JP4952359B2 - Electric motor control device, control method, and computer program - Google Patents

Description

  The present invention relates to a motor control device, a control method, and a computer program.

When driving a three-phase AC motor, a method of driving the motor by vector control is known. For example, Non-Patent Document 1 describes a technique for driving an AC servo motor by vector control.
“Theory and Design of AC Servo System Theory From Basics to Software Servo” Editor: Doctor of Engineering Hidehiko Sugimoto, Publishing: General Electronic Publishing Company, Chapter 4, Brushless DC Servo Motor 85-92

  In the vector control described in Non-Patent Document 1, a two-phase current command value of a d-axis current (excitation current) and a q-axis current (torque current) is created according to the command torque, and the created two-phase current The command value is converted into a U-phase, V-phase, and W-phase three-phase voltage, and a three-phase current is passed through the coil of the three-phase AC motor. Then, after detecting the three-phase current and converting the detected three-phase current into a two-phase current, the control is performed by feeding back the two-phase current to a two-phase current command value. In this vector control, not only the torque is controlled by the q-axis current but also the magnetic flux is controlled by the d-axis current, so that the three-phase AC motor can be driven efficiently.

  When the three-phase AC motor is driven by vector control, a sinusoidal AC current is passed through the three-phase coil of the three-phase AC motor. However, normally, since the magnetic flux distribution with respect to the rotational position of the rotor of the three-phase AC motor contains a harmonic component with respect to the sine wave of the fundamental wave, the coil current will contain this harmonic component. Fluctuates periodically. This fluctuation in the coil current causes vibration and noise in the three-phase AC motor, and thus needs to be reduced.

  The present invention has been made in view of the above problems, and reduces fluctuations in coil current depending on the rotational position of the rotor of the electric motor, in particular, fluctuations in coil current due to current harmonics generated depending on the rotational position of the rotor. An object of the present invention is to provide an electric motor control device that can be used.

In order to achieve the above object, an electric motor control device according to a first aspect of the present invention includes:
Rotational position detecting means for detecting the rotational position of the rotor of the electric motor;
Current value detection means for detecting the current value of the current flowing through the coil of each phase of the motor;
A current value converting means for inputting a current value detected by the current value detecting means and converting the current value into a two-phase current value which is a two-phase current value substantially equivalent to the current value;
A current command value output means for obtaining a two-phase current command value necessary for obtaining a command torque for instructing the magnitude of the torque generated in the electric motor, and outputting the current command value;
By inputting the current command value output by the current command value output means and the two-phase current value converted by the current value conversion means, and correcting the current command value based on the two-phase current value A current command value correcting means for obtaining a corrected current command value which is a corrected current command value and outputting the corrected current command value;
Based on the corrected current command value output by the current command value correcting means, driving means for driving the motor;
An electric motor control device comprising:
The current command value correcting means is
Storage means for storing a current correction value that is a correction value of the current command value and a current deviation that is a deviation between the current command value and the two-phase current value in association with the rotational position of the rotor;
Data reading means for inputting the rotational position of the rotor detected by the rotational position detecting means and reading out the current correction value and current deviation stored in association with the rotational position of the rotor from the storage means;
Correction value calculating means for obtaining a current correction value based on the current correction value and current deviation read by the data reading means;
The current command value output by the current command value output means is input, a corrected current command value is obtained from the current command value and the current correction value obtained by the correction value calculation means, and the corrected current Correction value output means for outputting a command value;
By inputting the current command value output by the current command value output means and the two-phase current value converted by the current value conversion means, the current deviation is obtained by subtracting the two-phase current value from the current command value. Deviation calculating means for obtaining
The rotational position of the rotor detected by the rotational position detecting means is input, and the current correction value obtained by the correction value calculating means and the current deviation obtained by the deviation calculating means are set as the rotational position of the rotor. Data writing means for writing to the storage means in association with each other,
It is characterized by that.

  The correction value calculation unit may obtain a current correction value by adding a value obtained by multiplying the current correction value read by the data reading unit by a constant to the current correction value read by the data reading unit.

The current value conversion means inputs the current value detected by the current value detection means, converts the current value into a two-phase current value into an excitation current value and a torque current value,
The current command value output means obtains an excitation current command value and a torque current command value as a current command value, outputs an excitation current command value and a torque current command value as a current command value,
The current command value correction means includes at least one current command value of the excitation current command value and the torque current command value output by the current command value output means, and the excitation current value converted by the current value conversion means. By inputting at least one two-phase current value among the torque current values and correcting the at least one current command value based on the at least one two-phase current value, at least one corrected current correction value The corrected current command value may be obtained and the at least one corrected current command value may be output.

The storage means stores the current correction value and the current deviation in association with the instruction torque and the rotational position of the rotor,
The data reading means inputs an instruction torque and a rotational position of the rotor detected by the rotational position detection means, and stores a current correction value and a current deviation stored in association with the instruction torque and the rotational position of the rotor. And from the storage means,
The data writing means inputs the instruction torque and the rotational position of the rotor detected by the rotational position detection means, and associates the instruction torque with the rotational position of the rotor to obtain a current correction value and a current deviation. The data may be written in the storage means.

