JP2015133792A - Controller of motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine presence or absence of the step-out of a motor, while taking account of variation in the operation of a power module for driving the motor.SOLUTION: Presence or absence of an abnormality in a motor is determined from a voltage command (v) by using a threshold vector (v). The threshold vector (v) is obtained by multiplying a third voltage command the (v) by a coefficient m, by means of a multiplier 1027. The third voltage command (v) is obtained by adding a voltage error (Δv) to a second voltage command (v) by means of an adder 1025. A voltage error storage unit 1023 stores an error vector (y) during error measurement as the voltage error (Δv). The error vector (y) is determined in a voltage error calculation unit 1021, as the difference of a voltage obtained from a current (i) and the second voltage command (v).

Description

  The present invention relates to a technique for controlling an electric motor, and more particularly to a technique for determining that an abnormality has occurred in a synchronous motor.

  Various techniques for detecting the step-out of an electric motor have been conventionally devised. Patent documents 1 to 3 are listed as documents illustrating such techniques.

  Patent Document 1 discloses a technique for determining step-out from a deviation in d-axis current and a q-axis command voltage.

  Patent Document 2 discloses a technique for detecting a step-out by comparing a model voltage with a voltage command.

  Patent Document 3 discloses a technique for determining that a step-out occurs when the magnetic flux obtained from the current and the rotational speed command is equal to or less than a threshold value.

JP 2010-051151 A JP 2010-252503 A JP 2008-92787 A

  In the conventional technology described above, variation in operation of the power module that drives the electric motor is not taken into consideration. Therefore, it is necessary to experimentally determine a threshold value for determining whether or not there is a step-out. The determination of such a threshold has a problem of increasing the development man-hours.

  Therefore, an object of the present application is to determine the presence or absence of an abnormality (for example, step-out) of an electric motor in consideration of variations in operation of a power module that drives the electric motor.

The motor control device according to the present invention is a device that controls the motor by the voltage ([v _δγ ]) applied by the inverter power supply (2) based on the voltage command ([v _δγ ^* ]).

The first aspect of the apparatus includes a first voltage command ([v _δγ0 ^* ], [v _δγ01 ^* ]) that is the voltage command set in a first period in which the electric motor is DC-excited by the inverter power supply, A voltage error for _{obtaining a} voltage error ([Δv _δγ ]) that is different from a first voltage ([v _δγ0 ], R ^ · [i _δγ01 ]) applied to the electric motor by the inverter power supply based on the first voltage command. A calculation unit (1021), a first estimated value ([v _δγ1 ]) that is an estimated value of the voltage applied to the electric motor at the time of determination (t3), and a second estimated value ([ v _δγ2 ^* ]), and a value obtained by multiplying the second estimated value by a coefficient (m) larger than 0 and smaller than 1 is adopted as a determination threshold ([v _th ]). The voltage command at the time of judgment is And a determination unit (109) that determines that an abnormality has occurred in the electric motor due to being smaller than the determination threshold.

A second aspect of the motor control device according to the present invention is the first aspect, wherein the voltage error ([Δv _δγ ]) is a phase of the current [i _δγ1 ] flowing through the motor at the time of the determination. It is corrected by ([i _δγ1 ] / | [i _δγ1 ] |).

A third aspect of the motor control device according to the present invention is the first aspect or the second aspect, wherein the first voltage ([v _δγ0 ]) flows to the motor during the first period. It is estimated as the product of the current ([i _δγ0 ]) and the set value (R _c ) of the resistance component of the motor.

A fourth aspect of the motor control device according to the present invention is the first aspect or the second aspect, wherein the voltage command is the first voltage command ([v _δγ01 ^* ]) in the first period. And the second voltage command ([v _δγ02 ^* ]) are set. When the first voltage command ([v _δγ01 ^* ]) is adopted, the second voltage command ([v _δγ02 ^* ]) is adopted because of the magnitude of the first current ([i _δγ01 ]) flowing through the motor. The value obtained by subtracting the magnitude of the second voltage command from the magnitude of the first voltage command is subtracted from the magnitude of the second current ([i _δγ02 ]) flowing through the motor when The value is an estimated value (R ^) of the resistance component (R) of the electric motor.

  The magnitude of the voltage error is a value obtained by subtracting the product of the magnitude of the first current and the estimated value from the magnitude of the first voltage command.

A fifth aspect of the motor control device according to the present invention is any one of the first to fourth aspects, wherein the voltage error ([Δv _δγ ]) is a DC voltage (v _dc ) is corrected by the ratio (v _dc1 / v _dc0 ) of the DC voltage value (v _dc1 ) at the time of determination to the value (v _dc0 ) in the first period.

  For example, position sensorless control is employed for controlling the electric motor.

  According to the motor control device of the present invention, it is possible to detect the occurrence of an abnormality of the motor in consideration of the variation in the operation of the power module that drives the motor.

  In particular, according to the second aspect, since the phase at the time of determination of the current flowing through the electric motor is taken into account, the abnormality of the electric motor is more appropriately determined.

