JP3419725B2 - Position sensorless motor controller - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position sensorless motor control device for estimating a rotor angle and rotating a motor without using a position sensor. In particular, a position sensorless that realizes highly accurate angle estimation with high resolution, angle estimation even when the phase voltage is saturated, and angle estimation even when the induced voltage constant changes The present invention relates to a motor control device.

[0002]

2. Description of the Related Art A brushless motor having no mechanical commutation mechanism needs to electrically commutate based on the angle of the rotor.

A conventional motor control device obtains information on the angle of the rotor by using a position sensor such as a Hall element, a resolver, or an optical encoder attached to a brushless motor. Therefore, the cost is increased by the amount corresponding to the position sensor, and the size of the brushless motor is also increased.

A conventional position sensorless motor control device which realizes low cost and downsizing by omitting this position sensor is disclosed in Japanese Patent Laid-Open No. 64-43095 (hereinafter referred to as "conventional example 1"). (Hereinafter referred to as "conventional example 2") and those described on pages 98 to 104 of 1997, IEEJ Transactions, Volume 117. Hereinafter, this conventional position sensorless motor control device will be described. It should be noted that some of the names of the values used in these documents are changed for the sake of consistency with the embodiments.

These conventional position sensorless motor control devices control a Y-connected three-phase brushless motor.

FIG. 27 is a block diagram of the position sensorless motor control device of the conventional example 1, and FIG. 28 is a timing chart.
Shown in. Note that, in FIG. 28, the names of signals are partly changed for the sake of convenience in comparison with the present invention.
Referring to FIG. 27, the position sensorless motor control device of the conventional example first describes a phase current (i
u, iv, iw), the phase voltage (vu, vv, vw) applied to the stator winding of each phase, and the neutral point voltage (vn) are detected. Next, the following formulas (1), (2), and (3) are calculated, and the induced voltage value eu induced in the stator winding of each phase is calculated.
ev and ew are calculated. Here, R is resistance and L is inductance. Also, d (iu) / dt, d (iv) /
dt and d (iw) / dt are time derivatives of iu, iv, and iw, respectively.

[0007] eu = vu-vn-R * iu-L * d (iu) / dt                                                             ... (1) ev = vv-vn-R * iv-L * d (iv) / dt                                                             ... (2) ew = vw−vn−R · iw−L · d (iw) / dt                                                             ... (3)

The induced voltage values eu, ev, ew are
It is input to the comparison circuit 35 (FIG. 27). Comparison circuit 35
Are the induced voltage values eu, ev, ew and k · eu, k · e obtained by multiplying each induced voltage by a constant k (0 ≦ k).
v, k · ew are compared, and the comparison results are (b) C1, (c) C2, (d) C3, (e) C4,
Each signal of (f) C5 and (g) C6 is obtained (FIG. 28). Each of the signals is input to the logic circuit 36 (FIG. 27). The logic circuit 36 includes the output means 16 (FIG. 2) of the stator winding.
Drive signal (h) DSU +, (i) for driving 7)
DSU-, (j) DSV +, (k) DSV-, (l) D
SW + and (m) DSW- are output (FIGS. 27 and 2).
8). The drive signal controls the current flowing through the stator winding, and the rotor rotates in a predetermined direction.

The prior art example 1 compares the magnitudes based on the induced voltage to determine the conduction period of each phase, but does not have an angle estimating means for estimating the angle of the rotor of the motor. Figure 2
In the timing chart of (b) C1 of 8, C1 is High.
Although the period of h is shown, there is no subdivided information in the period of C1 being High. For example, it is unknown whether C1 is the first period, the middle period, or the last period in the High period. Further, since the angular velocity of the motor is not detected, it is not possible to know how long the C1 stays high. It is simply known which signal of C1 to C6 is High now. Therefore, since the motor is driven smoothly, it is impossible to drive the motor with a waveform such as a sine wave. In the first embodiment, the voltage applied to each phase of the motor is constant during the conduction period. One of the objects of the present invention is to estimate the angle of the motor to drive the motor with a sinusoidal waveform and smoothly drive the motor.

FIG. 29 shows a block diagram of a position sensorless motor control device of Conventional Example 2, and FIG. 30 shows an analysis model diagram of a motor and a drive circuit. In FIG. 29, in Conventional Example 2, first, an error signal Δω = of a target angular velocity (dθ / dt) and an estimated angular velocity (dθmb / dt) output by the estimation model
(Dθ / dt)-(dθmb / dt) is obtained, and the error signal Δω is input to the speed control block (PI control circuit).
The speed control block outputs a target current that generates the torque required to reach the target angular velocity. The actual current i is subtracted from the target current. The difference Δi is input to the current control block (PI control). The current control block outputs the voltage required to flow the target current as the voltage represented on the γ-δ axes. The required voltage and the induced voltage (em) output by the estimation model are added. The voltage represented on the added γ-δ axis is
After being converted to a voltage on the u, v, w axes representing the voltage applied to each stator winding, the voltage on the u, v, w axes is
It is actually applied to each stator winding of the motor.

As described above, the u-axis, v-axis and w-axis are stationary axes corresponding to the respective phases of the stator winding. γ axis and δ
The axis has the center of the magnetic dipole of the rotor of the model of the brushless motor estimated by the position sensorless motor control device as the origin, and connects the γ-axis (S pole and N pole) in the same direction as the estimated magnetic dipole of the rotor. Axis) and a δ axis that advances 90 degrees in the positive direction (counterclockwise direction) from the γ axis, and refers to coordinates that rotate with the estimated rotor. Similarly, the d-axis and the q-axis are
With the center of the magnetic dipole of the actual rotor of the motor as the origin,
It is composed of a d-axis (axis connecting the S-pole and the N-pole) in the same direction as the actual magnetic dipole of the rotor, and a q-axis that advances 90 degrees in the positive direction (counterclockwise) from the d-axis. The coordinates that rotate with the actual rotor.

In the feedback loop shown in FIG. 29, the phase currents flowing in the stator windings of the respective phases are detected, and the phase current values are coordinate-converted to produce the γ-axis current value iγ and the δ-axis current value iδ. The relationship between iγ and iδ and the voltages vγ and vδ can be expressed by the following equations (79) and (80) (iγ and iδ are the γ-axis current component and the δ-axis current component). θm is the estimated angle of the rotor. vγ = {R + Lγδ (dθm / dt) + Lγ (d / dt)} iγ + {-Lδ (dθm / dt) -Lγδ (d / dt)} iδ + e (-sinΔθ) (79) vδ = {Lγ (dθm / dt) −Lγδ (d / dt)} iγ + {R−Lγδ (dθm / dt) + Lδ (d / dt)} iδ + e (cosΔθ) (80)

Lγδ≈0, Lγ≈Ld, Lδ≈Lq, Δ
If θ = θ−θm (θ represents the actual angle of the rotor and θm represents the estimated angle of the rotor), iγ and iδ
(The actual current of the stator winding represented by the γ-δ axes) is as follows. iγ (n) = (1−R · T / Ld) · iγ (n−1) + (dθm / dt) · Lq · T / Ld · iδ (n−1) + (T / Ld) · vγ (n −1) + (T · e / Ld) · (sin Δθ) (81) iδ (n) = {− (dθm / dt) · (Ld · T / Lq) · iγ (n−1) + (1-R * T / Lq) * i (n-1) + (T / Lq) * v (n-1) + (T * e / Lq) * (-cos [Delta] [theta]) (82) T is the calculation interval, that is, iγ (n) and iγ
It is a time difference of (n-1).

Similarly, a γ-axis current model value iγm (estimated γ-axis current component) and a δ-axis current model value iδm (are obtained by fitting the motor constants to the γ-axis and δ-axis voltage equations showing the model of the brushless motor. Estimated δ-axis current component)
Can be expressed as in equations (83) and (84). iγm (n) = (1−R · T / Ld) · iγ (n−1) + {(dθm / dt) · Lq · T / Ld · iδ (n−1) + (T / Ld) · vγ ( n−1) + (T · em / Ld) · 0 (83) iδm (n) = {− (dθm / dt) · (Ld · T / Lq) · iγ (n−1) + (1-R · T / Lq) * i [delta] (n-1) + (T / Lq) * v [delta] (n-1) + (T * em / Lq) * 1 (84) (i [gamma] (n) when [Delta] [theta] = 0. And iδ (n)
Is the same as the formula. )

Actual γ-axis current value iγ and δ-axis current value iδ
And the estimated γ-axis current model value iγm and δ-axis current model value iδm, which is the error between the γ-axis current error value Δiγ (n)
= Iγ (n) -iγm (n) and δ-axis current error value Δiδ
(N) = iδ (n) -iδm (n) is as follows from the equations (81) to (84). Δiγ (n) = (T / Ld) · e (sinΔθ) ≈ (T / Ld) · e (Δθ) (85) Δiδ (n) = (T / Lq) · (em−e · cosΔθ) ≈ (T / Lq) · Δe (86) As shown in the above equation, the speed electromotive force estimation error Δe is Δiδ
Is proportional to (n), and the position estimation error Δθ is Δiγ
It is proportional to (n). After all, as will be described later, in Conventional Example 2, the induced voltage (electromotive force) is estimated based on the equation (86), and the rotor angle is estimated based on the equation (85).

In an actual motor, since the induced voltage changes depending on the temperature, the induced voltage e, the voltage vγ, and the voltage vδ change according to the temperature. On the other hand, in the estimation model that does not consider the temperature change, the induced voltage em, the voltage vγm, and the voltage vδm do not change according to the temperature. In fact, the induced voltage em changes with temperature, resulting in vγ (n-1) and vδ.
Despite the fact that (n-1) changes according to the temperature, from the measured equations (81) and (82) that change temperature, the estimated equations (83) and (84) that do not change temperature are In the equations (85) and (86), which are the results of subtraction, e and Δe and Δi having different amounts of change with temperature are different.
γ (n) and Δiδ (n) are represented by proportional expressions. Therefore, the temperature change of the induced voltage causes an error in the estimated angle.

In the conventional example 2, from the equations (85) and (86), the current errors Δiγ (n) and Δiδ (n) are multiplied by the velocity electromotive force constant Kv and the estimated gain Kp of the position, respectively, and the estimated induced voltage is calculated. The em (n) and the estimated angle θm (n) are obtained. em (n) = em (n−1) −KpΔiδ (n) (87) θm (n) = θm (n−1) + (T / Kv) · em (n) + Kp · sgn {θm (n−1) )} · Δiγ (n) (88) sgn {θm (n-1)} = 1: θm (n-1) ≧ 0 −1: θm (n-1) <0 In FIG. (Power / position / velocity estimation) feeds back measured iγ and iδ,
The error signal with the estimated iγm and iδm that the estimation model has is calculated, and the resulting Δiγ (n) and Δi
By substituting δ (n) into the equations (87) and (88), the velocity electromotive force (induced voltage) em (n) and the estimated angle (position) θm (n) are obtained.

From equations (87) and (88), the estimated angular velocity (dθm / dt) is obtained by the following equation. dθm / dt = (1 / T) {θm (n) −θm (n−1)} = {em (n) / Kv} + (Kp / T) · sgn {θm (n−1)} · Δiγ ( n) (89) In Conventional Example 2, the estimated angular velocity (dθm / dt) is
In order to remove the influence of noise, it is further passed through an LPF (low frequency filter) and then output.

As described above, in Conventional Example 2, the velocity electromotive force (induced voltage) em is calculated by the equations (87) and (88).
(N) and the estimated angle θm (n) are calculated, and (8)
The estimated angular velocity (dθm / dt) is calculated by the equation 9). However, actually, the velocity electromotive force constant Kv used as a constant coefficient in the equations (87) and (88) has temperature dependence. Therefore, there is a drawback in that the error in the estimated angle of the estimated model becomes large due to temperature changes in the environment in summer and winter, an increase in the internal temperature of the equipment from the start of motor operation to continuous operation, and the like. Also,
The document of Conventional Example 2 estimates the angle of the rotor of the motor using the voltage represented on the γ-δ axes. for that reason,
The voltage represented on the γ-δ axis is converted into the phase voltage of the stator winding represented by the u-axis, v-axis, and w-axis, and vice versa.
It is necessary to convert the phase voltages of the stator windings represented by the axes v, v and w into signals on the γ-δ axes.

[0020]

The position sensorless motor control device of the first conventional example can detect the angle even when the phase voltage is saturated. However, since it is only necessary to create a comparison result based on the obtained induced voltage values eu, ev, and ew and determine the phase to be energized based on the logic of this comparison result, the information about the angle of the rotor is the phase voltage. It was only information on the point of switching. Therefore, in the case of the 150-degree conduction method described in the example of the conventional example 1, even if all the information is combined, only a resolution of 30 ° in electrical angle (information on which phase the current should flow) is obtained. Met.

Further, in the conventional example 1, only the angle is detected, the angle is not estimated, and the rectangular wave voltage is applied to the stator winding of the motor. Therefore, since a rectangular wave-shaped current is passed through the stator winding, torque ripple occurs. If you try to pass a sinusoidal current through the stator winding,
It is necessary to estimate the angle.

Further, since the speed is created based on the angle with low resolution, the speed controllability is poor.

The position sensorless motor control device of Conventional Example 2 can estimate the angle with high resolution. But,
Conventional Example 2 is a voltage (rotating coordinate system) represented on the γ-δ axis.
Is used to estimate the angle of the rotor of the motor. Therefore, the voltages represented by the γ-axis and the δ-axis are coordinate-converted into u-, v-, and w-axes indicating the applied voltage to each phase, or conversely, u, v, w
It is necessary to coordinate-convert the signals represented by the axes into the signals represented by the γ axis and the δ axis. When driving a motor with a sine wave,
The voltage represented on the γ-δ axis is converted into the phase voltage of the stator winding represented by the u-axis, v-axis, and w-axis, and vice versa.
It is easy to convert the phase voltages of the stator windings represented by the axes, v-axis, and w-axis into signals on the γ-δ axes. However, when trying to drive a motor with a waveform other than a sine wave (for example, a trapezoidal wave, a rectangular wave, etc.), for example, a trapezoidal wave or a rectangular wave applied to the stator winding of the motor is set on the γ axis and the δ axis. There is a problem that it is extremely difficult to convert the waveform into the waveform.

Further, in the conventional example 2, equations (81), (8)
Equations (2), (83), and (84) introduce the assumption that the signal waveform is a sine wave. Therefore, when the method of the second conventional example is applied to a waveform signal other than a sine wave, there is a problem that an error in the estimated angle occurs.

Therefore, for example, when the angular velocity and output torque of the motor increase and the required phase voltage increases, the phase voltage saturates, and since the voltage waveform of each phase is not a sine wave, the angle can be correctly estimated. Therefore, high angular velocity and large output torque could not be realized.

Further, the position sensorless motor control device of the second conventional example estimates the angle based on the equations (87) and (88). Therefore, as described above, since the velocity electromotive force constant Kv varies depending on the temperature, there is a problem that the angle estimation error increases due to a change in the environmental temperature, an increase in the internal temperature of the device, or the like. The phase resistance value R also changes depending on the temperature, but since the term of the phase resistance value itself is small in the phase voltage equation, the influence on the estimated angle is small.

As used herein, the term "phase voltage equation" means the equation for the phases of the stator windings of a motor. The phase voltage equation includes a strict equation such as the equation (26) and a simplified equation such as the equation (50). Further, it is a concept including equations other than those described in this specification as long as they correspond to the equations regarding the phase of the stator winding of the motor. In the description of the present specification and claims, the terms "equation" and "function" are used interchangeably.

Further, in Conventional Example 2, the target angular velocity (dθ
/ Dt) is input, and the estimated induced voltage em is added in the path from the input of the voltage to each phase of the motor. However, since the induced voltage e is a value that changes according to the temperature, there is a drawback that the residual error of the estimated angle increases when the temperature changes due to the addition of the estimated induced voltage em that does not consider the temperature change.

The present invention solves the above problems, realizes high-resolution and high-precision angle estimation, realizes high-precision angle estimation even when the phase voltage is saturated, and An object of the present invention is to provide a position sensorless motor control device that realizes highly accurate angle estimation even when the induced voltage constant changes.

[0030]

SUMMARY OF THE INVENTION The position of claim 1 of the present invention.
The sensorless motor controller determines the estimated angle of the motor rotor.
Applied to the three-phase stator winding of the motor based on
Voltage command value that creates a phase voltage command value that indicates the voltage command value
Creating means and the stator winding based on the phase voltage command value.
Drive means for applying a voltage to the wire and the current flowing through the stator winding.
Phase current value creating means for creating a phase current value indicating a current to be generated
And a phase voltage value indicating the voltage applied to the stator winding
To create the phase voltage value creation means and the estimated angle
Position sensorless motor control
In the control device, the angle estimation means
The stator winding is based on the phase current value and the phase voltage value.
Create a calculated value that is calculated using the phase voltage equation for the three phases of the line
Which is a reference for the calculated value and is an electric power according to the estimated angle.
A reference value that changes in a cycle of an angle of 360 ° is created, and the above calculation is performed.
Deviation creating means for creating a deviation between the value and the reference value,
An angle that corrects the estimated angle so that the deviation converges to zero.
And a degree correction means.

According to the invention, over a wide temperature range,
Position sensorless motor controller that estimates the angle with high accuracy
You can get the location. According to the present invention, it is possible to obtain a position sensorless motor control device that estimates an angle with high accuracy over a wide voltage range or current range up to a region where a phase voltage or the like is saturated.

[0032]

In the description of the present specification and claims, the term "estimated signal" and the term "estimated model" mean
Used interchangeably. Either term means a signal or data that includes an estimated angle that is at least an estimated angle and should be broadly interpreted.

According to the present invention, it is possible to obtain a position sensorless motor control device which can accurately estimate the angular velocity even when the load or the angular velocity changes.

A position sensorless motor according to claim 6 of the present invention
Controller or measuring or voltage calculated stator windings
, It is derived by subtracting components other than the induced voltage.
The induced voltage is used as the estimated signal. According to the present invention, wide temperature
Position sensor for highly accurate angle estimation over a range
A less motor control device is obtained.

A position sensorless motor according to claim 9 of the present invention
The control unit estimates the estimated signal with the same waveform as the stator winding current.
No. According to the present invention, over a wide temperature range,
Position sensorless motor controller that estimates the angle with high accuracy
You can get the location.

The invention according to claim 11 of the present invention is directed to
It has an estimated signal of the same waveform as the pressure. According to the invention,
Inexpensive and compact microprocessor, etc. with less calculation time
The position sensorless motor controller that estimates the angle by
can get.

Position of Claims 2, 7, 10, 12 of the present invention
The sensorless motor controller uses an estimated signal (estimated model)
The amplitude value, which is the coefficient of the function forming the, is corrected. The present invention
Position sensorless motor control with high angle estimation accuracy.
You can get the device.

The position sensorless model according to claims 3 and 8 of the present invention.
The data controller simplifies assuming that the phase current is sinusoidal.
The estimated angle based on the phase voltage equation of the stator winding
create. With the present invention, the calculation time is short, the cost is small, and the size is small.
Angle estimation using a microprocessor
It will be possible.

Position sensorless according to claims 4 and 13 of the present invention
The motor controller controls the multiple phases of the motor stator windings.
Select one of the phases from the
Then, the estimated signal is corrected. According to the present invention, any
Position with which the angle is estimated with high accuracy
A sensorless motor controller is obtained.

In the position sensorless motor control device according to claims 5 and 18 of the present invention, when the rotation direction command changes from the forward rotation direction to the reverse rotation direction, it is detected by the current sensors of at least two phases of the stator winding. The phase current values are exchanged with each other, and the voltage command values of at least two phases of the stator windings are exchanged with each other. According to the present invention, it is possible to obtain a position sensorless motor control device that can correspond to forward rotation and reverse rotation and can share most of a circuit block or a program block during forward rotation and reverse rotation by slight switching.

A position sensorless mode according to claim 16 of the present invention.
The controller has an error signal whose magnitude exceeds a certain range.
If it is determined that the motor is not properly controlled,
It According to the present invention, the angle estimation control system has a pull-in range or
Will decelerate the motor if it goes out of the hold range.
Position sensor that allows you to quickly exit an abnormal condition.
A sales motor controller is obtained.