  The data reading means inputs the rotational position of the rotor detected by the rotational position detecting means, and stores the current correction value and current stored in association with the rotational position of the rotor obtained by adding an offset to the rotational position of the rotor. The deviation may be read from the storage means.

In order to achieve the above object, an electric motor control method according to a second aspect of the present invention includes:
A rotational position detecting step for detecting the rotational position of the rotor of the electric motor;
A current value detecting step for detecting a current value of a current flowing through the coil of each phase of the electric motor;
A current value converting step of inputting the current value detected by the current value detecting step and converting the current value into a two-phase current value which is a two-phase current value substantially equivalent to the current value;
A current command value output step for obtaining a two-phase current command value necessary for obtaining a command torque for instructing the magnitude of the torque generated in the electric motor, and outputting the current command value;
By inputting the current command value output by the current command value output step and the two-phase current value converted by the current value conversion step, and correcting the current command value based on the two-phase current value A current command value correction step for obtaining a corrected current command value which is a corrected current command value and outputting the corrected current command value;
Based on the corrected current command value output by the current command value correction step, a driving step for driving the electric motor;
An electric motor control method comprising:
The current command value correction step includes:
The rotational position of the rotor detected by the rotational position detection step is input, and a current correction value that is a correction value of the current command value and a current deviation that is a deviation between the current command value and the two-phase current value are A data reading step for reading out the current correction value and the current deviation stored in association with the rotational position of the rotor from the storage means for storing in association with the rotational position;
A correction value calculating step for obtaining a current correction value based on the current correction value and the current deviation read by the data reading step;
The current command value output by the current command value output step is input, a corrected current command value is obtained from the current command value and the current correction value obtained by the correction value calculation step, and the corrected current A correction value output step for outputting a command value;
By inputting the current command value output by the current command value output step and the two-phase current value converted by the current value conversion step, the current deviation is obtained by subtracting the two-phase current value from the current command value. Calculating a deviation to obtain
The rotational position of the rotor detected by the rotational position detecting step is input, and the current correction value obtained by the correction value calculating step and the current deviation obtained by the deviation calculating step are set as the rotational position of the rotor. A data writing step of writing to the storage means in association with each other,
It is characterized by that.

  It is also possible to manufacture, distribute, etc. a computer program that causes the computer to function as the above-described control device or that causes the computer to execute the above-described processing.

  According to the present invention, since the current command value of the motor is corrected in consideration of the current correction value and current deviation stored for each rotational position of the rotor, fluctuations in the coil current depending on the rotational position of the rotor of the motor, in particular, It is possible to reduce fluctuations in coil current due to current harmonics generated depending on the rotational position of the rotor of the electric motor.

  Hereinafter, an overall configuration of a motor control device according to an embodiment of the present invention and a control method executed by the device will be described with reference to the drawings.

  FIG. 1 is a block diagram showing the overall configuration of a motor control device according to an embodiment of the present invention.

  As shown in FIG. 1, the motor control device 100 is a device for driving and controlling the three-phase AC motor 50, and includes a torque / current conversion unit 101, subtracters 102 and 103, a current control unit 104, A two-phase / three-phase voltage converter 105, a PWM generator 106, a rotational position detector 107, a rotational speed detector 108, a three-phase current detector 109, a three-phase / two-phase current converter 110, A current correction unit 111. Further, an ECU (Electric Control Unit) 10 is connected to the torque / current conversion unit 101. Further, an inverter 40 is connected to the PWM generator 106. A DC power supply 20 and a capacitor 30 are connected to the inverter 40 in parallel. The inverter 40 is connected to a three-phase AC motor 50 that is a control target.

  The ECU 10 outputs to the torque / current conversion unit 101 a command torque Treq that instructs the rotational torque of the three-phase AC motor 50.

  The DC power supply 20 is connected to the inverter 40 and supplies power to the inverter 40.

  The capacitor 30 is connected to the inverter 40 in parallel with the DC power supply 20. Therefore, it has a function of charging / discharging the charge supplied to the inverter 40.

The inverter 40 drives the three-phase AC motor 50 by passing the coil currents i _U , i _V , i _W according to the PWM signal input from the PWM generator 106. Below, the function of the inverter 40 is demonstrated using FIG.

  FIG. 2 is a diagram for explaining the function of the inverter 40.

  The inverter 40 includes IGBTs 411 to IGBT 416 that are IGBTs (Insulated Gate Bipolar Transistors) and D421 to D426 that are diodes. IGBT 411 to IGBT 416 are applied with a voltage from DC power supply 20 via capacitor 30, and each phase of the U-phase coil, V-phase coil, and W-phase coil of three-phase AC motor 50 is input by PWM waveform input from PWM generation unit 106. Current is passed through the coil. D421 to D426 are connected between the emitters and collectors of the IGBTs 411 to IGBT416, respectively, and flow current from the emitter side to the collector side.