  In particular, according to the fourth aspect, since the resistance component of the electric motor is estimated, the abnormality of the electric motor is more appropriately determined.

  In particular, according to the fifth aspect, since the voltage error is corrected based on the DC voltage input to the inverter power supply, it is possible to more appropriately determine the abnormality of the motor.

It is a graph which shows detection of a step-out. It is a block diagram which shows the structure of the electric motor control apparatus concerning 1st Embodiment, and its peripheral device. It is a block diagram which shows the structure of the voltage command calculation part in 1st Embodiment. It is a block diagram which shows the structure of the voltage error calculation part in 1st Embodiment. It is a block diagram which shows the structure of the voltage error calculation part in 2nd Embodiment. It is a block diagram which shows the structure of the voltage error calculation part in 3rd Embodiment.

Basic idea of the present invention.
Prior to the detailed description of the embodiments, the basic idea of the present invention will be described. Of course, this basic idea is also included in the present invention.

FIG. 1 is a graph showing step-out detection. The upper graph shows the motor speed (for example, the rotational angular velocity as a mechanical angle) ω and the speed command ω ^* as its command value, and the lower graph shows the absolute value | [v _δγ ^* of the motor voltage command [v _δγ ^* ] ^. ] Is taken and time is taken on the horizontal axis.

The symbol [] represents a vector quantity, and represents a vector when a δ-γ rotating coordinate system that rotates in synchronization with the electric motor is employed (the same applies hereinafter). That is, the voltage command [v _δγ ^* ] described above represents the command value of the voltage applied to the electric motor in the δ-γ rotating coordinate system.

  For example, in a motor control method known as “primary magnetic flux control”, the δ axis is set in phase with the air gap magnetic flux in the motor, and the direction in which the motor is to be rotated by control of the motor (hereinafter simply referred to as “rotation direction”). The phase is advanced by 90 degrees to set the γ axis. However, in the present application, it is not always necessary to set the δ axis in phase with the air gap magnetic flux.

  Here, the electric motor refers to a synchronous motor that generates a field magnetic flux. For example, when the electric motor has a permanent magnet, the field magnetic flux is generated by the permanent magnet. When the electric motor has a field winding, a current flows through the field winding. Occur.

Before the time t0, the speed command ω ^* and the speed ω are 0, and the device for driving the motor, for example, the inverter is stopped. Note that the positive and negative signs of the speed command ω ^* and the speed ω are all defined as positive when the mechanical load of the motor is rotating forward.

The situation where the inverter is operating is shown after time t0. First, in the period from time t0 to time t1, the absolute value | [v _δγ ^* ] | is positive, but a voltage that does not generate a rotating magnetic field in the motor is applied to the motor. Specifically, the voltage command [v _δγ ^* ] is set so that a direct current flows to the electric motor. In order not to generate a rotating magnetic field, the speed command ω ^* is maintained at 0, and thus the speed ω is also maintained at 0.

  This period is a period during which a process commonly referred to as DC excitation is performed (hereinafter referred to as “DC excitation period”). During the direct current excitation period, the rotational position of the electric motor is determined. For this reason, so-called positioning is performed during the period in which the DC excitation process is performed.

Thereafter, after time t1, a voltage that causes the electric motor to generate a rotating magnetic field is applied to the electric motor. Specifically, the voltage command [v _δγ ^* ] is set so that an alternating current flows to the motor.

In particular, during the period from time t1 to time t2, the speed command ω ^* gradually increases, and after time t2, the speed command ω ^* takes a constant value. For example, this constant value is set to a desired rotational speed for the electric motor. The period from time t1 to time t2 is a period during which the rotation speed of the electric motor is gradually increased to the desired rotation speed (hereinafter referred to as “speed increase period”). Further, the period after time t2 is a period for maintaining the rotation speed of the electric motor at the desired rotation speed (hereinafter referred to as “constant speed period”). That is, so-called speed control is performed in a period after time t1. For the control of the electric motor including the DC excitation period, so-called position sensorless control that does not use a position detector such as a hall sensor, an encoder, or a resolver can be employed.

In order to perform such speed control, the absolute value | [v _δγ ^* ] | In the constant speed period, the absolute value | [v _δγ ^* ] | decreases once in the initial _stage , but becomes constant thereafter.

FIG. 1 illustrates a situation where the absolute value | [v _δγ ^* ] | is temporarily reduced in the initial _stage during the acceleration period. This shows a case where maximum torque control is performed from the beginning of the acceleration period. For example, strong magnetic flux control may be performed at the beginning of the speed increasing period. In that case, the phenomenon that the absolute value | [v _δγ ^* ] |

In normal operation, the speed ω follows the speed command ω ^* , and ω = ω ^* (see graph g1). However, when the motor is out of step, the speed ω takes a very low speed ωa (for example, speed 0) without following the speed command ω ^* (see graph g2).

