JP5405685B1 - Motor control device and motor control method - Google Patents

Abstract

The present invention facilitates design support of an actual motor and / or an actual control system for the actual motor, and facilitates control of the actual motor.
In order to control a real motor based on a control signal, a motor control device operates a virtual motor during operation of the real motor and thereby determines a control signal. Have When a virtual three-phase current signal is input to simulate the real motor 12, the virtual motor outputs the three-phase current represented by the virtual three-phase current signal from the real motor 12 to the real motor 12. A virtual three-phase voltage signal representing the three-phase voltage to be input is output. The virtual motor calculation unit 50 generates a virtual current signal based on a target signal representing a control target value of the actual motor, inputs the virtual current signal to the virtual motor, and outputs a virtual voltage output from the virtual motor in response to the virtual current signal. The signal is used as it is as the control signal or the control signal is determined based on the virtual voltage signal.
[Selection] Figure 1

Description

  The present invention relates to a technique for controlling an actual motor that converts electrical energy into kinetic energy.

  An electrically driven motor is used to convert electrical energy into kinetic energy. This type of motor has a wide variety of applications. Examples of such applications include a drive source for a moving body such as an automobile, a robot, a machine tool, a transport machine, a cargo handling machine, and an air conditioner. There are drive sources (actuators) for motion generators such as equipment and office equipment.

  For example, in the case of an automobile, whether it is a type in which only a motor is mounted as a driving source or a type in which both a motor and a combustion engine are mounted as driving sources, the motor is mounted on the automobile as a driving source. It is popular. In this application, it is becoming increasingly necessary to control the motor as desired regardless of the type of motor and the environment in which the motor is used.

  When a motor is used, it is important to design a control system that controls the motor. In addition, in order to control the motor with high accuracy, it is necessary to design a control system suitable for the input / output characteristics of the motor.

  In addition, it may be difficult to use an actual motor in order to design a control system for the motor. In this case, a virtual motor that performs calculation that simulates the input / output characteristics of the actual motor may be used instead of the actual motor, and a control system for the actual motor may be designed using the virtual motor ( For example, see Patent Documents 1 and 2.)

  When designing the control system, if the input / output characteristics of the real motor are linear, the design of the control system and the design of the virtual motor are easy. This type of real motor generally uses magnets that use rare earths.

JP 2006-318200 A JP 2009-284737 A

  However, in recent years, it has become difficult to obtain rare earth elements, and there is an increasing demand for switching to motors that do not use magnets. There is also a desire to reduce the amount of use of magnets. A motor that uses a small amount of magnets may be used in a region that exceeds a rated output (for example, motor speed or motor torque) as the size and speed of the motor increase. There is also a desire to manufacture motors using inexpensive magnet materials.

  In any case, the input / output characteristics of the motor are likely to be non-linear, which makes it difficult to design a control system for such a motor.

  In view of the circumstances described above, the present invention has been made with the object of facilitating the support of the design of the actual motor and / or the actual control system for the actual motor, and facilitating the control of the actual motor. is there.

  The following aspects are obtained by the present invention. Each aspect is divided into sections, each section is given a number, and is described in a form that cites other section numbers as necessary. This is to facilitate understanding of some of the technical features that the present invention can employ and combinations thereof, and the technical features that can be employed by the present invention and combinations thereof are limited to the following embodiments. Should not be interpreted. That is, it should be construed that it is not impeded to appropriately extract and employ the technical features described in the present specification as technical features of the present invention although they are not described in the following embodiments.

  Further, describing each section in the form of quoting the numbers of the other sections does not necessarily prevent the technical features described in each section from being separated from the technical features described in the other sections. It should not be construed as meaning, but it should be construed that the technical features described in each section can be appropriately made independent depending on the nature.

(1) A motor control device that controls an actual motor that converts electrical energy into kinetic energy,
A virtual motor that simulates the real motor, and when a virtual current signal is input, a virtual voltage that represents a voltage to be input to the real motor in order to output the current represented by the virtual current signal. One that outputs a signal,
The virtual current signal is generated based on a target signal representing a control target value of the actual motor, the virtual current signal is input to the virtual motor, and the virtual voltage signal output from the virtual motor in response to the virtual current signal is directly input. A control unit that uses the control signal as a control signal or determines the control signal based on the virtual voltage signal and controls the real motor based on the determined control signal.

  Throughout this specification, the phrase “virtual motor that simulates a real motor” means, for example, an input / output that is substantially the same as an actual or target input / output characteristic (eg, input voltage-output current characteristic) of the real motor. It can be interpreted to mean a virtual motor with characteristics, or it can be interpreted to mean a virtual motor that substantially shares the motor model that defines the input / output characteristics and dynamic characteristics of the motor with the actual motor. Is possible.

  In addition, the term “control signal” is input directly or indirectly to the real motor and the virtual motor, thereby changing the operation state of the real motor and the virtual motor. Means the signal to be given.

  The control signal in this sense is an input system in which, for example, when a first signal is input to a power converter such as an inverter or a power amplifier, electric energy corresponding to the first signal is input to the motor as a second signal. Can be interpreted as a term meaning the first signal or as a term meaning the second signal. This is because both the first signal and the second signal are signals for controlling the motor for the motor, and are signals that uniquely correspond to the operating state of the motor. .

(2) The control unit generates a target current signal for the virtual motor based on the target signal, and performs vector control of the current of the virtual motor based on the target current signal, and coordinates of the target current signal. The motor control device according to item (1), wherein the conversion is performed using the rotation angle of the real motor, thereby generating the virtual current signal.

(3) Furthermore, a detection unit for detecting the current of the actual motor is included,
The control unit determines a difference between the detected actual motor current and a virtual motor current represented by the virtual current signal input to the virtual motor at a timing temporally related to the detection timing of the actual motor current. The motor control device according to (1) or (2), wherein the virtual voltage signal is corrected directly or indirectly so that the difference is reduced.

(4) When the virtual three-phase current signal is input to the virtual motor, the three-phase voltage to be input to the real motor in order for the real motor to output the three-phase current represented by the virtual three-phase current signal Output a virtual three-phase voltage signal representing
The control unit converts the target signal into a virtual dq axis command current signal for the virtual motor, and converts the virtual dq axis command current signal of the virtual motor under the rotation angle of the real motor. The virtual three-phase command current signal is input to the virtual motor, and the virtual three-phase command voltage signal output from the virtual motor in response to the virtual three-phase command current signal is input to the virtual motor. The motor control device according to (1), wherein a current signal is converted and the virtual three-phase command voltage signal is used as the control signal as it is or the control signal is determined based on the virtual three-phase command voltage signal.

(5) Furthermore, the acquisition part which acquires the said actual motor rotation angle is included,
The control unit further includes:
The actual motor rotation from the time when the actual motor rotation angle is acquired by the acquisition unit to the time when the control signal calculated using the acquired actual motor rotation angle is supplied to the actual motor. An estimator for estimating the amount of change in which the angle is expected to change;
An angle correction unit that corrects the acquired actual motor rotation angle based on the estimated change amount, and
The motor control device according to (4), wherein the control unit converts the virtual dq-axis command current signal into the virtual three-phase command current signal under the corrected actual motor rotation angle.

(6) The virtual motor has a virtual input / output characteristic that simulates a real input / output characteristic that is a relationship between an input voltage and an output current in the real motor, and when the virtual three-phase command current signal is input, Based on the virtual input / output characteristics, the virtual three-phase command voltage signal corresponding to the virtual three-phase command current signal is output,
The motor control device further includes a detection unit that detects a real three-phase current of the real motor,
The control unit is a virtual 3 represented by the detected real three-phase current and the virtual three-phase command current signal input to the virtual motor at a timing temporally related to the detection timing of the real three-phase current. The virtual input / output characteristic is corrected so that the difference between the next value of the actual three-phase current and the next value of the virtual three-phase current is reduced based on the difference from the phase current (4) or (5) The motor control device described in 1.

