JP2021164328A - Motor controller - Google Patents

Abstract

To provide a motor controller capable of suppressing oscillation of a rotation angle even if carrier frequency is changed according to the rotation number.SOLUTION: A motor controller includes: an angle calculation unit 10 for calculating a first angle based on a detection signal for a rotation angle; a speed calculation unit 20 for calculating a first speed based on the first angle; a filter 30 for calculating a second angle and a second speed based on the first angle and the first speed; an angle determination unit 40 for determining a third angle based on the first angle, the second angle and the first speed; a speed determination unit 50 for determining a third speed based on the first speed and the second speed; and an inverter circuit controller 60 for controlling an inverter circuit 70 based on the third angle and the third speed.SELECTED DRAWING: Figure 1

Description

The present application relates to a motor control device.

The motor control device includes an inverter circuit that controls the rotation of the motor. Then, the motor control device controls the inverter circuit based on the detection signal output from the resolver that detects the rotation angle of the motor. The motor control device includes an RDC (Resolver Digital Converter) circuit that converts an analog detection signal output from a resolver into a digital signal.

The detection signal output from the resolver may include a periodic rotation angle error due to variations in the characteristics of the components constituting the resolver. In order to correct such a periodic rotation angle error, a motor control device provided with a filter unit after the RDC circuit is disclosed. In this motor control device, the inverter circuit is controlled by using the rotation angle and the rotation speed corrected by the filter unit (see, for example, Patent Document 1).

In recent years, in order to meet the demand for cost reduction of motor control devices, it is necessary to reduce the number of inverter elements constituting the inverter circuit and downsize the inverter circuit including heat dissipation parts. If the number of inverter elements constituting the inverter circuit is reduced and the size of the inverter circuit is reduced, there is a problem that the temperature of the inverter circuit rises. Especially when the rotation speed is around 0, the heat generated by the inverter element becomes large. Therefore, in order to suppress heat generation of the inverter element, the carrier frequency is changed according to the rotation speed. In motor control devices, in order to reduce sensor noise due to switching of inverter elements and minimize the effects of delays in control operations, sensor signal sampling, sensor signal digital processing, and motor control devices are performed in synchronization with the carrier frequency. Arithmetic processing is performed.

Japanese Patent No. 5851430

However, in a motor control device provided with a filter unit after the RDC circuit, if the carrier frequency is changed according to the rotation speed in order to suppress heat generation of the inverter element, the rotation angle corrected by the filter unit may vibrate. be. If the inverter circuit is controlled based on such a vibrating rotation angle, the pulsation of the motor control current and the torque pulsation of the motor become large, which causes problems such as generation of noise and increase in heat generation.

The present application has been made to solve the above-mentioned problems, and provides a motor control device capable of suppressing vibration of a rotation angle even when a control for changing a carrier frequency according to a rotation speed is performed. The purpose is to do.

The motor control device of the present application includes an angle calculation unit that calculates a first angle based on a detection signal output from an angle detector that detects the rotation angle of the motor, an inverter circuit that drives the motor, and a first angle. A speed calculation unit that calculates the first speed based on, a filter unit that calculates the second angle and the second speed based on the first angle and the first speed, and the first angle, the second. An angle determination unit that determines a third angle based on the angle and the first speed, a speed determination unit that determines a third speed based on the first speed and the second speed, and a third angle. It also includes an inverter circuit control unit that controls the inverter circuit based on a third speed.

The motor control device of the present application has an angle determining unit that determines a third angle based on a first angle, a second angle, and a first speed, and a third based on a first speed and a second speed. Since it is provided with a speed determining unit for determining the speed of the above and an inverter circuit control unit for controlling the inverter circuit based on the third angle and the third speed, control for changing the carrier frequency according to the rotation speed can be performed. Even if this is done, it is possible to suppress the rotation angle from vibrating. As a result, problems such as generation of noise and increase in heat generation can be suppressed.

