JP5055932B2 - Synchronous motor controller - Google Patents

Synchronous motor controller Download PDF

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JP5055932B2
JP5055932B2 JP2006272604A JP2006272604A JP5055932B2 JP 5055932 B2 JP5055932 B2 JP 5055932B2 JP 2006272604 A JP2006272604 A JP 2006272604A JP 2006272604 A JP2006272604 A JP 2006272604A JP 5055932 B2 JP5055932 B2 JP 5055932B2
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synchronous motor
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正和 伊藤
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Yaskawa Electric Corp
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Description

本発明は、高速、高精度な同期電動機制御装置に関する。   The present invention relates to a high-speed, high-precision synchronous motor control device.

半導体、液晶製造装置分野の中の半導体、液晶露光装置の駆動系で使用される同期電動機は、高速・高加減速かつ、一定速時の精度が重要である。従来の同期電動機制御装置は、加減速時に必要な最大電流（トルク）によりダイナミックレンジが決定され、加減速時には大きな電流（トルク）指令を入力し、一定速時には小さな電流（トルク）指令を入力して駆動させる。
図８は従来の同期電動機制御装置の構成ブロック図である。１０２はＤＣゲインおよびオフセット調整可能なＯＰアンプ部、１０３は同期電動機に通電される電流を検出する検出抵抗、１０４は検出抵抗１０３より検出された電圧を増幅させる電流フィードバック検出回路（以下ＦＢ検出回路とする）、１０５はＯＰアンプ部１０２とＦＢ検出回路１０４から出力されるフィードバック検出信号（以下ＦＢ検出信号とする）との誤差を検出する誤差アンプ、１０６はＰＷＭ駆動するための基準となるキャリア波形を出力するキャリア発生手段、１０７は誤差アンプ１０５の出力とキャリア発生手段１０６の出力を比較しゲート信号を出力するゲート信号発生手段、１０８はゲート信号発生手段１０７より出力されたゲート信号により電流を出力する電流増幅器、１０９は電流（トルク）指令およびＦＢ検出信号を取り込みアラーム等各種演算を行うＣＰＵ、１１０は電流増幅器８により出力された電流により駆動する同期電動機、１１１は電流(トルク)指令を出力する上位装置である。上位装置１１１から電流(トルク)指令が入力されると、ＯＰアンプ部１０２の出力と、ＦＢ検出回路１０４の出力を誤差アンプ部１０５で誤差を検出し、ゲート信号発生手段１０７を介して電流増幅器１０８により同期電動機１１０に電流を通電する。
また、公開された従来技術には特許文献１がある。特許文献１では、電流（トルク）指令が所定値をクロスした場合に、電流(トルク)指令のダイナミックレンジを変調する装置および方法を提示している。特許文献１のブロック図を図９に示しており、１０２はＤＣゲインとオフセット調整が可能なＯＰアンプ部、１０３は検出抵抗、１０４はＦＢ検出回路、１０５はＯＰアンプ部１０２の出力とＦＢ検出回路１０４の出力との誤差を検出する誤差アンプ部、１０６はＰＷＭ駆動するための基準となるキャリア波形を出力するキャリア発生手段、１０７は誤差アンプ部１０５の出力とキャリア発生手段１０６の出力を比較しゲート信号を出力するゲート信号発生手段、１０８は、ゲート信号発生手段１０７より出力されたゲート信号により電流を出力する電流増幅器、１１０は電流増幅器１０８により出力された電流により駆動する同期電動機、１１１は電流(トルク)指令を出力する上位装置である。ＯＰアンプ部１０２は、差動ＯＰアンプ部とアナログスイッチと可変抵抗からなり、上位装置１１１からゲイン切換信号によってアナログスイッチを切り換えることにより差動アンプのゲインを切り換えることで、ＯＰアンプ部２のゲインが可変となる。
特開２００３−２３５２９５号公報 Synchronous motors used in the drive systems of semiconductors and liquid crystal exposure apparatuses in the field of semiconductors and liquid crystal manufacturing apparatuses require high speed, high acceleration / deceleration, and accuracy at a constant speed. In conventional synchronous motor control devices, the dynamic range is determined by the maximum current (torque) required during acceleration / deceleration, a large current (torque) command is input during acceleration / deceleration, and a small current (torque) command is input during constant speed. Drive.
FIG. 8 is a block diagram showing the configuration of a conventional synchronous motor control device. Reference numeral 102 denotes an OP amplifier unit capable of adjusting a DC gain and offset, 103 a detection resistor for detecting a current supplied to the synchronous motor, and 104 a current feedback detection circuit (hereinafter referred to as an FB detection circuit) for amplifying a voltage detected by the detection resistor 103 105, an error amplifier for detecting an error between the OP amplifier unit 102 and a feedback detection signal (hereinafter referred to as an FB detection signal) output from the FB detection circuit 104, and a carrier 106 serving as a reference for PWM driving Carrier generating means 107 for outputting a waveform, 107 is a gate signal generating means for comparing the output of the error amplifier 105 and the output of the carrier generating means 106 and outputs a gate signal, and 108 is a current generated by the gate signal output from the gate signal generating means 107. Amplifier 109 outputs current (torque) command and FB CPU performing alarm and various operation captures the output signal, 110 is a synchronous motor driven by current output from the current amplifier 8, 111 is a host device that outputs a current (torque) command. When a current (torque) command is input from the host device 111, an error is detected by the error amplifier unit 105 between the output of the OP amplifier unit 102 and the output of the FB detection circuit 104, and the current amplifier is passed through the gate signal generation unit 107. The synchronous motor 110 is energized by 108.
Moreover, there exists patent document 1 in the disclosed prior art. Patent Document 1 proposes an apparatus and method for modulating the dynamic range of a current (torque) command when the current (torque) command crosses a predetermined value. A block diagram of Patent Document 1 is shown in FIG. 9, where 102 is an OP amplifier unit capable of adjusting the DC gain and offset, 103 is a detection resistor, 104 is an FB detection circuit, and 105 is an output and FB detection of the OP amplifier unit 102. An error amplifier unit that detects an error from the output of the circuit 104, 106 is a carrier generating unit that outputs a carrier waveform serving as a reference for PWM driving, and 107 is a comparison between the output of the error amplifier unit 105 and the output of the carrier generating unit 106 A gate signal generating means for outputting a gate signal; 108, a current amplifier for outputting a current according to the gate signal output from the gate signal generating means 107; 110, a synchronous motor driven by a current output from the current amplifier; Is a host device that outputs a current (torque) command. The OP amplifier unit 102 includes a differential OP amplifier unit, an analog switch, and a variable resistor. The gain of the OP amplifier unit 2 is switched by switching the gain of the differential amplifier by switching the analog switch from the host device 111 by a gain switching signal. Is variable.
JP 2003-235295 A