(7) Furthermore, a detection unit for detecting an actual three-phase current of the actual motor is included,
The control unit is a virtual 3 represented by the detected real three-phase current and the virtual three-phase command current signal input to the virtual motor at a timing temporally related to the detection timing of the real three-phase current. Based on the difference from the phase current, the virtual three-phase command voltage signal output from the virtual motor is corrected so that the difference between the next value of the actual three-phase current and the next value of the virtual three-phase current is reduced. The motor control device according to any one of (4) to (6).

(8) The controller further modifies the input / output characteristics of the virtual motor based on the difference between the operating state of the real motor and the operating state of the virtual motor so that the difference decreases (1). The motor control device according to item.

(9) A motor control method for controlling an actual motor that converts electrical energy into kinetic energy,
A first step of controlling the actual motor based on a control signal;
A second step of activating a virtual motor during operation of the real motor, thereby determining the control signal;
The virtual motor represents a voltage to be input to the real motor in order to output the current represented by the virtual current signal when the virtual current signal is input to simulate the real motor. Output virtual voltage signal
The second step generates the virtual current signal based on a target signal representing a control target value of the real motor, inputs the virtual current signal to the virtual motor, and outputs the virtual current signal in response to the virtual current signal. A motor control method in which the virtual voltage signal is directly used as the control signal or the control signal is determined based on the virtual voltage signal.

(10) A program executed by a computer to execute the motor control method according to (9).

(11) A recording medium on which the program according to item (10) is recorded so as to be readable by a computer.

  This recording medium can adopt various formats, for example, a magnetic recording medium such as a flexible disk, an optical recording medium such as a CD and a CD-ROM, a magneto-optical recording medium such as an MO, and an unremovable storage such as a ROM. However, it is not limited to them.

  According to the present invention, by operating the real motor and the virtual motor together, the real motor can be accurately controlled using the operation state quantity of the virtual motor, or the virtual motor can be controlled using the operation state quantity of the real motor. Input / output characteristics can be calibrated.

FIG. 1 is a functional block diagram showing an entire system having a motor control device according to the first exemplary embodiment of the present invention. FIG. 2 is a circuit diagram schematically showing an example of the actual inverter / power amplifier shown in FIG. FIG. 3 is a functional block diagram illustrating an example of the virtual motor calculation unit illustrated in FIG. 1. FIG. 4 is a diagram schematically and mathematically describing an example of a motor model used by the virtual motor shown in FIG. FIG. 5A is a timing chart showing the entire sequence of the virtual motor calculation section shown in FIG. 3, and FIG. 5B is a timing chart showing individual calculation cycles of the virtual motor calculation section. FIG. 6 is a timing chart showing an example of the operation of the motor control device shown in FIG. FIG. 7 is a functional block diagram illustrating an example of a virtual motor calculation unit in the motor control device according to the second exemplary embodiment of the present invention. FIG. 8A is a timing chart showing the entire sequence of the virtual motor calculation section shown in FIG. 7, and FIG. 8B is a timing chart showing individual calculation cycles of the virtual motor calculation section. FIG. 9 is a flowchart conceptually showing an example of the operation of the virtual motor calculation unit shown in FIG. FIG. 10 is a functional block diagram illustrating an example of a virtual motor calculation unit in the motor control device according to the third exemplary embodiment of the present invention. FIG. 11 is a flowchart conceptually showing an example of virtual motor calibration by the virtual motor calculation unit shown in FIG. FIG. 12 is a functional block diagram illustrating an example of a virtual motor calculation unit in the motor control device according to the fourth exemplary embodiment of the present invention. FIG. 13 is a flowchart conceptually showing an example of virtual motor output value correction by the virtual motor calculation unit shown in FIG.

  Hereinafter, some of the more specific and exemplary embodiments of the present invention will be described in detail with reference to the drawings.

<First Embodiment>

  FIG. 1 is a functional block diagram schematically illustrating a system 11 having a motor control device 10 according to a first exemplary embodiment of the present invention. The system 11 includes an actual motor 12 as a drive source for the system 11. Some specific examples of the system 11 include a moving body that moves relative to an absolute space and a motion imparting device that imparts motion to a movable member, as described above.

  The actual motor 12 generally has a multi-pole rotor (not shown), a multi-pole stator (not shown), and a magnetic flux forming section (not shown, but specifically, for example, a winding). Composed. As shown in FIG. 2, the actual motor 12 has a shaft 13 that rotates together with the rotor. The shaft 13 is a movable member (not shown, but specifically, for example, a vehicle wheel, a machine tool Mechanically coupled to a tool, robot arm, etc., thereby driving the movable member.

  Some specific examples of the actual motor 12 include a permanent magnet synchronous motor (PMSM) that rotates using a permanent magnet as a field magnet, and an induction motor (IM that rotates using an eddy current without using a permanent magnet). ), Switch reluctance motor (SRM), and the like. In the reluctance motor, since the rotor is composed of a ferromagnetic iron core without using a permanent magnet, the reluctance motor is a kind of non-commutator motor that does not use a permanent magnet.

  When the actual motor 12 has three-phase (U-phase, V-phase, and W-phase) windings, the following symbols are used to describe various physical quantities of the actual motor 12.

Vu, Vv, Vw: terminal voltage (also referred to as “winding voltage” or “phase voltage”) [V]
Iu, Iv, Iw: Phase current (also referred to as “winding current”) [A]
θm: angle of rotor (or shaft 13) (phase or rotational position, also referred to as “motor angle” or “motor position”) [rad]
ωm: Angular speed of rotor (or shaft 13) (also called “motor speed”) [rad / sec]
T: Motor output torque [Nm]
Fu, Fv, Fw: Phase magnetic flux [Wb]

  In the present embodiment and the description of some embodiments described later, there are places where the same symbol is used alone and places where “*” is used at the end. In these embodiments, the same symbol means an actual value or a detected value when used alone, whereas when used in combination with “*”, it means a command value. When the same symbol is used alone, it means a physical quantity for the actual motor 12, whereas when used in combination with “*”, it is a physical quantity for the virtual motor 60 described later. Note that there is a usage that means something, but unless otherwise noted, the former usage is adopted.

  As shown in FIG. 1, the system 11 further includes a real inverter / power amplifier 14 for driving the real motor 12. The actual inverter / power amplifier 14 is configured to include an actual inverter or an actual power amplifier that supplies electric energy to the actual motor 12. The electrical energy supplied to the actual motor 12 is the terminal voltages Vu, Vv, and Vw when the actual motor 12 has three-phase (U-phase, V-phase, and W-phase) windings.

  FIG. 2 conceptually shows a circuit diagram of the actual inverter 16 when the actual inverter / power amplifier 14 includes the actual inverter 16. As is well known, the actual inverter 16 includes an input terminal 20 to which the DC voltage Vdc is applied, an output terminal 22 for outputting the terminal voltages Vu, Vv, and Vw to the actual motor 12, and these input terminals. 20 and a plurality of gates 24 connected between the output terminal 22, a resistor 26 for detecting the terminal voltages Vu, Vv, and Vw, and an analog that represents the terminal voltages Vu, Vv, and Vw by voltages acting on the resistor 26. It is comprised so that it may have ADC (AC / DC converter) 28 which converts a signal into a digital signal.

  The plurality of gates 24 are configured as a plurality of switching elements (that is, a plurality of upper arm switching elements and a plurality of lower arm switching elements), and the gates 24 are gates that are a plurality of pulse signals from the outside. Switching operation is performed according to the signals Gu, Gv, Gw, Gx, Gy, and Gw.

