses, and the speed deviation is exponentially negative and increases in absolute value. The speed control unit quickly outputs a small value for the value of the torque command or the torque shaft current command as time elapses. Therefore, it is possible to reduce the time until the estimated speed can be estimated with sufficient accuracy by suppressing the torque shaft current at light load, and to switch from the synchronous operation mode to the position detection operation mode at an early stage. Become.

  In addition, in the present invention, even in the synchronous operation mode, the speed control unit outputs a torque command or a torque shaft current command based on the speed deviation, and the speed control loop is closed. It is possible to eliminate a control discontinuity point when switching to and to make it difficult to step out.

  The torque shaft current can be maintained at a high value at high loads, and the torque shaft current value can be quickly reduced at light loads to make it possible to shift from synchronous operation mode to position detection operation mode. Examples of the pseudo-velocity function include those in which the pseudo-velocity function is a downwardly convex function whose inclination increases with time.

  In order to set the rate of increase of the speed gradient per unit time to a value suitable for starting the motor, the pseudo speed function may be set based on the required torque and the required response time.

  In order to ensure that the torque axis current does not become excessively large at the time of start-up and that the start-up can be performed smoothly, the pseudo-speed function sets the upper limit value of the pseudo speed calculated from the pseudo-speed function in the synchronous operation mode. What is necessary is just to set based on a request torque and a request response time.

  In order to smoothly switch without step-out from the synchronous operation mode to the position detection operation mode, the estimated phase estimated based on the information obtainable from the motor, and the pseudo speed output unit Switching from the synchronous operation mode to the position detection operation mode when a state in which the absolute value of the pseudo phase deviation calculated by integration of the output pseudo speed is smaller than a predetermined threshold value continues for a predetermined time The speed control unit generates a torque command or a torque shaft current command based on a speed deviation calculated from a command speed and an estimated speed output from the speed estimator in the position detection operation mode. What is necessary is just to be comprised so that it may do.

  Estimated speed estimated based on information that can be acquired from the motor in order to achieve an appropriate torque shaft current at both light load and high load, and to realize reliable motor start-up in a short time Or a motor control method configured to switch from the synchronous operation mode in which the estimated phase is not fed back to the position detection operation mode in which the estimated speed or the estimated phase is fed back, based on a pseudo speed function that is a function of time A pseudo speed calculating step for calculating a pseudo speed and generating a torque command or a torque shaft current command based on a command speed and a speed deviation calculated from the pseudo speed output from the pseudo speed output unit in the synchronous operation mode. A motor control method characterized by comprising a synchronous operation speed control step to perform.

  For example, by rewriting a program of a conventional motor control device, in order to realize a torque shaft current suitable for starting the motor at both light load and high load, based on information obtainable from the motor A motor control program used in a motor control device configured to be switched from a synchronous operation mode in which an estimated estimated speed or estimated phase is not fed back to a position detection operation mode in which the estimated speed is fed back, A pseudo speed output unit that outputs a pseudo speed calculated based on a pseudo speed function that is a function of: a speed deviation calculated from a command speed and the pseudo speed output from the pseudo speed output unit in the synchronous operation mode Function as a speed controller that generates a torque command or torque shaft current command based on It may be used a motor control device program that is configured to exert on Yuta. The motor control device program may be distributed electronically, or may be distributed in a state where it is recorded on a recording medium such as a CD, DVD, or flash memory. .

  As described above, according to the motor control device of the present invention, in the synchronous operation mode, the pseudo speed output unit outputs a pseudo speed based on the pseudo speed function, and the speed control unit detects the speed deviation between the command speed and the pseudo speed. Since it is configured to generate a torque command or torque current command, the torque shaft current can be maintained at a high level during high loads so that the torque shaft current can be reliably started, and the torque shaft current can be quickly reduced during light loads. It is possible to switch from the synchronous operation mode to the position detection operation mode at an early stage.