The three-phase AC motor 50 is a three-phase AC motor including a U-phase coil, a V-phase coil, and a W-phase coil as a stator coil. Coil currents i _U , i _V , and i _W flow through the U-phase coil, the V-phase coil, and the W-phase coil, respectively.

  The torque / current conversion unit 101 receives the instruction torque Treq from the ECU 10 and the angular speed ω that is the electrical angular speed of the rotor of the three-phase AC motor 50 from the rotation speed detection unit 108. Further, the torque / current conversion unit 101 generates current command values req_id and req_iq that are two-phase current command values necessary for outputting the torque instructed by the instruction torque Treq. In addition, the torque / current conversion unit 101 outputs the generated current command value req_id to the adder 1114 and the subtracter 1116, and outputs the generated current command value req_iq to the adder 1115 and the subtractor 1117.

  The subtracters 102 and 103 are corrected deviations rev_ed between the corrected current command values rev_id and rev_iq input from the adders 1114 and 1115 and the two-phase current values id and iq input from the three-phase / two-phase current conversion unit 110. , Rev_eq, and outputs corrected deviations rev_ed and rev_eq to the current control unit 104. The corrected current command values rev_id and rev_iq are two-phase current command values obtained by correcting the current command values req_id and req_iq so as to cancel out the current fluctuation depending on the rotational position θ of the rotor of the three-phase AC motor 50. The corrected deviations rev_ed and rev_eq indicate two-phase current values that should be increased or decreased in order to flow the corrected current command values rev_id and rev_iq.

  The current control unit 104 receives the corrected current command values rev_id and rev_iq from the adders 1114 and 1115, and the corrected deviations rev_ed and rev_eq from the subtractors 102 and 103. Then, the current control unit 104 calculates instruction voltages vd and vq that are drive voltages on two phases necessary for obtaining the instruction torque Treq from the corrected current instruction values rev_id and rev_iq and the corrected deviations rev_eq and rev_eq, The calculated instruction voltages vd and vq are output to the two-phase / three-phase voltage converter 105.

The two-phase / three-phase voltage conversion unit 105 receives the instruction voltages vd and vq from the current control unit 104 and the rotation position θ from the rotation position detection unit 107. Further, the two-phase / three-phase voltage conversion unit 105 calculates the voltage manipulated variables v _U , v _V , v _W from the command voltages vd, vq using the rotational position θ, and calculates the calculated voltage manipulated variables v _U , v _V. , V _W are output to the PWM generator 106. The voltage manipulated variables v _U , v _V , and v _W represent drive voltages applied to the respective phases of the three-phase AC motor 50 in order to obtain the command torque Treq.

The PWM generation unit 106 receives the voltage operation amounts v _U , v _V , and v _W from the two-phase / three-phase voltage conversion unit 105, and generates a PWM waveform corresponding to the input voltage operation amounts v _U , v _V , and v _W. Output to the inverter 40.

  The rotational position detector 107 detects a rotational position θ that is the rotational position (electrical angle) of the rotor of the three-phase AC motor 50, and the detected rotational position θ is converted into a two-phase / three-phase voltage converter 105 and a rotational speed detector. 108, and output to the three-phase / two-phase current converter 110 and the table manager 1112. The rotational position detection unit 107 includes a resolver, an encoder, and the like.

  The rotation speed detection unit 108 calculates the angular velocity ω from the rotation position θ detected by the rotation position detection unit 107 and outputs the calculated angular velocity ω to the torque / current conversion unit 101. The angular velocity ω is calculated, for example, by sampling the rotational position θ at regular intervals and calculating the average value of the amount of change in the rotational position θ per sampling period.

The three-phase current detection unit 109 detects the values of the coil currents i _U , i _V , i _W that are currents flowing through the coils of the respective phases of the three-phase AC motor 50, and detects the detected coil currents i _U , i _V , i The value of _W is output to the three-phase / two-phase current converter 110.

The three-phase / two-phase current conversion unit 110 uses the rotational position θ detected by the rotational position detection unit 107 as the coil currents i _U , i _V , i _W detected by the three-phase current detection unit 109, The values of currents i _U , i _V , i _W are converted into two-phase current values, which are converted into two-phase current values id, iq. Further, the three-phase / two-phase current conversion unit 110 outputs the converted two-phase current values id and iq to the subtracters 102 and 103 and the subtracters 1116 and 1117, respectively.

  The current correction unit 111 corrects the current command values req_id and req_iq of the electric motor based on the rotational position θ and the data stored in the table. Specifically, the current command value req_id is based on the rotational position θ detected by the rotational position detection unit 107, the previous current deviations ed0 and eq0 and the previous current correction values ud0 and uq0 read from the table of the table storage unit 1111. , Req_iq is corrected to obtain corrected current command values rev_id and rev_iq. In addition, the current correction unit 111 outputs the obtained corrected current command values rev_id and rev_iq to the subtracters 102 and 103, respectively.

  The current correction unit 111 includes a table storage unit 1111, a table management unit 1112, a correction calculation unit 1113, adders 1114 and 1115, and subtractors 1116 and 1117.

