JP3015407B2 - Control device for variable gap motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a control device for controlling a variable gap motor that generates a large torque at a low speed and is used for driving a joint of a robot. .

(Prior Art) A variable air gap type motor of this type includes a stator that generates a rotating magnetic field by a plurality of windings, a rotor having a center axis different from the stator and performing a revolving motion, and a rotor performing a revolving motion. Rolling means for generating a rotation in contact with the rotor and reducing the revolution movement of the rotor.

In this variable air gap type motor, a revolving motion is generated in the rotor by the magnetic attraction force generated by the stator, and the rotor contacts the rolling means having a deceleration function while revolving, thereby obtaining a rotating force of low speed and large torque. Can be Due to its low inertia, it is expected as a high power rate servo actuator.

When this variable air gap type motor is used as a servo actuator, complicated control such as speed control and position control is required.

However, variable-gap motors have traditionally used speed control,
Position control and the like have not been performed very much. Generally, as shown in FIGS. 18 (a) and 18 (b), winding connection is used.
In addition to turning on a commercial three-phase power supply and driving in an open loop, the exciting windings are sequentially excited like a step motor to generate a rotating magnetic field, and the speed is controlled by the pulse frequency and the number of pulses is controlled. Or position control. Therefore, precise speed control and position control required for the servo actuator cannot be performed.

FIG. 19 shows an example of a control device for precisely controlling the speed of the variable gap motor. In this speed control, the waveform and frequency of the exciting current flowing through each winding are precisely controlled, and the slip frequency control of an induction machine is performed using a speed detector on the output shaft.

However, even in this case, since the control is performed based on the rotation information of the output shaft, it is difficult to perform precise position control.

Further, the most advanced control method in the conventional motor control is proposed in Japanese Patent Application Laid-Open No. 60-62850. In the motor as shown in Fig. 20 (the principle of the force for revolving the rotor is different from that of the variable gap type motor), the revolving motion of the rotor is extracted by the crankshaft, and based on the information, Fig. 21 is used. The motor is driven by the control device shown in FIG.

However, in this case, instead of switching the excitation of the stator winding by the mechanical contact, the excitation of the winding is switched only by the three-phase bipolar drive circuit based on the information of the revolving motion of the rotor. It cannot be said that closed-loop control is performed by making full use of the information on the orbital motion of the robot.

Further, in order to perform precise control using a variable gap motor as a servo actuator, it is necessary to drive the angle between the minimum gap position between the stator and the rotor and the center of the stator excitation, that is, to keep the excitation phase constant. The precise control of the variable gap motor is not sufficient if only the excitation is switched in accordance with the revolution position of the rotor as in the above example shown here.

Also, when driving the motor while keeping the excitation phase constant,
Since the excitation phase that generates the torque most efficiently changes depending on the revolution speed of the rotor and the excitation current of the stator winding, the excitation phase is corrected with the revolution speed of the rotor and the excitation current in order to always drive the motor in an optimal state. There is a need to. Such control has never been performed in the control of a variable gap motor, but to use the variable gap motor as a servo actuator for driving a joint of a robot, the above-described excitation phase control is necessary in the future. It is said.

(Problems to be Solved by the Invention) As described above, when an attempt is made to use a variable gap motor as a servo actuator, servo drive cannot be performed by open-loop control using a commercial frequency power supply or a step driver. There is a problem.

Further, there is a problem in that the servo drive of the variable air gap type motor cannot be performed in an optimum state simply by switching the excitation of the windings of the stator using the revolution motion information of the rotor.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and by using the revolution motion information of a rotor to control the excitation phase so that the generation of torque is optimal, a larger torque can be generated, and speed control and position control can be performed. It is an object of the present invention to provide a control device for a variable air gap type motor which can perform precise control and can be used as a servo actuator.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, according to the invention described in claim (1), a stator that generates a rotating magnetic field by a plurality of windings;
A variable rotor having a central axis different from that of the stator and performing revolving motion by the rotating magnetic field of the stator; and a rolling means for contacting the rotor performing the revolving motion and generating rotation that reduces the revolving motion of the rotor. A variable gap type motor control device for controlling a gap type motor, comprising: a rotor revolution position detection means for detecting a revolution position of a rotor of the variable gap type motor; and a drive torque / drive for setting a drive torque and a drive direction of the motor. A direction setting means, and an excitation center for calculating an excitation center of the stator by adding an excitation phase in a driving direction set by the driving torque / driving direction setting means to a rotor revolution position from the rotor revolution position detecting means. Calculating means for generating an excitation pattern for determining a current pattern of each winding of the stator using an output of the excitation center calculating means; And a multi-phase current drive unit that excites each of the windings of the stator with a current value determined by multiplying the output of the excitation pattern generation unit by the excitation torque output of the drive torque / drive direction setting unit. It is characterized by having.