The typical block diagram which shows the structure of the motor control apparatus which concerns on one Embodiment of this invention. The typical graph which shows the time change of the command speed in the same embodiment, pseudo speed, speed deviation, and torque axis current command. The typical graph shown about determination of the switching condition of the operation mode in the embodiment. 4 is a schematic graph showing a relationship between an estimated speed and a pseudo speed in the embodiment. The typical graph which shows the time change of the torque command in a certain design example. The typical graph which shows the time change of the pseudo phase in the same design example, U phase current, and (delta) axis current. The typical graph which shows the image of the determination condition establishment area | region at the time of the high load and the light load in the same embodiment. The typical graph which compares the starting current of the embodiment and a prior art example. The typical graph which compares the motor coil temperature of the same embodiment and a prior art example. The typical block diagram which shows the structure of the conventional motor control apparatus.

  An embodiment of the present invention will be described with reference to the drawings.

  The motor control device 100 according to the present embodiment controls, for example, the angular velocity of the motor M that rotates the drum of the washing machine so as to be a desired angular velocity. Although the load applied to the motor M varies depending on the amount of laundry in the drum, the motor control device 100 of the present embodiment is configured so that it can be reliably started in a short time regardless of whether the load is high or low. It is.

  More specifically, the motor M is not provided with a sensor for detecting a phase or angular velocity such as an encoder, and the motor control device 100 is capable of acquiring information such as voltage and current that can be acquired from the motor M. Thus, the current phase and angular velocity are estimated and used for control. Then, the motor control device 100 detects the estimated phase and angular velocity when a predetermined condition is satisfied from the synchronous operation mode in which the motor M is controlled without using the initially estimated phase and angular velocity at the time of startup. Is fed back to the position detection operation mode in which the motor M is controlled. In the synchronous operation mode, the command speed is a predetermined value and a constant value, but in the position detection operation (sensorless operation) mode, another command speed whose speed changes with time is input.

  That is, as shown in the block diagram of FIG. 1, the motor control device 100 includes a current control loop unit 1, a speed control loop unit 2, a pseudo speed output unit 3, and a switching unit 4. The configuration is switched between the mode and the position detection operation mode. The functions shown in FIG. 1 are realized by a so-called computer including a CPU, a memory, an A / D, a D / A converter, an input / output means, and the like. That is, the motor control device program stored in the memory is executed, and the functions of the motor control device 100 are exhibited by the cooperation of each part of the computer.

Each part will be described.
The current control loop unit 1 applies a current to the motor M based on a torque command or a torque shaft current command input from the speed control loop unit 2. That is, the current control loop unit 1 controls the current that flows in each phase of the motor M by vector control, acquires the three-phase armature current of the motor M, and forms a current feedback loop. It is comprised so that it may do. The configuration of the current control loop unit 1 of the present embodiment does not change in any of the synchronous operation mode and the position detection operation mode.

  The speed control loop unit 2 generates a torque command or a torque shaft current command based on a speed deviation between the command speed and the pseudo speed in the synchronous operation mode, and based on a speed deviation between the speed command and the estimated speed in the position detection operation mode. And generating a torque command or a torque shaft current command. More specifically, the speed control loop unit 2 includes a phase / speed estimator 21, a use phase switcher 22, a use speed switcher 23, and a speed control unit 24.

  The phase / speed estimator 21 estimates and calculates the phase and speed of the motor M based on the voltage command value acquired from the current control loop unit 1 and the current response value based on a mathematical model of the motor M. . In the phase / speed estimator 21, the calculation of the estimated phase and the estimated speed continues in any of the synchronous operation mode and the position detection operation mode. The estimated speed is used only in the position detection operation mode.