  For each rotational position θ, the table storage unit 1111 sets current deviations ed and eq, which are deviations of current values obtained by subtracting the two-phase current values id and iq from the current command values req_id and req_iq, and current command values req_id and req_iq, respectively. It has a table for storing current correction values ud and qu, which are current values to be added as correction values.

The configuration of the table will be described in more detail.
FIG. 3 is a diagram for explaining a table stored in the table storage unit 1111 according to the embodiment of the present invention. In the table shown in FIG. 3, the rotational position θ is set in increments of 1 degree, and a total of 360 sets of data from 1 to 360 are stored for each rotational position θ. The data is composed of four parts: d-axis current deviation (ed0_1 to ed0_360), q-axis current deviation (eq0_1 to eq0_360), d-axis current correction value (ud0_1 to ud0_360), and q-axis current correction value (uq0_1 to uq0_360). Has been. In the table, the latest current deviations ed and eq and current correction values ud and qu are written at the address of the corresponding rotational position θ. Further, from the table, from the address corresponding to the rotational position θ, the current deviations ed0 and eq0 which are the current deviations ed and eq written last at the rotational position θ and the currents written last at the rotational position θ. The previous current correction values ud0 and uq0, which are correction values ud and qu, are read out. If the rotational position θ is not an integer value, the first decimal place of the rotational position θ is rounded off and the corresponding data may be read and written. The table storage unit 1111 is configured by a RAM (Random Access Memory) or the like.

  The table management unit 1112 writes the current deviations ed and eq and the current correction values ud and qu in a portion (address) corresponding to the rotational position θ of the table in the storage unit 1111. Further, the table management unit 1112 reads the previous current deviations ed0 and eq0 and the previous current correction values ud0 and uq0 from the portion (address) corresponding to the rotational position θ of the table in the storage unit 1111.

  The correction calculation unit 1113 reads the previous current deviations ed0 and eq0 and the previous current correction values ud0 and uq0 read by the table management unit 1112. In addition, the correction calculation unit 1113 calculates current correction values ud and uq from the read values, and outputs the current correction values ud and uq to the adders 1114 and 1115, respectively. The correction calculation unit 1113 also outputs the current correction values ud and qu to the table storage unit 1111.

  The adder 1114 receives the current command value req_id generated by the torque / current conversion unit 101 and the current correction value ud calculated by the correction calculation unit 1113. The adder 1114 adds the current correction value ud to the current command value req_id to obtain a corrected current command value rev_id, and outputs the corrected current command value rev_id to the subtractor 102. Similarly, the adder 1115 receives the current command value req_iq generated by the torque / current conversion unit 101 and the current correction value uq calculated by the correction calculation unit 1113. The adder 1115 adds the current correction value uq to the current command value req_iq to obtain a corrected current command value rev_iq, and outputs the corrected current command value rev_iq to the subtractor 103.

  The subtractor 1116 receives the current command value req_id generated by the torque / current conversion unit 101 and the two-phase current value id converted by the three-phase / two-phase current conversion unit 110. The subtractor 1116 subtracts the two-phase current value id from the current command value req_id to obtain a current deviation ed. Similarly, the subtractor 1117 receives the current command value req_iq generated by the torque / current conversion unit 101 and the two-phase current value iq converted by the three-phase / two-phase current conversion unit 110. Then, the subtracter 1116 subtracts the two-phase current value iq from the current command value req_iq to obtain a current deviation eq.

  Next, the operation of the motor control device 100 having the above configuration will be described.

  First, the ECU 10 outputs the instruction torque Treq to the torque / current conversion unit 101 as necessary for control.

  The table management unit 1112 executes initialization of table data. Specifically, the table management unit 1112 includes a d-axis current deviation (ed0_1 to ed0_360), a q-axis current deviation (eq0_1 to eq0_360), and a d-axis current for each rotational position θ stored in the table of the table storage unit 1111. The correction values (ud0_1 to ud0_360) and the q-axis current correction values (uq0_1 to uq0_360) are all cleared to “0”.

  The rotational position detection unit 107 detects the rotational position θ of the rotor of the three-phase AC motor 50.

  The rotation speed detection unit 108 receives the rotation position θ detected by the rotation position detection unit 107, and calculates the angular velocity ω from the input rotation position θ.

The three-phase current detection unit 109 detects the values of the coil currents i _U , i _V , i _W flowing through the respective phase coils of the three-phase AC motor 50.

  The torque / current conversion unit 101 inputs the command torque Treq supplied from the ECU 10 and the angular velocity ω supplied from the rotation speed detection unit 108, and a current command necessary for the three-phase AC motor 50 to output the command torque Treq. The values req_id and req_iq are obtained by searching, for example, from a table. FIG. 4 is a diagram showing the relationship between torque and current command value. The horizontal axis represents torque (Nm), and the vertical axis represents the current command value (A). The torque and current command values (d-axis and q-axis) having the relationship as shown in FIG. 4 may be stored in a table in advance and read when performing current control. Specifically, the current command values req_id and req_iq necessary for outputting a predetermined torque are obtained in advance through experiments and stored in the table storage unit 1111 as table data. Then, when performing current control, the current command values req_id and req_iq corresponding to the command torque Treq may be read from the table of the table storage unit 1111.