It is a block diagram of the motor control device which concerns on Embodiment 1. FIG. It is a block diagram of the angle calculation part of Embodiment 1. FIG. It is a block diagram of the speed calculation part of Embodiment 1. FIG. It is a block diagram of the filter part of Embodiment 1. FIG. It is a block diagram of the angle determination part of Embodiment 1. FIG. It is a block diagram of the speed determination part of Embodiment 1. It is a characteristic diagram which shows the relationship between the speed of a motor and a carrier frequency in Embodiment 1. FIG. It is a figure which shows the set value of the proportional gain and the integral gain in Embodiment 1. FIG. It is a figure which shows the angle distribution ratio and the speed distribution ratio in Embodiment 1. FIG. FIG. 5 is a characteristic diagram showing a first angle, a second angle, and a difference between the first angle and the second angle in the filter unit of the first embodiment. It is a block diagram of the reset signal generator of Embodiment 1. FIG. It is explanatory drawing of the reset signal of Embodiment 1. FIG. It is a schematic diagram which shows an example of the hardware of the motor control device of Embodiment 1. FIG. It is a schematic diagram which shows an example of the hardware of the motor control device of Embodiment 1. FIG.

Hereinafter, the motor control device according to the embodiment for carrying out the present application will be described in detail with reference to the drawings. In each figure, the same reference numerals indicate the same or corresponding parts.

Embodiment 1.
FIG. 1 is a configuration diagram of a motor control device according to the first embodiment. In the motor control device 1 of the present embodiment, the first detection signal S1 and the second detection signal S2 are input from the angle detector 3 provided in the motor 2. The angle detector 3 is, for example, a resolver that detects the rotation angle of the motor 2. The angle detector 3 detects the rotation angle θ of the motor 2, more accurately the electric angle of the motor 2, and uses the excitation signal sinωt output from the oscillator 4 to detect the first detection signal S1 and the second detection. The signal S2 is output. The first detection signal S1 and the second detection signal S2 are analog signals, and are represented as follows.
S1 = sinθ × sinωt
S2 = cosθ × sinωt
Hereinafter, the rotation angle of the motor is simply referred to as an angle, and the rotation speed of the motor is simply referred to as a speed.

The motor control device 1 includes an angle calculation unit 10, a speed calculation unit 20, a filter unit 30, an angle determination unit 40, a speed determination unit 50, an inverter circuit control unit 60, and an inverter circuit 70. The motor control device 1 is composed of, for example, a microcomputer, a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or other digitally processable arithmetic processing unit. Each configuration of the motor control device 1 is subjected to arithmetic processing and the like in synchronization with the period of the triangular wave-shaped carrier wave used for driving the PWM (Pulse Width Modulation) of the inverter circuit 70, that is, the carrier period (the reciprocal of the carrier frequency). Therefore, the control cycle Tc of the motor control device 1 coincides with the cycle of the carrier wave used for PWM driving of the inverter circuit 70. The carrier wave used for PWM drive may have a sawtooth shape. Further, the control cycle Tc may be a period that is an integral multiple of the period of the carrier wave as in the thinning operation. However, in the present embodiment, only the angle calculation unit 10 performs calculation processing at a cycle faster than the control cycle Tc.
First, an outline of the operation of each configuration of the motor control device 1 will be described.

The angle calculation unit 10 calculates the first angle φ1 based on the first detection signal S1 and the second detection signal S2 output from the angle detector 3 and the excitation signal sinωt output from the oscillator 4. Then, the angle calculation unit 10 outputs the first angle φ1 to the speed calculation unit 20, the filter unit 30, and the angle determination unit 40.

The speed calculation unit 20 calculates the first speed v1 from the first angle φ1 and the control cycle Tc input from the angle calculation unit 10 by using an approximate differential calculation. Then, the speed calculation unit 20 outputs the first speed v1 to the filter unit 30, the angle determination unit 40, and the speed determination unit 50.

The filter unit 30 filters the first angle φ1 input from the angle calculation unit 10 to calculate the second angle φ2. Further, the filter unit 30 also calculates the second speed v2 based on the first speed v1 input from the speed calculation unit 20. Then, the filter unit 30 outputs the second angle φ2 to the angle determination unit 40, and outputs the second speed v2 to the speed determination unit 50.

