JP5076858B2 - Motor control device - Google Patents
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- JP5076858B2 JP5076858B2 JP2007321857A JP2007321857A JP5076858B2 JP 5076858 B2 JP5076858 B2 JP 5076858B2 JP 2007321857 A JP2007321857 A JP 2007321857A JP 2007321857 A JP2007321857 A JP 2007321857A JP 5076858 B2 JP5076858 B2 JP 5076858B2
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本発明は、モータ制御装置の制御方法に関するものである。 The present invention relates to a control method for a motor control device.
従来、この種のモータの制御装置としては、例えば、モータが起動した後、モータの回転数を上昇させる場合、モータの実回転数と目標回転数の回転偏差にもとづきフィードバック制御を行っており、時間とともに指令電圧が上昇し、実回転数が目標回転数に向かって上昇していき、最終的に目標回転数で安定する。また、回転数を下降させる場合も、モータの実回転数と目標回転数の回転偏差にもとづきフィードバック制御を行い、時間とともに指令電圧が下降し、実回転数が目標回転数に向かって下降していき、最終的に目標回転数で安定する（例えば特許文献１参照）。
しかしながら、前記従来の構成では、回転可能最小回転数が高いモータで、モータが停止状態から低回転数を指示した場合、モータが正常に回転しないという課題を有していた。 However, the conventional configuration has a problem that the motor does not rotate normally when the motor has a high minimum rotation speed and the motor indicates a low rotation speed from a stopped state.
図３はモータの回転数と指令電圧の関係を示す特性図であり、回転可能最小回転数以下では、モータが回転しないことを示している。回転可能最小回転数が高いモータで、モータが停止状態から低回転数を指示した場合、モータの回転数が指示した目標回転数になるまで指令電圧を上昇させるが、回転可能最小回転数が高いため、モータが回転したと検出したときには、目標回転数に対してモータの回転数が高回転数となる場合があり、フィードバック制御により指令電圧を下降させるが、モータへの指令電圧の変化に対し、慣性の影響でモータの回転数の追従に遅れが生じ、指令電圧の変更が先行するためにアンダーシュートが発生し、モータの回転可能最小回転数を下回り、モータが停止してしまうという問題点があった。 FIG. 3 is a characteristic diagram showing the relationship between the rotational speed of the motor and the command voltage, and shows that the motor does not rotate below the minimum rotational speed that can be rotated. If the motor has a high minimum rotation speed and a low rotation speed is instructed from a stopped state, the command voltage is increased until the motor rotation speed reaches the specified target rotation speed, but the minimum rotation speed is high. Therefore, when it is detected that the motor has rotated, the motor speed may be higher than the target speed, and the command voltage is lowered by feedback control. Because of the inertia, there is a delay in the follow-up of the rotational speed of the motor, and the change in command voltage is preceded. was there.
本発明は、上記従来の課題を解決するもので、回転可能最小回転数が高いモータでも確実にモータを起動させるモータ制御装置を提供することを目的とする。 The present invention solves the above-described conventional problems, and an object of the present invention is to provide a motor control device that reliably starts a motor even with a motor having a high minimum rotation speed.
前記従来の課題を解決するために、本発明のモータ制御装置は、モータの回転数を検出する回転数検出手段と、モータに電圧を指令する電圧指令部と、モータの起動制御を行う起動制御部と、回転数検出手段により検出された回転数と目標回転数との差によりフィードバック制御を行うフィードバック制御部とを備え、モータの起動制御が終了しフィードバック制御へ移行する際に、回転数検出手段により検出された回転数が目標回転数より大きければ、フィードバック周期を遅くし、指令電圧の変化率を小さくするものである。 In order to solve the above-described conventional problems, a motor control device according to the present invention includes a rotation speed detection unit that detects the rotation speed of a motor, a voltage command unit that commands a voltage to the motor, and a start control that performs start control of the motor. And a feedback control unit that performs feedback control based on the difference between the rotational speed detected by the rotational speed detection means and the target rotational speed, and detects the rotational speed when the start control of the motor ends and the control shifts to feedback control. If the rotation speed detected by the means is larger than the target rotation speed, the feedback cycle is delayed and the change rate of the command voltage is reduced.
これにより、回転可能最小回転数が高いモータでも確実にモータを起動させることができる。 Thereby, even a motor having a high minimum rotation speed can be reliably started.
本発明のモータ制御装置は、回転可能最小回転数が高いモータで、モータが停止状態から低回転数を指示したときに、モータの回転を検出した時点で、目標回転数に対してモータの回転数が高回転数となった場合でも、フィードバック制御の周期を遅くし、指令電圧の変化率を小さくすることにより、指令電圧のアンダーシュートを防止し、確実にモータを起動させることができる。 The motor control device of the present invention is a motor having a high minimum rotation speed. When the motor indicates a low rotation speed from a stopped state, the rotation of the motor with respect to the target rotation speed is detected when the rotation of the motor is detected. Even when the number becomes high, the feedback control cycle is delayed and the change rate of the command voltage is reduced, so that undershoot of the command voltage can be prevented and the motor can be started reliably.