A position sensorless mode according to claim 17 of the present invention.
The controller controls the correction amount of the estimated signal.
According to the present invention, a position sensor that is less susceptible to fluctuations due to noise
A sales motor controller is obtained.

[0044]

[0045]

[0046]

In the description of the present specification and claims, the "estimated angle" means the estimated angle,
"Estimated angular velocity" means the estimated angular velocity.
In the description and claims of this specification, the terms "rotor angle", "rotor phase" and "rotor position" are used interchangeably. In the description of the present specification and claims, the term “target angular velocity” is a concept including a target rotational speed that is proportional to the target angular velocity. Similarly, the term “estimated angular velocity” is a concept including an estimated rotation speed that is proportional to the estimated angular velocity. The angular velocity and rotation speed are
This is because the elements are substantially the same.

[0048]

[0049]

A position sensorless motor according to claim 1 of the present invention.
The controller controls the motor based on the estimated angle of the rotor of the motor.
Indicates the command value of the voltage applied to the 3-phase stator winding of the motor.
Voltage command value creating means for creating a phase voltage command value, and
Apply voltage to the stator winding based on the phase voltage command value
Drive means and a phase indicating the current flowing through the stator winding.
Phase current value creating means for creating a current value, and the stator winding
A phase voltage value that creates a phase voltage value that represents the voltage applied to the line
Creating means and angle estimating means for creating the estimated angle;
In a position sensorless motor control device equipped with
The angle estimating means includes the estimated angle, the phase current value, and the phase current value.
Phase voltage method of the three phases of the stator winding based on the phase voltage value
Create a calculated value that is calculated using the equation
It is a standard and the electrical angle is 360 ° according to the estimated angle.
Create a changing reference value and compare the calculated value with the reference value.
Deviation creating means for creating a deviation, and the deviation converges to zero
Angle correction means for correcting the estimated angle so that
With a position sensorless motor control device characterized by
is there.

The angle estimating unit of the position sensor-less motor control device according to the invention has u, v, a signal on the w axis.
Therefore, it is not necessary to rotate the coordinates in the calculation between the estimated voltage and the phase voltage or the phase current of the stator winding of the motor, and only the u, v and w axes are used for the calculation. It has the effect of being able to. The position sensor array according to the present invention
In the motor control device, the angular velocity of the motor and the output torque
Torque increases, the required phase voltage increases, and
The phase voltage of each phase is saturated and the voltage waveform of each phase is a sine wave.
Even if it disappears, the angle can be correctly estimated and it is high.
It is said that it is possible to realize angular velocity and large output torque.
Has a function. Also, the position sensorless mode according to the present invention
In the controller, the magnetization waveform of the permanent magnet of the rotor is
It is optional. Accordingly, the present invention is directed to the installation of permanent magnets in rotors.
The magnetic waveform is a waveform other than a sine wave, and the induced voltage is a sine wave.
Having other than waveforms, it can have One motor, b with high accuracy
Has the effect that the angle of the data can be estimated.
It

As in the second conventional example, the angle estimating means uses γ
In the case of having an estimated model (estimated signal) of the axis, δ axis or d axis, q axis, coordinate rotation is performed when performing calculation with the phase voltage or phase current of the stator winding of the motor. There is a need to. The coordinate rotation is easy when the phase voltage or the phase current of the motor stator winding is a sine wave, but the coordinate rotation is difficult when the phase voltage or the phase current is not a sine wave. Further, in such a case, if the coordinate rotation is simply performed using the same calculation formula as in the case where the phase voltage or the like is a sine wave, there is a problem that the estimation error of the rotor angle increases.

For example, when the angular velocity and output torque of the motor increase and the required phase voltage increases, the phase voltage of each phase of the stator winding saturates and the voltage waveform of each phase becomes a sine wave (trapezoidal wave or It becomes a square wave.) In such a case, in the device having the estimation model (estimation signal) of the γ-axis, the δ-axis, the d-axis, or the q-axis as in the second conventional example, the angle cannot be correctly estimated, and a high angular velocity or a large output torque is generated. It couldn't be realized.

On the other hand, in the position sensorless motor control device according to the present invention, since coordinate rotation is not necessary, it is possible to easily realize the generation of an estimation model (estimation signal) which is not a sine wave. This increases the angular velocity and output torque of the motor, increases the required phase voltage, saturates the phase voltage of each phase of the stator winding, and corrects the angle even if the voltage waveform of each phase is no longer a sine wave. It has the effect that it can be estimated and a high angular velocity and a large output torque can be realized. Further, the expression (81) of the conventional example 2 is based on the assumption that the permanent magnets of the rotor are magnetized in a sine wave. However, in the position sensorless motor control device according to the present invention, the permanent magnets of the rotor are The magnetization waveform is arbitrary. Therefore, the present invention can estimate the rotor angle with high accuracy even for a motor in which the magnetized waveform of the permanent magnet of the rotor is a waveform other than a sine wave and the induced voltage has a waveform other than a sine wave. Has the effect of being able to.

A position sensorless motor according to claim 6 of the present invention
The controller controls the motor based on the estimated angle of the rotor of the motor.
Indicates the command value of the voltage applied to the 3-phase stator winding of the motor.
Voltage command value creating means for creating a phase voltage command value, and
Apply voltage to the stator winding based on the phase voltage command value
Drive means and a phase indicating the current flowing through the stator winding.
Phase current value creating means for creating a current value, and the stator winding
A phase voltage value that creates a phase voltage value that represents the voltage applied to the line
Creating means and angle estimating means for creating the estimated angle;
In a position sensorless motor control device equipped with
The angle estimating means is an electrical angle of 360 ° according to the estimated angle.
Induced voltage reference that indicates the reference value of the induced voltage that changes with the period of
Induced voltage reference value creating means for creating a value, and the stator
Using the three-phase phase voltage equation of the winding,
Based on the phase voltage value and the voltage due to the electrical resistance from the phase voltage value.
The pressure drop and the voltage drop due to the inductance can be subtracted.
And an induced voltage value creating means for creating an induced voltage value by
Create a deviation between the induced voltage value and the induced voltage reference value
The deviation creating means, and the deviation is converged to zero.
And an angle correction means for correcting the estimated angle.
This is a characteristic position sensorless motor control device.

Position sensorless motor controller according to the present invention
The angle estimation means is the phase voltage method of three phases of u, v, and w axes.
The induced voltage value is derived using the formula and the angle is estimated. Obey
The phase voltage or current of the motor stator winding,
When calculating between the constant signal (induced voltage) and
There is no need to rotate, it can be calculated only with u, v, w axes.
It has the effect of being able to.

The present invention is a measurement or calculation of stator windings.
By subtracting the components other than the induced voltage from the
To derive the induced voltage. As in the conventional example,
When generating an estimated signal using
The change in the induced voltage deteriorates the angle estimation accuracy. example
For example, as in the conventional example 2, the formula (87) and the formula (88) are used.
The method of obtaining the electromotive voltage is as follows:
Degree-dependent. Measurement of stator windings according to the invention or
Subtract components other than induced voltage from the calculated voltage.
Position sensorless motor control that derives induced voltage by
The control device can obtain the correct induced voltage. The invitation
Although the magnitude of the electromotive voltage depends on the temperature,
Relative pressure, v-axis induced voltage, and w-axis induced voltage
Since the size does not depend on the temperature, it is important to estimate the angle.
And, it does not have any bad influence. For this reason, the present invention
Realization of angle estimation means with high estimation accuracy in a wide temperature range
It has the effect that it can.

A position sensorless motor according to claim 9 of the present invention
The controller controls the motor based on the estimated angle of the rotor of the motor.
Indicates the command value of the voltage applied to the 3-phase stator winding of the motor.
Voltage command value creating means for creating a phase voltage command value, and
Apply voltage to the stator winding based on the phase voltage command value
Drive means and a phase indicating the current flowing through the stator winding.
Phase current value creating means for creating a current value, and the stator winding
A phase voltage value that creates a phase voltage value that represents the voltage applied to the line
Creating means and angle estimating means for creating the estimated angle;
In a position sensorless motor control device equipped with
The angle estimating means is an electrical angle of 360 ° according to the estimated angle.
Phase current reference value that indicates the reference value of the phase current that changes in the cycle of
Phase current reference value creating means to create, the phase current value and the
Deviation creating means for creating a deviation from the phase current reference value;
An angle for correcting the estimated angle so that the deviation converges to zero
A position sensor less, comprising:
It is a motor control device.

Position sensorless motor controller according to the present invention
The angle estimation means of the position is the phase current value which is the value of the u, v and w axes.
To derive the angle. Therefore, the motor stator
Phase voltage or phase current of winding, estimated signal (phase current),
There is no need to rotate the coordinates when performing calculations between
Operation that can be calculated only with u, v, and w axes
Have.

Position Sensorless Motor Control Device of the Present Invention
Estimates the angle based on the current signal of the stator winding
It As expressed by the equation (72), it is derived from the induced voltage.
Derived from the angular error of the estimated angle and the stator winding current.
Angle error of the issued estimated angle is the equivalent. Therefore,
The estimated angle derived from the flow is stable with temperature.
It Also, in general, the value of the current in the stator winding depends on the temperature.
And stable. Therefore, the present invention provides high temperature over a wide temperature range.
It is possible to realize an angle estimation means with high estimation accuracy.
Have an effect.

A position sensorless mode according to claim 11 of the present invention.
The controller controls the electric current flowing in the three-phase stator winding of the motor.
Current sensor that detects current and outputs the phase current value, and
Based on the estimated angle of the rotor of the rotor and the phase current value.
Phase voltage command value that indicates the command value of the voltage applied to the data winding
Voltage command value creating means for creating the phase voltage command value
Drive means for applying a voltage to the stator winding based on
A phase voltage value indicating the voltage applied to the stator winding is created.
Phase voltage value creating means to be formed, and an angle to create the estimated angle
Position sensorless motor control device including
The angle estimation means is
Reference value of the phase voltage value that changes in a cycle of an electrical angle of 360 °
Phase voltage reference value creating means for creating a phase voltage reference value
And create a deviation between the phase voltage value and the phase voltage reference value.
The deviation creating means, and the deviation is converged to zero.
And an angle correction means for correcting the estimated angle.
This is a characteristic position sensorless motor control device.

Position sensorless motor control device according to the present invention
The position angle estimation means is a phase voltage value that is a value on the u, v, and w axes.
To derive the angle. Therefore, the motor stator
Phase voltage or phase current of the winding, estimated signal (phase voltage),
There is no need to rotate the coordinates when performing calculations between
Operation that can be calculated only with u, v, and w axes
Have. In the position sensorless motor control device of the present invention
The same as the measured or calculated phase voltage of the stator winding.
Calculate by using the signal of one waveform as an estimation model
A time-consuming, inexpensive and small microprocessor
It has the effect that it is possible to estimate the angle
It

Position sensorless according to claim 2 of the present invention
The motor control device is based on the phase current value and the phase voltage value.
Amplitude for correcting the estimated amplitude value indicating the amplitude of the reference value
The estimated value correction means is added.
The position sensorless motor control device described in 1. The present invention
The position sensorless motor control device according to claim 7,
The angle estimation means is configured to induce the induced voltage based on the induced voltage value.
Amplitude estimation that corrects the amplitude estimation value that indicates the amplitude of the voltage reference value
7. The device according to claim 6, further comprising a value correction means.
It is a mounted position sensorless motor control device. Contract of the present invention
The position sensorless motor control device according to claim 10 is
The amplitude of the induced voltage is estimated based on the phase current value and the amplitude
Further comprising an amplitude estimated value correction means for correcting the estimated value
The position sensorless motor controller according to claim 9,
It is a device. A position sensor according to claim 12 of the present invention.
The less motor control device is configured to control the phase voltage based on the phase voltage value.
Estimated amplitude that corrects the estimated amplitude that indicates the amplitude of the pressure reference value
The correction device according to claim 11, further comprising a correction unit.
It is a mounted position sensorless motor control device.

Estimated model amplitude and actual motor signal
If there is an amplitude error between and
It is said that it affects the angle error and deteriorates the accuracy of the estimated angle.
I have a problem. The present invention reduces the amplitude error.
Feedback loop is provided to calculate the correct angle error
It has the effect of being able to. This makes high
It has the effect that the angle can be estimated with high accuracy. Starting
Ming position sensorless motor control device angle estimation means,
Not only variables (angles) but also function coefficients (amplitudes)
Is also corrected so that the function itself is the actual motor.
To be the same as
It has an effect that the estimation accuracy can be improved.

Position sensorless according to claim 3 of the present invention
In the motor control device, the angle estimation means is
Simplified stator winding phase current assuming a sine wave.
It is characterized in that the estimated angle is created based on the pressure equation.
In the position Se Nsaresumota control apparatus according to claim 1,
is there. The position sensorless motor according to claim 8 of the present invention.
The control device is configured such that the induced voltage value generating means controls the phase current
Simplifying the phase voltage equation assuming a sinusoidal
According to the estimated angle from the phase voltage value, an electrical angle of 360 °
The voltage drop due to the electric resistance that changes sinusoidally and the above estimation
The electrical angle changes according to the angle at an electrical angle of 360 ° and changes to a substantially sine wave
Induced by subtracting the voltage drop due to dactance
The position according to claim 6, wherein a voltage value is created.
It is a stationary sensorless motor control device.

In the position sensorless motor control device of the present invention
Suppose that the stator winding current is a sine wave signal.
The calculation for estimating the angle is simplified because
Has the effect of being Therefore, it is small and inexpensive.
With the ikuro processor, angle estimation can be performed in a short calculation time.
It has the effect that it can be performed. Also stay
Since the stator winding has a large inductance component,
The current waveform of the stator winding is less likely to be saturated,
Even when the phase voltage waveform is saturated, it is close to a sine wave, so
Even when the waveform of the phase voltage of the stator winding is saturated,
Angle error due to sine wave approximation of line current waveform
Has the effect of being small.

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[0068]

In the description of the present specification and claims, the term "induced voltage" has the same meaning as the term "generated voltage". The term "power generation constant" has the same meaning as the terms "induced voltage constant" and "electromotive force constant".

A position sensorless motor according to claim 4 of the present invention
The controller controls the motor based on the estimated angle of the rotor of the motor.
Indicates the command value of the voltage applied to the 3-phase stator winding of the motor.
Voltage command value creating means for creating a phase voltage command value, and
Apply voltage to the stator winding based on the phase voltage command value
Driving means and angle estimating means for creating the estimated angle
And a position sensorless motor control device including
The angle estimating means is used to create the estimated angle.
The estimated phase indicating the phase of the stator winding is
Estimated phase selection means for selecting only one phase, and the phase charge of said estimated phase
Angle correction means for correcting the estimated angle using a pressure equation
Position sensorless motor control characterized by having
It is a device. The position sensor less model according to claim 13 of the present invention.
The data control device, the angle estimation means,
The estimated phase that indicates the phase of the stator winding used for making is 3
Including estimated phase selection means for selecting only one phase from the phases
The angle correction means is configured to
Correcting the estimated angle so that the difference converges to 0
Claim 6, Claim 9 or Claim 11 characterized
It is a position sensorless motor control device.

The angle estimation means uses the built-in estimation model as
The correct angle is estimated by correcting based on the signal or the value based on the measurement result. However, when the correction is always performed based on a single signal (for example, the induced voltage or the phase voltage of a specific phase (u axis)), there are angles where the detection accuracy of the angle error is high and angles where it is low. Therefore, there is a problem that the accuracy of the angle estimation becomes higher or lower depending on the angle. The position sensorless motor control device of the present invention selects a phase capable of detecting the largest angle error among the phases of the plurality of stator windings, and based on the phase voltage or the like of the selected phase, calculates the estimated angle. The correction has an effect that the angle can be estimated with high accuracy at any angle of the rotor. Displacement of the angle of each phase (If it is a three-phase motor
It is offset by 20 degrees. ), Calculate the error
It

A position sensorless mode according to claim 14 of the present invention.
The angle controller estimates the estimated angle.
As an estimated phase showing the phase of the stator winding used for
Estimation that selects the phase with the largest deviation from the three phases
The angle correction means is configured to include a phase selection means.
The estimated angle is set so that the deviation of the estimated phase converges to zero.
14. The position sensor according to claim 13, characterized in that
It is a sensorless motor control device.

Position Sensorless Motor Control Device of the Present Invention
Is the largest angular misalignment of multiple stator winding phases.
Select the phase that can detect the difference, and select the induced electromotive force of the selected phase.
By correcting the estimated angle based on the pressure,
Even if the rotor angle is different, the angle is always high with accuracy.
Can be estimated.

A position sensorless mode according to claim 15 of the present invention.
The angle controller estimates the estimated angle.
As an estimated phase showing the phase of the stator winding used for
The phase with the smallest magnitude of the induced voltage value among the three phases
The estimated phase selecting means for selecting
The correcting means adjusts the deviation of the estimated phase to zero.
14. The correction of the estimated angle according to claim 13.
The position sensorless motor control device described in 1.

In the present invention, the error for all phases is
It is not necessary to calculate
Is a simple method of selecting a phase with a small induced voltage.
Select the phase with the maximum error in the normal state,
Since the error is calculated only for the selected phase,
It has an effect that the calculation time is short.

A position sensorless motor according to claim 5 of the present invention
The controller detects the current flowing in the stator winding of the motor
Current sensor that outputs a phase current value and the motor
Voltage applied to the stator winding based on the estimated angle of
Create a voltage command value that creates a phase voltage command value that indicates the command value of
Means and the stator winding based on the phase voltage command value
Driving means for applying voltage and angle for creating the estimated angle
Degree estimating means and command for the direction of rotation of the rotor
When the rotation direction command is reverse rotation, the phase current values are exchanged.
Phase current value exchange means and before the rotation direction command reverses
A phase voltage command value exchanging means for exchanging the voltage command values with each other,
Position sensorless motor control characterized by comprising
It is a device.

A position sensorless mode according to claim 18 of the present invention.
The controller indicates the direction of rotation of the rotor.
When the rotation direction command is reverse rotation, the phase current values are exchanged.
Phase current value exchange means and before the rotation direction command reverses
Phase voltage command value exchange means for exchanging phase voltage command values
Claims 1 and 2 are added.
The position sensorless model according to claim 6, claim 9, or claim 11.
Data control device.

The present invention allows for very slight switching.
It corresponds to forward rotation and reverse rotation, and when forward rotation and reverse rotation
And most of the circuit blocks or program blocks
Realization of position sensorless motor control device that can share parts
It has the effect of being able to.

A position sensorless mode according to claim 16 of the present invention.
The controller controls the amplitude out-of-step judgment to create the amplitude out-of-step judgment value.
Value creating means, the amplitude estimated value and the amplitude step-out determination value
That the estimated angle is not created correctly based on
Step-out detection means having a step-out determination means for judging is added.
Claim 2, Claim 7, Claim 1
0 or the position sensorless motor control device according to claim 12.
It is a place.

The position sensorless motor control device uses the measurement data
The rotor angle of the motor is estimated based on
For some reason, the angle estimation error exceeds a certain range.
(As a result, for example, the estimated angular velocity is
If the value is completely different from the
Even if the estimated angle is corrected based on the
And the correct angle cannot be estimated forever (angle
The estimated control does not converge). Position sensorless mode of the present invention
The controller controller must ensure that the angle estimation error exceeds a certain range.
It has the effect of being able to detect and. to this
Better than normal angle estimation by feedback loop
If the control never converges, turn the motor
Getting out of control by taking other means such as stopping
You can quickly escape from the state (step out).

A position sensorless mode according to claim 17 of the present invention.
Motor controller is larger Limiting the estimated speed ing large
Limit creation means for creating a
The correction means sets the limit so that the deviation converges to zero.
A contract characterized by correcting the estimated angle based on
The position according to claim 1, claim 6, claim 9, or claim 11.
It is a stationary sensorless motor control device.