According to a second aspect of the present invention, in the control device for a variable gap motor according to the first aspect, a rotor revolution speed detecting means for detecting a rotor revolution speed based on an output of the rotor revolution position detecting means, and the rotor revolution speed. Excitation center correction means for adding to the output of the excitation center calculation means using an output of the detection means and a predetermined correction value for the drive torque output of the drive torque / drive direction setting means. It is characterized by:

(Operation) In the invention of claim (1), the position of the revolving motion of the rotor is detected by the rotor revolving position detecting means. The excitation center of the stator that keeps the excitation phase constant is calculated by the excitation center calculation means from the detected information on the revolution position of the rotor. Further, a stator excitation pattern for realizing the calculated excitation center is determined by the excitation pattern generation means, and the windings of the plurality of stators are excited by the multi-phase current drive means with the determined excitation pattern.

As a result, a closed loop control system is formed, and precise control such as speed control and position control becomes possible, and a variable air gap type motor can be used as a servo actuator.

In addition, since the excitation center of the stator can be calculated by adding or subtracting the excitation phase from the rotor revolution position in consideration of the driving direction of the motor, the forward / reverse rotation of the variable gap motor becomes easy.

According to the invention of claim (2), the amount of correction of the excitation phase necessary for maintaining the excitation phase in an optimum state from the information of the rotor revolution speed and the drive torque by the rotor revolution speed detection and drive torque / drive direction setting means. Is calculated by the excitation center correction means.

By configuring such a control system, a closed-loop control system that can always drive the variable gap motor with the optimal excitation phase with the optimum torque generation efficiency is realized, and the torque generation capability of this type of motor can be fully demonstrated. A variable air gap type motor is realized.

(Embodiment) Next, an embodiment of a control device for a variable gap motor according to the present invention will be described with reference to FIGS.

First Embodiment FIG. 1 is a block diagram showing a basic configuration of a control device 1 (hereinafter simply referred to as a "control device") for a variable gap motor and a variable gap motor 3 controlled by the control device.

As shown in FIG. 1, the control device 1 includes a rotor revolution position detecting means 5 for detecting a revolution position of the rotor of the variable gap motor 3 during the revolution movement of the rotor, a drive torque / drive direction setting means 7, and an excitation. It comprises a center calculating means 9, a rotor revolution speed detecting means 11, an excitation center correcting means 13, an exciting pattern generating means 15, and a multi-phase current driving means 17.

<Variable air gap type motor> As shown in FIG. 2, the variable air gap type motor 3 controlled by the control device 1 is fixed to a housing 19 and an inner wall of the housing 19, and generates a rotating magnetic field by a plurality of windings. A stator 21 to be generated, a rotor 23 having a central axis different from that of the stator 21 and revolving and rotating freely by a crankshaft 27 and revolving by a rotating magnetic field of the stator 21;
Rolling means 25 for contacting with the rotor 23 performing the revolving motion to make the revolving motion a decelerated rotation to generate a large torque.

<Rotor revolving position detecting means> As shown in FIG.
A rotation detector 29 connected to a crankshaft 27 for instructing the revolving (revolving) rotor 23 to be rotatable, and processing the rotation output of the crankshaft 27 detected by the rotation detector 29 to process the rotor revolution. And a processing circuit 31 as position information.

The rotation detector 29 is a general rotation angle detector such as a pulse encoder and a potentiometer.

When the rotation detector 29 is an incremental encoder, the processing circuit 31 generally includes a rotation direction discrimination circuit and a counter. When the rotation detector 29 is an absolute encoder, no processing circuit is required. In the case of a potentiometer, a processing circuit such as an AD converter is required. In addition, when a resolver is used as a detector, an RD converter (resolver converter, digital converter) or the like is required as a processing circuit.