  The use phase switch 22 switches the phase of the motor M used in the current control loop unit 1 according to the operation mode. More specifically, the use phase switch 22 uses a pseudo phase obtained by integrating a pseudo speed output from a pseudo speed output unit 3 described later in the synchronous operation mode in the current control loop unit 1. In the position detection operation mode, switching is performed so that the estimated phase calculated by the phase / speed estimator 21 is used in the current control loop unit 1.

  The use speed switch 23 switches the speed used by the speed control unit 24 according to the operation mode. More specifically, the use speed switching unit 23 uses a pseudo speed output from a pseudo speed output unit 3 (described later) in the synchronous operation mode, and uses the phase / speed estimation in the position detection operation mode. Switching is performed so that the estimated speed calculated by the device 21 is used by the speed control unit 24.

  The speed control unit 24 includes a speed controller 241 that performs a predetermined speed feedback calculation based on a speed deviation between the command speed and either the estimated speed or the pseudo speed input from the use speed switch 23, and the speed A current command generator 242 that generates a torque command or a torque shaft current command to be input to the current control loop unit 1 based on a speed control amount output from the controller 241 is configured. As apparent from FIG. 1, the speed control unit 24 is configured to output a torque command or a torque shaft current command from the speed deviation in both the synchronous operation mode and the position detection operation mode. In other words, regardless of the operation mode, the speed control unit 24 is configured to always continue output for control.

  The switching unit 4 controls the switching timing of the use phase switch 22 and the use speed switch 23, and switches from the synchronous operation mode to the position detection operation mode when a predetermined switching condition is satisfied. Is to do. More specifically, the switching unit 4 is configured to switch from the synchronous operation mode to the position detection operation mode when a state where the absolute value of the deviation between the estimated phase and the pseudo phase is within a predetermined threshold continues for a predetermined time. The switching devices 22 and 23 are configured to be switched.

  The pseudo speed output unit 3 outputs a pseudo speed calculated based on a pseudo speed function that is a function of time, and a speed function generator 31 that generates a pseudo speed function, and the speed function generator 31. When the pseudo speed output from the above does not exceed the upper limit speed, the pseudo speed is output as it is, and when it exceeds, the filter unit 32 outputs the upper limit speed. The pseudo speed output from the pseudo speed output unit 3 is a speed used for controlling the motor M in the synchronous operation mode, and is not used for control in the position detection operation mode.

  Hereinafter, details of the speed control unit 24 and the pseudo speed output unit 3 will be described.

  The pseudo speed function used in the pseudo speed output unit 3 is a downward convex function whose slope increases with time. Specifically, the pseudo speed function is expressed by equations 1 and 2 as N-order increasing functions using time as a parameter. It is defined as follows.

Here, ω _dummy : pseudo speed (pseudo speed function), ω _limit : upper limit value of pseudo speed, A ₀ : initial speed, A ₁ : speed coefficient, N: pseudo speed gradient gain, which is a number of 2 or more .
Note that the speed coefficient A ₁ can be determined as in Expression 3 based on the angular speed ω _dummy (T ₁ ) required at the first required time T ₁ .

  When the speed control unit 24 is configured as a PI controller, it can be expressed as the following equations 4 and 5.

Here, ω _err : speed deviation, ω _ref : command speed, K _p : speed controller proportional gain, K _i : speed controller integral gain, τ *: torque command.

  Based on these Formulas 1 to 5, the command speed input to the speed control unit 24 in the synchronous operation mode can be expressed as Formula 6.

In the present embodiment, the command speed in the synchronous operation mode is set to take a constant value regardless of the passage of time.

Furthermore, the time of the pseudo velocity reaches the upper limit, it can be expressed as Equation 7 for the second request time the design variables T _2.

  Next, the operation of the motor control apparatus 100 configured as described above will be described with reference to FIGS.