Position Sensorless Motor Control Device of the Present Invention
Prevents the estimated signal from being corrected with an excessive amount of correction.
It has the effect of stopping. For example, for a single noise
The estimated signal is large even if a more erroneous error signal is obtained.
The width of the angle estimation means pull-in range or ho
You can prevent the problem of getting out of the range.

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BEST MODE FOR CARRYING OUT THE INVENTION A specific embodiment which is an embodiment of the position sensorless motor control device of the present invention will be described below with reference to the accompanying drawings.

Example 1 Hereinafter, a position sensorless motor control device in Example 1 will be described. The position sensorless motor control apparatus according to the first embodiment obtains the induced voltage value from the phase voltage equation of each phase of the stator winding, obtains the deviation between the induced voltage value and the induced voltage reference value, and the deviation converges to zero. The estimated angle θm is corrected as follows. Then, the angle can be estimated with high resolution and high accuracy, the angle can be estimated even when the phase voltage is saturated, and the angle can be estimated accurately even when the motor constant such as the induced voltage constant changes. To be realized. In the description of the present specification and claims, the term “error” and the term “deviation” are used interchangeably.

First, the configuration of the position sensorless motor control device of the first embodiment will be described.

[Explanation of FIG. 1] FIG. 1 is a block diagram showing a configuration of a position sensorless motor control device according to the first embodiment. IPMSM (Int
erior Permanent Magnet Sy
nchronous Motor: embedded magnet type synchronous motor) 10 is a stator winding 11u, 11 in which a phase current flows.
A stator (not shown) around which v and 11w are wound, and a rotor 12 that is arranged so as to face and be close to the stator (not shown) are provided. Here, the stator winding 11
u, 11v, and 11w are Y connections (each stator winding 11u,
One end of 11v and 11w are connected at one point). In this brushless motor 10, a permanent magnet 13 is arranged inside a rotor 12, and the rotor 12 rotates due to the interaction between the magnetic flux generated by the phase current and the magnetic flux generated by the permanent magnet 13.

The position sensorless motor control apparatus according to the first embodiment includes a current sensor 21u that outputs an analog u-phase current value iua, a current sensor 21v that outputs an analog v-phase current value iva, and an analog u-phase current value iua. Analog v
The switching command signal gu is input by inputting the phase current value iva, the analog speed command value ω * a, and the rotation direction command ωdir *.
A microcomputer (meaning “microcomputer” or “microprocessor”) 22 for outputting h, gulu, gvh, gvl, gwh, gwl and a servo-on signal sv *, and switching command signals guh, gul,
gvh, gvl, gwh, gwl and servo-on signal sv
And a drive unit 30 that controls the voltage applied to the stator windings 11u, 11v, and 11w.

[Explanation of FIG. 2] FIG. 2 is a circuit diagram showing the configuration of the driving unit 30 in the first embodiment. The driving unit 30 includes a power source 31, a collector connected to the positive electrode of the power source 31, and an emitter connected to the phase windings 11u and 11u.
upper IGBTs (Ins connected to v and 11w, respectively)
integrated Gate Bipolar Trans
istor: insulated gate bipolar transistor)
32u, 32v, 32w and upper IGBTs 32u, 32
upper flywheel diodes 33u, 33v, 33w respectively connected in anti-parallel to v, 32w, and lower IGBTs having collectors connected to stator windings 11u, 11v, 11w, respectively, and emitters connected to the negative electrode of the power supply 31.
34u, 34v, 34w and lower IGBTs 34u, 34
lower flywheel diodes 35u, 35v, 35w respectively connected in anti-parallel to v, 34w, and switching command signals guh, ul, gvh, gvl, gwh,
Based on gwl and the servo-on signal sv *, the gate voltages of the upper IGBTs 32u, 32v, 32w and the lower I
The pre-drive unit 36 controls the gate voltages of the GBTs 34u, 34v, 34w.

The microcomputer 22 includes a CPU, an R
It is composed of an OM, a RAM, a timer, a port, a bus connecting these, and the like.

The microcomputer 22 is functionally provided with a speed control unit 40 which inputs the analog speed command value ω * a and the estimated speed ωm and outputs the γ-axis current command value iγ * and the δ-axis current command value iδ *. , Analog u-phase current value iua, analog v-phase current value iva, rotation direction command ωdir *, and γ-axis current command value i
By inputting γ *, δ-axis current command value iδ * and estimated angle θm, u-phase current value iu, v-phase current value iv and u-phase voltage command value vu
*, V-phase voltage command value vv *, w-phase voltage command value vw *, and switching command signals guh, guul, gvh, gvl,
The current control unit 50 that outputs gwh and gwl, the γ-axis current command value iγ *, the δ-axis current command value iδ *, and the estimated angle θm.
And the estimated speed ωm to generate a compensation amount α, a u-phase current value iu, a v-phase current value iv, a u-phase voltage command value vu *, a v-phase voltage command value vv *, and w. The angle estimation unit 70 that inputs the phase voltage command value vw * and the compensation amount α and outputs the estimated angle θm, the estimated speed ωm, and the induced voltage amplitude estimated value em, and the estimated speed ωm and the induced voltage amplitude estimated value em. It includes a step-out detection unit 90 which receives the servo-on signal sv * and outputs it. In the description of the present specification and claims, the term "estimated velocity" and the term "estimated angular velocity" mean
Both are used in the sense of angular velocity.

[Explanation of FIG. 3] FIG. 3 is a block diagram showing the structure of the speed control unit 40 in the first embodiment. The speed control unit 40 is an ADC that inputs the analog speed command value ω * a and outputs the speed command value ω *.
(Analog / Digital Converter: Analog
Digital Converter 41, a torque command value creation unit 42 that inputs a speed command value ω * and an estimated speed ωm and outputs a torque command value T *, and a torque command value T * that is a γ-axis current command value iγ *. And the δ-axis current command value iδ *.

[Description of FIG. 4] FIG. 4 is a block diagram showing the configuration of the current control unit 50 in the first embodiment. The current control unit 50 has an ADC 51u that inputs the analog u-phase current value iua and outputs the pre-replacement u-phase current value iu1, and an ADC 51v that inputs the analog v-phase current value iva and outputs the pre-replacement v-phase current value iv1. A phase current value exchanging unit 52 that inputs the u-phase current value iu1 before replacement, the v-phase current value iv1 before replacement, and the rotation direction command ωdir * and outputs the u-phase current value iu and the v-phase current value iv; Phase current for inputting current command value iγ *, δ-axis current command value iδ *, and estimated angle θm and outputting u-phase current command value iu *, v-phase current command value iv *, and w-phase current command value iw * Command value creation unit 53, u-phase current value iu, v-phase current value iv, u-phase current command value iu *, v-phase current command value iv *, and w-phase current command value i.
A phase voltage command value creating unit 54 that inputs w * and outputs a u phase voltage command value vu *, a v phase voltage command value vv *, and a w phase voltage command value vw *, and a u phase voltage command value vu *. v-phase voltage command value vv *, w-phase voltage command value vw *, and rotation direction command ωdi
Input r * and after replacement u phase voltage command value vu * 1 and after replacement v
Phase voltage command value vv * 1 and w after replacement Phase voltage command value vw * 1
And a phase voltage command value exchanging section 56 for outputting, a u phase voltage command value vu * 1 after replacement, a v phase voltage command value vv * 1 after replacement, and a w phase voltage command value vw * 1 after replacement are input and switched. Command signals guh, guul, gvh, gvl, gwh, gw
and a PWM controller 57 that outputs 1.

[Explanation of FIG. 5] FIG. 5 is a block diagram showing the configuration of the angle estimating unit 70 in the first embodiment. The angle estimation unit 70 determines the u-phase voltage command value vu *, the v-phase voltage command value vv *, and the w-phase voltage command value vw *.
And a phase voltage value creation unit 71 that inputs u phase voltage value vu, v phase voltage value vv and w phase voltage value vw, and u phase current value iu, v phase current value iv and u phase voltage value vu. And v phase voltage value v
an induced voltage value calculation unit 72 that inputs the v and w phase voltage values vw, the estimated angle θm, and the estimated speed ωm, and outputs the u phase induced voltage value eu, the v phase induced voltage value ev, and the w phase induced voltage value ew. ,
An estimated phase selection unit 73 that inputs the estimated angle θm and the compensation amount α and outputs an estimated phase index η, an estimated phase index η, a u-phase induced voltage value eu, a v-phase induced voltage value ev, and a w-phase induced voltage value ew. And the induced voltage selection value es, and the estimated phase index η, the estimated angle θm, the compensation amount α, and the induced voltage amplitude estimated value em, and the induced voltage reference value es.
m, an induced voltage reference value creation unit 75, a deviation creation unit 76 that inputs the induced voltage selection value es and the induced voltage reference value esm and outputs a deviation ε, and an estimated speed ωm that is input and a proportional gain κp and an integral. A gain limit creating unit 77 that outputs a gain κi, a proportional limit ζp, and an integral limit ζi;
Estimated phase index η, deviation ε, proportional gain κp, and integral gain κ
i, the proportional limit ζp, and the integral limit ζi are input, and the angular velocity correction unit 78 that outputs the estimated angle θm and the estimated velocity ωm, the u-phase induced voltage value eu, and the v-phase induced voltage value ev and w.
The phase induced voltage value ew is input and the induced voltage amplitude estimated value em is output.

The induced voltage amplitude estimated value correction section 80 has a u-phase induced voltage value eu, a v-phase induced voltage value ev, and a w-phase induced voltage value e.
The induced voltage amplitude calculation value creation unit 81 that inputs w and the induced voltage amplitude calculation value ec, and the induced voltage amplitude estimated value change unit 82 that inputs the induced voltage amplitude calculation value ec and outputs the induced voltage amplitude estimated value em. Composed of and.

[Description of FIG. 6] FIG. 6 is a block diagram showing the configuration of the out-of-step detecting unit 90 in the first embodiment. The out-of-step detection unit 90 receives the estimated speed ωm and outputs the induced voltage amplitude out-of-step determination upper limit value eouth and the induced voltage amplitude out-of-step determination lower limit value eoutl, and the induced voltage out-of-step determination value creating unit 91. The servo-on signal sv is input by inputting the step-out determination upper limit value south, the induced voltage amplitude step-out determination lower limit value eoutl, and the induced voltage amplitude estimated value em.
It is composed of a step-out determination unit 92 that outputs *.

[Description of FIG. 7] Next, the coordinate system will be described. FIG. 7 is an explanatory diagram of the coordinate system according to the first embodiment. In FIG. 7, an IPMSM having two magnetic poles is shown for the sake of simplicity. The d-axis and the q-axis are axes depending on the actual angle θ of the rotor 12.
The d-axis is oriented in the same direction as the magnetic flux generated by the permanent magnet 13 arranged on the rotor 12, and the q-axis is oriented 90 ° ahead of the d-axis. The angle formed by the stator winding 11u and the d-axis is the angle θ. Here, in FIG. 7, the counterclockwise direction is the forward rotation. When rotating in the normal direction, the angle θ advances. The direction of this normal rotation is the stator windings 11u, 11
This is the direction in which the currents flowing through v and 11w change in the order of u phase, v phase, and w phase. Further, the γ axis and the δ axis are axes defined by the estimated angle θm. The axis rotated from the stator winding 11u by the estimated angle θm is the γ axis, and the δ axis is oriented 90 ° ahead of the γ axis. Further, the difference between the angle θ and the estimated angle θm is an angle error Δθ (= θ−θm).

Here, FIG. 7 shows the case where there is a positive angle error Δθ, but when there is no error in the angle estimation and the angle error Δθ is 0, the estimated angle θm and the angle θ match, and d
The axis coincides with the γ axis, and the q axis coincides with the δ axis. In addition,
In the following description, the angle θ, the estimated angle θm, and the angle error Δθ
And are represented by electrical angles. Hereinafter, values related to angles are represented by electrical angles unless otherwise specified. Here, the mechanical angle is the rotor 1
2 represents the angle of itself, (electrical angle) = (p / 2)
(Mechanical angle). Note that p is the number of magnetic poles.

A speed command value creating unit (not shown) outside the position sensorless motor control device of the first embodiment creates an analog speed command value ω * a.

A rotation direction command creating section (not shown) provided outside the position sensorless motor control device of the first embodiment creates a rotation direction command ωdir *. When the IPMSM 10 is rotated in the forward direction, the rotation direction command ωdir * = F (Forwa
rd). Further, when the IPMSM 10 is reversed, the rotation direction command ωdir * = R (Reverse) is set.

Next, the operation of the position sensorless motor control device according to the first embodiment of the present invention will be described.

The current sensors 21u and 21v detect the currents flowing in the stator windings 11u and 11v, respectively, and create the analog u-phase current value iua and the analog v-phase current value iva.

[Description of FIG. 2] Next, the operation of the drive unit 30 will be described. The drive unit 30 controls the voltage applied to the stator windings 11u, 11v, and 11w when the servo-on signal sv * is High (referred to as “H”). In addition, the servo-on signal sv * is Low
When it is ("L"), the energization is stopped.

The power supply 31 supplies electric power to the drive section 30.

When the servo-on signal sv * is H, the pre-drive unit 36 is such that the upper IGBT 32u is energized when the switching signal guh is H, and the upper IGBT 32u is non-energized when the switching signal guh is L. It controls the gate voltage of the upper IGBT 32u.
On the other hand, when the switching signal guul is H, the lower IGBT
So that the lower IGBT 34u is non-energized when 34u is energized and the switching signal guul is L.
Control the gate voltage of 34u. Also, v phase and w
Similarly for the phases, the switching signals gvh, gv
upper IGBTs 32v, 32 based on l, gwh, gwl
w, controlling the gate voltage of the lower side IGBTs 34v, 34w.

On the other hand, when the servo-on signal sv * is L,
The pre-drive device 36 controls the gate voltages of the upper IGBTs 32u, 32v, 32w and the lower IGBTs 34u, 34v, 34w so that all the IGBTs are non-energized.

Next, the operation of the microcomputer 22 will be described.

[Description of FIG. 3] First, the operation of the speed control unit 40 will be described. Speed control unit 4
0 is activated every certain set time, ADC4
1. The following operations are performed in order of the torque command value creation unit 42 and the current command value creation unit 43, and the γ-axis current command is issued so that the rotor 12 rotates at the speed according to the analog speed command value ω * a input from the outside. The value iγ * and the δ-axis current command value iδ * are controlled.

The ADC 41 converts the analog speed command value ω * a which is an analog value into the speed command value ω * which is a digital value.
To analog / digital conversion.

The torque command value creating section 42 uses the estimated speed ωm.
Is proportional to the speed command value ω *.
I control) to control the torque command value T *. The torque command value T * is the result of proportional-plus-integral control of the difference between the speed command value ω * and the estimated speed ωm by the proportional gain KPW and the integral gain KIW as in the following equation (4).

[0184] T * = KPW · (ω * −ωm) + KIW · Σ (ω * −ωm) (4)

The current command value creating section 43 uses the IPMSM 10
The γ-axis current command value iγ * and the δ-axis current command value iδ * are created so that the output torque of 1 becomes the torque command value T *.
The current command value amplitude ia is the result of dividing the torque command value T * by a certain set value KT as in the following equation (5). In addition, the current command value amplitude ia is expressed by the following equation (6).
Is multiplied by -sin (βT) to obtain the γ-axis current command value iγ
* On the other hand, the result of multiplying the current command value amplitude ia by cos (βT) as the following formula (7) is defined as the δ-axis current command value iδ *. Here, βT is a current phase that achieves the maximum output torque or the maximum efficiency when the current command value amplitude ia is given, and is a set angle between 0 ° and 45 °. Hereinafter, this phase is referred to as a current command phase βT.

[0186] ia = T * / KT (5) iγ * = − ia · sin (βT) (6) iδ * = ia · cos (βT) (7)

[Description of FIG. 4] Next, the operation of the current controller 50 will be described. Current control unit 5
0 is activated at every set time (current control cycle), and the ADCs 51u, 51v, the phase current value exchange unit 52, the phase current command value creation unit 53, the phase voltage command value creation unit 54, the phase voltage command value exchange. The section 56 and the PWM controller 57 perform the following operations in this order, and the switching signal guh is used so that current flows through the stator windings 11u, 11v, 11w according to the γ-axis current command value iγ * and the δ-axis current command value iδ *. , Guul,
It controls gvh, gvl, gwh, and gwl.

The ADC 51u and the ADC 51v convert the analog u-phase current value iua and analog v-phase current value iva, which are analog values, respectively into digital values u-phase current value iu1 before replacement and v-phase current value iv1 before replacement, which are analog / digital. Convert.

The phase current value exchanging section 52 is
The phase current value before replacement is directly used as the phase current value. On the other hand, when the reverse rotation command is issued, the phase current value before replacement is exchanged. When the rotation direction command ωdir * = F, as in the following formula (8),
The u-phase current value iu1 before replacement is taken as the u-phase current value iu, and the v-phase current value iv1 before replacement is taken as the v-phase current value iv. When the rotation direction command ωdir * = R, the u-phase current value iu1 before replacement and the v-phase current value iv1 before replacement are respectively calculated as the v-phase current value iv and the u-phase current value as shown in the following equation (9). i
Let u.

[0190] iu = iu1, iv = iv1 (when ωdir * = F) (8) iu = iv1, iv = iu1 (when ωdir * = R) (9)

The phase current command value creating section 53 uses the estimated angle θm.
Γ-axis current command value iγ on the γδ-axis, which is the rotating coordinate system
* And the δ-axis current command value iδ * are converted into a stationary coordinate system.
Then, the u-phase current command values iu * and v, which are command values of the currents flowing in the respective phases and are sine wave-shaped and deviated from each other by an electrical angle of 120 °.
The phase current command value iv * and the w-phase current command value iw * are created. Specifically, the following equations (10), (11) and (12) are used.

[0192] iu * = {√ (2/3)} · {iγ * · cos θm−iδ * · sin θm}                                                           ... (10) iv * = {√ (2/3)} · {iγ * · cos (θm−120 °)                                     -Iδ * · sin (θm-120 °)}                                                           ... (11) iw * = {√ (2/3)} · {iγ * · cos (θm + 120 °)                                     −iδ * · sin (θm + 120 °)}                                                           ... (12)

The phase voltage command value creating section 54 first obtains the w-phase current value. As shown in the following equation (13), the u-phase current value i
The w-phase current value iw is obtained by reversing the sign of the sum of the u- and v-phase current values iv.

[0194] iw = − (iu + iv) (13)

Next, the u-phase current value iu is controlled by the proportional-integral control (PI control) so that the u-phase current value iu becomes equal to the u-phase current command value.
The phase voltage command value vu * is controlled. As shown in the following formula (14), the result of proportional-plus-integral control of the difference between the u-phase current command value iu * and the u-phase current value iu with the proportional gain KPK and the integral gain KIK is defined as the u-phase voltage command value vu *. To do. However,
Since the drive unit 30 cannot apply a voltage higher than the voltage of the power supply 31 to the stator windings 11u, 11v, and 11w, a limit as shown in the following formula (15) is set. Here, E is the voltage value of the power supply 31.

Similarly, for the v-phase and the w-phase, the v-phase voltage command value vv * and the w-phase voltage command value vw * are expressed by the following equations (16), (17), (18) and (19), respectively. And create.