On the other hand, the three-phase / two-phase current converter 110 receives the rotational position θ detected by the rotational position detector 107 and the values of the coil currents i _U , i _V , i _W detected by the three-phase current detector 109. Then, the three-phase / two-phase current conversion unit 110 converts the values of the input coil currents i _U , i _V , i _W into two-phase current values id, iq using Expression (1).

  The current correction unit 111 performs current correction processing. Hereinafter, the current correction process will be described in detail.

  The table management unit 1112 reads the previous current deviations ed0 and eq0 and the previous current correction values ud0 and uq0 corresponding to the rotation position θ from the table storage unit 1111. For example, when the rotational position θ is 2 degrees, the table management unit 1112 reads out ed0_2, eq0_2, ud0_2, and ud0_2 as the previous current deviations ed0 and eq0, and the previous current correction values ud0 and uq0, and sends them to the correction calculation unit 1113. Supply.

The correction calculation unit 1113 calculates the current correction values ud and qu using the equations (2) and (3) from the supplied previous current deviations ed0 and eq0 and the previous current correction values ud0 and uq0. K is a proportional gain.
(Equation 2)
ud = ud0 + K × ed0 (2)
(Equation 3)
uq = uq0 + K × eq0 (3)

  The adders 1114 and 1115 add the current command values req_id and req_iq input from the torque / current conversion unit 101 and the current correction values ud and quq input from the correction calculation unit 1113, respectively, and correct current command values rev_id and rev_iq. Ask for. The adder 1114 outputs the corrected current command value rev_id to the subtractor 102 and the current control unit 104. The adder 1115 outputs the corrected current command value rev_iq to the subtractor 103 and the current control unit 104.

  The subtractors 1116 and 1117 subtract the two-phase current values id and iq input from the three-phase / two-phase current converter 110 from the current command values req_id and req_iq input from the torque / current converter 101, respectively. , Eq are obtained and output to the table storage unit 1111.

  The table management unit 1112 writes the current correction values ud and eq output from the correction calculation unit 1113 and the current deviations ed and eq output from the subtractors 1116 and 1117 in the table of the table storage unit 1111 according to the rotational position θ. . For example, when the rotational position θ is 2 degrees, the values of the current deviations ed, eq, and current correction values ud, uq are overwritten on ed0_2, eq0_2, ud0_2, and uq0_2, respectively. This completes the current correction process.

  The subtracters 102 and 103 receive the corrected current command values rev_id and rev_iq from the adders 1114 and 1115, respectively, and the two-phase current values id and iq from the three-phase / two-phase current conversion unit 110, respectively. The subtracters 102 and 103 subtract the two-phase current values id and iq from the corrected current command values rev_id and rev_iq, respectively, to obtain corrected deviations rev_ed and rev_eq, and output them to the current control unit 104.

The current control unit 104 inputs the corrected current command values rev_id and rev_iq from the adders 1114 and 1115, respectively, and the corrected deviations rev_ed and rev_eq from the subtractors 102 and 103, respectively. Then, the current control unit 104 calculates the instruction voltages vd and vq from the corrected current command values rev_id and rev_iq and the corrected deviations rev_ed and rev_eq, for example, by PI (Proportional Integral) control as shown in Expression (4). .
However, k0, k1, and k2 are constants.

The two-phase / three-phase voltage conversion unit 105 inputs the instruction voltages vd and vq from the current control unit 104, inputs the rotation position θ from the rotation position detection unit 107, and converts the instruction voltages vd and vq into voltages according to the equation (5). The operation amounts are converted into v _U , v _V , and v _W.

The PWM generation unit 106 inputs the voltage operation amounts v _U , v _V , and v _W from the two-phase / three-phase voltage conversion unit 105, and outputs a PWM signal corresponding to the voltage operation amounts v _U , v _V , and v _W to the inverter 40. Output to. By this PWM signal, the inverter 40 adjusts the width of the pulse applied to each phase so that the voltage applied to the three-phase AC motor 50 becomes the voltage manipulated variables v _U , v _V , and v _W. The electric motor 50 is driven.
At this time, the values of the coil currents i _U , i _V and i _W flowing in the coils of the respective phases are detected by the three-phase current detection unit 109.

  Such a series of operations is regularly performed by the motor control device 100 shown in FIG. 1, whereby the three-phase AC motor 50 has the command voltage vd, in which the current fluctuation depending on the rotational position θ is corrected, Driven based on vq. As a result, a stable current flows through the coils of each phase of the three-phase AC motor 50.

Here, the difference between the current response of the conventional motor control device and the current response of the motor control device according to the present embodiment will be described with reference to FIGS.
FIG. 5A is a relationship diagram between current response in the d-axis direction and time in a conventional motor control device. FIG. 5B is a relationship diagram between current response in the q-axis direction and time in a conventional motor control device. FIG. 6A is a relationship diagram between the current response in the d-axis direction and time in the motor control device according to the embodiment of the present invention. FIG. 6B is a relationship diagram between the current response in the q-axis direction and time in the motor control device according to the embodiment of the present invention.