  With this configuration, when the plurality of gate signals Gu, Gv, Gw, Gx, Gy, and Gw are input as control signals from the outside, the actual inverter 16 has a height corresponding to the control signal. The voltages Vu, Vv, Vw are generated by a PWM (pulse width modulation) method, and the generated terminal voltages Vu, Vv, Vw are supplied to the actual motor 12. That is, in this embodiment, the plurality of gate signals Gu, Gv, Gw, Gx, Gy, Gw constitute a plurality of control signals, and each signal is formed as a PWM signal.

  When the actual inverter / power amplifier 14 includes the actual inverter 16, the control signal input from the outside to the actual inverter / power amplifier 14 is the plurality of gate signals as described above. When the amplifier 14 has an actual power amplifier (not shown), the number of analog signals is the same as the number of phases of the actual motor 12.

  As shown in FIG. 1, in order to monitor the operating state of the real motor 12, the system 11 detects the operating state of the real motor 12, and outputs an actual motor state signal representing the result. Is further provided. The actual motor state detection unit 30 can detect, for example, the actual three-phase currents Iu, Iv, Iw, the actual motor speed ωm, the actual motor position θm, and the like of the actual motor 12 as the operating state of the actual motor 12. When it is necessary to monitor the actual three-phase currents Iu, Iv, and Iw, the actual motor state detection unit 30 is configured to include a current sensor (not shown), and detects the actual motor position θm. When it is necessary to do so, the actual motor state detection unit 30 is configured to include, for example, a rotary encoder (not shown).

  As shown in FIG. 1, the system 11 includes a processor 40 for controlling the real motor 12. The processor 40 includes an arithmetic circuit (for example, a programmable logic device (PLD), a wired logic circuit) such as a field-programmable gate array (FPGA) or an application specific integrated circuit (ASIC) 42 and a CPU 44 of the computer. Has been. For example, the arithmetic circuit 42 performs a 32-bit floating point arithmetic operation in a first period of 1 μsec, and thereby performs a calculation by the virtual motor calculation unit 50. Further, the CPU 44 performs a process for controlling the entire system 11 with a second period of several tens of μsec, for example, which is longer than the first period. Examples of such processing include initialization, termination processing, and processing for inputting a target signal representing a control target value that is variable in time.

  A virtual motor calculator 50 is realized by the arithmetic circuit 42. That is, the virtual motor calculation unit 50 is configured to be capable of high-speed calculation by the calculation circuit 42.

  In general, the virtual motor calculation unit 50 calculates the voltage-current characteristics of the real motor 12 (represented by a voltage-current equation detailed later with reference to FIG. 4) as shown in FIG. The virtual motor 60 to be simulated is mainly configured. The virtual motor calculation unit 50 uses the virtual motor 60 to generate a current (command current) of the actual motor 12 corresponding to the control target value represented by the target signal. Calculate (command voltage).

  When a current signal representing a command current is input to the virtual motor 60, the virtual motor 60 is represented by the input current signal by causing the arithmetic circuit 42 (see FIG. 1) to execute an analysis program that simulates the actual motor 12. The actual voltage (actual three-phase voltage) to be supplied to the real motor 12 in order to realize the real current (real three-phase current) having the same magnitude as the virtual current (virtual three-phase current) to be calculated by the real motor 12 is calculated Is done. The calculated actual voltage is the above-described command voltage.

  The command voltage of the real motor 12 is also a command voltage for the virtual motor 60, and the command current of the real motor 12 described above is also a command current for the virtual motor 60. Therefore, eventually, the virtual motor calculation unit 50 calculates a command voltage common to the real motor 12 and the virtual motor 60 from a command current common to the real motor 12 and the virtual motor 60.

  As described in detail in the section “Background Art”, in the conventional technique, the virtual motor 60 replaces the real motor 12 until the test on the real motor 12 and the real controller that controls the real motor 12 is completed. Used in testing machines. Then, when the real motor 12 and the real controller are completed (specifications are determined), the real motor 12 is now mounted on the real machine as a substitute for the virtual motor 60. As described above, in the conventional technology, the virtual motor 60 is not mounted and operated together with the real motor 12 in both the test machine and the real machine.

  On the other hand, in the present embodiment, regardless of whether it is a test machine or a real machine, the virtual motor 60 is mounted together with the real motor 12 and is operated together. It is possible to control the real motor 12 using the teaching method, or to teach the virtual motor 60 using the real motor 12.

  The virtual motor calculation unit 50 is in a state where the actual motor 12 is stopped (in the case where the supply of electric energy to the actual motor 12 is unnecessary because the control signal input to the actual motor 12 does not change with time). Will continue to work.

  In the present embodiment, the portion of the system 11 that constitutes the virtual motor calculation unit 50 (implemented by the processor 40) shown in FIG. 1 constitutes the motor control device 10, and the virtual motor calculation unit shown in FIG. 50, a portion excluding the virtual motor 60 constitutes a “control unit” of the motor control device 10.

  Here, the input / output characteristics of a general motor will be described. As shown in FIG. 4, the input / output characteristics of a three-phase winding motor can generally be described approximately by a voltage equation (voltage-current equation). Is already known. According to this fact, by using the voltage equation, a motor voltage vector v representing a terminal voltage for each phase is obtained from a motor current vector i (= [iu, iv, iw]) representing a phase current for each phase. (= [Vu, vv, vw]) can be calculated.

  To describe the definitions of various symbols in the voltage equation shown in FIG. 4, “Ra” represents the winding resistance of the motor, and “ψ” represents the flux linkage vector ψ (= [ψu, ψv) of the motor. , Ψw]), and “t” represents time.

  As shown in FIG. 4, the linkage flux vector ψ of the motor is equal to the sum of the linkage flux due to the phase current and the armature linkage flux. The interlinkage magnetic flux due to the phase current is expressed using an inductance matrix having “L (self-inductance)” and “M (mutual inductance)” as elements, and the armature interlinkage magnetic flux is represented by the vector φ (= [ φu, φv, φw]). The inductance matrix is expressed as a table in which each element L, M depends on at least one of the motor current and angle (position, phase), and the armature flux linkage vector φ It is expressed as a table that depends on at least one of current and angle (position, phase). With these tables, the non-linear characteristics of the motor can be expressed over the entire driving frequency of the motor in cooperation with the voltage equation.

  Therefore, if the nonlinear motor model expressed by the voltage equation shown in FIG. 4 is used, even if the input / output characteristics of the motor are nonlinear, the entire driving frequency of the motor is divided into a plurality of bands and is different for each band. Without using a linear motor model, it is possible to accurately represent a nonlinear motor characteristic that covers the entire drive frequency range of the motor substantially without omission with a single model.

  The voltage equation shown in FIG. 4 is also true for the real motor 12, and therefore the virtual motor 60 represents the phase current for each phase of the virtual motor 60 as shown in FIG. 3 by using the voltage equation. A virtual motor current vector I * (= [Iu *, Iv *, Iw *] (represented by a virtual three-phase command current signal), which is a motor current vector i (= [iu, iv, iw] shown in FIG. ))), A virtual motor voltage vector V * (= [Vu *, Vv *, Vw *] representing a terminal voltage for each phase of the virtual motor 60 (represented by a virtual three-phase command voltage signal). In this case, the motor voltage vector v (corresponding to [vu, vv, vw]) shown in FIG. 4 is calculated.

  Therefore, according to the present embodiment, the virtual motor 60 simulates the operation of the real motor 12 using the non-linear motor model expressed by the voltage equation shown in FIG. It is possible to accurately simulate the operation of the actual motor 12 over the entire 12 drive frequencies.

  The voltage equation shown in FIG. 4 can be used to calculate the voltage from the current for the real motor 12 or can be used to calculate the current from the voltage. The former calculation is a calculation opposite to the temporal direction of the actual physical phenomenon in which current is generated from the voltage in the actual motor 12, and can be referred to as an inverse model calculation. Since the calculation is a calculation in the same direction as the temporal direction of the actual physical phenomenon described above, it can be referred to as a forward model calculation. In the present embodiment, the inverse model calculation is adopted among these two types of calculations.