When the motor is out of step during speed control, the speed ω is small. Therefore, the back electromotive force of the so-called motor is small, and the absolute value | [ v _δγ ^* ] | is set small. For example, the behavior of the absolute value | [v _δγ ^* ] | when the motor is out of step and when the motor is normal is shown by graphs g3 and g4, respectively.

Therefore, the step-out can be detected by comparing the absolute value | [v _δγ ^* ] | of the acceleration period or the constant speed period after the lapse of the DC excitation period with the threshold value | [v _th ] |. . The voltage command [v _δγ ^* ] and a threshold (as a vector) (hereinafter referred to as “threshold vector”) [v _th ] may be compared for each δ axis and γ axis. Further, only one of the δ axis and the γ axis may be compared. For example, when the δ axis is set in phase with the air gap magnetic flux, only the γ axis where the back electromotive force due to the air gap magnetic flux is generated may be compared.

However, the voltage command [v _δγ ^* ] is the resistance component of the armature winding of the motor, the operation of the inverter employed in the power module, specifically its switching (particularly the so-called non-conduction period called dead time). And the on-resistance of the switching elements constituting the inverter and the switching time (for example, on-time and off-time)). In other words, variations in these resistance components and switching cause variations in the voltage command [v _δγ ^* ]. Therefore, if the threshold vector [v _th ] is appropriately set depending on the variation, the determination as to whether or not the motor is out of step is less affected by the variation.

Hereinafter, it will be described that in the present invention, the threshold vector [v _th ] can be appropriately set in consideration of the variation.

The voltage equation of the motor in the δ-γ-axis rotating coordinate system is also expressed as δ-axis and γ-axis speed ω ₁ , differential operator p, and voltage [v _δ v _γ ] ^t (hereinafter referred to as [v _δγ ]) applied to the motor. Yes: The superscript “t” after the parenthesis indicates the transpose of the matrix, unless otherwise specified, the element shown earlier in the symbol [] is the δ-axis component, and the element shown later is the γ-axis component. ), Current [i _δ i _γ ] ^t (hereinafter also referred to as [i _δγ ]) flowing in the motor (more specifically, in the armature winding of the motor), and air gap magnetic flux [λ _δ λ _γ ]. ^t (hereinafter also referred to as [λ _δγ ]), the absolute value of the field magnetic flux of the motor (hereinafter referred to as “field magnetic flux”) Λ ₀ , the resistance component R of the armature winding, and the d-axis component of the inductance of the motor (hereinafter tentatively called "d-axis inductance") L _d and q-axis component (hereinafter tentatively called "q-axis inductance") _q, by introducing a phase angle φ of the δ-axis with respect to the d-axis represented by the following formula (1). However, the d-axis is set in phase with the field magnetic flux, and the q-axis advances 90 degrees in the rotation direction with respect to the d-axis. In addition, [I], [J], [C] and a symbol [] surrounding these elements indicate a matrix.

The air gap magnetic flux [λ _δγ ] is also referred to as a primary magnetic flux, and is a combination of the field magnetic flux and the armature reaction magnetic flux generated by the current [i _δγ ].

Now, during the direct current excitation period, no rotating magnetic field is generated, and the air gap magnetic flux [λ _δγ ] does not fluctuate. Also, since the motor does not rotate, the speed ω is zero. Therefore, it can be seen from equation (1) that the voltage [v _δγ ] is determined only by the resistance component R and the current [i _δγ ]. Therefore, in the DC excitation period, not only the influence of the speed ω but also the influence of the field magnetic flux amount Λ ₀ , the d-axis inductance L _d, and the q-axis inductance L _q which are device constants affecting the air gap magnetic flux [λ _δγ ] in the motor. I do not receive it. In other words, it is not affected by the back electromotive force of the motor.

Therefore, the error regarding the voltage applied to the motor during the DC excitation period depends on the resistance component R, the current [i _δγ ], and the switching of the inverter. In general, the error derived from the variation in the current [i _δγ ] is smaller than the error derived from the variation in the resistance component R and the switching of the inverter. In the DC excitation period, the error derived from the resistance component R is smaller than the error derived from inverter switching.

Therefore, the variation in the voltage command [v _δγ ^* ] during the acceleration period and the constant speed period can be estimated by an error regarding the voltage applied to the motor during the DC excitation period. Therefore, the voltage error [Δv _δγ ] is first calculated by the following equation (2).

Here, the voltage command [v _δγ ^* ] and the voltage [v _δγ ] at the time point for estimating the error in the DC excitation period (that is, ω = 0) (hereinafter referred to as “error measurement time”) are respectively set to the first voltage command [ v _δγ0 ^* ] and the first voltage [v _δγ0 ].