During the initial operation of the motor M and in the synchronous operation mode, the speed control unit 24 receives a speed deviation between a constant command speed and the pseudo speed output from the pseudo speed output unit 3. The speed control unit 24 outputs a torque shaft current command input to the current control loop unit 1 based on the above. Here, each time change of the command speed, the pseudo speed, and the speed deviation is as shown in FIG. The reason why the pseudo speed finally becomes a constant value is that the upper limit value ω _limit of the pseudo speed is set. As can be seen from FIG. 2 (a), the command speed is a constant value, and the pseudo speed increases exponentially. Therefore, for a while after the start, the magnitude of the speed deviation does not change so much with a positive value. After that, after the speed deviation suddenly approaches zero and becomes a negative value, it is kept at a constant value.

  Since such a speed deviation is input to the speed control unit 24, the torque shaft current command changes as shown in FIG. More specifically, since the command speed is larger than the pseudo speed for a few seconds from the start of startup, the torque shaft current command increases and the current value is maintained at a value near the maximum value for a predetermined time. Further, after the predetermined time has elapsed, the speed deviation exponentially changes from a positive value to a negative value, so that the torque shaft current command also rapidly decreases to a smaller value accordingly.

  The switching unit 4 continues to monitor the deviation between the estimated phase and the pseudo phase. In this embodiment, when the phase deviation is continuously 1 [msec] /0.5 [rad] or less, the estimated speed is changed from the synchronous operation mode. And switching to the position detection operation mode using the estimated phase. Note that this determination criterion may be determined experimentally because it depends on performance such as estimation phase and estimation speed estimation accuracy.

  With reference to FIG. 3, a description will be given of how the operation mode is switched when the torque axis current command as shown in FIG. FIG. 3A shows a case where a large amount of laundry is put in the drum and a high load is applied to the motor M. FIG. 3B shows a case where the laundry is not so much loaded in the drum and only a light load is applied to the motor M. In FIG. 4, a band-like region at the center indicates a phase deviation region in which switching of the operation mode is permitted by the switching unit 4.

  As shown in FIG. 3 (a), since the torque shaft current is maintained at a high value immediately after the start-up, the position detection operation mode can be changed from the synchronous operation mode in a short time without failing the start-up even at a high load. The switching unit 4 immediately switches from the synchronous operation mode to the position detection operation mode. On the other hand, as shown in FIG. 3B, at the time of light load, since the determination condition is not satisfied at the switching timing shown in FIG. 3A, the operation mode is not switched. However, since the torque shaft current command rapidly decreases after a predetermined time has elapsed, the torque shaft current can be reached in a short time until the difference between the estimated phase and the pseudo phase becomes sufficiently small at light load. Therefore, as shown in FIG. 3B, even in a light load state, it is possible to quickly shift from the synchronous operation mode to the position detection operation mode in a short time.

  As can be seen from FIG. 3, the pseudo speed generated from the same exponential pseudo speed function and the pseudo speed deviation which is the deviation of the command speed of a constant value are ideal for both high load and light load. Torque shaft current command can be given, and a reliable and quick transition from the synchronous operation mode to the position detection operation mode can be realized. Therefore, it is not necessary to accurately measure the amount of the laundry in advance, grasp the load on the motor M, and change the torque axis current command at the time of startup in accordance with the load.

  The change in the estimated speed and the pseudo speed over time is as shown in FIG. 4, and the estimated speed and the pseudo speed substantially coincide with each other after the predetermined time has passed and the speed exceeds a predetermined value. The phase deviation, which is the deviation between the estimated phase and the pseudo phase, becomes sufficiently small, and the operation mode can be switched.

Next, a design example of the pseudo speed function will be described. In the following, the command torque value required at N = 2, the first required time T ₁ = 0.8 [s] is τ (T ₁ ) = 40 [Nm], A ₀ = 0.4607 [rad / s], ω _limit = A design example for 2.618 [rad / s] will be described. Here, the initial speed A ₀ of the pseudo speed function is determined based on the speed lower limit value in the position detection operation mode in which the position can be detected with high accuracy by the phase / speed estimator 21. More specifically, the initial speed A ₀ is a value set to 1.1 to 1.3 times the speed lower limit value. In this embodiment, the initial speed A ₀ is set to 1.1 times the speed lower limit value 0.4189 [rad / s]. It is.