  The actual motor 12 has a response delay because the movable member including the rotor has a mass (inertia) or resistance, but the virtual motor 60 has substantially no response delay. As a result, when the command current is input to the virtual motor 60 at the same timing as the command voltage is input to the real motor 12, the output current (actual physical quantity) of the real motor 12 responds to the command voltage. The output voltage (calculated value of the voltage) of the virtual motor 60 responds at an earlier timing. As a result, within each calculation cycle (see FIG. 5), it is guaranteed that the command voltage to be input to the actual motor 12 is calculated at a timing earlier than the timing at which the command voltage is to be input to the actual motor 12. Thus, it becomes easy to design the virtual motor calculation unit 50.

  As illustrated in FIG. 3, the virtual motor calculation unit 50 generates a virtual motor based on the target signal and a real motor state signal (for example, a signal representing the real motor position θm) output from the real motor state detection unit 30. By controlling 60 (that is, by performing the inverse model calculation), a plurality of control signals (the aforementioned gate signals Gu, Gv, Gw, Gx, Gy, Gw) are generated. The virtual motor calculation unit 50 outputs the generated plurality of control signals to the real inverter / power amplifier 14, thereby controlling the real motor 12.

  Specifically, the virtual motor calculation unit 50 is based on the control target value represented by the target signal, and the virtual operating position of the virtual motor 60 (the operating position of the virtual rotor as a virtual movable member) is the real motor 12. The command voltage common to the real motor 12 and the virtual motor 60 is determined by the inverse model calculation on the assumption that it matches the actual operation position (actual operation position of the actual rotor as the actual movable member). Thereby, the real motor 12 and the virtual motor 60 are driven together and substantially synchronized with each other with respect to the rotor position.

  A more specific configuration of the virtual motor calculation unit 50 will be described later with reference to FIG. 3, but prior to that, the operation of the virtual motor calculation unit 50 will be described with reference to the timing chart shown in FIG. An example will be described in detail.

As illustrated in FIG. 5A representing the entire sequence of the virtual motor calculation unit 50, the control target value T ₀ is repeatedly input to the virtual motor calculation unit 50 with an input cycle Tin (for example, several tens of μsec). . The virtual motor calculation unit 50 repeatedly performs the calculation for one cycle at a virtual motor calculation period Tv (for example, 1 μsec) shorter than the input period Tin, and thereby, during one input cycle of the control target value T _0. Calculate for multiple cycles. In this embodiment, the input cycle Tin is set to have a length longer than the virtual motor calculation cycle Tv. Instead, the input cycle Tin has substantially the same length as the virtual motor calculation cycle Tv. Can be set.

Here, the “control target value T ₀ ” is, for example, a command value of a physical quantity related to the output from the real motor 12, for example, a physical quantity (eg, position, speed, acceleration) related to the position of the rotor of the real motor 12. A command value or a command value of a physical quantity (for example, torque, axial force) related to the force acting on the rotor of the actual motor 12, or a command value of a physical quantity related to an input to the actual motor 12, such as a three-phase command current It is possible to use signals Iu *, Iv *, Iw *, dq-axis command current signals Id *, Iq *, or any combination of these plural types of command values.

  As illustrated in FIG. 5B, which represents a processing sequence in each calculation cycle of the virtual motor calculation unit 50, the virtual motor calculation unit 50 repeatedly performs one cycle of calculation in the virtual motor calculation cycle Tv. In each calculation cycle, the control signal Gu-Gz is determined based on the control target value T0 (i) and the actual motor position θm (t) of the actual motor 12, and the determined control signal Gu -Gz is output to the real inverter / power amplifier 14, thereby controlling the real motor 12.

The control target value T ₀ (i) is input for each input cycle having an input cycle Tin, for example, from an external device, whereas the actual motor position θm (t) is a calculation cycle having a virtual motor calculation cycle Tv. Every time, it is taken in from the actual motor state detection unit 30. When the control target value T ₀ (i) is input every input cycle, it is temporarily stored in the memory. For a plurality of calculation cycles belonging to the same input cycle, the same control target value T ₀ (i) is fetched from the memory into the virtual motor calculation unit 50 for each calculation cycle.

In order to describe the sequence of a plurality of processes in each calculation cycle more specifically, as illustrated in FIG. 5B, the virtual motor calculation unit 50 first starts the control target value T ₀ in each calculation cycle. (t) and the actual motor position θm (t) are captured. This process is represented by “θm (t) input” in FIG.

Next, the virtual motor calculation unit 50 performs state quantity conversion. Specifically, the virtual motor calculation unit 50 converts the fetched control target value T ₀ (t) into a virtual dq axis command current signal (an example of “target current signal” in the item (2)) described later. The first conversion and the virtual dq axis command current signal are converted into a virtual three-phase command current signal based on the actual motor position θm (t) (an example of the “virtual current signal” in the above items (1) and (2)). The second conversion to be converted to is performed. This process is represented by “conversion” in FIG.

  Thereafter, the virtual motor calculation unit 50 performs the inverse model calculation based on the virtual three-phase command current signal, whereby a virtual three-phase command voltage signal ((1) described above) corresponding to the virtual three-phase command current signal. (Example of “virtual voltage signal” in the term) is determined, and a third conversion for converting the determined virtual three-phase command voltage signal into the control signal Gu-Gz is performed. This process is represented by “inverse model calculation” in FIG.

  Subsequently, the virtual motor calculation unit 50 outputs the acquired control signal Gu-Gz to the real inverter / power amplifier 14, thereby controlling the real motor 12. This process is represented by “Gu to Gz output” in FIG. In each calculation cycle, since the virtual three-phase command current signal is input to the virtual motor 60 only once, the virtual motor 60 operates only once.

  In FIG. 5B (same in FIG. 8), after the control signal Gu-Gz is supplied to the real inverter / power amplifier 14, the timing at which the calculation cycle to which the control signal Gu-Gz belongs ends. It is illustrated that the actual motor position θm (t) changes to θm (t + 1) (= θm (t) + Δθ) at the same timing. However, this is only an example for explanation, and actually, the actual motor position θm (t) changes to θm (t + 1) at a timing earlier or later than the timing.

  Next, an example of the configuration of the virtual motor calculation unit 50 will be specifically described with reference to FIG. However, when the same symbol is used alone, it means an actual value or a detected value for the virtual motor 60, while when used in combination with “*”, a command value for the virtual motor 60 is used. Means.

  The virtual motor calculation unit 50 performs magnetic flux-torque control on the dq coordinate system (rotation orthogonal two-axis dq coordinate system). Here, “d” represents the virtual magnetic flux of the virtual motor 60, and “q” represents the virtual torque of the virtual motor 60.

  In order to realize such control, the virtual motor calculation unit 50 uses the target signal as a virtual dq-axis command current signal Id *, Iq * (virtual d-axis command current signal Id * and virtual q-axis command current signal Iq *. ) And a vector control (using the position information of the rotor, the axis current is converted from a dq coordinate system to a three-phase coordinate system to control the stator phase current). A dq / UVW coordinate converter 68 that converts these virtual dq-axis command current signals Id * and Iq * into virtual three-phase command current signals Iu *, Iv *, and Iw * is provided.

  In the conventional technique that uses the virtual motor 60 separately from the real motor 12, the dq-UVW coordinate converter 68 uses the virtual dq axis command current signals Id * and Iq * under the virtual motor position θm of the virtual motor 60. Is normally designed to be converted into a virtual three-phase command current signal Iu *, Iv *, Iw *. On the other hand, in this embodiment, the dq-UVW coordinate converter 68 uses the actual motor position θm instead of the virtual motor position θm.

  As a result, according to the present embodiment, the virtual three-phase command current signals Iu *, Iv *, Iw * are in a state where the virtual motor position θ of the virtual motor 60 and the real motor position θm of the real motor 12 coincide with each other. Will be obtained at.