[0197] vu * = KPK · (iu * −iu) + KIK · Σ (iu * −iu)                                                           ... (14) -(E / 2) ≤ vu * ≤ (E / 2) (15) vv * = KPK · (iv * −iv) + KIK · Σ (iv * −iv)                                                           ... (16) -(E / 2) ≤ vv * ≤ (E / 2) (17) vw * = KPK · (iw * −iw) + KIK · Σ (iw * −iw)                                                           ... (18) -(E / 2) ≤ vw * ≤ (E / 2) (19)

The phase voltage command value exchanging section 56 keeps the phase voltage value of each phase as it is at the time of forward rotation command. On the other hand, when the reverse rotation command is issued, the u-phase and v-phase voltage command values are exchanged. When the rotation direction command ωdir * = F, the u-phase voltage command value vu * is replaced with the u-phase current value vu * 1 as shown in the following formula (20).
And replace the v-phase voltage command value vv * with the v-phase voltage command value v
v * 1. When the rotation direction command ωdir * = R, the u-phase voltage command value vu *,
And v-phase voltage command value vv * after replacement, respectively, and v-phase voltage command value vv * 1 after replacement and u-phase voltage command value vu * 1 after replacement.
And

[0199] vu * 1 = vu *, vv1 * = vv * (when ωdir * = F)                                                           ... (20) vu * 1 = vv *, vv1 * = vu * (when ωdir * = R)                                                           ... (21)

The PWM controller 57 uses the u-phase voltage command value vu * 1 after replacement, the v-phase voltage command value vv * 1 after replacement, and w after replacement.
Phase width command value vw * 1 and pulse width modulation (PWM: Pu
lse Width Modulation). Specifically, a triangular wave having a certain set frequency and an amplitude of E / 2 is generated, and this triangular wave is compared with the u-phase voltage command value vu * 1 after replacement, and the u-phase voltage command value vu after replacement is compared. * 1 is larger, the switching signal gu is set to H, gu
Set l to L. On the other hand, when the u-phase voltage command value vu * 1 after replacement is smaller, the switching signal guh is changed to L, gu.
Bring l to H. In addition, the switching signals guh and gulu
Switching states guh, gu
There is a short time for both l to be L (this short time is called dead time). Also, v phase and w
Similarly, for the phase, the switching signals gvh, gvl, and gwh, g are based on the post-replacement v-phase voltage command value vv * 1 and the post-replacement w-phase voltage command value vw * 1, respectively.
Create wl.

[Explanation of FIG. 1] Next, the operation of the compensation amount creating section 60, which is one of the features of the first embodiment, will be described. The compensation amount creation unit 60 includes a current control unit 50.
Every time the operation of is completed, it operates. This compensation amount creation unit 6
For 0, the angle estimation unit 70 creates a compensation amount α indicating the amount of compensation for the angle estimation θm. The angle estimator 70 creates a highly accurate estimated angle θm, but some errors are included. Therefore, this error is obtained in advance by experiments or the like and tabulated. Specifically, with respect to the remainder (θm% 60) obtained by dividing the estimated angle by 60 °, the estimated speed ωm, the γ-axis current command value iγ *, and the δ-axis current command value iδ * as in the following Expression (22). A table αtable of the compensation amount α is used. Here, the remainder (θm
% 60) is used because an error occurs in which the cycle changes at an electrical angle of 60 °.

[0202] α = αtable (θm% 60 °, ωm, iγ *, iδ *) (22)

[Explanation of FIG. 5] Next, the operation of the angle estimating section 70, which is one of the features of the first embodiment, will be described.

First, the principle of operation of the angle estimating section 70 will be described. The angle estimation unit 70 implements angle estimation by correcting the estimated angle θm and the induced voltage amplitude estimated value em. That is, the angle estimation unit 70 first creates a reference value of the induced voltage (induced voltage reference value esm). Then, the angle (phase) of the induced voltage reference value esm and the induced voltage value (u-phase induced voltage value eu, v-phase induced voltage value e obtained from the phase voltage equation in the stator windings 11u, 11v, 11w).
In order that the phases of the v and w phase induced voltage values ew) match,
Correct the estimated angle θm. In addition, the induced voltage reference value esm
Of the induced voltage amplitude (the estimated value of the induced voltage amplitude em) and the amplitude of the induced voltage values (the u-phase induced voltage value eu, the v-phase induced voltage value ev, the w-phase induced voltage value ew) match. Correct em.

First, a method for matching the phase of the induced voltage value and the phase of the induced voltage reference value will be described. [Explanation of FIG. 8] FIG. 8 is a waveform diagram showing the induced voltage value of the u phase, the induced voltage reference value, and the deviation in the first embodiment. In FIG. 8, the induced voltage value is behind the induced voltage reference value by 20 ° in electrical angle. The amplitude of the induced voltage value is 90% of the amplitude of the induced voltage reference value (induced voltage amplitude estimated value em).

U-phase induced voltage value (u-phase induced voltage value eu)
And u-phase induced voltage reference value (u-phase induced voltage reference value eum)
The deviation (u phase deviation εu), which is the difference between the two phases, is not zero when the phases do not match. Therefore, this u phase deviation εu
The estimated angles θm are corrected so that the values converge to 0, thereby matching the phases.

Here, the phase to be estimated is selected by the estimated angle θm. The u phase, v phase, and w phase each have an electrical angle of 1
20 ° off. Therefore, the estimation accuracy is improved by always performing the angle estimation using the phase in which the influence of the phase difference has the greatest influence on the deviation. That is, the estimated angle θm is 0 ° in electrical angle.
~ 30 °, 150 ° -210 °, and 330 ° -36
At 0 °, the magnitude of the u-phase deviation εu becomes almost maximum, so estimation is performed in the u-phase. When the estimated angle θm is in a range other than this, estimation is performed in the v phase or the w phase.

In FIG. 8, when the estimated angle θm is near 0 °, the u phase deviation εu is positive. Therefore, the estimated angle θ
If the deviation ε is positive when m is in this section, it is determined that the estimated angle θm is advanced, and the estimated angle θm is corrected so as to be delayed. On the contrary, if the deviation ε is negative, the estimated angle θm
Is delayed, and the estimated angle θm is corrected so as to be advanced.

Further, in FIG. 8, the estimated angle θm = 18
At around 0 °, the u phase deviation εu is negative. for that reason,
When the estimated angle θm is in this section, if the deviation ε is negative, it is determined that the estimated angle θm is advanced, and the estimated angle θm is corrected so as to be delayed. On the contrary, if the deviation ε is positive, it is determined that the estimated angle θm is delayed, and the estimated angle θm is corrected so as to be advanced.

Next, a method for matching the amplitude of the induced voltage value and the amplitude of the induced voltage reference value (induced voltage amplitude estimated value em) will be described. Induced voltage values of all phases (u-phase induced voltage value eu, v-phase induced voltage value ev, and w-phase induced voltage value e
w) is calculated, the amplitude is calculated, and this is used as the induced voltage amplitude estimated value em.

By operating as described above, the angle is estimated by correcting the estimated angle θm and the induced voltage amplitude estimated value em, and making the induced voltage value and the induced voltage reference value coincide with each other.

Further, in the first embodiment, the control is stabilized by changing the gain and the limit for correcting the estimated angle θm using the deviation according to the estimated speed ωm. Further, in the first embodiment, the phase of the induced voltage reference value esm is changed by the compensation amount α to further improve the accuracy of angle estimation.

The operation of the angle estimating section 70 will be described in detail. The angle estimation unit 70 is activated at every set cycle (angle estimation cycle: ΔT), and the phase voltage value creation unit 71,
Induction voltage value calculation unit 72, estimated phase selection unit 73, induction voltage selection value selection unit 74, induction voltage reference value creation unit 75, deviation creation unit 76, gain limit creation unit 77, angular velocity correction unit 7
8, the induced voltage amplitude calculation value creation unit 81 and the induced voltage amplitude estimated value change unit 82 perform the following operations in this order to create the estimated angle θm and the estimated speed ωm. Further, the current control unit 50, the compensation amount creation unit 60, and the angle estimation unit 70 are operated in this order, and the angle estimation cycle ΔT and the current control cycle are made the same.

The angle estimation cycle ΔT does not depend on the structure of the motor but depends on the processing capability of the microcomputer. In this embodiment, the angle estimation cycle ΔT is 67 μsec. Angle estimation cycle ΔT of the present embodiment in which the number of magnetic poles of the motor rotor is four
Is represented by electrical angle Δθ, the motor rotation speed is 1800 rpm
At an angular velocity of 60π / sec, Δθ becomes 1.45 degrees from the following formula. Δθ = 360 degrees × (4 poles / 2) × 67 μs × (1800
rpm / 60 s) = 1.45 degrees As described above, ΔT is a very small value, and angle estimation near real time is performed. Therefore, unlike the conventional example, the delay of the response (the delay of half the sampling period occurs) based on the discrete sampling (the angle is estimated for every 60 electrical degrees) does not occur. This near real-time responsiveness realizes higher followability than the conventional example in rapid acceleration or rapid deceleration of the motor. As described above, the angle can be estimated with a very short angle estimation period in all the other embodiments.

The phase voltage value generator 71 uses the following equation (23).
(24) As in (25), the phase voltage command values vu *, vv
*, Vw * are phase voltage values vu, vv, vw.

[0216] vu = vu * (23) vv = vv * (24) vw = vw * (25)

The induced voltage value calculator 72 creates induced voltage values (u-phase induced voltage value eu, v-phase induced voltage value ev, w-phase induced voltage value ew) for each phase. Solve the phase voltage equation for each phase for the induced voltage value. Specifically, the following equations (26) (2
7) Do as in (28). Here, d / dt represents a time derivative, and dθ / which appears in the operation of the derivative regarding the trigonometric function.
A value obtained by converting the estimated velocity ωm into an electrical angular velocity is used as dt. Also, d (iu) / dt, d (iv) / dt, d
(Iw) / dt is obtained by the first-order Euler approximation. In addition,
The w-phase current value iw is represented by the u-phase current value iu as shown in Expression (13).
And the v-phase current value iv are changed in sign. Here, R is the resistance per phase of the stator winding, la is the leakage inductance per phase of the stator winding, La is the average value of the effective inductance per phase of the stator winding, and La is per phase of the stator winding. Is the amplitude of the effective inductance of.

[0218] eu = vu       -R. Iu       -(La + La) * d (iu) / dt       − Las · cos (2θm) · d (iu) / dt       -Las iu d {cos (2θm)} / dt       + 0.5 · La · d (iv) / dt       − Las · cos (2θm−120 °) · d (iv) / dt       -Las iv d {cos (2θm-120 °)} / dt       + 0.5 · La · d (iw) / dt       -Las ・ cos (2θm + 120 °) ・ d (iw) / dt       -Las · iw · d {cos (2θm + 120 °)} / dt                                                           (26) ev = vv       -R.iv       -(La + La) * d (iv) / dt       − Las · cos (2θm + 120 °) · d (iv) / dt       − Las · iv · d {cos (2θm + 120 °)} / dt       + 0.5 · La · d (iw) / dt       -Las ・ cos (2θm) ・ d (iw) / dt       -Las · iw · d {cos (2θm)} / dt       + 0.5 · La · d (iu) / dt       − Las · cos (2θm−120 °) · d (iu) / dt       -Las iu d (cos (2θm-120 °)) / dt                                                           (27) ew = vw       -R iw       -(La + La) d (iw) / dt       − Las · cos (2θm−120 °) · d (iw) / dt       -Las · iw · d {cos (2θm? 120 °)} / dt       + 0.5 · La · d (iu) / dt       − Las · cos (2θm + 120 °) · d (iu) / dt       -Las iu d {cos (2θm + 120 °)} / dt       + 0.5 · La · d (iv) / dt       -Las * cos (2 [Theta] m) * d (iv) / dt       -Las iv d {cos (2θm)} / dt                                                           (28)

The estimated phase selection unit 73 sets the phase having the largest deviation as the phase used for estimation (estimated phase). In addition,
Also consider the compensation amount α. When the (estimated angle θm + compensation amount α) is 0 ° or more and less than 30 ° as in the following formula (29), the estimated phase index η is set to 0. When (estimated angle θm + compensation amount α) is 30 ° or more and less than 90 °, the estimated phase index η is set to 1. ……. When (estimated angle θm + compensation amount α) is 270 ° or more and less than 330 °, the estimated phase index η is set to 5. Then, (estimated angle θm + compensation amount α) is 330 ° or more and 360
When it is less than °, the estimated phase index η is set to 0. Here, when the estimated phase index η = 0, 3, the estimated phase is the u phase, when the estimated phase index η = 1, 4, the estimated phase is the w phase, and the estimated phase index η
When = 2 and 5, the estimated phase is the v phase.

[0220] η = 0 Estimated phase = u phase (when 0 ° ≦ θm + α <30 °) η = 1 Estimated phase = w phase (when 30 ° ≦ θm + α <90 °) η = 2 Estimated phase = v phase (when 90 ° ≦ θm + α <150 °) η = 3 Estimated phase = u phase (when 150 ° ≦ θm + α <210 °) η = 4 Estimated phase = w phase (when 210 ° ≦ θm + α <270 °) η = 5 Estimated phase = v phase (when 270 ° ≦ θm + α <330 °) η = 0 Estimated phase = u phase (when 330 ° ≦ θm + α <360 °)                                                           ... (29)

The induced voltage selection value selection unit 74 sets the estimated phase induced voltage value to the induced voltage selection value es. The following formula (30)
As described above, when the estimated phase index η = 0 and 3, the u-phase induced voltage value eu is set to the induced voltage selection value es. When the estimated phase index η = 2 and 5, the v-phase induced voltage value ev is set to the induced voltage selection value es. Furthermore, the estimated phase index η =
When 1 and 4, the w-phase induced voltage value ew is set to the induced voltage selection value es.

[0222] es = eu (when η = 0, 3) es = ev (when η = 2, 5) es = ew (when η = 1 and 4) ... (30)

The induced voltage reference value generator 75 generates an induced voltage reference value esm which is a reference value for the estimated phase induced voltage value. As shown in the following equation (31), when the estimated phase η = 0 and 3, the u-phase induced voltage reference value (u-phase induced voltage reference value eu
m) to the induced voltage reference value esm. Also, the estimated phase η =
At 2, 5, the v-phase induced voltage reference value (v-phase induced voltage reference value evm) is set to the induced voltage reference value esm. Estimated phase η
When = 1 and 4, the w-phase induced voltage reference value (w-phase induced voltage reference value ewm) is set to the induced voltage reference value esm. Assuming that the permanent magnet of the rotor is magnetized with a sine wave, the induced voltage reference value esm of each phase is a sine wave.

[0224] esm = eum (when η = 0, 3) esm = evm (when η = 2, 5) esm = ewm (when η = 1, 4) eum = −em · sin (θm + α) evm = -em * sin ([theta] m + [alpha] -120 [deg.]) ewm = −em · sin (θm + α−240 °) (31)

The deviation creating unit 76 creates a deviation ε between the induced voltage selection value es and the induced voltage reference value esm. The difference ε is obtained by subtracting the induced voltage reference value esm from the induced voltage selection value es as in the following Expression (32).

[0226] ε = es − esm (32)

[Explanation of FIG. 9] The gain limit creating unit 77 creates a proportional gain κp, an integral gain κi, a proportional limit ζp, and an integral limit ζi that increase as the estimated speed ωm increases. Figure 9
As in (a), a set value ω1 with an estimated speed ωm
When it is smaller, the proportional gain κp is set to a certain value κp
Set to 1. In addition, a set value ω2 having an estimated speed ωm
When it is larger, the proportional gain κp is set to a certain value κp
Set to 2. Further, when the estimated speed ω is in the range of ω1 to ω2, the value interpolated by (ω1, κp1) and (ω2, κp2) is set as the proportional gain κp. Similarly, the integral gain κi, the proportional limit ζp, and the integral limit ζi are created as shown in FIGS. 9B, 9C, and 9D.

The angular velocity correction unit 78 corrects the estimated angle θm so that the deviation ε converges to zero. Also, the estimated speed ωm is created. First, a correction code σ indicating the direction of correction
To create. Estimated phase index η =
When 0, 2, and 4, the correction code σ is set to −1. When the estimated phase index η = 1, 3, 5, the correction code σ is set to 1.

[0229] σ = -1 (η = 0, 2, 4) σ = +1 (η = 1, 3, 5) (33)

Next, the amount of advance θmp indicating how much to advance the estimated angle θm is created for each angle estimation cycle. As in the following formula (34), the deviation ε is multiplied by the correction code σ to be multiplied by the proportional gain kp, and the absolute value of the multiplication result is the proportional limit ζp.
A value limited so as not to exceed is defined as the advance amount proportional term θmpp. Further, as in the following expression (35), the deviation ε is multiplied by the correction code σ and multiplied by the integration gain ki, and a value limited so that the absolute value of the multiplication result does not exceed the integration limit ζp is set as the advance amount integration term θmpi. . Then, the lead amount integral term θmp
The addition result of the result of integrating i and the advance amount proportional term θmpp is taken as the advance amount θmp.

[0231] θmpp = κp · σ · ε, −ζp ≦ θmpp ≦ ζp (34) θmpi = κi · σ · ε, −ζi ≦ θmpi ≦ ζi (35) θmp = θmpp + Σθmpi (36)

Next, the estimated angle θm is advanced by the advance amount θmp. The estimated angle θm is obtained by integrating the amount of advance θmp as in the following formula (37).

[0233] θm = Σθmp (37)

Then, an estimated speed ω is obtained by applying a first-order digital low-pass filter (LPF) to the advance amount θmp.
m. Specifically, the following expression (38) is used.
Here, ωm (n) is the estimated speed at this time, and ωm (n
-1) is the previous estimated speed. KTPW is a coefficient that changes the amount of advance in units of speed. Furthermore, KLW
Is a coefficient of the low-pass filter, takes a value from 0 to 1, and the smaller the value, the greater the effect of the low-pass filter.

[0235] ωm (n)     = KLW · (KTPW · θmp) + (1-KLW) · ωm (n-1)                                                           (38)

The induced voltage amplitude calculation value creation unit 81 creates the induced voltage calculation value ec based on the result of adding the absolute values of the induced voltage values of the respective phases. The set coefficient KEC in the addition result of the absolute value of the u-phase induced voltage value eu, the absolute value of the v-phase induced voltage value ev, and the absolute value of the w-phase induced voltage value ew is expressed by the following equation (39). The product of the multiplications is the induced voltage calculation value ec. Here, the coefficient KEC is given by the following equation (40), and is multiplied to convert the sum of absolute values of each phase into an amplitude, assuming that each phase is a sine wave. Note that θm% 60 is the remainder when the estimated angle θm is divided by 60.

[0237] ec = KEC · (| eu | + | ev | + | ew |) (39) KEC = 0.5 / sin {(θm% 60) + 60 °} (40)

The induced voltage amplitude estimated value changing section 82 sets the induced voltage amplitude estimated value em as a value obtained by applying a first-order digital low-pass filter (LPF) to the induced voltage amplitude calculated value ec. Specifically, the following equation (41) is used. Here, em (n) is the estimated value of the induced voltage amplitude this time, and e
m (n-1) is a previous induced voltage amplitude estimated value. KLEM is a coefficient of the low-pass filter and takes a value from 0 to 1, and the smaller the value, the greater the effect of the low-pass filter. The low-pass filter uses the induced voltage amplitude calculation value ec and the previous induced voltage amplitude estimated value em (n
-1) and the error (amplitude error) with
The result of multiplying by M is the previous induced voltage amplitude estimated value em (n-
In addition to 1), this time the induced voltage amplitude estimated value em
(N). Thus, the amplitude error is calculated by using the low-pass filter, and the induced voltage amplitude estimated value em (n) is corrected so that the amplitude error becomes small.

[0239] em (n) = KLEM.ec + (1-KLEM) .em (n-1)                                                           ... (41)

[Description of FIG. 6] Next, the operation of the out-of-step detecting unit 90, which is one of the features of the first embodiment, will be described. First, the principle of operation of the out-of-step detection unit 90 will be described. Since the permanent magnet 13 is arranged in the IPMSM 10, an induced voltage is generated when the rotor 12 rotates. The amplitude of this induced voltage increases in proportion to the speed at which the rotor 12 rotates. Here, the angle estimation unit 70 estimates the amplitude of the induced voltage as the induced voltage amplitude estimated value em. For example, when a user sets a parameter, an incorrect value may be input as the inductance used in the angle estimation unit 70, and step out may occur in rare cases. Then, when the step-out occurs, a contradiction occurs between the estimated electromotive force amplitude value em estimated by the angle estimation unit 70 and the estimated speed ωm.

The step-out detecting section 90 detects this contradiction, sets the servo-on signal sv * to L, and prohibits energization in the driving section 30. Further, the servo-on signal sv * is also output to the outside of the position sensorless motor control device of the first embodiment to notify the upper CPU and the user. Then, the host CPU performs processing such as restarting, or the user changes the parameters to recover from the step-out.