しかしながら、従来の技術は、ＯＰアンプ部１０２、および検出抵抗１０３とＦＢ検出回路１０４のダイナミックレンジを固定しているため、大きな電流（トルク）指令に対して前記ＯＰアンプ部１０２、および検出抵抗１０３とＦＢ検出回路１０４のダイナミックレンジを固定した場合、小さな電流(トルク)指令を入力されたときに、前記ＯＰアンプ部１０２、および検出抵抗１０３とＦＢ検出回路１０４は、非常に小さなダイナミックレンジで電流(トルク)制御を行うため、十分な分解能を有することができない。また、小さな電流（トルク）指令に対して前記ＯＰアンプ部１０２、および検出抵抗１０３とＦＢ検出回路１０４のダイナミックレンジを固定した場合、大きな電流(トルク)指令を入力されたとき、前記ＯＰアンプ部１０２、および検出抵抗３とＦＢ検出回路１０４は、許容できるダイナミックレンジを超えてしまい、オーバーフローしてしまう問題がある。そのため、高速・高加減速と一定速時の精度の両立をすることができない問題があった。
また、特許文献１の技術では、電流(トルク)指令が所望したしきい値をクロスした場合に電流（トルク）指令のダイナミックレンジを切り換えることで、電流（トルク）指令の分解能を上げることができ、同期電動機に通電されている実電流を検出するＦＢ検出回路１０４のダイナミックレンジは固定されている。このような構成では、電流（トルク）指令は大きな電流(トルク)指令でも小さな電流(トルク)指令でも最適なダイナミックレンジを取ることはできるが、ＦＢ検出信号のダイナミックレンジが固定されているため、全体的な電流（トルク）制御の分解能は向上しないため、一定速時の精度が向上しない問題があった。
本発明はこのような問題点に鑑みてなされたものであり、ダイナミックレンジの大きい電流指令に対して高精度に電流を制御で同期電動機制御装置を提供することを目的とする。 However, since the conventional technology fixes the dynamic range of the OP amplifier unit 102, the detection resistor 103, and the FB detection circuit 104, the OP amplifier unit 102 and the detection resistor 103 for a large current (torque) command. When the dynamic range of the FB detection circuit 104 is fixed and the small current (torque) command is input, the OP amplifier unit 102, the detection resistor 103, and the FB detection circuit 104 have a very small dynamic range. Since (torque) control is performed, sufficient resolution cannot be obtained. When the dynamic range of the OP amplifier unit 102 and the detection resistor 103 and the FB detection circuit 104 is fixed with respect to a small current (torque) command, the OP amplifier unit is input when a large current (torque) command is input. 102, the detection resistor 3 and the FB detection circuit 104 exceed the allowable dynamic range and overflow. Therefore, there is a problem that it is impossible to achieve both high speed / high acceleration / deceleration and accuracy at a constant speed.
In the technique of Patent Document 1, when the current (torque) command crosses a desired threshold value, the resolution of the current (torque) command can be increased by switching the dynamic range of the current (torque) command. The dynamic range of the FB detection circuit 104 that detects the actual current supplied to the synchronous motor is fixed. In such a configuration, the current (torque) command can take an optimum dynamic range with either a large current (torque) command or a small current (torque) command, but the dynamic range of the FB detection signal is fixed. Since the resolution of the overall current (torque) control is not improved, there is a problem that the accuracy at a constant speed is not improved.
The present invention has been made in view of such problems, and an object of the present invention is to provide a synchronous motor control device by controlling current with high accuracy in response to a current command having a large dynamic range.

