JP3591414B2 - Control device for permanent magnet synchronous motor - Google Patents

Control device for permanent magnet synchronous motor Download PDF

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Publication number
JP3591414B2
JP3591414B2 JP2000077758A JP2000077758A JP3591414B2 JP 3591414 B2 JP3591414 B2 JP 3591414B2 JP 2000077758 A JP2000077758 A JP 2000077758A JP 2000077758 A JP2000077758 A JP 2000077758A JP 3591414 B2 JP3591414 B2 JP 3591414B2
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speed
value
means
deviation
axis
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JP2001268974A (en
Inventor
博 大沢
高裕 山嵜
信夫 糸魚川
尚史 野村
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富士電機機器制御株式会社
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Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a control device for controlling the speed and torque of a permanent magnet synchronous motor using a semiconductor power converter such as an inverter, and a permanent magnet without detecting the magnetic pole position of the motor using a position detector such as an encoder or a resolver. The present invention relates to a control device capable of controlling the speed and torque of a synchronous motor with high performance.
[0002]
[Prior art]
In order to control the speed and torque of a permanent magnet synchronous motor with high performance, it is generally necessary to attach a position detector for detecting the magnetic pole position of the motor to the motor. However, this type of position detector is generally expensive, and it may not be possible to mount the position detector due to the structure of the motor and the installation environment. In order to solve this problem, a method of electrically calculating a magnetic pole position from a voltage or a current of a motor without using a position detector has been studied.
[0003]
FIG. 5 shows a conventional technique for controlling a so-called position sensorless permanent magnet synchronous motor without a magnetic pole position detector at high performance. Takeshita et al. This is an application example of the control method announced in 1997 as "sensorless salient-pole type brushless DC motor control based on speed electromotive force estimation".
First, a method for estimating a speed and a position in the conventional technique will be described. In the following, the d-axis relating to the amount of current and the amount of voltage refers to a coordinate axis along the magnetic flux direction of the permanent magnet rotor, and the q-axis refers to a coordinate axis orthogonal to the d-axis.
[0004]
In FIG. 5, first, the current estimator 113 detects the d-axis voltage command value v d * and the q-axis voltage command value v q * output from the current adjuster 108 and detects the d-axis current output from the coordinate converter 112. The second speed estimation in which the low-pass filter 118 removes the high-frequency components of the value i dc and the q-axis current detection value i qc , the induced voltage estimated value e qM output from the induced voltage estimator 116, and the speed estimated value ω M. using the value omega M2, calculates a d-axis current estimated value i dM and the q-axis current estimated value i qM equation 1, according to equation 2.
[0005]
(Equation 1)
[0006]
(Equation 2)
[0007]
Equation 1, in formulas 2, L d is d-axis inductance (the d-axis component of the motor windings inductance), L q is q-axis inductance (also q-axis component), r a is the armature resistance, (t) is the time function Represents
Here, between the actual value theta pole position estimation value theta M, if there is a deviation between the actual value e q and the induced voltage estimated value e qM, the d-axis current estimated value i dM a detection value i dc And the deviation between the q-axis current estimated value iqM and the detected value iqc are expressed by Expressions 3 and 4. These deviations are the outputs of adders 114 and 115.
[0008]
[Equation 3]
[0009]
(Equation 4)
[0010]
From Equations 3 and 4, the deviation of the d-axis current is proportional to the position estimation deviation, and the deviation of the q-axis current is proportional to the deviation of the induced voltage. Therefore, the speed estimator 117 in FIG. 5 calculates the estimated speed omega M by Equation 6, the induced voltage estimator 116 calculates the induced voltage estimated value e qM by Equation 5.
[0011]
(Equation 5)
[0012]
(Equation 6)
[0013]
In Equation 5, T Ieq is an integration time constant.
Also, in Equation 6,
sgn (ω M2 ) = 1 (ω M2 ≧ 0), sgn (ω M2 ) = − 1 (ω M2 <0)
And a, [psi m unloaded flux linkage, K [theta is the proportional gain.
[0014]
Magnetic pole position estimation value theta M is the speed integrator 119 is determined by integrating the estimated speed value omega M. Also, the speed control calculation, the second estimated speed value omega M2 obtained by removing the low-pass filter 118 the ripple component of the velocity estimation value omega M used.
[0015]
The following describes a speed control method using the second estimated speed value omega M2 and the position estimate theta M.