[Explanation of FIG. 10] The operation of the out-of-step detector 90 will be described in detail. The induced voltage amplitude step-out determination value creation unit 91 creates an upper limit value and a lower limit value of a range in which the induced voltage predicted to occur when the rotor 12 rotates at the estimated speed ωm has a certain range.
FIG. 10 shows the induced voltage amplitude upper limit value south and the induced voltage amplitude lower limit value eou with respect to the estimated speed ωm in the first embodiment.
It is a relationship diagram of tl. As shown in FIG. 10, the induced voltage amplitude out-of-step determination upper limit eouth is a linear function relating to the estimated angle ωm whose intercept is EOUTH0 and whose inclination is EOUTH1. In addition, the induced voltage amplitude step-out determination lower limit value eout
Let l be the intersection point with the ωm axis is EOUTL0 and the slope is EO
It is a linear function relating to the estimated angle ωm which is UTL1.

The out-of-step determining unit 92 determines the induced voltage amplitude estimated value e
When m is out of the range represented by the induced voltage amplitude step-out determination upper limit value eouth and the induced voltage amplitude step-out determination lower limit value eoutl, it is determined to be step-out. As shown in the following expression (42), the induced voltage amplitude estimated value em is equal to the induced voltage amplitude step-out determination lower limit value eo.
When it is smaller than utl, it is determined that a step out has occurred, and the servo-on signal sv * is set to L. In addition, the induced voltage amplitude estimated value em
Is larger than the induced voltage amplitude step out determination upper limit value eouth, it is determined to be step out, and the servo-on signal sv * is set to L. In all other cases, it is determined that step out has not occurred, and the servo-on signal sv * is set to H.

[0244] sv * = L (em <eoutl) sv * = H (eoutl ≤ em ≤ south) sv * = L (em> outh) (42)

By operating as described above, the position sensorless motor control device of the first embodiment can estimate the angle with high resolution and high accuracy. Further, the position sensorless motor control device according to the first embodiment can estimate the angle even when the phase voltage is saturated. Further, the position sensorless motor control device of the first embodiment can estimate the angle with high accuracy even if the induced voltage constant changes.

In another embodiment, out-of-step detector 90
When the deviation ε is larger than a predetermined value, it is determined that the step is out of step and the servo-on signal sv * is set to L. Also, the deviation ε
Is smaller than the predetermined value, it is determined that the step is not out, and the servo-on signal sv * is set to H. In this embodiment, in order to prevent the out-of-step detection unit 90 from malfunctioning due to a single noise, the state in which the deviation ε is larger than a predetermined value continues for a predetermined time or more, or is set to a predetermined value. It is more preferable to determine that the step is out of sync and to set the servo-on signal sv * to L when the number of times is continuous.

The effects of the position sensorless motor control device of the first embodiment will be described below.

The position sensorless motor control device of Conventional Example 1 creates three-phase induced voltage values, creates a comparison result based on these induced voltage values, and drives a rectangular wave based on the logic of this comparison result. It was Therefore, when the energized phase is switched, the current is distorted and the torque ripple is generated.

The position sensorless motor control apparatus according to the first embodiment creates the induced voltage reference value and corrects the estimated angle θm using the deviation ε which is the difference from the induced voltage value. Then, based on the corrected estimated angle θm, the sinusoidal phase current command value i
By creating and controlling u *, iv *, and iw *, a sinusoidal phase current is passed.

As described above, the position sensorless motor control apparatus according to the first embodiment creates the estimated angle θm using the deviation ε between the induced voltage value and the induced voltage reference value, and applies the sinusoidal phase current. A position sensorless motor control device with reduced torque ripple is realized.

The position sensorless motor control device of the prior art 1 calculates the induced voltage value of each phase and specifies the angle at the 0 cross thereof. Then, the angle can be detected 6 times per one rotation of the electrical angle, and the resolution is 60 ° in terms of the electrical angle. Therefore, if this angle is interpolated and used, it cannot respond when the speed changes suddenly. Further, if the speed is created based on this angle and the speed is controlled, the response of the speed control is low.

The position sensorless motor control apparatus of the first embodiment creates an induced voltage reference value and corrects the estimated angle θm using the deviation ε which is the difference from the induced voltage value. Since the correction of the estimated angle θm is performed every angle estimation period ΔT,
The obtained estimated angle θm has high resolution and high accuracy. Also, the estimated speed ωm created based on this estimated angle θm
Is also highly accurate.

As described above, in the first embodiment, the angle estimation cycle Δ
By obtaining the deviation ε for each T and correcting the estimated angle θm,
To realize a position sensorless motor control device that constantly creates an estimated angle θm with high resolution and high accuracy.

Considering the case where the estimated phase is fixed to one specific phase, the angle can only be estimated in the vicinity of a specific angle. For example, when the estimated phase is the u phase, the angle estimation is realized only when the angle θ is near 0 ° and 180 °. Therefore, since the angle cannot be estimated with other angles, the accuracy of the estimated angle θm deteriorates.

The position sensorless motor control apparatus of the first embodiment switches the phase used for estimation (estimation phase) according to the estimation angle θm. Here, the induced voltage reference value es of this estimated phase
m is created, and the induced voltage selection value es that is the induced voltage value of this estimated phase is created. Then, the estimated angle θm is corrected using the deviation ε which is the difference between the induced voltage reference value esm and the induced voltage selection value es. By doing this, the estimated angle θ
The estimated angle θm is corrected using the phase deviation ε at which the influence of the estimation error of m is most apparent.

As described above, the first embodiment realizes a position sensorless motor control device that always estimates the estimated angle θm with high accuracy by switching the phase used for the estimation according to the estimated angle θm.

The position sensorless motor control device of the conventional example 2 assumes that the phase current flowing in the stator winding and the voltage applied between the stator windings are sinusoidal, and is represented by the d-axis and the q-axis. Control is performed in the rotating coordinate system. Therefore, when the speed and output torque of the rotor increase and the required phase voltage increases, the phase voltage saturates, and therefore the angle cannot be accurately estimated, and high angular velocity and large output torque cannot be realized.

The position sensorless motor control apparatus of the first embodiment creates the induced voltage reference value esm based on the phase voltage equation of each phase of the stator winding and estimates it using the deviation ε which is the difference from the induced voltage value. Correct the angle θm. Since the phase voltage equation of the stator winding holds even if the phase current and the phase voltage are not sinusoidal, the estimated angle θm is estimated even if the phase voltage is saturated.

As described above, in the first embodiment, the estimated angle θm is corrected based on the phase voltage equation of each phase of the stator winding so that the estimated angle θm is created even when the phase voltage is saturated, and the high speed and large output are obtained. A position sensorless motor control device that drives a motor with torque is realized.

In the position sensorless motor control device of the second conventional example, the motor constant resistance value, d-axis inductance, q
The shaft inductance and the induced voltage constant are applied to the voltage equation to estimate the angle. Therefore, when the motor is driven and the temperature of the motor changes, the magnetic flux amount of the permanent magnet changes and the induced voltage constant changes, so that the angle cannot be correctly estimated.

The position sensorless motor control apparatus according to the first embodiment corrects the induced voltage amplitude estimated value em from the induced voltage value of each phase and creates the induced voltage reference value esm using this induced voltage amplitude estimated value em. An estimated angle θ is created by obtaining a deviation ε that changes according to the angle error Δθ. Here, the induced voltage amplitude estimated value em is obtained by subtracting components other than the induced voltage from the phase voltage of each phase without obtaining the induced voltage value from the speed and the induced voltage constant. Not affected.

As described above, the first embodiment realizes a position sensorless motor control device that creates a highly accurate estimated angle θm even if the dielectric pressure constant changes, by correcting the induced voltage amplitude estimated value em.

Considering the case where step-out is not detected, even if a speed command is given to the position sensorless motor control device at the time of step-out, the rotor 12 does not rotate according to this speed command.

The position sensorless motor control apparatus of the first embodiment has an upper limit value eouth and a lower limit value eoutl of a range in which the amplitude of the induced voltage predicted to occur when the rotor 12 rotates at the estimated speed ωm has a certain width. And create.
Then, when the estimated value em of the induced voltage em is outside the range between the upper limit value south and the lower limit value eoutl, it is determined that the step is out of step, and the servo-on signal sv * is set to L. Then, the energization of the drive unit 30 is prohibited. Further, the servo-on signal sv * is also output to the outside of the position sensorless motor control device of the first embodiment so that the host CPU can be restarted or parameters can be reset by the user.

As described above, the first embodiment realizes the position sensorless motor control device for detecting step-out by detecting the contradiction between the estimated speed ωm and the induced voltage amplitude estimated value em.

Considering a case where the angle estimation gain is constant, the effective gain changes depending on the rotation speed of the rotor. If the magnitude of the deviation ε is the same, the amount by which the advance amount θp is changed is the same. Here, the angle (advance amount θp) advanced at each angle estimation cycle ΔT is smaller at low speed than at high speed. Therefore, at low speed,
The rate of changing the advance amount θp with respect to the advance amount θp becomes large. Then, when the optimum gain is set at the low speed, the gain at the high speed becomes small, and when the optimum gain is set at the high speed, the gain at the low speed becomes large. Therefore, the gain may not be optimal from low speed to high speed, and the angle estimation may become unstable.

The position sensorless motor control apparatus of the first embodiment increases the proportional gain κp and the integral gain κi when the estimated speed ωm increases. And the optimum gain is maintained from low speed to high speed.

As described above, the first embodiment realizes the position sensorless motor control device for stably estimating the angle from low speed to high speed by changing the gain of the angle estimation depending on the speed.

The same applies to the limit of angle estimation. The first embodiment realizes a position sensorless motor control device that stably estimates an angle from low speed to high speed by changing the limit of angle estimation depending on the speed.

Consider a case where the compensation amount α is not used. The angle estimator 70 when the compensation amount α is not used creates an accurate estimated angle θm, but some errors are included.

The position sensorless motor control apparatus according to the first embodiment obtains this error in advance through experiments or the like and creates a table to create a compensation amount α indicating the amount of compensation for the angle estimation θm. Then, the induced voltage reference value esm is created based on the angle obtained by adding the compensation amount α to the estimated angle θm, thereby compensating for the error in the angle estimation.

As described above, the first embodiment realizes the position sensorless motor control device that compensates the angle estimation error by the compensation amount α and estimates the angle with higher accuracy.

In the position sensorless motor control device of the first embodiment, when the reverse rotation command is issued, the u-phase current value iu and the v-phase current value i.
v is exchanged, and the u-phase voltage command value vu * and the v-phase voltage command value vv * are exchanged. This has the same effect as changing the connection between the u-phase stator winding 11u and the v-phase stator winding 11v, so that the reverse rotation can be realized only by a simple software change.

As described above, in the first embodiment, by exchanging the phase current values and the phase voltage command values at the time of the reverse rotation command, the position sensorless motor control in which the rotor is easily rotated in the reverse direction with only a simple software change. Realize the device.

Second Embodiment Next, a position sensorless motor control device according to a second embodiment of the present invention will be described. The position sensorless motor control device of the first embodiment uses the phase voltage command values vu *, vv *, vw * created by the current control unit 50 to calculate the phase voltage values vu, vv, vw.
It was created. The position sensorless motor control apparatus according to the second embodiment adds a voltage sensor to directly detect the phase voltage. And, we realize highly accurate angle estimation with high resolution,
Even if the phase voltage is saturated, the angle can be estimated, and even if the induced voltage constant changes, the angle can be estimated with high accuracy.

First, the configuration of the position sensorless motor control device of the second embodiment will be described. FIG. 11 is a block diagram illustrating the configuration of the position sensorless motor control device according to the second embodiment. In addition, FIG. 12 is a block diagram illustrating a configuration of an angle estimation unit according to the second embodiment. [Explanation of FIG. 11] The position sensorless motor control device of the second embodiment is the same as that of the first embodiment.
Compared with the position sensor motor control device of No. 1, the terminal voltages of the stator windings 11u, 11v, and 11w are detected, and the analog u-phase voltage value vua, the analog v-phase voltage value vva,
Voltage sensor 223 that outputs analog w-phase voltage value vwa
u, 223v, and 223w are added. The configuration of the microcomputer 222 is different from that of the first embodiment. Further, the current control unit 250 and the angle estimation unit 270 in the microcomputer 222 are different from those in the first embodiment. Further, the phase voltage value creation unit 271 in the angle estimation unit 270 is different from that of the first embodiment. Regarding the input / output, the difference from the first embodiment is that the current control unit 250 does not output the phase voltage command values vu *, vv *, vw *.
The angle estimation unit 270 determines the phase voltage command values vu *, vv *, vw.
Analog phase voltage values vua, vva, vwa instead of *
Is to enter.

The other structure is the same as that of the first embodiment.
The same reference numerals are given and the description is omitted.

Next, the operation of the position sensorless motor control device of the second embodiment will be described.

Voltage sensors 223u, 223v, 223w
Detects the voltages applied to the stator windings 11u, 11v, and 11w, respectively, and creates an analog u-phase voltage value vua, an analog v-phase voltage value vva, and an analog w-phase voltage value vwa. A suitable low-pass filter acts on these analog phase voltage values.

[Explanation of FIG. 12] The phase voltage value creating section 271 is composed of an analog-digital converter, and has analog values of an analog u-phase voltage value vua, an analog v-phase voltage value vva, and an analog w-phase voltage value, respectively. vwa is the u-phase voltage value v which is a digital value
Analog / digital conversion is performed into u- and v-phase voltage values vv and w-phase current values vw.

The position sensorless motor controller of the first embodiment creates the phase voltage values vu, vv, vw from the phase voltage command values vu *, vv *, vw *. Even if a voltage sensor is added and the phase voltage is directly detected as in the position sensorless motor control device of the second embodiment, the same effect as that of the first embodiment can be obtained, so that the same effect as that of the first embodiment is obtained.

In the second embodiment, the voltage sensor 223u,
223v and 223w are added and stator windings 11u and 11
By directly detecting the voltages v and 11w, the accuracy of the phase voltage values vu, vv, and vw is increased, and a position sensorless motor control device with a higher estimated accuracy of the estimated angle θm is realized.

Third Embodiment [Explanation of FIG. 13] Next, a position sensorless motor control device according to a third embodiment of the present invention will be described. The position sensorless motor control device according to the first embodiment has three phase current command values iu *, iv.
*, Iw * are created and this phase current command value iu *, iv
*, Iw * as per stator winding 11u, 11v, 11
The current was controlled so that a current would flow in w. The position sensorless motor control device according to the third embodiment converts the phase current into the γ-axis current value iγ and the δ-axis current value iδ on the γδ axis which is the rotational coordinate system based on the estimated angle θm, and these are respectively the γ-axis current command values. The current is controlled so that iγ * and the δ-axis current command value iδ * are obtained. Then, based on the current flowing in the stator winding and the voltage applied to the stator winding, it is possible to estimate the angle with high resolution and high accuracy, and also to estimate the angle even when the phase voltage is saturated.

First, the configuration of the position sensorless motor control device of the third embodiment will be described. FIG. 13 is a block diagram showing the configuration of the position sensorless motor control device according to the third embodiment. Only the microcomputer 322 is different from the first embodiment. Further, the current control unit 350 in the microcomputer 322 is different from that of the first embodiment. Other configurations are similar to those of the first embodiment, and the same configurations as those of the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

[Explanation of FIG. 14] The current control unit 350 has the analog u-phase current value iua, the analog v-phase current value iva, the rotation direction command ωdir *, the γ-axis current command value iγ *, and the δ-axis current command value iδ *. And the estimated angle θ
By inputting m and the estimated speed ωm, the u-phase current value iu, the v-phase current value iv, the u-phase voltage command value vu *, and the v-phase voltage command value vv *
And w-phase voltage command value vw * and switching command signal gu
It outputs h, gul, gvh, gvl, gwh, and gwl.

The current control unit 350 inputs the analog u-phase current value iua and outputs the AD before-exchange u-phase current value iu1.
C51u, ADC 51v that inputs the analog v-phase current value iva and outputs the pre-replacement v-phase current value iv1, and pre-replacement u
Input the phase current value iu1, the v-phase current value iv1 before replacement, and the rotation direction command ωdir * to input the u-phase current value iu and the v-phase current value iv.
And the u-phase current value iu, the v-phase current value iv, and the estimated angle θm are input, and the γ-axis current value i is input.
Three-phase / two-phase conversion unit 353 that outputs γ and δ-axis current value iδ
, Γ-axis current value iγ, δ-axis current value iδ, γ-axis current command value iγ *, δ-axis current command value iδ *, and estimated speed ωm, and input γ-axis voltage command value vγ * and δ-axis voltage command value. a voltage command value creation unit 354 that outputs vδ *, and a γ-axis voltage command value vγ
*, The δ-axis voltage command value vδ *, and the estimated angle θm are input and u
A two-phase / three-phase conversion unit 355 that outputs the phase voltage command value vu *, the v-phase voltage command value vv *, and the w-phase voltage command value vw *;
The phase voltage command value vu *, the v phase voltage command value vv *, the w phase voltage command value vw *, and the rotation direction command ωdir * are input, and the u phase voltage command value vu * 1 after replacement and the v phase voltage command value vv after replacement are input. *
1 and the w phase voltage command value vw * 1 after replacement, the phase voltage command value exchanging unit 56, the u phase voltage command value vu * 1 after replacement, the v phase voltage command value vv * 1 after replacement, and the w after replacement Input the phase voltage command value vw * 1 and the switching command signals guh, gu
PWM that outputs l, gvh, gvl, gwh, gwl
And a controller 57.

Next, the operation of the position sensorless motor control device of the third embodiment will be described. Only the operation of the current controller 350 differs from that of the first embodiment. The operation of other configurations is the same as that of the first embodiment, and the description thereof is omitted.

The current control unit 350 is activated at every set time (current control cycle), and the ADCs 51u, 51c are activated.
v, the phase current value exchanging unit 52, the three-phase / two-phase converting unit 353, the voltage command value creating unit 354, the two-phase / three-phase converting unit 355, the phase voltage command value exchanging unit 56, and the PWM controller 57 in the following order. Then, the γ-axis current command value iγ * and the δ-axis current command value iδ
* Switching signals guh, guul, gv so that current flows through the stator windings 11u, 11v, 11w as shown.
Control h, gvl, gwh, gwl.

The ADCs 51u and 51v and the phase current value exchanging unit 52 are the same as those in the first embodiment, and the description thereof will be omitted.

The three-phase / two-phase conversion portion 353 is used for the stator winding 1
The current value indicating the current flowing through 1u, 11v, and 11w is converted into a γ-axis current value iγ and a δ-axis current value iδ on the γδ axis that is the rotation coordinate system based on the estimated angle θm. Further, the two-phase / three-phase conversion unit 355, which will be described later, includes
The voltage applied to w is inversely converted from the conversion performed by the three-phase / two-phase conversion unit 353. Specifically, the three-phase / two-phase conversion unit 353 creates the γ-axis current value iγ and the δ-axis current value iδ as in the following equations (43) and (44).

[0291] iγ = {√ (2)} · {iu · sin (θm + 60 °) + iv · sinθm}                                                           ... (43) iδ = {√ (2)} · {iu · cos (θm + 60 °) + iv · cosθm}                                                           ... (44)

The voltage command value generator 354 determines that the γ-axis current value i
The γ-axis voltage command value vγ * is controlled using proportional-plus-integral control (PI control) and non-interference control so that γ becomes as the γ-axis current command value iγ *. Further, the δ-axis voltage command value vδ * is controlled by using proportional-plus-integral control (PI control) and non-interference control so that the δ-axis current value iδ becomes equal to the δ-axis current command value iδ *.

As shown in the following equation (45), the difference between the γ-axis current command value iγ * and the γ-axis current value iγ is proportional-integrally controlled by the proportional gain KPD and the integral gain KID. The result obtained by multiplying the resistance R of γ-axis current command value iγ * is added, and the angular velocity ωe is added to the q-axis inductance L.
The product of q and the product of the δ-axis current command value iδ * is subtracted to obtain a γ-axis voltage command value vγ *. Here, the angular velocity ωe is calculated from the estimated velocity ωm.