上記課題を解決するために、本発明のある観点によれば、本発明は、電流指令を調節し新たな電流指令を生成する電流指令調節部と、電流を検出し電流信号を生成する電流検出部と、前記電流指令と前記電流信号から電圧指令を生成する電流制御部と、キャリア信号を生成するキャリア信号生成部と、前記電圧信号と前記キャリア信号からゲート信号を生成するＰＷＭ部と、前記ゲート信号に応じて電力を変換する電力変換部と、を備えた同期電動機制御装置において、前記電流指令調節部は第１電流指令を生成する第１電流指令調節部と、第２電流指令を生成する第２電流指令調節部と、を備え、前記電流検出部は、第１電流信号を生成する第１電流検出部と、第２電流信号を生成する第２電流検出部と、を備え、前記第１電流指令か前記第２電流指令かを選択する第１のスイッチと、前記第１電流信号か前記第２電流信号かを選択する第２スイッチと、前記電流指令が所定電流値よりも小さいときには前記第１電流指令と前記第１電流を選択し、大きいときには前記第２電流指令と前記第２電流信号を選択するスイッチ選択信号を生成するスイッチ制御部と、を備えることを特徴とするものである。
また、上記本発明は、前記電流制御部は、前記第１電流指令と前記第１電流信号から第１電圧指令を生成する第１電流制御部と、前記第２電流指令と前記第２電流指令と前記第２電流信号から第２電圧指令を生成する第２電流制御部と、を備え、前記第１電圧指令か前記第２電圧指令かを選択する第３スイッチと、前記電流指令が所定値よりも小さいときには前記第１電圧指令を選択し、大きいときには前記第２電圧指令を選択するスイッチ制御部と、を備えてもよい。
また、上記本発明は、キャリア信号生成部は、第１キャリア信号を生成する第１キャリア周波数生成部と、第２キャリア信号を生成する第２キャリア周波数生成部と、を備え、前記第１電圧指令と第１キャリア信号から第１ゲート信号を生成する第１ＰＷＭ部と、前記第２電圧指令と第２キャリア信号から第２ゲート信号を生成する第２ＰＷＭ部と、電流指令を所定電流値と比較して前記第１ゲート信号か前記第２ゲート信号かを選択する第４スイッチと、を備えてもよい。
また、上記本発明では、第１キャリア信号と第２キャリア信号は周波数が異なってもよい。
また、上記本発明は、前記電流検出部は、電流により電圧信号を生成する１つの電流検出抵抗と、前記電圧信号から第１検出ゲインで増幅し第１電流信号を生成する第１電流検出部と、第２検出ゲインで増幅する第２電流検出部とを備えてもよい。
また、上記本発明は、記スイッチの選択信号は、外部指令によってもよい。
また、上記本発明は、前記電流指令調節部はゲイン調整とオフセット調整が可能なオペアンプであってもよい。
また、上記本発明は、前記電流指令が所定電流値以下の場合は電流制御部のゲインを第２電流信号と第１電流信号のゲイン比に比例して下げることを特徴とするものである。
また、上記本発明は、前記電流指令が所定値以下の場合は第１キャリア信号の周波数を第２キャリア信号の周波数よりも第１電流信号と第２電流信号のゲイン比に比例してあげてもよい。
また、上記本発明は、前記所定電流値は、最大電流値の略１／２以下であってもよい。 In order to solve the above-described problems, according to one aspect of the present invention, the present invention includes a current command adjustment unit that adjusts a current command and generates a new current command, and a current detection that detects a current and generates a current signal. A current control unit that generates a voltage command from the current command and the current signal, a carrier signal generation unit that generates a carrier signal, a PWM unit that generates a gate signal from the voltage signal and the carrier signal, And a power converter that converts power according to a gate signal, wherein the current command adjuster generates a first current command adjuster that generates a first current command, and generates a second current command. A second current command adjusting unit, and the current detection unit includes a first current detection unit that generates a first current signal, and a second current detection unit that generates a second current signal, The first current command or the above A first switch that selects two current commands, a second switch that selects the first current signal or the second current signal, and the first current command when the current command is smaller than a predetermined current value, A switch control unit that selects the first current and generates a switch selection signal that selects the second current command and the second current signal when the first current is large is provided.
In the present invention, the current control unit includes a first current control unit that generates a first voltage command from the first current command and the first current signal, the second current command, and the second current command. And a second current control unit that generates a second voltage command from the second current signal, a third switch that selects whether the first voltage command or the second voltage command, and the current command is a predetermined value And a switch control unit that selects the first voltage command when it is smaller, and selects the second voltage command when it is larger .
In the present invention, the carrier signal generation unit includes a first carrier frequency generation unit that generates a first carrier signal and a second carrier frequency generation unit that generates a second carrier signal. A first PWM unit for generating a first gate signal from the command and the first carrier signal, a second PWM unit for generating a second gate signal from the second voltage command and the second carrier signal, and comparing the current command with a predetermined current value And a fourth switch for selecting the first gate signal or the second gate signal .
Further, in the present invention, the first carrier signal and a second carrier signal frequencies may be I different Do.
Further, in the present invention, the current detection unit includes a current detection resistor that generates a voltage signal based on a current, and a first current detection unit that amplifies the voltage signal with a first detection gain to generate a first current signal. And a second current detection unit that amplifies with the second detection gain .
In addition, the present invention described above, the selection signal of the serial switch, may I by the external command.
Further, the present invention, the current command adjustment unit may it gain adjustment and offset adjustment capable op der.
Further, the present invention is characterized in that when the current command is less than or equal to a predetermined current value, the gain of the current control unit is lowered in proportion to the gain ratio between the second current signal and the first current signal.
Further, the present invention, the current command is raised in proportion to the gain ratio of the predetermined value or less when the frequency of the second first current signal than the frequency of the carrier signal and the second current signal of the first carrier signal Also good.
Further, the present invention, the predetermined current value may be I substantially less than 1/2 der of the maximum current value.