Now, at the time of determination (step t3 in FIG. 1) that the speed command ω ^* or the estimated value of the speed ω (for example, ω ₁ / n, n is the number of poles of the motor) determines the presence or absence of step-out after the DC excitation period. It is assumed that the value ω ₂ (> 0) is taken in (example). The first estimated value [v _δγ1 ], which is an estimated value of the voltage [v _δγ ] at the time of this determination, is expressed by the following equation (3) according to the equation (1) if the resistance component R and the switching variation are ignored. The

In addition, the current [i _δγ1 ] flowing through the motor at the time of determination and the command value [λ _δγ ^* ] = [λ _δ ^* λ _γ ^* ] ^t of the air gap magnetic flux were introduced. When so-called primary magnetic flux control is employed, λ _γ ^* = 0 is employed. However, this invention can be applied not only when primary magnetic flux control is adopted. That is, it is not necessary to set λ _γ ^* = 0.

Further, in the control system the resistance component R is not actually measured, substituting this in the setting value R _c which is set as the device constant.

Now, the speed increasing period of the voltage command _[v δγ ^*], since the variation of the voltage command _[v δγ ^*] at constant speed period is to be estimated by the voltage error _[Δv δγ] regardless of the speed ω, considering this A second estimated value [v _δγ2 ] obtained by the following equation (4) is obtained as an estimated value of the voltage [v _δγ ].

When the voltage command [v _δγ ^* ] employs the second estimated value [v _δγ2 ], it is an ideal case where the voltage command [v _δγ ^* ] and the voltage [v _δγ ] match without step-out. Therefore, it is necessary to provide a margin for the determination of step-out. Therefore, the threshold vector [v _th ] is set to be smaller than the second estimated value [v _δγ2 ] and larger than the zero vector [0] = [0 0] ^t . Specifically, the threshold vector [v _th ] is set by the following equation (5) using a coefficient m greater than 0 and less than 1.

By comparing the threshold vector [v _th ] obtained as described above with the voltage command [v _δγ ^* ], the determination of the presence or absence of step-out is performed by the resistance component of the armature winding or the switching of the inverter. It becomes difficult to be affected.

For example, the presence / absence of step-out may be determined in a state where the voltage command [v _δγ ^* ], which is a constant speed period, is substantially constant. In this case, in view of the equations (3), (4), and (5), the first estimated value [v _δγ1 ] is assumed as ω ₂ = ω ^* , and the second estimated value [v _δγ2 ] and the threshold vector [v _th ] is constant (as long as the coefficient m is fixed).

First embodiment.
FIG. 2 is a block diagram showing the configuration of the motor control device 1 according to the present embodiment and its peripheral devices based on the above concept.

  The electric motor 3 is a three-phase electric motor and includes an armature (not shown) and a rotor as a field. As technical common sense, the armature has an armature winding, and the rotor rotates relative to the armature. For example, the field magnet is described as including a magnet that generates a field magnetic flux.

The voltage supply source 2 includes, for example, a voltage control type inverter and its control unit, and an input DC voltage v _dc is determined based on a three-phase voltage command [v _x ^* ] = [v _u ^* v _v ^* v _w ^* ] ^t . To three-phase voltages v _u , v _v , and v _w . Therefore, the voltage supply source 2 is grasped as an inverter power source.

Three-phase voltages v _u , v _v and v _w are applied to the motor 3. As a result, a three-phase current [i _x ] = [i _u i _v i _w ] ^t flows in the electric motor 3. However, components included in the voltage command [v _x ^* ] and the three-phase current [i _x ] are described in the order of, for example, a U-phase component, a V-phase component, and a W-phase component.

  The electric motor control device 1 is a device that controls the speed ω of the electric motor 3.

  The motor control device 1 includes coordinate conversion units 101 and 104, a voltage command calculation unit 102, a subtractor 105, an integrator 106, a high-pass filter 107, a constant multiplication unit 108, and a determination unit 109. .

The coordinate conversion unit 101 converts the three-phase current [i _x ] into a current [i _δγ ] in the δ-γ rotating coordinate system. The coordinate conversion unit 104 converts the voltage command [v _δγ ^* ] in the δ-γ rotating coordinate system into a voltage command [v _x ^* ]. For these conversions, the rotation angle θ of the δ-γ rotation coordinate system with respect to the fixed coordinate system (for example, the UVW fixed coordinate system) for the electric motor 3 is used. Since these conversions are realized by a known technique, the details thereof are omitted here.

Note that the voltage command [v _x ^* ] and the three-phase current [i _x ] are not limited to the three-phase UVW fixed coordinate system, the so-called αβ fixed coordinate system (for example, the α axis is set in the same phase as the U phase) and others. The rotation coordinate system may be used. The coordinate conversion units 101 and 104 perform conversion corresponding to these coordinate systems. The coordinate system adopted for the voltage command [v _x ^* ] is determined by what coordinate system the voltage supply source 2 operates on. The voltage supply source 2 and the coordinate conversion unit 104 can be collectively _understood as an electric motor driving unit that applies voltages v _u , v _v , and v _w to the electric motor 3 based on a voltage command [v _δγ ^* ].