[0294] vγ * = KPD · (iγ * −iγ) + KID · Σ (iγ * −iγ)         + R · iγ * -ωe · Lq · iδ * (45)

Further, the difference between the δ-axis current command value iδ * and the δ-axis current value iδ is calculated by the proportional gain KP as shown in the following equation (46).
The result of multiplying the phase resistance R by the δ-axis current command value iδ * is added to the result of the proportional-plus-integral control with Q and the integral gain KIQ, and the angular velocity ωe is multiplied by the d-axis inductance Ld and further the γ-axis current command value iγ *. The result obtained by multiplying by is added, and the angular velocity ωe is multiplied by the dq-axis winding flux linkage effective value ψ by the permanent magnet 13.
The sum of the results obtained by multiplying by is defined as the δ-axis voltage command value vδ *.

[0296] vδ * = KPQ · (iδ * −iδ) + KIQ · Σ (iδ * −iδ)         + R · iδ * + ωe · Ld · iγ * + ωe · ψ (46)

The two-phase / three-phase conversion portion 355 has a γ-axis voltage command value vγ * on the γδ-axis which is a rotational coordinate system based on the estimated angle θm.
And the δ-axis voltage command value vδ * are converted into a static coordinate system, and applied to the stator windings 11u, 11v, 11w, the u-phase voltage command value vu *, the v-phase voltage command value vv *, and the w-phase voltage command value v.
Create w * and. Specifically, the following formulas (47) and (4
Follow steps 8) and (49). However, the drive unit 30 applies a voltage larger than the voltage of the power supply 31 to the stator winding 11u,
Since it cannot be applied to 11v and 11w, the formula (1
5) Set limits such as (17) and (19).

[0298] vu * = {√ (2/3)} · {vγ * · cos θm                                   −vδ * · sin θm}                                                           ... (47) vv * = {√ (2/3)} · {vγ * · cos (θm−120 °)                                   −vδ * · sin (θm−120 °)}                                                           ... (48) vw * = {√ (2/3)} · {vγ * · cos (θm + 120 °)                                   −vδ * · sin (θm + 120 °)}                                                           ... (49)

Since the phase voltage command value exchanging section 56 and the PWM controller 57 operate in the same manner as in the first embodiment, the description of the operation will be omitted.

The operation of other configurations is the same as that of the first embodiment, and the explanation is omitted.

The position sensorless motor control device of the first embodiment created the phase current command values iu *, iv *, iw * for the three phases and controlled the current. Like the position sensorless motor control device of the third embodiment, even if current control is performed on the γδ axis that is the rotational coordinate system based on the estimated angle θm, the same operation as that of the first embodiment is performed, and thus the same effect as that of the first embodiment is obtained. have.

Fourth Embodiment Next, a position sensorless motor control device according to a fourth embodiment of the present invention will be described. The position sensorless motor control device according to the first embodiment obtains the induced voltage value using the strict phase voltage equation. The position sensorless motor control device according to the fourth embodiment obtains an induced voltage value using a simplified phase voltage equation, and realizes a reduction in the calculation time for angle estimation.

[Explanation of FIG. 15] First, the configuration of the position sensorless motor control device of the fourth embodiment will be explained. FIG. 15 is a block diagram showing the configuration of the position sensorless motor control device according to the fourth embodiment.
FIG. 6 is a block diagram showing a configuration of an angle estimation unit in the fourth embodiment. Only the microcomputer 422 differs from the first embodiment.
Further, the speed controller 440, the current controller 450, and the angle estimator 470 in the microcomputer 422 are different from those in the first embodiment. The induced voltage value calculator 472 in the angle estimator 470 is different from that in the first embodiment. The other configuration is the first embodiment.
The same configurations as those shown in FIG. 2 are given, and the same configurations as those of the first embodiment are denoted by the same reference numerals and the description thereof is omitted.

The speed control section 440 inputs the analog speed command value ω * a and the estimated speed ωm and inputs the γ-axis current command value iγ *.
And the δ-axis current command value iδ *, the current command amplitude ia, and the current command phase βT are output. The current control unit 450 inputs the analog u-phase current value iua, the analog v-phase current value iva, the rotation direction command ωdir *, the γ-axis current command value iγ *, the δ-axis current command value iδ *, and the estimated angle θm. Phase voltage command value v
u *, v-phase voltage command value vv *, w-phase voltage command value vw *, and switching command signals guh, gulu, gvh, gv
l, gwh, and gwl are output. Angle estimation unit 470
Are current command amplitude ia, current command phase βT, u-phase voltage command value vu *, v-phase voltage command value vv *, and w-phase voltage command value v.
By inputting w * and the compensation amount α, the estimated angle θm and the estimated speed ωm
And the induced voltage amplitude estimated value em.

Next, the operation of the position sensorless motor control device of the fourth embodiment will be described. The speed control unit 440 and the current control unit 450 are respectively the speed control unit 4 of the first embodiment.
0, and the output is different as compared with the current control unit 50, and the operation is the same. In addition, the induced voltage value calculation unit 4
The configuration other than 72 is the same as that of the third embodiment. for that reason,
The description of the configuration other than the induced voltage calculation unit 472 is omitted.

[Explanation of FIG. 16] The induced voltage value calculation unit 472 causes the induced voltage value of each phase (u phase induced voltage value eu, v phase induced voltage value ev, w phase induced voltage value e).
w) is created. The phase voltage equation of each phase is solved for the induced voltage value, and this is simplified. Specifically, the phase current value i
Assuming that u, iv, and iw are sine waves, the phase currents iu, iv, and iw are calculated from the current command amplitude ia and the current command phase βT.
Is created, and this is substituted into the equations (26), (27) and (28), and is simplified to obtain the following equations (50), (51) and (52).

[0307] eu = vu       + R ・ ia ・ sin (θm + βT)       +1.5 ・ (la + La) ・ cos (θm + βT)       −1.5 · Las · cos (θm−βT) (50) ev = vv       + R ・ ia ・ sin (θm + βT-120 °)       +1.5 ・ (la + La) ・ cos (θm + βT-120 °)       −1.5 · Las · cos (θm−βT−120 °) (51) ew = vw       + R · ia · sin (θm + βT-240 °)       +1.5 ・ (la + La) ・ cos (θm + βT-240 °)       -1.5 ・ Las ・ cos (θm-βT-240 °) ... (52)

The position sensorless motor control device of the first embodiment obtains the induced voltage value by using the strict phase voltage equation.
Even if the induced voltage value is obtained by using the simplified phase voltage equation as in the position sensorless motor control device of the fourth embodiment,
Since the same operation as that of the first embodiment can be obtained, the same effect as that of the first embodiment can be obtained.

Further, in the fourth embodiment, the induced voltage values (u-phase induced voltage value vu, v-phase induced voltage value vv, w-phase) are simplified by simplifying the phase voltage value of each phase as compared with the first embodiment. Induced voltage value v
A position sensorless motor control device that reduces the time for calculating w) is realized.

In the fourth embodiment, the analog phase current value iua detected by the current sensors 21u and 21v is calculated by using the phase current value assuming that the phase current waveform is sinusoidal.
A position sensorless motor control device that estimates an angle without influence of noise even if noise is mixed in iva is realized. << Fifth Embodiment >> Next, a position sensorless motor control device according to a fifth embodiment of the present invention will be described. The position sensorless motor control device of the first embodiment switches the estimation phase according to the estimation angle θm. The position sensorless motor control device according to the fifth embodiment uses the phase having the smallest induced voltage value among the phases as the estimated phase.

[Explanation of FIG. 17 and FIG. 18] First, the structure of the position sensorless motor control device of the fifth embodiment will be explained. FIG. 17 is a block diagram showing a configuration diagram of a position sensorless motor control device in the fifth embodiment, and FIG. 18 is a block diagram showing a configuration of an angle estimation unit 570 in the fifth embodiment. Only the microcomputer 522 is different from the first embodiment. In addition, the angle estimation unit 5 in the microcomputer 522
70 is different from the first embodiment. Also, this angle estimation unit 570
The estimated phase selection unit 573 in is different from that in the first embodiment. Other configurations are the same as those shown in the first embodiment.
The same configurations as those of the above are denoted by the same reference numerals and the description thereof will be omitted.

[Description of FIG. 19] Next, the operation of the position sensorless motor control device of the fifth embodiment will be described. The estimated phase selection unit 573 sets the phase having the smallest magnitude of the induced voltage value among the respective phases as the estimated phase. FIG. 19
[Fig. 8] is a waveform diagram showing a relationship between an induced voltage value of each phase and an estimated phase index in the fifth embodiment. As shown in the following equation (53) and FIG. 19, the phase having the smallest induced voltage value among the phases is the u phase, the v phase induced voltage value is positive, and the w phase induced voltage value is When is negative, the estimated phase index is 0 and the estimated phase is the u phase. Also in other cases, the estimated phase index η and the estimated phase are obtained from the following equation (53) and FIG.

[0313] η = 0 Estimated phase = u phase (when | eu | is minimum, ev> 0, ew <0) η = 1 Estimated phase = w phase (when | ew | is minimum, ev> 0, eu <0) η = 2 Estimated phase = v phase (when | ev | is minimum, ew> 0, eu <0) η = 3 Estimated phase = u phase (when | eu | is minimum, ew> 0, ev <0) η = 4 Estimated phase = w phase (when | ew | is minimum, eu> 0, ev <0) η = 5 Estimated phase = v phase (when | ev | is minimum, eu> 0, ew <0)                                                           ... (53)

The position sensorless motor control device of the first embodiment switches the estimation phase according to the estimation angle θm. Example 5
Like the position sensorless motor control device of, even if the phase having the smallest magnitude of the induced voltage value among the phases is the estimated phase,
Since the same operation as that of the first embodiment can be obtained, the same effect as that of the first embodiment can be obtained.

Sixth Embodiment Next, a position sensorless motor control device according to a sixth embodiment of the present invention will be described. The position sensorless motor control device according to the first embodiment has an induced voltage value and an induced voltage reference value esm.
The estimated angle θm was corrected based on the deviation between and. The position sensorless motor control device according to the sixth embodiment greatly simplifies the phase voltage equation, creates a phase voltage reference value, obtains a deviation between the phase voltage value and the phase voltage reference value, and makes the deviation converge to zero. The estimated angle θm is corrected to. In addition, the position sensorless motor control device according to the first embodiment corrects the induced voltage amplitude among the coefficients of the phase voltage equation of each phase of the stator winding. The position sensorless motor control device according to the sixth embodiment corrects the phase voltage amplitude.

A position sensorless which realizes a highly accurate angle estimation with high resolution and an angle estimation even when the phase voltage is saturated, and an angle estimation with high accuracy even if the motor constant changes. Realize a motor control device.

[Explanation of FIG. 20] First, the configuration of the position sensorless motor control device of the sixth embodiment will be explained. FIG. 20 is a block diagram showing the configuration of the position sensorless motor control device according to the sixth embodiment. The position sensorless motor control device according to the sixth embodiment includes a microcomputer 62.
2 is different from Example 1. The compensation amount creating unit 660, the angle estimating unit 670, and the step-out detecting unit 690 in the microcomputer 622.
Is different from the first embodiment. The other configurations are similar to those of the first embodiment, and the same reference numerals are given and the description thereof is omitted.

In the first embodiment, the angle estimating section 70 outputs the induced voltage amplitude estimated value em, and the step-out detecting section 90 inputs the induced voltage amplitude estimated value em. In the sixth embodiment, the phase voltage amplitude estimated value vm is input / output instead of the induced voltage amplitude estimated value em. That is, in the sixth embodiment, the angle estimation unit 670 outputs the phase voltage amplitude estimated value vm, and the out-of-step detection unit 690 inputs the phase voltage amplitude estimated value vm.

[Explanation of FIG. 21] FIG. 21 is a block diagram showing the structure of the angle estimation unit 670 according to the sixth embodiment. The angle estimation unit 670 inputs the u-phase voltage command value vu *, the v-phase voltage command value vv *, and the w-phase voltage command value vw *, and inputs the u-phase voltage value vu and the v-phase voltage value vv and w.
Phase voltage value creation unit 71 that outputs phase voltage value vw, estimated phase selection unit 73 that inputs estimated angle θm and compensation amount α and outputs estimated phase index η, estimated phase index η and u phase voltage value. A phase voltage selection value selection unit 674 that inputs vu, v phase voltage value vv, and w phase voltage value vw and outputs a phase voltage selection value vs, an estimated phase index η, an estimated angle θm, a compensation amount α, and a phase voltage amplitude. Estimated value v
m, and a phase voltage reference value creation unit 675 that outputs a phase voltage reference value vsm, a phase voltage selection value vs, and a phase voltage reference value v
a deviation creating unit 676 that inputs sm and outputs deviation ε;
Estimated speed ωm is input and proportional gain κp and integral gain κi
, A gain limit creating unit 77 that outputs a proportional limit ζp and an integral limit ζi, an estimated phase index η, a deviation ε, a proportional gain κp, an integral gain κi, a proportional limit ζp, and an integral limit ζi, and an estimated angle θm. Estimated speed ωm
And an angular velocity correction unit 78 that outputs u and a phase voltage amplitude estimated value correction unit 680 that inputs the u-phase voltage value vu, the v-phase voltage value vv, and the w-phase voltage value vw, and outputs the phase voltage amplitude estimated value vm. Composed of.

The phase voltage amplitude estimated value correction unit 680 receives the u phase voltage value vu, the v phase voltage value vv, and the w phase voltage value vw and outputs the phase voltage amplitude calculated value vc to create the phase voltage amplitude calculated value. And a phase voltage amplitude estimated value changing unit 682 that inputs the phase voltage amplitude calculated value vc and outputs the phase voltage amplitude estimated value vm.
Composed of and.

[Explanation of FIG. 22] FIG. 22 is a block diagram showing the structure of the out-of-step detecting unit 690 according to the sixth embodiment. The out-of-step detection unit 690 receives the estimated speed ωm and outputs the phase voltage amplitude out-of-step determination upper limit value vouth and the phase voltage amplitude out-of-step determination lower limit value voutl, and the phase voltage out-of-step determination value creating unit 691. It includes a step-out determination unit 692 which inputs the step-out determination upper limit value vouth, the phase voltage amplitude step-out determination lower limit value voutl, and the phase voltage reference value vm and outputs the servo-on signal sv *.

Next, the operation of the position sensorless motor control device according to the sixth embodiment of the present invention will be described. Compensation amount creation unit 66
0, the angle estimation unit 670, and the operation of the configuration other than the step-out detection unit 690 are the same as the operation of the configuration of the first embodiment, and the description thereof will be omitted.

First, the principle of angle estimation of the position sensorless motor control device of the sixth embodiment will be described. On the dq axes, the voltage equation is expressed by the following equation (54). d
When the axis current value id and the q-axis current value iq are controlled, the d-axis voltage value vd and the q-axis voltage value vq are uniquely determined, so that the voltage phase βv is also uniquely determined, and is expressed by the following equation (55). .

[0324] vd = R · id−ωe · Lq · iq vq = R · iq + ωe (ψ + Ld · id) (54) βv = -atan [{R · id-ωe · Lq · iq} /                     {R · iq + ωe · (ψ + Ld · id)}]                                                           ... (55)

Here, the phase voltage reference value vsm having this voltage phase is created, and the estimated angle θm and the phase voltage amplitude which is the amplitude of the phase voltage reference value are set so that the phase voltage matches the phase voltage reference value vsm. Correct the estimated value vm. In this way, the angle estimation is realized. Now, the same principle as that of the first embodiment is used for the method of matching both. Further, when the voltage phase is obtained, instead of using the d-axis current value id and the q-axis current value iq, the γ-axis current command value iγ * and the δ-axis current command value that are command values on their estimated axes γδ axis. iδ * and are used. In addition,
This voltage phase is included in the compensation amount α.

Further, the method of detecting out-of-step is changed. Since the induced voltage increases as the rotation speed of the rotor 12 increases, it is necessary to apply a large phase voltage. Therefore, the amplitude of the phase voltage command created by the current control unit 50 becomes large. In Example 1, out-of-step was detected by using the amplitude of the induced voltage being proportional to the speed. Since the amplitude of the phase voltage command value also tends to increase with speed, in the sixth embodiment, the step-out is detected using the amplitude of the phase voltage command value in the same manner as in the first embodiment.

The operation of the position sensorless motor control device of the sixth embodiment will be described in detail below. First, the compensation amount creation unit 6
The operation of 60 will be described. The compensation amount creation unit 660 operates each time the operation of the current control unit 50 ends. The compensation amount creation unit 660 uses the angle estimation θ in the angle estimation unit 670.
A compensation amount α indicating the amount to compensate m is created. This compensation amount α is the sum of the voltage phase and the angle estimation error.

First, the voltage phase component (α1) is created. This is expressed by the following formula (56) by rewriting the formula (55) using the γ-axis current command value iγ * and the δ-axis current command value iδ *. Next, an angle estimation error component (α2) is created. This is expressed by the following equation (57) as in the first embodiment. Then, as in the following equation (58), the sum of the two is set as the compensation amount α.

[0329] α1 = −atan [{R · iγ * −ωe · Lq · iδ *} /               {R · iδ * + ωe · (ψ + Ld · iγ *)}] (56) α2 = αtable (θm% 60 °, ωm, iγ *, iδ *)                                                           ... (57) α = α1 + α2 (58)

Next, the operation of the angle estimation unit 670 will be described. The phase voltage creation unit 71 and the estimated phase selection unit 73 are the same as those in the first embodiment, and the description thereof will be omitted.

The phase voltage selection value selection unit 674 sets the phase voltage value of the estimated phase to the phase voltage selection value vs. When the estimated phase index η = 0 and 3 as in the following equation (59), the u-phase voltage value vu is set to the phase voltage selection value vs. Also, the estimated phase index η =
When 2 and 5, the v-phase voltage value ev is set to the phase-voltage selection value v
s. Furthermore, when the estimated phase index η = 1 and 4, the w-phase voltage value vw is set to the phase voltage selection value vs.

[0332] vs = vu (when η = 0, 3) vs = vv (when η = 2, 5) vs = vw (when η = 1 and 4) (59)

The phase voltage reference value creation unit 675 creates the phase voltage reference value vsm which is the reference value of the phase voltage value of the estimated phase. As in the following formula (60), when the estimated phases η = 0 and 3, the u-phase phase voltage reference value (u-phase voltage reference value vum) is set to the phase voltage reference value vsm. When the estimated phase η = 2, 5, the phase voltage reference value of v phase (v phase voltage reference value vvm) is set to the phase voltage reference value vsm. When the estimated phase η = 1, 4, w
The phase voltage reference value (w-phase voltage reference value vwm) of the phase is set to the phase voltage reference value vsm.

[0334] vsm = vum (when η = 0, 3) vsm = vvm (when η = 2, 5) vsm = vwm (when η = 1, 4) vm = −vm · sin (θm + α) vvm = -vm * sin ([theta] m + [alpha] -120 [deg.]) vwm = -vm * sin ([theta] m + [alpha] -240 [deg.]) (60)

The deviation creating unit 76 creates a deviation ε between the phase voltage selection value vs and the phase voltage reference value vsm. The following formula (6
As shown in 1), the phase voltage selection value vs is changed to the phase voltage reference value vs.
The difference ε is obtained by subtracting m.

[0336] ε = vs-vsm (61)

The gain limit creating section 77 and the angle correcting section 78 are the same as those in the first embodiment, and their explanations are omitted.

The phase voltage amplitude calculation value creation unit 681 creates the phase voltage calculation value vc based on the result of adding the absolute values of the phase voltage values of the respective phases. As in the following formula (62), the absolute value of the u-phase voltage value vu, the absolute value of the v-phase voltage value vv, and the w-phase voltage value v
The product of the addition result of the absolute value of w and a certain coefficient KEC is set as the phase voltage calculation value vc. Where the coefficient K
EC is given as in equation (40) and is multiplied to convert the sum of absolute values of each phase into an amplitude, assuming that each phase is a sine wave.