  However, when the virtual motor 60 is taught to reproduce the input / output characteristics of the real motor 12 sufficiently accurately, the virtual motor position θ and the real motor position θm are sufficiently coincident with each other. In this case, even if the dq-UVW coordinate converter 68 refers to the virtual motor θ instead of the actual motor position θm, the virtual three-phase command voltage signals Vu *, Vv *, Vw * are the virtual motor 60 virtual. The motor position θ and the actual motor position θm of the actual motor 12 are acquired in a state where they coincide with each other.

  In the virtual motor calculation unit 50, virtual three-phase command current signals Iu *, Iv *, Iw * are input to the virtual motor 60, and then the virtual motor 60 performs the virtual three-phase command current signal by the inverse model calculation. In order to realize the current represented by Iu *, Iv *, Iw * in the real motor 12, virtual three-phase command voltage signals Vu *, Vv *, Vw * representing the voltage to be supplied to the real motor 12 are output.

  The virtual motor calculation unit 50 further converts the output virtual three-phase command voltage signals Vu *, Vv *, and Vw * into a plurality of control signals Gu, Gv, Gw, Gx, Gy, A PWM signal generator 78 for converting to Gz is provided.

  FIG. 6 is a flowchart showing an example of the operation of the motor control device 10. This flowchart represents steps S1 and S2 executed by the CPU 44 and steps S3-S9 executed repeatedly by the arithmetic circuit 42. These steps S3-S11 are executed once to achieve one calculation cycle.

  First, in step S1, initialization is performed. Specifically, for example, the actual motor state detection unit 30 acquires the initial actual motor position θinit, and the same position is set as the initial virtual motor position θinit of the virtual motor 60.

Next, every time an input cycle Tin (for example, several tens of microseconds) elapses, an interrupt is generated and step S2 is executed. In step S2, the control target value T ₀ the current is input.

  Subsequently, in step S <b> 3, data input is performed. Specifically, the actual motor position θm is input from the actual motor state detection unit 30.

Thereafter, in step S4, the target signal converter 66, the target signal representing the control target value _{T 0} is a virtual dq-axis command current signal Id *, is converted to Iq *. Thereby, the first conversion is performed. Subsequently, in step S5, the virtual dq axis command current signal Id *, Iq * is converted into a virtual three-phase command current signal by the dq / UVW coordinate converter 68 under the actual motor rotation angle θm of the real motor 12. Converted to Iu *, Iv *, and Iw *. Thereby, the second conversion is performed.

  Thereafter, in step S6, the virtual three-phase command current signals Iu *, Iv *, Iw * are input to the virtual motor 60, and in response to the virtual three-phase command voltage signals Vu *, Vv *, Vw from the virtual motor 60. * Is output. Thereby, the inverse model calculation is performed. Subsequently, in Step S7, the PWM signal generator 78 converts the virtual three-phase command voltage signals Vu *, Vv *, Vw * into PWM signals Gu, Gv, Gw, Gx, Gy, Gz. Thereby, the third conversion is performed.

  Thereafter, in step S8, the PWM signals Gu, Gv, Gw, Gx, Gy, and Gz acquired in this way are output to the real inverter / power amplifier 14, thereby driving the real motor 12.

  Subsequently, in step S9, it is determined whether or not a main power source (not shown) of the system 11 is turned off. If the main power supply is still on, the determination is no and the process returns to step S2 for calculation in the next calculation cycle. On the other hand, when the main power supply is turned off, the determination in step S9 is YES, and the operation of the motor control device 10 is thus completed.

  As is apparent from the above description, in the present embodiment, the virtual motor calculation unit 50 operates the virtual motor 60 based on the target signal, so that the control target value represented by the target signal is set to the real motor 12. In order to realize this, a control signal necessary for the actual motor 12 is determined by feedforward control.

  The virtual motor calculation unit 50 refers to the actual motor position θm in order to determine the control signal, which matches the virtual motor position of the virtual motor 60 with the actual motor position θm. This is to improve the accuracy of simulating the motor 12.

  If attention is paid to the fact that there is a process of referring to the actual motor position θm, there is room for the feedforward control adopted by the virtual motor calculation unit 50 to have a feedback element. However, the actual motor position θm is not used as a feedback signal in the control system, but only used for coordinate conversion in the dq axis control described above for the virtual motor 60. Therefore, it is natural to interpret that the control employed by the virtual motor calculation unit 50 is still feedforward control despite the existence of the processing.

Second Embodiment

  Next, a motor control device 100 according to a second embodiment of the present invention will be described with reference to FIGS. However, since this embodiment has elements common to the first embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant descriptions and only different elements. This will be described in detail.

  As shown in FIG. 7, the virtual motor calculation unit 110 of the motor control device 100 according to the present embodiment further includes a Δθ estimator 120 in order to perform phase lag compensation.

  As illustrated in FIG. 8B, the virtual motor calculation unit 110 determines the next control signal during one calculation cycle having the length of the virtual motor calculation period Tv, as in the first embodiment. Therefore, the virtual motor 60 is operated. Meanwhile, if the actual motor position θm remains unchanged, the actual motor position θm (t) used for determining the next control signal and the determined next control signal start to be input to the actual motor 12. Since the actual motor position θm (t + 1) coincides with each other (or when the response of the actual motor 12 to the control signal is completed), the error of the control signal does not occur.

  However, if the actual motor position θm changes during this period, the actual motor position θm (t) used to determine the next control signal and the determined next control signal start to be input to the actual motor 12. Since the actual motor position θm (t + 1) does not coincide with each other (or when the response of the actual motor 12 to the control signal is completed), an error of the control signal occurs.

  Therefore, in the present embodiment, the Δθ estimator 120 is the time when the actual motor position θm is input and the time when the next control signal starts to be input to the actual motor 12 (or the response of the actual motor 12 to the control signal). The amount of change Δθ in which the actual motor position θm is expected to change during the period between the time when the motor is completed) is estimated.

  The amount of change Δθ is, for example, the time when the actual motor position θm is input and the time when the next control signal starts to be input to the actual motor 12 (or the time when the response of the actual motor 12 to the control signal is completed). Paying attention to the fact that the length of the period between and the virtual motor calculation period Tv does not exceed or substantially approximate the length of the virtual motor calculation period Tv, it is estimated as the product of the length of the virtual motor calculation period Tv and the angular velocity ωm of the actual motor 12. Or estimated according to the length of the virtual motor calculation cycle Tv (if the length of the virtual motor calculation cycle Tv is variable, the longer it is, the more likely the variation Δθ is) It is possible to estimate according to the angular velocity ωm of the actual motor 12 (because the higher the angular velocity ωm of the actual motor 12 is, the higher the change amount Δθ is likely).

  As illustrated in FIG. 7, when the Δθ estimator 120 acquires the change amount Δθ as described above, the virtual motor calculation unit 110 acquires the change amount Δθ at the beginning of the same calculation cycle. This is added to the actual motor position θm, so that the motor position input to the dq-UVW coordinate converter 68 becomes equal to θm + Δθ, and is eventually corrected to follow the operation of the actual motor 12.

  In this embodiment, the latest actual value of the actual motor position θm is corrected by adding the current value of the change amount Δθ to the latest actual value of the actual motor position θm. It is not limited to it.

  For example, by smoothing the current value of the change amount Δθ based on at least one past change amount Δθ acquired in the past from the current value, for example, by weighted averaging, the current value of the change amount Δθ is obtained. The latest actual value of the actual motor position θm can be corrected based on the corrected value.

  As shown in FIG. 7, the dq-UVW coordinate converter 68 converts the virtual dq axis command current signals Id * and Iq * to the virtual three-phase command current signal Iu under the actual motor position θm corrected as described above. As a result, the virtual three-phase command current signals Iu *, Iv *, and Iw * are acquired as values that allow for the variation Δθ. Thus, since the control signal is determined by predicting a future change in the actual motor position θm, the above-described phase delay compensation is added to the above-described basic feedforward control as another feedforward element. become.