The integrator 106 calculates the rotation angle θ based on the speed ω ₁ . The speed ω ₁ is obtained as the output of the subtractor 105. For example, if primary magnetic flux control is performed, a value _obtained by removing the direct current component of the γ-axis component i _γ of the current [i _δγ ] by the high-pass filter 107 and further multiplying by a predetermined gain Km by the constant multiplier 108 is obtained by the subtractor 105. It is subtracted from the speed command ω ^* n times the value n · ω ^*, speed ω ₁ is obtained. If the motor 3 operates normally and the air gap magnetic flux [λ _δγ ] is appropriately controlled, ω ₁ = n · ω ^* (the speed ω and the speed command ω ^* are quantities in the mechanical angle, and the speed ω ₁ is the quantity in electrical angle). The value n · ω ^* is obtained by multiplying n by the speed command ω ^* in the multiplier 110.

In addition to the voltage command [v _δγ ^* ], the voltage command calculation unit 102 outputs the threshold vector [v _th ] described in the “basic idea”. The determination unit 109 _{compares the} voltage command [v _δγ ^* ] with the threshold vector [v _th ], and outputs a determination signal Z indicating whether an abnormality has occurred in the motor, for example, a step-out has occurred.

  FIG. 3 is a block diagram showing a configuration of the voltage command calculation unit 102. The voltage command calculation unit 102 includes a voltage error calculation unit 1021, a voltage error storage unit 1023, a voltage command generation unit 1024, an adder 1025, a voltage command output restriction unit 1026, a multiplier 1027, and a voltage command generation unit 1028.

The voltage error calculation unit 1021 receives the current [i _δγ ] and the voltage command [v _δγ ^* ], and outputs an error vector [y]. The error vector [y] is a vector obtained by subtracting the voltage [v _δγ ] from the voltage command [v _δγ ^* ], and corresponds to the right side of the equation (2) when ω ₁ = 0.

Usually, the variation in the resistance component R has a smaller influence on the voltage error than the voltage variation due to switching of the inverter. Therefore, using the set value R _c as the resistance component R, the voltage [v _δγ ] can be estimated as the product of the current [i _δγ ] and the set value R _c .

  Accordingly, the voltage error calculation unit 1021 calculates the following equation to obtain an error vector [y].

FIG. 4 is a block diagram illustrating the configuration of the voltage error calculation unit 1021. The voltage error calculation unit 1021 includes a multiplication unit 1021A and a subtraction unit 1021B. The multiplication section 1021A are stored in the set value R _c, obtains a voltage [v _{[Delta] [gamma]]} to calculate the product of this and the current [i _δγ]. The subtraction unit 1021B subtracts the voltage [v _δγ ] from the voltage command [v _δγ ^* ] to obtain an error vector [y].

The voltage error storage unit 1023 stores the value of the error vector [y] when the signal EN is activated. Here, by activating the signal EN only at the time of error measurement, that is, at a certain point in the DC excitation period, the voltage error storage unit 1023 stores the error vector [y] as the voltage error [Δv _δγ ]. Since the generation of the signal EN is not directly related to the present invention, detailed description thereof is omitted.

The voltage command generator 1024 receives the current [i _δγ ], the command value [λ _δγ ^* ] of the air gap magnetic flux, and the estimated speed ω _1, and outputs the first estimated value [v _δγ1 ] obtained according to the equation (3). To do.

The adder 1025 inputs the voltage error [Delta] v _{[Delta] [gamma]]} and the first estimated value _[v δγ1], and outputs the second estimated value determined in accordance with the equation ₍₄₎ [v δγ2. That is, the adder 1025 functions as an error introduction unit that introduces an error with respect to the first estimated value and obtains the second estimated value.

The multiplier 1027 multiplies the second estimated value [v _δγ2 ] by the coefficient m and outputs a threshold vector [v _th ^* ] obtained according to the equation (5).

The voltage command generation unit 1028 uses the current [i _δγ ], the set value R _c , the d-axis inductance L _d, and the q-axis inductance to obtain the phase φ by a known method, and based on the equation (1), the voltage command [v _δγ ^* ] Is calculated. However, for the estimation of the phase φ, for example, a voltage command at the time point when the control timing is one before may be adopted.

Judging unit 109, the voltage command and the threshold vector ^{_{[v th] [v δγ *}} ] and comparison, or the absolute value of the threshold vector _{[v th] | [v th} ] | voltage command _[v δγ ^*] of the absolute value Compared with | [v _δγ ^* ] |, a determination signal Z is output.

The voltage command output limiting unit 1026 inputs the determination signal Z and the voltage command [v _δγ ^* ]. Except when the determination signal Z indicates step-out, the voltage command output limiter 1026 outputs the voltage command [v _δγ ^* ] as it is. When the determination signal Z indicates step-out, the voltage command output restriction unit 1026 outputs a stop command S instead of the voltage command [v _δγ ^* ], and stops the operation of the voltage supply source 2. As a result, it is possible to avoid driving the electric motor 3 in a step-out state.

Second embodiment.
In the second embodiment, another aspect of the error vector [y] will be described.