[0339] vc = KEC · (| vu | + | vv | + | vw |) (62)

The induced voltage amplitude estimated value changing unit 682 sets the phase voltage amplitude calculated value vc to which the first-order digital low-pass filter (LPF) is applied as the phase voltage amplitude estimated value vm. Specifically, the following equation (63) is used. Here, vm (n) is the current phase voltage amplitude estimated value, and vm (n)
(N-1) is the previous phase voltage amplitude estimated value. Also, K
LEM is a coefficient of the low-pass filter, takes a value from 0 to 1, and the smaller the KLEM, the greater the effect of the low-pass filter. The low-pass filter uses the calculated phase voltage amplitude value vc and the previous estimated phase voltage amplitude value vm (n
-1) and the error (amplitude error) with
The result of multiplying by M is the previous phase voltage amplitude estimated value vm (n-
The value added to 1) is the estimated phase voltage amplitude value vm (n).
And As described above, the amplitude error is calculated by using the low-pass filter, and the phase voltage amplitude estimated value vm (n) is corrected so that the amplitude error becomes small.

[0341] vm (n) = KLEM.vc + (1-KLEM) .vm (n-1)                                                           ... (63)

[Description of FIG. 23] Next, the operation of the out-of-step detection unit 690 will be described in detail. The phase voltage amplitude step-out determination value creating unit 691 creates an upper limit value and a lower limit value of a range in which the amplitude of the phase voltage predicted to occur when the rotor 12 rotates at the estimated speed ωm has a certain range. . FIG. 23 shows the phase voltage amplitude upper limit value vouth and the phase voltage amplitude lower limit value vo with respect to the estimated speed ωm in the sixth embodiment.
It is a relationship diagram of utl. As shown in FIG. 23, the phase voltage amplitude step-out determination upper limit value vouth is a linear function relating to the estimated angle ωm having an intercept of VOUTH0 and an inclination of VOUTH1. Further, the lower limit value voutl of the phase voltage amplitude step out determination
, The intersection with the ωm axis is VOUTL0 and the slope is VOU
A linear function relating to the estimated angle ωm that is TL1.

The step-out judging section 692 determines the phase voltage amplitude estimated value v
When m is out of the range between the phase voltage amplitude step-out determination upper limit value vouth and the phase voltage amplitude step-out determination lower limit value voutl, it is determined to be step-out. As shown in the following equation (64), the phase voltage amplitude estimated value v
When m is smaller than the phase voltage amplitude step-out determination lower limit value voutl, it is determined to be step-out, and the servo-on signal sv * is set to L. When the estimated phase voltage amplitude vm is larger than the phase voltage amplitude step-out determination upper limit value vouth, it is determined to be step-out,
The servo-on signal sv * is set to L. Other than these,
It is determined that step out has not occurred, and the servo-on signal sv * is set to H.

[0344] sv * = L (vm <voutl) sv * = H (voutl ≤ vm ≤ vouth) sv * = L (vm> vouth) (64)

The position sensorless motor control device of the first embodiment is operated so that the deviation between the induced voltage value and the induced voltage reference value esm converges to 0, thereby creating the estimated angle θm. Like the position sensorless motor control device of the sixth embodiment, even if the operation is performed so that the deviation between the phase voltage value and the phase voltage reference value vsm converges to 0, the same operation as in the first embodiment is achieved. Therefore, the sixth embodiment has the same effect as the first embodiment.

Further, the position sensorless motor control apparatus of the first embodiment corrects the estimated angle θm and the induced voltage amplitude estimated value em so that the induced voltage value matches the induced voltage reference value. Therefore, the induced voltage value of each phase (u-phase induced voltage value eu,
The calculation time for calculating the v-phase induced voltage value ev and the w-phase induced voltage value ew) was required.

The position sensorless motor control apparatus according to the sixth embodiment corrects the estimated angle θm and the estimated phase voltage amplitude value vm so that the phase voltage reference value vsm matches the phase voltage value. Here, the phase voltage value of each phase (u-phase voltage value vu, v-phase voltage value v
Since the v and w-phase voltage values vw) are created by the current controller 50, the angle estimator 70 does not require a calculation time.

As described above, in the sixth embodiment, the phase voltage reference value v
By matching the phase voltage value with sm, a position sensorless motor control device that realizes angle estimation in a short calculation time is realized.

Seventh Embodiment Next, a position sensorless motor control device according to a seventh embodiment of the present invention will be described. The position sensorless motor control device of the first embodiment corrects the estimated angle θm based on the deviation between the induced voltage value and the induced voltage reference value. The position sensorless motor control device of the sixth embodiment greatly simplifies the phase voltage equation, creates a phase voltage reference value, obtains a deviation between the phase voltage value and the phase voltage reference value, and the deviation converges to zero. The estimated angle θm is corrected so that The main purpose of the present invention is to focus on the phase voltage equation of the stator winding of each phase, the former focusing on the induced voltage and the latter focusing on the phase voltage. As described above, the present invention can be variously modified. Example 7 is
This is an example, and attention is paid to the phase current. The position sensorless motor control apparatus according to the seventh embodiment creates a phase current reference value, obtains a deviation between the phase current reference value and the phase current, and utilizes the fact that this deviation is equivalent to the induced voltage deviation. The estimated angle θm is corrected so that

Further, the position sensorless motor control devices of the first to sixth embodiments controlled the IPMSM (embedded magnet type synchronous motor). The position sensorless motor control device according to the seventh embodiment controls an SPMSM (surface magnet type synchronous motor).

[Explanation of FIG. 24] FIG. 24 is a block diagram showing a structure of a position sensorless motor control device according to the seventh embodiment. SPMSM (Su
rface Permanent Magnet Sy
nchronous Motor: surface magnet type synchronous motor) 710 is a stator winding 11u through which a phase current flows, 1
A stator (not shown) around which 1v and 11w are wound, and a rotor 712 that faces the stator (not shown) and is arranged close to each other are provided. Here, the stator windings 11u, 11v, and 11w are Y-connected. In this brushless motor 710, a permanent magnet 713 is disposed on the surface of a rotor 712, and the magnetic flux generated by the phase current and the magnetic flux generated by the permanent magnet 713 interact with each other to cause the rotor 7 to move.
12 rotates.

The position sensorless motor control device of the seventh embodiment is different from that of the first embodiment in the microcomputer 722. The speed control unit 740 and the angle estimation unit 770 in the microcomputer 722 are different from those in the first embodiment. The other configurations are similar to those of the first embodiment, and the same reference numerals are given and the description thereof is omitted.

[Explanation of FIG. 25] FIG. 25 is a block diagram showing the structure of the speed control unit in the seventh embodiment. The current command value creation unit 743 in the speed control unit 740 is different from that in the first embodiment. The other configuration in the speed control unit 740 is the same as that of the first embodiment, and the description will be omitted.

[Explanation of FIG. 26] FIG. 26 is a block diagram showing the structure of the angle estimating section in the seventh embodiment. The angle estimation unit 770 determines the u-phase voltage command value vu *, the v-phase voltage command value vv *, and the w-phase voltage command value vw *.
And a phase voltage value creation unit 71 that outputs u-phase voltage value vu, v-phase voltage value vv, and w-phase voltage value vw, and u-phase voltage value vu, v-phase voltage value vv, and w-phase voltage value vw. And the estimated angle θm
And the estimated speed ωm, the u-phase current value iu, and the v-phase current value iv are input, and the u-phase induced voltage value eu, the v-phase induced voltage value ev, and the w-phase induced voltage value ew are output. When,
An estimated phase selection unit 73 that inputs the estimated angle θm and the compensation amount α and outputs the estimated phase index η, and the estimated phase index η and the u-phase current value i.
A phase current selection value selection unit 774 which inputs u and v phase current values iv and outputs a phase current selection value is, an estimated phase index η, an estimated angle θm, a compensation amount α, an induced voltage amplitude estimated value em and a u phase. The current value iu, the v-phase current value iv, the u-phase voltage value vu, the v-phase voltage value vv, and the w-phase voltage value vw are input, and the phase current reference value ism is input.
, A phase current reference value creation unit 775 that outputs the deviation, a deviation creation unit 776 that inputs the phase current selection value is and the phase current reference value ism, and outputs the deviation ε, and an estimated speed ωm that is input and a proportional gain κp and an integral gain. The gain limit creating unit 77 that outputs κi, the proportional limit ζp, and the integral limit ζi, and the estimated angle θm by inputting the estimated phase index η, the deviation ε, the proportional gain κp, the integral gain κi, the proportional limit ζp, and the integral limit ζi. And the angular velocity correction unit 77 that outputs the estimated velocity ωm
8, an u-phase induced voltage value eu, a v-phase induced voltage value ev, and a w-phase induced voltage value ew as input and an induced voltage amplitude estimated value correction unit 80 that outputs an induced voltage amplitude estimated value em. The induced voltage amplitude estimated value correction unit 80 is the same as that in the first embodiment, and the description thereof is omitted.

Next, the operation of the position sensorless motor control device according to the seventh embodiment of the present invention will be described. In Example 7,
The configuration other than the speed control unit 740 and the angle estimation unit 770 is the same as that of the first embodiment, and the description thereof is omitted.

First, the operation of the speed controller 740 will be described. The speed control unit 740 is activated at every set time, and causes the ADC 41, the torque command value creation unit 42, and the current command value creation unit 743 to perform the following operations in this order, and the analog speed command value ω * input from the outside. The γ-axis current command value iγ * and the δ-axis current command value iδ * are controlled so that the rotor 712 rotates at the speed a.

ADC 21 and torque command value creation unit 4
The operation of No. 2 is the same as that of the first embodiment, and the description is omitted.

The current command value generator 743 uses the SPMSM7
The γ-axis current command value iγ * and the δ-axis current command value iδ * are created so that the output torque of 10 becomes the torque command value T *. The current command value amplitude ia is the result of dividing the torque command value T * by a certain set value KT, as in equation (5).
And Further, the γ-axis current command value iγ * is set to 0 as in the following equation (65). On the other hand, as in the following formula (66),
The δ-axis current command value iδ * is set as the current command value amplitude ia.

[0359] iγ * = 0 (65) iδ * = ia (66)

Next, the operation of the angle estimator 770 will be described. First, the meaning of the deviation between the phase current reference value and the phase current value will be described.

In the SPMSM710, the phase voltage equation of u phase is expressed by the following equation (67). Where v
u is u phase voltage value, eu is u phase induced voltage value, R is phase resistance value, iu is u phase current value, L is inductance, d / dt
Represents the time derivative. Here, the u-phase induced voltage value eu does not represent the phase-induced voltage value eu itself calculated from the later-described phase voltage equation.

[0362] vu = eu + R · iu + L · d (iu) / dt (67)

The following equation (68) is obtained by discretizing the equation (67) by the first-order Euler approximation and solving for the u-phase current value iu. iu (n) is the angle estimation unit 770 this time.
Is the u-phase current value iu when is activated. Also, iu
(N-1), vu (n-1), and eu (n-1) are the u-phase current value iu, the u-phase voltage value vu, and the u-phase induced voltage when the angle estimation unit 770 was activated last time, respectively. The value is eu. Is. It should be noted that ΔT is an angle estimation cycle and represents a cycle in which the angle estimation section 770 is activated.

[0364] iu (n) = iu (n-1)   + ΔT / L · {vu (n−1) −eu (n−1) −R · iu (n−1)}                                                           ... (68)

The induced voltage value eu (n-1) is represented by the following equation (69). Here, e is the induced voltage amplitude, and θ (n−1) is the angle θ when the angle estimation unit 770 was last activated. It is assumed that the waveform of the induced voltage is sinusoidal.

[0366] eu (n−1) = − e · sin {θ (n−1)} (69)

On the other hand, in the modeled motor, the discretized equation is expressed by the following equation (70). here,
ium is a u-phase current reference value, and eum is a u-phase induced voltage reference value. The u-phase induced voltage reference value eum (n-1) is expressed by the following equation (71). Here, em is the induced voltage amplitude estimated value, and θm (n−1) is the angle estimation unit 7 last time.
It is the estimated angle θm when 70 is activated.

[0368] ium (n) = iu (n-1)     + ΔT / L · {vu (n−1) −eum (n−1) −R · iu (n−1)}                                                         ... (70) eum (n−1) = − em · sin {θm (n−1)} (71)

Here, in the u-phase, the deviation (u-phase deviation εu) between the u-phase current value iu and the phase current reference value ium is calculated by the following equation (72). If the resistance value R and the inductance L in the phase voltage equation are correct, the u phase deviation εu is proportional to the deviation between the u phase induced voltage value and the induced voltage reference value. However, the reference numerals are different from those in the first embodiment.

[0370] εu = iu (n) -ium (n)       =-[Delta] T / L * {eu (n-1) -eum (n-1)}                                                         ... (72)

Therefore, the same idea as in the first embodiment can be applied, and the angle estimation is realized by operating the u-phase current value iu and the phase current reference value ium so that they match each other. However, since the signs of the deviations are different, the direction in which the estimated angle θm is corrected is reversed.

Details of the operation of the angle estimator 770 will be described below. The angle estimation unit 770 is activated at every set cycle (angle estimation cycle: ΔT), and the phase voltage value creation unit 7
1, induced voltage value calculation unit 72, estimated phase selection unit 73, phase current selection value selection unit 774, phase current reference value creation unit 775, deviation creation unit 776, gain limit creation unit 77, angular velocity correction unit 778, induced voltage The amplitude calculation value creating unit 81 and the induced voltage amplitude estimated value changing unit 82 perform the following operations in this order to create the estimated angle θm and the estimated speed ωm. Further, the current control unit 750, the compensation amount creation unit 60, and the angle estimation unit 770 are operated in this order, and the angle estimation period ΔT and the current control period are the same.

Phase voltage value generator 71, induced voltage value calculator 7
2 and the estimated phase selection unit 73 are the same as those in the first embodiment, and the description thereof will be omitted.

The phase current selection value selection unit 774 sets the phase current value of the estimated phase to the phase current selection value is. When the estimated phase index η = 0 and 3 as in the following equation (73), the u-phase current value iu is set to the phase current selection value is. Also, the estimated phase index η =
When 2 and 5, the v-phase current value iv is set to the phase current selection value i
s. Further, when the estimated phase index η = 1 and 4, the w-phase current value iw is set to the phase current selection value is.

[0375] is = iu (when η = 0, 3) is = iv (when η = 2, 5) is = iw (when η = 1, 4) (73)

The phase current reference value creating unit 775 sets the phase current reference value of the estimated phase as the phase current reference value ism. The following formula (7
4), when the estimated phase index η = 0 and 3, u
The phase current reference value ium is set to the phase current reference value ism. When the estimated phase index η = 2 and 5, the v-phase current reference value ivm is set to the phase current selection value ism. Furthermore, when the estimated phase index η = 1 and 4, the w-phase current reference value iwm is set to the phase current reference value ism. The u-phase current reference value iu
m is represented by the equation (70), and the v-phase current reference value ivm and the w-phase current reference value iwm are represented by the following equation (75).

[0377] ism = ium (when η = 0, 3) ism = ivm (when η = 2, 5) ism = iwm (when η = 1, 4) (74)

[0378] ivm (n) = iv (n-1)     + ΔT / L · {vv (n−1) −evm (n−1) −R · iv (n−1)} iwm (n) = iw (n-1)     + ΔT / L · {vw (n−1) −ewm (n−1) −R · iw (n−1)}                                                           ... (75)

The deviation creating unit 776 creates the deviation ε.
The deviation between the phase current selection value is and the phase current reference value ism is defined as the deviation ε as in the following expression (76).

[0380] ε = is-ism ... (76)

The gain limit creating section 77 is the same as that in the first embodiment, and its explanation is omitted.

The angular velocity correction unit 778 corrects the estimated angle θm so that the deviation ε converges to zero. Also, the estimated angle ωm is created. First, a correction code σ indicating the direction of correction is created. As shown in the following equation (77), the estimated phase index η
When = 0, 2, 4, the correction code σ is set to 1. When the estimated phase index η = 1, 3, 5, the correction code σ is set to -1. The method of correcting the estimated angle θm is the same as that in the first embodiment, and the description will be omitted.

[0383] σ = +1 (η = 0, 2, 4) σ = −1 (η = 1, 3, 5) (77)

The operations of the induced voltage amplitude calculation value creating section 81 and the induced voltage amplitude estimated value changing section 82 are the same as those in the first embodiment, and their explanations are omitted.

The position sensorless motor control device of the first embodiment is operated so that the deviation between the induced voltage value and the induced voltage reference value esm converges to 0, thereby creating the estimated angle θm. Similar to the position sensorless motor control device of the seventh embodiment, even if it is operated so as to converge the deviation between the phase current value and the phase current reference value ism to 0, the same operation as that of the first embodiment is achieved. Therefore, the seventh embodiment has the same effect as the first embodiment.

In the third to seventh embodiments, the phase voltage command values vu *, vv *, vw * are converted to the phase voltage values vu,
Although vv and vw are created, the phase voltage values vu, vv, and v are based on the voltage directly detected by the voltage sensor as in the second embodiment.
You may create w.

Further, in the second embodiment and the fourth to seventh embodiments, the phase current command values iu *, iv *, iw * are created and the current is controlled, but the estimated angle θm is the same as in the third embodiment. The current may be controlled on the γδ axis which is the rotating coordinate system according to.

In Examples 1 to 7, the u phase and v
Although the phase current value and the phase voltage command value of the phase are exchanged, in the three-phase motor, the phase current value and the phase voltage command value of any two phases of the three phases may be exchanged.

Since the current is controlled by the current controller, the same effect can be obtained by using the current detected by the current sensor or the current command. That is, in Examples 1 to 3 and Examples 5 to 7, the current detected by the current sensor was applied to the phase voltage equation.
You may apply a current command. On the contrary, in the fourth embodiment, the current command is applied to the phase voltage equation, but the current detected by the current sensor may be applied.

In the first to seventh embodiments, the compensation amount α
Was changed according to the estimated angle θm, but the compensation amount α need not be changed with respect to the estimated angle θm. In this case, it is not possible to compensate for a fine estimation error having a period of about an electrical period, but it is possible to cope with an average estimation error.

In the sixth embodiment, the voltage phase component (α1) of the compensation amount α is obtained by using the arctangent function as shown in the equation (56), but the voltage phase component (α1) of the compensation amount α is used for the angle estimation. Put in the error amount (α2), create a table of compensation amount α,
The compensation amount α may be obtained directly from this table.

In the sixth embodiment, the out-of-step is judged from the estimated phase voltage amplitude value vm. However, a two-dimensional range for the d-axis voltage command value vd * and the q-axis voltage command value vq * is created, and out of this range. If this is the case, you may decide that you are out of step.

In the first to seventh embodiments, the proportional gain κp, the integral gain κi, the proportional limit ζp and the integral limit ζi are similar to the estimated speed ωm, but they are set separately for the estimated speed ωm. You may.

In the first to fifth embodiments, and the seventh embodiment, the induced voltage amplitude calculation value creation unit creates the induced voltage amplitude calculation value ec from the sum of absolute values of the induced voltage values. The squared result may be added, and the square root may be taken as the induced voltage amplitude calculation value ec. Similarly, in Example 6, the phase voltage amplitude calculation value creation unit created the phase voltage amplitude calculation value vc from the sum of the absolute values of the phase voltage values. However, the result of squaring the phase voltage values was added, and further, The square root may be taken as the phase voltage amplitude calculation value vc.

Further, in the first to fifth embodiments and the seventh embodiment, the induced voltage amplitude calculation value ec is created from the induced voltage values of the three phases, but the induced voltage amplitude calculation value is calculated from the induced voltage value of one phase. You may ask for ec. In this case, the induced voltage amplitude calculation value ec is obtained by multiplying the induced voltage value having the largest magnitude among the three phases by a coefficient. Similarly, in the sixth embodiment, the phase voltage amplitude calculation value vc is calculated from the phase voltage values of the three phases.
However, the phase voltage amplitude calculation value vc may be obtained from the induced voltage value of one phase. In this case, the phase voltage amplitude calculation value vc is obtained by multiplying the phase voltage value having the largest magnitude among the three phases by a coefficient.