本発明によると、電流（トルク）指令が所望のしきい値をクロスした時にＯＰアンプ部、および電流制御ループを構成する誤差アンプ部、電流検出部を切り換えることにより、大きな電流（トルク）時でも、小さな電流（トルク）時でも、指令、および電流検出のダイナミックレンジを十分にとることができ、高速・高加減速かつ一定速時の精度の向上を両立できる同期電動機制御装置を提供することができる。 According to the present invention, when the current (torque) command crosses a desired threshold value, the OP amplifier unit, the error amplifier unit constituting the current control loop, and the current detection unit are switched, so that even at a large current (torque). It is possible to provide a synchronous motor control device that can sufficiently provide a dynamic range for command and current detection even at a small current (torque), and can achieve both high speed, high acceleration / deceleration, and improvement of accuracy at a constant speed. it can.

以下、本発明の方法の具体的実施例を、図２に示すような動作タイムチャートで同期電動機１０を動作させる場合について説明する。   Hereinafter, a specific embodiment of the method of the present invention will be described in the case where the synchronous motor 10 is operated with an operation time chart as shown in FIG.

図１は、本発明の実施例１の構成を示す図である。図において、１、２はそれぞれ第１電流指令調節部と第２電流調節部、３は第１電流制御部、５は第１キャリア信号生成部、７は第１ＰＷＭ部、９はゲートドライブ部、１０は電力変換部、１１、１２は電流検出抵抗、１３、１４は絶縁増幅部、１５、１８はスイッチ、２０はスイッチ制御部、２１は上位装置、２２は同期電動機である。スイッチ１５は電流指令調節部を選択するスイッチ、電流指令調節部１、２は、入力された電流(トルク)指令をＤＣゲイン倍に増幅、及びオフセット調整を行う事ができるＯＰアンプで構成され、電流指令のゲインおよびオフセットを調整して、それぞれ、ゲインの異なる第１電流指令、第２電流指令を生成する。スイッチ１６は第１電流指令か第２電流指令かを選択するためのスイッチである。電流検出抵抗１１と絶縁増幅部１３は第１電流信号を生成し、電流検出抵抗１２と絶縁増幅部１４は第２電流信号を生成する。スイッチ１８は第１電流信号か第２電流信号かを選択する。電流制御器３は選択された電流指令と電流信号の誤差信号をＰＩＤ処理をして第１電圧指令を生成する。第１キャリア信号生成部は第１キャリア信号を生成する。第１ＰＷＭ部７は第１電圧指令と第１キャリア信号から第１ゲート信号を生成する。ゲートドライブ部９は第１ゲート信号を絶縁増幅し、電力変換部１０の半導体スイッチのゲートを駆動する。電力変換部１０は、第１ゲート信号に基づいて同期電動機に電圧を印加して電流を流す。スイッチ制御部２０は、ハードで構成することもできるが、通常はＣＰＵで構成され、アラームなど各種演算を行うとともに電流指令があらかじめ設定された所定値以下の場合はスイッチ１５に第１電流指令調節部を、スイッチ１７に第１電流信号を選択するように選択信号を生成する。電流指令が所定値以上の場合は第２電流指令を第２電流信号を選択する。上位装置２１は電流指令を生成する。
所定電流値Ｉｓは、同期電動機および同期電動機制御装置の最大電流Ｉｍａｘから決定し、通常、略Ｉｍａｘ／２〜略Ｉｍａｘ／１００の範囲に選ぶ。第１電流指令と第２電流指令のゲイン比や第１電流信号と第２電流信号のゲイン比はほぼ最大電流と所定電流値の比に選なり、通常５〜１００である。
図２の(Ｂ)の領域は、電流（トルク）指令が所定電流値より小さい領域で、同期電動機を一定速で駆動している領域になる。上位装置からの電流指令が所定電流値以下の場合は、第１電流指令と第１電流信号を選択し、所定値電流を少し超えた電流がフルスケール値となり、電流指令が所定値電流を超える場合は、第２電流指令と第２電流信号を選択し、最大電流がフルスケール値となる。
また、電流制御部３のゲインを、電流指令値が所定電流値以下の場合は下げ、所定電流値を超える場合は上げて全電流領域にわたって電流制御ループゲインを一定に保つこともできる。
以上のことから、小さな電流（トルク）指令に対しても最適なダイナミックレンジで電流(トルク)制御を行うことができ、十分な分解能で高速・高加減速かつ一定速時の精度が向上した同期電動機制御装置を提供できる。 FIG. 1 is a diagram showing the configuration of the first embodiment of the present invention. In the figure, 1 and 2 are a first current command adjustment unit and a second current adjustment unit, 3 is a first current control unit, 5 is a first carrier signal generation unit, 7 is a first PWM unit, 9 is a gate drive unit, 10 is a power conversion unit, 11 and 12 are current detection resistors, 13 and 14 are insulation amplification units, 15 and 18 are switches, 20 is a switch control unit, 21 is a host device, and 22 is a synchronous motor. The switch 15 is a switch that selects a current command adjusting unit, and the current command adjusting units 1 and 2 are configured by an OP amplifier that can amplify an input current (torque) command by a DC gain and perform an offset adjustment. The gain and offset of the current command are adjusted to generate a first current command and a second current command with different gains, respectively. The switch 16 is a switch for