The voltage error [Δv _δγ ] is in phase with or opposite to the current [i _δγ ]. Therefore, by _{dividing the} current [i _δγ ] by the absolute value (magnitude) | [i _δγ ] | of the current [i _δγ ], a unit vector in phase with the current [i _δγ ] can be obtained, and the DC excitation period is In view of the fact that the voltage command [v _δγ ^* ] and the current [i _δγ ] are in phase, Equation (2) is derived from Equation (2). However, the current [i _δγ ] at the time of error measurement is represented by the value [i _δγ0 ], and the current [i _δγ ] at the time of determination is represented by the value [i _δγ1 ].

  FIG. 5 is a block diagram illustrating the configuration of the voltage error calculation unit 1021 that obtains the error vector [y] according to Expression (7).

  The voltage error calculation unit 1021 includes absolute value acquisition units 1021a and 1021d, multipliers 1021b and 1021f, a divider 1021e, and a subtractor 1021c.

The absolute value acquisition unit 1021a receives the current [i _δγ ] and outputs the absolute value | [i _δγ ] | The multiplier 1021b receives the set value R _c and the absolute value | [i _δγ ] |, and outputs the product of both.

The absolute value acquisition unit 1021d receives the voltage command [v _δγ ^* ], and outputs an absolute value | [v _δγ ^* ] |

The subtractor 1021c subtracts the product obtained from the multiplier 1021b from the absolute value | [v _δγ ^* ] | to obtain the magnitude of voltage error (hereinafter referred to as “voltage error amount”) Δv ′ _δγ .

The divider 1021e obtains a quotient in which the voltage error amount _Δv′δγ is a dividend and the absolute value | [ _vδγ ^* ] | is a divisor.

The multiplier 1021f takes the product of the quotient and the current [i _δγ ] and outputs an error vector [y].

It is obvious that the error vector [y] obtained by using the voltage error calculation unit 1021 configured as described above coincides with the voltage error [Δv _δγ ] according to the equation (7) at the time of error measurement. .

Therefore, also in this embodiment, it is possible to determine the presence or absence of a step-out using the voltage error [Δv _δγ ] as in the first embodiment.

Incidentally, the value _[i δγ0] during the measurement of the error current [i _{[Delta] [gamma]],} may be different from the value _[i δγ1] during determination. In the present embodiment, as indicated by Expression (7), the phase of the voltage error [Δv _δγ ] is in phase with the phase of the value [i _δγ1 ] at the time of determination (when the voltage error amount Δv ′ _δγ is positive) or The reverse phase (when the voltage error amount Δv ′ _δγ is negative) is adopted. In other words, the voltage error [Δv _δγ ] is _{understood to be obtained by correcting} the voltage error having an indefinite phase and a voltage error amount Δv ′ _δγ with the phase of the value [i _δγ1 ] at the time of determination. be able to.

By such correction, it is possible to obtain a voltage error [Δv _δγ ] taking into account the phase of the current flowing through the motor at the time of determination, and thus a threshold vector [v _th ], which is more implemented than in the first embodiment. It is possible to determine the presence or absence of step-out more appropriately in the form of.

Third embodiment.
In the present embodiment, the voltage error amount Δv ′ _δγ is obtained using the estimated value R ^ of the resistance component R. In the present embodiment, the error measurement is set at the first time point and the second time point, which are a different pair of time points during the DC excitation period. Accordingly, the first voltage command [v _δγ01 ^* ] and the second voltage command [v _δγ02 ^* ] are set at the first time point and the second time point as the voltage commands in the DC excitation period. However, the first voltage command [v _δγ01 ^* ] and the second voltage command [v _δγ02 ^* ] have different sizes. At the first time point and the second time point, the current [i _δγ ] takes the first current [i _δγ01 ] and the second current [i _δγ02 ], respectively. Since the voltage error [Δv _δγ ] is maintained both at the first time point and the second time point, the following equation (8) is established.

However, [v _δγ01 ^* ] = [v _δ01 ^* v _γ01 ^* ] ^t , [v _δγ02 ^* ] = [v _δ02 ^* v _γ02 ^* ] ^t , [i _δγ01 ] = [i _δ01 i _γ01 ] ^t , [i _δγ02 ] = [I _δ02 i _γ02 ] ^t . Further, since the temperature change of the resistance component R is considered to be very small during the DC excitation period, the resistance component R at the first time point and the second time point are considered to be equal.

As described in the second embodiment, the voltage error [Δv _δγ ] is in phase with or out of phase with the current [i _δγ ]. Therefore, the following equation (9) is derived from the equation (8), and the estimated value R ^ and the voltage error amount _Δv′δγ are obtained.

That is, the estimated value R ^ is a value obtained by subtracting the magnitude of the second current [i _δγ02 ] from the magnitude of the first current [i _δγ01 ], and the second voltage from the magnitude of the first voltage command [v _δγ01 ^* ]. This is a value obtained by dividing the value obtained by subtracting the size of the command [v _δγ02 ^* ]. Further, the voltage error amount Δv ′ _δγ is calculated as the product R ^ · | [i _δγ01 ] | of the estimated value R ^ and the magnitude of the first current [i _δγ01 ] from the magnitude of the first voltage command [v _δγ01 ^* ]. The value obtained by subtracting the required voltage.