In FIG. 5, the acceleration / deceleration calculator 101 limits the rate of change of the first speed command value ω 1 * to calculate the second speed command value ω 2 * . The second speed command value ω 2 * is input to the low-pass filter 102 to remove high-frequency components, thereby obtaining a third speed command value ω 3 * . The speed adjuster 104 amplifies a deviation between the third speed command value ω 3 * obtained by the adder 103 and the second speed estimated value ω M2 to calculate a torque command value τ * .
[0016]
Current command calculator 105 calculates the d-axis current command value i d * and the q-axis current command value i q * from the tau * and omega M2. Current regulator 108, d-axis current deviation calculated by the adder 106 (i d * -i dc) , and amplifies the q-axis current deviation calculated by the adder 107 (i q * -i qc) , The d-axis voltage command value v d * and the q-axis voltage command value v q * are calculated.
Incidentally, i dc, i qc is calculated by the coordinate converter 112 by using the position estimate theta M determined by the phase current detection value i u, i w the speed integrator 119 as determined by the current detector 111.
[0017]
The coordinate converter 109 calculates three-phase voltage commands v u * , v v * , v w * from v d * , v q * and the position estimation value θ M. By converting these three-phase voltage commands v u * , v v * , v w * into gate signals by the PWM modulator 110 and operating the semiconductor power converter 300 such as an inverter, a permanent magnet synchronous motor (PM motor ) Control the terminal voltage of 400; As a result, control is performed such that the rotation speed and the torque of the electric motor 400 match the command value. Reference numeral 200 denotes a three-phase AC power supply.
[0018]
[Problems to be solved by the invention]
In the above-described conventional technique, when the speed command value ω 1 * is changed, the torque command value τ * changes, whereby the actual torque changes and the speed of the electric motor 400 also changes. However, since the speed estimation value omega M is obtained by convergence calculation using the equations 6 and Equation 5, there is a delay time of the operation. Therefore, the estimated speed value omega M has an error with respect to the speed actual value, an error occurs in the position estimate theta M of magnetic poles speed integrator 119 is obtained by integrating the estimated speed omega M .
The magnetic pole position estimation error is almost proportional to the acceleration of the electric motor 400. If the position estimation error becomes excessive during rapid acceleration / deceleration, the control system becomes unstable and the operation may become impossible. As a result, there has been a problem that rapid acceleration / deceleration operation of the motor cannot be performed.
[0019]
Accordingly, the present invention provides a permanent magnet synchronous motor control device that reduces a magnetic pole position estimation error caused by an error between an estimated speed value and an actual speed value, thereby enabling stable operation and rapid acceleration / deceleration operation of the motor. It is what we are going to offer.
[0020]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention according to claim 1 controls a permanent magnet synchronous motor having no magnetic pole position detector by driving a permanent magnet synchronous motor with a semiconductor power converter to control the speed and torque of the motor. A speed deviation estimating means for estimating a deviation between the speed command value and the actual speed value from a current equivalent value of the electric motor, a d-axis voltage equivalent value, and a speed command value; and a speed deviation estimation output from the speed deviation estimating means. Means for calculating an estimated speed value by adding the value to the speed command value; and means for estimating the magnetic pole position of the electric motor by integrating the estimated speed value.
According to a second aspect of the present invention, in the control device for a permanent magnet synchronous motor according to the first aspect, the speed deviation estimating means includes a speed deviation estimated value output from the speed deviation estimating means and a speed command value. , A d-axis current detection value of the motor, a q-axis current detection value, and a d-axis voltage command value to estimate a d-axis current, and d output from the current estimation means. with the deviation between the axis current estimated value and the d-axis current detection value,及beauty, a current deviation amplifying means for calculating the speed deviation estimate using the sign of the sum of the speed deviation estimate and the speed command value, the It is a thing.
According to a third aspect of the present invention, in the control device for a permanent magnet synchronous motor according to the first aspect, the speed deviation estimating means includes a speed deviation estimated value output from the speed deviation estimating means and a speed command value. , A d-axis current detection value of the electric motor, and a q-axis current detection value, estimating a d-axis voltage, a d-axis voltage estimation value output from the voltage estimating means, and a d-axis voltage Voltage deviation amplifying means for calculating the speed deviation estimated value using the deviation from the voltage command value and the sign of the sum of the speed deviation estimated value and the speed command value .