The angle determination unit 40 has a first angle φ1 input from the angle calculation unit 10, a second angle φ2 input from the filter unit 30, and a first velocity v1 input from the speed calculation unit 20. Calculate the angle φ3 of 3. Then, the angle determining unit 40 outputs the third angle φ3 to the inverter circuit control unit 60.

The speed determination unit 50 calculates a third speed v3 based on the first speed v1 input from the speed calculation unit 20 and the second speed v2 input from the filter unit 30. Then, the speed determination unit 50 outputs the third speed v3 to the inverter circuit control unit 60.

The inverter circuit control unit 60 generates a control signal for controlling the inverter circuit 70 based on the third angle φ3 input from the angle determination unit 40 and the third speed v3 input from the speed determination unit 50. Then, the inverter circuit control unit 60 outputs this control signal to the inverter circuit 70.

The inverter circuit 70 converts a direct current input from a DC power supply (not shown) into a three-phase alternating current using PWM control based on the control signal input from the inverter circuit 70. Then, the inverter circuit 70 supplies this alternating current to the motor 2. In this way, the motor control device 1 controls the rotation of the motor 2.
Next, the details of the operation of each configuration of the motor control device 1 will be described.

FIG. 2 is a configuration diagram of the angle calculation unit 10 of the present embodiment. The angle calculation unit 10 includes a first multiplier 11, a second multiplier 12, a subtractor 13, a comparator 14, a synchronous detection circuit 15, a first compensator 16, and a first integrator 17.
The first multiplier 11 multiplies the first detection signal S1 = sinθ × sinωt input from the angle detector 3 by cosφ1. The first multiplier 11 outputs the multiplication result as an analog signal.
The second multiplier 12 multiplies the second detection signal S2 = cosθ × sinωt input from the angle detector 3 by sinφ1. The second multiplier 12 outputs the multiplication result as an analog signal.

The subtractor 13 subtracts the output of the second multiplier 12 from the output of the first multiplier 11. Therefore, the analog signal output from the subtractor 13 is represented as follows.
sinωt (sinθ × cosφ1-cosθ × sinφ1)
= Sinωt × sin (θ−φ1)
The comparator 14 converts the analog signal output from the subtractor 13 into a digital signal.

The synchronous detection circuit 15 synchronously detects the digital signal output from the comparator 14 with reference to the excitation signal sinωt input from the oscillator 4, and outputs the first angular deviation ε1. The first angle deviation ε1 is a digital signal and is expressed as follows.
ε1 = sin (θ−φ1)

The first compensator 16 operates so that the first angle deviation ε1 becomes 0. The output v1'of the first compensator 16 is a digital signal. In the first compensator 16, the compensation gain is multiplied by the first angle deviation ε1.

The first integrator 17 integrates the output v1'of the first compensator 16 and outputs the first angle φ1. As described above, the first compensator 16 operates so that the first angle deviation ε1 = sin (θ−φ1) becomes 0. Therefore, θ = φ1.
In the present embodiment, all the operations after the comparator 14 in the angle calculation unit 10 are performed by digital signals.

FIG. 3 is a configuration diagram of the speed calculation unit 20 of the present embodiment. The speed calculation unit 20 includes a delay device 21, a subtractor 22, and a divider 23. The delay device 21 takes the first angle φ1 as an input and outputs the first angle φ1 one control cycle Tc before. The subtractor 22 subtracts the first angle φ1 one control cycle Tc before from the first angle φ1 at the current time. The divider 23 calculates v1 by dividing the calculation result of the subtractor 22 by the control cycle Tc. Specifically, the speed calculation unit 20 calculates v1 by performing the calculation of the following formula.
v1 (t) = [φ1 (t) -φ1 (t-Tc)] ÷ Tc ・ ・ ・ (1)
Here, t is the current time.

FIG. 4 is a configuration diagram of the filter unit 30 of the present embodiment. The filter unit 30 includes an angle deviation calculator 31, a second compensator 32, and a second integrator 33. The filter unit 30 is, for example, a PLL (Phase Locked Loop) type filter circuit, and for example, a type 2 control system can be adopted as the control system.