  In FIG. 5A, the vertical axis represents the two-phase current value id in the d-axis direction, and the horizontal axis represents time (sec). In FIG. 5B, the vertical axis represents the two-phase current value iq in the q-axis direction, and the horizontal axis represents time (sec). 5A and 5B, the two-phase current values id and iq periodically change with reference to the target current. In the conventional motor control device, the induced voltage generated by passing a current through the coil of the motor contains harmonic components, and as a result, the current responses of both the d-axis and q-axis contain harmonic components. is there. As shown in FIG. 10, the conventional motor control device is a motor control device that does not have the current correction unit 111 and does not correct the current command values req_id and req_iq.

  In FIG. 6A, the vertical axis represents the two-phase current value id in the d-axis direction, and the horizontal axis represents time (sec). In FIG. 6B, the vertical axis represents the two-phase current value iq in the q-axis direction, and the horizontal axis represents time (sec). In FIGS. 6A and 6B, the periodic change of the current value is extremely small. This is because current command values req_id and req_iq cancel current fluctuations in current correction unit 111 in consideration of previous current deviations ed0 and eq0 and previous current correction values ud0 and uq0 at rotational position θ during current correction. This is because it is corrected. That is, the current variation depending on the rotational position θ is caused to flow through the three-phase AC motor 50 in accordance with the corrected current command values rev_id and rev_iq that are fed forward using the actual measured value of the current. A stable current flows through the coils of each phase.

  In addition, this invention is not limited to the said Example, A various deformation | transformation and application are possible.

  In the above embodiment, the current correction unit 111 corrects both the d-axis and q-axis current command values. However, only one of the current command values may be corrected.

  In the above embodiment, only one table is stored in the table storage unit 1111. However, even when the rotational position θ is the same, if the current varies depending on the torque, the table is stored for each torque. May be prepared.

  Moreover, in the said embodiment, the table which the table memory | storage part 1111 memorize | stores makes rotation position (theta) in increments of 1 degree. However, the table may be set not in increments of 1 degree, but in increments of 5 degrees, for example.

  Moreover, in the said embodiment, the value corresponding to rotational position (theta) at the time of a driving | operation is read from the table which the table memory | storage part 1111 memorize | stores, and correction calculation is performed. However, if it is better to provide an offset to the rotational position θ due to the relationship between the control cycle and the rotation speed of the motor, the rotational position θ may be replaced with the rotational position (θ + α), and the value may be read from the table.

  In the above embodiment, the current control unit 104 calculates the instruction voltages vd and vq by PI control. However, the current control unit 104 may calculate the instruction voltages vd and vq by other control methods such as P control.

  In the above embodiment, the control device 100 is described as being configured with discrete components. However, for example, most of the processing executed by the control device 100 is performed by a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). It is also possible to execute it by a processor circuit such as. With such a configuration, the circuit configuration can be simplified. In this case, the outputs of various sensors are digitized by an A / D converter or the like. The output of the processor is analogized and supplied by a D / A converter as necessary.

  An example of a processing procedure performed when the processor in this case executes the program will be described with reference to FIGS. 7, 8, and 9. FIG. 7 is a flowchart for explaining the control process of the processor when the main part of the control device for the electric motor is constituted by the processor. FIG. 8 is a flowchart for explaining the data detection process in the flowchart of FIG. FIG. 9 is a flowchart for explaining the current correction processing in the flowchart of FIG.

  First, the processor clears all d-axis current deviation, q-axis current deviation, d-axis current correction value, and q-axis current correction value for each rotational position θ stored in the table of the table storage unit 1111 to “0”. (Step S1).

Subsequently, the processor inputs the rotational position θ from the rotational position detection unit 107, the angular velocity ω from the rotational speed detection unit 108, and the values of the coil currents i _U , i _V , i _W from the three-phase current detection unit 109. Is input (step S2).

  Subsequently, the processor retrieves the current command values req_id and req_iq from, for example, a table from the command torque Treq and the angular velocity ω (step S3).

Subsequently, the processor obtains the two-phase current values id and iq using the equation (1) from the values of the rotational position θ and the coil currents i _U , i _V and i _W (step S4).

  Subsequently, the processor performs a current correction process (step S5). Specifically, the processor reads the previous current deviations ed0 and eq0 and the previous current correction values ud0 and uq0 from the table storage unit 1111 (step S501), and uses the equations (2) and (3) to read the current correction values ud, uq is calculated (step S502), and the current command values req_id, req_iq and the current correction values ud, uq are added to obtain corrected current command values rev_id, rev_iq (step S503). Further, the processor obtains current deviations ed and eq by subtracting the two-phase current values id and iq from the current command values req_id and req_iq, respectively (step S504), and calculates the current correction values ud and eq and the current deviations ed and eq. In accordance with the rotational position θ, the table is written in the table storage unit 1111 (step S505).