[0023]
According to a fourth aspect of the present invention, there is provided a control device for a permanent magnet synchronous motor that controls a speed and a torque of the motor by driving a permanent magnet synchronous motor having no magnetic pole position detector by a semiconductor power converter. An oscillating means for outputting a command; an adding means for adding the high-frequency voltage command to the d-axis voltage command value to calculate a second d-axis voltage command value; filter means for extracting the q-axis current high frequency component; change rate calculating means for calculating the change rate of the q-axis current high frequency component; and a speed deviation estimated value by amplifying the change rate of the q-axis current high frequency component. Current amplifying means, adding means for adding a speed deviation estimated value and a speed command value to calculate a speed estimated value of the motor, and means for estimating a magnetic pole position of the motor by integrating the speed estimated value. It is intended.
[0024]
In the present invention, a speed deviation estimated value which is a deviation between a speed command value and an actual speed value is calculated using a voltage equivalent value, a current equivalent value, a speed command value, and the like of the permanent magnet synchronous motor, and the speed deviation estimated value is calculated. And the speed command value are added to obtain an estimated speed value.
As a result, since the speed estimation value changes in response to the change in the speed command value, the speed estimation error and the magnetic pole position estimation error due to the delay in the calculation are reduced, and a control device capable of rapid acceleration / deceleration operation of the synchronous motor is provided. Can be realized.
Further, even if the load changes and a deviation between the speed command value and the speed estimated value occurs transiently, the speed command value is corrected by the speed deviation estimated value to generate the speed estimated value, so that the above-mentioned difference is calculated. A stable operation can be realized without it.
[0025]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, FIG. 1 is a control block diagram of a first embodiment corresponding to claim 1, and the same components as those in FIG. 5 are denoted by the same reference numerals.
In FIG. 1, the speed deviation estimator 120 includes a d-axis voltage command value v d * output from the current controller 108, a d-axis current detection value i dc output from the coordinate converter 112, and a q-axis current detection value i. qc, and calculates the speed deviation estimation value △ omega M from the third speed command value omega 3 * output from the low pass filter 102.
[0026]
By by an adder 122 from the third speed command value omega 3 * by subtracting the speed deviation estimation value △ omega M to correct the omega 3 *, it calculates the estimated speed value omega M. Speed integrator 119 calculates a position estimate theta M by integrating the omega M.
On the other hand, the speed deviation estimate [Delta] [omega M is entered removed ripple component to the low-pass filter 121 is input to the speed regulator 104 as a second speed deviation estimation value △ omega M2. The speed controller 104 amplifies the △ ω M2 and calculates a torque command value τ * . The other operations of the current command calculator 105, the current adjuster 108, the coordinate converters 109 and 112, the PWM modulator 110, and the like are the same as those in the related art of FIG.
[0027]
Although not shown, if the third speed command value ω 3 * is added to the input of the low-pass filter 3, that is, △ ω M through a high-pass filter that passes only high-frequency components, the torque command value is rapidly changed when the speed command value changes suddenly. Therefore, the response of the speed control can be improved. This also applies to each of the embodiments described below.
[0028]
According to this embodiment, d-axis voltage command value v d *, d-axis current detection value i dc, q-axis current detection value i qc, the third speed command value omega 3 * from the speed estimation-value △ omega M calculated, since the third speed command value omega 3 * calculates the estimated speed omega M is corrected by the estimated value △ omega M, the first speed command value omega 1 * hence the third speed command When the value ω 3 * changes, the speed estimation value ω M changes with almost no calculation delay. As a result, it is possible to reduce the error between the estimated speed value and the actual speed value, which has been a problem in the prior art, and the error in estimating the magnetic pole position based on the error, so that rapid acceleration / deceleration operation can be performed without any trouble.
Further, even if a deviation occurs transiently between the speed command value and the speed estimated value due to a change in load, the third speed command value ω 3 is calculated based on the speed deviation estimated value △ ω M so as to eliminate the deviation. * the so immediately corrected to correct the speed estimated value ω M, it is possible to perform a stable operation.
[0029]
In this embodiment, the d-axis current detection value i dc and the q-axis current detection value iqc are used as current equivalent values to calculate the speed deviation estimated value △ ω M , but the d-axis current command value The id * and the q-axis current command value iq * may be used. Further, as the voltage equivalent value, may be used d-axis voltage detection value v d instead of d-axis voltage command value v d *. This is the same in the following second and third embodiments.
[0030]
Next, FIG. 2 is a control block diagram showing a second embodiment according to the second aspect. This embodiment is a more specific example of the speed deviation estimator 120 in the first embodiment.