<Rotator Revolution Speed Detecting Means 11> The detection of the revolution speed of the rotor 23 generally does not require any particular detecting device. Speed detection can be easily performed.

If the output of the rotor revolution position detecting means 5 is a frequency output like the output of an incremental encoder, the third
As shown in the figure, the rotor revolution speed is obtained by the F / V converter 33. When the output of the rotor revolving position detecting means 5 is an output of an absolute encoder, a pontensometer, or the like, the output from the rotor revolving position detecting means 5 is input to the differential processing unit 35 shown in FIG. Information is obtained.

Note that the differentiation processing unit 35 may actually perform the differentiation electrically, or may perform the difference processing by software and output the result as substantially differentiated.

<Drive Torque / Drive Direction Setting Means 7> The variable gap motor 3 cannot reverse the torque generated by reversing the polarity of the exciting current as in a DC motor or the like. It is necessary to control the direction of the torque by using the information separately and changing the way of excitation.

Therefore, the drive torque / drive direction setting means 7 is a part having a function of separating the absolute value of the drive torque and the drive direction information from the input positive / negative torque command value. There are cases where the signals are separated and output, and cases where the signals are separated by an electric circuit.

<Excitation Center Calculation Means 9> As shown in FIG. 5, the variable gap motor 3 has an angle formed by the minimum gap position 37 between the rotor 23 and the stator 21 and the excitation center 39 at which the attraction force by the stator winding excitation becomes maximum. Is called an excitation phase. The sixth phase between the excitation phase and the generated torque
As shown in the figure, the output torque T is the maximum value
The most efficient torque can be generated by exciting the stator 21 while maintaining the excitation phase θopt at Tmax.

In order to drive while maintaining this optimum excitation phase, the minimum gap position (rotor revolution position) is always detected, and the stator excitation center position is calculated by adding the optimum excitation phase to the position in consideration of the driving direction of the rotor. It is necessary to keep.

Therefore, the excitation center calculation means 9 adds an optimum excitation phase to the rotor gap position (minimum gap position) which is the output of the rotor position detection means 5 in consideration of the driving direction output of the driving torque / driving direction setting means 7, and outputs the result on the stator. Is calculated. The excitation center calculating means 9 enables driving with a constant excitation phase.

As specific means, a method of reading the output of the rotor revolution position detecting means 5 such as a microprocessor and the driving direction output of the driving torque / driving direction setting means 7 and adding them by software to determine the excitation center, the driving torque / driving direction The setting means 7 is also incorporated in software to calculate the excitation center, and the addition or subtraction of the excitation phase to the output of the rotor revolution position detection means 5 using hardware such as an adder and the output is used as the excitation center. and so on.

<Excitation Center Correction Means 13> When the variable gap motor 3 is driven, the excitation phase has an optimum value as described above. However, when the variable gap motor 3 is actually driven, the optimum excitation phase changes depending on the rotation speed of the rotor 23 and the value of the winding excitation current of the stator 21. Optimal excitation phase θ for rotor revolution speed V
As shown in FIG. 7, opt increases nonlinearly with respect to the revolution speed of the rotor. However, this is a case where the exciting current value is constant.

Further, the optimum excitation phase θopt with respect to the excitation current value I (drive torque command) has a relationship as shown in FIG. 8 (in this case, the revolution speed is constant, and the characteristic shown by the dotted line in FIG. Is higher).

Therefore, in order to drive with the optimal excitation phase in any state, it is necessary to correct the previously calculated excitation center using the rotor revolution speed and the excitation current (drive torque information).

Therefore, the excitation center correction means 13 uses the output of the rotor revolution speed detection means 11 and the driving torque output of the driving torque / driving direction setting means 7 to obtain the excitation center information of the stator 21 which is the output of the excitation center calculation means 9. , And a stator excitation center position that always provides an optimal excitation phase is calculated.

As specific means of the excitation center correcting means 13, similarly to the aforementioned excitation center calculating means 9, the output of the rotor revolution speed detecting means 11 and the driving torque output of the driving torque / driving direction setting means 7 are sent to a microprocessor or the like. And a method for calculating the excitation center by performing non-linear correction by software, a method for calculating the excitation center by incorporating the drive torque / drive direction setting means 7 into the software, an output of the rotor revolution speed detection means 11 and the drive torque / drive A method using hardware, such as connecting a non-linear compensation circuit or the like to the drive torque output of the direction setting means 7 and adding those outputs to the output of the excitation center calculation means 9 by an adder to correct the excitation center, can be considered. .