Using the voltage error amount Δv ′ _δγ determined in this way, the voltage error [Δv _δγ ] is given by the following equation (10) in the same manner as in the second embodiment.

  FIG. 6 is a block diagram illustrating the configuration of the voltage error calculation unit 1021 that calculates the error vector [y] in accordance with the equations (8), (9), and (10).

  The voltage error calculation unit 1021 includes a current storage unit 1021g, a voltage command storage unit 1021h, absolute value acquisition units 1021a and 1021i, a multiplier 1021f, a divider 1021e, a resistance component calculation unit 1021j, and a voltage error amount calculation unit 1021k.

The processes of the absolute value acquisition unit 1021a, the divider 1021e, and the multiplier 1021f are the same as these processes in the second embodiment. However, the method for _obtaining the voltage error amount Δv ′ _δγ conforms to the equation (9).

Signals EN1 and EN2 are input to the current storage unit 1021g and the voltage command storage unit 1021h, respectively. The signals EN1 and EN2 are activated at the first time point and the second time point, respectively. In response to the activation of the signals EN1 and EN2, the current storage unit 1021g _causes the values of the current [i _δγ ] at the first time point and the second time point (the first current [i _δγ01 ] and the second current [i _δγ02 ]) is stored. The voltage command storage unit 1021h stores the value of the voltage command [v _δγ ^* ] at each of the first time point and the second time point (this corresponds to the first voltage command [v _δγ01 ^* ] and the second voltage command [v _δγ02 ^* ], respectively. Remember).

The absolute value acquisition unit 1021i inputs the first current [i _δγ01 ], the second current i _δγ02 ], the first voltage command [v _δγ01 ^* ], and the second voltage command v _δγ02 ^* ], and each absolute value | [ i _δγ01 ] |, | [i _δγ02 ] |, | [v _δγ01 ^* ] |, | [v _δγ02 ^* ] |

The resistance component calculation unit 1021j uses the absolute values | [i _δγ01 ] |, | [i _δγ02 ] |, | [v _δγ01 ^* ] |, | [v _δγ02 ^* ] | according to the equation (9). Estimate value R ^ is calculated.

The voltage error amount calculation unit 1021k uses the estimated value R ^ and the values | [i _δγ01 ] |, | [v _δγ01 ^* ] | to obtain the voltage error amount Δv ′ _δγ according to the equation (9).

As resistance component R in the calculation of the voltage error amount Delta] v _{'[Delta] [gamma]} in the present embodiment, rather than setting value _{R c,} the first voltage command actually employed _[v δγ01 ^*], the second voltage command _[v δγ02 ^*] Since the estimated value R ^ estimated based on the first current [i _δγ01 ] and the second current [i _δγ02 ] is used, the resistance component R varies more than in the first embodiment and the second embodiment. A threshold vector [v _th ] taking into account can be obtained. Therefore, the presence or absence of step-out can be determined more appropriately.

Fourth embodiment.
As described in the second embodiment, the voltage error [Δv _δγ ], that is, the voltage error amount Δv ′ _δγ is greatly influenced by the switching of the inverter. The influence of the switching depends on the DC voltage v _dc input to the inverter. If the variation of the resistance component R is ignored, the voltage error amount Δv ′ _δγ increases in proportion to the DC voltage v _dc .

Therefore, it is desirable to correct the voltage error amount Δv ′ _δγ based on the DC voltage v _dc . Specifically, it is expressed that the DC voltage v _dc takes the value v _dc0 at the time of error measurement and takes the value v _dc1 at the time of determination, and the corrected voltage error amount Δv ″ _δγ is obtained by the following equation (11).

In this case, the voltage error [Δv _δγ ] is adopted in the following equation (12) in the same manner as the equation (10).

Such correction is _understood as a process of multiplying the voltage ratio v _dc1 / v _dc0 . Therefore, this correction can be applied to any of the first to third embodiments. For example, the error vector [y] may be multiplied by the voltage ratio v _dc1 / v _dc0 .

Or, according to the second embodiment, a process of multiplying the value in the path from the subtractor 1021c through the divider 1021e to the multiplier 1021f by the voltage ratio v _dc1 / v _dc0 is performed. Just do it.

Or, according to the third embodiment, the voltage ratio v _{dc1 with} respect to the value in the path from the absolute value acquisition unit 1021a to the multiplier 1021f or the path from the resistance component calculation unit 1021j to the multiplier 1021f _. A process of multiplying / v _dc0 may be performed.

In the present embodiment, it is possible to obtain a threshold vector [v _th ] that takes into account fluctuations in the DC voltage v _dc . Therefore, the presence or absence of step-out can be determined more appropriately than in the first embodiment, the second embodiment, and the third embodiment.