In FIG. 2, reference numeral 120A denotes a speed deviation estimator, and the other configuration is the same as that of FIG. In the speed deviation estimator 120A, the signal to remove high frequency components from the speed deviation estimation value △ omega M and the third speed command value omega 3 * type in the illustrated code to the adder 1205 by the low-pass filter 1204, the seek 3 of speed estimated value ω M3.
Note that the low-pass filter 1204 may be provided at a stage subsequent to the adder 1205, and this is the same in the third embodiment of FIG. 3 described later.
[0031]
Current estimator 1201, d-axis voltage command value v d *, d-axis current detection value i dc, q-axis current detection value i qc, the third speed estimate omega M3 and motor constants L d, L q, r a Is used to calculate the d-axis current estimated value idM according to the above equation (1). Note that ω M3 is used instead of ω M2 in Expression 1.
Further, since the deviation between the i dM and i dc is but is calculated by the adder 1202, the deviation is proportional to the product of the position estimation error and the induced voltage as shown in Equation 3, the current deviation amplifier 1203, relative deviation between i dM and i dc by calculating the following equation 7 obtain a velocity deviation estimation value △ omega M.
[0032]
(Equation 7)
[0033]
In Equation 7, K [theta is the proportional gain, T I theta is the integral time constant,
sgn (ω M3 ) = 1 (ω M3 ≧ 0), and sgn (ω M3 ) = − 1 (ω M3 <0).
[0034]
In this embodiment, the third estimated speed value ω M3 changes in accordance with the change in the third speed command value ω 3 * , and the estimated speed deviation value is calculated by Expression 7 based on the sign and the d-axis current deviation. Δω M changes. Then, the speed estimated value omega M is calculated directly by addition of the third speed command value omega 3 * and speed deviation estimation value △ omega M. As a result, it is possible to reduce the error of the estimated speed value from the actual speed value based on the calculation delay, and to reduce the magnetic pole position estimation deviation based on the error, so that rapid acceleration / deceleration operation can be performed without any trouble.
As in the first embodiment, so as to eliminate transient deviation between the speed command value and the speed estimated value caused by the change in load, speed deviation estimation value △ omega M by a third speed command value Since ω 3 * is immediately corrected to correct the estimated speed value ω M , stable operation can be performed.
[0035]
Next, FIG. 3 is a control block diagram showing a third embodiment according to the third aspect. This embodiment also embodies the speed deviation estimator 120 of the first embodiment more, but differs from the second embodiment in that the deviation between the d-axis voltage estimation value and the d-axis voltage command value and the on the basis of the third speed estimation value omega M3 is a point to determine the speed deviation estimation value △ omega M.
[0036]
In FIG. 3, a signal obtained by removing a high-frequency component from the estimated speed deviation value △ ω M by the low-pass filter 1204 and a third speed command value ω 3 * are input to an adder 1205 with the illustrated symbols, and the third speed estimation is performed. Find the value ω M3 . The voltage estimator 1206 calculates the d-axis voltage estimation value v dM from Expression 8 from the d-axis current detection value i dc , the q-axis current detection value iqc, and the third speed estimation value ω M3 .
[0037]
(Equation 8)
[0038]
Here, the deviation between the d-axis voltage estimated value v dM and the d-axis voltage command value v d * is expressed by Expression 9.
[0039]
(Equation 9)
v dM -v d * = -e q (θ M -θ)
[0040]
According to Equation 9, v deviation between dM and v d * is proportional to the product of the position estimation error and (θ M -θ) with the induced voltage e q. This formula 9, sgn (ω M3), Kθ, from T I theta, calculates the voltage deviation amplifier 1207 speed deviation estimation value △ omega Equation 10 to M of FIG.
[0041]
(Equation 10)
[0042]
Also in this embodiment, the error between the estimated speed value and the actual speed value based on the calculation delay, and the magnetic pole position estimation deviation based on the error can be reduced, and rapid acceleration / deceleration operation can be performed without any trouble.
In addition, the third speed command value ω 3 * is immediately corrected by the speed difference estimated value △ ω M so as to eliminate a transient deviation between the speed command value and the speed estimated value caused by the load change. since correct speed estimation value omega M, it is possible to perform stable operation.
[0043]
Next, FIG. 4 is a control block diagram showing a fourth embodiment corresponding to claim 4.
In the prior art of FIG. 5 and the embodiments of FIGS. 1 to 3 described above, on the principle that the speed is estimated by estimating the induced voltage, the speed cannot be estimated near zero speed where the induced voltage is minute. Although there is a disadvantage that the motor cannot be operated, the present embodiment has a feature that the synchronous motor having saliency can be operated even near zero speed.