The angle deviation calculator 31 has a second angle deviation according to the following equation based on the first angle φ1 input from the angle calculation unit 10 and the second angle φ2 output from the second integrator 33. Calculate ε2.
ε2 = sinφ1 × cosφ2-cosφ1 × sinφ2
= Sin (φ1-φ2)
Alternatively, the angle deviation calculator 31 is based on the first angle φ1 input from the angle calculation unit 10 and the second angle φ2 output from the second integrator 33, according to the following equation. Calculate the angle deviation ε2 of 2.
ε2 = φ1-φ2

The second compensator 32 of the present embodiment is a PI compensator (Proportional-Integral compensator) that amplifies the second angle deviation ε2 by proportional integration calculation and outputs v2, and the second angle deviation ε2 is It operates so that it becomes 0. Further, in the filter unit 30 of the present embodiment, the second integrator 33 is connected to the subsequent stage of the second compensator 32. Therefore, physically, the output v2 of the second compensator 32 corresponds to the rotation speed of the motor 2.

The second integrator 33 integrates the output v2 of the second compensator 32 and outputs the second angle φ2. As described above, the second compensator 32 operates so that the second angle deviation ε2 = sin (φ1-φ2) or ε2 = φ1-φ2 becomes 0. Therefore, φ1 = φ2.

Further, the second compensator 32 calculates v2 according to the following equation.
v2 (t) = Kp2 (Tc) x ε2 (t) + Ki2 (Tc) x A (t)
A (t) = A (t-Tc) + Tc x ε2 (t) ... (2)
Here, t is the current time, Kp2 is the proportional gain of the second compensator 32, and Ki2 is the integrated gain of the second compensator 32.

As will be described later, if the carrier frequency of the inverter circuit 70 (the reciprocal of the control cycle Tc) becomes too low, the operation of the filter unit 30 becomes unstable, and the second angles φ2 and the second, which are the outputs of the filter unit 30, become unstable. Velocity v2 oscillates or diverges in the worst case. Therefore, in the present embodiment, the values of the proportional gain Kp2 and the integrated gain Ki2 of the second compensator 32 are determined according to the carrier frequency of the inverter circuit 70. The second compensator 32 and the second integrator 33 of the filter unit 30 each have a built-in integrator that performs an integral calculation, and the integral calculation is restarted after being reset to the initial value by the instruction of the reset signal.

FIG. 5 is a configuration diagram of the angle determining unit 40 in the present embodiment. The angle determination unit 40 includes a distribution map 41, two multipliers 42, a constant generator 43, a subtractor 44, an adder 45, and a signal switch 46. The angle determination unit 40 has a first angle φ1 input from the angle calculation unit 10, a second angle φ2 input from the filter unit 30, a first speed v1 input from the speed calculation unit 20, and a distribution map 41. Using the angle distribution ratio η1 output from, φ3'corresponding to the third angle is calculated. The angle distribution ratio η1 is set to a value of 0 or more and 1 or less. The constant generator 43 outputs a constant of 1. The signal switch 46 outputs either φ3'or φ1 as φ3 according to ON and OFF of reset which is a signal from the outside.

The operation of the angle determining unit 40 will be briefly described. The multiplier 42 to which φ2 is input multiplies φ2 by the angle distribution ratio η1 and outputs the result. The subtractor 44 subtracts the angle distribution ratio η1 from the constant 1 output by the constant generator 43, and outputs the subtraction result to the multiplier 42 to which φ1 is input. The adder 45 adds the outputs of the two multipliers 42 and outputs φ3'corresponding to the third angle. In the signal switch 46, φ1 and the output φ3'of the adder 45 are input. Then, the signal switch 46 switches between the two inputs and outputs either φ1 or φ3'as φ3. For example, when the angle distribution ratio η1 output from the distribution map 41 is 1, the multiplier 42 to which φ2 is input outputs φ2, and the multiplier 42 to which φ1 is input outputs 0. As a result, the output φ3'of the adder 45 becomes φ2. When the angle distribution ratio η1 output from the distribution map 41 is an intermediate value from 0 to 1, the output φ3'of the adder 45 is the sum of the predetermined ratios of φ1 and φ2 based on the angle distribution ratio η1. ..