<Excitation Pattern Generation Means 15> The function of this part is to generate the excitation pattern of each winding necessary to actually realize the stator excitation center determined so far on the stator 21. Hereinafter, the excitation pattern generating means 15 will be described.

As shown in FIG. 9, the excitation current waveform of each stator winding corresponding to the excitation center position of the stator 21 is set in advance. Then, when the stator excitation center 39 is determined by the output of the excitation center correction means 13, the excitation patterns I11 to I61 of each winding with respect to that position are determined. This is multi-phase current drive means
By outputting the signal to 17, an excitation center is generated at a specified position on the stator 21.

Specifically, excitation current waveform data of each stator winding corresponding to a predetermined excitation center position of the stator 21 is stored in an array in software on a microprocessor, and the excitation There is a software method in which an excitation pattern corresponding to the center position data is extracted from the array and output to the multi-phase current driving means 17. In addition, the excitation current waveform data of each stator winding corresponding to the stator excitation center position is stored in a memory such as a ROM, and the excitation center constituted by hardware is input to the memory as an address, and the output data is output. Is output to the multiphase current driving means 17 by hardware. In the example shown in FIG. 9, the stator winding has six phases, but the number of phases is not limited.
Excitation patterns can be generated in exactly the same manner with 12 phases.
This is the same in the multi-phase current driving means 19 described below.

<Polyphase Current Driving Means 17> As shown in FIG. 10, the multiphase current driving means 17 digitally inputs the excitation pattern and multiplies the digital input by the driving torque output of the driving torque / driving direction setting means 7. , D / A to convert to analog signal which becomes current command of each phase
The converter 41 includes a converter 41 and a current amplifier 43 that supplies a current equal to a current command value, which is an output of the converter 41, to the winding 45.

In the multi-phase current driving means 17 having the above configuration, the excitation pattern input 47 for controlling the excitation phase is independent for each phase, and the drive torque input 49 for determining the drive torque can be common to each phase. Control and drive torque control can be performed independently.

The current amplifier is PWM (Pulse Width Modulation)
An amplifier using a chopper type amplifier using a power amplifier and an amplifier using a power operational amplifier can be considered.

 Next, the operation of the present embodiment will be described.

When the variable gap motor 3 starts driving, the stator 21
The rotor 23 revolves due to the rotating magnetic field generated during the rotation. At the time of this revolving motion, the revolving motion of the rotor 23 is reduced by the rolling means 25, and a large torque rotating motion is generated.

Further, the control device 1 of the variable air gap type motor 3 determines whether the revolving position of the revolving rotor 23 is the rotor revolving position detecting means 5.
The detection result is output to the rotor revolution speed detecting means 11 and the excitation center calculating means 9.

The excitation center calculation means 9 calculates the excitation center of the stator so as to keep the excitation phase constant. Excitation center calculation means 9
For realizing the excitation center calculated by
21 excitation patterns are determined by the excitation pattern generating means 15. The windings of the plurality of stators are excited by the excitation pattern determined by the excitation pattern generating means 15.

On the other hand, the revolution speed of the rotor 23 is obtained from the information output to the rotor revolution speed detecting means 11, and the rotor revolution speed is outputted to the excitation center correcting means 13. Excitation center correction means
Reference numeral 13 calculates a correction amount of the excitation phase necessary to maintain the excitation phase in an optimum state from the information on the rotor revolution speed and the drive torque by the drive torque / drive direction setting means 7.

The excitation pattern of the stator 23 is corrected by the correction amount of the excitation phase calculated by the excitation center correction means 13, and each winding of the stator 23 is excited.

As described above, according to the variable gap motor control device 1 of the present embodiment, the variable gap motor controls the excitation phase using the revolution motion information of the rotor 23 so that the torque generation is optimized. By doing so, a larger torque can be generated, and precise control such as speed control and position control can be performed.