The pseudo speed at the first required time T ₁ is preferably set to 1.1 to 1.5 times the speed lower limit value so that the synchronous operation mode can be smoothly switched to the position detection operation mode. In this embodiment, since it is set to 1.5 times the speed lower limit value, ω _dummy (T ₁ ) = 0.62535 [rad / s].

From these values, the speed coefficient A ₁ is determined as A1 = 0.262 according to Equation 3, and the pseudo speed function used in the pseudo speed output unit 3 is determined. Further, the command speed ω _ref in the synchronous operation mode can also be determined based on Expression 6, and ω _ref = 1.4956 [rad / s].
Therefore, the relationship between the command speed, the pseudo speed, and the command speed and the speed deviation of the pseudo speed is as shown in FIG.

In addition, the second required time T2 is uniquely determined by Equation 7 by setting the upper limit value ω _limit of the pseudo speed, and the command torque τ (T ₂ ) at the second required time T2 is also determined from Equation 5. In this embodiment, T2 = 2.87 [s] and τ (T ₂ ) = 25.03 [Nm].
Note that there is a relationship as shown in Equation 8 between the torque command output from the speed control unit 24 and the torque axis (δ axis) current command.

Here, I _δ ^* : torque shaft current command, pf: number of motor M pole pairs, φ: induced voltage constant.

  Based on Equation 8, a limit is set for the torque command or torque shaft current command output from the speed control unit 24.

Such a limit is set to prevent overcurrent, and the change in the command torque shown in FIG. 6 generated by the speed control unit 24 from the speed deviation shown in FIG. 5 differs from that shown in FIG. There is an area that is constant in value. The overall shape of the torque axis command shown in FIG. 5 is necessary at the second required time T2 uniquely determined from the torque τ ₁ (T ₁ ) required at the first required time T ₁ and the upper limit value ω _limit and at that time. Torque τ ₂ (T ₂ ). In other words, the torque command in the synchronous operation mode is suitable for switching the operation mode at the time of high load by shaping the shape of the first half part by the first required time T1 and the torque τ ₁ (T ₁ ) required there. It can be. On the other hand, by adjusting the upper limit value ω _limit , it is possible to adjust the falling timing and the amount of falling in the latter half of the torque command, and it is possible to make it suitable for switching at light load. This can also be seen from the time transition of the torque axis current, U phase current, and pseudo phase shown in FIG.

  Finally, effects of the motor control apparatus 100 according to the present embodiment will be described while comparing with the conventional example.

  In the motor control apparatus 100 according to the present embodiment, it is not assumed that the motor M increases the speed at a constant acceleration as in the conventional example as shown in FIG. The pseudo speed is output as a pseudo-velocity function that protrudes downward with increasing inclination. Furthermore, in the motor control apparatus 100 of the present embodiment, the speed control unit 24 generates a torque command or a torque shaft current command based on a speed deviation between the pseudo speed that changes exponentially and a constant command speed. Since it is configured, a torque shaft current having a higher current value than that of the conventional example is realized in the time domain immediately after the start-up, and the synchronous operation mode is surely switched to the position detection operation mode even at a high load.

  On the other hand, in the area after the predetermined time has elapsed since startup, the speed deviation is accelerated in comparison with the conventional example, so that the torque axis current decreases rapidly after taking the maximum value, and is synchronized at light load. A state suitable for shifting from the operation mode to the position detection operation mode can be created.

  Further, as shown in FIG. 8, the starting current of the motor control device 100 of the present embodiment can be reduced by 26% on average compared to the conventional example due to such a difference.

  Furthermore, since the starting current can be reduced in this way, the motor control device 100 of the present embodiment can also reduce the motor M coil temperature as compared with the conventional example, and as shown in FIG. The coil temperature can be reduced by about 2 ° C.