第１の発明は、モータと、モータの回転数を検出する回転数検出手段と、モータに電圧を指令する電圧指令部と、モータの起動制御を行う起動制御部と、回転数検出手段により検出された回転数と目標回転数との差によりフィードバック制御を行うフィードバック制御部とを備え、モータの回転が安定状態か過渡状態かによりフィードバック制御の周期を変更し、起動制御が終了後フィードバック制御へ移行する際に、回転数検出手段により検出された回転数が目標回転数より大きければ安定状態と判定し、目標回転数より小さければ過渡状態と判定し、安定状態の場合には、フィードバック制御の周期を遅くし、かつ、フィードバック制御の指令電圧の変化率を小さくすることにより、回転可能最小回転数が高いモータで、モータが停止状態から低回転数を指示したときに、モータの回転を検出した時点で、目標回転数に対してモータの回転数が高回転数となった場合でも、指令電圧の
アンダーシュートを防止し、確実にモータを起動させることができる。
The first invention is detected by a motor, a rotation speed detection means for detecting the rotation speed of the motor, a voltage command section for commanding a voltage to the motor, a start control section for performing start control of the motor, and a rotation speed detection means. A feedback control unit that performs feedback control based on the difference between the detected rotation speed and the target rotation speed, and changes the feedback control cycle depending on whether the motor rotation is in a stable state or in a transient state, and starts the feedback control after the start control is completed. At the time of transition, if the rotation speed detected by the rotation speed detection means is larger than the target rotation speed, it is determined as a stable state, and if it is lower than the target rotation speed, it is determined as a transient state . slows the cycle, and, by reducing the rate of change of the command voltage feedback control, the rotatable at minimum rotation speed is high the motor, the motor is stopped like When a low rotation speed is commanded from the motor, when the motor rotation is detected, even if the motor rotation speed is higher than the target rotation speed, undershoot of the command voltage is prevented and ensured The motor can be started.
以下、本発明の実施の形態について図面を参照しながら説明する。なお、この実施の形態によって本発明が限定されるものではない。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.
（実施の形態１）
図１は、本発明の実施の形態１におけるモータ制御装置のブロック図を示すものである。図１において、モータ１と、モータ１の回転数を検出する回転数検出手段２と、モータ１に電圧を指令する電圧指令部３と、モータ１を起動させる起動制御部４と、実回転数と目標回転数との差によりフィードバック制御を行うフィードバック制御部５とで構成している。
(Embodiment 1)
FIG. 1 shows a block diagram of a motor control apparatus according to Embodiment 1 of the present invention. In FIG. 1, a motor 1, a rotation speed detection means 2 that detects the rotation speed of the motor 1, a voltage command section 3 that commands a voltage to the motor 1, a start control section 4 that starts the motor 1, and an actual rotation speed And a feedback control unit 5 that performs feedback control based on the difference between the target rotational speed and the target rotational speed.
以上のように構成されたモータ制御装置について、以下、図２のフローチャートを用いて説明する。まず、起動制御部４により、モータ１が停止状態から起動される（ＳＴ１０１）。起動制御部４による起動制御の一例としては、指令電圧を一定の変化率で上昇させ、モータ１の回転を検出した時点で起動制御を終了し、フィードバック制御へ移行する等があるが、回転可能最小回転数が高い場合、モータ１が回転したと検出したときには、モータ１の回転数が高回転数となるため、実回転数が目標回転数以上の高回転数となった状態でフィードバック制御に移行する場合がある。 The motor control device configured as described above will be described below with reference to the flowchart of FIG. First, the start control unit 4 starts the motor 1 from a stopped state (ST101). As an example of the start control by the start control unit 4, the command voltage is increased at a constant rate of change, and when the rotation of the motor 1 is detected, the start control is terminated and the control shifts to feedback control. When the minimum number of rotations is high, when it is detected that the motor 1 has rotated, the number of rotations of the motor 1 becomes a high number of rotations. Therefore, feedback control is performed with the actual number of rotations higher than the target number of rotations. May migrate.
フィードバック制御へ移行すると、回転数検出手段２により検出されたモータ１の実回転数ｒと目標回転数Ｒを比較し（ＳＴ１０２）、ｒ（実回転数）≧Ｒ（目標回転数）であれば、安定状態のフィードバック制御の周期Ｔ１と指令電圧の変化率α１を設定する（ＳＴ１０３）。ｒ（実回転数）＜Ｒ（目標回転数）であれば、過渡状態のフィードバック制御の周期Ｔ２と指令電圧の変化率α２を設定する（ＳＴ１０４）。ここで、フィードバック制御の周期はＴ１＞Ｔ２、変化率はα１＜α２となるように値を設定する。 When shifting to the feedback control, the actual rotational speed r of the motor 1 detected by the rotational speed detection means 2 is compared with the target rotational speed R (ST102), and if r (actual rotational speed) ≧ R (target rotational speed). Then, a stable state feedback control cycle T1 and a command voltage change rate α1 are set (ST103). If r (actual rotational speed) <R (target rotational speed), a transient feedback control cycle T2 and a command voltage change rate α2 are set (ST104). Here, values are set so that the period of feedback control is T1> T2 and the rate of change is α1 <α2.