selecting the first current command or the second current command. The current detection resistor 11 and the insulation amplification unit 13 generate a first current signal, and the current detection resistor 12 and the insulation amplification unit 14 generate a second current signal. The switch 18 selects the first current signal or the second current signal. The current controller 3 performs PID processing on the selected current command and the error signal of the current signal to generate a first voltage command. The first carrier signal generation unit generates a first carrier signal. The first PWM unit 7 generates a first gate signal from the first voltage command and the first carrier signal. The gate drive unit 9 insulates and amplifies the first gate signal and drives the gate of the semiconductor switch of the power conversion unit 10. The power conversion unit 10 applies a voltage to the synchronous motor based on the first gate signal and causes a current to flow. The switch control unit 20 can be configured by hardware, but is normally configured by a CPU, performs various calculations such as alarms, and adjusts the first current command adjustment to the switch 15 when the current command is less than a predetermined value set in advance. The switch generates a selection signal so that the switch 17 selects the first current signal. If the current command is greater than or equal to a predetermined value, the second current command is selected as the second current command. The host device 21 generates a current command.
The predetermined current value Is is determined from the maximum current Imax of the synchronous motor and the synchronous motor control device, and is usually selected in a range of about Imax / 2 to about Imax / 100. The gain ratio between the first current command and the second current command and the gain ratio between the first current signal and the second current signal are selected to be a ratio between the maximum current and the predetermined current value, and are usually 5 to 100.
2B is a region where the current (torque) command is smaller than a predetermined current value, and is a region where the synchronous motor is driven at a constant speed. When the current command from the host device is less than or equal to the predetermined current value, the first current command and the first current signal are selected, the current slightly exceeding the predetermined value current becomes the full scale value, and the current command exceeds the predetermined value current In this case, the second current command and the second current signal are selected, and the maximum current becomes the full scale value.
Further, the gain of the current control unit 3 can be lowered when the current command value is equal to or smaller than the predetermined current value, and is increased when the current command value exceeds the predetermined current value, so that the current control loop gain can be kept constant over the entire current region.
From the above, even with a small current (torque) command, current (torque) control can be performed with the optimal dynamic range, and high-speed, high acceleration / deceleration with improved resolution and improved accuracy at constant speed An electric motor control device can be provided.