That is, the estimated speed deviation in this embodiment, the mutual inductance between the d-axis and q-axis estimated by the control device (the difference between the d-axis inductance L d and q-axis inductance L q) is the magnitude of the position estimation error Utilizing that it depends on In FIG. 4, the same components as those in FIGS. 1 to 3 are denoted by the same reference numerals.
[0044]
In FIG. 4, a high frequency voltage command v dh * of a rectangular wave is output by an oscillator 123, and the voltage command v dh * is added to a d-axis voltage command v d * by an adder 124 to obtain a second d-axis voltage command. By calculating v d2 * , a high-frequency voltage is superimposed on the fundamental wave voltage.
On the other hand, the high frequency separation filter 125 provided on the output side of the coordinate converter 112 separates the detected d-axis current value i dc and the detected q-axis current value iq c into respective fundamental wave components i dcb , iq cb and high frequency components, The q-axis current harmonic component iqch is extracted.
Change rate arithmetic unit 126 multiplies the high-frequency voltage command v dh * of v dh to the amount of change in i Qch the half cycle * of the sign function sgn (v dh *), calculates the current change rate △ i Qch. Equation (11) has a relationship between Δiqq and the position estimation deviation (θ M −θ).
[0045]
(Equation 11)
[0046]
In Equation 11, v h is the amplitude of the high-frequency voltage command, T h is the half period of the high frequency voltage command. From this formula 11, current amplifier 127 calculates the speed deviation estimation value △ omega M by Equation 12 when L d <L q.
[0047]
(Equation 12)
[0048]
Since the current includes a high-frequency component, the current controller 108 uses a fundamental control component i dcb , i qcb obtained by removing the high-frequency component from i dc and i qc by a high-frequency separation filter for the calculation in the current controller 108. Stabilize.
The operation of the other parts than those described above is the same as in FIGS.
[0049]
In short, in this embodiment, in order to estimate the inductance of the motor 400 having the rotor position dependency in the synchronous motor having saliency, the high frequency voltage command v dh * which is the output of the oscillator 123 is used as a test signal and the d-axis voltage command is used. The response is superimposed on the value v d * , and the response is detected by the high frequency separation filter 125 as the q-axis current harmonic component iqch .
Change rate .DELTA.i Qch of the q-axis current harmonics i Qch, relative to the difference between the d-axis inductance L d and q-axis inductance L q (L d -L q) and the position estimation error (θ M -θ) The velocity deviation estimated value △ ω M calculated by the equation 12 using the rate of change Δiqq has a relationship like the above-described equation 11, and the velocity deviation estimated value △ ω M depends on the position estimation deviation (θ M −θ). Desired. That is, since it is not based on the principle of estimating the speed from the induced voltage as in the prior art and the embodiment of FIGS. 1 to 3, the speed and torque of the permanent magnet synchronous motor can be reduced even in an extremely low speed region such as near zero speed. It can be controlled to a predetermined value.
[0050]
【The invention's effect】
As described above, according to the present invention, in a control device for controlling the speed and torque of a permanent magnet synchronous motor without a magnetic pole position detector, when the speed command value changes, the speed caused by the calculation delay of the speed estimation value is changed. The estimation error can be reduced, and the position estimation error at the time of acceleration / deceleration can be reduced, thereby improving stability and shortening the acceleration / deceleration time.
[Brief description of the drawings]
FIG. 1 is a control block diagram showing a first embodiment of the present invention.
FIG. 2 is a control block diagram showing a second embodiment of the present invention.
FIG. 3 is a control block diagram illustrating a third embodiment of the present invention.
FIG. 4 is a control block diagram showing a fourth embodiment of the present invention.
FIG. 5 is a control block diagram showing a conventional technique.