FIG. 6 is a configuration diagram of the speed determination unit 50 according to the present embodiment. The speed determination unit 50 includes a distribution map 51, two multipliers 52, a constant generator 53, a subtractor 54, an adder 55, and a signal switch 56. The speed determination unit 50 uses the first speed v1 input from the speed calculation unit 20, the second speed v2 input from the filter unit 30, and the speed distribution ratio η2 output from the distribution map 51, and uses a third speed determination unit η2. Calculate v3'corresponding to the angle of. The speed distribution ratio η2 is set to a value of 0 or more and 1 or less. The constant generator 53 outputs a constant of 1. The signal switch 56 outputs either v3'or v1 as v3 according to ON and OFF of reset which is a signal from the outside.

The operation of the speed determination unit 50 will be briefly described. The multiplier 52 to which v2 is input multiplies v2 by the speed distribution ratio η2 and outputs it. The subtractor 54 subtracts the velocity distribution ratio η2 from the constant 1 output by the constant generator 53, and outputs the subtraction result to the multiplier 52 to which v1 is input. The adder 55 adds the outputs of the two multipliers 52 and outputs v3'corresponding to the third velocity. In the signal switch 56, v1 and the output v3'of the adder 55 are input. Then, the signal switch 56 switches between the two inputs and outputs either v1 or v3'as v3. For example, when the speed distribution ratio η2 output from the distribution map 51 is 1, the multiplier 52 to which v2 is input outputs v2, and the multiplier 52 to which v1 is input outputs 0. As a result, the output v3'of the adder 55 becomes v2. When the speed distribution ratio η2 output from the distribution map 51 is an intermediate value from 0 to 1, the output v3'of the adder 55 is the sum of the predetermined ratios of v1 and v2 based on the speed distribution ratio η2. ..

Next, specific settings and operations of the motor control device of the present embodiment will be described.
In motor control, high torque may be required at the time of starting or at extremely low speed rotation. In this case, the carrier frequency is generally set low in order to prevent damage to the inverter element of the inverter circuit 70 due to a temperature rise.

FIG. 7 is a characteristic diagram showing an example of the relationship between the speed (rotation speed) of the motor 2 in the motor control device 1 according to the present embodiment and the carrier frequency (reciprocal of the control cycle Tc) of the inverter circuit 70. As shown in FIG. 7, in the present embodiment, the carrier frequency at high speed is set to be about 10 times higher than the carrier frequency at extremely low speed.

In motor control, in order to reduce sensor noise due to switching of inverter elements and minimize the effect of delay in control calculation, sampling of sensor signals synchronized with carrier frequency, digital processing of sensor signals, and motor control devices Arithmetic processing is performed. However, when the speed calculation unit 20 and the filter unit 30 perform feedback processing as shown in the equations (1) and (2), there is a problem that the output stability deteriorates as the calculation cycle becomes longer. For example, if the same gain is set from the extremely low speed to the high speed, the second angle φ2, which is the output of the filter unit 30 shown in FIG. 4, vibrates or diverges at the extremely low speed at which the control cycle Tc becomes slow. Therefore, there is a problem that a stable angle estimation value cannot be obtained. Therefore, in order to obtain a stable output, it is necessary to set an appropriate gain according to the calculation cycle.

FIG. 8 is a diagram showing an example of the set values of the proportional gain Kp2 and the integrated gain Ki2 in the filter unit 30 of the present embodiment. In the upper figure of FIG. 8, the vertical axis is the relative value of Kp2, and the horizontal axis is the carrier frequency of the inverter circuit 70. In the lower figure of FIG. 8, the vertical axis represents the relative value of Ki2, and the horizontal axis represents the carrier frequency of the inverter circuit 70. In FIG. 8, the solid line is the gain setting value, the broken line is the lower limit value of the gain required to satisfy the response required for the angle estimation value, that is, the response limit gain, and the alternate long and short dash line is the one-dot chain line capable of stable operation of the filter unit 30. The carrier frequency of the limit, that is, the stable limit frequency.

If the carrier frequency of the inverter circuit 70 is equal to or higher than the stability limit frequency, the second angle φ2 and the second speed v2 calculated by the filter unit 30 can obtain a stable output. In FIG. 8, the proportional gain Kp2 and the integrated gain Ki2 are set according to the carrier frequency, but other than this, they may be set according to the speed or torque of the motor. Further, these gains may be set by using a map, a function, or the like.