Therefore, a closed loop control system is configured, and precise control such as position control and speed control of the variable gap motor can be performed, and the variable gap motor can be used as a servo actuator. Next, another embodiment will be described. The same components as those in the first embodiment are denoted by the same reference numerals in the drawings, and description thereof will be omitted.

Second Embodiment FIG. 11 shows a rotor revolution position detecting means 5 of a variable gap motor 53 having a structure different from that of the variable gap motor 3 of the first embodiment. The variable gap motor 53 includes a housing 59, a stator 61 that generates a rotating magnetic field by a plurality of windings fixed to the inner wall of the housing 59, and a revolving shaft that has a center axis different from that of the stator 61 and is revolved by a crank shaft 57. The rotor 63 is configured to be able to move and perform a revolving motion by the rotating magnetic field of the stator 61, and a rolling means 65 that comes into contact with the rotor that performs the revolving motion and turns the revolving motion to a reduced speed.

The rotor 63 of the variable gap motor 53 revolves, but does not rotate. The rotor 63 is instructed to revolve by a plurality of crankshafts 57, and the rotation of the rotor 63 is restricted by the crankshafts 57. This crankshaft
Since the revolving motion of the rotor 63 is output to 57, the revolving position of the rotor 63 can be detected by attaching the rotation detector 29 to the crankshaft 57.

The rotation detector 29 and its processing circuit 31 are the same as the rotation detector 29 and the processing circuit 31 of the first embodiment.

Therefore, similarly to the first embodiment, the variable gap motor 53 of the present embodiment also utilizes the revolving motion information of the rotor and controls the excitation phase so that the generation of the torque is optimized, thereby increasing the torque. Can be generated, and precise control such as speed control and position control can be performed.

Third Embodiment FIG. 12 shows a variable air gap motor 67 having a different structure.
The rotor revolution position detecting means 5 is shown. The variable gap motor 67 is of an axial gap type, and the rotor 69 revolves due to the rotating magnetic field of the stator 71 and rotates by the action of the rolling means 73 to output the rotation. The rotor 69 is supported so as to revolve and rotate by a shaft 75 having a crank portion forming an angle with the rotation shaft. Since the revolving motion of the rotor 69 is output to the shaft 75, the rotation is detected in the same manner as in the variable air gap type motor of the first embodiment shown in FIG. 2 and the second embodiment shown in FIG. By adding the device 29 and the processing circuit 31, the revolution position of the rotor 69 can be detected.

Also in this embodiment, as in the first and second embodiments, a larger torque is generated by controlling the excitation phase so as to optimize the generation of the torque by using the revolution motion information of the rotor. And precise control such as speed control and position control becomes possible.

Fourth Embodiment FIG. 13 shows an embodiment in which the revolution position of the rotor 77 is detected not by mechanical means but by electrical means. A sensor magnetic circuit 79 is connected to the rotor 77, and a sensor magnetic circuit 83 is also fixed to the stator 81 side. A sensor coil 85 is attached to the stator-side magnetic circuit 83. A reference signal is input from the processing circuit 87 to the sensor coil 85.

The magnetic circuit 83 for the sensor on the stator side is generated by the revolution of the rotor 77.
Then, the magnetic resistance of the rotor-side sensor magnetic circuit 79 changes, and the signal output from the sensor coil 85 changes in phase with respect to the reference signal. By processing this signal in the processing circuit 87 using the same principle as that of the resolver, the revolution position information of the rotor 77 can be detected.

Also in the present embodiment, a larger torque can be generated by controlling the excitation phase so that the generation of the torque is optimized by using the revolution motion information of the rotor as in the above-described embodiments, In addition, precision control such as speed control and position control can be performed.

Fifth Embodiment FIG. 14 shows an embodiment in which the revolution position of the rotor 89 is detected not by mechanical means but by electrical means. In this embodiment, the gap is measured by the sensor ring 91 on the rotor 89 side and the four gap sensors 95 mounted on the stator 93 side, and the processing circuit 97 performs an operation from the measured value to calculate the revolution position of the rotor 89. I do.

In this embodiment, effects similar to those of the above embodiments can be obtained.

Each embodiment described below is an example of an actual control device for a variable air gap type motor, and will be described with reference to FIGS. 15 to 17.

The same components as those in the first embodiment are denoted by the same reference numerals in the drawings, and description thereof will be omitted.