[Explanation of symbols]
101 Acceleration / deceleration computing units 102, 118, 121, 1204 Low-pass filter 104 Speed regulator 105 Current command computing units 106, 107, 122, 124, 1202, 1205 Adder 108 Current regulators 109, 112 Coordinate converter 110 PWM modulator 111 Current detecting means 119 Speed integrators 120, 120A, 120B Speed deviation estimator 123 Oscillator 125 High frequency separation filter 126 Change rate calculator 127 Current amplifier 200 Three-phase AC power supply 300 Semiconductor power converter 400 Permanent magnet synchronous motor 1201 Current estimator 1203 Current deviation amplifier 1206 Voltage estimator 1207 Voltage deviation amplifier

Claims (4)

  1. In a permanent magnet synchronous motor control device that controls a motor speed and torque by driving a permanent magnet synchronous motor having no magnetic pole position detector by a semiconductor power converter,
    Speed deviation estimating means for estimating a deviation between the speed command value and the actual speed value from a current equivalent value of the motor, a d-axis voltage equivalent value, and a speed command value;
    Means for adding a speed deviation estimated value output from the speed deviation estimating means and a speed command value to calculate a speed estimated value;
    Means for estimating the magnetic pole position of the motor by integrating the speed estimation value,
    A control device for a permanent magnet synchronous motor, comprising:
  2. The control device for a permanent magnet synchronous motor according to claim 1,
    The speed deviation estimating means,
    The sum of the speed deviation estimated value output from the speed deviation estimating means and the speed command value, the d-axis current detection value of the electric motor, the q-axis current detection value, and the d-axis voltage command value are used for the d-axis. Current estimating means for estimating current;
    The speed deviation estimation value is calculated using the difference between the d-axis current estimation value and the d-axis current detection value output from the current estimation means and the sign of the sum of the speed deviation estimation value and the speed command value. Current deviation amplification means,
    A control device for a permanent magnet synchronous motor, comprising:
  3. The control device for a permanent magnet synchronous motor according to claim 1,
    The speed deviation estimating means,
    Voltage estimating means for estimating a d-axis voltage using the sum of the speed deviation estimated value and the speed command value output from the speed deviation estimating means, the d-axis current detection value of the electric motor, and the q-axis current detection value When,
    The speed deviation estimation value is calculated using the difference between the d-axis voltage estimation value and the d-axis voltage command value output from the voltage estimation means, and the sign of the sum of the speed deviation estimation value and the speed command value. Voltage deviation amplification means,
    A control device for a permanent magnet synchronous motor, comprising:
  4. In a permanent magnet synchronous motor control device that controls a motor speed and torque by driving a permanent magnet synchronous motor having no magnetic pole position detector by a semiconductor power converter,
    Oscillating means for outputting a high-frequency voltage command of a rectangular wave;
    adding means for adding the high-frequency voltage command to the d-axis voltage command value to calculate a second d-axis voltage command value;
    filter means for extracting a q-axis current high-frequency component caused by the high-frequency voltage command from the q-axis current detection value;
    Rate-of-change calculating means for calculating the rate of change of the q-axis current high-frequency component;
    Current amplifying means for amplifying the rate of change of the q-axis current high frequency component and calculating a speed deviation estimated value;
    Adding means for adding the speed deviation estimated value and the speed command value to calculate a speed estimated value of the electric motor;
    Means for estimating the magnetic pole position of the motor by integrating the speed estimation value,
    A control device for a permanent magnet synchronous motor, comprising:
JP2000077758A 2000-03-15 2000-03-15 Control device for permanent magnet synchronous motor Expired - Fee Related JP3591414B2 (en)

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JP4687846B2 (en) * 2001-03-26 2011-05-25 株式会社安川電機 Magnetic pole position estimation method and control apparatus for synchronous motor
WO2002091559A1 (en) * 2001-05-09 2002-11-14 Hitachi, Ltd. Drive system of synchronous motor
CA2379732A1 (en) * 2002-04-02 2003-10-02 Turbocor Inc. System and method for controlling an electric motor
JP4067949B2 (en) 2002-12-03 2008-03-26 サンデン株式会社 Motor control device
JP4055992B2 (en) 2002-12-25 2008-03-05 サンデン株式会社 Inverter current detector
JP4566725B2 (en) * 2004-12-20 2010-10-20 三菱電機株式会社 Control device for permanent magnet synchronous motor
JP2007064932A (en) * 2005-09-02 2007-03-15 Shinko Electric Co Ltd High-speed up-down durability tester
JP4959460B2 (en) * 2007-07-30 2012-06-20 株式会社リコー Motor starting device and motor starting method
JP5130031B2 (en) * 2007-12-10 2013-01-30 株式会社日立製作所 Position sensorless control device for permanent magnet motor
WO2010054506A1 (en) * 2008-11-11 2010-05-20 深圳航天科技创新研究院 Control system of multi- shaft servo motor
JP5515885B2 (en) * 2010-03-12 2014-06-11 富士電機株式会社 Electric vehicle control device
KR20180102261A (en) 2017-03-07 2018-09-17 엘에스산전 주식회사 Apparatus for estimating initial position in rotor of motor

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