図３は本発明の実施例２の構成を示すブロック図である。図において、１、２はそれぞれ第１電流指令調節部と第２電流調節部、３、４はそれぞれ第１電流制御部、第２電流制御部、５は第１キャリア信号生成部、７は第１ＰＷＭ部、９はゲートドライブ部、１０は電力変換部、１１、１２は電流検出抵抗、１３、１４はそれぞれ第１絶縁増幅部、第２絶縁増幅部であり、１５、１７はスイッチ、２０はスイッチ制御部、２１は上位装置、２２は同期電動機である。実施例２は、実施例１に対して第２電流制御部４を追加して、電流指令が所定電流値以下の場合は、スイッチ１７により、第１電流制御部３の生成する第１電圧指令を選択し、所定電流値を超える場合は、第２電流制御部４の生成する第２電圧指令を選択するところが異なる。   FIG. 3 is a block diagram showing the configuration of the second embodiment of the present invention. In the figure, 1 and 2 are a first current command adjusting unit and a second current adjusting unit, 3 and 4 are a first current control unit, a second current control unit, 5 is a first carrier signal generation unit, and 7 is a first current signal control unit, respectively. 1 PWM unit, 9 is a gate drive unit, 10 is a power conversion unit, 11 and 12 are current detection resistors, 13 and 14 are a first insulation amplification unit and a second insulation amplification unit, respectively, 15 and 17 are switches, A switch control unit, 21 is a host device, and 22 is a synchronous motor. In the second embodiment, the second current control unit 4 is added to the first embodiment. When the current command is equal to or less than a predetermined current value, the first voltage command generated by the first current control unit 3 is generated by the switch 17. When the predetermined current value is selected, the second voltage command generated by the second current control unit 4 is different.

図４は本発明のを実施例３の構成を示すブロック図である。図において、１、２はそれぞれ第１電流指令調節部と第２電流調節部、３、４はそれぞれ第１電流制御部、第２電流制御部、５、６はそれおぞれ第１キャリア信号生成部、第２キャリア信号生成部であり、７、８はそれおぞれ第１ＰＷＭ部、第２ＰＷＭ部である。９はゲートドライブ部、１０は電力変換部、１１、１２は電流検出抵抗、１３、１４はそれぞれ第１絶縁増幅部、第２絶縁増幅部であり、１５、１７はスイッチ、２０はスイッチ制御部、２１は上位装置、２２は同期電動機である。実施例３は、実施例２とに対して、第２キャリア信号生成部と第２ＰＷＭ部を追加し、電流指令が所定電流値以下の場合は、スイッチ１９は第１ＰＷＭ部の生成する第１ゲート信号を選択し、所定電流値を超える場合は第２ＰＷＭ部の生成する第２ゲート信号を選択するとことが異なる。   FIG. 4 is a block diagram showing the configuration of the third embodiment of the present invention. In the figure, 1 and 2 are a first current command adjusting unit and a second current adjusting unit, respectively, 3 and 4 are a first current control unit, a second current control unit, and 5 and 6 are respectively a first carrier signal. A generating unit and a second carrier signal generating unit, and 7 and 8 are a first PWM unit and a second PWM unit, respectively. 9 is a gate drive unit, 10 is a power conversion unit, 11 and 12 are current detection resistors, 13 and 14 are a first insulation amplification unit and a second insulation amplification unit, 15 and 17 are switches, and 20 is a switch control unit. , 21 is a host device, and 22 is a synchronous motor. In the third embodiment, a second carrier signal generation unit and a second PWM unit are added to the second embodiment. When the current command is a predetermined current value or less, the switch 19 is a first gate generated by the first PWM unit. When a signal is selected and the current value exceeds a predetermined current value, the second gate signal generated by the second PWM unit is selected.