However, even when the set values of Kp2 and Ki2 shown by the solid line in FIG. 8 are used, when the carrier frequency of the inverter circuit 70 becomes equal to or less than the stability limit frequency, the second angles φ2 and the second angles φ2 calculated by the filter unit 30 Velocity v2 may oscillate or diverge. If these φ2 and v2 are output to the inverter circuit control unit 60 as they are, the motor control becomes unstable and causes vibration and noise.

Since the motor control device 1 of the present embodiment includes an angle determination unit 40 and a speed determination unit 50, the angle determination unit 40 calculates at a low speed at which the carrier frequency of the inverter circuit 70 is equal to or lower than the stability limit frequency. The third angle φ3 and the third speed v3 calculated by the speed determination unit 50 are output to the inverter circuit control unit 60. When the carrier frequency of the inverter circuit 70 is higher than the stability limit frequency, the second angle φ2 and the second speed v2 are directly output to the inverter circuit control unit 60 as φ3 and v3. By controlling in this way, the motor control device 1 of the present embodiment can stably control the motor from a low speed to a high speed.

FIG. 9 is a diagram showing an example of the angle distribution ratio output from the distribution map 41 and the speed distribution ratio output from the distribution map 51 in the present embodiment. In FIG. 9, the vertical axis is the angle distribution ratio or the speed distribution ratio, and the horizontal axis is the first speed v1. In FIG. 9, the angle distribution ratio η1 and the speed distribution ratio η2 are 0 when the first velocity v1 is Va or less, 1 when the first velocity v1 is Vb or more, and 0 when the first velocity v1 is between Va and Vb. It is an intermediate value that is larger and less than 1. From FIGS. 5 and 9, when the first velocity v1 is Va or less, the angle distribution ratio η1 is set to 0 in the angle determination unit 40, so φ1 is set as φ3'. Further, in the angle determination unit 40, when the first velocity v1 is Vb or more, the angle distribution ratio η1 is set to 1, so φ2 is set as φ3'. Similarly, from FIGS. 6 and 9, the speed determination unit 50 sets v1 as v3'because the speed distribution ratio η2 is set to 0 when the first speed v1 is Va or less. Further, in the speed determination unit 50, when the first speed v1 is Vb or more, the speed distribution ratio η2 is set to 1, so v2 is set as v3'.
Further, when the first velocity v1 is between Va and Vb, the angle distribution ratio η1 and the velocity distribution ratio η2 are set to intermediate values between 0 and 1, so that sudden changes in φ3'and v3' are prevented. can do.

In the present embodiment, the angle distribution ratio η1 of the angle determination unit 40 and the speed distribution ratio η2 of the speed determination unit 50 are set to the same set value. The set value of the angle distribution ratio η1 and the set value of the speed distribution ratio η2 may be different. Further, in the present embodiment, the angle distribution ratio η1 and the speed distribution ratio η2 are set according to the first speed, but other than this, they may be set according to the torque of the motor or the carrier frequency. Further, the angle distribution ratio η1 and the speed distribution ratio η2 may be set by using a map, a function, or the like.

As described above, the filter unit 30 performs the calculation shown in the equation (2). Further, the filter unit 30 performs an integral calculation in the second integrator 33. When the motor control device 1 is in operation, a system reset may be input from the outside due to the occurrence of a minor abnormality. FIG. 10 is a characteristic diagram showing the behavior of the first angle φ1 and the second angle φ2 in the filter unit 30 when the system reset is input. In FIG. 10, the upper row shows φ1 input to the filter unit 30, the middle row shows φ2 which is the output of the filter unit 30, and the lower row shows the difference between φ1 and φ2.

As shown in FIG. 4, feedback control is performed in the filter unit 30 so that φ2 follows φ1. Therefore, in the filter unit 30, a response delay occurs in φ2 due to the feedback control. As can be seen from FIG. 10, it can be seen that the difference between φ1 and φ2 is large until φ2 follows φ1. Then, it can be seen that after a certain amount of time ΔT elapses, φ2 follows φ1 and the difference between φ1 and φ2 becomes small.