Sixth Embodiment FIG. 15 is a block diagram showing a configuration of a control device 99 of a sixth embodiment. The control device 99 includes a rotor revolution position information, which is an output of the rotor revolution position detector 5 attached to the variable gap motor 3, and a rotor revolution speed output from the rotor revolution speed detecting means 11 based on the output. Information is input to the microprocessor 101, and the excitation center of the driving torque is calculated by software processing on the microprocessor 101. Further, the excitation center is corrected based on the information of the rotor revolution speed and the driving torque, and the excitation pattern 47 corresponding to the excitation center is taken out of the array and output to the multi-phase current driving means 17.

The drive torque command 49 set by the microprocessor 101 is input as a current value common to each phase of the multi-phase current drive unit 17.

In the sixth embodiment, the excitation center calculating means 9 shown in FIG.
The drive torque / drive direction setting means 17 and the excitation pattern generation means 15 are examples of software servos included in the microprocessor 101, and the hardware is simplified, but the microprocessor 101 has a large processing capacity. Required.

Therefore, according to the present embodiment, the excitation center of the stator 21 that keeps the excitation phase constant is calculated by the microprocessor 101 from the revolution position information of the rotor detected by the rotor revolution position detecting means 5. Further, the microprocessor 101 determines the excitation pattern of the stator 21.

The multi-phase current driver 7 excites a plurality of windings according to the determined excitation pattern.

According to the present embodiment, by using the revolution motion information of the rotor and controlling the excitation phase so that the torque is optimally generated, a larger torque can be generated, and the speed control and the position control can be performed. Such precision can be controlled.

Further, the use of the microprocessor 101 simplifies the hardware.

Seventh Embodiment FIG. 16 is a block diagram showing a configuration of a control device 103 according to a seventh embodiment. In the seventh embodiment, except for the drive torque / drive direction setting means 7, all are constituted by hardware.

The calculation of the excitation center is performed by the output of the rotor revolution speed detecting means 11, the input to a corrector 105 for converting the output into speed information, the excitation phase corrected by the revolution speed, and the drive output from the microprocessor 109. This is performed by an adder 113 that adds the excitation phase correction amount, which is the output of the corrector 111 that calculates the excitation phase correction amount based on the torque output, in consideration of the drive direction information.

Therefore, the excitation center calculation means and the excitation center correction means are integrally formed by the adder 113, the corrector 111, and the corrector 105.

Although the configuration of the present embodiment is high speed because the correction is performed by hardware, there is a problem that the hardware to be corrected is complicated because the data to be corrected shows a non-linear characteristic.

The excitation data output from the adder 113 is output as an address of a waveform memory that stores the excitation pattern of each winding, and the excitation pattern of each phase is output from the data line of the waveform memory to the multi-phase current drive unit 17. You. Selection of each phase is performed by inputting the signal of the phase selection signal generator 117 to the waveform memory 115 and the multi-phase current driving means 17. here,
The waveform memory 115 and the phase selection signal generator 117 correspond to the excitation pattern generation means 15.

In this case, the microprocessor 109 only outputs the driving torque and the driving direction. However, if the output of the rotor revolution position detecting means 5 and the output of the rotor revolution speed detecting means 11 are input, speed control, position control, etc. Can be controlled precisely.

Therefore, according to the present embodiment, the same effects as those of the above embodiments can be obtained.

Eighth Embodiment FIG. 17 shows the configuration of a control device 119 according to an eighth embodiment. In the eighth embodiment, the excitation center calculation means 9 and the excitation center correction means 13 (correctors 105 and 111) and the function of generating a phase selection signal are provided by a DSP (Digital Signal Processor).
r) Configuration replaced by 121.

As a result, since the correction calculation requiring high speed is performed by the DSP capable of high-speed calculation, the hardware can be simplified and the load on the microprocessor can be reduced.

It should be noted that various other configurations are possible for the configuration of the control device, but it goes without saying that the effects of the present invention are not lost due to the above-mentioned changes in the functions of the basic components.

[Effects of the Invention] As described above, the control device for a variable gap motor according to the present invention controls the excitation by using the revolving motion information of the rotor so as to optimize the generation of the torque, thereby increasing the torque. Can be generated, and precise control of speed control and position control can be performed, and an excellent effect that a variable gap motor can be used as a servo actuator can be obtained.