  Subsequently, the processor obtains corrected deviations rev_ed and rev_eq by subtracting the two-phase current values id and iq from the corrected current command values rev_id and rev_iq, respectively (step S6).

  Subsequently, the processor calculates the command voltages vd and vq from the corrected current command values rev_id and rev_iq and the corrected deviations rev_ed and rev_eq, for example, by PI control as shown in Expression (4) (step S7).

Subsequently, the processor obtains the voltage manipulated variables v _U , v _V , and v _{W according} to Expression (5) using the instruction voltages vd and vq and the rotational position θ (step S8).

Subsequently, the processor outputs a PWM signal corresponding to the voltage manipulated variables v _U , v _V , and v _W to the inverter 40 (step S9). The inverter 40 causes the coil currents i _U , i _V , i _W to flow by the PWM signal, and drives the three-phase AC motor 50.

  Subsequently, the processor returns the control to step S2.

  Such processing enables control similar to that of the control device of FIG. Note that the flowcharts described in the above embodiments are examples of the embodiments and are not limited to these processing routines.

1 is a block diagram illustrating an overall configuration of a motor control device according to an embodiment of the present invention. It is a figure for demonstrating the function of the inverter shown in FIG. It is a figure for demonstrating the table which the table memory | storage part concerning embodiment of this invention memorize | stores. It is a figure showing the relationship between a torque and an electric current command value. (A) is a relational diagram between current response in the d-axis direction and time in a conventional motor control device. (B) is a relational diagram between current response in the q-axis direction and time in a conventional motor control device. FIG. 5A is a relationship diagram between a current response in the d-axis direction and time in the motor control apparatus according to the embodiment of the present invention. (B) is a relational diagram between current response in the q-axis direction and time in the motor control device according to the embodiment of the present invention. It is a flowchart for demonstrating the control processing of a processor at the time of comprising the principal part of the control apparatus of an electric motor with a processor. It is a flowchart for demonstrating the data detection process in the flowchart of FIG. It is a flowchart for demonstrating the electric current correction process in the flowchart of FIG. It is a block diagram which shows the whole structure of the conventional motor control apparatus.

Explanation of symbols

10 ECU
20 DC power supply 30 Capacitor 40 Inverter 50 Three-phase AC motor 101 Torque / current converter (current command value output means)
102 subtractor 103 subtractor 104 current control unit 105 two-phase / three-phase voltage conversion unit 106 PWM generation unit (driving means)
107 Rotation position detection unit (Rotation position detection means)
108 Rotational speed detection unit 109 Three-phase current detection unit (Current value detection means)
110 Three-phase / two-phase current converter (current value conversion means)
111 Current correction part (Current command value correction means)
1111 Table storage unit (storage means)
1112 Table management unit (data writing means, data reading means)
1113 Correction calculation unit (correction value calculation means)
1114 Adder (Correction value output means)
1115 Adder (Correction value output means)
1116 Subtractor (deviation calculation means)
1117 Subtractor (deviation calculation means)

Claims (7)