In Examples 1 to 7, it was assumed that the induced voltage was sinusoidal, but it is also included in the invention even if it is trapezoidal and not sinusoidal. For example, in the case of a trapezoidal wave, the induced voltage reference value may be changed from a sine wave to a trapezoidal wave.

Further, in the first to seventh embodiments, the current controller, the compensation amount generator and the angle estimator are synchronized, but they may not be synchronized. However, when the synchronization is not performed, it is necessary to make an appropriate design change and perform the operation of advancing the estimated angle θm performed by the angular velocity correction unit by the current control unit.

In the first to seventh embodiments, dead time compensation may be performed on the voltage command values vu * 1, vv * 1, vw * 1 after replacement. In addition, Example 1 and Example 3
In Example 7, the phase voltage command values vu *, vv *,
Although vw * is set to the phase voltage values vu, vv, vw, the phase voltage command values vu *, vv *, vw * are compensated so as not to have an influence of dead time, and are set as the phase voltage values vu, vv, vw. Good. By doing so, more accurate angle estimation can be realized. In this case, the phase voltage values vu, vv,
The value obtained by subtracting the neutral point potential from vw is used for estimation.

In the first to seventh embodiments, the proportional-integral result is directly used as the phase voltage command value, but the triple harmonic may be superposed and the two-phase modulation may be performed. In this case, the phase voltage value v
A value obtained by subtracting the neutral point potential from u, vv, vw is used for estimation.

In the first to sixth embodiments, the IPMS
Although M is controlled, SPMSM may be controlled. On the contrary, although the SPMSM is controlled in the seventh embodiment, the IPMSM may be controlled in consideration of the inductance change in the calculation of the phase current model value ism.

Further, the synchronous reluctance motor may be controlled. Since this synchronous reluctance motor does not have a permanent magnet, the induced voltage by the permanent magnet may be controlled to 0. For example, in the sixth embodiment, in equation (56), the effective value ψ of the dq-axis winding interlinkage magnetic flux due to the permanent magnet is set to 0, and the compensation amount α is expressed by the following equation (78).
It suffices to create the voltage phase component α1.

[0402] α1 = −atan [{R · iγ * −ωe · Lq · iδ *} /                   {R · iγ * + ωe · Ld · iδ *}] (78)

[0403]

As described above, according to the present invention, a deviation is calculated for each angle estimation cycle which is a very short period and the estimated angle is corrected, so that an estimated angle with high resolution is always created. An advantageous effect that a position sensorless motor control device can be realized is obtained. Further, by obtaining the deviation for each angle estimation cycle which is a very short period and correcting the estimated angle, it is possible to realize a position sensorless motor control device capable of following a rapid change in angular velocity and having good responsiveness to a change in velocity. That is, an advantageous effect can be obtained.

According to the present invention as set forth in claim 1 or the like, since the estimated angle is not affected by the temperature change, it is possible to realize a position sensorless motor control device which estimates the rotor angle with high accuracy over a wide temperature range. An advantageous effect is acquired.

According to the present invention as set forth in claims 1, 6 , 9 , and 11, in calculating between the estimated signal and the measurement data,
Since it is not necessary to perform coordinate rotation, the correct rotor angle can be estimated even when the phase voltage of the motor stator winding is saturated and the phase voltage becomes a trapezoidal wave or a rectangular wave. The advantageous effect that the position sensorless motor control device that drives the motor at high speed and large output torque can be realized is obtained. In addition, the position sensorless model according to the present invention
In the data control device, the magnetization waveform of the permanent magnet of the rotor
Is optional. Therefore, the magnetization waveform of the permanent magnet of the rotor is
Waveforms other than sine waves, in which the induced voltage is other than sine wave
A motor having a shape also has a high precision by the present invention.
The advantage is that the rotor angle can be estimated in degrees.
The effect is obtained.

According to the present invention of claim 6, the stator winding is
From the measured or calculated voltage of
The induced voltage is derived by subtracting. By this
The rotor angle with high accuracy over a wide temperature range.
Of a position sensorless motor controller that estimates
That is, an advantageous effect can be obtained.

According to the present invention of claim 9, the stator winding is
The angle is estimated based on the current signal of. By this,
Wide temperature range because the constant angle is not affected by temperature changes
Standing Niwa, location cell to estimate the angle of the rotor with high precision
The advantageous effect of being able to realize a sensorless motor control device.
The fruit is obtained.

Further , according to the present invention of claim 11, the phase current is
By matching the phase voltage value to the pressure reference value,
Position sensorless, which realizes angle estimation with less calculation time
Realize a motor control device.

According to the present invention as defined in claims 2, 7, 10, and 12.
A feedback loop to reduce the amplitude error
Position sensor that can calculate the correct angle error.
Advantageous effect of realizing a sales motor control device
Is obtained.

According to the present invention of claims 3 and 8, the stator is
Since the winding current is treated as a sinusoidal signal, the angle
The calculations for estimating degrees are simplified. This allows
Small and inexpensive microprocessor etc. for short calculation
Position sensorless motor controller that estimates the angle by time
It is possible to obtain the advantageous effect that In addition,
Since the motor winding has a large inductance component,
The waveform of the phase current in the theta winding is less likely to saturate,
Even when the phase voltage waveform of the line is saturated, the phase current waveform is positive.
Since it is close to a chord wave, the phase voltage waveform of the stator winding is saturated.
Even when the rotor angle is high, the estimation accuracy of the rotor angle is high.
Sensorless motor that drives the motor with various output torques
The advantageous effect that the control device can be realized is obtained.

According to the present invention of claims 4 and 13 to 15,
Select a phase with a high angle error detection accuracy to compensate for the angle error.
To correct. This allows for any rotor angle
Even if the angle can be estimated with high accuracy,
Advantage of being able to realize a stationary sensorless motor control device
Can be obtained. According to the invention of claim 15, all
It is not necessary to calculate the error for each phase,
Compare the pressures and select the phase with the smallest induced voltage.
Error is maximized under normal conditions.
Select the phase that is
Is advantageous because it takes less time to calculate
Such effects can be obtained.

According to the present invention of claims 5 and 18, it is very
With slight switching, it can be used for forward and reverse rotation.
Circuit block or program for normal rotation and reverse rotation
Position sensorless that can share most of the block
The advantageous effect that a motor control device can be realized is obtained.
Be done.

According to the sixteenth aspect of the present invention, the motor
It is detected that the angle estimation error of the data exceeds a certain range.
(As a result, for example, the estimated angular velocity does not match the actual angular velocity.
If the values are very different), stop the motor, for example
Let As a result, the motor is out of control
Position sensor that can be easily escaped from
The advantageous effect that a motor control device can be realized is obtained.
Be done.

According to the seventeenth aspect of the present invention, the excessive correction
Prevents correcting the estimated signal with a quantity. to this
Stable position sensor that is less susceptible to noise.
The advantageous effect that a motor control device can be realized is obtained.
To be Change the upper or lower limit of the correction amount according to the angular velocity.
Turn into This will reduce the effects of noise over a wide speed range.
Implement a stable, position sensorless motor control device that is hard to receive
There is an advantageous effect that it can be revealed.

[0415]

[0416]

[0417]

[0418]

[0419]

[0420]

[0421]

[0422]

[Brief description of drawings]

FIG. 1 is a block diagram illustrating a configuration of a position sensorless motor control device according to a first embodiment.

FIG. 2 is a circuit diagram of a drive unit according to the first embodiment.

FIG. 3 is a block diagram showing a configuration of a speed control unit according to the first embodiment.

FIG. 4 is a block diagram showing the configuration of a current control unit according to the first embodiment.

FIG. 5 is a block diagram showing a configuration of an angle estimation unit in the first embodiment.

FIG. 6 is a block diagram showing the configuration of a step-out detection unit in the first embodiment.

FIG. 7 is an explanatory diagram of a coordinate system according to the first embodiment.

FIG. 8 is a waveform diagram showing the induced voltage value of the u phase, the induced voltage reference value, and the deviation in the first embodiment.

FIG. 9 is a relationship diagram of a gain and a limit with respect to an estimated speed in the first embodiment.

FIG. 10 is a relationship diagram of the induced voltage amplitude upper limit value and the induced voltage amplitude lower limit value with respect to the estimated speed in the first embodiment.

FIG. 11 is a block diagram showing a configuration of a position sensorless motor control device according to a second embodiment.

FIG. 12 is a block diagram showing the configuration of an angle estimation unit according to the second embodiment.

FIG. 13 is a block diagram illustrating a configuration of a position sensorless motor control device according to a third embodiment.

FIG. 14 is a block diagram showing the configuration of a current control unit according to the third embodiment.

FIG. 15 is a block diagram showing the configuration of a position sensorless motor control device according to a fourth embodiment.

FIG. 16 is a block diagram showing a configuration of an angle estimation unit in the fourth embodiment.

FIG. 17 is a block diagram showing a configuration of a position sensorless motor control device according to a fifth embodiment.

FIG. 18 is a block diagram showing a configuration of an angle estimation unit in the fifth embodiment.

FIG. 19 is a waveform diagram showing the relationship between the induced voltage value of each phase and the estimated phase index in the fifth embodiment.

FIG. 20 is a block diagram showing the configuration of a position sensorless motor control device according to a sixth embodiment.

FIG. 21 is a block diagram showing the configuration of an angle estimation unit in the sixth embodiment.

FIG. 22 is a block diagram showing the configuration of a step-out detection unit in the sixth embodiment.

FIG. 23 is a diagram showing the relationship between the upper limit value of the phase voltage amplitude and the lower limit value of the phase voltage amplitude with respect to the estimated speed in the sixth embodiment.

FIG. 24 is a block diagram showing the configuration of a position sensorless motor control device according to a seventh embodiment.

FIG. 25 is a block diagram showing the configuration of a speed control unit according to the seventh embodiment.

FIG. 26 is a block diagram showing a configuration of an angle estimation unit in the seventh embodiment.

FIG. 27 is a block diagram showing the configuration of a position sensorless motor control device of Conventional Example 1.

FIG. 28 is a timing chart of a position sensorless motor control device of Conventional Example 1.

FIG. 29 is a block diagram showing a configuration of a position sensorless motor control device of Conventional Example 2.

FIG. 30 is an analysis model of a position sensorless motor control device of Conventional Example 2.

[Explanation of symbols]

10 IPMSM 11u stator winding 11v stator winding 11w stator winding 12 rotor 712 rotor 13 permanent magnet 713 permanent magnet 21u current sensor 21v current sensor 22 Microcomputer 222 microcomputer 322 Microcomputer 422 microcomputer 522 Microcomputer 622 microcomputer 722 Microcomputer 30 Drive 40 Speed controller 440 Speed controller 740 Speed control unit 50 Current controller 250 current controller 350 current controller 450 current controller 60 Compensation amount creation section 660 Compensation amount creation section 70 Angle estimation unit 270 Angle estimation unit 470 Angle estimation unit 570 Angle estimation unit 670 Angle estimation unit 770 Angle estimation unit 80 Induced voltage amplitude estimated value correction unit 90 Step out detector 690 Step-out detection unit 710 SPMSM

─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Koki Maruyama 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (56) Reference JP-A-11-18499 (JP, A) JP-A-11- 18477 (JP, A) JP-A-8-256496 (JP, A) JP-A-8-317685 (JP, A) JP-A-8-308286 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) H02P 6/16 H02P 6/06

Claims (18)

(57) [Claims] 1. The method based on an estimated angle of a rotor of a motor
The command value of the voltage applied to the 3-phase stator winding of the motor
Voltage command value creating means for creating the phase voltage command value shown, A voltage is applied to the stator winding based on the phase voltage command value.
Drive means for adding, Create a phase current value that indicates the current flowing in the stator winding
Phase current value creating means, A phase voltage value indicating the voltage applied to the stator winding is created.
Phase voltage value creation means to be formed, Angle estimating means for creating the estimated angle, In a position sensorless motor control device equipped with The angle estimation means calculates the estimated angle, the phase current value, and
Phase voltage of the three phases of the stator winding based on the phase voltage value
Create a calculated value that is calculated using the equation
The electrical angle of 360 ° according to the estimated angle
Create a reference value that changes with the calculated value and the reference value
Deviation creating means for creating the deviation of Correct the estimated angle so that the deviation converges to zero.
A position sensor having an angle correction unit;
Motor control device. 2. Based on the phase current value and the phase voltage value
Amplitude estimation for correcting an amplitude estimation value indicating the amplitude of the reference value
The value correction means is added, as set forth in claim 1.
Mounted position sensorless motor control device. 3. The angle estimator is configured so that the phase current is sine.
Simplified stator winding phase voltage scheme assuming waves
Characterized in that the estimated angle is created based on the equation
The position sensorless motor control device according to claim 1. 4. The method based on an estimated angle of a rotor of a motor
The command value of the voltage applied to the 3-phase stator winding of the motor
Voltage command value creating means for creating the phase voltage command value shown, A voltage is applied to the stator winding based on the phase voltage command value.
Drive means for adding, Angle estimating means for creating the estimated angle, In a position sensorless motor control device equipped with Before using the angle estimation means to create the estimated angle
The estimated phase that indicates the phase of the stator winding is one of the three phases
Estimated phase selection means to select only Correct the estimated angle using the phase voltage equation of the estimated phase
Angle correction means for
Sensorless motor controller. 5. The current flowing through the stator winding of the motor is detected.
A current sensor that outputs a known phase current value, The stator winding based on the estimated angle of the rotor of the motor
Create a phase voltage command value that indicates the command value of the voltage applied to the line.
Voltage command value creating means, A voltage is applied to the stator winding based on the phase voltage command value.
Drive means for adding, Angle estimating means for creating the estimated angle, The rotation direction command indicating the direction of rotation of the rotor is
Phase current value exchanger that exchanges the phase current values with each other when reversing
Dan, When the rotation direction command is reverse rotation, the voltage command values are exchanged.
Phase voltage command value exchanging means for exchanging, Position sensorless motor control characterized by comprising
apparatus. 6. The method based on an estimated angle of a rotor of a motor
The command value of the voltage applied to the 3-phase stator winding of the motor
Voltage command value creating means for creating the phase voltage command value shown, A voltage is applied to the stator winding based on the phase voltage command value.
Drive means for adding, Create a phase current value that indicates the current flowing in the stator winding
Phase current value creating means, A phase voltage value indicating the voltage applied to the stator winding is created.
Phase voltage value creation means to be formed, Angle estimating means for creating the estimated angle, In a position sensorless motor control device equipped with The angle estimating means determines an electrical angle 360 according to the estimated angle.
The induced voltage group that indicates the reference value of the induced voltage that changes in a cycle of °
Induced voltage reference value creating means for creating a quasi value, Using the three-phase phase voltage equation of the stator winding,
Electricity is calculated from the phase voltage value based on the current value and the phase voltage value.
Voltage drop due to resistance and voltage drop due to inductance
The induced voltage value is created by subtracting
Creating means, Create a deviation between the induced voltage value and the induced voltage reference value
Deviation creating means, Correct the estimated angle so that the deviation converges to zero.
Angle correction means, Position sensorless motor control device characterized by having
Place 7. The angle estimating means sets the induced voltage value to
Based on the estimated amplitude value indicating the amplitude of the induced voltage reference value,
A correction means for correcting an estimated amplitude value for correction.
The position sensorless motor control device according to claim 6. 8. The induced voltage value creating means is configured to generate the phase current.
Simplifies the phase voltage equation assuming that is a sine wave,
An electrical angle of 360 ° according to the estimated angle from the phase voltage value
The voltage drop due to the electrical resistance that changes in a substantially sine wave and
It changes in a substantially sinusoidal shape at an electrical angle of 360 ° depending on the constant angle.
Induced by subtracting the voltage drop due to the inductance
7. The electromotive force value is created, as set forth in claim 6.
Position sensorless motor controller. 9. The method based on an estimated angle of a rotor of a motor
The command value of the voltage applied to the 3-phase stator winding of the motor
Voltage command value creating means for creating the phase voltage command value shown, A voltage is applied to the stator winding based on the phase voltage command value.
Drive means for adding, Create a phase current value that indicates the current flowing in the stator winding
Phase current value creating means, A phase voltage value indicating the voltage applied to the stator winding is created.
Phase voltage value creation means to be formed, Angle estimating means for creating the estimated angle, In a position sensorless motor control device equipped with The angle estimating means determines an electrical angle 360 according to the estimated angle.
Phase current reference value that indicates the reference value of the phase current that changes in a cycle of °
Phase current reference value creating means for creating A bias for creating a deviation between the phase current value and the phase current reference value.
Difference creation means, Correct the estimated angle so that the deviation converges to zero.
Angle correction means, Position sensorless motor control device characterized by having
Place 10. The amplitude of the induced voltage based on the phase current value
To estimate the amplitude and correct the amplitude estimate.
10. The position of claim 9, further comprising steps.
Sensorless motor controller. 11. Flowing through a three-phase stator winding of a motor
A current sensor that detects the current and outputs the phase current value, Based on the estimated angle of the rotor of the motor and the phase current value.
Phase current indicating the command value of the voltage applied to the stator winding
Voltage command value creating means for creating a pressure command value, A voltage is applied to the stator winding based on the phase voltage command value.
Drive means for adding, A phase voltage value indicating the voltage applied to the stator winding is created.
Phase voltage value creation means to be formed, Angle estimating means for creating the estimated angle, In a position sensorless motor control device equipped with The angle estimating means determines an electrical angle 360 according to the estimated angle.
Phase voltage that is the reference value of the phase voltage value that changes in a cycle of °
Phase voltage reference value creating means for creating a reference value, A bias for creating a deviation between the phase voltage value and the phase voltage reference value.
Difference creation means, Correct the estimated angle so that the deviation converges to zero.
Angle correction means, Position sensorless motor control device characterized by having
Place 12. The phase voltage reference based on the phase voltage value
Amplitude estimation value correction procedure that corrects the amplitude estimation value that indicates the amplitude of the value
The position of claim 11, further comprising a step.
Position sensorless motor control device. 13. The angle estimating means calculates the estimated angle.
The estimated phase that indicates the phase of the stator winding used for making is 3
Including estimated phase selection means for selecting only one phase from the phases
Consists of, The angle correction means converges the deviation of the estimated phase to 0.
To correct the estimated angle so that
The position sensor array according to claim 6, claim 9, or claim 11.
Motor control device. 14. The angle estimation means calculates the estimated angle.
As an estimated phase that indicates the phase of the stator winding used for making
The phase with the largest deviation among the three phases Recommendation
It is configured to include a constant phase selection means, The angle correction means converges the deviation of the estimated phase to 0.
To correct the estimated angle so that
The position sensorless motor control device according to claim 13. 15. The angle estimating means calculates the angle of the estimated angle.
As an estimated phase that indicates the phase of the stator winding used for making
Out of the three phases, the magnitude of the induced voltage is the smallest
Comprising an estimated phase selection means for selecting a phase, The angle correction means converges the deviation of the estimated phase to 0.
To correct the estimated angle so that
The position sensorless motor control device according to claim 13. 16. An amplitude step-out judgment for creating an amplitude step-out judgment value.
Outlier value creating means, the amplitude estimated value and the amplitude out-of-step judgment value
The estimated angle is not created correctly based on
Step-out determination means for determining
Claim 2, claim 7, claim
Position sensorless motor control according to claim 10 or claim 12.
apparatus. 17. A method that increases as the estimated speed increases.
Limit creation means for creating mitt is added, The angle correction means is arranged so that the deviation converges to zero.
Characteristic that the estimated angle is corrected based on the limit
According to claim 1, claim 6, claim 9 or claim 11.
The position sensorless motor control device described. 18. A command for the direction of rotation of said rotor is indicated.
When the rotation direction command is reverse rotation, the phase current values are exchanged.
Phase current value exchanging means, When the rotation direction command is reverse rotation, the phase voltage command values are
Phase voltage command value exchange means to be exchanged, and
Claim 1, Claim 6, Claim 9 or Claim 1 characterized
1. The position sensorless motor control device according to 1.