Fifth embodiment.
As described in the fourth embodiment, the voltage error amount Δv ′ _δγ increases in proportion to the DC voltage v _dc . Therefore, the voltage error amount Δv ′ _δγ can be expressed by the following equation (13) by introducing the proportionality coefficient k.

Since the voltage error [Δv _δγ ] is in phase with or out of phase with the current [i _δγ ], the following equation (14) is established by ignoring the fluctuation of the resistance component R.

Therefore, the equation (14) is repeatedly calculated, and the voltage error amount Δv ′ _{δγ is} obtained from the equation (14) using the coefficient k when the variation of at least one of the resistance component R and the coefficient k is within the desired range. Can be requested.

The voltage error amount Δv ′ _δγ thus obtained can be used in the same _manner as in the second and third embodiments to determine whether or not there is a step-out. In addition, as in the fourth embodiment, a threshold vector [v _th ] can be obtained in consideration of fluctuations in the DC voltage v _dc , so the first embodiment, the second embodiment, the third embodiment The presence or absence of step-out can be determined more appropriately than in the embodiment.

  The various embodiments described above can be appropriately combined as long as the functions of each other are not impaired.

  The above block diagram is schematic, and each unit may be configured by hardware, or may be configured by a microcomputer (including a storage device) whose function is realized by software. Various procedures executed by each unit or various means or various functions implemented may be realized by hardware.

  The microcomputer executes each processing step (in other words, a procedure) described in the program. The storage device is composed of one or more of various storage devices such as a ROM (Read Only Memory), a RAM (Random Access Memory), a rewritable nonvolatile memory (EPROM (Erasable Programmable ROM), etc.), and a hard disk device, for example. Is possible. The storage device stores various information, data, and the like, stores a program executed by the microcomputer, and provides a work area for executing the program. It can be understood that the microcomputer functions as various means corresponding to each processing step described in the program, or can realize that various functions corresponding to each processing step are realized.

DESCRIPTION OF SYMBOLS 1 Electric motor control apparatus 1021 Voltage error calculation part 1025 Adder (error introduction part)
109 Judgment Unit 2 Voltage Supply Source

Claims (6)

An apparatus for controlling an electric motor by a voltage ([v _δγ ]) applied based on a voltage command ([v _δγ ^* ]) by an inverter power supply (2),
Based on the first voltage command ([v _δγ0 ^* ], [v _δγ01 ^* ]) that is the voltage command set in the first period in which the electric motor is DC-excited by the inverter power supply and the first voltage command, A voltage error calculation unit (1021) for _{obtaining a} voltage error ([Δv _δγ ]) which is different from the first voltage ([v _δγ0 ], R · [i _δγ01 ]) applied to the electric motor by the inverter power supply;
An error for _{obtaining a} second estimated value ([v _δγ2 ]) that is the sum of the first estimated value ([v _δγ1 ]) that is an estimated value of the voltage applied to the electric motor and the voltage error at the time of determination (t3) An introduction (1025);
A value obtained by multiplying the second estimated value by a coefficient (m) larger than 0 and smaller than 1 is adopted as a determination threshold ([v _th ]), and the voltage command at the time of determination is smaller than the determination threshold. An electric motor control device comprising: a determination unit (109) that determines that an abnormality has occurred in the electric motor. The electric motor according to claim 1, wherein the voltage error ([Δv _δγ ]) is corrected by a phase ([i _δγ1 ] / | [i _δγ1 ] |) of a current [i _δγ1 ] flowing through the electric motor at the time of the determination. Control device. The first voltage ([v _δγ0 ]) is estimated as a product of a current ([i _δγ0 ]) flowing through the motor in the first period and a set value (R _c ) of a resistance component of the motor. The control apparatus for an electric motor according to claim 1 or 2. In the first period, the voltage command includes the first voltage command ([v _δγ01 ^* ]) and the second voltage command ([v _δγ02 ^* ]),
When the first voltage command ([v _δγ01 ^* ]) is adopted, the second voltage command ([v _δγ02 ^* ]) is adopted because of the magnitude of the first current ([i _δγ01 ]) flowing through the motor. The value obtained by subtracting the magnitude of the second voltage command from the magnitude of the first voltage command is subtracted from the magnitude of the second current ([i _δγ02 ]) flowing through the motor when The value is an estimated value of the resistance component (R) of the motor,
3. The motor control according to claim 1, wherein the magnitude of the voltage error is a value obtained by subtracting a product of the magnitude of the first current and the estimated value from the magnitude of the first voltage command. apparatus. The voltage error ([Δv _δγ ]) is the value of the DC voltage value (v _dc1 ) at the time of the determination with respect to the value (v _dc0 ) of the DC voltage (v _dc ) input to the inverter power supply in the first period. The motor control device according to claim 1, wherein the motor control device is corrected by a ratio (v _dc1 / v _dc0 ).   The motor control device according to any one of claims 1 to 5, wherein position sensorless control is employed for controlling the motor.

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