The filter unit 30 of the present embodiment includes a reset signal generator inside. Then, the filter unit 30 is not reset by the system reset signal input from the outside, but is reset by the signal of the reset signal generator. The reset signal generator receives a system reset signal input from the outside and emits a reset signal.

FIG. 11 is a configuration diagram of the reset signal generator of the present embodiment. The reset signal generator 80 includes a delay circuit 81 inside. A system reset signal input from the outside is input to the reset signal generator 80, and a reset signal delayed by the delay circuit 81 is output.

FIG. 12 is an explanatory diagram of a reset signal related to the reset signal generator 80 of the present embodiment. In FIG. 12, the upper figure shows the system reset signal input from the outside, and the lower figure shows the reset signal transmitted by the reset signal generator 80. It is assumed that the system reset is switched in the order of OFF, ON, and OFF. When the system reset is switched from OFF to ON, the reset transmitted by the reset signal generator 80 is immediately switched from OFF to ON without delay. On the other hand, when the system reset is switched from ON to OFF, the reset transmitted by the reset signal generator 80 is switched from ON to OFF after the time of ΔT + α has elapsed. Here, ΔT is the time until the difference between φ1 and φ2 shown in FIG. 10 becomes small, and α is a positive value.

By controlling the filter unit 30 using such a reset signal, it is possible to correct the response delay of the filter unit 30 even when a system reset input from the outside is input.

As described above, in the motor control device of the present embodiment, the angle calculation unit that calculates the first angle based on the detection signal output by the angle detector, the inverter circuit that drives the motor, and the first A speed calculation unit that calculates the first speed based on the angle of, a filter unit that calculates the second angle and the second speed based on the first angle and the first speed, and the first angle. An angle determining unit that determines a third angle based on a second angle and a first speed, a speed determining unit that determines a third speed based on a first speed and a second speed, and a third Since it is equipped with an inverter circuit control unit that controls the inverter circuit based on the angle and the third speed, the rotation angle vibrates even when the carrier frequency is controlled to be changed according to the rotation speed. Can be suppressed. As a result, problems such as generation of noise and increase in heat generation can be suppressed.

Each function in the motor control device 1 according to the present embodiment may be realized by a processing circuit. The processing circuit that realizes each function may be dedicated hardware or a processor that executes a program stored in the storage device. FIG. 13 is a configuration diagram showing a case where each function of the motor control device 1 according to the present embodiment is realized by a processing circuit 100 which is dedicated hardware. Further, FIG. 14 is a configuration diagram showing a case where each function of the motor control device 1 according to the present embodiment is realized by the processor 101 and the storage device 102.

As shown in FIG. 13, when the hardware that realizes the motor control device 1 is a dedicated processing circuit 100, the processing circuit 100 may be, for example, a single circuit, a composite circuit, a programmed processor, or a parallel programmed processor. , ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or a combination thereof.

Further, as shown in FIG. 14, when the hardware that realizes the motor control device 1 is composed of the processor 101 and the storage device 102, the functions of each component of the motor control device 1 are software, firmware, or software. It is realized by combining with firmware. The software and firmware are described as programs and stored in the storage device 102. The processor 101 realizes the functions of each component by reading and executing the program stored in the storage device 102.

It can be said that these programs cause a computer to execute the processing procedure or processing method of each of the above-mentioned components. Here, the storage device 102 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Online Memory), an EPROM (Electrically Memory), or the like. Non-volatile or volatile semiconductor memory is applicable. Further, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, and the like also correspond to the storage device 102.
It should be noted that some of the functions of the above-mentioned components may be realized by dedicated hardware and some may be realized by software or firmware. The motor control device 1 configured in this way can realize the functions of the above-described components by hardware, software, firmware, or a combination thereof.

Although the present application describes exemplary embodiments, the various features, embodiments, and functions described in the embodiments are not limited to the application of a particular embodiment, either alone or. It can be applied to embodiments in various combinations.
Therefore, innumerable variations not illustrated are envisioned within the scope of the techniques disclosed herein. For example, it is assumed that at least one component is modified, added or omitted.