As illustrated in FIG. 8A, for the entire sequence of the motor control device 100, as in the first embodiment, the control target value T ₀ is input to the virtual motor calculation unit 110 as an input cycle Tin (for example, several tens of μsec). ) Repeatedly input.

As illustrated in FIG. 8B, the virtual motor calculation unit 110 repeatedly performs a calculation for one cycle at a virtual motor calculation cycle Tv (for example, 1 μsec) shorter than the input cycle Tin, thereby controlling the control target. During one input cycle of the value T ₀ , calculations for a plurality of cycles are performed.

In each calculation cycle, the virtual motor calculation unit 110 first captures the control target value T ₀ (t) and the actual motor position θm (t). This processing is represented by “θm (t) input” in FIG. Next, the virtual motor calculation unit 110 converts the fetched control target value T ₀ (t) into a virtual dq axis command current signal. This process is represented by “target signal conversion” in FIG.

  Subsequently, the virtual motor calculation unit 110 estimates the change amount Δθ in the same calculation cycle. This process is represented by “Δθ estimation” in FIG. Thereafter, the virtual motor calculation unit 110 corrects the captured actual motor position θm (t) based on the estimated change amount Δθ, and the corrected motor motor is calculated based on the actual motor position θm (t). The virtual dq axis command current signal is converted into a virtual three-phase command current signal. This process is represented by “coordinate conversion” in FIG.

  Thereafter, the virtual motor calculation unit 110 performs the inverse model calculation based on the virtual three-phase command current signal, thereby determining a virtual three-phase command voltage signal corresponding to the virtual three-phase command current signal, A third conversion is performed to convert the determined virtual three-phase command voltage signal into the control signal Gu-Gz. This process is represented by “inverse model calculation” in FIG.

  Subsequently, the virtual motor calculation unit 110 outputs the acquired control signal Gu-Gz to the real inverter / power amplifier 14, thereby controlling the real motor 12. This process is represented by “Gu to Gz output” in FIG.

  FIG. 9 shows an example of the operation of the motor control device 100 in a flowchart. This flowchart is a flowchart shown in FIG. 6 and represents an example of the operation of the motor control device 10 according to the first embodiment, except that steps S4a and S4b are added between steps S4 and S5. Except common. Accordingly, only steps S4a and S4b will be described, and other steps S1-S9 are common to steps S1-S9 in FIG.

  As shown in FIG. 9, when step S4 is completed, the change amount Δθ is estimated by the Δθ estimator 120 in step S4a. Next, in step S4b, the captured actual motor position θm (the latest detected value of the actual motor position θm) is corrected based on the estimated change amount Δθ.

  Thereafter, in step S5, the virtual dq-axis command current signal is converted into a virtual three-phase command current signal based on the corrected actual motor position θm (t).

<Third Embodiment>

  Next, a motor control device 200 according to a third embodiment of the present invention will be described with reference to FIGS. 10 and 11. However, since this embodiment has elements common to the first embodiment, the common elements are referred to with the same reference numerals or names, thereby omitting redundant descriptions and only different elements. This will be described in detail.

  As shown in FIG. 10, in the motor control device 200 according to the present embodiment, the motor control device 10 according to the first embodiment is in the actual operation of the real motor 12 in the manufacturing stage of the motor control device 200 or the motor control. During actual operation of the actual motor 12 in the use stage of the apparatus 200, the actual motor 12 is used to determine the model characteristics of the virtual motor 60, that is, the relationship between the input voltage and the output current in the actual motor 12. A virtual motor calibration unit 220 that calibrates virtual input / output characteristics that simulate input / output characteristics and thereby optimizes a control signal to be input to the real motor 12 is added.

  In brief, in the virtual motor calibration unit 220, the real three-phase currents Iu, Iv, Iw represented by the real three-phase current signal of the real motor 12 and the real three-phase currents Iu, Iv, Based on the difference from the virtual three-phase currents Iu *, Iv *, Iw * represented by the virtual three-phase command current signal to be input to the virtual motor 60 at substantially the same timing as the detection timing of Iw, the actual three-phase The model characteristics of the virtual motor 60 are modified so that the difference between the next value of the currents Iu, Iv, Iw and the next value of the virtual three-phase currents Iu *, Iv *, Iw * is reduced.

  The virtual motor calibration unit 220 reflects the actual current value of the actual motor 12 and reflects the actual input / output characteristics of the actual motor 12, but from the actual value of the virtual current value that reflects the control target value. Based on the deviation, the virtual input / output characteristics of the virtual motor 60 are calibrated so that the next value of the deviation decreases. As a result, the current value of the command voltage signal that is output from the virtual motor 60 in response to the current value of the virtual current value described above, and represents the command voltage that is subsequently input to the real motor 12 Is optimized.

  Similar to the motor control device 10 shown in FIG. 1, the motor control device 200 includes an actual motor state detection unit 30. The actual motor state detection unit 30 detects not only the actual motor position θm of the actual motor 12 but also other actual motor state quantities such as actual motor currents Iu, Iv, Iw, actual motor speed ωm, and the like. Output a status signal.

  As shown in FIG. 10, the motor control device 200 includes a virtual motor calculation unit 210, the virtual motor calculation unit 210 includes a virtual motor 60, and further includes a comparison unit 222 and a model correction unit 224. The virtual motor 60 is repeatedly executed by the arithmetic circuit 42 at high speed, that is, in a short cycle, whereas the comparison unit 222 and the model correction unit 224 are repeatedly executed by the CPU 44 at low speed, that is, in a long cycle. Is executed automatically.

  As illustrated in FIG. 10, the comparison unit 222 outputs the current values (latest values) of the actual three-phase currents Iu, Iv, and Iw of the actual motor 12 output from the actual motor state detection unit 30 and the coordinate converter 68. The current values (latest values) of the virtual three-phase currents Iu *, Iv *, and Iw * of the virtual motor 60 are compared with each other, and the difference between the two is determined as a current error ΔI (ΔIu, ΔIv, ΔIw) for each phase. calculate. The current values of the actual three-phase currents Iu, Iv, and Iw to be compared with each other and the current values of the virtual three-phase currents Iu *, Iv *, and Iw * are all the same virtual motor calculation cycle (period) shown in FIG. Within Tv).

  Specifically, as shown in FIG. 5B, the current values of the actual three-phase currents Iu, Iv, and Iw are acquired in the process represented by “θm (t) input”, while the virtual three-phase currents The current values of the currents Iu *, Iv *, and Iw * are acquired in a process represented by “conversion”. Therefore, these two current values are acquired at substantially the same timing.

  As shown in FIG. 10, the model correction unit 224 obtains the next value of the actual three-phase currents Iu, Iv, Iw (obtained in the next calculation cycle) based on the calculated current error ΔI (ΔIu, ΔIv, ΔIw). Real three-phase currents Iu, Iv, Iw) and next values of virtual three-phase currents Iu *, Iv *, Iw * (virtual three-phase currents Iu *, Iv *, Iw * acquired in the next calculation cycle) and The motor model (see FIG. 4) that defines the input / output characteristics of the virtual motor 60 is modified so that the difference ΔI (ΔIu, ΔIv, ΔIw) decreases.

  For example, for each phase, the model correction unit 224 determines a corresponding element in the inductance matrix shown in FIG. 4 between the current error ΔI and the value of the element in advance based on the calculated current error ΔI. Modify according to a table that represents a given relationship (eg, obtained empirically or experimentally).

  The model correction unit 224 performs teaching that teaches the virtual motor 60 the input / output characteristics of the real motor 12 by actually driving the real motor 12, and as a result, the operating state of the real motor 12 and the virtual motor 60. , That is, the calculation result of the virtual motor 60 coincides with each other.