  Other embodiments will be described.

  The pseudo velocity function shown in the embodiment is an example, and is not limited to the one that can be expressed as a quadratic expression of time. For example, it may be defined as a higher-order time function, or an exponential function or the like may be used. In short, it is only necessary that the inclination becomes larger as time passes, and that the acceleration is better than that with a constant gradient.

  The determination condition of the switching unit is based on a comparison between an estimated phase and a pseudo phase, but may be based on a comparison between an estimated speed and a pseudo speed, for example. The calculation of the estimated speed and the estimated phase is not limited to the above embodiment, and various known methods can be used.

  The present invention is not limited to the motor control device, but includes the motor control method and the motor control device program described in the above embodiment. Further, only one of the estimated speed and the estimated phase may not be fed back during the synchronous operation mode, and only one of the estimated speed or the estimated phase is fed back in the position detection operation mode. There may be.

  Other modifications and combinations of the embodiments may be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Motor control apparatus 1 ... Current control loop part 2 ... Speed control loop part 21 ... Phase / speed estimation part 22 ... Use phase switch 23 ... Use speed switch 24 ..Speed controller 241 ... Speed controller 242 ... Current command generator 3 ... Pseudo speed output unit 31 ... Speed function generator 32 ... Filter unit 4 ... Switching unit

Claims (7)

Motor control device configured to be switched from a synchronous operation mode in which an estimated speed or estimated phase estimated based on information obtainable from a motor is not fed back to a position detection operation mode in which the estimated speed or estimated phase is fed back Because
A pseudo speed output unit that outputs a pseudo speed calculated based on a pseudo speed function that is a function of time;
A speed control unit that generates a torque command or a torque shaft current command based on a speed deviation calculated from the command speed and the pseudo speed output from the pseudo speed output unit in the synchronous operation mode; A motor control device.   The motor control device according to claim 1, wherein the pseudo speed function is a downward convex function whose inclination increases with time.   The motor control device according to claim 1, wherein the pseudo speed function is set based on a required torque and a required response time.   The motor control device according to any one of claims 1 to 3, wherein the pseudo speed function sets an upper limit value of a pseudo speed calculated from the pseudo speed function based on a required torque and a required response time in a synchronous operation mode. A state in which the absolute value of the deviation between the estimated phase estimated based on information obtainable from the motor and the pseudo speed output from the pseudo speed output unit is smaller than a predetermined threshold value Is further provided with a switching unit that switches from the synchronous operation mode to the position detection operation mode when a predetermined time has elapsed,
The speed control unit is configured to generate a torque command or a torque shaft current command based on a speed deviation calculated from a command speed and an estimated speed output from the speed estimator in the position detection operation mode. The motor control device according to claim 1. Motor control method configured to switch from a synchronous operation mode in which an estimated speed or estimated phase estimated based on information obtainable from a motor is not fed back to a position detection operation mode in which the estimated speed or estimated phase is fed back Because
A pseudo speed calculating step for calculating a pseudo speed based on a pseudo speed function which is a function of time;
A synchronous operation speed control step for generating a torque command or a torque shaft current command based on a speed deviation calculated from the command speed and the pseudo speed output from the pseudo speed output unit in the synchronous operation mode; A motor control method. Motor control device configured to be switched from a synchronous operation mode in which an estimated speed or estimated phase estimated based on information obtainable from a motor is not fed back to a position detection operation mode in which the estimated speed or estimated phase is fed back A motor control program used for
A pseudo speed output unit that outputs a pseudo speed calculated based on a pseudo speed function that is a function of time;
In the synchronous operation mode, the computer functions as a speed control unit that generates a torque command or a torque shaft current command based on a command speed and a speed deviation calculated from the pseudo speed output from the pseudo speed output unit. A motor controller program configured as described above.