以上のように、本実施の形態においては、モータの起動制御が終了しフィードバック制御へ移行する際に、回転数検出手段により検出された回転数が目標回転数より大きければ、フィードバック周期を遅くし、指令電圧の変化率を小さくすることにより、回転可能最小回転数が高いモータで、モータが停止状態から低回転数を指示したときに、モータの回転を検出した時点で、目標回転数に対してモータの回転数が高回転数となった場合でも、慣性の影響によるモータの回転数の追従の遅れを抑えることができ、指令電圧のアンダーシュートを防止し、確実にモータを起動させることができる。 As described above, in the present embodiment, when the start control of the motor is completed and the control shifts to the feedback control, if the rotation speed detected by the rotation speed detection means is larger than the target rotation speed, the feedback cycle is delayed. By reducing the change rate of the command voltage, when the motor is instructed to rotate at a low speed from a stopped state with a motor that can rotate at a high minimum speed, Even when the motor speed is high, the delay in following the motor speed due to the influence of inertia can be suppressed, preventing undershoot of the command voltage and starting the motor reliably. it can.
以上のように、本発明にかかるモータ制御装置は、モータの起動制御が終了しフィードバック制御へ移行する際に、回転数検出手段により検出された回転数が目標回転数より大きければ、フィードバック周期を遅くし、指令電圧の変化率を小さくすることにより、回転可能最小回転数が高いモータで、モータが停止状態から低回転数を指示したときに、モータの回転を検出した時点で、目標回転数に対してモータの回転数が高回転数となった場合でも、指令電圧のアンダーシュートを防止し、確実にモータを起動させることができるため、モータを使用した空気調和機等の家電機器や産業機器の用途にも適用できる。 As described above, the motor control device according to the present invention sets the feedback cycle if the rotation speed detected by the rotation speed detection means is larger than the target rotation speed when the start control of the motor ends and shifts to the feedback control. By slowing down and reducing the change rate of the command voltage, the target rotation speed is detected when the rotation of the motor is detected when the low rotation speed is instructed from a stopped state with a motor with a high minimum rotation speed. In contrast, even when the motor speed is high, the undervoltage of the command voltage can be prevented and the motor can be started reliably, so that home appliances such as air conditioners using motors and industries It can also be applied to equipment applications.
１ モータ
２ 回転数検出手段
３ 電圧指令部
４ 起動制御部
５ フィードバック制御部
DESCRIPTION OF SYMBOLS 1
Claims (1)
Detected by a motor, a rotation speed detection means for detecting the rotation speed of the motor, a voltage command section for commanding a voltage to the motor, a start control section for performing start control of the motor, and the rotation speed detection means Provided with a feedback control unit that performs feedback control based on the difference between the rotational speed and the target rotational speed, changes the feedback control cycle depending on whether the motor rotation is in a stable state or a transient state, and shifts to feedback control after start-up control is completed When the rotational speed detected by the rotational speed detection means is larger than the target rotational speed, it is determined as a stable state. When the rotational speed is smaller than the target rotational speed, it is determined as a transient state . A motor control device that slows the cycle and reduces the rate of change in the command voltage for feedback control .
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| CN102822637B (en) | 2010-04-02 | 2015-03-04 | 株式会社安川电机 | Signal processor, encoder, and motor system |
| JP2012159270A (en) * | 2011-02-02 | 2012-08-23 | Daikin Industries Ltd | Control device, and heat pump device |
| JP5834240B2 (en) * | 2011-07-19 | 2015-12-16 | パナソニックＩｐマネジメント株式会社 | Electric tool |
| JP6375976B2 (en) | 2015-02-04 | 2018-08-22 | 株式会社デンソー | In-vehicle motor controller |
| WO2017022083A1 (en) * | 2015-08-04 | 2017-02-09 | 三菱電機株式会社 | Synchronous motor control device, compressor drive device, air-conditioner, and method for controlling synchronous motor |
| CN105262408B (en) * | 2015-11-23 | 2017-11-17 | 珠海格力电器股份有限公司 | The control method and system of a kind of motor |
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| JP4633324B2 (en) * | 2002-10-02 | 2011-02-16 | パナソニック株式会社 | Motor control method |
| JP2005295760A (en) * | 2004-04-05 | 2005-10-20 | Matsushita Electric Ind Co Ltd | Motor controller |
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