図５は実施例４の構成を示すブロック図である。図において、１、２はそれぞれ第１電流指令調節部と第２電流調節部、３、４はそれぞれ第１電流制御部、第２電流制御部、５、６はそれおぞれ第１キャリア信号生成部、第２キャリア信号生成部であり、７、８はそれおぞれ第１ＰＷＭ部、第２ＰＷＭ部である。９はゲートドライブ部、１０は電力変換部、１１は電流検出抵抗、１３、１４はそれぞれ第１絶縁増幅部、第２絶縁増幅部であり、１５、１７はスイッチ、２０はスイッチ制御部、２１は上位装置、２２は同期電動機である。実施例４は、実施例３とに対して、第２電流検出抵抗を省略したところが実施例３と異なる。   FIG. 5 is a block diagram showing the configuration of the fourth embodiment. In the figure, 1 and 2 are a first current command adjusting unit and a second current adjusting unit, respectively, 3 and 4 are a first current control unit, a second current control unit, and 5 and 6 are respectively a first carrier signal. A generating unit and a second carrier signal generating unit, and 7 and 8 are a first PWM unit and a second PWM unit, respectively. 9 is a gate drive unit, 10 is a power conversion unit, 11 is a current detection resistor, 13 and 14 are a first insulation amplification unit and a second insulation amplification unit, 15 and 17 are switches, 20 is a switch control unit, 21 Is a host device, and 22 is a synchronous motor. The fourth embodiment is different from the third embodiment in that the second current detection resistor is omitted.

図６は、本発明の実施例５の構成を示すブロック図である。電流指令が所定電流値以下か越えるかの判断を上位装置が行い、スイッチ選択信号を生成し、スイッチ１５、１７を動作させる。   FIG. 6 is a block diagram showing a configuration of the fifth embodiment of the present invention. The host device determines whether the current command is less than or equal to a predetermined current value, generates a switch selection signal, and operates the switches 15 and 17.

図７は実施例６の構成を示すブロック図である。電流指令が所定電流値以上か超えるかの判断をスイッチ制御部２０が行いスイッチ選択信号を生成する。   FIG. 7 is a block diagram showing the configuration of the sixth embodiment. The switch control unit 20 determines whether the current command is greater than or equal to a predetermined current value and generates a switch selection signal.

本発明の実施例１の構成を示すブロック図The block diagram which shows the structure of Example 1 of this invention. 同期電動機の動作タイムチャートOperation time chart of synchronous motor 本発明の実施例２の構成を示すブロック図The block diagram which shows the structure of Example 2 of this invention. 本発明の実施例３の構成を示すブロック図The block diagram which shows the structure of Example 3 of this invention. 本発明の実施例４の構成を示すブロック図The block diagram which shows the structure of Example 4 of this invention. 本発明の実施例５の構成を示すブロック図The block diagram which shows the structure of Example 5 of this invention. 本発明の実施例６の構成を示すブロック図The block diagram which shows the structure of Example 6 of this invention. 従来の同期電動機制御装置の構成を示すブロック図Block diagram showing the configuration of a conventional synchronous motor control device 従来の同期電動機制御装置の構成を示すブロック図Block diagram showing the configuration of a conventional synchronous motor control device

符号の説明Explanation of symbols

１、２ 第１電流指令調節部、第２電流指令調節部
３、４ 第１電流制御部、第２電流制御部
５、６ 第１キャリア信号生成部、第２キャリア信号生成部
７、８ 第１ＰＷＭ部、第２ＰＷＭ部
９ ゲートドライブ部
１０ 電力変換部
１１、１２ 第１電流検出抵抗、第２電流検出抵抗
１３、１４ 第１絶縁増幅部、第２絶縁増幅部
１５〜１９ スイッチ
２０ スイッチ制御部
２１ 上位装置
２２ 同期電動機 1, 2 1st current command adjustment part, 2nd current command adjustment part 3, 4 1st current control part, 2nd current control part 5, 6 1st carrier signal generation part, 2nd carrier signal generation part 7, 8 1 PWM unit, second PWM unit 9 gate drive unit 10 power conversion unit 11, 12 first current detection resistor, second current detection resistor 13, 14 first insulation amplification unit, second insulation amplification unit 15-19 switch 20 switch control unit 21 Host device 22 Synchronous motor

Claims (4)