Rotational position detecting means for detecting the rotational position of the rotor of the electric motor;
Current value detection means for detecting the current value of the current flowing through the coil of each phase of the motor;
A current value converting means for inputting a current value detected by the current value detecting means and converting the current value into a two-phase current value which is a two-phase current value substantially equivalent to the current value;
A current command value output means for obtaining a two-phase current command value necessary for obtaining a command torque for instructing the magnitude of the torque generated in the electric motor, and outputting the current command value;
By inputting the current command value output by the current command value output means and the two-phase current value converted by the current value conversion means, and correcting the current command value based on the two-phase current value A current command value correcting means for obtaining a corrected current command value which is a corrected current command value and outputting the corrected current command value;
Based on the corrected current command value output by the current command value correcting means, driving means for driving the motor;
An electric motor control device comprising:
The current command value correcting means is
Storage means for storing a current correction value that is a correction value of the current command value and a current deviation that is a deviation between the current command value and the two-phase current value in association with the rotational position of the rotor;
Data reading means for inputting the rotational position of the rotor detected by the rotational position detecting means and reading out the current correction value and current deviation stored in association with the rotational position of the rotor from the storage means;
Correction value calculating means for obtaining a current correction value based on the current correction value and current deviation read by the data reading means;
The current command value output by the current command value output means is input, a corrected current command value is obtained from the current command value and the current correction value obtained by the correction value calculation means, and the corrected current Correction value output means for outputting a command value;
By inputting the current command value output by the current command value output means and the two-phase current value converted by the current value conversion means, the current deviation is obtained by subtracting the two-phase current value from the current command value. Deviation calculating means for obtaining
The rotational position of the rotor detected by the rotational position detecting means is input, and the current correction value obtained by the correction value calculating means and the current deviation obtained by the deviation calculating means are set as the rotational position of the rotor. Data writing means for writing to the storage means in association with each other,
An electric motor control device.   The correction value calculation means obtains a current correction value by adding a value obtained by multiplying a current deviation read by the data reading means by a constant to the current correction value read by the data reading means. The motor control device according to claim 1. The current value conversion means inputs the current value detected by the current value detection means, converts the current value into a two-phase current value into an excitation current value and a torque current value,
The current command value output means obtains an excitation current command value and a torque current command value as a current command value, outputs an excitation current command value and a torque current command value as a current command value,
The current command value correction means includes at least one current command value of the excitation current command value and the torque current command value output by the current command value output means, and the excitation current value converted by the current value conversion means. By inputting at least one two-phase current value among the torque current values and correcting the at least one current command value based on the at least one two-phase current value, at least one corrected current correction value The motor control device according to claim 1, wherein a corrected current command value is obtained and the at least one corrected current command value is output. The storage means stores the current correction value and the current deviation in association with the instruction torque and the rotational position of the rotor,
The data reading means inputs an instruction torque and a rotational position of the rotor detected by the rotational position detection means, and stores a current correction value and a current stored in association with the instruction torque and the rotational position of the rotor. Reading the deviation from the storage means;
The data writing means inputs the instruction torque and the rotational position of the rotor detected by the rotational position detection means, and associates the instruction torque with the rotational position of the rotor to obtain a current correction value and a current deviation. Write to the storage means;
The motor control device according to claim 1.   The data reading means inputs the rotational position of the rotor detected by the rotational position detecting means, and stores the current correction value and current stored in association with the rotational position of the rotor obtained by adding an offset to the rotational position of the rotor. The motor control device according to claim 1, wherein a deviation is read from the storage unit. A rotational position detecting step for detecting the rotational position of the rotor of the electric motor;
A current value detecting step for detecting a current value of a current flowing through the coil of each phase of the electric motor;
A current value converting step of inputting the current value detected by the current value detecting step and converting the current value into a two-phase current value which is a two-phase current value substantially equivalent to the current value;
A current command value output step for obtaining a two-phase current command value necessary for obtaining a command torque for instructing the magnitude of the torque generated in the electric motor, and outputting the current command value;
By inputting the current command value output by the current command value output step and the two-phase current value converted by the current value conversion step, and correcting the current command value based on the two-phase current value A current command value correction step for obtaining a corrected current command value which is a corrected current command value and outputting the corrected current command value;
Based on the corrected current command value output by the current command value correction step, a driving step for driving the electric motor;
An electric motor control method comprising:
The current command value correction step includes:
The rotational position of the rotor detected by the rotational position detection step is input, and a current correction value that is a correction value of the current command value and a current deviation that is a deviation between the current command value and the two-phase current value are A data reading step for reading out the current correction value and the current deviation stored in association with the rotational position of the rotor from the storage means for storing in association with the rotational position;
A correction value calculating step for obtaining a current correction value based on the current correction value and the current deviation read by the data reading step;
The current command value output by the current command value output step is input, a corrected current command value is obtained from the current command value and the current correction value obtained by the correction value calculation step, and the corrected current A correction value output step for outputting a command value;
By inputting the current command value output by the current command value output step and the two-phase current value converted by the current value conversion step, the current deviation is obtained by subtracting the two-phase current value from the current command value. Calculating a deviation to obtain
The rotational position of the rotor detected by the rotational position detecting step is input, and the current correction value obtained by the correction value calculating step and the current deviation obtained by the deviation calculating step are set as the rotational position of the rotor. A data writing step of writing to the storage means in association with each other,
A method for controlling an electric motor. On the computer,
A current value conversion step of inputting a current value of a current flowing through a coil of each phase of the electric motor, and converting the current value into a two-phase current value which is a two-phase current value substantially equivalent to the current value;
A current command value output step for obtaining a two-phase current command value necessary for obtaining a command torque for instructing the magnitude of the torque generated in the electric motor, and outputting the current command value;
By inputting the current command value output by the current command value output step and the two-phase current value converted by the current value conversion step, and correcting the current command value based on the two-phase current value A current command value correction step for obtaining a corrected current command value which is a corrected current command value and outputting the corrected current command value;
A computer program for implementing
The current command value correction step includes:
The rotational position of the rotor of the electric motor is input, and the current correction value that is the correction value of the current command value and the current deviation that is the deviation between the current command value and the two-phase current value are stored in association with the rotational position of the rotor. A data reading step of reading out the current correction value and the current deviation stored in association with the rotational position of the rotor from the storage means
A correction value calculating step for obtaining a current correction value based on the current correction value and the current deviation read by the data reading step;
The current command value output by the current command value output step is input, a corrected current command value is obtained from the current command value and the current correction value obtained by the correction value calculation step, and the corrected current A correction value output step for outputting a command value;
By inputting the current command value output by the current command value output step and the two-phase current value converted by the current value conversion step, the current deviation is obtained by subtracting the two-phase current value from the current command value. Calculating a deviation to obtain
The rotational position of the rotor of the electric motor is input, and the current correction value obtained by the correction value calculation step and the current deviation obtained by the deviation calculation step are associated with the rotational position of the rotor in the storage means. A data writing step for writing,
A computer program characterized by the above.