  FIG. 11 conceptually shows an example of the operation of the comparison unit 222 and the model correction unit 224 for realizing the virtual motor calibration unit 220 in a flowchart. The comparison unit 222 and the model correction unit 224 are repeatedly executed by the CPU 44 at an error monitoring calculation period Tc (for example, several tens of μsec).

  Specifically, first, in step S121, a current error ΔI that is an error from the virtual three-phase current of the virtual motor 60 from the real three-phase current of the real motor 12 is calculated for each phase U, V, and W. Then, for at least one of the three phases, it is determined whether or not the calculated absolute value of the current error ΔI is greater than a predetermined threshold value ΔIth. This time, assuming that the calculated value of the current error ΔI is equal to or less than the threshold value ΔIth for any phase, the determination in step S121 is NO, and the same step S121 is executed again.

  On the other hand, this time, assuming that the calculated value of the current error ΔI exceeds the threshold value ΔIth for at least one phase, the determination in step S121 is YES, and the process proceeds to step S122.

  In step S122, the comparison unit 222 is operated. Specifically, a correction amount for correcting the motor model is calculated so that the current error ΔI does not exceed the threshold value ΔIth for any phase.

  In an example of the calculation method, among the plurality of discrete representative values that can be taken by the current error ΔI for each phase, the element to be corrected among the elements L and M in the inductance matrix, The correction amount (original value) corresponding to the actual calculated value of the current error ΔI according to a predetermined relationship with the correction amount (for example, stored in the memory for the processor 40 in advance as a table). Or a coefficient that is multiplied by the original value).

  Subsequently, in step S123, the model correction unit 224 is operated. Specifically, the motor model that defines the input / output characteristics of the virtual model 60 is corrected based on the calculated correction amount (for example, a correction coefficient acquired in common with a plurality of elements of the inductance matrix or The correction factor obtained for each element is multiplied by the original value of those elements). Teaching of the virtual model 60 is performed based on the calculated value of the current error ΔI, and as a result, the input / output characteristics of the virtual model 60 more accurately reflect the input / output characteristics of the actual motor 12. Thereafter, the process returns to step S121.

  These steps S121 to S123 are repeatedly executed with an error monitoring period (which is also a teaching period) Tc longer than the virtual motor calculation period Tv.

  As is apparent from the above description, according to the present embodiment, the motor control device 200 is in a state of being operated on a trial basis (in a test operation) or in a state of being actually operated (in a full operation). However, the input / output characteristics of the virtual motor 60, that is, the motor model can be individually tuned to reflect the actual input / output characteristics of the actual motor 12.

  Therefore, according to the present embodiment, in the manufacturing stage of the motor control device 200, the input / output characteristics of the virtual motor 60, that is, the motor model is individually set so as to reflect individual variations in the input / output characteristics of the actual motor 12. It is possible to tune to. In addition, after the motor control device 200 is shipped, when the user actually uses the motor control device 200, the input / output characteristics of the actual motor 12 are deteriorated over time, the input / output characteristics of the actual motor 12 are reduced. In order to reflect changes caused by the external environment (for example, temperature environment), the input / output characteristics of the virtual motor 60, that is, the motor model is used individually and in an original application, And it is possible to tune automatically.

  The virtual motor calibration unit 220 according to the present embodiment can be added to the motor control device 100 according to the second embodiment.

<Fourth embodiment>

  Next, a motor control device 300 according to a fourth embodiment of the present invention will be described with reference to FIGS. However, since this embodiment has elements in common with the first embodiment and the third embodiment, the common elements are referred to with the same reference numerals or names, and redundant description is omitted. Only the different elements will be described in detail.

  As shown in FIG. 12, in the motor control device 300 according to the present embodiment, the motor control device 10 according to the first embodiment is in actual operation of the actual motor 12 in the manufacturing stage of the motor control device 200 or the motor control. During actual operation of the actual motor 12 in the use stage of the apparatus 200, the virtual three-phase command voltage signals Vu *, Vv *, Vw * output from the virtual motor 60 are corrected using the operation state amount of the actual motor 12. Thereby, a virtual motor output value correction unit 320 for optimizing the control signals Gu, Gv, Gw, Gx, Gy, Gz to be input to the real motor 12 is added.

  The virtual motor output value correction unit 320 reflects the actual current value of the actual motor 12 and reflects the actual input / output characteristics of the actual motor 12, but from the actual value of the virtual current value that reflects the control target value. The current value of the command voltage signal output from the virtual motor 60 in response to the current value of the virtual current value described above so that the next value of the deviation is reduced based on the deviation of The one representing the command voltage to be corrected is corrected.

  If it demonstrates roughly, in this virtual motor output value correction | amendment part 320, it will be substantially the same as the detection timing of real 3 phase current Iu, Iv, Iw of the real motor 12, and its real 3 phase current Iu, Iv, Iw. The next value of the actual three-phase currents Iu, Iv, Iw based on the difference from the virtual three-phase currents Iu *, Iv *, Iw * represented by the virtual three-phase command current signal to be input to the virtual motor 60 at the timing And the virtual three-phase command voltage signals Vu *, Vv *, Vw * output from the virtual motor 60 are corrected so that the difference between the current value and the next value of the virtual three-phase currents Iu *, Iv *, Iw * is reduced. .

  As illustrated in FIG. 12, the motor control device 300 includes a virtual motor calculation unit 310, the virtual motor calculation unit 310 includes a virtual motor 60, and further includes a comparison unit 322 and a voltage correction unit 324. The virtual motor 60 is repeatedly executed by the arithmetic circuit 42 at high speed, that is, in a short cycle, whereas the comparison unit 322 and the voltage correction unit 324 are repeatedly executed by the CPU 44 at a low speed, that is, in a long cycle. Is executed automatically.

  As shown in FIG. 12, the comparison unit 322 is the same as the comparison unit 222 according to the third embodiment for the current three-phase currents Iu, Iv, and Iw of the actual motor 12 output from the actual motor state detection unit 30. The value (latest value) and the current value (latest value) of the virtual three-phase currents Iu *, Iv *, Iw * of the virtual motor 60 output from the coordinate converter 68 are compared with each other, and the difference between the two is determined as a current error. Calculated for each phase as ΔI (ΔIu, ΔIv, ΔIw). The current values of the actual three-phase currents Iu, Iv, and Iw to be compared with each other and the current values of the virtual three-phase currents Iu *, Iv *, and Iw * are all the same virtual motor calculation cycle (period) shown in FIG. Within Tv).

  Specifically, as shown in FIG. 5B, the current values of the actual three-phase currents Iu, Iv, and Iw are acquired in the process represented by “θm (t) input”, while the virtual three-phase currents The current values of the currents Iu *, Iv *, and Iw * are acquired in a process represented by “conversion”. Therefore, these two current values are acquired at substantially the same timing.

  As shown in FIG. 12, the voltage correction unit 324 determines the next value of the actual three-phase currents Iu, Iv, Iw (the actual three-phase current Iu, acquired in the next calculation cycle) based on the calculated current error ΔI. Iv, Iw) and the difference ΔI (ΔIu, ΔIv) between the next value of virtual three-phase currents Iu *, Iv *, Iw * (virtual three-phase currents Iu *, Iv *, Iw * acquired in the next calculation cycle) , ΔIw) is decreased, the virtual three-phase command voltage signals Vu *, Vv *, Vw output from the virtual motor 60 in response to the input of the current values of the virtual three-phase currents Iu *, Iv *, Iw *. A correction amount ΔV * (ΔVu *, ΔVv *, ΔVw *) of * is determined.