同期電動機を制御する同期電動機制御装置であって、
前記同期電動機に駆動電圧を印加して駆動電流を流し、該同期電動機を制御する電力変換部と、
前記駆動電流を検出し、該駆動電流を第１検出ゲインで増幅した第１電流信号を出力する第１電流検出部と、
前記駆動電流を検出し、該駆動電流を前記第１検出ゲインと異なる第２検出ゲインで増幅した第２電流信号を出力する第２電流検出部と、
前記同期電動機制御装置の外部から入力される外部電流指令を調整して、新たな第１電流指令を生成可能な第１電流指令調整部と、
前記外部電流指令を調整して、前記第１電流指令とゲインの異なる新たな第２電流指令を生成可能な第２電流指令調整部と、
を有し、
前記電力変換部は、
前記外部電流指令が所定の電流値以下である場合には、前記第１電流指令及び前記第１電流信号に応じて、前記駆動電圧を前記同期電動機に印加し、
前記外部電流指令が前記所定の電流値を超過する場合には、前記第２電流指令及び前記第２電流信号に応じて、前記駆動電圧を前記同期電動機に印加することを特徴とする、同期電動機制御装置。 A synchronous motor control device for controlling a synchronous motor,
A power converter that applies a driving voltage to the synchronous motor to flow a driving current and controls the synchronous motor;
A first current detector that detects the drive current and outputs a first current signal obtained by amplifying the drive current with a first detection gain;
A second current detection unit that detects the drive current and outputs a second current signal obtained by amplifying the drive current with a second detection gain different from the first detection gain;
A first current command adjusting unit capable of adjusting an external current command input from the outside of the synchronous motor control device and generating a new first current command;
A second current command adjusting unit capable of adjusting the external current command to generate a new second current command having a gain different from that of the first current command;
Have
The power converter is
When the external current command is less than or equal to a predetermined current value, the drive voltage is applied to the synchronous motor according to the first current command and the first current signal,
When the external current command exceeds the predetermined current value, the drive voltage is applied to the synchronous motor in accordance with the second current command and the second current signal. Control device. 前記第１電流指令及び前記第１電流信号に基づいて、第１電圧指令を生成する第１電流制御部と、
前記第２電流指令及び前記第２電流信号に基づいて、前記第１電流制御部と異なるゲインで第２電圧指令を生成する第１電流制御部と、
を有し、
前記電力変換部は、
前記外部電流指令が前記所定の電流値以下である場合には、前記第１電圧指令に応じて、前記駆動電圧を前記同期電動機に印加し、
前記外部電流指令が前記所定の電流値を超過する場合には、前記第２電圧指令に応じて、前記駆動電圧を前記同期電動機に印加することを特徴とする、請求項１に記載の同期電動機制御装置。 A first current control unit that generates a first voltage command based on the first current command and the first current signal;
A first current control unit that generates a second voltage command with a gain different from that of the first current control unit based on the second current command and the second current signal;
Have
The power converter is
When the external current command is less than or equal to the predetermined current value, the drive voltage is applied to the synchronous motor according to the first voltage command,
2. The synchronous motor according to claim 1 , wherein when the external current command exceeds the predetermined current value, the drive voltage is applied to the synchronous motor according to the second voltage command. Control device. 前記第１電流制御部のゲインは、前記第２電流制御部のゲインよりも低いことを特徴とする、請求項２に記載の同期電動機制御装置。 The synchronous motor control device according to claim 2, wherein a gain of the first current control unit is lower than a gain of the second current control unit. ＰＷＭ駆動の基準となるキャリア波形を表す第１キャリア信号を生成する第１キャリア信号生成部と、
前記第１キャリア信号と異なる周波数のキャリア波形を表す第２キャリア信号を生成する第２キャリア信号生成部と、
を有し、
前記電力変換部は、
前記外部電流指令が前記所定の電流値以下である場合には、前記第１電圧指令と前記第１キャリア信号とに基づいて、前記同期電動機をＰＷＭ駆動し、
前記外部電流指令が前記所定の電流値以下である場合には、前記第２電圧指令と前記第２キャリア信号とに基づいて、前記同期電動機をＰＷＭ駆動することを特徴とする、請求項２又は３に記載の同期電動機制御装置。


A first carrier signal generation unit for generating a first carrier signal representing a carrier waveform serving as a reference for PWM driving;
A second carrier signal generator for generating a second carrier signal representing a carrier waveform having a frequency different from that of the first carrier signal;
Have
The power converter is
When the external current command is less than or equal to the predetermined current value, the synchronous motor is PWM driven based on the first voltage command and the first carrier signal,
Wherein when the external current instruction is equal to or less than the predetermined current value, based on said second carrier signal and the second voltage command, characterized in that the synchronous motor is PWM driven, claim 2 or synchronous motor control device according to 3.


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