[Brief description of the drawings]

1 to 10 show an embodiment of a control device for a variable gap motor according to the present invention, FIG. 1 is a block diagram showing a basic configuration of the embodiment of the control device for the variable gap motor, and FIG. FIG. 3 is a cross-sectional view showing the configuration of the variable gap motor, FIG. 3 is a block diagram showing the configuration of the rotor revolution speed detecting means, FIG. 4 is a block diagram showing another example of the rotor revolution speed detecting means, and FIG. FIG. 6 is a diagram showing the excitation phase of the air gap motor, FIG. 6 is a diagram showing the relationship between the excitation phase and the output torque, FIG. 7 is a diagram showing the relationship between the rotor revolution speed and the optimal excitation phase, and FIG. FIG. 9 is a diagram showing the relationship between the current and the optimal excitation phase, FIG. 9 is a diagram showing the excitation pattern generation method, FIG. 10 is a block diagram showing the multi-phase current driving means, and FIG. 11 is a variable air gap of the second embodiment. FIG. 12 is a sectional view showing another example of the motor and the motor revolution position detecting means. FIG. 13 is a sectional view showing another example of the variable gap type motor and the motor revolution position detecting means of the example. FIG. 13 is a sectional view showing another example of the variable gap type motor and the motor revolution position detecting means of the fourth embodiment. FIG. 14 is a cross-sectional view showing another example of the rotor revolution position detecting means of the fifth embodiment, and FIG. 15 is a block diagram showing an actual example of a variable gap motor control device according to the present invention of the sixth embodiment. FIG. 16 is a block diagram showing another example of the actual variable gap type motor of the seventh embodiment, FIG. 17 is a block diagram showing an example of the actual variable gap type motor of the eighth embodiment,
18 (a) to 21 show a conventional control device for a variable air gap type motor, and FIG. 18 (a) is a plan view showing a motor driven by turning on a three-phase power supply, and FIG. 18 (b). ) Is a diagram showing a power supply pattern shown in FIG. 18 (a), FIG. 19 is a block diagram showing a conventional variable gap motor control device,
FIG. 20 is a cross-sectional view showing a conventional variable gap motor, and FIG. 21 is a block diagram showing a configuration of a conventional variable gap motor control device. 1, 99, 103, 119 ... control device (control device for variable gap type motor) 3, 53, 67 ... variable gap type motor 5 ... rotor revolution position detection means 7 ... drive torque / drive direction setting means 9 … Excitation center calculation means 11… rotor revolution speed detection means 13… excitation center correction means 15… excitation pattern generation means 17… polyphase current drive means 21, 61, 71, 81, 93… stator 23, 63, 71, 77, 89 ... Rotors 25a, 25b, 25c 65a, 65b, 65c ... Rolling means 73a, 73b, 73c 101 ... Microprocessor

Claims (2)

(57) [Claims] A stator for generating a rotating magnetic field by a plurality of windings; a rotor having a central axis different from that of the stator and performing a revolving motion by the rotating magnetic field of the stator; A variable gap type motor control device for controlling a variable gap type motor comprising a rolling means for generating rotation at a reduced rotation speed of a rotor, wherein a rotor revolution position detection for detecting a revolution position of a rotor of the variable gap type motor. Means, a drive torque / drive direction setting means for setting a drive torque and a drive direction of the motor, and a rotor revolution position from the rotor revolution position detection means,
Excitation center calculation means for calculating the excitation center of the stator by adding the excitation phase in the drive direction set by the drive torque / drive direction setting means, and using the output of the excitation center calculation means to calculate the excitation center of the stator. Excitation pattern generating means for determining a current pattern of each winding; and each of the windings of the stator with a current value determined by multiplying an output of the excitation pattern generating means by an excitation torque output of the drive torque / drive direction setting means. And a multi-phase current drive means for exciting the motor. 2. The control device for a variable gap motor according to claim 1, wherein a rotor revolution speed detecting means for detecting a rotor revolution speed based on an output of said rotor revolution position detecting means, and an output of said rotor revolution speed detecting means. And excitation center correction means for adding to the output of the excitation center calculation means using a predetermined correction value for the drive torque output of the drive torque / drive direction setting means. Variable air gap motor control device.