  The voltage correction unit 324, for example, for each phase, based on the calculated current error ΔI, a predetermined relationship between the current error ΔI and the correction amount ΔV * (for example, empirically or experimentally). The correction amount ΔV * is determined in accordance with a table indicating (obtained). Furthermore, the voltage correction unit 324 adds the correction amount ΔV * to the original value of the virtual three-phase command voltage signals Vu *, Vv *, Vw * based on the determined correction amount ΔV *, or By multiplying, the virtual three-phase command voltage signals Vu *, Vv *, and Vw * are corrected.

  FIG. 13 conceptually shows an example of the operation of the comparison unit 322 and the voltage correction unit 324 for realizing the virtual motor output value correction unit 320 in a flowchart. The comparison unit 322 and the voltage correction unit 324 are repeatedly executed by the CPU 44 at an error monitoring calculation period Tc (for example, several tens of μsec).

  Specifically, first, in step S201, as in step S121 shown in FIG. 11, the current error ΔI that is an error from the virtual three-phase current of the virtual motor 60 from the real three-phase current of the real motor 12 is It is calculated for each phase U, V, W, and it is determined whether or not the absolute value of the calculated current error ΔI is greater than a predetermined threshold value ΔIth for at least one of the three phases. Is done. This time, assuming that the calculated value of the current error ΔI is equal to or less than the threshold value ΔIth for any phase, the determination in step S201 is NO, and the same step S201 is executed again.

  On the other hand, this time, assuming that the calculated value of the current error ΔI exceeds the threshold value ΔIth for at least one phase, the determination in step S201 is YES, and the process proceeds to step S202.

  In step S202, the comparison unit 322 is operated. Specifically, correction amounts ΔVu *, ΔVv *, ΔVw * are calculated so that the current error ΔI does not exceed the threshold value ΔIth for any phase.

  In an example of the calculation method, a predetermined relationship (for example, as a table for the processor 40) between a plurality of discrete representative values that can be taken by the current error ΔI for each phase and the correction amount ΔV *. The correction amount ΔV * corresponding to the actual calculation value of the current error ΔI (a value added to the original value or a coefficient multiplied by the original value) Is possible).

  Subsequently, in step S203, the voltage correction unit 324 is operated. Specifically, the current values (latest values) of the virtual three-phase command voltage signals Vu *, Vv *, Vw * output from the virtual model 60 are taken, and the current values are calculated as the calculated correction amount ΔVu *. , ΔVv *, ΔVw *. Thereafter, the process returns to step S201.

  In addition, the virtual motor output value correction | amendment part 320 according to this embodiment can be added to the motor control apparatus 100 according to 2nd Embodiment, or can be added to the motor control apparatus 200 according to 3rd Embodiment. If the virtual motor output value correction unit 320 is added to the motor control device 200, the virtual input / output characteristics of the virtual motor 60 are corrected using the operation state quantity of the real motor 12 during the actual operation of the real motor 12. And correcting the output value of the virtual motor 60, the accuracy of the final control signal is improved, and consequently the control accuracy of the actual motor 12 is improved.

  As described above, some of the embodiments of the present invention have been described in detail with reference to the drawings. However, these are exemplifications, and are based on the knowledge of those skilled in the art including the aspects described in the section of [Summary of the Invention]. The present invention can be implemented in other forms with various modifications and improvements.

Claims (11)

A motor control device that controls an actual motor that converts electrical energy into kinetic energy,
A virtual motor that simulates the real motor according to the relationship between the input voltage and the output current of the real motor , and when the virtual current signal is input, the real motor outputs the current represented by the virtual current signal. Outputting a virtual voltage signal representing the voltage to be input to the actual motor;
The virtual current signal is generated based on a target signal representing a control target value of the actual motor, the virtual current signal is input to the virtual motor, and the virtual voltage signal output from the virtual motor in response to the virtual current signal is directly input. A control unit that uses the control signal as a control signal or determines the control signal based on the virtual voltage signal and controls the real motor based on the determined control signal.   The control unit generates a target current signal for the virtual motor based on the target signal, and performs vector control of the current of the virtual motor based on the target current signal. The motor control device according to claim 1, wherein the motor control device performs the operation using a rotation angle of an actual motor, thereby generating the virtual current signal. Furthermore, a detection unit for detecting the current of the actual motor is included,
The control unit determines a difference between the detected actual motor current and a virtual motor current represented by the virtual current signal input to the virtual motor at a timing temporally related to the detection timing of the actual motor current. The motor control device according to claim 1, wherein the virtual voltage signal is corrected directly or indirectly so that the difference is reduced. When a virtual three-phase current signal is input to the virtual motor, the virtual motor represents a three-phase voltage to be input to the real motor in order to output the three-phase current represented by the virtual three-phase current signal. Outputs a three-phase voltage signal,
The control unit converts the target signal into a virtual dq axis command current signal for the virtual motor, and converts the virtual dq axis command current signal of the virtual motor under the rotation angle of the real motor. The virtual three-phase command current signal is input to the virtual motor, and the virtual three-phase command voltage signal output from the virtual motor in response to the virtual three-phase command current signal is input to the virtual motor. The motor control device according to claim 1, wherein a current signal is converted and the virtual three-phase command voltage signal is used as the control signal as it is or the control signal is determined based on the virtual three-phase command voltage signal. Furthermore, the acquisition part which acquires the said actual motor rotation angle is included,
The control unit further includes:
The actual motor rotation from the time when the actual motor rotation angle is acquired by the acquisition unit to the time when the control signal calculated using the acquired actual motor rotation angle is supplied to the actual motor. An estimator for estimating the amount of change in which the angle is expected to change;
An angle correction unit that corrects the acquired actual motor rotation angle based on the estimated change amount, and
The motor control device according to claim 4, wherein the control unit converts the virtual dq-axis command current signal into the virtual three-phase command current signal under the corrected actual motor rotation angle. The virtual motor has a virtual input / output characteristic that simulates an actual input / output characteristic that is a relationship between an input voltage and an output current in the real motor. When the virtual three-phase command current signal is input, the virtual motor Based on the output characteristics, the virtual three-phase command voltage signal corresponding to the virtual three-phase command current signal is output,
The motor control device further includes a detection unit that detects a real three-phase current of the real motor,
The control unit is a virtual 3 represented by the detected real three-phase current and the virtual three-phase command current signal input to the virtual motor at a timing temporally related to the detection timing of the real three-phase current. 6. The virtual input / output characteristic is modified so that a difference between a next value of the actual three-phase current and a next value of the virtual three-phase current is reduced based on a difference with a phase current. Motor control device. And a detector that detects an actual three-phase current of the actual motor,
The control unit is a virtual 3 represented by the detected real three-phase current and the virtual three-phase command current signal input to the virtual motor at a timing temporally related to the detection timing of the real three-phase current. Based on the difference from the phase current, the virtual three-phase command voltage signal output from the virtual motor is corrected so that the difference between the next value of the actual three-phase current and the next value of the virtual three-phase current is reduced. The motor control device according to claim 4.   2. The input / output characteristics of the virtual motor according to claim 1, wherein the control unit further modifies the input / output characteristics of the virtual motor based on a difference between an operating state of the real motor and an operating state of the virtual motor so that the difference decreases. Motor control device. A motor control method for controlling an actual motor that converts electrical energy into kinetic energy,
A first step of controlling the actual motor based on a control signal;
A second step of activating a virtual motor during operation of the real motor, thereby determining the control signal;
When the virtual current signal is input, the virtual motor outputs the current represented by the virtual current signal in order to simulate the real motor according to the relationship between the input voltage and the output current of the real motor. Output a virtual voltage signal representing the voltage to be input to the actual motor
The second step generates the virtual current signal based on a target signal representing a control target value of the real motor, inputs the virtual current signal to the virtual motor, and outputs the virtual current signal in response to the virtual current signal. A motor control method in which the virtual voltage signal is directly used as the control signal or the control signal is determined based on the virtual voltage signal.   A program executed by a computer to execute the motor control method according to claim 9.   The recording medium which recorded the program of Claim 10 so that computer reading was possible.

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