1 motor controller, 2 motors, 3 angle detectors, 4 oscillators, 10 angle calculators, 11 first multiplier, 12 second multiplier, 13 subtractor, 14 comparer, 15 synchronous detection circuit, 16 first compensation Instrument, 17 first adder, 20 speed calculator, 21 delayer, 22 subtractor, 23 divider, 30 filter, 31 angle deviation calculator, 32 second compensator, 33 second adder, 40 angle determination Part, 41, 51 Allocation Map, 42, 52 Multiplier, 43, 53 Constant Generator, 44, 54 Subtractor, 45, 55 Adder, 46, 56 Signal Switch, 50 Speed Determiner, 80 Reset Signal Generator , 81 delay circuit, 100 processing circuit, 101 processor, 102 storage device.

The motor control device of the present application includes an angle calculation unit that calculates a first angle based on a detection signal output from an angle detector that detects the rotation angle of the motor, an inverter circuit that drives the motor, and a first angle. filter calculating a speed calculator for calculating a first speed, the second speed based on the first angle and the second angle and calculates the second angle based on the first angle based on A unit, an angle determination unit that determines a third angle based on a first angle, a second angle, and a first speed, and an angle determination unit that determines a third speed based on a first speed and a second speed. It is provided with a speed determining unit for controlling the speed, and an inverter circuit control unit for controlling the inverter circuit based on a third angle and a third speed.

The filter unit 30 filters the first angle φ1 input from the angle calculation unit 10 to calculate the second angle φ2. Further, the filter unit 30 also calculates the second velocity v2 based on the first angle φ1 and the second angle φ2. Then, the filter unit 30 outputs the second angle φ2 to the angle determination unit 40, and outputs the second speed v2 to the speed determination unit 50.

The second integrator 33 integrates the output v2 of the second compensator 32 and outputs the second angle φ2. As described above, the second compensator 32 operates so that the second angle deviation ε2 = sin (φ1-φ2) or ε2 = φ1-φ2 becomes 0 .

Claims (13)

An angle calculation unit that calculates the first angle based on the detection signal output from the angle detector that detects the rotation angle of the motor.
The inverter circuit that drives the motor and
A speed calculation unit that calculates the first speed based on the first angle, and
A filter unit that calculates a second angle and a second speed based on the first angle and the first speed, and a filter unit.
An angle determining unit that determines a third angle based on the first angle, the second angle, and the first velocity.
A speed determining unit that determines a third speed based on the first speed and the second speed,
A motor control device including an inverter circuit control unit that controls the inverter circuit based on the third angle and the third speed. The third aspect of claim 1, wherein the angle determining unit determines the third angle by the sum of a predetermined ratio of the first angle and the second angle based on the angle distribution ratio. Motor control device. The motor control device according to claim 2, wherein the angle distribution ratio is determined from the first speed. The motor control device according to claim 2, wherein the angle distribution ratio is determined from the torque of the motor or the carrier frequency of the inverter circuit. The motor control device according to claim 2, wherein the angle distribution ratio is determined using a predetermined map or function. The third aspect of claim 1, wherein the speed determination unit determines the third speed by the sum of a predetermined ratio of the first speed and the second speed based on the speed distribution ratio. Motor control device. The motor control device according to claim 6, wherein the speed distribution ratio is determined from the first speed. The motor control device according to claim 6, wherein the speed distribution ratio is determined from the torque of the motor or the carrier frequency of the inverter circuit. The motor control device according to claim 6, wherein the speed distribution ratio is determined using a predetermined map or function. The filter unit includes an angle deviation calculator, a compensator, and an integrator, and the compensator calculates the second velocity by using the proportional gain and the integrator gain. 9. The motor control device according to any one of 9. The motor control device according to claim 10, wherein the proportional gain and the integrated gain are determined from the first speed, the torque of the motor, or the carrier frequency of the inverter circuit. The motor control device according to claim 10, wherein the proportional gain and the integrated gain are determined using a predetermined map or function. One of claims 1 to 12, wherein the filter unit further includes a reset signal generator, and the reset signal generator generates a reset signal delayed with respect to a system reset input from the outside. The motor control device according to item 1.

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